Underwater object grabbing tool device for nuclear power plant

Abstract

The nuclear power plant underwater object grabbing tool device comprises a long rod body, one end of the long rod body is fixedly connected with a handheld handle, a control box is installed on the surface of the handheld handle, and a manual self-locking winch is installed on the surface of the control box. Lifting, turning and clamping actions of the tool are connected in series through a manual self-locking winch, a winch hand wheel and a control rocking-turn steel wire rope, and an integrated control design of a handheld handle and a control box is matched, so that an operator can complete integral dispatching of the tool through a single hand action (rotating the winch hand wheel and operating a non-return switch) without switching a plurality of control parts, and the labor intensity of the operator is reduced. The problems that driving and control components of a traditional grabbing tool are scattered, and operation is tedious are solved, and the operation threshold of underwater operation is lowered.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater object grabbing in nuclear power plants, in particular to a nuclear power plant underwater object grabbing tool device. BACKGROUND

[0002] The nuclear power plant underwater grabbing tool is a special equipment specially designed for underwater environment, which is used for safe and accurate grabbing of materials and equipment (such as pressure pipe sections, end parts and spent fuel assemblies), and avoids direct contact with radiation sources through mechanical component control.

[0003] At present, the nuclear power plant underwater object grabbing relies on traditional grabbing tools, but there are many problems in practical application that need to be solved:

[0004] 1. Insufficient operation convenience: the driving system (such as lifting drive, corner drive) and control system (such as clamping control, angle locking control) components of traditional tools are dispersedly arranged, and the operator needs to simultaneously control multiple independent components (such as separate lifting handle, corner adjusting rod, clamping switch, etc.) to complete the grabbing process. The operation steps are complicated, and under the condition of limited underwater operation vision, the operation efficiency is low due to insufficient operation coordination, and the personnel operation intensity is increased.

[0005] 2. Poor operation stability and safety: most traditional tools lack reliable self-locking and anti-deviation structure, and during the process of tool lowering or clamping objects, the tool is easily accidentally dropped due to loose wire rope; after corner adjustment, only simple friction positioning is relied on, which is difficult to resist the moment brought by underwater water flow or object gravity, and angle deviation is easily occurred, which not only affects the grabbing accuracy, but also may cause object falling off, and causes safety risks such as diffusion of radioactive substances. At the same time, after the operation is completed, the clamping component needs to be manually reset, which further increases the operation complexity and safety hazards.

[0006] 3. Insufficient environmental adaptability and reliability: some grabbing tools rely on electric control elements (such as electric drive modules, sensors, etc.) to realize automatic operation, but the high corrosion and strong radiation environment of nuclear power plant underwater environment easily causes short circuit, signal failure or component rust of electric control elements, greatly reduces the service life of the tool, and the maintenance difficulty is large after failure, which is difficult to meet the long-term stable operation demand; the pure mechanical tool avoids the defects of electric control elements, but the overall structure design is not optimized for nuclear power plant scene, such as insufficient length of support main body, which cannot be extended to underwater deep operation, and personnel need to be close to radioactive water body, which increases the radiation exposure risk.

[0007] Therefore, it is necessary to research a nuclear power plant underwater object grabbing tool device. SUMMARY

[0008] To solve the problems in the background art, the nuclear power plant underwater object grabbing tool device has the advantages of convenient and efficient operation, stable and safe operation, and adaptation to the complex underwater environment of the nuclear power plant, and solves the problems of complicated operation caused by the dispersion of the driving and control components of the traditional grabbing tool, unstable operation caused by the lack of reliable self-locking anti-deviation structure, and difficulty in adapting to the underwater high-corrosion and high-radiation environment and easy failure.

[0009] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a nuclear power plant underwater object grabbing tool device, comprising a long rod main body, one end of the long rod main body is fixedly connected with a hand-held handle, the surface of the hand-held handle is installed with a control box, the surface of the control box is installed with a manual self-locking winch, the rotating shaft of the manual self-locking winch is fixedly connected with a winch hand wheel, the surface of the long rod main body is fixedly connected with a plurality of uniformly arranged limiting pulleys, the surface of the long rod main body away from the hand-held handle is fixedly connected with a guide pulley, the end of the long rod main body away from the hand-held handle is fixedly connected with a rotating base, the other end of the rotating base is hingedly connected with a rotating piece, the other end of the rotating piece is fixedly connected with a grab frame bottom plate, the two ends of the grab frame bottom plate are symmetrically hingedly connected with grab plates, the surface of the grab plates is hingedly connected with connecting plates, the other ends of the two connecting plates are hingedly connected with the same connecting block, the other end of the connecting block is fixedly connected with an action top rod, the surface of the rotating piece is fixedly connected with a transmission block, the surface of the transmission block is rotatably connected with a pull rod, and the other end of the pull rod is hingedly connected with the action top rod, the surface of the pull rod is rotatably connected with a guide wheel, the surface of the manual self-locking winch is wound with a control swing steel wire rope, and the other end of the control swing steel wire rope passes through the plurality of limiting pulleys, the guide pulley and the guide wheel in sequence and is fixedly connected with the transmission block, the other end of the pull rod is fixedly connected with a return spring, and the other end of the return spring is fixedly connected with the rotating piece, the side of the rotating piece close to the rotating base is provided with a plurality of annular uniformly arranged swing check grooves, the surface of the rotating base is installed with a swing check pin, and the swing check pin is in clamping and matching connection with the swing check groove, the other end of the swing check pin is fixedly connected with a swing check steel wire rope, the surface of the control box is installed with a swing check switch, and the other end of the swing check switch is fixedly connected with the swing check steel wire rope.

[0010] As preferred in the present application, the deflection angle between the rotating base and the rotating piece is 0-90 degrees.

[0011] As preferred in the present application, the clamping range between the two grab plates is adapted to the underwater objects with a grabbing diameter of 50-170 mm.

[0012] As preferred in the present application, dustproof and waterproof sealing rings are arranged at the rotating shafts of the limiting pulleys and the guide pulleys.

[0013] Preferably, a damping buffer structure is arranged at the hinge between the rotating base and the rotating member.

[0014] Preferably, the clamping surface of the grab plate is provided with a detachable arc-shaped clamping plate structure, and the inner side of the detachable arc-shaped clamping plate structure is provided with anti-skid lines.

[0015] Compared with the prior art, the present application has the following advantages:

[0016] 1. The present application connects the lifting, angle and clamping actions of the tool in series through the "manual self-locking winch + winch handle + control rotating steel wire", cooperates with the integrated control design of the "hand-held handle + control box", and the operator can complete the overall scheduling of the tool through a single hand action (rotating the winch handle and operating the check valve) without switching multiple control components, solves the problem of "dispersed driving and control components and complicated operation" of the traditional grabbing tool, and reduces the operation threshold of underwater operation.

[0017] 2. The manual self-locking winch has a self-locking function, can lock the length of the steel wire during the lowering and clamping of the tool, and prevent the tool from accidentally falling; the clamping cooperation of the rotating check pin and the rotating check groove can fix the position of the rotating member after the angle adjustment, avoid the angle deviation caused by the underwater flow impact or the gravity of the object; and the return spring can drive the action top rod and the grab plate to automatically reset, reduce the manual adjustment steps after operation, and comprehensively improve the stability and safety of underwater operation.

[0018] 3. The overall structure of the present application is supported by the long rod main body, can be extended to the deep underwater operation, does not need to directly contact the radioactive water body, and adopts the mechanical structure of fixed connection or hinge, avoids the risk of failure of the electric control element in the underwater high corrosion and strong radiation environment, has stronger adaptability and lower failure rate compared with the grabbing tool relying on the electric control system. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a structural schematic diagram of the present application;

[0020] Figure 2 is a three-dimensional schematic diagram of the cooperation of the control box, the manual self-locking winch and the winch handle of the present application;

[0021] Figure 3 is a three-dimensional schematic diagram of the cooperation of the rotating base, the grab frame bottom plate, the grab plate and the action top rod of the present application.

[0022] In the diagram: 1. Long rod body; 2. Hand handle; 3. Control box; 4. Manual self-locking winch; 5. Winch handwheel; 6. Limit pulley; 7. Guide pulley; 8. Rotating base; 9. Grab frame base plate; 10. Grab plate; 11. Action top rod; 12. Control swing wire rope; 13. Return spring; 14. Swing anti-return groove; 15. Swing anti-return pin; 16. Swing anti-return wire rope; 17. Swing anti-return switch. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] like Figures 1 to 3 As shown, the present invention provides an underwater object grasping tool device for nuclear power plants, comprising a long pole body 1, a hand handle 2 fixedly connected to one end of the long pole body 1, a control box 3 mounted on the surface of the hand handle 2, a manual self-locking winch 4 mounted on the surface of the control box 3, a winch handwheel 5 fixedly connected to the shaft of the manual self-locking winch 4, a plurality of evenly arranged limiting pulleys 6 fixedly connected to the surface of the long pole body 1, a guide pulley 7 fixedly connected to the surface of the long pole body 1 away from the hand handle 2, a rotating base 8 fixedly connected to the end of the long pole body 1 away from the hand handle 2, a rotating component hinged to the other end of the rotating base 8, a grabbing frame base plate 9 fixedly connected to the other end of the rotating component, grabbing plates 10 symmetrically hinged to both ends of the grabbing plate 10, connecting plates hinged to the surface of the grabbing plates 10, a common connecting block hinged to the other end of the two connecting plates, an actuating push rod 11 fixedly connected to the other end of the connecting block, a transmission block fixedly connected to the surface of the rotating component, and a pull rod rotatably connected to the surface of the transmission block. The rod has one end hinged to the other end of the pull rod, and a guide wheel is rotatably connected to the surface of the pull rod. A control swing wire rope 12 is wound around the surface of the manual self-locking winch 4, and the other end of the control swing wire rope 12 passes through multiple limit pulleys 6, guide pulleys 7 and guide wheels in sequence and is fixedly connected to the transmission block. The control swing wire rope 12 pulls the transmission block on the rotating part, causing the rotating part to rotate around the hinge point. A return spring 13 is fixedly connected to the other end of the pull rod. The other end of the control box 3 is fixedly connected to the rotating component. The rotating component has multiple annularly arranged anti-return grooves 14 on the side near the rotating base 8. The surface of the rotating base 8 is equipped with an anti-return pin 15, which is engaged with the anti-return groove 14. The other end of the anti-return pin 15 is fixedly connected to an anti-return steel wire rope 16. The surface of the control box 3 is equipped with an anti-return switch 17, and the other end of the anti-return switch 17 is fixedly connected to the anti-return steel wire rope 16.

[0025] Reference Figure 1 And Figure 3 The deflection angle between the rotating base 8 and the rotating part is 0-90 degrees, ensuring flexible operation in a narrow space.

[0026] As a technical optimization scheme of the present application, the rotating steel wire rope 12 is controlled by the manual self-locking winch 4, and the steel wire rope drives the rotating part to rotate around the hinge point of the rotating base 8, realizing angle adjustment within the range of 0-90 degrees, solving the operation problem in the dense area of nuclear power plant equipment (such as pipeline gap, equipment bottom), covering the multi-directional grabbing demand from horizontal to vertical within the range of 0-90 degrees, without moving the overall position of the tool to adapt to different operation angles, and improving the flexibility of operation in a narrow space.

[0027] Reference Figure 1 The limiting pulley 6 and the guide pulley 7 are designed with ceramic bearings, and the surfaces of the limiting pulley 6 and the guide pulley 7 are provided with wear-resistant coatings (such as tungsten carbide coatings), which can reduce the wear of the rope and cable and improve the service life of the tool.

[0028] As a technical optimization scheme of the present application, ceramic bearings are adopted, which have strong chemical stability and can resist the high corrosion environment underwater of the nuclear power plant, and have higher hardness, reducing the friction and wear with the steel wire rope, and the wear-resistant coatings (such as tungsten carbide coatings) are sprayed on the surfaces of the limiting pulley 6 and the guide pulley 7, further reducing the contact wear of the steel wire rope during winding and unwinding, and avoiding the appearance of grooves or deformation on the surface of the pulley due to long-term friction.

[0029] Reference Figure 1 And Figure 3 The clamping range between the two clamping plates 10 is adapted to the underwater objects with a clamping diameter of 50-170 mm, that is, the opening and closing angle of the clamping plate 10 is controlled by the extension stroke of the action jack 11, the maximum stroke corresponds to a clamping diameter of 170 mm, and the minimum stroke corresponds to a clamping diameter of 50 mm.

[0030] As a technical optimization scheme of the present application, the rotating steel wire rope 12 is controlled by the manual self-locking winch 4, and the steel wire rope drives the action jack 11 to extend and retract through the transmission block and the pull rod; the action jack 11 pulls the two connecting plates through the connecting block, drives the clamping plate 10 to open and close around the hinge point of the clamping frame bottom plate 9, and the opening and closing angle of the clamping plate 10 is controlled by the extension stroke of the action jack 11, the minimum clamping diameter is 50 mm (the clamping plate 10 is closed to the maximum angle), and the maximum clamping diameter is 170 mm (the clamping plate 10 is fully opened), covering the size range of common underwater objects in nuclear power plants (such as small pipeline joints, fuel rods, and foreign debris).

[0031] Reference Figure 1 A dustproof and waterproof sealing ring (such as a fluororubber sealing ring) is arranged at the rotating shaft of the limiting pulley 6 and the guide pulley 7.

[0032] As a technical optimization scheme of the present application, a dustproof and waterproof sealing ring (such as a fluororubber sealing ring) is installed at the connection between the limiting pulley 6 and the guide pulley 7 and the wheel body to form double sealing: the inner side blocks the underwater silt and salt from entering the bearing, and the outer side prevents the bearing grease from leaking, so that in the underwater operation environment of the nuclear power plant, the sealing ring can avoid the jamming caused by the impurities adhering to the rotating shaft, and at the same time, the ceramic bearing is protected from water corrosion, thereby prolonging the service life of the limiting pulley 6 and the guide pulley 7.

[0033] Reference Figure 1 A damping buffer structure (such as a hydraulic damper or a high-elasticity rubber buffer pad) (not shown) is arranged at the hinge of the rotating base 8 and the rotating part.

[0034] As a technical optimization scheme of the present application, by installing a damping buffer structure (a hydraulic damper or a high-elasticity rubber buffer pad) at the hinge, when the rotating part rotates, the damping structure consumes kinetic energy through internal oil friction or rubber deformation to slow down the rotation speed, so that when the tool is used underwater in the nuclear power plant, the rotating part is not easily affected by the water flow impact or the gravity moment of the object to cause "sudden rotation", and the damping buffer structure slows down the rotation speed by consuming kinetic energy to avoid the collision damage between the grab plate 10 and the object, and at the same time, the accuracy of the angle adjustment is improved.

[0035] Reference Figure 1 And Figure 3 The clamping surface of the grab plate 10 is provided with a detachable arc-shaped clamping plate structure (not shown), and the inner side of the detachable arc-shaped clamping plate structure is provided with anti-skid lines (such as sawtooth anti-skid lines or rubber anti-skid pads).

[0036] As a technical optimization scheme of the present application, the arc-shaped clamping plate is designed according to the shape of the commonly grabbed object (such as a circular adapter pipe and a fuel rod), and is detachably connected with the grab plate 10 through bolts, so that different clamping plates with different arc degrees can be replaced according to the shape of the object, and the inner side of the clamping plate is provided with sawtooth anti-skid lines or rubber anti-skid pads to increase the friction force with the surface of the object, especially for underwater slippery metal objects (such as stainless steel pipes), which can prevent slipping during grabbing.

[0037] The working principle and use process of the application: when the object grabbing tool is used to grab underwater objects in a nuclear power plant, first, the operator holds the hand-held handle 2 at one end of the long rod body 1, moves the tool to above the underwater operation area of the nuclear power plant, then rotates the winch handle 5 fixedly connected at the rotating shaft of the manual self-locking winch 4 installed on the surface of the control box 3, drives the manual self-locking winch 4 to release the control rotating steel wire rope 12 wound on the surface, the control rotating steel wire rope 12 passes through the multiple evenly arranged limiting pulleys 6 fixedly connected on the surface of the long rod body 1, the guide pulley 7 fixedly connected on the surface of the long rod body 1 away from the hand-held handle 2 and the guide wheel on the surface of the transmission block fixedly connected on the rotating part in turn, drives the rotating part hinged to the rotating base 8 fixedly connected at the end of the long rod body 1 away from the hand-held handle 2 to move downward, and then drives the grab frame bottom plate 9 fixedly connected at the other end of the rotating part to be lowered, until the grab plates 10 symmetrically hinged at both ends of the grab frame bottom plate 9 reach the target object; then the operator rotates the rotating check valve 17 on the surface of the control box 3, pulls the rotating check valve 15 fixedly installed on the surface of the rotating base 8 through the rotating check valve 16 connected to the rotating check valve 17, so that the rotating check valve 15 is separated from the multiple annularly and evenly arranged rotating check grooves 14 opened on the side of the rotating part close to the rotating base 8, and the rotation angle of the rotating part is unlocked, and then the operator adjusts the winding and unwinding of the control rotating steel wire rope 12 by rotating the winch handle 5, drives the rotating part to rotate around the rotating base 8 within the range of 0-90 degrees, and aligns the grab plates 10 with the target object; then the operator continues to rotate the winch handle 5 to tighten the control rotating steel wire rope 12, the steel wire rope pulls the pull rod through the transmission block, the pull rod drives the action top rod 11 hinged thereto to extend and retract, the connecting block fixedly connected at one end of the action top rod 11 pulls the connecting plates hinged on both sides, the connecting plates drive the grab plates 10 to close around the hinge point of the grab frame bottom plate 9, the target object is clamped by the clamping surface of the grab plates 10, and it is ensured that the clamping range of the two grab plates 10 is adapted to the underwater object with a diameter of 50-170 mm; after clamping, the rotating check valve 17 on the control box 3 is loosened, the rotating check valve 15 is re-inserted into the corresponding rotating check groove 14 under the action of the self-resetting force, the angle of the rotating part is locked, then the winch handle 5 is reversely rotated, the manual self-locking winch 4 is driven to retract the control rotating steel wire rope 12, the components such as the grab plates 10 and the grab frame bottom plate 9 carrying the object are lifted through the guidance and limitation of the limiting pulleys 6 and the guide pulleys 7, and the object is transferred to the designated position; after reaching the designated position, the rotating check valve 17 is operated again to unlock the rotating part, the angle of the grab plates 10 is adjusted to an appropriate placement angle, then the winch handle 5 is reversely rotated to release the control rotating steel wire rope 12, the pull rod is reset under the action of the elastic force of the reset spring 13 fixedly connected at the other end of the pull rod, drives the action top rod 11 to move back, the connecting block pushes the connecting plates to open the grab plates 10, and releases the object; finally, the control rotating steel wire rope 12 is wound and unwound again, the tool is retracted to the starting position of the operation, and the underwater object grabbing operation is completed.

[0038] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting; it is not intended to exclude myriad other embodiments of the present application that other inventors can develop based on the same general inventive concepts embodied by the described embodiments. That is, although the present application is described in terms of particular embodiments and illustrative figures, it should be apparent that the scope of the present application is not limited to these specific embodiments.

[0039] While the embodiments of the application have been shown and described herein, it will be understood by those skilled in the art that many changes, modifications, substitutions and alterations to these embodiments can be made without departing from the principles and spirits of the application, and it is intended that the scope of the application be limited solely by the scope of the appended claims and the equivalents thereof.

Claims

1. A tool device for grasping underwater objects in a nuclear power plant, comprising a long pole body (1), characterized in that: One end of the long rod body (1) is fixedly connected to a hand handle (2), a control box (3) is mounted on the surface of the hand handle (2), a manual self-locking winch (4) is mounted on the surface of the control box (3), a winch handwheel (5) is fixedly connected to the shaft of the manual self-locking winch (4), a plurality of evenly arranged limiting pulleys (6) are fixedly connected to the surface of the long rod body (1), and a guide pulley (7) is fixedly connected to the surface of the long rod body (1) away from the hand handle (2). 1) A rotating base (8) is fixedly connected to one end away from the hand handle (2). A rotating component is hinged to the other end of the rotating base (8). A grab frame base plate (9) is fixedly connected to the other end of the rotating component. Grab plates (10) are symmetrically hinged to both ends of the grab frame base plate (9). A connecting plate is hinged to the surface of the grab plate (10). The other ends of the two connecting plates are hinged to the same connecting block. An actuating push rod (11) is fixedly connected to the other end of the connecting block. A transmission block is fixedly connected to the surface of the rotating component. A pull rod is rotatably connected to the surface of the block, and the other end of the pull rod is hinged to the action rod (11). A guide wheel is rotatably connected to the surface of the pull rod. A control swing wire rope (12) is wound around the surface of the manual self-locking winch (4), and the other end of the control swing wire rope (12) passes through multiple limit pulleys (6), guide pulleys (7), and guide wheels in sequence and is fixedly connected to the transmission block. A return spring (13) is fixedly connected to the other end of the pull rod, and the other end of the return spring (13) is fixedly connected to the rotating part. On the side of the rotating component near the rotating base (8), there are multiple evenly arranged circular anti-return grooves (14). The rotating base (8) is equipped with an anti-return pin (15), and the anti-return pin (15) is engaged with the anti-return groove (14). The other end of the anti-return pin (15) is fixedly connected to an anti-return steel wire rope (16). The surface of the control box (3) is equipped with an anti-return switch (17), and the other end of the anti-return switch (17) is fixedly connected to the anti-return steel wire rope (16).

2. The underwater object grasping tool device for nuclear power plants according to claim 1, characterized in that: The deflection angle between the rotating base (8) and the rotating component is 0-90 degrees.

3. The underwater object grasping tool device for nuclear power plants according to claim 2, characterized in that: Both the limiting pulley (6) and the guide pulley (7) are designed with ceramic bearings.

4. The underwater object grasping tool device for nuclear power plants according to claim 3, characterized in that: The gripping range between the two gripping plates (10) is adapted to grip underwater objects with a diameter of 50-170mm.

5. The underwater object grasping tool device for nuclear power plants according to claim 4, characterized in that: The limiting pulley (6) and the guide pulley (7) are provided with dustproof and waterproof sealing rings at their pivot points.

6. The underwater object grasping tool device for nuclear power plants according to claim 5, characterized in that: A damping buffer structure is provided at the hinge between the rotating base (8) and the rotating component.

7. The underwater object grasping tool device for nuclear power plants according to claim 6, characterized in that: The gripping surface of the gripper (10) is provided with a detachable arc-shaped clamping plate structure, and the inner side of the detachable arc-shaped clamping plate structure is provided with anti-slip texture.

Images