JPH0985664A - Four finger type grasping device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To smoothen the actuation of a grasping device for managing nuclear reactor fuel aggregate and to simplify its regulation. SOLUTION: A grasping device is composed of a main body frame 21; a perpendicular guide block 37 provided severally on four outside planes; a plate cam 39 provided in the above block; a working cylinder 23 provided on the upper face of the main body frame; a clipper finger 35 which is severally guided by the guide block 37 and movable vertically; and an operation link to connect the working cylinder 23 to the clipper finger 35, and a roller to roll contactingly on a cam face is provided in a part facing the plate cam 39 of the clipper finger 35.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a gripping device for an object to be handled remotely such as a fuel assembly for a nuclear reactor.

[0002]

2. Description of the Related Art For example, a fuel assembly of a pressurized water reactor has a box-shaped structure called an upper nozzle at its upper part, and a rectangular opening of the upper nozzle is used when the fuel assembly is moved up and down and transferred. The four gripper fingers of the gripping device are inserted and expanded to grip the fuel assembly.
In addition, a rectangular opening may be formed in the upper part of the same type of structure, for example, a basket containing a plurality of fuel assemblies, and the same gripping device may be used for the same purpose. A typical structure of such a gripping device will be described with reference to FIG. In FIG. 7, the cylinder 3 on the upper surface of the box-shaped gripper frame 1 moves the fingers 9 up and down via the lifting plate 5 and the operating rod 7 in the frame 1. In detail, the operation rod 7 moves up and down the clevis 13 guided by the guide block 11 as shown in FIG. The finger 9 rotatably supported by the clevis 13 via the pin 15 moves in the vertical direction when the operating rod 7 drives the clevis 13, and at the same time, the cam 17 and the finger 9 are moved.
It pivots by the cam action of the contact protrusions 9a and 9b. That is, the lower end of the finger 9 is recessed inward or expanded outward, thereby releasing or gripping the fuel assembly A shown by an imaginary line.

[0003]

However, in the above-mentioned gripping device, since the finger and the cam are in sliding contact, there is a problem in surface pressure and four fingers having an integral contact protrusion are used. Therefore, it takes time to adjust the clearance between the cam and the cam. This is because when four fingers are used, there is a high risk that the object will tilt or fall off if the load of the grasped object is not equally applied. The present invention has been made to solve such a problem, and an object thereof is to provide a four-finger gripping device that operates smoothly and is easy to adjust.

[0004]

According to the present invention to achieve the above object, a four-finger gripping device includes a box-shaped frame, a vertical guide block provided on each of four outer surfaces of the frame, and a vertical guide block. A plate cam provided in the guide block, an operating cylinder provided on the upper surface of the frame, a gripper finger movable in the vertical direction guided by the guide block, and an operation link connecting the operating cylinder and the gripper finger. And the gripper finger includes a roller that rolls in contact with the surface of the plate cam.

[0005]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the accompanying drawings. First, referring to FIG. 1 and FIG. 2 which is a partial sectional view thereof, an operating cylinder 23 is mounted on a top plate of a box-shaped main body frame 21, and a tip of a piston rod thereof is joined to a connecting plate 25 by a pin. Has been done. Four operating rods 27 hang down from the connecting plate 25, and a clevis 31 is fastened to the outer end of the operating arm 29 at the lower end thereof. A finger 35 is pivotally supported by the clevis 31 via a pin 33. The finger 35 is guided by a guide block 37 as shown in FIG. 2, and a plate cam 39 is provided on the bottom surface of the guide block 37 having a generally U-shaped cross section.

Referring to FIGS. 3 to 6 which are partial detailed views, the clevis 31 is guided by the guide block 37 by the roller 41 and can move smoothly (FIG. 5).
Rollers 43 are provided at both ends of the pin 33 that pivotally connects the clevis 31 and the finger 35 (FIG. 6). Further, the roller 45 which rolls in contact with the cam surface of the plate cam 37 is moved upward and downward by pins 47, 4 respectively.
It is rotatably supported by the finger 35 by 9. In this way, the finger 35 having the two rollers 45 is guided by the guide block 37 so that the pin 33 located at the pivot point follows a predetermined locus. During this movement, the rollers 45, 45 always make contact with the plate cam 39 and roll, and the finger 35 swings around the pin 33. That is, the claw 35a at the lower end of the finger 35 projects outward or retracts inward.

The operation of the gripping device having the above-described structure will be generally described with reference to FIG. 1. The operation link (operation rod 27, operation arm 29, clevis 31) is operated by the operating cylinder 23.
The finger 35 is driven downward via the fuel assembly A, and when it reaches the lowermost end, the claw 35a goes out and the fuel assembly A indicated by a two-dot chain line is shown.
Hold the upper nozzle of the. Contrary to this, the working cylinder 2
Moving finger 35 upwards by 3 causes finger 3
In No. 5, the roller 45 on the upper side goes out and the claw 35a at the lower end pulls inward, so that the fuel assembly A is released.

[0008]

As described in the above embodiments, when the clevis and the finger move, the roller rolls in contact with the guide block and the plate cam, so that the roller can move smoothly. Further, since rollers are provided between the fingers and the plate cams which are relatively displaced and between the clevis and the guide block, the adjustment of the assembly is facilitated and the synchronized adjustment of the four fingers is facilitated, and the reliability is improved. Can be improved.

[Brief description of drawings]

FIG. 1 is an elevational view showing an embodiment of the present invention.

FIG. 2 is a plan sectional view taken along the line II-II in FIG.

FIG. 3 is a partial cross-sectional view showing a portion III in FIG.

FIG. 4 is a side view corresponding to FIG.

5 is a plan sectional view taken along the line VV of FIG.

6 is a plan sectional view taken along line VI-VI in FIG.

FIG. 7 is an elevational view of a conventional device.

8 is a sectional view taken along the line VIII-VIII in FIG.

[Explanation of symbols]

 21 Body Frame 23 Actuating Cylinder 25 Connecting Plate 27 Operating Rod 29 Operating Arm 31 Clevis 35 Fingers 37 Guide Block 39 Plate Cam 45 Roller

Claims (1)

[Claims] 1. A box-shaped frame, vertical guide blocks provided on four outer surfaces of the frame, plate cams provided in the guide block, an operating cylinder provided on an upper surface of the frame, and the guide block. A gripper finger which is guided in the vertical direction, and an operation link which connects the operating cylinder and the gripper finger, and the gripper finger is provided with a roller that rolls in contact with the surface of the plate cam. Characteristic 4-finger type gripping device.