ES339404A1 - A mechanical gripper for handling objects in dangerous media or difficult of access - Google Patents

Abstract

When an article engaging device 1, Fig. 1, is supporting a load from gripping fingers 10 a sliding member 4 is held in its upper position against a shoulder 1a by the suspension cable 6. If the body of the device or the load is rested on a support, the member 4 descends until its base rests on an annular stop 22. Simultaneously a pivoted locking member 19 abuts the stop 22 and moves to an inclined position. As the slide 4 moves down, the fingers 10 are moved inwards to release the load by pins 16 which slide in slots 18. When the device is raised by the cable 6 the member 19 engages a shoulder 11, Fig. 4, to prevent further upward movement of the slider 4, thus maintaining the fingers 10 in the open position. When the device is lowered on to another load the member 19 is turned to a horizontal position by the stop 22 and in this position it does not impede subsequent upward movement of the slide 4 with consequential movement of the fingers 10. To prevent the load being released due to the device striking an obstruction, pivoted arms 23 may be provided which lock the slider 4 in its upper position. These are not released until the device is lowered into a conduit which bears on wheels 30 on the arms 23 and pivots the latter out of engagement with the slide 4. Alternatively, the member 19 may have two notches at each end, Fig. 7, so that the cable 6 has to be slackened twice before the arms 10 release the load. Fig. 13 illustrates an embodiment which provides a frictional grip on the load. Three wheels 33 mounted on pivoted arms 34 are wedged against the inside surface of the load when a grooved member 41 attached to a vertically sliding member 4 is raised by the support cable. A locking member 19 is provided as before. The pivoted locking arms described with reference to Fig. 1 may be provided with this embodiment.