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EP1660401B1 - Fasshandhabungsvorrichtung - Google Patents

Fasshandhabungsvorrichtung Download PDF

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Publication number
EP1660401B1
EP1660401B1 EP04816189A EP04816189A EP1660401B1 EP 1660401 B1 EP1660401 B1 EP 1660401B1 EP 04816189 A EP04816189 A EP 04816189A EP 04816189 A EP04816189 A EP 04816189A EP 1660401 B1 EP1660401 B1 EP 1660401B1
Authority
EP
European Patent Office
Prior art keywords
barrel
arm
lifting device
grasping
finger
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.)
Expired - Lifetime
Application number
EP04816189A
Other languages
English (en)
French (fr)
Other versions
EP1660401A1 (de
Inventor
Jean-Marc Goubot
Robert Faure
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 EP1660401A1 publication Critical patent/EP1660401A1/de
Application granted granted Critical
Publication of EP1660401B1 publication Critical patent/EP1660401B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • B66C1/02—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 suction means
    • B66C1/0212—Circular shape
    • 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
    • B66C1/02—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 suction means
    • B66C1/0293—Single lifting units; Only one suction cup
    • 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
    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21F—PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULAR RADIATION OR PARTICLE BOMBARDMENT; TREATING RADIOACTIVELY CONTAMINATED MATERIAL; DECONTAMINATION ARRANGEMENTS THEREFOR
    • G21F5/00—Transportable or portable shielded containers
    • G21F5/06—Details of, or accessories to, the containers
    • G21F5/14—Devices for handling containers or shipping-casks, e.g. transporting devices loading and unloading, filling of containers

Definitions

  • the subject of this invention is a device for grasping and lifting a drum according to the preamble of claim 1, normally of cylindrical or slightly different shape, for grasping, raising and possibly inspecting it.
  • the invention relates to a barrel handling device which offers on the contrary an assured grip of the barrel, without the risk of releasing it or letting it swing in any way by lifting it.
  • the dispostif is easily equipped with means that allow a complete examination of the surface of the drum.
  • the document EP 0 633 215 discloses a handling device according to the preamble of claim 1 which also offers the advantage of a safe grip of the barrel by means of tilting fingers coming under the lower periphery of the barrel, which is therefore placed on them when it is lifted, but the installation of the device around the shaft is much more problematic than with the invention.
  • the handling device comprises a gripping system of the barrel by the upper face, at least one movable arm vertically relative to the gripping system and next to the peripheral face of the barrel, and a finger disposed under the arm and mobile below the underside of the barrel.
  • the barrel can be first grasped by the upper face, slightly raised by the gripping system, the arm or the arms (there are usually several) have descended next to the barrel; the finger is deployed below the drum and exerts a sure support; the arm opposes the lateral sliding of the barrel; and the gripping system is relieved while still being able to offer a contribution to the stable seizure of the drum.
  • the device according to the invention comprises a centering mechanism comprising fingers deviating radially, for example towards a flange of the upper face of the barrel.
  • the gripping system is stuck to the drum only after the fingers have all touched the collar and have centered it; a favorable consequence is that each arm can be placed at a small distance from the barrel to better secure it and to guarantee that the finger goes well below the shaft while moving.
  • the barrel examination means may comprise means located under the arm, as well as means located in the gripping system. These means make it possible to examine the upper face of the drum and to decide temporarily whether it can be lifted, and these allow to examine the peripheral face and the lower face of the barrel when the arm is lowered.
  • the figure 1 represents the device usually the figure 2 represents a part of the gripping means, the figure 3 represents the grapple as a whole, the figure 4 represents the finger deployment system, the figure 5 the layout of this system and the figure 6 represents the centering system of the grapple on the shaft.
  • the figure 1 is discussed.
  • the drums are stored in wells 1 a little wider than them.
  • Normally closed drawers 2 insulate wells 1 from the outside but are open when a drum is to be stored or extracted.
  • the device of the invention which is then used, comprises in particular a mobile mechanical system in the well 1 and adapted to go down or up the barrel, called grapple 3, and a hood 4 transfer and protection which absorbs radiation from the drum and rests on the opening of the well 1 during the storage or extraction operation.
  • the hood 4 contains a cavity large enough to accommodate the grapple 3 loaded barrel.
  • Other elements of the handling device, usual, have not been recalled here.
  • the invention relates exclusively to grapple 3.
  • the drums 5 are generally cylindrical in shape and comprise an upper face 6, a lower face 7, a peripheral lateral face 8; it can also raise a rim 49 upper projecting upwardly around the upper face 6 and which corresponds to the sect of the lid in the side shell.
  • the flange 49 may exist in another form when the lid is screwed or welded, and have the same ability to center the grapple.
  • the grapple 3 is composed of several sets, the first described is a gripping system 9 of the barrel 5 whose purpose is to raise slightly before completing the handling. It comprises a support 10, at least one suction cup 11 (here a group of three suckers 11 in a circle), and a ball 12 connecting a suction cup holder 13 to the support 10.
  • the suction cups 11 can be applied to the upper face 6 of the drum 5 even if it is found to be inclined, without the support 10 must be tilted erratically.
  • the rest of the description is undertaken by means of the figure 3 .
  • the ball 12 and the support 10 are suspended from a column 14, itself suspended from a cable 15 manipulated from the outside by means of a force sensor 16.
  • the column 14 also carries an upper plate 17.
  • a hooking system 18 of the drum 5 which comprises at least one vertical arm 19 (here, a group of three arms 19 in a circle, but only one of which is illustrated) suspended on a movable plate 20
  • the mobile plate 20 slides on the column 14 by means of a ball screw 21 whose upper and lower ends are retained in the upper plate 17 and the support 10.
  • a geared motor 22 mounted on the upper plate 17 rotates the ball screw 21 by means of a belt transmission 23.
  • a graduated ruler 24 is also mounted between the upper plate 17 and the support 10 parallel to the ball screw 21, and a position sensor 25 mounted on the moving plate 20 makes it possible to follow the movements of the latter in the vertical direction.
  • the arms 19 embrace the barrel 5, the radius of their circle being a little larger than that of the 8. Their height is also a little larger than that of the peripheral face 8.
  • a finger 26 that they carry below them comes below the lower face 7 of the barrel when the grapple 3 has been completely lowered.
  • the fingers 26 extend between a folded position where they extend tangentially, in the circle of the arms 19, and an active position where they extend radially, under the barrel 5. They are mounted under the arms 19 by hinges 27 which enable them to be rotated, and their rotational movement is controlled by means of a rod 28 which extends vertically up to the top of the arm 19, where it ends in a lever 29 which a jack 30 makes The latter two elements are mounted on a support called tile 32, itself mounted on a guide carriage 33, sliding on a slide of appropriate section 34 mounted on the movable plate 20. The tile 32 and the guide carriage 33 are moved by a cylinder 35.
  • the same device is present for each of the three arms 19, in order to be able to vary at will the radius of the circle that they embrace.
  • the grapple 3 can thus be lowered into narrow wells or adapt to drums 5 of various diameters.
  • FIG. 3 Another element of grapple 3 is a centering device 36 appearing at the figure 6 mounted on the cupholder 13 and which comprises a jack 37, a ring 38 rotating on the cupholder 13 and a trio of fingers 39 articulated by an inner end to the ring 38 and, in the middle, to the cupping-holder 13: the articulation with these
  • the place is mobile and comprises a pivot 40 attached to the suction cup holder 13 and slidable in a slot 41 established in the length of the finger 39.
  • the rotation of the ring 38 operated by the cylinder 37 changes the orientation of the fingers 39 and the radial position of their outer end.
  • the deployment of the fingers 39 continues until all touch the rim 49 of the barrel 5 and a centering of the gripping system 9 and especially of the attachment system 18 to the barrel 5 is obtained.
  • the drum 5 is entered when it is in the well 1 (the process would be identical in other places).
  • the grapple 3 is lowered into the well 1 until the gripping system 9 arrives on the upper face 6.
  • the centering system 36 is turned on, then the suction cups 11 are actuated.
  • the grapple 3 is slightly raised to lift the barrel 5.
  • the hooking system 18 is then started, the arms 19 are spread and then down along the peripheral face 8, and finally the fingers 26 are deployed and the arms 19 tightened.
  • the drum 5 is then firmly gripped and can be reassembled without fear of a failure of the suction cups 11. It should be noted that the fingers 26 retain the lower face 7 of the drum 5 if it opened and yawns.
  • Lighting is provided by a light generator 40 mounted on the upper plate 17 and adapted illuminating the surface of the drum 5 by a network of optical fibers 44.
  • the images of the upper face 6 of the drum 5 are taken by a camera 42 (see also FIG. figure 2 ) mounted in the bottom of the column 14 and directed downwards, forming an annular light source 43 which provides the necessary illumination of the upper face 6 being established around it.
  • the optical fibers 44 extend in each of the arms 19 to the underside thereof, and are also connected to endoscopes or fiberscope 45 mounted on the tiles 32. The illumination and examination of the peripheral face 8 and then of the lower face 7 become possible as the arm descends along the latter and below it.
  • suction cups 11 could, for example, be replaced by other electromagnetic or mechanical gripping means.
  • the lighting system can use micro-lamps or LEDs.
  • the vision system integrated in the arm 19 can be integrated directly into the camera of a video-endoscope.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Load-Engaging Elements For Cranes (AREA)

Claims (7)

  1. Handhabungs- und Hebevorrichtung für ein Fass (5) von im Wesentlichen zylindrischer Form mit einer Unterseite (7), einer Oberseite (6) und einer Außenseite (8), die ein System zum Greifen des Fasses an seiner Oberseite, wenigstens einen in Bezug auf dieses Greifsystem (9) vertikal beweglichen und seitlich der Seitenfläche vorgesehenen Arm und wenigstens einen unten am Arm angeordneten und unter der Unterseite beweglichen Finger (26) umfasst,
    dadurch gekennzeichnet, dass das Greifsystem einen Zentriermechanismus (36) mit radial spreizbaren Fingern (39) umfasst.
  2. Handhabungs- und Hebevorrichtung für ein Fass nach Anspruch 1; dadurch gekennzeichnet, dass das Greifsystem (9) an einer Säule (14) aufgehängt ist, der Arm (19) an einer auf der Säule (14) verschiebbaren Platte (20) aufgehängt ist und ein Aufzugsystem (21, 22, 27) die Höhe der Platte an der Säule einreguliert bzw. einstellt.
  3. Handhabungs- und Hebevorrichtung für ein Fass nach Anspruch 2, dadurch gekennzeichnet, dass die Platte einen radial verschiebbaren Schlitten (32), an dem der Arm aufgehängt ist, und eine Steuereinrichtung der Schlittenverschiebung umfasst.
  4. Handhabungs- und Hebevorrichtung für ein Fass nach Anspruch 3, dadurch gekennzeichnet, dass der Schlitten eine Einrichtung (29, 30, 31) zum Schwenken des Fingers (26) umfasst, und dadurch, dass der Finger schwenkbar am Arm befestigt ist und mittels einer am Arm angebrachten Stange (28) mit dieser Schwenkeinrichtung verbunden ist.
  5. Handhabungs- und Hebevorrichtung für ein Fass nach einem der Ansprüche 1 oder 2, dadurch gekennzeichnet, dass das Greifsystem (9) einen Träger (10), wenigstens eine Saugeinrichtung (11) und ein Kugelgelenk (12) zur Montage der Saugeinrichtung am Träger umfasst.
  6. Handhabungs- und Hebevorrichtung für ein Fass nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass sie Einrichtungen zur Prüfung des Fasses umfasst.
  7. Handhabungs- und Hebevorrichtung für ein Fass nach Anspruch 6, dadurch gekennzeichnet, dass die Einrichtungen zur Prüfung des Fasses Einrichtungen (44) umfassen, die sich am Arm (19) befinden, und Einrichtungen (41, 42), die sich am Greifsystem (9) befinden.
EP04816189A 2003-09-02 2004-09-01 Fasshandhabungsvorrichtung Expired - Lifetime EP1660401B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0350489A FR2859197B1 (fr) 2003-09-02 2003-09-02 Dispositif de manutention de fut
PCT/FR2004/050407 WO2005028355A1 (fr) 2003-09-02 2004-09-01 Dispositif de manutention de fut

Publications (2)

Publication Number Publication Date
EP1660401A1 EP1660401A1 (de) 2006-05-31
EP1660401B1 true EP1660401B1 (de) 2008-05-28

Family

ID=34130845

Family Applications (1)

Application Number Title Priority Date Filing Date
EP04816189A Expired - Lifetime EP1660401B1 (de) 2003-09-02 2004-09-01 Fasshandhabungsvorrichtung

Country Status (6)

Country Link
US (1) US7264288B2 (de)
EP (1) EP1660401B1 (de)
JP (1) JP4871723B2 (de)
DE (1) DE602004014162D1 (de)
FR (1) FR2859197B1 (de)
WO (1) WO2005028355A1 (de)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008084134A1 (en) 2007-01-12 2008-07-17 Raumaster Paper Oy Gripping for lifting material web rolls, particularly paper- and paperboard rolls
CN102412001B (zh) * 2011-10-18 2013-08-07 清华大学 一种核电站乏燃料贮存竖井屏蔽井盖抓具
CA2772752C (en) 2012-03-28 2021-01-26 Michel Gaudet Decayed waste retrieval method and system
JP6117505B2 (ja) * 2012-10-02 2017-04-19 川崎重工業株式会社 吸引保持装置
FR3000915B1 (fr) * 2013-01-17 2015-03-13 Amg Ind Dispositif de prehension et procede associe
KR101810909B1 (ko) 2016-07-29 2017-12-26 (주)러셀 캐니스터용 다접점 그리핑장치
CN111591754B (zh) * 2020-05-23 2021-06-18 黄林 一种轴类零件输送机器人
CN115625731A (zh) * 2022-11-07 2023-01-20 珠海格力智能装备有限公司 一种夹持装置及驱动机构
CN120423429B (zh) * 2025-07-10 2025-08-29 江苏恒昌波纹管有限公司 一种金属波纹管输送装置

Family Cites Families (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE240449C (de) *
US2783078A (en) * 1952-03-07 1957-02-26 Vacuum Concrete Inc Handling apparatus
US3383286A (en) * 1966-09-27 1968-05-14 Atomic Energy Commission Usa Core element handling system
US3835617A (en) * 1971-09-20 1974-09-17 Stock Equipment Co Method and apparatus for filling and closing containers
US3785691A (en) * 1972-08-07 1974-01-15 American Chain & Cable Co Automatic lifting device
JPS5836090A (ja) * 1981-08-27 1983-03-02 Kokusai Denshin Denwa Co Ltd <Kdd> テレビジョン信号の中央値予測符号化方式
JPS5836090U (ja) * 1981-08-28 1983-03-09 日産自動車株式会社 バキユ−ムカツプ装置
JPS5943792A (ja) * 1982-09-07 1984-03-10 株式会社明電舎 遠隔操作式吊具
JPS603791A (ja) * 1983-06-21 1985-01-10 Sairatsuku:Kk ピツキング方式
JPS603791U (ja) * 1983-06-21 1985-01-11 株式会社明電舎 遠隔操作式吊具
JPS62142845U (de) * 1986-02-28 1987-09-09
DE3636016A1 (de) * 1986-10-23 1988-05-11 Kernforschungsanlage Juelich Greifer zum transport von behaeltern
GB8701347D0 (en) * 1987-01-22 1987-02-25 Bishop Barn Ltd Package handling apparatus
JPS6484994A (en) * 1987-09-26 1989-03-30 Tamura Electric Works Ltd Signal processor
US5127692A (en) * 1987-10-20 1992-07-07 Canon Kabushiki Kaisha Article gripping apparatus
JPH0184994U (de) * 1987-11-25 1989-06-06
DE59106277D1 (de) * 1991-02-08 1995-09-21 Heppenstall Holding Ag Lasthebevorrichtung.
FR2707276B1 (fr) * 1993-07-06 1997-06-06 Commissariat Energie Atomique Système anti-chute mécanique pour un dispositif de préhension d'objets lourds.
DE69426888T2 (de) * 1993-11-04 2001-08-02 Comalco Aluminium Ltd., Melbourne Vakuumhebevorrichtung
JPH107373A (ja) * 1996-06-25 1998-01-13 Ishikawajima Harima Heavy Ind Co Ltd 大型容器の吊り装置

Also Published As

Publication number Publication date
JP4871723B2 (ja) 2012-02-08
US7264288B2 (en) 2007-09-04
WO2005028355A1 (fr) 2005-03-31
FR2859197A1 (fr) 2005-03-04
JP2007504067A (ja) 2007-03-01
EP1660401A1 (de) 2006-05-31
FR2859197B1 (fr) 2006-10-13
DE602004014162D1 (de) 2008-07-10
US20060119117A1 (en) 2006-06-08

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