CN209393701U - A kind of pneumatic grappling fixture firmly grasped for bolt hole - Google Patents
A kind of pneumatic grappling fixture firmly grasped for bolt hole Download PDFInfo
- Publication number
- CN209393701U CN209393701U CN201822158270.1U CN201822158270U CN209393701U CN 209393701 U CN209393701 U CN 209393701U CN 201822158270 U CN201822158270 U CN 201822158270U CN 209393701 U CN209393701 U CN 209393701U
- Authority
- CN
- China
- Prior art keywords
- grappling fixture
- claw
- cylinder
- bolt hole
- pneumatic
- 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.)
- Active
Links
Landscapes
- Actuator (AREA)
Abstract
The utility model relates to steam generators once to survey manhole flange face service technique field, specifically disclose a kind of pneumatic grappling fixture firmly grasped for bolt hole.The pneumatic grappling fixture includes first order cylinder and second level cylinder, wherein second level cylinder is nested in first order cylinder, and the piston as first order cylinder；The up and down motion that piston can be controlled by gas source in the second level cylinder, so that the claw for controlling second level cylinder piston end is strutted or retracted；First order cylinder can be controlled by gas source, and second level cylinder is made to move up and down in overall, to send claw into or withdraw bolt hole to be firmly grasped.Using the mutually nested structure type of two telescopic cylinders, and two-stage cylinder is all provided with reset spring, guarantees when breaking down, and makes grappling fixture remain to firmly grasp bolt hole realization by mechanical protection；Grasp difficult caused by can pneumatically compensating because of grappling fixture central axes and screw hole difference axis, whens installation and removal is quick and convenient, reduces personnel by irradiation dose.
Description
Technical field
The invention belongs to steam generators once to survey manhole flange face service technique field, and in particular to one kind is used for bolt
The pneumatic grappling fixture that hole is firmly grasped.
Background technique
The bolt hole of primary side of steam generator manhole flange must be carried out during pressurized-water reactor nuclear power plant refueling outage clear
It washes, removes the foreign matters such as anti-bite dose to dry up on screw thread, iron rust and metal fragment, facilitate subsequent visual wait to detect process, and protect
Bite will not be occurred by demonstrate,proving when last bolt returns dress.Traditionally cleaning is scrubbed by hand by worker, by the high radiation environment in scene and
Illuminating the factors such as deficiency influences, and artificial cleaning is it is difficult to ensure that cleannes.And due to the special radial environment of nuclear power station, using people
Work cleaning not only can make personnel's radioactive dose big, also body surface radioactivity be easy to cause to stain.Therefore it is necessary to research and develop steam generator
The automatic cleaning equipment of primary side manhole bolt hole replaces manually cleaning.
The overall technological scheme of cleaning equipment is grabbed using two groups of grasping mechanisms (abbreviation toe) on cleaning equipment
Tightly on the bolt hole of manhole flange, successively promptly and two groups of toes is unclamped by step, cooperate the opposite revolution fortune between toe
It is dynamic, to drive cleaning equipment along bolt hole stepping, cleaning or other service works to bolt hole are completed one by one.
Due under primary side of steam generator flange face orientation and having certain tilt angle, base when cleaning equipment works
It is projecting state on this, therefore there are following several major requirements to grasping mechanism: manhole flange bolt hole must not be damaged when 1. work
Screw thread.2. it requires promptly reliable and external dynamic surprisingly losing since it is desired that undertaking the weight of entire cleaning equipment
It is able to maintain self-locking in the case where power, prevents equipment from falling from manhole flange.3. being able to detect whether toe has held screw hole, keep away
Exempt to unclamp another group of toe in the case where one group of toe is not held and equipment is caused to fall.
Summary of the invention
The purpose of the present invention is to provide a kind of pneumatic grappling fixtures firmly grasped for bolt hole, can not injure bolt hole spiral shell
Under the premise of tooth, realizes and once survey quickly firmly grasping for manhole flange face bolt hole to steam generator, and can prevent from not having because of grappling fixture
It holds or because two accidents that run out of steam fall off halfway.
Technical scheme is as follows: a kind of pneumatic grappling fixture firmly grasped for bolt hole, which includes first
Grade cylinder and second level cylinder, wherein second level cylinder is nested in first order cylinder, and the piston as first order cylinder；
The up and down motion that piston can be controlled by gas source in the second level cylinder, to control second level cylinder piston end
Claw is strutted or is retracted；First order cylinder can be controlled by gas source, and second level cylinder is made to move up and down in overall, so that claw be sent
Enter or withdraw bolt hole to be firmly grasped.
The second level cylinder includes claw mounting base, grappling fixture guide sleeve, grappling fixture inner cylinder tube and grappling fixture bottom cover, wherein
The grappling fixture inner cylinder tube that the claw mounting base grappling fixture guide sleeve fixed with its outer wall and claw mounting base lower end are fixed is collectively formed
The mobile piston assembly structure of cylinder to match with first order cylinder block, and it is by grappling fixture bottom cover that grappling fixture inner cylinder tube lower end is close
Sealing is fixed.
The claw mounting base is provided with three rectangular grooves, and the folder of two adjacent grooves in the circumferential direction
Angle is 120 °, and 3 claws are mounted on the rectangular grooves inner wall of claw mounting base, and 3 claw front ends by straight pin
It is adapted outside the circle formed after opening with the internal diameter of bolt hole.
The first order cylinder block is grappling fixture outer cylinder body；It is equipped with and draws between the grappling fixture outer cylinder body grappling fixture bottom cover
Stretch spring；The first pneumatic joint is equipped on grappling fixture outer cylinder body, with claw mounting base inner cylinder, grappling fixture inner cylinder tube upper surface institute
The cavity of formation is connected, and by the first pneumatic joint and extension spring collective effect, makes second level cylinder body in grappling fixture outer cylinder body
Inside move up and down.
The grappling fixture outer shell body side surface is provided with pilot hole, and microswitch post rod is inserted in grappling fixture outer cylinder body pilot hole, and
It is fixed on microswitch post rod lower end on grappling fixture bottom cover by locking nut, makes the shifting of microswitch post rod Yu first order cylinder body
The holding of piston component, which synchronizes, to be moved up and down, and by the movement of microswitch post rod, detects the mobile piston group of first order cylinder body
Whether part is located at upper limit position.
The cylinder body of the second level cylinder is grappling fixture inner cylinder tube, and claw mandril is the piston of second level cylinder, wherein card
Pawl mandril is both ends club shaped structure, the intermediate cylindrical tube structure to match with grappling fixture inner cylinder tube inner wall, claw mandril upper end
Hermetically passing grappling fixture inner cylinder tube upper surface simultaneously stretches to the upper part in claw mounting base, claw mandril front end and claw addendum cone
It is connected, when claw mandril being made to drive claw addendum cone stretching motion, claw is driven to make rotating motion around straight pin.
Compressed spring is installed between the claw mandril intermediate cylindrical barrel structure and grappling fixture bottom cover, which can
Guarantee claw mandril be in stretching state in normal state, thus when three claws always outward be in device for spreading.
The claw mandril lower end club shaped structure is hollow shaft structure, and in claw mandril intermediate cylindrical barrel structure upper end
It is provided with through-hole at face, so that the claw ejector rod bottom end for stretching out grappling fixture bottom cover is provided with part and passes through hollow shaft and claw mandril intermediate cylindrical
Cavity between barrel structure upper surface, grappling fixture inner cylinder tube inner roof wall is connected.
The claw ejector rod bottom end is equipped with the second pneumatic joint, and through-hole is provided on grappling fixture bottom cover, and is equipped with
Three pneumatic joints are cooperated by the second pneumatic joint and third pneumatic joint and are supplied, to drive claw mandril in grappling fixture
Stretching motion is done in cylinder barrel.
When the claw addendum cone moves up, claw addendum cone drives three claws to rotate outward to form softened state, real
Now bolt hole is firmly grasped, when claw addendum cone moves down, claw addendum cone drives three claws to rotate inward to form closed form
Bolt hole is loosened in state, realization
Remarkable result of the invention is: a kind of pneumatic grappling fixture firmly grasped for bolt hole of the present invention is adopted
With the mutually nested structure type of two telescopic cylinders, first order cylinder is used to for claw extending out to inside bolt hole, the second level
Cylinder is used to open claw to realize and firmly grasp bolt hole.And two-stage cylinder is all provided with reset spring, guarantees
When existing failure, grappling fixture is set to remain to firmly grasp bolt hole realization by mechanical protection；The grappling fixture uses pneumatic form, meets during exercise
It can be automatically stopped (when having foreign matter in such as screw thread) when excessive to resistance, not will cause hardware damage；It can pneumatically compensate
Difficult because grasping caused by grappling fixture central axes and screw hole difference axis, whens installation and removal, is quick and convenient, reduces personnel by irradiation agent
Amount；Microswitch on cylinder body can detecte the position of piston, judge whether grappling fixture is firmly grasped in place, avoid malfunctioning.
Detailed description of the invention
Fig. 1 is a kind of pneumatic grappling fixture structural schematic diagram firmly grasped for bolt hole of the present invention；
Fig. 2 is a kind of left view of pneumatic grappling fixture firmly grasped for bolt hole of the present invention；
Fig. 3 is the first pneumatic joint and grappling fixture outer shell in a kind of pneumatic grappling fixture firmly grasped for bolt hole of the present invention
The connection relationship diagram of body；
In figure: 1, claw addendum cone；2, straight pin；3, claw；4, claw mounting base；5, grappling fixture outer cylinder body；6, grappling fixture is oriented to
Set；7, microswitch；8, claw mandril；9, grappling fixture inner cylinder tube；10, microswitch post rod；11, compressed spring；12, grappling fixture bottom
Lid；13, locking nut；14, third pneumatic joint；15, the second pneumatic joint；16, the first pneumatic joint；17, extension spring；
18, locating taper pin.
Specific embodiment
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
As shown in Figures 1 to 3, a kind of pneumatic grappling fixture firmly grasped for bolt hole, which includes first order cylinder and second
Grade cylinder, wherein second level cylinder is nested in the piston of first order cylinder, and can be respectively to first order cylinder and second level gas
Cylinder is independently controlled；The cylinder body of first order cylinder is grappling fixture outer cylinder body 5, and the cylindrical shell knot of stair-step is had for inner wall
Structure；The mobile piston component of first order cylinder body includes claw mounting base 4, grappling fixture guide sleeve 6, grappling fixture inner cylinder tube 9 and grappling fixture bottom cover
12, wherein 4 upper end outer wall of claw mounting base is fixedly installed with grappling fixture guide sleeve 6,4 lower end of claw mounting base and grappling fixture inner cylinder tube 9
It is fixedly connected, forms claw mounting base 4, grappling fixture guide sleeve 6 and grappling fixture inner cylinder tube 9 and 5 inner cylinder phase of grappling fixture outer cylinder body
The cartridge piston structure matched, and 9 lower end of grappling fixture inner cylinder tube is sealed by grappling fixture bottom cover 12 and is fixed；Claw mounting base 4 is along circle
Three rectangular grooves are provided in circumferential direction, and the angle of two adjacent grooves is 120 °, 3 claws 3 pass through straight pin
Be mounted on the rectangular grooves inner wall of claw mounting base 4, and 3 claw front ends open after outside the circle that forms through in bolt hole
Diameter size is adapted；First pneumatic joint 16 is installed on grappling fixture outer cylinder body 5, in 4 inner cylinder of claw mounting base, grappling fixture
9 upper surface of cylinder barrel is formed by cavity and is connected；Two extension springs are installed between grappling fixture outer cylinder body 5 and grappling fixture bottom cover 12
17, in the first pneumatic joint 16 gas supply, gas pressure overcomes the elastic force of extension spring in the upper surface of grappling fixture inner cylinder tube 9,
The mobile piston component of driving first order cylinder body moves downward；When the first pneumatic joint 16 loses gas, the movement of first order cylinder body
Piston component moves up under the restoring force effect of extension spring 17；It is provided with pilot hole in 5 side of grappling fixture outer cylinder body, fine motion is opened
It closes mandril 10 to be inserted in 5 pilot hole of grappling fixture outer cylinder body, and is fixed on 10 lower end of microswitch post rod by locking nut 13 and grabs
On head bottom cover 12, make microswitch post rod 10 and first order cylinder body the holding of mobile piston component synchronize move up and down, by micro-
Whether the movement of dynamic switch mandril 10, the mobile piston component of detection first order cylinder body are located at upper limit position；
The cylinder body of second level cylinder is grappling fixture inner cylinder tube 9, and piston of the claw mandril 8 as second level cylinder can be in grappling fixture
Do stretching motion in the enclosure space that inner cylinder tube 9 and grappling fixture bottom cover 12 are formed, wherein claw mandril 8 be both ends club shaped structure, in
Between for the cylindrical tube structure that matches with 9 inner wall of grappling fixture inner cylinder tube, on 8 upper end hermetically passing grappling fixture inner cylinder tube 9 of claw mandril
End face simultaneously stretches to the upper part in claw mounting base 4, and 8 front end of claw mandril is connected with claw addendum cone 1, makes claw mandril
When 8 drive 1 stretching motion of claw addendum cone, claw 3 is driven to make rotating motion around straight pin 2, i.e., when claw addendum cone 1 moves up
When, claw addendum cone 1 drive three claws rotate outward to form softened state, realization bolt hole is firmly grasped, when claw addendum cone to
When lower mobile, claw addendum cone drives three claws to rotate inward to form closed state, and bolt hole is loosened in realization；Claw mandril
Compressed spring 11 is installed between 8 intermediate cylindrical barrel structures and grappling fixture bottom cover 12, which can guarantee claw mandril 8 just
Stretching state is under normal state, thus when three claws be always outward in device for spreading, keep promptly acting to bolt hole,
To which when there is catastrophic failure, as lost under gas, power failure state, preventing the pneumatic grappling fixture from loosening failure causes equipment to drop to ground
Face；8 lower end club shaped structure of claw mandril is hollow shaft structure, and is provided in 8 intermediate cylindrical barrel structure upper end surface of claw mandril
Through-hole makes 8 bottom end of claw mandril for stretching out grappling fixture bottom cover 12 be provided with part and passes through hollow shaft and 8 intermediate cylindrical tube knot of claw mandril
Cavity between structure upper surface, 9 inner roof wall of grappling fixture inner cylinder tube is connected；The second pneumatic joint is installed in 8 bottom end of claw mandril
15, through-hole is provided on grappling fixture bottom cover 12, and third pneumatic joint 14 is installed, it is pneumatic by the second pneumatic joint 15 and third
Connector 14, which cooperates, to be supplied, to drive claw mandril 8 to do stretching motion in grappling fixture inner cylinder tube 9.
The specific work process of a kind of pneumatic grappling fixture firmly grasped for bolt hole of the present invention are as follows: pneumatic by second
Connector 15 is inflated, and so that third pneumatic joint 14 is lost gas, is moved downward claw mandril 8, drives claw 3 to be inwardly closed, and shrink
In the groove of claw mounting base 4；The ventilation of first pneumatic joint 16, moves downward claw mounting base 4 in grappling fixture outer cylinder body 5
It withdraws, until the upper surface of claw mounting base 4 is lower than the upper surface of locating taper pin 18, the initialization shape as the pneumatic grappling fixture
State；Make the whole axis direction along manhole flange face bolt hole of pneumatic grappling fixture close to bolt hole under outer power drive, until positioning
Taper pin 18 is in contact with flange face；First pneumatic joint 16 loses gas, and the claw 3 installed in claw mounting base 4 and its groove is being drawn
It stretches and protrudes into bolt hole under the action of spring 17, meanwhile, microswitch post rod 10 touches microswitch 7, detects that claw is installed
Seat 4 stretches out situation；Second pneumatic joint 15 loses gas, and third pneumatic joint 14 is inflated, and claw mandril 8 and its front end is driven to install
Claw addendum cone 1 ejects upwards, so that claw 3 rotates outward to form softened state around straight pin 2, grabs to realize to bolt hole
Tightly；First pneumatic joint 16 is brought about the desired sensation.Although the piston component of level-one cylinder body has the tendency that retraction, but because claw 3 has supportted
It opens and tightly holds therefore will not bounce back with bolt hole inner wall.If do not held between claw 3 and bolt hole at this time or because of frictional force
Sliding, the piston component of level-one cylinder body outward, which occur, for deficiency to bounce back, and microswitch post rod 10 also moves downward simultaneously disengaging
Microswitch 7.Control system can judge whether firmly grasp at this time according to the state of microswitch 7.
Claims (10)
1. a kind of pneumatic grappling fixture firmly grasped for bolt hole, it is characterised in that: the pneumatic grappling fixture includes first order cylinder and second
Grade cylinder, wherein second level cylinder is nested in first order cylinder, and the piston as first order cylinder；The second level
The up and down motion that piston can be controlled by gas source in cylinder, so that the claw for controlling second level cylinder piston end is strutted or contracted
It returns；First order cylinder can be controlled by gas source, and second level cylinder is made to move up and down in overall, so that claw is sent into or withdrawn wait grab
Tight bolt hole.
2. a kind of pneumatic grappling fixture firmly grasped for bolt hole according to claim 1, it is characterised in that: the second level
Cylinder includes claw mounting base (4), grappling fixture guide sleeve (6), grappling fixture inner cylinder tube (9) and grappling fixture bottom cover (12), wherein claw installation
The fixed grappling fixture inner cylinder tube (9) of the grappling fixture guide sleeve (6) and claw mounting base (4) lower end that seat (4) and its outer wall are fixed is common
The mobile piston assembly structure of the cylinder to match with first order cylinder block is formed, and passes through grappling fixture bottom cover (12) for grappling fixture inner casing
The sealing of cylinder (9) lower end is fixed.
3. a kind of pneumatic grappling fixture firmly grasped for bolt hole according to claim 2, it is characterised in that: the claw peace
Dress seat (4) is provided with three rectangular grooves in the circumferential direction, and the angle of two adjacent grooves is 120 °, 3 cards
Pawl (3) is mounted on the rectangular grooves inner wall of claw mounting base (4) by straight pin, and forms after 3 claw (3) front ends openings
Circle outside through being adapted with the internal diameter of bolt hole.
4. a kind of pneumatic grappling fixture firmly grasped for bolt hole according to claim 2, it is characterised in that: the first order
Cylinder block is grappling fixture outer cylinder body (5)；Extension spring is equipped between the grappling fixture outer cylinder body (5) and grappling fixture bottom cover (12)
(17)；The first pneumatic joint (16) are equipped on grappling fixture outer cylinder body (5), with claw mounting base (4) inner cylinder, grappling fixture inner cylinder tube
(9) upper surface is formed by cavity and is connected, and by the first pneumatic joint (16) and extension spring (17) collective effect, makes second
Grade cylinder body moves up and down in grappling fixture outer cylinder body (5).
5. a kind of pneumatic grappling fixture firmly grasped for bolt hole according to claim 4, it is characterised in that: outside the grappling fixture
Cylinder body (5) side is provided with pilot hole, and microswitch post rod (10) is inserted in grappling fixture outer cylinder body (5) pilot hole, and makes microswitch
Mandril (10) lower end is fixed on grappling fixture bottom cover (12) by locking nut (13), makes microswitch post rod (10) and first order cylinder
The mobile piston component holding of body, which synchronizes, to be moved up and down, and by the movement of microswitch post rod (10), detects first order cylinder body
Whether mobile piston component is located at upper limit position.
6. a kind of pneumatic grappling fixture firmly grasped for bolt hole according to claim 1, it is characterised in that: the second level
The cylinder body of cylinder is grappling fixture inner cylinder tube (9), and claw mandril (8) is the piston of second level cylinder, wherein claw mandril (8) is two
End club shaped structure, the intermediate cylindrical tube structure to match with grappling fixture inner cylinder tube (9) inner wall, the sealing of claw mandril (8) upper end
Across grappling fixture inner cylinder tube (9) upper surface and the upper part on claw mounting base (4) is stretched to, claw mandril (8) front end and card
Pawl addendum cone (1) is connected, and when claw mandril (8) being made to drive claw addendum cone (1) stretching motion, drives claw (3) around straight pin (2)
It makes rotating motion.
7. a kind of pneumatic grappling fixture firmly grasped for bolt hole according to claim 6, it is characterised in that: the claw top
It is equipped between bar (8) intermediate cylindrical barrel structure and grappling fixture bottom cover (12) compressed spring (11), which can guarantee claw
Mandril (8) in normal state be in stretching state, thus when three claws always outward be in device for spreading.
8. a kind of pneumatic grappling fixture firmly grasped for bolt hole according to claim 6, it is characterised in that: the claw top
Bar (8) lower end club shaped structure is hollow shaft structure, and is provided with through-hole in claw mandril (8) intermediate cylindrical barrel structure upper end surface,
So that claw mandril (8) bottom end for stretching out grappling fixture bottom cover (12) is provided with part and passes through hollow shaft and claw mandril (8) intermediate cylindrical tube
Cavity between structure upper surface, grappling fixture inner cylinder tube (9) inner roof wall is connected.
9. a kind of pneumatic grappling fixture firmly grasped for bolt hole according to claim 8, it is characterised in that: the claw top
Bar (8) bottom end is equipped with the second pneumatic joint (15), is provided with through-hole on grappling fixture bottom cover (12), and be equipped with third pneumatic joint
(14), it is cooperated and is supplied by the second pneumatic joint (15) and third pneumatic joint (14), to drive claw mandril (8) grabbing
Stretching motion is done in head inner cylinder tube (9).
10. a kind of pneumatic grappling fixture firmly grasped for bolt hole according to claim 1, it is characterised in that: the claw
When addendum cone (1) moves up, claw addendum cone (1) drives three claws (3) to rotate outward to form softened state, realizes to bolt hole
Promptly, when claw addendum cone (1) moves down, claw addendum cone (1) drive three claws (3) rotate inward to form closed form
Bolt hole is loosened in state, realization.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822158270.1U CN209393701U (en) | 2018-12-21 | 2018-12-21 | A kind of pneumatic grappling fixture firmly grasped for bolt hole |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822158270.1U CN209393701U (en) | 2018-12-21 | 2018-12-21 | A kind of pneumatic grappling fixture firmly grasped for bolt hole |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209393701U true CN209393701U (en) | 2019-09-17 |
Family
ID=67895688
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822158270.1U Active CN209393701U (en) | 2018-12-21 | 2018-12-21 | A kind of pneumatic grappling fixture firmly grasped for bolt hole |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209393701U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111346889A (en) * | 2018-12-21 | 2020-06-30 | 核动力运行研究所 | Pneumatic grabbing head for grabbing bolt hole |
| CN111469158A (en) * | 2020-04-02 | 2020-07-31 | 苏州研高自动化科技有限公司 | Six-claw pushing device |
-
2018
- 2018-12-21 CN CN201822158270.1U patent/CN209393701U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111346889A (en) * | 2018-12-21 | 2020-06-30 | 核动力运行研究所 | Pneumatic grabbing head for grabbing bolt hole |
| CN111346889B (en) * | 2018-12-21 | 2024-08-09 | 核动力运行研究所 | Pneumatic grabbing head for grabbing bolt holes |
| CN111469158A (en) * | 2020-04-02 | 2020-07-31 | 苏州研高自动化科技有限公司 | Six-claw pushing device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209393701U (en) | A kind of pneumatic grappling fixture firmly grasped for bolt hole | |
| US4561816A (en) | Remote manipulator arm for nuclear generator repair | |
| CN107742540B (en) | A kind of gripping apparatus and grasping means for detector assembly replacement | |
| CN110421333B (en) | Primary side blocking plate dismounting robot and primary side blocking plate mounting method | |
| CN101271738B (en) | Clamping head for fuel rod replacing device | |
| CN105736510B (en) | A kind of single cylinder double-piston endoporus manipulator | |
| CN108274452A (en) | Industrial robot axial direction self-adapting flexible flange | |
| CN111346889B (en) | Pneumatic grabbing head for grabbing bolt holes | |
| CN109941885A (en) | A kind of container number candid photograph and identification device and its method based on telescopic arm | |
| US4954312A (en) | Remotely installed steam generator nozzle dam system | |
| CN101545360A (en) | Wellhead lifting-clamping device | |
| CN108119031A (en) | A kind of safe and reliable intelligent protective device for underground construction | |
| CN112780873A (en) | Lifting trolley and positioning device for pipe plugging of horizontal steam generator | |
| CN105644720A (en) | Improved torpedo anchor | |
| CN117722613A (en) | Sewage pipeline bottom water leakage recognition and cleaning maintenance device | |
| US5032350A (en) | System for installing a steam generator nozzle dam | |
| US4899436A (en) | Remotely controlled device for fitting and withdrawing a plug for closing a steam generator tube | |
| US4945979A (en) | Robotic arm for delivering a tube plugging tool | |
| CN103979032A (en) | Steam generator secondary side expansion detecting robot in nuclear power station | |
| CN208005670U (en) | Industrial robot axial direction self-adapting flexible flange | |
| CN210069315U (en) | Installing support that municipal administration pipeline detection device used | |
| EP2830984B1 (en) | Decayed waste retrieval method and system | |
| CN208021705U (en) | A kind of inward turning unlocking type nose cone lock | |
| US20090120605A1 (en) | Tube walker for examination and repair of steam generators | |
| CN203585310U (en) | Pressure interlocking device used for object passing barrel |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |