Connecting rod sliding block and gear transmission combined type automatic gripping apparatus

Abstract

A connecting rod sliding block and tooth transmission combined type automatic gripping apparatus comprises a gripping claw, the gripping claw is connected to a connecting rod, the connecting rod comprises a left rod and a right rod and is connected with a chassis, the chassis is installed on a supporting frame, and a top ring is arranged at the upper end of the supporting frame; the shifting rod is fixed to the supporting frame, the supporting frame pushes the teeth to move in a transmission mode when moving downwards, the positioning rod is fixed to the supporting frame, the positioning rod is provided with a long groove, and the sliding block slides in the groove. The waste bin transfer device can solve the problem of waste bin transfer of the high-level solid waste servicing production line, and has the characteristics of simple structure, grabbing force self-locking, small opening and closing size and high reliability.

Description

Technical Field

[0001] This patent relates to the field of radioactive solid waste treatment, and particularly to a combined automatic gripper of connecting rod slider and gear drive. Background Art

[0002] Since high-level radioactive waste contains nuclides with strong radioactivity, large calorific value, high toxicity, and long half-life, once leaked, it will cause great harm to the public and the environment. During the safe transportation and storage of high-level radioactive solid waste barrels, the structure and stability of the gripper are particularly important. Waste barrel grippers are mostly mechanical transmission grippers with power input, electromagnetic grippers, etc. Their structures are complex, and the gripper has to tow a long cable, resulting in poor flexibility for long-distance lifting. The transportation of high-level radioactive solid waste barrels mainly uses gravity-type automatic grippers without power input, that is, without any power drive, relying only on the gravity of the gripper and the object itself to lock the heavy object during hoisting and automatically release the locked state after putting down the heavy object. Therefore, the structure and stability of the gripper are quite important. Gravity-type automatic grippers mostly adopt planar four-bar grasping mechanisms. The slider can only achieve self-locking when the gripper claws are open. When the gripper claws are tightened, the slider does not play a limiting role. Therefore, the grasping force is not easy to control, and it is necessary to observe the position of the slider to judge whether the gripper is in the self-locking and unlocking states. At the same time, the planar parallel four-bar mechanism controls the opening and closing of the gripper claws, and the structural size is large. In 2006, the China Institute of Atomic Energy publicly studied the patent "Gravity-Type Automatic Gripper". This gripper is composed of an upper barrel body and a lower barrel body connected movably; a safety displacement rod that moves up and down is embedded in the upper barrel body; the lower barrel body consists of a gripper body, a cylinder, claws, a push rod, and a slider. The gripper body is a cylinder as a whole. This automatic gripper is mainly used in the reactor refueling process and is a special gripper for grasping single fuel assemblies, only suitable for occasions with a relatively small diameter of the lifted object. In 2012, Wuhan Haiwang New Energy Engineering Technology Co., Ltd. published "The Design of a New Type of Tooth-Shaped Slider Mechanical Automatic Gripper", which improved the four-bar grasping mechanism and added a tooth-shaped slider mechanism to improve the self-locking condition of the gripper. However, its gripper claws still adopt a parallel four-bar mechanism, with a large opening and closing size, not suitable for occasions with limited tunnel dimensions. Due to the limitation of the size of the high-level radioactive solid waste storage pit, there are also high requirements for the barrel-holding and opening and closing sizes of the gripper. According to the structure and hoisting operation requirements of the high-level radioactive solid waste barrel, a new type of gravity-type automatic gripper is designed, with a small opening and closing size, capable of remote operation, and automatically realizing the grasping and releasing process of the waste barrel. Summary of the Invention

[0003] The object of the present invention is to provide a combined automatic gripper of connecting rod slider and gear drive to provide equipment support for radioactive solid waste treatment.

[0004] The technical solution of the present invention is as follows: A combined automatic gripper of connecting rod slider and gear drive includes a claw, which is connected to the connecting rod. The connecting rod includes two rods on each of the left and right sides and is connected to the chassis. The chassis is installed on the support frame, and the upper end of the support frame is a top ring; the lever is fixed on the support frame, and when the support frame moves downward, it drives the gear drive to move. The positioning rod is fixed on the support frame, and the positioning rod is provided with a long groove, and the slider slides in the groove.

[0005] The claw is welded to the connecting rod.

[0006] The structure and dimensions of the claw are customized according to the shape of the top cover of the waste packaging barrel.

[0007] The connecting rod and the chassis are connected by a hinge.

[0008] The shape of the top ring matches that of the lifting device of the factory crane.

[0009] The support frame, the top ring, the chassis, the claw and the connecting rod form a connecting rod slider mechanism.

[0010] The gear drive includes two sets of gears.

[0011] The remarkable effect of the present invention is that the present invention can solve the problem of waste barrel transfer in the high-level radioactive solid waste conditioning production line, and has the characteristics of simple structure, self-locking of grasping force, small opening and closing size, and high reliability. Description of the Drawings

[0012] Attached Figure 1 is a schematic structural diagram of the combined automatic gripper of connecting rod slider and gear drive of the present invention.

[0013] In the figure: 1. Claw; 2. Chassis; 3. Connecting rod; 4. Gear drive; 5. Lever; 6. Support frame; 7. Top ring; 8. Positioning rod; 9. Slider. Detailed Embodiments

[0014] Many specific details are set forth in the following description in order to provide a thorough understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar generalizations without departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0015] The terms used in one or more embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of the present application. The singular forms "a", "the" and "said" used in one or more embodiments of the present application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used in one or more embodiments of the present application refers to and includes any or all possible combinations of one or more of the associated listed items.

[0016] It should be understood that although the terms first, second, etc. may be used in one or more embodiments of the present application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of one or more embodiments of the present application, the first may also be referred to as the second, and similarly, the second may also be referred to as the first.

[0017] A combined automatic gripper of a connecting rod slider and a gear drive includes a gripper 1, which is welded to a connecting rod 3 and can be customized with different structural dimensions according to the shape of the top cover of a waste packaging barrel. The connecting rod 3 is composed of two rods on the left and right respectively, and is connected to a chassis 2 through a hinge. The chassis 2 is installed on a support frame 6 and can slide up and down along the support frame 6. The upper end of the support frame 6 is a top ring 7, and the shape of the top ring 7 matches that of the lifting device of a factory crane. The support frame 6 and the top ring 7 are the frame, and together with the chassis 2, the gripper 1, and the connecting rod 3, they form a connecting rod slider mechanism; a lever 5 is fixed on the support frame 6. When the support frame 6 moves downward, it pushes the gear drive 4 to move. The gear drive 4 is composed of two sets of gears. A positioning rod 8 is fixed on the support frame 6. The positioning rod 8 is provided with a long groove, and a slider 9 slides in the groove.

[0018] When lifting a barrel, the chassis 2 contacts the heavy object and stops moving downward. The support rod 6 continues to move downward. At the same time, when the chassis 2 contacts the heavy object, the lever 5 drives the two sets of meshing gears of the gear drive 4 to rotate, converting linear motion into rotational motion. Each time the lever toggles, the gear rotates a tooth distance, forming a one-way stepping motion. When lifting the barrel, the support rod 6 moves upward with the top ring 7, and the slider 9 slides out of the groove in the positioning rod 8. The gripper 1 opens and closes freely with the connecting rod 3. When the chassis 2 leaves the heavy object, the gripper 1 closes to grab the heavy object. When releasing the barrel, the chassis 2 contacts the heavy object and stops moving downward. The support rod 6 continues to move downward, and the connecting rod 3 drives the gripper 1 to open outward. When it opens to a certain distance, the slider 9 moves into the groove of the positioning rod 8, and the gripper 1 is fixed to the connecting rod 3, opening to the maximum. Then the lifting device is lifted to leave the heavy object.

[0019] The above are only the preferred embodiments of this patent and are not intended to limit this patent. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this patent shall be included within the protection scope of this patent.

[0020] It should be noted that for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the present application is not limited by the described action sequence, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily all essential to the present application.

[0021] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0022] The preferred embodiments of the present application disclosed above are only used to help explain the present application. The alternative embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described. Obviously, many modifications and variations can be made according to the content of the present application. These embodiments are selected and specifically described in order to better explain the principles and practical applications of the present application, so that those skilled in the art can well understand and utilize the present application.

Claims

1. A combined automatic gripper of connecting rod slider and gear drive, characterized in that: It includes a gripper (1), the gripper (1) is connected to the connecting rod (3), the connecting rod (3) includes two rods on the left and right, is connected to the chassis (2), the chassis (2) is installed on the support frame (6), and the upper end of the support frame (6) is a top ring (7); the shift lever (5) is fixed on the support frame (6), when the support frame (6) moves downward, it pushes the gear drive (4) to move, the positioning rod (8) is fixed on the support frame (6), the positioning rod (8) is provided with a long groove, and the slider (9) slides in the groove.

2. The combined automatic gripper of connecting rod slider and gear drive according to claim 1, characterized in that: The gripper (1) is welded to the connecting rod (3).

3. The combined automatic gripper of connecting rod slider and gear drive according to claim 1, characterized in that: The gripper (1) is customized in structural dimensions according to the shape of the top cover of the waste packaging barrel.

4. The combined automatic gripper of connecting rod slider and gear drive according to claim 1, characterized in that: The connecting rod (3) is connected to the chassis (2) by a hinge.

5. The combined automatic gripper of connecting rod slider and gear drive according to claim 1, characterized in that: The shape of the top ring (7) matches that of the lifting device of the factory crane.

6. The combined automatic gripper of connecting rod slider and gear drive according to claim 1, characterized in that: The support frame (6), the top ring (7), the chassis (2), the gripper (1), and the connecting rod (3) form a connecting rod slider mechanism.

7. The combined automatic gripper of connecting rod slider and gear drive according to claim 1, characterized in that: The gear drive (4) includes two sets of gears.

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