JPS6149738A - Tongs of manipulator - Google Patents

Abstract

PURPOSE:To clamp exactly a steel ingot by providing two pairs of jaws whose opposed jaws are opened and closed synchronously, in the orthogonal direction, and also making an independent action of each jaw available. CONSTITUTION:Chevron shape links 3, 4, 5 and 6 are provided on the upper and the lower parts, and the right and the left so as to become a point symmetry on a bracket 2 of a tongs use hollow shaft. Its base end part is attached pivotally by a pin 7, and also jaws 8, 9, 10 and 11 to the tip part by a pin 12. The upper and the lower links 3, 4 execute synchronously opening and closing of the jaws 8, 9 through gear teeth 17, 18, racks 21, 22 and a hydraulic cylinder 14. The right and left jaws 11, 10 are also opened and closed in the same way. In case of clamping a steel ingot 52 whose section is rectangular, the jaws 8, 9 abut on the narrow width side first by a control of a flow rate adjusting valve of the cylinder, and thereafter, the jaws are operated independently, respectively, and in the end, a firm clamping is executed. Accordingly, the steel ingot is clamped exactly.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to the tongs of a four-jaw manipulator.

[Prior art] As shown in Figs. 12 and 13, conventional tongs are made by attaching jaws e and f having V-shaped recesses c and d to the tips of two links a and b that open and close. It grips the ingot and rotates it while forging the steel ingot.

However, since the opening and closing directions of the links a and b are in a straight line, the steel ingot 9 with a square cross section has a V
The mold recesses c and d allow secure clamping, but as shown in Figure 15, the cross section is rectangular and the length is long! A long steel ingot cannot be clamped at the corner of the ■-shaped recess C1d, but must be clamped at the slopes j and j of the V-shaped recesses c and d.

Therefore, when forging the steel ingot 11 having a rectangular cross section with a hammer or the like, when hitting the narrow side i, it is supported by the recesses c and d, but when hitting the wide side n, the steel ingot and the recess c
, d were easily slippery, and the position of the steel ingot shifted, making it impossible to perform a smooth forging operation.

(Problems to be Solved by the Invention) The present invention is capable of clamping objects such as steel ingots with a rectangular cross section, which could not be reliably clamped with conventional two-jaw clamps.
This is intended to ensure secure clamping.

[Means for Solving the Problems] The present invention provides two pairs of jaws in which the jaws facing each other with respect to the center of the tongs open and close symmetrically and synchronously with each other, and are provided in directions orthogonal to each other. The tongs of the manipulator are characterized in that the jaws are configured to be able to operate independently.

[Function] It is equipped with four jaws, and the opposing jaws are opened and closed symmetrically and synchronously with respect to the center of the tongs, so that the object such as a steel ingot to be gripped can be gripped in alignment with the center of the tongs. Since the two orthogonal pairs of jaws are operated independently of each other, even if the cross-sectional shape of the object is rectangular, it can be reliably clamped.

[Implementation example] Embodiments of the present invention will be described below with reference to the drawings.

Figures 1 to 5 show an embodiment of the present invention, in which links 3, 4, and 5°6 bent in a dogleg shape are attached to a bracket 2 provided on a hollow shaft 1 for the tongs of a manipulator in point symmetry. Jaws 8, 9, 10 are attached to the tip of each link 3, 4, 5.
．． 11 respectively with the bins 12, and each link 3, 4
, 5.6 is provided with a bracket 13 on the outside of the bent part, and the tip of the screw I-ring rod 15 of the cylinder 14 disposed on the outer periphery of the hollow shaft 1 is connected to each bracket 13 with a pin 16. Links 3, 4, 5.6 are activated by
It is designed so that it can be rotated around the bin 7.

Gear teeth 17 are provided on the outer periphery of the base end of each of the links 3, 4, 5.6.
．． 18, 19, 20 are carved, and a connecting member 23 having racks 21.22 on the upper and lower sides that can mesh with the gear teeth 17.18 is attached to the gear teeth 17.18 of the upper and lower links 3, 4. , a guide 2 in which the connecting member 23 is provided inside the hollow shaft 1;
4, it is movably supported.

Furthermore, another connecting member 25 is disposed so as to intersect with the connecting member 23 at right angles and move separately, and the connecting member 2
The racks 26 and 27 provided on the left and right sides of the connecting member 25 are supported by guides so that the connecting member 25 can slide while being engaged with the gear teeth 19 and 20 of the left and right links 5 and 6, respectively.

Here, the connecting members 23 and 25 are assembled by providing a window or notch 28 in the body of one of the connecting members 23, and fixing racks 26 and 27 to members passing through the notch 28 from both sides. This is done by using the other connecting member 25,
cormorant.

FIG. 6 shows a hydraulic circuit for supplying pressure oil to each cylinder 14 to operate it. Oil in a tank 31 is discharged into a suction pipe 33 by a pump 32, and the oil in the tank 31 is discharged into a suction pipe 33.
A solenoid switching valve 34 is provided in the solenoid switching valve 3.
A pipe line 36 having a flow rate control valve 35 is connected to the secondary side of the pipe line 37.4, and the end of the pipe line 36 is branched into four pipes.
38, 39.40 for each cylinder 14a, 14b, 14c
, 14d are connected to the cylinder head side. Pipe lines 45, 46, 47.48 each having a flow rate regulating valve 41, 42, 43.44 are connected to the piston rod side of each of the cylinders 14a, 14b, 14c, 14d, and the volume pipe line 45.46
, 47 and 48 are connected to the secondary side of the solenoid switching valve 34. In the figure, 50 indicates a return pipe, and 51 indicates an accumulator.

With the above configuration, when clamping a steel ingot with a rectangular cross section, the solenoid switching valve 34 is switched to the state A in FIG.
, 49 and 45.46, 47.48 to each cylinder 1
When supplied to the piston rod side of 4a, 14b, 14c, 14d, each piston rod is retracted and the links 3, 4, 5.6 are opened.

Next, after inserting one end of the steel ingot into each link 3, 4, 5.6, when the solenoid pulp 34 is switched to the B side,
Pressure oil is supplied to the cylinder head side of each cylinder 14a, 14b, 14c, 14d, each piston rod is projected, and each link 3, 4, 5.6 is closed. Each link 3
, 4, 5.6 have their gear teeth 17, 18, 19, 20 meshing with the racks 21.22 of the connecting member 23 and the racks 26,27 of the connecting member 25, respectively, so that the upper and lower links 3.4
The left and right links 5.6 open and close in synchronization with each other, and the opening and closing speeds thereof are adjusted by the opening degrees of the flow control valves 41, 42, 43, and 44.

As shown in FIG. 7, the jaws 8 and 9 of the link 3.4 first come into contact with the narrow side of the steel ingot 52 having a rectangular cross section, and the link 3.
．． Although the moving speed of the piston rods of the cylinders 14a and 14b that press 4 will be slow, the link 5.6 that clamps the other wide side is in a movable state, so the pressure oil supplied from the pipe 36 will mainly flow into the cylinder. 1 nondas 14c and 14d, and links 5 and 6 are closed. At this time, if the position of the steel ingot 52 is shifted to the left or right as shown by the two-dot chain line, the jaw 1o of the link 5 on the shifted side will come into contact first, but the link 6 on the other side can be moved. and synchronized by the ship's connecting member 25, the cylinder 14c
, 14d, when pressure oil is further supplied to jaws 8., 14d.
Link 5 and jaw 1 overcome the frictional force between link 5 and steel ingot 52.
0 moves the steel ingot 52 to the center of the clamp.

When the steel ingot 52 is moved to the center of the vertical, left and right clamps,
4 links 3, 4, 5.6 jaws 8, 9, 10°1
1 can come into contact with each side of the steel ingot 52, and furthermore, the supplied pressure oil makes it possible for each cylinder 14a, 14b to come into contact with each side of the steel ingot 52.

14c and 14d provide uniform and strong ramp force to each link 3.4 and 5.6.

The orthogonal jaws L9.10.11 therefore act independently of each other and the final clamping force does not occur until all four jaws 8, 9, 10.11 have hit the steel ingot.

This makes it possible to reliably clamp a steel ingot with a rectangular cross section.

FIG. 8 shows another embodiment of the present invention, in which the upper and lower and left and right links 3, 4, 5, and 6
This is an example in which a connecting member with links is used instead of using gear teeth and a connecting member with a rack as a means for synchronizing the .

That is, a bracket 53 is provided at the base end of the link 3.4, and each bracket 53 and a connecting member 54 provided slidably in the hollow @1 are connected via links 55, 56 and synchronized. That's how it is.

In the case of this embodiment as well, the opening/closing movement of one link 3 is caused by the link 5
5. It is transmitted to the other link 4 via the connecting member 54 and the link 56, and they restrict each other, so that they open and open in synchronization, and the steel ingot etc. can be gripped at the center of the tongs.

FIGS. 9 to 11 show still other embodiments of the present invention,
In substantially the same configuration as the above embodiment, each sheet E-8, 9
, 10, 11 (7) Tip surface 1. : Claws 57, 58, 59
．． 60 is attached so that adjacent claws 57, 58, 59, 60 can intersect with each other. The winter melon 57.5g
, 59.60 is longer than the width of each jaw 8, 9, 10.11, and the opposing claws 59.60 are connected to the other opposing claws 5.
7.58 by the thickness of the claw 57.58.

According to this embodiment, when each link 3, 4', 5, 6 is closed and the distance between each jaw 8, 9, 10.11 is narrowed, the winter melons 57, 58, 59, 60 form a square frame. death,
And square claw s7. Since sa, s9; so cross each other and close, it is possible to reliably clamp a workpiece such as a thin steel ingot that easily escapes or fails to grasp at the center of the tongs.

Note that the tongs of the manipulator of the present invention are not limited to the embodiments described above, and in the embodiments, the operating speed of each cylinder is adjusted by a hydraulic circuit, but these adjustments may be made without any problem. Of course, modifications may be made without departing from the gist of the present invention, such as being able to clamp steel ingots having a rectangular cross section.

[Effects of the Invention] As described above, the manipulator tongs of the present invention are provided with four jaws, the opposing jaws open and close symmetrically with respect to the center of the tongs, and the orthogonal jaws operate independently. Therefore, various advantages are exhibited, such as being able to reliably clamp steel ingots having a rectangular cross section, which could not be clamped with conventional two-jaw tongs.

[Brief explanation of the drawing]

Fig. 1 is an explanatory diagram of one embodiment of the tongs of the present invention, Fig. 2 is a view taken in the direction of arrow II-II in Fig. 1, and Fig. 3 is a -
■ Direction arrow view, Figure 4 is the IV-■ direction arrow view in Figure 3, Figure 5 is a V-V direction arrow view in Figure 3, Figure 6 is the actuation of the cylinder in Figure 1. FIG. 7 is an explanatory diagram showing the clamp shape f) of the tongs of the present invention, FIG. 8 is a partial explanatory diagram of another embodiment of the tongs of the present invention, and FIG. 9 is an explanatory diagram of another embodiment of the tongs of the present invention. An explanatory diagram of yet another embodiment of the tongs,
Figure 10 is a view taken in the X-X direction of Figure 9, and Figure 11 is a view of Figure 9.
FIG. 12 is an explanatory diagram of a conventional two-claw tong, FIG. 13 is a view taken along the xm-xm direction of FIG. 12, and FIG. 15 is an explanatory diagram showing a clamping state using conventional tongs, and FIG. 15 is an explanatory diagram showing another clamping state using conventional tongs. 1 is a hollow shaft, 3 to 6 are links, 8 to 11 are jaws, 14
, 14a, 14b, 14c, 14d are cylinders, 1
7 to 20 are gear teeth, 21, 22, 26.27 are racks,
23. 25 is a connecting material, 52 is a steel ingot, 54 is a connecting material, 55
．． 56 indicates a link. Patent application Hito Ishikawajima Harima Heavy Industries Co., Ltd.N Castle Figure 6 Figure 7 Figure 8 Figure 12 Figure 14 Figure 13

Claims (1)

[Claims] 1) Two pairs of jaws facing each other with respect to the center of the tongs are provided in directions orthogonal to each other so that they can open and close symmetrically and synchronously, and the orthogonal jaws are constructed so that they can be operated independently. Features manipulator tongs.