US3224615A

US3224615A - Crane device with an extensible gripper mechanism

Info

Publication number: US3224615A
Application number: US342864A
Authority: US
Inventors: Henriette J Henry
Original assignee: Individual
Current assignee: Individual
Priority date: 1964-02-03
Filing date: 1964-02-03
Publication date: 1965-12-21
Anticipated expiration: 1982-12-21

Description

J. E. HENRY Dec. 21, 1965 CRANE DEVICE WITH AN EXTINSIBLE GRIPPER MECHANISM Filed Feb. 5, 1964 2 Sheets-Sheet 1 Y, Deceased, HENRY, Administrotrix,

R m m m JAMES E. HENR By HENRIETTE J. BY

ATTORNEY J. E. HENRY Dec. 21, 1965 CRANE DEVICE WITH AN EXTINSIBLE GRIPPER MECHANISM Filed Feb. 5, 1964 2 Sheets-Sheet 2 INVENTOR. JAMES E. HENRY, Deceased, BV HENRIETTE J. HENRY, BY Administratrix, m 6. QM

ATTORNEY United States Patent Ofi ice 3,224,615 CRANE DEVECE WITH AN EXTENSIBLE GlRllPPER MECHANISM James E. Henry, deceased, late of Newark, Del., by Henriette J. Henry, administratrix, Newark, DeL, assignor to the United States of America as represented by the United States Atomic Energy Commission Filed Feb. 3, 1964, Ser. No. 342,864 15 Claims. (Cl. 214-658) This invention relates to an improved crane device and more particularly to an improved extensible crane device adapted to insert, remove, and transfer components within a confined space.

For the protection of personnel and the environment surrounding a nuclear reactor, contemporary reactor designs generally provide a containment shell enclosing and isolating the reactor pressure vessel with its associated accessories and components. Containment shells of several geometries are used, including spherical shape and cylindrical shape with hemispherical end closures, and due to the expense of building large containment shells, they are generally designed as small as practicable for efiicient reactor operation. The upper portion of a containment shell is usually allocated for storage and operation of reactor refueling machines, where the reactor is the top loading type, conventional cranes, and selected test and experimental equipment.

A. top loading reactor refueling machine usually consists of a vertically-mounted, mobile, shielded receptacle (referred to in the art as a coffin) within which is disposed an associated crane device for insertion, removal, and transfer of reactor components, particularly fuel elements and control rods. It is particularly important that such a cofiin, including the associated crane, requires as little headroom as practicable because of the limited space available for operation and storage of this equipment within the containment shell. Excessively large equipment requires larger, more expensive containment shells. Since the size of the refueling machine coffin generally depends upon the maximum length of reactor component to be removed or inserted, it is desirable to limit the overall length of the crane device, in storage position, to as close to the length of the longest component to be handled as possible. On the other hand, the crane gripper end must be capable of traveling a linear path almost two times the overall extended crane length to completely remove or insert a reactor component.

It is therefore, a general object of the present invention to provide an improved crane device capable of operation and storage within a limited or confined space.

It is an other object of this invention to provide a compact extensible crane device for the transfer of components within a limited space.

Another object of this invention is to provide an improved extensible crane device for inserting and removing the components of a nuclear reactor.

Still another object is to provide an improved extensible crane device of economical and maintenance free design.

The specific nature of the present invention, as well as other objects and advantages thereof, will become apparent from the following detailed description and claims, taken in conjunction with the accompanying drawings, in which:

FIG. 1 is a perspective partially cutaway view of the instant crane device mechanism showing details of the components of the carrier frame.

FIG. 2 is a schematic side view of the crane device of the invention in fully retracted position.

FIG. 3 is a schematic side view of the crane device of the invention in retracted or rest position.

3,224,615 Patented Dec. 21, 1965 FIG. 4 is a schematic side view of the same crane device in maximum extended position.

The present invention embodies a novel extensible crane device in which maximum progressive linear movement is provided by a mechanism comprising a unique combination of a closed loop chain drive and an extension rod rack and pinion drive operable from a single power source.

Referring now to a preferred embodiment of the crane device mechanism of the present invention illustrated in FIG. 1, a box-like housing or carrier frame 10 is positioned with its longitudinal axis generally vertical and is guided in a vertical path by a pair of guide bars 11, on each side of frame 10 (only one pair being shown) which are spaced to provide groove 40. Upper and lower pairs of

guide rollers

12 and 13, respectively, are rotatably mounted on opposite sides at the rear portion of carrier frame 10 in a position to operate within slot 40. Guide bars 11, are fixedly mounted in a vertical position within a mobile, shield coflin (not shown) previously mentioned.

An extension rod 14 is slidably disposed through

openings

15 and 16 in the upper and lower ends, respectively, of the carrier frame 10 and is adapted to reciprocate through the frame in a substantially linear vertical path. The extension rod 14, which is preferably hollow, is provided on one side with integral machined gear teeth to comprise rack 17 which extends substantially the length of the rod. A gripper device 18, attached to the lower end of extension rod 14, may be of a well known Wedgeactuated expandable-fingers type which is actuated remotely by an actuating rod 19 which extends upward concentrically within hollow extension rod 14. The gripping device 18 and the upper ends of the components which are to be manipulated are designed for cooperative engagement in a manner well known in the manipulating art. Therefore details of the gripper and actuator are not shown in this specification since they would be obvious to persons familiar with this art. Rack 17 meshes with pinion 20 afiixed to a horizontal pinion drive shaft 21, which is journalled near its ends in the side plates of carrier frame 10 as at 22. A pair of

drive sprockets

23 and 24 are rigidly attached to the respective ends of pinion drive shaft 21 which is disposed between a pair of

parallel idler shafts

25 and 26 also journalled near their ends as at 27 and 28 in carrier frame 10. Idler shafts 25 and 26 each have rigidly mounted on their ends a pair of idler sprockets 29-30 and 31-32, respectively. The three sprockets on each side of carrier 10 are afiixed in the same plane. Two parallel, closed loop drive chains 33 and 34 (see FIGS. 24), each of which is threaded around one of the drive sprockets on a path defined by the position of the idler sprockets, are mounted vertically with one run of each loop, in cooperation with guide bars 11, defining the travel of carrier frame 10. As can be seen from the drawings, each chain engages the teeth on all three sprockets passing over the front of the idler sprockets (as seen in FIG. 1), then between the idler sprockets and drive sprocket and around the rear of the drive sprocket. A horizontal carrier support bar 35 extends between and is fixedly connected at its ends to the drive chains. Bar 35 is adapted to engage the lower end of carrier frame 10 and lift the carrier when in the engaged position on an upward run of the drive chain. Stop bar 36 is aifixed to the coffin frame to limit the downward movement of carrier 10 and support it in the lowermost position.

The operation of the device is readily seen from FIGS. 2, 3 and 4 which show schematically the run of the closed

loop drive chains

33 and 34 in relation to the three principal operating positions has been given a separate arbitrary designation; viz., FIG. 2, fully retracted position; FIG. 3, normal retracted or rest position; and FIG. 4, maximum extended position. Numerical designations are the same for each component throughout the figures .which are left side views of FIG. 1 with certain parts omitted for simplification. Each closed loop drive chain is mounted between pairs of upper and

lower sprockets

37 and 38, respectively, mounted on horizontal shafts with either one serving as the chain drive sprocket. In the preferred embodiment, the upper sprocket serves as the chain drive and is connected to a reversible motor (not shown) through a reducer drive and over-running clutch (not shown) which provides positive upward movement, but slips on downward movement should the carrier frame or gripper 18 encounter an obstacle. Carrier and ending with the fully retracted position shown in FIG. 2. Rotating upper sprocket 37 in a counterclockwise direction drives the loop drive chain 33 thereby mov ing the chain run with the carrier support bar 35 and carrier frame 10 in a downward direction. From this position, the carrier frame 10 and extension rod 14 move as a unit, i.e., with no relative movement between them, since the carrier is wholly supported by bar 35 and there is nothing to rotate sprocket 23, until the downward movement of the carrier frame 10 is arrested by carrier stop 36, as shown in FIG. 3. It should be noted that from the position of FIG. 2 to the retracted position of FIG. 3, there is no relative movement between the carrier frame 10 and the adjacent portion of the closed loop drive chain 33.

From the retracted position shown in FIG. 3, with the carrier frame 10 stationary and supported by stop bar 36, continuing rotation of the upper sprocket 37 drives the loop drive chain through the carrier 10 thereby rotating the pinion drive sprocket 23 (FIG. 1) which in turn rotates pinion 20 which drives rack 17 and extension rod 14 downward to the maximum extended position shown in FIG. 4. The latter position is the usual one where the gripper is actuated. For example, as used in servicing a nuclear reactor core, the gripper device 18, automatically latches onto the fuel element or other component to be removed from the reactor. If a component is being inserted, rather than removed, the gripper device 18, upon reaching the desired position within the reactor, is actuated remotely by means of actuating rod 19, shown in FIG. 1, to release the component from the gripper.

At the position Where the carrier frame 10 reaches a stationary position in contact with carrier stop 36, the continued movement of the loop drive chain carries support bar 35 with it to disengage it from the carrier frame 10, around lower sprocket 38 and onto the chain run opposite the carrier frame 10. Support bar 35 is attached to the

chains

33 and 34 in some convenient manner to avoid interfering with the engagement of the chains with the sprockets.

From the lowest point of travel or maximum extended position represented in FIG. 4, the rotational direction of the upper sprocket 37 is reversed to reverse the direction of the drive chain 33, which in turn reverses the direction of linear movement of the extension rod 14, by the rack and pinion action, to withdraw the gripped component from within the reactor. The weight of the carrier assembly holds the carrier stationary against stop 36 while the chain rotates sprocket 23 which in turn rotates pinion 20 to drive rod 14 upward. When the chain reaches a position where the supportbar 35 re-engages the carrier frame 10 (FIG. 3), the relative movement be-, tween the extension rod 14 and the carrier frame 1t) ceases and the frame and extension rod move upward as a unit to the fully retracted position of FIG. 2 for the complete cycle. Y

Thus, a reactor component may be withdrawn in its entirety from within the reactor core and into the shielded coffin" enclosing the extensible crane. After horizontal movement of the shielded coffin refueling machine over a transfer storage area within the reactor containment shell, the operational procedure of the crane is repeated for discharge of the reactor component. The process may be reversed for inserting components into the reactor. For storage purposes, the crane extension rod 14 is lowered into the shielded coffin to the retracted or rest position illustrated in FIG. 3, which provides a compact height approximately one-half the crane height in fully retracted position.

Although this invention is described in detail with reference to its preferred embodiment, it is contemplated that obvious modifications will occur to those skilled in the art and that such may be made without departing from the scope of this invention which is limited only as indicated by the appended claims.

What is claimed is:

1. An improved crane device which comprises:

(a) A carrier frame adapted to move reciprocally in a substantially linear path;

(b) at least one closed loop drive chain, one run of which defines the path of said carrier frame;

(c) a support bar member adapted to support said frame upon said run throughout said path without progressive relative motion between said frame and said run while supported thereon;

(d) an extension rod longitudinally disposed in said carrier frame in extensible recpirocatory relationship, said rod having a gripper device disposed at one extremity and a side of said rod defining an integral rack;

(e) a pinion means journalled in said frame, said pinion means being meshed with said rack;

(f) a drive sprocket in meshed relationship with said run of said drive chain and adapted to rotate said pinion means;

(g) a stop means, disposed at one extremity of said path, adapted to arrest the motion of said carrier frame therebeyond, thereby causing said pinion and said extension rod to respond to relative motion between said frame and proximate chain in said run by progressively extending said rod from said frame in the same direction as the motion of said proximate chain.

2. The improved crane device of claim 1 in which a means is provided to remotely actuate said gripper device.

3. The improved crane device of claim 1 wherein said carrier frame is provided with idler means adapted to define the path of said drive chain around said drive sprocket.

4. An improved crane device which comprises:

(d) an extension rod longitudinally disposed in said carrier frame in extensible reciprocatory relationship, said rod having a gripper device disposed at one extremity and a side of said rod defining an integral rack;

(e) a pinion drive shaft journalled in said carrier frame, said shaft having a pinion affixed thereto, said pinion being in meshed relationship with said rack;

(f) at least one drive sprocket mounted on said shaft in meshed relationship with said run of said drive chain and adapted to rotate said pinion drive shaft;

5. The improved crane device of claim 4 in which a means is provided to remotely actuate said gripper device.

6. The improved crane device of claim 4 wherein said carrier frame is provided with a pair of idler shafts journalled in said carrier frame, each of said idler shafts having at least one idler sprocket disposed in the same plane as said drive sprockets, said idler sprockets defining the path of said drive chain around said drive sprocket.

7. An improved lifting crane device which comprises:

(a) A rigid carrier frame adapted to move reciprocally in a substantially linear vertical path;

(b) at least one vertical standing closed loop drive chain, one vertical run of which defines the vertical path of said carrier frame;

(c) a support bar member adapted to support said frame upon said vertical run throughout said vertical path without progressive relative motion between said frame and said vertical run while supported thereon;

(d) a vertical extension rod longitudinally disposed in said carrier frame in extensible reciprocatory relationship, said rod having a gripper device disposed at its lower extremity, and a side of said rod defining an integral vertical rack;

(e) a pinion drive shaft journalled in said frame, said shaft having a pinion attached thereto, said pinion being in meshed relationship with said vertical rack;

(f) a drive sprocket mounted in meshed relationship with said vertical run of said drive chain and adapted to rotate said pinion drive shaft;

(g) a stop means, disposed obstructively at the lower extremity of said vertical path and adapted to arrest the downward motion of said carrier frame therebeyond, thereby causing said pinion and said extension rod to respond to relative motion between said frame and proximate chain in said vertical run by progressively extending said rod from said frame in the same direction as the motion of said proximate chain.

8. The improved crane device of claim 7 in which a means is provided to remotely actuate said gripper device.

9. The improved crane device of claim 7 wherein said carrier frame is provided with idler means adapted to define the path of said drive chain around said drive sprocket.

10. A manipulating device comprising:

(a) A movable carrier frame;

(b) elongated rod means extending through said carrier frame in slidable relationship therewith;

(c) pinion drive means rotatably mounted on said carrier frame engaging said elongated rod to reciprocate said rod upon rotation of said pinion;

(d) chain drive means adapted to rotate said pinion means;

(e) means on said chain drive means to cause said carrier frame to move with the chain;

(f) means to obstruct the movement of said carrier frame in one direction so that continued movement of said chain will reciprocate said rod;

(g) gripping means on one end of said rod adapted to engage an object to be manipulated and means for operating said gripping means.

11. The device of claim 10 wherein said pinion drive means is a gear and a gear rack integral with said rod is provided on one side and substantially the full length thereof.

12. The device of claim 10 wherein said chain drive means is a closed loop chain provided with drive means therefor.

13. The device of claim 10 wherein said means to move the carrier frame with the chain is a support bar member attached to the chain drive means in a manner to engage the carrier frame at a predetermined position in the cycle of operation.

14. The device of claim 13 wherein a guide means is provided for guiding said carrier frame in a predetermined line of travel and comprises guide bars fixedly mounted along said line of travel adapted to provide a guide slot on each side of said carrier frame and guide rollers mounted on each side of said carrier frame and adapted to operate within said slot.

15. The device of claim 13 wherein (a) said carrier frame and rod operate in a substantially vertical line of travel;

(b) said obstruction means is a fixed block member positioned to contact the lower end of said carrier frame at its lowermost position of travel;

(c) said chain drive means is a closed loop chain having its runs disposed substantially vertical;

((1) and said support bar is adapted to engage the lower end of said carrier frame to lift the carrier frame assembly when the rod has been elevated to its highest point relative to the carrier frame.

References Cited by the Examiner UNITED STATES PATENTS 1,896,063 2/1933 Bottini. 2,428,856 10/ 1947 Sinclair. 2,905,338 9/1959 Koch 214-1 GERALD M. FORLENZA, Primary Examiner.

Claims

10. A MANIPULATINGY DEVICE COMPRISING: (A) A MOVABLE CARRIER FRAME; (B) ELONGATED ROD MEANS EXTENDING THROUGH SAID CARRIER FRAME IN SLIDABLE RELATIONSHIP THEREWITH; (C) PINION DRIVE MEANS ROTATABLY MOUNTED ON SAID CARRIER FRAME ENGAGING SAID ELONGATED ROD TO RECIPROCATE SAID ROD UPON ROTATION OF SAID PINION; (D) CHAIN DRIVE MEANS ADAPTED TO ROTATE SAID PINION MEANS; (E) MEANS ON SAID CHAIN DRIVE MEANS TO CAUSE SAID CARRIER FRAME TO MOVE WITH THE CHAIN; (F) MEANS TO OBSTRUCT THE MOVEMENT OF SAID CARRIER FRAME IN ONE DIRECTION SO THAT CONTINUED MOVEMENT OF SAID CHAIN WILL RECIPROCATE SAID ROD; (G) GRIPPING MEANS ON ONE END OF SAID ROD ADAPTED TO ENGAGE AN OBJECT TO BE MANIPULATED AND MEANS FOR OPERATING SAID GRIPPING MEANS.