JPH063024Y2 - Grasping machine for concrete blocks - Google Patents

Description

[Detailed Description of the Invention] The present invention is a concrete block for seawall protection and wave-dissipating, which is a radial four-legged block with four legs protruding from the center of a regular tetrahedron toward each vertex. The present invention relates to a gripping machine used for moving a robot.

(Prior Art) Conventionally, a radial tetrapod block (so-called tetrapod = trademark) having four legs from the center toward each vertex of a regular tetrahedron has been used as a revetment or wave-dissipating structure. .

This radial four-legged block is used by stacking itself on the bottom of the water to form a wave-dissipating structure, or by stacking it on the front of a breakwater or seawall to form a wave-dissipating seawall structure. The method of hoisting with a crane using a sling rope is adopted. In particular, to remove things that were installed on the bottom of the water, the sling rope was wrapped around a radial four-legged block in the old days of diving work by a diver.

However, in order to improve the risk of diving work and the poor work efficiency, a gripper for concrete blocks having three holding arms opened and closed by hydraulic pressure has been developed in recent years (Japanese Utility Model Laid-Open No. 58-134383). ). In this conventional gripper, the upper end of a holding arm is pivotally attached to a support frame that is suspended by a crane, and the driving arm that is projected into the mold at the upper end of the holding arm is operated by a hydraulic cylinder to hold it. The center part of the radial four-legged block is pinched from three directions by rotating the arm around the pivot axis.

(Problems to be solved by the invention) In such a conventional concrete block gripping machine, a holding arm is hung down from around one upward leg projecting at the top of a radial four-legged block. It is necessary to lengthen the holding arm because it is necessary to hold the center part of the arm, but the driving arm to which the hydraulic cylinder is connected cannot be made too long due to the cylinder stroke restriction. On the other hand, there is a problem that the movement length of the holding arm must be long, and a high-output hydraulic cylinder and power unit are required, which cannot be used structurally for a large radial quadruped block, and it still cannot be used. There was a problem that the sling by diving work was necessary for the removal.

The present invention has been made in view of such conventional problems, and an object of the present invention is to provide a concrete block gripper that can be operated by a relatively small hydraulic cylinder even if it is a very large radial four-legged block. It is a thing.

(Means for Solving the Problem) The features of the present invention for solving the above-mentioned conventional problems and achieving the intended purpose are a supporting frame body that can be suspended by a cargo handling machine such as a crane, With respect to the support frame body, three lower end sides are rotatably supported in a direction of opening and closing with each other, and three holding arms having arcuate holding surfaces on the lower end side are interposed, and the upper ends of the respective holding arms and the support frame are interposed In the concrete block gripping machine including three hydraulic cylinders for driving the holding arms to open and close, the holding arms are longitudinally attached to the support frame through two upper and lower rotary links. The hydraulic cylinder is supported so as to be openable and closable while swinging in the direction, and is interposed between the support frame and the upper end of the holding arm toward the extension direction side of the holding arm.

(Operation) In this concrete block gripping machine, both links are rotated around the pivotal position on the support frame side by pushing out the holding arm in the longitudinal direction by each hydraulic cylinder,
As a result, the holding arm is moved in the longitudinal direction and the holding surface at the tip is gradually moved in the gripping direction to hold the central portion of the radial quadruped block. Therefore, depending on the design, it is possible to make the stroke of the gripping surface in the gripping direction smaller than the stroke of the hydraulic cylinder.In addition, the weight of the radial quadruped block is applied to the gripping direction when pulling up the gripping arm during lifting. The power of is strengthened, and a powerful holding force can be obtained even with a small hydraulic cylinder.

(Embodiment) An embodiment of the present invention will be described with reference to the drawings.

In the figure, 1 is a cylindrical support frame, a top plate 2 is at the upper end, a hook bracket 4 is rotatably attached to the center of the top plate 2 via a thrust bearing 3, and a back plate is at the lower end. 5 is integrally fixed.

Around the support frame 1, brackets 6 for hydraulic cylinders are provided at the uppermost three positions about 12 centered on the center axis of the support frame.
They are evenly spaced apart by 0 °. Further, an upper link bracket 7 and a lower link bracket 8 are provided at three positions at the center height position and the lowermost end position, respectively. An end of a hydraulic cylinder 9 is pivotally attached to each of the hydraulic cylinder brackets 6 by a shaft 10. A base end of two parallel upper links 11 is pivotally attached to each of the upper link brackets 7 by a shaft 12. Further, a base end of one lower link 13 is pivotally attached to each lower link bracket 8 by a shaft 14. The upper end of each holding arm 15 has a shaft 16 at the tip of each upper link 11.
The central part of each holding arm 15 is pivotally attached to the tip of each lower link 13 with a shaft 17 and the ram tip of the hydraulic cylinder 9 is connected to the upper link at the upper end of each holding arm 15. It is pivotally attached by the same shaft 16.

In this way, the hydraulic cylinder 9 and the upper and lower links 11,
13, the three holding arms 15, 15, 15 are the first
As shown in the figure, they are arranged in three directions with the support frame 1 as the center, and as shown in FIG. 2, they are supported with their lower ends hanging down below the holding frame 1.

At the lower end of each holding arm 15, a holding surface 18 is formed in an arc shape toward the center side thereof, and a holding pad 19 is fixed to the inner surface thereof.

Further, the above-mentioned links 11 and 12 having substantially the same length are used, and when the hydraulic cylinder 9 is in the most compressed state as shown by the solid line in FIG. The lower link 13 is attached to the upper side in a substantially horizontal direction, and by extending the hydraulic cylinder 9 to move the holding arm 15 downward, as shown by a phantom line in FIG. The position of the shaft 16 at the tip of 11 is rotated in the direction away from the support frame 1,
In addition, the position of the shaft 17 at the tip of the lower link 13 is rotated in a direction approaching the support frame 1, whereby each holding arm 15 is rotated.
Moving downward, the lower end inclines in the direction in which they move toward the center thereof, and the holding pad 19 inside the lower end moves the central portion of the radial quadruped block A (shown by a phantom line in FIG. 2). It is designed to be held from three sides.

Further, a pressure sensor 20 is attached to the holding surface 18 to detect the pressure when gripping the radial four-legged block,
The operator is informed and the surface damage is eliminated.

The above-mentioned angles of the upper and lower links 11 and 13 are not necessarily limited to the above-mentioned directions, and the hydraulic cylinder 9
It suffices that the lower ends of the holding arms 15 approach each other while the holding arms 15 are moved downward by pushing down the holding arms 15.

In addition, a profiler device 21 such as ultrasonic waves is attached to the bottom surface of the support frame 1 to monitor the shape of the radial four-legged block in the operator's room when removing the radial four-legged block in the sea. It is designed so that it can be projected.

When using the gripper configured as described above, the suspension hook 23 of the crane 22 on land or on the ship is hung and suspended on the hook bracket 4 as shown in FIG. 3, and the power unit on land or on the ship (not shown) is used. ), A hydraulic hose is connected, and each hydraulic cylinder 9 is driven by remote control to install or remove the radial four-legged block.

The hydraulic power unit may be housed in the support frame 1 and electrically controlled by wireless or wire.

(Effect of the Invention) As described above, in the concrete block gripper of the present invention, each holding arm is supported by two upper and lower links,
The link rotates when pushed down by the hydraulic cylinder,
The holding surfaces of the lower ends of the holding arms are configured to move in a direction in which they approach each other, which reduces the moving length of the hydraulic cylinder in the holding direction with respect to the stroke, and the holding radial quadruped block lowers the downward force. As a result, a force is applied in the direction in which the holding arms try to approach each other, and a large holding force can be obtained using a hydraulic cylinder with a small output, and the super-large radial quadruped block can be removed. The work can be done without diving, the hydraulic cylinder and its power unit can be small, and even for a super large radial four-legged block, it can be provided at low cost, and the cost of use can be reduced. Is significantly higher.

[Brief description of drawings]

The drawings show an embodiment of the present invention. FIG. 1 is a plan view, FIG. 2 is a side view in which a horizontal angle of a holding arm is omitted, and FIG. 3 is a side view of an example of a use state. Is. 1 ... Support frame, 2 ... Top plate, 3 ... Thrust bearing, 4 ... Hook bracket, 5 ... Abutment plate, 6 ... Hydraulic cylinder bracket, 7 ... Upper link bracket, 8 ... ... Lower link bracket, 9 ... Hydraulic cylinder, 10, 12, 14, 16, 17 ... Shaft, 11 ... Upper link, 13 ... Lower link, 15 ... Holding arm, 18 ... Holding surface, 19 ...... Clamping pad, 20 ...... Pressure sensor, 21 ...... Profiler device, 22 …… Crane, 23 …… Suspending hook.

Front page continuation (72) Inventor Hiroshi Ishii 2-2-8 Koraku, Bunkyo-ku, Tokyo Within the Goyo Construction Co., Ltd. (72) Inventor Akira Fukuzawa 1-2-1 Fukahori-cho, Nagasaki-shi, Nagasaki Mitsubishi Nagasaki Kiko Co., Ltd. In the company

Claims (1)

[Scope of utility model registration request] 1. A support frame body that can be suspended by a cargo handling machine such as a crane, and a lower end side of the support frame body that is rotatably supported in a direction in which the lower end sides open and close with each other, and an arc-shaped holding surface on an inner surface of the lower end side. A concrete block gripping machine comprising three holding arms and three hydraulic cylinders which are interposed between the upper ends of the holding arms and the support frame and which respectively drive the holding arms to open and close. The holding arm is supported on the support frame so as to be openable and closable while swinging in the longitudinal direction via two upper and lower pivot links, and the hydraulic cylinder is directed toward the extension direction side of the holding arm. A concrete block gripper characterized by being interposed between a support frame and an upper end of a holding arm.