WO2005028355A1 - Dispositif de manutention de fut - Google Patents
Dispositif de manutention de fut Download PDFInfo
- Publication number
- WO2005028355A1 WO2005028355A1 PCT/FR2004/050407 FR2004050407W WO2005028355A1 WO 2005028355 A1 WO2005028355 A1 WO 2005028355A1 FR 2004050407 W FR2004050407 W FR 2004050407W WO 2005028355 A1 WO2005028355 A1 WO 2005028355A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- barrel
- gripping
- arm
- lifting
- face
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/02—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by suction means
- B66C1/0212—Circular shape
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/02—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by suction means
- B66C1/0293—Single lifting units; Only one suction cup
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/62—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means comprising article-engaging members of a shape complementary to that of the articles to be handled
- B66C1/625—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means comprising article-engaging members of a shape complementary to that of the articles to be handled for gripping drums or barrels
-
- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21F—PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULAR RADIATION OR PARTICLE BOMBARDMENT; TREATING RADIOACTIVELY CONTAMINATED MATERIAL; DECONTAMINATION ARRANGEMENTS THEREFOR
- G21F5/00—Transportable or portable shielded containers
- G21F5/06—Details of, or accessories to, the containers
- G21F5/14—Devices for handling containers or shipping-casks, e.g. transporting devices loading and unloading, filling of containers
Definitions
- the subject of this invention is a barrel handling device, normally of cylindrical shape or little different, for gripping, raising and possibly inspecting it.
- Some hazardous waste is poured into metal drums to be stored for long periods. This is particularly the case for irradiated products from the nuclear industry.
- Special techniques have been developed for coating and vitrifying the waste before pouring it into the barrels, which then remain in a storage facility. They can however be moved later, for inspection or new transport.
- Many devices have been designed to handle the barrels. They include various gripping means such as pliers or clamping jaws designed to grip one portion or another of the barrel but which, in general, have the disadvantages of not offering a well-assured grip, of occupying too large a volume.
- the invention relates to a barrel handling device which, on the contrary, provides an assured grip on the barrel, without the risk of releasing it or of letting it tip in any way by lifting it.
- the device is easily equipped with means which allow a complete examination of the surface of the barrel.
- the handling device comprises a system for gripping the barrel from the upper face, at least one arm movable vertically with respect to the gripping system and next to the peripherical face of the barrel, and a finger disposed under the arm and movable below the underside of the barrel.
- the barrel can first be gripped by the upper face, slightly raised by the gripping system, the arm or arms (there are generally several) are lowered next to the barrel; the finger is deployed below the barrel and exerts a secure support; the arm opposes the lateral sliding of the barrel; and the gripping system is relieved while being able to continue to offer a contribution to the stable seizure of the barrel.
- the gripping system comprises a centering mechanism comprising fingers which move radially apart, for example towards a flange on the upper face of the barrel.
- FIG. 1 represents the device generally, FIG. 1
- FIG. 2 represents a part of the gripping means
- FIG. 3 represents the grapple as a whole
- FIG. 4 represents the system for deploying the doiçrts
- FIG. 5 the arrangement of this system
- Figure 6 shows the grapple centering system on the barrel.
- Figure 1 is discussed.
- the drums are stored in wells 1 which are slightly wider than them.
- Normally closed drawers 2 isolate the wells 1 from the outside but are open when a barrel must be stored or extracted.
- the device of the invention which is then used, comprises in particular a mobile mechanical system in the well 1 and capable of lowering or raising the barrel, called a grapple 3, as well as a hood 4 for transfer and protection which absorbs radiation from the barrel and which rests on the opening of the well 1 during the storage or extraction operation.
- the hood 4 contains a cavity large enough to accommodate the grapple 3 loaded with the barrel.
- the invention relates exclusively to the grapple 3.
- the drums 5 are generally cylindrical in shape and include an upper face 6, a lower face 7, a peripheral lateral face 8; it is also possible to raise there an upper rim 49 projecting upwards around the upper face 6 and which corresponds to the rim of the cover in the lateral ferrule.
- the flange 49 may exist in another form when the cover is screwed or welded, and have the same ability to center the grapple.
- FIG. 2 The grapple 3 is composed of several assemblies, the first of which described is a gripping system 9 of the barrel 5 whose purpose is to raise it slightly before completing the handling.
- the suction cups 11 can be applied to the upper face 6 of the barrel 5 even if it is is found to be inclined, without the support 10 having to be tilted erratically.
- the remainder of the description is undertaken by means of FIG. 3.
- the ball joint 12 and the support 10 are suspended from a column 14, itself suspended from a cable 15 manipulated from the outside by means of a sensor d 'effort 16.
- the column 14 also carries an upper plate 17.
- a fastening system 18 of the barrel 5 which comprises at least one vertical arm 19 (here, a group of three arms 19 in a circle , but only one of which is illustrated) suspended from a movable plate 20.
- the movable plate 20 slides on the column 14 by means of a ball screw 21 whose upper and lower ends are retained in the upper plate 17 and the support 10
- a gear motor 22 mounted on the upper plate 17 turns the ball screw 21 by means of a belt transmission 23.
- a graduated rule 24 is also mounted between the upper plate 17 and the support 10 parallel to the screw. balls 21, and a posit sensor ion 25 mounted on the movable plate 20 makes it possible to follow the movements of the latter in the vertical direction.
- the arms 19 embrace the barrel 5, the radius of their circle being a little larger than that of the peripheral face 8. Their height is also a little greater than that of the peripheral face 8.
- a finger 26 which they carry under them comes below the lower face 7 of the barrel when the grapple 3 has been completely lowered.
- the fingers 26 deploy between a folded position where they extend tangentially, in the circle of the arms 19, and an active position where they extend radially, under the barrel 5. They are mounted under the arms 19 by hinges 27 which allow them to be rotated, and their rotational movement is controlled by means of a rod 28 which extends vertically to above the arm 19, where it ends in a lever 29 which a jack 30 makes rotate by a control rod 31.
- the suction cup holder 13 mounted on the suction cup holder 13 and which comprises a jack 37, a crown 38 rotating on the suction cup holder 13 and a trio of fingers 39 articulated by an inner end to the crown 38 and, in the middle, to the suction cup holder 13: the articulation to these places is however mobile and comprises a pivot 40 fixed to the suction cup holder 13 and able to slide in a slot 41 established in the length of the finger 39.
- the rotation of the crown 38 operated by the jack 37 modifies the orientation of the fingers 39 and the radial position of their outer end.
- the deployment of the fingers 39 continues until all touch the rim 49 of the barrel 5 and a centering of the gripping system 9 and especially of the attachment system 18 to the barrel 5 is obtained.
- barrel 5 is seized when it is in well 1 (the process would be identical in other places).
- the grapple 3 is lowered into the well 1 until the gripping system 9 arrives on the upper face 6.
- the centering system 36 is started, then the suction cups 11 are actuated.
- the grapple 3 is slightly raised to lift the barrel 5.
- the attachment system 18 is then started, the arms 19 are separated and then lowered along the peripheral face 8, and finally the fingers 26 are deployed and the arms 19 tightened.
- the barrel 5 is then firmly grasped and can be reassembled without fear of failure of the suction cups 11. It should be noted that the fingers 26 retain the underside 7 of the barrel 5 if it has opened and yawns.
- Lighting is provided by a light generator 40 mounted on the upper plate 17 and suitable to illuminate the surface of the barrel 5 with a network of optical fibers 44.
- the images of the upper face 6 of the barrel 5 are taken by a camera 42 (cf. also in FIG. 2) mounted in the bottom of the column 14 and directed downwards, forming an annular light source 43 which provides the necessary lighting for the upper face 6 being established around it.
- the optical fibers 44 extend in each of the arms 19 to below these, and are also connected to endoscopes or fibroscope 45 mounted on the tiles 32.
- the lighting and examination of the peripheral face 8 then from the underside 7 become possible as the arm descends along the latter and then below the latter.
- the suction cups 11 could for example be replaced by other electromagnetic or mechanical gripping means.
- the lighting system can use micro-lamps or LEDs.
- the vision system integrated in the arm 19 can be integrated directly into the camera of a video endoscope.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- High Energy & Nuclear Physics (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Manipulator (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE602004014162T DE602004014162D1 (de) | 2003-09-02 | 2004-09-01 | Fasshandhabungsvorrichtung |
EP04816189A EP1660401B1 (fr) | 2003-09-02 | 2004-09-01 | Dispositif de manutention de fut |
US10/534,539 US7264288B2 (en) | 2003-09-02 | 2004-09-01 | Barrel handling device |
JP2006524405A JP4871723B2 (ja) | 2003-09-02 | 2004-09-01 | キャニスタ取扱装置 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0350489 | 2003-09-02 | ||
FR0350489A FR2859197B1 (fr) | 2003-09-02 | 2003-09-02 | Dispositif de manutention de fut |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2005028355A1 true WO2005028355A1 (fr) | 2005-03-31 |
Family
ID=34130845
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FR2004/050407 WO2005028355A1 (fr) | 2003-09-02 | 2004-09-01 | Dispositif de manutention de fut |
Country Status (6)
Country | Link |
---|---|
US (1) | US7264288B2 (fr) |
EP (1) | EP1660401B1 (fr) |
JP (1) | JP4871723B2 (fr) |
DE (1) | DE602004014162D1 (fr) |
FR (1) | FR2859197B1 (fr) |
WO (1) | WO2005028355A1 (fr) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2008084134A1 (fr) | 2007-01-12 | 2008-07-17 | Raumaster Paper Oy | Appareil de préhension pour soulever des rouleaux de bande de matière, en particulier des rouleaux de papier et de carton |
CN102412001B (zh) * | 2011-10-18 | 2013-08-07 | 清华大学 | 一种核电站乏燃料贮存竖井屏蔽井盖抓具 |
CA2772752C (fr) | 2012-03-28 | 2021-01-26 | Michel Gaudet | Methode et systeme d'extraction de dechets desintegres |
JP6117505B2 (ja) * | 2012-10-02 | 2017-04-19 | 川崎重工業株式会社 | 吸引保持装置 |
FR3000915B1 (fr) * | 2013-01-17 | 2015-03-13 | Amg Ind | Dispositif de prehension et procede associe |
KR101810909B1 (ko) | 2016-07-29 | 2017-12-26 | (주)러셀 | 캐니스터용 다접점 그리핑장치 |
CN111591754B (zh) * | 2020-05-23 | 2021-06-18 | 黄林 | 一种轴类零件输送机器人 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE240449C (fr) * | ||||
US2783078A (en) * | 1952-03-07 | 1957-02-26 | Vacuum Concrete Inc | Handling apparatus |
US4151983A (en) * | 1971-09-20 | 1979-05-01 | Stock Equipment Company | Crane grab apparatus |
DE3636016A1 (de) * | 1986-10-23 | 1988-05-11 | Kernforschungsanlage Juelich | Greifer zum transport von behaeltern |
US4850627A (en) * | 1987-01-22 | 1989-07-25 | Bishopbarn Limited | Package handling method and apparatus |
US5310304A (en) * | 1991-02-08 | 1994-05-10 | Heppenstall Holding Ag | Load-lifting device |
EP0633215A1 (fr) * | 1993-07-06 | 1995-01-11 | Commissariat A L'energie Atomique | Système anti-chute mécanique pour un dispositif de préhension d'objets lourds |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3383286A (en) * | 1966-09-27 | 1968-05-14 | Atomic Energy Commission Usa | Core element handling system |
US3785691A (en) * | 1972-08-07 | 1974-01-15 | American Chain & Cable Co | Automatic lifting device |
JPS5836090A (ja) * | 1981-08-27 | 1983-03-02 | Kokusai Denshin Denwa Co Ltd <Kdd> | テレビジョン信号の中央値予測符号化方式 |
JPS5836090U (ja) * | 1981-08-28 | 1983-03-09 | 日産自動車株式会社 | バキユ−ムカツプ装置 |
JPS5943792A (ja) * | 1982-09-07 | 1984-03-10 | 株式会社明電舎 | 遠隔操作式吊具 |
JPS603791A (ja) * | 1983-06-21 | 1985-01-10 | Sairatsuku:Kk | ピツキング方式 |
JPS603791U (ja) * | 1983-06-21 | 1985-01-11 | 株式会社明電舎 | 遠隔操作式吊具 |
JPS62142845U (fr) * | 1986-02-28 | 1987-09-09 | ||
JPS6484994A (en) * | 1987-09-26 | 1989-03-30 | Tamura Electric Works Ltd | Signal processor |
US5127692A (en) * | 1987-10-20 | 1992-07-07 | Canon Kabushiki Kaisha | Article gripping apparatus |
JPH0184994U (fr) * | 1987-11-25 | 1989-06-06 | ||
EP0726869B1 (fr) * | 1993-11-04 | 2001-03-14 | Comalco Aluminium, Ltd. | Dispositif de levage par le vide |
JPH107373A (ja) * | 1996-06-25 | 1998-01-13 | Ishikawajima Harima Heavy Ind Co Ltd | 大型容器の吊り装置 |
-
2003
- 2003-09-02 FR FR0350489A patent/FR2859197B1/fr not_active Expired - Fee Related
-
2004
- 2004-09-01 EP EP04816189A patent/EP1660401B1/fr not_active Expired - Fee Related
- 2004-09-01 US US10/534,539 patent/US7264288B2/en not_active Expired - Fee Related
- 2004-09-01 DE DE602004014162T patent/DE602004014162D1/de active Active
- 2004-09-01 JP JP2006524405A patent/JP4871723B2/ja not_active Expired - Fee Related
- 2004-09-01 WO PCT/FR2004/050407 patent/WO2005028355A1/fr active IP Right Grant
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE240449C (fr) * | ||||
US2783078A (en) * | 1952-03-07 | 1957-02-26 | Vacuum Concrete Inc | Handling apparatus |
US4151983A (en) * | 1971-09-20 | 1979-05-01 | Stock Equipment Company | Crane grab apparatus |
DE3636016A1 (de) * | 1986-10-23 | 1988-05-11 | Kernforschungsanlage Juelich | Greifer zum transport von behaeltern |
US4850627A (en) * | 1987-01-22 | 1989-07-25 | Bishopbarn Limited | Package handling method and apparatus |
US5310304A (en) * | 1991-02-08 | 1994-05-10 | Heppenstall Holding Ag | Load-lifting device |
EP0633215A1 (fr) * | 1993-07-06 | 1995-01-11 | Commissariat A L'energie Atomique | Système anti-chute mécanique pour un dispositif de préhension d'objets lourds |
Also Published As
Publication number | Publication date |
---|---|
EP1660401B1 (fr) | 2008-05-28 |
JP4871723B2 (ja) | 2012-02-08 |
US20060119117A1 (en) | 2006-06-08 |
FR2859197A1 (fr) | 2005-03-04 |
JP2007504067A (ja) | 2007-03-01 |
US7264288B2 (en) | 2007-09-04 |
FR2859197B1 (fr) | 2006-10-13 |
EP1660401A1 (fr) | 2006-05-31 |
DE602004014162D1 (de) | 2008-07-10 |
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