Foreign matter grabbing tool for condenser

Abstract

The utility model provides a condenser foreign matter grabbing tool, and relates to the technical field of nuclear power equipment maintenance tools, the condenser foreign matter grabbing tool comprises a telescopic rod assembly, an electric clamping jaw, a video indication assembly and a control module, the electric clamping jaw is arranged at the front end of the telescopic rod assembly, and the electric clamping jaw is provided with at least two sets of clamping arms which can be exchanged for use and have different grabbing angles. The video indication assembly comprises a camera which is arranged at the front end of the electric clamping jaw and faces the clamping arm. The control module is electrically connected with the electric clamping jaw and the video indicating assembly so as to control operation of the electric clamping jaw and the video indicating assembly. The tool can realize video indication operation, is convenient to use, can realize single-person operation, and improves the operation efficiency. In addition, an operator can select and exchange the clamping arms with the corresponding grabbing angles according to use requirements, foreign matter clamping operation at the specific angle can be conducted in the narrow space of the condenser, the success rate of foreign matter grabbing is guaranteed, and rigid damage to a titanium tube bundle of the condenser is avoided.

Description

Technical Field

[0001] The present application relates to the technical field of nuclear power equipment maintenance tools, and in particular to a condenser foreign body grabbing tool. Background Art

[0002] The condenser is a heat exchanger that condenses the exhaust steam of the steam turbine into water, also known as a rehydrator, and is widely used in nuclear power units in nuclear power plants. The height of the titanium tube bundle inside the steam side of the condenser used in nuclear power units is generally about 4 meters, and the gap between the tubes is generally about 5.6mm. The space is small, and if there are tiny foreign objects left, personnel cannot directly enter to remove them. In addition, the density of the tube bundle seriously affects the field of view and operating space for disposal operations, and there is a problem of difficulty in grabbing foreign objects, which requires the use of tools such as mechanical arms to grab foreign objects.

[0003] Existing tools such as mechanical arms generally do not have video indication functions, and need to be used together with auxiliary equipment such as endoscopes, and require multiple people to work together, which is inconvenient to operate, seriously affecting the efficiency of disposal operations and delaying the normal operation of nuclear power units. In addition, the electric grippers of existing auxiliary tools such as mechanical arms are generally only fixed with a clamping arm of a single size and specification, which can flexibly grab foreign objects in a relatively large space. However, the internal tube bundle density of the condenser is large, the gap between the tubes is small, and the operable space is severely limited. The clamping arm of a single size and specification cannot be replaced according to actual use requirements, and cannot perform multi-angle clamping actions in a small space. It cannot adapt to the grasping of tiny foreign objects in the complex gaps between the condenser tubes, and it is easy to cause the clamping arm of an inappropriate size to get stuck in the gap between the tubes during the forward and backward operations, which is easy to cause hard damage to the titanium tube. Utility Model Content

[0004] In order to solve the above technical problems, the present application provides a condenser foreign body grasping tool to solve the technical problems that the existing tools cannot provide video instructions, are inconvenient to operate, have low disposal efficiency, and cannot perform multi-angle clamping actions in a narrow space. The condenser foreign body grasping tool provided by the present application can realize video instruction operation, is easy to use, can be operated by one person, and improves the efficiency of grasping and disposing of condenser foreign bodies. In addition, the condenser foreign body grasping tool provided by the present application allows the operator to choose to replace the clamping arm with a corresponding grasping angle according to the actual position and jamming situation of the foreign body, which is conducive to performing foreign body clamping operations at specific angles in the narrow space of the condenser, ensuring the success rate of foreign body grasping and avoiding hard damage to the titanium tube bundle of the condenser.

[0005] The technical solution adopted by the present application to solve its technical problem is: to provide a condenser foreign body grasping tool, including a telescopic rod assembly, an electric clamp, a video indication assembly and a control module, wherein the electric clamp is arranged at the telescopically movable front end of the telescopic rod assembly, and has at least two sets of interchangeable clamp arms with different grasping angles, so as to grasp foreign bodies at different positions of the condenser by replacing the corresponding clamp arms. The video indication assembly includes a camera arranged at the front end of the electric clamp and facing the clamp arm, so as to shoot the front end image of the clamp arm. The control module is electrically connected to the electric clamp and the video indication assembly respectively to control the operation of the electric clamp and the video indication assembly.

[0006] In some embodiments, the electric clamp includes an electrically driven telescopic device and a clamp base connected coaxially, a transmission mechanism movably arranged on the clamp base and at least one group of clamp arm fixings arranged opposite to each other, and at least two groups of clamp arms detachably connected to the corresponding clamp arm fixings. The electrically driven telescopic device is axially connected to the front end of the telescopic rod assembly and is electrically connected to the control module. The clamp base is axially connected to the front end of the electrically driven telescopic device. The transmission mechanism is movably connected between the action end of the electrically driven telescopic device and the clamp arm fixing, so as to drive the clamp arm to perform relative opening and closing movements through the clamp arm fixings under the drive of the electrically driven telescopic device.

[0007] In some embodiments, the clamp base is axially provided with a guide groove, a drive control groove and a camera installation groove in sequence from back to front, and the two ends of the guide groove are respectively connected to the electric drive telescopic device and the drive control groove. The drive control groove at least partially radially penetrates the side wall of the clamp base, and the clamp arm fixing piece is movably hinged on the clamp base via the drive control groove. The transmission mechanism is movably arranged on the guide groove and the drive control groove, and the rear end of the transmission mechanism is connected to the action end of the electric drive telescopic device via the guide groove, and the front end of the transmission mechanism is connected to the clamp arm fixing piece via the drive control groove. The camera is detachably assembled in the camera installation groove.

[0008] In some embodiments, the transmission mechanism includes a connecting component and at least one set of connecting hinges, the connecting component reciprocates axially along the guide groove, and the rear end of the connecting component is connected to the action end of the electric drive telescopic device, and the front end of the connecting component movably extends into the drive control groove and is movably hinged with the rear end of the connecting hinge. The connecting hinge forms a V-shaped hinge structure facing the clamp arm fixing member in the drive control groove, and the front end of the connecting hinge is movably hinged with the rear end of the corresponding clamp arm fixing member on the same side.

[0009] In some embodiments, the connection assembly includes a first connection member, a second connection member, and an elastic buffer member that are coaxially movably connected, and the rear end of the first connection member is fixedly connected to the action end of the electric drive telescopic device. The second connection member is axially movably connected to the front part of the first connection member and axially telescopically moves compared to the first connection member, and the front end of the second connection member is movably hinged to the rear end of the connection hinge. The elastic buffer member is elastically connected between the first connection member and the second connection member.

[0010] In some embodiments, the main body of the clamp arm fixing member is located at both sides of the clamp jaw base and extends to the outside of the camera mounting slot, and has a first mounting structure for fixedly connecting the corresponding clamp arm. Each clamp arm fixing member is provided with a hinge portion extending radially into the drive control slot, the clamp arm fixing member is movably hinged to the clamp jaw base through the hinge portion, and the rear end of the clamp arm fixing member is movably hinged to the transmission mechanism.

[0011] In some embodiments, a second mounting structure is provided on the front end outer wall of the clamp base and is located on both sides of the camera mounting groove and is used to fix the corresponding clamp arm.

[0012] In some embodiments, the condenser foreign body grabbing tool further comprises a display and a wireless communication module electrically connected to the control module, the display and the telescopic rod assembly are separately arranged. The wireless communication module is fixed to the front end of the telescopic rod assembly to wirelessly send the image captured by the camera to the display.

[0013] In some embodiments, the condenser foreign body grasping tool further comprises a gripping portion and a remote controller detachably mounted on the gripping portion, wherein the gripping portion is fixedly disposed at the rear end of the telescopic rod assembly for holding. The remote controller is wirelessly connected to the control module and has a plurality of operation buttons exposed on the gripping portion to output control instructions when pressed or touched, and the control module responds to the control instructions and generates a control signal for controlling the operation of the electric gripper.

[0014] In some embodiments, the condenser foreign body grasping tool also includes a remote control receiver, which is fixed at the front end of the telescopic rod assembly and electrically connected between the remote control and the control module to wirelessly receive control instructions output by the remote control and send them to the control module.

[0015] The beneficial effects of the present application are as follows: the condenser foreign body grasping tool provided by the present application has an electric clamp at the front end of the telescopic rod assembly, and a camera arranged toward the clamp arm at the front end of the electric clamp. During actual use, the specific position of the electric clamp extending into the condenser can be controlled by adjusting the telescopic rod assembly, and the front end image of the clamp arm can be photographed by the camera. The operator can be instructed through video to accurately grasp foreign bodies in a narrow space with the electric clamp. The position of the electric clamp can be flexibly adjusted in accordance with the on-site working environment and equipment operation requirements. The operation can be completed by one person without the cooperation of multiple people, which facilitates the operation, improves the accuracy of foreign body grasping, and improves the efficiency of disposal operations. In addition, the condenser foreign body grasping tool provided by the present application has an electric clamp with at least two groups of interchangeable clamp arms with different grasping angles. In actual use, the operator can choose to replace the clamp arm with a suitable grasping angle according to the actual position of the foreign body captured by the camera, the jamming situation, etc. It is highly flexible and easy to operate, which is conducive to the foreign body grasping operation at a specific angle in the narrow space of the condenser, further improving the accuracy and efficiency of foreign body grasping and ensuring the success rate of foreign body grasping. Moreover, the clamp arm with a suitable clamping angle is conducive to the forward and backward movement of the electric clamp between the condenser tube bundles, and it will not easily get stuck or bump into the titanium tube bundle, avoiding hard damage to the titanium tube bundle of the condenser. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work, including:

[0017] Figure 1 It is a schematic diagram of the overall structure of one embodiment of the present application;

[0018] Figure 2 yes Figure 1 A schematic diagram of the structure enlargement at the center A;

[0019] Figure 3 It is a schematic diagram of an exploded structure of an electric clamping jaw equipped with one set of clamping arms in one embodiment of the present application;

[0020] Figure 4 It is a schematic diagram of the axial cross-sectional structure of a clamping jaw base in one embodiment of the present application;

[0021] Figure 5 It is a schematic diagram of the partial structure of the axial cross section of the electric clamp of one embodiment of the present application;

[0022] Figure 6It is a schematic diagram of the structure of an electric clamping jaw equipped with another set of clamping arms in one embodiment of the present application;

[0023] Figure 7 yes Figure 1 A schematic diagram of the structure enlarged at B in the middle;

[0024] Figure 8 It is a schematic block diagram of the circuit principle of one embodiment of the device of the present application.

[0025] In the figure: 1. telescopic rod assembly, 11. main rod, 12. first telescopic section, 13. second telescopic section, 14. third telescopic section, 15. fourth telescopic section, 16. first locking sleeve, 17. second locking sleeve, 18. third locking sleeve, 19. fourth locking sleeve, 2. electric clamp, 20. fixed rod, 21. electric drive telescopic device, 211. telescopic member body, 212. push rod, 22. clamp base, 221. guide groove, 2211. first guide section, 2212. second guide section, 2213. second step surface, 222. drive control groove, 223. camera installation groove, 224. cable slot, 225. second installation structure, 23. connection assembly, 231. first connection member, 2311. buffer groove, 23 12. First step surface, 2313. Sensor fixing groove, 232. Second connecting piece, 2321. Stop step surface, 2322. Sensing groove, 233. Elastic buffer, 24. Connecting hinge, 25. Clamp arm fixing piece, 251. First mounting structure, 252. Articulated part, 26. Clamp arm, 261. First clamp arm, 262. Second clamp arm, 263. Third clamp arm, 264. Fourth clamp arm, 27. Hinge shaft assembly, 28. Limit sensor, 3. Video indication assembly, 31. Camera, 32. Display, 4. Control module, 5. Wireless communication module, 6. Power supply module, 7. Holding part, 71. Accommodating groove, 72. Baffle, 721. Key port, 8. Remote control, 81. Operation button, 9. Remote control receiver. DETAILED DESCRIPTION

[0026] The following will be combined with the accompanying drawings to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. According to the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0027] See also Figure 1 and Figure 8The present application provides a condenser foreign body grasping tool, which includes a telescopic rod assembly 1, an electric clamp 2, a video indication assembly 3 and a control module 4, wherein the telescopic rod assembly 1 has a multi-stage telescopic structure and can be manually telescopically controlled or electrically telescopically controlled to adjust the overall length of the telescopic rod assembly 1.

[0028] The electric gripper 2 is an electrically driven mechanical gripper, which is arranged at the telescopic front end of the telescopic rod assembly 1, and has at least two sets of interchangeable gripping arms 26 with different gripping angles, so as to grip foreign objects at different positions of the condenser by replacing the corresponding gripping arms 26.

[0029] The video indication assembly 3 includes a camera 31 disposed at the front end of the electric clamp 2 and facing the clamp arm 26 to capture the front end image of the clamp arm 26 .

[0030] The control module 4 is electrically connected to the electric clamp 2 and the video indication component 3, respectively. The control module 4 can send a control signal to the electric clamp 2 to control the clamp arm 26 of the electric clamp 2 to open and close relatively, thereby grabbing foreign objects in the condenser through the clamp arm 26. The control module 4 can also send a control signal to the video indication component 3 to control the camera 31 of the video indication component 3 to capture the front end image of the clamp arm 26, thereby instructing the operator to accurately grab foreign objects in the condenser through the device of the present application.

[0031] The condenser foreign body grasping tool provided in the present application has an electric clamp 2 provided at the front end of the telescopic rod assembly 1, and a camera 31 arranged toward the clamp arm 26 at the front end of the electric clamp 2. During actual use, the specific position of the electric clamp 2 extending into the condenser can be controlled by adjusting the telescopic rod assembly 1, and the front end image of the clamp arm 26 can be photographed by the camera 31. The operator can be instructed through video to accurately grasp foreign bodies in a narrow space through the electric clamp 2. The position of the electric clamp 2 can be flexibly adjusted in accordance with the on-site working environment and equipment operation requirements. The operation can be completed by one person without the cooperation of multiple people, which facilitates the operation, improves the accuracy of foreign body grasping, and improves the efficiency of disposal operations.

[0032] Moreover, the condenser foreign body grabbing tool provided by the present application can reduce the risk of foreign bodies falling when multiple people enter the condenser during operation, and can also reduce the intensity of foreign body grabbing work, reduce the operation time, and greatly save labor costs. At the same time, the tool of the present application has a high overall intensive degree, a small size, and is easy to carry.

[0033] In addition, the condenser foreign body grasping tool provided by the present application has an electric clamp 2 with at least two groups of interchangeable clamp arms 26 with different grasping angles. In actual use, the operator can choose to replace the clamp arm 26 with a suitable grasping angle according to the actual position of the foreign body captured by the camera 31, the jamming situation, etc. It is highly flexible and easy to operate, which is conducive to the foreign body grasping operation at a specific angle in the narrow space of the condenser, further improving the accuracy and efficiency of foreign body grasping and ensuring the success rate of foreign body grasping. Moreover, the clamp arm 26 with a suitable clamping angle is conducive to the forward and backward movement of the electric clamp 2 between the condenser tube bundles, and it will not easily get stuck or bump into the titanium tube bundle, avoiding hard damage to the titanium tube bundle of the condenser.

[0034] See also Figure 1 In a specific embodiment, the telescopic rod assembly 1 preferably includes a main rod 11 of a hollow long tubular structure, a primary telescopic section 12 axially movably connected to the main rod 11, a secondary telescopic section 13 axially movably connected to the primary telescopic section 12, a third telescopic section 14 axially movably connected to the second telescopic section 13, and a fourth telescopic section 15 axially movably connected to the third telescopic section 14, and the electric gripper 2 is detachably fixedly connected to the front end of the fourth telescopic section 15. The outer diameter of each telescopic section decreases in sequence, and the inner diameter of each telescopic section is slightly larger than the outer diameter of the next telescopic section 12. A primary locking sleeve 16 is threadedly connected to the front end of the main rod 11 and can be used to fix the primary telescopic section 12 by rotation and locking; a secondary locking sleeve 17 is threadedly connected to the front end of the primary telescopic section 12 and can be used to fix the secondary telescopic section 13 by rotation and locking; a tertiary locking sleeve 18 is threadedly connected to the front end of the secondary telescopic section 13 and can be used to fix the tertiary telescopic section 14 by rotation and locking; a fourth-stage locking sleeve 19 is threadedly connected to the front end of the third-stage telescopic section 14 and can be used to fix the fourth-stage telescopic section 15 by rotation and locking.

[0035] In actual use, the operator can manually control the telescopic length of each level of telescopic sections, and lock and fix them through the corresponding locking sleeves to adjust the overall length of the telescopic rod assembly 1, and then control the electric clamp 2 to extend to the position in the condenser along with the telescopic rod assembly 1, so as to facilitate the operator to grab foreign objects at various height positions in the condenser.

[0036] It should be noted that, in some other embodiments, the telescopic rod assembly 1 may also be an electric telescopic structure, and the number of telescopic sections may be more than four or less than four. The present application does not impose any limitation on this, and it may be set according to the actual needs of the user.

[0037] See also Figures 2 to 3In a specific embodiment, the electric clamp 2 preferably includes an electrically driven telescopic device 21 and a clamp base 22 connected by a coaxial line, a transmission mechanism (not shown) movably arranged on the clamp base 22 and a group of relatively arranged clamp arm fixings 25, and at least two groups of the above-mentioned clamp arms 26 detachably connected to the corresponding clamp arm fixings 25.

[0038] The electric drive telescopic device 21 is preferably an electric push rod or an electric cylinder, including a telescopic member body 211 and a push rod 212 axially movably connected to the telescopic member body 211. The electric drive telescopic device 21 is axially fixedly connected to the front end of the four-stage telescopic section 15 of the telescopic rod assembly 1 and is electrically connected to the control module 4, so as to drive its push rod 212 to axially reciprocate relative to the telescopic member body 211 under the control of the control module 4.

[0039] The clamp base 22 is coaxially fixedly connected to the front end of the electric drive telescopic device 21 away from the four-stage telescopic section 15. The clamp arm fixing parts 25 preferably have two in a group and are correspondingly hinged on both sides of the clamp base 22. At least one clamp arm 26 can be detachably mounted on each clamp arm fixing part 25. The transmission mechanism is movably connected between the push rod 212 of the electric drive telescopic device 21 and the two clamp arm fixing parts 25. In actual use, the push rod 212 of the electric drive telescopic device 21 telescopes and moves under the control of the control module 4, and then drives the two clamp arm fixing parts 25 and the clamp arms 26 mounted thereon to perform relative opening and closing actions through the transmission mechanism.

[0040] The condenser foreign body grabbing tool provided by the present application drives the two clamp arm fixings 25 to perform relative opening and closing movements through the transmission mechanism under the telescopic drive control of the electric drive telescopic device 21, thereby controlling the opening and closing of the clamp arm 26 and grabbing foreign bodies. The structure is simple and the operation is convenient. It can grab foreign bodies accurately, efficiently and stably. At the same time, the clamp arm 26 of the electric clamp 2 of the present application is detachably connected to the corresponding clamp arm fixing 25, so that the operator can conveniently replace the clamp arm 26 with a suitable grabbing angle according to actual use needs, so as to grab foreign bodies at a specific angle in the narrow space of the condenser.

[0041] See also Figure 3 In a specific embodiment, the condenser foreign body grabbing tool provided by the present application further includes a fixed rod 20, which is preferably designed as a hollow cylindrical structure, and the rear end of which is coaxially fixedly connected to the front end of the four-stage telescopic section 15 of the telescopic rod assembly 1. The electric drive telescopic device 21 is coaxially fixedly installed in the fixed rod 20, and the clamp base 22 is coaxially fixedly installed at the front end of the fixed rod 20 away from the four-stage telescopic section 15. The fixed rod 20 can not only protect the electric drive telescopic device 21, but also connect the telescopic rod assembly 1 and the electric clamp 2.

[0042] See also Figures 2 to 4In a specific embodiment, the clamp base 22 is preferably a cylindrical structure, and its front end away from the electric drive telescopic device 21 is designed to be approximately conical, so as to reduce the circumferential size of the front end of the clamp base 22, which is conducive to the relatively arranged clamp arm fixing member 25 to be able to open and close at the front end of the clamp base 22 with a minimum amplitude, and is conducive to the clamp arm 26 to grasp foreign objects in a narrower space. The clamp base 22 is axially provided with a guide groove 221, a drive control groove 222 and a camera installation groove 223 from back to front. Among them, the rear end of the guide groove 221 is axially connected to the inner cavity of the fixed rod 20, so that the guide groove 221 can be connected to the electric drive telescopic device 21, and the front end of the guide groove 221 is connected to the drive control groove 222. The drive control groove 222 at least partially radially penetrates the side wall of the clamp base 22, and the clamp arm fixing member 25 is hinged on the clamp base 22 via the drive control groove 222. The transmission mechanism is movably arranged in the guide groove 221 and the drive control groove 222, and the rear end of the transmission mechanism is connected to the push rod 212 of the electric drive telescopic device 21 through the guide groove 221, and the front end of the transmission mechanism is connected to the clamp arm fixing member 25 through the drive control groove 222. The camera 31 is detachably assembled in the camera installation groove 223.

[0043] See also Figure 2 Preferably, a cable slot 224 connected to the camera mounting slot 223 is axially penetrated on the side wall of the front end of the clamp base 22. The cable slot 224 is designed to facilitate the extension of the cable (not marked) of the camera 31 and lead it to the fixed rod 20 during installation, so that the cable of the camera 31 is electrically connected to the control module 4, thereby realizing the operation control of the camera 31 by the control module 4, and will not affect the axial insertion or separation of the camera 31 from the camera mounting slot 223, which is beneficial to the disassembly and assembly of the camera 31 during later use.

[0044] The condenser foreign body grasping tool provided in the present application has a small overall structure of the clamp base 22 and a compact slot layout, which can greatly reduce the overall volume of the clamp base 22, is conducive to the intensive and miniaturized design of the electric clamp 2, and can be installed with a smaller and more compact clamp arm 26, which is conducive to grasping foreign bodies in the narrow space of the condenser.

[0045] See also Figures 2 to 3In a specific embodiment, the transmission mechanism includes a connecting component 23 and at least one set of connecting hinges 24. The connecting component 23 can reciprocate forward and backward along the axial direction of the guide groove 221 compared to the clamping claw base 22, and the rear end of the connecting component 23 is connected to the push rod 212 of the electric drive telescopic device 21, and the front end of the connecting component 23 movably extends into the drive control groove 222 and is movably hinged with the rear end of the connecting hinge 24. Preferably, there are two connecting hinges 24, and the two connecting hinges 24 form a V-shaped hinge structure facing the clamping arm fixing member 25 in the drive control groove 222, and the front ends of the two connecting hinges 24 are respectively movably hinged with the rear ends of the corresponding clamping arm fixing members 25 on the same side.

[0046] See also Figure 2 , Figure 3 and Figure 5 As a preferred embodiment, the main body of the two clamp arm fixing members 25 is located on the left and right sides of the clamping claw base 22, and extends forward to the outside of the camera mounting slot 223, and has a first mounting structure 251 for fixing and connecting the corresponding clamp arm 26. Each clamp arm fixing member 25 is provided with a hinge portion 252 radially extending into the drive control slot 222 at the rear position near the rear end. During actual assembly, the main body of the two clamp arm fixing members 25 is located on both sides of the clamping claw base 22, and the hinge portions 252 of the two clamp arm fixing members 25 extend to the opening and closing control slot 2212 at the front of the drive control slot 222. Then, the two hinge portions 252 are movably hinged in the drive control slot 222 together through the hinge shaft assembly 27 that radially penetrates the clamping claw base 22, and then the two clamp arm fixing members 25 are correspondingly movably hinged on the clamping claw base 22. The rear end of the clamp arm fixing member 25 is movably hinged to the front end of the corresponding connecting hinge 24 on the same side.

[0047] In actual use, when the push rod 212 of the electric drive telescopic device 21 is pushed out axially, the connecting component 23 moves axially forward along the guide groove 221 compared to the clamping claw base 22, and pushes the two connecting hinges 24 of the V-shaped hinge structure. The front ends of the two connecting hinges 24 are pushed forward and relatively far away, so as to drive the front ends of the two clamping arm fixings 25 correspondingly hinged on the clamping claw base 22 to be relatively close, and then drive the two clamping arms 26 to close through the two clamping arm fixings 25, thereby completing the electric clamp 2's grasping action on foreign objects. When the push rod 212 of the electric drive telescopic device 21 is axially retracted, the connecting component 23 moves axially backward along the guide groove 221 compared to the clamping jaw base 22, and pulls back the two connecting hinges 24 of the V-shaped hinge structure. The front ends of the two connecting hinges 24 are pulled back and relatively close to each other, so as to drive the front ends of the two clamping arm fixings 25 correspondingly hinged on the clamping jaw base 22 to move relatively away, and then drive the two clamping arms 26 to open through the two clamping arm fixings 25, thereby completing the release action of the electric clamp 2 on the foreign object.

[0048] The condenser foreign body grasping tool provided in the present application has a transmission mechanism that forms an approximate Y-shaped hinge mechanism as a whole. The rear end of the Y-shaped hinge mechanism is fixedly connected to the push rod 212 of the electric drive telescopic device 21 through a connecting assembly 23, and the front end of the Y-shaped hinge mechanism is movably hinged to the corresponding clamping arm fixing member 25 on the same side through a corresponding connecting hinge 24. The pushing and pulling forces output by the action end of the electric drive telescopic device 21 can be effectively transmitted to the two clamping arm fixing members 25, thereby realizing the opening and closing action control of the clamping arm 26. The structure is simple, the failure rate is low, and the transmission efficiency is high.

[0049] See also Figure 3 In a specific embodiment, one group of clamp arms 26 of the electric clamp 2 preferably includes a first clamp arm 261 and a second clamp arm 262. The first clamp arm 261 and the second clamp arm 262 are designed to be symmetrical structures, and the rear ends are detachably fixedly connected to the corresponding clamp arm fixing member 25 on the same side through the first mounting structure 251. The front parts of the first clamp arm 261 and the second clamp arm 262 extend beyond the camera 31 and are bent toward one side of the central axis of the clamp base 22. In this way, the front ends of the first clamp arm 261 and the second clamp arm 262 can form a clamp structure similar to a flat-nose pliers, so that the electric clamp 2 can directly grasp foreign objects along the central axis direction of the telescopic rod assembly 1.

[0050] See also Figures 3 to 5 In a specific embodiment, the connecting assembly 23 includes a first connecting member 231, a second connecting member 232 and an elastic buffer member 233 that are coaxially movably connected. The main body of the first connecting member 231 is preferably a cylindrical structure, and a buffer groove 2311 is axially provided at the front part. The rear part of the second connecting member 232 is axially movably connected in the buffer groove 2311, so that the second connecting member 232 can be axially telescopically moved along the buffer groove 2311 compared with the first connecting member 231. The outer diameter of the first connecting member 231 is larger than the outer diameter of the second connecting member 232, so that a first step surface 2312 is formed at the opening of the front end of the buffer groove 2311. The elastic buffer member 233 is preferably a compression spring, which is axially movable in the buffer groove 2311 and is elastically connected between the first connecting member 231 and the second connecting member 232.

[0051] In coordination, the guide groove 221 includes a first guide section 2211 and a second guide section 2212 of the same axis. The inner diameter of the first guide section 2211 matches the outer diameter of the first connector 231, and the front portion of the first connector 231 is movably inserted in the first guide section 2211. The inner diameter of the second guide section 2212 matches the outer diameter of the second connector 232, and the second connector 232 is movably inserted in the second guide section 2212. Due to the different inner diameters, the connection between the first guide section 2211 and the second guide section 2212 of the guide groove 221 forms a second step surface 2213 corresponding to the first step surface 2312. In actual use, the second step surface 2213 can prevent the first connector 231 from moving forward further, thereby preventing the push rod 212 of the electric drive telescopic device 21 from being over-propelled and causing the clamp arm 26 to be over-closed and damaged, thereby limiting the forward movement limit of the connecting assembly 23 and ensuring the stable and reliable operation of the electric clamp 2.

[0052] The condenser foreign body grasping tool provided by the present application has a second connecting member 232 of the connecting assembly 23 that can be telescopically moved along the buffer groove 2311 in comparison with the first connecting member 231. When the electric clamp 2 grasps the foreign body, since the elastic buffer 233 is elastically connected between the first connecting member 231 and the second connecting member 232, the push rod 212 of the electric drive telescopic device 21 can continue to push the first connecting member 231 forward and relatively squeeze the elastic buffer 233 through the buffer groove 2311 and the second connecting member 232. In this process, the two clamp arms 26 can further clamp the foreign body under the buffering effect of the elastic buffer 233, which can be applied to grasp foreign bodies of different sizes and dimensions, and ensure the stability and reliability of the electric clamp 2 grasping foreign bodies.

[0053] See also Figure 5 As a preference, a stop step surface 2321 is provided on the second connecting member 232, which can stop on the first step surface 2312. When the stop step surface 2321 is movably abutted against the first step surface 2312, there is enough space between the rear end of the second connecting member 232 inserted into the buffer groove 2311 and the bottom surface of the buffer groove 2311 for the elastic buffer to be compressed to the maximum extent. In this way, in actual use, the stop step surface 2321 can prevent the rear part of the second connecting member 232 from excessively extending into the buffer groove 2311, so as to prevent the elastic buffer 233 from being excessively squeezed and damaged.

[0054] See also Figure 5 and Figure 8As a preference, the electric gripper 2 also includes a limit sensor 28 electrically connected to the control module 4. The rear portion of the first connecting member 231 is axially provided with a sensor fixing slot 2313 connected to the buffer slot 2311. The limit sensor 28 is plugged and fixed on the sensor fixing slot 2313 from back to front, and extends forward into the buffer slot 2311. Correspondingly, the rear end of the second connecting member 232 that is movably inserted into the buffer slot 2311 is axially provided with a sensing slot 2322. In actual use, when the push rod 212 of the electric drive telescopic device 21 is pushed to the limit, the front end of the limit sensor 28 is movably inserted into the sensing slot 2322. At this time, the limit sensor 28 sends a displacement limit signal to the control module 4. The control module 4 controls the electric drive telescopic device 21 to shut down based on the displacement limit signal to prevent the electric drive telescopic device 21 from overloading.

[0055] See also Figure 6 In a specific embodiment, the front end outer wall of the clamp base 22 is provided with a second mounting structure 225 (such as Figure 2 As shown). Another group of clamping arms 26 of the electric clamping jaw 2 preferably includes a third clamping arm 263 and a fourth clamping arm 264, and the third clamping arm 263 and the fourth clamping arm 264 are designed as asymmetric structures. Among them, the rear end of the third clamping arm 263 is detachably fixedly connected to one side of the clamping jaw base 22 through the corresponding second mounting structure 225, and the front end of the third clamping arm 263 extends beyond the camera 31 and bends toward the side away from the central axis of the clamping jaw base 22. It should be noted that after the third clamping arm 263 is installed, it needs to be staggered with the clamping arm fixing member 25 on the same side to prevent the clamping arm fixing member 25 from interfering with the third clamping arm 263 when the push rod 212 of the electric drive telescopic device 21 is telescopic. In coordination, the rear end of the fourth clamping arm 264 is detachably fixedly connected to the clamping arm fixing member 25 on the other side through the first mounting structure 251, and the front end of the fourth clamping arm 264 extends beyond the camera 31 and bends toward the front end of the third clamping arm 263. In this way, the front ends of the third clamp arm 263 and the fourth clamp arm 264 can form a clamp structure similar to diagonal pliers, so that the electric clamp 2 can grasp foreign objects laterally at a certain angle compared to the central axis direction of the telescopic rod assembly 1, so as to adapt to the grasping of foreign objects at special positions in the condenser, making it convenient for operators to select and assemble suitable clamp arms 26 according to actual use needs.

[0056] The third clamp arm 263 is substantially fixed to the clamp base 22, and is a fixed clamp arm. The fourth clamp arm 264 can open and close in comparison with the third clamp arm 263 under the drive of the corresponding clamp arm fixing member 25. The advantage of this structural design is that the fourth clamp arm 264 automatically opens under the elastic force of the reset elastic member when not in use, and the front end of the third clamp arm 263 is bent to the side away from the camera 31, so it will not interfere with the camera 31 shooting the front end of the electric clamp 2, ensuring the indication effect of the video indication component 3 on the foreign body grabbing.

[0057] It should be noted that the specific structures of the two groups of clamping arms 26 in the above embodiment are only preferred embodiments of the present application and are not intended to limit the present application. In some other embodiments, the interchangeable clamping arms 26 of the electric clamp 2 may also be provided in more than two groups, and the specific structure, size, bending angle, etc. of each group of clamping arms 26 may be provided according to actual use requirements, and the present application does not make any limitation thereto.

[0058] See also Figure 1 and Figure 8 In a specific embodiment, the video indication assembly 3 preferably also includes a display 32 electrically connected to the control module 4. The present application tool also includes a wireless communication module 5 electrically connected to the control module 4. The display 32 is separately arranged from the telescopic rod assembly 1. The wireless communication module 5 preferably includes a WIFI transmitter, which is fixedly connected to the front end of the four-stage telescopic section 15 of the telescopic rod assembly 1, and is preferably sleeved and installed on the rear end outer wall of the fixed rod portion 20. In actual use, after the WiFi transmitter is turned on, a wireless communication link is automatically established with the display 32, and then under the control of the control module 4, the front end image of the electric gripper 2 captured by the camera 31 is wirelessly sent to the display 32 through the WIFI transmitter, so that the operator can observe the front end of the electric gripper 2 in real time, and guide the operator's operation according to the situation, which is conducive to the electric gripper 2 to grasp foreign objects.

[0059] See also Figure 8 As an example, the control module 4 can be integrated into the WiFi transmitter, so that the WiFi transmitter can be used as the control center of the condenser foreign body grabbing tool of the present application. The WiFi transmitter is preferably provided with a power supply module 6, which is electrically connected to the WiFi transmitter, the electric gripper 2 and other power-consuming units through the control module 4 to supply power to the tool of the present application.

[0060] The condenser foreign body grabbing tool provided by the present application has a display 32 and a telescopic rod assembly 1 which are separately arranged. In this way, during use, the operator can fix or place the stereoscopic display 32 in a convenient position for observation according to actual use needs, which is convenient for observation and does not affect the operating line of sight, and is convenient for the operator to operate the telescopic rod assembly 1 and the electric clamp 2. In addition, the advantage of the wireless connection method is that it reduces the number of cables and the complexity of the cable layout, facilitates the telescopic adjustment of the telescopic rod assembly 1, and does not need to worry about the cables being entangled or hung on the condenser tube bundle during use, which is convenient for users.

[0061] See also Figure 1 and Figure 8 In a specific embodiment, the condenser foreign body grasping tool provided by the present application further includes a gripping portion 7 and a remote controller 8 detachably mounted on the gripping portion 7, the remote controller 8 being wirelessly connected to the control module 4 and having a plurality of operation buttons 81 exposed on the gripping portion 7. In actual use, the operator can control the operation of the electric gripper 2 by manually pressing or touching the corresponding operation button 81. The operation button 81 can output a control instruction to the control module 4 when being pressed or touched, and the control module 4 responds to the control instruction and generates a control signal for controlling the operation of the electric gripper 2, so as to realize the control of the grasping action of the electric gripper 2 through the remote controller 8.

[0062] The condenser foreign body grasping tool provided in the present application has a remote control 8 that is essentially a separate structure from the gripping portion 7. In this way, the operator can choose whether to remove the remote control 8 for use according to actual usage conditions, which greatly improves the flexibility of operating and controlling the electric clamp 2 and improves the applicability of the condenser foreign body grasping tool of the present application.

[0063] See also Figure 7 As a preference, the gripping portion 7 is fixedly mounted on the rear end of the main rod 11 of the telescopic rod assembly 1, and its outer dimensions are based on the size suitable for the operator to hold in hand, and this application does not limit this. The gripping portion 7 is provided with a concave receiving groove 71 for accommodating the remote control 8, and a baffle 72 for limiting the remote control 8 and preventing the remote control 8 from escaping from the receiving groove 71 is detachably mounted on the notch of the receiving groove 71, and a plurality of button openings 721 for exposing the corresponding operation buttons 81 are provided on the baffle 72, so that the operator can press or touch the operation buttons 81. The main shape of the receiving groove 71 is preferably matched with the shape of the remote control 8, so as to ensure that the receiving groove 71 can stably limit and accommodate the remote control 8, prevent the remote control 8 from moving in the receiving groove 71, and ensure that the operator can accurately and stably press or touch the corresponding operation button 81.

[0064] See also Figure 1 and Figure 8In a specific embodiment, the condenser foreign body grabbing tool provided by the present application further includes a remote control receiver 9, which is fixedly mounted at the front end of the four-stage telescopic section 15 of the telescopic rod assembly 1, preferably fixedly mounted on one side of the WiFi transmitter. The remote control receiver 9 is electrically connected between the remote control 8 and the control module 4 to wirelessly receive the control command output by the remote control 8 and send it to the control module 4.

[0065] The condenser foreign body grasping tool provided in the present application has a remote control 8 that establishes a wireless communication link with the control module 4 through the remote control receiver 9, and then wirelessly transmits the control instructions output by the remote control 8 at the rear end of the telescopic rod assembly 1 to the control module 4 at the front end of the telescopic rod assembly 1 in a wireless manner. In this way, the physical cable between the remote control 8 and the control module 4 can be eliminated, thereby preventing the physical cable from affecting the telescopic adjustment of the telescopic rod assembly 1.

[0066] The above are only preferred implementation methods of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A condenser foreign body grabbing tool, characterized in that: The invention comprises a telescopic rod assembly (1), an electric clamp (2), a video indication assembly (3) and a control module (4); the electric clamp (2) is arranged at the telescopically movable front end of the telescopic rod assembly (1) and has at least two groups of interchangeable clamp arms (26) with different grasping angles, so as to grasp foreign objects at different positions of the condenser by replacing the corresponding clamp arms (26); the video indication assembly (3) comprises a camera (31) arranged at the front end of the electric clamp (2) and facing the clamp arm (26) so as to capture the front end image of the clamp arm (26); and the control module (4) is electrically connected to the electric clamp (2) and the video indication assembly (3) respectively so as to control the operation of the electric clamp (2) and the video indication assembly (3).

2. The condenser foreign body grabbing tool according to claim 1, characterized in that: The electric clamp (2) comprises an electrically driven telescopic device (21) and a clamp base (22) connected coaxially, a transmission mechanism movably arranged on the clamp base (22) and at least one group of clamp arm fixing members (25) arranged opposite to each other, and at least two groups of clamp arms (26) detachably connected to the corresponding clamp arm fixing members (25); the electrically driven telescopic device (21) is axially connected to the front end of the telescopic rod assembly (1) and is electrically connected to the control module (4); the clamp base (22) is axially connected to the front end of the electrically driven telescopic device (21); the transmission mechanism is movably connected between the action end of the electrically driven telescopic device (21) and the clamp arm fixing member (25), so as to drive the clamp arm (26) to perform a relative opening and closing action through the clamp arm fixing member (25) under the drive of the electrically driven telescopic device (21).

3. The condenser foreign body grabbing tool according to claim 2, characterized in that: The clamping jaw base (22) is axially provided with a guide groove (221), a drive control groove (222) and a camera installation groove (223) in sequence from back to front, and the two ends of the guide groove (221) are respectively connected to the electric drive telescopic device (21) and the drive control groove (222); the drive control groove (222) at least partially radially penetrates the side wall of the clamping jaw base (22), and the clamp arm fixing member (25) is correspondingly movably hinged on the clamping jaw base (22) via the drive control groove (222); the transmission mechanism is movably arranged on the guide groove (221) and the drive control groove (222), and the rear end of the transmission mechanism is connected to the action end of the electric drive telescopic device (21) via the guide groove (221), and the front end of the transmission mechanism is connected to the clamp arm fixing member (25) via the drive control groove (222); the camera (31) is detachably assembled in the camera installation groove (223).

4. The condenser foreign body grabbing tool according to claim 3, characterized in that: The transmission mechanism comprises a connecting component (23) and at least one group of connecting hinges (24); the connecting component (23) moves back and forth axially along the guide groove (221); the rear end of the connecting component (23) is connected to the action end of the electric drive telescopic device (21); the front end of the connecting component (23) movably extends into the drive control groove (222) and is movably hinged to the rear end of the connecting hinge (24); the connecting hinge (24) forms a V-shaped hinge structure facing the clamp arm fixing member (25) in the drive control groove (222); and the front ends of the connecting hinges (24) are respectively movably hinged to the rear ends of the corresponding clamp arm fixing members (25) on the same side.

5. The condenser foreign body grabbing tool according to claim 4, characterized in that: The connecting assembly (23) comprises a first connecting member (231), a second connecting member (232) and an elastic buffer member (233) which are coaxially movably connected, the rear end of the first connecting member (231) is fixedly connected to the action end of the electric drive telescopic device (21); the second connecting member (232) is axially movably connected to the front part of the first connecting member (231) and axially telescopically moves relative to the first connecting member (231), and the front end of the second connecting member (232) is movably hinged to the rear end of the connecting hinge (24); the elastic buffer member (233) is elastically connected between the first connecting member (231) and the second connecting member (232).

6. The condenser foreign body grabbing tool according to claim 3, characterized in that: The main part of the clamp arm fixing member (25) is located on both sides of the clamp claw base (22) and extends to the outside of the camera mounting groove (223), and has a first mounting structure (251) for fixedly connecting the corresponding clamp arm (26); each clamp arm fixing member (25) is provided with a hinged portion (252) radially extending into the drive control groove (222), and the clamp arm fixing member (25) is movably hinged to the clamp claw base (22) through the hinged portion (252), and the rear end of the clamp arm fixing member (25) is movably hinged to the transmission mechanism.

7. The condenser foreign body grabbing tool according to claim 3, characterized in that: A second mounting structure (225) is provided on the front end outer wall of the clamping claw base (22) and is located on both sides of the camera mounting groove (223) and is used for fixedly connecting the corresponding clamping arm (26).

8. The condenser foreign body grabbing tool according to any one of claims 1 to 7, characterized in that: It also comprises a display (32) and a wireless communication module (5) which are electrically connected to the control module (4) respectively, and the display (32) and the telescopic rod assembly (1) are arranged separately; the wireless communication module (5) is fixed to the front end of the telescopic rod assembly (1) to wirelessly send the image captured by the camera (31) to the display (32).

9. The condenser foreign body grabbing tool according to any one of claims 1 to 7, characterized in that: It also comprises a gripping portion (7) and a remote controller (8) detachably mounted on the gripping portion (7); the gripping portion (7) is fixedly mounted on the rear end of the telescopic rod assembly (1) for holding; the remote controller (8) is wirelessly connected to the control module (4) and has a plurality of operating buttons (81) exposed on the gripping portion (7) for outputting control instructions when pressed or touched; the control module (4) responds to the control instructions and generates a control signal for controlling the operation of the electric gripper (2).

10. The condenser foreign body grabbing tool according to claim 9, characterized in that: It also comprises a remote control receiver (9), which is fixed at the front end of the telescopic rod assembly (1) and electrically connected between the remote controller (8) and the control module (4) so ​​as to wirelessly receive control instructions output by the remote controller (8) and send them to the control module (4).

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