A manipulator gripper and its application

Abstract

The invention discloses a fuel rod replacing manipulator comprising a core rod, an elastic clamping jaw and a fastening sleeve cylinder. The core rod is used for sensing the position of the fuel rod. The elastic clamping jaw comprises a plurality of clamping jaw pieces. The elastic clamping jaw can move axially relative to the fastening sleeve cylinder, such that the plurality of clamping jaw pieces are positioned on the outer periphery of the fuel rod, and the plurality of clamping jaw pieces can fixedly clamp the fuel rod. Therefore, nuclear fuel rod grabbing is realized. The curvature of the outer curved surface that the clamping jaw pieces of the elastic clamping jaw contact the fastening sleeve cylinder matches the curvature of the inner wall surface of the fastening sleeve cylinder. Therefore, when the fastening sleeve cylinder performs relative displacement with the elastic clamping jaw, the outer curved surface of the clamping jaw head part of the elastic clamping jaw is always subjected to surface contact with the inner curved surface of the fastening part of the fastening sleeve cylinder. The manipulator clamping jaw provided by the invention has a clever structure, such that manipulator clamping jaw size is small, clamping force is high, and reliability is high. The manipulator clamping jaw is self-adaptive to workpieces with various sizes, and has a good clamping characteristic. Relative movements of the fastening sleeve cylinder, the elastic clamping jaw, and the core rod is controlled by another execution mechanism, and a workpiece to be clamped can be clamped.

Description

technical field [0001] The invention belongs to the field of manipulators, and relates to a manipulator for replacing fuel rods and its application, which is suitable for replacing fuel rods in nuclear reactors. Background technique [0002] In order to improve the utilization rate of fuel assemblies and the economical efficiency of power plants, for the irradiated fuel assemblies whose components are damaged but have not reached the maximum burnup, on the premise of ensuring the safety of fuel assemblies and cores, it can be considered to repair and re-enter the reactor for use , Pulling out or inserting fuel rods from damaged components is an important part of fuel component repair equipment. The nuclear fuel gripper is the core actuator that directly contacts the nuclear fuel assembly during the first charging of the nuclear reactor and the overhaul period. It is the core component of the entire set of nuclear fuel handling and storage system equipment. The fuel rod is pu...

AI Technical Summary

Problems solved by technology

[0003] Chinese patent application 94193513.2 discloses a fuel rod assembly loading device, which includes a fuel rod clamping device, but the disadvantage of this device is that the locking of the elastic chuck to the fuel rod is completely dependent on the outer tube Clamping, this kind of clamping device is not reliable enough and not safe enough when clamping fuel rods

[0005] The collet device does not completely rely on the outer tube to lock, so that the reliability and safety are greatly improved. In the contact and clamping surface of the rod, the traditional structure is still used, so that in the process of grabbing or clamping the fuel rod, its reliability is still not high enough, and the fatigue resistance is poor

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