Reactor core graphite gripping device

Abstract

The utility model discloses a reactor core graphite gripping device which comprises a driving mechanism, a gripping part, a clamping force detection part, a friction coefficient detection part and a controller, the clamping force detection part acts on the gripping part and is used for detecting the clamping force of the gripping part for clamping graphite, and the friction coefficient detection part is used for detecting the friction coefficient of the gripping part. The friction coefficient detection part acts on the graphite on the grabbing part and is used for detecting whether the grabbing part and the graphite move relatively or not, and the controller is used for receiving detection signals sent by the clamping force detection part and the friction coefficient detection part; and the control mechanism is used for controlling the driving mechanism to drive the grabbing component to grab and move graphite. Grabbing and assembling are ensured, graphite is effectively prevented from being damaged, the grabbing and assembling quality of reactor core graphite is improved, meanwhile, reliability is guaranteed, the manufacturing cost is reduced, and a powerful guarantee is provided for safe operation of a nuclear reactor.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of reactor graphite grabbing devices. BACKGROUND

[0002] Small modular molten salt reactor (SMMR) is a new type of nuclear power generation device, which represents an important innovation direction of nuclear energy technology. The compact reactor design not only improves the efficiency and safety of the reactor, but also provides strong support for the further development of nuclear energy technology. This innovative reactor design helps to promote the continuous progress of nuclear energy technology and opens up new avenues for future energy development.

[0003] The compact reactor body of small modular molten salt reactor (SMMR) includes a core module, a cylinder assembly module, and an integrated top module. The core module is mainly used to generate heat for subsequent power generation. The core and the surrounding graphite are mainly used for heat conduction. The assembly quality is of great significance to improve the heat exchange efficiency of the nuclear reactor.

[0004] During the assembly process in the workshop, the grabbing and assembly of the core graphite is a complex and critical task. According to the specific assembly requirements of the core graphite, the following technical problems are faced:

[0005] (1) The graphite assembly space is 70mmx20mm, the weight of the graphite is more than 100kg, and the space is small and the load is large, which poses a great challenge to the design of the gripper.

[0006] (2) Graphite is a lubricant with low friction coefficient when in contact with other parts. The friction coefficient between graphite and gripper caused by the self-lubricating properties of graphite decays, which leads to a decrease in system reliability and requires a higher installation process.

[0007] (3) Nuclear-grade graphite requires non-destructive assembly, which requires high reliability of the system while avoiding damage to the graphite by the gripper, which poses strict requirements on the material of the gripper.

[0008] Due to the special physical properties of the core graphite and the special installation requirements of nuclear-grade graphite, there is no graphite gripper on the market that can solve the above problems.

[0009] Therefore, the utility model is particularly important. The utility model aims to solve the problems in the prior art, improve the quality of grabbing and assembling the core graphite, reduce the manufacturing cost, and provide a strong guarantee for the safe operation of the nuclear reactor. UTILITY MODEL CONTENTS

[0010] The technical problem to be solved by the utility model is to overcome the defects of the existing core graphite grabbing and assembly, which can cause damage to the graphite and has poor reliability. A core graphite grabbing device is provided.

[0011] The utility model discloses a technical scheme to solve the above technical problems:

[0012] A kind of core graphite grabbing device, it includes drive mechanism, grabbing component, clamping force detection component, friction coefficient detection component and controller, the clamping force detection component acts on the grabbing component and is used to detect the clamping force of the graphite clamped by the grabbing component, the friction coefficient detection component acts on the graphite on the grabbing component and is used to detect whether the relative movement between the graphite and the grabbing component, the controller is used to receive the detection signal sent by the clamping force detection component and the friction coefficient detection component, to control the drive mechanism drives the grabbing component for grabbing and moving graphite.

[0013] Preferably, the grabbing component includes a plurality of fingers, and the plurality of fingers are connected to the drive mechanism, so that the drive mechanism is used to drive the plurality of fingers to move closer to each other or move away from each other, and the clamping force detection component is connected to the fingers and is used to detect the clamping force of the fingers.

[0014] Preferably, the core graphite grabbing device further includes a cleaning component, and the cleaning component is used to clean the elastic material on the fingers.

[0015] Preferably, the core graphite grabbing device further includes a displacement monitoring component, and the displacement monitoring component is directed towards the bottom of the fingers and is used to detect the radial displacement of the fingers.

[0016] Preferably, the displacement monitoring component is a displacement laser sensor.

[0017] Preferably, the friction coefficient detection component includes a force applying mechanism, and the force applying mechanism and the grabbing component act on both ends of the graphite respectively, so as to detect whether the relative movement between the graphite and the grabbing component.

[0018] Preferably, the friction coefficient detection component further includes an image detection piece, and the image detection piece is directed towards the grabbing component and is used to take pictures of whether the grabbing component grabs graphite and whether the relative movement between the grabbing component and the graphite, and the image detection piece is electrically connected to the controller.

[0019] Preferably, the friction coefficient detection component includes a dynamometer, and the dynamometer and the grabbing component act on both ends of the graphite respectively, so that the relative movement between the graphite and the grabbing component, and the dynamometer is electrically connected to the controller.

[0020] On the basis of conforming to the common sense in the art, the above-mentioned preferred conditions can be combined arbitrarily, that is, the preferred examples of the utility model are obtained.

[0021] The positive progress effect of the utility model lies in:

[0022] The core graphite grabbing device of the utility model, through the clamping force detection component and the friction coefficient detection component respectively used for adjusting and controlling the clamping force of the clamping component clamping graphite and detecting whether the clamping component and graphite move, makes the clamping component can bear the weight of graphite and various loads in the grabbing process, thereby controlling the driving mechanism and the clamping component to grab and move graphite to realize the assembly of graphite; ensure the grabbing and assembly and effectively avoid the damage of graphite, improve the quality of the grabbing and assembly of core graphite, at the same time, guarantee the reliability, reduce the manufacturing cost, and provide strong guarantee for the safe operation of nuclear reactor. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 It is part structure schematic view of the core graphite grabbing device of the utility model embodiment 1.

[0024] Figure 2 It is structure schematic view of the core graphite grabbing device of the utility model embodiment 1 when grabbing graphite.

[0025] Figure 3 It is structure schematic view of the core graphite grabbing device of the utility model embodiment 1 when detecting whether the core graphite grabbing device and graphite relatively move.

[0026] Figure 4 It is structure schematic view of the core graphite grabbing device of the utility model embodiment 1 when calculating the maximum friction coefficient of graphite.

[0027] Figure 5 It is structure schematic view of the core graphite grabbing device of the utility model embodiment 1 when cleaning.

[0028] Figure 6 It is structure schematic view of the displacement monitoring component of the utility model embodiment 1 when detecting the finger of the core graphite grabbing device.

[0029] Figure 7 It is schematic view of the utility model embodiment 2 when measuring the clamping force of the clamping component.

[0030] Figure 8 It is schematic view of the utility model embodiment 2 when measuring the friction coefficient.

[0031] Figure 9 It is flow chart of the core graphite assembly method of the utility model embodiment 2.

[0032] Figure 10 It is part structure schematic view of the core graphite grabbing device of the utility model embodiment 4.

[0033] Figure 11It is partial enlarged view of the grabbing component of the embodiment 4 of the utility model.

[0034] Mark explanation:

[0035] Driving mechanism 1

[0036] Grabbing component 2

[0037] Finger 21

[0038] Elastic material 22

[0039] Graphite positioning piece 23

[0040] Metal connecting plate 24

[0041] Clamping force detection component 3

[0042] Friction coefficient detection component 4

[0043] Force applying mechanism 41

[0044] Dynamometer 42

[0045] Displacement monitoring component 5

[0046] Cleaning component 6

[0047] Graphite 10

[0048] Pressure detection component 20 Specific implementation

[0049] The utility model will be more clearly and completely explained by the way of example and in conjunction with the drawings, but it will not limit the utility model in the following example range because of this.

[0050] Embodiment 1

[0051] As Figures 1 to 6 The utility model discloses a core graphite grabbing device, the core graphite grabbing device includes driving mechanism 1, grabbing component 2, clamping force detection component 3, friction coefficient detection component 4 and controller, clamping force detection component 3 acts on grabbing component 2 and is used to detect the clamping force of grabbing component 2 clamping graphite 10, friction coefficient detection component 4 acts on graphite 10 on grabbing component 2 and is used to detect whether the relative movement between grabbing component 2 and graphite 10, the controller is used to receive the detection signal of clamping force detection component 3 and friction coefficient detection component 4 sends, to control driving mechanism 1 drive grabbing component 2 for grabbing and moving graphite 10.

[0052] The driving mechanism 1 is used to provide driving force, and is connected to the grabbing component 2 and used to control the grabbing component 2 to grab and move the graphite 10. The input end of the controller is electrically connected to the clamping force detection component 3 and the friction coefficient detection component 4, and the output end of the controller is electrically connected to the driving mechanism 1. When the grabbing component 2 grabs and moves the graphite 10, the clamping force detection component 3 adjusts the clamping force of the grabbing component 2 clamping the graphite 10, and the friction coefficient detection component 4 detects whether the grabbing component 2 and the graphite 10 move relatively. The clamping force detection component 3 and the friction coefficient detection component 4 transmit the detected clamping signal and friction signal to the controller, so that the output power of the driving mechanism 1 is effectively controlled by the controller, so that the clamping force of the driving mechanism 1 driving the grabbing component 2 is in a suitable range to meet the requirements of clamping the graphite, and the clamping force will not cause damage to the directly contacted graphite 10. At the same time, the friction coefficient detection component 4 determines that there is no relative movement between the grabbing component 2 and the graphite 10, so that the grabbing component 2 stably grabs and moves the graphite 10 without falling phenomenon, greatly improving the safety and reliability of the reactor core graphite grabbing device. The clamping force detection component 3 and the friction coefficient detection component 4 are respectively used to adjust and control the clamping force of the grabbing component 2 clamping the graphite 10 and detect whether the grabbing component 2 and the graphite 10 move, so that the grabbing component 2 can bear the weight of the graphite 10 and various loads in the grabbing process, thereby controlling the driving mechanism 1 and the grabbing component 2 to grab and move the graphite 10 to realize the assembly of the graphite 10. Ensure that the graphite 10 is grabbed, assembled and effectively avoids damage, improves the quality of the graphite 10 grabbing and assembling, at the same time, ensures the reliability, reduces the manufacturing cost, and provides strong guarantee for the safe operation of the nuclear reactor.

[0053] In the embodiment, as shown in Figure 1 and Figure 2 The grabbing component 2 includes a plurality of fingers 21 connected to the driving mechanism 1, so that the driving mechanism 1 is used to drive the plurality of fingers 21 to approach each other or spread apart, and the clamping force detection component 3 is connected to the fingers 21 and used to detect the pressure of the fingers 21. The driving mechanism 1 provides driving force and is used to drive the plurality of fingers 21 to approach each other, so that the grabbing component 2 is used to clamp the graphite 10 through the plurality of fingers 21; the driving mechanism 1 provides driving force and is used to drive the plurality of fingers 21 to spread apart, so that the grabbing component 2 is used to release and lower the graphite 10.

[0054] The inner side of the finger 21 has a groove, and the elastic material 22 is arranged in the groove. The elastic material 22 is embedded in the groove, so that the elastic material 22 is accurately positioned and installed in the groove, and the installation connection is very convenient.

[0055] The number of the elastic materials 22 is multiple, the multiple fingers 21 correspond to the multiple elastic materials 22 one by one, one side of the elastic material 22 is connected to the finger 21, and the other side of the elastic material 22 is exposed on the outer surface of the finger 21 and used for abutting against the outer surface of the graphite 10. By directly abutting the elastic material 22 against the graphite 10, the contact between the finger 21 and the outer surface of the graphite 10 is avoided, and the damage caused by the direct contact between the metal finger 21 and the graphite 10 is avoided under the premise of ensuring the rigidity of the grabbing component 2. Therefore, the grabbing component 2 has sufficient strength, rigidity and stability, and meets the requirements of grabbing and assembling the graphite 10 in the core.

[0056] In the embodiment, the finger 21 is made of high-strength material, and the elastic material 22 is a rubber patch, that is, the material of the elastic material 22 is rubber. The friction coefficient between the grabbing component 2 and the graphite 10 will decrease during use, the elastic material 22 is detachably connected to the finger 21, and specifically, the elastic material 22 is detachably connected to the finger 21 through bolts. The detachable connection between the elastic material 22 and the finger 21 enables the elastic material 22 to be replaced, thereby reducing the cost.

[0057] The structure of the elastic material 22 is not unique, and is adjusted according to the structure of the graphite 10. In the embodiment, the graphite 10 is hexagonal prism, and the elastic material 22 is a cube, and the side of the elastic material 22 facing the graphite 10 is a plane. In other embodiments, the graphite 10 is cylindrical, and the side of the elastic material 22 facing the graphite 10 is an arc surface, that is, the contact shape between the elastic material 22 and the graphite 10 is an arc structure. By replacing the elastic material 22 with different structures, the graphite 10 with different structures can be grabbed, and the practicability of the grabbing component 2 can be improved.

[0058] In the embodiment, the outer surface of the graphite 10 is hexagonal, and the number of the fingers 21 is three, and the three fingers 21 are clamped on the outer surface of the graphite 10 at intervals. Of course, in other embodiments, the number of the fingers 21 can also be two, six or other numbers, and the number is not limited.

[0059] The driving mechanism 1 includes a robot hand and a grabbing body, the grabbing body is connected to the multiple fingers 21 and used for driving the multiple fingers 21 to move horizontally, so that the multiple fingers 21 are close to each other or away from each other and used for grabbing or releasing the graphite 10, and the robot hand is connected to the grabbing body and used for driving the movement of the grabbing body, the grabbing component 2 and the graphite 10.

[0060] As shown in FIG. 1, the driving mechanism 1 includes a robot hand 11 and a grabbing component 2, the grabbing component 2 includes a grabbing body 21 and a plurality of fingers 22, the grabbing body 21 is connected to the plurality of fingers 22 and used for driving the plurality of fingers 22 to move horizontally, so that the plurality of fingers 22 are close to each other or away from each other and used for grabbing or releasing the graphite 10, and the robot hand 11 is connected to the grabbing body 21 and used for driving the movement of the grabbing body 21, the grabbing component 2 and the graphite 10. Figure 3As shown, the friction coefficient detection component 4 comprises a force applying mechanism 41 which acts on both ends of the graphite 10 respectively with the grabbing component 2 to detect whether the grabbing component 2 and the graphite 10 move relatively. Specifically, the grabbing component 2 is used to grab the top end of the graphite 10, and the force applying mechanism 41 is located at the bottom end of the graphite 10 and applies an upward force to the bottom end of the graphite 10. When the force applying mechanism 41 applies a certain force and it is detected that the grabbing component 2 and the graphite 10 move relatively, it indicates that the friction coefficient between the grabbing component 2 and the graphite 10 is small, and the graphite 10 has the risk of falling. The elastic material 22 can be replaced to ensure that the graphite 10 will not fall. When the force applying mechanism 41 applies a certain force and it is detected that the grabbing component 2 and the graphite 10 do not move relatively, it indicates that the friction coefficient between the grabbing component 2 and the graphite 10 is good and there is no risk of the graphite 10 falling, so that the graphite 10 can be grabbed and assembled.

[0061] In the embodiment, the friction coefficient detection component 4 further comprises an image detection member which faces the grabbing component 2 and is used to shoot whether the grabbing component 2 grabs the graphite 10 and whether the grabbing component 2 and the graphite 10 move relatively, and the image detection member is electrically connected to the controller. The image detection member transmits the shot image signal to the controller, and the controller is used to receive the image signal and make a judgment. By using the image detection member to shoot whether the grabbing component 2 grabs the graphite 10, it is ensured that there is no misoperation and it is more stable and reliable. By using the image detection member to shoot whether the grabbing component 2 and the graphite 10 move relatively, it can be determined whether the elastic material 22 is replaced or the graphite 10 is grabbed and assembled. The image detection member can be a CCD camera.

[0062] Of course, in other embodiments, the friction coefficient detection component 4 can also be a sensor which is arranged on the grabbing component 2 and is used to detect whether the grabbing component 2 grabs the graphite 10 and whether the grabbing component 2 and the graphite 10 move relatively.

[0063] As shown in the figure, Figure 5 The core graphite grabbing device further comprises a cleaning component 6 which is used to clean the elastic material 22. When the force applying mechanism 41 applies a certain force and it is detected that the grabbing component 2 and the graphite 10 move relatively and / or the image detection member shoots that the grabbing component 2 and the graphite 10 move relatively, it indicates that the friction coefficient between the grabbing component 2 and the graphite 10 decays greatly. The cleaning component 6 is inserted into the grabbing component 2 and is used to clean the plurality of elastic materials 22, so that the friction coefficient between the grabbing component 2 and the graphite 10 is increased to ensure that the grabbing component 2 and the graphite 10 do not move relatively, thereby realizing the grabbing and assembling of the graphite 10.

[0064] The cleaning mode of the cleaning component 6 can adopt a brush for cleaning. The cleaning component 6 comprises a rotating motor, a shaft coupling and a brush, the upper and lower ends of the shaft coupling are connected to the brush and the rotating motor respectively, the rotating motor provides a rotating driving force and drives the brush to rotate, thereby realizing the circumferential rotation of the brush, and further cleaning the residual graphite 10 on the plurality of elastic materials 22.

[0065] During the gripping of the graphite 10, the top of the finger 21 moves inward with the hand body to the center of the hand body, the bottom of the finger 21 is clamped against the graphite 10 and is subjected to a reverse force of the graphite 10, the bottom moves outward, so that the bottom region of the finger 21 generates a gap with the graphite 10. The actual adverse effects are as follows: 1. The gap at the bottom of the finger 21 becomes larger and larger with the increase of the clamping force of the hand body, and in the extreme case, the finger 21 only has a line contact with the graphite 10, which easily causes the graphite 10 to fall off during assembly, thereby bringing a large assembly risk. 2. The greater the clamping force, the greater the probability of damage to the graphite 10. Therefore, the clamping force needs to be detected online. In the embodiment, as shown in Figure 6 the core graphite gripping device also comprises a displacement monitoring component 5, which is directed to the bottom of the finger 21 and is used for detecting the radial displacement of the finger 21. During the gripping and moving of the graphite 10, the radial displacement of the bottom of the finger 21 is detected by the displacement monitoring component 5, and the size of the clamping force is obtained through a control algorithm. The displacement monitoring component 5 can be a displacement laser sensor. The displacement monitoring component 5 detects the radial displacement of the working region of the elastic material 22 in the finger 21.

[0066] As shown in Figure 4 the friction coefficient detection component 4 comprises a force gauge 42, the force gauge 42 and the gripping component 2 act on the two ends of the graphite 10 respectively to cause the relative movement between the gripping component 2 and the graphite 10, and the force gauge 42 is electrically connected to the controller. Specifically, the gripping component 2 is used for gripping the top end of the graphite 10, the force gauge 42 is located at the bottom end of the graphite 10, the gripping component 2 applies a downward force to the top end of the graphite 10, the applied force is gradually increased until the relative movement between the gripping component 2 and the graphite 10 occurs, the size of the applied force is recorded by the force gauge 42, the force gauge 42 sends the detected numerical signal to the controller, the controller receives the signal sent by the force gauge 42 and calculates the friction coefficient, and the friction coefficient between the graphite 10 and the elastic material 22 is calculated by using the formula: thrust force = gravity + friction force = gravity + clamping force x friction coefficient, thereby calculating the friction coefficient between the graphite 10 and the elastic material 22. The value of the friction coefficient is used as the initial friction coefficient, and the initial friction coefficient is the maximum friction coefficient.

[0067] Wherein, the graphite 10 cannot fall off by the friction force greater than the gravity, the minimum friction coefficient can be obtained by the gravity of the graphite 10 and the maximum clamping force without damaging the graphite 10. The friction coefficient between the elastic material 22 and the graphite 10 can be attenuated during the use of the graphite grabbing device, the controller is electrically connected to the force applying mechanism 41 and used to drive the output power of the force applying mechanism 41, the force applied by the force applying mechanism 41 to the graphite 10 is less than the force applied by the friction coefficient obtained by the force gauge 42 and greater than the force corresponding to the minimum friction coefficient during the use of the graphite grabbing device, whether the graphite 10 can be driven to move relative to the grabbing component 2 by the force applying mechanism 41, thereby obtaining whether the graphite grabbing device can grab and assemble the graphite 10, or clean the plurality of elastic materials 22 by the cleaning component 6, or replace the plurality of elastic materials 22.

[0068] As shown in Figure 1 and Figure 2 The grabbing component 2 further comprises a graphite positioning member 23, the top of the graphite positioning member 23 is connected to the driving mechanism 1 and located between the plurality of fingers 21, and the bottom of the graphite positioning member 23 is used to extend into the positioning hole of the graphite 10. The graphite positioning member 23 has a positioning effect and extends into the positioning hole of the graphite 10, so that the grabbing component 2 can be accurately positioned between the graphite 10 when grabbing the graphite 10, further ensuring the stability of the graphite grabbing device during use.

[0069] Specifically, the graphite positioning member 23 is connected to the hand body of the driving mechanism 1 by bolts and located between the plurality of fingers 21, the plurality of fingers 21 move along the direction close to or away from the graphite positioning member 23 to realize the mutual approach or mutual opening. The bottom of the graphite positioning member 23 is processed with a positioning plane, the positioning plane extends into the positioning hole of the graphite 10 and cooperates with the positioning hole to realize the positioning of the grabbing component 2 and the graphite 10. The graphite positioning member 23 cooperates with the waist hole of the graphite 10 through the waist hole structure of the graphite positioning member 23, which can improve the positioning accuracy between the grabbing component 2 and the graphite 10. The material of the graphite positioning member 23 is polytetrafluoroethylene, which can effectively reduce the friction generated during the contact between the graphite positioning member 23 and the graphite 10, and further reduce the damage to the graphite 10.

[0070] The clamping force detection component 3 can be a pressure sensor. One end of the pressure sensor is bolted to the gripping body, and the other end abuts against the finger 21. The finger 21 is bolted to the drive mechanism 1. During the clamping process, the drive mechanism 1 drives the multiple fingers 21 to press against the pressure sensor on the gripping body, measuring the actual clamping force of the gripping component 2. The clamping force must meet the design requirements; otherwise, the graphite 10 will fall off. If the clamping force does not meet the design requirements, the cause of the insufficient clamping force needs to be investigated. After troubleshooting, the graphite 10 is clamped again. There are multiple clamping force detection components 3, each corresponding to one of the multiple fingers 21.

[0071] A sensor can be installed at the bottom of the graphite positioning component 23. The sensor detects whether there is graphite 10 below the gripping component 2 and determines whether the axial position of the graphite 10 on the gripping component 2 is correct. When the position is correct, the bottom of the gripping component 2 contains graphite 10, and the fingers 21 are closed to clamp the graphite 10.

[0072] Example 2

[0073] This utility model embodiment also discloses a core graphite assembly method, which utilizes the core graphite gripping device as described in Embodiment 1 to assemble the graphite 10. Figure 9 As shown, the core graphite assembly method includes the following steps: S1, adjusting the clamping force of the core graphite gripping device to a suitable range and using it to grip graphite 10; S2, detecting whether there is relative movement between the core graphite gripping device and graphite 10; if there is no relative movement, controlling the core graphite gripping device to move graphite 10 for assembly; if relative movement occurs, cleaning or replacing the surface of the core graphite gripping device used to clamp graphite 10, and then returning to step S1.

[0074] The control core graphite grabbing device is used for grabbing graphite 10, and the clamping force detection component 3 and the friction coefficient detection component 4 are used for adjusting the clamping force of the clamping component 2 clamping the graphite 10 and detecting whether the clamping component 2 and the graphite 10 move, respectively, in the process of grabbing the graphite 10, so that the clamping force of the core graphite grabbing device clamping the graphite 10 is detected to be in a suitable range to meet the requirements of clamping the graphite, and the clamping force will not cause damage to the graphite 10 directly contacted. The friction coefficient detection component 4 detects whether the core graphite grabbing device and the graphite 10 relatively move, and if the core graphite grabbing device and the graphite 10 do not relatively move, the core graphite grabbing device moves the graphite 10 for assembly, the clamping component 2 can bear the weight of the graphite 10 and various loads in the grabbing process, so that the driving mechanism 1 and the clamping component 2 grab and move the graphite 10 to realize the assembly of the graphite 10. In order to ensure grabbing, assembly and effectively avoid damage to the graphite 10, improve the quality of grabbing and assembly of the core graphite 10, at the same time, ensure reliability, reduce manufacturing cost, and provide strong guarantee for safe operation of the nuclear reactor.

[0075] If the core graphite grabbing device and the graphite 10 relatively move, the surface of the elastic material 22 in the core graphite grabbing device clamping the graphite 10 is cleaned or the elastic material 22 is replaced, and then the step S1 is returned. By cleaning or replacing the elastic material 22, the friction coefficient of the surface of the elastic material 22 is increased, so that the subsequent grabbing and assembly of the graphite 10 will not cause falling phenomenon.

[0076] In the step S2, the following steps are specifically included: S21, controlling the clamping component 2 to move the graphite 10 to the force applying mechanism 41, so that the force applying mechanism 41 applies force to the graphite 10; S22, the image detection piece is used for shooting whether the clamping component 2 and the graphite 10 relatively move. The clamping component 2 grabs the graphite 10 to the force applying mechanism 41 of the friction coefficient detection component 4, and the image detection piece detects whether the core graphite grabbing device and the graphite 10 relatively move. In order to ensure grabbing, assembly and effectively avoid damage to the graphite 10, improve the quality of grabbing and assembly of the core graphite 10, at the same time, ensure reliability, reduce manufacturing cost, and provide strong guarantee for safe operation of the nuclear reactor.

[0077] The core graphite assembly method in the embodiment relates to graphite 10 clamping and carrying state evaluation, and is used for evaluating the friction coefficient between the gripper and the graphite 10. Through reasonable structure design and good assembly process method, the core graphite grabbing device can have sufficient strength, rigidity and stability to meet the grabbing and assembly requirements of the core graphite 10.

[0078] As Figure 7 and Figure 8As shown, the specific steps for determining the appropriate range: S01, determine the minimum friction coefficient based on the material properties of graphite 10; S02, determine the maximum clamping force based on the minimum friction coefficient; S03, control the first time the core graphite grabbing device grabs and moves the graphite 10 on the dynamometer 42; when the graphite 10 and the grabbing component 2 move relative to each other, the maximum friction coefficient of the core graphite grabbing device and the minimum clamping force are calculated according to the force value of the dynamometer 42; S04, determine the appropriate range according to the minimum clamping force, the maximum clamping force and the non-damage of the graphite 10 clamping.

[0079] According to the need, the relative movement between the two graphite 10 grabbed by the assembly can determine the minimum friction coefficient and the maximum clamping force of the core graphite grabbing device, and then control the grabbing component 2 to grab and move the graphite 10 on the dynamometer 42; when the graphite 10 and the grabbing component 2 move relative to each other, the maximum friction coefficient of the core graphite grabbing device and the minimum clamping force are calculated according to the force value of the dynamometer 42 and the clamping force value of the pressure detection component 20, and the appropriate range is determined according to the minimum clamping force, the maximum clamping force and the non-damage of the graphite 10 clamping. Among them, the appropriate range can give a certain safety margin.

[0080] As shown in Figure 7 , the clamping force of the grabbing component 2 is measured by the pressure detection component 20 to ensure the accuracy of the core graphite grabbing device. Specifically, the plurality of fingers 21 are not installed with the plurality of elastic materials 22, and the plurality of fingers 21 directly clamp the pressure detection component 20, and the clamping force of the grabbing component 2 is measured by the pressure detection component 20, and the clamping force satisfies that no indentation is caused after contacting the graphite 10. Among them, the pressure detection component 20 can be a pressure sensor.

[0081] As shown in Figure 8 , the plurality of elastic materials 22 are installed on the plurality of fingers 21. In step S03, the graphite 10 is clamped by the grabbing component 2, the bottom of the graphite 10 is clamped by the grabbing component 2, the top of the graphite 10 is abutted by the dynamometer 42, the graphite 10 is provided with a downward pushing force by the dynamometer 42, the grabbing component 2 provides a clamping force, and at the same time a friction force is generated by the contact between the plurality of elastic materials 22 and the graphite 10, the graphite 10 moves relative to the grabbing component 2 after the pushing force of the dynamometer 42 overcomes the friction force generated between the plurality of elastic materials 22 and the graphite 10 by the gravity of the graphite 10 itself, the value of the dynamometer 42 at the last moment before the graphite 10 moves relative to the grabbing component 2 is recorded, and the friction coefficient is calculated by the formula. The value of the friction coefficient is used as the initial friction coefficient, and the initial friction coefficient is the maximum friction coefficient and the minimum clamping force. Among them, the positions of the grabbing component 2 and the dynamometer 42 can also be reversed, that is, the top of the graphite 10 is clamped by the grabbing component 2, and the bottom of the graphite 10 is abutted by the dynamometer 42.

[0082] In step S2, if the relative movement is generated for the first time, the surface of the elastic material 22 in the core graphite grabbing device is cleaned by the cleaning component 6, and then the step S1 is returned. Specifically, if the relative movement is generated between the core graphite grabbing device and the graphite 10, the core graphite grabbing device sends the graphite 10 to the designated area and releases it, and then the driving mechanism 1 drives the grabbing component 2 to move to the cleaning component 6 and is sleeved on the cleaning component 6. The cleaning component 6 cleans the clamping surface of the grabbing component 2, that is, the clamping surface of the plurality of elastic materials 22, and then the graphite 10 is clamped again after the cleaning is completed.

[0083] In step S2, if the relative movement is generated for the first time, the surface of the elastic material 22 in the core graphite grabbing device is cleaned by the cleaning component 6, and then the step S1 is returned. Specifically, if the relative movement is generated between the core graphite grabbing device and the graphite 10, the core graphite grabbing device sends the graphite 10 to the designated area and releases it, and then the driving mechanism 1 drives the grabbing component 2 to move to the cleaning component 6 and is sleeved on the cleaning component 6. The cleaning component 6 cleans the clamping surface of the grabbing component 2, that is, the clamping surface of the plurality of elastic materials 22, and then the graphite 10 is clamped again after the cleaning is completed.

[0084] When the core graphite grabbing device grabs the graphite for the first time, the step S1 is implemented, and then the core graphite grabbing device is controlled to move the graphite for assembly. When the core graphite grabbing device is used for the first time, there is no graphite 10 dust impurities on the elastic material 22, so that the friction coefficient of the elastic material 22 is the largest at this time, and the core graphite grabbing device directly adjusts the clamping force to grab the graphite 10 and moves the graphite 10 for assembly, so that it is not necessary to detect whether the core graphite grabbing device and the graphite 10 are relatively moved by using the friction coefficient detection component 4, thereby improving the assembly efficiency.

[0085] When the core graphite grabbing device with the replaced elastic material 22 grabs the graphite 10 for the first time, the step S1 is implemented, and then the core graphite grabbing device is controlled to move the graphite 10 for assembly. After the elastic material 22 is replaced, there is no graphite 10 dust impurities on the elastic material 22 at this time, and the friction coefficient of the elastic material 22 is the largest. The core graphite grabbing device directly adjusts the clamping force to grab the graphite 10 and moves the graphite 10 for assembly, so that it is not necessary to detect whether the core graphite grabbing device and the graphite 10 are relatively moved by using the friction coefficient detection component 4, thereby improving the assembly efficiency.

[0086] When the core graphite grabbing device grabs the graphite 10 and / or the core graphite grabbing device moves the graphite 10, the displacement monitoring component 5 detects the radial displacement of the working area of the elastic material 22. By detecting the radial displacement of the working area of the elastic material 22 through the displacement monitoring component 5, the online detection of clamping is realized, and the radial displacement of the working area of the elastic material 22 in the finger 21 after the finger 21 clamps the graphite 10 is measured. At the same time, on the basis of reserving a safety factor, the optimal clamping force of the system is given, so that the stability is higher in the process of grabbing and assembling.

[0087] In step S1, if the clamping force of the core graphite grabbing device is not in the appropriate range, the fault is checked until the clamping force of the core graphite grabbing device is in the appropriate range. Specifically, the actual clamping force of the grabbing component 2 is measured by the clamping force detection component 3, and if the clamping force does not meet the design requirements, the core graphite grabbing device releases the graphite 10 to the designated area, and then checks the reason why the clamping force does not meet the requirements. After the troubleshooting is completed, the graphite 10 is clamped again until the clamping force of the core graphite grabbing device is in the appropriate range.

[0088] Embodiment 3

[0089] For the nuclear-grade graphite non-destructive assembly technology problem involved in the background art, the elastic material 22 of the core graphite grabbing device is tested for material selection, that is, the contact material of the graphite 10 is tested for material selection to ensure the premise of safe grabbing of the graphite 10, while avoiding damage to the graphite 10.

[0090] In this embodiment 3, the elastic material 22 is selected from materials such as nylon, glass fiber, aluminum, brass, and rubber for friction coefficient testing. According to the test results of the friction coefficient test, in terms of material hardness: brass > aluminum > glass fiber > nylon > rubber. In terms of processing precision, brass and aluminum have higher hardness and the highest processing precision, but have smaller friction coefficients. Glass fiber and nylon have lower hardness than brass and aluminum, and the processing precision is not easy to guarantee, and the graphite 10 is easy to be damaged. Rubber has the lowest processing precision, but has the largest friction coefficient, and the material is relatively soft, which plays a role in buffering the positive pressure of the graphite 10. According to the test results, the contact material of the graphite 10 is selected to be rubber. Therefore, preferably, the elastic material 22 is a rubber patch, that is, the material of the elastic material 22 is rubber.

[0091] Embodiment 4

[0092] As Figure 10 and Figure 11As shown, the same parts of the core graphite grabbing device in this embodiment 4 as those in embodiment 1 are not repeated, and only the different parts are described. In this embodiment 4, the grabbing component 2 further comprises a metal connecting plate 24, one side of the metal connecting plate 24 is connected to the finger 21, and the other side of the metal connecting plate 24 is provided with a rubber patch. The rubber patch is detachably connected to the other side of the metal connecting plate 24. The rubber patch is mounted and connected to the finger 21 through the metal connecting plate 24, so that the connection stability is high.

[0093] The inner side surface of the finger 21 has a groove, and the metal connecting plate 24 is embedded into the groove. The metal connecting plate 24 and the rubber patch are accurately positioned and mounted into the groove, and the bolt is mounted and connected to the metal connecting plate 24, the rubber patch and the finger 21, so that the mounting and connection is very convenient.

[0094] The metal connecting plate 24 is made of an alloy steel plate; the rubber patch is bonded to the metal connecting plate 24, and the metal connecting plate 24 is detachably connected to the finger 21 through the bolt. The rubber patch is connected to the metal connecting plate 24 through bonding, so that the mounting and connection is very convenient. A plurality of through holes are formed on the metal connecting plate 24 and the rubber patch, and the plurality of through holes are connected to the finger 21 through the bolt, so that the mounting and dismounting is very convenient. The through holes can be threaded holes, the rubber patch is bonded to the alloy steel plate, the threaded holes are processed, and the bolt is connected to the finger 21. The utility model selects and tests the graphite 10 contact material, the rubber patch contacts the graphite 10, avoids damage to the graphite 10 in the clamping and carrying process, and provides a large friction coefficient on the contact surface, so as to avoid damage to the graphite 10 under the premise of ensuring safe grabbing of the graphite 10.

[0095] The rubber patch protrudes from the finger 21 and is exposed on the outer surface of the finger 21 to contact the graphite 10 alone, as the main bearing area, the area size and thickness need to be combined with the deformation amount of the graphite 10 clamped by the finger 21 to meet the seamless contact between the rubber patch and the graphite 10. The rubber patch is a consumable, which can be replaced as the clamping frequency increases, so as to avoid direct replacement of the finger 21 and reduce the use cost of the product.

[0096] The finger 21 is made of high-strength material, and the rubber patch is connected to the finger 21 through a flat head bolt to avoid direct contact between the finger 21 and the graphite 10. The finger 21 can be made of high-strength alloy steel, and the graphite 10 is clamped by rubber. The contact surface between the to-be-tested material and the metal connecting plate 24 is a plane, and the side of the to-be-tested material away from the metal connecting plate 24 is matched with the outer surface of the graphite 10. The side of the to-be-tested material away from the metal connecting plate 24 can be a plane, a curved surface, etc. The structure design of the grabbing component 2 fully considers the physical properties of the core graphite and the requirements of graphite 10 grabbing and assembly. Through the structure of the finger 21 matched with rubber, the damage caused by direct contact between the metal and the graphite 10 is avoided under the premise of ensuring the rigidity of the grabbing component 2. At the same time, the rubber material has a certain compressibility, which can ensure that there is no gap between the grabbing hand and the graphite 10, and the effective of the clamping area is guaranteed. The grabbing hand finger 21 is made of high-strength alloy steel, which ensures the structural strength and durability of the finger 21 during long-term use. Through reasonable structure design and material selection, the grabbing hand can bear the weight of the graphite 10 and various loads in the grabbing process, and the risk of plastic deformation or fracture of the finger 21 is avoided.

[0097] Although the specific embodiments of the present application are described above, those skilled in the art should understand that this is only an example, and the protection scope of the present application is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present application, and these changes and modifications all fall within the protection scope of the present application.

Claims

1. A core graphite grabbing device, characterized by, The device comprises a driving mechanism, a grabbing component, a clamping force detecting component, a friction coefficient detecting component and a controller, the clamping force detecting component acts on the grabbing component and is used for detecting the clamping force of the grabbing component clamping graphite, the friction coefficient detecting component acts on the graphite on the grabbing component and is used for detecting whether the grabbing component and the graphite relatively move, the controller is used for receiving the detection signals sent by the clamping force detecting component and the friction coefficient detecting component to control the driving mechanism to drive the grabbing component to grab and move graphite.

2. The core graphite grab of claim 1, wherein, The grabbing component comprises a plurality of fingers, and the plurality of fingers are connected to the driving mechanism so that the driving mechanism is used for driving the plurality of fingers to approach or spread away from each other, and the clamping force detecting component is connected to the fingers and is used for detecting the clamping force of the fingers.

3. The core graphite grab of claim 2, wherein, The device further comprises a cleaning component, which is used for cleaning the elastic material on the fingers.

4. The core graphite grab of claim 2, wherein, The device further comprises a displacement monitoring component, which is directed to the bottom of the fingers and is used for detecting the radial displacement of the fingers.

5. The core graphite grab of claim 4, wherein, The displacement monitoring component is a displacement laser sensor.

6. The core graphite grab of claim 1, wherein, The friction coefficient detecting component comprises a force applying mechanism, which acts on both ends of the graphite respectively with the grabbing component to detect whether the grabbing component and the graphite relatively move.

7. The core graphite grab of claim 1, wherein, The friction coefficient detecting component further comprises an image detecting component, which is directed to the grabbing component and is used for shooting whether the grabbing component grabs graphite and whether the grabbing component and the graphite relatively move, and the image detecting component is electrically connected to the controller.

8. The core graphite grab of claim 1, wherein, The friction coefficient detecting component comprises a dynamometer, which acts on both ends of the graphite respectively with the grabbing component to make the grabbing component and the graphite relatively move, and the dynamometer is electrically connected to the controller.

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