Multi-gripper handling apparatus with individual force limiter
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United States of America Patent
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-
Mar 29, 1988
Grant Date -
N/A
app pub date -
Jan 22, 1987
filing date -
Jan 22, 1986
priority date (Note) -
Expired
status (Latency Note)
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Abstract
A handling apparatus which is intended primarily for operations involving pulling and pushing nuclear fuel rods which are carried out when dismantling assemblies, comprising a handling head in which there are provided a plurality of cylinders (6) in which grippers are slidable, formed by two coaxial parts (4, 10) by means of pistons (4a, 4b) which are fixed with respect thereto. Said pistons define three annular spaces (A, B, C) which are supplied by three individually controllable hydraulic fluid circutis (La, Lb, Lc). Such fluids provide for opening and sliding movement of the grippers with respect to the head as well as control of the maximum admissible force in respect of traction or compression on the grippers. At the upper end of each gripper two travel limit switches give the individual situation of each thereof.
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