Barrel cake gripping apparatus for nuclear power station

Abstract

The utility model discloses a barrel cake gripping apparatus for a nuclear power station, which belongs to the field of barrel cake gripping apparatuses and comprises a connecting frame, a fixing disc is fixedly connected to the bottom of the connecting frame, holding claws are movably connected to four sides of the fixing disc, a linear actuator is fixedly connected to the top surface of the fixing disc, and a servo motor is fixedly connected to one side of the linear actuator. According to the arranged connecting mechanism, after a positioning rod on the bottom face of a mounting base is inserted into a positioning hole in the top face of a connecting frame, a concave plate is overturned upwards to enable an inserting plate to be aligned with a connecting opening, a screw knob is rotated to push a pressing plate to move through a rotating block till the inserting plate installed on the bottom face of the pressing plate penetrates through the connecting opening to be inserted into a limiting opening, and then the screw knob cannot be rotated; therefore, the purpose that the gripping apparatus is conveniently installed and fixed on the telescopic arm to be used is achieved, the gripping apparatus can be conveniently and timely detached from the telescopic arm to be maintained or replaced after the subsequent gripping apparatus breaks down, then the gripping apparatus can be conveniently detached and used on the telescopic arm, and the working efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the field of barrel cake grippers, in particular to a barrel cake gripper for nuclear power plants. Background Art

[0002] After nuclear power plant waste is sorted and barreled, the entire barrel is overpressurized to obtain barrel cakes of a certain size. In order to facilitate the grouting operation of loading the barrel cakes into a 400L steel barrel, a reliable gripper is needed to grab the barrel cakes and place them into the 400L steel barrel.

[0003] The arm is then moved upwards to move the grabber and the grabbed piece up, and the grabber is then moved down again to put the piece into the steel drum. The grabber then releases its grip on the piece and allows the piece to enter the steel drum. Since the grabber is generally fixed to the mounting seat at the bottom of the telescopic arm by means of several bolts and nuts and professional tools, the installation of the grabber is complicated. Moreover, when the grabber fails after working for a long time and needs to replace the parts of the grabber, it is inconvenient to remove the grabber from the telescopic arm to replace the parts of the grabber. This not only brings inconvenience to the disassembly and assembly of the grabber, but also reduces work efficiency. Utility Model Content

[0004] The main purpose of the utility model is to provide a barrel cake gripper for nuclear power plants, which can effectively solve the problems in the background technology.

[0005] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0006] A barrel cake gripper for a nuclear power plant comprises a connecting frame, the bottom of the connecting frame is fixedly connected to a fixed plate, and four sides of the fixed plate are movably connected to claws, the top surface of the fixed plate is fixedly connected to a linear actuator, and one side of the linear actuator is fixedly connected to a servo motor, the output end of the linear actuator is fixedly connected to a movable plate, and the movable plate and the claw are movably connected together, the bottom surface of the movable plate is fixedly connected to a barrel cake state detection sensor, and the top surface of the movable plate is fixedly connected to a gripper state detection sensor, one side of the connecting frame is also provided with a junction box, and the connecting frame is fixedly connected to a servo motor, and the servo motor is fixedly connected to a servo motor, the output end of the linear actuator is fixedly connected to a movable plate, and the movable plate and the claw are movably connected together, the bottom surface of the movable plate is fixedly connected to a barrel cake state detection sensor, and the top surface of the movable plate is fixedly connected to a gripper state detection sensor, and a junction box is further provided on one side of the connecting frame. The connecting mechanisms on both sides of the top surface are fixedly connected to the bottom surface of the mounting seat at the bottom end of the telescopic arm, and the connecting mechanisms include an L-shaped block, a concave plate, a pressure plate, an insert plate and a screw knob. A group of symmetrical L-shaped blocks are fixedly connected to both sides of the outer wall of the connecting frame, and the concave plate is movably connected between the symmetrical L-shaped blocks through rotating rods on both sides of the outer wall. The pressure plate is movably connected in the recess of the concave plate through guide rods on both sides of the top surface, and the insert plate is fixedly connected to the bottom surface of the pressure plate. The screw knob is movably connected to the screw hole opened on the top surface of the concave plate, and the screw knob is also movably connected to the pressure plate through the rotating block at the bottom end.

[0007] Preferably, positioning rods are fixedly mounted on the four corner ends of the bottom surface of the mounting seat, and a group of symmetrical connection ports are opened on the bottom surface of the mounting seat.

[0008] Preferably, positioning holes are respectively provided at the four corner ends of the top surface of the connecting frame, and the positioning rods are inserted and installed in the positioning holes. The top surface of the connecting frame is also provided with a limiting opening corresponding to the connecting opening.

[0009] Preferably, two groups of symmetrical L-shaped blocks are fixedly mounted on the outer wall of the connecting frame, and rotation holes are opened on the side walls of the vertical parts of the L-shaped blocks.

[0010] Preferably, rotating rods are fixedly installed on the bottom of both sides of the outer wall of the concave plate, and the rotating rods are movably installed in the rotating holes. A group of symmetrical guide holes are opened on the top surface of the concave plate, and screw holes are also opened on the top surface of the concave plate and located between the guide holes.

[0011] Preferably, a guide rod is fixedly installed on the top surface of the pressure plate, and the guide rod is inserted into the guide hole. A convex groove is also provided on the top surface of the pressure plate and located on the guide rod, and the insert plate is fixedly installed on the bottom surface of the pressure plate and inserted into the limit port through the connecting port. The screw knob is threadedly connected to the screw hole, and a rotating block is fixedly installed on the bottom end of the screw knob, and the rotating block is movably installed in the convex groove.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] The present invention provides a connecting mechanism in which the positioning rod on the bottom surface of the mounting seat is inserted into the positioning hole on the top surface of the connecting frame, and the concave plate is flipped upwards to align the plug plate with the connecting port. The screw knob is rotated to push the pressure plate to move through the rotating block until the plug plate installed on the bottom surface of the pressure plate passes through the connecting port and is inserted into the limit port, so that the screw knob cannot be rotated, thereby achieving the purpose of facilitating the installation and fixation of the gripper on the telescopic arm for use. In addition, after a subsequent gripper malfunctions, it is also convenient to disassemble the gripper from the telescopic arm in time for repair or replacement, thereby facilitating the disassembly and assembly of the gripper on the telescopic arm and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0015] Figure 2 This is a schematic diagram of the overall structure of the mounting base of the utility model;

[0016] Figure 3 This is a schematic diagram of the overall structure of the connecting frame of the utility model;

[0017] Figure 4 It is a schematic diagram of the structural sectioning and disassembly of the connecting mechanism of the present invention.

[0018] In the figure: 1. Connecting frame; 2. Fixed plate; 3. Holding claw; 4. Linear actuator; 5. Servo motor; 6. Movable plate; 7. Barrel cake status detection sensor; 8. Gripper status detection sensor; 9. Junction box; 10. Telescopic arm; 11. Mounting seat; 12. Connecting mechanism; 13. Positioning rod; 14. Connecting port; 15. Positioning hole; 16. Limiting port; 17. L-shaped block; 18. Rotating hole; 19. Concave plate; 20. Rotating rod; 21. Guide hole; 22. Screw hole; 23. Pressing plate; 24. Guide rod; 25. Insert plate; 26. Convex groove; 27. Screw knob; 28. Rotating block. DETAILED DESCRIPTION

[0019] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0020] like Figure 1 - Figure 4As shown, a barrel cake gripper for a nuclear power plant includes a connecting frame 1, a fixed plate 2 is fixedly connected to the bottom of the connecting frame 1, and claws 3 are movably connected to the four sides of the fixed plate 2, a linear actuator 4 is fixedly connected to the top surface of the fixed plate 2, and a servo motor 5 is fixedly connected to one side of the linear actuator 4, a movable plate 6 is fixedly connected to the output end of the linear actuator 4, and the movable plate 6 and the claw 3 are movably connected together, a barrel cake state detection sensor 7 is fixedly connected to the bottom surface of the movable plate 6, and a gripper state detection sensor 8 is fixedly connected to the top surface of the movable plate 6, and a junction box 9 is also provided on one side of the connecting frame 1. The gripping and releasing principle of the gripper composed of the connecting frame 1, fixed plate 2, claws 3, linear actuator 4, servo motor 5, movable plate 6, barrel cake state detection sensor 7 and gripper state detection sensor 8 is as follows:

[0021] When the telescopic arm 10 drives the gripper to descend to the specified position, the barrel cake state detection sensor 7 and the gripper state detection sensor 8 located on the movable disk 6 will detect whether the gripper and the compressed barrel cake are in place. After the gripper and the compressed barrel cake are in place, the servo motor 5 will drive the output end to drive the linear actuator 4 on the top surface of the fixed disk 2 to operate. The output end of the linear actuator 4 will drive the movable disk 6 to move upward or downward. In the process of moving upward, the movable disk 6 will drive the gripper 3 to move inward under the action of the active connection with the gripper 3, and the gripper 3 will flip inward under the action of the active connection with the fixed disk 2. In the process of moving downward, the movable disk 6 will drive the gripper 3 to move outward, and the gripper 3 will flip outward on the fixed disk 2, thereby opening or tightening the gripper 3. When opening, the gripper 3 will release the gripped compressed barrel cake, and when tightening, the gripper 3 will grab the compressed barrel cake.

[0022] The connecting frame 1 is fixedly connected to the bottom surface of the mounting seat 11 at the bottom end of the telescopic arm 10 through the connecting mechanism 12 on both sides of the top surface, and the connecting mechanism 12 includes an L-shaped block 17, a concave plate 19, a pressure plate 23, an inserting plate 25 and a screw knob 27. A group of symmetrical L-shaped blocks 17 are fixedly connected to both sides of the outer wall of the connecting frame 1, and the concave plate 19 is movably connected between the symmetrical L-shaped blocks 17 through the rotating rods 20 on both sides of the outer wall. The pressure plate 23 is movably connected to the recess of the concave plate 19 through the guide rods 24 on both sides of the top surface, and the inserting plate 25 is fixedly connected to the bottom surface of the pressure plate 23, the screw knob 27 is movably connected to the screw hole 22 opened on the top surface of the concave plate 19, and the screw knob 27 is also movably connected to the pressure plate 23 through the rotating block 28 at the bottom end. The connecting mechanism 12 facilitates the disassembly and assembly of the gripper on the telescopic arm 10.

[0023] like Figure 2As shown, positioning rods 13 are fixedly installed at the four corner ends of the bottom surface of the mounting seat 11, and a group of symmetrical connecting ports 14 are opened on the bottom surface of the mounting seat 11. The positioning rods 13 opened on the bottom surface of the mounting seat 11 at the bottom end of the telescopic arm 10 can play a positioning role in the installation of the connecting frame 1, and the connecting ports 14 cooperate with the use of the limit ports 16 opened on the connecting frame 1;

[0024] like Figure 3 As shown, positioning holes 15 are respectively provided at the four corner ends of the top surface of the connecting frame 1, and the positioning rods 13 are inserted and installed in the positioning holes 15. The top surface of the connecting frame 1 is also provided with a limiting opening 16 corresponding to the connecting opening 14. When installing the gripper, after the positioning rods 13 are inserted into the positioning holes 15 provided on the top surface of the connecting frame 1, the gripper can be positioned and installed on the bottom surface of the mounting seat 11 at the bottom end of the telescopic arm 10, and the limiting opening 16 provided is used to cooperate with the use of the plug plate 25;

[0025] like Figure 3 As shown, two sets of symmetrical L-shaped blocks 17 are fixedly mounted on the outer wall of the connecting frame 1, and a rotation hole 18 is opened on the vertical side wall of the L-shaped block 17. The rotation hole 18 opened in the vertical portion of the L-shaped block 17 allows the rotation rod 20 to realize the rotation operation in the rotation hole 18;

[0026] like Figure 4 As shown, rotating rods 20 are fixedly mounted on the bottom of both sides of the outer wall of the concave plate 19, and the rotating rods 20 are movably mounted in the rotating hole 18. A group of symmetrical guide holes 21 are opened on the top surface of the concave plate 19, and screw holes 22 are further opened on the top surface of the concave plate 19 and located between the guide holes 21. When the concave plate 19 is turned over, the rotating rods 20 mounted on the bottom of the outer walls of both sides of the concave plate 19 will rotate in the rotating holes 18. The guide holes 21 opened on the concave plate 19 are used to cooperate with the use of the guide rods 24, and the screw holes 22 opened are used to cooperate with the use of the screw knobs 27.

[0027] like Figure 4As shown, the top surface of the pressure plate 23 is fixedly installed with a guide rod 24, and the guide rod 24 is inserted into the guide hole 21. The top surface of the pressure plate 23 is located on the guide rod 24 and a convex groove 26 is also opened. The insert plate 25 is fixedly installed on the bottom surface of the pressure plate 23 and inserted into the limit port 16 through the connecting port 14. The screw knob 27 is threadedly connected with the screw hole 22, and the bottom end of the screw knob 27 is fixedly installed with a rotating block 28, which is movably installed in the convex groove 26. The moving screw knob 27 causes the screw knob 27 to realize a threaded rotation operation in the screw hole 22, driving the rotating block 28 at the bottom end to rotate in the convex groove 26 opened on the top surface of the pressure plate 23. Then, the pressure plate 23 is pushed downward by the rotating block 28, and the guide rod 24 on the top surface of the pressure plate 23 will move along the guide hole 21 until the plug plate 25 installed on the bottom surface of the pressure plate 23 passes through the limit opening 16 and is inserted into the connecting opening 14, so that the gripper can be quickly installed and fixed to the bottom end of the telescopic arm 10 for use.

[0028] It should be noted that the present invention is a barrel cake gripper for nuclear power plants. When installing the gripper, the positioning rods 13 installed at the four corner ends of the bottom surface of the mounting seat 11 at the bottom end of the telescopic arm 10 are inserted into the positioning holes 15 opened at the four corner ends of the top surface of the connecting frame 1. Then, the concave plates 19 on both sides of the connecting frame 1 are flipped counterclockwise upward. The rotating rods 20 installed at the bottom of the outer wall of the concave plates 19 will rotate the vertical parts of the symmetrical L-shaped blocks 17 installed on the outer wall of the connecting frame 1. The screw knob 27 on the top surface of the concave plate 19 is rotated until the concave plate 19 and the connecting frame 1 are in a vertical state and the inserting plate 25 is aligned with the connecting port 14 on the top surface of the mounting seat 11. The screw knob 27 is rotated to realize the threaded rotation operation in the screw hole 22 on the top surface of the concave plate 19 and drive the rotating block 28 installed at the bottom to rotate in the convex groove 26 on the top surface of the pressing plate 23. After the screw knob 27 is continuously rotated, the screw knob 27 will push the pressure plate 23 downward through the rotating block 28, and the guide rod 24 installed on the top surface of the pressure plate 23 will move in the guide hole 21 opened on the top surface of the concave plate 19. The screw knob 27 is continuously rotated until the plug plate 25 installed on the bottom surface of the pressure plate 23 passes through the connecting port 14 on the top surface of the mounting seat 11 and is inserted into the limiting port 16 on the top surface of the connecting frame 1. After the screw knob 27 can no longer be rotated, the gripper can be installed and fixed to the bottom end of the telescopic arm 10. When the gripper fails to work and needs to be disassembled for repair or replacement, the screw knob 27 is rotated in the opposite direction to drive the pressure plate 23 to move upward through the rotating block 28, so that the plug plate 25 is removed from the connecting port 14 and the limit port 16. After the screw knob 27 cannot be rotated anymore, the concave plate 19 is flipped clockwise downward, and finally, the gripper can be removed from the bottom end of the telescopic arm 10, thereby achieving the purpose of facilitating the disassembly and assembly of the gripper on the telescopic arm 10 and improving work efficiency.

[0029] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, various improvements may be made to the present invention and its components may be replaced with equivalents, or some of its technical features may be replaced with equivalents without departing from the scope of the present invention. Anything within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A barrel cake gripper for a nuclear power plant, comprising a connecting frame (1), wherein a fixed plate (2) is fixedly connected to the bottom of the connecting frame (1), and claws (3) are movably connected to the four sides of the fixed plate (2), a linear actuator (4) is fixedly connected to the top surface of the fixed plate (2), and a servo motor (5) is fixedly connected to one side of the linear actuator (4), a movable plate (6) is fixedly connected to the output end of the linear actuator (4), and the movable plate (6) and the claws (3) are movably connected together, a barrel cake state detection sensor (7) is fixedly connected to the bottom surface of the movable plate (6), and a gripper state detection sensor (8) is fixedly connected to the top surface of the movable plate (6), and a junction box (9) is further provided on one side of the connecting frame (1), characterized in that: The connecting frame (1) is fixedly connected to the bottom surface of the mounting seat (11) at the bottom end of the telescopic arm (10) through the connecting mechanisms (12) on both sides of the top surface, and the connecting mechanism (12) includes an L-shaped block (17), a concave plate (19), a pressure plate (23), an inserting plate (25) and a screw knob (27). A group of symmetrical L-shaped blocks (17) are fixedly connected to both sides of the outer wall of the connecting frame (1), and the concave plate (19) is fixedly connected to the bottom surface of the mounting seat (11) at the bottom end of the telescopic arm (10) through the rotating rods on both sides of the outer wall. (20) is movably connected between the symmetrical L-shaped blocks (17), the pressure plate (23) is movably connected to the recess of the concave plate (19) through the guide rods (24) on both sides of the top surface, and the inserting plate (25) is fixedly connected to the bottom surface of the pressure plate (23), the screw knob (27) is movably connected to the screw hole (22) opened on the top surface of the concave plate (19), and the screw knob (27) is also movably connected to the pressure plate (23) through the rotating block (28) at the bottom end.

2. The barrel cake gripper for nuclear power plants according to claim 1, characterized in that: Positioning rods (13) are fixedly mounted on the four corner ends of the bottom surface of the mounting seat (11), and a group of symmetrical connecting ports (14) are opened on the bottom surface of the mounting seat (11).

3. The barrel cake gripper for nuclear power plants according to claim 2, characterized in that: Positioning holes (15) are respectively provided at the four corner ends of the top surface of the connecting frame (1), and the positioning rods (13) are inserted and installed in the positioning holes (15). The top surface of the connecting frame (1) is also provided with a limiting opening (16) corresponding to the connecting opening (14).

4. The barrel cake gripper for nuclear power plants according to claim 3, characterized in that: Two groups of symmetrical L-shaped blocks (17) are fixedly mounted on the outer wall of the connecting frame (1), and rotating holes (18) are opened on the vertical side walls of the L-shaped blocks (17).

5. The barrel cake gripper for nuclear power plants according to claim 4, characterized in that: Rotating rods (20) are fixedly mounted on the bottoms of both sides of the outer wall of the concave plate (19), and the rotating rods (20) are movably mounted in the rotating holes (18). A group of symmetrical guide holes (21) are opened on the top surface of the concave plate (19), and screw holes (22) are also opened on the top surface of the concave plate (19) and located between the guide holes (21).

6. The barrel cake gripper for nuclear power plants according to claim 5, characterized in that: The top surface of the pressure plate (23) is fixedly mounted with a guide rod (24), and the guide rod (24) is inserted into the guide hole (21). The top surface of the pressure plate (23) is also provided with a convex groove (26) located on the guide rod (24), and the inserting plate (25) is fixedly mounted on the bottom surface of the pressure plate (23) and inserted into the limiting opening (16) through the connecting opening (14). The screw knob (27) is threadedly connected to the screw hole (22), and a rotating block (28) is fixedly mounted on the bottom end of the screw knob (27), and the rotating block (28) is movably mounted in the convex groove (26).

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