EP0402231A1 - Fernbediente selbstklemmende Greifvorrichtung für zylindrische Fässer - Google Patents

Fernbediente selbstklemmende Greifvorrichtung für zylindrische Fässer Download PDF

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Publication number
EP0402231A1
EP0402231A1 EP90401510A EP90401510A EP0402231A1 EP 0402231 A1 EP0402231 A1 EP 0402231A1 EP 90401510 A EP90401510 A EP 90401510A EP 90401510 A EP90401510 A EP 90401510A EP 0402231 A1 EP0402231 A1 EP 0402231A1
Authority
EP
European Patent Office
Prior art keywords
barrel
rod
gripping
external
jaws
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
EP90401510A
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English (en)
French (fr)
Inventor
Patrick Jeanson
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Original Assignee
Commissariat a lEnergie Atomique CEA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Commissariat a lEnergie Atomique CEA filed Critical Commissariat a lEnergie Atomique CEA
Publication of EP0402231A1 publication Critical patent/EP0402231A1/de
Ceased legal-status Critical Current

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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
    • B66C1/10—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

Definitions

  • the field of the invention is that of gripping and handling of drums for transport in places of difficult access.
  • a self-clamping clamp with a blocking security for the transport of a load in this case a barrel containing radioactive waste.
  • Such pliers include a vertical rod intended to be suspended from handling equipment. It comprises at least two gripping arms, articulated around an axis carried by the rod, and comprises two connecting rods each articulated on the rod and on a corresponding gripping arm. The axis is mounted so that it can slide vertically relative to the rod, so that each gripping arm forms with the corresponding link and with the rod a triangle deformable ensuring self-tightening of the load when the rod is raised. It also includes blocking means intended to prevent the deformation of the triangle during operation. These blocking means are actuated by gravity.
  • Such a clamp may be subject to mechanical blockage due to any bracing or increased friction between the moving parts relative to each other. The reliability of this clamp is therefore not satisfactory for the latter to be used for handling barrels from a distance.
  • the object of the invention is to remedy this drawback by proposing a gripper capable of grasping and releasing a drum remotely, as defined above, for transporting it to a storage location that is difficult to access, such as a silo. vertical storage of irradiated products.
  • a gripper capable of grasping and releasing a drum remotely, as defined above, for transporting it to a storage location that is difficult to access, such as a silo. vertical storage of irradiated products.
  • Such barrels have at the level of the cover a bead or a hoop which is used when gripping and handling the barrel.
  • the main object of the invention is a self-gripping gripping device for the remote manipulation of cylindrical drums comprising a gripping bead.
  • the system mainly includes: - means of suspension of the device fixed to: - a main body comprising a vertical main axis; - At least two movable gripping elements between them and movable relative to the vertical body and comprising a tool for clamping the barrel under the bead of the barrel; - a connecting rod assembly.
  • the device is characterized according to the invention in that the first gripping elements are external jaws, movable in translation perpendicular to the main axis to externally clamp the barrel below the bead, and in that they are completed with the same number of second internal jaws, movable in translation to internally tighten the bead in cooperation with the first external jaws, each assembly consisting of a first external jaw and a second internal jaw being actuated by a connecting rod, the device comprising means for guiding in translation the external and internal jaws.
  • the bringing together of each internal jaw towards an external jaw allows the pinching of a bead of the barrel, and therefore the handling of the latter.
  • the main body is that of a jack whose movable rod passes through an upper plate of the guide means, this rod having a radial stop being in a first position, when the device is in the open position, opposite a heel of the external jaws, to prevent said external jaws from coming back against the barrel, so as to avoid untimely closings of the device.
  • a preferred embodiment of the actuator control means provides that they further consist of a first compressed air inlet orifice in the upper part of the actuator to bring out the rod thereof.
  • a plate one foot of which is slidably mounted inside the lower end of the rod with a stop in translation, a spring being placed inside the rod to keep the plate separated from the rod. when the plate is not in contact with the barrel to be gripped, and to raise the rod and the stopper, when the plate is in contact with the barrel to be gripped.
  • a preferred embodiment of the device according to the invention provides that the actuating means of the actuator are completed by a second compressed gas inlet orifice in the lower part of the actuator, to cause the rod to go up in cooperation with the spring. This characteristic makes it possible to compensate for a possible failure in the operation of the spring.
  • the connecting rod assembly consists of a first upper link pivotally mounted on the main body to oscillate radially to the main axis, and a second lower link mounted at a first upper end, pivoting with the first upper rod and pivotally mounted about an axis of rotation fixed relative to the guide means of the jaws and transmitting to an outer jaw and an inner jaw a translational movement respectively opposite by means of two pins placed on the lower link of either side of the axis of rotation and each entering an oblong hole in which they slide.
  • a preferred embodiment of the device according to the invention provides that the upper jaws have removable tightening tools using means temporary fixing, to allow the use of several kinds of clamping tools on the same gripping device.
  • the bead of the barrel when it is used to grip and handle drums placed vertically, the bead of the barrel being at the upper end of the barrel over its entire perimeter, the assemblies consisting of a there are three external jaws and one internal jaw.
  • the drums handled by means of the gripping device are preferably cylindrical, but must necessarily have, at at least one end, a peripheral bead 4.
  • This bead must protrude from the external cylindrical wall of the barrel 2.
  • it Preferably, it must also protrude with respect to the length of the barrel from its vertical axis Z.
  • This bead 4 is generally that of the cover of the barrel 2.
  • the gripping device comprises a main body 8 which is a cylinder with a vertical axis Z.
  • suspension means are fixed to the main body 8. They may consist of a simple suspension ring 6 or any attachment or suspension member.
  • the gripping and clamping functions of the barrel 2 are provided in part by at least two external movable members comprising clamping tools 38 affecting an internal hook shape.
  • Each clamping assembly is moved by a linkage 12 fixed to the main body 8.
  • the first gripping elements are external jaws 10, movable in translation, perpendicular to the main axis Z. Each of their distances from this main axis Z corresponds to the "open" position of the device, for which the device is ready to pick up a keg 2 (see figure 2). Each bringing together of these external jaws 10 towards the main axis Z corresponds to a grip of the barrel 2, as shown in FIG. 1.
  • These external jaws 10 are each completed with an internal jaw 20. Each of them is also movable in translation to internally tighten the bead 4, in cooperation with an external jaw 10.
  • This internal jaw 20 has a clamping tip 52 adapted to the internal shape of the bead.
  • the shape of the internal jaw 20 shown in Figure 1 is in no way limiting. The same is true of its arrangement in relation to the external jaw.
  • guide means are provided.
  • the embodiment shown in FIG. 1 comprises an upper plate 18 and a lower plate 54.
  • the distance separating these two upper 18 and lower 54 horizontal plates corresponds to the thickness of the bodies 56 and 58 of the external 10 and internal 20 jaws.
  • a set functional is provided in this stack of parts, so as to allow the internal jaws 20 and external 10 to slide in opposite directions one over the other and relative to the upper plates 18 and lower 54 of the guide means.
  • the main purpose of the gripping device according to the invention is to operate remotely with almost absolute reliability.
  • the device comprises a system for controlling, locking and unlocking the gripping elements.
  • the main body 6 is that of a jack 14 whose movable rod 16 controls the locking and unlocking of the gripping elements.
  • This rod 16 passes through the upper plate 18 of the guide means. It has a protruding stop 22 integral with the rod 16. In the “closed” or “locked” position, this radial stop 20 is placed in a housing 60 of the body 56 of the external jaw 10. The function of this stop 22 is to be opposite a heel 24 of the body 56 of the external jaw 10, when the device is in the "open” or “loose” position, so as to avoid inadvertent closing or tightening of the clamping assembly.
  • the actuator 14 has control means which also consist of a first inlet port 26 for compressed air. It opens inside the body 8 of the jack 14, above the piston 62 secured to the rod 16. These control means are completed by a plate 28 secured to a foot 30 slidably mounted inside the 'lower end of the rod 16. This plate 28 acts as a feeler with respect to the barrel 2. The plate 28 is held inside the end of the rod 16 by means of a stop in translation 32 produced for example in the form of a pin integral with the foot 30 and sliding through a vertical oblong hole 69. It thus prevents the plate 28 from falling by gravity.
  • a spring 34 in the cavity formed by the foot 30 and the interior of the rod 16, is housed a spring 34. This being compressed, it maintains the foot 30, and consequently the plate 28, in a position where the latter is spaced from the rod 16.
  • This assembly is analogous to an assembly which would be intended to absorb the shock of a frontal contact of any object against the plate 28
  • the function of the spring 34 is to raise the rod 16 inside the body 8 of the jack 14, in order to unlock the external jaw 10, before the device takes hold of a barrel.
  • the operation of the clamping elements consisting of the external 10 and internal jaws 20 is controlled by the connecting rod 12.
  • This consists of a first upper link 40, pivotally mounted on the main body 8 by means of a first fixed axis 76.
  • This axis is positioned so that this first upper link 40 oscillates radially with respect to the main axis Z, so as to move away from or approach the main axis Z in a vertical plane comprising the main axis Z.
  • a second lower link 42 is pivotally mounted at a first upper end 62 relative to the first upper link 40.
  • This articulation is produced using a second axis 64.
  • this second connecting rod lower 42 is pivotally mounted around a third axis 66, fixed relative to the jaw guide means, that is to say fixed relative to the upper plate 18 and to the plate e lower 54.
  • the opposite translational movements of the outer 10 and inner jaws 20 are transmitted by the second lower link 42 by means of two pins 44, one fixed to the inner jaw 20, the other to the outer jaw 10.
  • These pins 44 are housed in oblong holes 68 formed in the second lower connecting rod 42, along the axis thereof. Because it is pivotally mounted around the third fixed axis 66, the latter being placed between the two oblong holes 68, a rotation of the latter causes a displacement of the oblong holes 68 and an opposite translation of the external 10 and internal jaws 20 , the pins 44 sliding in the oblong holes 68.
  • the outer jaw 10 is moved away from the main axis Z, while the inner jaw 20 is moved closer to it.
  • the plate 28 is shown placed on a barrel 2 drawn in dashed lines.
  • the main body 8 has been lowered by the lifting devices actuating the assembly, so that the rod 16 has returned inside the main body 8 of the jack 14, the latter being lowered to its lowest position in abutment on a stop 70 fixed on the rod 16.
  • the fact that the jack 14 is lowered against this stop 70 means that it presses on the latter with all its weight, the plate 28 being supported on the barrel 2, the spring 34 is compressed and the stop 22 is opposite the heel 24 of the body 56 of the external jaw 10. Due to this position of the jack 14 , the crankshaft 12 is in a folded position, the first upper link 40 being almost horizontal, the second 42 being inclined, in cooperation with the relative spacing of the external 10 and internal 20 jaws.
  • the device arrives in the "closed” or “tightened” position, the piston 62 of the rod 16 being at the bottom of the cylinder formed by the main body 8 of the jack 14.
  • the bead 4 is enclosed by the jaws 10 and 20, the crankshaft 12 is in its extreme deployed position.
  • a plug 9 closes the lower end of the main body 8 of the jack 14. It provides a sealed guide for the rod 16.
  • the fixed articulation axes 76 of the upper connecting rods 40 on the main body 8 are placed in countersinks 11 formed on the lower end of the main body 8. In the case where there are three clamping groups, these hinge pins 76 are placed angularly at 120 ° relative to each other.
  • the jack 14 can be fitted with a second inlet port 36 for pressurized gas in the lower part of the main body 8, so as to open out below the piston 62, this arrangement makes it possible to compensate for a possible malfunction of the spring. 34 when taking a barrel 2. Indeed, it is possible to envisage a phenomenon of seizing or friction at the level of the spring 34 or of the stop 22 on the heel 24 of the external jaw 10. This defect of operation resulting in the rod 16 remaining in this low position, preventing the external jaw 10 from approaching the main axis Z and effecting the tightening below the bead 4 of the barrel 2. In this case, an injection of compressed air through the second orifice 36 forces the piston 62 and the rod 16 to go up.
  • a three-way valve 80 can be used to control the inputs of pressurized gas into the jack 14.
  • clamping tools 38 can be mounted on a gripping device according to the invention.
  • removable fixing means 50 such as screw-nut systems, allow the mounting and dismounting of different clamping tools on the body 56 of the external jaws 10. This makes it possible to adapt the gripping device to different kinds of barrels, and in particular at different diameters.
  • the gripping device according to the invention is shown in the process of gripping a barrel placed vertically, its upper end 72 being provided with a bead 4. This situation is in accordance with that described with FIGS. 1 and 2.
  • the gripping device has at least three clamping assemblies, that is to say three external jaws 10 and three internal jaws 20.
  • the gripping device has only two clamping assemblies, that is to say two external jaws 10 and two internal jaws 20.
  • the gripping device therefore makes it possible to handle drums containing harmful or non-harmful materials from a distance.
  • it allows drums to be placed in places that are very difficult to access, such as underground silos intended for the long-term storage of drums containing products resulting from nuclear reprocessing, that is to say containing materials irradiated.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Manipulator (AREA)
EP90401510A 1989-06-08 1990-06-05 Fernbediente selbstklemmende Greifvorrichtung für zylindrische Fässer Ceased EP0402231A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8907598 1989-06-08
FR8907598A FR2648121B1 (fr) 1989-06-08 1989-06-08 Dispositif de prehension autoserrant a distance de futs cylindriques

Publications (1)

Publication Number Publication Date
EP0402231A1 true EP0402231A1 (de) 1990-12-12

Family

ID=9382520

Family Applications (1)

Application Number Title Priority Date Filing Date
EP90401510A Ceased EP0402231A1 (de) 1989-06-08 1990-06-05 Fernbediente selbstklemmende Greifvorrichtung für zylindrische Fässer

Country Status (2)

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EP (1) EP0402231A1 (de)
FR (1) FR2648121B1 (de)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2385841A (en) * 2002-03-01 2003-09-03 Piae Ltd A dispensing wallet incorporating a blister pack
NL2005967C2 (en) * 2011-01-07 2012-07-10 Ihc Handling Systems Vof Clamping device.
CN107538511A (zh) * 2016-12-30 2018-01-05 天津晨富科技有限公司 一种空心砖搬运机器人末端夹持装置
CN111453624A (zh) * 2020-04-21 2020-07-28 孔庆珍 一种智能化吊装方法
CN111453625A (zh) * 2020-04-21 2020-07-28 孔庆珍 一种吊具
CN114400586A (zh) * 2022-01-27 2022-04-26 杨庆青 一种可自动锁紧的线缆夹具及其使用方法
CN115285837A (zh) * 2022-08-08 2022-11-04 河南清水建设科技有限公司 空心板水平起吊工具
CN115781604A (zh) * 2022-10-28 2023-03-14 中国核动力研究设计院 一种放射性相关组件水下拆卸装置及方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2327005A (en) * 1942-06-01 1943-08-17 Lloyd L Babcock Barrel lifting means
US3352591A (en) * 1965-11-15 1967-11-14 James C Casey Clamp for grasping storage drums
US4133570A (en) * 1977-07-22 1979-01-09 B. V. Nederlandse Kraanbouw Maatschappij Nkm Hoisting apparatus having improved clamping means
FR2576007A1 (fr) * 1985-01-17 1986-07-18 Lebre Charles Appareillage telescopique de prehension pour le levage de futs ou d'autres objets a section circulaire
FR2619800A1 (fr) * 1987-08-26 1989-03-03 Comptoir Batiment Palonnier de manutention, en particulier de conteneurs de dechets radio-actifs

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2327005A (en) * 1942-06-01 1943-08-17 Lloyd L Babcock Barrel lifting means
US3352591A (en) * 1965-11-15 1967-11-14 James C Casey Clamp for grasping storage drums
US4133570A (en) * 1977-07-22 1979-01-09 B. V. Nederlandse Kraanbouw Maatschappij Nkm Hoisting apparatus having improved clamping means
FR2576007A1 (fr) * 1985-01-17 1986-07-18 Lebre Charles Appareillage telescopique de prehension pour le levage de futs ou d'autres objets a section circulaire
FR2619800A1 (fr) * 1987-08-26 1989-03-03 Comptoir Batiment Palonnier de manutention, en particulier de conteneurs de dechets radio-actifs

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2385841A (en) * 2002-03-01 2003-09-03 Piae Ltd A dispensing wallet incorporating a blister pack
NL2005967C2 (en) * 2011-01-07 2012-07-10 Ihc Handling Systems Vof Clamping device.
WO2012093940A1 (en) 2011-01-07 2012-07-12 Ihc Handling Systems V.O.F. Clamping device
CN103459296A (zh) * 2011-01-07 2013-12-18 Ihc诺瑞克斯私人有限公司 夹持设备
US8764083B2 (en) 2011-01-07 2014-07-01 Ihc Norex B.V. Clamping device
CN103459296B (zh) * 2011-01-07 2015-07-22 Ihc诺瑞克斯私人有限公司 夹持设备
CN107538511A (zh) * 2016-12-30 2018-01-05 天津晨富科技有限公司 一种空心砖搬运机器人末端夹持装置
CN111453624A (zh) * 2020-04-21 2020-07-28 孔庆珍 一种智能化吊装方法
CN111453625A (zh) * 2020-04-21 2020-07-28 孔庆珍 一种吊具
CN111453625B (zh) * 2020-04-21 2021-11-23 汇风科技(天津)有限公司 一种吊具
CN111453624B (zh) * 2020-04-21 2022-11-04 江苏新恒鼎装备制造有限公司 一种吊装方法
CN114400586A (zh) * 2022-01-27 2022-04-26 杨庆青 一种可自动锁紧的线缆夹具及其使用方法
CN115285837A (zh) * 2022-08-08 2022-11-04 河南清水建设科技有限公司 空心板水平起吊工具
CN115781604A (zh) * 2022-10-28 2023-03-14 中国核动力研究设计院 一种放射性相关组件水下拆卸装置及方法

Also Published As

Publication number Publication date
FR2648121A1 (fr) 1990-12-14
FR2648121B1 (fr) 1991-08-30

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