CN111153198B - Gripping device - Google Patents
Gripping device Download PDFInfo
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- CN111153198B CN111153198B CN202010053553.9A CN202010053553A CN111153198B CN 111153198 B CN111153198 B CN 111153198B CN 202010053553 A CN202010053553 A CN 202010053553A CN 111153198 B CN111153198 B CN 111153198B
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- groove
- section
- rotating assembly
- grooves
- supporting seat
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
Abstract
The invention provides a gripping device, comprising: the device comprises a supporting plate and a plurality of claws arranged on the periphery of the bottom of the supporting plate, wherein the area surrounded by each claw is slightly larger than the overall dimension of a piece to be transferred, and each claw comprises a rotatable blocking piece; when the supporting plate descends to the direction of the to-be-transferred piece to touch the bottom plate, the blocking pieces of the claws rotate inwards to the grabbing positions under the pressure action of the supporting plate so as to grab the to-be-transferred piece; after waiting that the transport piece is transported to preset position top, the backup pad to when the direction of preset position descends to touching the bottom plate, the separation blade of each cleft hand outwards rotates to the unclamping position in order to unclamp waiting to transport under the backup pad pressure effect. In the gripping device, each claw hand only depends on the gravity or the thrust of the supporting plate to realize gripping and loosening operation, a power execution part is not required to be configured, frequent maintenance is not required, the gripping device is more suitable for being used in a box room or other occasions inconvenient to maintain, and the gripping device has high reliability and long service life.
Description
Technical Field
The invention relates to the technical field of nuclear fuel production, in particular to a gripping device.
Background
In the nuclear fuel field, during the processing and production of fuel pellets, the pellets are generally transported by being loaded in a molybdenum boat, wherein the structure of the molybdenum boat is rectangular. In actual production, the molybdenum boat often needs to be transported between different stations or for a long distance, so that the molybdenum boat often needs to be lifted or lowered by using claws during the transportation process. Due to the high radioactivity and toxicity of some special components, the production process needs to be carried out in a glove box, but the personnel in the glove box are inconvenient to carry out the maintenance operation. However, the existing claws need to be driven by power executing parts such as a motor or an air cylinder, but the motor and the air cylinder are easy to break down, so that the claws are inconvenient to overhaul in the glove box, and the production is influenced once the claws are untimely to overhaul.
Therefore, there is a need in the art for a gripping device with high reliability and long service life to replace the conventional claw.
Disclosure of Invention
The present invention has been made to solve, at least in part, the technical problems occurring in the prior art.
The technical scheme adopted for solving the technical problem of the invention is as follows:
the invention provides a gripping device, comprising: the device comprises a supporting plate and a plurality of claws arranged on the periphery of the bottom of the supporting plate, wherein the area surrounded by each claw is slightly larger than the overall dimension of a piece to be transferred, and each claw comprises a rotatable blocking piece; when the supporting plate descends to the direction of the to-be-transferred piece to touch the bottom plate, the blocking piece of each claw rotates inwards to a grabbing position under the pressure action of the supporting plate so as to grab the to-be-transferred piece; when waiting to transport the piece and being transported to preset position top back, the backup pad to when the direction of preset position descends to touching the bottom plate, the separation blade of each cleft hand is outwards rotated to the unclamping position in order to unclamp waiting to transport under the backup pad pressure effect.
Optionally, the claw further comprises: the supporting seat, the elastic element, the rotating assembly and the stop block; the supporting seat is arranged at the bottom of the supporting plate, the supporting seat is hollow inside, through holes are respectively formed in the bottom and the side faces of the supporting seat, and the elastic element is located inside the supporting seat;
the top of the rotating assembly is positioned in the supporting seat and is in contact with the elastic element, the rest parts of the rotating assembly except the top of the rotating assembly extend out of the bottom through hole of the supporting seat from top to bottom, the top end of the rotating assembly is slightly larger than the bottom through hole of the supporting seat, and a groove in a preset shape is formed in the peripheral surface of the part of the rotating assembly positioned in the supporting seat; the stop block is arranged at the through hole on the side surface of the supporting seat, and the end part of the stop block is in sliding connection with the groove on the peripheral surface of the rotating assembly; the baffle plate is of a rectangular plate-shaped structure and is arranged at the bottom of the rotating assembly;
when the supporting plate descends to the direction of the to-be-transferred piece to touch the bottom plate, the supporting seat moves downwards relative to the rotating assembly under the action of the pressure of the supporting plate, so that a stop dog on the side surface of the supporting plate slides along a groove on the peripheral surface of the rotating assembly according to a first preset track and drives the rotating assembly and the stop dog to synchronously rotate, and when the stop dog slides to a limiting position, the stop dog just inwards rotates to a grabbing position; when the supporting plate descends to the preset position to touch the bottom plate, the supporting seat moves downwards relative to the rotating assembly under the action of pressure of the supporting plate, so that the stop dog on the side surface of the supporting seat slides along the groove on the peripheral surface of the rotating assembly according to a second preset track and drives the rotating assembly and the stop dog to synchronously rotate, and when the stop dog slides to the unlocking position, the stop dog just rotates outwards to the unlocking position.
Optionally, the grooves on the circumferential surface of the rotating assembly are circumferentially distributed on the entire outer surface of the rotating assembly, and the grooves include at least two parts which are connected end to end in sequence and are periodically changed.
Optionally, the grooves on the circumferential surface of the rotating assembly comprise four parts, namely first to fourth parts of grooves, each part of grooves is further divided into two sections of grooves which are connected in sequence, namely a first section of groove and a second section of groove, wherein the first section of groove extends downwards from top to bottom in an inclined manner, the second section of groove extends upwards from bottom to top in an inclined manner, and the heights of the head ends of the first section of grooves in each part of grooves are the same or similar, and the heights of the tail ends of the first section of grooves are also the same or similar;
the connecting position of a first section of groove and a second section of groove of the first part of grooves is a limiting position; the connecting position of the second section of groove of the first partial groove and the first section of groove of the second partial groove is a limiting and retaining position; the connecting position of the first section of groove and the second section of groove of the second part of groove is an unlocking position; the connecting position of the second section of groove of the second partial groove and the first section of groove of the third partial groove is an unlocking retaining position;
the connecting position of the first section of groove and the second section of groove of the third part of grooves is a limiting position; the connecting position of the second section of groove of the third partial groove and the first section of groove of the fourth partial groove is a limiting and retaining position; the connecting position of the first section of groove and the second section of groove of the fourth part is an unlocking position; the connection position of the second section of groove of the fourth partial groove and the first section of groove of the first partial groove is an unlocking holding position;
the two ends of the baffle plate are symmetrical about the axis of the rotating assembly.
Optionally, in each part of the grooves, the first section of the groove is divided into an upper section and a lower section which are connected, wherein the upper section of the first section of the groove vertically extends from top to bottom, and the lower section of the first section of the groove obliquely extends downwards from top to bottom; the second section of groove also comprises an upper section and a lower section which are connected, wherein the lower section of the second section of groove vertically extends from bottom to top, and the upper section of the second section of groove extends obliquely upwards from bottom to top.
Optionally, in each part of grooves, the lower section of the first section of grooves is N1 times the length of the upper section thereof, and the lower section of the second section of grooves is N2 times the length of the upper section thereof, wherein N1 and N2 are positive integers.
Optionally, the rotating assembly comprises: the nut is in threaded connection with the bottom of the mandrel; the top and the bottom of the mandrel respectively extend out of the rotating shaft, and the top end of the mandrel is slightly larger than the bottom through hole of the supporting seat; the groove is formed in the peripheral surface of the part, located inside the supporting seat, of the rotating shaft, and the blocking piece and the bottom of the rotating shaft are integrally formed; and bearings are respectively arranged between the top end of the rotating shaft and the top end of the mandrel and between the bottom end of the rotating shaft and the nuts.
Optionally, the grasping apparatus further includes: the guide plates are arranged on the periphery of the bottom of the supporting plate; the guide plate and the claw are arranged at intervals.
Optionally, the support plate is a rectangular plate-shaped structure; the four claws are respectively arranged at the four corners of the rectangular supporting plate; the four guide plates are respectively arranged on the four sides of the rectangular support plate.
Optionally, the grasping apparatus further includes: and the connecting flange is arranged at the top of the supporting plate.
Has the advantages that:
in the gripping device, each claw hand only depends on the gravity or the thrust of the supporting plate to realize gripping and loosening operation, a power execution part is not required to be configured, frequent maintenance is not required, the gripping device is more suitable for being used in a box room or other occasions inconvenient to maintain, and the gripping device has high reliability and long service life.
Drawings
FIG. 1 is an isometric view of a grasping device according to an embodiment of the present invention;
FIG. 2 is a cross-sectional view of a paw provided by an embodiment of the invention;
fig. 3 is a partially expanded view of a spindle according to an embodiment of the present invention.
In the figure: 1-a molybdenum boat; 2-a guide plate; 3-paw hand; 4-a support plate; 5-a connecting flange; 6-a support seat; 7-a spring; 8-mandrel; 9-a rotating shaft; 10-a thrust bearing; 11-a stop block; 12-a nut; 13-baffle plate.
Detailed Description
In order to make the technical solutions of the present invention better understood, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflicting with each other.
In the description of the present invention, it is to be understood that the orientations and positional relationships indicated by the various positional terms are based on the orientations and positional relationships shown in the drawings only for the convenience of describing the present invention and for the simplicity of description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.
Aiming at the problems that the existing claw for grabbing the molybdenum boat needs to be driven by a motor or an air cylinder and other power execution components which are easy to break down and inconvenient to overhaul in a glove box, the embodiment of the invention provides the grabbing device which can be used for grabbing operation of the molybdenum boat and grabbing operation of other to-be-transported pieces. Next, taking the molybdenum boat as an example of the to-be-transferred member, the structure of the gripping device is described in detail, and the structures of the gripping devices for other types of to-be-transferred members are similar and will not be described again.
As shown in fig. 1, the grasping apparatus includes: the molybdenum boat comprises a supporting plate 4 and a plurality of claws 3 arranged on the periphery of the bottom of the supporting plate 4, the area enclosed by each claw 3 is slightly larger than the overall dimension of the molybdenum boat 1, and each claw 3 comprises a rotatable blocking piece and is used for grabbing the molybdenum boat 1. The area enclosed by each claw 3 is much smaller than the molybdenum boat 1, and can be set by those skilled in the art according to the size of the molybdenum boat, and the shortest distance between the claw and the side surface of the molybdenum boat is generally 1-5 cm.
When the support plate 4 descends to the molybdenum boat 1 to touch a bottom plate (i.e. a glove box bottom plate, if the bottom plate is other to-be-transported members which do not need to be grabbed in the glove box, the bottom plate can be a platform or the ground), the blocking pieces 13 of the claws 3 rotate inwards to grabbing positions under the pressure action of the support plate 4 to grab the molybdenum boat 1; when the support plate 4 is lowered to touch the bottom plate after the molybdenum boat 1 is transported above the predetermined position, the retaining pieces 13 of the respective claws 3 are rotated outward to the release position under the pressure of the support plate 4 to release the molybdenum boat 1. The preset position refers to a desired placement position of the molybdenum boat. As for the apparatus (i.e., the moving structure) for controlling the lifting and lowering of the support plate 4, the main body thereof may be located outside the glove box, and only the working end thereof may be located inside the glove box.
In this embodiment, each cleft hand only relies on the gravity or the thrust of backup pad to realize snatching and unclamping the operation, need not dispose power executive component, also need not frequently overhaul yet, more is applicable to the use of the occasion of incasement or other inconvenient overhauls, and the reliability is high, long service life.
Specifically, as shown in fig. 2, the gripper 3 further includes: support seat 6, elastic element, rotating assembly and dog 11. In the present embodiment, the spring 7 is used as the elastic element, but other types of elastic elements may be used, and the present invention is not limited thereto.
The supporting seat 6 is arranged at the bottom of the supporting plate 4, the supporting seat is hollow, through holes are formed in the bottom and the side faces of the supporting seat respectively, and the spring 7 is located inside the supporting seat 6; the top of the rotating assembly is positioned in the supporting seat 6 and is in contact with the spring 7, namely the spring 7 is positioned between the bottom of the supporting plate 4 and the top of the rotating assembly, the rest parts of the rotating assembly except the top extend out of the through hole at the bottom of the supporting seat 6 from top to bottom, the top end of the rotating assembly is slightly larger than the through hole at the bottom of the supporting seat 6, and a groove with a preset shape is formed in the peripheral surface of the part of the rotating assembly positioned in the supporting seat 6; the stop block 11 is arranged at the side through hole of the supporting seat 6, and the end part of the stop block is in sliding connection with the groove on the circumferential surface of the rotating assembly; the baffle 13 is a rectangular plate-shaped structure and is arranged at the bottom of the rotating assembly.
When the support plate 4 descends to the molybdenum boat 1 direction and touches the bottom plate, the support seat 6 moves downwards relative to the rotating assembly under the pressure action of the support plate 4, so that the stop dog 11 on the side surface slides along the groove on the peripheral surface of the rotating assembly according to a first preset track and drives the rotating assembly and the stop dog 13 to synchronously rotate, and the stop dog 13 just rotates inwards to a grabbing position when the stop dog 11 slides to a limiting position; when the supporting plate 4 descends to the preset position to touch the bottom plate, the supporting seat 6 moves downwards relative to the rotating assembly under the pressure action of the supporting plate 4, so that the stop dog 11 on the side surface slides along the groove on the peripheral surface of the rotating assembly according to a second preset track and drives the rotating assembly and the stop dog 13 to synchronously rotate, and the stop dog 13 just rotates outwards to a release position when the stop dog 11 slides to the unlocking position.
According to the specific structure of the claw, the force for driving the baffle 13 to rotate is generated when the stop 11 slides downwards in the groove on the peripheral surface of the rotating assembly when the support plate 4 is pressed downwards, the structure is simple, the reliability is high, and the rotation driving force of the baffle 13 can be generated without arranging a power execution component.
Specifically, as shown in fig. 2, the rotating assembly includes: the device comprises a mandrel 8, a rotating shaft 9 sleeved on the outer side of the mandrel 8, and a nut 12 in threaded connection with the bottom of the mandrel 8.
The top and the bottom of the mandrel 8 respectively extend out of the rotating shaft 9, and the top end of the mandrel 8 is slightly larger than the bottom through hole of the supporting seat 6; the groove is arranged on the circumferential surface of the part of the rotating shaft 9 positioned in the supporting seat 6, and the groove with a special structure is arranged on the circumferential surface of the rotating shaft 9 and matched with the stop block 11, so that the stop block 11 can slide in the groove; the baffle plate 13 is integrally formed with the bottom of the rotating shaft 9; bearings are respectively arranged between the top end of the rotating shaft 9 and the top end of the mandrel 8 and between the bottom end nut 12 of the rotating shaft 9, and therefore, the rotating shaft 9 is connected to the mandrel 8 through the two bearings and the nut, so that the rotating shaft 9 can rotate around the mandrel 8. In the present embodiment, the thrust bearing 10 is used as the bearing, but other types of bearings may be used, and the present invention is not limited thereto.
Of course, the specific structure of the rotating assembly is not limited thereto, and other types of rotating assemblies are also within the scope of the present invention.
In some embodiments, the groove on the circumferential surface of the rotating shaft 9 is circumferentially distributed on the entire outer surface of the rotating shaft, and the groove comprises at least two parts which are sequentially connected end to end and periodically change, so that during the process that the stop block 11 continuously slides in the groove, the rotating shaft 9 drives the blocking piece 13 to continuously rotate, and the blocking piece 13 is continuously switched between the grabbing position and the releasing position.
Specifically, as shown in fig. 3, the grooves on the circumferential surface of the rotating shaft 9 include four parts with the same structure, namely, first to fourth parts of grooves, wherein the stopper 11 slides in the first and third parts of grooves to form the first predetermined track, and slides in the second and fourth parts of grooves to form the second predetermined track, each part of grooves is further divided into two sections of grooves connected in sequence, namely, a first section of grooves (i.e. the groove in fig. 3) and a second section of grooves (i.e. the groove in fig. 3), wherein the first section of grooves extends obliquely downwards from top to bottom, the second section of grooves extends obliquely upwards from bottom to top, the heights of the first section of grooves in each part of grooves are the same or similar, and the heights of the tail ends of the first section of grooves in each part of grooves are also the same or similar, that is, the height difference between the first ends of the first section of grooves in each part of grooves, and the height difference between the tail ends of the first section of grooves in each part of grooves are respectively in the corresponding predetermined ranges, the boundary value of the preset range can be set by a person skilled in the art according to actual conditions;
the connecting position of a first section of groove and a second section of groove of the first part of grooves is a limiting position A; the connecting position of the second section of groove of the first partial groove and the first section of groove of the second partial groove is a limiting and retaining position B; the connecting position of the first section of groove and the second section of groove of the second part of groove is an unlocking position C; the connecting position of the second section of groove of the second partial groove and the first section of groove of the third partial groove is an unlocking holding position D;
the connecting position of the first section of groove and the second section of groove of the third part of grooves is a limiting position A; the connecting position of the second section of groove of the third partial groove and the first section of groove of the fourth partial groove is a limiting and retaining position B; the connecting position of the first section of groove and the second section of groove of the fourth part is an unlocking position C; the connecting position of the second section of groove of the fourth partial groove and the first section of groove of the first partial groove is an unlocking and holding position D.
According to the groove structure, the groove is divided into four parts with the same shape, each part of the groove occupies a quarter of the length of the circumferential surface of the rotating shaft 9, namely, the groove on the circumferential surface of the rotating shaft 9 rotates around the rotating shaft 9, every 90 degrees is of the same structure, the shape is similar to an 'N' shape, the stop block 11 can move along the 'N' shaped groove, when the mandrel 8 is fixed, the stop block 11 descends along the N-shaped groove, the rotating shaft 9 rotates, and the rotating shaft 9 rotates for 90 degrees every time the stop block 11 moves up and down in the groove, two limit positions A, two limit retaining positions B, two unlocking positions C and two unlocking retaining positions D are formed on the whole peripheral surface of the rotating shaft 9, which is equivalent to that the rotating shaft 9 is switched to the limit position or the unlocking position every 90 degrees of rotation under the push of the supporting seat 6, the stop piece 13 continuously completes one round of switching states of limiting → unlocking → limiting → unlocking every time the rotating shaft 9 rotates one round. Under the condition, two ends of the baffle plate 13 can be symmetrical about the axis of the rotating shaft 9, the baffle plate 13 can rotate around the mandrel 8, and the limit and the unlocking of the molybdenum boat 1 can be realized through the rotation of the baffle plate 13.
As shown in fig. 3, further, in each part of the grooves, the first section of groove is divided into an upper section and a lower section which are connected, wherein the upper section of the first section of groove extends vertically from top to bottom, and the lower section of the first section of groove extends obliquely downwards from top to bottom; the second section of groove also comprises an upper section and a lower section which are connected, wherein the lower section of the second section of groove vertically extends from bottom to top, and the upper section of the second section of groove extends obliquely upwards from bottom to top.
In this embodiment, the first section of the groove does not directly extend obliquely downward, but extends vertically downward and then extends obliquely downward, and the second section of the groove does not directly extend obliquely upward, but extends vertically upward and then extends obliquely upward, wherein the vertical section is arranged to prevent the blocking piece 13 from being in a continuous rotation state and affecting the grabbing stability.
In some embodiments, in each part of the grooves, the lower section of the first-stage groove is N1 times the length of the upper section thereof, and the lower section of the second-stage groove is N2 times the length of the upper section thereof, wherein N1 and N2 are positive integers, and the values of the two may be the same or different.
It can be seen that the length of the vertical section in the first section of groove is smaller than that of the inclined section, and the length of the vertical section in the second section of groove is larger than that of the inclined section, so that the stopper 11 can slowly and smoothly rotate to the limiting position/unlocking position during the pressing-down process of the support plate 4, and then quickly reach the limiting holding position/unlocking holding position during the lifting process of the support plate 4.
As shown in fig. 1, the grasping apparatus further includes: a plurality of guide plates 2 arranged around the bottom of the support plate 4; the guide plate 2 and the claw 3 are arranged at intervals.
In this embodiment, the guide plate 2 is used for guiding the molybdenum boat 1, so that the molybdenum boat 1 can conveniently enter the area surrounded by each claw 3.
Aiming at the rectangular molybdenum boat 1 (or other rectangular to-be-transferred pieces), the support plate 4 is of a rectangular plate-shaped structure; four claws 3 are respectively arranged at four corners of the rectangular support plate 4 and used for grabbing and loosening the molybdenum boat 1; the four guide plates 2 are respectively arranged on the four sides of the rectangular support plate 4, and provide a guide effect for the lifting of the whole gripping device.
It should be noted that the shape of the supporting plate 4 is not limited to a rectangle, and if the to-be-transferred member is in other shapes, the supporting plate is preferably the same as the to-be-transferred member, so as to be convenient for grabbing and carrying the to-be-transferred member, for example, if the to-be-transferred member is square, the supporting plate is also preferably square; if the member to be transported is circular, the support plate is preferably circular; if the member to be transported is trapezoidal, the support plate is preferably also trapezoidal.
As shown in fig. 1, the grasping apparatus further includes: the connecting flange 5 is arranged at the top of the supporting plate 4 and is used for connecting the whole gripping device with the moving structure, so that the whole gripping device can be conveniently replaced.
Wherein, the connecting flange 5 can only adopt one, and set up in backup pad 4 upper surface's intermediate position department, alternatively, the connecting flange 5 also can adopt a plurality ofly, evenly distributed in backup pad 4 upper surface.
The working principle of the gripping device according to the embodiment of the invention is described in detail below with reference to fig. 1 to 3:
under normal working conditions, when the molybdenum boat 1 is grabbed, the grabbing device falls down, and the claw 3 moves downwards along the periphery of the molybdenum boat 1 until the nut 12 touches the bottom plate; the gripping device continuously descends by gravity or thrust, and is still by the bottom plate limiting mandrel 8, and the spring 7 is pressed; meanwhile, the stop block 11 slides downwards along the groove on the rotating shaft 9, and the rotating shaft 9 rotates under the action of the stop block 11; a baffle plate 13 at the bottom of the rotating shaft 9 is blocked below the bottom plate of the molybdenum boat 1; the gripping device is lifted, the spring 7 is extended, and the mandrel 8 is kept still; the stop block 11 slides upwards along the groove on the rotating shaft 9 until the rotating shaft 9 finishes 90-degree rotation; the grabbing device continuously ascends to grab the molybdenum boat 1.
When the molybdenum boat 1 is put down, the gripping device descends, the mandrel 8, the rotating shaft 9 and the stop block 11 act as described above, and the baffle 13 at the bottom of the rotating shaft 9 rotates until the baffle 13 leaves the bottom of the molybdenum boat 1 to release the molybdenum boat 1; the gripping device is lifted, the spring 7 is extended, and the mandrel 8 is kept still; the stop 11 slides upwards along the groove on the rotating shaft 9 until the rotating shaft 9 completes the 90-degree rotation again, and the molybdenum boat 1 is put down.
In summary, the gripping device provided by the embodiment of the invention is mainly used for gripping a molybdenum boat or other types of to-be-transported pieces, and comprises the claws, the guide plates, the support plates, the connecting flanges and the like, and the overall gripping device adopts a modular design, so that the gripping device has stronger applicability and is convenient to mount and dismount. Wherein, backup pad and flange are grabbing device's main part, and the deflector is used for waiting to transport the piece direction, and the cleft hand is used for waiting to transport a piece snatchs and unclamps. It is obvious, grabbing device's simple structure, the claw relies on the gravity and the elasticity of backup pad to realize snatching and unclamping, need not be equipped with power executive component, and overall structure is more reliable, so more be applicable to the use of the occasion of incasement or other inconvenient overhauls, the reliability is high moreover, long service life, do not have electrical component, the convenient maintenance of overhauing.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (10)
1. A grasping device, comprising: backup pad and setting are in a plurality of cleft hands around backup pad bottom, the regional slightly larger than the overall dimension who waits to transport the piece that each cleft hand encloses, every cleft hand includes: the rotary retaining plate, the supporting seat, the elastic element, the rotating assembly and the stop block are arranged on the supporting seat; the supporting seat is arranged at the bottom of the supporting plate, the supporting seat is hollow inside, through holes are respectively formed in the bottom and the side faces of the supporting seat, and the elastic element is located inside the supporting seat; the top of the rotating assembly is positioned in the supporting seat and is in contact with the elastic element, the rest parts of the rotating assembly except the top of the rotating assembly extend out of the bottom through hole of the supporting seat from top to bottom, the top end of the rotating assembly is slightly larger than the bottom through hole of the supporting seat, and a groove in a preset shape is formed in the peripheral surface of the part of the rotating assembly positioned in the supporting seat; the stop block is arranged at the through hole on the side surface of the supporting seat, and the end part of the stop block is in sliding connection with the groove on the peripheral surface of the rotating assembly;
when the supporting plate descends to the direction of the to-be-transferred piece to touch the bottom plate, the supporting seat moves downwards relative to the rotating assembly under the action of the pressure of the supporting plate, so that a stop block on the side surface of the supporting plate slides along a groove on the peripheral surface of the rotating assembly according to a first preset track and drives the rotating assembly and the stop sheet to synchronously rotate, and when the stop block slides to a limiting position, the stop sheet just inwards rotates to a grabbing position to grab the to-be-transferred piece; when the supporting plate descends to the direction of the preset position and touches the bottom plate, the supporting seat moves downwards relative to the rotating assembly under the action of the pressure of the supporting plate, so that a stop block on the side surface of the supporting plate slides along a groove on the peripheral surface of the rotating assembly according to a second preset track and drives the rotating assembly and the stop sheet to synchronously rotate, and when the stop block slides to the unlocking position, the stop sheet just rotates outwards to the unlocking position to unlock the to-be-transported piece.
2. The grasping apparatus according to claim 1, wherein the baffle is a rectangular plate-like structure provided at a bottom of the rotating assembly.
3. The grasping apparatus according to claim 1, wherein the grooves on the circumferential surface of the rotating assembly are circumferentially distributed on the entire outer surface thereof, and the grooves include at least two portions that are connected end to end in sequence and that are periodically changed.
4. The grasping apparatus according to claim 3,
the grooves on the circumferential surface of the rotating assembly comprise four parts, namely first to fourth parts of grooves, each part of grooves is divided into two sections of grooves which are connected in sequence, namely a first section of groove and a second section of groove, wherein the first section of groove extends downwards from top to bottom in an inclined way, the second section of groove extends upwards from bottom to top in an inclined way, and the heights of the head ends of the first section of groove and the tail ends of the first section of groove in each part of grooves are the same or similar;
the connecting position of a first section of groove and a second section of groove of the first part of grooves is a limiting position; the connecting position of the second section of groove of the first partial groove and the first section of groove of the second partial groove is a limiting and retaining position; the connecting position of the first section of groove and the second section of groove of the second part of groove is an unlocking position; the connecting position of the second section of groove of the second partial groove and the first section of groove of the third partial groove is an unlocking retaining position;
the connecting position of the first section of groove and the second section of groove of the third part of grooves is a limiting position; the connecting position of the second section of groove of the third partial groove and the first section of groove of the fourth partial groove is a limiting and retaining position; the connecting position of the first section of groove and the second section of groove of the fourth part is an unlocking position; the connection position of the second section of groove of the fourth partial groove and the first section of groove of the first partial groove is an unlocking holding position;
the two ends of the baffle plate are symmetrical about the axis of the rotating assembly.
5. The gripping device of claim 4, wherein in each part of the grooves, the first section of the grooves is divided into an upper section and a lower section which are connected, wherein the upper section of the first section of the grooves extends vertically from top to bottom, and the lower section of the first section of the grooves extends obliquely downwards from top to bottom; the second section of groove also comprises an upper section and a lower section which are connected, wherein the lower section of the second section of groove vertically extends from bottom to top, and the upper section of the second section of groove extends obliquely upwards from bottom to top.
6. The grasping apparatus according to claim 5, wherein in each partial groove, the lower section of the first-stage groove is N1 times the length of the upper section thereof, and the lower section of the second-stage groove is N2 times the length of the upper section thereof, wherein N1 and N2 are positive integers.
7. The grasping apparatus according to claim 1, wherein the rotating assembly includes: the nut is in threaded connection with the bottom of the mandrel; the top and the bottom of the mandrel respectively extend out of the rotating shaft, and the top end of the mandrel is slightly larger than the bottom through hole of the supporting seat; the groove is formed in the peripheral surface of the part, located inside the supporting seat, of the rotating shaft, and the blocking piece and the bottom of the rotating shaft are integrally formed; and bearings are respectively arranged between the top end of the rotating shaft and the top end of the mandrel and between the bottom end of the rotating shaft and the nuts.
8. The grasping apparatus according to claim 1, further comprising: the guide plates are arranged on the periphery of the bottom of the supporting plate; the guide plate and the claw are arranged at intervals.
9. The grasping apparatus according to claim 8, wherein the support plate is a rectangular plate-like structure; the four claws are respectively arranged at the four corners of the rectangular supporting plate; the four guide plates are respectively arranged on the four sides of the rectangular support plate.
10. The grasping apparatus according to claim 1, further comprising: and the connecting flange is arranged at the top of the supporting plate.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010053553.9A CN111153198B (en) | 2020-01-17 | 2020-01-17 | Gripping device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010053553.9A CN111153198B (en) | 2020-01-17 | 2020-01-17 | Gripping device |
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| CN111153198A CN111153198A (en) | 2020-05-15 |
| CN111153198B true CN111153198B (en) | 2021-09-07 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113370200B (en) * | 2021-07-02 | 2023-03-14 | 山东天康恒达科技有限公司 | Site manipulator |
| CN115352762B (en) * | 2022-08-26 | 2024-03-08 | 中国核电工程有限公司 | Molybdenum boat temporary storage device |
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| CN106584494A (en) * | 2016-12-22 | 2017-04-26 | 六安力达生产力促进中心有限公司 | Self-centering grabbing mechanism for manipulator |
| CN110155705A (en) * | 2019-05-20 | 2019-08-23 | 无锡科技职业学院 | Manipulator is used in a kind of carrying of mold |
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| JPS58100964A (en) * | 1981-12-09 | 1983-06-15 | Taiyo Chuki Kk | Automatic changer for mold clamping device |
| JPS61145494A (en) * | 1984-12-19 | 1986-07-03 | 株式会社東芝 | Fuel address measuring jig |
| CN101734550A (en) * | 2008-11-20 | 2010-06-16 | 中国核电工程有限公司 | Novel fuel assembly gripping apparatus |
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| CN111153198A (en) | 2020-05-15 |
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