A sling for a storage tank

Abstract

The application discloses a kind of lifting appliance for storage tank, belong to reactor engineering technical field, it is applicable to the safe hoisting of storage tank in high temperature gas cooled reactor spent fuel storage system.The lifting appliance includes force ring, grab hook, grab hook opening and closing adjusting ring, servo cylinder, connecting mechanism, battery pack and remote controller;Force ring is connected by connecting strip by outer ring and inner disc, outer ring is equipped with pin shaft ear, lifting lug, guide block and cushion block, guide block is matched with storage tank groove to realize centring;Grab hook is hinged to pin shaft ear by pin shaft, top bevel protrusion is matched with grab hook opening and closing adjusting ring, adjusting ring is driven to move up and down by servo cylinder to realize the engagement of grab hook and storage tank connecting plate or separation to realize the engagement of grab hook and storage tank connecting plate or separation;Battery pack is powered for servo cylinder and visual device such as camera, red light point laser, remote control operation is controlled by remote controller.The application ensures reliable hoisting by mechanical structure and safety thrust limit, combined with visual monitoring and accurate centring design, realize remote, automation, safe operation under deep well working condition, especially suitable for high safety requirement scene such as nuclear facilities.

Description

Technical Field

[0001] This invention belongs to the field of reactor engineering technology, and specifically relates to a lifting device for a storage tank. Background Technology

[0002] High-temperature gas-cooled reactors (HTGRs), as the mainstream fourth-generation nuclear power reactor type worldwide, have experienced rapid development in China. Storage tanks, as key equipment in the spent fuel storage system of HTGRs, play a crucial role in the nuclear fuel cycle. Each HTGR nuclear power plant requires a large number of storage tanks to store different types of spherical fuel elements. The tanks filled with fuel elements are hoisted into designated areas within the shaft facility of the power plant for stacking and storage. When fuel elements need to be transferred, the tanks containing the fuel elements are hoisted out of the shaft. Safe and reliable lifting equipment is required during the hoisting / extraction of storage tanks into and out of the shaft. This equipment must be capable of long-distance, automated, and safe hoisting within the shaft. It is against this backdrop that this invention provides a storage tank lifting equipment. Summary of the Invention

[0003] The purpose of this invention is to provide a lifting tool for storage tanks, used for lifting storage tanks in high-temperature gas-cooled reactor spent fuel storage systems, so as to ensure the safety and reliability of storage tank lifting operations.

[0004] The specific technical solution is as follows: A lifting device for a storage tank includes a load-bearing ring, a grab hook, a grab hook opening and closing adjustment ring, a servo electric cylinder, a connecting mechanism, a battery pack, and a remote controller. The load-bearing ring comprises a concentric outer ring and an inner disc. The inner disc is fixedly connected to the outer ring via a first connecting strip. Four sets of pin lugs and an even number of lifting lugs are uniformly welded along the circumference of the upper surface of the outer ring. The four sets of pin lugs are all located in the middle of the arc segment of the outer ring. Below the gap in the middle of each set of pin lugs is a rectangular hole for the grab hook in the outer ring. The lifting lugs are located on the outer edge of the outer ring. Multiple guide blocks are uniformly welded along the circumference of the lower surface of the outer ring. The grab hook passes through the grab hook. A rectangular hole is provided, and the top of the gripper hook is pivotally hinged to the gap between each set of pin lugs via a pin. An angled protrusion is provided on the top of the gripper hook near the gripper hook opening / closing adjustment ring. The gripper hook opening / closing adjustment ring includes a concentric outer adjustment ring and an inner adjustment ring. The inner adjustment ring is fixedly connected to the outer adjustment ring via a second connecting strip, and the upper surface of the inner adjustment ring is fixedly connected to the bottom of the connecting mechanism. The connecting mechanism includes a cylindrical cylinder and a lower ring. The lower ring is coaxially sleeved and welded to the outer circumference of the bottom of the cylindrical cylinder. A circular hole is provided in the middle of the top of the cylindrical cylinder, and the lower ring is fixedly connected to the inner adjustment ring by screws. The bottom of the servo electric cylinder... The servo cylinder is fixedly installed on the upper surface of the inner disc. A lead screw drive mechanism is located at the top of the servo cylinder. This mechanism passes through a circular hole in the cylindrical tube and is fixedly connected to the top of the cylindrical tube via a nut. The lead screw drive mechanism extends and retracts, causing the connecting mechanism to move up and down. This connecting mechanism, in turn, causes the gripper hook adjustment ring to move up and down. The battery pack includes an even number of batteries, evenly fixed to the upper surface of the outer ring. These batteries are electrically connected to and power the servo cylinder via battery cables. The remote control is wirelessly connected to the battery pack and used to control the servo cylinder's movement. The outer edge of the outer adjustment ring extends to its... The distance of the central axis is ≤ the radius of the complete circle formed by the inner edges of the four sets of pin ears, and > the distance from the angled protrusion to the central axis of the outer adjusting ring when the grab hook and the tank connecting plate are engaged; the grab hook opening and closing adjusting ring moves up and down so that the outer adjusting ring can achieve the engagement or disengagement of the grab hook and the tank connecting plate by pushing or moving away from the angled protrusion; the maximum thrust of the servo electric cylinder satisfies: with the axis of the pin shaft that the grab hook rotates around the pin ear as the torque fulcrum, the torque formed by the thrust generated by the servo electric cylinder driving the grab hook opening and closing adjusting ring about the fulcrum is < the torque formed by the weight of the lifting tank and the friction between the grab hook and the tank connecting plate about the same fulcrum.

[0005] Preferably, the shape of the cylindrical tube is adapted to the shape of the lead screw drive mechanism of the servo electric cylinder. The cylindrical tube is sleeved outside the lead screw drive mechanism of the servo electric cylinder. The lower ring has multiple fourth threaded holes along its circumference. The position and number of the fourth threaded holes correspond to the third threaded holes on the circumference of the inner adjusting ring.

[0006] Preferably, the top of the gripper hook has a first through hole, and each set of pin lugs has a second through hole. The pin passes through the second through hole in one pin lug, the first through hole of the gripper hook, and the second through hole of another pin lug in sequence. The two ends of the pin are fixed by cotter pins.

[0007] Preferably, the even-numbered batteries in the battery pack are electrically connected, and the remote control controls the start, stop, forward and reverse rotation of the servo cylinder by controlling the switch of the battery pack.

[0008] Preferably, four pads are also uniformly welded along the circumference of the lower surface of the outer ring. Each pad is located at the outer edge of the outer ring and close to the rectangular hole of the hook. The materials of the pads and guide blocks are the same as those of the storage tank. A pad is set after every two guide blocks along the circumference of the lower surface of the outer ring.

[0009] Preferably, the outer adjusting ring is a closed ring structure; the top of the grab hook is hinged to the middle gap of the pin ear by a pin shaft, and the fit clearance between the top of the grab hook and the pin ear is ≤0.5mm; the width of the rectangular hole of the grab hook is 0.5mm~1mm larger than the cross-sectional thickness of the grab hook, and the length is 1.2 times the maximum stroke of the grab hook when rotating from the biting grab state to the disengaged state; the upper edge of the rectangular hole of the grab hook is aligned with the lower edge of the middle gap of the pin ear.

[0010] Preferably, the upper surface of the inner disc of the bearing ring is provided with a plurality of first threaded holes along its circumference, and a second threaded hole is provided at the center of the inner disc; the bottom of the servo cylinder is provided with a plurality of first through holes, the number and position of the first through holes corresponding to the number of first threaded holes of the inner disc of the bearing ring; the bottom of the servo cylinder is fixed in the first threaded hole of the inner disc by bolts passing through the first through holes.

[0011] Preferably, the system also includes multiple hook cameras and hook camera cables. Hook camera mounting brackets are welded to the inner side of the rectangular holes of the hooks. The hook cameras are mounted on the hook camera mounting brackets via ball joint structures. The hook cameras can rotate around the hook camera mounting brackets within a certain angle range. The hook cameras are connected to the battery pack via hook camera cables. The hook cameras face the biting surface of the hooks and are used to detect the biting gap between the hooks and the tank connecting plate.

[0012] Preferably, it also includes multiple guide block cameras, guide block camera cables, red dot lasers and red dot laser cables, with guide block camera mounting brackets welded to the inner side of the guide blocks; the guide block cameras are mounted on the guide block camera mounting brackets via ball joint structures, and the guide block cameras can rotate around the guide block camera mounting brackets within a certain angle range; the guide block cameras are connected to the battery pack via guide block camera cables; the guide block cameras face the inner side of the load-bearing ring; The red dot laser is installed in the second threaded hole of the inner disk of the load-bearing ring. The coaxiality of the laser beam with the central axis of the lifting device is ≤0.5mm. The red dot laser is connected to the battery pack through a red dot laser cable. The red dot laser is used to align the lifting device with the storage tank.

[0013] Preferably, the grab hook has a J-shaped rod structure, and the side of the grab hook near the grab hook opening and closing adjustment ring is an "S"-shaped three-fold line. The "S"-shaped three-fold line includes a first fold line, a second fold line, and a third fold line. The first fold line is a driving inclined surface with a convex angle. The included angle between the inner angle of the first fold line and the second fold line is n°, where n equals 150°~165°. The included angle between the outer angle of the second fold line and the third fold line is 360°-n°. When the grab hook is engaged with the tank connecting plate, the second fold line is parallel to the central axis of the outer ring, and the intersection of the third fold line and the second fold line is inside the upper edge of the rectangular hole of the grab hook. When the grab hook is disengaged from the tank connecting plate, the first fold line and the third fold line are parallel to the central axis of the outer ring, and the intersection of the third fold line and the second fold line is inside the upper edge of the rectangular hole of the grab hook. The inner edge of the rectangular hole of the grab hook and the third fold line of the grab hook maintain a safety gap of ≥1mm at the maximum rotation position.

[0014] Compared with the prior art, the beneficial effects of the present invention are: 1. The lifting device for storage tanks of the present invention, except for the servo electric cylinder and remote control device, adopts high-strength mechanical structure for core components such as load-bearing ring, grab hook, and guide block. This avoids the risk of failure of complex electronic components under the harsh conditions of nuclear facilities such as high temperature and radiation, and can operate stably for a long time. It is especially suitable for scenarios with extremely high safety requirements, such as high-temperature gas-cooled reactor spent fuel storage systems. 2. The present invention discloses a servo electric cylinder for lifting tanks, which achieves millimeter-level displacement control of the opening and closing adjustment ring of the grab hook through a screw drive mechanism. With the precise cooperation between the angled protrusion of the grab hook and the outer adjustment ring, reliable engagement and disengagement of the grab hook and the tank connecting plate are ensured. The maximum thrust of the servo electric cylinder is strictly limited to: with the axis of the pivot pin on which the grab hook rotates around the pivot lug as the torque fulcrum, the torque formed by the thrust generated by the servo electric cylinder driving the opening and closing adjustment ring of the grab hook on the pivot point is less than the torque formed by the weight of the lifting tank and the friction between the grab hook and the tank connecting plate on the same pivot point. Even if misoperation occurs, the mechanical locking formed by the weight of the tank and the friction can still prevent the grab hook from accidentally disengaging, thus eliminating the risk of disengagement accidents in principle. 3. The red dot laser of this invention projects a laser beam that is coaxial with the central axis of the lifting device. Combined with the physical fit between the guide block and the tank groove, it achieves double alignment of the lifting device and the tank, ensuring concentricity of the lifting operation. The hook camera and the guide block camera can rotate at multiple angles through a ball joint structure, respectively monitoring the hook engagement gap and the contact state of the guide block in real time. The images are fed back to the remote control, solving the problem of blind spots in deep well and long-distance operation, and realizing visual safety management. 4. The grab hook of this invention adopts a J-shape, and the inner side of the grab hook has an "S"-shaped three-fold line structure. Through two symmetrical inclined planes, the included angle between the inner angle of the first fold line and the second fold line is n°, and the included angle between the outer angle of the second fold line and the third fold line is 360°-n°, which optimizes the force transmission efficiency. In the grab state where the grab hook is engaged with the tank connecting plate, the second fold line is parallel to the central axis of the outer ring, ensuring that the lifting force is transmitted along the central axis and avoiding off-center loading. The material of the pad block and the guide block is the same as that of the tank, which can effectively isolate the load-bearing ring and the tank connecting plate, prevent cross-contamination, and adapt to the lifting requirements of different types of tanks. 5. This invention uses a remote control to wirelessly control the servo cylinder, eliminating the need for operators to be in close contact with the radiation environment. Combined with the high reliability of the mechanical structure, it significantly reduces the risk of radiation hazards to personnel and meets the stringent requirements for long-distance, automated hoisting of nuclear facilities. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0016] Figure 1 This is a schematic diagram of the main structure of a lifting device for a storage tank according to the present invention; Figure 2 This is a top view schematic diagram of a lifting device for a storage tank according to the present invention; Figure 3 This is a schematic diagram of the main structure of the load-bearing ring of the present invention; Figure 4 This is a top view of the load-bearing ring of the present invention; Figure 5 This is a schematic diagram of the opening and closing adjustment ring of the gripper hook of the present invention; Figure 6 This is a schematic diagram of the connection mechanism of the present invention; Figure 7 This is a top view of the connecting mechanism of the present invention. Figure 8 This is a schematic diagram of the servo electric cylinder of the present invention; Figure 9 This is a schematic diagram of the structure of the gripper hook for engaging, grasping, and disengaging in this invention; Figure 10 This is a schematic diagram of the working process of hoisting the storage tank according to the present invention; Figure 11 This is a schematic diagram illustrating the alignment of a lifting device for a storage tank with the storage tank according to the present invention.

[0017] In the diagram: 1-Bearing ring; 101-Outer ring; 102-Inner disc; 103-First connecting strip; 1011-Rectangular hole of the grab hook; 1021-First threaded hole; 1022-Second threaded hole; 2-Guide block; 3-Grab hook; 301-First through hole; 302-Angled protrusion; 3011-First zigzag line; 3012-Second zigzag line; 3013-Third zigzag line; 4-Grab hook camera; 5-Grab hook camera mounting bracket; 6-Grab hook camera power supply cable; 7-Servo cylinder; 701-First through hole; 8-Battery connection cable; 9-Grab hook opening and closing adjustment ring; 901-Outer adjustment ring; 9 02-Inner adjusting ring; 903-Second connecting strip; 9021-Third threaded hole; 10-Padded block; 11-Battery pack; 12-Lifting lug; 13-Pin shaft; 14-Pin shaft lug; 1402-Second through hole; 15-Cotter pin; 16-Guide block camera; 17-Guide block camera mounting bracket; 18-Guide block camera cable; 19-Screw; 20-Connecting mechanism; 2001-Cylindrical tube; 20011-Round hole; 2002-Lower ring; 20021-Fourth threaded hole; 21-Bolt; 22-Red dot laser cable; 23-Red dot laser; 24-Remote control. Detailed Implementation

[0018] The following examples are used to illustrate the present invention, but are not intended to limit the scope of the invention.

[0019] like Figures 1-8As shown, a tank lifting device includes a load-bearing ring 1, a grab hook 3, a grab hook opening and closing adjustment ring 9, a servo cylinder 7, a connecting mechanism 20, a battery pack 11, and a remote controller 24. The load-bearing ring 1 includes a concentric outer ring 101 and an inner disc 102. The inner disc 102 is fixedly connected to the outer ring 101 by a first connecting strip 103. Four sets of pin lugs 14 and an even number of lifting lugs 12 are evenly welded to the upper surface of the outer ring 101 along its circumference. The four sets of pin lugs 14 are all located in the middle of the arc segment of the outer ring 101. Below the gap in the middle of each set of pin lugs 14, there is a rectangular hole 1011 for the grab hook opened in the outer ring 101. The lifting lugs 12 are located on the outer edge of the outer ring 101. Multiple guide blocks are evenly welded to the lower surface of the outer ring 101 along its circumference. 2; The grab hook 3 passes through the rectangular hole 1011 of the grab hook, and the top of the grab hook 3 is rotatably hinged to the gap in the middle of each set of pin lugs 14 by a pin 13; the top of the grab hook 3 is provided with an angled protrusion 302 on the side near the grab hook opening and closing adjustment ring 9; the grab hook opening and closing adjustment ring 9 includes a concentric outer adjustment ring 901 and an inner adjustment ring 902, the inner adjustment ring 902 is fixedly connected to the outer adjustment ring 901 by a second connecting strip 903, and the upper surface of the inner adjustment ring 902 is fixedly connected to the bottom of the connecting mechanism 20; the connecting mechanism 20 includes a cylindrical tube 2001 and a lower ring 2002, the lower ring 2002 is coaxially ring-fitted and welded to the outer circumferential surface of the bottom of the cylindrical tube 2001, and a circular hole 20011 is opened in the middle of the top of the cylindrical tube 2001, the lower... The circular ring 2002 is fixedly connected to the inner adjusting ring 902 by screws 19; the bottom of the servo cylinder 7 is fixedly installed on the upper surface of the inner disc 102, and the top of the servo cylinder 7 is provided with a lead screw drive mechanism. The lead screw drive mechanism at the top of the servo cylinder 7 passes through the circular hole 20011 of the cylindrical cylinder 2001 and is fixedly connected to the top of the cylindrical cylinder 2001 by the nut on the lead screw drive mechanism. The extension and retraction of the lead screw drive mechanism drives the connecting mechanism 20 to move up and down, and the connecting mechanism 20 drives the hook opening and closing adjusting ring 9 to move up and down; the battery pack 11 includes an even number of batteries, which are evenly fixed on the upper surface of the outer ring 101, and are electrically connected to and powered by the servo cylinder 7 through the battery connection cable 8; the remote controller 24 is wirelessly connected to the battery pack 11 for control. The servo cylinder 7 is activated; the distance from the outer edge of the outer adjustment ring 901 to its central axis is ≤ the radius of the complete circle formed by the inner edges of the four sets of pin ears 14, and > the distance from the angled protrusion 302 to the central axis of the outer adjustment ring 901 when the hook 3 is engaged with the tank connecting plate; the hook opening and closing adjustment ring 9 moves up and down so that the outer adjustment ring 901 achieves the engagement or disengagement of the hook 3 with the tank connecting plate by pushing or moving away from the angled protrusion 302; the maximum thrust of the servo cylinder 7 satisfies: with the axis of the pin 13, the fulcrum where the hook 3 rotates around the pin ear 14, as the torque fulcrum, the torque generated by the thrust of the servo cylinder 7 driving the hook opening and closing adjustment ring 9 on this fulcrum is < the torque generated by the weight of the hoisting tank and the friction between the hook 3 and the tank connecting plate on the same fulcrum.

[0020] like Figure 4 As shown, the load-bearing ring 1 is formed by welding and fixing a concentric outer ring 101 and an inner disc 102 together with a first connecting strip 103, creating a hollow load-bearing structure. Four sets of pin lugs 14 are located in the middle of the arc segment of the outer ring 101, each set containing two spaced lug plates, with the gap in between corresponding to the rectangular hook hole 1011 opened in the outer ring 101. The lifting lug 12 is used to connect to the crane hook via a lock.

[0021] The guide block 2 is adapted to the groove on the upper surface of the storage tank. A pad block 10 is set after every two guide blocks 2 along the circumference of the lower surface of the outer ring 101, and similarly, after setting a pad block 10, two guide blocks 2 are set along the circumference of the outer ring 101.

[0022] Preferably, the shape of the cylindrical tube 2001 is adapted to the shape of the lead screw drive mechanism of the servo electric cylinder 7. The cylindrical tube 2001 is sleeved on the outside of the lead screw drive mechanism of the servo electric cylinder 7. The lower ring 2002 has a plurality of fourth threaded holes 20021 opened on its circumference. The fourth threaded holes 20021 correspond to the position and number of the third threaded holes 9021 on the circumference of the inner adjusting ring 902.

[0023] like Figure 1 and Figure 9 As shown, preferably, the top of the grab hook 3 has a first through hole 301, and each set of pin ears 14 has a second through hole 1402. The pin 13 passes through the second through hole 1402 in one pin ear 14 in sequence. The first through hole 301 of the grab hook 3 and the second through hole 1402 of the other pin ear 14 are fixed at both ends by cotter pins 15.

[0024] Preferably, the even number of batteries in the battery pack 11 are electrically connected, and the remote controller 24 controls the start, stop and forward / reverse rotation of the servo cylinder 7 by controlling the switch of the battery pack 11, thereby controlling the opening and closing of the grab hook 3.

[0025] Preferably, four pad blocks 10 are also uniformly welded to the lower surface of the outer ring 101 along its circumference. Each pad block 10 is located at the outer edge of the outer ring 101 and close to the rectangular hole 1011 of the grab hook. The materials of the pad blocks 10 and the guide blocks 2 are the same as the material of the storage tank. A pad block 10 is set after every two guide blocks 2 along the lower surface of the outer ring 101.

[0026] Both are made of the same materials as the storage tank, thus avoiding cross-contamination.

[0027] Preferably, the outer adjusting ring 901 is a closed ring structure; the top of the gripper hook 3 is hinged to the middle gap of the pin lug 14 through the pin 13, and the fit gap between the top of the gripper hook 3 and the pin lug 14 is ≤0.5mm; the width of the rectangular hole 1011 of the gripper hook is 0.5mm~1mm larger than the cross-sectional thickness of the gripper hook 3, and the length is 1.2 times the maximum stroke of the gripper hook 3 when rotating from the biting gripping state to the disengaging state; the upper edge of the rectangular hole 1011 of the gripper hook is aligned with the lower edge of the middle gap of the pin lug 14.

[0028] The first through hole 301 of the grab hook 3 and the second through hole 1402 of the pin lug 14 on the other side are fixed at both ends by cotter pins 15, with a fit clearance ≤0.5mm to ensure smooth rotation.

[0029] Preferably, the upper surface of the inner disc 102 of the bearing ring 1 is provided with a plurality of first threaded holes 1021 along its circumference, and a second threaded hole 1022 is provided at the center of the inner disc 102; the bottom of the servo cylinder 7 is provided with a plurality of first through holes 701, the number and position of the first through holes 701 corresponding to the number of first threaded holes 1021 of the inner disc 102 of the bearing ring 1; the bottom of the servo cylinder 7 is fixed in the first threaded hole 1021 of the inner disc 102 by bolts 21 passing through the first through holes 701.

[0030] Preferably, the system also includes multiple hook cameras 4 and hook camera cables 6. Hook camera mounting brackets 5 are welded to the inner side of the rectangular holes 1011 of the hooks. The hook cameras 4 are mounted on the hook camera mounting brackets 5 through a ball joint structure. The hook cameras 4 can rotate around the hook camera mounting brackets 5 within a certain angle range. The hook cameras 4 are connected to the battery pack 11 through the hook camera cables 6. The biting surface of the hook cameras 4 facing the hook 3 is used to detect the biting gap between the hook and the tank connecting plate.

[0031] The hook camera 4 is mounted on the hook camera mounting bracket 5 via a ball joint structure. The hook camera 4 can rotate around the hook camera mounting bracket 5 within a range of ±45° in the horizontal direction and ±30° in the vertical direction. This range covers the entire area of ​​the meshing surface between the hook 3 and the tank connecting plate, and avoids interference with the inner wall of the hook rectangular hole 1011.

[0032] Preferably, the device also includes multiple guide block cameras 16, guide block camera cables 18, red dot lasers 23 and 22, and guide block camera mounting brackets 17 are welded to the inner side of the guide block 2. The guide block cameras 16 are mounted on the guide block camera mounting brackets 17 through a ball joint structure, and the guide block cameras 16 can rotate around the guide block camera mounting brackets 17 within a certain angle range. The guide block cameras 16 are connected to the battery pack 11 through the guide block camera cables 18. The guide block cameras 16 face the inner side of the load-bearing ring 1. The guide block cameras 16 monitor the fit between the guide block 2 and the storage tank.

[0033] The guide block camera 16 is mounted on the guide block camera mounting bracket 17 via a ball joint structure. The guide block camera 16 can rotate around the guide block camera mounting bracket 17 within a range of ±30° in the horizontal direction and ±20° in the vertical direction. This range covers the contact area between the guide block 2 and the tank groove, and avoids interference with the lower surface of the outer ring (101).

[0034] The red dot laser 23 is installed in the second threaded hole 1022 of the inner disk 102 of the load-bearing ring 1. The coaxiality of the laser beam with the central axis of the lifting device is ≤0.5mm. The red dot laser 23 is connected to the battery pack 11 through the red dot laser cable 22. The red dot laser 23 is used for the alignment of the lifting device and the storage tank.

[0035] like Figure 9 Preferably, the hook 3 has a J-shaped rod structure. The side of the hook 3 near the hook opening / closing adjustment ring 9 is an "S"-shaped three-fold line. This "S"-shaped three-fold line includes a first fold line 3011, a second fold line 3012, and a third fold line 3013. The first fold line 3011 is the driving slope of the angled protrusion 302. The included angle between the inner angles of the first fold line 3011 and the second fold line 3012 is n°, where n equals 150°~165°. The included angle between the outer angles of the second fold line 3012 and the third fold line 3013 is 360°-n°. When the hook 3 is in the biting gripping state with the tank connecting plate... The second fold line 3012 is parallel to the central axis of the outer ring 101, and the intersection of the third fold line 3013 and the second fold line 3012 is on the inner side of the upper edge of the rectangular hole 1011 of the grab hook; when the grab hook 3 is separated from the tank connecting plate, the first fold line 3011 and the third fold line 3013 are parallel to the central axis of the outer ring 101, and the intersection of the third fold line 3013 and the second fold line 3012 is on the inner side of the upper edge of the rectangular hole 1011 of the grab hook; the inner edge of the rectangular hole 1011 of the grab hook and the third fold line 3013 of the grab hook 3 maintain a safety gap of ≥1mm when in the maximum rotation position.

[0036] The angle between the first broken line 3011 and the second broken line 3012 is n°, which is used for the contact between the oblique protrusion 302 and the outer adjustment ring 901.

[0037] n is equal to 150°~165°. This angle range allows the thrust to be decomposed along the normal direction of the first broken line 3011 into an effective component force that drives the hook 3 to rotate, when the outer adjustment ring 901 pushes the angled protrusion 302. This reduces the proportion of ineffective radial force and optimizes the force transmission efficiency. At the same time, it avoids jamming caused by too small an angle or a surge in thrust demand caused by too large an angle.

[0038] like Figure 8 As shown, the working principle of the servo electric cylinder is to use a motor to drive the internal lead screw of the servo electric cylinder to rotate, converting the rotational motion of the lead screw into linear motion, thereby realizing the extension and retraction of the lead screw of the servo electric cylinder. The front end of the lead screw of the lead screw drive mechanism built into the servo electric cylinder 7 passes through the φd2 hole on the connecting mechanism 20, and the lead screw is connected to the connecting mechanism 20 with the nut on the lead screw. The extension and retraction of the lead screw drives the connecting mechanism 20 to move up and down. When the connecting mechanism (20) is installed, it is fastened to the servo electric cylinder 7. The lead screw passes through the φd2 hole of the upper ring in the connecting mechanism 20. The upper part of the middle diameter round plate is surrounded by the middle cylinder section of the connecting mechanism 20. The n through holes opened on the circumference of the lower ring of the connecting mechanism 20 are connected to the fourth threaded hole evenly opened on the circumference of the middle ring of the hook opening and closing adjustment ring 9 through the screw 19. The lower round plate is connected to the first threaded hole evenly opened on the circumference of the inner disc 102 of the bearing ring 1 through the φd4 through hole on it with bolt 21. Through the above assembly, the built-in lead screw of the servo electric cylinder 7 is indirectly connected to the opening and closing adjustment ring 9 of the grab hook through the connecting mechanism 20, so that when the lead screw extends and retracts, it drives the opening and closing adjustment ring 9 to extend and retract together.

[0039] Because the servo electric cylinder 7 is quite high, the hook opening and closing adjustment ring (9) cannot be properly connected to the servo electric cylinder 7. By setting the connection mechanism 20, the servo electric cylinder and the hook opening and closing adjustment ring (9) can be connected.

[0040] The maximum thrust design of the servo electric cylinder 7 is the core safety guarantee of this lifting device, and it must strictly meet the following requirement: with the axis of the pivot pin 13, which rotates around the pin lug 14, as the torque fulcrum, the torque generated by the thrust of the servo electric cylinder 7 driving the opening and closing adjustment ring 9 on this pivot point is less than the torque generated by the self-weight of the lifting tank and the friction between the hook 3 and the tank connecting plate on the same pivot point. The specific parameters and verification are as follows: The thrust F of the servo electric cylinder consists of three loads: the gravity of the connecting mechanism 20 (10G); the gravity of the hook opening and closing adjustment ring 9 (30G); and the friction between the four hooks 3 (each with a gravity of G) and the hook opening and closing adjustment ring 9 (the friction coefficient of the stainless steel contact surface is taken as 0.15 according to the standard).

[0041] Combination Figure 9-10 The grab hook 3 rotates around the axis of the pin lug 13. Before and after unhooking, the distance between its center of gravity and the axis is L, and it is located on the left and right sides of the axis, respectively. The distance from the point of application of the friction force between the grab hook 3 and the grab hook opening and closing adjustment ring 9 to the axis of the pin lug 13 is 1.2L; Based on torque balance calculations, the frictional force exerted by the four grippers 3 on the contact point of the adjusting ring 9 during rotation is converted into the basic thrust of the servo electric cylinder. Considering reliability, a margin factor of 1.2 is taken to determine the maximum thrust of the servo electric cylinder 7, as follows: The thrust F of the servo electric cylinder is the weight of the connecting mechanism 20 (10G), the weight of the hook opening and closing adjustment ring 9 (30G), and the friction between the four hooks 3 (with a weight of G) and the hook opening and closing adjustment ring 9. , The coefficient of friction between stainless steel parts is taken as 0.15 according to the standard. The pressure exerted by the hook 3 on the contact point of the adjusting ring 9 when it rotates. When the four grab hooks 3 rotate, the frictional force at the contact point between them and the adjusting ring 9 is... Calculation of thrust of servo electric cylinder Considering the reliability of the servo electric cylinder, a margin factor of 1.2 is adopted, and the maximum thrust of the servo electric cylinder 7 is... .

[0042] The lifting device is used to lift the storage tank. In this state, the weight of the storage tank is 910G. The designed distance between the center of gravity of hook 3 and the axis of the pin lug 13 is 32L. The pressure of the storage tank on each hook 3 is... The total frictional force at the connection point between each grab hook 3 and the tank connecting plate When hoisting the storage tank, if the grab hook 3 needs to be disengaged, the thrust required to rotate each grab hook 3 is... The thrust required to rotate the four hooks. .

[0043] The pressure of the storage tank on each grab hook 3 is evenly distributed. The total friction force at the connection between a single grab hook 3 and the tank connecting plate is calculated from the contact pressure and the friction coefficient (0.15). If it is necessary to disengage the grab hook 3, the thrust required to rotate a single grab hook 3 is converted through torque balance (friction torque = thrust × 1.2L). The total disengagement thrust of the four grab hooks 3 is four times the thrust of a single grab hook 3.

[0044] By comparison, when lifting a storage tank, the total thrust required for the hook 3 to disengage is much greater than the maximum thrust of the servo cylinder 7. Even if the servo cylinder 7 malfunctions, the mechanical lock formed by the tank's own weight and friction can still ensure that the hook 3 does not disengage, thus preventing lifting accidents in principle.

[0045] like Figure 9-11 As shown, the working process of the lifting device of the present invention is as follows: (1) Heart-to-heart operation The lifting device is hoisted directly above the storage tank. The red dot laser 23 is activated via remote control 24. The position of the crane is adjusted so that the laser beam enters the center hole at the top of the storage tank, completing the initial alignment. When the crane lowers the lifting device, the guide block 2 is embedded in the groove on the upper surface of the storage tank to achieve secondary alignment, ensuring that the lifting device and the storage tank are concentric.

[0046] (2) Grab the storage tank After the lifting device is in contact with the top plate of the storage tank, the remote control 24 is operated to retract the lead screw of the lead screw drive mechanism of the servo electric cylinder 7, which drives the connecting mechanism 20 and the hook opening and closing adjustment ring 9 to move downward: The outer adjusting ring 901 pushes the angled protrusion 302 of the grab hook 3, causing the grab hook 3 to rotate around the pin 13, and the lower part opens and bites the tank connecting plate; The grab hook camera 4 provides real-time feedback on the engagement status, ensuring reliable contact between the grab hook 3 and the tank connection plate.

[0047] (3) Lifting and positioning The crane lifts the storage tank via the lifting lug 12. The maximum thrust of the servo cylinder 7 is strictly limited to the torque it generates, which is less than the torque generated by the friction between the tank's own weight and the hook 3. Even if the operation is mistaken, the hook will not disengage. After the storage tank is lifted to the designated position in the vertical shaft facility, the remote control 24 is operated to extend the lead screw of the servo cylinder 7, which drives the hook opening and closing adjustment ring 9 to move upward. The outer adjustment ring 901 moves away from the angled protrusion 302, and the hook 3 is retracted and detached from the storage tank, completing the lifting.

[0048] The servo electric cylinder 7 adopts closed-loop control to achieve millimeter-level displacement accuracy of the hook opening and closing adjustment ring 9. The "S"-shaped three-fold line structure of the hook 3 optimizes the force transmission efficiency. When the hook 3 is engaged with the tank connection plate, the second fold line is parallel to the central axis to avoid off-center loading. Multiple visual monitoring, including the hook camera, guide block camera, and red dot laser, along with mechanical anti-detachment design, ensure operational safety in deep vertical shafts and strong radiation environments.

[0049] like Figure 9 The left side shows the gripper in the engaged state, and the right side shows the gripper in the disengaged state. This invention is applicable to the hoisting of various storage tanks in high-temperature gas-cooled reactor spent fuel storage systems. It features a reliable structure, precise operation, and can meet the needs of long-distance automated operations.

[0050] Although the present invention has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. A lifting device for a storage tank, characterized in that, The system includes a load-bearing ring (1), a grab hook (3), a grab hook opening and closing adjustment ring (9), a servo electric cylinder (7), a connecting mechanism (20), a battery pack (11), and a remote controller (24). The load-bearing ring (1) includes a concentric outer ring (101) and an inner disc (102). The inner disc (102) is fixedly connected to the outer ring (101) by a first connecting strip (103). The upper surface of the outer ring (101) is uniformly welded with four sets of pin ears (14) and an even number of lifting ears (12) along its circumference. The four sets of pin ears (14) are all located in the middle of the arc segment of the outer ring (101). The rectangular hole (1011) of the grab hook is opened in the outer ring (101) below the gap in the middle of each set of pin ears (14). The lifting ears (12) Located on the outer edge of the outer ring (101), the lower surface of the outer ring (101) is uniformly welded with multiple guide blocks (2) along its circumference; the hook (3) passes through the hook rectangular hole (1011), and the top of the hook (3) is pivotally hinged to the gap in the middle of each set of pin ears (14) by a pin (13); the top of the hook (3) is provided with an angled protrusion (302) on the side near the hook opening and closing adjustment ring (9); the hook opening and closing adjustment ring (9) includes a concentric outer adjustment ring (901) and an inner adjustment ring (902), the inner adjustment ring (902) is fixedly connected to the outer adjustment ring (901) by a second connecting strip (903), and the upper surface of the inner adjustment ring (902) is fixedly connected to the bottom of the connecting mechanism (20). The connecting mechanism (20) includes a cylindrical tube (2001) and a lower ring (2002). The lower ring (2002) is coaxially sleeved and welded to the outer circumferential surface of the bottom of the cylindrical tube (2001). A circular hole (20011) is opened in the middle of the top of the cylindrical tube (2001). The lower ring (2002) is fixedly connected to the inner adjusting ring (902) by screws (19). The bottom of the servo cylinder (7) is fixedly installed on the upper surface of the inner disc (102). The top of the servo cylinder (7) is provided with a lead screw drive mechanism. The lead screw drive mechanism at the top of the servo cylinder (7) passes through the circular hole (20011) of the cylindrical tube (2001) and is fixed to the top of the cylindrical tube (2001) by the nut of the lead screw drive mechanism. The connection is fixed, and the screw drive mechanism extends and retracts to drive the connection mechanism (20) to move up and down. The connection mechanism (20) drives the hook opening and closing adjustment ring (9) to move up and down. The battery pack (11) includes an even number of batteries, which are evenly fixed on the upper surface of the outer ring (101). The battery connection cable (8) is electrically connected to the servo cylinder (7) and supplies power. The remote controller (24) is wirelessly connected to the battery pack (11) and is used to control the action of the servo cylinder (7). The distance from the outer edge of the outer adjustment ring (901) to its central axis is ≤ the radius of the whole circle formed by the inner edges of the four sets of pin ears (14) and > the distance from the angled protrusion (302) to the central axis of the outer adjustment ring (901) when the hook (3) is biting and gripping the tank connection plate.The up-and-down movement of the hook opening and closing adjustment ring (9) causes the outer adjustment ring (901) to engage or disengage the hook (3) from the tank connecting plate by pushing or moving away from the angled protrusion (302); the maximum thrust of the servo cylinder (7) satisfies the following: with the axis of the pivot pin (13) around the pivot ear (14) of the hook (3) as the torque fulcrum, the torque generated by the thrust of the servo cylinder (7) driving the hook opening and closing adjustment ring (9) on this pivot point is less than the torque generated by the self-weight of the hoisting tank and the friction between the hook (3) and the tank connecting plate on the same pivot point.

2. The lifting device for a storage tank according to claim 1, characterized in that, The shape of the cylindrical tube (2001) is adapted to the shape of the lead screw drive mechanism of the servo electric cylinder (7). The cylindrical tube (2001) is sleeved on the outside of the lead screw drive mechanism of the servo electric cylinder (7). The lower ring (2002) has multiple fourth threaded holes (20021) along its circumference. The fourth threaded holes (20021) correspond to the position and number of the third threaded holes (9021) on the circumference of the inner adjusting ring (902).

3. A lifting device for a storage tank according to claim 1, characterized in that, The top of the hook (3) has a first through hole (301), and each set of pin ears (14) has a second through hole (1402). The pin (13) passes through the second through hole (1402) in one pin ear (14) in sequence. The first through hole (301) of the hook (3) and the second through hole (1402) of the other pin ear (14) are fixed at both ends by cotter pins (15).

4. A lifting device for a storage tank according to claim 1, characterized in that, The even number of batteries in the battery pack (11) are electrically connected. The remote controller (24) controls the start, stop and forward / reverse rotation of the servo cylinder (7) by controlling the switch of the battery pack (11).

5. A lifting device for a storage tank according to claim 1, characterized in that, The lower surface of the outer ring (101) is also uniformly welded with four pads (10) along its circumference. Each pad (10) is located on the outer edge of the outer ring (101) and close to the rectangular hole (1011) of the hook. The materials of the pads (10) and the guide blocks (2) are the same as those of the storage tank. A pad (10) is set after every two guide blocks (2) along the circumference of the lower surface of the outer ring (101).

6. A lifting device for a storage tank according to claim 1, characterized in that, The outer adjustment ring (901) is a closed ring structure; the top of the grab hook (3) is hinged to the middle gap of the pin ear (14) through the pin (13), and the fit gap between the top of the grab hook (3) and the pin ear (14) is ≤0.5mm; the width of the grab hook rectangular hole (1011) is 0.5mm~1mm larger than the cross-sectional thickness of the grab hook (3), and the length is 1.2 times the maximum stroke of the grab hook (3) when rotating from the biting grab state to the disengagement state; the upper edge of the grab hook rectangular hole (1011) is aligned with the lower edge of the middle gap of the pin ear (14).

7. A lifting device for a storage tank according to claim 1, characterized in that, The upper surface of the inner disc (102) of the bearing ring (1) is provided with a plurality of first threaded holes (1021) along its circumference, and a second threaded hole (1022) is provided at the center of the inner disc (102); the bottom of the servo cylinder (7) is provided with a plurality of first through holes (701), and the number and position of the first through holes (701) correspond to the number of the first threaded holes (1021) of the inner disc (102) of the bearing ring (1); the bottom of the servo cylinder (7) is fixed in the first threaded hole (1021) of the inner disc (102) by bolts (21) passing through the first through holes (701).

8. A lifting device for a storage tank according to claim 1, characterized in that, It also includes multiple hook cameras (4) and hook camera cables (6). The hook camera mounting brackets (5) are welded to the inner side of the rectangular hole (1011) of the hook. The hook camera (4) is mounted on the hook camera mounting bracket (5) through a ball joint structure. The hook camera (4) can rotate around the hook camera mounting bracket (5) within a certain angle range. The hook camera (4) is connected to the battery pack (11) through the hook camera cable (6). The hook camera (4) faces the biting surface of the hook (3) and is used to detect the biting gap between the hook and the tank connecting plate.

9. A lifting device for a storage tank according to claim 1, characterized in that, It also includes multiple guide block cameras (16), guide block camera cables (18), red dot lasers (23) and red dot laser cables (22), and a guide block camera mounting bracket (17) is welded to the inside of the guide block (2); the guide block camera (16) is mounted on the guide block camera mounting bracket (17) through a ball joint structure, and the guide block camera (16) can rotate around the guide block camera mounting bracket (17) within a certain angle range; the guide block camera (16) is connected to the battery pack (11) through the guide block camera cables (18); the guide block camera (16) faces the inside of the load-bearing ring (1); The red dot laser (23) is installed in the second threaded hole (1022) of the inner disk (102) of the load-bearing ring (1). The coaxiality of the laser beam with the central axis of the lifting device is ≤0.5mm. The red dot laser (23) is connected to the battery pack (11) through the red dot laser cable (22). The red dot laser (23) is used to align the lifting device with the storage tank.

10. A lifting device for a storage tank according to claim 1, characterized in that, The grab hook (3) has a J-shaped rod structure. The side of the grab hook (3) near the grab hook opening and closing adjustment ring (9) is an "S"-shaped three-fold line. The "S"-shaped three-fold line includes a first fold line (3011), a second fold line (3012), and a third fold line (3013). The first fold line (3011) is a driving slope of an angled protrusion (302). The inner angle between the first fold line (3011) and the second fold line (3012) is n°, where n equals 150°~165°. The outer angle between the second fold line (3012) and the third fold line (3013) is 360°-n°. When the grab hook (3) is in the biting gripping state with the tank connecting plate, the second fold line (3011) is... 012) Parallel to the central axis of the outer ring (101), the intersection of the third fold line (3013) and the second fold line (3012) is inside the upper edge of the rectangular hole (1011) of the grab hook; when the grab hook (3) is separated from the tank connecting plate, the first fold line (3011) and the third fold line (3013) are parallel to the central axis of the outer ring (101), and the intersection of the third fold line (3013) and the second fold line (3012) is inside the upper edge of the rectangular hole (1011) of the grab hook; the inner edge of the rectangular hole (1011) of the grab hook and the third fold line (3013) of the grab hook (3) maintain a safety gap of ≥1mm when in the maximum rotation position.

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