JP5025572B2 - Ingot carrying-out device and traveling method of self-propelled working machine for carrying out ingot - Google Patents

Description

The present invention relates to an ingot unloading apparatus that grips and unloads an ingot in a heating furnace, and a traveling method of the ingot unloading apparatus, and more particularly to an ingot unloading apparatus and an ingot that are suitable when the ingot unloading apparatus needs to travel linearly. The present invention relates to a traveling method of a self-propelled working machine for unloading.

  For example, Patent Document 1 discloses an apparatus for conveying an ingot in a heating furnace for forging at a steel mill to a forging die. This apparatus uses a handling robot as a transfer apparatus. As described in Patent Document 1, when the ingot is carried out by a handling robot limited to a predetermined operation range, there are restrictions on the installation positions of the furnace and the forging die. If the ingot is carried out by using a self-propelled working machine capable of traveling on the ground, such a restriction on the installation position is eased.

  When such a self-propelled working machine is used, it is necessary to travel linearly and move after gripping the ingot. As such a work machine, for example, as described in Patent Document 2, it is conceivable to travel linearly while correcting the planned route by controlling the drive device while detecting the position of the work machine.

JP-A-5-92230 JP 2001-262611 A

  As described in Patent Document 2, in the case of traveling while controlling the driving device while correcting the route while detecting the position of the work implement, the altitudes of the left and right driving devices are monitored while monitoring the direction of the traveling body. It is necessary to perform a speed control, and in order to realize this, it is necessary to add a dedicated control device and to modify the hydraulic circuit itself of the travel drive device.

In view of the above problems, the present invention provides an ingot unloading device and an ingot unloading device that enable linear traveling without adding advanced traveling control and modification of the traveling drive device by adding a member having a relatively simple structure. The purpose is to provide a traveling method for a self-propelled working machine .

An ingot carrying-out device according to claim 1 includes: a self-propelled working machine for carrying out an ingot; and a guide rail having a side plate portion that is laid on the ground and vertically raised to guide the traveling direction of the self-propelled working machine. Prepared,
The self-propelled working machine includes a lower traveling body having a track frame, an upper revolving body provided on the lower traveling body, a telescopic arm provided on the upper revolving body, and a swing on the telescopic arm. A gripping device attached via a moving arm,
A pair of left and right guide rollers are provided at the front and rear of the center frame constituting the track frame so as to be rotatable about the vertical axis so as to sandwich the side plate portion of the guide rail, and the self-propelled working machine The guide roller driving means is clamped so as not to cause a gap between the guide roller and the side plate portion of the guide rail during traveling,
A switching valve is provided for connecting and blocking the forward hydraulic circuit and the reverse hydraulic circuit of the left and right traveling hydraulic motors of the lower traveling body.

The ingot carrying-out device according to claim 2 is the ingot carrying-out device according to claim 1,
The telescopic arm is mounted to be movable up and down along an elevating frame attached to the outer periphery of the telescopic arm and an elevating guide frame provided on the upper swing body by a drive device attached to the elevating frame. A balance weight is provided on the side.

The ingot carrying-out device according to claim 3 is the ingot carrying-out device according to claim 1 or 2 ,
The self-propelled working machine is constituted by a remotely operated working machine.

A traveling method of a self-propelled working machine for carrying out an ingot according to claim 4 includes a lower traveling body having a track frame, an upper revolving body provided on the lower traveling body, and a telescopic type provided on the upper revolving body. And a gripping device attached to the telescopic arm via a swinging arm, the gripping device in a self-propelled working machine grips a guide rail having a side plate portion that is vertically raised. Then, after laying the guide rail on the ground on the traveling direction side of the ingot carry-out device, similarly, the other guide rail is gripped to run the self-propelled working machine, and the other guide rail is laid on the other guide rail. The operation of connecting the guide rails is repeated for the length necessary for the traveling of the self-propelled working machine ,
There is a gap between the guide roller and the side plate portion of the laid guide rail between a pair of left and right guide rollers that can rotate around the longitudinal axis provided at the front and rear portions of the center frame constituting the track frame. While holding it so as not to occur ,
The self-propelled working machine is driven by driving the traveling hydraulic motor in a state where the forward hydraulic circuits and the reverse hydraulic circuits of the left and right traveling hydraulic motors of the lower traveling body are short-circuited. It is characterized by running along a rail in a straight line.

  According to the first aspect of the present invention, it is possible to travel with high linearity by causing the ingot carry-out device to travel while sandwiching the guide rail placed on the ground with the guide roller provided on the track frame. In addition, it is possible to achieve this by adding a relatively simple member without the need to modify the traveling hydraulic circuit or the like and perform advanced speed control of the traveling motor.

  According to the invention of claim 2, since the balance weight that balances the weight of the front and rear of the telescopic arm is provided at the rear end of the telescopic arm, the gripping object such as an ingot is gripped by the gripping tool. Uneven load on the front side of the telescopic arm can be reduced, and sliding resistance between the lifting guide frame and the lifting frame can be reduced.

According to the invention of claim 3 , since the self-propelled working machine is a remote control type, it is not necessary for the operator to approach the ingot carrying-out site where the working temperature is high, and the ingot carrying-out work can be easily performed.

According to the invention of claim 4 , traveling with high linearity is possible by the guide roller provided on the track frame and the guide rail placed on the ground. Further, it is possible to carry out by adding a relatively simple member without the need to modify the traveling hydraulic circuit or the like and to perform advanced speed control of the traveling motor. In addition, since the guide rail is laid by the ingot carry-out device itself, a device for laying the guide rail becomes unnecessary.

1 is a side view showing an embodiment of a self-propelled working machine constituting the ingot carrying-out device of the present invention, FIG. 2 is a plan view thereof, FIG. 3 is a plan view showing a configuration of a lower traveling body thereof, FIG. Is a front view thereof. Reference numeral 1 denotes a lower traveling body, and reference numeral 2 denotes a track frame thereof. The track frame 2 includes a center frame 2a on which a turning device 3 is mounted and side frames 2b and 2b provided on the left and right sides thereof. As shown in FIG. 5, traveling hydraulic motors 1a and 1b are attached to the side frames 2b and 2b, respectively, and have crawler belts 4 and 4 driven by these hydraulic motors 1a and 1b.

An upper swing body 5 is installed on the swing device 3, and a hydraulic power unit 6, a cab 7, and a self-propelled working machine 8 for gripping an ingot as a work device are installed on the upper swing body 5. 9 is a elevation guide frame constituting the ingot gripping device, the lifting guide frame 9 is disposed on the upper swing structure 5 is vertically movable mounted lifting frame 10 therein via a slide plate (not shown) . Reference numeral 11 denotes a hydraulic cylinder provided as an elevating drive device for the elevating frame 10. An outer arm 12 a of a cylindrical telescopic arm 12 is fixed to the lifting frame 10.

  The inner arm 12 b of the telescopic arm 12 is fitted in the outer arm 12 a so as to be telescopic by a hydraulic cylinder 13 provided in the telescopic arm 12. At the rear end of the outer arm 12a, the weight balance before and after the support point of the telescopic arm 12 in the hydraulic cylinder 11, that is, the rear part of the telescopic arm 12, the front part of the telescopic arm 12, the swing arm 14 to be described later, and the gripping tool The balance weight 18 is attached in order to balance the weight with the ingot 20 (see FIG. 5) 17 and the ingot 20 to be grasped.

  The swing arm 14 is attached to the tip of the inner arm 12b so as to be swingable up and down by a hydraulic cylinder 16 around a pin 15. The holding tool 17 has a bracket 21 attached to the tip of the swing arm 14 so as to be rotatable about a pin 22. Reference numeral 23 denotes a hydraulic cylinder for rotating the gripping tool 17. One end of the hydraulic cylinder 23 is connected to the swing arm 14 by a pin 24, and the other end is connected to each end of the first link 25 and the second link 26 by a pin 27. The other ends of the first link 25 and the second link 26 are connected to the swing arm 14 and the bracket 21 by pins 28 and 29, respectively.

  The bracket 21 is provided with a gripping claw turning device 31 having a turning motor 30. A fixed claw 33 is fixed to the swivel body 32 of the gripping claw swiveling device 31 and a movable claw 36 is attached to be able to be opened and closed by a hydraulic cylinder 35 around a pin 34.

  FIG. 5 shows a working state in which the ingot 20 is unloaded from the heating furnace 37 using the ingot unloading apparatus. The heating furnace 37 has a door 38 at a front opening 37a, and the door 38 is supported by a flexible motor 40 such as a wire or a chain by an elevating motor 39 installed at the top of the heating furnace 37. Is done. Reference numeral 41 denotes a balance weight for reducing the load applied to the lifting motor 39.

When the ingot 20 is carried out, the door 38 is opened as shown by the solid line, the working machine 8 is positioned at a suitable distance on the front surface of the heating furnace 37, and the telescopic arm 12 is directed to the heating furnace 37. . The height of the telescopic arm 12 is adjusted by the expansion and contraction of the hydraulic cylinder 11, and the height of the gripping tool 17 is adjusted by swinging the swing arm 14 up and down by the expansion and contraction of the hydraulic cylinder 16. Further, the gripping tool 17 is made horizontal by the expansion and contraction of the hydraulic cylinder 23, and the turning claw motor 30 of the gripping claw turning device 31 is turned to turn the fixed claw 33 and the movable claw 36 horizontally as shown in FIGS. To face. Further, the hydraulic claw 35 is contracted to open the movable claw 36. The extendable arm 12 is extended by the extension of the hydraulic cylinder 13 and the gripping tool 17 is placed in the heating furnace 37, and the hydraulic cylinder 35 is extended and the ingot 20 is held. Then, the ingot 20 is lifted by slightly raising the gripping tool 17 by the extension of the hydraulic cylinder 11 or the extension of the hydraulic cylinder 16, and the telescopic arm 12 is contracted by the contraction of the hydraulic cylinder 13 to bring the ingot 20 out of the furnace. Thereafter, the traveling hydraulic motors 1a and 1b of the lower traveling body 1 are driven in the reverse direction to cause the work implement 8 to recede linearly.

  In this ingot carrying-out device, the above-described operation can be performed by wireless remote operation. FIG. 6 is a block diagram showing an apparatus configuration for performing the remote operation. In FIG. 6, 42 is a radio transmitter operated by an operator, 43 is a receiver mounted on the upper swing body 5 and receives an operation signal sent from the transmitter 42, 44 is a traveling hydraulic motor 1a, 1b, Drive device group such as a swing hydraulic motor (not shown) of the swing device 3, hydraulic cylinders 11, 13, 16, 23, 35, hydraulic motor 30, 45 is a control valve group, 46 is a control valve group 45, A manual operation means 47 for the hydraulic power unit 6 and a signal converter 47 for creating an operation signal for the control valve group 45 and a control signal for the hydraulic power unit 6 from a signal from the receiver 44. 48 is a camera (see FIG. 5) provided in the upper part of the upper swing body 3 or the cab 7, 48 a is a transmitter that transmits the imaging screen, and 49 is a radio signal from the transmitter 48 a at a remote location. This display device has a function and images. The operator can remotely operate the work machine at a position away from the work machine while monitoring the display screen of the display device 49.

Next, an apparatus for causing the work machine 8 to travel linearly will be described. As shown in FIGS. 3 and 4, a pair of left and right guide rollers 50, 51 and 52, 53 are attached to the front and rear of the center frame 2a of the track frame 2 with the following structure. Reference numerals 54 to 57 denote arms attached to the front and rear of the center frame 2a by pins 59 to 62, respectively. Guide rollers 50 to 53 are attached to the tips of the arms 54 to 57 so as to be rotatable about the longitudinal axes 63 to 66, respectively. Of the front and rear arms 54 to 57, one of the front and rear arms 54 and 57 is connected and fixed to the center frame 2a by rods 67 and 68 being pinned at both ends. Further, the other arms 55 and 56 on the front side and the rear side are connected to the center frame 2a with both ends pinned by hydraulic cylinders 69 and 70 so that the arms 55 and 56 can swing horizontally.

Reference numeral 72 denotes guide rails that are sandwiched between the left and right guide rollers 50 and 51, and 52 and 53, respectively, when the working machine 8 travels. Here, the guide rail 72 is placed on the ground, and as shown in FIGS. 7A and 7B, has a side plate portion 72b that rises vertically from both ends of the bottom plate portion 72a. Further, the reinforcing plate 72c is welded between the side plate portions 72b and 72b. Further, end plate portions 72 d are welded to both ends of each guide rail 72. The end plate portion 72 d constitutes a connecting portion between the guide rails 72, 72 and is connected by a bolt 73 and a nut 74. Further, in order to prevent the forces in the lateral displacement directions from acting on the bolt 73, the concave and convex fitting portions 75 and 76 are provided, respectively. Further, the upper and lower end plate portions 72d and 72d are not provided with the concave and convex fitting portions 75 and 76, and a pipe 77 having a length matching the depth of the concave and convex portions is interposed between the end plate portions 72d and 72d. By passing the bolt 73 through the pipe 77, the guide rails 72 and 72 are connected without backlash.

  FIG. 8 shows a hydraulic circuit of a traveling hydraulic motor for linear traveling of the work machine. Reference numerals 1a and 1b denote left and right traveling hydraulic motors, and reference numerals 81 and 82 denote control valves of the hydraulic motors 1a and 1b, respectively. The hydraulic power sources 83 and 84 including hydraulic pumps included in the hydraulic power unit 6 are connected to the hydraulic motors 1a and 1b. The direction of the hydraulic oil is switched. Reference numeral 80 is a center joint for connecting a rotary oil passage provided in the swivel device 3, and 85 and 86 are forward-side circuits of the hydraulic motors 1a and 1b (pressure oil is supplied to the circuit 85 or 86 by switching the control valve 81 or 82). When the hydraulic motors 1a and 1b travel in the forward direction), 88 and 89 are respectively supplied to the circuits 88 or 89 by switching the hydraulic motors 1a and 1b on the reverse side (control valve 81 or 82). When the hydraulic motors 1a and 1b travel in the reverse direction). Reference numeral 90 is a switching valve for short-circuiting and shutting off the forward side circuits 85 and 86, and 91 is a switching valve for short-circuiting and shutting off the reverse side circuits 88 and 89.

  Next, operations and operations for linear running of the work machine will be described. In the installation work of the guide rail 72, the switching valves 90 and 91 in FIG. 8 are set to the right blocking position, and the left and right traveling hydraulic motors 1a and 1b are operated in any direction by operating the control valves 81 and 82, respectively. To be able to run. Then, the lower traveling body 1 of the work machine is installed toward the opening 37 a of the heating furnace 37. Further, the hydraulic cylinders 69 and 70 are extended, and the guide rollers 51 and 52 are opened.

Then, as shown in FIG. 9, the guide rail 72 is gripped by the gripping tool 17 by the operation of the driving devices 11, 13, 16, 23, 30, 35 of each part of the gripping device , and between the guide rollers 50, 51 and 52. , 53 and the guide rail 72 is inserted on the ground on the traveling direction side. The hydraulic cylinders 69 and 70 are contracted to sandwich the guide rail 72 between the guide rollers 50 and 51 and 52 and 53. Similarly, the uneven portion 76 at the rear end of the guide rail 72 is fitted into the uneven portion 75 at the front end of the guide rail 72 that is already gripped by the gripping tool 17 and already placed on the ground. 73, the guide rail 72 is coupled using the nut 74 and the pipe 77. Such work is performed for a length necessary for traveling of the work machine. These guide rails 72 are fixed to the ground (including a concrete surface or a surface on which a flooring is laid) with pins or the like as necessary. When the guide rail 72 is laid, the guide rail 72 is first installed on the heating furnace 37 side, and the work guide 8 is moved backward while the new guide rail 72 is already installed on the rear side. A plurality of guide rails 72 may be laid by the procedure of laying and connecting them.

Next, the switching valves 90 and 91 are switched to the left communication position. In this state, for example, when the control valves 81 and 82 are switched to the lower position in the drawing and moved forward, the traveling hydraulic motors 1a, 1a, 1b operates. For this reason, it runs so that there is no difference in running resistance between the left and right guide rollers 50 and 51 or 52 and 53 with respect to the guide rail 72, and the work implement 8 advances straight along the guide rail 72. The same applies to the reverse.

  As described above, the guide rollers 50 to 53 provided on the track frame 2 and the guide rails 72 placed on the ground enable traveling with high linearity. In addition, it is realized by adding relatively simple members such as the guide rail 72 and the guide rollers 50 to 53 without the need to modify the traveling hydraulic circuit or the like and perform advanced traveling control of the traveling hydraulic motors 1a and 1b. Can do. Further, since the guide rail 72 is laid by the ingot carry-out device itself, a device for laying the guide rail 72 is not necessary.

Moreover, according to the apparatus using the guide rail 72 and the switching valves 90 and 91, as in the self-propelled working machine 8 for carrying out the ingot shown in the present embodiment, a relatively high accuracy linear traveling is required. Demonstrates practically effective effects at the work site.

  Further, since the balance weight 18 that balances the weight of the front and rear of the telescopic arm 12 is provided at the rear end of the telescopic arm 12, the telescopic type when the gripping object 17 such as the ingot 20 is gripped by the gripping tool 17. The unbalanced load on the front side of the arm 12 can be reduced, and the sliding resistance between the lifting guide frame 9 and the lifting frame 10 can be reduced.

Further, if the work implement 8 is remote-controlled as in the present embodiment, the operator does not need to approach the work site, and work at a bad work site such as a high work temperature such as an ingot unloading site is easy. Can be done.

  Further, as in the present embodiment, the guide rail 72 is configured to be an add-on type, so that a long guide rail can be configured by adding the guide rail 72 even when the on-site traveling path is long. Driving is possible.

  Further, as in the present embodiment, by allowing the distance between the left and right guide rollers 50 and 51 and between 52 and 53 to be adjusted, the gap is opened before the guide rail 72 is sandwiched between the guide rollers. The initial setting can be easily performed by closing after pinching. Further, since the guide rail 72 can be sandwiched between the left and right guide rollers 50 and 51 and between the left and right guide rollers 52 and 53 without any gap, it is possible to travel with higher linearity.

  The present invention can also be applied when the device mounted on the upper swing body 5 is a work tool other than the gripping device.

It is a side view which shows one Embodiment of the working machine which implements the traveling apparatus by this invention. It is a top view of the working machine of FIG. It is a top view of the lower traveling body of the working machine of this embodiment. It is a front view of the lower traveling body of this embodiment. It is a side view which shows the operation | work which takes out the ingot of a heating furnace using the working machine of this embodiment. It is a block diagram which shows the whole structure of the operating device of this embodiment. (A) is a side view which shows the structure of the connection part of the guide rail of this embodiment, (B) is the cross-sectional view. It is a hydraulic circuit diagram of the travel hydraulic motor of this embodiment. It is a side view explaining the setting operation | movement of the guide rail in this embodiment.

1: lower traveling body, 1a, 1b: traveling hydraulic motor, 2: track frame, 2a: center frame, 2b: side frame, 3: turning device, 4: crawler belt, 5: upper turning body, 6: hydraulic power unit, 7: cab, 8: self-propelled working machine , 9: lifting guide frame, 10: lifting frame, 11: hydraulic cylinder, 12: telescopic arm, 13: hydraulic cylinder, 14: swing arm, 17: gripping tool , 18: balance weight, 21: bracket, 23: hydraulic cylinder, 25, 26: link, 30: turning motor, 31: gripping claw turning device, 32: turning body, 33: fixed claw, 35: hydraulic cylinder, 36: Movable claws, 37: heating furnace, 38: door, 39: lifting motor, 40: flexible support 41: balance weight, 42: wireless transmitter, 43: receiver, 44: drive device group, 45: controller Valve group, 46: manual operation means, 47: signal conversion device, 48: camera, 49: display device, 50-53: guide roller, 54-57: arm, 63-66: shaft, 67, 68: rod, 69 , 70: Hydraulic cylinder, 72: Guide rail, 73: Bolt, 74: Nut, 75, 76: Concavity and convexity fitting part, 77: Pipe, 81, 82: Control valve, 83, 84: Hydraulic source, 85, 86: Forward side circuit, 88, 89: Reverse side circuit, 90, 91: Switching valve

Claims (4)

A self-propelled working machine for carrying out an ingot, and a guide rail having a side plate portion that is laid on the ground and vertically raised to guide the traveling direction of the self-propelled working machine,
The self-propelled working machine includes a lower traveling body having a track frame, an upper revolving body provided on the lower traveling body, a telescopic arm provided on the upper revolving body, and a swing on the telescopic arm. A gripping device attached via a moving arm,
A pair of left and right guide rollers are provided at the front and rear of the center frame constituting the track frame so as to be rotatable about the vertical axis so as to sandwich the side plate portion of the guide rail, and the self-propelled working machine The guide roller driving means is clamped so as not to cause a gap between the guide roller and the side plate portion of the guide rail during traveling,
An ingot carrying-out apparatus comprising a switching valve for communicating and shutting off the forward hydraulic circuit and the reverse hydraulic circuit of the left and right traveling hydraulic motors of the lower traveling body. The ingot carrying-out device according to claim 1,
The telescopic arm is mounted to be movable up and down along an elevating frame attached to the outer periphery of the telescopic arm and an elevating guide frame provided on the upper swing body by a drive device attached to the elevating frame. An ingot carrying-out device characterized in that a balance weight is provided on the side. The ingot carrying-out device according to claim 1 or 2 ,
An ingot carrying-out apparatus, wherein the self-propelled working machine is configured by a remotely operated working machine. A lower traveling body having a track frame, an upper revolving body provided on the lower traveling body, a telescopic arm provided on the upper revolving body, and a swing arm attached to the telescopic arm via a swing arm The guide rail having the side plate portion that is vertically raised is gripped by the gripping device in the self-propelled working machine including the gripping device , and the guide rail is laid on the ground on the traveling direction side of the ingot unloading device. After that, it is necessary to run the self-propelled working machine by gripping another guide rail and running the self-propelled working machine, and connecting the another guide rail to the laid guide rail. Repeated for a long time ,
There is a gap between the guide roller and the side plate portion of the laid guide rail between a pair of left and right guide rollers that can rotate around the longitudinal axis provided at the front and rear portions of the center frame constituting the track frame. While holding it so as not to occur ,
The self-propelled working machine is driven by driving the traveling hydraulic motor in a state where the forward hydraulic circuits and the reverse hydraulic circuits of the left and right traveling hydraulic motors of the lower traveling body are short-circuited. A traveling method for a self-propelled working machine for carrying out an ingot, wherein the traveling method is performed linearly along a rail .

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