JPH0780610A - Device for fitting and detaching long nozzle - Google Patents

Abstract

PURPOSE:To prevent the breakage of a sensor, actuator, control element, etc., caused by conducting radiant and conductive heat. CONSTITUTION:This device is provided with a manipulator, an expanding/ shrinking arm 30, driven case 33 supported to be relatively shiftable to the expanding/shrinking arm 30 and a long nozzle holding part 32 arranged at the tip part of the driven case 33 and holding the long nozzle 48. Further, a driving member for shifting the driven case 33 to the horizontal direction, the control element for controlling the driving member, a power transmitting means arranged between the driving member and the driven case 33 and a detecting means for detecting the force applied from the long nozzle holding part 32 to the driven case 33 are provided. Then the detecting means, driving member and control element are arranged at the rear end part of the expanding/ shrinking arm 30. The heat caused by the radiant and conductive heat is not conducted to the detecting means, driving member and control element, etc.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a long nozzle attaching / detaching device.

[0002]

2. Description of the Related Art Conventionally, in a continuous casting apparatus, molten metal (molten metal) of a ladle is once (once) housed in a tandem and is supplied from the tandem to a mold through a rotary valve in a predetermined amount. . In this case, since the quality of the molten metal deteriorates when it comes into contact with air,
A long nozzle is connected between the bottom of the ladle and the tandem, and the molten metal of the ladle is supplied to the tandem through the long nozzle.

The long nozzle is attached and detached every time the ladle is replaced. Therefore, a pipe-shaped ladle nozzle is provided so as to project from the bottom of the ladle, and the long nozzle can be attached to and detached from the ladle nozzle. 2 is a schematic view of a conventional long nozzle attaching / detaching device, FIG. 3 is a first mounting state diagram of the conventional long nozzle attaching / detaching device, FIG. 4 is a second mounting state diagram of the conventional long nozzle attaching / detaching device, and FIG. It is a 3rd mounting state figure by the conventional long nozzle attachment / detachment device.

In the figure, 11 is a ladle for containing the molten metal, 12 is a tandem for temporarily containing the molten metal of the ladle 11, 13 is a long nozzle for supplying the molten metal of the ladle 11 to the tandem 12, and 15 is a It is a pipe-shaped ladle nozzle arranged so as to project from the bottom of the ladle 11. And the long nozzle 13
An insertion port 16 for inserting the ladle nozzle 15 is formed at the upper end of the.

Reference numeral 21 denotes a manipulator for attaching / detaching the long nozzle 13 to / from the ladle nozzle 15. The manipulator 21 is a manipulator main body 22 and a swiveling swivel with respect to the manipulator main body 22. A shaft 23, an arm support portion 24 fixed to the tip of the turning shaft 23, a telescopic arm 25 supported by the arm support portion 24 to extend and contract in the direction of arrow B, and a wrist portion fixed to the tip of the telescopic arm 25. It consists of 26. In this case, the wrist portion 26 has only the gripping function of the long nozzle 13. In addition, the manipulator body 22
Operates in a cylindrical coordinate system, and the rotary shaft 23 is moved by the arrow A.
In addition to being able to move up and down in the direction, it can be rotated in the direction of arrow C.

In the long nozzle attaching / detaching device having the above-mentioned structure, the operator operates the manipulator 21 to automatically convey the long nozzle 13 to the vicinity of the ladle nozzle 15, and then visually adjust the center by inching or the like. The ladle nozzle 15 is inserted into the insertion port 16. In this case, the ladle 11
Since it is installed by a ladle crane (not shown), the positioning accuracy of the ladle 11 is low and the maximum is ± 10.
Misalignment of about 0 [mm] may occur. Therefore, when the manipulator 21 is operated to automatically convey the long nozzle 13 from the standby position to the vicinity of the ladle nozzle 15, the misalignment remains.

Further, the manipulator 21 can be moved in three degrees of freedom in space, but after all, since the misalignment remains, it is not necessary to increase the positioning accuracy.
Therefore, since it becomes difficult to insert the long nozzle 13 at the position as it is, the operator judges whether or not the alignment is sufficient, and when it is not sufficient, the alignment is again performed by visual inspection.

Therefore, in order to automate the operation of the manipulator 21 performed by the operator, the positioning accuracy of the telescopic arm 25 is increased, and when the long nozzle 13 is conveyed to the vicinity of the ladle nozzle 15, position detection using a camera (not shown) is performed. The position of the ladle nozzle 15 is accurately detected by the instrument, and the centering is performed again based on the detection result.

However, also in this case, since the arm length of the telescopic arm 25 is about 4 [m], not only the mechanical play of the manipulator 21 is enlarged but also a measurement error by the position detector occurs, As shown in FIG. 3, the misalignment ε between the central axis b of the long nozzle 13 and the central axis c of the ladle nozzle 15 cannot be set to 0, and the maximum ε = ± 15 to 20 [mm]. I will end up.

In this state, the rotary shaft 23 of the manipulator 21 and the telescopic arm 25 are disconnected from the drive system by a clutch (not shown), and the long nozzle 13 is released in the released state.
When attached to the ladle nozzle 15, as shown in FIG. 4, the central axis b of the long nozzle 13 forms an angle θ with respect to the central axis c of the ladle nozzle 15 about the trunnion axis a.
It is inclined by (3 to 5 [°]). On the other hand, considering the leakage of molten metal, this angle θ is ideally 0
It must be within [°] and at most within 1 [°].

Further, when the ladle 11 becomes almost empty, it is inclined about 5 [°] as shown in FIG. 5 so that the contained molten metal can be poured out to the end. At this time, the long nozzle 13 must be provided with a degree of freedom so that the long nozzle 13 is tilted together with the ladle 11, and the long nozzle 13 must be supported by the trunnion shaft a.

[0012]

However, in the conventional long nozzle attaching / detaching device, in order to accurately mount the long nozzle 13 to the ladle nozzle 15 under the above conditions, the central axis b of the long nozzle 13 is required. It is necessary to perform centering so that the center deviation c of the center axis c of the ladle nozzle 15 falls within the range of about ε = ± 2 [mm] or less, but the arm length of the telescopic arm 25 is 4 [m]. Because of such a degree, not only the mechanical play of the manipulator 21 is enlarged, but also a measurement error by the position detector occurs.

Therefore, accurate alignment cannot be performed only by pursuing the positioning accuracy of the manipulator 21, and the long nozzle 13 and the ladle nozzle 15 come into contact with each other at two points, and the molten metal comes into contact with air or the long nozzle. Thirteen
Molten metal leaks from between the ladle nozzle 15. Therefore, it is considered that a manipulator 21 is provided with a wrist mechanism (not shown) for swinging the long nozzle 13, the long nozzle 13 is gripped by the wrist mechanism, and is attached to the ladle nozzle 15 while swinging.

However, the wrist mechanism for swinging the long nozzle 13 is located right above the tandem 12. A lid (lid) (not shown) is arranged on the tandem 12, but since the molten metal is contained in the tandem 12, the surface temperature of the lid is about 400.
It becomes [° C]. Therefore, the radiant heat from the lid is transmitted to the wrist mechanism.

Moreover, since the molten metal is supplied from the ladle 11 to the tandem 12 through the long nozzle 13, heat is transferred to the wrist mechanism that holds the long nozzle 13 by heat conduction. As described above, the radiant heat and the heat due to heat conduction are transmitted to the wrist mechanism, and the wrist mechanism becomes extremely hot. By the way, the wrist mechanism is a long nozzle 1
It has a sensor, an actuator, a control element, and the like (not shown) for swinging 3. These sensors, actuators, control elements, and the like are of high temperature specifications, but will be damaged if the temperature becomes higher than the allowable temperature of about 130 [° C].

Therefore, in order to prevent the temperature of the wrist mechanism from becoming higher than the allowable temperature, an air purging device (not shown) supplies cooling air to dissipate heat or a reflector is attached to prevent radiant heat from being transmitted. However, if the air purging device fails, the piping that supplies the cooling air is damaged, or if the maintenance of the reflector is poor and the reflectance decreases, the temperature of the wrist mechanism rises and the sensor, actuator, Control elements etc. will be damaged.

The present invention solves the problems of the conventional long nozzle attaching / detaching device and prevents the sensors, actuators, control elements, etc. from being damaged by the transfer of heat by radiant heat or heat conduction. The purpose is to provide.

[0018]

Therefore, in the long nozzle attaching / detaching device of the present invention, the manipulator, the telescopic arm attached to the manipulator, and the movably supported relative to the telescopic arm. It has a driven case and a long nozzle gripping portion which is disposed at the tip of the driven case and grips the long nozzle.

Further, a driving member for moving the driven case in the horizontal direction, a control element for controlling the driving member, a force transmission means arranged between the driving member and the driven case, and the long nozzle. And a detection unit that detects a force applied from the grip portion to the driven case. Then, the detecting means, the driving member and the control element are arranged at the rear end of the telescopic arm.

[0020]

According to the present invention, as described above, the long nozzle attaching / detaching device includes the manipulator, the telescopic arm attached to the manipulator, and the driven case supported so as to be movable relative to the telescopic arm. And a long nozzle gripping portion which is disposed at the tip of the driven case and grips the long nozzle.

Further, a driving member for moving the driven case in the horizontal direction, a control element for controlling the driving member, a force transmission means arranged between the driving member and the driven case, and the long nozzle. And a detection unit that detects a force applied from the grip portion to the driven case. Therefore, by driving the driving member, the driven case can be moved in the horizontal direction via the force transmitting means, and the long nozzle can be attached to the ladle nozzle. In this case, the force applied from the long nozzle gripping portion to the driven case is detected by the detecting means, and the drive member is controlled by the control element so that the force becomes zero.

Then, the detecting means, the driving member and the control element are arranged at the rear end of the telescopic arm. Therefore,
Radiation heat from the lid of the tundish and heat due to heat conduction from the long nozzle are not transmitted to the detection means, the driving member, the control element and the like.

[0023]

Embodiments of the present invention will now be described in detail with reference to the drawings. FIG. 1 is a plan view of a long nozzle attaching / detaching device showing a first embodiment of the present invention, FIG. 6 is a vertical sectional view of a long nozzle attaching / detaching device showing a first embodiment of the present invention, and FIG. 1 is a schematic view of a long nozzle attaching / detaching device, FIG. 8 is an operation explanatory view of the long nozzle attaching / detaching device showing a first embodiment of the present invention, FIG. 9 is a state diagram of the long nozzle, and FIG. 10 is a long nozzle. It is another state figure of. 9 (a) and 10 (a) show a ladle nozzle 15 and a long nozzle 4.
8 is a vertical sectional view showing a contact state of No. 8 and FIG. 8B is a horizontal sectional view showing a contact state of the ladle nozzle 15 and the long nozzle 48. 9A is a sectional view taken along the line GG of FIG. 9B.

In FIG. 7, 11 is a ladle for containing the molten metal, 12 is a tandem for temporarily containing the molten metal of the ladle 11, 15 is a pipe-shaped ladle nozzle projecting from the bottom of the ladle 11, 48 Is a long nozzle for supplying the molten metal of the ladle 11 to the tandem 12. And the long nozzle 48
An insertion opening (not shown) for inserting the ladle nozzle 15 is formed at the upper end of the.

Reference numeral 21 is a manipulator for attaching / detaching the long nozzle 48 to / from the ladle nozzle 15. The manipulator 21 is a manipulator body 22, a pivot shaft 23 slidable with respect to the manipulator body 22, and a manipulator body 22. From the arm support portion 24 fixed to the tip of the turning shaft 23, the telescopic arm 30 supported by the arm support portion 24 to expand and contract in the direction of the arrow B, and the long nozzle grip portion 32 fixed to the tip of the telescopic arm 30. Become.

The telescopic arm 30 has a driven mechanism portion 27 disposed adjacent to the long nozzle grip portion 32, and a force transmission mechanism portion 28 disposed between the driven mechanism portion 27 and the arm support portion 24. , And a precision instrument mounting portion 29 formed behind (rightward in the drawing) the arm support portion 24.
Further, the manipulator main body 22 operates in a cylindrical coordinate system, and the turning shaft 23 can be moved up and down in the direction of arrow A and can be rotated in the direction of arrow C.

Reference numeral 20 is a camera provided for measuring the misalignment between the ladle nozzle 15 and the long nozzle 48. Further, S _A is a high temperature region and S _B is a low temperature region. Next, details of the telescopic arm 30 and the long nozzle grip 32 will be described.

In FIGS. 1 and 6, 30 is a telescopic arm,
Reference numeral 32 is a long nozzle gripping portion. The long nozzle holding portion 32 holds the long nozzle 48 and has three degrees of freedom in the x-axis direction, the y-axis direction and the θ _y- axis direction. Further, the telescopic arm 30 is formed between the driven mechanism portion 27 formed adjacent to the long nozzle grip portion 32 as described above, and between the driven mechanism portion 27 and the arm support portion 24 (FIG. 7). The force transmission mechanism portion 28 and the precision equipment attachment portion 29 formed behind the arm support portion 24 (to the left in the drawing).

Reference numeral 34 designates a telescopic arm case, 33 designates a follower case which is disposed in the telescopic arm case 34, and has a tip protruding from the telescopic arm case 34, each of which has a rectangular tubular cross section. There is. The driven case 33
Are movably arranged and supported with respect to the telescopic arm case 34 in the x-axis direction and the y-axis direction. Therefore, the support member 37 is disposed on the bottom surface of the telescopic arm case 34.
The support 37 includes an x-axis linear roller way 37a, a linear roller base 37b, and a y-axis linear roller way 37.
c, and the x-axis linear roller way 37a and the y-axis linear roller way 37c are assembled in the shape of a girder.
The linear roller base 37b can slide along the x-axis linear roller way 37a and the y-axis linear roller way 37c.

By the way, the long nozzle gripping portion 32 has a "U" -shaped lever 45 in a plan view, the lever 45 is attached to the driven case 33, and the long nozzles are attached to the respective arm portions on both sides. A notch 45a for holding 48 is formed. That is, the long nozzle 48
Has a circular shape at the upper end,
a is attached, and locking pins 49 are formed so as to project on both sides of the fitting 48a. The lever 45 can support the long nozzle 48 swingably in the θ _y axis direction by locking the locking pin 49 in the notch 45 a.

Further, the long nozzle 48 has the lever 4
5 can be moved in the horizontal direction, that is, in the x-axis direction and the y-axis direction. Therefore, an x-axis driving member 40 for moving the driven case 33 in the x-axis direction and a y-axis driving member 41 for moving the driven case 33 in the y-axis direction are provided on the bottom surface of the telescopic arm case 34. Is provided.

The x-axis driving member 40 is a bracket 40a fixed to the bottom surface of the telescopic arm case 34, an x-axis driving cylinder 40b fixed to the bracket 40a and operated by hydraulic pressure or air pressure, and the x-axis driving member 40a. A shaft 40d as force transmission means fixed to the tip of the rod of the cylinder 40b via a load cell 40c, a servo valve 40e for controlling the amount of oil or air supplied to the x-axis driving cylinder 40b, and the bracket 40a. And a shaft 40d, and a potentiometer 40f for detecting the position of the long nozzle 48 in the x-axis direction. A proportional solenoid valve may be used in addition to the servo valve 40e.

The shaft 40d extends in the x-axis direction, a roller follower 42 is provided at the tip, and the shaft 40d and the driven case 33 are connected via the roller follower 42. The roller follower 42 is formed on a roller 42a rotatably disposed at the tip of the shaft 40d and a rear end of a protruding piece 33a protruding rearward of the driven case 33, and extends in the y-axis direction to extend the roller. It consists of a long groove 42b that accommodates 42a.

On the other hand, the y-axis drive member 41 includes a bracket 41a fixed to the bottom surface of the telescopic arm case 34, a y-axis drive cylinder 41b fixed to the bracket 41a and operated by hydraulic pressure or air pressure, and the y-axis drive member. A shaft 41d as force transmission means fixed to the tip of the rod of the working cylinder 41b via a load cell 41c, and the y
The servo valve 41e for controlling the amount of oil or air supplied to the shaft driving cylinder 41b, and the y of the long nozzle 48 are provided between the bracket 41a and the shaft 41d.
It is composed of a potentiometer 41f for detecting a position in the axial direction. In addition to the servo valve 41e, a proportional solenoid valve can be used.

The shaft 41d extends in the x-axis direction, and the tip end thereof includes a direction changing member 44 and a roller follower 43.
Are arranged, and the direction changing member 44 and the roller follower 4 are arranged.
The shaft 41d and the driven case 33 are connected to each other through 3. The direction changing member 44 is connected to the tip of the shaft 41d and the rod 44a, and is connected to the tip of the rod 44a.
L-shaped lever 4 swingably supported with respect to
It consists of 4b. Further, the roller follower 43 is disposed between the lever 44b and the driven case 33. The roller follower 43 includes a roller 43a rotatably arranged at the tip of the direction changing member 44, and the driven case 3 described above.
3 is formed at the rear end of the protruding piece 33a protruding rearward from
Long groove 43 extending in the x-axis direction to accommodate the roller 43a
It consists of b.

Therefore, the x-axis driving cylinder 40
When oil or air is supplied to or discharged from b, the rod moves back and forth to transmit a force via the load cell 40c and the shaft 40d to move the driven case 33 in the x-axis direction, and the long nozzle 48 to an arbitrary position. Can be set. During this period, the driven case 33 moves in the x-axis direction, but since the roller follower 43 absorbs the movement, the shaft 41d remains stopped. The position of the long nozzle 48 in the x-axis direction can be detected by the potentiometer 40f, and the load cell 40
The compression force and the tensile force generated by the load of the long nozzle 48 can also be detected by c.

When oil or air is supplied to or discharged from the y-axis drive cylinder 41b, the rod advances and retreats, and the load cell 41c, the shaft 41d, the rod 44a, "L".
The force is transmitted via the L-shaped lever 44b to drive the driven case 33.
Can be moved in the y-axis direction to set the long nozzle 48 at an arbitrary position in the y-axis direction. During this time, the driven case 33 moves in the y-axis direction, but since the roller follower 42 absorbs the movement thereof, the shaft 40d.
Remains stopped. The potentiometer 41f can detect the position of the long nozzle 48 in the y-axis direction, and the load cell 41c can also detect the compressive force and the tensile force generated by the load of the long nozzle 48.

In this way, the driven case 33 can be moved in the x-axis direction and the y-axis direction to set the long nozzle 48 at an arbitrary position. For example, as shown in FIG. 8, the driven case 33 can be moved by Δx in the x-axis direction by moving the shaft 40d in the arrow D direction, and the driven case 33 can be moved by moving the shaft 41d in the arrow E direction. Can be moved in the y-axis direction by Δy.

In order to minimize the frictional force generated when the shafts 40d and 41d move forward and backward and to prevent the shafts 40d and 41d from buckling, the shafts 40d and 41d are axially moved. Linear bearings 51 are arranged at a plurality of locations along the line. Also,
52 is the front end of the telescopic arm case 34 and the driven case 3
It is a cover for sealing the space between 3.

Then, when the driven case 33 is moved in the x-axis direction and the y-axis direction, the θ _y- axis locking means 46 is provided so that the long nozzle 48 does not hit the ladle nozzle 15 and tilt in the θ _y- axis direction. It is arranged. The θ
_{The y-} axis locking means 46 is fixed to the driven case 33 and is composed of a θ _y- axis locking cylinder 46a that is operated by hydraulic pressure or air pressure, and a shaft 46b fixed to the tip of the rod of the θ _y- axis locking cylinder 46a. .

On the other hand, a bracket 94 is attached to the mounting member 48a of the long nozzle 48 at a position facing the shaft 46b, and a locking hole 94a corresponding to the shaft 46b is formed in the bracket 94. Therefore, by supplying oil or air to the θ _y axis locking cylinder 46a, the shaft 46b can be advanced and retracted, and the tip of the shaft 46b can be engaged with and disengaged from the locking hole 94a. Then, as shown in FIGS. 9 and 10, by engaging the tip of the shaft 46b with the locking hole 94a, the long nozzle 48 can be locked. The long nozzle 48 can be released by retracting the tip of the shaft 46b from the locking hole 94a. In this case, the long nozzle 48 can be swung with respect to the lever 45 around the θ _y axis.

Next, the operation of the long nozzle attaching / detaching device having the above construction will be described. When the long nozzle 48 is attached to the ladle nozzle 15, first, the ladle 11 is automatically conveyed by using a ladle crane (not shown) and set at a set position. However, since the positioning accuracy of the ladle 11 at this point is low, a misalignment of about ± 100 [mm] at the maximum with respect to the reference position may occur. Then, the ladle nozzle 15 attached to the ladle 11 also has the same misalignment ε.

Next, the operator who confirms that the ladle 11 is installed pushes a switch (not shown) for automatic mounting by the manipulator 21. Therefore, as shown in FIG. 7, the manipulator 21 moves the swivel shaft 23 up and down in the direction of arrow A, rotates it in the direction of arrow C, and expands and contracts the telescopic arm 30 in the direction of arrow B as shown in FIG. Then, the long nozzle gripping portion 32 is conveyed from the standby position to the reference position.
At this point, the center deviation ε between the central axis b of the long nozzle 48 and the central axis c of the ladle nozzle 15 is a maximum of ± 100 [mm].
It has become a degree. Here, the two cameras 20 are used to measure the misalignment ε by the image three-dimensional measurement method and feed it back to the manipulator 21, and the long nozzle gripping portion 32 is brought closer to reduce the misalignment ε. But,
Due to the backlash of the manipulator 21 and a measurement error, the misalignment ε between the central axis b of the long nozzle 48 and the central axis c of the ladle nozzle 15 remains about 15 to 20 mm at maximum.

When the long nozzle 48 is attached to the ladle nozzle 15 in this state, the central axis b of the long nozzle 48 is
As shown in FIG. 4, the angle θ (3 to 5) with respect to the central axis c of the ladle nozzle 15 is centered on the trunnion axis a.
[°]) will incline. Therefore, by supplying oil or air to the θ _y axis locking cylinder 46a, the shaft 46b is moved forward, and the tip of the shaft 46b is engaged with the locking hole 94a to lock the long nozzle 48.

Subsequently, the long nozzle grip 32 is raised by the manipulator 21, and the long nozzle 48 is brought into contact with the ladle nozzle 15 as shown in FIG.
In this case, the pushing force of the long nozzle 48 by the long nozzle gripping portion 32 is F _A, and the angle formed by the direction of the contact surface at the contact point P _A of the long nozzle 48 and the ladle nozzle 15 and the direction in which the pushing force F _A acts is α. when the normal force N acting on the contact surface, since it is N = F _a sin .alpha, the horizontal force F _B is a _{F B = N cosα = F a} sinα cosα. In this case, friction is ignored under static conditions.

This horizontal force F _B is applied to the driven case 33 via the lever 45. Then, the driven case 3
The force F _{B applied} to 3 in the x-axis direction F _Bx is the shaft 40
It is transmitted to the load cell 40c via d. On the other hand, force F
The y-axis component force F _By of _B is transmitted to the load cell 41c via the shaft 41d. Then, the load cell 40c,
The compression force and the tension force are detected by 41c, the x-axis drive member 40 and the y-axis drive member 41 are driven so that they become 0, and the misalignment ε is made 0 by repeating this,
Can be aligned.

When the compressive force and the tensile force detected by the load cells 40c and 41c become zero, accurate centering is performed as shown in FIG. Therefore, the shaft 46
The tip of b is retracted from the locking hole 94a and the long nozzle 4
Release 8. By the way, as shown in FIG. 7, the telescopic arm 30 comprises a driven mechanism section 27, a force transmission mechanism section 28, and a precision instrument mounting section 29. The precision instrument mounting section 29 has load cells 40c and 41c as sensors and a potentiometer 40f. , 41f and the like are provided with an x-axis drive cylinder 40b as an actuator, a y-axis drive cylinder 41b and the like, servo valves 40e and 41e as control elements, a proportional solenoid valve and the like.

As described above, since the sensors, actuators, control elements and the like are arranged in the precision equipment mounting portion 29 in the low temperature area S _B , the radiant heat from the lid of the tandem 12 and the heat due to the heat conduction from the long nozzle 48. Is not transmitted to sensors, actuators, control elements, etc. Therefore, it is possible to prevent the sensor, the actuator, the control element, and the like from being damaged.

Further, since the sensors, actuators, control elements and the like are concentratedly arranged in the precision equipment mounting portion 29, they can be replaced by removing a cover (not shown) which is appropriately formed on the telescopic arm case 34. Maintenance and management becomes easy. Next, a second embodiment of the present invention will be described.

FIG. 11 is an enlarged view of the essential parts of a long nozzle attaching / detaching device showing a second embodiment of the present invention. In the figure, 3
3 is a driven case, 33b is a projecting piece that projects to the rear of the driven case 33, 34 is a telescopic arm case, and 411d is y.
It is a shaft as a force transmission means of the shaft drive member 41 (FIG. 1).

The shaft 411d extends in the x-axis direction, and the direction changing member 441 and the roller follower 431 are arranged at the tip thereof. The direction changing member 441 and the roller follower 43 are arranged.
1 through the shaft 411d and the driven case 33.
Are connected. The direction changing member 441 includes a rack 441a formed at the tip of the shaft 411d, and pinions 441b and y that mesh with the rack 441a.
The connecting piece 442 is arranged so as to be movable in the axial direction, and the rack 442a formed on the connecting piece 442 and meshing with the pinion 441b.

Further, the roller follower 431 is disposed between the connecting piece 442 and the driven case 33.
The roller follower 431 is formed at the rear end of the roller 431a rotatably arranged and the protruding piece 33b,
Long groove 4 extending in the x-axis direction and accommodating the roller 431a.
It consists of 31b. In this case, the y-axis direction component force F _By of the force F _{B applied} to the driven case 33 is the connecting piece 442 and the rack 4
42a, the pinion 441b, the rack 441a and the shaft 411d are transmitted to the load cell 41c. In addition, 51 is a linear bearing.

Next, a third embodiment of the present invention will be described. FIG. 12 is a plan view of a long nozzle attaching / detaching device showing a third embodiment of the present invention. In the figure, reference numeral 402 is an x-axis drive member for moving the driven case 33 in the x-axis direction, and 412 is a y-axis drive member for moving the driven case 33 in the y-axis direction.

The x-axis driving member 402 is a bracket 402a fixed to the bottom surface of the telescopic arm case 34,
An x-axis driving cylinder 402b fixed to the bracket 402a and operated by hydraulic pressure or air pressure, and a load cell 402 at the tip of the rod of the x-axis driving cylinder 402b.
A shaft 402d fixed via c and a potentiometer 402f arranged between the bracket 402a and the shaft 402d for detecting the position of the long nozzle 48 in the x-axis direction.

The shaft 402d is fixed to a chain 402g as a force transmitting means arranged in the x-axis direction, and a roller follower 422 is arranged at a set position of the chain 402g, and via the roller follower 422. The chain 402g and the driven case 33 are connected. The roller follower 422 is the chain 402g.
And a roller 422a rotatably disposed at a set position and a rear end of a protruding piece 33c protruding rearward of the driven case 33 and extending in the y-axis direction.
Is formed of a long groove 422b. The chain 402g is stretched between two sprockets 402h.

On the other hand, the y-axis drive member 412 is a bracket 412 fixed to the bottom surface of the telescopic arm case 34.
a, a y-axis driving cylinder 412b fixed to the bracket 412a and operated by hydraulic pressure or air pressure, and the load cell 4 at the tip of the rod of the y-axis driving cylinder 412b.
A shaft 412d fixed via 12c, and a potentiometer 412f arranged between the bracket 412a and the shaft 412d for detecting the position of the long nozzle 48 in the y-axis direction.

The shaft 412d is fixed to a chain 412g as force transmitting means arranged in the x-axis direction and the y-axis direction, and a roller follower 432 is set at a set position of a portion of the chain 412g extending in the y-axis direction. The chain 41 is disposed through the roller follower 432.
2 g and the driven case 33 are connected. The roller follower 432 is rotatably disposed at a set position of the chain 412g, and protrudes from the lower surface of the driven case 33 and extends in the x-axis direction to extend the roller 432.
It comprises a guide 432b for guiding a. The chain 412g is stretched between four sprockets 412h.

Instead of the chains 402g and 412g, a timing belt, a wire or the like may be used.
A pulley may be used instead of the sprockets 402h and 412h. 502 is a linear bearing. Next, a fourth embodiment of the present invention will be described. FIG. 13 is a plan view of a long nozzle attaching / detaching device showing a fourth embodiment of the present invention.

In the figure, 403 is an x-axis driving member for moving the driven case 33 in the x-axis direction, and 413 is a y-axis driving member for moving the driven case 33 in the y-axis direction. The x-axis drive member 403 is composed of an electric motor with a sprocket fixed to the bottom surface of the telescopic arm case 34, and a chain 403g as a force transmission means is stretched between the x-axis drive member 403 and the sprocket 403h. Then, a roller follower 423 is arranged at a set position of the chain 403g, and the chain 403g and the driven case 33 are connected via the roller follower 423. The roller follower 423 is formed on a roller 423a rotatably arranged at a set position on the chain 403g and a rear end of a protruding piece 33c protruding rearward of the driven case 33, and extends in the y-axis direction. It consists of a long groove 423b that accommodates 423a.

The y-axis drive member 413 is composed of an electric motor with a sprocket fixed to the bottom of the telescopic arm case 34, and a chain 413g as a force transmission means is stretched between the three sprockets 413h. The chain 413g is arranged in the x-axis direction and the y-axis direction, and a roller follower 433 is arranged at a set position of a portion of the chain 413g extending in the y-axis direction, and the chain 413g is arranged via the roller follower 433. And the driven case 33 are connected. The roller follower 433 includes a roller 433a rotatably arranged at a set position of the chain 413g, and a guide 433b which projects from the lower surface of the driven case 33 and extends in the x-axis direction to guide the roller 433a.

In this case, the torque of the electric motor with the sprocket can be detected by the servo current. The present invention is not limited to the above-mentioned embodiments, and various modifications can be made based on the spirit of the present invention.
They are not excluded from the scope of the invention.

[0062]

As described in detail above, according to the present invention, the long nozzle attaching / detaching device supports the manipulator, the telescopic arm attached to the manipulator, and the movable relative to the telescopic arm. And a long nozzle gripping portion which is disposed at the tip of the driven case and grips the long nozzle.

Further, a driving member for moving the driven case in the horizontal direction, a control element for controlling the driving member, a force transmission means arranged between the driving member and the driven case, and the long nozzle. And a detection unit that detects a force applied from the grip portion to the driven case. Then, the detecting means, the driving member and the control element are arranged at the rear end of the telescopic arm. Therefore, the radiation heat from the lid of the tandem and the heat due to the heat conduction from the long nozzle are not transmitted, and it is possible to prevent the detection unit, the driving member, the control element, and the like from being damaged.

[Brief description of drawings]

FIG. 1 is a plan view of a long nozzle attaching / detaching device showing a first embodiment of the present invention.

FIG. 2 is a schematic view of a conventional long nozzle attaching / detaching device.

FIG. 3 is a first mounting state diagram of a conventional long nozzle attaching / detaching device.

FIG. 4 is a second mounting state diagram of a conventional long nozzle attaching / detaching device.

FIG. 5 is a third mounting state diagram of the conventional long nozzle attaching / detaching device.

FIG. 6 is a vertical cross-sectional view of the long nozzle attaching / detaching device showing the first embodiment of the present invention.

FIG. 7 is a schematic view of a long nozzle attaching / detaching device showing a first embodiment of the present invention.

FIG. 8 is an operation explanatory view of the long nozzle attaching / detaching device showing the first embodiment of the present invention.

FIG. 9 is a state diagram of a long nozzle.

FIG. 10 is another state diagram of the long nozzle.

FIG. 11 is an enlarged view of a main part of a long nozzle attaching / detaching device showing a second embodiment of the present invention.

FIG. 12 is a plan view of a long nozzle attaching / detaching device showing a third embodiment of the present invention.

FIG. 13 is a plan view of a long nozzle attaching / detaching device showing a fourth embodiment of the present invention.

[Explanation of symbols]

21 manipulator 30 telescopic arm 32 long nozzle grip 33 driven case 40, 402, 403 x-axis drive member 40b, 402b x-axis drive cylinder 40c, 41c load cell 40d, 41d, 441d shaft 40e, 41e servo valve 40f, 41f, 402f , 412f Potentiometer 41, 412, 413 y-axis drive member 41b, 412b y-axis drive cylinder 48 long nozzle 402g, 403g, 412g, 413g chain

Claims (1)

[Claims] 1. A manipulator; (b) a telescopic arm attached to the manipulator; (c) a driven case supported so as to be movable relative to the telescopic arm; A long nozzle gripping portion arranged at the tip of the driven case for gripping the long nozzle; (e) a driving member for moving the driven case in the horizontal direction; and (f) a control element for controlling the driving member. g) force transmission means disposed between the drive member and the driven case, and (h)
A detecting means for detecting a force applied from the long nozzle gripping portion to the driven case, and (i) the detecting means, the driving member and the control element are arranged at a rear end of the telescopic arm. Long nozzle attachment / detachment device.