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1. 发明授权

US4918991A Method for sampling nuclear fuel pellets with a robot gripper mechanism 失效
标题翻译：用机器人夹持机构对核燃料颗粒进行取样的方法
公开(公告)号：US4918991A
公开(公告)日：1990-04-24
申请号：US280867
申请日：1988-12-07
申请人： George D. Bucher , John T. DiGrande , Lester C. Frye , Mark S. Stoutamire
发明人： George D. Bucher , John T. DiGrande , Lester C. Frye , Mark S. Stoutamire
IPC分类号： B25J15/10 , B25J17/02 , B65G47/90 , G21C17/06
CPC分类号： B65G47/90 , B25J15/103 , B25J17/0208 , G21C17/06
摘要： A gripper mechanism for sampling nuclear fuel pellets at a predetermined depth in a stack of pellets includes a housing and gripping fingers movably mounted to the housing. The fingers are preferably three relatively thin, arcuate-shaped, blade-like fingers angularly displaced from one another for grasping the pellet at spaced locations about its circumference. The fingers have lower facing surfaces which are brought adjacent to one another for engaging and grasping a pellet when the fingers are moved toward their closed position and retracted remote from one another for disengaging and releasing the pellet when the fingers are moved toward their opened position. Guide members interconnecting the housing with a movable support structure, together with coil springs received about the guide members and extending between the housing and support structure, resiliently and yieldably mount the housing and fingers for movement toward the stack of pellets along a generally linear path ahead of the support structure as the support structure is moved toward the stack. Concurrently the yieldable mounting permits the housing to rock slightly about an axis extending transverse to the linear path for facilitating a burrowing-type movement of the gripping fingers into the stack of pellets to be sampled. Also, a proximity switch detects when the fingers are closed and a load transducer senses when an overload condition has been reached.
摘要翻译：用于在堆叠的颗粒中的预定深度处采样核燃料颗粒的夹持机构包括可移动地安装到壳体的壳体和夹紧指状物。手指优选地是相对于彼此成角度地移位的三个相对薄的弓形形状的手指，用于在围绕其圆周的间隔位置处抓住该颗粒。手指具有彼此相邻的下表面，当手指朝向其关闭位置移动并且彼此远离地缩回时，用于接合和抓握颗粒，以在手指朝向其打开位置移动时分离和释放颗粒。引导构件将壳体与可移动支撑结构互连，以及围绕引导构件容纳并且在壳体和支撑结构之间延伸的螺旋弹簧，弹性地并且可靠地安装壳体和手指，以沿着前方的大致线性路径向着堆积的颗粒移动当支撑结构朝向堆叠移动时，支撑结构的位置。同时，可屈服的安装允许外壳围绕横向于线性路径延伸的轴线稍微摇摆，以便于夹紧指状物进入待采样的颗粒堆叠中的挖坑式移动。此外，接近开关检测手指何时闭合，并且负载传感器感测何时达到过载状况。

2. 发明授权

US4830565A Robot gripper mechanism and method for sampling nuclear fuel pellets 失效
标题翻译：机器人夹具机构和核燃料颗粒采样方法
公开(公告)号：US4830565A
公开(公告)日：1989-05-16
申请号：US936561
申请日：1986-12-01
申请人： George D. Bucher , John T. DiGrande , Lester C. Frye , Mark S. Stoutamire
发明人： George D. Bucher , John T. DiGrande , Lester C. Frye , Mark S. Stoutamire
IPC分类号： G21C21/02 , B25J15/10 , B25J17/02 , B65G47/90 , G21C17/06
CPC分类号： B65G47/90 , B25J15/103 , B25J17/0208 , G21C17/06 , Y10S294/902 , Y10S294/907
摘要： A gripper mechanism for sampling nuclear fuel pellets at a predetermined depth in a stack of pellets includes a housing and gripping fingers movably mounted to the housing. The fingers are preferably three relatively thin, arcuate-shaped, blade-like fingers angularly displaced from one another for grasping the pellet at spaced locations about its circumference. The fingers have lower facing surfaces which are brought adjacent to one another for engaging and grasping a pellet when the fingers are moved toward their closed position and retracted remote from one another for disengaging and releasing the pellet when the fingers are moved toward their opened position. Guide members interconnecting the housing with a movable support structure, together with coil springs received about the guide members and extending between the housing and support structure, resiliently and yieldably mount the housing and fingers for movement toward the stack of pellets along a generally linear path ahead of the support structure as the support structure is moved toward the stack. Concurrently the yieldable mounting permits the housing to rock slightly about an axis extending transverse to the linear path for facilitating a burrowing-type movement of the gripping fingers into the stack of pellets to be sampled. Also, a proximity switch detects when the fingers are closed and a load transducer senses when an overload condition has been reached.
摘要翻译：用于在堆叠的颗粒中的预定深度处采样核燃料颗粒的夹持机构包括可移动地安装到壳体的壳体和夹紧指状物。手指优选地是相对于彼此成角度地移位的三个相对薄的弓形形状的手指，用于在围绕其圆周的间隔位置处抓住该颗粒。手指具有彼此相邻的下表面，当手指朝向其关闭位置移动并且彼此远离地缩回时，用于接合和抓握颗粒，以在手指朝向其打开位置移动时分离和释放颗粒。引导构件将壳体与可移动支撑结构互连，以及围绕引导构件容纳并且在壳体和支撑结构之间延伸的螺旋弹簧，弹性地并且可靠地安装壳体和手指，以沿着前方的大致线性路径向着堆积的颗粒移动当支撑结构朝向堆叠移动时，支撑结构的位置。同时，可屈服的安装允许外壳围绕横向于线性路径延伸的轴线稍微摇摆，以便于夹紧指状物进入待采样的颗粒堆叠中的挖坑式移动。此外，接近开关检测手指何时闭合，并且负载传感器感测何时达到过载状况。

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