Gripping apparatus device and gripping apparatus system

Abstract

The utility model discloses a gripping apparatus device and a gripping apparatus system. The gripping apparatus device comprises a gripping assembly, an image acquisition assembly and a folding assembly, wherein the grabbing assembly is connected to one end of the folding assembly and used for grabbing; the image acquisition assembly is arranged on one side of the grabbing assembly and is used for acquiring a grabbing state image of the grabbing assembly; the folding assembly comprises at least two folding rods, and a hoisting bearing unit is arranged on the side, away from the grabbing assembly, of each folding rod and used for being hoisted and lifted by an external hoisting device. The gripper device provided by the utility model can be used for gripping filter elements in waste filter element storage wells, and each folding rod is provided with the hoisting bearing unit so as to adapt to the waste filter element storage wells with different depths, so that the operation space required by the gripper device is reduced; meanwhile, the image acquisition assembly can also observe the state of the waste filter element in the waste container or the temporary storage grillwork in real time, so that an operator can conveniently center and grab the handle of the filter element, the working efficiency is improved, and the occupational irradiation time is shortened.

Description

Technical Field

[0001] The utility model relates to the field of grabbing operation of filter elements of radioactive waste (water) filters in nuclear power plants, and in particular designs a grab device and a grab system. Background Art

[0002] The radioactive waste (water) filter elements of nuclear power plants are temporarily stored in the waste filter element storage well. Before the waste filter elements are transported, they need to be grabbed. In the existing gripping device for filter elements, a large operating space is required to operate the gripping device for grabbing. At the same time, the operator needs to visually pay attention to the grabbing of the filter element to ensure the safety and correctness of the grabbing operation. This requires the operator to be exposed to the radiation environment of the filter element.

[0003] In summary, the gripper device in the prior art has poor safety and low operating efficiency. Utility Model Content

[0004] The utility model provides a gripper device and a gripper system, which are adapted to waste filter element storage wells of different depths, reduce the operating space required for the gripper device, observe the status of waste filter elements in waste containers or temporary storage racks in real time, improve the working efficiency of operators, and reduce occupational exposure time.

[0005] According to a first aspect of the utility model, there is provided a gripping device, comprising a gripping component, an image acquisition component and a folding component;

[0006] Wherein, the grabbing component is connected to one end of the folding component for grabbing;

[0007] The image acquisition component is arranged at one side of the grabbing component, and is used to acquire a grabbing state image of the grabbing component;

[0008] The folding assembly comprises at least two folding rods. A hoisting receiving unit is arranged on a side of the folding rod away from the grabbing assembly for being hoisted and lifted by an external hoisting device.

[0009] Optionally, the folding assembly includes at least three pull rods, and a folding portion is provided between two adjacent pull rods; the pull rod can rotate around the folding portion on a side of the pull rod close to the grasping assembly within a preset angle range; wherein the rotation directions of two adjacent pull rods are opposite.

[0010] Optionally, the grabbing assembly comprises a first connecting unit, at least two grabbing units and a driving unit;

[0011] Wherein, the first connecting unit is arranged on a side of the driving unit close to the folding assembly, and is used to connect the grabbing assembly to one end of the folding assembly;

[0012] At least two of the grasping units are relatively arranged on both sides of the driving unit for grasping; the grasping unit comprises two grippers, and the clamping planes of at least two of the grasping units are parallel.

[0013] Optionally, the folding assembly further includes a second connecting unit; the second connecting unit is arranged on a pull rod adjacent to the grabbing assembly in the folding assembly, and is arranged on a side of the pull rod close to the grabbing assembly; the first connecting unit and the second connecting unit are connectable and detachable.

[0014] Optionally, the image acquisition component is arranged on one side of the grabbing component; the image acquisition component comprises a lighting unit and an image acquisition unit;

[0015] The image acquisition unit acquires images in a direction pointing to the gripper, and acquires image information of all the gripping and releasing processes of the gripper;

[0016] The lighting direction of the lighting unit is directed toward the gripper.

[0017] Optionally, each folding part is correspondingly provided with a locking sleeve, and the locking sleeve is sleeved on the folding assembly; the locking sleeve can move along at least one of the two pull rods connected to the folding part to lock the folding part and the two pull rods connected to the folding part, or release the folding part and the two pull rods connected to the folding part.

[0018] Optionally, the grabbing assembly further includes: an isolation unit, which is disposed on a side of the grabbing assembly close to the folding assembly and is used to isolate the grabbing assembly from the folding assembly.

[0019] According to a second aspect of the utility model, there is provided a gripping system, comprising the gripping device and the isolation device described above;

[0020] The isolation device comprises a first locking assembly; the first locking assembly is used to fix the gripping device.

[0021] Optionally, it also includes an isolation device, a lifting device and a display device;

[0022] The isolation device further comprises an isolation barrel; a first opening is provided on one side of the isolation barrel, the first opening is connected to the wellhead of the filter element storage well, and a second opening is provided on the other side of the isolation barrel, and the gripping device is lowered or lifted in the filter element storage well through the second opening; wherein the first locking assembly is provided at the edge of the second opening of the isolation barrel;

[0023] The lifting device comprises at least one lifting unit, and the lifting unit is used to connect with the lifting receiving unit of the gripping device;

[0024] The display device comprises a display component, which is connected to the image acquisition unit via a wireless connection or a wired connection, and is used for displaying the image acquired by the image acquisition unit in real time.

[0025] Optionally, the gripper device comprises: a second locking unit and an isolation unit;

[0026] Wherein, the second locking unit is arranged on the pull rod and is used to be fixed with the first locking assembly;

[0027] The isolation unit is arranged on a side of the grabbing component close to the folding component, and a plane of the isolation unit close to the folding component has a size and a shape consistent with the second opening.

[0028] The utility model discloses a gripping device and a gripping system, wherein the gripping device comprises a gripping component, an image acquisition component and a folding component; wherein the gripping component is connected to one end of the folding component for gripping; the image acquisition component is arranged on one side of the gripping component for capturing the gripping state image of the gripping component; the folding component comprises at least two folding rods, and a hoisting receiving unit is arranged on a side of the folding rod away from the gripping component for being hoisted and lifted by an external hoisting device. The gripping device provided by the utility model can grip the filter element in the waste filter element storage well, and each folding rod is provided with a hoisting receiving unit to adapt to waste filter element storage wells of different depths, thereby reducing the operating space required by the gripping device; at the same time, the image acquisition component can also observe the state of the waste filter element in the waste container or temporary storage rack in real time, so as to facilitate the operator to center and grip the filter element handle, thereby improving work efficiency and reducing occupational exposure time.

[0029] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present utility model, nor are they intended to limit the scope of the present utility model. Other features of the present utility model will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0031] Figure 1 It is a structural schematic diagram of a gripping device provided by an embodiment of the utility model;

[0032] Figure 2It is a schematic structural diagram of another gripper device provided by an embodiment of the present utility model;

[0033] Figure 3 It is a schematic structural diagram of a grasping assembly provided by an embodiment of the present utility model;

[0034] Figure 4 is Figure 3 a plan view along the X direction;

[0035] Figure 5 is Figure 3 a plan view along the Y direction;

[0036] Figure 6 It is a schematic structural diagram of another grasping assembly provided by an embodiment of the present utility model;

[0037] Figure 7 It is a schematic structural diagram of another gripper device provided by an embodiment of the present utility model;

[0038] Figure 8 It is a schematic structural diagram of a gripper system provided by an embodiment of the present utility model;

[0039] Figure 9 It is a schematic structural diagram of the gripper system provided by an embodiment of the present utility model when the gripper device is performing grasping;

[0040] Figure 10 It is a schematic structural diagram of the gripper system provided by an embodiment of the present utility model when the gripper device is performing lifting;

[0041] Figure 11 It is a schematic structural diagram of the gripper system provided by an embodiment of the present utility model when the gripper device has completed grasping. Specific embodiments

[0042] In order to enable those skilled in the art of the present technology to better understand the solutions of the present utility model, the technical solutions in the embodiments of the present utility model will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0043] It should be noted that the terms "first", "second", etc. in the specification and claims of the utility model and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the utility model described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0044] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0045] Figure 1 Schematic diagram of a gripping device provided by an embodiment of the utility model. Figure 1 As shown, it includes a grabbing component 101, an image acquisition component 102 and a folding component 103; wherein the grabbing component 101 is connected to one end of the folding component 103 for grabbing; the image acquisition component 102 is arranged on one side of the grabbing component 101 for acquiring a grabbing state image of the grabbing component 101; the folding component 103 includes at least two folding rods 1031, and a hoisting receiving unit 1032 is arranged on one side of the folding rod 1031 away from the grabbing component 101 for being hoisted and lifted by an external hoisting device.

[0046] Specifically, Figure 1 As shown, the image acquisition component 102 is disposed on one side of the grabbing component 101, wherein the image acquired by the image acquisition component 102 is the captured image of the grabbing component 101. Optionally, the operator can receive the image information acquired by the image acquisition component 102 through a display device to monitor the grabbing situation of the grabbing component 101 in real time and make adjustments at any time.

[0047] Continue to refer to Figure 1 The folding assembly 103 is provided with two folding rods, a first folding rod 10311 and a second folding rod 10312, wherein the first folding rod 10311 is provided with a first hoisting receiving unit 10321; the second folding rod 10312 is provided with a second hoisting receiving unit 10322. The corresponding hoisting receiving unit can be selected according to the distance between the grabbing target and the external hoisting device, such as Figure 1When the grab target is far from the external lifting device, a longer folding rod is needed for grabbing, so the first lifting receiving unit 10321 can be selected to be connected with the external lifting device so that the gripping device is lifted by the external lifting device. When the grab target is close to the external lifting device, a shorter folding rod is needed for grabbing, so the second lifting receiving unit 10322 can be selected to be connected with the external lifting device so that the gripping device is lifted by the external lifting device.

[0048] When the gripper device needs to grab the filter element, the gripper device can also be configured according to the current working environment: when the operating environment on the ground in the working environment is small and the filter element in the filter element storage well is close to the ground, the pull rod in the gripper device can be folded according to the operating environment on the ground. Figure 1 As shown, according to the limitation of the working space on the ground, the first pull rod 10331 can be folded around the first folding portion 10341 during the grabbing stage, and the external lifting device is connected to the second lifting receiving unit 10322. If the depth of the filter element in the filter element storage well is shallow and the required folding assembly is short, then such a gripper device can be used to grab the filter element.

[0049] When lifting the gripper, the folding rod needs to be folded due to the limitation of the lifting range of the lifting device. Then, the external lifting device can be unloaded from the first lifting receiving unit 10321 and connected to the second lifting receiving unit 10322. After the external lifting device is unloaded from the first lifting receiving unit 10321, the first pull rod 10331 rotates along the first direction around the first folding portion 10341. After the external lifting device is connected to the second lifting receiving unit 10322, the gripper device 100 continues to lift.

[0050] In the prior art, the pull rod of the gripper device cannot be folded. In actual application, if the working environment at that time is small, the staff needs to replace the pull rod. In the gripper system provided by the embodiment of the utility model, when the operating environment is small, the design of the folding pull rod allows the gripper device to be folded up when not in use or when entering a small space to reduce the overall volume, thereby making it easier to enter and adapt to a small operating environment. This design helps the gripper device in the gripper system to operate flexibly in a limited space, thereby improving work efficiency. At the same time, the design of the folding pull rod allows the gripper device to fold and stow unnecessary pull rods when the required pull rod length is not high, thereby avoiding occupying space when not in use and reducing the risk of collision and damage. In addition, by adjusting the folding angle and number of the pull rods, the gripper device can adapt to the requirements of grabbing filter elements of different heights and positions, thereby improving its flexibility and versatility.

[0051] The embodiment of the utility model discloses a gripping device, including a gripping component, an image acquisition component and a folding component; wherein the gripping component is connected to one end of the folding component for gripping; the image acquisition component is arranged on one side of the gripping component for capturing the gripping state image of the gripping component; the folding component includes at least two folding rods, and a hoisting receiving unit is arranged on the side of the folding rod away from the gripping component for being hoisted and lifted by an external hoisting device. The gripping device provided by the utility model can grip the filter element in the waste filter element storage well, and each folding rod is provided with a hoisting receiving unit to adapt to waste filter element storage wells of different depths, thereby reducing the operating space required by the gripping device; at the same time, the image acquisition component can also grasp the gripping state of the component in real time, so as to facilitate the operator to center and grip the filter element handle, improve work efficiency, and reduce occupational exposure time.

[0052] Figure 2 This is a schematic diagram of another gripper device structure provided by an embodiment of the utility model. Figure 2 As shown, the folding assembly 103 also includes at least three pull rods 1033, and a folding portion 1034 is provided between two adjacent pull rods 1033; the pull rod 1033 can rotate within a preset angle range around the folding portion 1034 on the side of the pull rod 1033 close to the grasping assembly; wherein, the rotation directions of two adjacent pull rods 1033 are opposite.

[0053] Specifically, Figure 2 As shown, the folding assembly 103 includes a first pull rod 10331, a second pull rod 10332, and a third pull rod 10333. A first folding portion 10341 is provided between adjacent first pull rods 10331 and second pull rods 10332; a second folding portion 10342 is provided between adjacent second pull rods 10332 and third pull rods 10333. The first pull rod 10331 can rotate in a first direction within a preset angle range around the first folding portion 10341, and the second pull rod 10332 can rotate in a second direction within a preset angle range around the second folding portion 10342. The first direction is opposite to the second direction.

[0054] When at least three pull rods are provided, and the adjacent folding pull rods rotate in opposite directions around the folding portion, as Figure 2 As shown, when the adjacent folding rods rotate in opposite directions, all the rods are folded in a manner close to a "Z" shape, and they can fit together more closely in the folded state, further reducing the required space. At the same time, by alternating the rotation direction, the folding rods can form a smoother mechanical action during the folding and unfolding process, reducing the movement resistance, making the operation of the entire mechanism more convenient and quick. In addition, folding the folding assembly in this way also prevents the rods in the folding assembly from being squeezed due to folding, causing damage to the rods.

[0055] Optionally, the preset angle range can be 180 degrees. When the rotation angle is 180 degrees, the wiring of the power line and cable inside the folding part is relatively easy, and the power line and cable will not be damaged due to the folding of the folding part.

[0056] Figure 3 Schematic diagram of a grasping component structure provided by an embodiment of the present invention Figure 4 is Figure 3 a plan view along the X direction Figure 5 is Figure 3 a plan view along the Y direction. As Figures 3 - 5 shown, the grasping component includes a first connection unit 1011, at least two grasping units 1012, and a driving unit 1013; wherein, the first connection unit 1011 is arranged on one side of the driving unit 1013 close to the folding component 103 for connecting the grasping component to one end of the folding component 103; at least two grasping units 1012 are oppositely arranged on both sides of the driving unit 1013 for grasping; the grasping unit 1012 includes two claws, and the clamping planes of at least two grasping units 1012 are parallel.

[0057] Optionally, as Figure 3 shown, the first connection unit 1011 can be a mounting plate, and the mounting plate includes a first hole 10111 arranged in the center and a second hole 10112 arranged around the first hole. The first hole 10111 is communicated with the driving unit 1013 for routing and arranging the power line or cable; the second hole 10112 is arranged around the mounting plate for connecting to the folding component 103 through screws, so that the grasping component is connected to the folding component 103. Specifically, the structure of the first connection unit is set according to the actual situation and is not limited herein.

[0058] Optionally, the outer surface of the driving unit 1013 is a metal shell, and a driving mechanism is arranged inside the metal shell for driving the grasping unit. Specifically, the structure of the driving mechanism is set according to the situation of the grasping unit 1012 in practice and is not limited herein.

[0059] Specifically, as Figures 3 - 5 shown, the first grasping unit 10121 and the second grasping unit 10122 are arranged on both sides of the driving unit 1013 for grasping operations; and the grasping unit 1012 includes two claws, and the two claws form a clamping plane, and the clamping planes of the first grasping unit 10121 and the second grasping unit 10122 are parallel. The handle of the filter element of the nuclear power plant waste (water) filter includes a "one"-shaped handle, and setting claws with two parallel clamping planes can grasp the "one"-shaped handle of the filter element more firmly. Optionally, multiple grasping units can be set to grasp the filter element more firmly and stably.

[0060] Continue to refer to Figure 2 The folding assembly 103 further includes a second connection unit; the second connection unit is disposed on the third pull rod 10333 adjacent to the grasping assembly in the folding assembly, and is disposed on the side of the third pull rod 10333 close to the grasping assembly 101; the first connection unit and the second connection unit can be connected and disassembled.

[0061] Optionally, it may include grasping assemblies with multiple different grasping structures, and different grasping structures are used to adapt to the grasping of filters in different forms. And these grasping assemblies all include the same first connection unit. In actual situations, different grasping assemblies can be connected to the folding assembly through the first connection unit and the second connection unit for grasping. So that it is allowed to quickly adjust or change the configuration of the folding assembly as needed; in addition, the modular design enables faulty components to be replaced individually without replacing the entire device, which helps to reduce the maintenance cost.

[0062] Figure 6 Another schematic structural diagram of the grasping assembly provided by the embodiment of the present invention. Combining the above, as Figure 6 shown, the image acquisition assembly 102 is disposed on one side of the grasping assembly 101; the image acquisition assembly 102 includes an illumination unit and an image acquisition unit; wherein the direction of the image acquisition unit for acquiring images points to the gripper, and the image information of the clamping and releasing processes of all grippers is acquired; the illumination direction of the illumination unit points to the gripper.

[0063] In the gripper device provided by the embodiment of the present invention, an image acquisition assembly is provided to collect the grasping state of the grippers in the grasping assembly in real time and provide illumination for the grasping of the grippers. Through the real-time image information, the relative position, posture and the magnitude of the clamping force between the gripper and the target object can be accurately judged. The design of the illumination unit ensures sufficient illumination in the gripper area, enabling the image acquisition unit to obtain clear and high-quality image information. It is beneficial to improve the accuracy and efficiency of image processing. The gripper device provided by the embodiment of the present invention realizes real-time monitoring during the grasping process.

[0064] Figure 7 Another schematic structural diagram of the gripper device provided by the embodiment of the present invention, wherein Figure 7 The upper part is a schematic structural diagram of the locking sleeve in the locked state, Figure 7 The lower part is a schematic structural diagram of the locking sleeve in the released state. Combining the above, as Figure 7 shown, each folding part 1034 is correspondingly provided with a locking sleeve 201, and the locking sleeve 201 is sleeved on the folding assembly 103; the locking sleeve 201 can move along at least one of the two pull rods connected to the folding part 1034 to lock the folding part 1034 and the two pull rods connected to the folding part 1034, or release the folding part 1034 and the two pull rods connected to the folding part 1034.

[0065] Specifically, as Figure 7 shown in the upper part, when the locking sleeve 201 is in the locked state, the folding connecting piece 202 is sleeved by the locking sleeve 201, and at this time, the folding assembly 103 cannot be folded; as Figure 7 shown in the lower part, when the locking sleeve 201 is in the released state, the locking sleeve 201 moves along the first pull rod 10331 connected to the folding part 1034. At this time, the folding connecting piece 202 is disengaged from the sleeved state of the locking sleeve 201. At this time, the locking sleeve 201 releases the folding part 1034 and the first pull rod 10331 and the second pull rod 10332 connected to the folding part 1034. Optionally, the locking sleeve 201 can move along the first pull rod 10331 or along the second pull rod 10332. The specific moving direction of the locking sleeve is set according to the actual situation and is not limited here.

[0066] The embodiment of the present utility model provides a gripper device with a locking sleeve arranged on the folding part. When the gripper device grabs the filter element, at this time, the grabbing assembly is ready to grab the filter element, and since the pull rod is a foldable design, it will cause instability of the folding assembly. Based on this, the locking sleeve is designed. When two adjacent pull rods are at an angle of 180°, the locking sleeve can lock the folding connecting piece so that the two adjacent pull rods are in a stable state. To ensure the stable connection between the pull rods, reduce the shaking or misoperation during the grabbing process, prevent the accidental folding of the pull rods, and increase the safety, accuracy and reliability of the grabbing operation.

[0067] As Figure 1 shown, in combination with the above, the grabbing assembly 101 further includes an isolation unit 1014. Among them, the isolation unit 1014 is arranged on one side of the grabbing assembly 101 close to the folding assembly 103 and is used for isolating between the grabbing assembly 101 and the folding assembly 103. After the grabbing assembly grabs the filter element, as the lifting distance of the filter element from the operator gets closer and closer, its radiation dose will also increase accordingly. The isolation unit is arranged to isolate between the grabbing assembly and the folding assembly, which is beneficial to isolating radiation and protecting the safety and health of the operator.

[0068] The embodiment of the present utility model also provides a gripper system. Figure 8 As a structural schematic diagram of a gripper system provided by the embodiment of the present utility model, as Figure 8 shown, it includes a gripper device 100 and an isolation device 200. The isolation device 200 includes a first locking component 2001; the first locking component 2001 is used for fixing the gripper device 100.

[0069] Specifically, Figure 9 As a structural schematic diagram of the gripper system provided by the embodiment of the present utility model when the gripper device performs grabbing; Figure 10A schematic diagram of the structure of the gripping device system provided by the embodiment of the utility model when the gripping device is lifting; Figure 11 This is a schematic diagram of the structure of the gripper system provided by the embodiment of the utility model when the gripper device completes gripping.

[0070] like Figure 9 As shown, the gripping device 100 is used for gripping, and the gripping device 100 is lowered to the depth of the storage well for gripping. At this time, due to the large gripping depth, a longer folding rod is required for gripping, and the external lifting device is connected to the first lifting receiving unit 10321 for lifting the gripping device 100. Figure 10 As shown, the gripper device 100 is lifted, and as the distance between the gripper device and the ground gradually decreases, the folding rod of the gripper device exposed on the ground is not enough to accommodate the lifting range of the lifting device and / or the height between the ground and the ceiling, so the folding rod needs to be folded. At this time, the first locking assembly 2001 fixes the gripper device 100 so that the gripper device is suspended, and the external lifting device is unloaded from the first lifting receiving unit 10321 and connected to the second lifting receiving unit 10322. After the external lifting device is unloaded from the first lifting receiving unit 10321, the first pull rod 10331 rotates around the first folding portion 10341 in the first direction. After the external lifting device is connected to the second lifting receiving unit 10322, the first locking assembly 2001 ends the fixation of the gripper device 100, and the gripper device 100 continues to be lifted.

[0071] Optional, such as Figure 10 As shown, according to the limitation of the working space on the ground, the first pull rod 10331 can be folded around the first folding portion 10341 during the grabbing stage, and the external lifting device is connected to the second lifting receiving unit 10322. If the depth of the filter element in the filter element storage well is shallow and the required folding assembly is short, then such a gripping device can be used to grab the filter element. This design helps the gripping device in the gripping system to operate flexibly in a limited space, thereby improving work efficiency.

[0072] like Figure 11 As shown, when the gripping device 100 is finished, the gripping device 100 is lifted, and the first locking assembly 2001 fixes the gripping device 100, and the external lifting device is unloaded from the connection of the gripping device. At this time, the second pull rod 10332 rotates around the second folding portion 10342 along the second direction.

[0073] The embodiment of the utility model provides a gripping system, including an isolation device and the above-mentioned gripping device; the isolation device includes a first locking assembly; the first locking assembly is used to fix the gripping device. When the gripping device is from gripping to gripping completion, the first locking assembly locks the gripping device to cooperate with the external lifting device to unload and reconnect the lifting receiving unit. In this way, the gripping system can adapt to waste filter element storage wells of different depths, reduce the operating space required for the gripping device, and improve the scope of application and reliability of the gripping system.

[0074] Continue to refer to Figure 8 As shown, in combination with the above, the gripping system also includes an isolation device 200, a lifting device and a display device; the isolation device 200 also includes an isolation barrel 2002; a first opening 20021 is provided on one side of the isolation barrel 2002, and the first opening 20021 is connected to the wellhead of the filter element storage well, and a second opening 20022 is provided on the other side of the isolation barrel 2002, and the gripping device descends or rises in the filter element storage well through the second opening 20022; wherein the first locking assembly is arranged on the edge of the second opening 20022 of the isolation barrel 2002; the lifting device includes at least one lifting unit, and the lifting unit is used to be connected to the lifting receiving unit of the gripping device; the display device includes a display component, and the display component is connected to the image acquisition unit via a wireless connection or a wired connection, and is used to display the image acquired by the image acquisition unit in real time.

[0075] Specifically, one end of the isolation barrel 2002 is connected to the wellhead of the filter element storage well, and the other end is provided with a second opening. The gripping device 100 can pass through the first opening and the second opening and descend into the storage well. When the gripping device 100 completes the gripping and lifts, the gripped component can be directly lifted into the isolation barrel. Optionally, the size of the isolation barrel is designed according to the size of the gripping component and the waste filter element in actual conditions, and is not limited here.

[0076] The lifting device in the gripping system includes at least one lifting unit. Optionally, when the gripping system includes one lifting unit, the first locking component 2001 fixes the gripping device to cooperate with the lifting unit to unload and reconnect the lifting receiving unit 1032 in the gripping device. Optionally, when the gripping system includes two or more lifting units, the lifting receiving unit 1032 can be unloaded and reconnected by alternately connecting multiple lifting units to the lifting receiving unit 1032. Optionally, the number of specific lifting units is set according to actual conditions and is not limited here.

[0077] Specifically, the gripper system also includes a display device for receiving the image of the gripper component captured by the image acquisition unit. Optionally, the connection method between the display component and the image acquisition unit is determined according to the depth of the storage well and the degree of electromagnetic interference in the field environment in actual conditions, which is not limited here.

[0078] The embodiment of the utility model provides a gripper system, wherein an isolation barrel is provided, a first opening is provided on one side of the isolation barrel, the first opening is connected to the wellhead of the filter element storage well, a second opening is provided on the other side of the isolation barrel, and the gripper device descends or rises in the filter element storage well through the second opening; wherein the first locking assembly is provided at the edge of the second opening of the isolation barrel; the hoisting device comprises at least one hoisting unit, the hoisting unit is used to connect with the hoisting receiving unit of the gripper device; the display device comprises a display assembly, the display assembly is connected to the image acquisition unit via a wireless connection or a wired connection, and is used to display the image acquired by the image acquisition unit in real time. In this way, the filter element storage well is isolated from the outside world, and the radiation of the waste filter element in the storage well to the outside world is isolated. The display device is provided to monitor the gripping state, so as to realize the visual operation of the waste filter element gripping, and improve the safety and work efficiency of the waste filter element gripping.

[0079] Continue to refer to Figure 8 , combined with the above, such as Figure 8 As shown, the gripping device 100 includes: a second locking unit 1001 and an isolation unit 1014; wherein, the second locking unit 1001 is arranged on the pull rod for fixing with the first locking assembly; the isolation unit 1014 is arranged on the side of the gripping assembly close to the folding assembly, and the plane of the isolation unit 1014 close to the folding assembly has a size and shape consistent with the first opening 20021.

[0080] Specifically, the second locking unit 1001 is arranged on the pull rod, and when the lifting unit needs to replace the connected lifting receiving unit during the lifting process of the gripper device 100, the second locking unit 1001 can be arranged to be fixed with the first locking assembly 2001. Optionally, the structure of the second locking unit 1001 and the fixing method of the second locking unit 1001 and the second locking unit 2001 are set according to actual needs and are not limited here.

[0081] Specifically, the size and shape of the plane of the isolation unit 1014 close to the folding component are consistent with the first opening 20021, combined with Figure 8 and Figure 11 As shown, when the gripping device completes the gripping, the gripping assembly is lifted into the isolation barrel 2002 above the ground. Since the plane of the isolation unit 1014 close to the folding assembly is consistent in size and shape with the first opening 20021, the isolation unit 1014 blocks the first opening 20021 in a "cork" manner. At this time, the isolation barrel is isolated from the external environment on the ground.

[0082] Optionally, refer to Figure 8 and Figure 11After the filter element is grabbed and lifted, the grabbed waste filter element and the grabbing assembly are stored in the isolation barrel 2002. At this time, the first opening 20021 of the isolation barrel 2002 is blocked by the isolation unit 1014. The first opening 20021 of the isolation barrel 2002 is disconnected from the wellhead of the storage well, and the first opening 20021 is sealed. The gripping system is separated from the ground. At this time, the filter element is sealed in the isolation barrel 2002, and the gripping system and the filter element can be directly transported. During the transportation process, the radiation dose emitted by the filter element to the outside is isolated due to the setting of the isolation barrel, which protects the health and safety of the transport personnel. The sealing device of the first opening 20021 is set according to actual needs and is not limited here.

[0083] The embodiment of the utility model provides a gripper system, wherein the gripper device includes a second locking unit and an isolation unit. The second locking unit is used to be fixed to the first locking assembly, and provides stable support for the folding of the folding rod in the gripper device and the reconnection of the external lifting device to the lifting receiving unit. The isolation unit is set to overlap the size and shape of the second opening of the isolation barrel, so as to achieve the isolation of the filter element from the external environment after the lifting of the filter element is completed, and reduce the radiation dose of the filter element to the external operator.

[0084] The above specific implementations do not constitute a limitation on the protection scope of the present utility model. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present utility model shall be included in the protection scope of the present utility model.

Claims

1. A gripper device, characterized in that, It includes a grabbing component, an image acquisition component and a folding component; Wherein, the grabbing component is connected to one end of the folding component for grabbing; The image acquisition component is arranged at one side of the grabbing component, and is used to acquire a grabbing state image of the grabbing component; The folding assembly comprises at least two folding rods. A hoisting receiving unit is arranged on a side of the folding rod away from the grabbing assembly for being hoisted and lifted by an external hoisting device.

2. The gripper device according to claim 1, characterized in that, The folding assembly includes at least three pull rods, and a folding portion is provided between two adjacent pull rods; the pull rod can rotate around the folding portion on the side of the pull rod close to the grasping assembly within a preset angle range; wherein the rotation directions of two adjacent pull rods are opposite.

3. The gripper device according to claim 1, characterized in that, The grabbing assembly comprises a first connecting unit, at least two grabbing units and a driving unit; Wherein, the first connecting unit is arranged on a side of the driving unit close to the folding assembly, and is used to connect the grabbing assembly to one end of the folding assembly; At least two of the grasping units are relatively arranged on both sides of the driving unit for grasping; the grasping unit comprises two grippers, and the clamping planes of at least two of the grasping units are parallel.

4. The gripper device according to claim 3, characterized in that, The folding assembly further includes a second connecting unit; the second connecting unit is arranged on a pull rod adjacent to the grabbing assembly in the folding assembly and is arranged on a side of the pull rod close to the grabbing assembly; the first connecting unit and the second connecting unit are connectable and detachable.

5. The gripping device according to claim 3, wherein, The image acquisition component is arranged on one side of the grabbing component; the image acquisition component comprises a lighting unit and an image acquisition unit; The image acquisition unit acquires images in a direction pointing to the gripper, and acquires image information of all the gripping and releasing processes of the gripper; The lighting direction of the lighting unit is directed toward the gripper.

6. The gripper device according to claim 2, wherein Each folding part is correspondingly provided with a locking sleeve, and the locking sleeve is sleeved on the folding assembly; the locking sleeve can move along at least one of the two pull rods connected to the folding part to lock the folding part and the two pull rods connected to the folding part, or release the folding part and the two pull rods connected to the folding part.

7. The gripper device according to claim 1, characterized in that, The grabbing assembly further includes an isolation unit, which is disposed on a side of the grabbing assembly close to the folding assembly and is used to isolate the grabbing assembly from the folding assembly.

8. A gripper system, characterized in that, A gripper device and an isolation device comprising any one of claims 1 to 7; The isolation device comprises a first locking assembly; the first locking assembly is used to fix the gripping device.

9. The gripper system according to claim 8, wherein It also includes isolation devices, lifting devices and display devices; The isolation device further comprises an isolation barrel; a first opening is provided on one side of the isolation barrel, the first opening is connected to the wellhead of the filter element storage well, and a second opening is provided on the other side of the isolation barrel, and the gripping device is lowered or lifted in the filter element storage well through the second opening; wherein the first locking assembly is provided at the edge of the second opening of the isolation barrel; The lifting device comprises at least one lifting unit, and the lifting unit is used to connect with the lifting receiving unit of the gripping device; The display device includes a display component, which is connected to the image acquisition unit through wireless connection or wired connection and is configured to display the image acquired by the image acquisition unit in real time.

10. The gripper system according to claim 9, characterized in that, The gripper device includes: a second locking unit and an isolation unit; Wherein, the second locking unit is arranged on the pull rod and is used for fixing with the first locking component; The isolation unit is arranged on a side of the grasping component close to the folding component, and the size and shape of a plane on a side of the isolation unit close to the folding component are the same as those of the second opening.

Images