JP6973602B1 - Gripping device and transport device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To grip a tube having various outer diameters without requiring a complicated mechanism, and to improve a gripping force. SOLUTION: A gripping device 1 includes a first arm 16, a second arm 17, and a contact portion 15, and the contact portion 15 is located between a first arm 16 and a second arm 17, and is a pipe body to be gripped. It has a curved surface that makes contact. The first arm 16 has a curved surface corresponding to the outer diameter of the pipe body for each of a plurality of predetermined pipe bodies having different outer diameters, and can move in the direction toward and away from the second arm 17. The second arm 17 has a curved surface corresponding to the outer diameter of the pipe body for each of a plurality of predetermined pipe bodies having different outer diameters, and moves in a direction toward and away from the first arm 16 centering on one end side. It is possible. The gripping device 1 has a curved surface corresponding to the outer diameter of the pipe body to be gripped among the curved surfaces of the first arm 16, a curved surface corresponding to the outer diameter of the pipe body to be gripped among the curved surfaces of the second arm 17, and a contact portion. The tubular body is gripped by the curved surface of 15. [Selection diagram] Fig. 2

Description

The present invention relates to a gripping device and a transporting device.

As an invention for gripping a cylindrical object, for example, there is a gripping device disclosed in Patent Document 1 and Patent Document 2. The gripping device disclosed in Patent Document 1 includes a pair of first and second forks. The first and second forks are each arranged so as to face each other with a member having a slightly curved shape, and are rotatably supported by a support bracket. Further, the first and second forks each include a pair of upper and lower gripping pads made of a columnar rubber material. The upper gripping pad is arranged so as to slightly project to the facing fork side, and the lower gripping pad slightly protrudes to the facing fork side and the lower side at the lower end of the fork. It is arranged. When gripping the pipe body with this gripping device, the first and second forks are driven by a hydraulic cylinder and rotate, and each gripping pad grips the outer peripheral surface of the pipe body.

The gripping device disclosed in Patent Document 2 includes first and second gripping arms in which a clamp piece having a rubber pad at the tip thereof is arranged, and an upper holding piece. The first and second gripping arms are arranged so as to face each other, and the upper holding piece is arranged between the first and second gripping arms and can move up and down. When gripping the tube with this gripping device, the rubber pads of the clamp pieces of each arm grip the tube so that it does not fall on both sides below the center of the tube in the radial direction of the tube, and the upper presser piece is placed on the upper part of the tube. Touch and grip the tube from three directions.

Utility Model Registration No. 2584686 Japanese Unexamined Patent Publication No. 7-61763

In the gripping device disclosed in Patent Documents 1 and 2, even if the pipe body to be gripped is replaced with one having a different outer diameter, it is possible to grip the pipe body by changing the contact position with a plurality of gripping pads. ing. However, in the case of the gripping device disclosed in Patent Document 1, the gripping pad has a cylindrical shape, an elliptical cylinder shape, or a prismatic shape, and the portion in contact with the tubular body is a narrow area. The friction is small, and there is a problem with the force to grip the tube. Further, the gripping device disclosed in Patent Document 2 can grip the tube body even if the tube body to be gripped is replaced with one having a different outer diameter, and grips the tube body from three directions. The area in contact with the tube can be made wider than that of the gripping device disclosed in Document 1. However, in the case of the gripping device disclosed in Patent Document 2, the mechanism is complicated because the upper holding piece is moved according to the outer diameter of the tube body.

The present invention has been made in view of the above, and an object thereof is to be able to grip pipe bodies having various outer diameters without requiring a complicated mechanism, and to improve the gripping force. ..

The gripping device according to one aspect of the present invention is a gripping device for gripping a tubular body, and includes a first arm, a second arm, and a contact portion, and the contact portion is a gripping device of the first arm and the second arm. The first arm has a curved surface that is located between them and is in contact with the pipe body to be gripped, and the first arm has a curved surface corresponding to the outer diameter of the pipe body for each of a plurality of predetermined pipe bodies having different outer diameters. The second arm is movable in a direction approaching the second arm and a direction away from the second arm, and the second arm is a curved surface corresponding to the outer diameter of the pipe body for each of a plurality of predetermined pipe bodies having different outer diameters. The curved surface corresponding to the outer diameter of the tubular body to be gripped among the curved surfaces of the first arm, which is movable in a direction approaching the first arm and a direction away from the first arm centering on one end side. , The curved surface corresponding to the outer diameter of the tubular body to be gripped among the curved surfaces of the second arm, and the curved surface of the contact portion grips the tubular body.

In the gripping device according to the present invention, the curved surface of the contact portion may be configured to be an R surface along the outer peripheral surface of the pipe body having the largest outer diameter in the plurality of pipe bodies.

In the gripping device according to the present invention, the first arm is formed of a first arm body and a first elastic body, and in the first arm body, the first arm is on the side facing the second arm. The curved surface of the first arm is an R surface formed by the surface of the first elastic body, and the second arm is a second arm body and a second elastic body. In the second arm body, the second elastic body is arranged on the side facing the first arm, and the curved surface of the second arm is the surface of the second elastic body. It may be configured to be an R surface formed by.

In the gripping device according to the present invention, the first arm body has an R surface corresponding to the outer diameter of the pipe body for each of the plurality of pipe bodies on the side facing the second arm, and the first one. The surface of the elastic body of the first arm body forms an R surface along the R surface of the first arm body, and the second arm body has a plurality of tubular bodies on the side facing the first arm. Each has an R surface corresponding to the outer diameter of the pipe body, and the surface of the second elastic body forms an R surface along the R surface of the second arm body. May be.

In the gripping device according to the present invention, the first arm body and the second arm body may be made of resin.

In the gripping device according to the present invention, the first arm body and the second arm body may be configured to be made of fiber reinforced plastic.

The gripping device according to the present invention may be configured such that the fiber reinforced plastic is a carbon fiber reinforced plastic.

The transport device according to the present invention includes any one of the above-mentioned gripping devices and a vehicle having the above-mentioned gripping device.

According to the present invention, it is possible to grip pipe bodies having various outer diameters without requiring a complicated mechanism, and it is possible to improve the gripping force.

FIG. 1 is a diagram showing a transport device according to an embodiment. FIG. 2 is a view of the gripping device viewed from the −Y side to the + Y side. FIG. 3 is a view of the first arm and the second arm in a state of gripping the tube body in the direction from the −X side to the + X side. FIG. 4 is a view of the first arm viewed from the + X side to the −X side. FIG. 5 is a view of the second arm viewed from the −X side to the + X side. FIG. 6 is a view of the contact portion viewed from the −Z side to the + Z side. FIG. 7 is a diagram showing a state in which the gripping device grips the pipe body. FIG. 8 is a diagram showing a state in which the gripping device grips the tube body. FIG. 9 is a diagram showing a state in which the gripping device grips the tube body.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The present invention is not limited to the embodiments described below. Further, in the description of the drawings, the same or corresponding elements are appropriately designated by the same reference numerals. Furthermore, it should be noted that the drawings are schematic and the dimensional relationships of each element may differ from the actual ones. Even between the drawings, there may be parts where the relationship and ratio of the dimensions are different from each other. Further, the XYZ coordinate axes are appropriately shown in the figure, and the direction will be described by this. The direction in which the X component increases in the space indicated by the XYZ coordinate axes is referred to as the + X direction, and the direction in which the X component decreases is referred to as the −X direction. Similarly, the Y and Z components are also defined as the + Y direction, the −Y direction, the + Z direction, and the −Z direction.

[Embodiment]
FIG. 1 is a diagram showing a transport device 1000 according to an embodiment of the present invention. The transport device 1000 is a device that grips and transports a pipe body at a construction site. The transport device 1000 is roughly classified into a gripping device 1 and a vehicle 2.

The vehicle 2 has a main body portion 2a, a plurality of wheels 2b for traveling, a first boom 2c, a first hydraulic cylinder 2d, a second boom 2e, a second hydraulic cylinder 2f, and a roll portion 2g. The main body 2a has a battery (not shown), a motor (not shown) for driving the wheels 2b, a steering mechanism, and the like. In the vehicle 2, the motor drives the wheels 2b to travel in response to the operation of the remote controller (not shown). Further, the main body 2a has a hydraulic pump and a hydraulic control device (not shown) that drive the hydraulic cylinders of the first hydraulic cylinder 2d, the second hydraulic cylinder 2f, and the gripping device 1.

The first boom 2c is fixed to the main body 2a. A stretchable second boom 2e is rotatably connected to the upper end of the first boom 2c in the direction of arrow A and the direction of arrow B with respect to the first boom 2c.

The first hydraulic cylinder 2d is installed between the second boom 2e and the main body portion 2a. When the first hydraulic cylinder 2d is driven and extended in response to the operation of the controller, the second boom 2e connected to the first hydraulic cylinder 2d rotates in the direction of arrow A, and the first hydraulic cylinder 2d operates the controller. When driven accordingly and contracted, the second boom 2e connected to the first hydraulic cylinder 2d rotates in the direction of arrow B.

The second hydraulic cylinder 2f is arranged along the second boom 2e, and its tip is connected to the tip of the second boom 2e. When the second hydraulic cylinder 2f is driven and extended in response to the operation of the controller, the second boom 2e connected to the second hydraulic cylinder 2f extends in the direction of arrow C, and the second hydraulic cylinder 2f responds to the operation of the controller. When driven and contracted, the second boom 2e connected to the second hydraulic cylinder 2f contracts in the direction of arrow D.

A roll portion 2g for rotating the gripping device 1 is disposed at the tip of the second boom 2e. The roll portion 2g has a motor (not shown), and when this motor is driven according to the operation of the controller, the gripping device 1 rotates in the arrow E direction or the arrow F direction according to the controller operation.

Next, the gripping device 1 will be described. FIG. 2 is a diagram showing the configuration of the gripping device 1. The gripping device 1 is a device for gripping a pipe body such as a steel pipe or a Hume pipe, and has a bracket base 10, a connecting bracket 11, a support bracket 12, a first arm support shaft 13a, a second arm support shaft 13b, and a first arm. It has a bracket 14a, a second arm bracket 14b, a contact portion 15, a first arm 16 and a second arm 17.

The connecting bracket 11 is made of a pair of metal plates facing each other at a predetermined interval in the Y-axis direction, is provided in the + Z direction from the plate-shaped bracket base 10 along the XY plane, and has an angle formed with the bracket base 10. It is a right angle. The connecting bracket 11 is provided with a connecting hole 11a. A support shaft (not shown) included in the roll portion 2g is inserted into the connecting hole 11a, and the connecting bracket 11 is supported by the support shaft.

The support bracket 12 is made of a pair of metal plates facing each other at predetermined intervals in the Y-axis direction, is provided in the −Z direction from the bracket base 10, and has a right angle with the bracket base 10.

The first arm support shaft 13a and the second arm support shaft 13b made of metal are inserted into the holes of the support bracket 12 penetrating in the Y-axis direction and spread between the pair of support brackets 12 in the X-axis direction. Are located parallel to each other with a predetermined interval.

The first arm bracket 14a is made of, for example, metal, and the first arm 16 is fixed by bolts (not shown). Further, the first arm bracket 14a has a hole penetrating in the Y-axis direction, and is supported by the first arm support shaft 13a inserted in the hole. Further, the first arm bracket 14a is connected to a hydraulic cylinder (not shown), and depending on the operation of the hydraulic cylinder, clockwise or counterclockwise with the first arm 16 around the first arm support shaft 13a. Rotate to.

The second arm bracket 14b is made of, for example, metal, and the second arm 17 is fixed by bolts (not shown). Further, the second arm bracket 14b has a hole penetrating in the Y-axis direction, and is supported by the second arm support shaft 13b inserted in the hole. Further, the second arm bracket 14b is connected to a hydraulic cylinder (not shown), and depending on the operation of the hydraulic cylinder, clockwise or counterclockwise with the second arm 17 around the second arm support shaft 13b. Rotate to.

The first arm 16 and the second arm 17 are arms that grip the pipe body to be conveyed. The first arm 16 and the second arm 17 face each other in the X-axis direction, and both have a predetermined width in the Y-axis direction.

FIG. 3 is a view of the first arm 16 and the second arm 17 in a state of gripping the tubular body SP as viewed from the −X side to the + X side. In addition, in FIG. 3, in order to prevent the drawing from becoming complicated, the illustrations other than the first arm 16, the second arm 17, and the pipe body SP are omitted. Further, FIG. 4 is a view of the first arm 16 viewed from the + X side to the −X side. In FIG. 4, the drawings other than the first arm 16 are omitted in order to prevent the drawings from becoming complicated. The first arm 16 is composed of a first arm main body 16a and a first elastic body 16b. The first arm main body 16a is formed by forming a carbon fiber reinforced plastic into a curved shape. The first arm main body 16a has a first convex portion 16c and a first concave portion 16d at the tip thereof, and has a plurality of curved surfaces on the side facing the pipe body to be gripped. The plurality of curved surfaces are curved surfaces provided for each of a plurality of predetermined pipe bodies having different outer diameters, and each curved surface corresponds to the outer diameter of the corresponding pipe body. Specifically, the first arm body 16a is an R150 curved surface SFA corresponding to a tube body having a diameter of 300 mm, an R200 curved surface SFB corresponding to a tube body having a diameter of 400 mm, and an R250 corresponding to a tube body having a diameter of 500 mm. Has a curved surface SFC.

The first elastic body 16b is formed of elastic rubber in a plate shape, and is fixed to the side of the first arm body 16a facing the tube body to be gripped. Since the first elastic body 16b covers the surfaces of the curved surface SFA, the curved surface SFB, and the curved surface SFC, the surface of the first elastic body 16b is also curved along the curved surface SFA, the curved surface SFB, and the curved surface SFC possessed by the first arm body 16a. SFA, curved surface SFB and curved surface SFC are formed. The curved surface SFA, the curved surface SFB, and the curved surface SFC included in the first arm 16 are examples of curved surfaces corresponding to the outer diameters of the pipe bodies for each of a plurality of predetermined pipe bodies having different outer diameters.

FIG. 5 is a view of the second arm 17 viewed from the −X side to the + X side. The second arm 17 is composed of a second arm main body 17a and a second elastic body 17b. The second arm main body 17a is formed by forming a carbon fiber reinforced plastic into a curved shape. The second arm body 17a has a tip formed in a comb-teeth shape and has a second convex portion 17c and a second concave portion 17d at the tip. The width of the tip of the second arm body 17a in the Y-axis direction is narrower than the width of the first recess 16d of the first arm body 16a in the Y-axis direction. Further, the second arm main body 17a has a plurality of curved surfaces on the side facing the pipe body to be gripped, like the first arm main body 16a, and has a curved surface SFA of R150 corresponding to a pipe body having a diameter of 300 mm and a diameter of 400 mm. It has a curved surface SFB of R200 corresponding to the tubular body of the above and a curved surface SFC of R250 corresponding to the tubular body having a diameter of 500 mm.

The second elastic body 17b is formed of elastic rubber in a plate shape, and is fixed to the side of the second arm body 17a facing the pipe body to be gripped. Since the second elastic body 17b covers the surfaces of the curved surface SFA, the curved surface SFB and the curved surface SFC of the second arm body 17a, the surface of the second elastic body 17b also has the curved surface SFA and the curved surface SFB of the second arm body 17a. Along the curved surface SFC, the curved surface SFA, the curved surface SFB, and the curved surface SFC are formed. The curved surface SFA, the curved surface SFB, and the curved surface SFC included in the second arm 17 are examples of curved surfaces corresponding to the outer diameters of the pipe bodies for each of a plurality of predetermined pipe bodies having different outer diameters.

FIG. 6 is a view of the contact portion 15 viewed from the −Z side to the + Z side. In addition, in FIG. 6, in order to prevent the drawing from becoming complicated, the illustration other than the contact portion 15 is omitted. The contact portion 15 is fixedly attached to the support bracket 12 and grips the pipe body to be conveyed together with the first arm 16 and the second arm 17. The contact portion 15 is composed of a contact portion main body 15a and a third elastic body 15b. The contact portion main body 15a is made of carbon fiber reinforced plastic and is provided along the Y-axis direction. The width of the contact portion main body 15a in the Y-axis direction is narrower than, for example, the first arm 16 and the second arm 17. The contact portion main body 15a has a curved SFD of R250 corresponding to a pipe body having a diameter of 500 mm on the side facing the pipe body gripped by the gripping device 1. The third elastic body 15b is formed of elastic rubber in a plate shape, and is fixed to the side facing the pipe body to be gripped in the contact portion main body 15a. The length of the third elastic body 15b in the Y-axis direction is, for example, the same as that of the contact portion main body 15a, but is not limited to the same length. Since the third elastic body 15b covers the surface of the curved surface SFD, a curved surface SFD is also formed on the surface of the third elastic body 15b along the curved surface SFD of the contact portion main body 15a. The curved surface SFD is an example of a curved surface that comes into contact with the tube body gripped by the contact portion 15.

Next, the operation of the gripping device 1 will be described. FIG. 7 is a diagram showing a state in which the gripping device 1 grips a steel pipe Spa having an outer diameter of 300 mm. When the steel pipe Spa is transported by the transport device 1000, the operator operates the controller to drive the first arm 16 and the second arm 17, and the steel pipe Spa is located between the first arm 16 and the second arm 17. To. In a state where the steel pipe Spa is located between the first arm 16 and the second arm 17, the first arm 16 is driven counterclockwise around the first arm support shaft 13a, and the second arm support shaft 13b is centered. When the second arm 17 is driven clockwise, the steel pipe Spa is in contact with the contact portion 15, the first arm 16 and the second arm 17 and is gripped. When the steel pipe Spa is gripped, the first convex portion 16c enters the second concave portion 17d, the second convex portion 17c enters the first concave portion 16d, and the tip of the first arm 16 and the tip of the second arm 17 intersect. do. When the width of the path on which the vehicle 2 travels is narrower than the length of the steel pipe Spa, if the gripping device 1 is rotated by the roll portion 2g and the steel pipe Spa is made vertical, even if the width is narrower than the length of the steel pipe SPA, even if the width is narrower than the length of the steel pipe SPA. Steel pipe Spa can be conveyed.

When the steel pipe Spa is gripped by the gripping device 1, the portion of the first arm 16 and the second arm 17 that comes into contact with the steel pipe Spa is the portion of the curved surface SFA corresponding to the outer peripheral surface of the R150 of the steel pipe Spa. Since the curved surface SFA is a curved surface of R150 along the outer peripheral surface of the steel pipe Spa, the area of contact with the steel pipe Spa in the first arm 16 and the second arm 17 is compared with, for example, the gripping device disclosed in Patent Document 1. Is widened and a large frictional force can be obtained. Therefore, even if the steel pipe Spa is vertically conveyed and conveyed, it is possible to prevent the steel pipe SPA from falling from the gripping device 1. Further, the first elastic body 16b, the second elastic body 17b, and the third elastic body 15b in contact with the steel pipe Spa are made of rubber and elastically deform when they come into contact with the steel pipe Spa. Damage to the outer peripheral surface can be suppressed.

FIG. 8 is a diagram showing a state in which the gripping device 1 grips a steel pipe SPb having an outer diameter of 400 mm. When the first arm 16 and the second arm 17 are driven in the same manner as when gripping the steel pipe SPa, the steel pipe SPb is gripped in contact with the contact portion 15, the first arm 16 and the second arm 17. When the steel pipe SPb is gripped by the gripping device 1, it is the portion of the curved surface SFB corresponding to the outer peripheral surface of R200 of the steel pipe SPb that comes into contact with the steel pipe SPb in the first arm 16 and the second arm 17. Since the curved surface SFB is the curved surface of the R200 along the outer peripheral surface of the steel pipe SPb, the area of contact with the steel pipe SPb in the first arm 16 and the second arm 17 becomes wider as in the case of gripping the steel pipe SPa, and a large friction occurs. You can get power. Further, since the first elastic body 16b, the second elastic body 17b, and the third elastic body 15b in contact with the steel pipe SPb are elastically deformed when they come into contact with the steel pipe SPb, damage to the outer peripheral surface of the steel pipe SPb to be gripped can be suppressed. ..

FIG. 9 is a diagram showing a state in which the gripping device 1 grips a steel pipe SPc having an outer diameter of 500 mm. When the first arm 16 and the second arm 17 are driven in the same manner as when gripping the steel pipe SPa, the steel pipe SPc is gripped in contact with the contact portion 15, the first arm 16 and the second arm 17. When the steel pipe SPc is gripped by the gripping device 1, it is the portion of the curved surface SFC corresponding to the outer peripheral surface of the R250 of the steel pipe SPc that comes into contact with the steel pipe SPc in the first arm 16 and the second arm 17. Since the curved surface SFC is the curved surface of the R250 along the outer peripheral surface of the steel pipe SPc, the area of contact with the steel pipe SPc in the first arm 16 and the second arm 17 becomes wider as in the case of gripping the steel pipe SPa, and a large friction occurs. You can get power. Further, since the first elastic body 16b, the second elastic body 17b, and the third elastic body 15b in contact with the steel pipe SPc are elastically deformed when they come into contact with the steel pipe SPc, damage to the outer peripheral surface of the steel pipe SPc to be gripped can be suppressed. .. Further, when the steel pipe SPc is gripped by the gripping device 1, the curved surface SFD of the contact portion 15 is also the curved surface of the R250 corresponding to the outer peripheral surface of the R250 of the steel pipe SPc, so that the area of contact with the steel pipe SPc at the contact portion 15 is wide. Therefore, a large frictional force can be obtained.

When gripping a steel pipe other than the steel pipe SPa, the steel pipe SPb, and the steel pipe SPc, for example, the steel pipe having an outer diameter in the range of 270 mm to 330 mm has a contact portion 15 with the curved surface SFA of the first arm 16 and the second arm 17. It is gripped by the curved surface SFD of. Since the first arm main body 16a and the second arm main body 17a are made of carbon fiber reinforced plastic and elastically deformed, the curved surface SFA is a curved surface corresponding to the outer diameter of the steel pipe to be gripped.

Further, for example, the steel pipe having an outer diameter in the range of 360 mm to 440 mm is gripped by the curved surface SFB of the first arm 16 and the second arm 17 and the curved surface SFD of the contact portion 15, for example, having an outer diameter of 450 mm to 550 mm. The steel pipe within the range is gripped by the curved surface SFC of the first arm 16 and the second arm 17 and the curved surface SFD of the contact portion 15. Even when a steel pipe having an outer diameter of these is gripped, the first arm main body 16a and the second arm main body 17a are elastically deformed. Therefore, when the steel pipe having an outer diameter within the range of 360 mm to 440 mm is gripped, the curved SFB The curved surface corresponds to the outer diameter of the steel pipe to be gripped, and when the steel pipe having an outer diameter within the range of 450 mm to 550 mm is gripped, the curved surface corresponds to the outer diameter of the steel pipe gripped by the curved surface SFC.

As described above, according to the present embodiment, in order to grip the pipe body by the first arm 16 and the second arm 17 having curved surfaces corresponding to the outer diameter of the pipe body, the pipe bodies having various outer diameters are gripped. It is possible to increase the frictional force with the pipe body, and it is possible to suppress the gripped pipe body from falling from the gripping device 1. Further, according to the present embodiment, even if the pipe bodies having various outer diameters are gripped, the contact portion 15 in contact with the pipe body does not move, so that the configuration is simpler than that of the gripping device of Patent Document 2. There is. Further, according to the present embodiment, since the first elastic body 16b, the second elastic body 17b, and the third elastic body 15b are made of rubber and have a high coefficient of friction, it is possible to prevent the gripped tube body from slipping.

[Modification example]
Although the embodiment of the present invention has been described above, the present invention is not limited to the above-described embodiment and can be implemented in various other embodiments. For example, the present invention may be carried out by modifying the above-described embodiment as follows. The above-described embodiment and the following modifications may be combined. The present invention also includes a configuration in which the components of each of the above-described embodiments and modifications are appropriately combined. Further, further effects and modifications can be easily derived by those skilled in the art. Therefore, the broader aspect of the present invention is not limited to the above-described embodiment or modification, and various modifications can be made.

The vehicle 2 may be configured to include a mechanism that allows the roll portion 2g to rotate in the direction of arrow A and the direction of arrow B with the end of the second boom 2e as a fulcrum. Further, the vehicle 2 may be configured to include a mechanism that allows the roll portion 2g to swing in the width direction of the vehicle 2 with the end portion of the second boom 2e as a fulcrum.

In the above-described embodiment, the first arm main body 16a has a structure in which the portion to which the first elastic body 16b is attached is replaceable, and the second elastic body 17b is also attached to the second arm main body 17a. The portion may be removable or replaceable. According to this configuration, when the first elastic body 16b or the second elastic body 17b deteriorates, the first elastic body 16b or the second elastic body 17b can be easily replaced. Further, the replaceable portion may have not only the curved surface of R150, R200 and R250 described above but also the curved surface other than the curved surface of R150, R200 and R250. According to this configuration, the portion to which the first elastic body 16b is attached and the portion to which the second elastic body 17b is attached are replaced with those having a curved surface corresponding to the outer diameter of the pipe body to be gripped. A pipe body having a pipe diameter other than the pipe diameter described in the embodiment can also be gripped with a large frictional force.

In the above-described embodiment, both the first arm 16 and the second arm 17 have a curved surface SFA, a curved surface SFB, and a curved surface SFC, but only one of the first arm 16 and the second arm 17 has a curved surface. It may have a configuration having SFA, curved surface SFB and curved surface SFC. Further, one of the first arm 16 and the second arm 17 may have a curved surface SFA, and the other may have a curved surface SFB and a curved surface SFC.

In the above-described embodiment, the curved surface SFA, the curved surface SFB and the curved surface SFC are formed on the first arm body 16a and the second arm body 17a, and the surfaces of the first elastic body 16b and the second elastic body 17b are curved surface SFA. The curved surface is along the curved surface SFB and the curved surface SFC, but the surfaces of the first elastic body 16b and the second elastic body 17b are processed to form curved surfaces SFA and curved surfaces on the surfaces of the first elastic body 16b and the second elastic body 17b. The SFB and the curved surface SFC may be formed. Further, also in the contact portion 15, the surface of the third elastic body 15b may be processed to form a curved surface SFD on the surface of the third elastic body 15b.

In the above-described embodiment, the curved surface SFA is a curved surface corresponding to a tubular body having an outer diameter of 300 mm, the curved surface SFB is a curved surface corresponding to a tubular body having an outer diameter of 400 mm, and the curved surface SFC has an outer diameter of 400 mm. Although it is a curved surface corresponding to a pipe body of 500 mm, the curved surface SFA, the curved surface SFB, and the curved surface SFC may be curved surfaces corresponding to outer diameters other than these diameters.

In the above-described embodiment, the curved surface SFA corresponding to the tubular body having an outer diameter of 300 mm is a curved surface of R150, but is not limited to the curved surface of R150. For example, it may be an R surface having an outer diameter within a range of ± 10% of the radius of a tube having a diameter of 300 mm. Further, the curved surface SFB, the curved surface SFC and the curved surface SFD may also be R surfaces within a range of ± 10% of the radius of the corresponding tube.

In the above-described embodiment, the material of the contact portion main body 15a, the first arm main body 16a, and the second arm main body 17a is particularly preferably carbon fiber reinforced plastic having high strength, high rigidity, and light weight as in the present embodiment. However, depending on the weight of the tube to be gripped, for example, if it is a heavy object, it is composed of metal such as aluminum or glass fiber reinforced plastic, fiber reinforced plastic such as Kepler fiber reinforced plastic, and if it is a relatively lightweight tube, it is composed of resin itself. It may be.

In the above-described embodiment, the first elastic body 16b, the second elastic body 17b, and the third elastic body 15b are made of rubber, but the first elastic body 16b, the second elastic body 17b, and the third elastic body 15b are made of rubber. , Not limited to rubber. The first elastic body 16b, the second elastic body 17b, and the third elastic body 15b have elasticity, and the Young's modulus is lower than the Young's modulus of the contact portion main body 15a, the first arm main body 16a, and the second arm main body 17a. There may be.

1 Grip device 2 Vehicle 2a Main body 2b Wheel 2c 1st boom 2d 1st hydraulic cylinder 2e 2nd boom 2f 2nd hydraulic cylinder 2g Roll part 10 Bracket base 11 Connecting bracket 11a Connecting hole 12 Support bracket 13a 1st arm support shaft 13b 2nd arm support shaft 14a 1st arm bracket 14b 2nd arm bracket 15 contact part 15a contact part main body 15b 3rd elastic body 16 1st arm 16a 1st arm main body 16b 1st elastic body 16c 1st convex part 16d 1st concave portion 17 2nd arm 17a 2nd arm body 17b 2nd elastic body 17c 2nd convex part 17d 2nd concave part 1000 Transport device

Claims (7)

It is a gripping device that grips the tube body.
Equipped with a first arm, a second arm and a contact portion,
The first arm has a curved surface along an arc of the radius of the pipe body for each of a plurality of predetermined pipe bodies having different outer diameters, and the direction toward the second arm and the direction away from the second arm. Movable and
The second arm has a curved surface along an arc of the radius of the pipe body for each of a plurality of predetermined pipe bodies having different outer diameters, and the direction approaching the first arm centering on one end side and the first arm. It can move away from the arm and can be moved away from the arm.
The contact portion is located between the first arm and the second arm, and has a curved surface along an arc of the radius of the tube having the largest outer diameter among the plurality of tubes to be gripped.
The curved surface of the first arm along the arc of the radius of the tube to be gripped, the curved surface of the second arm along the arc of the radius of the tube to be gripped, and the contact portion. gripping device for gripping a tube in the curved surface. The first arm is formed of a first arm body and a first elastic body.
In the first arm body, the first elastic body is arranged on the side facing the second arm.
The curved surface of the first arm has is the plane surface you formation of the first elastic member,
The second arm is formed of a second arm body and a second elastic body.
In the second arm body, the second elastic body is arranged on the side facing the first arm.
The second said curved arm has the gripping device according to claim 1 wherein the surface of the second elastic body is to that surface form. The first arm body, on the side facing the second arm has a song surface along the arc of the tube radius for each of the plurality of tubes,
Said first elastic member, the surface forms a track surface along said tracks surface on which the first arm body has,
The second arm body, on the side facing the first arm has a song surface along the arc of the tube radius for each of the plurality of tubes,
Said second elastic body, the gripping device according to claim 2 surface along said tracks surface on which the second arm body has form a song surface. The gripping device according to claim 3 , wherein the first arm body and the second arm body are made of resin. The gripping device according to claim 3 , wherein the first arm body and the second arm body are made of fiber reinforced plastic. The gripping device according to claim 5 , wherein the fiber reinforced plastic is a carbon fiber reinforced plastic. The gripping device according to any one of claims 1 to 6,
A vehicle having the gripping device and
A transport device equipped with.

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