JP2513530Y2 - Lifting equipment delivery device - Google Patents

Description

[Detailed Description of the Invention] "Industrial field of application" The present invention relates to a suspension device suitable for use when suspending radioactive substances and the like.

"Conventional technology" Suspended by a hoist such as an overhead crane,
As a lifting tool for gripping various objects, a pulley type that opens and closes the grasping claw by using the vertical movement of a pulley operated by a wire, an electric type that opens and closes the grasping claw by an actuator that uses electric or hydraulic pressure, or There is a hydraulic type.

When handling radioactive materials with such hoists, it is necessary to limit the entry of workers by remote control in the cell room, but in the unlikely event of a hoist failure, the hoist holds the objects to be held. If it is left as it is, it is possible to move the hoist and hoisting equipment to a place where it is not affected by radiation after the hoisting equipment and the suspended object that is the radiation source are separated using a manipulator etc. It is considered.

[Problems to be solved by the invention] However, the work of separating the hanging tool and the hanging object by opening the grasping claw by remote operation by the manipulator is
Since a high degree of skill is required, the work becomes extremely complicated, and there is a possibility that the hanging object may be dropped due to an erroneous operation or the like. A method of cutting the wire of the hoisting machine is also conceivable, but it is necessary to separately perform the work of restoring the hoisting machine and the operation of separating the hoisting tool left on the suspended object after cutting.

The present invention effectively solves the above-mentioned problems and is suitable for efficiently opening and closing the lifting device, facilitating the work of separating the suspended object in the event of a failure of the hoist, and handling radioactive substances. An object is to provide a hanging object delivery device.

"Means for Solving the Problem" The suspended object delivery device of the present invention comprises a suspender that is hung from a hoist, and a stand that receives the suspended object held by the suspender from the suspender and receives it. In the lifting device, a support block connected to a hoisting machine supports a horizontally rotatable upper tubular body and a vertically movable lower tubular body that supports a gripping claw, and these two tubular bodies have a center shaft. Is inserted along the up-down direction, the rotation restraining mechanism that restrains relative horizontal rotation between the center shaft and the upper cylindrical body, and the horizontally rotatable drive link mechanism that opens and closes the gripping claws by vertically moving the center shaft. And
A rotary cam mechanism for horizontally rotating the center shaft by one pitch together with the upper cylinder by the relative vertical movement of the two is provided between the two cylinders, and between the center shaft and the lower cylinder, the rotary cam mechanism is provided.
An open / close cam mechanism is provided for setting the center axis to either the upper limit position or the lower limit position for each horizontal rotation of each pitch, and the gantry is suspended when the hoist is not operating. The pedestal on which the hanging object is placed, and the operation of moving the cradle upward to push up the hanging object and then lowering the pedestal again are added, so that the upper cylinder body and the center shaft of the hanging tool are relatively opposed to each other. A technique is provided that includes an elevating machine that releases the holding state of the suspended object by the grip claws by moving up and down. In this case, the relative vertical movement range is the upper movement limit position where the cradle is moved upward to push up the suspended object when the hoist is not operating, and the lower movement limit position where the pedestal is lowered thereafter. It is set between and.

[Operation] The hanging object delivery device of the present invention is such that, when the hanging tool is hung on the hanging object and the center shaft is placed on the hanging object to release the hoisting force of the hoist, the upper tubular body is attached to the center shaft. Is lowered by gravity, the rotary cam mechanism is activated and the center shaft is rotated by one pitch together with the upper cylinder. Then, when the support block is lifted again, the upper cylinder body rises with respect to the center shaft,
The rotary cam mechanism operates again to rotate the center shaft by one pitch. That is, the center shaft is rotated by one pitch for each operation of landing and lifting, and the opening / closing cam mechanism between the lower cylinder and the center shaft shifts to the next stage by this one pitch rotation. Therefore, the upper movement limit position of the opening / closing cam mechanism (the “open” position of the gripping claw) and the lower movement limit position (the gripping claw) so that the grip claw changes from the “open” position to the “closed” position by this one pitch rotation. The “closed” position) and are set in advance.

In this case, if the hoist should fail, the hoist cannot move up or down depending on the hoist, but the hoist hung from the hoist should be placed directly above the frame and the hoist should be inactive. When the elevator is operated to move the cradle upwards to push up the suspended object while keeping it in this state, the operation of lowering the cradle again is added. As a result, the holding state of the suspended object by the grip claw is released.

Hereafter, the suspended object is mounted on a pedestal and separated from the suspending tool and collected.

[Embodiment] An embodiment in which the hanging object delivery device of the present invention is installed in a facility for handling radioactive waste will be described below with reference to the drawings.

<Overall Structure> As shown in FIG. 1 and FIG. 2, the delivery device 1 includes a crane 4 traveling on a ceiling of a cell chamber 3 surrounded by a concrete wall 2 and a hoist 5 of the crane 4. It is composed of a hanging tool 6 that can be lowered and a pedestal 8 that receives a hanging object 7 that is gripped by the hanging tool 6.

<Crane> In the crane 4, a girder 10 is movably supported on a traveling rail 9 arranged on the ceiling of the cell chamber 3, and a trolley 12 is supported on a traverse rail 11 laid on the girder 10. The trolley 12 is equipped with the hoisting machine 5.

<Hanging tool> As shown in FIGS. 3 to 7, the hanging tool 6 includes a support block 21 that is hung from the hoist 5, and an upper cylinder 25 that is horizontally rotatable and a vertical grip that supports the gripping claw 26. A movable lower cylinder 27 is supported, and a center shaft 28 is inserted into both cylinders 25, 27 along the vertical direction. Then, a rotation restraint mechanism 29 for restraining relative horizontal rotation between the center shaft 28 and the upper cylindrical body 25, and a horizontally rotatable drive link mechanism 30 for opening and closing the grip claw 26 by vertically moving the center shaft 28. Is provided. Also, both cylinders 25
A rotation cam mechanism 31 for horizontally rotating the center shaft 28 together with the upper cylinder 25 by one pitch by the relative movement of the center cylinder 28 and the upper cylinder 25 is provided between the two.
Between 27 and 27, the center axis for each 1-pitch horizontal rotation
An opening / closing cam mechanism 32 that sets 28 to either the upper movement limit position H or the lower movement limit position L is provided. An outer frame 33 surrounding the grip claw 26 is provided, and the outer frame 33
Vertically swingable multiple centering guides on the inner circumference of the lower end of the
34 are provided at intervals in the circumferential direction.

The support block 21 is formed in a disk shape and arranged horizontally, and the upper cylinder body 25 is supported concentrically at the center thereof via a bearing 35, and the upper end of the upper cylinder body 25 is also supported. A mounting plate 75 covering the space is fixed to the support block 21 integrally, and a hanging piece 76 is provided on the upper surface of the mounting plate 75. Further, at a position radially outward from the upper tubular body 25, for example, three suspending rods 36 penetrating in the vertical direction are arranged at intervals in the circumferential direction, and the lower end of the suspending rod 36 is arranged. A horizontal plate 37 is fixed to the horizontal plate 37, and the lower cylindrical body 27 is fixed to the horizontal plate 37 in a vertically penetrating state. In this case, the upper cylinder 25 and the lower cylinder 27 are arranged on the same axis X. Further, the grip claw 26 is a pin on the lower surface of the horizontal plate 37.
Three 38 are arranged so as to be vertically swingable and equally spaced in the circumferential direction. It should be noted that stoppers 39 are provided on the suspension rod 36 at upper and lower portions, and the suspension rod 36 with respect to the support block 21 is provided within the interval of the stoppers 39.
The vertical movement of the is allowed.

The center shaft 28 penetrates the lower cylinder 27 and is inserted up to an intermediate position of the upper cylinder 25.
The rotation restraint mechanism 29 provided between and is composed of a spline in the illustrated example.

The drive link mechanism 30 includes a rotating ring 42 that is horizontally rotatably supported by a lower end portion of a center shaft 28 projecting below the lower tubular body 27 via a bearing 41, and an outer peripheral portion of the rotating ring 42. And a link 43 that connects the grip claw 26 to each other.

The rotating ring 42 is supported by the horizontal plate 37 by a pulling mechanism 44 so as to be pulled upward. The three traction mechanisms 44 are provided at intervals in the circumferential direction, and a rod 46 penetrates a cup-shaped spring receiver 45 fixed to the horizontal plate 37 so as to be vertically movable, and a lower end portion of the rod 46 is In addition to being fixed to the rotating ring 42, a disk-shaped spring bearing 47 is fixed to the upper end of the rod 46, so that both spring bearings 45,
A coil spring 48 is interposed between 47.

The rotary cam mechanism 31 has a cam groove on the outer peripheral portion of the upper tubular body 25.
51 is formed along the circumferential direction, and a cam roller 52 engaging with the cam groove 51 is fixed to the upper surface of the horizontal plate 37 via a bracket 53. As shown in the upper position of FIG. 6, the cam groove 51 has an upper cam surface 54 which is an upward slope.
55, an upward concave portion 56, a vertical surface 57, a return inclined surface 58 inclined in the direction opposite to the upward inclined surface 55 are successively formed, and the lower cam surface 59 includes a downward inclined surface 60, a downward concave portion 61, The vertical surface 62 and the return inclined surface 63 are successively formed. In this case, the upper cam surface is spaced at intervals of 30 ° in the circumferential direction.
An upward concave portion 54 of the lower cam surface 59 and a downward concave portion 61 of the lower cam surface 59 are arranged, and a starting end portion of a downward inclined surface 60 of the lower cam surface 59 is arranged vertically below the upward concave portion 56 of the upper cam surface 54. The upper end of the upwardly inclined surface 55 of the upper cam surface 54 is disposed above and vertically above the downward recess 61 of the lower cam surface 59. That is, by the cam groove 51 and the cam roller 52, in other words, the relative vertical movement of the upper cylinder 25 and the horizontal plate 37,
The cam roller 52 moves with respect to the cam groove 51 as shown by the arrow (a) in FIG. 6 as A, B, C and so on, and the upward and downward inclined surfaces 55 and 60 are pressed by the vertical movement thereof. As a result, the upper cylindrical body 25 is rotated in the direction indicated by the arrow (B) (see the principle diagram of FIG. 7). In the case of the illustrated example, it is rotated by 30 ° (for example, A to B in the figure) by one of the movements in the vertical direction, and this rotation of 30 ° is one pitch.

The open / close cam mechanism 32 includes a cam surface 65 formed on the lower end surface of the lower tubular body 27 along the circumferential direction, and cam rollers 66 arranged on both sides of the center shaft 28. Cam surface
As shown in the lower position of FIG. 6, 65 has an upward recess 68 formed by notching a part with respect to the horizontal plane 67 to the extent that the cam roller 66 can be engaged. The lower movement limit position L is set at the movement limit position H and the position of the horizontal plane 67. In this case, the upper movement limit positions H are arranged at two positions at intervals of 180 ° in the circumferential direction, and the position shifted from the upper movement limit positions H by 30 ° is the lower movement limit position L, which is 5 pitches. The downward movement limit position L is continuous and the upper movement limit position H is again reached at the sixth pitch.

The outer frame 33 is formed in a tubular shape and is provided integrally with the horizontal plate 37, and the rotating cam mechanism 31 is provided above the horizontal plate 37.
Etc., and a lower frame 72 surrounding the opening / closing cam mechanism 32 and the like below the horizontal plate 37. In this case, the lower end of the lower frame 72 is arranged at a position lower than the lower end of the grip claw 26, and the landing guide block 73 and the centering guide 34 are provided on the inner periphery of the lower end of the lower frame 72. Has been.

The landing guide block 73 is formed in a disc shape and is horizontally fixed to the inner peripheral portion of the lower frame body 72, and a cutout portion 74 for projecting the claw portion 26a at the lower end portion of the grip claw 26 downward is provided. With this configuration, the range of movement of the grip claw 26 in the radial direction is restricted to the range of the cutout portion 74 so as not to cause too wide or too narrow. The distance between the lower surface of the landing guide block 73 and the claw portion 26a is set to be slightly larger than the thickness of the collar portion 7a of the hanging object 7.

On the other hand, the centering guide 34 is formed in a plate shape, and is circumferentially arranged at the same interval as the grip claws 26 so as to be arranged on the side of each grip claw 26 and in the radial direction of the lower frame body 72. Vertically oscillatingly supported by horizontal shafts 77 arranged parallel to each other and tangential to the lower frame 72, and an edge portion inward of the radius of the horizontal shafts 77 serves as the center of curvature. It is formed on the arc surface 34a. In this case, the side edge of the centering guide 34 comes into contact with the inner peripheral surface of the lower frame body 72 to restrict the subsequent swing, and the circular arc surface 34 in this restricted state.
The lowermost end of a is located below the lower end of the grip claw 26. Further, the inscribed circle formed by the radial inner end of each centering guide 34 is set to be substantially equal to the outer diameter of the flange portion 7a of the hanging object 7.

<Cradle> As shown in FIGS. 1 and 2, the cradle 8 is provided in the vicinity of the inner surface of the wall 2 of the cell chamber 3, and is a cradle 81 on which the suspended object 7 from the suspender 6 is placed. And an elevator 82 for vertically moving the cradle 81.

A guide cylinder 83 having a diameter larger than that of the hanging object 7 is vertically fixed to the upper surface of the cradle 81, and the hanging object 7 is accommodated in the guide cylinder 83.
Can be stored.

The elevator 82 includes a screw jack 84 fixed to the floor of the cell chamber 3 and a drive mechanism 85 for the screw jack 84.
The motor 86 is provided outside the cell chamber 3.

The screw jack 84 has a vertical female screw member 88 rotatably supported on a support base 87 fixed to the floor of the cell chamber 3 as shown in FIG. The member 89 is screwed together, and a horizontal worm 91 is engaged with a worm gear 90 formed on the outer peripheral portion of the female screw member 88, and the receiving base 81 is fixed to the upper end of the male screw member 89. A shaft 92 of the worm 91 extends horizontally, and a drive rod 94 is connected to the shaft 92 via a bevel gear in a gear box 93. The drive rod 94 penetrates through the concrete wall 2 and the cell chamber 3 It is connected to the external motor 86. Reference numeral 95 is a protective sleeve below the support base 87 and surrounding the male screw member 89, and is provided in a partially buried state on the floor of the cell chamber 3.

Next, a method of using the hanging object delivery device 1 configured as described above will be described.

<Usage in Normal Time> First, a method in normal use of the hanger 6 will be described.

The open / close cam mechanism 32 is moved to the upper limit position H shown in FIG. 6A.
, And the suspension device is hung from above the hanging object 7 by a hoist and placed on the hanging object 7, the landing guide block 73 comes into contact with the upper surface of the brim 7a of the head of the hanging object 7. Also, the lifting force of the hoisting machine is released, the upper cylinder 25 is lowered with respect to the center shaft 28, and the cam roller 52 of the rotating cam mechanism 31 comes into contact with the ascending slope surface 55 of the upper cam surface 54. , The center shaft 28 is rotated by one pitch together with the upper tubular body 25 by gravity acting on the upper tubular body 25 (shifts from A to B in FIG. 6), and the opening / closing cam mechanism 32 is moved to the lower limit position L of movement. Set. In this state, the grip claw 26 is "closed"
Then, the hanging object 7 is grasped.

Then, hoist it again with the hoist and
Is lifted, the cam roller 52
The center shaft 28 is rotated by one pitch together with the upper cylinder 25 by the gravity acting on the downwardly inclined surface 60 of 59 and acting on the cam roller 52 (shift from B to C in FIG. 6). Even in this state, since the open / close cam mechanism 32 is set to the downward movement limit position L, the state in which the hanging object 7 is gripped does not change. Then, it is conveyed in the air to a desired place, but due to contact with an obstacle in the middle, relative vertical movement occurs between the upper cylindrical body 25 and the center shaft 28, and the center shaft 28 rotates. However, since the downward movement limit position L is continuously set in the next stage of the opening / closing cam mechanism 32, the grip claw 26 does not open. When suspending the hanging object 7, it is sufficient to repeat landing and raising until the remaining downward movement limit position L is exceeded. In the example of FIG. 6, when the relative vertical movement occurs once during transportation, the position moves from C to E, and if the operator then lands on the floor and moves up, moves from E to G and lifts 7 Can be released.

<Operation Method When Winding Machine Failures> Next, an operation method will be described in the case where the winding machine 5 should fail while holding the hanging object 7 by the lifting tool 6 during such a lifting operation.

The crane 4 is moved while holding the hanging object 7 to arrange the hanging object 7 right above the pedestal 8. Then, with the crane 4 stopped, the elevator 86 is driven by the motor 86 outside the cell chamber 3, and the female screw member 88 of the screw jack 84 is driven.
By rotating the screw member along the screw hole
89 is raised to bring the pedestal 81 into contact with the lower surface of the hanging object 7.

Then, after lifting the hanging object 7 until the wire 5a of the hoisting machine 5 is loosened, the weight of the hanging object 7 is again supported by the hoisting machine 5 which has descended. This single vertical movement operation causes relative vertical movement between the upper tubular body 25 of the hanger 6 and the center shaft 28, and the center shaft 28 is rotated by one pitch.
The opening / closing cam mechanism 32 between the center shaft 28 and the lower cylindrical body 27 is in the next stage or later. In the case of this embodiment, the opening / closing cam mechanism 32
Since a plurality of downward movement limit positions L are continuously formed in the, the holding state of the hanging object 7 is not normally released by one vertical movement. Therefore, the cradle 81 is repeatedly moved up and down to set the open / close cam mechanism 32 to the upper movement limit position H, thereby opening the grip claw 26 and releasing the hanging object 7. Then, the cradle 81 is lowered and the hanging object 7 is lifted by the hanging tool 6.
After separating from the above, the crane 4 may be moved to a desired place for repair.

In addition, in the delivery device of the present invention, the hoisting machine, the elevator, and the like can be applied to other general-purpose machines in addition to the one having the configuration of the embodiment.

[Advantages of the Invention] As is clear from the above description, according to the hanging object transfer device of the present invention, the upper movement limit position of the opening / closing cam mechanism is caused by the relative vertical movement between the center shaft of the lifting tool and the upper cylinder. And the downward movement limit position are selected to open and close the grasping pawl, and the relative vertical movement of the grasping pawl can also be performed by vertically moving the suspended object by the elevator, so that the hoisting machine fails and the suspended object is Even when the robot is stopped in the air, the suspended object can be released from the suspending tool by the cradle and the elevator without using a manipulator or the like, and can be easily recovered. Therefore, it is suitable for use in equipment that handles radioactive substances and the like.

[Brief description of drawings]

The drawings show an embodiment in which the apparatus for transferring suspended objects of the present invention is installed in a facility for handling radioactive materials. Fig. 1 is a front view thereof, and Fig. 2 is a view taken along the line II-II in Fig. 1. , Third
The drawing is a vertical cross-sectional view of the lifting device, FIGS. 4 and 5 are cross-sectional views taken along lines IV-IV and VV of FIG. 3, respectively, and FIG. 6 is a front view of the rotary cam mechanism and the opening / closing cam mechanism. Fig. 7 and Fig. 7 are principle diagrams thereof, and Fig. 8 is a perspective view in which a part of the screw jack is cut away. 1 ... Lifting object delivery device, 2 ... Concrete wall, 3
...... Cell room, 4 ... Crane, 5 ... Hoisting machine, 6 ...
… Suspension equipment, 7 …… Suspended object, 7a… Collar part, 8 …… Stand,
9 …… Traveling rail, 10 …… Girder, 11 …… Transverse rail,
12 …… Trolley, 21 …… Support block, 25 …… Upper cylinder,
26 …… Grip claw, 27 …… Lower cylinder, 28 …… Center shaft, 29
...... Rotation restraint mechanism, 30 …… Drive link mechanism, 31 …… Rotary cam mechanism, 32 …… Opening and closing cam mechanism, 33 …… Outer frame, 34 …… Centering guide, 34 a …… Arc surface, 35 …… Bearing , 36 ... Suspension rod, 37 ... Horizontal plate, 38 ... Pin, 39 ... Stopper, 41 ... Bearing, 42 ... Rotating ring, 43 ... Link, 44 ... Traction mechanism, 45 ... Spring Receiving, 46 ... Rod,
47 …… Spring bearing, 48 …… Coil spring, 51 …… Cam groove, 52 …… Cam roller, 53 …… Bracket, 54 …… Upper cam surface, 55 …… Upward inclined surface, 56 …… Upward recessed portion, 57… … Vertical surface, 58 …… Return slope, 59 …… Lower cam surface, 60 …… Down slope surface, 61 …… Downward recess, 62 …… Vertical surface, 63 …… Return slope surface, 65 …… Cam surface, 66 …… Cam roller, 67 …… Horizontal surface, 68 …… Upward recess, 71 …… Upper frame, 72 …… Lower frame, 73 …… Flooring guide block, 74 …… Notch, 75 ……
Mounting plate, 76 ... Suspension piece, 77 ... Horizontal axis, 81 ... Receiving stand, 82 ... Elevator, 83 ... Guide tube, 84 ... Screw jack, 85 ... Drive mechanism, 86 ... Motor, 87 …… Supporting base, 88 …… Female thread member, 89 …… Male thread member, 90 …… Worm gear, 91 …… Worm, 92 …… Axis, 93 …… Gear box, 94 …… Drive rod, 95 …… Protection sleeve.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (56) Bibliographic references Sho 59-123072 (JP, U) Japanese patent 47-45299 (JP, B1) Japanese public 48-41428 (JP, Y1)

Claims (1)

(57) [Scope of utility model registration request] 1. A suspending tool (6) suspended from a hoist (5), and a pedestal (8) for receiving a suspended object (7) held by the suspending tool from the suspending tool (8), The hoisting tool is supported by a support block (21) connected to the hoisting machine, which includes a horizontally rotatable upper cylinder body (25) and a vertically movable lower cylinder body (27) supporting a gripping claw (26). At the same time, a center shaft (28) is inserted into both of these cylinders along the up-down direction, and a rotation restraint mechanism (29) for restraining relative horizontal rotation between the center shaft (28) and the upper cylinder is provided. A horizontally rotatable drive link mechanism (30) that opens and closes the grip claws by vertically moving the shaft is provided, and the center shaft is horizontally rotated together with the upper cylinder by one pitch by the relative vertical movement between the two cylinders. Rotating cam mechanism (3
1) is provided, and the above-mentioned 1 is provided between the center shaft and the lower cylinder.
An opening / closing cam mechanism (32) is provided for setting the center axis to either the upper movement limit position or the lower movement limit position for each horizontal rotation of each pitch. Addition of a cradle (81) for placing your belongings and an operation to move the cradle upwards when the hoist is not operating to push up the suspended object to the upper limit position and then lower the cradle to the lower limit position. Then, a lifting object (82) for releasing the holding state of the hanging object by the gripping claws by vertically moving the upper cylinder and the center shaft of the hanging tool relative to each other.