JPS59695A - Impurity recovering device - Google Patents

Impurity recovering device

Info

Publication number
JPS59695A
JPS59695A JP57109126A JP10912682A JPS59695A JP S59695 A JPS59695 A JP S59695A JP 57109126 A JP57109126 A JP 57109126A JP 10912682 A JP10912682 A JP 10912682A JP S59695 A JPS59695 A JP S59695A
Authority
JP
Japan
Prior art keywords
spring
claw
packet
column
distributor
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.)
Granted
Application number
JP57109126A
Other languages
Japanese (ja)
Other versions
JPS646432B2 (en
Inventor
洋一 木山
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.)
Nuclear Fuel Industries Ltd
Original Assignee
Nuclear Fuel Industries Ltd
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 Nuclear Fuel Industries Ltd filed Critical Nuclear Fuel Industries Ltd
Priority to JP57109126A priority Critical patent/JPS59695A/en
Publication of JPS59695A publication Critical patent/JPS59695A/en
Publication of JPS646432B2 publication Critical patent/JPS646432B2/ja
Granted legal-status Critical Current

Links

Classifications

    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00Energy generation of nuclear origin
    • Y02E30/30Nuclear fission reactors

Landscapes

  • Manipulator (AREA)

Abstract

(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。
(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

【発明の詳細な説明】 この発明は異物回収装置特に使用済みの原子燃する を回収するための装置の改良に関する。[Detailed description of the invention] This invention is a foreign matter recovery device, especially for burning used nuclear materials. This invention relates to improvements in equipment for collecting .

一定期間の運転により使用済みになった原子燃料集合体
は、原子炉から取出されて貯蔵プール(いわゆる5pe
nt Fuel Pool)に収容され、そのプール内
において破損状態の検査や破損箇所の補修を行い、原子
炉定検中の再装荷燃料の保管及び再処理工場への移送ま
での冷却期間中貯蔵しておくのが一般である。
Nuclear fuel assemblies that have become used after a certain period of operation are removed from the reactor and placed in a storage pool (so-called 5PE).
The fuel is stored in the nt Fuel Pool, where damage is inspected and damaged areas are repaired, and the fuel is stored for reloading during reactor regular inspections and during the cooling period before being transferred to the reprocessing plant. It is common to leave the

しかし、その作業中に往々にして燃料集合体の組立てに
用いられているねじ部材や小物部品又は工具等をプール
中に落すことがあり、これらをそのま−放置しておいた
のでは高品質管理下にある燃料集合体を傷つける等の理
由で危険なところから、第1図のようにプールP上のブ
リッジにおいて水中テレビ′fで異物Mを監視しつつ、
回収装置Aを操作してパケット爪h によって異物Mを
つまみ取り、バケツ)Eに入れて回収するようにしてい
る。
However, during this work, screws, small parts, tools, etc. used for assembling fuel assemblies are often dropped into the pool, and leaving them as they are will result in high quality From a dangerous place such as damaging fuel assemblies under control, we monitor the foreign object M with an underwater television on the bridge above the pool P as shown in Figure 1.
The collecting device A is operated to pick up the foreign matter M with the packet claw h and put it into a bucket E for collection.

ところで、回収装置1Aは第2図に示すようなもので、
主筒部As  (直径約5CI11%長さ7〜8rrL
)と、こnに若千の伸縮ができるように結合され、下端
にパケット爪A3を開閉自在に取付けた先筒部A2とが
らなり、各筒部内にエアシリンダ部材やコイルばねが組
込まれていて、これがコンプレッサーに接続され、圧縮
空気によってパケット爪Asの開閉動作又は先筒部A2
の伸縮動作を行なわけるようにしている。そのため、局
部の内部構造が膜雑になるばかりでなく、ホース接続部
からの空気漏れによってプール水を泡立てることになり
、その泡立ちによってプール水に倉:l?:tt Cい
る水溶性の放射また、エアシリンダと圧縮空気の代りに
、1!気七−タを使用する方法もら6が、これには絶縁
低下という問題/バある。
By the way, the recovery device 1A is as shown in FIG.
Main cylinder part As (diameter approx. 5CI11% length 7~8rrL
) is connected to this so that it can be expanded and contracted, and has a tip cylinder part A2 with a packet claw A3 attached to the lower end so that it can be opened and closed freely, and an air cylinder member and a coil spring are incorporated in each cylinder part. , this is connected to a compressor, and the compressed air opens and closes the packet claw As or the front cylinder part A2.
It is designed to perform expansion and contraction operations. As a result, not only the internal structure of the local area becomes rough, but also air leakage from the hose connection causes foaming of the pool water, and the foaming causes the pool water to become cloudy. :tt C water-soluble radiation.Also, instead of air cylinder and compressed air, 1! There is also a method using a ventilator, but this has the problem of poor insulation.

この発明はこのような事情に鑑み工夫されたもので、大
気を汚染したり、漏電したりする恐れなく安全に操作で
き、しかも構成が簡単で、軽量化された回収装置を提供
するもので・bす、所要長さ杆 のパイプ状操作杆の下端に、上面には操作中を上△ 方に伸びて温水器に接続されるパイプを備え、下面に4
ま複数のノズルで止設けた中空の分配器を固定し、分配
器の下面にはノズルの内側に位置させて四方に張出しブ
ラケットを有する柱体を取付け、各ブラケットには爪板
と外fN壁と上端部が外方に傾斜したパケット爪をぞれ
ぞれ枢支し、柱体の上端部と各パケット爪の上端とを形
状記憶合金製の第1ばねでそれぞれ連結すると共に柱体
の下端部と各パケット爪の起立杆の中央部とをばね鋼製
の第2ばねでそれぞれ連結し、常温の状態において各パ
ケット爪を閉じ第1ばねを伸長変形させるようにしたこ
とを特徴としている。
This invention has been devised in view of these circumstances, and aims to provide a recovery device that can be safely operated without the risk of polluting the atmosphere or causing electrical leakage, has a simple configuration, and is lightweight. b) At the lower end of the pipe-shaped operation lever of the required length, there is a pipe on the top surface that extends upward during operation and is connected to the water heater, and on the bottom surface there are 4 pipes.
A hollow distributor is fixed with multiple nozzles, and a column with brackets extending from all sides is attached to the bottom of the distributor, and each bracket has a claw plate and an outer fN wall. and a packet claw whose upper end is inclined outward, respectively, and the upper end of the column and the upper end of each packet claw are connected by a first spring made of a shape memory alloy, and the lower end of the column is connected to the upper end of each packet claw. and the central part of the upright rod of each packet pawl are connected by a second spring made of spring steel, and each packet pawl is closed at room temperature to cause the first spring to expand and deform.

第6図はこの発明の実施例を示すものであり、1は直径
約4csr、長さが8〜10mのパイプ材からなる操作
杆であって、その下端には同一直径の中空の分配器2が
溶接などにより固着されており、分配器2の上面中央に
立設されたバイブロは操作杆1中を上方に伸び、上端部
において屈曲し、コツクロαおよび・I・−スhを介し
て前記貯蔵プールのブリッジ上に配設される温水器(図
示せず)に接続されている。
FIG. 6 shows an embodiment of the present invention, in which reference numeral 1 denotes an operating rod made of pipe material with a diameter of about 4 csr and a length of 8 to 10 m, and a hollow distributor 2 of the same diameter is attached to the lower end of the operating rod. is fixed by welding or the like, and the vibro installed vertically in the center of the upper surface of the distributor 2 extends upward in the operating rod 1, bends at the upper end, and connects the It is connected to a water heater (not shown) located on the bridge of the storage pool.

分配器2の下面には第5図イ、口にみられるように角形
の保持リプ2αが設けられると共にその西側辺の外側中
央に当る位置には下向きノズル2bがそれぞれ設けられ
ており、上記の保持リブ2αには角形の柱体4の上端部
が嵌め込まれ、分配器2の下面にねじ止めされている。
On the lower surface of the distributor 2, as shown in the mouth in Fig. 5A, a square holding lip 2α is provided, and a downward nozzle 2b is provided at the center of the outside of the west side of the lip. The upper end of the rectangular column 4 is fitted into the holding rib 2α and screwed to the lower surface of the distributor 2.

柱体4は@6図イ、口に示すように西側面の中央部には
それぞれ次に述べるパケット爪5を枢支するための張出
しブラケット4αを備えており、上下端部にはばね部材
の止め輪を挿入すべく各側面に向って開口する横みぞ4
Cを途中に備えたボルト挿入用の4つのねじ孔4bがそ
れぞれ穿設されている。
As shown in Fig. 6A, the columnar body 4 is provided with an overhanging bracket 4α in the center of the west side for pivotally supporting the packet claw 5, which will be described next, and a spring member at the upper and lower ends. Horizontal groove 4 that opens toward each side for inserting a retaining ring
Four screw holes 4b each having a hole C in the middle for inserting a bolt are drilled therein.

パケット爪5は第4図のように四分の一円をなす平坦な
爪板5αと外周壁5bおよび所要長さの起立杆5Cとか
らなり、起立杆5Cの上端部5 、 /は外方に傾斜し
ており、その傾斜境界部には柱体4の張出しブラケット
4αとの嵌合孔、6αおよびピン挿通孔6bが設けられ
、上端面には第1ばね取付は用のねじ孔7が設けられ、
起立杆50のはぼ中央部には@2ばね取付は用の段付き
孔8が形成されている。
As shown in FIG. 4, the packet claw 5 consists of a flat claw plate 5α forming a quarter circle, an outer peripheral wall 5b, and an upright rod 5C of a required length. A fitting hole 6α for the overhanging bracket 4α of the column 4 and a pin insertion hole 6b are provided at the inclined boundary part, and a screw hole 7 for attaching the first spring is provided on the upper end surface. established,
A stepped hole 8 for mounting the @2 spring is formed in the center of the upright rod 50.

このような4つのパケット爪5がその嵌合孔6αを柱体
4の各側面の張出しブラケット4αの先端部にそれぞれ
嵌合すると共にピン挿通孔6bにピン9をそれぞれ挿通
することにより開閉自在に枢支されている。
These four packet claws 5 can be opened and closed by fitting the fitting holes 6α into the tips of the overhanging brackets 4α on each side of the column 4 and inserting the pins 9 into the pin insertion holes 6b, respectively. It is pivotally supported.

そして、柱体4の各側面の上端部と各パケット爪5の上
端とは彩状記憶合金製の第1ばね1nにより、また柱体
各側面の下端部と各パケット爪5の中央部とは通常のば
ね鋼からなる第2ばね11によりそれぞれ次のようにし
て連結されている。
The upper end of each side of the column 4 and the upper end of each packet claw 5 are connected by a first spring 1n made of a color memory alloy, and the lower end of each side of the column and the center of each packet claw 5 are connected to each other. They are connected to each other by a second spring 11 made of ordinary spring steel in the following manner.

第1ばね10はチタン−ニッケル(又はニッケルーアル
ミニウム、銅−亜鉛)からなるもので、第7図イのよう
に自然長1  (lcs〜i、5c+a)において数巻
きのコイルに加工され、常温では変形し易く、70°C
〜80°Cの温度で元の形状に戻るように熱処理された
もので、その両端には鳩目状の止め金具10α、10b
が固定されており、一端の角形の止め金J410 aは
柱体4上端部の横みぞ4Cに嵌合され、柱体4の上方か
らねじ孔4bにボルト12をねじ込んで固着され、他端
の円形の止め金具10bはパケット爪5の起立杆5の傾
斜上端部5./の上端においてボルト12により固定さ
れ、前記分配管器2のノズル2bの直下に位置付けられ
ている。
The first spring 10 is made of titanium-nickel (or nickel-aluminum, copper-zinc), and is processed into a coil with several turns at natural length 1 (lcs~i, 5c+a) as shown in Figure 7A, and is kept at room temperature. It is easily deformed at 70°C.
It is heat-treated to return to its original shape at a temperature of ~80°C, and has eyelet-shaped stoppers 10α and 10b on both ends.
is fixed, the rectangular stop J410a at one end is fitted into the horizontal groove 4C at the upper end of the column 4, and fixed by screwing the bolt 12 into the screw hole 4b from above the column 4, and the other end is fixed. The circular stopper 10b is located at the inclined upper end 5. of the upright rod 5 of the packet claw 5. / is fixed by a bolt 12 at the upper end thereof, and is positioned directly below the nozzle 2b of the distributor 2.

また、第2はね11は通常のばね調材からなり常温での
第1ばね10のばね力より強いばね力を有し、pJZ図
口のように長さおよびコイル数を第1ばね10とほぼ同
じくし、一端には角形鳩目状の止め金具11αが固定さ
れているが他端は円錐状の拡大部11bが形成されてお
り、一端の止め金具11αは柱体4の下端部の横みぞ4
0に嵌合され柱体4の下方からねじ孔4bにボルト12
をねじ込んで固着され、他端の拡大部11bはパケット
爪5の起立杆5C中央の段付さ孔8に挿入され第7図ハ
のような二つ割りの止め4貢16により止着されている
In addition, the second spring 11 is made of a normal spring material and has a spring force stronger than that of the first spring 10 at room temperature, and the length and number of coils are different from that of the first spring 10 as shown in the pJZ diagram. In almost the same way, a rectangular eyelet-shaped stopper 11α is fixed to one end, and a conical enlarged part 11b is formed at the other end, and the stopper 11α at one end is attached to a horizontal groove at the lower end of the column 4. 4
The bolt 12 is fitted into the screw hole 4b from below the column body 4.
The enlarged portion 11b at the other end is inserted into the stepped hole 8 at the center of the upright rod 5C of the packet claw 5, and is secured by a two-split stopper 16 as shown in FIG. 7C.

そこで、常温の通常状態においては第2ばね11のばね
力によって4つのパケット爪5は柱体4の方向に引き寄
寸られ、第6図実線のように各爪板5αが互いに寄り合
って閉じて居り、上方の第1ばね10は伸長するように
変形されている。
Therefore, under normal conditions at room temperature, the four packet claws 5 are drawn toward the column 4 by the spring force of the second spring 11, and the claw plates 5α are brought together and closed as shown by the solid line in FIG. The upper first spring 10 is deformed so as to be elongated.

その使用に当っては、従来と同様に燃料集合体の貯蔵プ
ールのブリッジ上において、プール中に落らた異物Mの
存在位置をテレビカメラで監視しつ一1操作杆1をプー
ル中に挿入し、第3図のようをこ下端のパケットを異物
Mの直上におき、中央μ れた渇水を導入すれば、温水は中央パイプ3を通って分
配器2に入り、各下向きノズル2bがら第1ばね10に
向って噴出する。
When using it, as in the past, on the bridge of the storage pool of the fuel assembly, the position of the foreign object M that has fallen into the pool is monitored with a television camera, and the operating rod 1 is inserted into the pool. If, as shown in Fig. 3, the lower end of the packet is placed directly above the foreign object M and the centrally drained water is introduced, the hot water enters the distributor 2 through the central pipe 3 and flows through each downward nozzle 2b. 1 spring 10.

そこで、第1ばね10は所定の変標温度に加熱されるこ
とになり、直ちに元の加工形状に戻り、点線状態に縮少
するので、各パケット爪5の上端が柱体4の方にす]き
寄せられ、枢支ピン9を中心にして点線状態に開く。
Therefore, the first spring 10 is heated to a predetermined variable temperature, and immediately returns to its original processed shape and shrinks to the dotted line state, so that the upper end of each packet claw 5 is directed toward the columnar body 4. ] and open in a dotted line shape around the pivot pin 9.

そのま−の状1塵で、各爪板5αをプール底に当接させ
、温水の供給を止めれば、第1ばね1oの温度がプール
水の影響で急速に降下し、第2ばねのばね力によって各
パケット爪5は実線状櫟に閉じ異物Mを採取する。
If each claw plate 5α is brought into contact with the bottom of the pool using that lump, and the supply of hot water is stopped, the temperature of the first spring 1o will rapidly drop due to the influence of the pool water, and the spring of the second spring will drop. Due to the force, each packet claw 5 closes into a solid line shape and collects the foreign matter M.

そしてこれを採取パケット上に持って行き、再びコック
3αを操作して第1ばね10に温水を吹きかけ各パケッ
ト爪5を開き、採取した異物Mを採取パケット中に収容
する。
Then, bring this onto the collection packet, operate the cock 3α again to spray hot water onto the first spring 10, open each packet claw 5, and store the collected foreign matter M into the collection packet.

なお、図示の例では製作し易さの面から柱体4を角形の
ものとし、また、第1、第2のばね10.11をコイル
状のものとして示したが、これに限らず、柱体は円形、
ばねは波形など他の形状にしてもその機能に変りなく、
またパケット爪5も爪板5αが三分の一円をなすように
して柱体4の三方に設けるようにしてもよい。
In the illustrated example, the column 4 is shown as having a rectangular shape from the viewpoint of ease of manufacture, and the first and second springs 10 and 11 are shown as having a coil shape. However, the column is not limited to this. The body is circular,
Even if the spring has a different shape, such as a wave shape, its function remains the same.
Further, the packet claws 5 may also be provided on three sides of the columnar body 4 so that the claw plates 5α form one-third of a circle.

以上のようにこの発明では、パイプ状操作杆の下端に設
けた柱体の上端部と、柱体の複数のブラケットにそれぞ
れ枢支したパケット爪の起立杆の上端とを形状記憶合金
製の第1ばねで連結すると共に柱体の下端部と各パケッ
ト爪の起立杆の中央部をばね銅製の第2ばねで連結し、
第1ばねへの温水の吹きかけ又は停止によりパケット爪
を開閉させるようにしたので、従来の圧縮空気利用のも
のに比べ、原子燃料集合体の貯蔵プールを泡立たせるこ
となく平静に操作することができ、プール中の放射性物
質の放出が防がれて大気を汚染する恐れなく、シかもピ
ストン部材やその切替え手段を用いないので構成が簡単
で軽量化され、製作し易いなどの効果を有する。
As described above, in the present invention, the upper end of the column provided at the lower end of the pipe-like operating rod and the upper end of the upright rod of the packet claw each pivoted on a plurality of brackets of the column are connected to a shape memory alloy tube. 1 spring, and the lower end of the column and the center of the erecting rod of each packet claw are connected by a second spring made of spring copper.
Since the packet claws are opened and closed by spraying hot water onto the first spring or by stopping the first spring, the storage pool of the nuclear fuel assembly can be operated calmly without causing bubbles, compared to conventional methods that use compressed air. Since the release of radioactive substances in the pool is prevented, there is no risk of contaminating the atmosphere, and since no piston member or switching means are used, the structure is simple, lightweight, and easy to manufacture.

【図面の簡単な説明】[Brief explanation of the drawing]

第1図は貯蔵プールにおける異物回収状態の説明図。 第2図は従来の回収装置の一部の側面図。 第6図はこの発明の実施例の側面図。 第4図はパケット爪の斜視図。 第5図イは分配器の一部切断側面図。 同図口はその下面図。 第6図イは柱体の半断面側面図。 同図口はその下面図。 第7図イ、口は第1、第2ばねの平面図。 同図ハは止め具の正面図。 図中 1・・・・操作杆、     2・・・・分配器、2α
・・・リプ、2b・・・ノズル、 6・・・・パイプ、      6α・・・コツ久4・
・・・柱体、       4α・・・張出しブラケッ
ト、4b・・・ねじ孔、4c・・・横みぞ、5・・・・
パケット爪、   5α・・・爪板、5b・・・外周L
      5o・・・起立杆、6α・・・嵌合孔、 
    7・・・・ねじ孔、8・・・・段付き孔、  
   10・・・・第1ばね、11・・・・第2ばね、
12・・・・ボルト、13・・・・止め具、 特許出願人 原子燃料工M林式会社 代理人真田真− 弔1図 馬2図
FIG. 1 is an explanatory diagram of the state of foreign matter collection in the storage pool. FIG. 2 is a side view of a part of a conventional collection device. FIG. 6 is a side view of an embodiment of the invention. FIG. 4 is a perspective view of the packet claw. FIG. 5A is a partially cutaway side view of the distributor. The opening in the figure is its bottom view. Figure 6A is a half-sectional side view of the column. The opening in the figure is its bottom view. Figure 7A is a plan view of the first and second springs. Figure C is a front view of the stopper. In the diagram, 1...operating rod, 2...distributor, 2α
... Lip, 2b... Nozzle, 6... Pipe, 6α... Kotsukyu 4.
... Column body, 4α ... Overhang bracket, 4b ... Screw hole, 4c ... Horizontal groove, 5 ...
Packet claw, 5α...claw plate, 5b...outer circumference L
5o... Standing rod, 6α... Fitting hole,
7...Screw hole, 8...Stepped hole,
10...first spring, 11...second spring,
12... Bolt, 13... Stop, Patent applicant Makoto Sanada, representative of Nuclear Fuel Engineering M Hayashi Shiki Company - Funeral 1 Illustration Horse 2

Claims (1)

【特許請求の範囲】[Claims] 所要長さのパイプ状の操作杆の下端に、上面には操作杆
中を上方に伸びて温水器に接続されるパイプを備え、下
面には?J!数のノズルを設けた中空の分配器を固定し
、分配器の下面には上記ノズルの内側に位置させてvI
数の張出しブラケットを有する柱体を取付け、各ブラケ
ットには爪板と外周壁と上端部が外方に傾斜した起立杆
とからなるパケット爪をそれぞれ開閉自在に枢支し、上
記柱体の上端部と各パケット爪の上端とを上記ノズルの
下側において形状記憶合金製の第1ばねでそれぞれ連結
すると共に柱体の下端部と各パケット爪の起立杆の中央
部をばね鋼製の第2ばねでそれぞれ連結し、常湿の状態
において各パケット爪を閉じ范1ばねを伸長変形させて
なる異物回収装置。
At the lower end of the pipe-shaped operating lever of the required length, there is a pipe on the upper surface that extends upward through the operating lever and is connected to the water heater, and on the lower surface... J! A hollow distributor provided with several nozzles is fixed, and vI is placed inside the nozzles on the bottom surface of the distributor.
A column body having several overhanging brackets is attached, and each bracket has a packet claw, which is composed of a claw plate, an outer peripheral wall, and an upright rod whose upper end slopes outward, pivoted to open and close freely. The lower end of the column and the upper end of each packet claw are connected to each other by a first spring made of shape memory alloy on the lower side of the nozzle, and the lower end of the column and the center of the upright rod of each packet claw are connected to a second spring made of spring steel. A foreign matter collection device in which each packet claw is connected by a spring, and each packet claw is closed in a state of normal humidity, and one spring is expanded and deformed.
JP57109126A 1982-06-26 1982-06-26 Impurity recovering device Granted JPS59695A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP57109126A JPS59695A (en) 1982-06-26 1982-06-26 Impurity recovering device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP57109126A JPS59695A (en) 1982-06-26 1982-06-26 Impurity recovering device

Publications (2)

Publication Number Publication Date
JPS59695A true JPS59695A (en) 1984-01-05
JPS646432B2 JPS646432B2 (en) 1989-02-03

Family

ID=14502223

Family Applications (1)

Application Number Title Priority Date Filing Date
JP57109126A Granted JPS59695A (en) 1982-06-26 1982-06-26 Impurity recovering device

Country Status (1)

Country Link
JP (1) JPS59695A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61204947A (en) * 1985-03-08 1986-09-11 Hitachi Ltd Holding device
JPS61241940A (en) * 1985-04-19 1986-10-28 Hitachi Ltd Clamping device
JPS62287989A (en) * 1986-06-04 1987-12-14 株式会社日立製作所 gripping device

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61204947A (en) * 1985-03-08 1986-09-11 Hitachi Ltd Holding device
JPS61241940A (en) * 1985-04-19 1986-10-28 Hitachi Ltd Clamping device
JPS62287989A (en) * 1986-06-04 1987-12-14 株式会社日立製作所 gripping device

Also Published As

Publication number Publication date
JPS646432B2 (en) 1989-02-03

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