JPS62175697A - Gripper for nuclear reactor fuel - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of the Invention] The present invention relates to a gripping device for gripping and releasing nuclear reactor fuel or the like in the air.

[Prior art and its problems]

When reactor fuel or the like is transferred in the air, it is carried out by gripping it with a gripping device, moving the gripping device, and releasing the gripping device from the reactor fuel or the like at a predetermined position. FIG. 4 is a sectional view of this type of gripping device. In the figure, the actuator is arranged in a through hole of an electromagnet support ring 6 via a support body 6 which houses an annular electromagnet 5 formed by an annular winding. The upward force generated by the direction of the current and the direction of the magnetic field lines causes the upper actuator rod 2. That is, the actuator rod 1 is guided by the slide bearing 8 provided in the through hole 6a and pulled up. The upper limit of the rise is determined by the shoulder 2b of the actuator rod 2 coming into contact with the shoulder 6b of the through hole 6a of the electromagnet support ring 6.

Note that when the power supply is stopped, the actuator rod 1 descends due to its own weight and the spring 19, and the upper actuator rod 2
The head 2a of the electromagnet supporting ring 6 comes into contact with the upper surface 6C of the electromagnet supporting ring 6, and the lowering position is determined. In addition, a limit switch 9 is provided, and the limit switch 9 is operated along the shape of the head 2a as the actuator rod 1 rises and falls.
It sends an electrical signal to a distant place to indicate the completion of the ascent or descent.

The above-mentioned upper actuator W, electromagnet support ring 6, etc. are housed in a cylindrical upper casing 11, and the upper casing 11 is joined to the lower casing 12 by a set screw 14 with their axes aligned to form a casing 13. ing. And the axis of the actuator rod 2 is the casing 1
It is arranged so as to coincide with the axis of No. 3.

Further, a spacing plate 15 provided with a pin 17 for pin-jointing the three lever-shaped pawls 16 is attached to the lower casing 3 by set screws 18 at positions that divide the cross-sectional circle of the lower casing 3 into three equal parts.

Therefore, the pawls 16 are pin-jointed to the pin 17, and the pawls 16 rotate at the pin-joint portions and can freely move in the space formed by the adjacent gap plates 15 to open and close.

Note that a concave guide 16a is provided inside the claw 16,
A recess is formed in the guide 16a of the three claws 16 (two claws are not shown). It is coupled to the upper actuator rod 2 via a spring 19 interposed between the lower actuator 12a and the lower actuator 12a. The actuator head 3a provided at the lower end of the lower actuator rod 3 is located in the recess formed by the guide 16a.

In addition, the upper plate 11a of the upper caisson 11 has a hanging metal fitting 2.
1 is provided, and the actuator rod 1. Electromagnet support ring 6, claw 16. Grip device 20 consisting of casing 13 etc.
can only be lifted up and down using wire ropes 22 or the like.

With this structure, opening and closing of the claw 16, which is performed by rotating around the pin 17, is performed by energizing or de-energizing the electromagnet 5. That is, when the electromagnet 5 is energized, the actuator rod 1 is struck by its own weight and the spring 19 and is pulled up as described above.

Therefore, the actuator head 3a is connected to the guide 16 of the pawl 16.
The claw 16 is closed by the movement along a. Further, when the power supply to the electromagnet 5 is stopped, the actuator rod 1 is lowered by its own weight and the spring 19 as described above, and the actuator head 3a moves along the guide amount 16a of the claw 16 to close the claw 16.

Therefore, in order to grasp the reactor fuel 25, the tip of the spacing piece 15 is inserted into the interior through the opening of the reactor fuel 25 with the claw 13 closed, and in this state, m'Fll of the electromagnet is stopped and the actuator rod This is done by lowering the handle I to open the claw 16, and fitting the groove 25a of the gripping portion of the reactor fuel 25 with the protrusion 16b at the tip of the claw 16. Then, the gripping device 20 is lifted up while gripping the reactor fuel 25 and transferred to a predetermined position. Then, the reactor fuel 25 is suspended and placed at a predetermined position. In this state, the electromagnet is energized, the actuator rod 1 is raised, and the claw 16 is
By closing the gripping device and lifting the gripping device, the insertion tip of the spacing piece of the gripping device 20 is pulled out and released from the opening of the reactor fuel 25, and the reactor fuel 25 is placed in a predetermined position.

However, in such a gripping device, the reactor fuel placed in a predetermined position for transfer is oriented relative to the axis of the casing of the gripping device, and relative to the axis when the gripping device grips the reactor fuel. is the same as

Therefore, in order to orient the reactor fuel with respect to the axis in a different direction from when it was gripped due to the requirements of the next process, it is necessary to suspend the reactor fuel with a gripping device and rotate it with respect to the axis. However, because nuclear reactor fuel is radioactive, workers cannot rotate it multiple times. For this reason, methods are used to place the reactor fuel on a pedestal and rotate the pedestal, or to rotate the entire crane that moves a gripping device at a predetermined position. However, such a method has the disadvantage that it requires a lot of time and labor to transfer the object to be handled, such as reactor fuel.

[Purpose of the invention]

In view of the above-mentioned points, the present invention provides a method for gripping an object to be handled such as nuclear reactor fuel by rotating a device by remote control.
It is an object of the present invention to provide a gripping device that can rotate an object to be handled at any angle with respect to the axis of the gripping device. It consists of an actuator rod having an actuator head therein along the axis of the casing, and a lever-shaped pawl that is pin-jointed with a pin fixed to the casing, and the pawl is moved by the actuator head when the actuator rod is raised and lowered. is rotated by the pin joint part to open and close it, and is inserted into and removed from the reactor fuel gripping part,
In this gripping device, a cylindrical upper casing enclosing the upper part of the actuator rod and a lower end surface of the upper casing are arranged so that their axes are the same with a gap therebetween, and the gripping device grips and releases the reactor fuel. a lower casing provided with a lower part of the actuator rod and an actuator; a cylindrical body that protrudes upward from the lower casing and has a through hole that can guide the actuator rod and move it up and down; and a shaft that allows the cylindrical body to rotate. The object to be handled, such as reactor fuel, is gripped by the claws by rotating a device consisting of a bearing attached to the upper casing and a drive device attached to the cylindrical body via a reduction gear. [Embodiments of the Invention] Embodiments of the present invention will be described below based on the drawings.

FIG. 1 is a sectional view of a nuclear reactor fuel grasping device according to an embodiment of the present invention, FIG. 2 is a sectional view taken along line OA in FIG. 1, and FIG. 3 is a sectional view taken along line BB in FIG. In FIGS. 1 to 3, parts that are the same as those in the conventional example shown in FIG. 4 are given the same reference numerals. In FIGS. 1 to 3, the gripping device 20
The energization and de-energization of the actuator will cause the unit to turn on and off at 1)L, so the explanation will be omitted. In this embodiment, a lower actuator rod 3 having an actuator head 3a is connected to the upper actuator rod 2 of the actuator rod 1 by a dovetail joint 47. A lower casing 32 is provided that encloses the claw 16, the lower part of the lower actuator rod 3 which is the lower part of the actuator rod 1, and the actuator head 3a. Three slits 33 are newly provided on the circumference of the side wall of the lower casing 32, corresponding to the three claws, so that the three claws IC can be opened and closed. The outer diameter of the lower casing 32 is the same as the outer diameter of the upper casing 31, and the peripheral edge 32a of the upper end surface of the lower casing 32 is the same as the outer diameter of the upper casing 31.
It faces the same axis as 1a with a gap therebetween.

A cylindrical body 32b is provided protruding from the upper surface of the lower casing 32, and the cylindrical body 32b is provided with a through hole 32c through which the lower actuator rod 3 can be guided and moved up and down.

The cylindrical body 32b is rotatably mounted on a ball bearing 3 as a bearing.
It is pivoted on 4. The upper casing 31 encloses the upper part of the actuator rod 1, the electromagnet support ring 6, the cylindrical body 32b, etc., and the outer ring 34a of the ball bearing 34 is inserted into the support plate 35. Further, a reduction gear 40 as a reduction gear is provided at the upper part of the cylindrical body 32b, and a collar 38 is inserted between a dog gear 41 of the reduction gear and the inner ring 34b.
through the ring 39 and the bolt 39a (see Figure 3)-6.
is connected to the large gear 41 of the reduction gear 40 via the gear 42. In addition, the Φ converter shrine is connected to the large gear 41 via the gear 43.
It is connected to the.

t-1 The shrine is equipped with a sensing shaft, and the gripping device 20 is suspended and lowered, and when it reaches the reactor fuel, it moves upward and detects that the gripping device is in a position where its claws can be opened and closed. Send a signal.

Furthermore, the upper limit of the rise of the actuator rod 1 is such that the shoulder 2b of the upper actuator rod 2 is the same as the shoulder 6a of the electromagnet support ring 6.
The lower limit of descent is determined when the stepped surface 2C of the upper actuator rod 2 contacts the support plate 36 of the upper casing 31.
It is determined by touching the In addition, actuator rod 1
The limit switch 38. is actuated along the head 2a of the upper actuator rod 1 as in the prior art and is operated by the upper limit switch 38. The lower limit switch is connected to the outside via a lead wire 7 through the inside.

With such a structure, the gripping device 20 is inserted into the reactor fuel gripping portion as explained in the prior art section, and the claw 16 is inserted into the gripping portion of the reactor fuel.
is opened by the actuator rod 1 to grasp and lift the reactor fuel and transfer it to a predetermined position. In this case, the υ atom-thing 32 can be rotated around the lower actuator rod 3 via the ball bearing 34 to change its direction according to the requirements of the next process. In this state, hang the gripping device 20, place the reactor fuel in a predetermined position, close the claws 16 and lift the gripping device 20, and the reactor fuel will be angled in the direction required for the next process. It can be held and placed and passed on to the next process as is.

In this example, 75=, which deals with nuclear reactor fuel,
The present invention is not limited to this, but the present invention can be applied by providing a grip part in a case for storing radioactive waste that cannot be accessed by workers because it is radioactive.

〔Effect of the invention〕

As is clear from the above description, according to the present invention, the lower casing of the gripping device, which has built-in claws for gripping and releasing reactor fuel, etc., and the upper part of the gripping device, such as bearings and drive devices that rotate this lower casing, are The lower casing is provided in the casing so that the lower end surface of the upper casing and the peripheral edge of the upper end surface of the lower casing face each other with a gap between them. Since the reactor fuel, etc. can be rotated while being gripped by the claws, the reactor fuel, etc. can be transferred to a predetermined position by changing its direction to a predetermined angle according to the requirements of the next process.

[Brief explanation of drawings]

FIG. 1 is a sectional view of a nuclear reactor fuel storage device according to an embodiment of the present invention, FIG. 2 is a sectional view taken along line A-A in FIG. 1, FIG. Figure 4 is a cross-sectional view of a conventional reactor fuel gripping device.Ol: actuator rod, 3
a: Actuator head, 13: Casing, 16:
Claw, 17: pin, 31: upper casing, 32: lower casing, 32b: cylindrical body, 33 nisrit, 34: bearing, 40: reduction gear, 44: drive device.ノ' Previous person's play n upper 1L mouth y 3rd mark 4th figure

Claims (1)

[Claims] an actuator rod having an actuator head disposed within a cylindrical casing along the axis of the casing;
It consists of a pin fixed to the casing and a lever-shaped pawl that is pin-jointed, and the pawl is rotated at the pin joint part to open and close by the actuator head as the actuator rod moves up and down, and is attached to the reactor fuel gripping part. In a gripping device that grips and releases the reactor fuel by inserting and removing it, the cylindrical upper casing that contains the upper part of the actuator rod and the lower end surface of the upper casing are aligned with the same axis with a gap maintained between them. Coming,
enclosing the claw, the lower part of the actuator rod, and the actuator head, and having the same diameter as the upper casing;
and a lower casing having a slit in the side wall so that the claw can be opened and closed; a cylindrical body that protrudes upward from the lower casing and has a through hole that can guide the actuator rod and move up and down; and the cylindrical body is rotatable. A nuclear reactor fuel grasping device comprising: a bearing that is pivotally supported and attached to the upper casing; and a drive device that is attached to the cylindrical body via a speed reduction device.