CN-122009961-A - Rotary long connecting rod grabbing and releasing device for deep holes and application method thereof

CN122009961ACN 122009961 ACN122009961 ACN 122009961ACN-122009961-A

Abstract

The invention provides a rotary long connecting rod grabbing and releasing device for deep holes and a using method thereof, and belongs to the technical field of reactor grabbing and lifting. The device comprises an outer pipe and an inner pipe which are coaxially arranged, wherein the lower end of the outer pipe is provided with a limiting claw, the lower end of the inner pipe is provided with a lifting claw, and the outer pipe and the inner pipe are provided with matched toothed structures. The inner tube is driven to rotate relative to the outer tube through the inner tube operation assembly, so that the tooth-shaped structures of the lifting claw and the limiting claw can be switched between a superposed inserting and extracting state and a uniformly staggered locking state. The device adopts a sectional detachable structure, is convenient to disassemble, assemble and transport, controls the rotation angle through the outer tube guiding and positioning and the matching of the limiting pin and the groove of the operation assembly, and ensures the stable and reliable grabbing and releasing process by utilizing the limiting rod to lock the relative position. The invention is suitable for a deep hole environment with narrow space, long distance and invisible, and can realize rapid positioning, grabbing and safe transferring of the hung object.

Inventors

XIONG DANDAN
ZHANG YINRAN
MI DAWEI
LI YANBAO
HU CHENHUI
CAO YANBANG
LI SHIYI
ZHANG YIWEI

Assignees

上海第一机床厂有限公司

Dates

Publication Date: 20260512
Application Date: 20260106

Claims (10)

1. The rotary long connecting rod grabbing and placing device for the deep holes is characterized by comprising an outer pipe (2) and an inner pipe (3); A limiting claw (8) is arranged at the lower end of the outer tube (2); the inner tube (3) is coaxially arranged inside the outer tube (2) and can axially move and circumferentially rotate relative to the outer tube (2); a lifting claw (9) matched with the limiting claw (8) is arranged at the lower end of the inner pipe (3); The lifting claw (9) and the limiting claw (8) are provided with mutually matched toothed structures, and the toothed structures of the lifting claw (9) and the limiting claw (8) are switched between a mutually overlapped inserting or extracting state and a mutually staggered locking state through relative circumferential rotation of the inner pipe (3) and the outer pipe (2).
2. The rotary long connecting rod grabbing and placing device for deep holes according to claim 1 is characterized by further comprising a hanging ring (1), an inner pipe operation assembly (2) and an outer pipe operation assembly (3); The inner tube operation assembly (2) and the outer tube operation assembly (3) are sleeved outside a sleeve formed by the outer tube (5) and the inner tube (6) from top to bottom; The lifting ring (1) is a lifting ring screw, is arranged at the topmost end of the rotary long connecting rod grabbing and placing device for the deep hole and is connected with lifting equipment, and is used for bearing the weight of the whole device and the lifted object.
3. The rotary long link pick-and-place device for deep holes according to claim 2, characterized in that, The outer tube (5) is of a hollow long tubular structure and is divided into a detachable upper half section and a detachable lower half section, and a positioning plate (10) is arranged on the outer wall of the lower half section of the outer tube (5) in a surrounding manner; The inner pipe (6) is used as a main executing component and is also a main bearing component, and after being arranged in the outer pipe (5) and being matched with the outer pipe (5) to rotate relatively, the lifting claw (9) and the limiting claw (8) are switched to be in an inserting state, a pulling state or a locking state; The inner tube (6) is divided into a detachable upper half section and a detachable lower half section.
4. The rotary long link pick-and-place device for deep holes according to claim 2, characterized in that, The inner tube operation assembly (2) is used as an input end of the rotation driving force of the inner tube (6) and comprises an inner tube operation rod (12) for applying the rotation driving force; A limiting pin (23) is arranged at the lower part of the inner pipe operation assembly (2); the limiting pin (23) limits the circumferential relative rotation movement between the inner tube (6) and the outer tube (5); The outer tube operation assembly (3) comprises an outer tube operation rod (13) for controlling the rotation of the outer tube; A limiting groove (32) matched with the limiting pin (23) of the inner pipe operation assembly (2) is formed in the upper part of the outer pipe operation assembly (3), and the limiting groove (32) is a non-full-ring arc-shaped groove coaxial with the inner pipe (6); By rotating the inner tube operating rod (12), the limiting pin (23) moves in the limiting groove (32), so that the rotation angle of the inner tube (6) relative to the outer tube (6) is controlled.
5. The rotary long connecting rod grabbing and placing device for deep holes according to claim 2, further comprising a limiting rod (7) and a limiting rod (56); the inner tube (6) and the outer tube (5) are provided with at least two limiting holes which can be mutually aligned under different relative positions; When the rotary long connecting rod grabbing and placing device for the deep hole is in an inserting state, a pulling-out state or a locking state, the limiting rod (56) penetrates through the limiting holes aligned inside and outside, and the relative circumferential positions of the inner tube (6) and the outer tube (5) are locked; When the limiting rod (7) is used for storing the device in a split mode, axial and circumferential movement limiting of the upper half section of the inner pipe (6), the upper half section of the outer pipe (5) and the lower half section of the inner pipe (6) and the outer pipe (5) is provided, but the required circumferential rotation angle between the inner pipe (6) and the outer pipe (5) is not limited.
6. The rotary long link pick-and-place device for deep holes according to claim 5, characterized in that, When the rotary long connecting rod grabbing and placing device for deep holes is stored in a split mode, two limiting rods (7) are used for respectively providing axial limiting of the inner pipe (6), the upper half section of the outer pipe (5) and the lower half sections of the inner pipe (6) and the outer pipe (5); The inner tube (6) at the passing position of the limiting rod (7) is provided with a small round hole, and the outer tube (5) is provided with a square groove; the square grooves are symmetrically arranged about the axis of the rotary long connecting rod grabbing and releasing device for the deep holes, and the upper side and the lower side of each square groove are equal to the arc length corresponding to the 45-degree rotation angle of the outer pipe (5); The limiting rod (7) does not limit the rotation freedom degree of the 45-degree rotation angle between the inner tube (6) and the outer tube (5) after penetrating through the small round hole and the square groove; the limiting holes formed in the inner pipe (6) comprise a first inner pipe limiting hole (41) and a second inner pipe limiting hole (42) which are arranged at intervals of 45 degrees in radian; the limiting holes formed in the outer tube (5) comprise a first outer tube limiting hole (43) and a second outer tube limiting hole (44) which are arranged at intervals of 90 degrees in radian.
7. The rotary long connecting rod grabbing and placing device for deep holes according to claim 1, characterized in that the whole limiting claw (8) is of a vector cone-shaped guiding limiting structure at the lower end and is provided with a quadrangle tooth-shaped structure, The limiting claw (8) is connected to the lower end wall of the outer tube (5) and used for enabling the outer tube (5) to be rotationally locked with a target suspended object; the lifting claw (9) is used as a direct bearing part and is of the same four-corner tooth-shaped structure as the limiting claw (8); when the deep hole is in an inserted or pulled state by the rotary long connecting rod grabbing and releasing device, four teeth of the lifting claw (9) and four teeth of the limiting claw (8) are completely overlapped in the circumferential position; When the rotary long connecting rod grabbing and placing device for deep holes is in a locking state, after the inner pipe (6) rotates 45 degrees relative to the outer pipe (5), teeth of the lifting claw (9) and teeth of the limiting claw (8) are in a state of being uniformly staggered in the circumferential direction.
8. The rotary long link pick-and-place device for deep holes according to claim 2, characterized in that, The top of the lower half section of the inner tube (6) is provided with a connecting rod (16), when the rotary long connecting rod grabbing and placing device for deep holes is assembled, the bottom of the upper half section of the inner tube (6) is sleeved into the connecting rod (16) at the top of the lower half section of the inner tube (6), Flanges (15) are respectively arranged at the bottom of the upper half section and the top of the lower half section of the outer tube (5) in a matched manner, The lower end face of a flange (15) arranged at the bottom of the upper half section of the outer tube (5) is attached to the upper end face of the flange (15) arranged at the top of the lower half section of the outer tube (5); The upper half section of the inner tube (6) and the lower half section of the inner tube (6) are connected and locked by locking screws (17) at the nesting connection positions of the upper half section and the lower half section of the connecting rod (16); The upper half section of the outer pipe (5), the upper half section of the inner pipe (6) and the upper half section of the outer pipe (5), the upper half pipe wall of the inner pipe (6) and the inner pipe connecting component form an upper component of the rotary long connecting rod grabbing and placing device for the deep hole; The lower half section of the outer pipe (5), the lower half section of the inner pipe (6) and the lower half section of the outer pipe (5), the lower half pipe wall of the inner pipe (6) and the inner pipe connecting component form a lower component of the rotary long connecting rod grabbing and placing device for deep holes, and the connecting rod (16) belongs to the lower component.
9. A rotary long connecting rod grabbing and placing device for deep holes according to claim 3, characterized in that a weighing sensor is arranged between the lifting hook of the lifting equipment and the lifting ring (1), and the pulling force can be displayed in real time; The appearance of the locating plate (10) is matched with the inner hole section at the upper part of the target suspended object.
10. A method of using the rotary long link pick and place device for deep holes according to any one of claims 1 to 9, comprising: s1, confirming a state before assembling a rotary long connecting rod grabbing and placing device for deep holes, wherein in an initial state, a first inner pipe limit hole (41) at the upper part of the rotary long connecting rod grabbing and placing device for deep holes is aligned with a first outer pipe limit hole (43), an insertion limit rod (56) is inserted to lock, and relative circumferential rotation of an inner pipe (6) and an outer pipe (5) is limited; S2, assembling an upper primary structure and a lower primary structure of a rotary long connecting rod grabbing and placing device for deep holes, namely connecting a lifting ring (1) through lifting equipment, lifting an upper component of the rotary long connecting rod grabbing and placing device for deep holes to a position right above a lower component of the device, dropping the upper component to enable the bottom of the upper half section of an inner pipe (6) to be sleeved into a top connecting rod (16) of the lower half section of the inner pipe (6), and attaching the lower end face of a bottom flange (15) of the upper half section of an outer pipe (5) to the upper end face of a top flange (15) of the lower half section of the outer pipe (5), so as to finish butt joint to form the primary structure; S3, assembling secondary structures of an upper part component and a lower part component of a rotary long connecting rod grabbing and placing device for deep holes, namely after the primary structure in the step S2 is formed, inserting a locking screw (17) into a through hole at the joint of the upper half section and the lower half section of an inner pipe (6) to lock, and then screwing two butt flanges (15) at the joint of the upper half section and the lower half section of the outer pipe (5) by using a bolt component, wherein the deep holes are assembled by using the rotary long connecting rod grabbing and placing device; S4, in a first grabbing intermediate state of the rotary long connecting rod grabbing and placing device for the deep hole, after the rotary long connecting rod grabbing and placing device for the deep hole is lifted to be right above a target hung object, slowly lowering a lifting hook to enable the rotary long connecting rod grabbing and placing device for the deep hole to enter an inner hole of the target hung object, enabling a positioning plate (10) of an outer tube (5) to enter an inner hole section at the upper part of the target hung object, guiding through a limiting claw (8) at the lower part of the outer tube (5), enabling a lifting claw (9) and the limiting claw (8) to enter a grabbing section of the target hung object, and stopping downward movement of the limiting claw (8) at the moment; S5, controlling the inner tube (6) to axially move to drive the lifting claw (9) to continuously move downwards by not more than 10mm, taking out the limiting rod (56) from the limiting holes on the upper half section of the inner tube (6) and the outer tube (5) aligned in the step S1, rotating the inner tube operating rod (12) by hand, and simultaneously, rotating the inner tube (6) relative to the outer tube (5) by 45 degrees anticlockwise by taking the axial direction of the rotary long connecting rod gripping device for deep holes as the axis, wherein the end point of the rotating process is defined by the limit pin (23) on the inner tube operating assembly (2) contacting the end point boundary of the limit groove (32) on the outer tube operating assembly (3); S6, in a grabbing state of the deep hole grabbing and placing device, after the inner pipe (6) rotates in place, the second inner pipe limiting hole (42) is aligned with the second outer pipe limiting hole (44), and the limiting rod (56) is inserted for locking, at the moment, the lifting claw (9) and the limiting claw (8) are in a locking state, the tooth positions of the lifting claw (9) and the limiting claw (8) are uniformly staggered, and the lifting hook of the resetting device is lifted up for lifting and operating; s7, in a first release intermediate state of the rotary long connecting rod grabbing and placing device for the deep hole, after a target object to be lifted is lifted to be right above a target placing position, slowly lowering a lifting hook of a lifting device until another object to be lifted reaches the placing position, wherein the outer pipe (5) is at a lower limit; S8, in a second release intermediate state of the rotary long connecting rod grabbing and placing device for deep holes, after the limiting rod (56) is pulled out of the inner pipe (6) and the outer pipe (5) again, the inner pipe operating rod (12) is manually rotated to hold the outer pipe operating rod (13), and the inner pipe (6) rotates clockwise relative to the outer pipe (5) by 45 degrees with the axial direction of the rotary long connecting rod grabbing and placing device for deep holes as the axial direction of the rotary long connecting rod grabbing and placing device until the limiting pin (23) reversely moves to the initial position boundary of the limiting groove (32); S9, in a fully released state of the rotary long connecting rod grabbing and releasing device for the deep hole, after the inner pipe (6) rotates back to the initial position, the first inner pipe limiting hole (41) is aligned with the first outer pipe limiting hole (42), the limiting rod (56) is inserted again to lock, at the moment, the lifting claw (9) and the limiting claw (8) are in a pulled-out state, and the lifting hook removes the rotary long connecting rod grabbing and releasing device for the deep hole to finish one-time grabbing and releasing work.

Description

Rotary long connecting rod grabbing and releasing device for deep holes and application method thereof Technical Field The invention belongs to the technical field of reactor grabbing and hanging, and particularly relates to a rotary long connecting rod grabbing and releasing device for deep holes and a using method thereof. Background In the reactor refueling engineering, grabbing, placing and transferring operations are required to be carried out on a narrow deep hole component with invisible inside, part of the operation environment has strong radioactivity, and when a spent component enters a storage pool for storage, the operation is also carried out under water, so that a worker is required to carry out remote operation. The component grabbing section is of a toothed structure with a conical surface, and a special grabbing tool is required to be designed for operation. At present, the existing grippers in China are complex in structure, the heads are mostly open and close claws, and the lifting and transferring requirements of the assembly cannot be met. Therefore, it is needed to develop a special gripper which has a simple structure, accurate positioning, absolute and reliable locking, convenient operation, easy storage and transportation, and can provide clear state feedback, so as to solve the general technical problem in the current reactor refueling engineering. Disclosure of Invention Aiming at the defects in the prior art, the invention aims to provide a rotary long connecting rod pick-and-place device for deep holes and a use method thereof. The invention provides a rotary long connecting rod grabbing and placing device for deep holes, which is characterized by comprising an outer pipe and an inner pipe; a limiting claw is arranged at the lower end of the outer tube; the inner pipe is coaxially arranged in the outer pipe and can axially move and circumferentially rotate relative to the outer pipe; the lower end of the inner tube is provided with a lifting claw matched with the limiting claw; the lifting claw and the limiting claw are provided with mutually matched toothed structures, and the toothed structures of the lifting claw and the limiting claw are switched between a mutually overlapped inserting or extracting state and a mutually staggered locking state through relative circumferential rotation of the inner pipe and the outer pipe. Preferably, the rotary long connecting rod grabbing and placing device for the deep hole further comprises a hanging ring, an inner pipe operation assembly and an outer pipe operation assembly; The inner pipe operation assembly and the outer pipe operation assembly are sleeved outside a sleeve formed by the outer pipe and the inner pipe from top to bottom; the lifting ring is a lifting ring screw, is arranged at the topmost end of the rotary long connecting rod grabbing and placing device for the deep hole and is connected with lifting equipment, and is used for bearing the weight of the whole device and the lifted object. Preferably, the outer tube is of a hollow long tubular structure and is divided into a detachable upper half section and a detachable lower half section, and a positioning plate is arranged on the outer wall of the lower half section of the outer tube in a surrounding manner; The inner pipe is used as a main executing component and is also a main bearing component, and is arranged in the outer pipe and is matched with the outer pipe to rotate relatively, so that the lifting claw and the limiting claw are switched to be in an inserting state or a pulling state or a locking state; The inner tube is divided into a detachable upper half section and a detachable lower half section. Preferably, the inner tube operating assembly is used as an input end of the inner tube rotary driving force, and comprises an inner tube operating rod for applying the rotary driving force; a limiting pin is arranged at the lower part of the inner pipe operation assembly; The limiting pin limits the circumferential relative rotary motion between the inner tube and the outer tube; the outer tube operation assembly includes an outer tube operation lever controlling rotation of the outer tube; a limiting groove matched with the limiting pin of the inner pipe operation assembly is formed in the upper part of the outer pipe operation assembly, and the limiting groove is a non-full ring arc groove coaxial with the inner pipe; through rotatory inner tube action bars, the spacer pin removes in spacing recess to control the rotation angle of inner tube relative to outer tube. Preferably, the rotary long connecting rod grabbing and placing device for the deep hole further comprises a limiting rod and a limiting rod; The inner tube and the outer tube are respectively provided with at least two limiting holes which can be mutually aligned under different relative positions; When the rotary long connecting rod grabbing and placing device for the deep hole is in an inserting sta