JP4004774B2 - Hydraulically operated gripping device for cargo handling work such as industrial waste - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
In the present invention, for example, when removing demolition waste of a structure made of reinforced concrete, work such as grasping the demolition waste with a plurality of gripping claws or attracting it to an electromagnet and loading it into a dump truck efficiently The present invention relates to a hydraulic gripping device for cargo handling work such as industrial waste, which has an improved gripping claw turning mechanism.
[0002]
[Prior art]
First, for the convenience of explanation, a schematic configuration of a hydraulic gripping device (hereinafter simply referred to as a gripping device) will be described with reference to FIG. 1 as an embodiment of the present invention.
This gripping device A1 is attached in a hanging manner to the tip of a work arm E attached to a self-propelled vehicle D equipped with a caterpillar. Alternatively, it can be attached to an overhead traveling crane or the like.
A disc-shaped electromagnet 1 for attracting and lifting iron scraps is attached to the lower surface of the gripping device A1.
A plurality of, for example, six gripping claws 2 for gripping industrial waste and the like are attached in a radial arrangement so as to surround the outer periphery of the electromagnet 1. Each gripping claw 2 is rotated up and down by a dedicated hydraulic cylinder (see FIG. 2).
[0003]
FIG. 2 shows a conventional gripping device 200.
This gripping device (referred to as “orange grapple” in the industry) 200 includes a vertically long block-shaped main body 201 as a base member.
A connecting portion 202 is provided at the upper end of the main body 201 so as to be detachably connected to the tip of the working arm E.
On the outer periphery of the lower end portion of the main body 201, the base end portion of the gripping claw 203 for jointly gripping industrial wastes and the like is pin-connected to six locations spaced at equal intervals.
And the hydraulic cylinder 204 for rotation of the gripping claw 203 is pin-connected in a bridging manner between the upper end portion of the main body 201 and a location separated from the base end portion of the gripping claw 203 by a predetermined distance.
The rotation range of each gripping claw 203 is limited between a gripping position indicated by a virtual line in the drawing and a grip releasing position rotated substantially horizontally as indicated by a solid line.
[0004]
[Problems to be solved by the invention]
Therefore, even if the electromagnet 205 for attracting iron scraps or the like is attached to the lower surface of the gripping device 200 as shown by a one-dot chain line in FIG. There are many cases in which the gripping claws 203 protruding in the way get in the way and cannot be sucked well.
Also, for example, in the nearest place such as the retaining wall of the industrial waste stock yard, the inner corner of the place where the walls face each other at right angles, etc., the gripping claws 203 protruding to the side are in the way, The electromagnet 205 cannot be brought on the iron scrap or the like.
[0005]
Furthermore, another disadvantage of the conventional gripping device is that when a plurality of gripping claws jointly grips hard and irregular shaped waste materials, an excessive concentrated load is applied to some gripping claws. In some cases, the pistons of the hydraulic cylinders used for moving moved backwards and missed waste materials.
[0006]
Therefore, the main object of the present invention is to rotate each gripping claw from a substantially horizontal grip release position to a position where it rises further upward, and attach an electromagnet attached to the lower end portion of the gripping device to the gripping claw. It is an object of the present invention to provide a hydraulically operated gripping device for cargo handling work such as industrial waste that can be fully utilized without being disturbed by the above.
[0007]
An additional object of the present invention is that when a plurality of gripping claws jointly grips hard and irregular shaped waste materials, an excessive concentrated load is applied to some gripping claws. It is an object of the present invention to provide a hydraulically operated gripping device that can solve the problem that the piston of a moving hydraulic cylinder moves backward.
[0008]
[Means for Solving the Problems]
In order to achieve the above object, a hydraulically operated gripping device for cargo handling work such as industrial waste according to the present invention is as follows:
An electromagnet that attracts iron material and a plurality of gripping claws that are disposed around the periphery of the electromagnet and rotate up and down by a hydraulic cylinder to grip waste material,
When using an electromagnet, it has an upward turning means to turn the gripping claw that gets in the way until it is almost upright,
The upward turning means includes a first connecting pin for connecting an intermediate portion spaced from the base end of the gripping claw to a mounting base of the gripping claw, and a base end portion of the gripping claw at the piston rod of the hydraulic cylinder. A second connecting pin for connecting to the tip of the mounting base, and a third connecting pin provided on the top of the mounting base for connecting the base of the hydraulic cylinder,
Normally, when the magnetic attraction surface positioned above the tip of the gripping claw is brought into contact with a flat surface such as the ground, the tip of the gripping claw is pushed up, and when the gripping claw is rotated downward, the axis of the hydraulic cylinder The first connecting pin located inside the core wire is brought into a positional relationship such as being displaced to the outside of the shaft core wire, so that the gripping claw can be rotated upward.
The upward turning means includes a first connecting pin for connecting an intermediate portion spaced from the proximal end of the gripping claw to a mounting base of the gripping claw, and a base end portion of the gripping claw. 2 connection pins, a fourth connection pin assembled at a position on the tip side of the first connection pin, a lower hydraulic cylinder for downward rotation of the gripping claws, and an upper hydraulic cylinder for upward rotation,
The tip ends of the piston rods of the lower and upper hydraulic cylinders are connected to the second connecting pin and the fourth connecting pin, and the base ends of the lower and upper hydraulic cylinders are the third connection provided on the top of the mounting base. You may comprise so that it may connect with a pin.
Alternatively, the upward turning means includes a first connecting pin for connecting an intermediate portion spaced from the base end of the gripping claw to a mounting base of the gripping claw, and a base end portion of the gripping claw. A third connecting pin and a fifth connecting pin provided on the upper part of the mounting base of the two connecting pins and the gripping claws at a predetermined interval in the vertical direction;
A lower hydraulic cylinder for downward rotation of the gripping claws and an upper hydraulic cylinder for upward rotation;
The tip of the piston rod of the lower and upper hydraulic cylinders is connected to the second connecting pin, and the base end side of the lower and upper hydraulic cylinders is connected to the fifth and third connecting pins. May be.
In addition, the hydraulic cylinder that rotates the gripping claw is used to prevent the hydraulic cylinder from moving backward due to excessive concentrated load on some gripping claws when gripping waste materials etc. with multiple gripping claws. , Built-in reverse movement prevention mechanism,
The reverse movement prevention mechanism includes a free piston housed in the proximal end of the hydraulic cylinder, a drive piston having a piston rod housed in the distal end and connected to the gripping claws, and a free piston connected to the base in the cylinder. In order to move forward by a predetermined distance from the end, it is equipped with a normally closed solenoid valve that controls the supply and shutoff of hydraulic pressure to the hydraulic port on the back side, and its opening and closing means,
When using the gripping claw, before starting the operation, open the normally closed solenoid valve for a short time and move the free piston forward, then close the normally closed solenoid valve and lock it in the forward position. ,
In order to use the electromagnet, the normally closed electromagnetic valve may be maintained open when the gripping claw is rotated to the upright state.
[0009]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, the gripping device A1 according to the first embodiment of the present invention will be described with reference to FIGS. 1 and 3 to 11.
FIG. 3 is a front view showing the gripping device A1 in a state where the gripping claw 2 is rotated in a substantially horizontal direction.
The gripping device A <b> 1 includes a vertically long block-shaped main body 3 that serves as a mounting base for the gripping claws 2 and the electromagnet 1. As shown in FIG. 1 described above, a connecting portion 4 is provided at the upper end of the main body 3 so as to be detachably connected to the tip of a work arm E attached to the self-propelled vehicle D.
[0010]
A disc-shaped electromagnet 1 is concentrically attached to the lower end of the main body 3. Small arms 5 are projected in a radial arrangement at six locations spaced equidistantly around the outer periphery of the electromagnet 1.
A first connecting pin 6A is assembled to the tip of each small arm 5.
And the gripping claw 2 has the 1st connection pin 6A axially fitted in the pin hole provided in the intermediate location spaced apart from the base end by predetermined spacing.
[0011]
Further, the second connecting pin 6B is assembled to the proximal end portion of the gripping claw 2.
Reference numeral 100 denotes a hydraulic cylinder for rotating the gripping claw 2 up and down, and includes a cylinder 11 and a piston rod 14 as will be described later.
As shown in FIG. 3, the base end of the cylinder 11 is connected to a third connecting pin 6C assembled to the upper portion of the main body 3, and the tip of the piston rod 14 is connected to the second connecting pin 6B.
[0012]
Next, the operation of the gripping device A1 of this embodiment will be described.
First, the operation in the case of picking up industrial waste or the like by using a total of six gripping claws 2 will be described with reference to FIGS.
FIG. 3 shows a state in which the hydraulic cylinder 100 is completely retracted. At this time, the gripping claw 2 is rotated upward to a substantially horizontal position.
[0013]
When the piston rod 14 is gradually moved forward from this state, the gripping claws 2 begin to rotate downward as shown in FIG.
When the forward movement is finished, as shown in FIG. 5, the tips of the six gripping claws 2 are gathered at one point, and the six gripping claws 2 cooperate to completely remove the waste material and the like. It will be in a state of holding.
[0014]
From this state, the work arm E is operated to lift the gripping device A1, move it to a predetermined position, and then move each hydraulic cylinder 100 backward. As shown in FIG. In order to release, each gripping claw 2 returns to a fully open state.
[0015]
Next, an operation for picking up iron scraps or the like using the electromagnet 1 will be described with reference to FIGS.
In this case, as shown in FIG. 4, the electromagnet 1 cannot be effectively used when each gripping claw 2 protrudes below the magnetic attraction surface 1 a of the electromagnet 1.
In addition, when the iron scrap to be magnetically attracted is located close to the retaining wall of the work place or the corner of the wall that is bent inward at a right angle, as shown in FIG. The gripping claws 2 that are opened sideways to use the electromagnet 1 are in the way, and the electromagnet 1 cannot be brought to a position directly above the iron scrap.
[0016]
In order to solve this problem, as shown in FIG. 8, it is necessary to rotate each gripping claw 2 upward until it is in an upright state.
However, as shown in FIGS. 3 and 6, when the hydraulic cylinder 100 has been moved backward, the first connecting pin 6 </ b> A serving as the fulcrum of the gripping claw 2 is positioned on the axis X of the hydraulic cylinder 100. (See FIG. 6).
Therefore, even if there is still room for the hydraulic cylinder 100 to further retract, the gripping claw 2 cannot be rotated further upward.
[0017]
However, in the gripping device A1, the tip of the gripping claw 2 is positioned somewhat below the magnetic attraction surface 1a of the electromagnet 1 as shown in FIG. These assembly positional relationships are preset.
Therefore, as seen in FIG. 6, when the tip of the gripping claw 2 is in contact with the flat surface H such as the ground, a gap g is left between the magnetic attraction surface 1 a and the flat surface H.
[0018]
Therefore, from this state, the magnetic attraction surface 1a is brought into contact with the flat surface H as shown in FIG. 7 by the weight of the gripping device A1.
Then, the tip of the gripping claw 2 that is already in contact with the flat surface H is forcibly pushed upward.
As a result, the axis X of the piston rod 14 can be moved to the inside of the first connecting pin 6A as shown in FIG.
[0019]
In such a state, as can be understood from FIGS. 7 and 8, each gripping claw 2 is rotated upwards to the upright state by moving the hydraulic cylinder 100 that has been moved backwards forward. It can be made.
[0020]
By the way, as described above, when gripping hard and irregular shaped waste material or the like by the six gripping claws 2, an excessive concentrated load is applied to some gripping claws 2, and the hydraulic pressure for rotation is applied. The piston rod 14 of the cylinder 100 often moves backward without resisting this load.
In some cases, the remaining material cannot be gripped with only the remaining number of gripping claws 2.
[0021]
In order to prevent such an inconvenience from occurring, the hydraulic cylinder 100 of the gripping device A1 includes a mechanism for preventing the backward movement of the piston rod 14.
Next, the detailed structure and operation of the hydraulic cylinder 100 will be described with reference to FIGS.
[0022]
In the cylinder 11 of the hydraulic cylinder 100, a free piston 12 having no piston rod is provided on the base end side (right end side in the figure), and a driving piston 13 having a piston rod 14 connected to the distal end side is arranged in a column. In the form.
[0023]
The inner diameter of the cylinder 11 is such that a predetermined length portion closer to the proximal end is larger than the distal end portion.
Therefore, a step portion 11a is formed on the inner wall surface of the cylinder 11 at the boundary between the small diameter portion and the large diameter portion, as shown in FIG.
The outer peripheral surface of the free piston 12 is configured so that the large diameter portion on the base end side is in sliding contact with the large diameter portion of the cylinder 11 and the small diameter portion on the distal end side is slidably contacted with the small diameter portion of the cylinder 11. Yes.
[0024]
As shown in FIGS. 9 and 10, a disk-shaped recess is provided on the inner surface of the end face block 11b on the base end side of the cylinder 11 to form a hydraulic port a for moving the free piston 12 forward. ing.
As shown in FIG. 9, a cylindrical hydraulic port b for moving the free piston 12 backward is formed on the rear side of the step portion 11 a of the cylinder 11.
Further, as shown in FIG. 10, the free piston 12 is provided with a through hole c penetrating the axis, and the oil feed pipe projecting inwardly at the center of the end face block 11b in the through hole c. 15 is loosely fitted in a liquid-tight state.
[0025]
On the other hand, the drive piston 13 connected to the piston rod 14 is loosely fitted into a small diameter portion in the cylinder 11.
Then, as shown in FIG. 9, the rear end surface of the drive piston 13 is recessed in a disc shape, and a hydraulic port d for forward movement of the drive piston 13 is formed between the front end surface of the free piston 12. .
Further, by reducing the diameter of the front end portion of the drive piston 13, as shown in FIG. 10, a cylindrical hydraulic port e for retreating the drive piston 13 is formed in this reduced diameter portion. I have to.
[0026]
The surface area of the hydraulic port d is narrower than that of the hydraulic port a on the free piston 12 side.
Therefore, when the free piston 12 and the drive piston 13 are moved forward, first, the drive piston 13 moves forward after the free piston 12 moves forward.
[0027]
21 and 22 are hydraulic pipes (hose) for operating the hydraulic cylinder 100, and the upstream side (the right side in the figure) is connected to a hydraulic pressure generation source via an oil path switching solenoid valve (not shown). .
As shown in FIG. 9, the downstream end of the hydraulic pipe 21 is connected to the lower end of a laterally T-shaped oil passage f provided in the end face block 11 b of the cylinder 11.
The oil passage f communicates with the proximal end side of the oil feeding pipe 15.
[0028]
A normally closed solenoid valve 20 is attached to the upper part of the end face block 11b. The oil inlet 20a communicates with the oil passage f, and the oil outlet 20b communicates with the hydraulic port a. The normally closed solenoid valve 20 and the free drive piston 12 constitute a hydraulic cylinder reverse movement prevention mechanism according to the present invention.
[0029]
As shown in FIGS. 9 and 10, the downstream end of the hydraulic pipe 22 communicates with a hydraulic port b for the free piston 12 and a hydraulic port e for the drive piston 13.
[0030]
Next, the operation of the hydraulic cylinder 100 will be described.
First, when working using only the gripping claws 2 of the gripping device A1, the normally closed electromagnetic valve 20 is energized and opened before starting the work. At this time, the free piston 12 is moved to the retracted position as shown in FIG.
With the energization, as shown in FIG. 10, the hydraulic pipe 21 and the hydraulic port a are communicated via the opened normally closed electromagnetic valve 20.
[0031]
Therefore, the free piston 12 moves forward to a position where the forward movement is prevented by the step portion 11 a provided in the cylinder 11.
Accordingly, the hydraulic port b is disconnected from the hydraulic piping 22.
If this state occurs after a while after energization of the normally closed solenoid valve 20, the energization to the normally closed solenoid valve 20 is cut off and the valve is closed.
In this state, the hydraulic port a is disconnected from the hydraulic pipe 21. Accordingly, the hydraulic port a whose internal volume is expanded along with the opening of the valve is closed at the inlet and outlet of the pressurized oil, and free. The piston 12 is prevented from moving backward.
[0032]
Therefore, the use of the gripping claws 2 may be started in the same manner as a conventional gripping device.
As shown in FIGS. 9 and 10, at this time, the hydraulic port d on the forward movement side of the drive piston 13 to which the piston rod 14 is connected communicates with the hydraulic pipe 21 via the oil feed pipe 15 and the oil passage f. The reverse hydraulic port e communicates with the hydraulic pipe 22.
[0033]
During the gripping operation of the gripping claws 2, as described above, an excessive concentrated load is applied to some gripping claws 2 of the six gripping claws 2, and the hydraulic pressure for the gripping claws 2 is increased. Even if the piston rod 14 of the cylinder 100 is forced to move backward, the pressurized oil confined in the expanded hydraulic port a causes the free piston 12 and the drive piston 13 to move backward, and the hydraulic action is cushioned. It will surely block you in the state of being.
Thus, the intended purpose is achieved.
[0034]
Next, in order to use the electromagnet 1 and to rotate each gripping claw 2 upward to the upright state, the normally closed solenoid valve 20 is energized to open, and the free piston 12 is moved backward. Thereafter, when the power is turned off, the free drive piston 12 is locked at the retracted position shown in FIG.
[0035]
By the way, there is some room for improvement in the gripping device A1 of the above embodiment.
This is because, as already described, when the electromagnet 1 is desired to be used, the gripping claw 2 that gets in the way is pushed up to the state shown in FIG. Similarly, the operation of moving the axis X of the hydraulic cylinder 100 to the inside of the first connecting pin 6A by pressing the tip of each open gripping claw 2 against the flat surface H once is required. .
[0036]
Such an operation is a little cumbersome, and there is not always an affordable flat surface H beside the work machine.
Accordingly, the gripping devices A2 and A3 of the second and third embodiments, which will be described below, have been considered to eliminate such an extra operation.
[0037]
12 to 16 show a gripping device A2 of a second embodiment according to the present invention.
In the gripping claw 2 of this embodiment, a shaft hole (not shown) of the first connection pin 6A is provided at an intermediate position spaced apart from the base end thereof, and the second connection pin 6B is provided at the base end portion of the gripping claw 2. In addition, a fourth connection pin 6D is assembled at a location spaced a predetermined distance from the first connection pin 6A toward the distal end side.
[0038]
Further, as shown in FIG. 15 and the like, the hydraulic cylinder for turning each gripping claw 2 includes a lower hydraulic cylinder 101 that receives a lower turning area from a substantially horizontal direction, and a like shown in FIG. In addition, an upper hydraulic cylinder 102 having an upper rotation area from a substantially horizontal direction is provided as shown in the figure.
[0039]
That is, the lower hydraulic cylinder 101 has the base end of the cylinder 11 connected to the third connecting pin 6C and the tip of the piston rod 14 connected to the second connecting pin 6B.
In the upper hydraulic cylinder 102, the base end of the cylinder 11 is connected to the third connecting pin 6C, and the tip of the piston rod 14 is connected to the fourth connecting pin 6D.
[0040]
Next, in order to use the electromagnet 1, the operation when the gripping claws 2 that are in the way are rotated upward to the standing state as shown by phantom lines in FIG. 13 will be described.
First, for example, when the hydraulic cylinders 101 and 102 on both the upper and lower sides are moved backward from the state shown in FIG. 14 and the gripping claws 2 are turned upward, as shown in FIG. When the two connecting pins 6A and 6B reach the state where both of the connecting pins 6A and 6B are located on the axis X of the hydraulic cylinder 100, the lower hydraulic cylinder 101 cannot further rotate the gripping claws 2 upward.
[0041]
However, as understood from FIG. 15, the upper hydraulic cylinder 102 further rotates the gripping claws 2 upward.
Accordingly, the second connecting pin 6B is moved to the inner side of the axis X as shown in FIG.
Then, next, when the lower hydraulic cylinder 101 is shifted to the forward operation, the grasping claw 2 can be turned to the upright state as understood from FIG. 16, and the intended purpose is achieved. Is done.
[0042]
Next, FIG. 17 shows a gripping device A3 according to a third embodiment of the present invention.
The first and second connecting pins 6A and 6B are assembled to the gripping claws 2 of the gripping device A3 in the same arrangement as the gripping device A1.
On the other hand, on the upper part of the main body 3, a fifth connection pin 6E is assembled at a lower position spaced apart from the third connection pin 6C by a predetermined distance.
[0043]
The lower hydraulic cylinder 101 for gripping and actuating the gripping claws 2 extends between the second connecting pin 6B and the fifth connecting pin 6E as shown in the figure.
On the other hand, the upper hydraulic cylinder 102 for raising the gripping claws 2 upwardly extends between the second connecting pin 6B and the third connecting pin 6C.
Description of the operation of the gripping device A3 is omitted.
[0044]
Incidentally, the gripping device A1 (A2, A3) according to the present invention is provided with another characteristic mechanism in addition to the rotation mechanism of the gripping claws 2.
That is, although not shown, the gripping device is connected with a hydraulic pressure generator, a hydraulic hose extending from the power source, and a power supply line.
Therefore, even if you want to change the position of each gripping claw by rotating the gripping device freely to the left and right on the horizontal plane so that it is easy to grip waste materials, etc., the conventional gripping device twists the hose and electric wires. As a result, it was necessary to limit the pivotable angle to a narrow range, and the operability was poor.
[0045]
Therefore, in the gripping device A1 (and A2, A3) of the present invention, a device rotation mechanism for freely rotating left and right on the horizontal plane is assembled to the connecting portion 4 at the upper end of the main body 3.
The apparatus rotating mechanism B will be described below with reference to FIGS.
[0046]
18 is a conceptual explanatory diagram of the assembly state of the device rotation mechanism B to the gripping device A1, FIG. 19 is a top view of FIG. 18, and FIG. 20 is the front / rear direction of the main body 3 on the horizontal plane. It is the longitudinal cross-sectional view which showed the part of the rotation mechanism for making it rotate 360 degree | times.
As shown in FIG. 20, the circular substrate 31 serving as the bottom plate of the connecting portion 4 is provided with a shaft hole 31a at the center thereof.
Further, a bearing 33 for rotatably supporting the internal gear 32 is attached to the peripheral edge of the lower surface of the circular substrate 31.
Then, the pinion 34 meshed with the internal gear 32 is rotated forward and reverse by an oil motor 35 installed on the circular substrate 31.
[0047]
A bottom plate 36 is fixed to the bottom surface of the internal gear 32.
Then, as shown in FIG. 18, the main body 3 assembled with the gripping claws 2 and the electromagnet 1 has its upper end connected to the lower surface of the bottom plate 36.
[0048]
Furthermore, as shown in FIG. 20, a cylindrical joint 41 is fixed coaxially to the shaft hole 31a at the center of the upper surface of the circular substrate 31.
Then, as shown in FIGS. 21 and 22, the upper end portion of the rotating columnar body 42 is loosely fitted in the inner space portion of the cylindrical joint 41 in a non-removed state.
In the cylindrical joint 41, pipe joints 43a and 43b for connecting hydraulic pipes (21, 22) extending from a hydraulic pressure generation source to two places on the cylindrical wall are formed in penetrating shapes at different height positions. Provided.
[0049]
On the other hand, the rotating cylinder 42 is provided with two oil passages 44a and 44b extending vertically so that the upper end of each is sealed.
In addition, ring-shaped oil passages 45a and 45b are provided on the upper outer peripheral surface of the rotating cylindrical body 42 at height positions corresponding to the pipe joints 43a and 43b, and the respective oil passages are connected to the oil passages 44a and 44b. Communicate.
The lower ends of the oil passages 44a and 44b are branched into a plurality of branch passages as shown in FIG.
A pipe joint 46 for connecting hydraulic hoses (not shown) extending from the plurality of hydraulic cylinders 100 is provided at the end of each branch path.
Further, as shown in FIG. 22, a wiring hole 47 for inserting a power supply line (not shown) to the electromagnet 1 is provided in the axial core portion of the rotating cylindrical body 42.
[0050]
Further, the lower end of the rotating cylindrical body 42 is formed in a prismatic shape as shown in FIG. 21 to form a prismatic joint 42A.
Then, as shown in FIG. 18, this prismatic joint 42A is inserted into a square hole 48a in the middle of a shelf 48 fixed to the hollow portion 3a of the cylindrical main body 3.
Therefore, the rotating cylindrical body 42 is rotated following the rotational movement of the main body 3.
[0051]
A rotary power distribution connector 50 shown in FIGS. 23 and 24 is connected to the upper end surface of the cylindrical joint 41.
This power distribution connector 50 has a cylindrical case 52 with a top surface closed on an annular plate-like bottom plate 51, and a short columnar relay rotating body 53 in the inner space of the case. It has a configuration in which it is loosely fitted in the retaining state.
Then, the engaging hole 53a (see FIG. 23) provided on the bottom surface of the relay rotating body 53 is fitted into the engaging protrusion 42a (see FIG. 22) protruding from the top surface of the rotating cylindrical body 42. It is designed to rotate together.
[0052]
On the peripheral wall of the cylindrical case 52, as shown in FIG. 24, horizontal through holes 54a to 54c are bored at three positions with different height positions (54b is hidden in the figure and cannot be seen). .
Movable contacts 55a to 55c that are urged inward by springs are loosely fitted in the respective through holes 54a to 54c. Each contact is electrically connected to fixed terminals 56a to 56c connected to a power source.
[0053]
Ring-shaped conductors 57a to 57c for slidingly contacting the movable contacts 55a to 55c are embedded in the outer peripheral portion of the rotary contact 53 at different height positions.
Then, three sets of terminals 58a to 58c that are respectively connected to the ring-shaped conductors 57a to 57c are provided on the bottom end face of the relay rotating body 53.
The feeder (not shown) connected to each terminal passes through the wiring hole 47 provided in the rotating cylindrical body 42 and is connected to the electromagnet 1 below the wiring hole 47.
[0054]
Next, the operation of the device rotation mechanism B will be described.
When the oil motor 35 is started by the operation panel provided in the cab of the self-propelled vehicle D, as understood from FIGS. 20 and 18, the internal gear 32 is attached to the upper surface, and the main body 3 is attached to the lower surface. The suspended bottom plate 36 starts normal rotation or reverse rotation.
[0055]
Accordingly, each gripping claw 2 and the attached hydraulic cylinder 100 are rotated together with the main body 3.
Each hydraulic cylinder 100 and the pipe joint 46 at the lower end of the rotating cylindrical body 42 are connected in a fixed state by a hydraulic hose.
However, since the rotating cylinder 42 is connected to the main body 3 via the shelf plate 48 as described above, it rotates together with the main body 3.
Therefore, even if the main body 3 rotates, no tensile force is exerted on the hydraulic hose.
[0056]
The upper end portions of the oil passages 42a and 42b provided in the rotary cylinder 42 are connected to the pipe joints 43a and 43b provided in the cylindrical joint 41 in a fixed state via the ring-like oil passages 45a and 45b. Communicating with
Therefore, each hydraulic cylinder 100 and the hydraulic pressure generation source are kept in communication with each other while the rotary cylinder 42 is rotating.
[0057]
In addition, a power supply line (not shown) connected to the electromagnet 1 is connected to terminals 58 a to 58 c provided on the relay rotating body 53 of the power distribution connector 50 through a wiring hole 47 provided on the rotating cylindrical body 42. ing.
However, as described above, since the relay rotator 53 is also rotated together with the main body 3, the power supply line is never pulled along with the rotation of the main body 3.
[0058]
【The invention's effect】
As is apparent from the above description, a hydraulically operated grip for cargo handling work such as industrial waste according to the present invention having a configuration in which a plurality of gripping claws are arranged around the outer periphery of the electromagnet attached to the lower end of the gripping device. The apparatus has excellent practical effects as listed below compared with the conventional similar apparatus.
(A) The gripping claw that is obstructive when the electromagnet is used can be flipped up substantially vertically above the magnetic attraction surface.
(B) Therefore, the difficulty of the conventional apparatus that the gripping claws are in the way and the electromagnet cannot be brought close to iron scraps can be solved.
(C) In addition, even if you want to attract iron scraps, etc., located near the retaining wall of the work site or corners of the wall with an electromagnet, the gripping claws protruding around the outer periphery of the electromagnet will get in the way The problem that cannot be made is also solved.
(D) Furthermore, since the hydraulic cylinder has a built-in reverse movement prevention mechanism, even when a concentrated load is applied to some gripping claws when a plurality of gripping claws jointly grab the demolition waste material, etc. As in the conventional apparatus, there is no problem that the piston rod of the hydraulic cylinder for rotation is pushed back and cannot be gripped well.
(E) The conventional device has a narrow rotation angle so that the hydraulic piping and the power supply line are not pulled even if it is desired to rotate the gripping device freely on a horizontal plane so that it is easy to grip irregular shaped waste materials. However, the device of the present invention in which the device rotation mechanism is assembled is excellent in operability because it can rotate 360 degrees.
[Brief description of the drawings]
FIG. 1 shows an embodiment of the present invention, and is a sketch of a gripping device connected to the tip of a working arm of a self-propelled vehicle in a state where each gripping claw is flipped upward.
FIG. 2 is a diagram illustrating a conventional example of a gripping device, and is an explanatory diagram of a rotation range of a gripping claw.
FIG. 3 shows a first embodiment of the gripping device according to the present invention, and is a front view of the gripping device with a gripping claw opened in a substantially horizontal direction.
FIG. 4 is a front view of the state where the gripping claws are being closed.
FIG. 5 is a front view showing a state where the gripping claws have been closed.
FIG. 6 is a front view of the state in which the tip of the gripping claw is brought into contact with a flat surface such as the ground in the state where the hydraulic cylinder for rotating the gripping claw is operated backward in order to use the electromagnet.
FIG. 7 is a front view showing a state where the magnetic attraction surface of the electromagnet is grounded by the weight of the gripping device.
FIG. 8 is a front view of a state in which the hydraulic cylinder is moved forward and the gripping claws are flipped upward.
FIG. 9 is a longitudinal sectional view showing a hydraulic cylinder incorporating a backward movement preventing mechanism according to the present invention, in a state where the hydraulic cylinder is moved backward.
FIG. 10 is a longitudinal sectional view showing a state in which the backward movement preventing mechanism is operated.
FIG. 11 is a longitudinal sectional view showing a gripping operation state of a gripping claw as in the above.
FIG. 12 is a front view of a gripping device according to a second embodiment of the present invention in a state in which a gripping claw is closed.
FIG. 13 is an explanatory diagram of a rotation range of the gripping claw as above.
FIG. 14 is a front view of the state in which the gripping claws are half closed.
FIG. 15 is a front view of the state in which the gripping claws are opened in a substantially horizontal direction.
FIG. 16 is a front view of the state in which the gripping claws are being flipped upward.
FIG. 17 is a front view of a gripping device according to a third embodiment of the present invention in a state where a gripping claw is closed.
FIG. 18 is an explanatory view of a device rotation mechanism according to the present invention, and is a schematic front view showing a state in which this mechanism is assembled to a gripping device.
FIG. 19 is a top view of FIG.
FIG. 20 is a partial longitudinal front view of the main part for showing the overall configuration of the apparatus rotation mechanism.
FIG. 21 is a partially broken perspective view showing a state where the rotating columnar body is assembled to the cylindrical joint.
22 is a partially longitudinal front view of FIG.
FIG. 23 is a perspective view of the power distribution connector.
FIG. 24 is a longitudinal sectional view of the power distribution connector.
[Explanation of symbols]
A1 to A3 gripping device
B Device rotation mechanism
D Self-propelled vehicle
E Working arm
H flat surface
100 Hydraulic cylinder
101 Lower hydraulic cylinder
102 Upper hydraulic cylinder
X Shaft core wire of hydraulic cylinder
1 Electromagnet
1a Magnetic attraction surface
2 gripping claws
3 Body (Mounting base)
4 connecting parts
5 Small arm
6A 1st connecting pin
6B Second connecting pin
6C 3rd connecting pin
6D 4th connecting pin
6E Fifth connecting pin
11 cylinders
11a Stepped part
11b End face block
12 Free piston
13 Drive piston
14 Drive piston rod
15 Oil supply pipe
20 Normally closed solenoid valve
20a Oil inlet
20b Oil outlet
21, 22 Hydraulic piping
a, b, d, e Hydraulic port
c Through hole
f Oil passage
31 Circular substrate
31a Shaft hole
32 Internal gear
33 Bearing
34 Pinion
35 Oil motor
36 Bottom plate
41 Cylindrical joint
42 Rotating cylinder
42A prismatic joint
42a engagement protrusion
43a, 43b Piping joint
44a, 44b Oil passage
45a, 45b Ring-shaped oil passage
46 Piping joint
47 Wiring hole
48 shelves
48a square hole
50 Power distribution connector
51 Bottom plate
52 Cylindrical case
53 Rotating body for relaying
54a-54c through hole
55a-55c Movable sliding contact
56a-56c fixed terminal
57a-57c Ring conductor
58a to 58c terminals

Claims (4)

An electromagnet that attracts iron material and a plurality of gripping claws that are disposed around the periphery of the electromagnet and rotate up and down by a hydraulic cylinder to grip waste material,
When using an electromagnet, it has an upward turning means to turn the gripping claw that gets in the way until it is almost upright,
The upward turning means includes a first connecting pin for connecting an intermediate portion spaced from the base end of the gripping claw to a mounting base of the gripping claw, and a base end portion of the gripping claw at the piston rod of the hydraulic cylinder. A second connecting pin for connecting to the tip of the mounting base, and a third connecting pin provided on the top of the mounting base for connecting the base of the hydraulic cylinder,
Normally, when the magnetic attraction surface positioned above the tip of the gripping claw is brought into contact with a flat surface such as the ground, the tip of the gripping claw is pushed up, and when the gripping claw is rotated downward, the axis of the hydraulic cylinder The hydraulically operated type characterized in that the first connecting pin located inside the core wire is brought into a positional relationship such as being displaced to the outside of the shaft core wire so that the gripping claw can be rotated upward. Grab device. An electromagnet that attracts iron material and a plurality of gripping claws that are disposed around the periphery of the electromagnet and rotate up and down by a hydraulic cylinder to grip waste material,
When using an electromagnet, it has an upward turning means to turn the gripping claw that gets in the way until it is almost upright,
The upward rotation means includes a first connecting pin for connecting an intermediate portion spaced from the proximal end of the gripping claw to a mounting base of the gripping claw, and a second connection assembled to the proximal end portion of the gripping claw. A pin and a fourth connecting pin assembled at a position closer to the tip than the first connecting pin, a lower hydraulic cylinder for downward rotation of the gripping claws, and an upper hydraulic cylinder for upward rotation,
The tip ends of the piston rods of the lower and upper hydraulic cylinders are connected to the second connecting pin and the fourth connecting pin, and the base ends of the lower and upper hydraulic cylinders are the third connection provided on the top of the mounting base. A hydraulically operated gripping device connected to a pin. An electromagnet that attracts iron material and a plurality of gripping claws that are disposed around the periphery of the electromagnet and rotate up and down by a hydraulic cylinder to grip waste material,
When using an electromagnet, it has an upward turning means to turn the gripping claw that gets in the way until it is almost upright,
The upward rotation means includes a first connecting pin for connecting an intermediate portion spaced from the proximal end of the gripping claw to a mounting base of the gripping claw, and a second connection assembled to the proximal end portion of the gripping claw. A third connecting pin and a fifth connecting pin provided on the upper part of the mounting base of the pin and the gripping claw at a predetermined interval in the vertical direction;
A lower hydraulic cylinder for downward rotation of the gripping claws and an upper hydraulic cylinder for upward rotation;
The piston rod tips of the lower and upper hydraulic cylinders are connected to a second connecting pin, respectively, and the base ends of the lower and upper hydraulic cylinders are connected to a fifth connecting pin and a third connecting pin. Hydraulically operated gripping device. The hydraulic cylinder that rotates the gripping claws is designed to prevent the hydraulic cylinder from moving backward due to an excessive concentrated load on some gripping claws when gripping waste materials with multiple gripping claws. The movement prevention mechanism is built in,
The reverse movement prevention mechanism includes a free piston housed in the proximal end of the hydraulic cylinder, a drive piston having a piston rod housed in the distal end and connected to the gripping claws, and a free piston connected to the base in the cylinder. In order to move forward by a predetermined distance from the end, it is equipped with a normally closed solenoid valve that controls the supply and shutoff of hydraulic pressure to the hydraulic port on the back side, and its opening and closing means,
When using the gripping claw, before starting the operation, open the normally closed solenoid valve for a short time and move the free piston forward, then close the normally closed solenoid valve and lock it in the forward position. ,
The hydraulic operation according to any one of claims 1 to 3, wherein the normally closed solenoid valve is kept open when the gripping claw is rotated to the up position in order to use the electromagnet. Type gripping device.

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