CN114161457A - Combined clamping device - Google Patents
Combined clamping device Download PDFInfo
- Publication number
- CN114161457A CN114161457A CN202111561098.4A CN202111561098A CN114161457A CN 114161457 A CN114161457 A CN 114161457A CN 202111561098 A CN202111561098 A CN 202111561098A CN 114161457 A CN114161457 A CN 114161457A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- telescopic mechanism
- grabbing head
- spindle sleeve
- clamping assembly
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
- B25J15/103—Gripping heads and other end effectors having finger members with three or more finger members for gripping the object in three contact points
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Clamps And Clips (AREA)
Abstract
The invention discloses a combined clamping device which comprises a telescopic mechanism, a spindle sleeve and a grabbing head, wherein the telescopic mechanism, the spindle sleeve and the grabbing head are sequentially connected from top to bottom; a connecting rod penetrates through the spindle sleeve, the lower end of the connecting rod is connected with the grabbing head, and the upper end of the connecting rod is connected with the telescopic mechanism; the telescopic mechanism drives the grabbing head to open and close through the connecting rod. In the invention, the connecting rod moves back and forth under the driving of the telescopic mechanism, and when the connecting rod extends out, the grabbing head is opened; when the connecting rod retracts, the grabbing head is closed to grab the material. The opening and closing of the grabbing head have a wide range, so that the grabbing head can clamp multiple materials, different clamps do not need to be replaced aiming at different materials, the universality is strong, the working efficiency can be improved, and the labor intensity of operators is reduced.
Description
Technical Field
The invention relates to a clamping device, in particular to a combined clamping device.
Background
Spent fuel, also known as irradiated nuclear fuel, is spent nuclear fuel that has been subjected to irradiation, typically produced by a nuclear reactor in a nuclear power plant. The nuclear fuel is bombarded by neutrons in the reactor to generate nuclear reaction, and is discharged from the reactor after a certain time. It contains a large amount of unexhausted breedable material uranium-238 or thorium-232, unexhausted and newly generated fissile materials plutonium-239, uranium-235 or uranium-233, transuranics such as neptunium, americium and curium generated in the irradiation process of nuclear fuel, and in addition fissile elements strontium-90, cesium-137 and technetium-99. This fuel is so called spent fuel because it has a reduced uranium content and cannot sustain the nuclear reaction. Spent nuclear fuel contains a large amount of radioactive elements and is therefore radioactive and if not properly disposed of, can severely impact the environment and the health of those in contact with them.
The transportation of the spent fuel in the spent fuel preservation pool is mainly completed manually at present. The spent fuel is manually clamped by a long-handle tool, and the spent fuel is transported and manually positioned in the grid. The long handle tool is high in quality, different spent fuels need to be clamped by different long handle tools, the clamping state needs to be manually kept in the operation process, and the problems that the working efficiency is low, the labor intensity of personnel is high, the misoperation risk exists and the like in the operation process are solved.
The clamping device not only clamps the spent fuel, but also clamps different materials by using long-handle tools with different specifications for other materials needing to be clamped.
Disclosure of Invention
In view of the above, the invention provides a combined clamping device, which aims to solve the problem that clamps with different specifications are required to be used for clamping different materials in the prior art, and by designing the combined clamping device, clamping operation on various materials can be realized without replacing the clamps, so that the combined clamping device is strong in universality, the working efficiency can be improved, and the labor intensity of operators can be reduced.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a combined clamping device comprises a telescopic mechanism, a spindle sleeve and a grabbing head which are sequentially connected from top to bottom; a connecting rod penetrates through the spindle sleeve, the lower end of the connecting rod is connected with the grabbing head, and the upper end of the connecting rod is connected with the telescopic mechanism; the telescopic mechanism drives the grabbing head to open and close through the connecting rod.
As a further technical solution of the above solution: the connecting rod is sleeved with a return spring used for providing resilience force for the connecting rod.
As a further technical solution of the above aspect, the connecting rod has a circumferential protruding portion thereon, and the return spring is disposed between the circumferential protruding portion and the bottom of the spindle sleeve.
As a further technical scheme of the scheme, the device also comprises a connecting seat; the connecting seat is connected to the lower end of the spindle sleeve, and a part of the connecting seat is inserted into the lower end of the spindle sleeve; the connecting rod penetrates through the connecting seat, and the return spring is arranged between the circumferential protruding part and the end part of the main shaft sleeve, which is inserted into the connecting seat.
As a further technical solution of the above aspect, the link includes a first link and a second link; the upper end of the first connecting rod is connected with the telescopic mechanism, the lower end of the first connecting rod is connected with the upper end of the second connecting rod, and the lower end of the second connecting rod is connected with the grabbing head; the circumferential protruding part is arranged on the first connecting rod.
As a further technical solution of the above solution, the gripper head includes at least two grippers; the connecting rod further comprises a third connecting rod; one end of the hand grip is hinged to the end part of the connecting seat; the lower end of the second connecting rod is hinged with the middle of the hand grip through the third connecting rod.
As a further technical scheme of the above scheme, the end of the hand grip, which is far away from the connecting base, is provided with a clamping part which protrudes inwards.
As a further technical scheme of the above scheme, a plurality of inflatable sleeves are fixedly sleeved outside the main shaft sleeve, and the inflatable sleeves are sequentially sleeved on the main shaft sleeve from top to bottom.
As a further technical scheme of the scheme, the device also comprises a sealing cover and a flange connecting piece; the telescopic mechanism is arranged in the sealing cover, and the sealing cover is connected to the top end of the spindle sleeve through the flange connecting piece.
In summary, compared with the prior art, the invention has the following advantages and beneficial effects: the connecting rod moves back and forth under the driving of the telescopic mechanism, and when the connecting rod extends out, the grabbing head is opened; when the connecting rod retracts, the grabbing head is closed to grab the material. The opening and closing of the grabbing head have a wide range, so that the grabbing head can clamp multiple materials, different clamps do not need to be replaced aiming at different materials, the universality is strong, the working efficiency can be improved, and the labor intensity of operators is reduced.
Drawings
Fig. 1 is a schematic sectional structure of the present invention.
Fig. 2 is an external structural view of the present invention.
FIG. 3 is a cross-sectional view of a gripper end of a tower-shaped material with a circumferentially protruding step.
Fig. 4 is a schematic sectional view of a material clamping end with an axial deep hole.
The explanation of each reference number in the figure is: the sealing cover 1, telescopic machanism 2, flange joint spare 3, first connecting rod 4, second connecting rod 5, reset spring 6, spindle sleeve 7, connecting seat 8, third connecting rod 9, grab head 10, first physiosis cover 11, the physiosis of second cover 12, first joint 13, the second connects 14.
Detailed Description
In order that those skilled in the art will better understand the technical solutions of the present invention, the present invention will be further described in detail with reference to the following embodiments.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. The terms first, second and the like, if any, are used for distinguishing technical features only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
As shown in fig. 1-2, a combined clamping device according to an embodiment of the present application includes a telescopic mechanism 2, a spindle cover 7, and a gripper head 10 connected in sequence from top to bottom. A connecting rod penetrates through the main shaft sleeve 7, the lower end of the connecting rod is connected with the grabbing head 10, and the upper end of the connecting rod is connected with the telescopic mechanism 2; the telescopic mechanism 2 drives the gripping head 10 to open and close through the connecting rod. Specifically, the main shaft sleeve 7 mainly plays a role in supporting and connecting the telescopic mechanism 2 and the gripper head 10. The connecting rod moves back and forth under the driving of the telescopic mechanism 2, and when the connecting rod extends out, the grabbing head 10 is opened; when the links are retracted, the gripper head 10 closes to grip the material. The opening and closing of the grabbing head 10 have a wide range, so that the grabbing head can clamp multiple materials, different clamps do not need to be replaced aiming at different materials, the universality is strong, the working efficiency can be improved, and the labor intensity of operators is reduced.
In order to facilitate the resetting of the grabbing head 10, a resetting spring 6 for providing resilience force for the connecting rod is sleeved on the connecting rod. For example, when the gripper head 10 is folded in the initial state, the return spring 6 is in a free state, when the connecting rod extends out of the gripper head 10 and is unfolded, the return spring 6 is in a compressed or stretched state, and when the gripper head 10 needs to be switched from the unfolded state to the folded state, the compressed or stretched return spring 6 can provide resilience force to the connecting rod, so that the gripper head 10 is promoted to be restored to the initial state.
In order to facilitate the fixation of the return spring 6 and the connecting rod, a circumferential protruding part is arranged on the connecting rod, and the return spring 6 is arranged between the circumferential protruding part and the bottom of the spindle sleeve 7. For example, it is possible that a circumferential projection is located inside the spindle cover 7 and above the bottom of the spindle cover 7, when the return spring 6 is compressively deformed and stores the return energy when the connecting rod is extended. It is also possible that the circumferential projection is located outside the spindle sleeve 7 and below the bottom of the spindle sleeve 7, in which case the restoring spring 6 is deformed by tension when the connecting rod is extended and stores restoring energy.
In order to make the whole device more compact, the embodiment of the application uses the former form, namely, the embodiment further comprises a connecting seat 8; the connecting seat 8 is connected to the lower end of the spindle sleeve 7, and a part of the connecting seat 8 is inserted into the lower end of the spindle sleeve 7; the connecting rod penetrates through the connecting seat 8, and the return spring 6 is arranged between the circumferential protruding part and the end part of the main shaft sleeve 7, which is inserted into the connecting seat 8. When the connecting rod extends, the return spring 6 is compressed and shortened between the circumferential protruding part and the end part of the connecting seat 8 inserted into the main shaft sleeve 7, and elastic force is stored. Because the return spring 6 is located in the spindle sleeve 7 in this embodiment, the structure is more compact than that of the embodiment in which the return spring 6 is located outside the spindle sleeve 7, so that the whole device is smaller in size.
After the connecting seat 8 is additionally arranged, in order to facilitate the assembly of the return spring 6, the connecting rod in the embodiment of the application comprises a first connecting rod 4 and a second connecting rod 5; the upper end of the first connecting rod 4 is connected with the telescopic mechanism 2, the lower end of the first connecting rod 4 is connected with the upper end of the second connecting rod 5, and the lower end of the second connecting rod 5 is connected with the gripper head 10; the circumferential projection is provided on the first link 4. I.e. the return spring 6 is located at the junction of the first link 4 and the second link 5. During assembly, the second connecting rod 5 penetrates through the connecting seat 8 and then is sleeved with the return spring 6, then the second connecting rod 5 is connected with the first connecting rod 4, and then the first connecting rod 4 penetrates through the main shaft sleeve 7 and then is connected with the telescopic mechanism 2, so that the assembly of the whole device is completed.
In order to realize the gripping of materials with different specifications, the gripping head 10 comprises at least two grippers; the connecting rods further comprise a third connecting rod 9; one end of the hand grip is hinged to the end part of the connecting seat 8; the lower end of the second connecting rod 5 is hinged with the middle of the hand grip through the third connecting rod 9. One end of the hand grip rotates by taking the end part of the connecting seat 8 as an original point, and when the middle part of the hand grip is driven to move by the second connecting rod 5, the first connecting rod 4 and the telescopic mechanism 2 which are sequentially connected through the third connecting rod 9, the hand grip realizes relative movement, so that the opening or the closing is completed.
For a pagoda-shaped material with a circumferentially projecting step as shown in fig. 3, the end of the hand grip remote from the connecting socket 8 has an inwardly projecting gripping portion. When the gripper head 10 is closed, the gripping part of the gripper is in clamping fit with the circumferential protruding step of the material, so that the material of the type can be conveniently taken out.
For the material with the axial deep hole as shown in fig. 4, in the embodiment of the present application, a plurality of inflatable sleeves are fixedly sleeved outside the main shaft sleeve 7, and the plurality of inflatable sleeves are sequentially sleeved on the main shaft sleeve 7 from top to bottom. When the inflatable sleeve extends into the deep hole of the material, air is supplied to the inflatable sleeve to expand the inflatable sleeve to contact with the inner wall of the deep hole of the material, so that the material is tightly supported by friction. Set up two above physiosis covers and do benefit to and ensure safety, as shown in fig. 1 and fig. 2, the situation when having set up two physiosis covers has been illustrated to this embodiment, and first physiosis cover 11 and second physiosis cover 12 are all located on the main shaft cover 7, and first physiosis cover 11 is located the top of second physiosis cover 12. When a material with an axial deep hole needs to be grabbed, the second air expansion sleeve 12 and the first air expansion sleeve 11 are sequentially inserted into the deep hole of the material, and then the second joint 14 arranged in a matched mode on the second air expansion sleeve 12 and the first joint 13 arranged in a matched mode on the first air expansion sleeve 11 supply air to the material respectively, so that the second air expansion sleeve 12 and the first air expansion sleeve 11 expand in volume, and the inner wall of the deep hole of the material is supported. Even if one of the second air expansion sleeve 12 and the first air expansion sleeve 11 fails and does not support the inner wall of the deep hole of the column material, the inner wall of the deep hole of the other column material can be supported, so that the safety of the operation of the device is ensured.
As described in the background of the present application, some materials are stored in water, so that it is necessary to improve the sealing performance of the whole device, and therefore, the present embodiment further includes a sealing cover 1 and a flange connector 3; the telescopic mechanism 2 is arranged in the sealing cover 1, and the sealing cover 1 is connected to the top end of the spindle sleeve 7 through the flange connecting piece 3. The sealing cover 1, the flange connecting piece 3, the spindle sleeve 7 and the connecting seat 8 are sequentially welded or sealed and bonded, and a sealing ring or other sealing structures are arranged at the connecting position or the relative moving position of the sealing cover, so that the waterproofness of the whole device can be ensured.
To the selection of telescopic machanism 2, structural style such as cylinder, hydraulic cylinder, electronic telescoping cylinder, rack and pinion, turbine worm can be selected, as long as can realize flexible reciprocating motion, all can be applicable to this application embodiment.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above preferred embodiments should not be considered as limiting the invention, which is subject to the scope defined by the claims. It will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the spirit and scope of the invention, and these modifications and adaptations should be considered within the scope of the invention.
Claims (9)
1. A combination clamping device which characterized in that: comprises a telescopic mechanism (2), a spindle sleeve (7) and a gripping head (10) which are connected in sequence from top to bottom; a connecting rod penetrates through the spindle sleeve (7), the lower end of the connecting rod is connected with the grabbing head (10), and the upper end of the connecting rod is connected with the telescopic mechanism (2); the telescopic mechanism (2) drives the grabbing head (10) to open and close through the connecting rod.
2. A modular clamping assembly as claimed in claim 1, wherein: the connecting rod is sleeved with a return spring (6) used for providing resilience force for the connecting rod.
3. A modular clamping assembly as claimed in claim 2, wherein: the connecting rod is provided with a circumferential protruding part, and the return spring (6) is arranged between the circumferential protruding part and the bottom of the main shaft sleeve (7).
4. A modular clamping assembly as claimed in claim 3, wherein: also comprises a connecting seat (8); the connecting seat (8) is connected to the lower end of the spindle sleeve (7), and a part of the connecting seat (8) is inserted into the lower end of the spindle sleeve (7); the connecting rod penetrates through the connecting seat (8), and the return spring (6) is arranged between the circumferential protruding part and the end part of the main shaft sleeve (7) inserted into the connecting seat (8).
5. A modular clamping assembly as claimed in claim 4, wherein: the connecting rods comprise a first connecting rod (4) and a second connecting rod (5); the upper end of the first connecting rod (4) is connected with the telescopic mechanism (2), the lower end of the first connecting rod (4) is connected with the upper end of the second connecting rod (5), and the lower end of the second connecting rod (5) is connected with the grabbing head (10); the circumferential protruding part is arranged on the first connecting rod (4).
6. A modular clamping assembly as claimed in claim 5, wherein: the gripper head (10) comprises at least two grippers; the connecting rod further comprises a third connecting rod (9); one end of the hand grip is hinged to the end part of the connecting seat (8); the lower end of the second connecting rod (5) is hinged with the middle part of the hand grip through the third connecting rod (9).
7. A modular clamping assembly as claimed in claim 6, wherein: the end part of the hand grip, which is far away from the connecting seat (8), is provided with a clamping part which protrudes inwards.
8. A modular clamping assembly as claimed in claim 1, wherein: the spindle sleeve (7) is externally fixedly sleeved with a plurality of inflatable sleeves, and the inflatable sleeves are sequentially sleeved on the spindle sleeve (7) from top to bottom.
9. A modular clamping assembly as claimed in claim 1, wherein: the sealing device also comprises a sealing cover (1) and a flange connecting piece (3); the telescopic mechanism (2) is arranged in the sealing cover (1), and the sealing cover (1) is connected to the top end of the main shaft sleeve (7) through the flange connecting piece (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111561098.4A CN114161457A (en) | 2021-12-15 | 2021-12-15 | Combined clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111561098.4A CN114161457A (en) | 2021-12-15 | 2021-12-15 | Combined clamping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114161457A true CN114161457A (en) | 2022-03-11 |
Family
ID=80487532
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111561098.4A Pending CN114161457A (en) | 2021-12-15 | 2021-12-15 | Combined clamping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114161457A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115741058A (en) * | 2022-10-28 | 2023-03-07 | 中国核动力研究设计院 | Underwater clamping tool for skirt nut |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0228492A (en) * | 1988-04-07 | 1990-01-30 | Bridgestone Corp | Catching device for parts, and the like |
| EP1245347A1 (en) * | 2001-03-26 | 2002-10-02 | Forschungszentrum Jülich Gmbh | Remotly controllable gripping means with parallel grabs |
| CN101511545A (en) * | 2006-09-20 | 2009-08-19 | Skf公司 | Clamping device |
| CN208488985U (en) * | 2018-05-22 | 2019-02-12 | 广东核电合营有限公司 | The underwater tripper that the highly dense screen work of Spent Fuel Pool dilatation lifts |
| CN110625640A (en) * | 2019-09-25 | 2019-12-31 | 三峡大学 | Mechanical paw structure and operation method |
| CN210210385U (en) * | 2019-05-22 | 2020-03-31 | 谢良华 | Air bag type inner hole grabbing device |
| CN113083976A (en) * | 2021-03-31 | 2021-07-09 | 上汽通用五菱汽车股份有限公司 | Clamping device for positioning inside part cavity |
-
2021
- 2021-12-15 CN CN202111561098.4A patent/CN114161457A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0228492A (en) * | 1988-04-07 | 1990-01-30 | Bridgestone Corp | Catching device for parts, and the like |
| EP1245347A1 (en) * | 2001-03-26 | 2002-10-02 | Forschungszentrum Jülich Gmbh | Remotly controllable gripping means with parallel grabs |
| CN101511545A (en) * | 2006-09-20 | 2009-08-19 | Skf公司 | Clamping device |
| CN208488985U (en) * | 2018-05-22 | 2019-02-12 | 广东核电合营有限公司 | The underwater tripper that the highly dense screen work of Spent Fuel Pool dilatation lifts |
| CN210210385U (en) * | 2019-05-22 | 2020-03-31 | 谢良华 | Air bag type inner hole grabbing device |
| CN110625640A (en) * | 2019-09-25 | 2019-12-31 | 三峡大学 | Mechanical paw structure and operation method |
| CN113083976A (en) * | 2021-03-31 | 2021-07-09 | 上汽通用五菱汽车股份有限公司 | Clamping device for positioning inside part cavity |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115741058A (en) * | 2022-10-28 | 2023-03-07 | 中国核动力研究设计院 | Underwater clamping tool for skirt nut |
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