JPS61293789A - Gripping arm - 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 [Technical Field of the Invention] The present invention relates to a gripping arm used, for example, in a nuclear power plant.

[Technical background of the invention and its problems]

Conventionally, structures shown in FIGS. 9 to 14 have been used. That is, FIG. 9 shows a gripping arm device that, when a columnar member such as the cylinder 21 is moved up and down and stopped at an arbitrary position, is gripped and held for a predetermined time, and then released.

In the above process, it is necessary for the columnar member 21 to support the columnar member 21 with a small gripping force. Further, the columnar member 21 is not necessarily grasped in a dry state; for example, in a nuclear power plant or the like, it is required to immediately grasp and hold the columnar member 21 pulled out of the water.

In such a case, the gripping surface 16a of the claw 16 of the gripping arm device M
It is conceivable to increase the frictional force and reduce the gripping force, but water droplets adhere to the surface of the columnar member 21 pulled out from the water tank, and if this is received by the gripping surface 16a of approximately the same curvature, the water droplets will be removed. There is no place to escape, and as a result, there is a risk that a water film phenomenon will occur on the gripping surface 16a and the frictional force will be lost.

This phenomenon poses a risk of the columnar member 21 falling, and if grip strength is increased to prevent this, the columnar member 21 may be damaged or damaged.

[Purpose of the invention]

The present invention has been made based on the above circumstances, and includes an elastic member having high friction on the gripping surface of the claw of the gripping device, and a gripping arm that is not affected by water adhering to the surface of the columnar member pulled out from the water tank. It depends on providing the equipment.

[Summary of the invention]

The present invention includes a shaft protruding from the frame, a slide base fitted onto the shaft and movable back and forth in the axial direction, and a tip of the shaft at the tip of the slide base, which is symmetrical and rotatable on the base side. two claws connected with a pin, an operating pin spaced apart from the pin of the claws, a link coupled to the pin provided on the slide base side, and an operating rod provided between the operating section of the mount; a gripping arm having an elastic member having high friction made of rubber or synthetic resin on the gripping surface of the claw;
Alternatively, the grasping arm may include an uneven portion on the surface of the elastic member provided on the grasping surface of the claw.

[Embodiments of the invention]

An embodiment of the present invention will be described below with reference to the drawings.

In addition, among the symbols shown in FIGS. 1 to 8, FIGS. 9 to M1
4. Parts that are the same as those shown in FIG.

In FIG. 1, the gripping arm device M guides a slide base 6 protruding toward the opposite side to a housing 2 fixed to the lower part of the pedestal 1 and a support 3 attached to the upper surface, respectively, and has a hinge with a claw 16 at the tip. (Rotating part) A shaft 4 that engages the pin is fitted and screwed at the back. An operating section 8 consisting of, for example, an electric cylinder is attached to the upper support 3.

The slide base 6Fi is fitted onto the outer peripheral surface of the shaft 4 via a slide bearing 5 (see FIG. 10) and can freely move on the shaft 4 along its longitudinal direction. A hinge 12 linked to the claws 16 on the left and right sides and a hinge 7 connected to the operating section 8 with a pin on the upper part are integrally fixed to the slide base 6.

On the other hand, the pawl 16 is fitted into a rotating self-pressure by a pin 15 arranged symmetrically and facing the pawl hinge 4a provided at the tip of the shaft 4, and a pin 17 provided near the pin 17 that moves the pawl 16.
is engaged.

The slide base 6 has 12 parts, the former being the rod 9 of the operating part 8, and the latter consisting of a link piece 14 having a threaded end at one end, a turnbuckle 19, and a link piece 18 having a threaded end. It is connected to the pawl 16 by a link. Note that the hinge 12 and the claw 16 are symmetrically linked.

By the way, as shown in FIGS. 2 and 3, an elastic member 22 (with a high coefficient of friction) made of rubber (synthetic rubber) or a synthetic resin such as a polymeric material such as urethane is provided on the gripping surface opposite to the claw 16. pad) is pasted or cross-cured. Grooves 24 and 25 are provided in the surface of the elastic member 220 in the horizontal or vertical direction, and the surface is uneven.

On the other hand, the material to be grasped 21 has a columnar shape such as a cylinder, and a lift 30 provided on the side of the pedestal 29 has a small arrow 27.
, 28, and grasps objects pulled out of a water tank and holds them with its arms.

The movement of the above-mentioned gripping arm is based on the fixed claw J that meets the tip of the shaft 4.
6, the operating part 8, the rod 9, the slide base 6, and the link piece 1 from the hinge 7.12.
4.18, it is transmitted to the pin 15 provided on the other part of the claw 16 via the turnbuckle 19. That is, when the rod 9 of the operating part 8 is retracted, the pawls 16, 16 release the gripped material 21, and when pushed out, they grip the gripped material 21.

As shown in FIGS. 2 and 3, a buffer member is provided on the inner surface of the claw 16 in order to ensure the frictional force for gripping the cylinder and to protect the surface of the gripped member from damage.
Furthermore, when the part to be gripped is taken out of the aqueous solution, water droplets adhering to the surface are gripped: interposed on the surface (forming a thin film).
However, in the present invention, grooves are formed on the surface to allow water to escape so that water droplets are not interposed on the true contact surface of the gripping surface.

The above-mentioned grooves include a round groove 24 set horizontally and a groove 2 set vertically.
5 etc. are provided. Of course, the grooves may be limited in length and width, and may be diagonal, but a large number of concave grooves will work effectively.

Furthermore, as shown in FIG. 4, the groove 24 is provided with a protrusion 26 at the top of the circumferential wall of the groove 24. The groove 25 is simply a groove as shown in FIG.

For example, as shown in FIG. 1, when a cylinder 21, which is a member to be gripped, is moved up and down by a lift 30, the claws 16 are opened so that the gap between the outer peripheral surface of the cylinder 21 and the elastic member 22 of the claws 16 is small. When the water is moved and removed by the protrusion 26, water (including a water film) is removed at once, and
The moisture flows out of the pawl 16 through the grooves 24,25.

When the cylinder 21 stops and is gripped by the claws 16, since the water has been drained, there is no decrease in frictional force and a reliable gripping force can be obtained.

Note that the shapes of the grooves 24 and the protrusions 26 may be changed as shown in FIGS. 6 to 8, and a convex portion 30 with grooves 29 arranged on both sides as shown in FIG. 6 may be formed, or as shown in FIG. 7. Possible examples include a convex portion 32 projecting at an acute angle and grooves 31 on both sides thereof, and a convex portion having a chevron-shaped wavy surface with a groove 33 at the top as shown in FIG. The above components may be freely combined and constructed as necessary, and the same effects as in the embodiment described above can also be obtained.

〔Effect of the invention〕

As described above, according to the present invention, the elastic member is provided at the interface between the buffering effect made of rubber or synthetic resin provided on the gripping surface of the claw of the gripping arm, the high-friction elastic member, and the surface of the gripped member. Moisture is removed by the uneven portions provided on the surface, so there is no water film and there is no decrease in frictional force on the same surface, so a stable gripping force can be obtained.

[Brief explanation of drawings]

FIG. 1 is a perspective view of the gripping arm of the present invention, and FIG. 2 is B--B in FIG. 3.
■A sectional view, FIG. 3 is an enlarged view of the claw 16 in FIG. 10 is a side view of FIG. 9, FIG. 11 is a partially enlarged plan view of the gripping mechanism of the gripping arm of FIG. 9, FIG. 12 is a side view of FIG. 11, and FIG. 13 is a side view of FIG. 14 is a sectional view taken along line -XI in FIG. 14, and FIG. 14 is an enlarged plan view of the claw 16 in FIG. 11. 1... Frame 4... Axis 6... Slide base 8... Operating unit 9... Operating rod 16... Claw 15.17... Pin 24.25... Groove (7
317) Representative Patent Attorney Noriyuki Chika (and 1 other person)
Figure 4 Figure 5 Figure 7 Figure 7 Figure 8 Figure 9 Figure 10 Figure 12 Figure 13 Figure 148

Claims (2)

[Claims] (1) A slide base that is fitted onto a shaft that protrudes from the pedestal side and can move forward and backward in the coaxial direction, a claw that is rotatable in opposite directions provided on the tip of the shaft ahead of the slide base, and rotation of this claw. A grip mechanism comprising a link connected to the slide base from a portion spaced apart from the shaft, and a gripping mechanism combining the slide base and a reciprocating operation section provided on the pedestal side, wherein the claw of the grip arm is A gripping arm characterized in that an elastic member made of rubber or synthetic resin is provided on the gripping surface. (2) The gripping arm according to claim (1), characterized in that an uneven portion is formed on the surface of the elastic member provided on the gripping surface of the claw.