CN107720654B - Double-cover grabbing device - Google Patents

Abstract

The invention relates to the field of hoisting operation, in particular to a double-cover grabbing device which is used for carrying out cover opening and cover closing operation on a double-layer container for placing radioactive waste, wherein the double-layer container comprises a packaging container and a shielding container wrapped outside the packaging container, a lower cover plate is arranged at the top opening of the packaging container, an upper cover plate is arranged at the top opening of the shielding container, and the upper cover plate is arranged above the lower cover plate; the double-cover grabbing device comprises an upper cover plate grabbing unit connected with the external lifting mechanism and a lower cover plate grabbing unit arranged at the bottom of the upper cover plate, and when the upper cover plate grabbing unit descends along with the external lifting mechanism to be connected with the upper cover plate, the upper cover plate grabbing unit can grab the upper cover plate and drive the lower cover plate grabbing unit to grab the lower cover plate and lift along with the external lifting mechanism; the upper cover plate grabbing unit can release the grabbed upper cover plate and drive the lower cover plate grabbing unit to release the grabbed lower cover plate, and the cover opening and closing operation of the double-layer container is completed.

Description

Double-cover grabbing device

Technical Field

The invention relates to the field of hoisting operation, in particular to a double-cover grabbing device.

Background

In the process of radioactive waste treatment in nuclear power plants, the condition that the waste needs to be transported in a factory after being received is often involved, and in the transportation process of the waste before being filled into a packaging container, fixed or solidified, radiation protection safety measures need to be considered, generally, the waste packaging container is filled into a shielding container, and before the waste is received and the container is capped, operators cannot approach the shielding container in order to avoid radiation injury, so that the capping operation is required to be realized by remote control. In the whole process of receiving waste from a double-layer container and finally finishing fixing or curing treatment, the two containers need to be subjected to uncovering and capping operations for a plurality of times, and the efficiency and reliability of uncovering and capping have great influence on the performance of the whole waste treatment process. At present, the application of the hoisting tool for the single cover plate in the waste treatment of the nuclear power station is mature, and if the hoisting tool for the single cover plate is adopted, the packaging container and the shielding container are separated and then are separately operated in sequence when the cover opening and the cover closing are operated, so that the operation process is complex, the related process equipment is more, and the overall treatment efficiency is relatively low.

Disclosure of Invention

Aiming at the requirements and the defects existing in the prior art, the invention aims to provide the double-cover grabbing device which is compact in structure, reliable in operation and high in efficiency, is suitable for grabbing the upper and lower double-layer cover plates of the double-layer container for placing the radioactive waste, and the grabbing and releasing operations of the upper and lower double-layer cover plates are synchronously completed.

In order to achieve the above purpose, the technical scheme adopted by the invention is that the double-cover grabbing device is used for carrying out uncovering and covering operation on a double-layer container for placing radioactive waste of a nuclear power station, the double-layer container comprises a packaging container for placing the radioactive waste and a shielding container wrapped outside the packaging container, a lower cover plate is arranged at the top opening of the packaging container, an upper cover plate is arranged at the top opening of the shielding container, and the upper cover plate is positioned above the lower cover plate; the double-cover grabbing device comprises an upper cover plate grabbing unit connected with an external lifting mechanism and a lower cover plate grabbing unit arranged at the bottom of the upper cover plate, wherein when the upper cover plate grabbing unit descends along with the external lifting mechanism to be connected with the upper cover plate, the upper cover plate grabbing unit can grab the upper cover plate and drive the lower cover plate grabbing unit to grab the lower cover plate and lift along with the external lifting mechanism; the upper cover plate grabbing unit can also release the grabbed upper cover plate and drive the lower cover plate grabbing unit to release the grabbed lower cover plate, so that the double-layer container can be uncapped and capped.

Further, the method comprises the steps of,

The upper cover plate grabbing unit comprises an assembling disc, a claw support, a guide sleeve and a claw operating piece which are nested together in sequence from outside to inside and are coaxial; wherein the upper end of the hook claw operating piece positioned at the center is connected with a reciprocating motion executing mechanism, and the lower end is connected with a push rod;

The rotary hook claw is arranged on the hook claw bracket, the rotary hook claw is in an L shape, and the upper end of the rotary hook claw upwards passes through the guide sleeve and the hook claw operating piece; the lower end of the rotary hook claw is a hook claw which is transversely arranged and is positioned below the assembly disc; the middle part of the upper end of the rotary hook claw is provided with a first hinge hole; at least 2 rotary hook claws are arranged uniformly along the circumferential direction of the axis of the hook claw bracket; a first vertical plane is arranged at one side of the upper end of the rotary hook claw, which faces the axis of the hook claw support, and a combined curved surface is arranged at one side of the upper end of the rotary hook claw, which is far away from the axis of the hook claw support;

the center of the top of the upper cover plate is provided with a hollow upper cover plate hanging ring protruding upwards;

The hook claw operating piece can reciprocate up and down along with the reciprocating motion executing mechanism and drive the push rod to reciprocate up and down, and the lower cover plate grabbing unit is driven to grab or release the lower cover plate through the up and down reciprocating rectilinear motion of the push rod;

the hook claw at the lower end of the rotary hook claw can be closed towards the axis of the assembly disc along with the downward movement of the hook claw operating piece, so that the edge of the lifting ring of the upper cover plate is grabbed;

The lower end of the rotary hook claw can move upwards along with the hook claw operating piece to be far away from the axis of the assembly disc, so that the edge of the lifting ring of the upper cover plate is released.

Further, the method comprises the steps of,

The assembly plate is connected with the external lifting mechanism, an opening is arranged in the center of the assembly plate, and the opening is used for installing the hook claw support.

Further, the method comprises the steps of,

The main body of the hook claw bracket is disc-shaped and is arranged in the opening in the center of the assembly disc;

A plurality of groups of claw connecting pieces are uniformly arranged on the lower surface of the main body of the claw bracket along the axial direction of the main body, each group of claw connecting pieces comprises a pair of parallel connecting legs, the bottom ends of the connecting legs extend downwards, and second hinge holes are formed in the bottom ends of the connecting legs;

The center position of the main body of the hook claw support is hollowed out and used for installing the guide sleeve, a step and a U-shaped groove are arranged on the edge of the hollowed-out center position, the step is used for fixing the guide sleeve, and the U-shaped groove is used for passing through the upper end of the rotary hook claw;

the number of the hook claw connecting pieces, the steps, the U-shaped grooves and the rotary hook claws are the same, and the positions of the hook claw connecting pieces, the steps, the U-shaped grooves and the rotary hook claws are in one-to-one correspondence;

The rotary hook claw is arranged at a gap between the two parallel connecting legs and is connected together through the first hinge hole and the second hinge hole, and the rotary hook claw can rotate by taking the hinge positions of the first hinge hole and the second hinge hole as shafts; the upper end of the rotary hook claw upwards penetrates through the U-shaped groove, a first vertical plane is arranged on one side, facing the central position of the hook claw support, of the rotary hook claw, and a combined curved surface is arranged on one side, far away from the central position of the hook claw support.

Further, the method comprises the steps of,

The guide sleeve is arranged at the hollowed-out central position of the hook claw support, a first through hole is formed in the center of the guide sleeve, and the first through hole is used for installing the hook claw operating piece;

The upper end of the guide sleeve is uniformly provided with a plurality of lugs along the axial line of the first through hole in the circumferential direction, the lugs are in one-to-one correspondence with the steps and are matched with each other in shape, the number of the lugs is consistent with that of the rotary hook claws, and a neutral position between every two lugs is in one-to-one correspondence with the U-shaped grooves on the hook claw support and jointly forms a rotation reserved space of the rotary hook claws;

The guide sleeve lower part is followed first through-hole axis circumference evenly is equipped with a plurality of vertically side plane, every the side plane is located two between the journal stirrup, and with collude claw connecting piece on the claw support one-to-one be equipped with the second through-hole on one of them side plane for set up guide structure, guide structure is used for preventing collude claw operating piece and take place circumferential rotation when the up-and-down motion in first through-hole.

Further, the method comprises the steps of,

The hook claw operation piece comprises a columnar lower rod piece, a plurality of groups of clamping ear components are uniformly arranged at the upper end of the lower rod piece along the axial line of the lower rod piece in the circumferential direction, and each group of clamping ear components comprises a pair of parallel U-shaped clamping ears; one end of the U-shaped clamping lug is arranged at the upper end of the lower rod piece, and the other end of the U-shaped clamping lug extends outwards along the horizontal direction and is provided with a third hinge hole; a roller is arranged between a pair of the third hinging holes of each group of the ear clamping assemblies; the clamping ear components and the rotary hook claws are the same in number and correspond to each other in position one by one; the upper end of the rotary hook claw upwards passes through a gap between the two U-shaped clamping lugs of the clamping lug assembly, and the cylindrical surface of the roller capable of rolling is always tangent to the combined curved surface of the rotary hook claw; a second vertical plane is arranged at a position between one ends of the two U-shaped clamping lugs of the clamping lug assembly, which are connected with the lower rod piece, and corresponds to the first vertical plane on the rotary hook claw, and a staggered area capable of being meshed with each other is arranged at the upper end of the first vertical plane and the lower end of the second vertical plane; the staggered area is used for preventing the rotary hook claw from anticlockwise rotating and disengaging due to unexpected reasons when the rotary hook claw grabs the hanging ring of the upper cover plate;

The lower rod piece is arranged in the first through hole in the center of the guide sleeve and can do up-and-down reciprocating linear motion in the first through hole under the drive of the reciprocating motion executing mechanism; a guide groove is formed in one side of the lower rod piece along the axial direction, and the guide structure extends into the guide groove through the through hole in the guide sleeve, so that the claw operating piece is prevented from rotating circumferentially when moving up and down in the first through hole;

The reciprocating motion actuating mechanism is arranged above the hook claw operating piece through a support, and the upper end of the lower rod piece is connected with the output end of the reciprocating motion actuating mechanism; the support is of a cylindrical structure, and the upper end parts of the hook claw operating pieces are distributed in the support; the outer wall of the support is uniformly provided with groove-shaped holes, the groove-shaped holes are in one-to-one correspondence with the clamping ear assemblies of the hook claw operating piece and are used for providing a reserved space for the up-and-down movement of the two U-shaped clamping ears of the clamping ear assemblies and the rotation of the upper ends of the rotary hook claws;

When the hook claw operating piece moves downwards along with the reciprocating motion executing mechanism, the rotary hook claw rotates around the hinge positions of the first hinge hole and the second hinge hole by means of self gravity, so that the hook claw at the lower end of the rotary hook claw can be close to the axis of the lower rod piece along with the downward motion of the hook claw operating piece, and the edge of the lifting ring of the upper cover plate is grabbed; when the rotary hook claw is in a grabbing state on the edge of the upper cover plate hanging ring, the staggered area at the upper end of the first vertical plane and the lower end of the second vertical plane is in an engaged state, so that the rotary hook claw can be prevented from accidentally releasing the upper cover plate hanging ring;

When the hook claw operating piece moves upwards along with the reciprocating motion executing mechanism, the hook claw at the lower end of the rotary hook claw can move upwards along with the hook claw operating piece and away from the axis of the lower rod piece, so that the edge of the hanging ring of the upper cover plate is released;

the lower end of the lower rod piece is connected with a push rod, and the push rod is used for downwards transmitting pressure provided by the reciprocating motion executing mechanism through the upper cover plate hanging ring.

Further, the method comprises the steps of,

The lower cover plate grabbing unit comprises an upper cover plate center combination through hole penetrating through the center of the upper cover plate; the upper cover plate center combined through hole is positioned below the push rod and is coaxial with the push rod;

The transmission assembly is arranged in the upper cover plate center combined through hole;

The telescopic claw hook component is arranged on the lower surface of the upper cover plate and provided with a plurality of telescopic claw hooks; at least 2 telescopic hook claws are uniformly arranged along the circumferential direction of the axis of the central combined through hole;

The center of the top of the lower cover plate is provided with a hollow lower cover plate hanging ring protruding upwards, the telescopic hook claw is positioned near the edge of the lower cover plate hanging ring, and when the transmission assembly transmits the downward pressure transmitted by the push rod to the telescopic hook claw assembly, the telescopic hook claw contracts inwards and grabs the lower cover plate hanging ring; when the push rod is lifted upwards, the transmission assembly moves upwards, the pressure on the telescopic claw hook assembly is released, the telescopic claw is extended outwards, and the lower cover plate hanging ring is released.

Further, the method comprises the steps of,

The upper cover plate center combined through hole comprises an upper section cylindrical hole, a middle section cylindrical hole and a lower section conical hole which are sequentially connected from top to bottom and are coaxial, the diameter of the upper section cylindrical hole is larger than that of the middle section cylindrical hole, one small-caliber end of the lower section conical hole is connected with the lower end of the middle section cylindrical hole, and one large-caliber end of the lower section conical hole is positioned in the center of the lower surface of the lower cover plate; the junction of upper segment cylinder hole, middle section cylinder hole is the step shape.

Further, the method comprises the steps of,

The transmission assembly comprises a connecting rod penetrating through the upper section cylindrical hole and the middle section cylindrical hole, a conical gland arranged at the bottom end of the connecting rod and positioned in the lower section conical hole, a vertical spring sleeved on the periphery of the connecting rod, and a bushing arranged on the step between the upper section cylindrical hole and the middle section cylindrical hole;

The main body part of the connecting rod is a cylinder, the diameter of the upper end of the main body part is smaller than the diameter of the upper section cylinder hole and larger than the diameter of the middle section cylinder hole, and the diameter of the main body part of the connecting rod is smaller than the diameter of the middle section cylinder hole;

The diameter of the vertical spring is smaller than that of the upper section cylindrical hole and larger than that of the middle section cylindrical hole, and the vertical spring is sleeved on the periphery of the main body part of the connecting rod; the vertical spring is always in a compressed state, and the provided elastic force is larger than the sum of dead weights of the connecting rod and the conical gland;

An opening is formed in the middle of the bushing, the main body part of the connecting rod can be allowed to pass through the opening, and the bushing is arranged between the vertical spring and the step;

the conical gland is of a hollow conical cylinder structure, one end with small caliber is connected with the lower end of the connecting rod, and the outer conical surface of the conical gland is matched with the inner conical surface of the conical hole at the lower section

When the lower end of the push rod is pressed downwards to the upper end of the connecting rod, the conical gland moves downwards along with the connecting rod, and when the push rod moves upwards, the connecting rod and the conical gland move upwards under the action of the vertical spring.

Further, the method comprises the steps of,

The telescopic claw hook component comprises a claw hook support arranged in the center of the lower surface of the upper cover plate, and the telescopic claw hook penetrating through the claw hook support; the hook claw support is of a hollow cylinder structure, the lower end of the hook claw support is closed, and the upper end opening of the hook claw support is connected to the lower surface of the upper cover plate;

A center fixing block is arranged in the center of the upper surface of the round plane at the lower end of the hook claw support, the center fixing block is cylindrical and coaxial with the round plane at the lower end of the hook claw support, a plurality of mounting planes are uniformly arranged on the periphery of the side surface of the center fixing block, square grooves are formed along the normal direction of the mounting planes, and an inner bushing with a through hole is arranged on the mounting planes;

The inner side of the peripheral column shell on the side surface of the hook claw support is provided with openings which are in one-to-one correspondence with the mounting planes; a third through hole is formed in the middle of the opening along the radial direction of the peripheral column shell, an outer lining with the through holes is arranged on the opening, and the third through holes are in one-to-one correspondence with the square grooves;

The main body of the telescopic hook claw is columnar and parallel to the lower surface of the upper cover plate, one end of the telescopic hook claw penetrates through the inner bushing, the mounting plane and the square groove to be close to the axis of the central fixed block, and a cone valve is arranged at the top end of the telescopic hook claw; the other end of the hook penetrates through the outer bushing, the opening and the third through hole to extend out of the peripheral column casing, and the top end of the hook is provided with a hook claw;

the cross sections of the through hole on the outer bushing and the main body part of the telescopic hook claw penetrating through the through hole are of mutually adaptive oblong shapes, so that the telescopic hook claw can be prevented from rotating circumferentially around the axis of the main body of the telescopic hook claw in the telescopic process;

a spring pressing sleeve is fixedly arranged on the columnar main body of the telescopic hook claw between the inner bushing and the outer bushing, a horizontal spring is sleeved on the columnar main body of the telescopic hook claw between the inner bushing and the spring pressing sleeve, and the horizontal spring is always in a compressed state, so that one end of the hook claw of the telescopic hook claw is outwards ejected and is in a released state;

Three positioning shaft shoulders are arranged on each telescopic hook claw, the first positioning shaft shoulder is used for being connected and positioned with the cone valve, the second positioning shaft shoulder is used for propping up the end face of the spring pressing sleeve, which is close to one end of the outer lining sleeve, and the third positioning shaft shoulder is used for limiting the limiting position when the telescopic hook claws shrink towards the center;

The cone valve is positioned below the conical gland of the transmission assembly, and the outer surface of the cone valve is matched with the inner conical surface of the conical gland; the cone valve width is smaller than the width of the square groove, and the cone valve can slide in the square groove along with the expansion of the expansion hook claw; when the conical gland is not pressed down and is not contacted with the conical petals, all the telescopic hook claws are outwards ejected under the action of the horizontal spring and are in a release state; when the conical gland is pressed down and contacted with the conical petals, under the combined action of the conical petals and the conical gland, the heights of all the conical petals are continuously reduced along with the pressing down of the conical gland, and the conical petals are gradually folded towards the center of the center fixing block, so that the telescopic hook claw overcomes the acting force of the horizontal spring and is folded towards the center of the center fixing block, and the telescopic hook claw is used for grabbing the hanging ring of the lower cover plate; on the contrary, when the conical pressure cover rises and is separated from contact with the conical valve, under the combined action of the conical valve and the conical pressure cover, all the conical valve continuously rises along with the conical pressure cover and gradually diffuses outwards from the center of the center fixing block under the acting force of the horizontal spring, so that the telescopic hook claw diffuses outwards from the center of the center fixing block, and the release of the telescopic hook claw to the lifting ring of the lower cover plate is realized.

The invention has the beneficial effects that:

1. The operation of grabbing and releasing the upper cover plate and the lower cover plate synchronously is realized, and the operation of uncovering and covering the inner container and the outer container can be efficiently completed;

2. The structure is compact and reliable.

Drawings

FIG. 1 is a schematic view of the double-cap gripper according to an embodiment of the present invention;

FIG. 2 is a cross-sectional view of the dual cap grasping device according to the embodiment of the invention;

FIG. 3 is a schematic view of a rotary hook according to an embodiment of the present invention;

FIG. 4 is a cross-sectional view of the upper deck lid center combined through hole in an embodiment of the present invention;

FIG. 5 is a schematic view of the hook claw operation member according to the embodiment of the present invention;

FIG. 6 is a schematic view of the hook support according to the embodiment of the present invention;

FIG. 7 is a schematic view of the guide sleeve according to an embodiment of the present invention;

FIG. 8 is a schematic view of the telescoping pawl assembly according to an embodiment of the present invention;

FIG. 9 is a schematic view of the telescoping pawl in accordance with an embodiment of the present invention;

In the figure: the device comprises a 1-assembled disc, a 2-rotary hook claw, a 2 a-combined curved surface, a 2 b-first hinge hole, a 2 c-first vertical plane, a 3-upper cover plate hanging ring, a 4-upper cover plate, a 4 a-upper section cylindrical hole, a 4 b-middle section cylindrical hole, a 4 c-lower section conical hole, a 5-hook claw operating piece, a 5 a-U-shaped clamping lug, a 5 b-lower rod piece, a 5 c-second vertical plane, a 5 d-guide groove, a 5 e-third hinge hole, a 6-support, a 7-reciprocating actuator, an 8-roller, a 9-connecting rod, a 10-vertical spring, a 11-bushing, a 12-telescopic hook claw, a 12 a-first positioning shaft shoulder, a 12 b-second positioning shaft shoulder, a 12 c-third positioning shaft shoulder, a 13-outer bushing, a 14-spring pressing sleeve, a 15-horizontal spring, a 16-inner bushing, a 17-conical lug, a 18-conical gland, a 19-hook claw support, a 19 a-peripheral column shell, a 19 b-center fixed block, a 19 c-mounting plane, a 19 d-mounting plane, a 19 e-23 e-lower flange, a 23 b-24-side support, a 23 b-24-lower flange, a 23 b-side support, a 23-lower flange, a 23-side support, a 23 b-side support, a 24-lower flange, a 23-side support, a 23 b-side hinge hole, a 24-side support, a 23 b-lower flange, a 23-side support, a 23b, a side hinge hole, a side support, a 23b side, a side upper support, and a side support.

Detailed Description

The invention is further described below with reference to the drawings and examples.

As shown in fig. 1 and 2, the double-cover gripping device is used for opening and closing a double-layer container for placing radioactive waste of a nuclear power station, wherein the double-layer container comprises a packaging container for placing the radioactive waste and a shielding container wrapped outside the packaging container, a lower cover plate 21 is arranged at the top opening of the packaging container, an upper cover plate 4 is arranged at the top opening of the shielding container, and the upper cover plate 4 is positioned above the lower cover plate 21 and is coaxial with the lower cover plate 21; the double-cover grabbing device comprises an upper cover plate grabbing unit connected with an external lifting mechanism and a lower cover plate grabbing unit arranged at the bottom of the upper cover plate 4, wherein when the upper cover plate grabbing unit descends to be connected with the upper cover plate 4 along with the external lifting mechanism, the upper cover plate grabbing unit can grab the upper cover plate 4 and drive the lower cover plate grabbing unit to grab the lower cover plate 21 and lift along with the external lifting mechanism (that is to say, the up-and-down movement of the double-cover grabbing device is controlled by the lifting mechanism which is close to the outside); the upper cover plate grabbing unit can also release the grabbed upper cover plate 4 and drive the lower cover plate grabbing unit to release the grabbed lower cover plate 21, so that the cover opening and closing operation of the double-layer container is completed.

As shown in fig. 1 and 2, the upper cover plate grabbing unit comprises an assembling disc 1, a claw bracket 23, a guide sleeve 24 and a claw operating piece 5 which are nested together from outside to inside and are coaxial; wherein the upper end of the hook claw operation piece 5 positioned at the center is connected with the reciprocating motion executing mechanism 7, and the lower end is connected with the push rod 22;

The rotary hook claw 2 is arranged on the hook claw bracket 23 (as shown in figure 3), the rotary hook claw 2 is L-shaped, and the upper end of the rotary hook claw 2 upwards passes through the guide sleeve 24 and the hook claw operating piece 5; the lower end of the rotary hook claw 2 is a hook claw which is transversely arranged and is positioned below the assembly disc 1; the middle part of the upper end of the rotary hook claw 2 is provided with a first hinge hole 2b; at least 2 rotary hooks 2 are uniformly arranged along the circumferential direction of the axis of the hook bracket 23; a first vertical plane 2c is arranged at one side of the upper end of the rotary hook claw 2, which faces the axis of the hook claw bracket 23, and a combined curved surface 2a is arranged at one side of the upper end of the rotary hook claw away from the axis of the hook claw bracket 23;

the center of the top of the upper cover plate 4 is provided with a hollow upper cover plate hanging ring 3 protruding upwards;

The hook claw operating piece 5 can reciprocate up and down along with the reciprocating actuating mechanism 7 and drive the push rod 22 to reciprocate up and down, and the lower cover plate grabbing unit is driven to grab or release the lower cover plate 21 through the up and down reciprocating rectilinear motion of the push rod 22;

the lower end of the rotary hook claw 2 can be closed (contracted towards the center) towards the axis of the assembly disc 1 along with the downward movement of the hook claw operation piece 5, so that the edge of the upper cover plate hanging ring 3 is grabbed (hooked);

The lower end of the rotary hook 2 can move away from the axis of the assembly tray 1 (open outwards) along with the upward movement of the hook operating member 5, so that the edge of the upper cover plate hanging ring 3 is released.

The assembly plate 1 (shown in fig. 1 and 2) is connected with an external lifting mechanism, and an opening is arranged in the center of the assembly plate 1 and used for installing a hook claw bracket 23.

The main body of the claw bracket 23 (shown in fig. 6) is disc-shaped and is arranged in an opening in the center of the assembly disc 1;

A plurality of groups of claw connecting pieces are uniformly arranged on the lower surface of the main body of the claw bracket 23 along the axial line circumferential direction of the main body, each group of claw connecting pieces comprises a pair of parallel connecting legs 23a, the bottom ends of the connecting legs 23a extend downwards, and second hinge holes 23b are formed;

the central position of the main body of the hook claw bracket 23 is hollowed out and used for installing a guide sleeve 24, a step 23c and a U-shaped groove 23d are arranged at the edge of the central position of the hollowed out part, the step 23c is used for fixing the guide sleeve 24, and the U-shaped groove 23d is used for rotating the upper end of the hook claw 2;

the number of the hook claw connecting pieces, the steps 23c and the U-shaped grooves 23d is the same as that of the rotary hook claws 2, and the positions are in one-to-one correspondence;

Each rotary hook 2 is arranged at a gap between two parallel connecting legs 23a (of a group of the hook connecting pieces), and is connected with the connecting legs 23a through a first hinge hole 2b and a second hinge hole 23b, and the rotary hook 2 can rotate by taking the hinge positions of the first hinge hole 2b and the second hinge hole 23b as shafts; the upper end of the rotary hook claw 2 passes through the U-shaped groove 23d upwards, a first vertical plane 2c is arranged on one side facing the central position of the hook claw bracket 23, and a combined curved surface 2a is arranged on one side far away from the central position of the hook claw bracket 23.

The guide sleeve 24 (as shown in fig. 7) is fixedly arranged at the hollowed-out center position of the claw bracket 23, a first through hole 24d is arranged at the center of the guide sleeve 24, and the first through hole 24d is used for installing the claw operating piece 5;

The guide sleeve 25 is made of copper materials, a plurality of lugs 25a are uniformly arranged at the upper end along the circumferential direction of the axis of the first through hole 25d, the lugs 25a are in one-to-one correspondence with the steps 23c and are matched with each other in shape, the number of the lugs 24a is consistent with that of the rotary hook claws 2, the neutral spaces between every two lugs 24a are in one-to-one correspondence with the U-shaped grooves 23d on the hook claw brackets 23, the upper ends of the rotary hook claws 2 upwards penetrate through neutral spaces between the two lugs 24a, and the neutral spaces between the two lugs 24a and the U-shaped grooves 23d jointly form a rotation reserved space of the rotary hook claws 2;

The lower part of the guide sleeve 24 is uniformly provided with a plurality of vertical side planes 24b along the circumferential direction of the axis of the first through hole 24d, each side plane 24b is positioned between two lugs 24a and corresponds to the claw connecting pieces on the claw support 23 one by one, one side plane 24b is provided with a second through hole 24c for arranging a guide structure, and the guide structure is used for preventing the claw operating piece 5 from circumferential rotation when moving up and down in the first through hole 24 d.

As shown in fig. 5, the claw operating member 5 includes a cylindrical lower rod member 5b, and a plurality of groups of ear clamping assemblies are uniformly arranged at the upper end of the lower rod member 5b along the axial line of the lower rod member 5b in the circumferential direction, and each group of ear clamping assemblies includes a pair of parallel U-shaped ear clamping members 5a; one end of the U-shaped clamping lug 5a is arranged at the upper end of the lower rod piece 5b, the other end of the U-shaped clamping lug extends outwards along the horizontal direction (namely, the direction perpendicular to the axis of the lower rod piece 5 b), and a third hinge hole 5e is formed; a roller 8 is arranged between a pair of third hinge holes 5e of each group of ear clamping assemblies; the number of the clamping ear components is the same as that of the rotary hook claws 2, and the positions are in one-to-one correspondence; the upper end of the rotary hook claw 2 upwards passes through a gap between two U-shaped clamping lugs 5a of the clamping lug assembly, and the rolling cylindrical surface of the roller 8 is always tangent with the combined curved surface 2a of the rotary hook claw 2; a second vertical plane 5c is arranged at a position between one end of the two U-shaped clamping lugs 5a of the clamping lug assembly, which is connected with the lower rod piece 5b, the second vertical plane 5c corresponds to the first vertical plane 2c on the rotary hook claw 2, and a staggered area capable of being meshed with each other is arranged at the upper end of the first vertical plane 2c and the lower end of the second vertical plane 5 c; the staggered area is used for preventing the rotary hook claw 2 from anticlockwise rotating and disengaging due to unexpected reasons when the upper cover plate hanging ring 3 is grabbed;

The lower rod piece 5b is arranged in the first through hole 24d in the center of the guide sleeve 24 and can do up-and-down reciprocating linear motion in the first through hole 24d under the drive of the reciprocating motion executing mechanism 7; a guide groove 5d is formed in one side of the lower rod piece 5b along the axial direction, and the guide structure extends into the guide groove 5d through a through hole 24c on the guide sleeve 24, so that the hook claw operation piece 5 is prevented from rotating circumferentially when moving up and down in the first through hole 24 d;

As shown in fig. 1 and 2, the reciprocating actuator 7 is disposed above the claw operating member 5 through a support 6, the support 6 is fixedly disposed on the upper surface of the claw support 23, and the upper end (via a connection structure) of the lower rod 5b is connected to the output end of the reciprocating actuator 7; the support 6 is of a cylindrical structure, and the upper end parts of the hook claw operating members 5 are distributed in the support; the outer wall of the support 6 is uniformly provided with groove-shaped holes, the groove-shaped holes are in one-to-one correspondence with the clamping ear assemblies of the hook claw operation piece 5, and are used for providing a reserved space for the up-and-down movement of two U-shaped clamping ears 5a of the clamping ear assemblies and the rotation of the upper end of the rotary hook claw 2;

When the hook claw operating member 5 moves downwards along with the reciprocating motion executing mechanism 7, the rotary hook claw 2 rotates around the hinge positions of the first hinge hole 2b and the second hinge hole 23b by virtue of the gravity action of the rotary hook claw, so that the hook claw at the lower end of the rotary hook claw 2 can be closed to the axis of the lower rod member 2b along with the downward motion of the hook claw operating member 5 (the axis of the lower rod member 2b is also the axis of the assembly disc 1 at the same time, namely, the hook claw is contracted towards the center), and the edge of the upper cover plate hanging ring 3 is grabbed (hooked); when the rotary hook claw 2 is in a grabbing state on the edge of the upper cover plate hanging ring 3, the staggered area of the upper end of the first vertical plane 2c and the lower end of the second vertical plane 5c is in a meshing state, so that the rotary hook claw 2 can be prevented from accidentally releasing the upper cover plate hanging ring 3;

When the hook claw operating member 5 moves upwards along with the reciprocating motion executing mechanism 7, the hook claw at the lower end of the rotary hook claw 2 can move upwards along with the hook claw operating member 5 and be far away from the axis of the lower rod member 5b (namely, the hook claw is outwards and upwards opened), so that the edge of the lifting ring 3 of the upper cover plate is released;

The lower end of the lower rod piece 5b is connected with a push rod 22 (the lower rod piece 5b and the push rod 22 are fixedly connected, and the push rod 22 is coaxial), and the push rod 22 is used for downwards transmitting the pressure provided by the reciprocating actuator 7 through the upper cover plate hanging ring 3. (in the present embodiment, the claw operation element 5 and the push rod 22 are separate connection elements, or may be integral parts in practice.)

As shown in fig. 1, 2, 4 and 8, the lower cover plate grabbing unit comprises an upper cover plate center combination through hole penetrating through the center of the upper cover plate 4; the upper cover plate center combined through hole is positioned below the push rod 22 and is coaxial with the push rod 22;

The transmission assembly is arranged in the combined through hole in the center of the upper cover plate;

The telescopic claw hook component is arranged on the lower surface of the upper cover plate 4 and provided with a plurality of telescopic claw hooks 12; at least 2 telescopic hook claws 12 are uniformly arranged along the circumferential direction of the axis of the central combined through hole;

The center of the top of the lower cover plate 21 is provided with a hollow lower cover plate hanging ring 20 protruding upwards, the telescopic hook claw 12 is positioned near the edge of the lower cover plate hanging ring 20, and when the transmission assembly transmits downward pressure transmitted by the push rod 22 to the telescopic hook claw assembly, the telescopic hook claw 12 contracts inwards and grabs the lower cover plate hanging ring 20; when the push rod 22 is lifted upwards and no pressure is applied, the transmission assembly moves upwards, the pressure on the telescopic claw hook assembly is released, the telescopic claw 12 extends outwards, and the (gripped) lower cover plate hanging ring 20 is released.

As shown in fig. 4, the central combined through hole of the upper cover plate comprises an upper section cylindrical hole 4a, a middle section cylindrical hole 4b and a lower section conical hole 4c which are connected in sequence from top to bottom and are coaxial, the diameter of the upper section cylindrical hole 4a is larger than that of the middle section cylindrical hole 4b, one small-caliber end of the lower section conical hole 4c is connected with the lower end of the middle section cylindrical hole 4b, and one large-caliber end of the lower section conical hole 4c is positioned in the center of the lower surface of the lower cover plate 21; the junction of the upper section cylinder hole 4a and the middle section cylinder hole 4b is in a step shape.

As shown in fig. 2, the transmission assembly comprises a connecting rod 9 penetrating through the upper section cylindrical hole 4a and the middle section cylindrical hole 4b, a conical gland 18 arranged at the bottom end of the connecting rod 9 and positioned in the lower section conical hole 4c, a vertical spring 10 sleeved on the periphery of the connecting rod 9, and a bushing 11 arranged on the step between the upper section cylindrical hole 4a and the middle section cylindrical hole 4 b;

The main body part of the connecting rod 9 is a cylinder, the diameter of the upper end is smaller than the diameter of the upper section cylinder hole 4a and larger than the diameter of the middle section cylinder hole 4b, and the diameter of the main body part (the part below the upper end) of the connecting rod 9 is smaller than the diameter of the middle section cylinder hole 4 b;

The diameter of the vertical spring 10 is smaller than that of the upper section cylindrical hole 4a and larger than that of the middle section cylindrical hole 4b, and is sleeved on the periphery of the main body part (the part below the upper end) of the connecting rod 9; the vertical spring 10 is always in a compressed state, and the provided elastic force is larger than the sum of the dead weights of the connecting rod 9 and the conical gland 18;

an opening is provided in the middle of the bush 11, which is capable of allowing the main body portion (the portion below the upper end) of the connecting rod 9 to pass through, and the bush 11 is provided between the vertical spring 10 and the step;

The conical gland 18 is of a hollow conical cylinder structure, one end with small caliber is connected with the lower end of the connecting rod 9, and the outer conical surface of the conical gland 18 is matched with the inner conical surface of the lower section conical hole 4c

When the lower end of the push rod 22 presses the upper end of the connecting rod 9 downwards, the conical gland 18 moves downwards along with the connecting rod 9, and when the push rod 22 moves upwards, the connecting rod 9 and the conical gland 18 move upwards under the action of the vertical spring 10.

As shown in fig. 8, the telescopic claw hook assembly includes a claw support 19 provided at the center of the lower surface of the upper cover plate 4, and a telescopic claw 12 penetrating the claw support 19; the hook claw support 19 is of a hollow cylinder structure, the lower end is closed, and the upper end opening is connected to the lower surface of the upper cover plate 4;

A central fixed block 19b is arranged in the center of the upper surface of the circular plane at the lower end of the hook claw support 19 (positioned in the hook claw support 19), the central fixed block 19b is cylindrical and coaxial with the circular plane at the lower end of the hook claw support 19, the height of the central fixed block 19b is lower than that of the peripheral column shell 19a, a plurality of mounting planes 19c are uniformly arranged on the periphery of the side surface of the central fixed block 19b, a square groove 19d is arranged along the normal direction of the mounting planes 19c, and an inner bushing 16 with a through hole is arranged on the mounting planes 19 c;

The inner side of the peripheral column shell 19a on the side surface of the hook claw support 19 is provided with openings 19e which are in one-to-one correspondence with the mounting planes 19c, and the openings 19e are uniformly arranged on the inner side of the peripheral column shell 19 a; the middle part of the notch 19e is provided with a third through hole along the radial direction of the peripheral column shell 19a, the notch 19e is provided with an outer liner 13 with through holes, and the third through holes are in one-to-one correspondence with the square grooves 19 d; the number of the mounting planes 19c, the square grooves 19d, the notches 19e, the outer bushing 13 and the inner bushing 16 is the same as that of the telescopic hook claws 12, the inner bushing 16 and the outer bushing 13 are made of copper materials, and a through hole in the center of the inner bushing 16 is circular.

The main body of the telescopic hook claw 12 is columnar, is parallel to the lower surface of the upper cover plate 4, one end of the telescopic hook claw penetrates through the axis of the inner bushing 16, the mounting plane 19c and the square groove 19d, which is close to the central fixed block 19b, and the top end of the telescopic hook claw is provided with a cone valve 17; the other end passes through the outer bushing 13, the notch 19e and the third through hole to extend out of the peripheral column shell 19a, and the top end is provided with a hook claw;

The cross sections of the through holes on the outer bushing 13 and the main body part of the telescopic hook claw 12 penetrating through the through holes are in mutually adaptive oblong shapes (oblong shapes means that the top end and the bottom end are arc-shaped and the two sides are flat), so that the telescopic hook claw 12 can be prevented from rotating circumferentially around the axis of the main body of the telescopic hook claw 12 in the telescopic process;

A spring pressing sleeve 14 is fixedly arranged on the columnar main body of the telescopic hook claw 12 between the inner bushing 16 and the outer bushing 13, a horizontal spring 15 is sleeved on the columnar main body of the telescopic hook claw 12 between the inner bushing 16 and the spring pressing sleeve 14, one end of the horizontal spring 15 is propped against the inner bushing 16, the other end is propped against the spring pressing sleeve 14, and the horizontal spring 15 is always in a compressed state, so that one end of the hook claw of the telescopic hook claw 12 is outwards propped out and is in a release state (of the lower cover plate hanging ring 20);

As shown in fig. 9, three positioning shoulders are provided on each telescopic hook claw 12, a first positioning shoulder 12a is used for connecting and positioning with a cone valve 17, a second positioning shoulder 12b is used for supporting the end face of the large end side of the spring pressing sleeve 14 (the end face of the large end side of the spring pressing sleeve 14 is the end face of the spring pressing sleeve 14 near one end of the outer bushing 13), and a third positioning shoulder 12c is used for limiting the limit position when the telescopic hook claws 12 shrink towards the center;

The cone valve 17 is positioned below the cone gland 18 of the transmission assembly, the outer surface of the cone valve 17 is adapted to the inner conical surface of the cone gland 18 (the cone valve 17 is of an L-shaped structure, the horizontal section is used for being connected with one end of the main body of the telescopic hook claw 12, the outer side of the vertical section is a conical surface, and the inner side of the vertical section is two intersecting planes; the width of the cone valve 17 is smaller than that of the square groove 19d, and the cone valve can slide in the square groove 19d along with the extension and retraction of the extension and retraction hook claw 12; when the conical gland 18 is not pressed down and is not contacted with the conical petals 17, all the telescopic hook claws 12 are outwards ejected under the action of the horizontal spring 15 and are in a release state; when the conical gland 18 is pressed down and contacted with the conical petals 17, under the combined action of the conical petals 17 and the conical gland 18, all the conical petals 17 are continuously reduced along with the downward pressure of the conical gland 18 and gradually folded towards the center of the center fixed block 19b, so that the telescopic hook claw 12 overcomes the acting force of the horizontal spring 15 and is folded towards the center of the center fixed block 19b, and the telescopic hook claw 12 grabs the lifting ring 20 of the lower cover plate; conversely, when the conical gland 18 rises and is separated from contact with the conical gland 17, under the combined action of the conical gland 17 and the conical gland 18, all conical petals 17 rise continuously along with the conical gland 18 and gradually spread out of the center fixing block 19b under the action force of the horizontal spring 15, so that the telescopic hook claw 12 spreads out of the center fixing block 19b, and the release of the telescopic hook claw 12 to the lower cover plate hanging ring 20 is realized.

Finally, practical application of the double-cover gripping device provided by the invention is illustrated.

Before the radioactive waste is received, the inner packaging container and the outer shielding container are in a sealing cover state, the double-cover grabbing device is connected to an outer lifting mechanism, and after the packaging container and the shielding container reach a cover opening station, the assembly disc 1 and the rotating hook claw 2 and other parts mounted on the assembly disc 1 descend along with the outer lifting mechanism, and the descending stop position is controlled by the outer lifting mechanism.

The output end of the reciprocating motion executing mechanism 7 is initially in a retracted state, the hook claw operating piece 5 and the push rod 22 are in a high position, the roller 8 is tangent with the upper part of the combined curved surface 2a on the rotary hook claw 2, and the rotary hook claw 2 is in an open state; under the action of the elastic force of the vertical spring 10, the connecting rod 9 and the conical gland 18 are positioned at a high position, and under the action of the elastic force of the horizontal spring 15, the telescopic hook claw 12 is positioned at an overhanging state, namely the telescopic hook claw 12 is opened.

After the assembly disc 1 and other parts mounted on the assembly disc are lowered into place along with an external lifting mechanism, the claw operating member 5 moves downwards along with the output end of the reciprocating motion actuating mechanism 7, the roller 8 is always tangent with the combined curved surface 2a of the rotary claw 2, and the claw at the lower end of the rotary claw 2 is driven to be close to the axis of the assembly disc 1 along with the downward motion of the claw operating member 5 (namely, the claw is contracted towards the center) until the grabbing of the hanging ring 3 on the upper cover plate 4 is completed; meanwhile, when the push rod 22 moves downwards, the elastic force of the vertical spring 10 is overcome, the downward pressing connecting rod 9 and the conical gland 18 move downwards, the thrust is transmitted through the contact conical surface between the conical gland 18 and the conical petals 17, the elastic force of the horizontal spring 15 is overcome, the conical petals 17 and the telescopic hook claw 12 shrink to the center, and the telescopic hook claw finishes grabbing the hanging ring 20 on the lower cover plate 21.

The grabbing processes of the telescopic hook claw 12 and the rotary hook claw 2 are completed simultaneously, after grabbing is completed, the fastening bolts of the lower cover plate are loosened through other automatic operation tools, the whole double-cover grabbing device and the grabbed two layers of cover plates can ascend along with an external lifting mechanism to complete the uncovering operation of two containers, the uncapped containers are transported to a waste receiving station to receive waste, after the packaging containers and shielding containers filled with the waste return to the uncovering and covering stations, the covering operation can be completed according to the opposite steps, and the uncovering and covering operations are realized under remote control.

The device according to the invention is not limited to the examples described in the specific embodiments, and a person skilled in the art obtains other embodiments according to the technical solution of the invention, which also belong to the technical innovation scope of the invention.

Claims (1)

1. A double-cover grabbing device is used for carrying out uncovering and covering operation on a double-layer container for placing radioactive waste of a nuclear power station, the double-layer container comprises a packaging container for placing the radioactive waste and a shielding container wrapped outside the packaging container, a lower cover plate (21) is arranged at the top opening of the packaging container, an upper cover plate (4) is arranged at the top opening of the shielding container, and the upper cover plate (4) is positioned above the lower cover plate (21); the method is characterized in that: the double-cover grabbing device comprises an upper cover plate grabbing unit connected with an external lifting mechanism and a lower cover plate grabbing unit arranged at the bottom of the upper cover plate (4), wherein when the upper cover plate grabbing unit descends to be connected with the upper cover plate (4) along with the external lifting mechanism, the upper cover plate grabbing unit can grab the upper cover plate (4) and drive the lower cover plate grabbing unit to grab the lower cover plate (21) and lift along with the external lifting mechanism; the upper cover plate grabbing unit can also release the grabbed upper cover plate (4) and drive the lower cover plate grabbing unit to release the grabbed lower cover plate (21), so that the double-layer container is uncapped and capped;

The upper cover plate grabbing unit comprises an assembling disc (1), a claw hook bracket (23), a guide sleeve (24) and a claw hook operation piece (5) which are nested together and are coaxial from outside to inside in sequence; wherein the upper end of the hook claw operating piece (5) positioned at the center is connected with a reciprocating motion executing mechanism (7), and the lower end is connected with a push rod (22);

The rotary hook claw is characterized by further comprising a rotary hook claw (2) arranged on the hook claw bracket (23), wherein the rotary hook claw (2) is in an L shape, and the upper end of the rotary hook claw (2) upwards penetrates through the guide sleeve (24) and the hook claw operating piece (5); the lower end of the rotary hook claw (2) is a hook claw which is transversely arranged and is positioned below the assembly disc (1); the middle part of the upper end of the rotary hook claw (2) is provided with a first hinge hole (2 b); at least 2 rotary hook claws (2) are uniformly arranged along the circumferential direction of the axis of the hook claw bracket (23); a first vertical plane (2 c) is arranged at one side of the upper end of the rotary hook claw (2) towards the axis of the hook claw bracket (23), and a combined curved surface (2 a) is arranged at one side of the upper end of the rotary hook claw away from the axis of the hook claw bracket (23);

The center of the top of the upper cover plate (4) is provided with a hollow upper cover plate hanging ring (3) protruding upwards;

The hook claw operating piece (5) can reciprocate up and down along with the reciprocating actuating mechanism (7) and drive the push rod (22) to reciprocate up and down, and the lower cover plate grabbing unit is driven to grab or release the lower cover plate (21) through the up and down reciprocating rectilinear motion of the push rod (22);

The hook claw at the lower end of the rotary hook claw (2) can be closed towards the axis of the assembly disc (1) along with the downward movement of the hook claw operation piece (5), so that the edge of the upper cover plate hanging ring (3) is grabbed;

the lower end of the rotary hook claw (2) can move upwards along with the hook claw operating piece (5) to be far away from the axis of the assembly disc (1), so that the edge of the upper cover plate hanging ring (3) is released;

The assembly disc (1) is connected with the external lifting mechanism, an opening is arranged in the center of the assembly disc (1), and the opening is used for installing the hook claw bracket (23);

The main body of the hook claw bracket (23) is disc-shaped and is arranged in the opening in the center of the assembly disc (1);

A plurality of groups of claw connecting pieces are uniformly arranged on the lower surface of the main body of the claw bracket (23) along the axial line of the main body in the circumferential direction, each group of claw connecting pieces comprises a pair of parallel connecting legs (23 a), the bottom ends of the connecting legs (23 a) extend downwards, and second hinge holes (23 b) are formed;

The center of the main body of the hook claw bracket (23) is hollowed out for installing the guide sleeve (24), a step (23 c) and a U-shaped groove (23 d) are arranged at the edge of the hollowed-out center, the step (23 c) is used for fixing the guide sleeve (24), and the U-shaped groove (23 d) is used for passing through the upper end of the rotary hook claw (2);

the number of the hook claw connecting pieces, the steps (23 c) and the U-shaped grooves (23 d) is the same as that of the rotary hook claws (2), and the positions of the hook claw connecting pieces, the steps (23 c) and the U-shaped grooves are in one-to-one correspondence;

The rotary hook claw (2) is arranged at a gap between the two parallel connecting legs (23 a) and is connected together through the first hinge holes (2 b) and the second hinge holes (23 b), and the rotary hook claw (2) can rotate by taking the hinge positions of the first hinge holes (2 b) and the second hinge holes (23 b) as shafts; the upper end of the rotary hook claw (2) upwards passes through the U-shaped groove (23 d), a first vertical plane (2 c) is arranged on one side of the rotary hook claw support (23) facing the center position, and a combined curved surface (2 a) is arranged on one side of the rotary hook claw support (23) away from the center position;

The guide sleeve (24) is arranged at the hollowed-out center position of the claw-hooking bracket (23), a first through hole (24 d) is formed in the center of the guide sleeve (24), and the first through hole (24 d) is used for installing the claw-hooking operation piece (5);

The upper end of the guide sleeve (24) is uniformly provided with a plurality of lugs (24 a) along the axial direction of the first through hole (24 d), the lugs (24 a) are in one-to-one correspondence with the steps (23 c) and are in modeling adaptation, the number of the lugs (24 a) is consistent with that of the rotary hook claws (2), and a neutral space between every two lugs (24 a) is in one-to-one correspondence with the U-shaped grooves (23 d) on the hook claw support (23) and jointly forms a rotation reserved space of the rotary hook claws (2);

The lower part of the guide sleeve (24) is uniformly provided with a plurality of vertical side planes (24 b) along the axial line of the first through hole (24 d), each side plane (24 b) is positioned between two supporting lugs (24 a) and corresponds to the claw connecting pieces on the claw supporting frame (23) one by one, one side plane (24 b) is provided with a second through hole (24 c) for arranging a guide structure, and the guide structure is used for preventing the claw operating piece (5) from rotating in the circumferential direction when moving up and down in the first through hole (24 d);

The hook claw operating piece (5) comprises a columnar lower rod piece (5 b), a plurality of groups of clamping ear components are uniformly arranged at the upper end of the lower rod piece (5 b) along the axial line circumference of the lower rod piece (5 b), and each group of clamping ear components comprises a pair of parallel U-shaped clamping ears (5 a); one end of the U-shaped clamping lug (5 a) is arranged at the upper end of the lower rod piece (5 b), and the other end of the U-shaped clamping lug extends outwards along the horizontal direction and is provided with a third hinge hole (5 e); a roller (8) is arranged between a pair of the third hinge holes (5 e) of each group of the ear clamping assemblies; the number of the clamping ear components is the same as that of the rotary hook claws (2), and the positions of the clamping ear components are in one-to-one correspondence; the upper end of the rotary hook claw (2) upwards passes through a gap between the two U-shaped clamping lugs (5 a) of the clamping lug assembly, and the rolling cylindrical surface of the roller (8) is always tangential with the combined curved surface (2 a) of the rotary hook claw (2); a second vertical plane (5 c) is arranged at a position between one ends of the U-shaped clamping lugs (5 a) and the lower rod piece (5 b) of the clamping lug assembly, the second vertical plane (5 c) corresponds to the first vertical plane (2 c) on the rotary hook claw (2), and a staggered area capable of being meshed with each other is arranged at the upper end of the first vertical plane (2 c) and the lower end of the second vertical plane (5 c); the staggered area is used for preventing the rotary hook claw (2) from rotating anticlockwise and being disconnected due to unexpected reasons when the upper cover plate hanging ring (3) is grabbed;

The lower rod piece (5 b) is arranged in the first through hole (24 d) in the center of the guide sleeve (24) and can do up-and-down reciprocating linear motion in the first through hole (24 d) under the drive of the reciprocating motion executing mechanism (7); a guide groove (5 d) is formed in one side of the lower rod piece (5 b) along the axial direction, and the guide structure extends into the guide groove (5 d) through the through hole (24 c) in the guide sleeve (24), so that the claw operating piece (5) is prevented from rotating circumferentially when moving up and down in the first through hole (24 d);

The reciprocating executing mechanism (7) is arranged above the claw operating piece (5) through a support (6), and the upper end of the lower rod piece (5 b) is connected with the output end of the reciprocating executing mechanism (7); the support (6) is of a cylindrical structure, and the upper end parts of the hook claw operating pieces (5) are distributed in the support; the outer wall of the support (6) is uniformly provided with groove-shaped holes, the groove-shaped holes are in one-to-one correspondence with the clamping ear assemblies of the hook claw operation piece (5) and are used for providing a reserved space for the up-and-down movement of the two U-shaped clamping ears (5 a) of the clamping ear assemblies and the rotation of the upper ends of the rotary hook claws (2);

When the hook claw operating piece (5) moves downwards along with the reciprocating motion executing mechanism (7), the rotary hook claw (2) rotates around the hinge positions of the first hinge hole (2 b) and the second hinge hole (23 b) as shafts under the action of self gravity, so that the hook claw at the lower end of the rotary hook claw (2) can be close to the axis of the lower rod piece (5 b) along with the downward motion of the hook claw operating piece (5), and the edge of the upper cover plate lifting ring (3) is grabbed; when the rotary hook claw (2) is in a grabbing state on the edge of the upper cover plate hanging ring (3), the upper end of the first vertical plane (2 c) and the staggered area at the lower end of the second vertical plane (5 c) are in an engaged state, so that the rotary hook claw (2) can be prevented from accidentally releasing the upper cover plate hanging ring (3);

When the hook claw operating piece (5) moves upwards along with the reciprocating motion executing mechanism (7), the hook claw at the lower end of the rotary hook claw (2) can move upwards along with the hook claw operating piece (5) and away from the axis of the lower rod piece (5 b), so that the edge of the upper cover plate hanging ring (3) is released;

the lower end of the lower rod piece (5 b) is connected with a push rod (22), and the push rod (22) is used for downwards transmitting the pressure provided by the reciprocating motion executing mechanism (7) through the upper cover plate hanging ring (3);

The lower cover plate grabbing unit comprises an upper cover plate center combination through hole penetrating through the center of the upper cover plate (4); the upper cover plate center combined through hole is positioned below the push rod (22) and is coaxial with the push rod;

The transmission assembly is arranged in the upper cover plate center combined through hole;

The telescopic claw hook component is arranged on the lower surface of the upper cover plate (4) and provided with a plurality of telescopic claw hooks (12); at least 2 telescopic hook claws (12) are uniformly arranged along the circumferential direction of the axis of the central combined through hole;

The center of the top of the lower cover plate (21) is provided with a hollow lower cover plate hanging ring (20) protruding upwards, the telescopic hook claw (12) is positioned near the edge of the lower cover plate hanging ring (20), when the transmission assembly transmits downward pressure transmitted by the push rod (22) to the telescopic hook claw assembly, the telescopic hook claw (12) contracts inwards and grabs the lower cover plate hanging ring (20); when the push rod (22) is lifted upwards and no pressure is applied, the transmission assembly moves upwards, the pressure on the telescopic claw hook assembly is released, the telescopic claw (12) extends outwards, and the lower cover plate hanging ring (20) is released;

The upper cover plate center combined through hole comprises an upper section cylindrical hole (4 a), a middle section cylindrical hole (4 b) and a lower section conical hole (4 c) which are sequentially connected from top to bottom and are coaxial, the diameter of the upper section cylindrical hole (4 a) is larger than that of the middle section cylindrical hole (4 b), the small-caliber end of the lower section conical hole (4 c) is connected with the lower end of the middle section cylindrical hole (4 b), and the large-caliber end of the lower section conical hole (4 b) is positioned in the center of the lower surface of the lower cover plate (21); the joint of the upper section cylindrical hole (4 a) and the middle section cylindrical hole (4 b) is in a step shape;

The transmission assembly comprises a connecting rod (9) penetrating through the upper section cylindrical hole (4 a) and the middle section cylindrical hole (4 b), a conical gland (18) arranged at the bottom end of the connecting rod (9) and positioned in the lower section conical hole (4 c), a vertical spring (10) sleeved on the periphery of the connecting rod (9), and a bushing (11) arranged on the step between the upper section cylindrical hole (4 a) and the middle section cylindrical hole (4 b);

the main body part of the connecting rod (9) is a cylinder, the diameter of the upper end of the main body part is smaller than the diameter of the upper section cylinder hole (4 a) and larger than the diameter of the middle section cylinder hole (4 b), and the diameter of the main body part of the connecting rod (9) is smaller than the diameter of the middle section cylinder hole (4 b);

The diameter of the vertical spring (10) is smaller than that of the upper section cylindrical hole (4 a), larger than that of the middle section cylindrical hole (4 b) and sleeved on the periphery of the main body part of the connecting rod (9); the vertical spring (10) is always in a compressed state, and the provided elastic force is larger than the sum of dead weights of the connecting rod (9) and the conical gland (18);

an opening is arranged in the middle of the bushing (11) and can allow the main body part of the connecting rod (9) to pass through, and the bushing (11) is arranged between the vertical spring (10) and the step;

The conical gland (18) is of a hollow conical cylinder structure, one small-caliber end of the conical gland is connected with the lower end of the connecting rod (9), and the outer conical surface of the conical gland (18) is matched with the inner conical surface of the lower-section conical hole (4 c);

When the lower end of the push rod (22) presses the upper end of the connecting rod (9) downwards, the conical gland (18) moves downwards along with the connecting rod (9), and when the push rod (22) moves upwards, the connecting rod (9) and the conical gland (18) move upwards under the action of the vertical spring (10);

the telescopic claw hook component comprises a claw support (19) arranged in the center of the lower surface of the upper cover plate (4), and the telescopic claw (12) penetrating through the claw support (19); the hook claw support (19) is of a hollow cylinder structure, the lower end is closed, and the upper end opening is connected to the lower surface of the upper cover plate (4);

A central fixed block (19 b) is arranged in the center of the upper surface of the round plane at the lower end of the hook claw support (19), the central fixed block (19 b) is cylindrical and coaxial with the round plane at the lower end of the hook claw support (19), a plurality of mounting planes (19 c) are uniformly arranged on the periphery of the side face of the central fixed block (19 b), a square groove (19 d) is formed along the normal direction of the mounting planes (19 c), and an inner bushing (16) with a through hole is arranged on the mounting planes (19 c);

The inner side of a peripheral column shell (19 a) on the side surface of the hook claw support (19) is provided with openings (19 e) which are in one-to-one correspondence with the mounting planes (19 c); a third through hole is formed in the middle of the opening (19 e) along the radial direction of the peripheral column shell (19 a), an outer liner (13) with the through holes is arranged on the opening (19 e), and the third through holes are in one-to-one correspondence with the square grooves (19 d);

the main body of the telescopic hook claw (12) is columnar, is parallel to the lower surface of the upper cover plate (4), one end of the telescopic hook claw penetrates through the inner bushing (16), the mounting plane (19 c) and the square groove (19 d) to be close to the axis of the central fixed block (19 b), and the top end of the telescopic hook claw is provided with a cone valve (17); the other end of the hook penetrates through the outer lining (13), the notch (19 e) and the third through hole to extend out of the peripheral column casing (19 a), and the top end of the hook is provided with a hook claw;

The cross sections of the through holes on the outer lining sleeve (13) and the main body part of the telescopic hook claw (12) penetrating through the through holes are of mutually adaptive oblong shapes, so that the telescopic hook claw (12) can be prevented from rotating circumferentially around the axis of the main body of the telescopic hook claw (12) in the telescopic process;

A spring pressing sleeve (14) is fixedly arranged on the columnar main body of the telescopic hook claw (12) between the inner bushing (16) and the outer bushing (13), a horizontal spring (15) is sleeved on the columnar main body of the telescopic hook claw (12) between the inner bushing (16) and the spring pressing sleeve (14), and the horizontal spring (15) is always in a compressed state, so that one end of the hook claw of the telescopic hook claw (12) is outwards ejected and is in a released state;

Three positioning shaft shoulders are arranged on each telescopic hook claw (12), a first positioning shaft shoulder (12 a) is used for being connected and positioned with the cone valve (17), a second positioning shaft shoulder (12 b) is used for propping up the end face of the spring pressing sleeve (14) close to one end of the outer lining sleeve (13), and a third positioning shaft shoulder (12 c) is used for limiting the limiting position of the telescopic hook claws (12) when the telescopic hook claws shrink towards the center;

The cone valve (17) is positioned below the conical gland (18) of the transmission assembly, and the outer surface of the cone valve is matched with the inner conical surface of the conical gland (18); the width of the cone valve (17) is smaller than that of the square groove (19 d), and the cone valve can slide in the square groove (19 d) along with the expansion of the expansion hook claw (12); when the conical gland (18) is not pressed down and is not contacted with the conical petals (17), all the telescopic hook claws (12) are outwards ejected under the action of the horizontal spring (15) and are in a release state; when the conical gland (18) is pressed down and is contacted with the conical petals (17), under the combined action of the conical petals (17) and the conical gland (18), all the conical petals (17) are continuously reduced along with the pressing down height of the conical gland (18) and gradually folded towards the center of the center fixing block (19 b), so that the telescopic hook claw (12) overcomes the acting force of the horizontal spring (15) and is folded towards the center of the center fixing block (19 b), and the grabbing of the telescopic hook claw (12) on the lower cover plate hanging ring (20) is realized; conversely, when the conical gland (18) ascends and is separated from contact with the conical flap (17), under the combined action of the conical flap (17) and the conical gland (18), all the conical flaps (17) ascend continuously along with the conical gland (18), and gradually diffuse outwards of the center fixing block (19 b) under the acting force of the horizontal spring (15), so that the telescopic hook claw (12) diffuses outwards of the center fixing block (19 b), and the release of the telescopic hook claw (12) to the lower cover plate hanging ring (20) is realized.