A low-headroom hot-cell crane capable of remote maintenance

Abstract

The present application belongs to the field of lifting equipment design technology, and particularly relates to a low-headroom hot chamber crane that can be remotely maintained. The crane includes a traveling mechanism, a transverse mechanism, and a lifting mechanism. The traveling mechanism moves on a track at the top of the hot chamber via rollers. The transverse mechanism is connected to the traveling mechanism via a screw mechanism. The lifting mechanism is fixed to the transverse mechanism and has a lifting sprocket for lifting goods. The traveling mechanism, transverse mechanism, and lifting mechanism are all connected to a replaceable drive mechanism via their respective vertical transmission shafts. Each drive mechanism includes a servo motor and a quick-change mounting plate. The servo motor has an output spline shaft that passes through the quick-change mounting plate. The quick-change mounting plate can slide into a quick-change mounting seat at the bottom of the vertical transmission shaft so that the output spline shaft docks with the bottom of the vertical transmission shaft. A spline shaft sleeve is provided on the outer side of the vertical transmission shaft. The spline shaft sleeve slides downward along the vertical transmission shaft to connect the vertical transmission shaft with the output spline shaft.

Description

Technical Field

[0001] The present application belongs to the technical field of lifting equipment design, and in particular relates to a low-headroom hot chamber crane that can be repaired remotely. Background Art

[0002] Nuclear power hot cell cranes are critical equipment in nuclear power plant reprocessing facilities, primarily used for handling, transporting, and storing highly radioactive materials such as spent fuel and radioactive waste. In some cases, the height limitations of the hot cell result in low crane clearance. Furthermore, the hot cell requires strict sealing, minimizing penetrations. Furthermore, remote maintenance of the crane within the hot cell is also necessary. Existing crane systems do not meet these requirements. Summary of the Invention

[0003] In order to solve the above problems, the present application provides a remotely maintainable low-headroom hot chamber crane, which mainly includes: a traveling mechanism, a transverse mechanism, and a lifting mechanism. The traveling mechanism moves on a track on the top of the hot chamber via rollers. The transverse mechanism is connected to the traveling mechanism via a screw mechanism. The lifting mechanism is fixed to the transverse mechanism and has a lifting sprocket for lifting cargo.

[0004] The walking mechanism, transverse movement mechanism and lifting mechanism are all connected to a replaceable drive mechanism through their respective vertical transmission shafts. Each drive mechanism includes a servo motor and a quick-change mounting plate. The servo motor has an output spline shaft passing through the quick-change mounting plate. The quick-change mounting plate can slide into the quick-change mounting seat at the bottom of the vertical transmission shaft so that the output spline shaft is docked at the bottom of the vertical transmission shaft. A spline shaft sleeve is provided on the outer side of the vertical transmission shaft, and the spline shaft sleeve slides downward along the vertical transmission shaft to connect the vertical transmission shaft and the output spline shaft.

[0005] Preferably, the rollers of the walking mechanism include multiple walking support wheels and a walking gear located outside one or more walking support wheels, the track includes a trolley track and a walking rack, the walking support wheels are placed on the trolley track and driven to rotate by the driving mechanism, and the walking gear is engaged with the walking rack.

[0006] Preferably, the track is placed above the trolley track beam, and the rollers of the walking mechanism further include a plurality of follower wheels located below the trolley track beam.

[0007] Preferably, a transverse ball screw shaft and a lifting horizontal spline shaft are provided on the large frame of the traveling mechanism spanning the two tracks. The transverse ball screw shaft cooperates with the transverse screw nut to drive the trolley of the transverse mechanism to move between the two tracks. The end of the transverse ball screw shaft is connected to the vertical transmission shaft of the transverse mechanism. The lifting assembly of the lifting mechanism is fixedly set on the trolley. The lifting assembly has a through hole. The lifting horizontal spline shaft passes through the through hole and connects the first reducer in the lifting assembly and the vertical transmission shaft of the lifting mechanism.

[0008] Preferably, a rotating gear is provided at the end of the output shaft of the first reducer in the lifting assembly, and the rotating gear engages the lifting sprocket. After the two ends of the chain of the lifting sprocket pass through the through holes on the trolley, one end is connected to the hook and the other end is accommodated in the recovery box at the bottom of the trolley.

[0009] Preferably, one side of the quick-change mounting plate of the driving mechanism is further provided with an installation limit plate and a rotatable lower locking rod, and lower locking tongues are provided at both ends of the lower locking rod. When the quick-change mounting plate moves into the quick-change slide groove of the quick-change mounting seat, one side of the limit plate is pressed against the opening of the quick-change slide groove, and when the lower locking rod rotates, the lower locking tongue is driven in and out of the locking stop at the opening of the quick-change slide groove.

[0010] Preferably, a locking rod is provided on the quick-change mounting seat, and the locking rod is connected to a positioning cam located in the quick-change slide groove through a rotating shaft, and the positioning cam abuts the lower end of the spline sleeve, and a compression spring is provided between the upper end of the spline sleeve and the shoulder of the vertical transmission shaft. When the locking rod is rotated, the positioning cam is driven to move up and down to tighten or loosen the spline sleeve. When the spline sleeve is loosened, the locking rod is rotated to fit the other side of the limit plate. At the same time, the compression spring drives the spline sleeve to move downward, so that a part of the spline sleeve is sleeved on the output spline shaft located below the vertical transmission shaft, and the other part of the spline sleeve remains sleeved on the vertical transmission shaft.

[0011] Preferably, the low-headroom hot chamber crane further includes a sensor module, the sensor module including a pull-rope switch sensor, a pull-rope clamp being provided at the end of the pull-rope of the pull-rope switch sensor, an up-and-down motion module being provided on the vertical transmission shaft and moving up and down with the rotation of the vertical transmission shaft, the up-and-down motion module hooking the pull-rope clamp through a pull-rope hook, the sensor module further including a sensor plug connected to the bottom socket of the vertical transmission shaft, for outputting the position signal detected by the pull-rope switch sensor to the outside through the socket.

[0012] Preferably, the pull rope switch sensor also includes a limit striker, and the two electronic components for interconnection are respectively overlapped on the upper and lower sides of the limit striker through metal sheets. A striker guide column is provided on the vertical shaft guard of the vertical transmission shaft, and a striker is sleeved thereon. The striker is supported at the same height as the limit striker by a positioning spring and overlapped with the limit striker. A hook striker is provided on the pull rope hook. When the hook striker moves downward with the pull rope hook, it can contact and press the striker to drive the limit striker to disconnect from one of the metal sheets, so that the two interconnected electronic components are disconnected. At this time, the position of the pull rope clamp of the pull rope switch sensor is marked as the zero point.

[0013] Preferably, the pull-wire switch sensor is mounted above the sensor mounting seat, the vertical transmission shaft is mounted on the front end of the sensor mounting seat, a manipulator clamping portion is provided at the rear end of the sensor mounting seat, the sensor plug, the sensor mounting seat and the manipulator clamping portion have a coaxial cavity, a lock pin is installed in the cavity, a thrust spring and a tension spring are sleeved on the lock pin, the thrust spring is arranged between the step surface in the cavity of the manipulator clamping portion and the rear end surface of the sensor mounting seat, the tension spring is arranged between the step surface in the cavity of the sensor mounting seat and a lock pin shaft shoulder at the front end of the step surface, a lock pin head with a thick middle and thin ends is provided at the front end of the lock pin shaft shoulder, and the lock pin head extends into the cavity of the sensor plug;

[0014] When the forces of the tension spring and the thrust spring are balanced with each other, a small hole is provided at a position on the sensor plug housing opposite to the middle part of the lock pin head, and a locking steel ball is provided between the small hole and the middle part of the lock pin head. The locking steel ball can be pushed by the middle part of the lock pin to expose part of the ball crown outside the small hole, and a recess is reserved on the inner surface of the jack of the socket at the bottom of the vertical transmission shaft at a position corresponding to the small hole of the sensor plug to accommodate the ball crown of the locking steel ball exposed outside the small hole.

[0015] This application improves the convenience of remote maintenance of the hot chamber crane and ensures the reliable operation of the hot chamber crane. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of a crane of a preferred embodiment of the low-headroom hot chamber crane capable of remote maintenance of the present application.

[0017] Figure 2 This is a schematic diagram of the crane installation location.

[0018] Figure 3 It is a schematic diagram of the walking mechanism structure.

[0019] Figure 4 It is a schematic diagram of the transverse movement mechanism structure.

[0020] Figure 5It is a schematic diagram of the lifting mechanism structure.

[0021] Figure 6 It is a schematic diagram of the internal structure of the lifting mechanism.

[0022] Figure 7 It is a schematic diagram of the positional relationship among the lifting mechanism, the hook and the recovery box.

[0023] Figure 8 It is a schematic diagram of the driving mechanism structure.

[0024] Figure 9 It is a schematic diagram of the docking between the drive mechanism and the vertical transmission system.

[0025] Figure 10 It is a schematic diagram of the unlocked structure after the drive mechanism and the vertical transmission system are docked.

[0026] Figure 11 It is a schematic diagram of locking after the drive mechanism and the vertical transmission system are docked.

[0027] Figure 12 It is a schematic diagram of the internal structure of the vertical transmission system.

[0028] Figure 13 It is a schematic diagram of secondary locking after the drive mechanism is docked with the vertical transmission system.

[0029] Figure 14 The figure below shows the external view of the sensor module.

[0030] Figure 15 This is a schematic diagram of the internal structure of the sensor module.

[0031] Figure 16 This is a schematic diagram of the sensor plug movement principle.

[0032] Figure 17 This is the schematic diagram of the interaction between the up and down motion module and the rope sensor.

[0033] Figure 18 This is the interactive axis view of the up and down motion module and the rope sensor. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of the implementation of this application clearer, the technical solutions in the implementation of this application will be described in more detail below in conjunction with the drawings in the implementation of this application. In the drawings, the same or similar numbers throughout represent the same or similar elements or elements with the same or similar functions. The described implementation is a part of the implementation of this application, not all of the implementations. The implementation described below with reference to the drawings is exemplary and is intended to be used to explain this application, and should not be understood as a limitation on this application. Based on the implementation in this application, all other implementations obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. The implementation of this application is described in detail below in conjunction with the drawings.

[0035] The present application provides a low headroom hot cell crane that can be repaired remotely, such as Figure 1 As shown, it mainly includes a traveling mechanism 1, a transverse mechanism 2 and a lifting mechanism 3. The traveling mechanism 1 moves on the track on the top of the hot chamber through rollers, the transverse mechanism 2 is connected to the traveling mechanism 1 through a screw mechanism, and the lifting mechanism 3 is fixed on the transverse mechanism 2 and has a lifting sprocket 307 for lifting goods.

[0036] refer to Figure 2 The low-headroom hot chamber crane 1000 capable of remote maintenance of the present application is arranged at the top of the hot chamber, close to the hot chamber ceiling 1001, and erected between the hot chamber front wall 1003 and the hot chamber rear wall 1002. A master-slave manipulator 1004 and a shielded peek window 1005 are provided on the hot chamber front wall 1003 or the hot chamber rear wall 1002, which are used to perform maintenance on the low-headroom hot chamber crane 1000 in the hot chamber. In the present application, it mainly refers to the replacement of various driving mechanisms of the low-headroom hot chamber crane 1000 and / or sensor modules used for equipment monitoring.

[0037] The walking mechanism 1, the traverse mechanism 2 and the lifting mechanism 3 are connected to a replaceable driving mechanism 5 through their respective vertical transmission shafts 601. Figure 1 , the vertical transmission shaft 601 is part of the vertical transmission system 6, and the drive mechanism 5 is set at the bottom of the vertical transmission shaft 601. It is understandable that for cranes, mechanical components can be designed to increase the safety margin and ensure their durability, while the electrical drive part, such as the above-mentioned drive mechanism 5, is easily affected by radiation and the problem of long-distance replacement needs to be considered. Considering that the main tool that can be used for remote inspection and maintenance of the crane in the hot chamber is the master-slave manipulator 1004, and the master-slave manipulator 1004 is installed at a low position, it is considered to transfer the electrical drive part to a space where the master-slave manipulator is easy to operate through the transmission system, that is, to connect the drive mechanism 5 located at a low position and the walking mechanism 1, transverse mechanism 2 and lifting mechanism 3 located at a high position through the vertical transmission shaft 601.

[0038] like Figure 2 As shown, the crane of the present application adopts an "L"-shaped structure as a whole, and the drive mechanism is suspended at a reasonable height on the rear wall of the hot chamber. The advantage of this arrangement is that, on the one hand, the drive device can be quickly replaced and repaired by the master-slave manipulator. On the other hand, the split arrangement of the drive mechanism and the main structure greatly reduces the total height of the main structure, which is suitable for the low-headroom hot chamber environment. The crane of the present application adopts a low-headroom design, which greatly reduces the height space required for the hot chamber, which is conducive to saving construction costs and facilitating atmosphere control (hot chamber atmosphere control refers to the process of controlling the gas composition and pressure inside the hot chamber during the heat treatment process to achieve a specific heat treatment effect. The hot chamber contains radioactive gas, and it is necessary to maintain a negative pressure seal and prevent the atmosphere from leaking out. The larger the space inside the hot chamber, the more difficult it is to control the atmosphere).

[0039] It should be noted that the walking mechanism 1, the traverse mechanism 2, and the lifting mechanism 3 each have a corresponding drive mechanism, which is arranged below the corresponding mechanism, with a large height difference between the mechanisms, and close to the rear wall 1002 of the hot chamber, so that the drive mechanism is within the reach of the master and slave manipulators. Each drive mechanism transmits power to the top through the vertical transmission shaft 601, and converts the power into the horizontal direction through three bevel gear commutators connected to the vertical transmission shaft 601. Figure 1 The reversing gearbox assembly 4 shown in the figure, the three vertical transmission shafts 601 drive the rotation of the three transverse shafts of the three walking mechanisms 1, the transverse mechanism 2 and the lifting mechanism 3 through the reversing gearbox assembly 4, and then drive the movement of the walking mechanisms 1, the transverse mechanism 2 and the lifting mechanism 3. Figure 3 In the figure, the vertical transmission shaft 601 of the walking mechanism 1 is represented as the walking vertical shaft 103, and the corresponding driving mechanism 5 is represented as the walking quick-change motor module 101; Figure 4 In the figure, the vertical transmission shaft 601 of the transverse movement mechanism 2 is represented as the transverse movement vertical shaft 203, and the corresponding driving mechanism 5 is represented as the transverse movement quick-change motor module 201; Figure 5 In the figure, the vertical transmission shaft 601 of the lifting mechanism 3 is represented as the lifting vertical shaft 303, and the corresponding driving mechanism 5 is represented as the lifting quick-change motor module 301.

[0040] refer to Figure 8 and Figure 9Each driving mechanism 5 includes a servo motor 501 and a quick-change mounting plate 503. The servo motor 501 has an output spline shaft 504 that passes through the quick-change mounting plate 503. The quick-change mounting plate 503 can slide into the quick-change mounting seat 603 at the bottom of the vertical transmission shaft 601 so that the output spline shaft 504 is docked at the bottom of the vertical transmission shaft 601. In this embodiment, the vertical transmission shaft 601 is mounted on the quick-change mounting seat 603 through a shaft seat 602 with a bearing 608. A spline shaft sleeve 610 is provided on the outer side of the vertical transmission shaft 601. The spline shaft sleeve 610 slides downward along the vertical transmission shaft 601 to connect the vertical transmission shaft 601 and the output spline shaft 504. The spline shaft sleeve 610 is connected to the vertical transmission shaft 601 through a spline, and after sliding down a certain distance, it is further connected to the output spline shaft 504 through a spline, so that the output spline shaft 504 transmits rotational force to the vertical transmission shaft 601.

[0041] In this embodiment, the drive mechanism 5 is mainly composed of a servo motor 501 and a quick connection mechanism, which can be disconnected or connected to the vertical transmission shaft 601 by remote operation, and a faulty drive mechanism can be replaced remotely. Figure 8 The upper end of the servo motor 501 of the driving mechanism 5 is the second reducer 502, and the upper end of the second reducer 502 is the quick connection mechanism, that is, the quick-change mounting plate 503. Figure 9 As shown, the quick-change mounting plate 503 can slide into the quick-change mounting seat 603 through the sliding portion 507, thereby allowing the output spline shaft 504 of the driving mechanism 5 to dock with the vertical transmission shaft 601, and then controlling the spline shaft sleeve 610 sleeved on the outside of the vertical transmission shaft 601 to fall, connecting the vertical transmission shaft 601 and the output spline shaft 504.

[0042] Through the above method, the present application realizes the rapid installation and disassembly of the driving mechanism 5.

[0043] In some optional embodiments, the rollers of the walking mechanism 1 include multiple walking support wheels 107 and a walking gear 105 located outside one or more walking support wheels 107, the track includes a trolley track 109 and a walking rack 106, the walking support wheels 107 are placed on the trolley track 109, and are driven to rotate by the driving mechanism 5, and the walking gear 105 is engaged with the walking rack 106.

[0044] refer to Figure 3The traveling mechanism 1 is erected between two tracks and is mainly composed of a trolley frame 108 and wheels located on both sides of the trolley frame 108. The track is supported by a trolley track beam 110, on which are laid trolley tracks 109 and a traveling rack 106. The trolley track 109 is used to support the traveling support wheels 107, and the traveling rack 106 is used to support the traveling gear 105. Generally speaking, the trolley frame 108 is loaded with four traveling support wheels 107. The front two traveling support wheels 107 are driving wheels, and the rear two traveling support wheels 107 are driven wheels. The two driving wheels are connected by a traveling horizontal transmission shaft 104 to achieve synchronous movement. The purpose of providing the traveling rack 106 and the traveling gear 105 is to minimize wheel slippage when there is no load support.

[0045] In some optional embodiments, the track is placed above the trolley track beam 110 , and the rollers of the walking mechanism 1 further include a plurality of follower wheels located below the trolley track beam 110 .

[0046] This embodiment installs a follower wheel under the trolley track beam 110 of the traveling mechanism 1, so that it and the traveling support wheel 107 of the traveling mechanism 1 above the trolley track beam 110 can jointly clamp the trolley track beam 110 to prevent the traveling mechanism 1 from falling off the track due to abnormal upward throwing or earthquake conditions.

[0047] In some optional embodiments, a transverse ball screw shaft 204 and a lifting horizontal spline shaft 304 are provided on the large frame 108 of the traveling mechanism 1 that spans the two tracks. The transverse ball screw shaft 204 cooperates with the transverse screw nut 205 to drive the trolley 206 of the transverse mechanism 2 to move between the two tracks. The end of the transverse ball screw shaft 204 is connected to the vertical transmission shaft of the transverse mechanism 2. The lifting assembly 305 of the lifting mechanism 3 is fixedly set on the trolley 206. The lifting assembly 305 has a through hole, and the lifting horizontal spline shaft 304 passes through the through hole and connects the first reducer 306 in the lifting assembly 305 and the vertical transmission shaft of the lifting mechanism 3.

[0048] refer to Figure 4 The design of the transverse mechanism 2 is similar to a typical linear motion system. The transverse ball screw shaft 204 rotates, driving the transverse screw nut 205 to move, and then driving the trolley 206 to move between the two tracks. It has the characteristics of precise movement and low friction. Figure 5 The trolley 206 further drives the lifting assembly 305 of the lifting mechanism 3 to move between the two tracks. The lifting assembly 305 further supports and transmits power through the lifting horizontal spline shaft 304. The transverse ball screw shaft 204 and the lifting horizontal spline shaft 304 jointly ensure the stability of the trolley 206 and the lifting assembly 305.

[0049] In some optional embodiments, a rotating gear is provided at the end of the output shaft of the first reducer 306 in the lifting assembly 305, and the rotating gear engages the lifting sprocket 307. After the two ends of the chain of the lifting sprocket 307 pass through the through holes on the trolley 206, one end is connected to the hook 310, and the other end is accommodated in the recovery box 311 at the bottom end of the trolley 206.

[0050] like Figure 6 and Figure 7 As shown, the first reducer 306 is a worm gear reducer, with a spline nut inserted on each side of the worm. The torque transmitted by the ball spline is used to rotate the worm wheel and the lifting sprocket 307 that are axially coupled to each other. The rotation of the lifting sprocket 307 can drive the hook 310 to move up and down. Figure 6 In the embodiment, the chain is mounted on the lifting sprocket 307, one side of the lifting sprocket 307 is the lifting chain 308, and the other side is the recovery chain 309. The lower end of the lifting chain 308 is connected to the hook 310, and the bottom end of the recovery chain 309 is placed in the recovery box 311.

[0051] This application adopts a ball screw to realize the lateral movement of the trolley, and uses a long spline shaft and a worm gear mechanism combination to realize material lifting. It can realize the sinking fusion arrangement of large and small frames instead of the upper and lower stacking arrangement of large and small frames, and can make full use of the clearance above the trolley track. At the same time, it can also improve the accuracy of the lateral movement of the trolley and the material lifting movement.

[0052] In some optional embodiments, one side of the quick-change mounting plate 503 of the driving mechanism 5 is further provided with an installation limit plate 508 and a rotatable lower locking rod 505, and lower locking tongues 506 are provided at both ends of the lower locking rod 505. When the quick-change mounting plate 503 moves into the quick-change slide 605 of the quick-change mounting seat 603, one side of the limit plate 508 is pressed against the opening of the quick-change slide 605. When the lower locking rod 505 rotates, the lower locking tongue 506 is driven in and out of the locking stop 607 at the opening of the quick-change slide 605.

[0053] refer to Figure 8 The quick-change mounting plate 503 is a square plate structure with two ears on one side. The lower locking rod 505 is then rotated to connect. A plate-like structure is formed in the middle of the lower locking rod 505. The plate-like structure has a through hole in the middle. The whole serves as the clamping part of the manipulator. Lower locking tongues 506 are installed at both ends of the lower locking rod 505. The lower locking tongue 506 includes a cylindrical structure and a fan-shaped block located at the outer end of the cylindrical structure. The lower locking rod 505 can be driven to rotate by the manipulator clamping and driving, thereby causing the fan-shaped block of the lower locking tongue 506 to rotate circumferentially. Figure 9The quick-change mounting seat 603 is provided with a quick-change chute 605 with one side open. The quick-change chute 605 has steps on both sides to form a chute support surface. Under the guidance of the sliding portion 507 of the quick-change mounting plate 503, the quick-change mounting plate 503 can enter the quick-change chute 605. The quick-change chute 605 has a locking stop 607 that cooperates with the fan-shaped block of the lower lock tongue 506. Figure 10 After the entire quick-change mounting plate 503 enters the quick-change chute 605, the fan-shaped block of the lower lock tongue 506 is located above the locking stop 607. Figure 11 By rotating the lower locking rod 505, the fan-shaped block of the lower locking tongue 506 can be driven into the locking stop 607 to achieve locking of the driving mechanism 5 and the vertical transmission system 6.

[0054] In this embodiment, a roller 606 is further provided on the slide support surface of the quick-change slide 605 to reduce the friction resistance during the pushing process of the quick-change mounting plate 503 .

[0055] In some optional embodiments, a locking rod 604 is provided on the quick-change mounting seat 603, and the locking rod 604 is connected to a positioning cam 611 located in the quick-change slide groove 605 through a rotating shaft. The positioning cam 611 abuts the lower end of the spline sleeve 610, and a compression spring 609 is provided between the upper end of the spline sleeve 610 and the shoulder of the vertical transmission shaft 601. When the locking rod 604 rotates, the positioning cam 611 is driven to move up and down to tighten or loosen the spline sleeve 610. When the spline sleeve 610 is loosened, the locking rod 604 rotates to fit the other side of the limit plate 508. At the same time, the compression spring 609 drives the spline sleeve 610 to move downward, so that a part of the spline sleeve 610 is sleeved on the output spline shaft 504 located below the vertical transmission shaft 601, and the other part of the spline sleeve 610 remains sleeved on the vertical transmission shaft 601.

[0056] like Figure 12 As shown, the positioning cam 611 is connected to the locking rod 604, one inside and one outside. When the locking rod 604 is rotated from the outside, the internal positioning cam 611 rotates. When the positioning cam 611 rotates upward, it can push up the spline sleeve 610. The spline sleeve 610 is completely sleeved on the vertical transmission shaft 601. At this time, the spline sleeve 610 compresses the compression spring 609. When the positioning cam 611 rotates downward, refer to Figure 13 At this time, the positioning cam 611 no longer contacts the spline sleeve 610, and the spline sleeve 610 moves downward under the elastic force of the compression spring 609, so that part of the spline sleeve 610 is sleeved on the output spline shaft 504 below the vertical transmission shaft 601, and the other part continues to be sleeved on the vertical transmission shaft 601, thereby realizing the connection between the vertical transmission shaft 601 and the output spline shaft 504.

[0057] In addition, it should be noted that the reference Figure 13 When the quick-change mounting plate 503 is installed in place, the locking rod 604 falls and is located just outside the installation limit plate 508, limiting the movement of the installation limit plate 508, thereby preventing the drive mechanism 5 from falling out.

[0058] The following describes the process of docking the drive mechanism 5 with the vertical transmission system 6. Before the drive mechanism 5 and the vertical transmission system 6 are docked, the upper locking rod 604 of the vertical transmission system 6 and the lower locking rod 505 of the drive mechanism 5 are both in the raised state. Figure 10 As shown. Then, the driving mechanism 5 is clamped by the master-slave manipulator, and the quick-change mounting plate 503 of the driving mechanism 5 is pushed horizontally into the slide groove of the quick-change mounting seat 603. After the quick-change mounting plate 503 is in place, the output spline shaft 504 of the servo motor is preliminarily aligned with the vertical transmission shaft 601. Then, the master-slave manipulator pulls the locking rod 604 downward to move the spline sleeve 610 downward, and at the same time, the servo motor is started and the angle of the servo motor output shaft is adjusted so that the spline sleeve 610 can move downward smoothly and dock with the output spline shaft 504 of the servo motor. After the locking rod 604 falls, the vertical transmission shaft 601 docks with the output spline shaft 504 of the servo motor through the spline sleeve 610, and the installation limit plate 508 is locked by the locking rod 604. Finally, the lower locking rod 505 is pulled downward, and the lower lock tongue 506 is embedded in the locking stop 607 to perform a second locking on the driving mechanism 5 to prevent the driving mechanism 5 from being separated from the quick-connect mechanism, as shown Figure 13 shown.

[0059] In an alternative embodiment, the control order of the upper locking rod 604 and the lower locking rod 505 can be reversed, such as Figure 11 As shown, first control the locking rod 505 to perform the first locking, and then Figure 13 As shown, the locking rod 604 is rotated to perform the second locking.

[0060] When the drive mechanism 5 is damaged and needs to be removed and replaced, the reverse steps are followed: lift the lower locking lever 505, then lift the upper locking lever 604, to release the lock between the drive mechanism 5 and the vertical transmission system 6, and disconnect the output spline shaft 504 from the vertical transmission shaft 601. At this time, the master-slave manipulators can be used to grip the drive mechanism 5 and move it horizontally along the slideway to remove the drive mechanism 5.

[0061] In some optional embodiments, the low-headroom hot chamber crane further includes a sensor module 7, which includes a pull rope switch sensor 706. A pull rope clamp 705 is provided at the end of the pull rope of the pull rope switch sensor 706. The vertical transmission shaft 601 is provided with an up and down motion module that moves up and down with the rotation of the vertical transmission shaft 601. The up and down motion module hooks the pull rope clamp 705 through a pull rope hook 615. The sensor module 7 further includes a sensor plug 703 connected to the bottom socket of the vertical transmission shaft 601, which is used to output the position signal detected by the pull rope switch sensor 706 through the socket.

[0062] This embodiment detects the relative motion positions of the three motion systems, namely, the walking mechanism 1, the traverse mechanism 2 and the lifting mechanism 3, by adding a replaceable sensor module 7. Figure 3 In FIG. 1 , the sensor module 7 installed on the walking vertical axis 103 of the walking mechanism 1 is represented as the walking quick-change position sensor module 102; Figure 4 In FIG, the sensor module 7 mounted on the transverse vertical axis 203 of the transverse mechanism 2 is represented as the transverse quick-change position sensor module 202; Figure 5 In the embodiment, the sensor module 7 installed on the vertical lifting shaft 303 of the lifting mechanism 3 is represented as the lifting quick-change position sensor module 302. The position sensor modules 7 for the three motion systems are similar to those for the drive mechanism 5. To ensure transmission accuracy, a rotary transformer is installed at the tail of the servo motor to obtain the relative motion positions of the three motion systems. This embodiment also includes an additional set of remotely serviceable sensor modules that indirectly measure the positions of the three motion systems. The main idea is to connect a pull-wire switch sensor to the up-and-down motion module on the vertical transmission shaft 601. The pull-wire switch sensor determines the position of the up-and-down motion module, that is, the travel of the crane in three directions, and then outputs it to the outside through a plug and socket.

[0063] like Figure 14-15 and Figure 18As shown, this embodiment provides a rope encoder as a redundant means for providing position feedback on various operating systems of the crane. The vertical transmission shaft 601 is protected by a vertical shaft shield 612. A positioning slot 613 is provided on the side of the vertical shaft shield 612 for movement of a rope hook 615. A vertical motion module, such as a lifting nut 614, is mounted on the vertical transmission shaft 601. The lifting nut 614 forms a screw mechanism with the threaded vertical transmission shaft 601. When the vertical transmission shaft 601 rotates, the lifting nut 614 and the entire vertical motion module move vertically. A rope switch sensor 706 includes a sensor shield 704. A rope is contained within the sensor shield 704. The rope end extends from the sensor shield 704 and is pulled by the device to be measured. The rope switch sensor 706 operates by outputting the length of the pulled rope, thereby representing the displacement of the device to be measured. The rope clamp 705 of the rope switch sensor 706 is hooked by the rope hook 615 of the upper and lower motion modules. After the rope hook 615 passes through the slot opened on one side of the vertical shaft guard 612, it is connected to the lifting nut 614 of the upper and lower motion modules. The lifting nut 614 drives the rope clamp 705 to pull the rope, and then the rope encoder calculates the position of the upper and lower motion modules according to the length of the rope extended and retracted, thereby realizing the position detection of the three motion systems of the crane.

[0064] The sensor module 7 is connected to the socket at the bottom of the vertical transmission shaft 601 through the sensor plug 703, and the position signal output by the pull-cord switch sensor 706 is output to the outside through the plug and socket. It should be noted that the vertical transmission system 6 where the vertical transmission shaft 601 is located transmits power and data to the outside through a cable. The cable is mounted on the cross bar at the top of the hot chamber through a hook and moves with the vertical transmission system 6 to prevent the cable from exerting a large pulling force on the vertical transmission system 6. The present application facilitates the remote replacement of the sensor module by providing a sensor plug. When replacing the sensor module, there is no need to consider how to output the measured data of the sensor module to the outside through the cable. Instead, the data can be directly transmitted to the outside by plugging.

[0065] In some optional embodiments, the pull rope switch sensor 706 also includes a limit striker 708, and the two electronic components 707 for communication are respectively overlapped on the upper and lower sides of the limit striker 708 through metal sheets. The vertical shaft shield 612 of the vertical transmission shaft 601 is provided with a collision block guide column 616, on which a collision block 618 is sleeved. The collision block 618 is supported at the same height as the limit striker 708 by a positioning spring 619 and overlapped with the limit striker 708. A hook collision block 617 is provided on the pull rope hook 615. When the hook collision block 617 moves downward with the pull rope hook 615, it can contact and press the collision block 618 to drive the limit striker 708 to disconnect from one of the metal sheets, so that the two interconnected electronic components are disconnected. At this time, the position of the pull rope clamp 705 of the pull rope switch sensor 706 is marked as the zero point.

[0066] refer to Figures 14-18 In this application, the connector of the pull-cord switch sensor 706 is designed to be a pull-cord clamp 705 that can be hooked by the pull-cord hook 615. It is necessary to calibrate the position of the pull-cord hook 615 and the pull-cord clamp 705 when they are docked, as a new zero point, so as to calibrate the original zero point of the pull-cord switch sensor 706. In this application, a limit striker 708 is used to achieve the above purpose. When the pull-cord hook 615 is docked with the pull-cord clamp 705, the hook striker 617 attached to the pull-cord hook 615 just moves to the height of the limit striker 708. The hook striker 617 continues to move upward or downward, which will drive the limit striker 708 to disconnect from one of the metal sheets and then restore the connection. That is, the two electronic components that were originally interconnected are disconnected in a very short time. Therefore, the disconnection signals of the two electronic components can indicate that the up and down movement module passes through the zero point.

[0067] In this embodiment, the above-mentioned connection between the hook collision block 617 and the limiting striker 708 is realized by the collision block 618 and the positioning spring 619. First, the collision block 618 can be exactly located at the same height position as the limiting striker 708 under the action of the positioning spring 619 and gravity. When the hook collision block 617 moves downward, it first contacts the collision block 618, and then continues to drive the collision block 618 to squeeze the positioning spring 619. Conversely, when the hook collision block 617 moves upward, the positioning spring 619 pushes the collision block 618 to reset. After the hook collision block 617 continues to move upward, it will no longer contact the collision block 618. The end of the collision block 618 is made into a claw structure, for example Figure 17 The arc-shaped semi-cylinder shown has a corresponding limit striker 708 end that is configured as a column structure. The column can fall into the semi-cylinder and, when the semi-cylinder moves upward or downward, it can drive the column to deviate from a certain angle. At this time, the limit striker 708 will be driven to disconnect from one of the metal sheets, and then the column leaves the semi-cylinder and the limit striker 708 is reset.

[0068] In some optional embodiments, the pull-wire switch sensor 706 is mounted above the sensor mounting seat 702, the vertical transmission shaft 601 is mounted on the front end of the sensor mounting seat 702, and a manipulator clamping portion 701 is provided at the rear end of the sensor mounting seat 702. The sensor plug 703, the sensor mounting seat 702 and the manipulator clamping portion 701 have a coaxial cavity, a lock pin 711 is installed in the cavity, a thrust spring 709 and a tension spring 710 are sleeved on the lock pin 711, the thrust spring 709 is arranged between the step surface in the cavity of the manipulator clamping portion 701 and the rear end surface of the sensor mounting seat 702, and the tension spring 710 is arranged between the step surface in the cavity of the sensor mounting seat 702 and the lock pin shaft shoulder at the front end of the step surface, and a lock pin head with a thick middle and thin ends is provided at the front end of the lock pin shaft shoulder, and the lock pin head extends into the cavity of the sensor plug 703;

[0069] When the forces of the tension spring 710 and the thrust spring 709 are balanced with each other, a small hole is opened at a position on the housing of the sensor plug 703 opposite to the middle part of the locking pin head, and a locking steel ball 712 is arranged between the small hole and the middle part of the locking pin head. The locking steel ball 712 can be pushed by the middle part of the locking pin 711 to expose part of the ball crown outside the small hole, and a pit is reserved on the inner surface of the socket at the bottom of the vertical transmission shaft 601 at the position corresponding to the small hole of the sensor plug 703 to accommodate the ball crown of the locking steel ball 712 exposed outside the small hole.

[0070] refer to Figure 15 and Figure 16The sensor mounting seat 702 is located at the front end, with an open end so as to transmit electrical signals when the plug and socket are connected. In this embodiment, when the master-slave manipulator clamps the manipulator clamping part 701 and inserts the sensor plug 703 into the socket of the socket, the steel ball 712 extending out of the small hole is first blocked by the small hole, so that the steel ball 712 and the sensor plug 703 cannot move forward. The locking pin 711 is pushed forward by the thrust applied by the manipulator. At this time, the thrust spring 709 is compressed and the tension spring 710 is relaxed. After the locking pin 711 moves forward a certain distance relative to the steel ball 712, the middle part of the locking pin head of the locking pin 711 is no longer in contact with the steel ball 712. The steel ball loses the support of the locking pin head and retracts into the small hole under the reaction force of the socket. The steel ball 712 and the sensor plug 703 can continue to be pushed until the sensor plug 703 is fully inserted into the socket. Due to the limitations of the socket geometry, the small hole where the steel ball 712 is located is aligned with the pits reserved on the upper and lower surfaces of the socket. When the operator senses that sensor plug 703 is fully inserted, via force feedback from the master-slave manipulator, the operator releases gripper 701. Locking pin 711, under the force of thrust spring 709, moves backward relative to ball 712 until equilibrium is restored between the inner and outer springs. Ball 712 is pushed out of the small hole by the middle portion of the locking pin's head, making contact with the socket recess and unable to retract. At this point, the plug and socket are locked, completing the insertion process.

[0071] When the sensor plug 703 needs to be pulled out, the master-slave manipulator clamping part 701 is used to pull the sensor plug 703 outward. The steel ball 712 extending out of the small hole is blocked by the reserved pit of the socket, so that the steel ball 712 and the sensor plug 703 cannot be further withdrawn, and the lock pin 711 continues to withdraw under the pulling force applied by the manipulator. At this time, the tension spring 710 is compressed and the thrust spring 709 is relaxed. After the lock pin 711 retreats a distance relative to the steel ball 712, the middle part of the lock pin head of the lock pin 711 is no longer in contact with the steel ball 712. The steel ball 712 loses the support of the lock pin head and retracts into the small hole under the reaction force of the socket pit. The steel ball 712 and the sensor plug 703 can be further pulled out until the sensor plug 703 is completely pulled out. After sensor plug 703 is removed, locking pin 711, under the force of tension spring 710, moves forward relative to steel ball 712 and sensor plug 703 until the inner and outer springs return to equilibrium. The middle portion of the locking pin's head pushes steel ball 712 out of the small hole again and prevents it from retracting. This completes the removal of sensor plug 703 from the socket.

[0072] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A low-headroom hot-cell crane capable of remote maintenance, characterized in that: It comprises a walking mechanism (1), a transverse movement mechanism (2) and a lifting mechanism (3), wherein the walking mechanism (1) moves on a track on the top of the hot chamber via rollers, the transverse movement mechanism (2) is connected to the walking mechanism (1) via a screw mechanism, and the lifting mechanism (3) is fixed to the transverse movement mechanism (2) and has a lifting sprocket (307) for lifting goods; The walking mechanism (1), the traverse mechanism (2) and the lifting mechanism (3) are all connected to a replaceable driving mechanism (5) via respective vertical transmission shafts (601). Each driving mechanism (5) includes a servo motor (501) and a quick-change mounting plate (503). The servo motor (501) has an output spline shaft (504) passing through the quick-change mounting plate (503). The quick-change mounting plate (503) can slide into a quick-change mounting seat (603) at the bottom of the vertical transmission shaft (601) so that the output spline shaft (504) docks with the bottom of the vertical transmission shaft (601). A spline shaft sleeve (610) is provided on the outer side of the vertical transmission shaft (601). The spline shaft sleeve (610) slides downward along the vertical transmission shaft (601) to connect the vertical transmission shaft (601) and the output spline shaft (504). Wherein, a mounting limit plate (508) and a rotatable lower locking rod (505) are further provided on one side of the quick-change mounting plate (503) of the driving mechanism (5), and lower locking tongues (506) are provided at both ends of the lower locking rod (505). When the quick-change mounting plate (503) moves into the quick-change chute (605) of the quick-change mounting seat (603), one side of the limit plate (508) is pressed against the opening of the quick-change chute (605). When the lower locking rod (505) rotates, the lower locking tongue (506) is driven in and out of the locking stop (607) at the opening of the quick-change chute (605); The quick-change mounting seat (603) is provided with a locking rod (604), which is connected to a positioning cam (611) located in the quick-change slide groove (605) through a rotating shaft. The positioning cam (611) abuts against the lower end of the spline shaft sleeve (610). A compression spring (609) is provided between the upper end of the spline shaft sleeve (610) and the shaft shoulder of the vertical transmission shaft (601). When the locking rod (604) rotates, the positioning cam (611) is driven to move up and down to tighten or loosen the The spline shaft sleeve (610) is configured such that when the spline shaft sleeve (610) is released, the locking rod (604) rotates to fit the other side of the limit plate (508), and at the same time, the compression spring (609) drives the spline shaft sleeve (610) to move downward, so that a portion of the spline shaft sleeve (610) is sleeved on the output spline shaft (504) located below the vertical transmission shaft (601), and the other portion of the spline shaft sleeve (610) remains sleeved on the vertical transmission shaft (601); The low-headroom hot chamber crane further includes a sensor module (7), the sensor module (7) including a pull rope switch sensor (706), a pull rope end of the pull rope switch sensor (706) being provided with a pull rope clamp (705), an up-and-down motion module being provided on the vertical transmission shaft (601) and moving up and down as the vertical transmission shaft (601) rotates, the up-and-down motion module hooking the pull rope clamp (705) via a pull rope hook (615), and the sensor module (7) further including a sensor plug (703) connected to a bottom socket of the vertical transmission shaft (601) for outputting a position signal detected by the pull rope switch sensor (706) to the outside through the socket.

2. The remotely maintainable low-headroom hot-cell crane according to claim 1, characterized in that: The rollers of the walking mechanism (1) include a plurality of walking support wheels (107) and a walking gear (105) located outside one or more walking support wheels (107); the track includes a trolley track (109) and a walking rack (106); the walking support wheels (107) are placed on the trolley track (109) and driven to rotate by the driving mechanism (5); and the walking gear (105) is meshed with the walking rack (106).

3. The remotely maintainable low-headroom hot-cell crane according to claim 2, characterized in that: The track is placed above the trolley track beam (110), and the rollers of the walking mechanism (1) further include a plurality of follower wheels located below the trolley track beam (110).

4. The remotely maintainable low-headroom hot-cell crane according to claim 1, characterized in that: A transverse ball screw shaft (204) and a lifting horizontal spline shaft (304) are provided on a large frame (108) spanning two tracks of the walking mechanism (1). The transverse ball screw shaft (204) cooperates with the transverse screw nut (205) to drive the trolley (206) of the transverse mechanism (2) to move between the two tracks. The end of the transverse ball screw shaft (204) is connected to the vertical transmission shaft of the transverse mechanism (2). The lifting component (305) of the lifting mechanism (3) is fixedly arranged on the trolley (206). The lifting component (305) has a through hole. The lifting horizontal spline shaft (304) passes through the through hole and connects the first reducer (306) in the lifting component (305) and the vertical transmission shaft of the lifting mechanism (3).

5. The remotely maintainable low-headroom hot-cell crane according to claim 4, characterized in that: A rotating gear is provided at the end of the output shaft of the first reducer (306) in the lifting assembly (305), and the rotating gear engages with the lifting sprocket (307). After the two ends of the chain of the lifting sprocket (307) pass through the through holes on the trolley (206), one end is connected to the hook (310), and the other end is accommodated in the recovery box (311) at the bottom end of the trolley (206).

6. The remotely maintainable low-headroom hot-cell crane according to claim 1, characterized in that: The pull rope switch sensor (706) further includes a limit striker (708), and two electronic components for communication are respectively overlapped on the upper and lower sides of the limit striker (708) through metal sheets. A collision block guide column (616) is provided on the vertical shaft shield (612) of the vertical transmission shaft (601), and a collision block (618) is sleeved on the vertical shaft shield (612). The collision block (618) is supported at the same height as the limit striker (708) by a positioning spring (619) and overlapped with the limit striker (708). A hook collision block (617) is provided on the pull rope hook (615). When the hook collision block (617) moves downward with the pull rope hook (615), it can contact and press the collision block (618) to drive the limit striker (708) to disconnect from one of the metal sheets, so that the two electronic components that communicate with each other are disconnected. At this time, the position of the pull rope clamp (705) of the pull rope switch sensor (706) is marked as the zero point.

7. The remotely maintainable low-headroom hot-cell crane according to claim 1, characterized in that: The pull rope switch sensor (706) is installed above the sensor mounting seat (702), the vertical transmission shaft (601) is installed at the front end of the sensor mounting seat (702), and the rear end of the sensor mounting seat (702) is provided with a manipulator clamping portion (701), the sensor plug (703), the sensor mounting seat (702) and the manipulator clamping portion (701) have a coaxial cavity, a lock pin (711) is installed in the cavity, a thrust spring (709) and a tension spring (710) are sleeved on the lock pin (711), the thrust spring (709) is arranged between the step surface in the cavity of the manipulator clamping portion (701) and the rear end surface of the sensor mounting seat (702), and the tension spring (710) is arranged between the step surface in the cavity of the sensor mounting seat (702) and the lock pin shaft shoulder at the front end of the step surface, and a lock pin head with a thick middle and thin ends is provided at the front end of the lock pin shaft shoulder, and the lock pin head extends into the cavity of the sensor plug (703); When the forces of the tension spring (710) and the thrust spring (709) are balanced with each other, a small hole is opened at a position on the housing of the sensor plug (703) opposite to the middle part of the lock pin head, and a locking steel ball (712) is arranged between the small hole and the middle part of the lock pin head. The locking steel ball (712) can be pushed by the middle part of the lock pin (711) to expose part of the ball crown outside the small hole, and a pit is reserved on the inner surface of the socket at the bottom of the vertical transmission shaft (601) at a position corresponding to the small hole of the sensor plug (703) to accommodate the ball crown of the locking steel ball (712) exposed outside the small hole.

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