JP2011051008A - End holding device and positioner for h-shape steel - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a compact holding device having an automatic centering function to hold the cross-sectional centers of H-shape steel with different cross-sectional dimensions at an almost fixed state, and to provide a compact positioner for H-shape steel with a reduced installment area provided with the same holding device. <P>SOLUTION: The end holding device is provided with: a pair of holders holding the webs of H-shape steel 6 to a sheet thickness direction; and an apparatus expanding and reducing the spacing of the pair of holders 31 so as to be symmetrical to a spacing center 24. Each holder is provided with opening/closing side claws 34 opened/closed so as to be confronted with a fixed side claw 32 moving in a fixed posture. Each fixed side claw outside is provided with a flange press contact part 38. Both the holders are moved to the expanding direction, the inside faces of the confronted flanges in each H-shape steel are press-contacted by the flange press contact part in each holder, and, in this state, the opening/closing side claw is closed to hold the web. The positioner is provided with a revolving body supported to a rack and rolling around a horizontal turning axis, and the revolving body is mounted with a pair of holding claws. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a gripping device that grips an end portion of an H-shaped steel and a positioner including such a gripping device.

  The positioner is a device that converts the posture of the workpiece so that the workpiece is held and the workpiece is properly welded and attached when the workpiece is temporarily welded or when the component is attached to the workpiece body. The positioner is equipped with a gripping device for fixing the work to the table of the positioner, etc. The positioner that holds both ends of the H-section steel and the positioner that holds the H-section steel in a cantilever form the end of the H-section steel. An end gripping device for gripping is provided.

  The H-section steel is provided with a web and a flange in directions orthogonal to each other, and by gripping the web 63 and the flange 62 in the direction perpendicular to the surface, the H-section steel is surely placed in a predetermined position with the center of the cross section. Can be supported. Patent Document 1 discloses a gripping tool 71 that grips an end of an H-shaped cross-section workpiece 6 having a web and a flange in the thickness direction at an intermediate position of the web 63 (position close to the center of the H-shaped cross section); An end gripping device is shown that includes a pair of gripping claws 72, 72 pressed against the outer surface of the flange 62 located on both sides of the web (see FIG. 7). The pair of gripping claws 72, 72 of the end gripping device move in the opposite directions and are separated from each other.

  On the other hand, Patent Document 2 discloses a fixing claw 73 that abuts both one surface of the web 63 and the inner surface of the flange 62 inside the portion where the web 63 of the H-shaped steel 6 and the one flange 62 are connected. A web gripping claw 74 that opens and closes in the plate thickness direction of the web 63 with respect to the fixed claw and clamps the web 63 in the plate thickness direction between the fixed claw and a fixed claw 73 on the outer surface side of the flange 62. Thus, an end gripping device for H-shaped steel having a flange gripping claw 75 that clamps the flange 62 in the plate thickness direction with the fixed claw 73 by opening and closing the flange 62 in the plate thickness direction is proposed. (See FIG. 8).

Japanese Utility Model Publication No. 5-35493 JP-A-6-142986

  The gripping device described in Patent Document 1 can grip a workpiece 6 having different dimensions with its H-shaped cross-sectional center always at a fixed position (a slight error occurs depending on the web thickness). However, this gripping device has a problem that an error is likely to occur in the gripping posture when the workpiece 6 having a large cross-sectional dimension is gripped. That is, in this gripping device, the gripping tool 71 that sandwiches the intermediate portion of the web 63 is used to grip the outer surface of both flanges 62 with the gripping claws 72 facing each other while the work 6 is lightly gripped. The workpieces must be gripped in the order of firmly gripping the parts. If the web 63 is first firmly clamped by the gripping tool 71 and then the flange 62 is clamped by the gripping claws 72, the gripping portion of the web 63 will not slide, and centering will not be possible, or the gripping portion of the web 63 will be forced. The problem of damaging the workpiece arises because it is slid.

  However, since the gripping tool 71 has a structure for gripping the intermediate position of the web 63, if the workpiece has a large cross-sectional dimension, the work 63 is placed on the gripping tool 71 or the web 63 is held by the gripping tool 71. When lightly clamped, the workpiece may be tilted due to imbalance around the center of the cross section of the workpiece 6, and when the flange 62 is clamped by the pair of gripping claws 72 in this state, the workpiece is gripped in a tilted state. . In order to avoid this problem, the gripping tool 71 may be provided at a wide interval, but in this case, it becomes impossible to grip a workpiece having a small cross-sectional dimension.

  On the other hand, in the end gripping tool described in Patent Document 2, the web gripping claw 74 is closed and the web 63 is sandwiched in a state where the inner surface of the flange 62 is supported by the fixed pawl 73, and then the flange gripping pawl 75 is closed and the flange gripped. If the workpiece is fixed by the operation of holding 62, the workpiece is not fixed in an inclined state. However, in the structure of Patent Document 2, since the holding position of the H-section steel is determined with reference to the inner surface of one flange, when the H-section steel having different cross-sectional dimensions is gripped, the gripped H-section steel The position of the center of the cross section is shifted. Therefore, for example, when there is a request to hold the H-shaped steel by aligning the rotation center of the positioner with the cross-sectional center of the H-shaped steel, the fixing claw 73 must be moved to a position corresponding to the cross-sectional dimension, Moreover, the position of the movement must be confirmed by the operator according to the cross-sectional dimension of the H-section steel.

  Further, in the structures described in Patent Document 1 and Patent Document 2, since the flange gripping claws 72 and 75 are arranged outside the flange 62, the H-shaped steel flange on which the gripping claws 72 and 75 and the opening / closing mechanism thereof are gripped. When the H-section steel is rotated, the protruding portion generally rotates around the cross-sectional center of the workpiece, so that the operating area of the positioner is increased, and the operating area is increased. A large installation space is required so as not to hinder.

  This invention has an automatic centering function that can hold the ends of H-section steels having different cross-sectional dimensions in a correct posture and that holds the H-section steels having different cross-section dimensions in a substantially fixed position. It is an object of the present invention to provide an end gripping device for H-shaped steel provided, and to provide a positioner for H-section steel that is compact and can have a small installation area by including the end gripping device.

  The end gripping device for H-section steel of the H-section steel of the present invention includes a pair of grippers 31 (31l, 31r) for gripping and releasing the web 63 of the H-section steel 6 in the plate thickness direction, and the pair of grips. Expanding / contracting devices 26 (26l, 26r), 29 for expanding / contracting the tool spacing while maintaining a symmetrical positional relationship with respect to the spacing center 24 are provided. Each of the gripping tools 31l and 31r includes a fixed claw 32 that is moved in a fixed posture by the expansion and contraction devices 26 and 29, and an open / close claw 34 that is opened and closed facing the fixed claw. Each of the fixed side claws 32 includes a flange pressing portion 38 positioned on the outer side in the expansion / contraction direction with respect to the opening / closing side claws 34 facing each other.

  In the end gripping device of the present invention configured as described above, both the gripping tools 31l and 31r are moved in the direction of widening the gap by the expansion / contraction devices 26 and 29, and the gripping portions 38 of each gripping tool are gripped. By pressing the inner surface of the opposing flange 62 of the H-shaped steel 6 and closing the open / close claw 34 and gripping the web 63 in this state, the end of the H-shaped steel is gripped.

  The positioner 2 (2a, 2b) of the present invention includes a gantry 4, a slewing body 21 that is supported by the gantry and rotates around a slewing shaft 23 in the horizontal direction, and is orthogonal to the slewing shaft 23 provided on the slewing body. A linear guide 25 in a direction to be moved, a pair of gripping tools 31l and 31r guided by the linear guide, and an expansion / contraction device 26 that moves the pair of gripping tools while maintaining a symmetric relationship about the turning shaft 23, 29.

  The pair of grippers 31l and 31r are arranged symmetrically around the turning center 24 and move close to and away from each other in a direction along a straight line perpendicular to the turning center 24. Each gripper 31l, 31r includes a fixed claw 32 and an open / close claw 34. The fixed claw 32 includes a web gripping portion 37 that comes into contact with the H-shaped steel web, and a flange pressing portion 38 that comes into contact with the inner surface of the H-shaped steel flange. The flange pressing portion 38 is located at a position protruding outward from the outer surface of the opening / closing claw 34, and the opening / closing claw 34 is opened / closed at a position where the flange pressing portion 38 contacts the inner surface of the H-shaped steel flange 62. can do.

  The fixed side claw 32 is supported by the moving bodies 3l and 3r on the base end side and extends in a cantilever manner on the counter frame side. It is preferable that the opening / closing claw 34 be pivotally attached to the base end to be opened and closed by a swinging operation. When the opening / closing claw 34 is opened, the opening / closing claw 34 moves from the web gripping portion 37 of the fixed claw 32 to the frame 4 side. The structure is to be evacuated.

  When the H-section steel 6 is gripped by the positioner of the present invention, the revolving body 21 is rotated at an angle at which the fixed claw 32 is positioned below the open / close claw 34 and the linear guide 31 is horizontal. The opening / closing claw 34 is opened, and the distance between the pair of movable gripping tools 31l and 31r is set so that the pair of fixed claw 32 is inserted into both flanges 62 of the H-section steel 6 to be gripped. In this state, the H-shaped steel 6 is suspended by a crane or the like, and the end portion of the web 63 is placed on the fixed claws 32 of the two gripping tools (FIG. 1 (a)). Next, the pair of movable gripping tools 31l and 31r are moved in the expanding direction with the open / close side pawl 34 opened, and the flange pressing portions 38 of both the fixed side claws are moved to the inner side surfaces of the flanges 62 on both sides of the H-shaped steel. Press contact. Since the positions of the web thickness direction of the H-section steel 6 and the flange thickness direction of the flange to be gripped in this state are set so that the center of the cross section is an intermediate position between the grippers 31l and 31r, The claw 34 is closed and the web 63 is sandwiched, and at the same time, a large force in the expanding direction is applied to the gripping tools 31l and 31r to firmly fix the end of the H-shaped steel (FIG. 1 (b)).

  In other words, the end gripping device of the present invention is configured such that the end of the web 63 of the H-section steel 6 is sandwiched in the plate thickness direction and held in a stretched direction in which the inner surface of the flange 62 is expanded. The end portion of 6 is firmly held by the revolving body 21.

  By setting the web gripping portion 37 of the fixed claw 32 to a position that is 1/2 the web thickness of the H-shaped steel 6 to be gripped from the surface including the turning center 24, the thickness center of the web 63 is set. The H-section steel 6 can be gripped in alignment with the turning center 24 of the turning body 21. Further, when gripping both ends of a long H-shaped steel, a pair of positioners having the above-described structure is installed so that the revolving bodies 21 face each other so as to be able to approach and separate. In this case, one of a pair of opposing positioners is provided with a turning drive device 22 for the turning body 21, and the other is provided with a lock device 41 that supports the turning body 21 so as to be freely rotatable and locks its rotation.

  In the end portion gripping device of the present invention, the H-section steel having different cross-sectional dimensions is supported by the portions that are close to the flanges on both sides by the approaching / separating operation of the pair of gripping tools. It does not tilt. Then, the centering of the H-shaped steel gripped by moving the pair of gripping tools in the separated state in this placement state (the cross-sectional center is adjusted to a predetermined position) is performed, and then the web and the flange are firmly fixed. Since it is fixed, the H-section steels having different cross-sectional dimensions can be accurately centered and automatically centered so that the workpiece can be securely gripped without being damaged.

  Since the gripping tools 31l and 31r are positioned inside the flange of the workpiece to be gripped and there is no member that moves outside the flange, the operating radius of the gripping device due to the turning of the positioner is small, and therefore the gripping device Thus, the positioner having the gripping device can be reduced in size, and the installation area of the positioner can be reduced.

The schematic diagram which shows the state (a) and the state (b) which hold | gripped the edge part of the H-section steel on the edge part holding apparatus of this invention Side view of a state in which both ends of the H-section steel are supported by a pair of positioners of the present invention Side view of moving positioner in FIG. Front view Plan view Enlarged side sectional view of moving body Schematic diagram showing a first example of a conventional gripping structure Schematic diagram showing a second example of a conventional gripping structure

  FIG. 2 is a side view showing an example of a positioner pair provided with the end gripping device of the present invention. The positioner pair shown in the figure supports both ends of the H-section steel 6 by two end gripping devices 2 arranged opposite to each other, and rotates around the longitudinal central axis 61 to change the posture of the H-section steel 6. The positioner pair to perform.

  One of the opposing positioners 2a is installed with its gantry 4 in place. The other 2b is provided with a wheel 42 that rolls on the rail 5 and a traveling motor 43, and by moving the gantry 4 along the rail 5, the H-shaped steel that holds the gap with the positioner 2a on the fixed side. It can be set according to the length of 6. That is, the fixed-side positioner 2a and the moving-side positioner 2b differ in that the gantry 4 is installed at a fixed position or is movably installed. In addition, the fixed-side positioner 2 a is provided with a turning drive device 22 for turning the turning body 21, whereas the turning body 21 of the moving-side positioner can freely rotate and is fixed by the lock device 41. It is different in that it is mounted on the gantry 4 as possible. Hereinafter, the structure of the edge part holding | gripping apparatus and positioner of this invention is demonstrated with reference to FIGS. 3-6 about the movement side positioner 2b.

  A pivot shaft 23 is supported in the horizontal direction on the top of the gantry 4. The fixed-side positioner 2a and the moving-side positioner 2b are installed with the central axis 24 of the turning shaft 23 on the same axis. At one end of the turning shaft 23, an elongated turning body 21 is fixed in a direction perpendicular to the turning shaft. The cross section of the revolving body 21 is U-shaped.

  Inside the swivel body 21, a straight guide 25 in a direction orthogonal to the swivel center 24, that is, a longitudinal direction of the swivel body 21, and screw rods 26l and 26r parallel to the straight guide are arranged. Two linear guides 25 are provided to face the inner wall surface of the revolving structure 21. The screw rods 26l and 26r are axially supported on both sides in the longitudinal direction of the revolving structure 21 (left and right in FIGS. 4 and 5). Bevel gears 27l and 27r are fixed to opposing ends (inner ends) of the left and right screw rods 26l and 26r, respectively, and a driving bevel gear 28 that meshes simultaneously with both the bevel gears 27l and 27r is mounted on the revolving body 21. It is being fixed to the output shaft 30 of the electric motor 29 with a reduction gear.

  Two revolving bodies 3 l and 3 r are mounted on the revolving body 21 through the slider 40 so as to be movable along the straight guide 25. The left and right linear moving bodies 3l and 3r are screwed into the screws of the left and right screw rods 26l and 26r, respectively. The left and right screw rods 26l and 26r are both right-handed, and the bevel gears 27l and 27r are driven by the drive bevel gear 28 at the same rotational speed in opposite directions, whereby the moving bodies 3l and 3r It moves while maintaining a symmetrical position around 24.

  A fixed claw 32 and an open / close claw 34 are attached to the moving bodies 3l and 3r. The fixed claw 32 extends to the counter frame side in a state where the base end side is fixed to the moving bodies 3l and 3r. The open / close claw 34 is mounted on the moving bodies 3l and 3r so that its base end is swingable around a support shaft 33 parallel to the linear guide 25. The rod end of the opening / closing cylinder 36 is connected to the opening / closing claw 34 by a connecting pin 35a. The open / close cylinder 36 has an intermediate trunnion structure, that is, a structure in which an intermediate portion of the cylinder can be swung by a pin 35b parallel to the support shaft 33, and is attached to the moving bodies 3l and 3r.

  When the open / close cylinder 36 operates in the claw opening direction, the open / close side claw 34 opens to an angle at which the open / close side claw 34 is retracted from the upper side of the fixed side claw 32 to the gantry 4 side, as shown by a broken line in FIG. That is, when the open / close claw 34 is opened with the fixed side claw 32 in the lower side, the end of the H-shaped steel web can be hung on the fixed side claw 32 from above. In FIG. 6, the closed state of the open / close claw 34 when no H-section steel is present is indicated by a solid line. Since the angle of the opening / closing claw 34 at the time of gripping the workpiece varies depending on the thickness of the web, the web gripping portion 44 of the opening / closing claw 34 has a cylindrical surface with the direction parallel to the support shaft 33 as the central axis. .

  A flange pressing portion 38 is provided on the outer side surface of the fixed claw 32 so as to protrude outward. The flange pressing portion 38 is located on the outermost side of the moving bodies 3l and 3r and the members attached thereto, and therefore when the pair of moving bodies 3l and 3r are moved in the separation direction, the flange pressing portion 38 The opening / closing claw 34 can be opened and closed in a state where the portion 38 first comes into contact with the inner surface of the flange 62 made of H-shaped steel and is in contact therewith.

  A flange detecting piece 39 having a contact end protruding slightly outward from the flange pressing portion 38 is mounted on the fixed claw 32 so as to be retractable inward, in proximity to the flange pressing portion 38. By detecting retraction to the inside of the flange detection piece 39 by a sensor (not shown), contact between the flange pressing portion 38 and the flange inner surface of the H-shaped steel is detected, and the electric motor 29 with a speed reducer is stopped.

  The web gripping portion 37 of the fixed claw 32 is set at a position separated from the plane including the turning center 24 by 1/2 of the thickness of the average H-shaped steel web to be gripped. Although the thickness of the web varies depending on the dimension of the H-shaped steel, the difference in the thickness of the web is small compared with the change in the cross-sectional dimension of the H-shaped steel. Accordingly, it is not necessary to adjust the position of the web gripping portion of the fixed gripping claw.

  Next, with reference to FIGS. 1 and 2, the operation of supporting both ends of the H-section steel 6 with the pair of positioners 2a and 2b will be described. First, the interval between the two positioners 2a and 2b facing each other is set to be slightly wider than the length of the H-shaped steel to be gripped, and the swivel body 21 is set to a horizontal position with the fixed claw 32 downward. In the normal use state, the positions of the fixed side and moving side positioners 2a and 2b are set when the previous work is removed. That is, in the fixed side positioner 2a, when the workpiece is removed last time, the turning drive motor 22 is turned to set the position of the turning body 21. Further, in the movement side positioner 2b, the position of the revolving body transmitted through the work immediately before the previous work is removed is held by the lock device 41.

  In this state, the distance between the moving bodies 3l and 3r is set by the electric motor 29 with a speed reducer so that the left and right fixed claws 32 fit within the internal spacing of both flanges 62 of the H-shaped steel 6 to be gripped. The distance between the two moving bodies 3l and 3r need not be set strictly, but is set to the distance at which the left and right fixed-side claws 32 and 32 support near the both ends of the H-shaped steel web 63. Then, the H-section steel 6 is suspended between the positioners 2a and 2b with the open / close claw 34 opened, and the longitudinal ends of the web 63 are placed on the fixed side claws 32 and 32 of the fixed side and the moving side positioner. The H-section steel 6 is supported by placing.

  Next, the traveling motor 43 is driven in a state where the torque is limited, and the moving side positioner 2b is moved toward the fixed side positioner 2a. When the longitudinal ends of the H-section steel 6 come into contact with the base ends of the fixed claws 32 of the positioners 2a and 2b, the traveling motor 43 stops. Next, the speed reducer electric motor 29 of both positioners 2a and 2b is rotated to move the moving bodies 3l and 3r in the direction of widening the interval, and the flange pressing portion 38 comes into contact with the inner surface of the flange 62. When this is detected, the motor 29 with a speed reducer is stopped, the open / close cylinder 36 is moved in the closing direction, and the both ends of the H-shaped steel web 63 are gripped by the open / close side claws 34 and the fixed side claws 32. In this state, the H-section steel 6 is supported between the two positioners 2a and 2b. Therefore, the rotation of the turning drive motor 22 changes the H-section steel 6 to a desired posture and performs welding of necessary parts. Do.

  When the work is completed, the turning drive motor 22 is rotated to bring the turning body 21 into a horizontal position with the fixed claw 32 downward, and the turning of the turning body of the moving side positioner 2b is fixed by the lock device 41. Then, after opening the opening / closing claw 34, the moving bodies 3l and 3r are moved in the direction of narrowing the interval, and the workpiece 6 is lifted and removed.

2 (2a, 2b) Positioner 3l, 3r Moving body 4 Mount 6 H-section steel 21 Revolving body 22 Revolving drive device 23 Revolving shaft 24 Revolving center (interval center)
25 Linear guide 26 (26l, 26r) Screw rod 31 (31l, 31r) Gripping tool 32 Fixed side claw 34 Opening / closing side claw 37 Web gripping part 38 Flange pressing part 41 Locking device 62 Flange 63 Web

Claims (4)

  A pair of gripping tools for gripping and releasing an H-shaped steel web in the plate thickness direction, and an expansion / contraction device for expanding and contracting the pair of gripping tools while maintaining a symmetrical positional relationship with respect to the center of the spacing; Each of which has a fixed-side claw that expands and contracts in a fixed posture, and an opening-and-closing side claw that opens and closes opposite to the fixed-side claw, and each of the fixed-side claws extends in the expansion / contraction direction from the opening-and-closing side claw facing each Gripping the end of the H-shaped steel by closing the open / close side claw with the flange pressing part located on the outer side of the flange and the flange pressing part of both fixed side claws pressing the inner surface of the opposing flange An end gripping device for H-section steel. A frame,
A revolving body that is supported by the frame and rotates about a horizontal revolving axis;
A linear guide in a direction perpendicular to the turning axis provided on the turning body;
A pair of gripping tools guided by the linear guide;
An expansion / contraction device that moves the pair of gripping tools while maintaining a symmetrical relationship about the pivot axis;
The gripping tool includes a fixed-side claw that is supported in a cantilevered manner on the base end side and extends from the revolving body to the counter frame side, and an open / close-side claw that opens and closes the fixed claw,
The fixed side pawl is a positioner for H-section steel, comprising a web gripping portion facing the open / close side pawl and a flange pressing portion disposed on the outer side in the expansion / contraction direction.   The positioner for H-section steel according to claim 2, wherein the web gripping portion of the fixed side claw is located at a position that is approximately ½ of the web thickness to be gripped from the surface including the pivot axis.   4. A pair of positioners according to claim 2 or 3, wherein the revolving bodies are arranged to face each other so as to be able to approach and separate from each other. One of the pair of positioners comprises a revolving drive device for the revolving body, and the other is a rotation of the revolving body. Positioner pair for H-section steel provided with a locking device for locking

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