JPH0761763A - Pipe body holding device - Google Patents

Abstract

PURPOSE:To surely hold a pipe body by firmly holding the pipe body at its radial both side positions below its center by means of clamp pieces of a pair of holding arms so as to prevent its falling down and pressing the upper part of the pipe body by means of an upper-part pressing piece. CONSTITUTION:A pipe body holding device 10 attached to an installing body 7, which is provided to the tip part of the arm of a power shovel in its vertically swingable manner, possesses a base body 12 attached to the installing body 7 by means of a pin 11 in a freely detachable manner. This base body 12 is provided with a rotatary body 14, freely rotatably by means of a rotational mechanism 13, while a main body 15 is mounted to the rotary body 14 in such a manner that the main body 15 can freely be oscillated. First and second holding arms 16, 17, whose tip parts are provided with clamp pieces 39, are attached to the main body 15 in such a manner that the arms 16, 17 can freely be oscillated by means of a holding cylinder 36. At the same time, the main body 15 is also provided with an upper-part pressing piece 52, which is situated between both holding arms 16 and 17, which synchronizes with these holding arms 16, 17, and which moves up and down via a parallelogrammic, four-point linkage 50. With this contrivance, pipes of various diameters can surely be held and released.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for gripping a pipe body such as a fume pipe, a steel pipe, a vinyl chloride pipe or the like.

[0002]

2. Description of the Related Art As a device for laying a pipe body in a trench excavated on the surface of the earth, for example, one disclosed in Japanese Patent Laid-Open No. 2-175589 is known. That is, a pipe gripping device is attached to the tip of an arm of an excavator, a pipe on the ground is gripped by the pipe gripping device, and the arm is swung up and down to insert the pipe into a groove to release the grip. Is.

[0003]

In the above-mentioned tubular body gripping device, a pair of gripping arms are swingably mounted on the main body, and the pair of gripping arms are swung by a cylinder to grip and release the tubular body. Since the tip of the pair of gripping arms is pressed against both ends of the tubular body in the radial direction, the tubular body is grasped,
If the pressing force is weak, the pipe body may fall due to its own weight, and if the pressing force is strong, the pipe body may be deformed.

Further, since the tip ends of the pair of gripping arms are pressed against both sides in the radial direction of the pipe body to grip them, when the gripping arms are gripped at a position largely displaced from the longitudinal center of gravity of the pipe body, the gripping arms are pressed. The pipe body may become inclined with respect to the horizontal due to its own weight with the portion as a fulcrum, and as described above, the work of laying the pipe body in the trench excavated on the ground becomes difficult.

Therefore, an object of the present invention is to provide a tubular body gripping device which can solve the above-mentioned problems.

[0006]

[Means for Solving the Problems] First and second gripping arms 16 and 17 are swingably attached to a main body 15 by a gripping cylinder 36, and clamped at the tips of the first and second gripping arms 16 and 17. Pieces 39 are provided respectively, the main body 15 is located between the first and second gripping arms 16 and 17, and
-A tubular body gripping device provided with an upper pressing piece 52 that moves up and down in synchronization with the second gripping arms 16 and 17.

[0007]

[Operation] The clamp pieces 39 of the first and second gripping arms 16 and 17 hold the lower part of the tubular body A from the center of both side portions in the radial direction so as not to fall, and the upper pressing piece 52 holds the tubular body A.
Since the tubular body A is grasped by pressing the upper part of the, the tubular body A can be grasped at the same place while grasping the tubular body at three points. Therefore, the tubular body A of the clamp piece 39 of the first and second grasping arms 16 and 17 can be grasped. Even if the pressing force against the pipe A is weakened, the pipe A can be securely gripped and the pipe A is not damaged, and the upper pressing piece 52 can prevent the pipe A from being inclined with respect to the horizontal. Even if the tubular body A can be horizontally held even if it is held at a position different from the longitudinal center of gravity position, and the first and second holding arms 16 and 17 are expanded even if the diameter of the tubular body to be held becomes large, the upper presser foot is pressed. Since the piece 52 automatically rises, it is possible to reliably hold pipes of various pipe diameters at three points.

[0008]

[Example] As shown in Fig. 1, an upper vehicle body 2 is rotatably attached to a lower traveling body 1, and a boom 3 is attached to the upper vehicle body 2.
Is provided in a boom cylinder 4 so as to be vertically swingable, and an arm 5 is provided in the boom 3 so as to be vertically swingable in an arm cylinder 6 to form a power shovel. A pipe 9 is attached so as to be vertically swingable by a link 9, and a pipe body gripping device 10 is attached to the mounting body 7. The pipe body gripping device 10 holds the pipe body A and lays it in a groove C excavated on the ground surface B. To do.

The tubular body gripping device 10 has a pin 1 attached to the mounting body 7.
1. A base 12 detachably attached by means of 1, and this base 12
Further, it comprises a revolving structure 14 which is mounted so as to be revolvable by a revolving mechanism 13, a main body 15 rotatably supported by the revolving structure 14, first and second gripping arms 16 and 17 provided on the main body 15.

Next, the details of each part will be described. The base 1
2 is a horizontal plate 18 and a pair of vertical plates 1 as shown in FIGS.
9 and 19, and a pair of vertical plates 19 are detachably connected to the mounting body 7 by pins 11.

As shown in FIGS. 2 and 3, the swivel mechanism 13 has an inner ring 21 rotatably supported by a bearing 22 on an outer ring 20 mounted on a horizontal plate 18, and a ring gear 23 of the inner ring 21 is provided with a motor. The pinion 25 rotated by 24 is meshed.

As shown in FIGS. 2 and 3, the revolving unit 14 is formed by attaching a pair of vertical plates 27 to a horizontal plate 26 to which the inner ring 21 is bolted, and a horizontal plate 28 constituting the main body 15. The pair of fixed vertical plates 29 and the vertical plate 27 are swingably connected by a pin 30.
A pair of rocking cylinders 31 are respectively connected between them, and the rocking cylinders 31 are expanded and contracted to form the main body 15
Swings left and right with respect to the revolving structure 14.

A pair of outer vertical plates 32 and a pair of inner vertical plates 33 are fixed to the lower surface of the horizontal plate 28 of the main body 15 in parallel. The longitudinal middle portions of the first gripping arms 16 of the first gripping arms 16 are vertically swingably supported by the first pins 34, and the pair of second gripping arms 17 extend in the upper portion between the adjacent outer and inner vertical plates 32, 33. A directional base end is supported by a second pin 35 so as to be swingable up and down, and a gripping cylinder 36 is supported by each of the second pins 35. The piston rods 36a of the gripping cylinders 36 are the same as those described above. A third pin 37 is connected to a longitudinal base end portion of the first gripping arm 16 and is provided between the longitudinal tip end portions of the pair of first gripping arms 16 and 16 and the longitudinal tip end portions of the pair of second gripping arms 17 and 17. Rubber pad 3 in between A long clamp piece 39 provided with is supported by a fourth pin 40 so as to be swingable up and down, and a pair of a pair of the third pin 37 supports the first proximal end of each first gripping arm 16 in the longitudinal direction. The connecting rod 41 is pivotally attached to the upper part of each second gripping arm 17 in the longitudinal direction by a fifth pin 42, whereby the gripping cylinder 36 is expanded and contracted to swing the first and second gripping arms 16, 17. Then, the rubber pad 38 of the clamp piece 39 is grasped so as not to drop both sides below the center of the tubular body in the radial direction of the tubular body A. The lower end of the clamp piece 39 is located above the ground surface.

A pair of first and second links 43 and 44 is provided between the pair of inner vertical plates 33 near the first gripping arm.
The first and second links 43 and 44 are rotatably supported by the seventh pins 45 and 46, and the first and second links 43 and 44 are connected to the pair of third links 47 by the eighth and ninth pins 48 and 49, respectively. A four-bar linkage mechanism 50 is configured, and each third link 47 is connected to a long upper pressing piece 52 having a rubber pad 51 by a tenth pin 53.

The longitudinal middle portion of the pair of second gripping arms 17 is connected by a cross member 54, and a first rod 56 is pivotally attached to a bracket 55 fixed to the cross member 54 by an eleventh pin 57. The piston 58a of the second rod 58 is fitted into the cylinder tube 56a of the first rod 56, and the loose spring 59 is provided between the piston 58a and the cylinder tube 56a. When the pulling force is applied, the loose spring 59 is compressed to become a connecting member 60 that absorbs more pulling force, and the second rod 58 is connected between the pair of second links 44 by the twelfth pin 62. When the first and second gripping arms 16 and 17 are swung to try to grip the tubular body A as described above, the upper pressing piece 52 is passed through the parallel four-node link mechanism 50. The left and right clamp piece 39 and the upper pressing piece 52 of the tubular body A against moving downward the upper portion of the tubular body A is gripped by three circumferential places.

A stopper 7 is provided at the center of the lower surface of the horizontal plate 28.
0 is attached to face the third link 47 and is parallel 4
When the node link mechanism 50 swings upward by a predetermined stroke, the third link 47 comes into contact with the stopper 70 and the parallel link 4 is further moved.
The joint link mechanism 50 is prevented from swinging upward.
Because of this, when the small-diameter pipe A is gripped as shown by the solid line in FIG. 6, the third link 47 does not contact the stopper 70, and the parallel four-node link mechanism 50 holds the first and second grips. Although it moves up and down in conjunction with the arms 16 and 17, when the first and second gripping arms 16 and 17 are largely swung to grip the large-diameter pipe A as shown by the alternate long and short dash line in FIG. 47
Is abutted on the stopper 70, and if the first and second gripping arms 16 and 17 are further swung in the direction of expanding as shown by the arrows, the parallel four-bar link mechanism 50 does not move upward, and thus the loosening of the coupling mechanism 60. The first rod 56 and the second rod 58 compress and extend the loose spring 59 by applying a tensile force equal to or greater than the mounting load on the spring 59, and the first and second gripping pieces do not move the upper pressing piece 52 upward. Since the arms 16 and 17 can be widely opened, a large-diameter tubular body can be gripped.

That is, the parallel four-bar linkage mechanism 50 is
Since the second gripping arms 16 and 17 move up and down in synchronism with the swing of the second gripping arms 16 and 17, when the first and second gripping arms 16 and 17 are greatly expanded to grip a large-diameter tubular body, the parallel four-bar linkage mechanism 5
0 moves upward by about twice the swinging allowance of the first and second gripping arms 16 and 17, but due to the link ratio and the like, the upward movement stroke of the parallel four-bar linkage mechanism 50 is Since there is a limit, the loose spring 59 is provided in the connecting mechanism 60 so that the first and second gripping arms 16 and 17 can be swung in the expanding direction even if the parallel four-node link mechanism 50 does not move upward. .

Next, the work of laying the tubular body A in the groove C will be described. As shown in FIG. 7A, the tubular body A on the ground surface B is gripped by the tubular body gripping device 10. At this time, the swivel mechanism 13 can swivel the first and second gripping arms 16 and 17 in the horizontal direction, and the swing cylinder 31 can swivel the first and second gripping arms 16 and 17 in a direction orthogonal to the gripping direction. Therefore, it is possible to easily grip the pipe A that is placed on the ground surface B at an angle with respect to the horizontal and in any direction.
Since it does not contact the ground surface B, the pipe A placed on the ground surface B can be reliably gripped. Further, since the lower end of the clamp piece 39 is located above the ground surface, the first and second gripping arms 16,
The clamp piece 39 does not scratch the surface of the ground when expanding 17, and a smooth gripping operation is possible.

As shown in FIG. 7B, the boom 3 and the arm 5 are vertically swung, and at the same time, the upper vehicle body 2 is swung to rotate the pipe A.
7 into the groove C, and as shown in FIG. 7 (c), a sealant is applied to the inserted portions of the pipe A and the existing pipe A, and the operator performs centering by turning and swinging in a free state. 7A, the upper body 2 is swung to grip the tubular body A, and the tubular body A is inserted into the existing tubular body A. After that, the tubular body A is held by the tubular body gripping device 10 as shown in FIG. 7D. Height, pass by and sleepers D
Fix with and hold and release. At this time, since the lower end of the clamp piece 39 is above the lower end of the tubular body A being gripped,
Since the clamp piece 39 does not contact the bottom of the groove C, the clamp piece 39 is not damaged. In other words, when concrete is usually struck in the groove c and the pipe A is laid there, if the lower end of the clamp A is located below the lower surface of the pipe A gripped by the clamp piece 39, the lower end of the clamp piece 39 will be the concrete. There is a possibility that the clamp piece 39 may be damaged due to contact with the surface of the. After this, the pipe A is inspected and the next sleeper is struck. The above operation is repeated to sequentially lay the tubular body A in the groove C.

FIG. 8 shows a second embodiment, in which the cylinder 80 is pin 8 over the second gripping arm 17 and the second link 44.
When the cylinder 80 is extended, the upper pressing piece 52 is moved downward, and when the cylinder 80 is contracted, the upper pressing piece 52 is moved upward. When supported, the first potentiometer 83 for detecting the rotation angle of the second pin 35 and the second link 4
A second potentiometer 84 for detecting the rotation angle of the seventh pin 46 that supports 4 is provided. From the first potentiometer 83, the swing angle of the second gripping arm 17, that is, the first and second gripping arms 16 is provided. , 17 is output, and a signal corresponding to the swing angle of the second link 44, that is, the vertical movement amount of the upper pressing piece 52 is output from the second potentiometer 84. There is.

As shown in FIG. 9, the gripping cylinder 3
Discharge pressure oil of the hydraulic pump 87 is supplied to the cylinder 6 and the cylinder 80 by the first and second switching valves 85 and 86, and the first and second switching valves 85 and 86 are held at the neutral position a, and the first solenoid When the solenoids 85a and 86a communicate with each other, the solenoids 85a and 86a are switched to the extended position b, and when the second solenoids 85b and 86b are energized, the solenoids are switched to the contracted position c. 88 includes first and second potentiometers 83, 84
Further, the detection signal is input and the opening / closing signal is input from the lever 89.

Next, the operation will be described. When a closing signal is input to the controller 88 from the lever 89, the first solenoid 85a of the first switching valve 85 is energized to the extended position b, and the discharge pressure oil of the hydraulic pump 87 is supplied to the extension chamber 36a of the gripping cylinder 36. Because it extends, the first and second gripping arms 1
6, 17 close and operate.

As a result, the controller 88 calculates the swing angle of the second gripping arm 17 based on the detection signal input from the first potentiometer 83, and based on the detection signal input from the second potentiometer 84. Then, the swing angle of the second link 44 and the swing angle of the second gripping arm 17 are compared, and the swing angle of the second gripping arm 17 and the swing angle of the second link 44 are set in advance, that is, The first solenoid 86a of the second switching valve 86 is energized so that the pair of clamp pieces 39, 39 and the upper pressing piece 52 are in the relationship of forming the vertices of a virtual equilateral triangle, and the extension chamber 8 of the cylinder 80 is energized.
0a is supplied with pressure oil to move the upper pressing piece 52 downward in synchronization with the movement of the pair of clamp pieces 39.

A controller 8 sends an opening signal from the lever 89.
8 is input to the second solenoid 8 of the first switching valve 85.
5b is energized to a contracted position c, whereby pressure oil is supplied to the contraction chamber 36b of the gripping cylinder 36 to perform contraction operation, thereby opening and operating the first and second gripping arms 16 and 17,
At the same time, based on the detection signals of the first and second potentiometers 83 and 84, the swing angle of the second gripping arm 17 and the second
The second solenoid 86b of the second switching valve 86 is energized to the contracted position c so that the swing angle is calculated with respect to the link 44 and the preset relationship is established, and the contracted chamber 80b of the cylinder 80 is formed.
The upper pressing piece 52 is moved upward by supplying pressure oil to and contracting.

By doing so, the pair of clamp pieces 29, 29 and the upper pressing piece 52 can always have a fixed positional relationship, and the positional relationship can be arbitrarily changed.

FIG. 10 shows a third embodiment, in which the first and second holding arms 16 and 17 are provided with first and second connecting links 9.
The other ends of 0 and 91 are connected by a pin 92 so as to be vertically swingable,
The other end of the first and second connecting links 90, 91 is connected to the pin 9
3 is connected to the mounting body 94 so as to be vertically swingable, and the mounting body 9
4 the upper pressing piece 52 having the rubber pad 51 on the pin 95
It is connected with.

With this arrangement, when the first and second gripping arms 16 and 17 are swung upward and opened, the upper pressing piece 52 moves upward via the first and second connecting links 90 and 91. ,
When the first and second gripping arms 16 and 17 are swung downward and closed, the upper pressing piece 52 is moved downward via the first and second connecting links 90 and 91, so that the upper pressing piece 52 is moved up and down. The parallel four-bar linkage mechanism, cylinder, etc. are unnecessary.

A fourth embodiment is shown in FIGS. 11 and 12, in which a vertical cylinder 100 is vertically fixed to a main body 15 and a piston rod 101 thereof is projected downward to project an upper pressing piece 52.
The upper pressing piece 52 is moved downward and upward by connecting to and extending the piston rod 101.

Extension chamber 100 of the vertical cylinder 100
a is the holding cylinder 3 in the conduit 102 as shown in FIG.
6 is connected to the contraction chambers 36b, and the operation chamber 103 supplies the discharge pressure oil of the hydraulic pump 104 to the contraction chambers 100b of the vertical cylinder 100 and the expansion chambers 36a of the gripping cylinder 36.

Next, the operation will be described. Operation valve 103 is first
When pressure oil is supplied to the extension chamber 36a of the gripping cylinder 36 at the position d, the first and second gripping arms 16 and 17 swing downward to close, and the pressure in the compression chamber 36b of the gripping cylinder 36 is reduced. Oil is extended chamber 100 of vertical cylinder 100
When the piston rod 101 is supplied to a, the piston rod 101 extends and the upper pressing piece 52 moves downward. As a result, the positional relationship between the pair of clamp pieces 39 and the upper pressing piece 52 becomes constant.

When the operating valve 103 is set to the second position e and pressure oil is supplied to the compression chamber 100b of the up / down cylinder 100, the upper pressing piece 52 moves upward, and the up / down cylinder 100 moves upward.
The pressure oil in the extension chamber 100a is supplied to the contraction chamber 36b of the grasping cylinder 36 and contracts, so that the first and second grasping arms 16 and 17 swing upward to perform an opening operation. As a result, the positional relationship between the pair of clamp pieces 39 and the upper pressing piece 52 becomes constant.

[0032]

The clamp pieces 39 of the first and second gripping arms 16 and 17 grip the lower part of the tube A from the center of both sides of the tube A in the radial direction, and the upper pressing piece 52 holds the tube A. Since the pipe A is gripped by pressing the upper part, the pipe A
Can be securely gripped at the same place, the pipe A can be reliably gripped and the pipe A can be damaged even if the pressing force of the clamp pieces 39 of the first and second gripping arms 16 and 17 against the pipe A is weakened. The upper pressing piece 52 can prevent the pipe A from inclining with respect to the horizontal, and the pipe A can be made horizontal even if a position different from the longitudinal center of gravity of the pipe A is gripped. Further, even if the diameter of the pipe body changes, the clamp piece 39 and the upper pressing piece 52 provided on the first and second gripping arms 16 and 17 move together, so that the pipe body of various diameters can be reliably gripped.・ Can be opened. Further, even if the diameter of the pipe body is changed, the clamp piece 39 and the upper pressing piece 52 provided on the first and second gripping arms 16 and 17 are provided.
Since the three of them move in conjunction with each other, it is possible to reliably grip and open pipes of various diameters.

[Brief description of drawings]

FIG. 1 is an overall front view showing a first embodiment of the present invention.

FIG. 2 is a partially cutaway front view of the tubular body gripping device.

FIG. 3 is a left side view of a cross section of a pivotal attachment portion on a first gripping arm side.

FIG. 4 is a right side view of a cross section of a pivotal attachment portion on a second gripping arm side.

FIG. 5 is an exploded perspective view.

FIG. 6 is an explanatory diagram of a tubular body gripping operation.

FIG. 7 is an explanatory view of the operation of laying the pipe body in the groove.

FIG. 8 is a front view showing a second embodiment of the present invention.

FIG. 9 is a hydraulic circuit diagram.

FIG. 10 is a front view showing a third embodiment of the present invention.

FIG. 11 is a front view showing a fourth embodiment of the present invention.

FIG. 12 is a hydraulic circuit diagram.

[Explanation of symbols]

15 ... Main body, 16 ... First gripping arm, 17 ... Second gripping arm, 36 ... Gripping cylinder, 39 ... Clamping piece, 43
... first link, 44 ... second link, 47 ... third link,
50 ... Parallel four-bar link mechanism, 52 ... Upper pressing piece, 60 ...
Connection member, A ... Tube, B ... Surface, C ... Groove.

Front page continuation (72) Inventor Akira Kojima 65 Yoshida-cho, Naka-ku, Yokohama, Kanagawa Shimizu Construction Co., Ltd., within Yokohama Branch (72) Inventor Yasuhiro Yoshida 23, Sutsu, Komatsu-shi, Ishikawa Prefecture Komatsu Co., Ltd. (72) Inventor Yoshimasa Tanaka, No. 23 Tsutsumi, Otsu, Komatsu, Ishikawa Prefecture Komatsu Ltd., Awazu Factory

Claims (9)

[Claims] 1. A body 15 has first and second gripping arms 16,
17 is swingably mounted by a gripping cylinder 36, and the clamp piece 3 is attached to the tip of the first and second gripping arms 16 and 17.
9 is provided, and the main body 15 is provided with an upper pressing piece 52 that is located between the first and second gripping arms 16 and 17 and that moves up and down in synchronization with the first and second gripping arms 16 and 17. A tubular body gripping device characterized by the above. 2. The body 15 has first and second gripping arms 16,
17 is swingably mounted by a gripping cylinder 36, and the clamp piece 3 is attached to the tip of the first and second gripping arms 16 and 17.
9, each of which is provided with an upper pressing piece 52 on the main body 15,
It is located between the first and second gripping arms 16 and 17 and is attached so as to be vertically movable. The upper pressing piece 52 and the second gripping arm 17 are
When the gripping arm 17 swings in the gripping direction, the upper pressing piece 52
Is connected downward so that the upper pressing piece 52 moves upward when it swings in the gripping releasing direction. 3. The upper pressing piece 52 is provided on the main body 15 via a parallel four-node link mechanism 50, and the first and second rods 5 are provided.
The tubular body according to claim 2, further comprising: 6, 58 and a loose spring 59, wherein the parallel four-joint link 50 and the second gripping arm 17 are connected by a connecting member 60 that expands when a force greater than a mounting load of the loose spring 59 is applied. Gripping device. 4. The first and second gripping arms 16, 17 have a first structure.
The pipe body according to claim 2, wherein one ends of the second connecting links 90 and 91 are vertically swingably connected, and the other ends of the first and second connecting links 90 and 91 are connected to the upper pressing piece 52. Gripping device. 5. The body 15 has first and second gripping arms 16,
17 is swingably mounted by a gripping cylinder 36, and the clamp piece 3 is attached to the tip of the first and second gripping arms 16 and 17.
9, each of which is provided with an upper pressing piece 52 on the main body 15,
The second gripping arm 17 mounts the gripping cylinder 36 and the cylinder holding the upper pressing piece 52 up and down between the first and second gripping arms 16 and 17 so as to be swingable up and down by a cylinder. A tubular body gripping device which is interlocked such that the upper pressing piece 52 moves downward when rocking, and the upper pressing piece 52 moves upward when rocking in a grip release direction. 6. An upper pressing piece 52 is attached to the first gripping arm 16 via a parallel four-node link mechanism 50 so as to be vertically movable,
A cylinder 80 that vertically swings the parallel four-node link mechanism 50 is attached to the second gripping arm 17, and the first switching valve 8 that supplies pressure oil to the gripping cylinder 36.
5 and a second switching valve 8 for supplying pressure oil to the cylinder 80.
6 for detecting the swing angle of the second gripping arm 17
Means, second means for detecting the swing angle of the parallel four-bar linkage mechanism 50, and the first and second switching valves based on the swing angles from the first means and the second means. The tubular body gripping device according to claim 5, further comprising a controller 88 for switching between 85 and 86. 7. An electromagnetic switching type in which the first switching valve 85 and the second switching valve 86 are switched by energizing a solenoid.
7. The means and the second means are potentiometers.
The tubular body gripping device described. 8. A vertical cylinder 100 is attached to the main body 15, an upper pressing piece 52 is connected to the piston rod 101, and an extension chamber 100a of the vertical cylinder 100 and a compression chamber 36b of the gripping cylinder 36 are communicated with each other. Hydraulic pump 1
The discharge pressure oil 04 is compressed into the compression chamber 100 of the up / down cylinder 100.
6. The tubular body gripping device according to claim 5, further comprising an operation valve 103 for supplying b to the expansion chamber 36a of the gripping cylinder 36. 9. The lower end of a clamp piece 39 provided at the tip of each of the first and second gripping arms 16 and 17 is located above the lower surface of the tubular body when the tubular body is gripped.
Alternatively, the tubular body gripping device according to 2 or 5.