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CN101800086B - Heavy-load manual gripper - Google Patents

Heavy-load manual gripper Download PDF

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Publication number
CN101800086B
CN101800086B CN2010101227334A CN201010122733A CN101800086B CN 101800086 B CN101800086 B CN 101800086B CN 2010101227334 A CN2010101227334 A CN 2010101227334A CN 201010122733 A CN201010122733 A CN 201010122733A CN 101800086 B CN101800086 B CN 101800086B
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China
Prior art keywords
gripper
connecting rod
heavy
balladeur train
sliding block
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CN2010101227334A
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CN101800086A (en
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于团结
王明政
金跃庆
杨孔雳
鲍杨民
徐宝玉
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China Institute of Atomic of Energy
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China Institute of Atomic of Energy
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

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Abstract

The invention discloses a heavy-load manual gripper which comprises a gripper body, a gripper claw (3) and a connecting rod sliding block mechanism, wherein the gripper body consists of a flange plate (1) and an upper flange (2), and the gripper claw (3) is connected to the gripper body and is connected with the connecting rod sliding block mechanism; the connecting rod sliding block mechanism comprises a connecting rod, a guide post (10), a sliding frame (5), a screw rod (6), a sliding block (11) and a guide block (7), the guide post (10) and the guide block (7) are respectively fixed on the flange plate (1), the screw rod (6) is in threaded connection with the sliding block (11), the sliding block (11) is in pin connection with a connecting rod A (8) and the connecting rod A (8) in sequence with the sliding frame (5), and the sliding block (11) slides on a track of the guide block (7); the sliding frame (5) is sleeved on the guide post (10), the sliding frame (5) slides up and down along the guide post (10), and the sliding frame (5) drives the gripper (3) to rotate through the connecting rod B (9). The device has the advantages of convenient operation, reliable grabbing and large lifting force.

Description

一种重载手动抓手A heavy-duty manual gripper

技术领域 technical field

本发明涉及反应堆工程技术领域，特别设计一种重载手动抓手。The invention relates to the technical field of reactor engineering, and particularly designs a heavy-duty manual gripper.

背景技术 Background technique

目前市场上抓手的结构形式有很多种，根据力的来源可以分为手指式、吸盘式(空气负压吸盘、电磁吸盘)等，手指式又可以通过连杆、凸轮、齿轮、齿条等各种传动形式实现，但现有的这些抓手结构或存在抓取力上的限制，或有操作空间、结构尺寸、可靠性方面的限制，对于一些比较重要的场所，如反应堆。由于反应堆内部的特殊性要求，对于现有的抓取装置不能满足反应堆内部高可靠性、高安全性的要求，需要配备专门的抓取装置。At present, there are many structural forms of grippers on the market. According to the source of force, they can be divided into finger type, suction cup type (air negative pressure suction cup, electromagnetic suction cup), etc. Finger type can also be used through connecting rods, cams, gears, racks, etc. Various transmission forms are realized, but the existing gripper structures may have limitations in gripping force, or limitations in operating space, structural size, and reliability. For some relatively important places, such as reactors. Due to the special requirements inside the reactor, the existing grabbing device cannot meet the requirements of high reliability and high safety inside the reactor, so it is necessary to equip a special grabbing device.

发明内容 Contents of the invention

本发明克服了现有技术中的不足，提供了一种操作方便、抓取可靠、起重力大的重载手动抓手。The invention overcomes the deficiencies in the prior art and provides a heavy-duty manual gripper with convenient operation, reliable grasping and large lifting force.

为了解决上述技术问题，本发明是通过以下技术方案实现的：In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

一种重载手动抓手，包括抓具体、抓爪、连杆滑块机构，抓具体由法兰盘与上法兰焊接组成，抓爪活动连接在抓具体上，并且与连杆滑块机构连接，关键在于，连杆滑块机构包括连杆、导向柱、滑架、螺杆、滑块、及导向块，导向柱、导向块分别固定在法兰盘上，螺杆与滑块螺纹连接，滑块与连杆A、连杆A与滑架依次销连接，滑块在导向块的轨道上滑动；滑架套在导向柱上，滑架沿导向柱上下滑动，滑架通过连杆B带动抓爪旋转。A heavy-duty manual gripper, including a gripper body, grippers, and a connecting rod slider mechanism. The gripper body is composed of a flange plate and an upper flange welded. The connection, the key point is that the connecting rod slider mechanism includes a connecting rod, a guide column, a carriage, a screw, a slider, and a guide block. The block is connected with the connecting rod A, and the connecting rod A is pin-connected with the carriage in turn, and the slider slides on the track of the guide block; The claws rotate.

所述的滑架与连杆B、连杆B与抓爪依次销连接。所述的抓爪活动连接在抓具体上为抓爪通过销轴连接在抓具体上。抓爪的受力线通过抓爪的旋转轴。螺杆还连接操作手柄。The sliding frame is pin-connected with the connecting rod B, and the connecting rod B is connected with the gripper sequentially. The movable connection of the gripper to the gripper is that the gripper is connected to the gripper through a pin shaft. The force line of the gripper passes through the rotation axis of the gripper. The screw rod is also connected to the operating handle.

与现有技术相比，本发明的有益效果是：Compared with prior art, the beneficial effect of the present invention is:

该装置通过螺杆与滑块螺纹连接，操作时旋转螺杆，即可带动滑块在导向块的轨道上滑动，从而带动滑架沿导向柱上下滑动，进而带动抓爪的旋转，实现抓取操作，操作简便，起重力大。当抓爪旋转到闭合状态时，螺杆不动，滑块处于锁定状态，保证了抓取的可靠性。The device is threadedly connected with the slider through the screw, and the screw is rotated during operation to drive the slider to slide on the track of the guide block, thereby driving the slider to slide up and down along the guide column, and then driving the rotation of the gripper to realize the grabbing operation. It is easy to operate and has a large lifting capacity. When the gripper rotates to the closed state, the screw rod does not move, and the slider is in a locked state, which ensures the reliability of gripping.

附图说明 Description of drawings

图1抓手的立体结构示意图Figure 1 Schematic diagram of the three-dimensional structure of the gripper

图2抓手的原理示意图Figure 2 Schematic diagram of the principle of the gripper

图3抓手的主视图Figure 3 Front view of the gripper

图4抓手的俯视图Figure 4 Top view of the gripper

1法兰盘、2上法兰、3抓爪、4销轴、5滑架、6螺杆、7导向块、8连杆A、9连杆B、10导向柱、11滑块、12操作手柄1 flange, 2 upper flange, 3 gripper, 4 pin shaft, 5 carriage, 6 screw, 7 guide block, 8 connecting rod A, 9 connecting rod B, 10 guide column, 11 slider, 12 operating handle

具体实施方式 Detailed ways

下面结合附图与具体实施方式对本发明作进一步详细描述：Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

如图1所示，该重载手动抓手，包括抓具体、抓爪3、连杆滑块机构，抓具体由法兰盘1与上法兰2焊接组成，抓爪3通过销轴4与抓具体的上法兰2活动连接，并且与连杆滑块机构连接，在连杆滑块机构的带动下绕销轴4旋转。连杆滑块机构包括连杆、导向柱10、滑架5、螺杆6、滑块11、及导向块7，导向柱10、导向块7分别固定在法兰盘1上，螺杆6与滑块11螺纹连接，滑块11与连杆A8、连杆A8与滑架5依次销连接，滑块11在导向块7的轨道上滑动；滑架5套在导向柱10上，滑架5沿导向柱10上下滑动，滑架5与连杆B9、连杆B9与抓爪3依次销连接，进而滑架5通过连杆B9带动抓爪3旋转。操作时旋转螺杆6，带动滑块11在导向块7的轨道上滑动，滑块11通过连杆A8带动滑架5沿导向柱10上下移动，滑架5通过连杆B9带动抓爪3旋转，从而实现抓爪3的开合。螺纹采用自锁螺纹，当螺杆6不旋转时，滑块11和滑架5处于锁定状态，保证了抓取的可靠性。As shown in Figure 1, the heavy-duty manual gripper includes a gripper body, a gripper 3, and a connecting rod slider mechanism. The specific upper flange 2 is movably connected, and is connected with the connecting rod slider mechanism, and rotates around the pin shaft 4 under the drive of the connecting rod slider mechanism. The connecting rod slider mechanism includes a connecting rod, a guide post 10, a carriage 5, a screw rod 6, a slide block 11, and a guide block 7. The guide post 10 and the guide block 7 are respectively fixed on the flange 1, and the screw rod 6 and the slide block 11 threaded connection, the slider 11 is connected with the connecting rod A8, and the connecting rod A8 and the carriage 5 in turn, the slider 11 slides on the track of the guide block 7; the carriage 5 is set on the guide column 10, and the carriage 5 is guided The column 10 slides up and down, the carriage 5 is pin-connected with the connecting rod B9, and the connecting rod B9 and the gripper 3 in sequence, and then the carriage 5 drives the gripper 3 to rotate through the connecting rod B9. During operation, the screw rod 6 is rotated to drive the slider 11 to slide on the track of the guide block 7. The slider 11 drives the carriage 5 to move up and down along the guide column 10 through the connecting rod A8, and the carriage 5 drives the gripper 3 to rotate through the connecting rod B9. Thereby the opening and closing of the gripper 3 is realized. The thread adopts self-locking thread, and when the screw rod 6 is not rotating, the slider 11 and the carriage 5 are in a locked state, which ensures the reliability of grasping.

本发明可根据载荷的大小，计算确定其结构尺寸，以适用于不同载荷的需要。本实施例以抓取的额定载荷为15吨为例加以说明。该装置中抓爪3的个数可以2～6个，滑块11可以设置1～2个，本实施例采用4个抓爪3，2个滑块11，其中与抓爪3连接的连杆B9也相应的为4个，与滑块11连接的连杆A8为2个。2个滑块11采用左、右旋螺纹，螺杆6旋转时带动2滑块11相向运动，与滑块11相连的连杆A8带动滑架5上下移动，滑架5带动4个连杆B9，每个连杆B9带动与其连接的抓爪3绕销轴4旋转，实现4个抓爪3同时开合。The present invention can calculate and determine its structural size according to the size of the load, so as to be applicable to the needs of different loads. In this embodiment, the rated load of grabbing is 15 tons as an example for illustration. The number of grippers 3 in the device can be 2 to 6, and the slider 11 can be set to 1 to 2. This embodiment uses 4 grippers 3 and 2 sliders 11, wherein the connecting rod connected to the gripper 3 There are four B9s correspondingly, and two connecting rods A8 connected with the slide block 11 . The two sliders 11 adopt left and right-hand threads. When the screw rod 6 rotates, the two sliders 11 move toward each other. The connecting rod A8 connected to the slider 11 drives the slider 5 to move up and down, and the slider 5 drives the four connecting rods B9. Each connecting rod B9 drives the gripper 3 connected to it to rotate around the pin shaft 4 to realize the opening and closing of the four grippers 3 at the same time.

螺杆6的端头设计成可以快速连接的结构，在使用时与操作手柄12相连，方便了操作。本发明中，其中抓爪3优选设计成受力线通过旋转轴的形状，这样抓爪承受载荷时不会有旋转的趋势，连杆、滑架5、螺杆6等不受载荷的影响。The end of the screw rod 6 is designed as a structure that can be quickly connected, and is connected with the operating handle 12 during use, which facilitates the operation. In the present invention, the gripper 3 is preferably designed so that the force line passes through the shape of the rotating shaft, so that the gripper will not tend to rotate when it is under load, and the connecting rod, carriage 5, screw rod 6, etc. will not be affected by the load.

该装置中各个抓爪3到抓具体轴心线的距离相等，为方便抓取，被抓取的部分设计成法兰盘形状，抓爪3闭合后与被抓取的法兰盘严密配合，保证了抓手3每次吊取都在同一个位置，防止载荷倾倒。In this device, the distance between each gripper 3 and the axis of the gripper is equal. For the convenience of gripping, the gripped part is designed in the shape of a flange. After the gripper 3 is closed, it will closely cooperate with the gripped flange. It is ensured that the gripper 3 is in the same position every time it is lifted, preventing the load from toppling over.

Claims (5)

1. a heavy-load manual gripper comprises gripping apparatus body, gripper (3), connecting rod slider mechanism, and the gripping apparatus body is welded to form by ring flange (1) and upper flange (2); Gripper (3) is movably connected on the gripping apparatus body; And mechanism is connected with connecting rod slider, it is characterized in that, connecting rod slider mechanism comprises connecting rod, guidepost (10), balladeur train (5), screw rod (6), slide block (11), reaches orienting lug (7); Guidepost (10), orienting lug (7) are separately fixed on the ring flange (1); Screw rod (6) is threaded with slide block (11), and slide block (11) is sold successively with balladeur train (5) with connecting rod A (8), connecting rod A (8) and is connected, and slide block (11) slides on the track of orienting lug (7); Balladeur train (5) is enclosed within on the guidepost (10), and balladeur train (5) slides up and down along guidepost (10), and balladeur train (5) drives gripper (3) rotation through connecting rod B (9).
2. a kind of heavy-load manual gripper according to claim 1 is characterized in that, described balladeur train (5) is sold successively with gripper (3) with connecting rod B (9), connecting rod B (9) and is connected.
3. a kind of heavy-load manual gripper according to claim 1 is characterized in that, described gripper (3) is movably connected on the gripping apparatus body and is connected on the gripping apparatus body through bearing pin (4) for gripper (3).
4. a kind of heavy-load manual gripper according to claim 1 is characterized in that, the line of force that receives of gripper (3) is passed through the turning axle of gripper (3).
5. a kind of heavy-load manual gripper according to claim 1 is characterized in that, screw rod (6) is attended operation handle (12) also.
CN2010101227334A 2010-03-12 2010-03-12 Heavy-load manual gripper Active CN101800086B (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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CN101800086A CN101800086A (en) 2010-08-11
CN101800086B true CN101800086B (en) 2012-01-04

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1003244A (en) * 1962-10-04 1965-09-02 Commissariat Energie Atomique Handling device having a detachable gripper
US4666050A (en) * 1981-10-27 1987-05-19 Gg. Noell Gmbh Manipulator for a nuclear reactor
CN1052445A (en) * 1989-12-12 1991-06-26 杭州电子工业学院 Three-sense manipulator
CN201253845Y (en) * 2008-08-25 2009-06-10 煤炭科学研究总院西安研究院 Pneumatic paw of industry robot
CN201638579U (en) * 2010-03-12 2010-11-17 中国原子能科学研究院 A heavy-duty manual gripper

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11109084A (en) * 1997-10-02 1999-04-23 Fuji Electric Co Ltd Sodium cooled reactor refueling machine

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1003244A (en) * 1962-10-04 1965-09-02 Commissariat Energie Atomique Handling device having a detachable gripper
US4666050A (en) * 1981-10-27 1987-05-19 Gg. Noell Gmbh Manipulator for a nuclear reactor
CN1052445A (en) * 1989-12-12 1991-06-26 杭州电子工业学院 Three-sense manipulator
CN201253845Y (en) * 2008-08-25 2009-06-10 煤炭科学研究总院西安研究院 Pneumatic paw of industry robot
CN201638579U (en) * 2010-03-12 2010-11-17 中国原子能科学研究院 A heavy-duty manual gripper

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