JP2739309B2 - Ten thousand bar dispenser - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for distributing bars in a stacking station for stacking steel materials.

[0002]

2. Description of the Related Art Normally, a plurality of steel materials are conveyed in a stacked state, such as when a steel material such as a mold steel is shipped from a rolling line. At a later date, the handling of the stacked steel materials must be handled. In order to keep it easy, generally, a bar of wood or the like is distributed on the steel material of each stage with a predetermined interval in the longitudinal direction of the steel material and oriented perpendicular to the steel material, and a gap is maintained between the upper and lower steel materials. A plurality of steel materials are stacked.

[0003] Conventionally, when distributing bars in steel, steel bars are stacked in advance in a bar storage box having an open lower end, and stored in a box storage box using a roller chain or a rotary type bar feeder. The technique of feeding one by one from the lowermost end and distributing it directly on a plurality of steel materials in each stage has been put to practical use. But,
Since the load of the stored bars is applied to the bars that are fed from the lowermost end of the box, there is a problem that the bars cannot be fed smoothly.

On the other hand, Japanese Patent Application Laid-Open No. 7-41173 discloses that
A self-propelled trolley that travels along the stacking station, a movable table that is mounted on the self-propelled trolley so as to be movable in the traveling direction, and on which a plurality of stacked sticks are placed; A transfer robot having a clamp claw capable of holding a bar and an operating arm for moving the clamp claw between a holding position for holding the bar on a movable table and a predetermined bar distribution position on steel; A multi-rod distributing device which is attached to a movable table and has a lifting mechanism for raising and lowering a plurality of rods on the movable table is described.

[0005] In this multi-rod distribution device, the self-propelled trolley travels to a predetermined position, and then the movable table is moved and moved up and down by an elevating mechanism, so that the position of the next rod to be gripped is set to a required height. After being positioned at the position, the clamped claw clamps one of the positioned rods, and then guides the clamp claw to a predetermined rod distribution position on the steel material to distribute the rods. is there.

[0006]

However, there is no description about a means for transporting a plurality of sticks to the movable table in the stick dispensing device of the above publication. For example, a plurality of rods can be transported onto the movable table by a transport means such as a crane, but in this case, the work load is large and the work efficiency is low, so that the work efficiency of distributing the rods is reduced. . In addition, since no consideration is given to the means for detecting the position of the self-propelled vehicle in the traveling direction, the transfer robot provided on the self-propelled vehicle ensures that the bar is moved to a predetermined bar distribution position on steel. Cannot be positioned.

[0007] When the step width of the plurality of steel materials is longer than the length of the ten thousand bars, it is necessary to distribute the two ten thousand bars in a shifted state on the plurality of steel materials. Since the structure is such that it can hold only ten thousand bars, there is a problem that the work efficiency of distributing a plurality of ten thousand bars on the steel material is extremely low. SUMMARY OF THE INVENTION It is an object of the present invention to efficiently transfer a ten thousand bar pallet containing a plurality of ten thousand bars from a pallet station onto a self-propelled carriage in a ten thousand bar distribution device, and to distribute a ten thousand bar to a predetermined ten thousand bar on steel material. And to improve the work efficiency of distributing a plurality of rods on a steel material.

[0008]

According to a first aspect of the present invention, there is provided a steel material distributing apparatus for distributing ten thousand bars to a stacking station for stacking steel materials, wherein the steel bar is movably provided along the stacking station. A self-propelled trolley and a plurality of multi-pole pallets arranged in a pallet station located on the opposite side of the stacking station with respect to the traveling path on which the self-propelled trolley travels, each of which includes a plurality of multi-pole pallets. A multi-pole pallet, a pallet transfer device that is provided on the self-propelled trolley and transfers the multi-pallet at the pallet station onto the self-propelled trolley, And a transfer robot for distributing to the stacking station.

In the case of distributing the bars to the stacking station by the bar distributing apparatus, the self-propelled truck travels along the stacking station, stops at a predetermined stop position where the bars can be distributed, and then transfers. The robot dispenses the ten thousand sticks of the ten thousand stick pallet on the self-propelled carriage to the predetermined ten thousand stick distribution position of the stacking station. During the work of distributing the sticks, if all the sticks on the stick pallet placed on the self-propelled trolley are consumed, the work of dispensing the sticks is temporarily suspended, and the empty stick pallet and the pallet station on the self-propelled trolley are emptied. The operation of exchanging the ten thousand pallets containing a plurality of ten thousand bars is executed. In this case, first, the empty pallet on the self-propelled carriage is transferred to the pallet station by the pallet transfer mechanism, and then one of the plurality of pallets arranged at the pallet station is placed on the self-propelled carriage. After the transfer, the work of replacing the pallet is completed, and the work of distributing the pallet is resumed.

[0010] In a second aspect of the present invention, the steel material distributing device is a position detecting means for detecting a position of the self-propelled vehicle in a traveling direction, wherein the tooth is provided so as to extend along a traveling path. And a position detecting means including a belt attached to the self-propelled trolley and a pinion meshing with the toothed belt and a rotary encoder for detecting a rotation amount of the pinion. That is, by providing the position detection means for detecting the position of the self-propelled vehicle in the traveling direction, the transfer robot provided on the self-propelled vehicle allows the plurality of bars to be distributed to a predetermined plurality of bar distribution positions of the stacking station. Positioning and distribution can be performed reliably. Further, the position detecting means has a simple structure including a toothed belt, a pinion, and a rotary encoder, which is very advantageous in terms of manufacturing cost.

According to a third aspect of the present invention, in the steel material distributing apparatus according to the second aspect, the pallet transfer device includes a lifter table on which a multi-ply pallet is placed, a lifting means for lifting and lowering the lifter table, a lifter table and a lifting and lowering means. And a transfer trolley for supporting the means. That is, the transfer trolley is moved to the pallet station, inserted into the lower side of the multi-pole pallet, the lifter table is raised by the lifting / lowering means, and the multi-pole pallet is placed on the lifter table. When the pallet is moved onto the trolley, the ten thousand pallets placed at the pallet station are transferred onto the self-propelled trolley. After that, the lifter table is lowered.

According to a fourth aspect of the present invention, there is provided a steel material distributing apparatus according to the third aspect of the present invention, wherein alignment detecting means for detecting that the positions of the all-pole pallet of the pallet station and the transfer trolley of the pallet transfer apparatus match. Is provided. That is, by providing the positioning detecting means, the self-propelled trolley can be easily and reliably positioned at a position where the ten thousand pallets of the pallet station can be transferred to the self-propelled trolley.

According to a fifth aspect of the present invention, in the steel material distributing apparatus according to the third aspect, the transfer robot is provided with gripping means for gripping a set of two bars, and the self-propelled truck does not form a pair. A temporary table is provided for temporarily storing odd odd bars. That is, when the stacked width of the steel material is longer than the length of the ten thousand bars, and two ten thousand bars are distributed to the predetermined ten thousand bar distribution position of the stacking station, two ten thousand bars can be gripped at once by the gripping means. In addition, the work efficiency of distributing ten thousand bars to the stacking station can be significantly improved. In addition, by providing a temporary placing table, an odd number of sticks that do not form a pair of two on the self-propelled vehicle are temporarily placed on the temporary placing table, and then the odd number of sticks that do not become a pair of two. Then, the two rods can be gripped by the gripping means and distributed to the stacking station.

[0014]

Embodiments of the present invention will be described below with reference to the drawings. The ten thousand bar distribution device of the present embodiment is an example in which the present invention is applied to a ten thousand bar distribution device that distributes ten thousand bars to a stacking station for stacking steel materials.

As shown in FIG. 1, a loading pile facility 1 provided at the end of a steel material production line 2 has a stacking station 3 for stacking steel materials W and a steel material transferred to the stacking station 3. There are provided a multi-distribution device 4 for distributing ten thousand bars A on W, a pallet station 5 capable of disposing a plurality of ten thousand bars pallets 21 each accommodating a plurality of ten thousand bars A, and the like. At the end portion of the steel material production line 2, the steel material W conveyed by the plurality of conveying rollers 6 is transferred to the stacking station 3 by conveying means (not shown) such as a crane. At the end of the steel material production line 2, a stopper 7 for stopping the steel material is provided.

As shown in FIGS. 1 and 3, a plurality of pedestals 11 on which a steel material W is placed and supported are arranged at regular intervals on the pile table 10 of the stacking station 3. Is provided with a steel stopper 12 for positioning the steel W. A plurality of steel materials W transferred from the steel material manufacturing line 2
And are laid in order from the side of the ten thousand bar distribution device 4 side by side. For example, six steel materials W are placed and supported on the pedestal 11 for each step.

As shown in FIGS. 1 to 3, a pair of rails 8 is laid along the stacking station 3 in front of the stacking station 3. The self-propelled carriage 20 of the device 4 is provided so as to be able to travel. A pallet station 5 provided on the side opposite to the step stacking station 3 with respect to the traveling path of the self-propelled trolley 20 has a plurality of pallet placing sections 13 capable of placing a ten thousand pallets 21.
Are arranged side by side in the traveling direction of the self-propelled trolley 20, and a pair of rails 14, on which the transfer trolley 42 arranged on the self-propelled trolley 20, can run, are provided in each pallet arrangement section 13 in the front-rear direction. Is laid. In the left front part of the loading pile equipment 1, a control panel 15 for a ten-bar distribution device is provided.

The ten-bar distribution device 4 will be described. FIG.
As shown in FIG. 3, the multi-distribution device 4 includes a self-propelled vehicle 20 movably provided along the stacking station 3.
A plurality of ten thousand pallets 21 arranged in the pallet station 5, each of which contains a plurality of ten thousand A, and a ten thousand pallet 21 of the pallet station 5 provided in the self-propelled carriage 20. A pallet transfer device 22 for transferring the device 21 onto the self-propelled trolley 20; a position detecting mechanism 23 for detecting the position of the self-propelled trolley 20 in the traveling direction; The positioning detection mechanism 24 for detecting that the position of the transfer truck 42 matches the position of the transfer truck 42, and the bar A of the bar pallet 21 provided on the self-propelled truck 20 on the self-propelled truck 20 are transferred to the stacking station 3. It is composed of a transfer robot 25 for distributing (10,000 bar distribution robot) and the like.

First, the multi-pole pallet 21 will be described. As shown in FIGS. 4 and 5, the multi-pole pallet 21 is configured as an L-shaped pallet when viewed from the side. It is stacked in multiple stages in the left-right direction, and a pair of phosphorus trees B is interposed between each stage of the bar A in the front-rear direction. As shown in FIG. 5, in each pallet placing section 13 of the pallet station 5,
1 is placed on a pair of support members 16 provided on both ends of a pair of rails 14, that is, in a state where the transfer carriage 42 can be inserted below it.

The self-propelled carriage 20 will be described. As shown in FIGS. 2 and 3, in addition to the pallet transfer device 22 and the transfer robot 25, the temporary placing table 8
9 is attached, a wooden box collecting box device 30, a bottom plate piece storage box 31 adjacent to the wooden box collecting box device 30, a robot control panel 32 for driving and controlling the transfer robot 25, and other than the transfer robot 25. And a local control panel 33 for driving and controlling the above devices and actuators.

On the other hand, a pair of driven wheels 34 rolling on a pair of rails 8 and an electric motor 3
5, a pair of driving wheels 36, a rotary encoder 72 of the position detecting mechanism 23, and the like are mounted. As shown in FIGS. 2 and 5, the drive shaft 37 of the pair of drive wheels 36 includes:
A sprocket 38 connected to a sprocket of the electric motor 35 via a chain is fixed. Self-propelled trolley 2
0, the other end of the cable carrier 39 having one end fixed to the traveling road surface side is fixed.
, Electric wires, air hoses, and the like for connecting the control panel 15 for the ten-bar distribution device, the robot control panel 32, and the local control panel 33 are provided.

The pallet transfer device 22 will be described.
As shown in FIGS. 4 and 5, the pallet transfer device 22 includes a lifter table 40 on which the all-purpose pallet 21 is placed, a lifting mechanism 41 for lifting and lowering the lifter table 40, and a lifter table 40 and the lifting mechanism 41. A transfer cart 42 to be supported;
A movable body 43 disposed below the transfer carriage 42; and a first drive mechanism 44 for driving the movable body 43 to move in the front-rear direction.
And a second drive mechanism 45 for moving the transfer carriage 42 in the front-rear direction with respect to the movable body 43.

The lifting mechanism 41 provided inside the transfer carriage 42 has a pair of left and right air cylinders 48,
Two pairs of link members 47 having a central portion rotatably connected are provided on the left and right, and a piston rod 49 of an air cylinder 48 is connected to an end of one of the link members 47 of the pair of link members 47. Structure, a pair of air cylinders 48
, The lifter table 40 can be moved up and down between a position indicated by a broken line accommodated inside the transfer vehicle 42 and a position indicated by a chain line projecting upward from the transfer vehicle 42. I have.

On the slightly left side of the center of the self-propelled carriage 20,
A pair of guide frames 50 having a U-shaped cross section are fixed in the front-rear direction via a support member 51, and a pair of rails on which the wheels 46 of the transfer vehicle 42 roll are mounted on the guide frames 50. 52 are provided respectively. On the other hand, four guide rollers 53 are rotatably mounted on the movable body 43, and these guide rollers 53 are rotatably guided by a pair of guide frames 50. It is arranged movably in the front-rear direction on the side.

First moving and moving the movable body 43 in the front-rear direction
The driving mechanism 44 includes the mounting member 5 fixed to the movable body 43.
5, both ends of which are connected to the chain 5, four sprockets 58, 59 for guiding the chain 56 back and forth of the self-propelled carriage 20, and a drive disposed between the pair of sprockets 59. It is composed of a sprocket 57 and an electric motor 54 for driving the driving sprocket 57.

A second drive mechanism 45 for moving the transfer carriage 42 in the front-rear direction with respect to the movable body 43 is a motor cylinder 62 fixed to the upper surface of the movable body 43 via mounting members 60 and 61. The output rod 63 is constituted by a motor cylinder 62 having a front end fixed to the lower surface of the front end of the transfer vehicle 42 via a mounting bracket 64. Note that the motor cylinder 62 is an electrically driven cylinder.
Between the self-propelled carriage 20 and the movable body 43 and between the movable body 43 and the transfer carriage 42, electric wiring for connecting the local control panel 33 and the motor cylinder 62, an air hose of the air cylinder 48, and the like are introduced. The installed cable bears 65 and 66 are respectively mounted.

As shown in FIGS. 2 and 3, a position detection mechanism 23 for detecting the position of the self-propelled vehicle 20 in the traveling direction is laid on the floor surface so as to extend along the traveling path of the self-propelled vehicle 20. Toothed belt 70, a pinion 71 and a pinion 7 attached to the self-propelled trolley 20 and engaged with the toothed belt 70.
And a rotary encoder 72 for detecting the amount of rotation of one. A detection signal of the rotary encoder 72 is supplied to the local control panel 33. Alignment detection mechanism 2 that detects that the positions of the ten thousand bar pallet 21 of the pallet station 5 and the transfer cart 42 of the pallet transfer device 22 match.
Reference numeral 4 denotes a detected part 73 made of a permanent magnet piece attached to the rear end of each pallet arrangement part 13 and a detector 74 attached to the front end of the self-propelled carriage 20 and capable of detecting the detected part 73. Have.

Next, a description will be given of the lumber collecting box device 30. As shown in FIG. 4, a lumber collecting box 80 for collecting the lumber B of the all-pole pallet 21 is provided on a mounting table 82, and is opened and closed. The plate 81 is pivotally supported by a shaft member 83 on the right wall side of the phosphorus collection box 80. A lever member 84 is fixed to the opening / closing plate 81 at an opening angle of 90 degrees.

Inside the mounting table 82, an air cylinder 85 whose base end is connected to the self-propelled vehicle 20 side and an air supply unit 86 for supplying air to the air cylinder 85 are arranged. The piston rod 87 of the air cylinder 85 is connected to the distal end of the lever member 84, and is configured to open and close the opening / closing plate 81 over a position indicated by a solid line and a chain line by driving the air cylinder 85. I have. At a substantially central portion of the inner surface of the opening / closing plate 81, a plate-shaped phosphorus receiving member 88 is provided.
When the phosphorus tree B is dropped from the robot hand device 95, the phosphorus tree B is once received by the phosphorus tree receiver 88,
Thereafter, when the open / close plate 81 is closed, the phosphorus tree collection box 80 is closed.
It is to be collected inside.

The transfer robot 25 will be described. As shown in FIGS. 2 and 3, the articulated transfer robot 25
Is a robot main body 90 fixed on the self-propelled carriage 20.
, A rotary table 91 rotatably connected to the upper end of the robot main body 90, a first arm 92 rotatably connected to the rotary table 91, and a swingably connected to the first arm 92. A second arm 93, a robot hand device 95 mounted on the hand of the second arm 93, and the like.

The robot hand device 95 will be described. As shown in FIGS. 6 to 9, the robot hand device 95
Is an elongated main body frame 10 having a length equal to or greater than the length of the rod A and having a central portion attached to the tip of the second arm 93.
0, and a pair of first gripping members 101, 10 which are respectively provided downward from both end portions of the main body frame 100 and face each other.
2 and a pair of second gripping members 103 and 10 which are shifted to the left side of the pair of first gripping members 101 and 102, and are respectively provided vertically downward from both end portions of the main body frame 100 to face each other.
4 and a first immovable in the length direction of the main body frame 100.
A pivoting mechanism 105 that pivotally supports the gripping member 101 so as to be switchable between a clamping position for clamping the bar A and a retracted position in which the gripping member 101 is swung toward the clamping release side; Drive mechanism 106, which drives the first and second gripping members 103 and 104, and a multiple rod position detecting mechanism 107 which detects the position of the multiple rod A to be gripped by the pair of second gripping members 103 and 104; A pair of link pressing mechanisms 108 capable of switching between a pressing position for pressing the tree B on the upper surface of the two rods A gripped by the gripping members 101 to 104 to the rod A and a pressing release position; , And a floor plate distribution mechanism 109 for distributing a floor plate C used in combination with the ten thousand bar A.

As shown in FIGS. 6, 7, and 9, the pair of first gripping members 101 and 102 are attached to the main body frame 100 via the pivotal support mechanism 105 and attached to the rear first gripping member 101. On the other hand, the first gripping member 102 on the front side is movably mounted in the length direction of the main body frame 100 via a guide mechanism 130 provided on the lower surface side of the main body frame 100, and is attached to the upper surface side of the main body frame 100. The air cylinder 133 is driven to move in the guide direction. That is, by moving the first gripping member 102 in the length direction of the main body frame 100, the bar A can be held.

On the other hand, a pair of second gripping members 103 and 104
In the above, the second gripping member 103 on the rear side is mounted movably in the length direction of the main body frame 100 via a guide mechanism 140 provided on the lower surface side of the main body frame 100,
The air cylinder 143 attached to the upper surface of the main body frame 100 is driven to move in the guide direction, and the second
The holding member 104 is fixed to the lower surface of the main body frame 100. That is, by moving the second gripping member 103 on the rear side in the length direction of the main body frame 100, the bar A can be held.

The pivot mechanism 105 will be described. FIG. 9-
As shown in FIG. 11, a plate member 115 in a vertical posture is fixed to the rear end of the main body frame 100.
At the top, middle and bottom of the
118 is fixed. The connecting member 1 fixed to the upper end of the first holding member 101 is attached to the lower bracket 118.
An upper front end of the connecting member 120 is connected with a pin, one end of a substantially triangular connection fitting 121 is connected to a bracket 117 at the center with a pin 122, and one end is connected to an upper rear end of the connecting member 120. The other end of the pair of plate members 123 connected to the center of the connection
25.

The swing drive mechanism 106 for driving the first holding member 101 between the holding position and the retracted position has an air cylinder 126 swingably connected to a bracket 116. Piston rod 127
Is connected to the end of the connection fitting 121 with a pin. That is, the air cylinder 126 is driven from the state of the gripping position of the first gripping member 101 in FIG.
27, the connecting fitting 121
Swings, and the connecting member 120 is
The rear end of the upper end is pulled up, and as shown in FIG. 11, the first gripping member 101 is in the retracted position. When the first gripping member in FIG. 10 is in the gripping position, the first gripping member 1
Even if an external force acts in the direction in which the first holding member 101 swings to the retracted position, the first gripping member 101 does not swing because the pins 122, 124, and 125 are linearly located in the vertical direction. .

As shown in FIG. 7, a guide mechanism 130 for guiding the first gripping member 102 in the longitudinal direction of the main body frame 100 includes a guide rail 131 fixed to the lower surface of the main body frame 100 and a first gripping member 102. And a guide block 132 slidably engaged with the guide rail 131. The air cylinder 133 for driving the first gripping member 102 is
0 is fixed to the front upper surface of the
Is fixed to the guide block 132 and the main body frame 10
It is connected to a connection plate 135 extending upward through the right side of the zero.

As shown in FIGS. 6 and 9, the second gripping member 1
The guide mechanism 140 that guides the main body 03 in the length direction of the main body frame 100 includes a guide rail 141 fixed to the lower surface of the main body frame 100 and a guide rail 141 fixed to the upper end of the second gripping member 103 so as to be slidable on the guide rail 141. And a guide block 142 that fits. Second gripping member 1
An air cylinder 143 for driving the valve body 03 is fixed to the rear upper surface of the main body frame 100, and its piston rod is connected to a connecting plate 144 fixed to the guide block 142 and extending upward through the left side of the main body frame 100. ing.

The multiple bar position detection mechanism 107 will be described. As shown in FIG. 6 and FIG.
Is an optical sensor 140 that detects the position of the upper surface of the bar A to be gripped by the pair of second gripping members 103 and 104.
And a pair of front and rear optical sensors 141 for detecting the position of the side surface of the rod A, and the optical sensor 140 is located at the lower center portion of the main body frame 100.
A pair of front and rear optical sensors 141 is attached to the distal end of a mounting member 142 extending downward from the main frame 1.
They are respectively attached to the distal ends of substantially L-shaped mounting members 143 extending from 00 to the lower left.

The phosphorus pressing mechanism 108 will be described.
As shown in FIG. 6 and FIG.
Are the rear gripping members 101 and 103 and the front gripping member 1
02 and 104, each of the linkage press mechanisms 108 is attached to the front end of a piston rod 147 of the air cylinder 146 and the air cylinder 146 fixed to the main body frame 100, respectively. Jaw-shaped pressing plate member 1 whose lower surface is non-slip
45 or the like.

The slab piece distribution mechanism 109 will be described.
As shown in FIGS. 6 and 9, the floor plate distribution mechanism 109 is provided at a rear end portion of the main body frame 100, and a suction member 150 that suctions a floor plate C used in combination with the bar A, and the suction member 150. Air spring cylinder 1 for urging member 150 downward
51, a negative pressure generator for introducing a negative pressure to the suction member 150, a negative pressure supply system including a filter, and the like. The suction member 150 is fixed to the distal end of the piston rod 152 of the air spring cylinder 151. ing.

Next, the operation of the ten-bar distribution device 4 will be described. However, since the length of the bar A is shorter than the step width of the steel material W, each of the predetermined bar distribution positions set at a plurality of positions on the steel material W is a set of two bars A. Be distributed.
When the six steel materials W are juxtaposed on the pedestal 11 of the piling table 10, the work of distributing ten thousand rods by the ten thousand rod distributing device 4 is started. First, the self-propelled trolley 20 travels while detecting the position of the self-propelled trolley 20 in the traveling direction with the position detection mechanism 23, and stops at a predetermined stop position where the bar A can be distributed. Next, the robot hand device 95 of the transfer robot 25
Of the plurality of sticks A stored in the stick pallet 21 on the zero, the two sticks A to be distributed next are driven to move to a position where they can be gripped.

In this case, the positions of the upper surface and side surfaces of the bar A to be gripped by the pair of second gripping members 103 and 104 are detected by the bar position detecting mechanism 107, and the bar A to be gripped is detected. The robot hand device 95 is positioned at a position where it can be gripped by the pair of second gripping members 103 and 104. After that, when the front first holding member 102 and the rear second holding member 103 are moved in the length direction of the main body frame 100, the two rods A are gripped in a state shifted slightly in the length direction. You.

The robot hand device 95 holding the two rods A is driven to move to a predetermined rod distribution position on the six steel materials W laid on the piling table 10, and firstly, a swing drive mechanism. By 106, the first gripping member 101 pivotally supported by the pivoting mechanism 105 is switched from the gripping position to the retracted position, and the first bar A is distributed on the steel material W. Next, the robot hand device 95 is driven by a predetermined stroke in the length direction (forward or backward) of the dispensed bar A, and thereafter, the pair of second gripping members 103 and 104 are switched to the pinched state. Then, as shown in FIG. 2, the second ten thousand rods A are distributed on the steel material W, and the two ten thousand rods A are distributed over the step width of the steel material W. After distributing two rods A to each of the predetermined rod distribution positions set at a plurality of positions in each stage, six steel materials W are laid on the distributed rods A, and again the rods. The distribution device 4 executes the work of distributing the many bars.

Here, there are an odd number of rows A on the rows stacked on the row pallet 21, and the last row A of the row is an odd row that does not form a pair. If it becomes
The ten thousand stick A is two with the ten thousand stick A temporarily placed on the temporary placing stand 89.
One set is held by the robot hand device 95 and distributed on the steel material W. When ten thousand bars A are not temporarily placed on the temporary placing table 89, the odd ten thousand bars A are temporarily placed on the temporary placing table 89.
Will be placed temporarily.

When all of the one-row sticks A stacked on the ten-pole pallet 21 are used, the two phosphorus trees B placed on the plurality of sticks A in the next stage are removed. It is necessary to remove the first and second gripping members 1 in this case.
After gripping two ten thousand rods A at 01 to 104, the first and second gripping members 101 to 101
After pressing two phosphorus trees B on the upper surface of the two rods A gripped by 104 with the pressing plate member 145, respectively, the robot hand device 95 is moved to the upper side of the phosphorus tree collection box device 30 and pressed. When the plate member 145 is switched to the pressing release position, the phosphorus tree B falls downward and is collected in the phosphorus collection box 80.

Next, when all the sticks A on the stick pallet 21 placed on the self-propelled carriage 20 are used, the stick A
Is temporarily suspended, the empty multi-pole pallet 21 on the self-propelled carriage 20 and the plurality of multi-pole A
The operation of exchanging the many-pole pallet 21 accommodating therein is executed. In this case, the self-propelled trolley 20 is moved to the pallet placement section 13 of the pallet station 5 where the many-pole pallet 21 is not placed (the pallet placement section where the many-pole pallet 21 placed on the self-propelled carriage 20 is placed). First, the empty pallet 21 on the self-propelled carriage 20 is transferred to the pallet mounting portion 13 by the pallet transfer device 22.

Thereafter, the self-propelled carriage 20 travels to a predetermined pallet mounting portion 13 on which a plurality of pallets 21 containing a plurality of trolleys A are stored, and a predetermined pallet arrangement is performed by a positioning detecting mechanism 24. Unit 13 and pallet transfer device 22
The self-propelled vehicle 20 stops when the position of the transfer vehicle 42 is matched, that is, when the pair of rails 52 on the self-propelled vehicle 20 and the pair of rails 14 of the pallet placement unit 13 match. ,
After that, the pallet transfer device 22 places the ten thousand pallets 21 of the pallet placing portion 13 on the self-propelled carriage 20,
The operation of distributing ten thousand A by the ten thousand distribution device 4 is restarted.

According to the ten thousand bar distribution device 4, the self-propelled truck 2
Empty pallet 21 and pallet station 5 on 0
When the pallet station 5 for arranging the plurality of pallets 21 accommodates the plurality of pallets 21 that accommodate the plurality of pallets A, The empty pallet 21 on the self-propelled trolley 20 is transferred to the pallet station 5 by the pallet transfer device 22, and a predetermined one of the plurality of pallets 21 arranged in the pallet station 5. A pallet transfer device 22
Thus, the vehicle can be transferred onto the self-propelled carriage 20. As a result, it is possible to efficiently execute the exchange work between the empty multi-pole pallet 21 and the multi-pole pallet 21 accommodating the plurality of multi-poles A, and it is possible to minimize the time for interrupting the multi-pole distribution work.

Since the position detection mechanism 23 for detecting the position of the self-propelled vehicle 20 in the traveling direction is provided, the transfer robot 25 provided on the self-propelled vehicle 20 allows the stage stacking station 3
Can be reliably positioned and distributed at the predetermined distribution position. Further, the position detecting mechanism 23
Is a toothed belt 70 provided to extend along the traveling path, and a toothed belt 7
It has a simple structure including a pinion 71 that meshes with zero and a rotary encoder 72 that detects the rotation amount of the pinion 71, which is very advantageous in terms of manufacturing cost.

The pallet transfer device 22 is used for the ten-pole pallet 2
Lifter table 40 on which the table 1 is placed, and lifter table 4
0, and a transfer carriage 42 supporting the lifter table 40 and the lift mechanism 41. The transfer carriage 42 is moved to the pallet station 5 to Insert the lower part and lift mechanism 4
The lifter table 40 is raised by 1 and the ten thousand pallets 21
Is placed on the lifter table 40, and the transfer cart 4 is
2 can be easily moved onto the self-propelled trolley 20 by moving the multi-pallet 21 of the pallet station 5 onto the self-propelled trolley 20, and the work of exchanging the pallet 21 with the multi-hand pallet 21 can be more efficiently performed. Can be executed Further, a ten thousand bar pallet 21 of the pallet station 5 and a pallet transfer device 22
Of the pallet station 5 to the position where the pallet station 5 can be transferred to the self-propelled vehicle 20 because the positioning detection mechanism 24 for detecting that the position of the self-propelled vehicle 42 matches the position of the self-propelled vehicle 20 can be positioned simply and reliably.

In the robot hand device 95, the pair of first gripping members 101 and 102 and the pair of second gripping members 1
03, 104, two rods A can be gripped and distributed to a predetermined rod distribution position in the stacking station 3;
The work efficiency of distributing is greatly improved. In addition, since the first gripping member 102 on the front side and the second gripping member 103 on the rear side of the main body frame 100 are moved in the length direction of the main body frame 100, two rods A are sandwiched. Since the two rods A are gripped with a slight deviation in the length direction, even if the length of the rod A is not constant and variously varied, the rod A is surely gripped as a set of two rods. Can be distributed.

Further, a pivot mechanism 105 for the rear first gripping member 101 and a swing drive mechanism 106 for driving the first gripping member 101 are provided.
When switching to the retracted position, a pair of gripping members 101 and 102 are provided.
Is dispensed, and when the robot hand device 95 is moved in parallel in the longitudinal direction, it is possible to prevent the rear first gripping member 101 from buffering the dispensed rod A. .

Further, since the bar position detecting mechanism 107 is provided, the bar A whose position is detected and the bar A adjacent thereto are detected.
The robot hand device 95 can be reliably positioned at a position where it can be held, and it is possible to reliably hold two sticks regardless of the shape accuracy of the stick A. Also,
Since a pair of linking trees pressing mechanism 108 that can switch between a pressing position for pressing the pair of link trees B on the upper surface of the two held sets of rods A against the sticks A and a pressing release position is provided, a plurality of The pair of phosphorus trees B on the rod A can be easily removed.

In the vicinity of the rear end of the main body frame 100,
Since the floor plate distributing mechanism 109 is provided, when the suction member 150 is pressed against the floor plate C while introducing a negative pressure to the suction member 150, the floor plate C is adsorbed, and at the predetermined ten thousand bar distribution position of the stacking station 3 When the introduction of the negative pressure to the suction member 150 is released, the suction of the floor plate pieces C to the suction member 150 is released, and the floor plate pieces C can be distributed together with the bar A.

Next, a description will be given of a modification in which the above embodiment is partially modified. 1) In the pallet transfer device 22, various drive mechanisms can be adopted as a mechanism for driving the transfer vehicle 42 to move across the self-propelled vehicle 20 and the pallet placing portion 21. For example, a drive motor for driving the wheels 46 is provided on the transfer carriage 42 instead of the first and second drive mechanisms 44 and 45 by eliminating the movable body 43, and the drive motor is drive-controlled to perform the transfer. You may comprise so that the mounting trolley 42 may be moved.

2) When a plurality of ten thousand sticks A are stacked on the ten thousand stick pallet 21 with an even number of ten thousand sticks A in each stage, the last one ten thousand stick in each stage of the ten thousand stick pallet 21 is loaded. Since A does not become odd, the provisional placing table 89 does not need to be provided. 3] In the robot hand device 95, instead of the first gripping member 101 on the rear side, one of the first gripping member 102 and the pair of second gripping members 103 and 104 is connected to the pivot mechanism 10
5 can be configured to pivotally support the main body frame 100.
However, the robot hand device 9 is located at the predetermined ten thousand bar distribution position.
5, the pivot mechanism 105
Is distributed from the stick A sandwiched by a pair of gripping members including the gripping member pivotally supported by.

[0057]

According to the first aspect of the present invention, a self-propelled vehicle, a plurality of ten thousand bar pallets, a pallet transfer device, and a transfer robot are provided. The pallet transfer device is used even if all the pallets of the pallet placed on the pallet are consumed and it is necessary to replace the empty pallet on the self-propelled carriage with the pallet containing a plurality of pallets at the pallet station. The empty multi-pole pallet on the self-propelled carriage is transferred to the pallet station provided on the opposite side of the stacking station with respect to the traveling path, and then, a predetermined Can be transferred onto a self-propelled truck. In other words, it is possible to efficiently execute the work of exchanging an empty multi-pole pallet and a multi-pole pallet containing a plurality of multi-poles, and to minimize the time for interrupting the multi-pole distribution work.

According to the steel material distributing device of the second aspect, the same effect as that of the first aspect is obtained, but it is a position detecting means for detecting the position of the self-propelled vehicle in the traveling direction, and extends along the traveling path. And a position detecting means including a toothed belt attached to the self-propelled trolley and a rotary encoder for detecting the rotation amount of the pinion and a pinion meshing with the toothed belt provided on the self-propelled trolley side. With the provided transfer robot, it is possible to reliably position and distribute the sticks at the predetermined stick dispensing position of the stacking station.
Moreover, the position detecting means has a simple structure including the toothed belt, the pinion, and the rotary encoder, and is very advantageous in terms of manufacturing cost.

According to the third aspect of the present invention, the same effect as in the second aspect is obtained, but the pallet transfer device includes a lifter table on which a multi-pole pallet is mounted, and a lifting means for lifting and lowering the lifter table. Since it has a transfer truck that supports the lifter table and the lifting / lowering means, move the transfer truck to the pallet station, insert it under the all-purpose pallet, and raise the lifter table with the lifting / lowering means. By placing the multi-pole pallet on the lifter table and moving the transfer trolley onto the self-propelled trolley in this state, the multi-pole pallet of the pallet station can be efficiently transferred onto the self-propelled trolley.

According to the steel material distribution device of the fourth aspect, the same effect as that of the third aspect is exerted, but it is detected that the positions of the all-pole pallet of the pallet station and the transfer cart of the pallet transfer device match. Since the alignment detecting means is provided, the self-propelled trolley can be easily and reliably positioned at a position where the multi-pole pallet of the pallet station can be transferred to the self-propelled trolley.

According to the steel material distributing device of the fifth aspect, the same effect as that of the third aspect is obtained, but the transfer robot is provided with gripping means for gripping a set of two bars, and the self-propelled vehicle has two grippers. Since a temporary placing table for temporarily placing odd rods, which does not form one set, is provided, the steel sheet stacking width is longer than the length of the rods, and two steel rods are placed at the predetermined stacking distribution position of the stacking station. In the case of distributing the sticks, since the holding means can hold two sticks at a time, the work efficiency of distributing the sticks to the stacking station can be remarkably improved. In addition, by providing a temporary placing table, an odd number of sticks that do not form a pair of two on the self-propelled vehicle are temporarily placed on the temporary placing table, and then the odd number of sticks that do not become a pair of two. And set them in pairs, and use gripping means to
The ten thousand bars can be gripped and distributed to the stacking station.

[Brief description of the drawings]

FIG. 1 is a plan view of a loading pile facility including a multi-distribution apparatus according to an embodiment of the present invention.

FIG. 2 is a plan view of a ten-piece distribution device.

FIG. 3 is a right side view of the ten thousand bar distribution device.

FIG. 4 is a view taken in the direction of arrows IV-IV in FIG. 2;

FIG. 5 is a sectional view taken along line VV of FIG. 2;

FIG. 6 is a right side view of the robot hand device.

FIG. 7 is a sectional view taken along the line VII-VII in FIG. 6;

8 is a sectional view taken along line VIII-VIII in FIG.

FIG. 9 is a front view of the robot hand device.

FIG. 10 is a side view of a pivot mechanism (a state in which a first gripping member is located at a holding position).

FIG. 11 is a side view of a pivot mechanism (in a state where a first gripping member is switched to a retracted position).

[Explanation of symbols]

 A 10,000 rods B Lining wood C Laying plate pieces W Steel material 3 stacking stations 40,000 rod distributing equipment 5 Pallet station 20 Self-propelled cart 210,000 rod pallets 22 Pallet transfer equipment 23 Position detecting mechanism 24 Position detecting mechanism 25 Transfer robot (Robot for distributing ten thousand bars) 40 Lifter table 41 Elevating mechanism 42 Transfer cart 70 Toothed belt 71 Pinion 72 Rotary encoder 89 Temporary placing table 95 Robot hand

Claims (5)

(57) [Claims] 1. An apparatus for distributing rods to a stacking station for stacking steel materials, comprising: a self-propelled carriage provided so as to be movable along the stacking station; A plurality of multi-pole pallets arranged at a pallet station located on the opposite side of the step stacking station with respect to the traveling path, each of the plurality of multi-pallets containing a plurality of multi-poles, and provided on the self-propelled carriage. A pallet transfer device for transferring the ten thousand pallets of the pallet station onto the self-propelled trolley; and a pallet transfer device provided on the self-propelled trolley for distributing the ten thousand pallets on the self-propelled trolley to the stacking station. A dispensing device, comprising: a loading robot; 2. A position detecting means for detecting a position of the self-propelled vehicle in a traveling direction, comprising: a toothed belt provided to extend along a traveling path; and a toothed belt provided to the self-propelled vehicle side. 2. The rod distributing apparatus according to claim 1, further comprising a position detecting means including a pinion that meshes with the belt and a rotary encoder that detects a rotation amount of the pinion. 3. The pallet transfer device according to claim 1, further comprising a lifter table on which the multi-ply pallet is placed, an elevating means for elevating the lifter table, and a transfer cart for supporting the lifter table and the elevating means. The ten thousand bar distribution device according to claim 2, characterized in that: 4. The apparatus according to claim 3, further comprising a positioning detecting means for detecting that the positions of the multi-pole pallet of the pallet station and the transfer trolley of the pallet transfer device match. Ten thousand bar dispenser. 5. The transfer robot includes a holding means for holding a set of two sticks, and a temporary placing table for temporarily placing odd sticks that do not form a pair on a self-propelled vehicle. The ten thousand bar distribution device according to claim 3, wherein the device is provided.