CN101562055B - Submerged electric gripping apparatus - Google Patents
Submerged electric gripping apparatus Download PDFInfo
- Publication number
- CN101562055B CN101562055B CN2009101421971A CN200910142197A CN101562055B CN 101562055 B CN101562055 B CN 101562055B CN 2009101421971 A CN2009101421971 A CN 2009101421971A CN 200910142197 A CN200910142197 A CN 200910142197A CN 101562055 B CN101562055 B CN 101562055B
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- CN
- China
- Prior art keywords
- framework
- motor
- rotating frame
- horizontally
- gripping apparatus
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 239000007788 liquid Substances 0.000 description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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- Manipulator (AREA)
Abstract
The invention discloses a submerged electric gripping apparatus, which comprises a motor, a gear box (2), a screw rod, a clamp (13), a frame and a long rod (5), wherein the motor is divided into a horizontal rotation driving motor (1), a vertical rotation driving motor (4) and a clamping motor (12); the long rod (5) is fixedly connected to the gear box (2); the horizontal rotation driving motor (1) is connected with the horizontal rotating frame (3) through a gear box (2), and the vertical rotation driving motor (4) is connected with the vertical rotating frame (11); the vertical rotating frame (11) is arranged on the horizontal rotating frame (3) through a shaft, and the clamp (13) is arranged on the vertical rotating frame (11); the clamping motor (12) is connected with the clamp (13) through a screw rod; the horizontal rotating frame (3) is provided with a camera device (9). The invention has small volume and no pollution and is suitable for submerged operation.
Description
Technical field
The present invention relates to the reactor engineering technical field, particularly a kind of subsurface electric gripper.
Background technology
At present, gripping apparatus can be divided into the gripping apparatus that handling goods is used on the ground and grasp two kinds of the gripping apparatus that article use under water.The gripping apparatus that exists on the gripping apparatus market of handling goods on the ground has many kinds, but this type gripping apparatus generally is not suitable for underwater operation, and liquid environment is demanding can't use especially.Another is a seawater back warp gripping apparatus under water commonly used, this gripping apparatus volume is bigger, though go for underwater operation, but have relatively high expectations, be afraid of contaminated to the liquid environment in the reactor, this device can not be suitable for, and the operation such as generally can not overturn in the process that grasps of existing gripping apparatus.
Summary of the invention
The present invention has overcome deficiency of the prior art, and the electronic gripping apparatus that a kind of volume is less, pollution-free, be suitable for operation under the liquid is provided.
In order to solve the problems of the technologies described above, the present invention is achieved by the following technical solutions:
A kind of subsurface electric gripper, comprise motor under the liquid, gear, screw mandrel, anchor clamps, framework, drive motor be divided into be fixed on horizontally rotate drive motor on the gear case, be supported on the framework vertical rotational drive motor and be installed in the clamping motor of vertical rotating frame; Horizontally rotating drive motor is connected with framework by the gear pair in the gear case, vertically rotational drive motor is connected with vertical rotating frame by bearing, vertically rotating frame is installed on the framework by axle, anchor clamps are installed on the vertical rotating frame, clamping motor is connected with anchor clamps by screw mandrel, on the described framework camera head is housed.
The present invention is all right: on the described framework lighting device is housed.
Compared with prior art, the invention has the beneficial effects as follows: this device volume is less, can realize the operations such as upset of gripping apparatus by the driving of three different motors, and the good airproof performance of this device is pollution-free to environmental liquids.
Description of drawings
The structural representation of Fig. 1 gripping apparatus
1 horizontally rotate drive motor, 2 gear casees, 3 horizontally rotate framework, 4 vertical rotational drive motors, 5 stocks, 6 flanges, 7 gear pairs, 8 support bars, 9 camera heads, 10 lighting devices, 11 vertical rotating frames, 12 clamping motors, 13 anchor clamps
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is described in further detail:
This device is installed on the crane by the stock 5 in the device, by crane device is delivered to assigned address under water.Stock 5 is fixedlyed connected with sealing gear case 2 by flange 6, seal gear case 2 by the gear pair in axle, bearing and the gear case 7 with horizontally rotate framework 3 and be connected, and be supported on and horizontally rotate on the framework 3.On sealing gear case 2, the drive motor 1 that horizontally rotates that is fixed on the gear case 2 takes to by the gear pairs 7 in the transmission gear box 2 and horizontally rotates framework 3 rotations, realizes the spinning movement of gripping apparatus in surface level.
Vertically rotational drive motor 4 is supported on and horizontally rotates on the framework 3, and be connected with vertical rotating frame 11 by bearing, gear, thereby drive the rotation that vertical rotating frame 11 is realized in the vertical plane, vertically rotating frame 11 is installed in by axle and horizontally rotates on the framework 3.
Clamping motor 12 and anchor clamps 13 are installed on the vertical rotating frame 11, and clamping motor 12 is connected with anchor clamps 13 by screw mandrel, drive anchor clamps 13 and realize clamping and unclamp operation.
By above cooperation, package unit is implemented in rotation and the clamping operation in the three dimensions.
This device can be applied to the operation in the reactor pond, especially be fit to heap pond interior conduit clamping, fall the operations such as salvaging of thing.In entire work process, neither have actuating medium and be leaked in the liquid environment medium and distinguish, do not have environmental liquids yet and bleed in the parts such as motor, guarantee pollution-free generation in the course of work.
Claims (2)
1. a subsurface electric gripper comprises motor, gear case (2), screw mandrel, anchor clamps (13), framework, stock (5), it is characterized in that, motor is divided into and horizontally rotates drive motor (1), vertically rotational drive motor (4) and clamping motor (12); Stock (5) is fixedly connected on the gear case (2); Horizontally rotate drive motor (1) by gear case (2) with horizontally rotate framework (3) and be connected, vertically rotational drive motor (4) is supported on and horizontally rotates on the framework (3), and be connected with vertical rotating frame (11) by bearing, gear, vertically rotating frame (11) is installed in by axle and horizontally rotates on the framework (3), and anchor clamps (13) are installed on the vertical rotating frame (11); Clamping motor (12) is connected with anchor clamps (13) by screw mandrel; Described horizontally rotating is equipped with camera head (9) on the framework (3).
2. a kind of subsurface electric gripper according to claim 1 is characterized in that, described horizontally rotating is equipped with lighting device (10) on the framework (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101421971A CN101562055B (en) | 2009-06-05 | 2009-06-05 | Submerged electric gripping apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101421971A CN101562055B (en) | 2009-06-05 | 2009-06-05 | Submerged electric gripping apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101562055A CN101562055A (en) | 2009-10-21 |
| CN101562055B true CN101562055B (en) | 2011-09-14 |
Family
ID=41220808
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009101421971A Active CN101562055B (en) | 2009-06-05 | 2009-06-05 | Submerged electric gripping apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101562055B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110736427B (en) * | 2019-10-25 | 2021-05-18 | 中国核动力研究设计院 | Machine vision positioning system and positioning method for reactor detector assembly dismantling device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4188166A (en) * | 1976-05-24 | 1980-02-12 | Ateliers et Chantiers de Bretagne-A.C.B. | Small size telemanipulator |
| CN1421376A (en) * | 2003-01-10 | 2003-06-04 | 清华大学 | Automatic distant gravitational escapement |
| CN101102869A (en) * | 2004-11-24 | 2008-01-09 | 佩里·斯林斯里系统有限公司 | Control system for an articulated manipulator arm |
| CN201408557Y (en) * | 2009-06-05 | 2010-02-17 | 中国原子能科学研究院 | Electric underliquid grabbing device |
-
2009
- 2009-06-05 CN CN2009101421971A patent/CN101562055B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4188166A (en) * | 1976-05-24 | 1980-02-12 | Ateliers et Chantiers de Bretagne-A.C.B. | Small size telemanipulator |
| CN1421376A (en) * | 2003-01-10 | 2003-06-04 | 清华大学 | Automatic distant gravitational escapement |
| CN101102869A (en) * | 2004-11-24 | 2008-01-09 | 佩里·斯林斯里系统有限公司 | Control system for an articulated manipulator arm |
| CN201408557Y (en) * | 2009-06-05 | 2010-02-17 | 中国原子能科学研究院 | Electric underliquid grabbing device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101562055A (en) | 2009-10-21 |
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| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |