CN201208750Y - Material automatic grabbing device - Google Patents
Material automatic grabbing device Download PDFInfo
- Publication number
- CN201208750Y CN201208750Y CNU2008200672992U CN200820067299U CN201208750Y CN 201208750 Y CN201208750 Y CN 201208750Y CN U2008200672992 U CNU2008200672992 U CN U2008200672992U CN 200820067299 U CN200820067299 U CN 200820067299U CN 201208750 Y CN201208750 Y CN 201208750Y
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- CN
- China
- Prior art keywords
- sleeve
- upper bracket
- upper support
- undersetting
- connecting rod
- 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.)
- Expired - Fee Related
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Abstract
The utility model discloses a device capable of automatically grasping materials. The device includes an upper support, a left connecting rod and a left grasping claw; two lifting eyes are arranged at the top part of the upper support; a toothed cylinder is arranged at the lower end part of the upper support; the upper support, a right connecting rod, the left connecting rod, the left grasping claw, a right grasping claw and a lower support are connected by pin shafts; a base plate is welded at the bottom part of the lower support; the cylinder at the lower part of the upper support is sleeved with a sleeve which is welded with the upper support into a whole; a lower fixing tooth is in threaded connection with the bottom part of the sleeve and positioned through a pin shaft; a moving tooth and the sleeve are in movable connection; the lower end part of the sleeve and a hook head adopt pin shaft connection; the other end of the hook head takes the shape of a hemisphere; one end of a plywood is fixed at the lower support by a bolt; the other end of the plywood is movably connected with the upper support by a pin shaft; the sleeve is sleeved with a guide block; and the guide block is fixed on the plywood by a bolt. The utility model has the advantages of simple structure, reliable performance, convenient operation, capability of repair, and suitability for long-distance grasping and blind operation.
Description
Technical field
The utility model relates to the automatic grabbing device of a kind of nuclear power station filter element, especially can realize crawled thing is grasped and release automatically without any need for power assistance mechanism.
Background technology
In the filter of nuclear power station cooling circuit, filter core is because of placing the extremely strong liquid of radiativity for a long time, making himself becomes the radiation source very big to the human injury, when it is changed, do not allow operating personnel approaching, and requiring in limited shielding space, to carry out remote blind operation, this must use the special-purpose gripping apparatus of filter core.And traditional gripping apparatus need realize extracting and release to crawled thing being unsuitable for remote-controlled operation by external impetus, and, traditional gripping apparatus grasps and dispose procedure, need manual control under many circumstances, increased the possibility of maloperation, more be unsuitable for blind operation.
At present, this gripping apparatus is mainly by external import, but its price is expensive, and the cost height in use occurs accurately grasping and smooth situation about discharging, and reliability is lower, and complex structure, can not repair after gripping apparatus breaks down.
Summary of the invention
In order to overcome deficiency of the prior art, the purpose of this utility model is to be to provide a kind of material automatic grabbing device, and this apparatus structure is simple, and dependable performance is with low cost, is applicable to remote extracting and blind operation.
For solving the problems of the technologies described above, the utility model solves the technical scheme that its technical problem adopts and is:
This device mainly is made of upper bracket, undersetting, left connecting rod, right connecting rod, left gripper, right gripper, sleeve, guide pad, following fixed teeth, movable tooth, gib head, clamping plate and base plate.Two hangers are arranged at the upper bracket top, the upper bracket bottom is toothed cylinder, upper bracket, right connecting rod, left side connecting rod, left side gripper, right gripper, constitute linkage with the bearing pin connected mode between the undersetting, a strip groove is arranged at the top of undersetting, base plate is welded on the undersetting bottom, jacket casing is in the cylinder outside of upper bracket bottom, and it is integrally welded with upper bracket, following fixed teeth is to be threaded in the bottom of sleeve, and by the bearing pin location, movable tooth and sleeve adopt and flexibly connect, and move between upper bracket in sleeve and the following fixed teeth, movable tooth bottom adopts bearing pin to be connected with gib head, the gib head other end is hemispherical, and an end of clamping plate is screwed on undersetting, and the other end of clamping plate flexibly connects with bearing pin and upper bracket, guide pad is enclosed within outside the sleeve, and is screwed on clamping plate.
The beneficial effects of the utility model are that this gripping apparatus is up and down that a circulation realizes the accurate extracting of crawled thing and release smoothly with twice.When gripping apparatus is a sky when grabbing, put down gripping apparatus, gripping apparatus is mentioned after putting and being placed on the filter core top, and gripping apparatus can grasp filter core automatically, when filter core is transported to the treating stations of appointment, puts down filter core, mentions gripping apparatus then, and gripping apparatus discharges filter core automatically.Gripping apparatus is finished the circulation that filter core is grasped and discharges automatically.This apparatus structure is simple, dependable performance, and simple operation can be repaired, and is suitable for remote the extracting and blind operation.
Description of drawings
Fig. 1 is the structural representation of the automatic grabbing device of a kind of material.
Fig. 2 grabs state diagram for the automatic grabbing device of a kind of material is in sky.
Fig. 3 picks up the filter core state diagram for the automatic grabbing device of a kind of material.
Fig. 4 is that movable tooth motion launches schematic diagram.
1. base plates wherein, 2. left gripper, 3. undersetting, 4. clamping plate, 5. left connecting rod, 6. upper bracket, 7. right connecting rod, 8. right gripper, 9. movable tooth 10. descends fixed teeth, 11. sleeves, 12. guide pads, 13. gib heads, 14. filter cores.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is described in further detail:
According to Fig. 1, Fig. 2, Fig. 3 as can be known, a kind of material automatic grasper is made of base plate 1, left gripper 2, undersetting 3, clamping plate 4, left connecting rod 5, upper bracket 6, right connecting rod 7, right gripper 8, movable tooth 9, following fixed teeth 10, sleeve 11, guide pad 12 and gib head 13.It is characterized in that: two hangers are arranged at upper bracket 6 tops, upper bracket 6 bottoms are toothed cylinders, upper bracket 6, right connecting rod 7, left side connecting rod 5, left side gripper 2, right gripper 8, constitute linkage with the bearing pin connected mode between the undersetting 3, a strip groove is arranged at the top of undersetting 3, base plate 1 is welded on undersetting 3 bottoms, sleeve 11 is enclosed within the cylinder outside of upper bracket 6 bottoms, and it is integrally welded with upper bracket 6, following fixed teeth 10 is to be threaded in the bottom of sleeve 11, and locate by bearing pin, movable tooth 9 and sleeve 11 adopt and flexibly connect, motion between upper bracket 6 in sleeve 11 and the following fixed teeth 10, sleeve 11 bottoms adopt bearing pin to be connected with gib head 13, the other end of gib head 13 is hemispherical, and an end of clamping plate 4 is screwed on undersetting 3, and the other end of clamping plate 4 flexibly connects with bearing pin and upper bracket 6, guide pad 12 is enclosed within outside the sleeve 11, and is screwed on clamping plate 4.
As shown in Figure 2, this device is in sky when grabbing state, this moment movable tooth 9 and 10 engagements of following fixed teeth, gib head 13 is vertical with groove on the undersetting 3, gib head 13 is stuck in the groove, distance between upper bracket 6 and the undersetting 3 is restricted, and can not open between left gripper 2 and the right gripper 8, is in the position of coincidence.
Under empty pick-and-place, after base plate 1 touched the filter core top, the distance between upper bracket 6 and the undersetting 3 diminished gradually, and gib head 13 beginnings contact with the bottom of undersetting 3 grooves, along with distance continue diminish, the tooth engagement of movable tooth 9 and upper bracket 6 ends, engagement process and make movable tooth 9 and gib head 13 produce rotation shown in Fig. 4 arrow, after gripping apparatus is located the filter core top fully, at this moment, gib head 13 is no longer vertical with groove on the undersetting 3, the rotation that has produced certain angle.
When putting down filter core, after the filter core bottom touches ground, distance between upper bracket 6 and the undersetting 3 begins to diminish, gib head 13 contacts with the bottom of undersetting 3 grooves, along with distance continue diminish, the tooth engagement of movable tooth 9 and upper bracket 6 ends, engagement process is shown in Fig. 4 arrow, and make movable tooth 9 and gib head 13 produce rotation, after gripping apparatus was located the filter core top fully, it is minimum that the distance between upper bracket 6 and the undersetting 3 becomes, at this moment, groove on gib head 13 and the undersetting 3 is not parallel, the rotation that has produced certain angle.
Mention gripping apparatus then, distance between upper bracket 6 and the undersetting 3 begins to increase, movable tooth 9 and 10 engagements of following fixed teeth, engagement process is shown in Fig. 4 arrow, and make movable tooth 9 and gib head 13 produce rotation, gib head 13 this time anglecs of rotation anglec of rotation sum when putting down filter core is 90 degree, gib head 13 is with vertical with groove on the undersetting 3, gib head 13 is stuck in the groove, and the distance between upper bracket 6 and the undersetting 3 no longer changes, and left gripper 2 still is in coincidence status with right gripper 3, this moment, upper bracket 6 moved upward together by gib head 13 drive undersettings 3, left side gripper 2 is deviate from from filter core with right gripper 3, discharges filter core, realizes the automatic release to filter core.
So far, gripping apparatus is finished the cycling that filter core is automatically grasped and discharges automatically, and movable tooth 9 and gib head 13 Rotate 180 degree grasp once more and discharge filter core, and movable tooth moves shown in Fig. 4 arrow, and movable tooth spiral circles, and gripping apparatus is got back to the sky of beginning and grabbed state.
Claims (3)
1. automatic grabbing device of material, it comprises upper bracket (6), left side connecting rod (5), left side gripper (2), it is characterized in that: two hangers are arranged at upper bracket (6) top, upper bracket (6) bottom is toothed cylinder, upper bracket (6), right connecting rod (7), left side connecting rod (5), left side gripper (2), right gripper (8), undersetting connects with bearing pin between (3), base plate (1) is welded on undersetting (3) bottom, sleeve (11) is enclosed within outside the cylinder of upper bracket (6) bottom, and it is integrally welded with upper bracket (6), following fixed teeth (10) is to be threaded in the bottom of sleeve (11), movable tooth (9) and sleeve (11) flexibly connect, the bottom of sleeve (11) is connected with gib head (13) bearing pin, gib head (13) other end is hemispherical, one end of clamping plate (4) is screwed on undersetting (3), the other end of clamping plate (4) flexibly connects with bearing pin and upper bracket (6), and guide pad (12) is enclosed within outside the sleeve (11), and is screwed on clamping plate (4).
2. the automatic grabbing device of a kind of material according to claim 1 is characterized in that: movable tooth (9) meshes with the tooth of upper bracket (6) end and following fixed teeth (10) respectively, and movable tooth (9) revolves and turn 90 degrees.
3. the automatic grabbing device of a kind of material according to claim 1 is characterized in that: a strip groove is arranged at the top of undersetting (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200672992U CN201208750Y (en) | 2008-05-20 | 2008-05-20 | Material automatic grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200672992U CN201208750Y (en) | 2008-05-20 | 2008-05-20 | Material automatic grabbing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201208750Y true CN201208750Y (en) | 2009-03-18 |
Family
ID=40479477
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008200672992U Expired - Fee Related CN201208750Y (en) | 2008-05-20 | 2008-05-20 | Material automatic grabbing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201208750Y (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101596716B (en) * | 2009-07-01 | 2011-01-05 | 哈尔滨工程大学 | Single-freedom-degree parallel four-bar manipulator |
| CN107234582A (en) * | 2017-06-29 | 2017-10-10 | 中国原子能科学研究院 | A kind of calorimeter cover opening tool |
| CN112573188A (en) * | 2020-11-30 | 2021-03-30 | 中广核检测技术有限公司 | Automatic core switching system for waste radioactive water filter of nuclear power plant |
-
2008
- 2008-05-20 CN CNU2008200672992U patent/CN201208750Y/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101596716B (en) * | 2009-07-01 | 2011-01-05 | 哈尔滨工程大学 | Single-freedom-degree parallel four-bar manipulator |
| CN107234582A (en) * | 2017-06-29 | 2017-10-10 | 中国原子能科学研究院 | A kind of calorimeter cover opening tool |
| CN112573188A (en) * | 2020-11-30 | 2021-03-30 | 中广核检测技术有限公司 | Automatic core switching system for waste radioactive water filter of nuclear power plant |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090318 Termination date: 20100520 |