CN107243901A - A kind of pipeline jig and its gripping method applied to radiation environment remote maintaining - Google Patents
A kind of pipeline jig and its gripping method applied to radiation environment remote maintaining Download PDFInfo
- Publication number
- CN107243901A CN107243901A CN201710366238.XA CN201710366238A CN107243901A CN 107243901 A CN107243901 A CN 107243901A CN 201710366238 A CN201710366238 A CN 201710366238A CN 107243901 A CN107243901 A CN 107243901A
- Authority
- CN
- China
- Prior art keywords
- clamping jaw
- pipeline
- jaw
- drive cylinder
- long handle
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention discloses a kind of pipeline jig applied to radiation environment remote maintaining and its gripping method, the pipeline jig includes clamping jaw drive cylinder, jaw mount, left side clamping jaw, right side clamping jaw, clamping jaw drive block, left side drive link, right side drive link, hanging long handle, long handle hanger；The pipeline jig has the advantages that novel in structural design, and the pipeline gripping operation that can be effectively adapted under radiation environment.Pipeline gripping method is comprised the following steps that：A, clamping jaw drive cylinder connection source of the gas, crown block hook catch on long handle hanger；B, to lift by overhead traveling crane pipeline jig overall；C, movable jaw open；Pipeline jig is simultaneously moved in helium vessel and causes movable jaw to reach pipeline gripping scope by d, operation crown block；E, closure movable jaw and clamping pipe；F, the pipeline that pipeline jig is lifted by overhead traveling crane and clamped；G, open movable jaw and open and put down pipeline；Pipeline gripping method can be effectively applicable to pipeline gripping operation.
Description
Technical field
Radiation environment remote control is applied to the present invention relates to remote maintaining technical field under nuclear radiation environment, more particularly to one kind
The pipeline jig and its gripping method of maintenance.
Background technology
With China's economy, the development of technology and society, the research and application related to nuclear energy obtains fast development.In core
In terms of power station, China has built up the nuclear power station of the modernizations of many such as Qinshan nuclear power plant, Daya Gulf Ling'ao nuclear power plant, core in succession
Power technology level and scale progressively rank among the international rank of advanced units.The year two thousand twenty is expected, China fills newly-built 30 nuclear power stations
Machine capacity reaches 36,000,000 kilowatts.In terms of high-energy physics science apparatus, China has built up three big study of high energy physics dresses successively
Put-- BEPC, Lanzhou Heavy Ion Cyclotron and Hefei Synchrotron Radiation.
Radiate hot cell be one of most important supporting infrastructure of nuclear science device, be with radiativity part dismounting,
The important place of installation, test and nuke rubbish packing etc.；In radiation hot cell, along with substantial amounts of heat during particle reaction
Produce, that is, need to cool down by cooling device；It is used as the important component of above-mentioned cooling device, cooling pipe
Widely used in above-mentioned cooling device.Over time and radiation environment influence, cooling pipe and miscellaneous part are needed
Regularly update excision, and how the cooling pipe after cutting to be taken out from helium vessel be also remote maintaining major tasks.
The content of the invention
It is an object of the invention to provide a kind of pipeline jig applied to radiation environment remote maintaining, the pipeline jig knot
Structure is novel in design and can effectively realize pipeline gripping operation.
Another object of the present invention is to provide a kind of pipeline applied to radiation environment remote maintaining to grip method, the pipe
Gripping method in road can effectively realize the pipeline gripping operation under nuclear radiation environment.
To reach above-mentioned purpose, the present invention is achieved through the following technical solutions.
A kind of pipeline jig applied to radiation environment remote maintaining, includes clamping jaw drive cylinder and is installed in clamping jaw
The movable jaw of drive cylinder, movable jaw includes jaw mount and the synchronization for the cylinder body for being screwed on clamping jaw drive cylinder
Counteragent and left side clamping jaw, the right side clamping jaw positioned at left side clamping jaw right-hand member side, the piston of clamping jaw drive cylinder cooperated
Bar extension end is through jaw mount and extends to the front of jaw mount, the front of jaw mount can relatively before
Clamping jaw drive block is actively equiped with afterwards, clamping jaw drive block is connected with the piston rod extension end of clamping jaw drive cylinder, left side folder
The right part of pawl, the left part of right side clamping jaw are loaded on clamping jaw drive block by same pivot hinge；
Be equiped between the left part of left side clamping jaw and jaw mount left side drive link, the rearward end of left side drive link with
Jaw mount is hinged, and the leading section and the left part of left side clamping jaw of left side drive link are hinged；The right part of right side clamping jaw with
Right side drive link is equiped between jaw mount, rearward end and the jaw mount of right side drive link are hinged, and right side is driven
The leading section and the left part of right side clamping jaw of dynamic connecting rod are hinged；
The cylinder body of clamping jaw drive cylinder is screwed with hanging long handle, and the terminal part of hanging long handle is provided with long handle hanger.
Wherein, the piston rod of the hanging long handle and the clamping jaw drive cylinder is arranged in the same direction.
Wherein, the piston rod of the hanging long handle and the clamping jaw drive cylinder is arranged vertically.
A kind of pipeline applied to radiation environment remote maintaining grips method, includes following processing step, is specially：
A, clamping jaw drive cylinder is connected into source of the gas and the long handle hanger of hanging long handle is caught on by the suspension hook of overhead traveling crane；
B, operation crown block are simultaneously integrally risen pipeline jig by overhead traveling crane；
C, startup clamping jaw drive cylinder simultaneously pass through the piston rod pushing tow clamping jaw drive block facing forward of clamping jaw drive cylinder, clamping jaw drive block
Driving left side clamping jaw, right side clamping jaw act that movable jaw is opened；
Pipeline jig is simultaneously moved in helium vessel and causes movable jaw to reach pipeline gripping scope by d, operation crown block；
E, whne movable jaw reach pipeline gripping scope when, clamping jaw drive cylinder action and clamping jaw drive cylinder piston rod return
Contracting, the piston rod of retraction, which drives, to be moved after clamping jaw drive block and finally causes movable jaw closure, and now, left side clamping jaw is pressed from both sides with right side
Pawl, which matches to merge, clamps the pipeline of required gripping；
F, after pipeline clamping after, keep movable jaw closure and pipe of the operation crown block to lift pipeline jig upward He be clamped
Road；
Pipeline is transferred to designated area by g, operation crown block, and rear clip-claw drive cylinder is acted and so that movable jaw opens, with
The pipeline clamped is put down, gripping operation is finished.
Beneficial effects of the present invention are：A kind of pipeline jig applied to radiation environment remote maintaining of the present invention,
It includes clamping jaw drive cylinder, movable jaw, and movable jaw includes jaw mount, left side clamping jaw, right side clamping jaw, and clamping jaw is installed
The clamping jaw drive block that the installing of seat front is connected with the piston rod of clamping jaw drive cylinder, left and right side clamping jaw is cut with scissors by same pivot
Loaded on clamping jaw drive block；Installing left side drive link, right side clamping jaw right part between left side clamping jaw left part and jaw mount
The installing right side drive link between jaw mount；The cylinder body spiral shell dress hanging long handle of clamping jaw drive cylinder, hanging long handle end
Portion sets long handle hanger.By said structure design, the pipeline jig has the advantages that novel in structural design, and can be effectively
Operation is gripped suitable for the pipeline under radiation environment.
The another of the present invention has the beneficial effect that：A kind of pipeline applied to radiation environment remote maintaining of the present invention is pressed from both sides
Method is taken, it is comprised the following steps that：A, clamping jaw drive cylinder is connected into source of the gas and hanging length is caught on by the suspension hook of overhead traveling crane
The long handle hanger of handle；B, operation crown block are simultaneously integrally risen pipeline jig by overhead traveling crane；C, startup clamping jaw drive cylinder simultaneously pass through
The piston rod pushing tow clamping jaw drive block facing forward of clamping jaw drive cylinder, clamping jaw drive block driving left side clamping jaw, right side clamping jaw action with
So that movable jaw opens；Pipeline jig is simultaneously moved in helium vessel and causes movable jaw to reach pipeline folder by d, operation crown block
Take scope；E, whne movable jaw reach pipeline gripping scope when, clamping jaw drive cylinder action and clamping jaw drive cylinder piston rod
Retraction, the piston rod of retraction, which drives, to be moved after clamping jaw drive block and finally causes movable jaw closure, now, left side clamping jaw and right side
Clamping jaw, which matches to merge, clamps the pipeline of required gripping；F, after pipeline clamping after, keep movable jaw closure and operation crown block with
Pipeline jig and the pipeline clamped are lifted upward；Pipeline is transferred to designated area by g, operation crown block, and rear clip-claw driving gas
Cylinder is acted and so that movable jaw opens, and the pipeline clamped is put down, and gripping operation is finished.Set by above-mentioned processing step
Meter, pipeline gripping method can be effectively adapted to the pipeline gripping operation under combinational environment.
Brief description of the drawings
The present invention is further detailed below with accompanying drawing, but the embodiment in accompanying drawing is not constituted to this hair
Bright any limitation.
Fig. 1 is the structural representation of the pipeline jig of the present invention.
Fig. 2 is the structural representation at another visual angle of pipeline jig of the present invention.
Fig. 3 is the structural representation of the pipeline jig another embodiment of the present invention.
Include in Fig. 1 into Fig. 3：
1 --- clamping jaw drive cylinder 2 --- movable jaw
21 --- jaw mount 221 --- left side clamping jaws
222 --- right side clamping jaw 23 --- clamping jaw drive blocks
241 --- left side drive link 242 --- right side drive links
3 --- hanging long handle 31 --- long handle hangers.
Embodiment
With reference to specific embodiment, the present invention will be described.
As shown in Figure 1 to Figure 3, a kind of pipeline jig applied to radiation environment remote maintaining, includes clamping jaw driving gas
Cylinder 1 and the movable jaw 2 for being installed in clamping jaw drive cylinder 1, movable jaw 2 include the cylinder for being screwed on clamping jaw drive cylinder 1
Body jaw mount 21 and synchronous backward action and cooperate left side clamping jaw 221, positioned at the right-hand member side of left side clamping jaw 221
Right side clamping jaw 222, the piston rod extension end of clamping jaw drive cylinder 1 is through jaw mount 21 and extends to jaw mount
21 front, the front of jaw mount 21 can be equiped with clamping jaw drive block 23, clamping jaw drive block with respect to fore-aft travel
23 are connected with the piston rod extension end of clamping jaw drive cylinder 1, right part, the left part of right side clamping jaw 222 of left side clamping jaw 221
Clamping jaw drive block 23 is loaded on by same pivot hinge.
Further, left side drive link 241 is equiped between the left part of left side clamping jaw 221 and jaw mount 21,
The rearward end of left side drive link 241 is hinged with jaw mount 21, leading section and the left side clamping jaw of left side drive link 241
221 left part is hinged；Right side drive link 242 is equiped between the right part of right side clamping jaw 222 and jaw mount 21, it is right
The rearward end of side drive link 242 is hinged with jaw mount 21, leading section and the right side clamping jaw 222 of right side drive link 242
Left part be hinged.
Further, the cylinder body of clamping jaw drive cylinder 1 is screwed with hanging long handle 3, and the terminal part of hanging long handle 3 is provided with
Long handle hanger 31.
It need to be explained further, as depicted in figs. 1 and 2, the piston rod of hanging long handle 3 and clamping jaw drive cylinder 1 is arranged in the same direction,
For the pipeline jig of the mounting structure of hanging long handle 3, it is applied to longitudinal direction gripping pipeline, i.e. pipeline and is in horizontal positioned
Situation.In addition, as shown in figure 3, the piston rod of hanging long handle 3 and clamping jaw drive cylinder 1 is arranged vertically, for the hanging long handle
For the pipeline jig of 3 mounting structures, it is applied to the feelings that laterally gripping pipeline, i.e. pipeline is in vertical or oblique placement
Condition.
It should further be noted that for the pipeline jig of said structure form, it can use following pipeline gripping side
Method realizes pipeline jig operation, specifically, a kind of pipeline applied to radiation environment remote maintaining grips method, its feature exists
In, include following processing step, be specially：
A, the long handle hanger 31 that clamping jaw drive cylinder 1 is connected to source of the gas and hanging long handle 3 is caught on by the suspension hook of overhead traveling crane；
B, operation crown block are simultaneously integrally risen pipeline jig by overhead traveling crane；
C, startup clamping jaw drive cylinder 1 simultaneously pass through the piston rod pushing tow clamping jaw drive block 23 facing forward of clamping jaw drive cylinder 1, clamping jaw drive
The driving of motion block 23 left side clamping jaw 221, right side clamping jaw 222 are acted with so that movable jaw 2 opens；
D, operation crown block and by pipeline jig be moved in helium vessel and so that movable jaw 2 reach pipeline gripping scope；
E, whne movable jaw 2 reach pipeline gripping scope when, clamping jaw drive cylinder 1 act and clamping jaw drive cylinder 1 piston rod
Retraction, the piston rod of retraction, which drives, to be moved after clamping jaw drive block 23 and finally movable jaw 2 is closed, now, left side clamping jaw 221
Match with right side clamping jaw 222 and merge the pipeline clamping of required gripping；
F, after pipeline clamping after, keep movable jaw 2 closure and pipe of the operation crown block to lift pipeline jig upward He be clamped
Road；
Pipeline is transferred to designated area by g, operation crown block, and rear clip-claw drive cylinder 1 is acted and so that movable jaw 2 opens,
So that the pipeline clamped to be put down, gripping operation is finished.
Summary situation understands that, by said structure design, pipeline jig of the invention has novel in structural design
Advantage, and the pipeline gripping operation that can be effectively adapted in helium vessel.In addition, being designed by above-mentioned processing step, this hair
Bright pipeline gripping method can be effectively adapted to the pipeline gripping operation under nuclear radiation environment.
Above content is only presently preferred embodiments of the present invention, for one of ordinary skill in the art, according to the present invention's
Thought, will change in specific embodiments and applications, and this specification content should not be construed as to the present invention
Limitation.
Claims (4)
1. a kind of pipeline jig applied to radiation environment remote maintaining, it is characterised in that：Include clamping jaw drive cylinder（1）With
And it is installed in clamping jaw drive cylinder（1）Movable jaw（2）, movable jaw（2）Include and be screwed on clamping jaw drive cylinder（1）'s
The jaw mount of cylinder body（21）And synchronous backward action and the left side clamping jaw cooperated（221）, positioned at left side clamping jaw
（221）The right side clamping jaw of right-hand member side（222）, clamping jaw drive cylinder（1）Piston rod extension end pass through jaw mount（21）
And extend to jaw mount（21）Front, jaw mount（21）Front folder can be equiped with respect to fore-aft travel
Pawl drive block（23）, clamping jaw drive block（23）With clamping jaw drive cylinder（1）Piston rod extension end connection, left side clamping jaw
（221）Right part, right side clamping jaw（222）Left part by same pivot hinge be loaded on clamping jaw drive block（23）；
Left side clamping jaw（221）Left part and jaw mount（21）Between be equiped with left side drive link（241）, left side driving
Connecting rod（241）Rearward end and jaw mount（21）It is hinged, left side drive link（241）Leading section and left side clamping jaw
（221）Left part be hinged；Right side clamping jaw（222）Right part and jaw mount（21）Between be equiped with right side drive link
（242）, right side drive link（242）Rearward end and jaw mount（21）It is hinged, right side drive link（242）Leading section
With right side clamping jaw（222）Left part be hinged；
Clamping jaw drive cylinder（1）Cylinder body be screwed with hanging long handle（3）, hang long handle（3）Terminal part be provided with long handle hanger
（31）.
2. a kind of pipeline jig applied to radiation environment remote maintaining according to claim 1, it is characterised in that：It is described
Hang long handle（3）With the clamping jaw drive cylinder（1）Piston rod arrange in the same direction.
3. a kind of pipeline jig applied to radiation environment remote maintaining according to claim 1, it is characterised in that：It is described
Hang long handle（3）With the clamping jaw drive cylinder（1）Piston rod be arranged vertically.
4. a kind of pipeline applied to radiation environment remote maintaining grips method, it is characterised in that include following processing step,
Specially：
A, by clamping jaw drive cylinder（1）Connect source of the gas and hanging long handle is caught on by the suspension hook of overhead traveling crane（3）Long handle hanger（31）；
B, operation crown block are simultaneously integrally risen pipeline jig by overhead traveling crane；
C, startup clamping jaw drive cylinder（1）And pass through clamping jaw drive cylinder（1）Piston rod pushing tow clamping jaw drive block facing forward（23）,
Clamping jaw drive block（23）Driving left side clamping jaw（221）, right side clamping jaw（222）Act to cause movable jaw（2）Open；
Pipeline jig is simultaneously moved in helium vessel and causes movable jaw by d, operation crown block（2）Reach pipeline gripping scope；
E, treat movable jaw（2）When reaching pipeline gripping scope, clamping jaw drive cylinder（1）Action and clamping jaw drive cylinder（1）'s
Piston rod bounces back, and the piston rod of retraction drives clamping jaw drive block（23）Move afterwards and finally cause movable jaw（2）Closure, now,
Left side clamping jaw（221）With right side clamping jaw（222）Match to merge and clamp the pipeline of required gripping；
F, after pipeline clamping after, keep movable jaw（2）Close and operation crown block is upward to lift pipeline jig and be clamped
Pipeline；
Pipeline is transferred to designated area by g, operation crown block, and rear clip-claw drive cylinder（1）Act and cause movable jaw（2）
Open, the pipeline clamped is put down, gripping operation is finished.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710366238.XA CN107243901A (en) | 2017-05-23 | 2017-05-23 | A kind of pipeline jig and its gripping method applied to radiation environment remote maintaining |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710366238.XA CN107243901A (en) | 2017-05-23 | 2017-05-23 | A kind of pipeline jig and its gripping method applied to radiation environment remote maintaining |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107243901A true CN107243901A (en) | 2017-10-13 |
Family
ID=60016772
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710366238.XA Pending CN107243901A (en) | 2017-05-23 | 2017-05-23 | A kind of pipeline jig and its gripping method applied to radiation environment remote maintaining |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107243901A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110434887A (en) * | 2019-07-04 | 2019-11-12 | 深圳宇龙机器人科技有限公司 | Robot clamp |
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| US4576407A (en) * | 1985-01-23 | 1986-03-18 | General Motors Corporation | Robot hand for lifting apertured panel |
| JPS646120B2 (en) * | 1984-10-12 | 1989-02-02 | Hitachi Construction Machinery | |
| CN201224105Y (en) * | 2008-07-25 | 2009-04-22 | 王正刚 | Manipulator for cleaning garbage |
| CN104499972A (en) * | 2014-10-29 | 2015-04-08 | 东莞中子科学中心 | Maintenance device for moderator reflector plug-in mounted in underground helium container |
| JP2015217447A (en) * | 2014-05-14 | 2015-12-07 | 株式会社豊田自動織機 | Robot hand |
| CN205148333U (en) * | 2015-11-03 | 2016-04-13 | 安徽省安庆市金誉金属材料有限公司 | Hang manipulator that unloads aluminium foil briquetting |
| CN205310265U (en) * | 2016-01-04 | 2016-06-15 | 石家庄爱驰自动化设备有限公司 | Work piece unloading helping hand manipulator |
| CN105666463A (en) * | 2016-04-15 | 2016-06-15 | 东莞理工学院 | Tail end tool hand and gripper rapid disassembling and assembling system under nuclear radiation environment |
-
2017
- 2017-05-23 CN CN201710366238.XA patent/CN107243901A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS646120B2 (en) * | 1984-10-12 | 1989-02-02 | Hitachi Construction Machinery | |
| US4576407A (en) * | 1985-01-23 | 1986-03-18 | General Motors Corporation | Robot hand for lifting apertured panel |
| CN201224105Y (en) * | 2008-07-25 | 2009-04-22 | 王正刚 | Manipulator for cleaning garbage |
| JP2015217447A (en) * | 2014-05-14 | 2015-12-07 | 株式会社豊田自動織機 | Robot hand |
| CN104499972A (en) * | 2014-10-29 | 2015-04-08 | 东莞中子科学中心 | Maintenance device for moderator reflector plug-in mounted in underground helium container |
| CN205148333U (en) * | 2015-11-03 | 2016-04-13 | 安徽省安庆市金誉金属材料有限公司 | Hang manipulator that unloads aluminium foil briquetting |
| CN205310265U (en) * | 2016-01-04 | 2016-06-15 | 石家庄爱驰自动化设备有限公司 | Work piece unloading helping hand manipulator |
| CN105666463A (en) * | 2016-04-15 | 2016-06-15 | 东莞理工学院 | Tail end tool hand and gripper rapid disassembling and assembling system under nuclear radiation environment |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110434887A (en) * | 2019-07-04 | 2019-11-12 | 深圳宇龙机器人科技有限公司 | Robot clamp |
| CN110434887B (en) * | 2019-07-04 | 2021-08-13 | 深圳宇龙机器人科技有限公司 | Robot clamp |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171013 |
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| RJ01 | Rejection of invention patent application after publication |