JP2023060613A - Steel material transfer device and steel material transfer method - Google Patents

Abstract

To provide a steel material transfer device which is effective for transferring a steel material with a higher degree of freedom.SOLUTION: A steel material transfer device 10 includes: a carriage 111 reciprocating along a horizontal circular orbit 114 between a carry-in position where a steel material 9 having a longitudinal direction LD is carried in in a state where the longitudinal direction LD is in a first horizontal direction, and a carry-out position where the steel material 9 is carried out in a state where the longitudinal direction LD is in a second horizontal direction crossing the first direction; an arm 14 provided on the carriage 111 so as to swing around a horizontal base axial line 141 crossing the circular orbit 114; a saddle 15 connected to the end of the arm 14 so as to swing around an end axial line 151 parallel to the base axial line 141; and a driving device 20 for driving the carriage 111, the arm 14 and the saddle 15 so as to arrange the saddle 15 at a receiving position P21 where the steel material 9 is received from the carry-in position, and delivery positions P31, P32 and P33 where the steel material 9 is delivered to the carry-out position.SELECTED DRAWING: Figure 3

Description

The present disclosure relates to a steel material transfer device and a steel material transfer method.

Patent Literature 1 discloses a carriage-type steel material turner for horizontally turning steel materials by 90 degrees, which has a turning mechanism capable of turning steel materials by 90 degrees on a carriage.

Japanese Utility Model Laid-Open No. 3-85101

The present disclosure provides a steel material transfer device that is effective in transferring steel materials with a higher degree of freedom.

A steel material transfer apparatus according to one aspect of the present disclosure includes a loading position where a steel material having a longitudinal direction is transported with the longitudinal direction along a horizontal first direction, and a horizontal first direction intersecting the first direction. Between the unloading position where the steel material is unloaded with its longitudinal direction aligned in two directions, the carriage reciprocates along the horizontal circular track and swings around the horizontal base axis that intersects the circular track. An arm mounted on a carriage, a saddle connected to the end of the arm so as to swing about an end axis parallel to the base axis, a receiving position for receiving the steel material from the loading position, and delivering the steel material to the unloading position. a drive for driving the carriage, the arm and the saddle to position the saddle in the delivery position.

This steel material transfer device has at least two degrees of freedom on the carriage, namely, a degree of freedom for swinging the arm about the base axis and a degree of freedom for swinging the saddle about the end axis.
Therefore, it is effective in transferring steel materials with a higher degree of freedom.

The drive device may include an arm drive device for swinging the arm about the base axis and a saddle drive device for swinging the saddle about the end axis independently of the swing of the arm. Since the swing angle of the arm about the base axis and the swing angle of the saddle about the end axis can be changed independently of each other, it is effective in transferring steel materials with a higher degree of freedom.

The arm has an intermediate joint and is configured to bend at the intermediate joint about an intermediate axis parallel to the base and end axes, and the drive is independent of arm swing and saddle swing. , and may further include a joint drive for bending the arm about the intermediate axis. The distance between the base axis and the end axis can be varied independently of the swing angle of the arm about the base axis and the swing angle of the saddle about the end axis. Therefore, it is possible to flexibly adapt to various variations of the positional relationship between the carry-in position and the carry-out position. For example, it is possible to flexibly adapt even when the heights of the carry-in position and the carry-out position are different. Therefore, it is effective in transferring steel materials with a higher degree of freedom.

The saddle drive device may have a motor provided on the carriage and a transmission unit that transmits the driving force of the motor to the saddle along the arm. By arranging the motor away from the saddle, the heat resistance of the saddle can be improved.

The transmission unit may be configured to keep the vertical posture of the saddle constant even when the arm swings or bends when the motor is stopped. The posture of the steel material during transfer can be easily stabilized.

The arm driving device changes the swing angle of the arm with respect to the carriage when arranging the saddle at the receiving position and when arranging the saddle at the delivery position. , the swing angle of the saddle with respect to the arm may be changed when the saddle is placed in the delivery position. It is possible to flexibly adapt to various variations of the positional relationship between the carry-in position and the carry-out position.

The joint driving device may change the bending angle of the arm when the saddle is placed at the receiving position and when the saddle is placed at the delivery position. It is possible to flexibly adapt to various variations of the positional relationship between the carry-in position and the carry-out position.

The driving device moves the carriage, the arm, and the saddle so as to perform a first mode transfer in which the steel material received by the saddle at the loading position is delivered to the unloading position without being rotated around the turning axis parallel to the end axis. driving the carriage, the arm, and the saddle so as to perform a second mode transfer in which the steel material received by the saddle at the loading position is turned 90° about the turning axis and delivered to the unloading position; Driving the carriage, the arm and the saddle so as to perform a third mode transfer in which the steel material received by the saddle at the loading position is rotated 180° around the rotation axis and delivered to the loading position. may be configured to obtain Taking advantage of the high degree of freedom, the same device can be used for three types of driving: first mode, second mode and third mode.

A saddle is connected to the end of the arm for swing about the end axis and projects from the saddle base to define a saddle base having a first support surface and a second support surface perpendicular to the first support surface. and a tip projecting from an end of the finger to define a third bearing surface perpendicular to the second bearing surface and opposite the first bearing surface, the drive providing a first mode of movement. During loading, the arm and the saddle are driven so that the steel material is supported from below by the first support surface both when the steel material is received from the loading position and when the steel material is delivered to the unloading position. In the above, the arm and the saddle are driven so that the steel material is supported from below by the first support surface when receiving the steel material from the carrying-in position, and the steel material is supported from below by the second supporting surface when delivering the steel material to the unloading position. In the transfer of the third mode, the first support surface supports the steel material from below when receiving the steel material from the carry-in position, and the third support surface supports the steel material from below when delivering the steel material to the carry-out position. The arm and saddle may be driven so as to A device that is adaptable to three types of driving, the first mode, the second mode, and the third mode, can be realized with a simple saddle configuration.

A projection length of the tip from the finger may be less than a width of the first support surface when viewed along the end axis. In each mode, steel can be easily held and released.

A steel material transfer method according to another aspect of the present disclosure includes a loading position where a steel material is loaded along a first horizontal direction, and a steel material is unloaded along a second horizontal direction that intersects the first direction. moving a carriage reciprocable along a horizontal circular track between the unloading position to a receiving base position near the loading position; swinging about and swinging a saddle connected to the end of the arm about an end axis parallel to the base axis to position the saddle at a receiving position for receiving steel material from the loading position; moving to an adjacent delivery base position; and swinging the arm about the base axis and swinging the saddle about the end axis to place the saddle in the delivery position to deliver the steel to the delivery position. .

According to this transfer method, both the arm and the saddle swing when the saddle is placed at the receiving position and when the saddle is placed at the delivery position. Therefore, the configuration of the transfer device can be effectively utilized for conveying the steel material with a high degree of freedom.

Placing the saddle at the delivery position bends the arm about an intermediate axis parallel to the base axis and the end axis, and moves the saddle to the delivery position where the steel material can be delivered to an unloading position having a height different from that of the loading position. may include placing. According to this transfer method, the degree of freedom of bending the arm can be effectively used to transfer the steel material from the loading position to the carrying-out position that is different in height from the loading position.

Placing the saddle in the delivery position may include placing the saddle in the delivery position without turning the saddle relative to the orientation of the saddle in the receiving position. The configuration of the transfer device can be effectively used for transferring the steel material in the first mode.

Placing the saddle in the delivery position may include rotating the saddle 90° about the end axis and placing it in the delivery position relative to the orientation of the saddle in the receiving position. The configuration of the transfer device can be effectively used for transferring the steel material in the second mode.

Placing the saddle in the delivery position may include rotating the saddle 180° about the end axis and placing it in the delivery position relative to the orientation of the saddle in the receiving position. The configuration of the transfer device can be effectively used for transferring the steel material in the third mode.

According to the present disclosure, it is possible to provide a steel material transfer device that is effective in transferring steel materials with a higher degree of freedom.

1 is a plan view illustrating a transport system; FIG. 1 is a plan view illustrating a transport system; FIG. FIG. 2 is a view taken along line III-III in FIG. 1; FIG. 3 is a view taken along line IV-IV in FIG. 2; It is a schematic diagram which illustrates the structure of a saddle drive. It is a schematic diagram which illustrates the structure of an arm drive device and a saddle drive device. It is a mimetic diagram showing a modification of a saddle drive. 1 is a block diagram illustrating a control device; FIG. It is a schematic diagram which illustrates the transfer procedure of a 1st mode. It is a schematic diagram which illustrates the transfer procedure of a 1st mode. It is a schematic diagram which illustrates the transfer procedure of a 1st mode. It is a schematic diagram which illustrates the transfer procedure of a 2nd mode. FIG. 11 is a schematic diagram illustrating a transfer procedure in a third mode;

Hereinafter, embodiments will be described in detail with reference to the drawings. In the explanation, the same reference numerals are given to the same elements or elements having the same function, and duplicate explanations are omitted.

A conveying system 1 shown in FIG. 1 is a system for conveying a steel material 9 having a longitudinal direction LD. A specific example of the steel material 9 having the longitudinal direction LD is a rolled material formed by rolling or an intermediate product in the process of forming the rolled material. A specific example of the intermediate product is a continuously cast material. As shown in FIG. 1 , the transport system 1 has a drive device 20 , a second transport device 80 and a steel material transfer device 10 .

The first conveying device 70 conveys the steel material 9 along the first direction D1 with the longitudinal direction LD of the steel material 9 along the horizontal first direction D1. For example, the first conveying device 70 includes a plurality of rollers 71 arranged along the first direction D1. Each of the plurality of rollers 71 supports the steel material 9 and conveys the steel material 9 by rotating around a horizontal axis perpendicular to the first direction D1.

The second conveying device 80 conveys the steel material 9 along the second direction D2 with the longitudinal direction LD of the steel material 9 along the horizontal second direction D2. The second direction D2 intersects (for example, orthogonally) the first direction D1. It should be noted that the crossing here includes a relationship in a twisted position with respect to each other, such as a so-called grade crossing. For example, the second conveying device 80 includes a plurality of rollers 81 arranged along the second direction D2. Each of the plurality of rollers 81 supports the steel material 9 and conveys the steel material 9 by rotating around a horizontal axis perpendicular to the second direction D2.

The steel transfer device 10 transfers the steel 9 from the first transfer device 70 to the second transfer device 80 . For example, the steel material transfer device 10 transfers the steel material 9 from the carry-in position P1 to the carry-out position P2. The carry-in position P1 is a position where the steel material 9 is carried in by the first conveying device 70 with the longitudinal direction LD along the first direction D1. The unloading position P2 is a position where the steel material 9 is unloaded by the second conveying device 80 with the longitudinal direction LD along the second direction D2.

When viewed from above, the conveying route R1 for the steel material 9 by the first conveying device 70 and the conveying route R2 for the steel material 9 by the second conveying device 80 intersect at the intersection point JP. The carry-in position P1 is located near the intersection JP on the transport route R1. The carry-out position P2 is located near the intersection JP on the transport route R2.

The steel material transfer device 10 includes a turning device 11 , a delivery device 12 and a driving device 20 . The turning device 11 turns the steel material 9 arranged so that the longitudinal direction LD is along the first direction D1 so that the longitudinal direction LD is along the second direction D2. The turning device 11 has a carriage 111 . The carriage 111 reciprocates along a horizontal circular track 114 between the carry-in position P1 and the carry-out position P2. For example, the truck 111 turns around a vertical turning axis 113 passing through the center of the circular track 114 . The carriage 111 travels on rails 115 along a circular track 114 and reciprocates between a receiving base position P11 near the loading position P1 and a delivery base position P12 near the unloading position P2.

The delivery device 12 is provided on the turning device 11, and receives the steel materials 9 from the carry-in position P1 while the turning device 11 is positioned at the receiving base position P11, and the turning device 11 is positioned at the delivery base position P12. In this state, the steel material 9 is handed over to the unloading position P2. For example, the delivery device 12 has multiple delivery units 13 . A plurality of delivery units 13 are arranged along a horizontal arrangement direction AD perpendicular to the circular orbit 114 . With the carriage 111 positioned at the receiving base position P11, the multiple delivery units 13 are arranged alternately with the multiple rollers 71 along the first direction D1. Each of the multiple delivery units 13 receives the steel material 9 from the carry-in position P1 between the rollers 71 and 71 .

As shown in FIG. 2, with the carriage 111 positioned at the delivery base position P12, the plurality of delivery units 13 are arranged alternately with the plurality of rollers 81 along the second direction D2. Between the rollers 81 and 81, each delivers the steel material 9 to the unloading position P2.

As shown in FIG. 3 , each of the multiple delivery units 13 has an arm 14 and a saddle 15 . The arm 14 is mounted on the carriage 111 so as to swing about a horizontal base axis 141 that intersects (eg, is perpendicular to) the circular track 114 . For example, the carriage 111 has an arm support portion 112 projecting upward, and the arm 14 is connected to the upper end of the arm support portion 112 so as to swing around the base axis 141 .

Arm 14 extends away from base axis 141 . The saddle 15 is connected to the end of the arm 14 so as to swing about an end axis 151 parallel to the base axis 141, and supports the steel material 9 to be transferred from the loading position P1 to the unloading position P2.

For example, saddle 15 has saddle base 152 , fingers 153 and tip 154 . A saddle base 152 is connected to the end of the arm 14 to swing about an end axis 151 parallel to the base axis 141 . Saddle base 152 has a planar end surface 155 .

The end face 155 has edges 161 and 162 . The edges 161 and 162 are aligned in the swing direction of the saddle 15 about the end axis 151 . Fingers 153 protrude from saddle base 152 along the normal to end face 155 between edges 161 and 162 .

The finger 153 is positioned closer to the edge 161 between the edges 161 and 162 . A portion of the end surface 155 between the finger 153 and the edge 162 is used as a first support surface 156 for supporting the steel member 9 . Fingers 153 define a second support surface 157 perpendicular to first support surface 156 . As will be described later, the steel material 9 can also be supported by the second support surface 157 .

A tip 154 protrudes from the end of finger 153 along the normal to second support surface 157 . Chip 154 defines a third support surface 158 that faces first support surface 156 . As will be described later, the steel material 9 can also be supported by the third support surface 158 . A projection length L1 of the tip 154 from the finger 153 when viewed along the end axis 151 is smaller than the width W1 of the first support surface 156 .

According to such a configuration of the saddle 15 , the steel material 9 can be supported by any of the first support surface 156 , the second support surface 157 and the third support surface 158 . Therefore, the saddle 15 can be turned while supporting the steel material 9 while any one of the first support surface 156, the second support surface 157 and the third support surface 158 faces upward. Thereby, the steel material 9 can be turned around the turning axis parallel to the end axis 151 .

The configuration of the saddle 15 is merely an example. The configuration of the saddle 15 can be changed as appropriate as long as it can be rotated while supporting the steel material 9 . For example, saddle 15 may be configured to grip steel 9 with a pair of fingers.

The arm 14 may have an intermediate joint 142 and be configured to bend at the intermediate joint 142 about an intermediate axis 143 parallel to the base axis 141 and the end axis 151 . For example, arm 14 has first arm 144 and second arm 145 . The first arm 144 is connected to the upper end of the arm support 112 so as to swing about the base axis 141 and extends away from the base axis 141 . A second arm 145 is connected to the end of the first arm 144 so as to swing about the intermediate axis 143 and extends away from the intermediate axis 143 . Saddle 15 is connected to the end of second arm 145 so as to swing about end axis 151 .

Bending of arm 14 about intermediate axis 143 changes the spacing between base axis 141 and end axis 151 . It should be noted that the configuration of the arm 14 shown here is merely an example. The arm 14 may be configured to bend at two or more intermediate joints.

The driving device 20 drives the carriage 111, the arm 14, and the saddle 15 so that the saddle 15 is positioned at a receiving position for receiving the steel material 9 from the loading position P1 and a delivery position for delivering the steel material to the unloading position P2. For example, the drive 20 has a swivel drive 21 , an arm drive 22 and a saddle drive 23 . The turning drive device 21 reciprocates the carriage 111 along the circular track 114 . For example, the turning drive device 21 reciprocates the carriage 111 by power generated by a power source such as a motor.

Arm drive device 22 swings arm 14 around base axis 141 . For example, the arm driving device 22 swings the arm 14 by power generated by a power source such as a motor.

The saddle driving device 23 swings the saddle 15 around the end axis 151 independently of the swing of the arm 14 . For example, the saddle driving device 23 swings the saddle 15 by power generated by a power source such as a motor.

According to the driving device 20 configured in this way, the steel material 9 received by the saddle 15 at the loading position P1 is delivered to the unloading position P2 without being rotated around the turning axis parallel to the end axis 151. Carriage 111, arm 14 and saddle 15 can be driven to effect the transfer. The carriage 111, the arm 14, and the saddle 15 can also be driven so that the steel material 9 received by the saddle 15 at the loading position P1 is turned 90° around the turning axis and delivered to the carrying-out position P2. Driving the carriage 111, the arm 14 and the saddle 15 so as to turn the steel material 9 received by the saddle 15 at the carry-in position P1 by 180° around the turning axis and deliver it to the carry-out position P2 in the third mode. can also

For example, in the transfer in the first mode, the driving device 20 transfers the steel material 9 from below by the first support surface 156 both when receiving the steel material 9 from the loading position P1 and when delivering the steel material 9 to the unloading position P2. Drive arm 14 and saddle 15 to support. In the transfer in the second mode, the driving device 20 supports the steel material 9 from below by the first support surface 156 when receiving the steel material 9 from the carry-in position P1, and transfers the steel material 9 to the carry-out position P2. 2. The arm 14 and the saddle 15 are driven so as to support the steel material 9 from below by the support surface 157 . In the transfer in the third mode, the driving device 20 supports the steel material 9 from below by the first support surface 156 when receiving the steel material 9 from the carry-in position P1, and transfers the steel material 9 to the carry-out position P2. 3. The arm 14 and the saddle 15 are driven so as to support the steel material 9 from below by the support surface 158 .

Drive 20 may further comprise an articulation drive 24 . The joint drive 24 bends the arm 14 about the intermediate axis 143 independently of the swing of the arm 14 and the swing of the saddle 15 . For example, the joint driving device 24 bends or extends the arm 14 by power generated by a power source such as a hydraulic cylinder.

According to the driving device 20 having the joint driving device 24, by changing the bending angle of the arm 14, the position of the saddle 15 is changed when receiving the steel material 9 from the loading position P1 and when delivering the steel material 9 to the unloading position P2. Height can be adjusted freely. 3 and 4 illustrate the states of the arm 14 and the saddle 15 when the transfer in the third mode is performed.

In FIG. 3, the saddle 15 is arranged at a receiving position P21 where the first support surface 156 supports the steel material 9 from below. In FIG. 4, the saddle 15 is arranged at a transfer position P33 where the steel material 9 is supported from below by the third support surface 158. As shown in FIG. In the example of FIGS. 3 and 4, the arm driving device 22 changes the swing angle of the arm 14 with respect to the carriage 111 (the carriage 111) is changed. The saddle driving device 23 adjusts the swing angle of the saddle 15 with respect to the arm 14 (the swing angle of the saddle 15 with respect to the second arm 145) when arranging the saddle 15 at the receiving position P21 and when arranging the saddle 15 at the delivery position P33. ) is changed.

Furthermore, the joint driving device 24 changes the bending angle of the arm 14 when arranging the saddle 15 at the receiving position P21 and when arranging the saddle 15 at the delivery position P33. By changing the bending angle of the arm 14 to change the distance between the base axis 141 and the end axis 151, the steel material 9 can be transferred to a delivery position P33 at a carrying-out position P2 having a different height from the carrying-in position P1. A saddle 15 is arranged. For example, by increasing the distance between the base axis 141 and the end axis 151 when arranging the saddle 15 at the delivery position P33 compared to when arranging the saddle 15 at the receiving position P21, A saddle 15 is arranged at a delivery position P33 where the steel material 9 can be delivered to a carry-out position P2 higher than the above.

As shown in FIG. 5 , the saddle drive device 23 may have a motor 231 and a transmission unit 232 . The motor 231 is, for example, an electric rotary motor and is provided on the carriage 111 . A transmission unit 232 transmits the driving force of the motor 231 to the saddle 15 along the arm 14 . The transmission unit 232 may be configured to keep the vertical posture of the saddle 15 constant even when the arm 14 swings or bends when the motor 231 is stopped.

For example, the transmission unit 232 includes a pivot gear 233 driven by the motor 231, a joint gear 235 provided at the intermediate joint 142 between the first arm 144 and the second arm 145, and a saddle shaft directly connected to the saddle 15. It has gears 234 and a plurality of transmission gears 236 positioned therebetween. The joint gear 235 is rotatable about the intermediate axis 143 with respect to both the first arm 144 and the second arm 145 . An odd number of transmission gears 236 are arranged between the pivot gear 233 and the articulation gear 235 to transmit the rotation of the pivot gear 233 to the articulation gear 235 . An odd number of transmission gears 236 are arranged between the joint gear 235 and the saddle shaft gear 234 to transmit the rotation of the joint gear 235 to the saddle shaft gear 234 . The pivot gear 233, joint gear 235, saddle shaft gear 234, and transmission gear 236 have the same PCD (Pitch Circle Diameter) and number of teeth. A pivot gear 233 , an odd number of transmission gears 236 , an articulation gear 235 , an odd number of transmission gears 236 and a saddle shaft gear 234 are arranged along the arm 14 .

With this configuration, even if the arm 14 swings or bends, the angle of the saddle shaft gear 234 with respect to the pivot gear 233 is kept constant. When the motor 231 is stopped, the attitude of the pivot gear 233 in the vertical direction is kept constant, so the attitude of the saddle shaft gear 234 in the vertical direction is also kept constant. Therefore, the posture of the saddle 15 with respect to the vertical direction is kept constant.

When the motor 231 rotates the pivot gear 233 , the saddle shaft gear 234 rotates in the same direction and at the same angle as the pivot gear 233 . Therefore, the saddle 15 can be swung independently of the arm 14 swinging.

As shown in FIG. 6 , the arm driving device 22 may have a motor 221 and an arm shaft gear 222 . The motor 221 is, for example, an electric rotary motor and is provided on the carriage 111 . The arm shaft gear 222 transmits the driving force of the motor 221 to the second arm 145 . For example, arm shaft gear 222 is fixed to arm shaft 223 , and arm shaft 223 is fixed to first arm 144 . The arm shaft 223 extends along the base axis 141 and is rotatably supported by the arm support portion 112 . The pivot gear 233 described above is attached to the outer circumference of the arm shaft 223 . Since the pivot gear 233 is not fixed to the arm shaft 223, the rotational driving of the arm shaft 223 by the motor 221 and the rotational driving of the pivot gear 233 by the motor 231 can be performed independently of each other.

The configuration of the transmission unit 232 is not limited to a configuration using a gear train. For example, the transmission unit 232 may include sprockets 251, 252, 253, an annular transmission member 254, and an annular transmission member 255, as shown in FIG. Sprocket 251 is driven by motor 231 . The sprocket 252 is directly connected to the saddle 15. The sprocket 253 is rotatable about the intermediate axis 143 with respect to both the first arm 144 and the second arm 145 . The sprockets 251, 252, 253 have the same PCD (Pitch Circle Diameter) and number of teeth. The annular transmission member 254 spans the sprockets 251 and 253 so as to transmit the rotation of the sprocket 251 to the sprocket 253 . The annular transmission member 255 spans the sprockets 252 and 253 so as to transmit the rotation of the sprocket 253 to the sprocket 252 .

With this configuration, even if the arm 14 swings or bends, the angle of the sprocket 252 with respect to the sprocket 251 is kept constant. When the motor 231 is stopped, the attitude of the sprocket 251 in the vertical direction is kept constant, so the attitude of the sprocket 252 in the vertical direction is also kept constant. Therefore, the posture of the saddle 15 with respect to the vertical direction is kept constant.

When the motor 231 rotates the sprocket 251 , the sprocket 252 rotates in the same direction and at the same angle as the sprocket 251 . Therefore, the saddle 15 can be swung independently of the arm 14 swinging.

As shown in FIG. 8 , the steel material transfer device 10 may further include a control device 30 . The control device 30 controls the turning drive device 21, the arm drive device 22, the saddle drive device 23, the joint drive device 23, and the joint drive device 21 so as to cause the steel material transfer device 10 to transfer the steel material 9 from the carry-in position P1 to the carry-out position P2. It controls the drive device 24 .

For example, the control device 30 causes the steel material transfer device 10 to transfer the steel material 9 by moving the carriage 111 to the receiving base position P11, swinging the arm 14 around the base axis 141, and moving the saddle 15 to the end. The saddle 15 is swung around the base axis 151 to place the saddle 15 at the receiving position where the steel material 9 is received from the carry-in position P1, the carriage 111 is moved to the delivery base position P12, and the arm 14 is moved around the base axis 141. Swinging and swinging the saddle 15 about the end axis 151 to place the saddle 15 in a delivery position to deliver the steel material 9 to the unloading position P2.

Arranging the saddle 15 at the delivery position means bending the arm 14 around the intermediate axis 143 and arranging the saddle 15 at the delivery position where the steel material 9 can be delivered to the carry-out position P2 whose height is different from the carry-in position P1. may include Placing the saddle 15 in the delivery position may include placing the saddle 15 in the delivery position without turning the saddle 15 relative to the orientation of the saddle 15 in the receiving position. As a result, the transfer in the first mode is performed.

For example, the control device 30 moves the carriage 111 to the receiving base position P11 by the turning drive device 21, and then drives the arm so as to dispose the saddle 15 at the receiving position P21 as shown in FIG. 9(a). It controls the device 22 , the saddle drive 23 and the articulation drive 24 . Next, the control device 30 causes the arm driving device 22 to swing the first arm 144 so as to raise the saddle 15 supporting the steel member 9, as shown in FIG. 9(b). Next, the control device 30 causes the swing drive device 21 to move the carriage 111 to the delivery base position P12. While the carriage 111 is moving to the delivery base position P12, the control device 30 controls the arm driving device to position the saddle 15 above the unloading position P2, as shown in FIGS. 22 and joint drive 24 . For example, the control device 30 increases the distance between the base axis 141 and the end axis 151 while swinging the first arm 144 by the arm driving device 22 so as to tilt the first arm 144 toward the unloading position P2. , the arm 14 is extended by the joint drive 24 .

From (a) of FIG. 9 to (b) of FIG. 10 , the control device 30 does not operate the motor 231 . Therefore, the saddle 15 is maintained with the first support surface 156 facing upward. After the carriage 111 has moved to the delivery base position P12 and the saddle 15 has been placed above the carry-out position P2, the control device 30 controls the control device 11 shown in FIGS. ), the arm driving device 22 and Controls the joint drive 24 .

Placing the saddle 15 in the delivery position may include rotating the saddle 15 90° about the end axis 151 relative to the orientation of the saddle 15 in the receiving position and placing it in the delivery position. As a result, the transfer in the second mode is performed. For example, the control device 30 rotates the saddle 15 supporting the steel material 9 from below by the first support surface 156 at the receiving position P21 so as to be positioned above the carrying-out position P2, as in the case of the transfer in the first mode. It controls the driving device 21, the arm driving device 22 and the joint driving device 24 (see FIGS. 9(a) to 10(b)). After the carriage 111 has moved to the delivery base position P12 and the saddle 15 has been placed above the unloading position P2, the control device 30 causes the motor 231 to rotate the saddle 15 . For example, as shown in FIGS. 12(a), 12(b), and 12(c), the control device 30 rotates the saddle 15 by 90° with the motor 231 to move the second support surface 157 upward. The arm driving device 22 and the joint driving device 24 are controlled so that the saddle 15 is placed at the delivery position P32 while facing toward the second support surface 157 and the steel material 9 is delivered to the carry-out position P2.

Placing the saddle 15 in the delivery position may include rotating the saddle 15 about the end axis 151 180° relative to the orientation of the saddle 15 in the receiving position and placing it in the delivery position. As a result, the transfer in the third mode is performed. For example, the control device 30 rotates the saddle 15 supporting the steel material 9 from below by the first support surface 156 at the receiving position P21 so as to be positioned above the carrying-out position P2, as in the case of the transfer in the first mode. It controls the driving device 21, the arm driving device 22 and the joint driving device 24 (see FIGS. 9(a) to 10(b)). After the carriage 111 has moved to the delivery base position P12 and the saddle 15 has been placed above the unloading position P2, the control device 30 causes the motor 231 to rotate the saddle 15 . For example, as shown in FIGS. 13(a), 13(b), and 13(c), the control device 30 causes the motor 231 to move the saddle through the state in which the second support surface 157 faces upward. 15 is turned 180°, the saddle 15 is placed at the transfer position P33 with the third support surface 158 facing upward, and the arm driving device 22 and Controls the joint drive 24 .

[Effect of Embodiment]
As described above, the steel material transfer apparatus 10 has a loading position where the steel material 9 having the longitudinal direction LD is transported with the longitudinal direction LD along the horizontal first direction, and a position that crosses the first direction. A carriage 111 that reciprocates along a horizontal circular track 114 and a horizontal an arm 14 mounted on the carriage 111 to swing about a base axis 141, a saddle 15 connected to the end of the arm 14 to swing about an end axis 151 parallel to the base axis 141; A driving device for driving the carriage 111, the arm 14, and the saddle 15 so as to place the saddle 15 at a receiving position P21 for receiving the steel material 9 from the carry-in position and delivery positions P31, P32, and P33 for delivering the steel material 9 to the carry-out position. 20 and.

This steel material transfer device 10 has at least two degrees of freedom on the carriage 111, that is, the degree of freedom for swinging the arm 14 around the base axis 141 and the degree of freedom for swinging the saddle 15 around the end axis 151. .
Therefore, it is effective in transferring the steel material 9 with a higher degree of freedom.

The driving device 20 has an arm driving device 22 that swings the arm 14 about the base axis 141 and a saddle driving device 23 that swings the saddle 15 about the end axis 151 independently of the swing of the arm 14. may Since the swing angle of the arm 14 about the base axis 141 and the swing angle of the saddle 15 about the end axis 151 can be changed independently of each other, it is effective in transferring the steel material 9 with a higher degree of freedom. .

The arm 14 has an intermediate joint 142 and is configured to bend at the intermediate joint 142 about an intermediate axis 143 parallel to the base axis 141 and the end axis 151. It may further include a joint drive 24 that bends the arm 14 about the intermediate axis 143 independently of the swing of the saddle 15 . Independently of the swing angle of arm 14 about base axis 141 and the swing angle of saddle 15 about end axis 151, the distance between base axis 141 and end axis 151 can be varied. Therefore, it is possible to flexibly adapt to various variations of the positional relationship between the carry-in position and the carry-out position. For example, it is possible to flexibly adapt even when the heights of the carry-in position and the carry-out position are different. Therefore, it is effective in transferring the steel material 9 with a higher degree of freedom.

The saddle driving device 23 may have a motor 231 provided on the carriage 111 and a transmission unit 232 that transmits the driving force of the motor 231 to the saddle 15 along the arm 14 . By disposing the motor 231 away from the saddle 15, the heat resistance of the saddle 15 can be improved.

The transmission unit 232 may be configured to keep the vertical posture of the saddle 15 constant even when the arm 14 swings or bends when the motor 231 is stopped. The posture of the steel material 9 during transfer can be easily stabilized.

The arm driving device 22 changes the swing angle of the arm 14 with respect to the carriage 111 when arranging the saddle 15 at the receiving position P21 and when arranging the saddle 15 at the delivery positions P31, P32, and P33. 23 may change the swing angle of the saddle 15 with respect to the arm 14 when arranging the saddle 15 at the receiving position P21 and when arranging the saddle 15 at the delivery positions P31, P32 and P33. It is possible to flexibly adapt to various variations of the positional relationship between the carry-in position and the carry-out position.

The joint driving device 24 may change the bending angle of the arm 14 when arranging the saddle 15 at the receiving position P21 and when arranging the saddle 15 at the delivery positions P31, P32, and P33. It is possible to flexibly adapt to various variations of the positional relationship between the carry-in position and the carry-out position.

The driving device 20 performs a first mode transfer in which the steel material 9 received by the saddle 15 at the carrying-in position is transferred to the carrying-out position without being rotated around the rotation axis parallel to the end axis 151 . The arm 14 and the saddle 15 are driven, and the steel material 9 received by the saddle 15 at the carry-in position is rotated 90° around the rotation axis and transferred to the carry-out position in a second mode. , the arm 14 and the saddle 15 are driven, and the steel material 9 received by the saddle 15 at the carry-in position is rotated 180° around the rotation axis and transferred to the carry-out position. , to drive the arm 14 and the saddle 15. Taking advantage of the high degree of freedom, the same device can be used for three types of driving: first mode, second mode and third mode.

The saddle 15 is connected to the end of the arm 14 to swing about the end axis 151 and defines a saddle base 152 having a first support surface 156 and a second support surface 157 perpendicular to the first support surface 156. and a tip 154 projecting from the end of the finger 153 to define a third bearing surface 158 perpendicular to the second bearing surface 157 and opposite the first bearing surface 156. , and the driving device 20 receives the steel material 9 from the loading position and delivers the steel material 9 to the unloading position in the transfer in the first mode. The arm 14 and the saddle 15 are driven so as to support the steel material 9, and when the steel material 9 is received from the loading position in the second mode transfer, the steel material 9 is supported from below by the first support surface 156 and moved to the unloading position. When transferring the steel material 9, the arm 14 and the saddle 15 are driven so as to support the steel material 9 from below by the second support surface 157. The arm 14 and the saddle 15 may be driven so that the first support surface 156 supports the steel material 9 from below, and the third support surface 158 supports the steel material 9 from below when the steel material 9 is delivered to the unloading position. A device that can be adapted to drive in three types of first mode, second mode, and third mode can be realized with a simple configuration of the saddle 15 .

A projection length of the tip 154 from the finger 153 when viewed along the end axis 151 may be smaller than the width of the first support surface 156 . In each mode, holding and releasing of the steel material 9 can be easily performed.

The steel material transfer method by the steel material transfer device 10 includes a carry-in position where the steel material 9 is carried in along a horizontal first direction, and the steel material 9 is carried out along a horizontal second direction that intersects the first direction. A carriage 111 that can reciprocate along a horizontal circular track 114 between the carry-out position and the carry-out position is moved to a receiving base position P11 near the carry-in position, and an arm 14 provided on the carriage 111 is moved along the circular track. 114, the saddle 15 connected to the end of the arm 14 is swung around the end axis 151 parallel to the base axis 141, and the receiving position P21 receives the steel material 9 from the loading position. moving the carriage 111 to the delivery base position P12 near the unloading position; swinging the arm 14 around the base axis 141; swinging the saddle 15 around the end axis 151; and placing the saddle 15 at delivery positions P31, P32, P33 for delivering the steel material 9 to the unloading position.

According to this transfer method, both the arm 14 and the saddle 15 swing when the saddle 15 is placed at the receiving position P21 and when the saddle 15 is placed at the delivery positions P31, P32, and P33. Therefore, the configuration of the transfer device can be effectively utilized for conveying the steel material 9 with a high degree of freedom.

Arranging the saddle 15 at the delivery positions P31, P32, P33 bends the arm 14 about an intermediate axis 143 parallel to the base axis 141 and the end axis 151, so that the unloading position is different in height from the loading position. It may include placing the saddle 15 at delivery positions P31, P32, P33 where the steel material 9 can be delivered. According to this transfer method, the degree of freedom of bending the arm 14 can be effectively used to transfer the steel material 9 from the loading position to the carrying-out position that is different in height from the loading position.

Placing the saddle 15 at the delivery positions P31, P32, P33 may include placing the saddle 15 at the delivery positions P31, P32, P33 without rotating the saddle 15 with reference to the attitude of the saddle 15 at the receiving position P21. . The configuration of the transfer device can be effectively used for transferring the steel material 9 in the first mode.

Arranging the saddle 15 at the delivery positions P31, P32, P33 means that the saddle 15 is rotated 90° about the end axis 151 with respect to the attitude of the saddle 15 at the receiving position P21 to reach the delivery positions P31, P32, P33. may include placing in The configuration of the transfer device can be effectively utilized for transferring the steel material 9 in the second mode.

Arranging the saddle 15 at the delivery positions P31, P32, and P33 means rotating the saddle 15 about the end axis 151 by 180° with respect to the attitude of the saddle 15 at the receiving position P21, and then moving the saddle 15 to the delivery positions P31, P32, and P33. may include placing in The configuration of the transfer device can be effectively used for transferring the steel material 9 in the third mode.

Although the embodiments have been described above, the present invention is not necessarily limited to the above-described embodiments, and various modifications can be made without departing from the scope of the invention.

DESCRIPTION OF SYMBOLS 10... Steel material transfer apparatus, 111... Carriage, 114... Circular track, P11... Base position for receiving, P12... Base position for delivery, 14... Arm, 141... Base axis, 15... Saddle, 151... End axis, 152 Saddle base 156 First support surface 153 Finger 157 Second support surface 154 Tip 158 Third support surface 142 Intermediate joint 143 Intermediate axis P21 Receiving position P31, P32, P33... delivery position, 20... drive device, 22... arm drive device, 24... joint drive device, 23... saddle drive device, 231... motor, 232... transmission unit, 233... pivot gear, 234... saddle shaft gear, 235... Joint gear, 9... Steel material, LD... Longitudinal direction.

Claims (15)

a loading position where a steel material having a longitudinal direction is loaded with the longitudinal direction along a horizontal first direction;
a carriage that reciprocates along a horizontal circular track between a carrying-out position where the steel material is carried out with the longitudinal direction along the second horizontal direction that intersects the first direction;
an arm mounted on the carriage to swing about a horizontal base axis that intersects the circular track;
a saddle connected to the end of the arm for swinging about an end axis parallel to the base axis;
a driving device for driving the carriage, the arm, and the saddle so as to place the saddle at a receiving position that receives the steel material from the loading position and a delivery position that delivers the steel material to the unloading position. Steel transfer equipment. 3. The driving device comprises an arm driving device for swinging the arm about the base axis, and a saddle driving device for swinging the saddle about the end axis independently of the swing of the arm. 2. The steel material transfer device according to 1. The arm has an intermediate joint and is configured to bend at the intermediate joint about an intermediate axis parallel to the base axis and the end axis,
3. The steel material transfer apparatus according to claim 2, wherein said driving device further includes a joint driving device for bending said arm about said intermediate axis independently of swinging of said arm and swinging of said saddle. 4. The steel material transfer apparatus according to claim 3, wherein said saddle driving device has a motor provided on said truck and a transmission unit for transmitting a driving force of said motor to said saddle along said arm. The transmission unit is configured to keep the vertical posture of the saddle constant even when the arm swings or bends when the motor is stopped.
The steel material transfer device according to claim 4. The arm driving device changes a swing angle of the arm with respect to the carriage when the saddle is placed at the receiving position and when the saddle is placed at the delivery position,
6. The saddle driving device according to any one of claims 3 to 5, wherein the saddle driving device changes a swing angle of the saddle with respect to the arm when arranging the saddle at the receiving position and when arranging the saddle at the delivery position. or the steel material transfer device according to claim 1. 7. The joint driving device according to any one of claims 3 to 6, wherein the saddle is arranged at the receiving position and the saddle is arranged at the delivery position, and the bending angle of the arm is changed. The steel material transfer device described. The driving device performs a first mode transfer of transferring the steel material received by the saddle at the loading position to the unloading position without rotating the steel material around a rotation axis parallel to the end axis. driving the carriage, the arm and the saddle;
driving the carriage, the arm, and the saddle so as to rotate the steel material received by the saddle at the carry-in position by 90° about a rotation axis and transfer the steel material to the carry-out position in a second mode; and,
driving the carriage, the arm, and the saddle so as to rotate the steel material received by the saddle at the carry-in position by 180° around a rotation axis and transfer the steel material to the carry-out position in a third mode; 8. The steel material transfer device according to any one of claims 1 to 7, which is configured to be able to execute both. The saddle is
a saddle base connected to the end of the arm for swinging about the end axis and having a first support surface;
a finger projecting from the saddle base to define a second support surface perpendicular to the first support surface;
a tip projecting from an end of the finger to define a third bearing surface perpendicular to the second bearing surface and opposite the first bearing surface;
The drive device
In the transfer in the first mode, the steel material is supported from below by the first support surface both when the steel material is received from the loading position and when the steel material is delivered to the unloading position. driving the arm and the saddle;
In the transfer in the second mode, the first support surface supports the steel material from below when the steel material is received from the carry-in position, and the second support surface when the steel material is transferred to the carry-out position. driving the arm and the saddle so as to support the steel material from below by
In the transfer in the third mode, the steel material is supported from below by the first support surface when the steel material is received from the carry-in position, and the steel material is delivered to the carry-out position by the third support surface. 9. The steel material transfer device according to claim 8, wherein the arm and the saddle are driven so as to support the steel material from below. 10. The steel material transfer device according to claim 9, wherein a projection length of said tip from said finger is smaller than a width of said first support surface when viewed from a direction along said end axis. A horizontal circular track between a loading position where the steel material is loaded along a first horizontal direction and a loading position where the steel material is loaded along a second horizontal direction crossing the first direction. moving a carriage reciprocable along to a receiving base position proximate the loading position;
An arm provided on the carriage is swung around a base axis perpendicular to the circular track, a saddle connected to the end of the arm is swung around an end axis parallel to the base axis, and the carrying-in positioning the saddle at a receiving position to receive the steel from a position;
moving the carriage to a delivery base position near the unloading position;
swinging the arm about the base axis, swinging the saddle about the end axis, and arranging the saddle at a delivery position for delivering the steel material to the unloading position. Placing the saddle in the delivery position bends the arm about an intermediate axis parallel to the base axis and the end axis to bring the steel material to the unloading position at a different height than the loading position. 12. The steel material transfer method according to claim 11, comprising arranging said saddle at said delivery position where delivery is possible. 13. The steel material transfer according to claim 11 or 12, wherein placing the saddle at the delivery position includes placing the saddle at the delivery position without rotating the saddle based on the attitude of the saddle at the receiving position. loading method. Placing the saddle in the delivery position includes placing the saddle in the delivery position by rotating the saddle 90° about the end axis relative to the orientation of the saddle in the receiving position. 13. A steel material transfer method according to Item 11 or 12. Placing the saddle in the delivery position includes rotating the saddle 180° about the end axis with respect to an orientation of the saddle in the receiving position and placing the saddle in the delivery position. 13. A steel material transfer method according to Item 11 or 12.

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