Core grab device

Abstract

The application discloses a reactor core grabbing device, which comprises a base, lifting mechanisms and rotating mechanisms, the base is used for being connected with a hoisting device; a plurality of lifting mechanisms are connected on the base at intervals, each lifting mechanism can be lifted along the direction of approaching or moving away from the base, and the end of the plurality of lifting mechanisms away from the base can be matched with a tooling arranged on a reactor core to grab the reactor core; the rotating mechanisms correspond to the lifting mechanisms one by one, the rotating mechanisms are linked with the lifting mechanisms, and the rotating mechanisms can drive the end of the lifting mechanisms away from the base to rotate relative to the base to lock the connection between the lifting mechanisms and the tooling. In this way, the whole reactor core grabbing device can reliably grab the reactor core out of the container while adapting to the smaller vertical space of a workshop, the requirement for the reserved size of the workshop civil construction is reduced, meanwhile, the arrangement and collaborative operation of other maintenance equipment in the workshop are not limited, and then the input cost of civil reconstruction and equipment layout is reduced.

Description

Technical Field

[0001] This invention relates to the field of nuclear reactor core replacement equipment technology, and in particular to a core grabbing device. Background Technology

[0002] Due to the limitations of core material performance, nuclear reactors are prone to core material degradation after long periods of stable operation. Regular shutdowns and core replacements are necessary, involving lifting and transporting the old core from the bottom of the reactor vessel to a storage area for shielded storage, followed by the precise alignment and reassembly of a new core to ensure the reactor's continued safe and stable operation. Existing core grabbing and lifting equipment requires deep penetration into the reactor pressure vessel to grab and lift the core, requiring the equipment to extend beyond the top of the reactor vessel. This occupies a significant amount of vertical space in the nuclear island building, imposing stringent requirements on the building's dimensions and limiting the layout and coordination of other maintenance equipment. The costs associated with civil engineering modifications and equipment layout are also high. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the shortcomings of existing core-replacing gripping devices, which occupy a large vertical space and have strict requirements on the reserved dimensions of the plant civil engineering, and to provide a core-replacing gripping device.

[0004] The present invention solves the above-mentioned technical problems through the following technical solution:

[0005] A reactor core gripping device, comprising:

[0006] The base is used to connect to the hoisting device;

[0007] A lifting mechanism, wherein multiple lifting mechanisms are connected at intervals to the base, each of the lifting mechanisms can move up or down in a direction close to or away from the base, and the end of the multiple lifting mechanisms away from the base can cooperate with the tooling set on the core to grasp the core;

[0008] A rotating mechanism corresponds one-to-one with the lifting mechanism. The rotating mechanism is linked with the lifting mechanism. The rotating mechanism can drive the end of the lifting mechanism away from the base to rotate relative to the base, so as to lock the connection between the lifting mechanism and the tooling.

[0009] This solution provides a reactor core gripping device, which includes a base, a lifting mechanism, and a rotating mechanism. The base supports and connects the lifting and rotating mechanisms and is used to connect with a hoisting device to facilitate the movement of the core gripping device and the reactor core. By connecting multiple lifting mechanisms at intervals to the base, and allowing the lifting mechanisms to move up and down towards or away from the base, the device can adapt to the vertical space of the nuclear island building through extension and retraction, while simultaneously gripping the reactor core from the container for easy replacement. By adapting the ends of the multiple lifting mechanisms away from the base to tooling mounted on the reactor core, the core can be gripped from the container using the lifting mechanisms. Furthermore, by providing rotating mechanisms that correspond one-to-one with the lifting mechanisms and linking them with the lifting mechanisms, the rotating mechanisms drive the ends of the lifting mechanisms to rotate, locking the connection between the lifting mechanisms and the tooling, thus reliably removing the reactor core from the container. The above structure enables the entire core grabbing device to reliably grab the core from the container while adapting to the relatively small vertical space of the plant. This reduces the requirements for the reserved dimensions of the plant's civil engineering and does not restrict the layout and collaborative operation of other maintenance equipment in the plant, thereby reducing the investment costs of civil engineering modifications and equipment layout.

[0010] In one embodiment, each of the lifting mechanisms includes:

[0011] The first drive motor is mounted on the base;

[0012] A transmission assembly is connected to the output shaft of the first drive motor, and the end of the transmission assembly facing away from the first drive motor can move up and down in a direction that is closer to or farther from the first drive motor.

[0013] A gripper lever is located at the end of the transmission assembly opposite to the first drive motor, and the gripper lever is used to cooperate with the tooling.

[0014] In this scheme, the rotational motion of the output shaft of the first drive motor is converted into the linear motion of the transmission component, thereby realizing the lifting and lowering of the transmission component relative to the base. By setting a gripper rod at the end of the transmission component away from the first drive motor, the gripper rod can cooperate with the tooling to realize the gripping of the reactor core.

[0015] In one embodiment, the transmission assembly includes:

[0016] A lead screw is connected to the output shaft;

[0017] A transmission nut is connected to the lead screw, and the transmission nut moves along the axial direction of the lead screw;

[0018] The telescopic component is rotatably connected to the transmission nut, and the gripper rod is connected to the telescopic component;

[0019] The rotating mechanism drives the telescopic member to rotate relative to the transmission nut.

[0020] In this technical solution, the rotational motion of the lead screw is converted into linear movement of the drive nut along the axial direction of the lead screw through the transmission of the lead screw and the drive nut. This movement drives the telescopic component to rise and fall relative to the base. A rotating mechanism drives the telescopic component to rotate relative to the drive nut, causing the gripper rod to rotate relative to the base. This achieves mutual locking between the gripper rod and the tooling, improving the reliability of the gripper rod in grasping the reactor core.

[0021] In one embodiment, the telescopic member includes:

[0022] The first bearing is connected to the end of the transmission nut that is away from the base;

[0023] A sleeve is connected to the first bearing, and the end of the sleeve facing away from the first bearing is connected to the gripper rod. The rotating mechanism drives the sleeve to rotate relative to the transmission nut.

[0024] In this technical solution, a first bearing is installed between the sleeve and the transmission nut to enable the sleeve to rotate relative to the transmission nut, thereby enabling the gripper rod to rotate relative to the transmission nut. This arrangement ensures that the transmission nut can only move axially along the lead screw and cannot rotate relative to the base; while the sleeve, driven by the transmission nut, can move axially relative to the base along the lead screw and rotate relative to the base simultaneously, thus guaranteeing reliable lifting and lowering of the sleeve and rotation of the gripper rod.

[0025] In one embodiment, the core grabbing device further includes guiding mechanisms, the number of which corresponds to the number of lifting mechanisms, and the guiding mechanisms include:

[0026] The guide rail has one end fixedly connected to the base, and the other end extends in a direction away from the base.

[0027] The cage assembly is guided and engaged with the guide rail and is slidable relative to the guide rail along the extension direction of the guide rail;

[0028] The telescopic component is rotatably connected to the cage assembly.

[0029] In this scheme, by setting a guiding mechanism, the relative sliding of the cage assembly and the guide rail in the guiding mechanism, and the rotatable connection of the telescopic component to the cage assembly, the axial movement of the telescopic component relative to the lead screw is limited and guided, while the telescopic component can rotate relative to the base, so that the gripper bar can reliably grip the reactor core.

[0030] In one embodiment, the rotating mechanism includes:

[0031] The second drive motor is mounted on the base.

[0032] A rotating rod is connected to the output shaft of the second drive motor. The rotating rod has at least one guide protrusion that extends along the axial direction of the rotating rod.

[0033] A rotating block assembly, which is sleeved on the rotating rod and is movable along the axis of the rotating rod;

[0034] The rotating block assembly engages with the sleeve, and the rotating block assembly can drive the sleeve to rotate.

[0035] In this design, a second drive motor drives a rotating rod to rotate relative to the base. A guide protrusion extending axially along the rotating rod is provided on the rotating rod, and a rotating block assembly is fitted onto the rotating rod. This allows the rotating block assembly to move relative to the axis of the rotating rod under external force, but it cannot rotate relative to the rotating rod itself. This enables the rotating block assembly to move axially along the rotating rod when the sleeve rises or falls relative to the base, thus following the sleeve's rise and fall. When it is necessary to rotate the sleeve, since the rotating block assembly and the sleeve are meshed, the rotating rod drives the rotating block assembly to rotate, thereby causing the sleeve to rotate relative to the base.

[0036] In one embodiment, the rotating block assembly includes:

[0037] A connecting plate, one end of which is connected to the transmission nut;

[0038] A rotating block is slidably connected to the rotating rod, and the rotating block is rotatably connected to the other end of the connecting plate;

[0039] The second bearing is located between the rotating block and the connecting plate;

[0040] A connecting sleeve is fitted onto the rotating rod, with one end connected to the rotating block;

[0041] The first gear is mounted on the sleeve;

[0042] The second gear is located at one end of the connecting sleeve away from the rotating block, and the second gear meshes with the first gear;

[0043] The transmission nut moves along the axis of the lead screw, and the rotating block can move along the axis of the rotating rod.

[0044] The second drive motor drives the rotating rod to rotate, the rotating block rotates with the rotating rod, and the second gear drives the first gear to rotate.

[0045] In this design, a connecting plate connects the rotating block to the transmission nut, allowing the rotating block to move axially along the rotating rod under the drive of the transmission nut. A second bearing is installed between the rotating block and the connecting plate, enabling the rotating block to rotate relative to the connecting plate. A connecting sleeve connects the rotating block to the second gear, allowing the second gear to mesh with the first gear mounted on the sleeve. This ensures that when the rotating rod drives the rotating block to rotate relative to the connecting plate, it also drives the sleeve to rotate relative to the connecting plate, thus achieving the rotation of the gripper rod.

[0046] In one embodiment, the core grabbing device further includes:

[0047] The support assembly has one end connected to the base and the other end extending away from the base. The end of the rotating rod away from the second drive motor is supported by the end of the support assembly away from the base.

[0048] In this solution, a support component is set up to support the rotating rod, thereby making the rotation of the rotating rod more stable.

[0049] In one embodiment, a plurality of first limiting bosses are provided at one end of the gripper bar facing the tooling, and the plurality of first limiting bosses are spaced apart along the circumference of the gripper bar;

[0050] The tooling is provided with multiple spaced connecting channels, and multiple spaced second limiting protrusions are provided in the connecting channels. The number of second limiting protrusions corresponds to the number of first limiting protrusions, and the gap between two adjacent second limiting protrusions allows the first limiting protrusion to pass through.

[0051] One end of the gripper rod passes through the connecting channel, and the rotating mechanism drives the gripper rod to rotate at a preset angle. The first limiting boss and the second limiting boss mutually block and limit each other.

[0052] In this solution, the first set of limiting bosses arranged circumferentially on the gripper rod cooperates with the corresponding second set of limiting bosses set in the tooling connection channel. After the gripper rod passes through the gap between the bosses into the tooling, it can be rotated by a rotating mechanism to make the two sets of limiting bosses abut against each other to achieve axial limiting. This not only enables quick assembly and disassembly of the gripper rod and the tooling, making the assembly operation convenient and efficient, but also allows the multiple sets of circumferentially arranged limiting bosses to evenly bear the working load, effectively improving the structural strength, torsional and tensile strength and positioning stability of the connection between the two, avoiding loosening and displacement of the gripper rod and the tooling during the transfer and gripping process. At the same time, no additional locking accessories are required, simplifying the structural layout and facilitating quick connection with the tooling.

[0053] In one embodiment, the core grabbing device further includes:

[0054] Multiple positioning mechanisms are spaced apart at one end of the base facing the core. The positioning mechanisms are used to cooperate with the container holding the core to position the lifting mechanism.

[0055] In this solution, multiple positioning mechanisms are arranged at intervals at one end of the base facing the reactor core. These positioning mechanisms can cooperate with the container holding the reactor core to accurately position and constrain the lifting mechanism before the grabbing operation. This effectively prevents the lifting mechanism from shifting its position as it approaches the reactor core, ensuring the grabbing alignment accuracy between the grabber and the reactor core, preventing damage to the reactor core caused by positioning deviation, and improving the safety and operational stability of the reactor core grabbing operation.

[0056] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred embodiments of the present invention.

[0057] The positive and progressive effects of this invention are as follows:

[0058] This invention provides a reactor core gripping device, comprising a base, a lifting mechanism, and a rotating mechanism. The base supports and connects the lifting and rotating mechanisms and is used to connect with a hoisting device to facilitate the movement of the core gripping device and the reactor core. By connecting multiple lifting mechanisms at intervals to the base, and enabling the lifting mechanisms to move up and down towards or away from the base, the device can adapt to the vertical space of the nuclear island building through extension and retraction, while simultaneously gripping the reactor core from the container for easy replacement. By adapting the ends of the multiple lifting mechanisms away from the base to tooling mounted on the reactor core, the core can be gripped from the container using the lifting mechanisms. Furthermore, by providing rotating mechanisms corresponding to each lifting mechanism and linking them with the lifting mechanisms, the rotating mechanisms drive the ends of the lifting mechanisms to rotate, thereby locking the connection between the lifting mechanisms and the tooling, thus reliably removing the reactor core from the container. The above structure enables the entire core grabbing device to reliably grab the core from the container while adapting to the relatively small vertical space of the plant. This reduces the requirements for the reserved dimensions of the plant's civil engineering and does not restrict the layout and collaborative operation of other maintenance equipment in the plant, thereby reducing the investment costs of civil engineering modifications and equipment layout. Attached Figure Description

[0059] Figure 1 This is a schematic diagram of the core gripping device and tooling after connection according to an embodiment of the present invention.

[0060] Figure 2 This is a top view schematic diagram of the reactor core gripping device according to an embodiment of the present invention.

[0061] Figure 3 This is a bottom view of the core gripping device and tooling after they are connected according to an embodiment of the present invention.

[0062] Figure 4 This is a schematic diagram of the core grabbing device according to an embodiment of the present invention.

[0063] Figure 5 This is a bottom view of the reactor core gripping device according to an embodiment of the present invention.

[0064] Figure 6 This is a schematic diagram of the core grabbing device according to an embodiment of the present invention, with the guide mechanism removed.

[0065] Figure 7 This is a schematic diagram of the core grabbing device according to an embodiment of the present invention, with the guide mechanism hidden, from another perspective.

[0066] Figure 8 This is a partially enlarged structural diagram of the rotating mechanism and the lifting mechanism in the core gripping device of this invention.

[0067] Figure 9 This is a partially enlarged structural diagram of the rotating mechanism and the lifting mechanism in the core gripping device of this invention from another perspective.

[0068] Figure 10 This is a partial structural diagram of the rotating mechanism and the lifting mechanism in the core gripping device of this invention.

[0069] Figure 11 This is a partially enlarged structural diagram of the core gripping device according to an embodiment of the present invention, showing the gripper rod connected to the tooling.

[0070] Explanation of reference numerals in the attached figures:

[0071] 10. Core gripping device; 11. Base; 12. Lifting mechanism; 121. First drive motor; 122. Transmission assembly; 1221. Lead screw; 1222. Transmission nut; 1223. Telescopic component; 12231. First bearing; 12232. Sleeve; 123. Gripper rod; 1231. First limiting boss; 13. Rotating mechanism; 131. Second drive motor; 132. Rotating rod; 1321. Guide protrusion; 133. Rotating block assembly; 1331. Connecting plate; 1332. Rotating block; 1333. Second bearing ; 1334, Connecting sleeve; 1335, First gear; 1336, Second gear; 14, Guide mechanism; 141, Guide rail; 1411, Reinforcing plate; 1412, Guide rod; 142, Cage assembly; 1421, Guide plate; 1422, Cage plate; 1423, Mounting slot; 15, Support assembly; 151, Support column; 152, Support plate; 16, Positioning mechanism; 161, Positioning column; 162, Roller; 163, Positioning pin; 17, Lifting lug; 20, Tooling; 21, Connecting channel; 22, Second limiting boss. Detailed Implementation

[0072] The present invention will be further illustrated by way of embodiments below, but the present invention is not limited to the scope of the embodiments described herein.

[0073] like Figures 1 to 11 As shown, an embodiment of the present invention provides a reactor core gripping device 10, which includes a base 11, a lifting mechanism 12, and a rotating mechanism 13. The base 11 is used to connect to a hoisting device. Multiple lifting mechanisms 12 are connected to the base 11 at intervals. Each lifting mechanism 12 can move up and down in a direction close to or away from the base 11. The end of the multiple lifting mechanisms 12 away from the base 11 can cooperate with the tooling 20 set on the reactor core to grip the reactor core. The rotating mechanism 13 corresponds one-to-one with the lifting mechanism 12 and is linked with the lifting mechanism 12. The rotating mechanism 13 can drive the end of the lifting mechanism 12 away from the base 11 to rotate relative to the base 11 to lock the connection between the lifting mechanism 12 and the tooling 20.

[0074] This solution provides a reactor core gripping device 10, which includes a base 11, a lifting mechanism 12, and a rotating mechanism 13. The base 11 supports and connects the lifting mechanism 12 and the rotating mechanism 13, and is used to connect to a hoisting device to facilitate the movement of the reactor core gripping device 10 and the reactor core. By connecting multiple lifting mechanisms 12 at intervals to the base 11, and by allowing the lifting mechanisms 12 to move up and down in a direction close to or away from the base 11, the device can adapt to the vertical space of the nuclear island building through extension and retraction, while simultaneously gripping the reactor core from the container for easy replacement. By adapting the ends of the multiple lifting mechanisms 12 opposite to the base 11 to a tooling 20 disposed on the reactor core, the device can grip the reactor core inside the container. By setting up a rotating mechanism 13 corresponding to the lifting mechanism 12 and linking the rotating mechanism 13 with the lifting mechanism 12, the end of the lifting mechanism 12 is rotated by the rotating mechanism 13 to lock the connection between the lifting mechanism 12 and the tooling 20. This allows the reactor core to be reliably removed from the container. With the above structure, the entire reactor core grabbing device 10 can reliably grab the reactor core from the container while adapting to the limited vertical space of the plant. This reduces the requirements for the reserved dimensions of the plant civil engineering and does not restrict the layout and collaborative operation of other maintenance equipment in the plant, thereby reducing the investment cost of civil engineering modification and equipment layout.

[0075] Specifically, the base 11 is constructed as a circular plate structure. Reinforcing ribs extending in the axial direction are provided on both the inner and outer rings of the base 11. Multiple reinforcing ribs extending in the radial direction are also provided on the top wall of the base plate. The two ends of the reinforcing ribs extending in the radial direction are respectively connected to the reinforcing ribs provided on the inner and outer rings. This arrangement is to improve the structural strength of the base 11.

[0076] Furthermore, in this embodiment, a plurality of lifting lugs 17 spaced circumferentially are provided on the reinforcing ribs corresponding to the outer ring of the base 11. The lifting lugs 17 can be detachably connected to the base 11 or fixedly connected to the base 11. The lifting lugs 17 are used to connect lifting ropes, thereby facilitating connection with the lifting device via ropes, so as to move the core grabbing device 10 by the lifting device.

[0077] Reference Figure 2 , Figure 4 , Figure 6 , Figure 8 and Figure 9It is understood that, in one embodiment, each lifting mechanism 12 includes a first drive motor 121, a transmission assembly 122, and a gripper rod 123. The first drive motor 121 is mounted on the base 11. The transmission assembly 122 is connected to the output shaft of the first drive motor 121. The end of the transmission assembly 122 facing away from the first drive motor 121 can move up and down in a direction close to or away from the first drive motor 121. The gripper rod 123 is located at the end of the transmission assembly 122 facing away from the first drive motor 121 and is used to cooperate with the tooling 20.

[0078] In this scheme, the rotational motion of the output shaft of the first drive motor 121 is converted into the linear motion of the transmission assembly 122, thereby realizing the lifting and lowering of the transmission assembly 122 relative to the base 11. By setting a gripper rod 123 at the end of the transmission assembly 122 away from the first drive motor 121, the gripper rod 123 can cooperate with the tooling 20 to realize the gripping of the reactor core.

[0079] like Figure 2 , Figures 8 to 10 As shown, specifically, the motor mount of the first drive motor 121 is fixedly connected to the top surface of the base 11. The output shaft of the first drive motor 121 extends from the top surface of the base 11 to the bottom and is connected to the transmission assembly 122. The transmission assembly 122 can be any one of the following: a lead screw and nut transmission assembly 122, a gear and rack transmission assembly 122, a crank and slider transmission assembly 122, a worm gear and lead screw combination, etc. The gripper rod 123 is a slender rod and can be square or round, etc.

[0080] Specifically, the transmission assembly 122 includes a lead screw, a transmission nut 1222, and a telescopic member 1223. The lead screw 1221 is connected to the output shaft; the transmission nut 1222 is throttle-connected to the lead screw 1221 and moves along the axial direction of the lead screw 1221; the telescopic member 1223 is rotatably connected to the transmission nut 1222, and the gripper rod 123 is connected to the telescopic member 1223; wherein, the rotating mechanism 13 drives the telescopic member 1223 to rotate relative to the transmission nut 1222.

[0081] In this technical solution, the rotational motion of the lead screw 1221 is converted into linear movement of the transmission nut 1222 along the axial direction of the lead screw 1221 through the transmission of the lead screw 1221 and the transmission nut 1222. This, in turn, causes the telescopic member 1223 to rise and fall relative to the base 11 via the transmission nut 1222. The rotating mechanism 13 drives the telescopic member 1223 to rotate relative to the transmission nut 1222, thereby causing the gripper rod 123 to rotate relative to the base 11. This achieves mutual locking between the gripper rod 123 and the tooling 20, improving the reliability of the gripper rod 123 in grasping the reactor core.

[0082] Specifically, the output shaft of the first drive motor 121 can be directly coaxially connected to the end of the lead screw 1221 via a coupling, or it can be directly fixed to the flange of the lead screw 1221 support seat via a motor flange. The motor output shaft is rigidly locked to the lead screw 1221 via a flat key or spline. The transmission nut 1222 is threadedly connected to the lead screw 1221. When the first drive motor 121 drives the lead screw 1221 to rotate, the transmission nut 1222, limited by other components, can only move axially relative to the lead screw 1221, but cannot rotate.

[0083] It should be noted that the telescopic member 1223 in this embodiment can be configured to extend and retract along its own axial direction, and move along the axial direction of the lead screw 1221 under the drive of the transmission nut 1222, thereby realizing the lifting and lowering relative to the base 11; of course, it can also be configured to not extend and retract along its own axial direction, and its telescopic function is realized by moving along the axial direction of the lead screw 1221 under the drive of the transmission nut 1222, thereby realizing the lifting and lowering relative to the base 11.

[0084] For the rotation of the telescopic member 1223 relative to the transmission nut 1222, the rotating mechanism 13 can be directly mounted on the telescopic member 1223 to drive the telescopic member 1223 to rotate, or the rotating mechanism 13 can be indirectly linked with the telescopic member 1223 to drive the telescopic member 1223 to rotate through the rotating structure.

[0085] like Figures 6 to 10 As shown, the telescopic component 1223 further includes a first bearing 12231 and a sleeve 12232. The first bearing 12231 is connected to the end of the transmission nut 1222 away from the base 11. The sleeve 12232 is connected to the first bearing 12231. The end of the sleeve 12232 away from the first bearing 12231 is connected to the gripper rod 123. The rotating mechanism 13 drives the sleeve 12232 to rotate relative to the transmission nut 1222.

[0086] In this technical solution, a first bearing 12231 is provided between the sleeve 12232 and the transmission nut 1222 to enable the sleeve 12232 to rotate relative to the transmission nut 1222, thereby enabling the gripper rod 123 to rotate relative to the transmission nut 1222. This arrangement ensures that the transmission nut 1222 can only move axially along the lead screw 1221 and cannot rotate relative to the base 11; while the sleeve 12232, driven by the transmission nut 1222, can move axially relative to the base 11 along the lead screw 1221 while simultaneously rotating relative to the base 11, thus ensuring reliable lifting and lowering of the sleeve 12232 and rotation of the gripper rod 123.

[0087] Specifically, the sleeve 12232 has a cylindrical structure, the transmission nut 1222 is fixedly connected to the inner ring of the first bearing 12231, and the inner hole of the sleeve 12232 is fixedly connected to the outer ring of the first bearing 12231, so that the sleeve 12232 can rotate relative to the transmission nut 1222.

[0088] like Figure 6 As shown, in one embodiment, the core gripping device 10 further includes a guiding mechanism 14, the number of which corresponds to the number of lifting mechanisms 12. The guiding mechanism 14 includes a guide rail 141 and a retainer assembly 142. One end of the guide rail 141 is fixedly connected to the base 11, and the other end extends in a direction away from the base 11. The retainer assembly 142 is guided and engaged with the guide rail 141 and can slide relative to the guide rail 141 along the extension direction of the guide rail 141. The telescopic member 1223 is rotatably connected to the retainer assembly 142.

[0089] In this scheme, by setting a guide mechanism 14, the relative sliding of the retainer assembly 142 in the guide mechanism 14 with the guide rail 141, and the rotatable connection of the telescopic member 1223 to the retainer assembly 142, the axial movement of the telescopic member 1223 relative to the lead screw 1221 is limited and guided, while the telescopic member 1223 can rotate relative to the base 11, so that the gripper rod 123 can reliably grip the reactor core.

[0090] like Figure 5 and Figure 6 As shown, specifically, the guide rail 141 is made of U-shaped channel steel or U-shaped profile. A reinforcing plate 1411 parallel to the bottom wall of the U-shaped channel is provided inside to strengthen the guide rail 141. One end of the guide rail 141 along its length can be fixedly connected to the base 11 by bolts or welded to the base 11. The mounting groove 1423 formed between the two side walls of the U-shaped channel and the fixing plate is used to install the retainer assembly 142. The retainer assembly 142 is guided and engaged with the guide rail 141 so that the retainer assembly can move relative to the guide rail 141 along its length.

[0091] like Figure 4 and Figure 5 As shown, in one embodiment, the retainer assembly 142 includes a guide plate 1421 and a plurality of retaining plates 1422. The guide plate 1421 is guided and engaged with the guide rail 141. The plurality of retaining plates 1422 are spaced apart along the extension direction of the guide plate 1421. Each retaining plate 1422 has a connecting hole, and the telescopic member 1223 passes through the connecting hole and can rotate relative to the retaining plate 1422.

[0092] In this design, the second drive motor 131 drives the rotating rod 132 to rotate relative to the base 11. A guide protrusion 1321 extending axially along the rotating rod 132 is provided on the rotating rod 132, allowing the rotating block assembly 133 to be fitted onto the rotating rod 132. This enables the rotating block assembly 133 to move relative to the axis of the rotating rod 132 while simultaneously rotating with the rotating rod 132. This configuration allows the rotating block assembly 133 to accommodate the linear movement of the sleeve 12232 against the base 11 while also driving the sleeve 12232 to rotate.

[0093] like Figure 4 and Figure 5 As shown, in one embodiment, the guide rail 141 is constructed with a mounting groove 1423 extending along the extension direction of the guide rail 141. Guide rods 1412 are constructed on the top of the two side walls of the mounting groove 1423 and on the bottom wall of the mounting groove 1423. The guide plate 1421 is constructed as a V-shaped plate. The guide plate 1421 is provided with guide grooves corresponding to the guide rods 1412 on the guide rail 141. The guide grooves and guide rods 1412 are guided and engaged. The retaining plate 1422 is disposed in the V-shaped groove formed by the guide plate 1421 and is connected to the guide plate 1421. A mounting hole is provided on the retaining plate 1422, and the sleeve 12232 is rotatably engaged with the mounting hole.

[0094] In this solution, the above settings ensure that the guide plate 1421 slides smoothly relative to the guide rail 141, while providing space for the installation of the retaining plate 1422. This ensures that the sleeve 12232 can move reliably relative to the base 11 while rotating relative to the retaining plate 1422.

[0095] like Figure 4 , Figure 5 and Figure 10 As shown, specifically, guide rods 1412 are provided on the top of the two groove sidewalls of the guide rail 141 and on the reinforcing plate 1411. The guide rods 1412 can be round or square. The guide plate 1421 is a V-shaped plate, and its two angled sidewalls correspond precisely to the surfaces formed by each pair of adjacent guide rods 1412 on the guide rail 141. At the vertices of the two sidewalls of the guide plate 1421 and at the ends of the two sidewalls away from the vertices, guide grooves matching the shape of the guide rods 1412 are constructed, allowing the guide rods 1412 to be embedded within the guide grooves, and enabling the guide plate 1421 to move relative to the guide rail 141. The retaining plate 1422 is constructed as a triangular plate, which precisely matches and connects to the inner sidewall of the V-shaped groove of the V-shaped guide plate 1421. The retaining plate 1422 can be used to strengthen the structure of the guide plate 1421 on the one hand, and to support the sleeve 12232 on the other hand, so that the rotation of the sleeve 12232 relative to the base 11 is more stable and reliable.

[0096] In one embodiment, the rotating mechanism 13 includes a second drive motor 131, a rotating rod 132, and a rotating block assembly 133. The second drive motor 131 is mounted on the base 11. The rotating rod 132 is connected to the output shaft of the second drive motor 131. At least one guide protrusion 1321 is formed on the rotating rod 132, and the guide protrusion 1321 extends along the axial direction of the rotating rod 132. The rotating block assembly 133 is sleeved on the rotating rod 132 and can move along the axis of the rotating rod 132. The rotating block assembly 133 engages with the sleeve 12232 and can drive the sleeve 12232 to rotate.

[0097] In this design, the second drive motor 131 drives the rotating rod 132 to rotate relative to the base 11. A guide protrusion 1321 extending axially along the rotating rod 132 is provided on the rotating rod 132, and a rotating block assembly 133 is fitted onto the rotating rod 132. This allows the rotating block assembly 133 to move relative to the axis of the rotating rod 132 under external force, but it cannot rotate relative to the rotating rod 132. This ensures that when the sleeve 12232 rises and falls relative to the base 11, the rotating block assembly 133 can move axially along the rotating rod 132, thus following the rise and fall of the sleeve 12232 relative to the base 11. When it is necessary to rotate the sleeve 12232, since the rotating block assembly 133 and the sleeve 12232 are meshed, the rotating rod 132 drives the rotating block assembly 133 to rotate, thereby causing the sleeve 12232 to rotate relative to the base 11.

[0098] It should be noted that, in this embodiment, the motor mount of the second drive motor 131 is fixedly connected to the side of the base 11 facing the core. The output shaft of the second drive motor 131 and the rotating rod 132 can be directly coaxially connected via a coupling, or rigidly locked via a flat key or spline. It should be understood that a groove corresponding to the guide protrusion 1321 is provided on the rotating block assembly 133. This groove and the guide protrusion 1321 engage in a recessed-protrusion fit, guiding the sliding of the rotating block assembly 133 relative to the rotating rod 132 via the guide protrusion 1321. Furthermore, the mutual limiting between the groove wall and the guide protrusion 1321 restricts the rotation of the rotating block assembly 133 relative to the rotating rod 132, thereby enabling the rotating block assembly 133 to rotate with the rotating rod 132.

[0099] like Figures 8 to 10As shown, in one embodiment, the rotating block assembly 133 includes a connecting plate 1331, a rotating block 1332, a second bearing 1333, a connecting sleeve 1334, a first gear 1335, and a second gear 1336. One end of the connecting plate 1331 is connected to the transmission nut 1222; the rotating block 1332 is slidably connected to the rotating rod 132, and the rotating block 1332 is rotatably connected to the other end of the connecting plate 1331; the second bearing 1333 is disposed between the rotating block 1332 and the connecting plate 1331; the connecting sleeve 1334 is sleeved on the rotating rod 132, and the connecting sleeve 1335 is... One end of 334 is connected to the rotating block 1332; the first gear 1335 is mounted on the sleeve 12232; the second gear 1336 is mounted on the end of the connecting sleeve 1334 away from the rotating block 1332, and the second gear 1336 meshes with the first gear 1335; the transmission nut 1222 moves along the axis of the lead screw 1221, and the rotating block 1332 can move along the axis of the rotating rod 132; the second drive motor 131 drives the rotating rod 132 to rotate, the rotating block 1332 rotates with the rotating rod 132, and the second gear 1336 drives the first gear 1335 to rotate.

[0100] In this design, the rotating block 1332 is connected to the transmission nut 1222 via the connecting plate 1331, allowing the rotating block 1332 to move axially along the rotating rod 132 under the drive of the transmission nut 1222. A second bearing 1333 is provided between the rotating block 1332 and the connecting plate 1331, enabling the rotating block 1332 to rotate relative to the connecting plate 1331. The rotating block 1332 is connected to the second gear 1336 via the connecting sleeve 1334, allowing the second gear 1336 to mesh with the first gear 1335 mounted on the sleeve 12232. This ensures that when the rotating rod 132 drives the rotating block 1332 to rotate relative to the connecting plate 1331, it also drives the sleeve 12232 to rotate relative to the connecting plate 1331, thus achieving the rotation of the gripper rod 123.

[0101] like Figures 8 to 10As shown, specifically, the connecting plate 1331 is constructed as an oblong plate. One end of the connecting plate 1331 is fixedly connected to the transmission nut 1222. The transmission nut 1222 can be welded to the connecting plate 1331, or it can be fixedly connected by a tight fit, or it can be fixedly connected by a snap-fit. The other end of the connecting plate 1331 is rotatably connected to the rotating block 1332 through the second bearing 1333. This allows the rotating block 1332 to move axially along the rotating rod 132 following the transmission nut 1222, and also allows the rotating block 1332 to rotate relative to the connecting plate 1331. The specific structure of the connecting sleeve 1334 is not limited, as long as it can slide relative to the rotating rod 132. The connecting sleeve 1334 is fixedly connected to the rotating block 1332, and the second gear 1336 is fixedly connected to the connecting sleeve 1334. When the rotating block 1332 rotates under the drive of the rotating rod 132, the second gear 1336 rotates with the rotating sleeve. The first gear 1335 is fixedly connected to the sleeve 12232. The first gear 1335 meshes with the second gear 1336 so that the second gear 1336 drives the first gear 1335 to rotate, thereby driving the sleeve 12232 to rotate. Specifically, in this embodiment, the rotating rod 132 is a spline rod, and the rotating block 1332 is a spline nut that matches the spline rod.

[0102] like Figure 6 As shown, in one embodiment, the core gripping device 10 further includes a support assembly 15. One end of the support assembly 15 is connected to the base 11, and the other end extends away from the base 11. The end of the rotating rod 132 away from the second drive motor 131 is supported on the end of the support assembly 15 away from the base 11. In this solution, by setting the support assembly 15, the rotating rod 132 is supported, thereby making the rotation of the rotating rod 132 more stable. It should be understood that the rotating rod 132 and the support assembly 15 are rotatably connected by bearings to ensure that the rotating rod 132 rotates relative to the base 11.

[0103] like Figure 6 As shown, in one embodiment, the support assembly 15 includes a support column 151 and a support plate 152. One end of the support column 151 is connected to the base 11, and the other end extends away from the base 11. The support plate 152 is connected to the end of the support column 151 away from the base 11. The rotating rod 132 in each rotating mechanism 13 is connected to the support plate 152.

[0104] In this scheme, the support column 151 is used to connect the support plate 152 and the base 11. By connecting the rotating rods 132 in each rotating mechanism to the support plate 152, space can be saved while ensuring the smooth rotation of the rotating rods 132, making the entire core grabbing device 10 more compact.

[0105] Specifically, the support column 151 is constructed as a tubular structure to reduce the weight of the entire core grabbing device 10, and the support column 151 is fixedly connected to the middle position of the base 11. In another embodiment, the support column 151 extends out of the inner hole of the base 11 and connects to the inner wall of the inner hole of the base 11, with the tubular wall of the support column 151 acting as a reinforcing rib to strengthen the base 11. The support plate 152 is constructed as an isosceles triangular plate, and the rotating rod 132 is rotatably connected to the three vertices of the triangular plate via bearings. It should be noted that clearance grooves for avoiding the retaining plate 1422 are provided at the three vertices of the support plate 152.

[0106] like Figure 7 and Figure 11 As shown, in one embodiment, the end of the gripper 123 facing the fixture 20 is provided with a plurality of first limiting protrusions 1231, which are spaced apart along the circumference of the gripper 123. The fixture 20 is provided with a plurality of spaced connecting channels 21, and a plurality of spaced second limiting protrusions 22 are provided in the connecting channels 21. The number of second limiting protrusions 22 corresponds to the number of first limiting protrusions 1231, and the gap between two adjacent second limiting protrusions 22 allows the first limiting protrusions 1231 to pass through. One end of the gripper 123 passes through the connecting channel 21, and the rotating mechanism 13 drives the gripper 123 to rotate by a preset angle, and the first limiting protrusions 1231 and the second limiting protrusions 22 mutually abut and limit each other.

[0107] In this solution, the first limiting boss 1231 arranged circumferentially on the gripper rod 123 cooperates with the corresponding second limiting boss 22 set in the connecting channel 21 of the tooling 20. After the gripper rod 123 passes through the gap between the bosses into the tooling 20, it can be rotated by the rotating mechanism 13 at a certain angle to make the two sets of limiting bosses abut against each other to achieve axial limiting. This not only allows for quick assembly and disassembly of the gripper rod 123 and the tooling 20, making the assembly operation convenient and efficient, but also allows the multiple sets of circumferentially arranged limiting bosses to evenly bear the working load, effectively improving the structural strength, torsional and tensile strength and positioning stability of the connection between the two, avoiding loosening and displacement of the gripper rod 123 and the tooling 20 during the transfer and gripping process. At the same time, no additional locking accessories are required, simplifying the structural layout and facilitating quick connection with the tooling 20.

[0108] like Figure 11As shown, specifically, three spaced-apart first limiting protrusions 1231 are constructed on the outer wall of the end of the gripper lever 123 facing the tooling 20, with equal spacing between the three first limiting protrusions 1231. Correspondingly, three spaced-apart second limiting protrusions 22 are provided in the connecting channel 21 of the tooling 20, with equal gaps between the second limiting protrusions 22. The gap between the second limiting protrusions 22 is larger than the size of the first limiting protrusions 1231, thereby allowing the first limiting protrusions 1231 to pass through the gap between the second limiting protrusions 22.

[0109] like Figure 11 As shown, in one embodiment, the second limiting boss 22 has a groove on the side opposite to the base 11 that matches the first limiting boss 1231, and the first limiting boss 1231 can be accommodated in the groove. In this solution, by providing a groove on the second limiting boss 22 that matches the first limiting boss 1231, after the gripper rod 123 rotates to complete the limiting position, the first limiting boss 1231 can be embedded in the groove to achieve precise locking. This effectively restricts the circumferential movement and axial displacement of the gripper rod 123, further improving the positioning accuracy and locking reliability of the connection between the gripper rod 123 and the tooling 20, avoiding slippage and loosening due to force during operation. At the same time, it increases the contact area between the two sets of limiting bosses, making the load distribution more uniform, improving the torsional bearing capacity of the structure, and extending the service life of the limiting structure.

[0110] like Figure 6 As shown, in one embodiment, the reactor core gripping device 10 further includes multiple positioning mechanisms 16. These positioning mechanisms 16 are spaced apart at the end of the base 11 facing the reactor core. The positioning mechanisms 16 cooperate with the container holding the reactor core to position the lifting mechanism 12. In this solution, by arranging multiple positioning mechanisms 16 at intervals at the end of the base 11 facing the reactor core, the positioning mechanisms 16 can cooperate with the container holding the reactor core, enabling precise positioning and constraint of the lifting mechanism 12 before the gripping operation. This effectively prevents the lifting mechanism 12 from shifting position as it approaches the reactor core, ensuring the gripping alignment accuracy between the gripper and the reactor core, preventing damage to the reactor core due to positioning deviations, and improving the safety and operational stability of the reactor core gripping operation.

[0111] like Figure 6 As shown, specifically, each positioning mechanism 16 includes a positioning post 161, a roller 162, and a positioning pin 163. One end of the positioning post 161 is connected to the base 11, and the other end extends away from the base 11. Each positioning post 161 is provided with at least one roller 162, which can rotate relative to the positioning post 161. The positioning pin 163 is located at the end of the positioning post 161 away from the base 11, and the positioning post 161 can be inserted into the positioning hole on the positioning plate provided on the outside of the container.

[0112] In this scheme, during operation, the roller 162 first contacts the support structure connected to the positioning plate for guidance, achieving initial alignment of the base 11. This smoothly guides the device closer to the container, corrects large-scale positional deviations, and avoids scratches and collisions during movement. Subsequently, the positioning pin 163 at the end of the positioning column 161 is inserted into the positioning hole of the positioning plate on the support structure to complete precise locking and positioning, effectively limiting the offset and shaking of the base 11, and significantly improving the alignment accuracy of the lifting mechanism 12. This ensures the smooth and safe operation of the reactor core grabbing process and avoids damage to the reactor core caused by inaccurate positioning, significantly improving the reliability of equipment operation and the safety of grabbing operations.

[0113] Specifically, the base 11 has three spaced-apart positioning mechanisms 16, which are equally spaced in the circumferential direction. The positioning posts 161 are constructed as square rod-like structures, with two rollers 162 spaced apart on the outward-facing sidewalls of each post 161. A dovetail groove is provided at the end of the positioning post 161 facing away from the base 11, and a dovetail block is provided at the end of the positioning post 161. The dovetail block on the positioning post 161 is embedded in the dovetail groove on the positioning post 161, achieving a fixed connection between the two.

[0114] refer to Figures 1 to 10 It is understood that the method of using the reactor core gripping device 10 provided in this embodiment of the invention is as follows:

[0115] The lifting lugs 17 on the base 11 of the core grabbing device 10 are connected to the hoisting equipment via ropes. The hoisting equipment is used to level and transport the device to the top of the reactor. Then, the core grabbing device 10 is lowered by the hoisting equipment. The rollers 162 on the positioning column 161 contact the guide rails of the external support structure to achieve coarse positioning. As the core grabbing device 10 enters the container, the positioning pins 163 enter the positioning holes of the positioning plates on the support structure to complete the fine positioning of the core grabbing device 10. At this time, the grabbing rod 123 is still some distance away from the core. Then, the first drive motor 121 drives the lead screw 1221 to rotate, thereby driving the grabbing rod 123 to descend to the core grabbing position. During the descent of the grabbing rod 123, the first gear 1335 and the second gear 1336 remain engaged. When the gripper lever 123 approaches the fixture 20, the second drive mechanism drives the rotating rod 132 to rotate, thereby causing the rotating block 1332 to rotate relative to the base 11. This drives the second gear 1336 to rotate with the rotating block 1332, thereby driving the first gear 1335 to rotate. This, in turn, drives the sleeve 12232 and the gripper lever 123 to rotate, so that the first limiting protrusion on the gripper lever 123 can be aligned with the gap between the second limiting protrusions. Then, the screw 1221 drives the gripper lever 123 to pass through the gap between the second limiting protrusions and maintain a certain distance from the second limiting protrusion. After the gripper lever 123 is rotated a certain angle by the rotating rod, the first limiting protrusion is aligned with the groove on the second limiting protrusion. Finally, the screw 1221 drives the transmission nut 1222 to move upward, thereby causing the sleeve 12232 and the gripper lever 123 to rise and embed into the groove on the second limiting protrusion to limit the first limiting protrusion. In this way, the connection between the core gripping device 10 and the tooling 20 connected to the core is completed. The first drive motor 121 drives the lead screw 1221 to rotate, which in turn drives the gripper rod 123 to rise continuously and return to the initial position. At this time, the core is lifted to a certain height. Finally, the core gripping device 10 is lifted by hoisting equipment to remove the core.

[0116] While specific embodiments of the present invention have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but all such changes and modifications fall within the scope of protection of the present invention.

Claims

1. A reactor core gripping device, characterized in that, It includes: The base is used to connect to the hoisting device; A lifting mechanism, wherein multiple lifting mechanisms are connected at intervals to the base, each of the lifting mechanisms can move up or down in a direction close to or away from the base, and the end of the multiple lifting mechanisms away from the base can cooperate with the tooling set on the core to grasp the core; A rotating mechanism corresponds one-to-one with the lifting mechanism. The rotating mechanism is linked with the lifting mechanism. The rotating mechanism can drive the end of the lifting mechanism away from the base to rotate relative to the base, so as to lock the connection between the lifting mechanism and the tooling.

2. The reactor core gripping device as described in claim 1, characterized in that, Each of the aforementioned lifting mechanisms includes: The first drive motor is mounted on the base; A transmission assembly is connected to the output shaft of the first drive motor, and the end of the transmission assembly facing away from the first drive motor can move up and down in a direction that is closer to or farther from the first drive motor. A gripper lever is located at the end of the transmission assembly opposite to the first drive motor, and the gripper lever is used to cooperate with the tooling.

3. The reactor core gripping device as described in claim 2, characterized in that, The transmission assembly includes: A lead screw is connected to the output shaft; A transmission nut is connected to the lead screw, and the transmission nut moves along the axial direction of the lead screw; The telescopic component is rotatably connected to the transmission nut, and the gripper rod is connected to the telescopic component; The rotating mechanism drives the telescopic member to rotate relative to the transmission nut.

4. The reactor core gripping device as described in claim 3, characterized in that, The telescopic component includes: The first bearing is connected to the end of the transmission nut that is away from the base; A sleeve is connected to the first bearing, and the end of the sleeve facing away from the first bearing is connected to the gripper rod. The rotating mechanism drives the sleeve to rotate relative to the transmission nut.

5. The reactor core gripping device as described in claim 3, characterized in that, The reactor core gripping device further includes guiding mechanisms, the number of which corresponds to the number of lifting mechanisms, and the guiding mechanisms include: The guide rail has one end fixedly connected to the base, and the other end extends in a direction away from the base. The cage assembly is guided and engaged with the guide rail and is slidable relative to the guide rail along the extension direction of the guide rail; The telescopic component is rotatably connected to the cage assembly.

6. The reactor core gripping device as described in claim 4, characterized in that, The rotating mechanism includes: The second drive motor is mounted on the base. A rotating rod is connected to the output shaft of the second drive motor. The rotating rod has at least one guide protrusion that extends along the axial direction of the rotating rod. A rotating block assembly, which is sleeved on the rotating rod and is movable along the axis of the rotating rod; The rotating block assembly engages with the sleeve, and the rotating block assembly can drive the sleeve to rotate.

7. The reactor core gripping device as described in claim 6, characterized in that, The rotating block assembly includes: A connecting plate, one end of which is connected to the transmission nut; A rotating block is slidably connected to the rotating rod, and the rotating block is rotatably connected to the other end of the connecting plate; The second bearing is located between the rotating block and the connecting plate; A connecting sleeve is fitted onto the rotating rod, with one end connected to the rotating block; The first gear is mounted on the sleeve; The second gear is located at one end of the connecting sleeve away from the rotating block, and the second gear meshes with the first gear; The transmission nut moves along the axis of the lead screw, and the rotating block can move along the axis of the rotating rod. The second drive motor drives the rotating rod to rotate, the rotating block rotates with the rotating rod, and the second gear drives the first gear to rotate.

8. The reactor core gripping device as described in claim 7, characterized in that, The core grabbing device also includes: The support assembly has one end connected to the base and the other end extending away from the base. The end of the rotating rod away from the second drive motor is supported by the end of the support assembly away from the base.

9. The reactor core gripping device as described in claim 2, characterized in that, The gripper rod is provided with a plurality of first limiting protrusions at one end facing the tooling, and the plurality of first limiting protrusions are spaced apart along the circumference of the gripper rod; The tooling is provided with multiple spaced connecting channels, and multiple spaced second limiting protrusions are provided in the connecting channels. The number of second limiting protrusions corresponds to the number of first limiting protrusions, and the gap between two adjacent second limiting protrusions allows the first limiting protrusion to pass through. One end of the gripper rod passes through the connecting channel, and the rotating mechanism drives the gripper rod to rotate at a preset angle. The first limiting boss and the second limiting boss mutually block and limit each other.

10. The reactor core gripping device according to any one of claims 1-9, characterized in that, The core grabbing device also includes: Multiple positioning mechanisms are spaced apart at one end of the base facing the core. The positioning mechanisms are used to cooperate with the container holding the core to position the lifting mechanism.

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