JPS5917485A - Gripper - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention has a claw that opens and closes in the inner and outer directions with respect to a vertical center line, and mainly engages with an engaging portion having a corresponding shape provided on the upper surface of an object to lift and transport the object. Regarding the gripping tool, in particular, when the gripping tool is lifted up or landed, the component parts are caused to move up and down relative to each other, thereby opening and closing the C-claws only by a mechanical mechanism, and gripping the object and applying the load. The present invention relates to a gripping tool that has excellent water resistance, heat resistance, radiation resistance, etc. and is suitable for remote control in which the claws do not release when a load is applied.

Radioactive materials such as spent fuel and radioactive waste handled at nuclear power plants are generally extremely radioactive and cannot be disposed of immediately. It is common practice to store it for a period of time and wait for its radioactivity to decrease before processing. This storage method generally involves storing radioactive materials in a container that does not have radiation shielding material, and storing it in a vertical hole with a diameter equivalent to the outside diameter of the container installed in an underground concrete floor, etc., or in water. The usual method is to store it and prevent radiation leakage to the outside.

Since all containers containing radioactive materials must be handled by remote control, the containers usually have an engaging portion (d) in the center of the upper surface that is gripped and engaged by a predetermined gripping tool.

The shape of the engaging part is usually a vertical cross section or a T-shaped protruding shape, but in some cases, the engaging part may have a shape with a groove having a vertical cross section equivalent to an inverted T-shape. Those that have are also used.

The gripping tool corresponding to the engaging portion of the kneading device usually has a plurality of, for example, three, claws arranged equally around the vertical center line.
A gripper that opens and closes radially relative to the vertical centerline is used coupled to the lower end of a tether, such as a wire, of the carrier.

The most important requirement for this type of grip is reliability in opening and closing the claws by remote control.

Conventional claw opening/closing means are often based on electric motors or electromagnets, and if the gripping tool is used horizontally, there are many accidents such as leakage, insulation damage, and switch failure due to water intrusion. Since it is essential to use an electric cable as well as a fastening device such as a wire, the structure of the drum of the hoisting device is complicated, and it is also difficult to connect it to an external power source.

On the other hand, the amount of radioactive material stored in a single container tends to increase, and in the early days, the weight of a single container after storage was less than a few hundred dog livers, but recently it has weighed more than 1 kg or more. In some cases, it reaches close to 1. Therefore, the gripping tools must also be radiation and heat resistant, and the conventional electric motors, electromagnets, attached electrical equipment, and electric cables used to open and close the claws are susceptible to deterioration of insulation due to radiation and thermal deterioration. Its use is becoming increasingly difficult.

As a result, we also tried a method that does not use electrical mechanisms)11.
For example, I have not tried using two pieces of wire as the 113 tool, and opening and closing the claws by manipulating the first and second wires with each other.However, the operation of the wire winding drum is extremely complicated. The current situation is that the reliability is not sufficient.

The purpose of the present invention is to overcome the drawbacks of conventional gripping tools, and to solve the same problems even when used in adverse conditions such as objects with high radioactivity levels and high temperatures or inaccessible to humans such as in areas or underwater. In addition, the tll lifting device can be operated with only one load-bearing wire, etc., and has excellent reliability and safety since it is a mechanical mechanism and does not require any mechanical parts. The object is to provide a gripping tool that is mainly used for remote control.

The gripping tool of the present invention is usually connected to the lower end of a wire or other (1) lifting tool that is included in a transportation device such as a crane that lifts objects 4H1 and lowers them 1-item, and is used to quickly lift objects. In a gripping tool that is used to lift an object by engaging with an engaging portion having a corresponding predetermined shape provided in advance on the object, the gripping tool is fitted with an upright inner body section, with this inner body section being a vertical axis. 21 fixed points interposed between the inner body and the outer body, which are interlocked with each other's mutual sliding movement, and have different upper limit positions of the sliding range. ((It has a positioning device that has two types of abutment parts, one for limiting, one for the inner seat of the outer body and the inner body, and a fulcrum for one of the inner seats, a driven cam for opening and closing, and a lower end for A plurality of claw parts having engaging claws.

It is mainly composed of five drive cams that engage with driven cams provided on the other one of the outer body and the inner body to open and close the pawl portions in the inward and outward directions.

The gripping tool C of the present invention will hereinafter be abbreviated as the present gripping tool. ) can be used by connecting to the lower end of a wire, for example, a marking tool of a transportation device that has a process of hoisting and lowering an object, such as a crane, and is a gripping tool that is usually attached to the top surface of the object. It is a gripping tool that can be attached to and detached from an engaging portion having a corresponding predetermined shape by remote control. One cage such as a wire is sufficient, and no other electric cables or the like are particularly required.

The main objects to which this gripping tool is used are those located in places where it is difficult for people to approach and operate them, and usually require remote control to handle the objects. This is the case. For example, storage containers for radioactive materials such as radioactive waste and spent fuel, or areas where high levels of radiation exist.
This applies to items located in areas with high temperatures or harmful atmospheres, items stored underwater, in shafts, etc.

Typical examples of the engaging portions provided on the object of this gripping tool include the storage container 5 as shown in Fig. 1 and Fig. 2.
0), it has a flange part 515 on the outer periphery, and the upper surface part 51a has a lid (not shown) for taking in and out of normally stored items. The cross-sectional shape is equivalent to a T-shape. Other shapes of the engaging portion 52 include a flange portion 52h as shown in Figures 3 and 4.
There are also grooves that face inward and have an inverted vertical cross section that corresponds to a T-shape. In the case of the above-mentioned chair as well, it is preferable that the main gripping tool and the engaging portion correspond in shape and size.

The main parts of this gripping tool will be explained along with their functions.

The upright inner barrel and the outer barrel, which fit into each other with the inner barrel as a vertical axis, can slide vertically relative to each other within a range between an upper limit position and a lower limit position. When one of these two is connected to a hanging device such as a wire and the whole is suspended, one of the two is inserted between the two to form an upper limit position consisting of two vertically different positions. Suspend via any of the abutments of a device that has different abutments.

For example, when a wire is connected to the inner body, the outer body is suspended via an abutting part that forms the lower upper limit position, and the claw part having a fulcrum on the outer body is in the open position - the wire is connected to the inner body. Loosen the entire body and lower the outer body to the surface of the object. For example, the upper surface part 51 of the engaging part 51 of the object to be lifted as shown in FIG.
When the robot lands at approximately the center of a, the outer body prevents its ridge from descending, and the engaging claws at the lower ends of the h claws reach below the flange 515 and stop together, and after that, only the inner body It slides a predetermined distance inside the outer body at the lower limit IA due to its own weight and then stops. During this time, the self-weight of the internal medicine part is used to operate the positioning device (for example, the feed claw part and the feed pin plate, etc.), and the feed mechanism is operated from the abutting part that forms the lower upper limit position to the upper upper limit position. The abutting portion forming the position is changed.

Next, the wire is wound up and raised to the inner body, and after reaching the initial lower upper limit position and reaching the abutting part that forms the changed upper upper limit position, the claw part is driven to open and close. 1. Providing a cam corresponding to the inner body. By engaging with the drive cam, the engaging pawl of the pawl portion can be closed and engaged with the flange 51A of the engaging portion. In this case, if the weight of the outer barrel is selected to be on the force field required for opening and closing the claw portion, the outer barrel remains stationary and the claw portion can be driven by the force that lifts the inner barrel (1).

If the inner barrel is further raised, the inner barrel can lift up the object that is integrated with the engaging portion together with the outer barrel via the abutting portion that forms the upper upper limit position. Once the object has been removed, the relative positions of the inner body, the outer body, and the positioning device do not change, so the claws do not open and are extremely safe.

The manner in which the objects are separated is almost the opposite of the above,
When the hanging tool is lowered and the lid-lifted object is landed on the floor, the outer body remains stationary on the upper surface portion 5Ia of the engaging portion without descending much. Furthermore, when the inking tool is loosened, only the inner body part descends, and while the inner body part reaches the position corresponding to the lower upper limit position, the first drive cam provided on the inner body part due to its own weight moves the driven cam of the claw part. , and drive the flange portion 51A.
is released from the engaging claw, then lowered to the lower limit position and stopped. During this time, as in the case of the first descent, the positioning device is driven by the weight of the inner body, and the abutting part forming the lower upper limit position is prepared and received from the abutting part forming the upper upper limit position. The engaging portion of the object is in a state of being released from the main gripping tool. Therefore, it is necessary that the inner body has a weight equal to or greater than that of the claw or positioning device that provides the necessary driving force.

Next, when the inner body is raised by the filing shell, the inner body rises until it reaches the abutting part at the lower upper limit position, through which the outer body is raised and rises as one body, and the body is placed on the floor. Leave only the object behind. The relative positions of each part of this gripping device return to the initial state VC in which the claws are open, and thereafter the inner and outer barrels maintain their relative positions, so the claws remain open. ,ru.

This gripping tool has the structure and function as described above, and there are various embodiments thereof. 11 According to the part where the fortune-telling tool is connected, the fastening tool is engaged with the inner body part,
There are two main categories: one in which the outer torso part lands on the ground, and one in which the fastener is connected to the outer torso part and the inner torso part lands on the ground, and both can be implemented.

In the case where the claw part is provided, the fulcrum should be provided on the inner or outer body to which the quickening tool is not connected, and the fulcrum should be provided on the part where the marking tool is connected. It can be divided into cases. The former case corresponds to a case where the fulcrum of the claw is on the landing side of the inner body or the outer body, and the load when lifting the object is directly applied to the landing side, and the positioning device is The load is applied to the side that connects to the sling via. Therefore, there is an advantage that the claw part does not move up and down at all when opening and closing the claw part. On the other hand, the latter case corresponds to the case where the fulcrum of the claw is on the side that is connected to the ω ripping tool, and the load of the object is directly applied to the side that is connected to the ω ripping tool, so there is no load on the device that does not determine the position. However, since the opening/closing of the claw portion and other operations involve slight vertical movement, other embodiments such as those shown in FIG. 1 or 3 in which the engaging claw engages The direction of the engagement portions may be inward or outward, and each can be selected depending on the type of the engaging portions 51 and 52. In addition to setting the upper limit position of the positioning device when the object is 11) lifted up as described above, the upper limit position corresponds to the upper limit position when the claw part is released and the object is hanging with no load. It is also possible to make the lower upper limit position correspond to the load state. In addition, the main body of the positioning device is usually 11) supported on the landing side that does not connect the clam.

11) It is also possible to support the 1u11 that connects the tool.

If the weight of either the outer body or the inner body is small and the force required to operate the drive cam, etc. is insufficient, for example, the outer diameter of the inner body may be changed from the outer diameter of the inner body to the engagement part, etc. If the weight is insufficient because the weight is set to a small value, install a compression tube between the outer body and the inner body to apply the necessary force to constantly lower the inner body relative to the outer body. At the same time, if the weight of the outer body is increased accordingly by -t+1, the objective can be achieved.

The embodiments of Ko J-1 and "J all have the same main parts, are symmetrical or partially modified, are the same in purpose, and are almost the same in effect. be.

Others with a cover or equivalent on the outer periphery of the outer body function as a guide device when moving the gripping device up and down the shaft, and especially when used with the inner body connected to a lifting device. If the inner shell extends from its upper part to the outside of the outer shell and its circumference extends beyond its lower end to form a cover, the outer shell will receive the upward force from the wall surface etc. when descending inside the shaft. This is effective in preventing the lowering of the inner body part and the outer body part from affecting the relative position of the inner body part and the outer body part.

The present gripping tool will be described below using examples and drawings.

Embodiment 11 This embodiment is a case in which a wire (1) is used as a lever 60 and is connected to the inner body part 1, and the outer body part 2 supports the fulcrum of the claw part 3 and the main body of the positioning device 4. This will be explained using figures 1 to 13 of the spear.

The upright inner body 1 has a mainly circular vertical cross section,
The outer body part 2 is fitted onto the outer periphery thereof, and can be slid up and down along the perpendicular line 0.0 as a center line. Around the lower part of the outer body part 2, the center is located north of the perpendicular line O~O, and each of the claw parts 3 is connected by a horizontal axis 5 at right angles to the radius, with the three corner points of the circumference of a circle on the horizontal plane as fulcrums. The shaft 12 of the positioning device 4 located in the groove 10 in the upper part of the inner body part 1 is supported via a bearing 11 in the upper part of the trench.

The positioning device 4 is horizontally supported by the outer body part 2 via a bearing 11 and is located in a guide groove 21 extending vertically in the inner body part I, and has an axis whose center line passes through perpendicular lines ○ and ○. 12, a positioning piece 13 coaxially fixed to the shaft 12, and a feed pin plate 15 having a predetermined number of feed pins 14, a position holding mechanism 20, and a position holding mechanism 20, which is supported by a shaft 16 on the inner wall of the groove 10 of the inner body 1. One feed pin 14 is moved downwardly to the feed shaft 1 for each reciprocation in the vertical direction between the outer body part 2 and the inner body part 1.
2 in a fixed direction by a fixed angle.

Positioning piece 13B, center line of shaft 12 and perpendicular line ○.

A protrusion forming an abutment part I3a that defines the lower upper limit position at a position that is located at the intersection with O and equally divides the circumference on a plane perpendicular to the axis I2 with this as the center, and the upper upper limit. It has a gear-like shape in which four parts forming abutting parts +3b for determining the position are arranged alternately, and the number of protrusions 13a and recesses 13A are the same and each is two or more, which is preferable. Gu is 3 [hard or above]. In this embodiment, each of the adjacent protrusions + 3a and the recesses 1
The central angle formed with 3S is 45 degrees.

The feed pin plate 15 has protrusions +3 (the same number as the total of Z and recesses 13b, that is, 8 feed pins 14) parallel to the shaft 12 at equally divided points on the circumference centered on the center line of the shaft 12. The center angle formed by adjacent feed pins 14 is 45 degrees.

The position of the feed pin I4 is such that when the protrusion I3a or the recess 13h is on the perpendicular line O20 below the axis I2, the two adjacent feed pins 14 are at symmetrical positions above and below the horizontal line passing through the center of the axis 12. It is good that it is in Such conditions are such that the relative position between the feed pin 14 and the protrusion +3a etc. when viewed through a plane perpendicular to the center line of the shaft 12 is
When the number of protrusions +3a is an even number based on the protrusion 13a, the position of the feed pin 14 is between the protrusion +3a and the recess 13A.
- If the number of protrusions 13a is still odd, the feed pin 14 should be on the bisector of the central angle formed by the protrusion +3.
It is sufficient if it is on the same radius as a and the fourth part 13#. In this embodiment, since there are four protrusions +3a, the feed pin 14
The position is the central angle 45 formed by the protrusion 13a and the recess I3z.
There is an adjacent feed pin 14 located on the bisector of the degree and rotated 22.5 degrees from both sides, and vertically symmetrical with respect to the horizontal line passing through the center of the shaft 12. Located in For example, the feed pin +4/ shown in Fig. 9
+14J corresponds to this.

The position holding mechanism 20 has grooves 20b provided at equal positions on the circumference, as shown in FIG. 6 and FIG. It has a known mechanism consisting of a ball 20C and a spring 20d, which are positioned and partially fit into the groove 20A, and the number of grooves 205 is equal to the number of protrusions +3a and recesses 13b.
The same number as the total number of grooves 20I! The position where I and the ball 2oc engage and hold the rotation of the shaft I2 against external force is selected so that it coincides with the position where the protrusion +3a or the recess 136 is below the shaft 12 and on the perpendicular line O20. .

The feed claw portion 17 is located parallel to the shaft 12 and at a position where it does not interfere with the feed pin 14, as shown in Figs. 5 and 8 and Fig. 9. +1116, which is rotatably supported on the inner wall surface of the groove lO of the inner body part 1, and at the upper part on the side of the feed pin I4 with respect to the shaft I6, there is a rotation stopper which is pulled by a spring 18 and abuts on an abutting part 19 provided in the groove 10. +7a, and at the bottom of the shaft there are two feed pins 14 symmetrically positioned with respect to a horizontal line passing through the center of the shaft 12, e.g. Therefore, if the inner body part 1 slides up and down along the guide groove 21 inside the outer body part 2 via the shaft 12 between the feeding part 17, then -L
When lowering, the feed pin 14 is pushed down against the position holding mechanism 20 and the positioning piece 1 is coaxial with the feed pin plate 15.
Turn 3 counterclockwise in Figure 5, and when ascending, feed pin 1
4, it can be turned clockwise and returned to its original position using the escape spring 18.

The upper and lower upper limit positions and lower limit positions of the feed section +7B are set in correspondence with the two upper limit positions and lower limit positions of the inner body part 1 with respect to the outer body part 2. The lower upper limit position corresponds to the lower upper limit position of the inner body part 1 and is set to be slightly above the feed pin 14.2 shown in FIG. Corresponds to
Set it at a position where it touches the top surface of the feed pin 14/.

- Therefore, when the inner body part 1 slides from the lower upper limit position to the lower limit position 1, the feed pin 14 is fed counterclockwise by one pitch of the feed pin 14, that is, by 45 degrees at the upper center, and therefore the positioning piece 13 of! The protrusion +3a or recess 13A located directly below 11112 is rotated 45 degrees to the left and replaced. For example, 1
If the protrusion is 13.2 in 1 inch, the four parts after counterclockwise rotation are 135.
be replaced by

The inner body part 1 is connected to the fastening tool 60 at the 46-piece fitting 28 on the upper surface, and the upper groove part 10 and the guide groove 21 accommodate the positioning device 4, and the lower surface of the groove part 10 houses the positioning device 4. It has a protrusion 22 that can come into contact with the protrusion I3a and engage with the recess 13h, and around the lower part guides the driven cams 31 and 32 of the pawl 3 and engages the engagement at the lower end of the pawl 3. Open and close the matching claws 33 and apply. Drive cam 24.25
．． It has 26.

The main relative positions at which the inner body part 1 slides up and down within the outer body part 2 are the following three positions. The upper limit position is the piece 13 where the protrusion 22 is not positioned as shown in Figures 18 and 12.
This is the position where the four parts 13AK are engaged, the lower upper limit position is the position where the protrusion 22 abuts on the protrusion +3a as shown in Figure 5, and the lower limit position is as shown in Figures 11 and 13. This is the position where the upper end 21a of the guide groove 21 contacts the upper surface of the shaft 12.

The relationship between the driven cams 31, 32 of the claw portion 3 and the drive cams 24, 25, 26 of the inner body portion 1 is set as follows.

At the upper upper limit position, the engaging claw 33 closes and the engaging portion 515
The driven cam 31, which is above the shaft 5 as shown in FIG. The driven cam 32 located at the position has moved 1·ζ above the driving cam 26.

Between the lower upper limit position and the lower limit position, the engaging claw 33 engages and holds the engaging portion 515 in the open state.
As shown in Fig. 11 and Fig. 13, the driven cam 32 is
It is on the drive cam 25 and has moved outward, and the driven cam 31 has been moved on the drive cam 24.

The handling method and operation of this embodiment will be explained.

As shown in Fig. 5, this gripping tool is suspended by a wrapping tool 60, and the inner body part 1 is at the lower upper limit position where the protruding part 22 contacts the protruding part +312 of the positioning device #4. The claw portion 3 maintains an open position.

The upper surface portion 5 of the engaging portion 51 of the storage container 50 is lowered.
If the lower surface part 34 of the outer body part 2 is landed approximately in the center of 1a and the writhing tool 60 is further lowered, only the inner body part 1 will be lowered by its own weight and will reach the lower limit position V as shown in Figure 11. reach and stop. During this time, the positioning piece 13 is moved downward by one pitch, that is, by a center angle of 45 degrees, as the feed pin 14 is moved downward by one pitch, that is, by a center angle of 45 degrees, as shown in FIG.
Since the position is reached, the pin plate 15 rotates to the left by a center angle of 45 degrees, and the fourth part 13A is located below the axis I2 instead of the protrusion +3a, and the position is held by the position holding mechanism 20. During this time, the feed portion +7A of the feed claw portion 17 descends from the feed portion 17I)l located at the lower upper limit position to the feed portion +7534 located at the lower limit position and stops.

Next, when the marking tool 60 is gradually pulled up, the protrusion 2 of the inner body I
2 reaches the upper upper limit position and engages with the recess 13A, and O.12
The state shown in the figure will be reached. In the meantime, from the lower limit position to the lower upper limit position, the claw part 3 is driven by the drive cam 24, 25, 26.
The driven cams 31 and 32 maintain the open state without being driven by the cams, and then reach the upper limit position.
The drive cam 25°2 from the engaged state with the drive cam 24.25
6 and is driven, the engaging claw 33 closes the flange portion 51
Engage with A. Even if the outer body part 2 is subjected to an upward force caused by the opening and closing of the claw part 3 during this process, it can maintain a stationary state if the load is set to 11 or more. The feed portion +75 of the shriveling feed claw portion 17 is]-Feed portion +7bJ at the lower limit position in Fig. 9
It escapes outward at the sending portion 176.2 and returns to the upper upper limit position.

If the t13 gripper 60 is further raised, the main gripper can move the storage container 50 that is integrated with the engaging portion 51 upwardly/11 times.

The handling and operation of (1) unloading of the storage container 50 and separation from the main gripping tool are completely opposite to the above-mentioned lifting. Immediately after unloading and landing at a predetermined position, the state is exactly the same as that shown in Fig. 12, and the first lifting tool 60 is further lowered. , and only the inner trunk 1 descends until it reaches the lower limit position and stops, resulting in the state shown in Figure 13. During that time, while the inner body l reaches from the upper upper limit position to the lower upper limit position, the driven cams 31 and 32
moves from the drive cam 25.26 to the drive cam 24.25, and the engagement claw 33 releases the engagement portion 51. After that, while the inner body part 1 reaches the lower limit position, the feed claw part 17 is lowered, and the positioning piece I3 is rotated 45 degrees counterclockwise via the feed bottle 14 and the feed pin plate 15 to stop and hold the position. At the same time, a protrusion +3 is added instead of the recess 13A that was located at the bottom.
a takes turns and is located at the bottom.

Next, when the binding tool 60 is pulled up, the protruding part 22 of the inner body part 1 comes into contact with the protruding part +3a, and the present gripping tool releases the engaging part 51 and raises it while keeping the engaging claw 33 open. Then, the state returns to the state shown in Fig. 5, and the storage container 50 is left in a predetermined position.

In the case of this embodiment, as shown in Fig. 5, it is effective to form a cover 40 that extends the upper surface of the inner body part 1 and lowers the circumference of the outer body part 2 to cover the vicinity of the engaging claw 33. be.

In this embodiment, the shaft 12 of the positioning device 4 is
As shown in Fig. 6, it is supported by the inner body part l and the feed claw part 1
7 is provided on the outer body 2, and -1 is replaced with the protrusion 22 by a spear 17.
The protrusion 226 shown in the figure (which engages from above the positioning piece 13 can function in substantially the same way as the present embodiment).

Embodiment 2 This embodiment is based on the engaging claw 33 of the claw portion 3 of Embodiment 1.
It is an outward facing thing. As shown in FIG.
It has almost the same structure as the first embodiment except that the shape of α is slightly shaped, and it corresponds to the engaging portion 521t'CJ, and is engaged when the engaging claw 33a opens outward. It engages with the joint portion 52.

It opens when closed toward the center.

The engaging claw 33a closes toward the center between the upper and lower upper limit positions of the inner body 1, and opens outward between the lower upper limit position and the lower limit position.
When lifting the positioning piece 13, the protrusion +3a and the inner body l
The lower upper limit position where the protrusion 22 comes into contact with is used.

Since the protrusion +3a and the protrusion 22 have a sufficient width and can come into contact with each other, there is no fear that their relative positions will change when a load is applied.

The method of using the shank is almost symmetrical to that of the first embodiment, in which the inner body 1 is at the upper upper limit position and the engagement claw 33. = in the closed state, lower the hanging tool 60 and
2, the inner body part 1
The engaging pawl 33a opens and engages with the flange portion 52b until it reaches the lower upper limit position. When the inner body portion 1 further descends to the lower limit position, the positioning piece I3 rotates 45 degrees [and the protrusion +3a is positioned downward. Therefore, the inner body I
If it is subsequently raised, the protruding part 22 comes into contact with the protruding part +3a, and thereafter, the storage container 50 integrated with the engaging part 52 can be lifted up as the ω ripping tool 60 is raised. The lifting and opening operations with the retaining part 52 are almost the opposite of those described above.

This embodiment row is different from the first embodiment in that the engagement claws 3 are simply directed outward.
3a (corresponding to the ZK replaced one), this gripping tool can be used for both types of engagement parts 51 and 52 by providing the claw parts 3 and 3a.

Example 3 This example is based on Examples 1 and 2. In contrast, the relative positions of the drive cams 24, 25, and 26 of the inner body part 1 are slightly changed to have an almost symmetrical shape, and as shown in FIG. Similarly, the engaging portion 52 is engaged with the engaging claw 33A of the claw portion 36 at the upper upper limit position of the inner body portion 1, and the engaging claw 335 is closed between the lower upper limit position and the lower limit position. 52 is opened. Therefore, the handling method is almost the same as in Example 1. It is similar to

In the case of this embodiment as well, the claw portion 3h is the same as in Example 1. Similarly, engaging claw 3
36 can be used by converting it to an inward facing type. In that case, it can engage with the engaging portion 51 at the lower upper limit position.

Embodiment 41 In this embodiment, as shown in Figs.
A claw portion 3C having an inward engaging claw 33C is provided on the inner body portion 1 and is engaged with an engaging portion 51K corresponding to the engaging portion 51.

When compared with the first embodiment, in addition to the above-mentioned differences, the positions of the positioning device 4 and other parts are almost symmetrically exchanged between the outer body part 2 and the inner body part 1. The shaft 12 that fixes the positioning piece I3, the feed pin plate 15, etc. is supported by the inner body part 1 via the bearing 11, and the feed pawl part 17 and the protruding part 22a are located in the groove part 10α of the outer body part 2. , and positioning piece 1
3 and the protrusion 22α are the dog shaft 1 that improves left and right balance.
In addition to being provided at corresponding positions near both ends of 2,
The drive cams 24, 25, 26 are located in the outer body part 2 and are attached to the claw part 3.
The relationship between the driven cams 31 and 32 of c is such that the outer body 2 is at the upper limit position relative to the inner body 1, that is, the protrusion 22a is at the recess 13.
6, the engaging claw 33c closes inward and engages the engaging portion 5.
I, and the upper limit position below the groove, that is, the position where the protrusion 22a abuts the protrusion 13α;
Between the lower limit position where the upper surface 29 of the inner body 1 contacts the upper surface 35 of the groove 10α of the outer body 2, the engaging claw 33
C opens to release the engaging portion 51.

Therefore, Example 1. In this example, the relationship between the upper and lower upper limit positions of the inner barrel 1 and the opening and closing of the engaging claw 33 is almost indeterminate if the inner barrel 1 is considered as a reference. Ru.

Also, regarding the operating method, Example 1. It is almost the same as the above, and the outer body part 2 is sheathed and moved up and down with the lifting tool 60, and the inner body part 1 is landed on the engaging part 51''2, and the claw part 3C is engaged with the engaging part 51. There is little difference other than the combination and release.

In the case of this embodiment, if the engaging claw 33C of the claw portion 3C is changed to an outward shape and the lower end of the inner body l is made into a flange shape, the engaging portion 52 will form at the lower upper limit position as in the second embodiment. It can be matched with that of

Furthermore, if the relative positions of the drive cams 24, 25, and 26 are changed, they can be engaged with the engaging portion 52 at the upper upper limit position, as in the third embodiment.

Embodiment 5 In this embodiment, as shown in Figure 19 to Figure 21, a
, the inner body part l lands on the engaging part 51, and the claw part 3d
However, when the outer diameter of the storage container 50 is relatively small, the outer diameter of the inner barrel 1 is adjusted to reduce the outer diameter of the outer barrel 2. Small and pear, claw part 3d
is supported on the outer body part 2, and since the weight of the inner body part 1 is relatively light, there is a possibility that the weight of the mechanism for driving the claw part 3d etc. will be insufficient. This is the case when the necessary force is added.

By appropriately compressing and providing compression springs 36 between the earth surface portion 29 of the inner body portion 1 and the upper surface portion 35 of the groove portion 10a of the outer body portion 2, a portion of the weight of the outer body portion 2 can be reduced to the inside according to the required amount. Torso 1-
can be communicated to.

Next, we will outline the handling method and effects. The relationship between the driven cams 31, 32 of the claw portion 3d and the first driving cams 24, 25° 26 is such that the engaging claw 33d opens to release the engaging portion 51 at the upper upper limit position of the outer body portion 2, and the lower upper limit Between the lower limit position and the lower limit position, the engaging claw 33d is in a closed relationship to be able to engage with the engaging portion 51. When this grip is suspended with no load, the outer body 2
is at the upper upper limit position, and the protrusion 22a is in the recess 13b.
The driven cams 31 and 32 of the claw portion 3d are in contact with the drive cams 24 and 25, and the engaging claw 33b is open. When the hanging tool 60 is lowered and the inner body part 1 lands on the upper surface of the engaging part 51, only the outer body part 2 having the claw part 3d descends, and the claw part 3d is driven while reaching the lower upper limit position. The cams 25 and 26 are driven once to close and engage the engaging portion 51. Subsequently, the outer body part 2 descends and stops at the lower limit position where the upper surface part 29 of the inner body part 1 and the groove part 10 (Z upper surface part 35 of the outer body part 2) come into contact.During this period, the positioning piece I3 rotates 45 degrees. However, a protrusion +3a is located below in place of the four parts 136 and maintains that position, and the bent driven cams 31 and 32 are in the position of descending above the drive cams 25 and 26.

Next, when the II'1 lifting tool 60 is raised, the protruding part 22a of the outer body part 2 comes into contact with the protruding part 13a, and the engaging claw 33d
The flange portion of the engaging portion 51'' can be seen in the closed state.

(g) When unloading, take the opposite procedure to the above. 113 When the lifting tool 60 is lowered, the storage container 50 lands on the ground, and after that, the outer body 2 is lowered and the recess 13 of the positioning piece 13 is lowered.
b is prepared for the lower V, and then when the hanging tool 60 is raised, the claw portion 3d is driven and the engaging claw 33d releases the engaging portion 51 while passing the lower upper limit position and reaching the upper upper limit position. do. At this time, if the weight of the inner body part 1 is insufficient, the inner body part 1 cannot be driven because it rises due to the resistance force between the driving cam 25.26 and the driven cam 31.32, but the outer body part 1 is moved by the compression spring 36. By adding a portion of the weight of the section 20 to the inner body section 1, its rise can be prevented.

In this embodiment, the tool 60 is connected to the outer body 2, but if the marking tool 60 is connected to the inner body 1, the lack of weight can be avoided when the inner body 1 descends, contrary to this example. It will make up for it.

In either case, the weight of the outer body part 2 must be increased to compensate for the lack of weight of the inner body part I.

Other matters are the same as in Examples 1 to 4.

As mentioned above, this gripping tool has a claw part that engages and releases the engaging part provided on the object or object to be lifted up and taken down, and the opening and closing of the gripping tool is carried out using a single piece of paper. It can be easily operated by moving up and down, and its structure is simple. Alternatively, it is possible to use a gripping tool that does not pose the risk of being exposed to an atmosphere harmful to the human body, and its overall function is reliable, making it an extremely effective gripping device in cases where it is difficult to approach the human body and remote control is required.

[Brief explanation of the drawings] ・Figure 1 is a front view of the storage container with the engaging portion indicated by t-.
Figure 2 is a plan view, Figure 3 is a front view mainly showing other engaging parts, and Figure 4 is a plan view. Figure 5 is a vertical cross-sectional view for illustration purposes only, and Figures 2-6 are '
A-A in Figure A-5 is a horizontal cross-sectional view, and Figure 7 is a sword.
The horizontal sectional view taken along line B-B in the figure, Figures 8 to 10 are enlarged front views showing only the main parts of the device to explain the positioning device, and Figures 11 to 13 show the operation. It is a vertical cross-sectional view for illustration purposes only. However, Fang 5, Fang 11 to Fang 13, and the following Fang 14, Fang 15, 2 and 16, and Spear 1.
In Figure 9, all the claws are shown moved onto the same plane. Fang 14 to spear 16 and half 19 are each 1 other
11 Ri ingredients. FIG. 3 is a longitudinal cross-sectional view for explaining an embodiment of the present invention. Fang 17 figures,
The fan 18, the blade 20, and the blade 21 are front views showing only the main parts of the positioning device. DESCRIPTION OF SYMBOLS 1...Inner body part, 2...Outer body part-3, 3a, 3,5°3 and..., 3d...Claw part, 4...Positioning device, 5...
...Axis, 10. loa...groove, 11...bearing, 1
2...Axis, 13...Positioning piece-13a, 135.
...Abutment part, 14,147:14.2...Feeding pin, 15...Feeding bin plate, 16...Shaft, 17...Feeding claw part, +7a---Unrotated part, 17b, l71) l. 17b, l7b3... Feeding part, 18... Spring, 19... Abutment part, 20... Position holding mechanism, 2
0a... groove wheel, 20A... groove, 2oo... ball, 2
0d... Wing, 21... Guide groove, 21a... Upper end + 22, 22a, 22.6-- Projection, 24,
25゜26..., drive cam, 28...ω fitting, 2
9...Top part = 31.32...Driven cam, 33,3
3. Z. 33b, 33C, 33d...Engaging claw, 34...Lower surface part, patent applicant Yoshizawa Kiko Tobu Co., Ltd. Fig. 12 Fig. 13n ■--, 1m-, -11- 〇 〇 Fig. 14
Figure 15 o C? " ○ 6 Figure 16 ■-" Figure 19 ○ 1 ~ ~ ~ 1 Tools - Figure 20 Figure 21

Claims (1)

[Scope of Claims] (1) Connected to the lower end of a wire or other convex lifting device peculiar to a transportation device that (1) lifts and unloads objects, such as a crane, and provided in advance on the object to be lifted. (a) A gripping tool of the type that is lifted up by engaging with an engaging portion having a corresponding predetermined shape, the gripping tool includes an upright inner body section having a required weight, and a vertical axis of the inner body section. an outer body of a required weight that can fit together and slide vertically relative to each other, and an upper limit of the sliding range that is interposed between the inner body and the outer body and interlocks with the mutual sliding movement of the two. A positioning device having two types of abutting portions for limiting the position to two different locations, and a driven cam portion for opening and closing having a fulcrum on either one of the outer body portion and the inner body portion, and a plurality of pawls having engaging pawls at the lower end; and a drive for engaging with the driven cam provided on the other one of the outer body and the inner body to open and close the pawls in the inward and outward directions; A gripping tool mainly consisting of a cam. (2) The gripping tool according to claim 1, wherein the ω-grip such as a wire is coupled to the inner barrel, and the fulcrum of the claw is provided in the outer barrel. (3) The gripping device according to claim 2 and 1, wherein the IB gripping tool such as a wire is coupled to the inner body portion and the fulcrum of the claw portion is provided on the inner body portion. (4) The gripping tool according to claim 1, wherein the ω-grip such as a wire is coupled to the outer body, and the fulcrum of the claw portion is provided on the inner body. (5) The gripping device according to claim 1, wherein (1) the grip such as a wire is coupled to the outer body, and the fulcrum of the claw portion is provided on the outer body. (6) The driven cam of the claw portion is formed by cams located above and below the fulcrum.
The gripping tool described in any of the paragraphs. (Force) The fulcrum of the claw part is centered on the common vertical center line of the outer body part and the inner body part, and is located at a position that equally divides the circumference of a circle on the horizontal plane, and passes through the limb position 16 and the radius of Masuda. The gripping device according to any one of claims 1 to 10, which is formed by a QLB bearing having an axis perpendicular to and horizontal to A gear-like positioning piece having alternating protrusions and recesses around the periphery, and a feed pin plate having twice the number of protrusions equally distributed on the circumference. A mechanism for horizontally supporting a shaft with a concentrically fixed shaft, and a feed mechanism provided on one side having a feed claw portion corresponding to a dowel for rotating the feed pin plate, and a feed mechanism for engaging or abutting the positioning piece. The gripping tool according to any one of claims 1 to 7, which is mainly composed of a protruding portion of the inner body and the outer body. The gripping tool according to any one of claims 1 to 8, which forms a cover that extends downward along the outer periphery of the outer body and reaches below the lower end of the outer body. (10) The gripping tool according to any one of claims 1 to 9, which has a compression spring that is compressed in the vertical direction between the outer body part and the inner body part.