DE1478911A1 - Remote gripper with rotating and swiveling gripping tongs - Google Patents

Description

U78911

SOCIETY FOR Karlsruhe, February 17, 1965

NUCLEAR RESEARCH M.B.H. PTA 65 / I8 Bh / Rz

Expl,

"Remote gripper with rotating and swiveling gripping pliers"

The invention relates to a remote gripper with one in the shield The elements for the transmission of motion to the one end arranged operating device on the arranged at the other end in the manner of an elbow joint gripper arm .

For a lot of work with radioactive substances behind lead shielding walls or so-called direct grippers are used in glove boxes

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used, which usually consist of a rigid tube that is mounted in a bushing through the Schutzvuid and that has a gripper at one end and an operating handle at the other. As a bearing in the protective wall, these grippers have ball bushings in which they can be rotated, pivoted on all sides by a limited angle and shifted in the axial direction. Often (e.g. when loading and unloading containers) this radius of action is too small. Above all, it is felt to be a deficiency that an "elbow joint" for pivoting the gripping pliers is missing. Grippers with an elbow joint ψ (e.g. with cable or belt actuation) have already been made, but they differ considerably from the usual gripper dimensions, so that special cells, but at least special bearing arrangements, are necessary for them.

So far it has not yet been possible to create a gripper with an "elbow joint" whose main dimensions ^{correspond to the most commonly used direct grippers without an 11} elbow joint "because additional transmission organs are required in the thin connecting rod between It was no longer possible to accommodate the operating device and gripping tongs, as two further movements must be transmitted from the operating handle to the gripping tong (tong rotation and pivoting movement).

The object of the present invention is therefore to provide a remote gripper to create with rotating and swiveling gripping pliers, the main dimensions of which are the same as those of today's grippers. According to the invention, this is achieved in a simple manner by a rotatable in the connecting rod and displaceable in the axial direction mounted, preferably hollow shaft for receiving a cable pull as a means for transmitting movement, which is at one end of the connecting rod is coupled at its other end to the gripper arm via a drive device known per se with the operating device.

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The details of the invention are explained in more detail with reference to drawings:

Flg. 1 shows the direct gripper with "elbow joint" 1, which is shown in FIG In a similar way to how the rigid direct gripper is mounted in the ball bushing 2 of a shielding wall 3. For protection The gripper can be covered with a protective cover (booting) 4 against explosion contamination or for a gas-tight seal, on the one hand on a sealing flange 5 of the cell wall 6 and on the other hand on an intermediate piece 7 on the shaft of the gripping tongs 8 is attached gas-tight. As a result, the protective cover 4 enclosed gripper part with the pliers 8 in the usual catfish from- " change without affecting the gas tightness of the work space, j

The ball 9 in the Grelfer bushing 2 has a split. \ Removable plug 10, the smallest diameter so-j selects 1st that the transmission gearing can be passed to the gripping pliers 8 18 through the ball opening. 11 The stopper 10 is designed as part of the ball 9 and is fixed to it! tied together. The connecting tube 13 can be locked in the ball 9 via a locking sleeve 12 ′ mounted in the stopper 10. The ball 9 can also be clamped by a further locking device 14.

The gripper can perform the following five movements:

1.Forwards and backwards: By moving the connection

stuck 13 in their leadership in Plug 10.

2. Swivel movement: By swiveling the connection

rod 13 in its ball bearing.

3. Opening and closing by pressing a centrally through the gripping pliers 8: the connecting rod guided cable pull via lever 15 on the operating handle 16.

4. Turning the gripper 8: by turning the handle 16.

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5. Swiveling the gripping pliers 8 By swiveling the betätium, the elbow joint is provided with the handle 16.

The transfer of the movements from operating handle 16 to the Gripping tongs 8 will be explained in more detail below with reference to FIG will. The movement processes mentioned under points 1 - 3 correspond to those of the usual designs and are also off recognizable in the drawing. They are therefore not further refined.

The main transmission element between the transmission gear 17 and the reverse transmission gear 18 for the movements mentioned under points 4 and 5 is a hollow shaft 20 in the connecting rod 13, which is stored in the two adjacent gear housings IJ and 18. It transmits the rotary motion of the tongs in the following way:

By turning the operating handle 16 firmly connected to the bevel gear 23, the bevel gear 25 is driven via the intermediate gear 24. This is rotatably mounted in the gear housing 28 and z. B. via a square 33 positively, rotatably, but axially versohleblioh coupled to the hollow shaft 20. At the other end of the hollow shaft 20 is in the transmission 18 (Fig. 1) by the same gear parts but with the opposite effect of their rotation to the rotation of the Gripper holder tube 19 on the bevel gear 23 corresponding Transfer bevel gear.

In addition, the shaft 20 serves as a transmission element for the swiveling movement of the tongs connected pivot fork 26 about the axis of the cone wheel 24 pivotally mounted. To the two pins 27, the fork 26 should be a Swivel movement of approx. 180 °. The housing part 28, which is spherical at the end, therefore has a perpendicular to the plane C-D extending guide groove 29, the width of which is adapted to the shaft diameter of the bevel gear 23. NIt of the swivel fork 26 firmly connected, the gears 30 transmit the pivoting movement two racks 31 »32. The two ZJthn-

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Rods 31 * 32 are attached to the bearing ring 35 so that the thrust movement is transmitted to the hollow shaft 20 by the bearing ring 35 fixed in the axial direction on the hollow shaft 20. The bearing ring 35 is supported via a ball bearing 5 ~ $ rotatable on the hollow shaft 20 to be able to transmit the pivoting movement independent of the gripping tongs rotation. At the other end of the shaft 20, its thrust movement is retranslated in the transmission 18 in the same way, so that the gripping pliers 8 executes a pivoting movement corresponding to the movement of the actuating handle 16. »

In order to make the difference when pivoting pliers 8 and handle 16 borrowed tension of the cable running through the gears 17 and 18 and through the hollow shaft 20 to open and close the To be able to compensate for grippers, are located in the two Gears 17 and 18 still rope length compensation rollers 34, the are mounted oscillating on bolts 27. They are known per se and are therefore not described in detail.

With the relatively simple additional components described, you can use the gripper according to the invention to operate a functionally reliable "elbow joint" in a simple manner, which is important, for example, when you have to turn screws in containers or reach into corners of hot cells. i

With the described split ball bushing, all of the direct grippers that have hitherto been commonly used can also be used continue to be used.

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Claims (4)

U78911 / Karlsruhe, I7.2.I965 9PTA 65 / U Bh / Rz Patent claims: 1.j Pern grab with one in the shield via a ball joint connecting rod pivoted on all sides, the elements for the transmission of motion of the one arranged at one end The operating device on the Ore ifarm, which is arranged at the other end in the manner of an elbow joint, characterized by one mounted in the connecting rod (13) so as to be rotatable and displaceable in the axial direction, for receiving a cable pull, preferably a hollow shaft (20) as a means for transmitting movement, which is at one end of the connecting rod (13) via known drive devices with the Operating device (15, 16) is coupled at its other end to the Grelfzangenarm (7,8,19). 2. Perngreifer according to claim 1, characterized by push rods (31 * 32) which are at one end via racks with on pivoted control handle (16) attached pinions (30) are in engagement, with them on their other End firmly connected to a bearing ring (35) in which the hollow shaft (20) is rotatably mounted. 3. Remote gripper according to claim 1-2, characterized by a known differential gear (23-25) for transmission the rotary movement of the handle (16) as a rotary movement on the hollow shaft (20), with the output bevel gear (25) and hollow shaft (20) axially displaceable, but non-rotatably coupled to one another via a square, spline or the like are. 4. Perngreifer according to claim 1-3, characterized by two similar transmission gears (17,18) at the ends of the Connecting rod (13) 909829/0058 bad original Blank page