JPH0451477B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of the Invention] The present invention relates to a suspended object gripping device that remotely controls an object and places it in a predetermined position, and also grabs an object from a predetermined position and transports it to another desired position. It is something.

BACKGROUND OF THE INVENTION It is sometimes necessary to move objects remotely for equipment maintenance in exposed areas of nuclear power plants. For example, to replace a filter module in a hollow fiber membrane filter, the filter module must be picked out of a predetermined position in the exposed area, and another new filter module must be grabbed and placed in a predetermined position. For example, when placing equipment underwater or removing equipment from water that does not allow access to workers even outside the exposed area, an object gripping device that can be repeatedly gripped and released by remote control is required. As an example of such an object gripping tool, there is a utility model application published in 1983-4570.
There is a transport sling disclosed in No. However, the structure is relatively complex, the manufacturing cost is high, and there are problems in that it is difficult to visually confirm the operation from outside the recess, especially when an object placed in the recess is gripped and released by the gripper. Furthermore, since the handling of objects within the recess is carried out in a narrow space, it is required to operate reliably within a small operating width, but such requirements have not been fully satisfied.

[Objective of the Invention] The object of the present invention is to have a simple configuration, to be able to reliably grip and release an object in a narrow space by remote control, and to visually check the operating state of the object from the outside even when the object is not visible. It is an object of the present invention to provide a suspended type object gripping tool capable of holding objects.

[Structure of the Invention] According to the present invention, the object is to provide an outer annular body having a rotating claw around the periphery and a hollow column standing upright from the center of the insole, which slides on the inner circumferential surface of the outer annular body. an inner annulus comprising a rim and a cylindrical body surrounding said hollow column and having a vertical hole, the inner annulus being slidably inserted between said inner annulus and said hollow column and extending longitudinally of said cylindrical body; a hollow cylinder having a first cross bar movably engaged in the hole, a positioning swing plate having a diagonal hole and a J-shaped hole, the swing plate having said diagonal hole in said hollow column; This is accomplished by a suspended gripper slidingly mounted with a second crossbar passing through and said first crossbar passing through said J-shaped hole. Particularly, the length of the long side of the J-shaped hole is such that the edge of the inner ring body is rotated while sliding on the working surface of the rotating pawl along the inner peripheral surface of the outer ring body. It is equal to the sum of the opening and closing stroke of the movable claw and the length of the vertical hole in the inner ring, the short side of the J-shaped hole is equal to the length of the vertical hole in the inner ring, and the length of the J-shaped hole is equal to the length of the vertical hole in the inner ring. The distance between the upper end of the short side and the lower end of the oblique hole is chosen to be equal to the aforementioned stroke.

[Examples] Examples of the present invention will be described in detail below with reference to the accompanying drawings.

See Figure 1a. In FIG. 1, the suspended object grasper is shown lowered to grasp an object 16 and place it in a predetermined recess 18. In Fig. 1a, 1 is a rotating pawl, 2 is an insole, 3 is a hollow column standing upright from the center of this insole 2, and 4 is an outer ring body provided with these members. . 5 is the edge of the inner ring 20 that slides on the inner peripheral surface of the outer ring 4; 8 surrounds the hollow column 3;
It is a cylindrical body having a vertical hole 6, and this edge 5 and the cylindrical body 8 are integrally joined to form an inner ring body 20. Reference numeral 10 denotes a hollow cylinder, and the inner ring body 20 is slidably inserted between the hollow column 3 and the hollow cylinder 10 is movably engaged with the vertical hole 6 of the cylinder body 8. It is connected to the inner ring body 20 by a horizontal bar 9 of 1.

See Figure 1b. 13 is a positioning swing plate, which has an oblique hole 11 and a J-shaped hole 12. This swing plate 13 is mounted in the hollow column 3 so as to swing by a second horizontal bar 14 passing through an oblique hole 11, and the length L1 of the long side of the J-shaped hole 12 is such that the edge 5 of the inner ring body 20 Substantially equal to the sum of the stroke l1 of opening and closing the rotating claw 1 by sliding on the working surface of the rotating claw 1 along the inner circumferential surface of the ring body 4 and the length l2 of the vertical hole in the inner ring body. , the length L2 of the short side of the J-shaped hole is substantially equal to the length l2 of the vertical hole in the inner annulus, and the distance L3 between the upper end of the short side of the J-shaped hole and the lower end of the oblique hole is substantially equal to is chosen to be equal to the above-mentioned interval.

As already mentioned, FIG. 1a is a vertical cross-sectional view of a state in which the suspended object gripping device grips the object 16 and descends toward the installation recess, and FIG. This shows the positional relationship between the second horizontal bar 14, the J-shaped hole 12, and the first horizontal bar 9. A hollow cylinder 10 with a hanging hand 15 fixed to the upper end and a first
The horizontal bar 9 abuts against the apex of the vertical hole 6 of the inner annular body 20 to suspend the inner annular body, the edge 5 of this inner annular body 20 rises along the working surface of the pawl, and the pawl 1 It rotates counterclockwise and engages the circumferential groove 17 of the object 16. On the other hand, the first horizontal bar 9 is located at the upper end of the long side of the J-shaped hole 12 of the swing plate 13, and the second horizontal bar 1 is located at the upper end of the diagonal hole 11, which is the shortest distance from this position.
4 is located, and this second horizontal bar 14 supports a hollow column 3 extending downward, and the midsole 2 at the lower end of the hollow column 3 abuts the top surface of the object 16. In this case swing board 1
3, the first horizontal bar 9 is drawn closest to the second horizontal bar 14, and the relative vertical deviation between the hollow cylinder 10 and the hollow column 3 becomes maximum, and the hollow cylinder 1
The inner ring body 20 engages with the first horizontal bar 9 of 0 at the upper end of the vertical hole 6 and is in the lowest position relative to the hollow cylinder.
The edge 5 is at the same height as the upper edge of the inner peripheral surface of the outer ring 4, and the claw 1 is rotated counterclockwise to grip the object 16.

Figure 2a shows the recess 1 where the object gripping tool places the object 16.
Fig. 2b is a vertical cross-sectional view of the state in which the object 16 is released after being placed in the swing plate 13; The positional relationship with 9 is shown.

The object 16 touches the bottom of the recess 18 and the object 16
The inner bottom 2 of the outer ring 4, the edge 5 of the inner ring 20, and the bottom end of the hollow cylinder 10 are all in contact with the top surface of the inner ring 4, and the edge 5 of the inner ring 20 is the working surface of the rotating claw 1. At the lowest end of the object 16, the rotating claw 1 is rotated clockwise and the rotating claw is separated from the annular groove 17 of the object 16. The hollow cylinder 10 takes the lowest position, and the first
The horizontal bar 9 also descends to the lowest position and touches the lower end of the vertical hole 6 of the inner ring body 20. As shown in FIG. 2b, the swing plate 13 as a whole rotates and tilts clockwise,
The first horizontal bar 9 moves to the lower right end of the J-shaped hole 12 (see Figures 4b1 and b2).

FIG. 3a shows the object gripper placing the object 16 in the installation recess and lifting it up. As shown in Figure 3b, the first cross bar 9 moves to the upper end of the short side of the J-shaped hole 12 (see Figures 4b2, c1 and c2).
This first horizontal bar 9 and the upper end of the vertical hole 6 of the inner ring body 20 are engaged, and in this state, the first horizontal bar 9 suspends the inner ring body 20. The second horizontal bar 14 moves to the lower end of the oblique hole 11 of the swing plate 13, and at this time, the distance L3 between both horizontal bars is the distance l1 that the edge 5 of the inner ring body 20 moves along the inner circumferential surface S of the outer ring body. be equivalent to. For this reason, the second
The midsole 2, which is suspended via the hollow column 3 by a horizontal bar 14, remains in abutment with the edge 5 of the inner ring 20, which edge 5 is located at the lowest end of the working surface of the pawl 1 and 1 is rotated counterclockwise and held in the released state. The state of the object grasper descending to grasp the object 16 in the recess 18 is the same as that shown in FIG. 3a, and the state of the object grasper attempting to grasp the object 16 is the same as that shown in FIG. 2a. It's the same. What should be noted is the movement of the swing plate 13, which moves from the state shown in FIG. 3b to the state shown in FIG. 2c, but in detail, from the state shown in FIG. 4c2 to the state shown in FIG.
The state shifts to the state shown in FIG. 4d2 via the state shown in FIG. d1.

The operation of the swing plate 13 will be explained with reference to FIG.

In FIG. 4, a shows the state of the swing plate 13 when the gripping tool is descending while gripping an object. When the gripper places the object in a predetermined position and the claw is released, the swing plate passes through the state b1 and enters the state b2 (first
Since the horizontal bar 9 does not contact the bottom of the J-shaped hole, the swing plate moves to a stable position b2 about the second horizontal bar 14). When the grip is raised with the claws open, the swing plate passes through the state c1 and enters the state c2 (the first horizontal bar 9 can be moved to the position indicated by the circle in the broken line, It is stopped at the upper end of the side, and with that force, the swing plate slides on the first horizontal bar 14 and reaches the state c2). When the gripper descends again and contacts the object (the claws are still open), the swing plate passes through the state d1 to the state d2 (the first horizontal bar 9 is inserted into the J-shaped hole of the swing board). Since it is not in contact with the bottom, the swing plate moves to a stable position d2 around the second horizontal bar)
When the gripping tool is pulled up, the swing plate returns to state a, and the claws grip and lift the object.

When the gripper is gripping the object 16 (Fig. 1)
Since the height of the hollow cylinder 10 with respect to the outer ring body 4 is different between when it is released and when it is released (FIGS. 2 and 3), the object 16 is placed in the recess, and even when the object is not visible from the outside, the gripping tool Whether it is grasping or releasing an object can be visually confirmed from the height of the hollow tube.

Furthermore, if the outer circumferential surface of the hollow cylinder 10 is color-coded so that point-by-point positional changes relative to the inner ring body 20 can be recognized, visual recognition can be made more easily.

[Effects of the Invention] According to the present invention, it is possible to reliably grasp and release an object in a narrow space by remote control, and even when the object is not visible, it can be determined whether or not the object is being grasped.

In addition, in the present invention, the vertical position of the inner ring body and the outer ring body is controlled by the simple shape of the positioning swing plate with the first or second horizontal bar as an axis by gravity acting on the positioning swing plate. This is done by a rocking movement within a controlled range by the diagonal holes and the J-shaped holes. In other words, a control mechanism using such a positioning swing plate is different from a simple cam mechanism, and is like a pendulum mechanism or a complex cam mechanism, and has a simple structure but performs a complex action. be able to. Therefore, the device can be manufactured, assembled, disassembled, etc. extremely easily without requiring high precision. Moreover, when the swing plate and the first or second horizontal bar come into contact during operation, no excessive force is applied, and reliable operation can be performed without malfunction without using lubricating oil. Furthermore, since it does not require lubricating oil, it can be used underwater even without a seal structure.

[Brief explanation of the drawing]

FIG. 1a is a longitudinal cross-sectional view showing a state in which the gripping tool of the present invention grips an object and descends toward a recess, and FIG. 1b shows the state of the swing plate at that time. FIG. 2a is a longitudinal cross-sectional view showing the state in which the gripper of FIG. 1 places an object in the recess, and FIG. 2b shows the state of the swing plate at that time. FIG. 2c shows the state of the swing plate when the gripper descends to grip the object in the recess and comes into contact with the object. Third
Fig. 3a shows, in longitudinal section, the state in which the gripping tool moves upward leaving the object in the recess, and Fig. 3b shows the state of the swing plate at that time. 4th a, b1, b2,
Figures c1, c2, d1, and d2 show the state of the swing plate in response to a series of operations in which the gripper grabs an object, descends, places the object, ascends, descends again, grasps the object, and ascends. In the figure, 1: rotating claw, 2: middle bottom, 3: hollow column,
4: Outer ring body, 5: Edge of inner ring body, 6: Vertical hole in inner ring body, 8: Cylindrical body, 9: First horizontal bar, 10: Hollow tube, 11: Diagonal hole, 12: J-shape hole, 13: swing plate, 14: second horizontal bar, 15: hanger, 16: object, 17: annular groove, 18: recess, 20: inner ring body.

Claims (1)

[Scope of Claims] 1. An outer ring body having a rotating claw around its periphery and a hollow column standing upright from the center of the insole, an edge that slides on the inner peripheral surface of the outer ring body, and the hollow column. and a cylinder surrounding the cylinder and having a vertical hole; an inner ring slidably inserted between the inner ring and the hollow column and movably engaged with the vertical hole in the cylinder; a positioning swing plate having a first horizontal bar extending through the hollow column; a positioning swing plate having a diagonal hole and a J-shaped hole; the first through the J-shaped hole;
It is mounted to swing by the horizontal bar of J.
The length of the long side of the shaped hole is such that the edge of the inner annular body slides along the inner peripheral surface of the outer annular body onto the working surface of the rotary pawl and engages the rotary pawl. equal to the opening/closing stroke plus the length of the vertical hole in said inner annulus, the short side of the J-shaped hole is equal to the length of the vertical hole in said inner annulus, and the upper end of the short side of the J-shaped hole and the lower end of the oblique hole is equal to the distance described above.