JP2001071290A - Manipulator for high temperature operation - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a manipulator properly operable for a long period under a high temperature condition. SOLUTION: Pin support holes 16, 17 are provided on an upper part 4a and a lower plate part 4b of a frame 3 of a manipulator. First bushes 21, 22 made of cast iron are inserted into the pin support holes 16, 17 in an interference fit state. A pin insertion hole 18 is provided on an arm 5 inserted between the upper plate part 4a and the lower plate part 4b. A second bush 22 made of cast iron is inserted into the pin insertion hole 18 in an interference fit state. A support pin 6 is inserted into pipe holes 21a, 21a of the first bushes 21, 21, in a clearance fit state and pipe hole 22a of the second bush 22. A stop part 27 is integrally protruded outward in the radius direction from an upper part of the support pin 6. A retaining ring 29 is installed detachably in a peripheral groove 28 on a lower part of the support pin 6 to prevent the support pin 6 from moving in the vertical direction.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a high-temperature working manipulator for handling heavy objects such as ingots in a high-temperature environment, and more particularly, to a technique for rotatably supporting an arm on a frame of the manipulator. .

[0002]

2. Description of the Related Art In a manipulator of this type, both ends of a support pin are supported by a frame of the manipulator, and a middle portion in the longitudinal direction of an arm is rotatably supported at the center of the support pin. There is an apparatus provided with an input section at one end in the longitudinal direction and an output section at the other end. Conventionally, a steel pipe bush is inserted into a pin support hole of the frame, and a steel pipe bush is inserted into a pin insertion hole of the arm, and the support pin is inserted with a gap between the cylinder holes of the bush. These fitting gaps are filled with a lubricant such as grease, and then both ends of the support pins are fixed to the frame by welding.

[0003]

The prior art described above can use a commercially available carbon steel pipe as the bush for the pin support portion, so that the pin support portion can be manufactured at low cost and the arm can be strongly supported. Although excellent, there was room for improvement in the following respects. For example, when handling an ingot by the manipulator in the vicinity of a heat treatment furnace at an ironworks, the arm of the manipulator is constantly exposed to high temperatures. In such a high-temperature environment, the above-mentioned lubricant is liable to be deteriorated or disappear, so that the arm may not be driven smoothly. An object of the present invention is to provide a manipulator that can be used favorably for a long period of time even in a high-temperature environment.

[0004]

In order to achieve the above object, according to the first aspect of the present invention, as shown in FIGS. 1 and 2, for example, a high-temperature working manipulator is constituted as follows. That is, both ends of the support pin 6 are supported by the frame 3 of the manipulator 2, and a middle portion of the arm 5 in the longitudinal direction is rotatably supported at the center of the support pin 6, and one end of the arm 5 in the longitudinal direction In the manipulator provided with the input part 5a at one end and the output part 5b at the other end, the first bushes 21 and 21 made of cast iron are fitted in the pin support holes 16 and 17 of the frame 3 in a shrinking state. As well as
A second bush 22 made of cast iron is fitted into the pin insertion hole 18 of the arm 5 in a shrunk state.
1 and 21 and the second bush 2 described above.
The support pin 6 is fitted into the second cylindrical hole 22a in a clearance state, and the stop portions 27 and 31 are projected outward from both ends of the support pin 6 in the radial direction. The stopper 31 prevents the support pin 6 from moving in the axial direction.
At least one of the switches 7 and 31 can be switched between a stop state S and a stop release state.

[0005] The invention of claim 1 has the following effects. The arm is rotatably supported on the frame by the lubricating action of the graphite contained in the cast iron bush, preventing the lubricating action from being reduced or lost even in an environment exposed to high temperatures. it can. For this reason,
The arm can be driven smoothly, and the manipulator can be used favorably over a long period of time. In addition, by switching at least one of the stop portions from the stop state to the stop release state, the support pin can be removed in the axial direction, so that the support pin can be easily replaced.

According to the present invention, the pin support holes 16 and 17 of the frame 3 are provided.
Between the peripheral wall 16a of the arm 5 and the peripheral wall 18a of the pin insertion hole 18 of the arm 5.
When the arm 5 is mounted, the thrust force acting on the arm is received by the thrust bearing, so that the arm can be rotated more smoothly.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. In this embodiment, an example in which the manipulator of the present invention is applied to an ingot handling device of a steel mill is illustrated. First, FIGS. 1A and 1B
The overall configuration will now be described. FIG. 1A is a plan view of the manipulator. FIG. 1B is an elevation view of the manipulator.

A frame 3 of a manipulator 2 is fixed to a base 1 of a handling device, and a pair of tongs (arms) 5 are rotatably supported in a horizontal direction by a support case 4 provided at the left end of the frame 3. . That is, the upper end portion and the lower end portion of the pair of support pins 6, 6 are supported by the upper plate portion 4a and the lower plate portion 4b of the support case 4. Each support pin 6
An intermediate portion of each of the tongs 5 in the horizontal longitudinal direction is rotatably supported at a central portion of the tongue in the vertical direction. An input portion 5a is provided at a right end portion of the tongue 5 in a longitudinal direction, and an output portion 5b is provided at a lower portion of the left end. Is provided.

A pair of hydraulic cylinders 8.8 are arranged in the right part of the frame 3. The right part of the cylinder barrel 9 of each hydraulic cylinder 8 is connected to the base 1 by a pivot pin 10. The piston rod 11 of each hydraulic cylinder 8 is connected to the input portion 5a of each tongue 5 via a connecting rod 12 and a connecting pin 13. Then, the tongs 5.5 shown by the solid line diagram in FIG.
By operating the hydraulic cylinders 8.8 above, the maximum opening posture X in the two-dot chain line is obtained, and by contracting the hydraulic cylinders 8.8, the maximum closing posture Y in the one-dot chain line is obtained. An ingot (not shown) can be gripped between the tongs 5.

Next, the mounting structure of each support pin 6 will be described with reference to FIG. FIG. 2 is the same as FIG.
FIG. 2 is an enlarged sectional view taken along line II-II in FIG. The frame 3
The upper plate portion 4a and the lower plate portion 4b of the support case 4 are respectively provided with pin support holes 16 and 17 extending vertically.
Are formed, and the first bushes 21 made of cast iron are fitted into the respective pin support holes 16 and 17 in a shrink-fit state. Further, a pin insertion hole 18 extending in the vertical direction is formed in the tongue 5, and a second bush 22 made of cast iron is fitted into the pin insertion hole 18 in a shrunk state.

The peripheral wall 16a of the upper pin support hole 16
A thrust bearing 24 is mounted between the upper end of the peripheral wall 18a of the pin insertion hole 18 and the peripheral wall 17a of the lower pin support hole 17 and the peripheral wall 18 of the pin insertion hole 18.
The thrust bearing 25 is also mounted between the lower part and the lower part a. The cylindrical holes 21a and 21 of the first bushes 21 and 21 described above.
The support pin 6 is fitted in a gap-free state over the cylindrical hole 22a of the second bush 22 and the cylindrical holes of the thrust bearings 24 and 25.

From the upper end of the support pin 6, an upper stop 27 is integrally formed so as to protrude outward in the radial direction. Also,
A retaining ring 29 is detachably fitted in a peripheral groove 28 formed at the lower end of the support pin 6. Reference numeral 30 denotes a pressing ring.
The lower stop portion 3 is formed by the peripheral groove 28 and the retaining ring 29.
1. And the above and below stop part 2
The movement of the support pin 6 in the axial direction is prevented by 7/31. When removing the support pin 6 from the frame 3, the retaining ring 29 is connected to the peripheral groove 28.
Then, the lower stop portion 31 is switched from the illustrated stop state S to the stop release state, and then the support pin 6 is removed upward.

The mounting structure of the connecting pin 13 is the same as the mounting structure of the support pin 6 described above. It is preferable that the mounting structure of the pivot pin 10 is the same as the mounting structure of the support pin 6 described above.

The above embodiment can be modified as follows. The arm according to the present invention only has to handle heavy objects, and is not limited to the illustrated shape of the tongue 5, but may have another shape. In addition, the arm is replaced by a combination of two,
One of them may be used, or three or more may be combined. The stop unit 31 that can be switched between a stop state and a stop release state includes:
Instead of using the illustrated retaining ring 29, it is also possible to use a split pin or nut for retaining.
Further, the switchable stop portions may be provided at both ends of the support pin 6 instead of being provided only at one end of the support pin 6.

The manipulator of the present invention may be used in a high-temperature environment, and is not limited to the exemplified steel making, but can be used in other technical fields such as the ceramic industry and the chemical industry. . Further, the actuator for driving the arm may be another type of actuator such as a pneumatic cylinder or an electric motor instead of the illustrated hydraulic cylinder 8.

[Brief description of the drawings]

FIG. 1 (A) is a plan view of a manipulator according to the present invention, and FIG. 1 (B) is an elevation view of the manipulator.

FIG. 2 is an enlarged sectional view taken on line II-II in FIG. 1 (B).

[Explanation of symbols]

2 ... manipulator, 3 ... frame, 5 ... arm (tongue), 5 a ... input section, 5 b ... output section, 6 ... support pin, 1
6.17 ... pin support hole, 16a ... peripheral wall, 17a ... peripheral wall,
Reference numeral 18: pin insertion hole, 18a: peripheral wall, 21: first bush, 21a: cylindrical hole, 22: second bush, 22a: cylindrical hole, 24/25: thrust bearing, 27/31: stop portion, S: stop state .

Claims (2)

[Claims] 1. A frame (3) of a manipulator (2) supports both ends of a support pin (6), and a center part of the support pin (6) is rotatable at an intermediate part in a longitudinal direction of an arm (5). And an input section at one end in the longitudinal direction of the arm (5).
(5a) and an output portion (5b) at the other end thereof. In the manipulator, in the pin support holes (16) and (17) of the frame (3), the first bush (21) (21) ( 21) in a shrink fit state, and a second bush (22) made of cast iron is fitted in the pin insertion hole (18) of the arm (5) in a shrink fit state, and the first bush (21) (21) described above. The support pin (6) is fitted over the cylindrical hole (21a) (21a) of the second bush (22) in a clearance state over the cylindrical hole (22a) of the second bush (22), and both ends of the support pin (6) The stop portions (27) and (31) project radially outward from the
(27) The support pin (6) can be prevented from moving in the axial direction by the (31), and the stop portions (27) (31)
Characterized in that at least one of them can be switched between a stop state (S) and a stop release state. 2. The high-temperature working manipulator according to claim 1, wherein said pin support hole (1) of said frame (3) is provided.
6) Thrust bearings (24) and (25) are mounted between the peripheral wall (16a) (17a) of (17) and the peripheral wall (18a) of the pin insertion hole (18) of the arm (5). High-temperature working manipulator.