JP2001047388A - Long member grasping device and transport device using it - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a long member grasping device and a transporting device using the grasping device, capable of grasping a plurality of pipes certainly irrespective which material they are made of. SOLUTION: A gripping mechanism 110 is furnished with a first hold-down plate 117, a pair of gripping claws 124 supported movably in the direction across the width of the first hold-down plate, and driving means 120, 122 to move the claws toward the center or to outside, while a heaving mechanism 150 is equipped with a second hold-down plate 153 and an air cylinder 152 to move the second hold-down plate 153 up and down. At least two sets of these mechanisms 110 and 150 are arranged in the pipe longitudinal direction, and a plurality of pipes are pinched by a recess in the first hold-down plate 117 and a projection on the second hold-down plate 153, pinched by moving the claws 124 toward the center, and gripped by sinking the second hold-down plate 153.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for gripping a long member (hereinafter simply referred to as a pipe) such as a pipe or a round bar, and a transfer device using the same.

[0002]

2. Description of the Related Art In the final stage of pipe production, pipes are cut into fixed lengths and then bundled. In forming the bundle, it is more efficient to stack a plurality of pipes arranged in advance than to stack them one by one, and a process of stacking a plurality of pipes is performed. At the time of stacking, a transfer device using an electromagnet is used in the case of an iron pipe, and a transfer device using a suction cup is used in the case of a pipe made of another material such as plastic.

[0003]

However, a transfer device using an electromagnet cannot be applied to anything other than an iron pipe, and a transfer device using a suction cup has a rough surface of a pipe. In addition, the suction force may vary, and the pipe may fall during transfer.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and has a pipe gripping device capable of reliably gripping a plurality of pipes irrespective of a material, and a transfer using the same. It is intended to provide a device.

[0005]

(1) A pipe gripping device according to one aspect of the present invention is provided with a first holding member having an arch-shaped concave portion at a lower portion, and arranged near the first holding member. , Which are supported so as to be movable in the width direction of the first pressing member.
A pair of gripping claw members, a gripping mechanism including a driving means for moving the pair of gripping claw members to the center or to the outside, and an arc-shaped upper part disposed to face the recess of the first pressing member. A second pressing member having a convex portion, and a push-up mechanism having a driving means for vertically moving the second press member, wherein the holding mechanism and the push-up mechanism are provided at least two times along the length of the pipe. In a state where the plurality of pipes are sandwiched between the concave portion of the first holding member and the convex portion of the second holding plate, the pair of gripping claw members are moved to the central portion side to form the plurality of pipes. After being sandwiched, the second holding plate is lowered to grip a plurality of pipes. (2) In a pipe gripping device according to another aspect of the present invention, in the pipe gripping device of (1), the first holding member is supported so as to be vertically movable. (3) The pipe gripping device according to another aspect of the present invention is the pipe gripping device according to (1) or (2) above.
The pressing member is composed of a plurality of plate members arranged along the length of the pipe.

(4) According to another aspect of the present invention, there is provided a pipe transfer device for vertically moving a pipe holding device according to any one of the above (1) to (3) and a holding mechanism of the pipe holding device. And a horizontal moving means for moving the gripping mechanism in the horizontal direction. (5) A pipe transfer device according to another aspect of the present invention is a first pressing member having an arch-shaped concave portion at a lower portion, disposed near the first pressing member, and in a width direction of the first pressing member. A gripping mechanism movably supported by a pair of gripping claw members, a gripping mechanism including a driving means for moving the pair of gripping claw members toward the center or outside, and a vertical mechanism for vertically moving the gripping mechanism. It has a direction moving means and a horizontal direction moving means for moving the gripping mechanism in the horizontal direction, and grips and transfers a bundle of pipes on which a band is attached.

[0007]

1 is a front view of a pipe transfer device according to an embodiment of the present invention, and FIG. 2 is a left side view thereof.
FIG. 3 is a plan view thereof. 4 (A) and 4 (B) are a front view and a right side view of a part of a gripping mechanism of the pipe gripping device of FIG. 1, and FIGS. 5 (A) and 5 (B) are front views of a pipe lifting mechanism. And a right side view.

The pipe transfer device according to the present embodiment includes a pipe holding device 100, a vertical moving mechanism 200 for moving the pipe holding device 100 in the vertical direction, and a pipe moving device 200 for moving the pipe holding device 100 in the horizontal direction. It is composed of a horizontal moving mechanism 300, and a plurality of pipes are gripped by the pipe gripping device 100, and the pipe gripping device 100 is moved by the vertical moving mechanism 200 and the horizontal moving mechanism 300 to an arbitrary position. The pipes are lowered and formed into bundles.

First, the pipe gripping device 100 will be described. As shown in FIG. 2, the pipe gripping devices 100 are arranged in a pair (two sets) along the length direction of the pipe. The pipe holding device 100 includes a pipe holding mechanism 110 and a push-up mechanism 150. As shown in detail in FIGS. 4A and 4B, the pipe gripping mechanism 110 includes a motor 112 mounted on a frame 111. The shaft of the motor 112 is screwed to the surface thereof via a gear. Is mounted. A support plate 115 is movably attached to the frame 111 via a guide member 114.
A support member 116 is attached to the support plate 115,
The support member 116 is screwed to the shaft 113 and moves up or down by rotation of the shaft 113. Support plate 11
5 is a pair of holding plates 1 along the length of the pipe.
The pipe 17 is supported by supporting the pressing plate 153, which will be described later, at two points in the axial direction from opposite directions. Also, this holding plate 117
An arc-shaped concave portion 118 is formed at the lower end portion.

Accordingly, the rotation of the motor 112 causes the shaft 113 to rotate, and the rotation of the shaft 113 raises or lowers the support member 116. Accordingly, the support plate 115 moves up or down with respect to the frame 111, and as a result, the pressing plate 117 also moves up or down. Note that the holding plate 11 by the motor 112 is used.
7 is raised or lowered when the pipe size is changed.

As shown in FIG. 1, the pipe gripping mechanism 110 further includes an air motor 120 mounted on a frame 111, the shaft of which is threaded on the surface via a chain coupling 121. It is connected to a shaft 122, which is rotatably supported by a bearing 123. The shaft 122 has different screw directions (right-handed screw and left-handed screw) with respect to the central portion. A pair of gripping claw members 124 are further screwed to the shaft 122, and the gripping claw members 124 are supported by the frame 111 via guide members 125 so as to be movable (in the horizontal direction in FIG. 1). Therefore, when the air motor 120 is driven, the shaft 12
2 rotates, and a pair of gripper claws 124 screwed to the shaft 122 move toward the center or outward.

The pipe gripping device 100 further includes a
The push-up mechanism 150 shown in FIG. The lifting mechanism 150 includes an air cylinder 152 on a frame 151, and a holding plate 153 is attached to a movable end of the air cylinder 152. An arc-shaped projection 154 is formed at the upper end of the holding plate 153. Therefore, by driving the air cylinder 152, the presser plate 153 moves up or down.

Next, the vertical moving mechanism 200 will be described. A servo motor 202 is attached to the frame 201, and a pair of pillars 203 is
0 is attached vertically corresponding to each. Further, a pair of pillar members 204 are vertically mounted near both ends of the frame 111 on which the pipe gripping mechanism 110 is mounted, and a rack jack 205 is vertically mounted at the center. . The servo motor 202 is connected to the rack jack 20 disposed on the right side of FIG.
With respect to 5, the worm wheel 208 (see FIG. 1) is rotated via the speed reducer 206 and the gear coupling gear 207 to control the elevation of the rack jack 205. For the rack jack 205 arranged on the left side of FIG.
0, by rotating a worm wheel (not shown) via the chain coupling 211, the rack jack 2
05 is raised and lowered. The column member 204 of the frame 111 is connected to the frame 201 via a guide member 213.
Is attached to the column member 203. Accordingly, when the servo motor 202 is rotationally driven, the worm wheel 208 is rotated and the rack jack 205 is raised or lowered, and accordingly, the column member 204, that is, the frame 111 is raised or lowered with respect to the frame 201. As the frame 111 is raised or lowered, the pipe gripping mechanism 110 is also raised or lowered.

Next, the horizontal moving mechanism 300 will be described. As shown in FIG. 3, a servomotor 301 is attached to the frame 201. The servomotor 301 has a gear coupling 302 and a rack gear 30.
3, the chain coupling 304, the shaft 305, the chain coupling 306, and the rack gear 307 are sequentially connected, and the rack gears 303 and 307 are configured to rotate by the rotation of the servo motor 301. Further, the frame 201 is supported by the portal frame 309 via a guide member 308 so as to be movable in the horizontal direction. Also, the rack gear 303 of the gate post frame 309,
Racks 310 are arranged at positions facing 307, respectively. Therefore, by driving the servomotor 301, the rack gears 303 and 307 rotate and engage with the rack 310 of the portal frame 309, and the frame 201
Moves horizontally on the gate post frame 309. As a result, the frame 111 supported by the frame 201, that is, the pipe gripping mechanism 110 also moves in the horizontal direction.

FIG. 6 is an explanatory diagram of the operation of the pipe transfer device of the present embodiment, and the operation will be described with reference to FIG. An arbitrary number of pipes 401 are placed on the table 400 by an indexing device (not shown). (FIG. 6
(A)) The servomotor 202 of the vertical movement mechanism 200 is driven to lower the pipe gripping mechanism 110. At this time,
The holding plate 117 and the gripper 124 are lowered so as to cover the pipe 401. (FIG. 6B) The air cylinder 152 of the lifting mechanism 150 is driven to raise the holding plate 153, and the pipe 401 is sandwiched between the holding plate 117 of the pipe gripping mechanism 110. At this time, the claws 124 are gripped on both sides of the pipe gripping mechanism 110.
, The pipe 401 is connected to the pipe holding mechanism 11
It does not escape from between 0 and the push-up mechanism 150. (FIG. 6
(C)) The air motor 120 is driven to move the gripper claw member 124 toward the center, and the pipe 401 is closed until the pipe 401 is completely sandwiched. As a result, the pipe 401 is in contact with the recess 118 of the holding plate 117 of the pipe gripping mechanism 110 and the push-up mechanism 150.
The central portion between the pressing plate 153 and the convex portion 154 is arranged in an arch shape. (FIG. 6 (D))

By tightening the pipe 401 in which the gripping claws 124 are arranged in an arch shape with an appropriate torque, a force is generated in the pipe 401 in a direction of sticking to the recess 118 of the holding plate 117 of the pipe gripping mechanism 110.
That is, since the contact positions of the pipes 401 arranged in an arch shape are lower than the center position of the pipes, when a tightening force is applied to the aligned pipes 401, a force is generated to move the pipes 401 upward, As a result, the pipe 40
A force is generated in the direction in which the first member 1 is attached to the concave portion 118 of the holding plate 117. Therefore, the holding plate 153 of the lifting mechanism 150
The pipe 401 is gripped without dropping off even if it is removed. Since the pipe 401 is gripped in this manner, the pipe 401 is particularly useful for a plastic pipe having a small coefficient of friction and high flexibility, and the pipe gripping mechanism 110 is moved vertically and horizontally by the vertical moving mechanism 200 and the horizontal moving mechanism 300. Even when the pipe 401 is moved in the horizontal direction, the pipe 401 can be moved while keeping the aligned state without dropping. (FIG. 6E)

The pipe gripping mechanism 110 gripping the pipe 401 is moved vertically and horizontally by the vertical moving mechanism 200 and the horizontal moving mechanism 300 to form a bundle having a slanted wall whose interval can be arbitrarily changed. Device 4
Lower to any position in 02. (FIG. 6F) By driving the air motor 120 to move the gripper members 124 outward and open them, the pipe 401 is opened.
Are placed in alignment in the bundle forming device 402. (FIG. 6
(G)) By repeating the above-described series of operations in the same manner, a bundle having an arbitrary shape can be formed. The illustrated example is an example of the formation of 30 bundles. (FIG. 6 (H))

In the above embodiment, an example was described in which one pair (two sets) of the pipe gripping devices 110 were provided along the length direction of the pipe, but three or more sets were arranged depending on the length of the pipe. You may. Also, an example in which the plate members 117 and 153 are used as the holding member has been described.
These are intended to align a plurality of pipes in an arch shape. An arch-shaped concave portion may be formed in the pipe gripping mechanism, and an arch-shaped convex portion may be formed in the push-up mechanism. Therefore, another member, for example, a cylindrical member having an arc-shaped surface may be used. In addition, the curvature of the concave portion of the holding member and the material thereof are appropriately determined according to the target pipe. The same applies to the shape (angle included) and material of the gripper claws 124.

FIG. 7 is a diagram for explaining another operation of the pipe transfer device of the present embodiment, and the operation will be described with reference to FIG.
When the bundle of pipes is shaped as shown in FIG. 6, banding is performed thereafter, and the pipes are further transported to another place. The operation at that time will be described. Here, a pipe bundle 4 loosely covered with a band 403
04 is placed on the bundle forming device 402.
(FIG. 7A). The servomotor 202 of the vertical movement mechanism 200 is driven to lower the pipe gripping mechanism 110. At this time,
The holding plate 117 and the gripping claw member 124 descend, and in particular,
The presser plate 117 is moved down to just below the uppermost pipe row 405 of the pipe bundle 404. (FIG. 7 (B))

The air motor 120 is driven to move the gripper claw member 124 toward the center and closes until the uppermost pipe row 405 of the pipe bundle 404 is sandwiched. As a result, the uppermost row of pipes 405 attempts to move upward according to the above-described operation principle, but there is no space to move, and therefore, the concave portion 1 of the holding plate 117 of the pipe gripping mechanism 110
It is arched along 18. (FIG. 7
(C)) Since the uppermost row of pipes 405 is thus gripped, the loosely banded pipe bundle 404 is also securely gripped, and the pipe gripping mechanism 110 is moved vertically and horizontally. 300, the pipe 40 of the pipe bundle 404 can be moved in the vertical and horizontal directions.
1 can be moved without dropping. (FIG. 7 (D))

By the way, when the bundle of pipes after the bundle shaping is banded, the tightening and tightening of the band may become loose depending on the condition of the tying machine. When the transfer is performed by using the apparatus, the pipe bundle is deformed regardless of the position where the pipe is gripped, and the pipe falls. However, in the present embodiment, such an adverse effect is avoided because the uppermost pipe row 405 is securely held as described above. Further, since the uppermost pipe row 405 can be securely held, the held pipe bundle 404 is
As shown in (A) and (B), the pipe bundle 404 can be opened without necessarily completely moving the grasping claws 124 to the outside when the pipe bundle 404 is transferred to another place such as the rack 406. To another pipe bundle 404 and a rack 406 which are placed adjacent to each other.
The pipe bundle 404 is placed in the rack 406 without the
This is particularly useful for handling resin pipes that can be densely arranged inside and are easily damaged by impact.

Although omitted in the above description,
When grasping the pipe bundle 404, a mechanism similar to the push-up mechanism 150 shown in FIG. 5 (however, the same shape as the press plate 153 is not necessarily required) is installed below the pipe bundle.
Thus, when the pipe row 405 at the uppermost stage is gripped by the pipe gripping mechanism 110 while pushing up the pipe bundle 404, gripping of the pipe row 405, that is, the pipe bundle 404, is further ensured.

[0023]

As described above, according to the present invention, a pair of holding members (arch-shaped concave portions) of the holding mechanism and a pair of pressing members (arch-shaped convex portions) of the lifting mechanism are sandwiched. After moving the gripping claw member to the center and sandwiching a plurality of pipes, the holding plate of the lifting mechanism is lowered to hold a plurality of pipes. A sticking force acts, and it is possible to securely grip a plurality of pipes. And since it is possible to hold | grip several pipes reliably in this way, even if it moves a holding | grip mechanism in a vertical direction and / or a horizontal direction, there is no possibility that a pipe may fall off in the middle. . Also, by gripping the pipe bundle in the same manner as in the case of gripping the pipe, the pipe bundle can be reliably gripped and transferred.

[Brief description of the drawings]

FIG. 1 is a front view of a pipe transfer device according to an embodiment of the present invention.

FIG. 2 is a left side view of FIG.

FIG. 3 is a plan view of FIG. 1;

FIGS. 4A and 4B are configuration diagrams of a part of a gripping mechanism of the pipe gripping device of FIG. 1, in which FIG.

FIG. 5 is a configuration diagram of a pipe lifting mechanism of FIG. 1;
(A) is a front view, (B) is a right side view.

FIG. 6 is an operation explanatory view of the pipe transfer device of FIG. 1;

FIG. 7 is another operation explanatory view of the pipe transfer device of FIG. 1;

FIG. 8 is an explanatory diagram when a grasped pipe bundle is transferred to a rack.

[Explanation of symbols]

 REFERENCE SIGNS LIST 100 pipe gripping device 110 gripping mechanism 117 holding plate 150 lifting mechanism 153 holding plate 200 vertical moving mechanism 300 horizontal moving mechanism

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Tokujo Shirochi 2-chome-19-7 Hatchobori, Chuo-ku, Tokyo Inside Kyoa Technology Co., Ltd. (72) Inventor Masaaki Abe 1-6-6 Kayabacho, Nihonbashi, Chuo-ku, Tokyo No. 12 Inside Abe Yuko Trading Co., Ltd. (72) Inventor Toshiyuki Kurosawa 510-6 Miho, Shimizu City, Shizuoka Prefecture Inside FK Kiko Co., Ltd. (72) Inventor Tsukasa Kido 90 Maeda, Fuji City, Shizuoka Prefecture In-house F Terms (reference) 3F060 AA01 DA03 EB02 EB06 EC04 EC06 GA13 GB23 3F061 AA04 BA03 BB08 BC01 BD04 BE03 BE43 BF00 DB01 DB02

Claims (5)

[Claims] A first holding member having an arch-shaped concave portion at a lower portion, and a pair of grips disposed near the first holding member and supported so as to be movable in the width direction of the first holding member. A gripping mechanism including a claw member, and a driving unit for moving the pair of gripping claw members toward the center or to the outside; A second holding member having a portion, and a push-up mechanism having a drive unit for vertically moving the second hold-down member, wherein the gripping mechanism and the push-up mechanism are arranged along the longitudinal direction of the elongated member. And at least two sets are disposed, and in a state where a plurality of long objects are sandwiched between the concave portion of the first pressing member and the convex portion of the second pressing member, the pair of gripping claw members are located at the center portion side. After moving and sandwiching the plurality of long members, the second pressing member is lowered. Gripping device of the elongated member, characterized in that gripping the plurality of elongated members Te. 2. An apparatus according to claim 1, wherein said first pressing member is supported so as to be vertically movable. 3. The elongate member according to claim 1, wherein the first holding member is composed of a plurality of plate members arranged along a length direction of the elongate member. Gripping device. 4. A gripping device for a long member according to claim 1, a vertical moving means for vertically moving a gripping mechanism of the gripping device for the long member, and the gripping mechanism. And a horizontal moving means for moving the member in a horizontal direction. 5. A first holding member having an arch-shaped concave portion at a lower portion, and a pair of grips disposed near the first holding member and supported so as to be movable in the width direction of the first holding member. A gripping mechanism provided with a claw member, and a driving means for moving the pair of gripping claw members toward the center or to the outside; a vertical movement means for vertically moving the gripping mechanism; and the gripping mechanism. A transfer device for a long member, comprising a horizontal moving means for moving in a horizontal direction, and gripping and transferring a bundle of long members banded.