JP2563776B2 - Reactor fuel gripper - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a gripping device for gripping and releasing a reactor fuel or the like in the air.

[Prior art and its problems]

When the reactor fuel or the like is transferred in the air, it is carried out by grasping it with the grasping device, moving the grasping device, and releasing the grasping device from the reactor fuel or the like at a predetermined position. FIG. 4 is a sectional view of a gripping device of this type.
In the figure, the actuator rod 1 has an upper actuator rod 2 and a lower actuator rod 3 which are pin 4
It is configured by combining. The upper actuator rod 2 is provided with an electromagnet support ring 6 via a support 6d containing an annular electromagnet 5 formed by an annular winding.
When the lead wire 7 is energized, the upward force generated by the current direction of the electromagnet 6 and the direction of the magnetic line of force causes the upper actuator rod 2, that is, the tick actuator rod 1 to pass through the through hole 6a. It is guided by the slide bearing 8 provided and pulled up. The upper limit of the rise is determined by the shoulder 2b of the actuator rod 2 contacting the shoulder 6b of the through hole 6a of the electromagnet support ring 6. When the energization is stopped, the actuator rod 1 falls by its own weight and the spring 19, and the head 2a of the upper actuator rod 2 contacts the upper surface 6c of the electromagnet support ring 6 to determine the descending position. A limit switch 9 is provided, and when the actuator rod 1 is moved up and down, the limit switch 9 is operated along the shape of the head 2a to deliver an electric signal for completion of the ascent and descent to a distance.

The above-mentioned upper actuator rod 2, electromagnet support ring 6 and the like are contained in a cylindrical upper casing 11, and the upper casing 11 is joined with the lower casing 12 by a set screw 14 so that their axes are aligned to form a casing 13. Has been done. The axis of the actuator rod 2 is the casing.
It is arranged so as to coincide with the axis of 13.

Further, a spacing plate 15 provided with pins 17 for pin-joining the three lever-shaped claws 16 is attached to the lower casing 12 by set screws 18 at positions where the circle of the cross section of the lower casing 3 is divided into three equal parts. Therefore, the claw 16 is pin-jointed to the pin 17, and the claws 16 rotate at the pin-joint portions, respectively, and can freely move and open and close the space formed by the adjacent gap plates 15.

A concave guide 16a is provided inside the claw 16, and the concave portion is formed by the guides 16a of the three claws 16 (two claws are not shown). The lower actuator rod 3 penetrates the upper plate 12a of the lower casing 12 and is connected to the upper actuator rod 2 via a spring 19 which is interposed between the flange 3b of the lower actuator rod 3 and the upper plate 12a. ing. The actuator head 3a provided at the lower end of the lower actuator rod 3 is located in the recess formed by the guide 16a.

The upper plate 11a of the upper casing 11 is provided with a hanging metal fitting 21, and the actuator rod 1, electromagnet support ring 6, claws 16,
Connect the gripping device 20 consisting of the casing 13 etc. to the wire rope 22
It is designed to be able to be hung up and hung down by the above.

With such a structure, the pawl 16 is rotated around the pin 17 to open and close the pawl by energizing or de-energizing the electromagnet 5. That is, when the electromagnet 5 is energized, the actuator rod 1 hits its own weight and the spring 19 and is pulled up as described above. For this reason, the actuator head 3a
The claw 16 is closed by the movement of the guide 16 along the guide 16a. When the power supply to the electromagnet 5 is stopped, the actuator rod 1 is lowered by its own weight and the spring 19 as described above, and the actuator head 3a moves along the guide 16a of the pawl 16 to open the pawl 16.

Therefore, in order to grip the reactor fuel 25, the tip of the interval piece 15 is inserted into the inside of the reactor fuel 25 with the claw 13 closed, and in this state, the energization of the electromagnet is stopped and the actuator is activated. This is performed by lowering the tarot 1 to open the claw 16 and fitting the tip projection 16b of the claw 16 into the groove 25a of the grip portion of the reactor fuel 25. Then, while holding the reactor fuel 25, the gripping device 20 is lifted and transferred to a predetermined position. Then, the reactor fuel 25 is hung and placed at a predetermined position. In this state, the electromagnet is energized, the actuator rod 1 is raised to close the pawl 16, and the gripping device is lifted, whereby the tip of the gap piece of the gripping device 20 is pulled out from the opening of the reactor fuel 25. Once released, the reactor fuel 25 is placed in place.

However, in such a gripping device, the reactor fuel is placed at a predetermined position by transfer.The reactor fuel has the same orientation as the axis of the casing of the gripping device with respect to the axis when the gripping device grips the reactor fuel. Is.

Therefore, in order to make the reactor fuel with respect to the axis line in a direction different from that when it is gripped, it is necessary to rotate the reactor fuel with the gripping device in the suspended state in accordance with the demand of the next process. However, nuclear fuel cannot be rotated by workers due to its radioactive nature. For this reason, means for placing the reactor fuel on the gantry and rotating the gantry, and means for rotating the entire crane that runs the gripping device at a predetermined position are used. However, such a method has a drawback in that the operation time and the labor required for transferring the handling object such as the reactor fuel are required.

[Object of the Invention]

In view of the above-mentioned point, the present invention is capable of rotating an object to be handled such as a reactor fuel by remote control to rotate the object to be handled at an arbitrary angle with respect to the axis of the apparatus. An object of the present invention is to provide a gripping device that can be used.

[Summary of Invention]

According to the present invention, the above object is to provide an actuator rod having an actuator head in a cylindrical casing along an axis of the casing, a pin fixed to the casing, and a lever-shaped pin joint. A claw, and the claw is rotated at the pin joint portion by the vertical movement of the actuator rod when the actuator rod is moved up and down to open and close, and is inserted into and removed from the grip of the reactor fuel to grip the reactor fuel. In a gripping device for releasing, a cylindrical upper casing that encloses the upper portion of the actuator rod and the lower end surface of the upper casing face the same axis line with a gap, and the claw and the lower portion of the actuator rod and the actuator A sleeve that contains a head, has the same diameter as the upper casing, and allows the pawl to open and close. Attached to the upper casing, and a lower casing having a sidewall provided on the side wall, a cylindrical body projecting upward from the lower casing and integrally formed with the lower casing, and having a through hole for vertically guiding the actuator rod, A lower casing that includes a bearing that rotatably supports the cylindrical body and a drive device that is attached to the upper casing and that drives the cylindrical body via a speed reducer. The drive device drives the lower casing through the cylindrical body. And the object to be handled such as the reactor fuel gripped by the claws is rotated about the axis at an arbitrary angle.

Example of Invention

An embodiment of the present invention will be described below with reference to the drawings. First
1 is a sectional view of a reactor fuel gripping apparatus according to an embodiment of the present invention, FIG. 2 is a sectional view taken along line AA of FIG. 1, and FIG. 3 is a sectional view taken along line BB of FIG. 1 to 3, the same parts as those in the conventional example shown in FIG. 4 are designated by the same reference numerals. 1 to 3, the actuator rod 1 in the gripping device 20, the structure of the electromagnet supporting Linda 6 and the pawl 16 which house the spring 19 and the electromagnet 5 and the structure of the pawl 16 and the energization / non-energization of the electromagnet 5 cause the actuator rod 1 to move. Since the operation of lifting and lowering and rotating the pawl 16 around the pin 17 to open and close the pawl 16 is the same as that of the conventional art, its explanation is omitted. In this embodiment, the upper actuator rod 2 of the actuator rod 1 is connected to the lower actuator rod 3 having the actuator head 3a by the dovetail joint 47. And nail 16 and actuator rod 1
A lower casing 32 that encloses the lower portion of the lower actuator rod 3 and the actuator head 3a, which is the lower portion of the above, is provided. On the side wall of the lower casing 32 are three claws 16
Three slits 33 are provided on the circumference corresponding to the three claws so that can be opened and closed. The outer diameter of the lower casing 32 is the same as the outer diameter of the upper casing 31, and the peripheral edge portion 32a of the upper end surface of the lower casing 32 faces the lower end surface 31a of the upper casing 31 with the same axis with a gap.

A cylindrical body 32b that is formed integrally with the lower casing and projects from the upper surface of the lower casing 32 is provided, and the cylindrical body 32b is provided with a through hole 32c that guides the lower actuator rod 3 and is vertically movable. The cylindrical body 32b is rotatably supported by a ball bearing 34 as a bearing. The upper casing 31 encloses the upper part of the actuator rod 1, the electromagnet support ring 6, the cylindrical body 32b, etc., and the outer ring 34a of the ball bearing 34 is inserted into the support plate 35 and is held by the outer ring retainer 37. The lower actuator rod 3 is attached to the inner ring 34b of the ball bearing 34. Further, a reduction gear 40 as a reduction gear is provided above the cylindrical body 32b, and a large gear of the reduction gear is provided.
A collar 38 inserted between 41 and the inner ring 34b is tightened by a bolt 39a (see FIG. 3) via a ring 39 to fix the reduction gear 40 and the inner ring 34b to the cylindrical body 32b. A drive device 44 mounted on the upper casing and equipped with an electric motor is connected to a large gear 41 of the reduction gear 40 via a gear 42. Note that
The A / D converter 45 is connected to the large gear 41 via the gear 43.

Reference numeral 46 denotes a sensing axis, which suspends the gripping device 20 and descends, and when it reaches the reactor fuel, moves upward to detect that the gripping device is in a position where the claw can be opened and closed and sends a signal.

The upper limit of the actuator rod 1 is determined by the shoulder 2b of the upper actuator rod 2 contacting the shoulder 6a of the electromagnet support ring 6, and the lower limit of the lower limit is the step surface 2c of the upper actuator rod 2. It is determined by contacting the support plate 36 of the casing 31. Incidentally, the limit switch of the actuator rod 1 is actuated along the head 2a of the upper actuator rod 1 as in the prior art, and the upper limit switch 38 and the lower limit switch 39 (see FIG. 2) are provided. There is.

Limit switches 38, 39, drive unit 44 A / D converter 45,
The lead wires of the sensing shaft 46 and the like pass through the inside and are connected to the outside via lead wires 7.

With such a structure, the gripping device 20 is inserted into the gripping portion of the reactor fuel as described in the section of the prior art, the claw 16 is opened by the actuator rod 1, and the reactor fuel is grasped and lifted. Transfer to the position. In this case, when it is necessary to rotate the reactor fuel around its axis to change its direction due to the request of the next step, the driving device 44 is driven to reduce the speed by the reduction gear 40, and the lower casing 32 provided with the cylindrical body 32b. Through the ball bearing 34 to the lower actuator rod 3
Rotate around to change direction. At this time, A / D converter 4
The angle can be detected by 5 and the drive unit 44 can be stopped at a predetermined angle to change the direction to the direction required by the next process. In this state, the gripping device 20 is hung, the reactor fuel is placed at a predetermined position, the claw 16 is closed, and the gripping device 20 is lifted, whereby the reactor fuel is angled in the direction required for the next process. It is held and placed and can be passed to the next process.

In this example, the reactor fuel was handled, but the present invention is not limited to this.For example, by providing a grip part in a case for storing radioactive waste, which is inaccessible to workers due to its radioactive nature, The invention can be applied.

〔The invention's effect〕

As is apparent from the above description, according to the present invention, the lower casing of the gripping device having the pawls for gripping and releasing the reactor fuel and the like is provided, and the bearing and the drive device for rotating the lower casing are attached to the upper part of the gripping device. Since the lower casing is provided inside the casing so that the lower end surface of the upper casing and the peripheral portion of the upper end surface of the lower casing face each other with a gap, the lower casing is driven by the drive device by the claws of the gripping device. It is possible to rotate the reactor fuel and the like while holding them, so that the reactor fuel and the like can be transferred to a predetermined position by changing the direction to a predetermined angle according to the demand of the next process.

[Brief description of drawings]

1 is a sectional view of a reactor fuel gripping device according to an embodiment of the present invention, FIG. 2 is a sectional view taken along the line AA of FIG. 1, FIG. 3 is a sectional view taken along the line BB of FIG. 1, and FIG. FIG. 1 is a cross-sectional view of a conventional reactor fuel gripping device. 1: Actuator rod, 3a: Actuator head, 1
3: Casing, 16: Claw, 17: Pin, 31: Upper casing, 3
2: Lower casing, 32b: cylindrical body, 33: slit, 34: bearing, 40: reduction gear, 44: drive device.

Claims (1)

(57) [Claims] 1. An actuator rod comprising: an actuator rod having an actuator head provided in a cylindrical casing along an axis of the casing; and a lever-like claw pin-joined to a pin fixed to the casing. In a gripping device for rotating and opening and closing the claw at the pin joint portion by vertically moving the actuator rod by raising and lowering, and gripping and releasing the reactor fuel by inserting and detaching into and from the grip portion of the reactor fuel, A cylindrical upper casing that encloses the upper portion of the actuator rod, and a lower end surface of the upper casing that faces the same axis with a gap kept therebetween, and encloses the claw, the lower portion of the actuator rod, and the actuator head, and the upper casing. A slit is provided on the side wall that has the same diameter as A lower casing, and protrudes from the lower casing upward is formed integrally with said lower casing, and a cylindrical body having a through hole for guiding the actuator rod vertically mounted on the upper casing,
A reactor fuel gripping device comprising: a bearing that rotatably supports the cylindrical body; and a drive device that is attached to the upper casing and drives the cylindrical body via a speed reducer.