GB1003244A - Handling device having a detachable gripper - Google Patents

Abstract

1,003,244. Manipulators. COMMISSARIAT A L'ENERGIE ATOMIQUE. Oct. 4, 1963 [Oct. 4, 1962], No. 39162/63. Heading B4Q. The gripper of a manipulator for use in a hot cell is remotely detachable by placing the gripper in a rack and operating the manipulator and comprises a cylindrical body 2 having three legs 4 to which jaws 9 are pivoted at 5. The jaws have gear sectors 11 whereby they are actuated by axial movement of a screw 13, this screw having a bayonet connection 17 with a plunger 15 biased by a spring 25 within a cylinder 19. The plunger is moved to the position shown against the spring action to close the jaws 9 by a control cable (not shown) connected to the plunger. The plunger 15 is keyed against rotation relative to the cylinder 19 so that when handles 23 on the latter are rotated through 90 degrees the connection 17 is released. A bush 27 mounted on the cylinder 19 by bearings 29 has an axial slot 31 leading to a recess 33 receiving a catch 37 radially movable in the body 2. Thus in the position shown the catch 37 locks the bush 27 both axially and rotatably with respect to the body 2 but the catch may be withdrawn to leave the recess 33 and permit the bush 27 to be axially withdrawn from the body, the catch moving along the slot 31. The catch operating mechanism comprises a ring 38 rotable in the body 2 and having an arcuate recess 40 receiving arcuate ramps 42, 44 rigid with the ring. The inner edges of the two ramps are of spiral profile but in the reverse sense to one another. The lower ramp 42 co-operates with a shoulder 41 on the catch 35 and serves to move it into the locking position shown whereas the upper ramp 46 co-operates with a notch 46 in the catch and serves to unlock it. In order to remove the gripper the manipulator places it in a rack which engages flat surfaces provided on the ring 38. The manipulator rotates the handles 23 to unlock the connection 17 and the bush 27 and body 2 are rotated together by gearing 50 on the bush so that the catch 37 leaves the recess 33 and the bush may be withdrawn from the gripper. The manipulator may be coupled to another gripper by a corresponding series of movements performed in the reverse order. A sealing bellows 56 extends from a ring 52 supported by a bearing 60 on the bush 27, the upper end of the bellows being connected to the manipulator. The manipulator includes drive means (not shown) for driving the gearing 50 and rotating the handles 23, the drive connections being protected by the bellows.