Grabbing equipment

文档序号：1906718 发布日期：2021-11-30 浏览：18次中文

阅读说明：本技术 一种抓取设备 (Grabbing equipment ) 是由钱博王长玲于团结杨孔雳谷继品吴水金王明政焦志强于 2021-08-24 设计创作，主要内容包括：本申请实施例提供一种抓取设备,属于乏燃料转运技术领域,抓取设备包括抓具主体、活动组件、自锁装置以及导向装置。抓具主体抓取状态和释放状态。活动组件安装于抓具主体,活动组件能够相对于抓具主体移动使抓具主体在抓取状态和释放状态之间切换。自锁装置穿设于活动组件且与活动组件连接,自锁装置在锁止状态下限制活动组件相对于抓具主体移动,自锁装置在解锁状态下使活动组件相对于抓具主体移动。导向装置在第一状态下与自锁装置抵接使自锁装置处于锁止状态,导向装置在第二状态下与自锁装置脱离使自锁装置处于解锁状态,导向装置引导活动组件相对于导向装置移动使导向装置在第一状态和第二状态之间切换。自锁装置在自锁状态下防止物料跌落。(The embodiment of the application provides a snatch equipment belongs to the spent fuel and transports technical field, snatchs equipment and includes gripping apparatus main part, movable assembly, self-lock device and guider. The gripper body is in a gripping state and a releasing state. The movable assembly is mounted to the gripper body and is movable relative to the gripper body to switch the gripper body between a gripping state and a releasing state. The self-locking device penetrates through the movable assembly and is connected with the movable assembly, the self-locking device limits the movable assembly to move relative to the gripper main body in a locking state, and the self-locking device enables the movable assembly to move relative to the gripper main body in an unlocking state. The guide device is abutted against the self-locking device in the first state to enable the self-locking device to be in a locking state, the guide device is separated from the self-locking device in the second state to enable the self-locking device to be in an unlocking state, and the guide device guides the movable assembly to move relative to the guide device to enable the guide device to be switched between the first state and the second state. The self-locking device prevents the material from falling under the self-locking state.)

1. A grasping apparatus characterized by comprising:

the gripper comprises a gripper body and a gripper body, wherein the gripper body is provided with a gripping state for clamping materials and a releasing state for releasing the materials;

a movable assembly mounted to the gripper body, the movable assembly being movable relative to the gripper body to switch the gripper body between a gripping state and a releasing state;

the self-locking device penetrates through the movable assembly and is connected with the movable assembly, the self-locking device has a locking state and an unlocking state, the self-locking device limits the movable assembly to move relative to the gripper main body under the locking state, and the self-locking device is separated from the gripper main body under the unlocking state so that the movable assembly can move relative to the gripper main body; and

the guide device is provided with a first state and a second state, the guide device is abutted to the self-locking device in the first state so that the self-locking device is in a locked state, the guide device is separated from the self-locking device in the second state so that the self-locking device is in an unlocked state, and the guide device is used for guiding the movable assembly to move relative to the guide device so that the guide device is switched between the first state and the second state.

2. The grasping apparatus according to claim 1, wherein the self-locking device includes:

the mounting sleeve is connected with the movable assembly and is provided with a first limiting part;

the lock core is provided with a second limiting part, a mounting area is formed between the first limiting part and the second limiting part in an enclosing mode, and the mounting sleeve is movably sleeved on the lock core; and

a resilient member located within the mounting region, the resilient member being located partially within the mounting sleeve;

when the guide device is in the first state, the position where the guide device abuts against the lock cylinder is located on one side, away from the first limiting part, of the second limiting part, the gripper body is located on one side, away from the second limiting part, of the first limiting part, the spring is in a compressed state, the lock cylinder is located above the gripper body so as to limit the movable assembly to move downwards relative to the gripper body, and the self-locking device is in the locked state; when the guide device is in the second state, the guide device is separated from the lock cylinder, the elastic piece drives the lock cylinder to be separated from the gripper main body, and the self-locking device is in the unlocking state.

3. The grasping apparatus according to claim 2, wherein the lock cylinder includes:

the second limiting part is formed on the lock shaft, the mounting sleeve is movably sleeved on the lock shaft, when the guide device is in a first state, the self-locking device is in a locking state, and the lock shaft is positioned above the gripper main body and limits the movable assembly to move relative to the gripper main body; and

the first idler wheel is rotatably connected with the lock shaft, the first idler wheel is located on one side, deviating from the first limiting portion, of the second limiting portion, when the guide device is in the first state, the self-locking device is in the locking state, and the first idler wheel is abutted to the guide device.

4. The grabbing device according to claim 2, wherein the lock cylinder is formed with a third limiting portion, the mounting sleeve is located between the second limiting portion and the third limiting portion, the mounting sleeve can abut against the second limiting portion to prevent the lock cylinder from moving along the direction in which the second limiting portion points to the first limiting portion, and the mounting sleeve can abut against the third limiting portion to prevent the lock cylinder from moving along the direction in which the third limiting portion points to the first limiting portion.

5. The gripping apparatus according to any one of claims 1 to 4, wherein the movable assembly is formed with a first drive ring having a high support and a low support, the gripper body comprising:

the self-locking device comprises a main shaft and a movable assembly, wherein the main shaft is provided with a first shaft section and a second shaft section positioned below the first shaft section, the movable assembly is movably sleeved on the first shaft section, the first shaft section is used for preventing the movable assembly from rotating around the main shaft, the second shaft section is provided with a second driving ring, the self-locking device limits the movable assembly to move downwards relative to the main shaft along the axial direction in the locking state, and the self-locking device is separated from the main shaft in the unlocking state so that the movable assembly can move relative to the main shaft;

the rotor is movably sleeved on the second shaft section and can rotate around the second shaft section, the rotor is provided with an inner arm and an outer arm, the inner arm is positioned on one side of the rotor facing the second shaft section along the radial direction, and the outer arm is positioned on one side of the rotor facing away from the second shaft section along the radial direction; and

the clamping jaw is rotatably connected with the second shaft section and has a buckling state for clamping materials and an opening state for releasing the materials, the clamping jaw is buckled towards the second shaft section along the radial direction of the second shaft section in the buckling state, and the clamping jaw is opened along the radial direction of the second shaft section in the opening state;

the high supporting part is used for supporting the outer arm to lift the rotor to a first position so that the jaws are in an open state, the low supporting part is used for supporting the outer arm to lift the rotor to a second position so that the jaws are in a buckled state, and the first position is higher than the second position; the second driving ring is used for supporting the inner arm and driving the rotor to rotate through the inner arm, so that the high support part and the low support part alternately support the outer arm.

6. The grasping apparatus according to any one of claims 1 to 4, wherein the guide device has a guide hole, and the guide device is configured to guide the movable assembly to move relative to the guide device within the guide hole in an axial direction of the guide hole; when the guide device is in the first state, the self-locking device is in the locking state, and the self-locking device is positioned in the guide hole and is abutted against the inner wall of the guide hole; when the guide device is in the second state, the self-locking device is in an unlocking state, and the self-locking device is positioned outside the guide hole.

7. The grasping apparatus according to claim 6, wherein the guide device includes:

a guide sleeve, the guide hole being formed in the guide sleeve;

the roller seat is connected with the guide sleeve; and

and the second roller is rotationally connected with the roller seat.

8. The grasping apparatus according to claim 7, wherein the guide sleeve is provided with the second rollers on both radially opposite sides thereof, the second rollers are formed with annular grooves, the movable assembly is formed with guide portions, the movable assembly is provided with the guide portions on both radially opposite sides thereof, the guide portions on each side are located in the corresponding annular grooves, and a distance between the second rollers on both sides is greater than a distance between the guide portions on both sides.

9. The grasping apparatus according to claim 7, wherein the guide sleeve includes:

the first sleeve is connected with the roller seat; and

the second sleeve is connected with the first sleeve, and the guide hole penetrates through the first sleeve and the second sleeve.

10. The grasping apparatus according to any one of claims 1 to 4, wherein the movable assembly includes:

the movable piece body is arranged on the gripper main body and can move relative to the gripper main body so as to enable the gripper main body to be switched between a gripping state and a releasing state, the self-locking device is arranged at the top end of the movable piece body, the self-locking device limits the movable piece body to move relative to the gripper main body in the locking state, and the self-locking device is separated from the gripper main body in the unlocking state so as to enable the movable piece body to move relative to the gripper main body; and

the mounting column is connected to one end, away from the gripper main body, of the movable piece body, and the guide device is used for guiding the mounting column to move relative to the guide device so that the guide device can be switched between the first state and the second state.

Technical Field

The application relates to the technical field of spent fuel transfer, especially, relate to a snatch equipment.

Background

In the reactor, a spent fuel storage pool is used to store spent fuel transported from within the reactor. The spent fuel has strong radioactivity and is stored in the pool grid insert cylinder in the spent fuel storage pool. The spent fuel storage pool is filled with water, and a shielding water layer with a certain height is required to be ensured to shield the radioactivity of the spent fuel and protect operators from overload dosage.

The transfer process of the spent fuel in the water pool comprises the following steps: firstly, the spent fuel assemblies are grabbed, and then the spent fuel assemblies are lifted to be above the storage grillwork. And horizontally moving the spent fuel to the position above the appointed grid insert barrel, and then putting the spent fuel assembly into the appointed grid insert barrel.

During the transportation of the spent fuel, the spent fuel is in risk of falling off.

Disclosure of Invention

In view of this, the embodiments of the present application are expected to provide a gripping device to reduce the risk of falling of spent fuel.

In order to achieve the above object, an aspect of the embodiments of the present application provides a grasping apparatus, including:

the gripper comprises a gripper body and a gripper body, wherein the gripper body is provided with a gripping state for clamping materials and a releasing state for releasing the materials;

a movable assembly mounted to the gripper body, the movable assembly being movable relative to the gripper body to switch the gripper body between a gripping state and a releasing state;

In one embodiment, the self-locking device comprises:

the mounting sleeve is connected with the movable assembly and is provided with a first limiting part;

a resilient member located within the mounting region, the resilient member being located partially within the mounting sleeve;

In one embodiment, the lock cylinder includes:

In an embodiment, the lock cylinder is formed with a third limiting portion, the mounting sleeve is located between the second limiting portion and the third limiting portion, the mounting sleeve can abut against the second limiting portion to prevent the lock cylinder from moving along a direction in which the second limiting portion points to the first limiting portion, and the mounting sleeve can abut against the third limiting portion to prevent the lock cylinder from moving along a direction in which the third limiting portion points to the first limiting portion.

In one embodiment, the movable assembly is formed with a first drive ring having a high support and a low support, the gripper body comprising:

In one embodiment, the guide device is provided with a guide hole, and the guide device is used for guiding the movable assembly to move in the guide hole along the axial direction of the guide hole relative to the guide device; when the guide device is in the first state, the self-locking device is in the locking state, and the self-locking device is positioned in the guide hole and is abutted against the inner wall of the guide hole; when the guide device is in the second state, the self-locking device is in an unlocking state, and the self-locking device is positioned outside the guide hole.

In one embodiment, the guide device comprises:

a guide sleeve, the guide hole being formed in the guide sleeve;

the roller seat is connected with the guide sleeve; and

and the second roller is rotationally connected with the roller seat.

In one embodiment, the guide sleeve is provided with the second rollers at two opposite sides in the radial direction, the second rollers are formed with annular grooves, the movable assembly is provided with guide portions at two opposite sides in the radial direction of the guide sleeve, each guide portion is located in the corresponding annular groove, and the distance between the second rollers at two sides is greater than the distance between the guide portions at two sides.

In one embodiment, the guide sleeve comprises:

the first sleeve is connected with the roller seat; and

the second sleeve is connected with the first sleeve, and the guide hole penetrates through the first sleeve and the second sleeve.

In one embodiment, the movable assembly comprises:

According to the gripping device, the movable assembly is guided to move relative to the guide device through the guide device, so that the guide device is switched between the first state and the second state. When the guide device guides the movable assembly to move downwards to enable the gripper main body to be lowered to a target position to grip or release materials, the guide device is in the second state, the guide device is separated from the self-locking device, the self-locking device is in the unlocking state, and the movable assembly moves relative to the gripper main body to enable the gripper main body to be switched between the gripping state and the releasing state, so that the materials are gripped or released. After the gripper main body grabs the material, the gripper main body is in a grabbing state, the guide device guides the movable assembly to move upwards, the guide device is switched to the first state from the second state, the guide device is abutted against the self-locking device, the self-locking device is in a locking state, the movement of the movable assembly relative to the gripper main body is limited, even if the material collides with an obstacle in the downward moving process to enable the material to upwards jack the gripper main body, the movable assembly cannot move relative to the gripper main body, the gripper main body cannot be switched between the grabbing state and the releasing state, therefore, the gripper main body cannot be switched to the releasing state of loosening the material from the grabbing state of clamping the material, and the gripper main body keeps the grabbing state through the self-locking device, so that the material is prevented from falling.

Drawings

Fig. 1 is a schematic structural diagram of a grasping apparatus according to an embodiment of the present application;

FIG. 2 is a schematic structural diagram of a gripper body according to an embodiment of the present disclosure;

FIG. 3 is an enlarged view of FIG. 1 at position A, showing the self-locking device in a locked position;

FIG. 4 is an enlarged view taken at position A in FIG. 1, showing the self-locking device in an unlocked state with the movable assembly moved downwardly relative to the spindle to disengage from the outer arm of the rotor;

FIG. 5 is an enlarged view taken at position A in FIG. 1, showing the self-locking device in an unlocked state with the movable assembly moving upward to raise the rotor to a position to open the jaws;

FIG. 6 is a schematic structural diagram of a self-locking device according to an embodiment of the present application;

FIG. 7 is a schematic structural view of a guide device according to an embodiment of the present application;

FIG. 8 is an assembly view of the guide sleeve, mounting post, roller mount and second roller according to an embodiment of the present application;

FIG. 9 is an enlarged view at position B in FIG. 8;

FIG. 10 is an assembly view of a roller mount and a second roller according to an embodiment of the present application;

fig. 11 is a schematic structural diagram of a mounting post according to an embodiment of the present application.

Description of reference numerals: a gripper body 1; a main shaft 11; a first shaft section 111; a second shaft section 112; a second drive ring 1121; a shaft body 1122; a shaft sleeve 1123; a rotor 12; an inner arm 121; an outer arm 122; a claw 13; a movable assembly 2; a guide portion 21; a mover body 22; a first drive ring 221; a mounting post 23; a limit stop 231; a lock device 3; a mounting sleeve 31; a first stopper 311; a lock cylinder 32; a second stopper 321; a lock shaft 322; a first roller 323; the third limiting portion 324; a mounting area 33; an elastic member 34; a guide means 4; a guide hole 41; the guide sleeve 42; a first sleeve 421; a second sleeve 422; a second roller 43; an annular groove 431; a roller seat 44; a transition surface 45; a first support means 5; a second support means 6; spent fuel 100.

Detailed Description

It should be noted that, in the present application, technical features in examples and embodiments may be combined with each other without conflict, and the detailed description in the specific embodiment should be understood as an explanation of the gist of the present application and should not be construed as an improper limitation to the present application.

In the description of the embodiments of the present application, "upper", "lower", "top", "bottom", orientation or positional relationship is based on the orientation or positional relationship shown in fig. 1, it being understood that these orientation terms are merely for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be considered limiting of the present application. With reference to fig. 1, the up-down direction is the direction indicated by an arrow R1 in the drawing.

Before describing the embodiments of the present application, it is necessary to analyze the cause of the spent fuel drop in the related art, and obtain the technical solution of the embodiments of the present application through reasonable analysis.

In the related art, patent publication No. CN108840230A discloses an unpowered automatic sling and an operation method thereof, in which an outer cylinder body moves up and down relative to an inner cylinder body, so that jaws are fastened to grab the spent fuel or the jaws are opened to release the spent fuel. It can be understood that during the process of lowering the spent fuel, the spent fuel may be stuck before being lowered in place, for example, the spent fuel collides with an obstacle before being lowered in place, the spent fuel pushes against the inner sleeve, so that the outer sleeve moves downwards relative to the inner sleeve, when the outer sleeve moves upwards relative to the inner sleeve again under the action of the traction mechanism, the jaws are opened by the rotor to release the spent fuel, and the spent fuel falls.

In view of this, the present embodiment provides a grabbing apparatus, please refer to fig. 1, which includes a grabbing body 1, a movable assembly 2, a self-locking device 3 and a guiding device 4. The gripper body 1 has a gripping state for gripping the material and a releasing state for releasing the material. The movable assembly 2 is mounted to the gripper body 1, and the movable assembly 2 is movable relative to the gripper body 1 to switch the gripper body 1 between a gripping state and a releasing state. Self-lock device 3 wears to locate movable assembly 2 and is connected with movable assembly 2, and self-lock device 3 has locking state and unblock state, and self-lock device 3 restricts movable assembly 2 and removes for gripping apparatus main part 1 under the locking state, and self-lock device 3 breaks away from gripping apparatus main part 1 so that movable assembly 2 can remove for gripping apparatus main part 1 under the unblock state. The guide device 4 has a first state and a second state, the guide device 4 abuts against the self-locking device 3 in the first state to enable the self-locking device 3 to be in a locked state, the guide device 4 is separated from the self-locking device 3 in the second state to enable the self-locking device 3 to be in an unlocked state, and the guide device 4 is used for guiding the movable assembly 2 to move relative to the guide device 4 to enable the guide device 4 to be switched between the first state and the second state. In this configuration, the movable assembly 2 is guided by the guide means 4 to move relative to the guide means 4, so that the guide means 4 is switched between the first state and the second state. When the guide device 4 guides the movable assembly 2 to move downwards to enable the gripper body 1 to be lowered to a target position to grip or release materials, the guide device 4 is in the second state, the guide device 4 is separated from the self-locking device 3, the self-locking device 3 is in the unlocking state, and the movable assembly 2 moves relative to the gripper body 1 to enable the gripper body 1 to be switched between the gripping state and the releasing state, so that the materials are gripped or released. After the gripper body 1 grips a material, the gripper body 1 is in a gripping state, the guide device 4 guides the movable assembly 2 to move upwards, the guide device 4 is switched to the first state from the second state, the guide device 4 is abutted against the self-locking device 3, the self-locking device 3 is in a locking state, the movement of the movable assembly 2 relative to the gripper body 1 is limited, even if the material collides with an obstacle in the downward moving process to enable the material to upwards jack the gripper body 1, the movable assembly 2 cannot move relative to the gripper body 1, and the gripper body 1 cannot be switched between the gripping state and the releasing state, so that the gripper body 1 cannot be switched to the releasing state of loosening the material from the gripping state of clamping the material, and the gripper body 1 keeps the gripping state through the self-locking device 3 to prevent the material from falling.

In one embodiment, the material may be spent fuel 100.

In one embodiment, the self-locking device 3 is welded or bolted to the movable assembly 2.

In one embodiment, referring to fig. 1, 3-6, the self-locking device 3 includes a mounting sleeve 31, a lock cylinder 32, and an elastic element 34. The mounting sleeve 31 is connected to the movable assembly 2 and has a first stopper 311. The lock core 32 has a second limiting portion 321, a mounting area 33 is defined between the first limiting portion 311 and the second limiting portion 321, and the mounting sleeve 31 is movably sleeved on the lock core 32. The resilient member 34 is located in the mounting region 33 and the resilient member 34 is located partly in the mounting sleeve 31. When the guiding device 4 is in the first state, the abutting position of the guiding device 4 and the lock cylinder 32 is located on one side, away from the first limiting part 311, of the second limiting part 321, the gripper body 1 is located on one side, away from the second limiting part 321, of the first limiting part 311, the spring is in a compressed state, the lock cylinder 32 is located above the gripper body 1 to limit the movable assembly 2 to move downwards relative to the gripper body 1, and the self-locking device 3 is in a locked state; when the guiding device 4 is in the second state, the guiding device 4 is separated from the lock cylinder 32, the elastic piece 34 drives the lock cylinder 32 to be separated from the gripper body 1, and the self-locking device 3 is in the unlocked state. With such a structure, the lock cylinder 32 of the self-locking device 3 is driven to move by the guide, so that the self-locking device 3 is switched between the locking state and the unlocking state. When the guiding device 4 is switched from the second state to the first state, the guiding device 4 abuts against the lock cylinder 32 to push the lock cylinder 32 to move to the upper side of the gripper body 1 along the direction of the second limiting portion 321 pointing to the first limiting portion 311, so that the lock cylinder 32 can limit the movable assembly 2 to move downwards relative to the gripper body 1, and the gripper body 1 is prevented from being switched from the gripping state to the releasing state. The gripper body 1 is kept in a gripping state to prevent the material from falling. The mounting sleeve 31 is inserted into the lock core 32, and the elastic member 34 is partially located in the mounting sleeve 31, so that the mounting sleeve 31 has a certain guiding function for the movement of the elastic member 34.

In one embodiment, the mounting sleeve 31 is welded or bolted to the movable assembly 2.

In one embodiment, the first position-limiting portion 311 is located inside the mounting sleeve 31.

In one embodiment, the first position-limiting portion 311 is annular.

In an embodiment, the first position-limiting portion 311 is located at an outer side of the mounting sleeve 31, and the elastic element 34 can be sleeved on the outer side of the mounting sleeve 31.

In one embodiment, the second limiting portion 321 is annular.

In one embodiment, the elastic member 34 may be a spring.

In one embodiment, the elastic element 34 is abutted against the first position-limiting portion 311 and the second position-limiting portion 321, respectively. Illustratively, the elastic member 34 contacts a corresponding surface of the first stopper portion 311, but is not connected thereto, and the elastic member 34 may be separated from the first stopper portion 311 as the key cylinder 32 moves relative to the mounting sleeve 31. The elastic member 34 contacts a face on the second stopper portion 321 but is not connected thereto, and the elastic member 34 may be separated from the second stopper portion 321 as the key cylinder 32 moves relative to the mounting sleeve 31.

In one embodiment, the elastic element 34 is connected to the first position-limiting portion 311 and the second position-limiting portion 321 respectively. Illustratively, the first position-limiting portion 311 is formed with a hook or a corresponding hole, one end of the elastic element 34 is inserted into the corresponding hook or hole of the first position-limiting portion 311, the second position-limiting portion 321 is formed with a hook or a corresponding hole, and the other end of the elastic element 34 is inserted into the corresponding hook or hole of the second position-limiting portion 321. Along with the movement of the lock cylinder 32 relative to the mounting sleeve 31, the elastic element 34 is always mounted in the corresponding hooks or holes of the first limiting portion 311 and the second limiting portion 321, so that the elastic element 34 is connected with the first limiting portion 311 and the second limiting portion 321 respectively, the elastic element 34 cannot be separated from the first limiting portion 311, and the elastic element 34 cannot be separated from the second limiting portion 321.

In one embodiment, along the arrangement direction of the first position-limiting portion 311 and the second position-limiting portion 321, the size of the mounting region 33 may be greater than the length of the spring without being affected by the external force.

In an embodiment, referring to fig. 6, the first position-limiting portion 311 is located at an end of the mounting sleeve 31 away from the second position-limiting portion 321.

In one embodiment, referring to fig. 6, the lock cylinder 32 includes a lock shaft 322 and a first roller 323. The second limiting portion 321 is formed on the lock shaft 322, the mounting sleeve 31 is movably sleeved on the lock shaft 322, when the guiding device 4 is in the first state, the self-locking device 3 is in the locking state, and the lock shaft 322 limits the movable assembly 2 to move relative to the gripper body 1. First gyro wheel 323 rotates with lock axle 322 to be connected, and first gyro wheel 323 is located the one side that second spacing portion 321 deviates from first spacing portion 311, and when guider 4 was in first state, self-lock device 3 was in the locking state, first gyro wheel 323 and guider 4 butt. In this way, the lock shaft 322 restricts the movement of the movable assembly 2 relative to the gripper body 1, and the spent fuel 100 is prevented from falling. The first roller 323 abuts against the guide device 4, so that the lock shaft 322 can be held at a position where the movement of the movable assembly 2 relative to the gripper body 1 is restricted, and the self-lock device 3 connected to the movable assembly 2 abuts against the guide device 4 via the first roller 323 during the movement of the movable assembly 2 guided by the guide device 4, thereby reducing the friction force during the movement of the movable assembly 2 relative to the guide device 4 to a certain extent.

In one embodiment, the first roller 323 may not be provided, and the lock shaft 322 abuts against the guide 4.

In an embodiment, referring to fig. 6, the lock core 32 is formed with a third limiting portion 324, the mounting sleeve 31 is located between the second limiting portion 321 and the third limiting portion 324, the mounting sleeve 31 can abut against the second limiting portion 321 to prevent the lock core 32 from moving along the direction that the second limiting portion 321 points to the first limiting portion 311, and the mounting sleeve 31 can abut against the third limiting portion 324 to prevent the lock core 32 from moving along the direction that the third limiting portion 324 points to the first limiting portion 311. With such a structure, the second limiting portion 321 and the third limiting portion 324 limit the mounting sleeve 31, and the lock cylinder 32 is prevented from being separated from the mounting sleeve 31 in the process of moving in the mounting sleeve 31.

In one embodiment, the third limiting portion 324 is annular.

In one embodiment, the self-locking device 3 abuts against the gripper body 1 in the locked state to limit the movement of the movable assembly 2 relative to the gripper body 1.

In one embodiment, the lock cylinder 32 is located above the gripper body 1 and abuts the gripper body 1 to limit movement of the movable assembly 2 relative to the gripper body 1.

In one embodiment, the lock shaft 322 is located above the gripper body 1 and abuts against the gripper body 1 to limit the movement of the movable assembly 2 relative to the gripper body 1.

In one embodiment, referring to fig. 2 to 5, the movable assembly 2 is formed with a first driving ring 221 having a high supporting portion and a low supporting portion. The gripper body 1 comprises a spindle 11, a rotor 12 and jaws 13. The main shaft 11 has a first shaft section 111 and a second shaft section 112 located below the first shaft section 111, the movable assembly 2 is movably sleeved on the first shaft section 111, the first shaft section 111 is used for preventing the movable assembly 2 from rotating around the main shaft 11, the second shaft section 112 is formed with a second driving ring 1121, the self-locking device 3 limits the movable assembly 2 to move downwards along the axial direction relative to the main shaft 11 in a locking state, and the self-locking device 3 is separated from the main shaft 11 in an unlocking state so that the movable assembly 2 can move relative to the main shaft 11. The rotor 12 is movably sleeved on the second shaft section 112, the rotor 12 can rotate around the second shaft section 112, the rotor 12 has an inner arm 121 and an outer arm 122, the inner arm 121 is located on a side of the rotor 12 facing the second shaft section 112 in the radial direction, and the outer arm 122 is located on a side of the rotor 12 facing away from the second shaft section 112 in the radial direction. The jaws 13 are rotatably connected to the second shaft section 112 and have a closed state for clamping the material and an open state for releasing the material, the jaws 13 are closed toward the second shaft section 112 along a radial direction of the second shaft section 112 in the closed state, and the jaws 13 are open away from the second shaft section 112 along the radial direction of the second shaft section 112 in the open state. The high support part is used for supporting the outer arm 122 to lift the rotor 12 to a first position so that the jaws 13 are in an open state, the low support part is used for supporting the outer arm 122 to lift the rotor 12 to a second position so that the jaws 13 are in a buckled state, and the first position is higher than the second position; the second driving ring 1121 is used to support the inner arm 121 and drive the rotor 12 to rotate by the inner arm 121, so that the high support portion and the low support portion alternately support the outer arm 122. In such a structural form, when the movable assembly 2 moves down to a target position along with the main shaft 11 to capture the spent fuel 100, the guide device 4 is in the second state, the guide device 4 is separated from the self-locking device 3, the self-locking device 3 is in the unlocked state, the gripper body 1 is in the released state, the main shaft 11 is pushed by the spent fuel 100 and does not move down, the movable assembly 2 moves down continuously, the first driving ring 221 is separated from the outer arm 122, the rotor 12 is supported on the second driving ring 1121 through the inner arm 121, the second driving ring 1121 drives the rotor 12 to rotate by a certain angle under the action of the gravity of the rotor 12, the lower end of the rotor 12 presses the jaws 13 to the spent fuel 100 along the radial direction of the main shaft 11, the jaws 13 are buckled with the spent fuel 100, the gripper body 1 is in the capture state, the movable assembly 2 moves up, the first driving ring 221 supports the outer arm 122 to lift the rotor 12, and under the action of the gravity of the rotor 12, the first driving ring 221 drives the rotor 12 to rotate by a certain angle, so that the outer arm 122 supports the lower support portion of the first driving ring 221 The lower support part lifts the rotor 12 to a lower second position, the rotor 12 cannot open the claws 13, the claws 13 are still in a buckled state, and the gripper body 1 is in a gripping state. When the movable assembly 2 moves down to the target position along with the main shaft 11 to release the spent fuel 100, the guiding device 4 is in the second state, the guiding device 4 is separated from the self-locking device 3, the self-locking device 3 is in the unlocking state, the gripper body 1 is in the gripping state, the main shaft 11 is pushed by the spent fuel 100 and does not move down, the movable assembly 2 moves down continuously to separate the first driving ring 221 from the outer arm 122, the rotor 12 is supported on the second driving ring 1121 through the inner arm 121, the second driving ring 1121 drives the rotor 12 to rotate a certain angle under the gravity action of the rotor 12, the jaws 13 are still in the gripping state, the gripper body 1 is in the gripping state, the movable assembly 2 moves up, the first driving ring 221 supports the outer arm 122 to lift the rotor 12, under the gravity action of the rotor 12, the first driving ring 221 drives the rotor 12 to rotate a certain angle to support the outer arm 122 on the high support portion of the first driving ring 221, the high support portion raises the rotor 12 to a first higher position so that the rotor 12 opens the jaws 13, the jaws 13 are in an open state, and the gripper body 1 is in a released state to release the spent fuel 100. When the guiding device 4 is in the second state, the self-locking device 3 is in the unlocking state, the movable assembly 2 reciprocates up and down, so that the high supporting part and the low supporting part alternately support the outer arm 122 to lift the rotor 12 to positions with different heights, the clamping jaws 13 can be switched between the buckling state and the opening state, and the gripper body 1 is switched between the gripping state and the releasing state. The traction movable assembly 2 moves upwards under the guide of the guide device 4 to drive the spindle 11 and the rotor 12 to move upwards, so that the self-locking device 3 connected with the movable assembly 2 is abutted to the guide device 4, the guide device 4 is switched to the first state from the second state, the movable assembly 2 is limited by the self-locking device 3 to move downwards relative to the spindle 11 along the axial direction, even if the jaw 13 clamps the spent fuel 100 to move downwards, the spent fuel 100 pushes the spindle 11 upwards, the movable assembly 2 and the spindle 11 are locked by the self-locking device 3, the movable assembly 2 cannot move downwards relative to the spindle 11, the jaw 13 cannot be opened, and the spent fuel 100 is prevented from falling.

It should be explained that the high support and the low support are relative, the position of the high support being higher than the position of the low support.

In an embodiment, the self-locking device 3 may also optionally limit the downward movement of the movable assembly 2 relative to the rotor 12 in the locked state. It can be understood that the rotor 12 is supported on the first driving ring 221 and the second driving ring 1121 alternately by gravity, when the self-locking device 3 is in a locking state, the outer arm 122 of the rotor 12 is supported on the first driving ring 221, the movable assembly 2 moves downward relative to the main shaft 11 so that the inner arm 121 of the rotor 12 is supported on the second driving ring 1121, because the self-locking device 3 restricts the downward movement of the movable assembly 2 relative to the rotor 12, the first driving ring 221 cannot move downward to disengage from the outer arm 122, the second driving ring 1121 cannot drive the inner arm 121 to rotate the rotor 12 under the supporting action of the outer arm 122 by the high support portion or the low support portion of the first driving ring 221, even if the movable assembly 2 moves upward again, the outer arm 122 of the rotor 12 cannot be switched between the high support portion and the low support portion, the height of the rotor 12 lifted by the first driving ring 221 cannot be changed, the open claws 13 cannot be switched from the locking state to the locking state, the gripper body 1 cannot be switched from the gripping state to the releasing state, and can play a role in preventing the spent fuel 100 from falling.

In one embodiment, the first driving ring 221 may be a first annular rack of the patent with publication number CN 108840230A. Second drive ring 1121 may be implemented as the second annular rack of the patent publication No. CN 108840230A.

In one embodiment, referring to fig. 2, the first shaft section 111 has a square cross-section to prevent the movable element 2 sleeved on the first shaft section 111 from rotating.

In one embodiment, the second shaft segment 112 includes a shaft body 1122 below the first shaft segment 111 and a bushing 1123 below the shaft body 1122.

In one embodiment, the shaft body 1122 may be a circular cylinder as disclosed in the patent publication CN 108840230A. The sleeve 1123 may be a cylinder disclosed in patent publication No. CN 108840230A.

In one embodiment, the rotor 12 is formed with a poking bar, when the high support portion of the first driving ring 221 raises the rotor 12 to the first position, the poking bar of the rotor 12 drives the jaws 13 to rotate so as to open the jaws 13, thereby releasing the spent fuel 100.

In one embodiment, the rotor 12 may be a movable body disclosed in the patent publication No. CN 108840230A.

In one embodiment, the latch 13 may be the latch 13 disclosed in the patent with publication number CN 108840230A.

In one embodiment, referring to fig. 3 to 5, the guiding device 4 has a guiding hole 41, and the guiding device 4 is used for guiding the movable assembly 2 to move in the guiding hole 41 along the axial direction of the guiding hole 41 relative to the guiding device 4; when the guide device 4 is in the first state, the self-locking device 3 is in the locking state, and the self-locking device 3 is positioned in the guide hole 41 and is abutted against the inner wall of the guide hole 41; when the guiding device 4 is in the second state, the self-locking device 3 is in the unlocked state, and the self-locking device 3 is located outside the guiding hole 41. Structural style like this, through the axial that guider 4 guide movable assembly 2 followed guiding hole 41 in guiding hole 41 for guider 4 removes, utilize movable assembly 2 to drive gripping apparatus main part 1 and reciprocate in order to snatch along the axial of guiding hole 41, the process of rotation and release spent fuel 100, can comparatively conveniently switch guider 4's state according to actual need promptly, and then switch self-lock device 3's state, need not carry out extra locking or unblock action, make the operation of snatching equipment comparatively convenient. And in the process that the gripper main body 1 grips the spent fuel 100 and transfers, the movable assembly 2, the self-locking device 3, the gripper main body 1 and the fuel clamped by the gripper main body 1 can move into the guide sleeve 42, so that the interference of the external environment on the movable assembly 2, the self-locking device 3, the gripper main body 1 and the fuel clamped by the gripper main body 1 can be reduced.

In an embodiment, the guiding device 4 may be an open structure, for example, the guiding device 4 may be a sliding rail, the sliding rail guides the movable assembly 2 to move relative to the sliding rail, and the self-locking device 3 may abut against the sliding rail.

In one embodiment, referring to fig. 7 to 9, the guiding device 4 includes a guiding sleeve 42, a roller seat 44 and a second roller 43. The guide hole 41 is formed in the guide sleeve 42. The roller mount 44 is connected to the guide sleeve 42. The second roller 43 is rotatably connected to the roller base 44. In such a configuration, when the movable assembly 2 is displaced during the vertical movement of the movable assembly 2 in the guide hole 41 by guiding the movement of the movable assembly 2 by the roller, the second roller 43 contacts the movable assembly 2 to prevent the movable assembly 2 from being displaced further, and the second roller 43 contacts the movable assembly 2, so that the frictional resistance of the movable assembly 2 in the vertical movement can be reduced.

In one embodiment, the second roller 43 and the roller seat 44 may not be provided, and the movable assembly 2 may be prevented from being continuously deviated by the movable assembly 2 contacting the inner wall of the guide hole 41.

In one embodiment, referring to fig. 7 to 10, the guide sleeve 42 is provided with second rollers 43 on two opposite sides along the radial direction, the second rollers 43 are formed with annular grooves 431, the movable element 2 is formed with the guide portions 21, the movable element 2 is provided with the guide portions 21 on two opposite sides along the radial direction of the guide sleeve 42, each side of the guide portion 21 is located in the corresponding annular groove 431, and the distance between the second rollers 43 on two sides is greater than the distance between the guide portions 21 on two sides. Structural style like this, relative both sides all are provided with second gyro wheel 43, and the movable part 2 can both contact with corresponding gyro wheel along the arbitrary side removal of both sides gyro wheel, can retrain movable part 2 betterly, and guide movable part 2 removes, reduces movable part 2's frictional force, and the guide portion 21 of both sides relative arrangement is located the annular groove 431 of the second gyro wheel 43 that corresponds respectively, can restrict movable part 2 and take place to rotate at the in-process that reciprocates. The distance between the second rollers 43 on both sides is greater than the distance between the guide portions 21 on both sides, so that the possibility that the guide portions 21 of the movable assembly 2 are continuously in contact with the second rollers 43 is reduced, and the resistance in the up-and-down movement process of the movable assembly 2 is reduced.

In one embodiment, the grasping apparatus further includes a pulling rope connected to the movable member 2 to pull the movable member 2 to move.

In one embodiment, the number of the pulling ropes is multiple. The two-side guide portions 21 are located in the two-side annular grooves 431 to prevent the movable assembly 2 from rotating in the up-and-down moving process and prevent a plurality of traction ropes from being wound with each other.

In one embodiment, referring to fig. 7, the number of the second rollers 43 on each side is multiple, and the second rollers 43 on each side are arranged along the axial direction of the guiding hole 41.

In one embodiment, the second roller 43 may be disposed on one side of the guide sleeve 42 in the radial direction, and the second roller 43 may not be disposed on the other side.

In one embodiment, referring to fig. 8 and 9, the roller seat 44 is mounted outside the guide sleeve 42, and the second roller 43 is partially disposed in the guide hole 41. The structure is such that enough space can be left in the guide hole 41 to facilitate the movement of the movable assembly 2 in the guide hole 41. For the movable assembly 2 with the same size, the diameter of the guide sleeve 42 can be reduced to a certain extent, so that the material is saved, and the cost is reduced. The gap between the second roller 43 and the movable assembly 2 can be adjusted by increasing or decreasing the direction of the spacer between the roller mount 44 and the guide sleeve 42.

In one embodiment, the roller mount 44 may be mounted outside the guide sleeve 42.

In one embodiment, referring to fig. 5, the guiding sleeve 42 is formed with a transition surface 45 at the lower end of the guiding hole 41, and the transition surface 45 gradually inclines toward the outer side of the guiding sleeve 42 in the downward direction.

In one embodiment, referring to fig. 7, the guiding sleeve 42 includes a first sleeve 421 and a second sleeve 422, the first sleeve 421 is connected to the roller seat 44, the second sleeve 422 is connected to the first sleeve 421, and the guiding hole 41 penetrates through the first sleeve 421 and the second sleeve 422. Structural style like this, guide sleeve 42 divide into two sections, can hang first sleeve 421 earlier and transport corresponding position after, sink first sleeve 421, lift by crane second sleeve 422 to the top of first sleeve 421 again and be connected with first sleeve 421, divide twice to lift by crane the installation, can reduce guide sleeve 42 to a certain extent lift by crane the height, the installation guide sleeve 42 of being convenient for.

In an embodiment, referring to fig. 7, the grabbing apparatus further includes a first supporting device 5 and a second supporting device 6, the first supporting device 5 is connected to the outside of the second sleeve 422 for installing the second sleeve 422 to a corresponding moving device, and the moving device drives the second sleeve 422 and the first sleeve 421 to move. The second support means 6 is connected at the opening of the end of the second sleeve 422 facing away from the first sleeve 421, the second support means 6 is used for mounting a pull rope guide, and the pull rope is arranged on the pull rope guide and connected with the movable assembly 2 to pull the movable assembly 2 to move.

In one embodiment, the transition surface 45 is formed on the first sleeve 421.

In one embodiment, the guide sleeve 42 may also be provided as a single piece.

In an embodiment, referring to fig. 1, 3 to 5 and 10, the movable element 2 includes a movable element body 22 and a mounting post 23, the movable element body 2 is mounted on the gripper main body 1, the movable element body 22 can move relative to the gripper main body 1 to switch the gripper main body 1 between a gripping state and a releasing state, the self-locking device 3 is mounted at a top end of the movable element body 22, the self-locking device 3 limits the movable element body 22 to move relative to the gripper main body 1 in a locking state, and the self-locking device 3 is separated from the gripper main body 1 in an unlocking state to enable the movable element body 22 to move relative to the gripper main body 1. The mounting post 23 is connected to an end of the mover body 22 facing away from the gripper body 1, and the guide 4 is used to guide the mounting post 23 to move relative to the guide 4 to switch the guide 4 between the first state and the second state. In such a structure, the movable element body 22 is installed in the gripper main body 1 and can move along the gripper main body 1, and the movable element body 22 can be configured in the shape of the movable element body 22 according to the requirement of adaptation to the gripper main body 1 without considering the adaptation of the movable element body 22 to the guide device 4 so that the guide device 4 can guide the movable element body 22 to move. The mounting post 23 is connected to the end of the moving member body 22 facing away from the gripper body 1, the shape of the mounting post 23 does not need to be adapted to the gripper body 1, and the mounting post 23 may be adapted to the guide means 4 so that the guide means 4 can guide the mounting post 23 to move relative to the guide means 4. The moving part body 22 and the mounting column 23 are respectively adapted to different shape requirements, so that the moving component 2 can move relative to the gripper main body 1 and can also move relative to the guide device 4 under the guidance of the guide device 4, and the structure of parts is simplified to a certain extent.

In one embodiment, the moveable member body 22 is bolted to the mounting post 23.

In one embodiment, the mounting post 23 is located above the body 22.

In one embodiment, referring to fig. 8 and 9, the guiding portion 21 is formed on the mounting post 23.

In one embodiment, referring to fig. 8, 9 and 11, the cross-sectional shape of the mounting post 23 is rectangular. The guide portions 21 are located at opposite ends of one of diagonal lines of the rectangular section.

In one embodiment, referring to fig. 3 to 5, the first driving ring 221 is formed on the movable element body 22.

In one embodiment, referring to fig. 11, a limit stop 231 is disposed at the top of the mounting post 23, and the limit stop 231 is used to cooperate with a limit switch to limit the maximum height of the mounting post 23.

In one embodiment, the mounting post 23 may not be provided and the guide device 4 may guide the mover body 22 to move relative to the guide device 4.

The various embodiments/implementations provided herein may be combined with each other without contradiction.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

23页详细技术资料下载

Grabbing equipment

相关技术

网友询问留言