JPH107374A - Cargo handling gripping device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent equipment from being complicated and enlarged by providing a first claw which is provided on a rotating member and projected toward the center in the longitudinal direction of a first frame and a second claw projected toward the center in the longitudinal direction of a second frame. SOLUTION: A positioning bracket 29 is fixed to a rotating shaft 18 of a rotating member 17 by a fixing pin, and the bracket 29 is positioned between bearing walls 19 of a leg frame 16. A positioning pin 31 is passed through the bracket 29 and the bearing walls 19 to fix the rotating member 17 in a position round the shaft. A claw fitting part 34 is formed on the rotating member 17, and provided with a first claw 35 projected toward the center in the longitudinal direction of the first frame and with a second claw 36 projected toward the center in the longitudinal direction of the second frame. Thus, equipment can be shared and simplified.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a gripping device for gripping and holding a cargo such as an iron coil.

[0002]

2. Description of the Related Art In general, a method has been adopted in which a cargo is grasped by a grasping device in a warehouse or the like, and the grasping device is lifted and moved by a crane to move the cargo. Also,
When a coil made of iron or the like is considered as a cargo, the coil is placed on a skid (or a pallet), and the skid is moved by grasping with a grasping device, or is directly moved by grasping the coil.

When a coil is placed on a skid, the coil hole is placed vertically to prevent rolling of the coil. Then, the claws of the gripping device are inserted into the gap under the skid from both sides to grip the cargo.

On the other hand, when directly gripping the coil, the coil is turned over on the floor, and claws of the gripping device are inserted into the coil holes from both sides.

[0005] When the cargo is a cut plate, a plurality of the cut plates are laid sideways on the skid, and the skid is gripped and moved in the same manner as the previous coil.

[0006]

As described above, since the appearance of the package differs between the case with the skid and the case without the skid, conventionally, it is necessary to separately prepare gripping devices having claws adapted to each case. However, there was a difficulty in increasing the number of facilities and the scale.

[0007]

SUMMARY OF THE INVENTION The present invention is a gripping device which is moved by a crane or the like and grips a cargo from both sides.
A first frame extending in the horizontal direction, a pair of second frames extending in the horizontal direction intersecting with the first frame, the pair of second frames being provided movably along the first frame; Is provided movably.
A pair of leg frames extending downward from the frame, a rotating member provided at a lower end of the leg frame, and rotatable around an axis along the longitudinal direction of the leg frame; and a rotating member provided on the rotating member. A first claw protruding toward the longitudinal center of the first frame; and a second claw provided on the rotating member and protruding toward the longitudinal center of the second frame. Things.

In this case, the second frame and the leg frame are appropriately moved in accordance with the size of the cargo, and the cargo is grasped from both outer sides in the longitudinal direction of the first frame. In particular, by rotating the rotating member, either one of the first and second claws can be selected. Therefore, it is possible to select the nail suitable for the packing style with the same device, and it is possible to simplify the equipment.

[0009]

Preferred embodiments of the present invention will be described below in detail with reference to the accompanying drawings.

FIGS. 1 and 2 are a front view and a right side view showing a gripping device according to the present invention. As shown, the gripping device 1 has a first frame 2 that extends horizontally along the width direction, and the first frame 2 is hooked on a crane hook 3 and is freely moved by the crane. It has become. A pair of second frames 4 is provided below the first frame 2, and the second frame 4 is
It extends horizontally along the front-rear direction orthogonal to. These second frames 4 can move along the longitudinal direction of the first frame 2.

Specifically, a feed screw 5 and a rail (not shown) are provided in the first frame 2, and the second frame 4 is engaged with the feed screw 5 and the rail. By rotating the feed screw 5 with the first motor 6,
The respective second frames 4 are simultaneously moved toward and away from each other.

Similarly, the second frame 4 has a feed screw 1
2, a rail (not shown) and a second motor 13 are provided. As described above, the operation of the second frame 4 with respect to the first frame 2 corresponds to the leg frame 1 with respect to the second frame 4.
6 is similarly performed. The leg frames 16 are provided in pairs on each of the second frames 4, extend downward from the second frames 4, and can move close to and away from the second frames 4.

FIG. 3 is a front view showing the inside of the leg frame 16, and FIG. 4 is a left side view ((b) view). FIG.
3A is a left side view of FIG.

As shown in the drawing, the leg frame 16 has a hollow structure having a rectangular cross section, and a rotating member 17 is provided at the lower end thereof so as to protrude downward. The rotating member 17 has a rotating shaft 18 along the longitudinal direction of the leg frame 16, and the rotating shaft 1
8 is inserted in the leg frame 16. A pair of bearing walls 1 vertically separated from each other are provided at the lower end of the leg frame 16.
The rotating shaft 18 is rotatably supported on the bearing wall 19 via a bush 20.

The rotating member 17 is supported by a suspension bolt 21 so as to be vertically movable. The leg frame 16 is provided with a pair of support walls 23 and 24 that are vertically separated from each other, and the support walls 23 and 24 are provided with holes through which the suspension bolts 21 are inserted.

On the outer peripheral side of the suspension bolt 21, springs 26 and 27 are coaxially arranged.

With this configuration, the suspension bolt 21 is fixed in the vertical position by two types of springs 26 and 27,
In addition, when a load is applied, it is possible to move up and down, and a slight up and down movement of the rotating member 17 is allowed. When lifting the cargo to be described later, the rotating member 1
When 7 drops to the maximum, the limit switch 28 detects this and sends an ON / OFF signal to a control panel (not shown).

Referring also to FIG. 5, a positioning bracket 29 is fixed to the rotating shaft 18 of the rotating member 17 with a fixing pin 30. The bracket 29 is located between the bearing walls 19 of the leg frame 16. I have. When the positioning pin 31 is inserted through the bracket 29 and the bearing wall 19, the position of the rotating member 17 around its axis is fixed. The positioning pin 31 can be inserted and removed from above,
As shown in FIG. 5, if the rotary member 17 is inserted into another hole 32 of the bearing wall 19, the rotary member 17 can be fixed at a position rotated by 90 °.

Next, the rotary member 17 is also formed with a claw mounting portion 34 having a rectangular cross section, as shown in FIGS.
As shown in FIG. 2, a first claw 35 protruding toward the longitudinal center of the first frame 2 and a second claw 36 protruding toward the longitudinal center of the second frame 4 are provided.

The first claw 35 is provided at the lower end of the claw mounting portion 34, and is a fork-shaped flat claw that can be inserted into a gap below the skid, as will be described in detail later. Also the second
The claw 36 is located above the first claw 35 and is formed in a block shape suitable for being inserted into the center hole of the coil, as will be described in detail later.

Here, the second claw 36 is located at the claw mounting portion 34 at the outer end in the longitudinal direction of the first frame. Here, the second claw 36 is of a split type, that is, as shown in FIG. 4A, the load receiving member 38 is mounted on a pair of bridge portions 37 integrally protruding from the claw mounting portion 34.
Are fixed on top of each other. In particular, the receiving member 38
The upper surface portion is a divided receiving surface 39, which forms an arc-shaped receiving surface along the upper surface of the coil center hole in cooperation with another divided receiving surface 39, which will be described in detail later.

Next, as shown in FIG. 1 (not shown in FIG. 2), a pressing portion for pressing and holding the grasped cargo from above is provided at the longitudinal center of the first frame 2 between the second frames 4. Means 44 are provided. This pressing means 44
A contact member 45 that contacts the cargo, and a contact member 45
It is mainly composed of a parallel link mechanism 46 connected to the frame 2 and a driving means 47 for performing the expansion and contraction operation of the parallel link mechanism 46.

As shown in the side view of FIG. 6 and the plan view of FIG. 7, the contact member 45 is suspended from the upper plate 51 connected to the parallel link mechanism 46 so as to be movable close to and away from the upper plate 51. It mainly comprises a contact plate 48 that comes into contact with the cargo, and a spring 49 that urges the contact plate 48 in a direction away from the upper plate 51. The upper plate 51 is connected to the parallel link mechanism 46.
And a pair of upright plates 51a for connecting the four lower links 50 through lower pins 50a. The contact plates 48 are suspended at the four corners.

As shown in FIG. 6 and FIG.
Is provided with a hole at the center thereof, and a pin 59 protruding from the upper plate 52 is movably inserted into this hole. Upper plate 51
The bracket 60 is provided with a detection device 61 using a limit switch. The detection device 61 detects the approach of the pin 59 and outputs an ON / OFF signal.

According to this, when the cargo is pressed from above by the contact plate 48, the contact plate 48 approaches the upper plate 51 against the urging force of the spring 49, and the pin 59 is moved by the detecting device 6.
Approach one. Then, the detection device 61 outputs an ON / OFF signal, so that pressing of the cargo can be detected.

Next, as shown in FIG.
Reference numeral 6 denotes an upper and lower link 62, 50 connected by an intermediate pin 63, and a link 64 formed by this is disposed one at a time in front, rear, left and right. A pair of vertical plates 65 is fixed to the lower surface of the first frame 2, and the upper link 62 is connected to the vertical plate 65 via an upper pin 62 a.

The intermediate pin 63 connects left and right (in the thickness direction of FIG. 6) links 64, one link 64 integrally has a bearing boss 65, and the other link 64 integrally has a feed nut member 66. I have. A feed screw member 67 is inserted through the bearing boss 65 and the feed nut member 66. A driven pulley 70 is fixed to the shaft portion 68. A drive motor 72 is fixed to the bearing boss 65 via a support bracket 71, and a drive pulley 73 of the drive motor 72 is connected to a driven pulley 70 via a belt 74.

In this case, by rotating the drive motor 72, the feed screw member 67 is moved in the axial direction with respect to the feed nut member 66, and the parallel link mechanism 46 can be expanded and contracted up and down. Thus, the pressing means 44
It has a driving means for executing the expansion and contraction operation of the parallel link mechanism 46.

Next, the operation of this embodiment will be described.

First, a method of gripping a cargo with skids (or pallets) will be described with reference to FIGS. As shown in the figure, a coil 76 is mounted on the skid 75 with its center hole 77 being vertical. On the other hand, the grasping device 1 inserts the first claw 35 toward the center in the longitudinal direction of the first frame into the gap 78 below the skid 75 and grasps the cargo from both sides. Thereafter, the contact member 45 of the pressing means 44 is lowered, and the contact member 45 is pressed against the upper surface of the coil 76 to hold the cargo. Thereafter, the entire gripping device 1 is raised and moved, and the cargo is moved to a predetermined position.

At this time, the leg frame 16 is moved in advance,
The front and rear width of the first claw 35 is set to the front and rear width of the gap 78. Then, the second frame 4 is moved closely from both sides along the first frame 2 so as to grip the cargo.

When the cargo is lifted by grasping the cargo, the rotating member 17 descends while compressing the large diameter spring 27 under the load of the cargo. It can be seen that the grabbing operation is performed reliably.

In the case of a cargo with skid, the height of the center of gravity is high, and it is unstable to ride on the first claw 35 alone. It is conceivable that the crane swings when the crane starts, moves, or stops. However, even in this case, the swinging and falling of the moving load is completely prevented because the pressing means 44 holds the cargo. In particular, since the pressing of the load is detected by the detecting device 61, the presence or absence of the pressing can be confirmed, and at the same time, the excessive pressing can be prevented.

In addition, since the rotating member 17 is supported so as to be vertically movable, there is an advantage that the first claw 35 can be easily inserted and removed.

Next, a case where the coil 76 as a cargo is directly grasped will be described. At this time, as shown in FIGS. 10 and 11, the coil 76 is placed on the floor with the center hole 77 lying sideways. On the other hand, in the gripping device 1, the rotating member 17 is rotated in advance so that the second claw 36 faces the center of the first frame in the longitudinal direction. And the leg frame 16
Are moved close to each other along the second frame 4 to be adjacent to each other.

Thus, the second claws 36 are also adjacent to each other, and the divided receiving surfaces 39 cooperate to form an arc-shaped receiving surface 79 along the upper surface of the coil center hole 77. When the second frame 4 is moved from both sides along the first frame 2, the adjacent second claws 36 are inserted from both sides of the center hole 77, whereby the cargo is completely gripped. Will be. Thereafter, the upper surface of the coil 76 is pressed and held by the pressing means 44 in the same manner as described above, and the entire gripping device 1 is moved.

As described above, the cargo can be grasped by the same device regardless of the type of package, thereby sharing the equipment and greatly simplifying the equipment. In particular, since the two second claws 36 can be inserted adjacent to each other, the load on each leg frame 16 can be the same as described above, and overload can be prevented. Then, in order to form one arc-shaped receiving surface 79 with the two second claws 36,
The contact area can be increased at the same time as the receiving area can be increased,
Damage to the coil 76 due to local contact can also be prevented. Further, the above-described positional relationship between the first claw 35 and the second claw 36 can prevent interference of the other claw when one claw is used.

Although the preferred embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and can take various other forms. For example, a plate-like member need not be used as the pressing means, and a hydraulic cylinder or the like can be used as the driving means. Further, instead of the parallel link mechanism, a direct-acting expansion and contraction mechanism such as a piston cylinder mechanism can be used. Then, instead of the coil spring 49, another buffer mechanism such as an air spring or a leaf spring can be used. Further, the shape of the first and second claws can be changed according to the type of the cargo. Also, the intersection angle between the first and second frames need not be limited to a right angle.

[0039]

The present invention exhibits the following excellent effects.

(1) The equipment can be shared and simplified.

(2) It is possible to prevent swinging and falling of the cargo during moving.

[Brief description of the drawings]

FIG. 1 is a front view showing a gripping device according to the present invention.

FIG. 2 is a right side view showing the gripping device according to the present invention.

FIG. 3 is a vertical sectional front view showing a leg frame.

4 (a) is a left side view of FIG. 3 (b), and FIG. 4 (b) is a left side view of FIG. 3;

FIG. 5 is a sectional view taken along line AA of FIG. 3;

FIG. 6 is a side view showing the pressing means.

FIG. 7 is a plan view showing a contact member.

FIG. 8 is a plan view showing a state when the cargo with skid is gripped.

FIG. 9 is a perspective view showing a state when the cargo with skid is gripped.

FIG. 10 is a plan view showing a state in which a cargo is directly grasped.

FIG. 11 is a perspective view showing a state in which a cargo is directly grasped.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Grasp device 2 1st frame 4 2nd frame 16 Leg frame 17 Rotating member 18 Rotating shaft 35 1st claw 36 2nd claw 44 Pressing means 45 Contact member 46 Parallel link mechanism 47 Drive means 48 Contact plate 49 Spring 51 Upper plate 61 Detector 75 Skid (load) 76 Coil (load) 77 Center hole 78 Gap 79 Arc-shaped load receiving surface

Claims (7)

[Claims] 1. A gripping device which is moved by a crane or the like and grips a cargo from both sides, wherein a first device extending in a horizontal direction is provided.
A frame, a pair of second frames that are provided movably along the first frame, extend in the horizontal direction intersecting with the first frame, and are movably provided along the second frame; A pair of leg frames extending downward from the second frame, a pivot member provided at a lower end of the leg frame, and pivotable about an axis along a longitudinal direction of the leg frame; And a second claw provided on the rotating member and protruding toward the longitudinal center of the second frame. A gripping device for cargo handling, comprising: 2. The gripper for cargo handling according to claim 1, wherein the second claw is located at an outer end of the rotating member in a longitudinal direction of the first frame. 3. When the second claw is protruded toward the center in the longitudinal direction of the first frame by the rotation of the rotating member, and the leg frame approaches and is adjacent along the second frame, 3. The gripper for cargo handling according to claim 1, wherein the adjacent second claws cooperate to form an arc-shaped receiving surface along an upper surface of a center hole of the coiled cargo. 4. The first claw is a flat claw inserted into a gap under a skid or a pallet.
A gripping device for cargo handling according to any one of the above. 5. The gripper for cargo handling according to claim 1, wherein the first frame has a pressing means between the second frame for pressing and holding the grasped cargo from above. 6. A contact member for contacting the cargo, a parallel link mechanism for connecting the contact member to the first frame, and a drive for executing the expansion and contraction operation of the parallel link mechanism. A gripping device for cargo handling according to any one of claims 1 to 5, further comprising means. 7. A contact plate, wherein the contact member is connected to the parallel link mechanism, a contact plate suspended from the upper plate so as to be movable close to and away from the upper plate, and contacting the cargo. A spring biasing in a direction away from the upper plate, wherein the pressing means further comprises a detecting device for detecting pressing of the cargo as the contact plate approaches the upper plate. 7. The gripping device for cargo handling according to any one of 1 to 6.