Irreversible passive grabbing device and method

Abstract

The invention discloses an irreversible passive grabbing device and method. The irreversible passive grabbing device comprises a fixing assembly, and a containing space is formed in the fixing assembly; the sliding assembly is arranged in the fixing assembly in a sliding manner; one end of the connecting rod assembly is rotationally connected with the sliding assembly; one end of the clamping assembly is rotationally connected with the fixing assembly, and the end, close to the clamping assembly, of the connecting rod assembly is rotationally connected with the clamping assembly; when the sliding assembly slides close to the clamping assembly, the clamping assembly rotates out of the interior of the containing space, and a grabbing angle is formed. The radioactive barrel grabbing device has the beneficial effects that the geometrical shape of the wedge is adopted to form mechanical interference fit with the radioactive barrel, passive grabbing and automatic locking are achieved, the grabbing state can be kept without extra energy input, the risk that the radioactive barrel accidentally falls off due to faults of a power source or a control system is avoided, and the working efficiency is improved. The wedge-shaped design of the wedge enables the wedge not to be folded and released in a bearing state, and meanwhile the wedge has tolerance adaptability to the edge of the barrel.

Description

Technical Field

[0001] The invention relates to the technical field of nuclear industry, and in particular to an irreversible passive grasping device and method. Background Art

[0002] NUSIM has been developing equipment for the safe lifting and transport of radioactive packages since 1980. Based on our operational experience and having identified a lack of innovation in package lifting and handling in the nuclear industry, NUSIM has developed an ecosystem of tools for handling the various types of packages and corresponding accessories found in typical low and intermediate activity radioactive waste storage facilities.

[0003] In these storage facilities, drums and containers of various sizes need to be handled, which may be nested in other drums or containers, or inside larger containers. Containers need to be opened and closed, packages stacked on top of each other, and procedures to fill gaps or finally seal packages need to be performed. All of these operations require multiple tools that are suspended from automated overhead cranes and must be operated remotely from a control room. Changing complex robotic tools that integrate multiple connections is time-consuming, risky, and slow. In addition, performing these changes in a radioactive environment exposes the operator to radiation for a long time each time.

[0004] The most basic and primary storage unit is the cylindrical drum. This means that the most basic and primary handling equipment in a waste storage facility is the drum handling gripper, in our case a fixed mounted NUSPIDER gripper, usually suspended from an overhead crane covering the processing, storage and / or dispatch area.

[0005] The innovation developed by NUSIM is the application of the multi-tool concept as the basis for the development of an ecosystem of handling and machining tools that use the NUSPIDER gripper as a universal coupling system. This fixture allows for the rapid and automatic mounting of accessories with minimal operator intervention, allowing the development of new operations that would otherwise be incompatible with NUSPIDER tools.

[0006] Thus, in addition to handling drums, it is possible to handle containers, close drums or containers, place stabilizing plates between the levels of stacked packages, and even perform concrete sealing or fill gaps with gravel without replacing the main matrix tool of the overhead crane in an operating radioactive waste storage facility. Summary of the invention

[0007] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0008] In view of the above problems or problems existing in the prior art, the present invention is proposed.

[0009] It is therefore an object of the present invention to provide an irreversible passive gripping device capable of maintaining grip and suspension of a barrel without any power source. No action or power input is required to grip the barrel. An active command is required to release the barrel. Prevents the barrel from accidentally falling off in mid-air or due to improper support. Reduces the gripping time. Can firmly clamp both sealed barrels and open barrels. Can safely grip the barrel regardless of the weight of the barrel. There are 3 or 4 fixing points on the barrel, providing built-in redundancy, and the failure of one fixing point will not cause the barrel to fall, and the barrel will still be fixed by the remaining fixing points.

[0010] In order to solve the above technical problems, the present invention provides the following technical solutions: an irreversible passive grasping device, which includes a fixing component, and a receiving space is provided inside the fixing component;

[0011] A sliding component, the sliding component is slidably arranged inside the fixed component;

[0012] A connecting rod assembly, one end of which is rotatably connected to the sliding assembly;

[0013] A clamping assembly, one end of which is rotatably connected to the fixing assembly, and one end of the connecting rod assembly close to the clamping assembly is rotatably connected to the clamping assembly;

[0014] When the sliding assembly slides toward the clamping assembly, the clamping assembly rotates out of the accommodation space to form a gripping angle;

[0015] At least two groups of irreversible passive gripping devices are symmetrically arranged, and the geometric shape of the gripping components makes it impossible to fold and release when carrying the gripped object.

[0016] As a preferred solution of the irreversible passive grasping device of the present invention, it further comprises a transmission assembly;

[0017] The transmission assembly includes a rod connecting shaft connected to the side wall of the sliding assembly, and a wedge connecting rod connected to one end of the connecting rod assembly close to the clamping assembly;

[0018] The fixed assembly includes a housing;

[0019] The sliding assembly includes a fork rod, which is slidably arranged inside the housing;

[0020] The connecting rod assembly includes a wedge rotating rod, and the two ends of the wedge rotating rod are distributed on the rod connecting shaft and the wedge connecting rod for rotational connection;

[0021] The clamping assembly comprises a wedge, a wedge rotating shaft connected to one end of the wedge, and a rotating shaft connected to the middle part of the wedge rotating shaft.

[0022] As a preferred solution of the irreversible passive grasping device of the present invention, wherein: the wedge is automatically folded by the driving force of the edge of the grasped object during the grasping process to achieve passive grasping, and the wedge bears the weight of the grasped object independently of the transmission system through a mechanical interference structure;

[0023] The geometry of the wedge is such that it cannot be folded and released when loaded with a grab.

[0024] As a preferred solution of the irreversible passive grasping device of the present invention, wherein: the wedge comprises a wedge-shaped body for forming a mechanical interference fit with the edge of the grasped object;

[0025] The geometry of the wedge-shaped body is designed to snap under the bead on the edge of the gripped object or under the bottom of the sealing ring.

[0026] As a preferred solution of the irreversible passive grasping device of the present invention, it further comprises a control component and a sensing component; the control component comprises an electromagnetic transmission rod, which is only used for the folding and releasing action of the wedge and does not participate in grasping and load bearing;

[0027] The release force of the electromagnetic actuator is calibrated to prevent the release mechanism from being activated without the load being fully released.

[0028] As a preferred solution of the irreversible passive grasping device of the present invention, the sensing component includes a lever fixedly connected to the side wall of the housing, a sensing spring fixedly connected to the bottom of the lever, a retracting lever fixedly connected to the bottom of the sensing spring, and a sensing block fixedly connected to the bottom of the retracting lever;

[0029] One end of the wedge rotating rod is fixedly connected to the wedge rotating shaft, and the other end is connected to the electromagnetic transmission rod through the wedge connecting rod;

[0030] The electromagnetic transmission rod is connected with the fork rod through a rod connecting shaft to form a folding transmission mechanism.

[0031] As a preferred solution of the irreversible passive gripping device of the present invention, the wedge has a gripping tolerance of at least 1 mm to the edge of the gripped object; the cross-section of a single gripper arm of the shell is 50X50 mm, the breaking load of the shell is not less than 8,000 kg, and the elastic limit is not less than 4,000 kg.

[0032] As a preferred solution of the irreversible passive gripping device of the present invention, the gripping process of the wedge does not require the transmission mechanism to do work, and the wedge rotation axis limits the wedge so that it cannot physically rotate downward to release the cargo;

[0033] The control component is remotely controlled by an operator in a control room of a nuclear facility. The sensing component is used to feed back the working status of the gripping device to the control room. The sensing component is used to detect the gripping status and send a signal to the operator.

[0034] In order to solve the above technical problems, the present invention provides the following technical solutions: an irreversible passive grasping method, comprising an irreversible passive grasping device; and,

[0035] The irreversible passive grasping device is moved above the grasped object to be grasped and is aimed at the grasped object through the control component;

[0036] Passive grasping is achieved by using the wedge-shaped structure in the gripping assembly to form mechanical interference with the edge of the grasped object;

[0037] Perform corresponding operations according to different working conditions, including but not limited to lifting, handling, stacking, nesting and other processes;

[0038] After confirming that the grasped object is stably supported, the release action is executed through the control component.

[0039] As a preferred solution of the IPGS-AT-for-American radioactive barrel irreversible passive grasping method of the present invention, the irreversible passive grasping device is moved above the grasped object to be grasped, and the grasped object is aligned with the control component, including:

[0040] Check the working status of the sensing component;

[0041] Confirm that the wedge grip tolerance is not less than 1mm;

[0042] Verify the release force calibration status of the electromagnetic transmission rod;

[0043] Select the appropriate gripping position, for open barrels, select the upper edge curling, for sealed barrels, select the bottom of the sealing ring;

[0044] Passive gripping is achieved by using the wedge structure in the gripping assembly to form mechanical interference with the edge of the gripped object, including:

[0045] The wedge is automatically folded by utilizing the thrust of the grasped object;

[0046] Form mechanical interference with the grasped object through the wedge-shaped structure;

[0047] Make sure the wedges carry the weight of the catch independently of the drivetrain.

[0048] Beneficial effects of the present invention: The present invention sets a grasping unit and uses the geometric shape of the wedge to form a mechanical interference fit with the radioactive barrel to achieve passive grasping and automatic locking. The grasping state can be maintained without additional energy input, avoiding the risk of accidental falling of the radioactive barrel due to power supply or control system failure. The transmission component is only used for the release process and requires active control by the operator, preventing the risk of radioactive leakage in the event of misoperation or accident. The wedge-shaped design of the wedge makes it impossible to fold and release under load, and at the same time has tolerance adaptability to the edge of the barrel, which not only ensures the reliability of grasping but also improves the scope of application. The sensing component monitors the grasping state in real time and feeds back to the control room, so that the operator can grasp the working status of the device in time, improving the safety of remote operation. The passive grasping mechanism of the present invention greatly simplifies the operation process and shortens the grasping time. At the same time, it ensures safety through the inherent characteristics of the mechanical structure, avoids potential dangers in the process of handling radioactive materials, and improves the operating efficiency and safety of radioactive waste storage facilities. In addition, the present invention adopts reasonable structural dimensions and materials in the design of the gripper arm, so that a single gripper arm has a breaking load of up to 8,000 kg and an elastic limit of 4,000 kg, further ensuring safety and reliability under heavy load conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0050] Figure 1 Schematic diagram of the overall structure of the irreversible passive grasping device.

[0051] Figure 2 It is a schematic diagram of the overall structural cross-section of the irreversible passive grasping device.

[0052] Figure 3 It is a partial cross-sectional schematic diagram of the irreversible passive grasping device.

[0053] Figure 4 Schematic diagram of the cross section of the sensing component of the irreversible passive grasping device.

[0054] Figure 5 Flowchart of the irreversible passive grasping method. DETAILED DESCRIPTION

[0055] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0056] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0057] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0058] Example 1

[0059] Reference Figures 1-2 , which is the first embodiment of the present invention, provides an irreversible passive grasping device 100, which includes a clamping component 104 that is in a grasping position in a default state and can only be folded and released when the sliding component 102 is driven.

[0060] Specifically, the fixing component 101 has a receiving space M disposed inside the fixing component;

[0061] A sliding component 102, the sliding component 102 is slidably disposed inside the fixed component 101;

[0062] A connecting rod assembly 103, one end of which is rotatably connected to the sliding assembly 102;

[0063] A clamping assembly 104, one end of the clamping assembly 104 is rotatably connected to the fixing assembly 101, and one end of the connecting rod assembly 103 close to the clamping assembly 104 is rotatably connected to the clamping assembly 104;

[0064] When the sliding assembly 102 slides toward the clamping assembly 104, the clamping assembly 104 rotates out of the accommodating space M to form a gripping angle;

[0065] At least two groups of irreversible passive gripping devices 100 are symmetrically arranged, and the geometric shape of the gripping components 104 makes it impossible to fold and release when carrying the gripped object.

[0066] In summary, the present invention sets a grasping unit and uses the geometric shape of the wedge to form a mechanical interference fit with the radioactive barrel to achieve passive grasping and automatic locking. The grasping state can be maintained without additional energy input, avoiding the risk of accidental falling of the radioactive barrel due to power supply or control system failure. The transmission component is only used for the release process and requires active control by the operator, preventing the risk of radioactive leakage in the event of misoperation or accident. The wedge-shaped design of the wedge makes it impossible to fold and release under load, and at the same time has tolerance adaptability to the edge of the barrel, which not only ensures the reliability of grasping but also improves the scope of application. The sensing component monitors the grasping state in real time and feeds back to the control room, so that the operator can grasp the working status of the device in time, improving the safety of remote operation. The passive grasping mechanism of the present invention greatly simplifies the operation process and shortens the grasping time. At the same time, it ensures safety through the inherent characteristics of the mechanical structure, avoids potential dangers in the process of handling radioactive materials, and improves the operating efficiency and safety of radioactive waste storage facilities. In addition, the present invention adopts reasonable structural dimensions and materials in the design of the gripper arm, so that a single gripper arm has a breaking load of up to 8,000 kg and an elastic limit of 4,000 kg, further ensuring safety and reliability under heavy load conditions.

[0067] Example 2

[0068] Reference Figures 1 to 4 , which is the second embodiment of the present invention, and provides an irreversible passive grasping device, which includes a housing 101a as a supporting frame, a wedge 104a installed on the housing 101a through a wedge rotating shaft 104b and connected to a wedge rotating rod 103a, an electromagnetic transmission rod 106a driven by a rotating shaft 104c, a wedge connecting rod 105b used to connect the wedge rotating rod 103a and the electromagnetic transmission rod 106a, and the rod connecting shaft 105a and the fork rod 102a constitute a folding transmission mechanism. The wedge 104a adopts a wedge-shaped structure design, which can automatically form mechanical interference with the edge of the radioactive barrel to achieve passive grasping. The wedge 104a is in a grasping position in the default state, and can only be folded and released when the electromagnetic transmission rod 106a is driven.

[0069] Specifically, the fixing component 101 has a receiving space M disposed inside the fixing component;

[0070] A sliding component 102, the sliding component 102 is slidably disposed inside the fixed component 101;

[0071] A connecting rod assembly 103, one end of which is rotatably connected to the sliding assembly 102;

[0072] A clamping assembly 104, one end of the clamping assembly 104 is rotatably connected to the fixing assembly 101, and one end of the connecting rod assembly 103 close to the clamping assembly 104 is rotatably connected to the clamping assembly 104;

[0073] When the sliding assembly 102 slides toward the clamping assembly 104, the clamping assembly 104 rotates out of the accommodating space M to form a gripping angle;

[0074] At least two groups of irreversible passive gripping devices 100 are symmetrically arranged, and the geometric shape of the gripping components 104 makes it impossible to fold and release when carrying the gripped object.

[0075] Preferably, this embodiment uses four sets of irreversible passive grasping devices 100 to provide higher grasping stability and safety redundancy. Each set of irreversible passive grasping devices 100 includes a fixing component 101, a sliding component 102, a connecting rod component 103, a clamping component 104, a transmission component 105, a control component 106 and a sensing component 107. It should be noted that this modular design facilitates maintenance and replacement while ensuring the reliability of the system.

[0076] Further, it also includes a transmission assembly 105;

[0077] The transmission assembly 105 includes a rod connecting shaft 105a connected to the side wall of the sliding assembly 102, and a wedge connecting rod 105b connected to one end of the connecting rod assembly 103 close to the clamping assembly 104;

[0078] The fixing assembly 101 includes a housing 101a;

[0079] The sliding assembly 102 includes a fork rod 102a, and the fork rod 102a is slidably disposed inside the housing 101a;

[0080] The connecting rod assembly 103 includes a wedge rotating rod 103a, and both ends of the wedge rotating rod 103a are distributed on the rod connecting shaft 105a and the wedge connecting rod 105b for rotational connection;

[0081] The clamping assembly 104 includes a wedge 104a, a wedge rotating shaft 104b connected to one end of the wedge 104a, and a rotating shaft 104c connected to the middle of the wedge rotating shaft 104b.

[0082] Furthermore, the wedge 104a is automatically folded by the driving force of the edge of the grasped object during the grasping process, thereby realizing passive grasping, and the wedge 104a bears the weight of the grasped object independently of the transmission system through the mechanical interference structure;

[0083] The geometry of the wedge 104a prevents it from folding and releasing when loaded with a grasping object.

[0084] Preferably, the wedge connecting rod 105b is made of high-strength alloy steel to provide sufficient mechanical strength, and the surface of the wedge 104a is specially hardened to improve wear resistance. The wedge angle is designed to be between 30-45 degrees, which can provide the best self-locking effect.

[0085] Further, the wedge 104a includes a wedge-shaped body for forming a mechanical interference fit with the edge of the grasped object;

[0086] The geometry of the wedge-shaped body is designed to snap under the bead on the edge of the gripped object or under the bottom of the sealing ring.

[0087] Preferably, the contact surface of the wedge-shaped body adopts a special anti-slip texture design to increase friction.

[0088] Furthermore, it also includes a control component 106 and a sensing component 107; the control component 106 includes an electromagnetic transmission rod 106a, which is only used for the folding and releasing action of the wedge 104a and does not participate in the grabbing and load bearing;

[0089] The release force of the electromagnetic actuator rod 106a is calibrated to prevent the release device from being activated when the load is not fully released.

[0090] Further, the sensing assembly 107 includes a lever 107a fixedly connected to the side wall of the housing 101a, a sensing spring 107b fixedly connected to the bottom of the lever 107a, a retractable rod 107c fixedly connected to the bottom of the sensing spring 107b, and a sensing block 107d fixedly connected to the bottom of the retractable rod 107c;

[0091] One end of the wedge rotating rod 103a is fixedly connected to the wedge rotating shaft 104b, and the other end is connected to the electromagnetic transmission rod 106a through the wedge connecting rod 105b;

[0092] The electromagnetic transmission rod 106a is connected to the fork rod 102a through the rod connecting shaft 105a to form a folding transmission mechanism.

[0093] Furthermore, the wedge 104a has a gripping tolerance of at least 1 mm to the edge of the gripped object; the cross-section of a single gripper arm of the housing 101a is 50X50 mm, the breaking load of the housing 101a is not less than 8,000 kg, and the elastic limit is not less than 4,000 kg.

[0094] The wedge 104a does not require the transmission mechanism to work during the grabbing process, and the wedge rotating shaft 104b limits the wedge 104a so that it cannot physically rotate downward to release the cargo;

[0095] Furthermore, the control component 106 is remotely controlled by an operator in the control room of the nuclear facility, and the sensing component 107 is used to feed back the working status of the gripping device to the control room. The sensing component 107 is used to detect the gripping status and send a signal to the operator.

[0096] It should be noted that the travel of the electromagnetic transmission rod 106a is precisely controlled to ensure the reliability of the release action. The housing 101a adopts a modular design for easy maintenance and replacement. The induction spring 107b is made of a material with excellent fatigue resistance to ensure long-term stability.

[0097] When in use, one end of the wedge rotating rod 103a is fixedly connected to the wedge rotating shaft 104b, and the other end is connected to the electromagnetic transmission rod 106a through the wedge connecting rod 105b. Self-lubricating bearings are used at the connection to reduce maintenance requirements. The electromagnetic transmission rod 106a is connected to the fork rod 102a through the rod connecting shaft 105a to form a complete folding transmission mechanism. All moving parts of the transmission mechanism are designed with dustproof seals.

[0098] When the edge of the radioactive barrel contacts the wedge 104a, its driving force causes the wedge to fold automatically, achieving passive gripping. It should be noted that this passive gripping mechanism does not rely on any power input, which improves system reliability. The folding angle of the wedge 104a is limited within a preset range to avoid excessive deformation. The wedge 104a independently bears the weight of the radioactive barrel through a mechanical interference structure, and its geometric shape ensures that it cannot be folded and released under load.

[0099] The electromagnetic transmission rod 106a is only responsible for the folding and releasing action of the wedge 104a and does not participate in the gripping and load-bearing process. Its release force is precisely calibrated to prevent accidental activation when the load is not fully released. The gripping tolerance of the wedge 104a on the edge of the radioactive barrel, that is, the tolerance match between the gripper and the gripped cargo, is not less than 1mm, ensuring reliable gripping. The cross-section of a single gripper arm of the housing 101a is 50X50mm, with a breaking load of not less than 8,000kg and an elastic limit of not less than 4,000kg.

[0100] The entire system is remotely operated in the control room of the nuclear facility through the control component 103, and the sensing component 107 monitors the grasping status in real time and feeds back signals to the control room. The grasping process of the wedge 104a does not require the transmission mechanism to do work, and the wedge rotating shaft 104b physically limits the wedge 104a to ensure that the downward rotation will not cause the cargo to loosen.

[0101] In summary, the present invention sets a grasping unit and uses the geometric shape of the wedge to form a mechanical interference fit with the radioactive barrel to achieve passive grasping and automatic locking. The grasping state can be maintained without additional energy input, avoiding the risk of accidental falling of the radioactive barrel due to power supply or control system failure. The transmission component is only used for the release process and requires active control by the operator, preventing the risk of radioactive leakage in the event of misoperation or accident. The wedge-shaped design of the wedge makes it impossible to fold and release under load, and at the same time has tolerance adaptability to the edge of the barrel, which not only ensures the reliability of grasping but also improves the scope of application. The sensing component monitors the grasping state in real time and feeds back to the control room, so that the operator can grasp the working status of the device in time, improving the safety of remote operation. The passive grasping mechanism of the present invention greatly simplifies the operation process and shortens the grasping time. At the same time, it ensures safety through the inherent characteristics of the mechanical structure, avoids potential dangers in the process of handling radioactive materials, and improves the operating efficiency and safety of radioactive waste storage facilities. In addition, the present invention adopts reasonable structural dimensions and materials in the design of the gripper arm, so that a single gripper arm has a breaking load of up to 8,000 kg and an elastic limit of 4,000 kg, further ensuring safety and reliability under heavy load conditions.

[0102] Example 3

[0103] Reference Figures 1 to 4 , which is the third embodiment of the present invention, and this embodiment provides a variety of application scenarios of an irreversible passive grasping device in a radioactive waste storage facility.

[0104] In a typical low- and medium-range radioactive waste storage facility, it is necessary to handle drums and containers of various sizes. First, for standard American barrel operations, the system is able to handle radioactive barrels that meet the UNE-EN ISO 15750-1:2008 standard, including removable head barrels with a minimum capacity of 208 liters, 210 liters and 216.5 liters. The system can select the gripping position according to the state of the barrel. For open barrels, the upper edge curling can be directly gripped, and for sealed barrels, the bottom of the sealing ring is clamped. The wedge-shaped structure has a gripping tolerance of at least 1mm to ensure adaptability to different barrels.

[0105] In complex storage environments, it is often necessary to handle nested barrels. The system can handle small barrels nested in other barrels or containers. Through the precise positioning of the wedge 104a and the remote operation of the control component 103, the target barrel can be accurately grasped in a small space. The system's clamping force does not depend on the weight of the barrel, so even a lighter embedded barrel can be firmly grasped to avoid shaking or falling off during the lifting process.

[0106] For the operation of large storage containers, the system can transfer and rearrange the barrels in the container. The single gripper arm of the shell adopts a cross-section design of 50X50mm, with a breaking load of 8,000kg and an elastic limit of 4,000kg, which fully meets the requirements of heavy-duty working conditions. The sensing component can monitor the gripping status in real time to ensure safe and controllable operation in the container.

[0107] During barrel stacking, the system can perform precise vertical lifting and placement. The passive gripping mechanism of the wedge 104a automatically locks during the lifting process, and the calibrated release force of the electromagnetic drive rod 106a ensures stable placement of the barrel. When stabilizing plates need to be placed between the stacking levels, the system can also complete the placement of the plates through precise control.

[0108] The system can keep the barrel stable during filling or sealing operations, and cooperate with processes such as concrete sealing or gravel filling gaps. Because the system uses a passive gripping mechanism, it can maintain a stable clamp even in a vibrating environment. The operator can remotely monitor the entire process from the nuclear facility control room, and the sensor component 107 can provide timely feedback on the operation status to ensure safety.

[0109] Another important application of the system is in the barrel transfer process. When the barrel needs to be transferred from one workstation to another, the system can achieve stable grasping throughout the entire process. The mechanical interference design of the wedge ensures that there will be no accidental release during the movement. The control component 106 will only be activated when the release operation is intentional, effectively preventing possible safety accidents during transportation.

[0110] The system also demonstrates unique advantages in routine maintenance and emergency situations. Even in the event of a power system failure, the passive gripping mechanism of the wedge 104a can still ensure that the barrel is safely suspended. The simple structural design of the system reduces maintenance requirements while providing the necessary emergency handling capabilities. In situations where a quick response is required, the system can improve operational efficiency while ensuring safety.

[0111] In summary, these application scenarios demonstrate the versatility and adaptability of the system in the process of radioactive waste treatment, which can meet the operational requirements under different working conditions while always maintaining a high degree of safety and reliability. Through remote operation and intelligent monitoring, the system can effectively reduce the radiation exposure risk of operators and improve work efficiency.

[0112] Example 4

[0113] Reference Figures 1 to 5 , which is the fourth embodiment of the present invention, and which provides an irreversible passive grasping method of an IPGS-AT-for American radioactive barrels, comprising:

[0114] S1: Move the irreversible passive gripping device to the top of the object to be gripped and align it with the barrel through the control component.

[0115] Furthermore, the irreversible passive grasping device 100 is controlled to move above the radioactive barrel to be grasped, and the fork rod 102a and the rod connecting shaft 105a of the sliding assembly 102 cooperate with the wedge rotating rod 103a to achieve precise positioning, ensuring that the clamping assembly 104 can accurately align with the barrel grasping position.

[0116] It should be noted that the grasping and positioning process first needs to confirm the operating status of the control component 106, including the calibration status of the electromagnetic transmission rod 106a and the structural integrity of the shell 101a, and then select the appropriate grasping position according to the barrel type: for an open barrel, aim at the upper edge curling, and for a sealed barrel, aim at the bottom of the sealing ring.

[0117] S2: Use the wedge structure in the gripping assembly to form mechanical interference with the edge of the grasped object to achieve passive grasping.

[0118] Furthermore, the grasping execution includes utilizing the wedge 104a in the grasping assembly 104 to contact the edge of the radioactive barrel, pushing the wedge to automatically fold by the barrel body's own weight, and the wedge rotating shaft 104b and the rotating shaft 104c cooperate to complete the grasping action, thereby realizing a completely passive grasping process.

[0119] It should be noted that the wedge-shaped body structural design of the wedge 104a ensures that it can form a stable grasping state with the barrel body through pure mechanical interference without the need for additional power input, and has a grasping tolerance of at least 1 mm, that is, the tolerance matching adaptability between the gripper and the grasped cargo.

[0120] S3: Perform corresponding operations according to different working conditions, including but not limited to lifting, transporting, stacking, nesting and other processes.

[0121] Furthermore, performing corresponding operations according to different working conditions includes performing the following operations according to different requirements:

[0122] Standard lifting and handling: Maintain stable vertical lifting and horizontal movement;

[0123] Barrel stacking: ensure accurate spatial positioning and smooth descent;

[0124] Nested processing: complete complex spatial operations while ensuring accuracy;

[0125] Filling and sealing: Maintain a stable clamping state to cooperate with other processes.

[0126] It should be noted that all working conditions rely on the characteristics of the wedge 104a independently bearing the weight of the radioactive barrel through the mechanical interference structure to ensure the safety of the operation process. The 50X50mm cross section and 8,000kg breaking load design of the shell 101a provide sufficient structural protection.

[0127] S4: After confirming that the grasped object is stably supported, the release action is executed through the control component.

[0128] Furthermore, the release operation includes confirming that the radioactive barrel is stably supported, checking the safety status of the surrounding environment, executing the release action through the electromagnetic transmission rod 106a of the control component 106, and waiting for the sensor component 107 to feedback a release completion signal.

[0129] It should be noted that the release process is controlled by a calibrated electromagnetic transmission rod 106a to ensure that the release mechanism is not accidentally activated before the load is fully released. At the same time, the system will continue to monitor the entire release process until it is completely separated.

[0130] Importantly, it should be noted that the construction and arrangement of the present application shown in a plurality of different exemplary embodiments are only exemplary. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and proportion of various elements, and parameter values ​​(e.g., temperature, pressure, etc.), installation arrangement, use of materials, color, directional changes, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in the application. For example, the element shown as integrally formed can be composed of multiple parts or elements, the position of the element can be inverted or otherwise changed, and the nature or number or position of the discrete element can be changed or changed. Therefore, all such modifications are intended to be included in the scope of the present invention. The order or sequence of any process or method steps can be changed or reordered according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure of performing the function described herein, and is not only structurally equivalent but also equivalent structure. Without departing from the scope of the present invention, other replacements, modifications, changes and omissions can be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the invention is not limited to a specific embodiment, but extends to numerous modifications still falling within the scope of the appended claims.

[0131] Additionally, in order to provide a concise description of exemplary embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.

[0132] It will be appreciated that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but will be a routine task of design, fabrication, and production for those of ordinary skill having the benefit of this disclosure without undue experimentation.

[0133] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. An irreversible passive grasping device (100), characterized in that: include, A fixing component (101), wherein a receiving space (M) is provided inside the fixing component; A sliding component (102), the sliding component (102) being slidably disposed inside the fixed component (101); A connecting rod assembly (103), one end of which is rotatably connected to the sliding assembly (102); A clamping assembly (104), one end of the clamping assembly (104) is rotatably connected to the fixing assembly (101), and one end of the connecting rod assembly (103) close to the clamping assembly (104) is rotatably connected to the clamping assembly (104); When the sliding component (102) slides toward the clamping component (104), the clamping component (104) rotates out of the accommodating space (M) to form a gripping angle; The irreversible passive grasping device (100) is symmetrically arranged in at least two groups, and the geometric shape of the clamping assembly (104) makes it impossible to fold and release when carrying the grasped object.

2. The irreversible passive grasping device according to claim 1, characterized in that: Also includes a transmission assembly (105); The transmission assembly (105) comprises a rod connecting shaft (105a) connected to the side wall of the sliding assembly (102), and a wedge connecting rod (105b) connected to one end of the connecting rod assembly (103) close to the clamping assembly (104); The fixing assembly (101) comprises a housing (101a); The sliding assembly (102) comprises a fork rod (102a), and the fork rod (102a) is slidably disposed inside the housing (101a); The connecting rod assembly (103) comprises a wedge rotating rod (103a), and two ends of the wedge rotating rod (103a) are distributed on the rod connecting shaft (105a) and are rotatably connected to the wedge connecting rod (105b); The clamping assembly (104) includes a wedge (104a), a wedge rotating shaft (104b) connected to one end of the wedge (104a), and a rotating shaft (104c) connected to the middle of the wedge rotating shaft (104b).

3. The irreversible passive grasping device according to claim 2, characterized in that: The wedge (104a) is automatically folded by the driving force of the edge of the grasped object during the grasping process to achieve passive grasping, and the wedge (104a) bears the weight of the grasped object independently of the transmission system through a mechanical interference structure; The geometry of the wedge (104a) prevents it from folding and releasing when carrying a grasped object.

4. The irreversible passive grasping device according to claim 3, characterized in that: The wedge (104a) comprises a wedge-shaped body for forming a mechanical interference fit with the edge of the grasped object; The geometric structure of the wedge-shaped body is designed to be inserted under the curling edge of the gripped object or the bottom of the sealing ring.

5. The irreversible passive grasping device according to claim 4, characterized in that: It also includes a control component (106) and a sensing component (107); the control component (106) includes an electromagnetic transmission rod (106a), and the electromagnetic transmission rod (106a) is only used for the folding and releasing action of the wedge (104a) and does not participate in grasping and load bearing; The release force of the electromagnetic transmission rod (106a) is calibrated to prevent the release device from being activated when the load is not completely released.

6. The irreversible passive grasping device according to claim 5, characterized in that: The sensing component (107) comprises a lever (107a) fixedly connected to the side wall of the housing (101a), a sensing spring (107b) fixedly connected to the bottom of the lever (107a), a retractable rod (107c) fixedly connected to the bottom of the sensing spring (107b), and a sensing block (107d) fixedly connected to the bottom of the retractable rod (107c); One end of the wedge rotating rod (103a) is fixedly connected to the wedge rotating shaft (104b), and the other end is connected to the electromagnetic transmission rod (106a) through the wedge connecting rod (105b); The electromagnetic transmission rod (106a) is connected to the fork rod (102a) via the rod connecting shaft (105a) to form a folding transmission mechanism.

7. The irreversible passive grasping device according to claim 6, characterized in that: The wedge (104a) has a gripping tolerance of at least 1mm for the edge of the gripped object; the cross-section of a single gripper arm of the housing (101a) is 50X50mm, the breaking load of the housing (101a) is not less than 8,000kg, and the elastic limit is not less than 4,000kg.

8. The irreversible passive grasping device according to claim 7, characterized in that: The wedge (104a) does not require the transmission mechanism to work during the grabbing process, and the wedge rotating shaft (104b) limits the wedge (104a) so that it cannot physically rotate downward to release the cargo; The control component (106) is remotely controlled by an operator in a control room of a nuclear facility, and the sensing component (107) is used to feed back the working status of the gripping device to the control room. The sensing component (107) is used to detect the gripping status and send a signal to the operator.

9. An irreversible passive grasping method, characterized in that: The irreversible passive grasping device according to any one of claims 1 to 7; and The irreversible passive grasping device is moved above the grasped object to be grasped, and is aimed at the grasped object through the control component; Passive grasping is achieved by using the wedge-shaped structure in the gripping assembly to form mechanical interference with the edge of the grasped object; Perform corresponding operations according to different working conditions, including but not limited to lifting, handling, stacking, nesting and other processes; After confirming that the grasped object is stably supported, the release action is executed through the control component.

10. The irreversible passive grasping method according to claim 9, characterized in that: The method of moving the irreversible passive grasping device to the top of the grasped object and aligning the grasped object through the control component comprises: Check the working status of the sensing component; Confirm that the wedge grip tolerance is not less than 1mm; Verify the release force calibration status of the electromagnetic transmission rod; Select the appropriate gripping position, for open barrels, select the upper edge curling, for sealed barrels, select the bottom of the sealing ring; The method of utilizing the wedge-shaped structure in the gripping assembly to form mechanical interference with the edge of the gripped object to achieve passive gripping includes: The wedge is automatically folded by utilizing the thrust of the grasped object; Form mechanical interference with the grasped object through the wedge-shaped structure; Make sure the wedges carry the weight of the catch independently of the drivetrain.

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