CN114783638A - Gripping apparatus for intermediate heat exchanger and use method thereof - Google Patents
Gripping apparatus for intermediate heat exchanger and use method thereof Download PDFInfo
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- CN114783638A CN114783638A CN202210155272.3A CN202210155272A CN114783638A CN 114783638 A CN114783638 A CN 114783638A CN 202210155272 A CN202210155272 A CN 202210155272A CN 114783638 A CN114783638 A CN 114783638A
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- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C19/00—Arrangements for treating, for handling, or for facilitating the handling of, fuel or other materials which are used within the reactor, e.g. within its pressure vessel
- G21C19/02—Details of handling arrangements
- G21C19/10—Lifting devices or pulling devices adapted for co-operation with fuel elements or with control elements
- G21C19/105—Lifting devices or pulling devices adapted for co-operation with fuel elements or with control elements with grasping or spreading coupling elements
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- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C19/00—Arrangements for treating, for handling, or for facilitating the handling of, fuel or other materials which are used within the reactor, e.g. within its pressure vessel
- G21C19/32—Apparatus for removing radioactive objects or materials from the reactor discharge area, e.g. to a storage place; Apparatus for handling radioactive objects or materials within a storage place or removing them therefrom
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Abstract
The invention provides a gripping apparatus for an intermediate heat exchanger and a using method thereof. The hook mechanism comprises a movable pull rod, a movable hook and a cross beam, the movable hook is translated on the cross beam to grab, and the hanging mechanism is connected with the cross beam in a locking mode through an escapement mechanism. In this application, can cooperate hoisting equipment's control automatically through the cooperation of hook claw mechanism and escapement, carry out the snatching and the release action of gripping apparatus, full mechanical automation need not external input power, and the suitability is good, safe and reliable. The load capacity is large, the auxiliary operation of personnel in a short distance is not needed, and the personnel are prevented from being exposed in a high-radioactivity environment.
Description
Technical Field
The invention relates to the field of mechanical grippers, in particular to a gripper for an intermediate heat exchanger.
Background
The intermediate heat exchanger is one of the key devices of the exemplary fast reactor core primary loop system. When the intermediate heat exchanger is repaired or replaced, the intermediate heat exchanger needs to be taken out of the reactor for transfer. The gripper is an important part that must be used to transfer the intermediate heat exchanger. The intermediate heat exchanger is 83 tons in weight, and due to the fact that the intermediate heat exchanger needs to be exposed to a high-radioactivity environment, personnel cannot directly operate the intermediate heat exchanger in a close range, and the gripping apparatus is required to be of a pure mechanical structure without external power source control, so that the functions of gripping, locking after gripping and releasing after transferring of the intermediate heat exchanger can be achieved.
Therefore, it is necessary to design a set of grippers to meet the above requirements so as to safely and reliably complete the transfer operation of the intermediate heat exchanger.
Disclosure of Invention
The object of the invention is to provide a gripper for intermediate heat exchangers, which has a large load capacity and does not require manual operation.
In order to achieve the above object, the present invention provides a gripper for an intermediate heat exchanger, including a hoisting device, a hanging mechanism, hook mechanisms and an escapement mechanism, wherein a top side of the hanging mechanism is connected to the hoisting device, a bottom side of the hanging mechanism is circumferentially provided with at least three hook mechanisms, and a bottom side center of the hanging mechanism is provided with the escapement mechanism, wherein:
the hook claw mechanism comprises a movable pull rod, a movable hook claw and a cross beam, the movable hook claw is hinged with the hanging mechanism through the movable pull rod, the movable hook claw is provided with a roller and a hook supporting part, the movable hook claw hooks and clamps equipment to be grabbed through the hook supporting part, and the movable hook claw horizontally slides on the cross beam through the roller, so that the movable hook claws grab the equipment through opposite intervals;
the hanging mechanism is in locking connection with the cross beam through the escapement mechanism;
the escapement mechanism comprises a rotating motor, a bracket base, a rotating hook and a bayonet device, the bracket base is arranged at the center of the bottom side of the hanging mechanism, the rotating hook is fixed on the bracket base, the rotating motor controls the rotating hook to rotate, the bayonet device is arranged at the center of the cross beam, and a locking bayonet which is right opposite to the rotating hook is arranged on the bayonet device; the rotating hook is inserted into the bayonet device through the locking bayonet, and is clamped at the bottom side of the locking bayonet in a butting manner through rotation, and the locking bayonet is in control connection with the rotating motor.
Further, in the gripper for the intermediate heat exchanger, the hanging mechanism includes a hanging member and a hook base, an upper connecting portion is provided on the top side of the hook base, the upper connecting portion is hinged to the hanging member, a lower connecting portion is provided on the outer side of the bottom side of the hook base along the circumferential direction, one end of the movable pull rod is hinged to the lower connecting portion, and the other end of the movable pull rod is hinged to the top end of the movable hook.
Furthermore, in the gripper for the intermediate heat exchanger, a first movable clamping groove is formed in the bottom end of the hoisting member, the upper connecting part is arranged in the first movable clamping groove, and a first pin shaft sequentially penetrates through the first movable clamping groove and the upper connecting part;
the movable pull rod is characterized in that two ends of the movable pull rod are provided with through connecting holes, the bottom end of the lower connecting portion and the top end of the movable claw are provided with second movable clamping grooves, the movable pull rod is arranged in the second movable clamping grooves, a second pin shaft sequentially penetrates through the second movable clamping grooves and the connecting holes, and a movable bearing is arranged between the second pin shaft and the connecting holes.
Further, in the gripper for an intermediate heat exchanger, the beam is circumferentially provided with a beam rod extending outwards, the longitudinal section of the beam rod is i-shaped, that is, two sides of the beam rod are provided with movable rails, and the rollers roll in the movable rails; the movable hook is characterized in that a horizontally through movable cavity is formed in the movable hook, the beam rods horizontally penetrate through the movable cavity respectively, and the rollers are symmetrically arranged on two sides in the movable cavity, namely the rollers are symmetrically arranged in the movable rails on two sides of the beam rods.
Further, in the gripper for the intermediate heat exchanger, at least two rollers are arranged in the movable cavity at intervals along the length direction, the hook support part is arranged on one side of the movable hook claw facing the center of the beam, and the protruding direction of the hook support part and the direction of the movable cavity facing the through hole in the center of the beam are on the same side.
Furthermore, in the gripper for the intermediate heat exchanger, a claw limiting seat is arranged in the movable track, and the rollers are all arranged on one side of the claw limiting seat, which is back to the center of the beam; when the roller moves to the end part of the inner side in the movable track, the claw limiting seat is abutted against the roller.
Furthermore, in the gripping apparatus for the intermediate heat exchanger, a lifting switch seat is arranged on the beam, a lifting limit switch is arranged on the lifting switch seat, a lifting limit contact piece which is matched and contacted with the lifting limit switch is arranged on the movable pull rod, and the lifting limit switch is in control connection with the hoisting equipment.
Further, in the gripper for the intermediate heat exchanger, a locking bayonet of the bayonet device is in an 'I' shape, and hook portions protruding outwards are symmetrically arranged on two sides of the rotating hook;
when the hook part at the bottom end of the rotating hook is arranged in the front and back directions, the hook part of the rotating hook extends into or moves out of the bayonet device through the locking bayonet;
when the hook part at the bottom end of the rotating hook is arranged left and right, if the hook part of the rotating hook is positioned at the bottom side of the locking bayonet, the hook part of the rotating hook is clamped in the bayonet device; if the hook part of the rotating hook is positioned on the top side of the locking bayonet, the hook part of the rotating hook abuts against the outside of the bayonet device.
The invention also provides a use method of the gripper for the intermediate heat exchanger, which uses the gripper for the intermediate heat exchanger and comprises the following steps:
s1: the gripper is in a release state, the movable hook claw is arranged at the outer side end of the cross beam, namely the hook claw mechanism is in an opening state, and the escapement mechanism is in a locking state, namely the rotating hook is locked in the bayonet device;
s2: the hoisting equipment is driven to move the hook mechanism to be right above the equipment to be grabbed through the hanging mechanism, the hoisting equipment is driven to control the hanging mechanism to descend, the hook mechanism and the escapement mechanism synchronously descend, and the bottom of the grabber is in contact with the top of the equipment;
s3: continuing to control the hanging mechanism to descend to enable the hook mechanism and the escapement mechanism to descend synchronously until the escapement mechanism performs unlocking action, and simultaneously driving the hoisting equipment to stop the hanging mechanism from descending, wherein at the moment, the equipment is arranged at the center of the inner side of the hook mechanism;
s4: the hoisting equipment is driven to control the hoisting mechanism to be hoisted, the escapement mechanism is in an unlocking state, the rotating hook is separated from the bayonet device through a locking bayonet, so that the rotating hook is synchronously hoisted along with the hoisting mechanism, the hoisting mechanism drives the movable hook claw to horizontally move from the outer side end of the cross beam to the center of the cross beam through the movable pull rod until the movable hook claw is contacted with and tightly gripped at the hoisting position at the top of the equipment, the grabbing action is finished, and at the moment, the grabbing tool is in a grabbing state;
s5: continuously controlling the hanging mechanism to lift, enabling the equipment to synchronously lift along with the hanging mechanism through the movable hook, and enabling the lifting equipment to move the grabbed equipment to a position right above the specified position through the hanging mechanism and the hook mechanism;
s6: driving the hoisting equipment to control the hanging mechanism to descend, so that the gripping apparatus and the equipment descend synchronously, and placing the equipment at a specified position;
s7: continuing to control the hanging mechanism to descend to enable the hook claw mechanism and the escapement mechanism to descend synchronously, driving the movable hook claw to horizontally move from the inner side end part to the outer side end part of the cross beam by the hanging mechanism through the movable pull rod until the lifting position of the equipment is separated from the movable hook claw, completing the releasing action, simultaneously, carrying out a locking action by the escapement mechanism, driving the lifting equipment to stop the gripper to descend, and at the moment, keeping the gripper in a releasing state;
s8: the hoisting equipment is driven to control the hanging mechanism to lift, and the escapement mechanism is in a locking state, so that the hook claw mechanism is kept in an open state, namely the gripper is in a release state, and the next round of gripper operation is facilitated.
Further, in the method for using the gripper for the intermediate heat exchanger, in step S3, the hook portion of the rotating hook is in touch-control connection with a rotation driving mechanism in the bayonet device, and the rotation driving mechanism controls the rotating hook to rotate 90 ° through the rotating motor, so that the hook portion of the rotating hook corresponds to the locking bayonet of the bayonet device, and the unlocking operation is completed;
when the escapement mechanism performs unlocking action, the lifting limit switch on the cross beam is in touch control connection with the lifting limit touch piece on the movable pull rod, the lifting limit switch controls the hoisting equipment to stop descending, and the gripping apparatus stops descending.
Further, in the method for using the gripper for the intermediate heat exchanger, in step S7, the hook portion of the rotating hook penetrates through the locking bayonet of the bayonet device until the hook portion of the rotating hook is in touch contact with the rotary driving mechanism in the bayonet device, and the rotary driving mechanism controls the rotating hook to rotate by 90 ° through the rotating motor, so that the hook portion of the rotating hook and the locking bayonet of the bayonet device are deflected to complete the locking action;
when the escapement mechanism carries out locking action, the lifting limit switch on the beam is in touch connection with the lifting limit touch piece on the movable pull rod, and the lifting limit switch controls the hoisting equipment to stop descending and the hanging mechanism to stop descending.
Compared with the prior art, the invention has the following beneficial effects: through the cooperation of the hook claw mechanism and the escapement mechanism, the control of the hoisting equipment can be automatically matched, the grabbing and releasing actions of the grab are carried out, the full mechanical automation is realized, external input power is not needed, the applicability is good, and the safety and the reliability are realized. The gripping apparatus has large load capacity, the rated load is 120 tons, and the requirement of the transfer load of the intermediate heat exchanger is met. The auxiliary operation of personnel in a short distance is not needed, and the personnel are prevented from being exposed in a high-radioactivity environment.
Drawings
FIG. 1 is a perspective view of a gripper for an intermediate heat exchanger according to the present invention;
FIG. 2 is a schematic top view of a gripper for an intermediate heat exchanger according to the present invention;
FIG. 3 is a schematic cross-sectional view taken along line A-A of FIG. 2 with the gripper for the intermediate heat exchanger released;
FIG. 4 is a schematic sectional view taken along line A-A of the intermediate heat exchanger gripper of FIG. 2;
FIG. 5 is a cross-sectional view of the portion B-B in FIG. 3;
FIG. 6 is a cross-sectional view of the portion C-C in FIG. 3;
fig. 7 is a schematic cross-sectional view of the portion D-D in fig. 3.
Wherein: the device comprises a movable pull rod 11, a movable claw 12, a roller 121, a hook support part 122, a movable cavity 123, a cross beam 13, a movable rail 131, an oblique-angle rib 132, a rotating motor 21, a support base 22, a rotating hook 23, a bayonet device 24, a hanging piece 31, a claw base 32, an upper connecting part 321, a lower connecting part 322, a first movable clamping groove 41, a first pin shaft 42, a connecting hole 43, a second movable clamping groove 44, a second pin shaft 45, a movable bearing 46, a lifting switch base 51, a lifting limit switch 52, a lifting limit touching piece 53, a claw limit base 54, a claw limit switch 55, equipment 6, a locking nut 71 and a stop washer 72.
Detailed Description
The gripper for intermediate heat exchangers of the present invention will be described in more detail below with reference to schematic drawings, in which preferred embodiments of the invention are shown, it being understood that a person skilled in the art may modify the invention described herein while still achieving the advantageous effects of the invention. Accordingly, the following description should be construed as broadly as possible to those skilled in the art and not as limiting the invention.
In the description of the present invention, it should be noted that, for the terms of orientation, such as "central", "lateral", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate orientations and positional relationships based on the orientations or positional relationships shown in the drawings, which are merely for convenience of description and simplification of the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as limiting the specific scope of the present invention.
Furthermore, if any, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features. Thus, a definition of "a first" or "a second" feature may, explicitly or implicitly, include one or more of that feature, and in the context of this description, "at least" means one or more than one unless specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "assembled", "connected", and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; or may be a mechanical connection; the two elements can be directly connected with each other or connected with each other through an intermediate medium, and the two elements can be communicated with each other. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.
In the present invention, unless otherwise specified and limited, "above" or "below" a first feature may include the first and second features being in direct contact, and may also include the first and second features not being in direct contact but being in contact with each other through another feature therebetween. Also, the first feature "above," "below," and "over" the second feature may include the first feature being directly above and obliquely above the second feature, or simply an elevation where the first feature is at a higher level than the second feature. The first feature being "above", "below" and "beneath" the second feature includes the first feature being directly below or obliquely below the second feature, or merely means that the first feature is at a lower level than the second feature.
The invention is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings. The advantages and features of the present invention will become more apparent from the following description. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
As shown in fig. 1 to 4, the present invention provides a gripper for an intermediate heat exchanger, comprising a hoisting device, a hanging mechanism, a hook mechanism and an escapement mechanism, wherein the top side of the hanging mechanism is connected with the hoisting device, the bottom side of the hanging mechanism is circumferentially provided with at least three hook mechanisms, and the center of the bottom side of the hanging mechanism is provided with the escapement mechanism, wherein:
the hook claw mechanism comprises a movable pull rod 11, a movable hook claw 12 and a cross beam 13, the movable hook claw 12 is hinged with the hanging mechanism through the movable pull rod 11, the movable hook claw 12 is provided with a roller 121 and a hook supporting part 122, a horizontally through movable cavity 121 is arranged inside the movable hook claw 12, the movable hook claw 12 hooks and clamps equipment 6 to be grabbed through the hook supporting part 122, and the movable hook claw 12 horizontally slides on the cross beam 13 through the roller 121, so that the movable hook claws 12 grab and work through opposite intervals;
specifically, the beam 13 is circumferentially provided with a beam rod extending outwards, the beam rod horizontally penetrates through the movable cavity 121 through the beam rod respectively, the longitudinal section of the beam rod is i-shaped, namely, the movable rails 131 are arranged on two sides of the beam rod, and the rollers 121 are symmetrically arranged on two sides in the movable cavity 121, namely, the rollers 121 are symmetrically arranged in the movable rails 131 on two sides of the beam rod. Since the roller 121 rolls in the movable rail 131, the movable claw 12 is translationally moved in the direction of the movable rail 131 of the beam 13 by the roller 121. Meanwhile, the hook support part 122 is provided with a guide inclined plane which inclines inwards, the bottom side of the cross beam 13 is provided with an oblique angle flange 132, the hook support part 122 guides the equipment 6 to be arranged under the cross beam 13 through the guide inclined plane, and the oblique angle flange 132 abuts against the outer side of the end part of the lifting position at the top end of the equipment 6, so that the equipment 6 is prevented from colliding with the cross beam 13, the equipment 6 is ensured to be arranged at the center of the movable hook claw 12, and the grabbing is convenient.
At least two rollers 121 are arranged in the movable cavity 121 at intervals along the length direction, the hooking part 122 is arranged on one side of the movable claw 12 facing the center of the cross beam 13, and the protruding direction of the hooking part 122 is on the same side as the direction of the movable cavity 121 facing the opening of the center of the cross beam 13. In this embodiment, two sets of symmetrical rollers 121 at two ports of the movable cavity 121 can ensure that the movable hook 12 can move on the beam smoothly and effectively in parallel.
Further, the hanging mechanism comprises a hanging piece 31 and a hook seat 32, an upper connecting portion 321 is arranged on the top side of the hook seat 32, the upper connecting portion 321 is hinged to the hanging piece 31, a lower connecting portion 322 is arranged on the outer periphery of the bottom side of the hook seat 32, one end of the movable pull rod 11 is hinged to the lower connecting portion 322, and the other end of the movable pull rod 11 is hinged to the top end of the movable hook claw 12.
Specifically, as shown in fig. 5, the bottom end of the hanging member 31 is provided with a first movable clamping groove 41, the upper connecting portion 321 is disposed in the first movable clamping groove 41, and the first pin 42 sequentially penetrates through the first movable clamping groove 41 and the upper connecting portion 321. As shown in fig. 6 to 7, both ends of the movable pull rod 11 are provided with a through connection hole 43, both the bottom end of the lower connection portion 322 and the top end of the movable claw 12 are provided with a second movable clamping groove 44, the movable pull rod 11 is disposed in the second movable clamping groove 44, the second pin shaft 45 sequentially penetrates through the second movable clamping groove 44 and the connection hole 43, a movable bearing 46 is disposed between the second pin shaft 45 and the connection hole 43, and the movable bearing 46 is a high temperature resistant embedded self-lubricating bearing. Meanwhile, the end portions of the first pin shaft 42 and the second pin shaft 45 are both provided with locking nuts 71, and the inner sides of the locking nuts 71 are attached with stop washers 72, so that the locking nuts 71 are prevented from loosening.
As shown in fig. 2 to 3, the suspension mechanism is in locking connection with the cross beam 13 by an escapement, wherein:
the escapement mechanism comprises a rotating motor 21, a support base 22, a rotating hook 23 and a bayonet device 24, wherein the support base 22 is arranged at the center of the bottom side of the hanging mechanism, the rotating hook 23 is fixed on the support base 22, the rotating motor 21 controls the rotating hook 23 to rotate, the bayonet device 24 is arranged at the center of the cross beam 13, and the bayonet device 24 is provided with a locking bayonet which is right opposite to the rotating hook 23; the rotating hook 23 is inserted into the bayonet device 24 through the locking bayonet, and the rotating hook 23 is pressed against the bottom side of the locking bayonet through rotation, and the locking bayonet is in control connection with the rotating motor 21.
Specifically, the locking bayonet of the bayonet device 24 is in an "I" shape, and hook portions protruding outwards are symmetrically arranged on two sides of the rotating hook 23;
when the hook part at the bottom end of the rotating hook 23 is arranged in the front and back direction, the hook part of the rotating hook 23 extends into or moves out of the bayonet device 24 through the locking bayonet;
when the hook part at the bottom end of the rotating hook 23 is arranged left and right, if the hook part of the rotating hook 23 is positioned at the bottom side of the locking bayonet, the hook part of the rotating hook 23 is clamped in the bayonet device 24; if the hook portion of the rotating hook 23 is located on the top side of the locking bayonet, i.e. the hook portion of the rotating hook 23 abuts against the outside of the bayonet means 24.
Further, in this embodiment, as shown in fig. 3 to 4, a lifting switch base 51 is disposed on the beam 13, a lifting limit switch 52 is disposed on the lifting switch base 51, a lifting limit touching member 53 cooperatively touched with the lifting limit switch 52 is disposed on the movable pull rod 11, and the lifting limit switch 52 is connected to the hoisting equipment.
In this embodiment, as shown in fig. 3 to 4, the movable rail 131 is provided with a claw limiting seat 54 therein, and the rollers 121 are disposed on a side of the claw limiting seat 54 opposite to the center of the cross beam 13; when the roller 121 moves to the inner end portion in the movable rail 131, the claw stopper 54 abuts against the roller 121 to limit the movable position of the roller 121.
In addition, a hook limit switch 55 is disposed on the hook limit seat 54, and when the roller 121 moves to the inner end portion in the movable rail 131, the hook limit switch 55 is in contact with the roller 121.
The invention also provides a use method of the gripper for the intermediate heat exchanger, and the gripper for the intermediate heat exchanger is used, and as shown in fig. 1 to 4, the method comprises the following steps:
s1: when the gripper is in a release state, the movable claw 12 is arranged at the outer end of the cross beam 13, namely the movable claw 12 is in an open state, and the escapement mechanism is in a lock catch state, namely the rotating hook 23 is locked in the bayonet device 24;
s2: the lifting equipment is driven to move the hook mechanism to be right above the equipment 6 to be grabbed through the hanging mechanism, the lifting equipment is driven to control the hanging mechanism to descend, the hook mechanism and the escapement mechanism descend synchronously, the bottom of the hook mechanism is in contact with the top of the equipment 6, the equipment 6 is ensured to be in the moving range of the hook mechanism, and subsequent aligning grabbing is facilitated;
s3: continuing to control the hanging mechanism to descend to enable the hook mechanism and the escapement mechanism to descend synchronously until the escapement mechanism carries out unlocking action, and simultaneously driving the hoisting equipment to stop the hanging mechanism from descending, wherein at the moment, the equipment 6 is arranged at the center of the inner side of each movable hook 12;
specifically, the hook portion of the rotating hook 23 is in touch connection with a rotation driving mechanism at the bottom in the bayonet device 24, the rotation driving mechanism controls the rotating hook 23 to rotate 90 degrees through the rotating motor 21, so that the hook portion of the rotating hook 23 corresponds to the locking bayonet of the bayonet device 24, and the hook portion of the rotating hook 23 can move out of the bayonet device 24 through the locking bayonet to complete unlocking;
when the escapement mechanism unlocks, the lifting limit switch 52 on the cross beam 13 is in touch contact with the lifting limit touch piece 53 on the movable pull rod 11, and the lifting limit switch 52 controls the hoisting equipment to stop descending, so that the hoisting mechanism stops descending.
S4: the hoisting equipment is driven to control the hoisting mechanism to be hoisted, the escapement mechanism is in an unlocking state, the rotating hook 23 can be separated from the bayonet device 24 through the locking bayonet, so that the rotating hook 23 is synchronously hoisted along with the hoisting mechanism, the hoisting mechanism drives the movable claw 12 to horizontally move from the outer side end of the cross beam 13 to the center of the cross beam 13 through the transmission of the movable pull rod 11 until the movable claw 12 is contacted with and clamped at the hoisting position at the top of the equipment 6, the grabbing action is completed, and at the moment, the claw mechanism is in a grabbing state;
s5: the hoisting mechanism is continuously controlled to hoist, the equipment 6 is synchronously hoisted along with the hoisting mechanism through the movable hook 12, and the hoisting equipment moves the grabbed equipment 6 to be right above the specified position through the hoisting mechanism and the hook mechanism;
s6: driving the hoisting equipment to control the hanging mechanism to descend, so that the hook mechanism and the equipment 6 synchronously descend, and placing the equipment 6 at a specified position;
s7: and continuously controlling the hanging mechanism to descend to enable the hook mechanism and the escapement mechanism to synchronously descend, driving the movable hook 12 to horizontally move from the inner side end part to the outer side end part of the cross beam 13 by the hanging mechanism through the transmission of the movable pull rod 11 until the lifting position of the equipment 6 is separated from the movable hook 12, and finishing the releasing action.
Meanwhile, the escapement mechanism carries out locking action to drive the hoisting equipment to stop the hanging mechanism from descending, and at the moment, the hook claw mechanism is in a release state;
specifically, the rotating hook 23 descends synchronously with the hanging mechanism, the hook part of the rotating hook 23 penetrates through the locking bayonet of the bayonet device 24 until the hook part of the rotating hook 23 is in touch connection with the rotating driving mechanism at the bottom in the bayonet device 24, and the rotating driving mechanism controls the rotating hook 23 to rotate 90 degrees through the rotating motor 21, so that the hook part of the rotating hook 23 and the locking bayonet of the bayonet device 24 deflect to complete the locking action;
when the escapement mechanism carries out the locking action, the lifting limit switch 52 on the beam 13 is in touch contact with the lifting limit touch piece 53 on the movable pull rod 11, and the lifting limit switch 52 controls the lifting equipment to stop descending, so that the hanging mechanism stops descending.
S8: the hoisting equipment is driven to control the hoisting mechanism to lift, and the escapement mechanism is in a locking state, so that the hook mechanism is kept in an opening state, namely the gripper is in a releasing state, and the next round of gripper operation is facilitated.
In conclusion, in the embodiment, the gripping apparatus for the intermediate heat exchanger is capable of automatically matching the control of the hoisting equipment through the matching of the hook claw mechanism and the escapement mechanism, so that the gripping and releasing actions of the gripping apparatus are performed, the gripping apparatus is fully mechanical and automatic, external input power is not required, and the gripping apparatus is good in applicability, safe and reliable. The gripping apparatus has large load capacity, the rated load is 120 tons, and the requirement of the transfer load of the intermediate heat exchanger is met. The auxiliary operation of personnel in a short distance is not needed, and the personnel are prevented from being exposed in a high-radioactivity environment.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any person skilled in the art can make any equivalent substitutions or modifications on the technical solutions and technical contents disclosed in the present invention without departing from the scope of the technical solutions of the present invention, and still fall within the protection scope of the present invention without departing from the technical solutions of the present invention.
Claims (11)
1. A gripper for an intermediate heat exchanger, comprising a lifting device, a hanging mechanism, a hook mechanism and an escapement, wherein the top side of the hanging mechanism is connected with the lifting device, the bottom side of the hanging mechanism is circumferentially provided with at least three hook mechanisms, and the center of the bottom side of the hanging mechanism is provided with the escapement, wherein:
the hook claw mechanism comprises a movable pull rod (11), movable hook claws (12) and a cross beam (13), the movable hook claws (12) are hinged with the hanging mechanism through the movable pull rod (11), the movable hook claws (12) are provided with idler wheels (121) and hook support parts (122), the movable hook claws (12) hook equipment (6) needing to be grabbed through the hook support parts (122), and the movable hook claws (12) horizontally slide on the cross beam (13) through the idler wheels (121), so that the movable hook claws (12) grab the equipment through opposite intervals;
the hanging mechanism is in locking connection with the cross beam (13) through the escapement mechanism;
the escapement mechanism comprises a rotating motor (21), a bracket base (22), a rotating hook (23) and a bayonet device (24), the bracket base (22) is arranged at the center of the bottom side of the hanging mechanism, the rotating hook (23) is fixed on the bracket base (22), the rotating motor (21) controls the rotating hook (23) to rotate, the bayonet device (24) is arranged at the center of the cross beam (13), and the bayonet device (24) is provided with a locking bayonet which is over against the rotating hook (23); the rotating hook (23) is inserted into the bayonet device (24) through the locking bayonet, the rotating hook (23) is abutted to the bottom side of the locking bayonet through rotation, and the locking bayonet is in control connection with the rotating motor (21).
2. The grabber for an intermediate heat exchanger as recited in claim 1, wherein the hanging mechanism comprises a hanging member (31) and a hook base (32), an upper connecting portion (321) is provided on a top side of the hook base (32), the upper connecting portion (321) is hinged to the hanging member (31), a lower connecting portion (322) is provided on an outer periphery of a bottom side of the hook base (32), one end of the movable pull rod (11) is hinged to the lower connecting portion (322), and the other end of the movable pull rod (11) is hinged to a top end of the movable hook (12).
3. The gripper for intermediate heat exchangers according to claim 2, characterized in that the bottom end of the said hanger (31) is provided with a first movable clamping groove (41), the said upper connection portion (321) is placed in the first movable clamping groove (41), the first pin shaft (42) penetrates the first movable clamping groove (41) and the upper connection portion (321) in turn;
both ends of activity pull rod (11) all are equipped with connecting hole (43) that run through, the bottom of lower connecting portion (322) with the top of activity claw (12) all is equipped with the second activity and presss from both sides groove (44), activity pull rod (11) are arranged in the second activity presss from both sides groove (44), and second round pin axle (45) runs through in proper order the second activity presss from both sides groove (44) and connecting hole (43), just second round pin axle (45) with be equipped with movable bearing (46) between connecting hole (43).
4. The gripper for intermediate heat exchangers according to claim 1, characterized in that said cross beam (13) is circumferentially provided with a beam rod extending outwards, the longitudinal section of said beam rod is i-shaped, i.e. both sides of said beam rod are provided with a movable rail (131), said rollers (121) roll in said movable rail (131); the movable hook claw (12) is internally provided with a horizontally through movable cavity (121), the beam rod horizontally penetrates through the movable cavity (121), the rollers (121) are symmetrically arranged on two sides in the movable cavity (121), namely, the rollers (121) are symmetrically arranged in the movable rails (131) on two sides of the beam rod.
5. The gripper for intermediate heat exchangers according to claim 4, characterized in that at least two of said rollers (121) are provided at intervals along the length direction in said movable chamber (121), said hooking portion (122) is disposed on the side of said movable claw (12) facing the center of said cross member (13), and the protrusion direction of said hooking portion (122) is on the same side as the direction of said movable chamber (121) facing the opening of the center of said cross member (13).
6. The gripper for intermediate heat exchangers according to claim 4, characterized in that a claw limiting seat (54) is provided in the movable rail (131), and the rollers (121) are all disposed on a side of the claw limiting seat (54) facing away from the center of the cross beam (13); when the roller (121) moves to the inner side end part in the movable track (131), the claw limiting seat (54) is abutted against the roller (121).
7. The gripper for intermediate heat exchangers according to claim 1, wherein a lifting switch base (51) is provided on the cross beam (13), a lifting limit switch (52) is provided on the lifting switch base (51), a lifting limit touching member (53) which is in fit contact with the lifting limit switch (52) is provided on the movable pull rod (11), and the lifting limit switch (52) is in control connection with the hoisting equipment.
8. Gripper for intermediate heat exchangers according to claim 1, characterised in that the locking bayonet of the bayonet device (24) is "I" shaped, the rotating hook (23) being symmetrically provided on both sides with outwardly projecting hook portions;
when the hook part at the bottom end of the rotating hook (23) is arranged in the front and back direction, the hook part of the rotating hook (23) extends into or moves out of the bayonet device (24) through the locking bayonet;
when the hook part at the bottom end of the rotating hook (23) is arranged left and right, if the hook part of the rotating hook (23) is positioned at the bottom side of the locking bayonet, the hook part of the rotating hook (23) is clamped in the bayonet device (24); if the hook portion of the rotating hook (23) is located on the top side of the locking bayonet, i.e. the hook portion of the rotating hook (23) abuts against the outside of the bayonet arrangement (24).
9. A method of using a gripper for intermediate heat exchangers, using a gripper for intermediate heat exchangers according to claim 1, characterized by comprising the steps of:
s1: the gripper is in a release state, the movable hook (12) is arranged at the outer end of the cross beam (13), namely the hook mechanism is in an open state, and the escapement mechanism is in a lock state, namely the rotating hook (23) is locked in the bayonet device (24);
s2: the lifting equipment is driven to move the hook mechanism to be right above the equipment (6) to be grabbed through the hanging mechanism, the lifting equipment is driven to control the hanging mechanism to descend, the hook mechanism and the escapement mechanism descend synchronously, and the bottom of the grabber is in contact with the top of the equipment (6);
s3: continuing to control the hanging mechanism to descend to enable the hook mechanism and the escapement mechanism to descend synchronously until the escapement mechanism performs unlocking action, and simultaneously driving the hoisting equipment to stop the hanging mechanism from descending, wherein at the moment, the equipment (6) is arranged at the center of the inner side of the hook mechanism;
s4: the hoisting equipment is driven to control the hoisting mechanism to be hoisted, the escapement mechanism is in an unlocking state, the rotating hook (23) is separated from the bayonet device (24) through a locking bayonet, so that the rotating hook (23) is synchronously hoisted along with the hoisting mechanism, the hoisting mechanism drives the movable hook claw (12) to horizontally move from the outer side end of the cross beam (13) to the center of the cross beam (13) through the movable pull rod (11) until the movable hook claw (12) is contacted with and tightly clamped at the hoisting position at the top of the equipment (6) to finish the grabbing action, and at the moment, the grabbing tool is in a grabbing state;
s5: continuously controlling the hanging mechanism to lift, synchronously lifting the equipment (6) along with the hanging mechanism through the movable hook claw (12), and moving the grabbed equipment (6) to be right above a specified position through the hanging mechanism and the hook claw mechanism by the lifting equipment;
s6: driving the hoisting equipment to control the hanging mechanism to descend, so that the gripping apparatus and the equipment (6) descend synchronously, and placing the equipment (6) at a specified position;
s7: the hanging mechanism is continuously controlled to descend, so that the hook claw mechanism and the escapement mechanism synchronously descend, the hanging mechanism drives the movable hook claw (12) to horizontally move from the inner side end part to the outer side end part of the cross beam (13) through the movable pull rod (11) until the lifting position of the equipment (6) is separated from the movable hook claw (12), releasing action is completed, meanwhile, the escapement mechanism carries out locking action and drives the lifting equipment to stop the gripper to descend, and at the moment, the gripper is in a releasing state;
s8: the hoisting equipment is driven to control the hanging mechanism to lift, and the hook claw mechanism is kept in an open state due to the fact that the escapement mechanism is in a locking state, namely the gripping apparatus is in a releasing state, so that the next round of gripping apparatus operation is facilitated.
10. The method of using the gripper for an intermediate heat exchanger as recited in claim 9, wherein in the step S3, the hook portion of the rotating hook (23) is touch-connected to a rotation driving mechanism in the bayonet device (24), and the rotation driving mechanism controls the rotating hook (23) to rotate 90 ° through the rotating motor (21), so that the hook portion of the rotating hook (23) corresponds to the locking bayonet of the bayonet device (24) to complete the unlocking action;
when the escapement mechanism performs unlocking action, the lifting limit switch (52) on the cross beam (13) is in touch contact with the lifting limit touch piece (53) on the movable pull rod (11), the lifting limit switch (52) controls the hoisting equipment to stop descending, and the gripping apparatus stops descending.
11. The method of using a gripper for an intermediate heat exchanger according to claim 9, wherein in step S7, the hook portion of the rotating hook (23) penetrates through the locking bayonet of the bayonet device (24) until the hook portion of the rotating hook (23) is in touch contact with a rotation driving mechanism in the bayonet device (24), and the rotation driving mechanism controls the rotating hook (23) to rotate 90 ° through the rotation motor (21), so that the hook portion of the rotating hook (23) and the locking bayonet of the bayonet device (24) are deflected in position, and a latching action is completed;
when the escapement mechanism carries out locking action, a lifting limit switch (52) on the cross beam (13) is in touch connection with a lifting limit touch piece (53) on the movable pull rod (11), and the lifting limit switch (52) controls the hoisting equipment to stop descending and stops the hanging mechanism to descend.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210155272.3A CN114783638A (en) | 2022-02-21 | 2022-02-21 | Gripping apparatus for intermediate heat exchanger and use method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210155272.3A CN114783638A (en) | 2022-02-21 | 2022-02-21 | Gripping apparatus for intermediate heat exchanger and use method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114783638A true CN114783638A (en) | 2022-07-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210155272.3A Pending CN114783638A (en) | 2022-02-21 | 2022-02-21 | Gripping apparatus for intermediate heat exchanger and use method thereof |
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| Country | Link |
|---|---|
| CN (1) | CN114783638A (en) |
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