WO2019163527A1 - Shaped steel suction-holding device - Google Patents

Shaped steel suction-holding device Download PDF

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Publication number
WO2019163527A1
WO2019163527A1 PCT/JP2019/004379 JP2019004379W WO2019163527A1 WO 2019163527 A1 WO2019163527 A1 WO 2019163527A1 JP 2019004379 W JP2019004379 W JP 2019004379W WO 2019163527 A1 WO2019163527 A1 WO 2019163527A1
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WO
WIPO (PCT)
Prior art keywords
shape steel
steel
suction
pad
adsorbing
Prior art date
Application number
PCT/JP2019/004379
Other languages
French (fr)
Japanese (ja)
Inventor
徹 家成
康弘 桜田
朝田　博
勝康 松澤
Original Assignee
日新製鋼株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 日新製鋼株式会社 filed Critical 日新製鋼株式会社
Publication of WO2019163527A1 publication Critical patent/WO2019163527A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means

Definitions

  • a shape steel such as a J-shaped steel is manufactured by welding
  • a shape steel such as an angle steel as a material is lifted from a material storage and conveyed to a welding apparatus, and the shape as a material is stored in the material storage.
  • the present invention relates to a shape steel adsorption device for adsorbing steel.
  • the apparatus described in Patent Document 1 temporary assembling apparatus for welded section steel is configured to horizontally arrange three flat plates (two flange members and one web member), which are H-section steel materials, from a plate base by a vacuum pad.
  • the two flat plate members (two flange members) out of the three flat plate members that are picked up in the state are rotated by 90 °, and the three flat plate members are combined and conveyed to the welding apparatus.
  • a shape steel such as angle steel (L-shape steel, angle steel) may be used as the material.
  • the temporary assembly device described in Patent Document 1 is not suitable for adsorbing and lifting a shape steel such as an angle steel. The reason for this will be explained using an angle steel as an example.
  • the angle steel When the angle steel is arranged on the material table, the angle steel is arranged so that the top is upward (the two surfaces forming the top are inclined with respect to the horizontal plane). This is because, when a plurality of angle steels are stacked and arranged, the posture of each angle steel is more stable when stacked so that the top part is upward.
  • an object of the present invention is to provide a shape steel adsorbing device capable of suitably adsorbing a shape steel whose surface to be adsorbed is inclined.
  • the shape steel adsorbing device when producing a welded shape steel, in the process of transporting the shape steel as a material from the material storage location to the welding device, the shape steel as the material at the material storage location.
  • a shape steel adsorbing device for adsorbing wherein an adsorbing portion capable of adsorbing a shape steel, an advancing portion capable of advancing the adsorbing portion toward one surface of the shape steel, and the one surface Even if the advancing direction of the suction part to the one surface is inclined with respect to the one surface, the posture of the suction part is changed so that the suction part can take a posture facing the front with respect to the one surface. And a posture changing means.
  • “Adsorption” in the present invention includes, for example, adsorption using the suction force of a vacuum device and adsorption using the magnetic force of a magnet.
  • the posture of the suction portion can be changed so that the suction portion can take a posture facing the front with respect to the one surface. Therefore, even if the one surface of the shape steel is inclined with respect to the horizontal plane, the adsorbing portion can take a posture facing the front with respect to the one surface.
  • the adsorption portion can take a posture facing the front with respect to the one surface for each shape of the shape steel.
  • the shape steel for example, angle steel
  • the shape steel adsorbing apparatus it is possible to suitably adsorb the shape steel in which the surface to be adsorbed is inclined.
  • FIG. 1 is a front view showing an example of a shape steel adsorbing apparatus according to an embodiment of the present invention
  • FIG. 2 is a side view thereof.
  • the shape steel adsorbing device 100 is used as a material when producing a shape steel such as a welded J shape steel (J shape steel produced by welding).
  • a shape steel such as a welded J shape steel (J shape steel produced by welding).
  • the shape steel adsorbing apparatus 100 includes a suspension member 350 that lifts the shape steel while adsorbing the shape steel.
  • suction apparatus 100 which concerns on this embodiment can also be used for uses other than conveying a shape steel to a welding apparatus.
  • This shape steel adsorbing device 100 is an apparatus capable of adsorbing to one surface of a shape steel and lifting the shape steel, and a plurality of suspension members 350 that lift while adsorbing one surface of the shape steel, A first frame member 600 that supports the suspension member 350, a plurality of lift units 400 that lift and lower the first frame member 600, a second frame member 700 that supports each lift unit 400, and an upper portion of the second frame member 700. And a transport mechanism 900 provided.
  • the first frame member 600 extends along the longitudinal direction of the shape steel to be adsorbed.
  • the first frame member 600 includes, for example, three beam members 601 (see FIG. 2) extending along the longitudinal direction of the shape steel, and a connecting member 603 (see FIG. 2) that connects the three beam members 601 to each other. Can be configured.
  • the three beam members 601 are formed with through holes (not shown) penetrating in the vertical direction. Through this through hole, an upper portion of a pillar portion described later in the suspension member 350 is inserted so as to be movable up and down. Note that the column portion may be directly fixed to the beam member 601.
  • the elevating unit 400 is configured to elevate and lower the first frame member 600 using fluid pressure (for example, air pressure) of a cylinder device 401 such as a pneumatic cylinder.
  • the elevating unit 400 raises and lowers the suspension member 350 supported by the first frame material 600 by raising and lowering the first frame material 600.
  • a swinging portion described later advances with respect to the one surface that is the target of suction of the shape steel.
  • the raising / lowering part 400 is not limited to what is based on a cylinder apparatus, It is possible to use other arbitrary apparatuses.
  • the lifting member 350 can be raised and lowered by raising and lowering the first frame member 600 by the raising and lowering unit 400.
  • the transport mechanism 900 includes a plurality of wheels 901 and a motor (not shown) that drives the wheels 901.
  • the wheel 901 is placed on a rail (not shown) extending in the width direction of the first frame member 600 (the left-right direction in FIG. 2).
  • the conveyance mechanism 900 can convey the shape steel adsorption
  • a plurality of suspension members 350 are provided on the first frame member 600, specifically, 18 pieces. More specifically, there are six suspension members 350 along the longitudinal direction of the first frame member 600 (left and right direction in the drawing of FIG. 1), and along the width direction (left and right direction of the drawing in FIG. 2) of the first frame member 600. Three are provided.
  • the number of suspension members 350 provided on the first frame member 600 is not limited to this example, and can be arbitrarily changed in the longitudinal direction and the width direction of the first frame member 600.
  • any one or two of the suspension members 350 in the width direction of the first frame member 600 are defined as suspension members 350a (a suspension member having a function of lifting a shape steel), and other suspension members are used as other suspension members. It is good also as a kind of suspension member (for example, suspension member 350b which has a function which lifts a flat steel plate). Also, all the suspension members in the width direction may be the same type of suspension member (suspending member 350a).
  • a suspension member 350a is disposed at the center in the width direction of the first frame member 600, and a suspension member 350b is disposed at both ends in the width direction of the first frame member 600.
  • the shape steel and the flat steel plate can be made of a welded shape steel (for example, welded J-shaped steel).
  • FIG. 3 is a perspective view showing an example of a suspension member of the shape steel adsorption device
  • FIG. 4 is a front view showing an example of the suspension member of the shape steel adsorption device
  • FIG. It is a side view which shows an example of a mode that it approaches a surface.
  • the suspension member 350a and the suspension member 350b have the same configuration, the suspension member 350a will be specifically described, and the description of the suspension member 350b will be omitted.
  • the suspension member 350a includes a column part 351 whose upper part is inserted into the through hole formed in the first frame material, a compression coil spring 353 provided along the column part 351, and a column part 351.
  • a locking portion 355 provided at the lower end portion and a suction device 357 detachably locked to the locking portion 355 are provided.
  • the column part 351 is a columnar member extending in the vertical direction.
  • the upper part of the column part 351 is inserted in the through-hole formed in the above-mentioned 1st frame material so that a movement to an up-down direction is possible.
  • the column portion 351 is attached to the first frame material described above via a compression coil spring 353.
  • the compression coil spring 353 is a member that urges the suction device 357 downward via the locking portion 355.
  • the above-described first frame material is lowered by the operation of the above-described lifting unit, and the lower end portion (a pad portion 301 described later) of the suspension member 350a is lowered to one surface 201 that is a surface to be attracted to the shape steel 200 by the lowering.
  • the compression coil spring 353 urges the suction device 357 downward.
  • the lower end portion (pad portion 301) of the suspension member 350a comes into contact with one surface 201 of the shaped steel 200 and the first frame material is further lowered, the column portion from the through hole of the first frame material is accompanied with the lowering.
  • the amount of protrusion at the upper end of 351 increases. Due to the elastic force of the compression coil spring 353, the lower end portion (pad portion 301) of the suspension member 350 a can be in close contact with the one surface 201 to be attracted to the shape steel 200.
  • the elastic force of the compression coil spring 353 can be set as appropriate so as to set the force for bringing the pad portion 301 into close contact with the one surface 201 of the shaped steel 200 to a desired value.
  • the locking portion 355 is a portion that detachably locks the upper end portion of the suction device 357.
  • a groove-like rail 359 extending in the lateral direction is formed below the locking portion 355.
  • the groove-shaped rail 359 is configured such that the upper end portion (latched portion 361 described later) of the suction device 357 can be slid and attached.
  • suction apparatus 357 so that attachment or detachment is possible is not limited to this example, Another form may be sufficient.
  • the shape steel to be adsorbed by the adsorption device 357 will be described with reference to FIG.
  • the shape steel 200 shown in FIG. 5 is disposed in the material storage area 800 so that the top portion is directed upward.
  • the two surfaces forming the top are inclined with respect to the horizontal plane.
  • the suspension member 350a attracts one surface 201, which is the surface to be attracted, of the two surfaces forming the top, lifts the shaped steel 200, and conveys it to the welding apparatus.
  • Examples of the shape steel 200 include angle steel, but other types of shape steel may be used. Further, the material of the shape steel 200 is not particularly limited. The material of the shape steel 200 may be a material that can be attracted by a magnet or a material that cannot be attracted by a magnet.
  • the type of the welded shape steel made of the shape steel 200 lifted by the suspension member 350a is not limited to the welded J-shape steel, and may be another type of shape steel.
  • the angle steel may be an equilateral angle steel or an unequal angle iron.
  • the shape steel 200 is an unequal side angle steel.
  • the surface to be adsorbed since it is preferable that the surface to be adsorbed is wide, it is possible to adsorb a surface that is large in the width direction (surface of reference numeral 201 in FIG. 5) among the two surfaces that form the top of the unequal angle iron.
  • a small surface in the width direction may be adsorbed as long as it can be adsorbed by the suspension member 350.
  • the suction device 357 is slidable with respect to the groove-like rail 359 and can be attached / detached with a T-shaped cross section, and extends downward from the locked section 361.
  • a swinging portion 367 provided in the housing.
  • the locked portion 361 and the lower extension portion 363 may be referred to as a fixing portion.
  • the swinging portion 367 includes an elastically deformable pad portion 301 that sucks the one surface 201 to be attracted to the shape steel 200 and holds the state, a pad support portion 303 that supports the pad portion 301 from above, A pair of left and right upper extension portions 305 provided above the pad support portion 303 and extending upward from the upper end portion of the pad support portion 303, and a first stopper portion 307 and a second stopper provided on each upper extension portion 305.
  • the second stopper portion 309 is shown in a hatched state, but this hatching is provided for convenience and does not show a cross section.
  • the rocking portion 367 has a bearing portion (not shown) that rotatably supports the connecting shaft 365.
  • the end of the connecting shaft 365 is covered by a lid member 368 (see FIG. 3) provided outside the bearing portion.
  • the swinging portion 367 is supported by the lower extension portion 363 via the connecting shaft 365 so as to be swingable.
  • the illustration of the lid member 368 is omitted for convenience (the same applies to FIGS. 6 to 12 described later).
  • FIG. 6 is a side view showing an example of a state in which the pad portion of the shape steel adsorbing device is in contact with one surface of the angle steel.
  • FIG. 7 is a side view showing an example of a state in which the pad portion of the shape steel adsorbing device adsorbs one surface of the angle steel.
  • FIG. 8 is a side view showing an example of a state in which the pad portion of the shape steel adsorbing device lifts the angle steel.
  • the rotation mechanism for swinging the swinging portion 367 with respect to the fixed portion is constituted by the connecting shaft 365 and the bearing portion.
  • this rotating mechanism for example, one surface 201 is inclined with respect to the advancing direction of the swinging portion 367 to the one surface 201 to be attracted (for example, the direction indicated by the white arrow A1 in FIG. 5). Even if it does, it has a function which changes the attitude
  • the swinging portion 367 (specifically, the pad portion 301) is By sliding with respect to the one surface 201, the posture of the swinging portion 367 is changed so that the tip portion 3010 of the pad portion 301 and the one surface 201 are substantially parallel (the posture facing the front described above). ).
  • the center line CL of the pad portion 301 and the one surface 201 are substantially orthogonal (substantially perpendicular) (from the mode shown by the one-dot chain line to the mode shown by the solid line).
  • the posture of the portion 367 is changed (the posture facing the front described above).
  • the front end portion 3010 of the pad portion 301 and the one surface 201 are substantially parallel regardless of the inclination angle of the attracting surface of the shape steel with respect to the advancing direction of the swinging portion 367 (A1 in FIG. 5).
  • the posture of the swinging part 367 is changed so that
  • the tip end portion 3010 of the pad portion 301 can be moved regardless of the inclination angle of the shape steel suction surface with respect to the advancing direction of the swinging portion 367 (A1 in FIG. 5). It becomes possible to make it closely_contact
  • the pad portion 301 shown in FIG. 5 has a tip portion 3010 formed in an annular shape (lip shape).
  • the tip 3010 closely contacts the one surface 201 of the section steel 200 over the entire circumferential direction (see FIG. 7), and the tip 3010 adsorbs the one surface 201 by a suction force by a vacuum device (not shown).
  • the vacuum device is, for example, a vacuum pump, and is connected to the pad support portion 303 via a flexible vacuum pipe 315 (see FIG. 4).
  • the pad portion 301 has flexibility (elasticity) and can function as a suction cup.
  • the pad portion 301 is made of rubber, for example.
  • the pad portion 301 extends along the longitudinal direction of the shape steel 200.
  • the pad part 301 is formed in trapezoid shape, for example by side view.
  • the lower base of the trapezoid corresponds to the tip portion 3010, and the tip portion 3010 is in close contact with one surface 201 of the shaped steel 200.
  • the shape of the pad part 301 is not limited to the above-mentioned shape, For example, circular shape may be sufficient as planar view.
  • the pad support portion 303 shown in FIGS. 5 to 7 has a contour similar to the contour of the pad portion 301 reduced.
  • the pad support part 303 has a vacuum passage (not shown) communicating with the vacuum pipe 315. This vacuum passage communicates with the inner space of the pad portion 301.
  • the vacuum device When the vacuum device is operated, the suction force by the vacuum device is transmitted to the inner space of the pad portion 301 via the vacuum pipe and the vacuum passage. Thereby, the air (air) in the vacuum passage and the air in the inner space of the pad portion 301 are exhausted (sucked by the vacuum device).
  • the first stopper portion 307 shown in FIGS. 5 to 7 is a member that defines the maximum value of the inclination angle of the swinging portion 367 (maximum inclination angle ⁇ max shown in FIG. 5).
  • the “inclination angle of the rocking portion 367” is an angle formed by the tip portion 3010 of the pad portion 301 and the horizontal plane.
  • the first stopper portion 307 is a set screw with a slit (so-called ⁇ screw).
  • the inclination angle of the swinging portion 367 is not further increased by the outer tip portion of the set screw having a sliding contact with the locking portion 355.
  • the “maximum inclination angle ⁇ max” is obtained when the outer end portion of the first stopper portion 307 is in contact with the engaging portion 355 and the tip portion 3010 of the pad portion 301 and the horizontal plane. Is the angle formed by
  • the maximum inclination angle ⁇ max of the swinging portion 367 can be adjusted by adjusting the protruding amount of the set screw with a slide from the screw hole. That is, the maximum inclination angle ⁇ max of the oscillating portion 367 becomes smaller as the protruding amount of the set screw with sliding increases.
  • the 1st stopper part 307 is not limited to a set screw with a slide, It is also possible to change into another form.
  • the maximum inclination angle ⁇ max of the rocking portion 367 may be set to the same inclination angle as the inclination angle ⁇ 1 of the one surface 201 of the shaped steel 200, or a value larger than the inclination angle of the one surface 201 of the shaped steel 200. Alternatively, it may be set to a small value.
  • the inclination angle of the one surface 201 is, for example, an angle ⁇ 1 (for example, see FIG. 5) formed by the one surface 201 and the horizontal plane.
  • the second stopper portion 309 shown in FIGS. 5 to 7 is a position where the tilt angle becomes substantially zero when the swinging portion 367 swings downward (swings in a direction in which the tilt angle becomes smaller). This is a member that stops the swinging of the swinging portion 367 at a position where the tip end portion 3010 of the pad portion 301 faces directly below.
  • the second stopper portion 309 is a member (a member indicated by hatching) having a contact surface that contacts the locking portion 355 when the inclination angle of the swinging portion 367 becomes substantially zero.
  • the shape steel 200 is adsorbed so that one surface 201 of the shape steel 200 is in a horizontal state by stopping the swing of the swing portion 367 at a position where the inclination angle of the swing portion 367 is substantially zero. Can do. Thereby, it becomes possible to make the shape steel 200 into the attitude
  • the tension coil spring 313 shown in FIGS. 5 to 7 is a member that urges the swinging portion 367 in a direction in which the tilt angle of the swinging portion 367 increases.
  • the tension coil spring 313 has one end (the lower end in the example shown in FIG. 5) fixed near the tip of the spring support 311 and the other end (the upper end in the example shown in FIG. 5). It is fixed to the locking portion 355.
  • the tension coil spring 313 is provided at a position away from the connecting shaft 365. Further, the line of action of the force of the tension coil spring 313 (the straight line passing through both ends of the tension coil spring 313) is at a position that does not pass through the connecting shaft 365.
  • a moment of force about the connecting shaft 365 acts on the spring support portion 311 due to the elastic force (tensile force) of the tension coil spring 313.
  • the swinging portion 367 can automatically rotate so as to change from a state where the inclination angle is zero to a maximum inclination state (see FIG. 5).
  • the swinging portion 367 is inclined at the maximum inclination angle ⁇ max by the elastic force of the tension coil spring 313.
  • the tension coil spring 313 can be expanded and contracted so that the swinging portion 367 (specifically, the pad portion 301) can take a posture facing the front surface with respect to the one surface 201 of the shaped steel 200.
  • the posture of the swinging portion 367 is set so that the tip portion 3010 of the pad portion 301 and the one surface 201 are substantially parallel. Change is done smoothly.
  • the swinging portion 367 In a state where the shape steel 200 is not adsorbed to the pad portion 301, the swinging portion 367 is at a position where the maximum inclination angle ⁇ max is reached due to the elastic force of the tension coil spring 313 (see FIGS. 5 and 6). On the other hand, in a state where the shape steel 200 is adsorbed to the pad portion 301 and the shape steel 200 is lifted, the tension coil spring 313 is extended by the weight of the shape steel 200, and the swinging portion 367 faces downward (swinging) The inclination angle of the portion 367 is substantially zero) (see FIG. 8). Instead of the tension coil spring 313, other expansion / contraction means such as a pneumatic cylinder may be provided.
  • the oscillating portion 367 is rotated by the urging force of the tension coil spring 313 until the outer front end portion of the sliding set screw comes into contact with the locking portion 355 (maximum inclined state).
  • the elastic force of the tension coil spring 313 is set to be weak (spring coefficient is set to be small)
  • the pad portion 301 is not lifting the shape steel 200 (for example, the swinging portion 367 is one of the shape steel 200).
  • the first stopper portion 307 may not be in contact with the engaging portion 355 (when the swinging portion 367 has an inclination angle less than the maximum inclination angle ⁇ max).
  • the shape steel (angle steel) 200 is disposed on the shape steel storage 800 so that one surface 201 to be adsorbed is inclined with respect to the horizontal plane.
  • the shape steel 200 may be stacked and may be disposed without being stacked. 5 to 8, for the sake of simplicity, the shape steel 200 is shown in a state where it is arranged without being stacked.
  • suspension member Of the six suspension members provided along the longitudinal direction of the first frame material, which suspension member is used is appropriately set according to the weight and length of the shape steel 200 to be lifted. be able to.
  • the shape steel 200 is approximately the same length as the first frame material, and the weight of the shape steel 200 is a weight that can be lifted by six suspension members, and the weight of the shape steel 200 is six suspension members. In the case where the sum of the elastic forces of the tension coil springs 313 is larger than all of the six suspension members, the six suspension members can be used.
  • the shape steel 200 is approximately the same length as the first frame material, and the weight of the shape steel 200 is a weight that can be lifted by four suspension members, and the weight of the shape steel 200 is four. When it is larger than the total elastic force of the tension coil springs 313 of the suspension member, four suspension members can be used.
  • the shape steel 200 is approximately two-thirds the length of the first frame material, and the weight of the shape steel 200 can be lifted by four suspension members.
  • the weight is larger than the total elastic force of the tension coil springs 313 of the four suspension members, the four suspension members can be used.
  • the procedure for lifting the shape steel 200 is as follows.
  • the maximum inclination angle ⁇ max of the rocking portion 367 is set to a value larger than the inclination angle ⁇ 1 of the one surface 201 of the shaped steel 200 will be described.
  • the elevating part is driven to lower the first frame member, and the swinging part 367 (see FIG. 5) in an inclined state is lowered toward one surface 201 of the shape steel 200 (see FIG. 5). (See white arrow A1).
  • the oscillating portion 367 is in a state of being inclined, for example, at the maximum inclination angle ⁇ max by the elastic force (upward force) of the tension coil spring 313.
  • a part of the tip portion 3010 of the pad portion 301 in the circumferential direction comes into contact with one surface 201 of the shaped steel 200 (see FIG. 6).
  • the pad portion 301 is pushed toward one surface 201 of the shaped steel 200 via the portion 305 and the pad support portion 303.
  • the pad portion 301 faces the front surface 201 of the shape steel 200 (the tip portion 3010 of the pad portion 301 is substantially parallel to the surface 201 of the shape steel 200).
  • the swinging portion 367 rotates around the connecting shaft 365 (in the example shown in FIG. 6).
  • the vacuum device is activated.
  • the one surface 201 is adsorbed to the entire circumferential direction of the tip portion 3010 of the pad portion 301 by the suction force of the vacuum device.
  • the lifting / lowering unit is driven while operating the vacuum device to raise the first frame material.
  • the shape steel 200 is lifted from the shape steel yard 800, and the tension coil spring 313 is extended by the weight of the shape steel 200 and the swinging portion 367.
  • the section steel 200 and the swinging part 367 rotate in a direction in which the center of gravity of the 367 is stabilized.
  • the second stopper portion 309 comes into contact with the locking portion 355 when the tilt angle of the swinging portion 367 becomes substantially zero.
  • the one surface 201 is in a horizontal state (see FIG. 8). In this state, the conveyance mechanism is driven to convey the section steel 200 toward the welding apparatus (not shown).
  • the shaped steel 200 conveyed to the welding apparatus is arranged in the welding apparatus in a state where one surface 201 is maintained in a horizontal state. Thereafter, the vacuum device is stopped. Thereby, the welded J-section steel can be manufactured by welding the end of the section steel 200 and another steel plate (a flat steel plate).
  • FIG. 9 is a side view showing an example of a state in which the pad portion of the shape steel adsorption device according to the embodiment of the present invention approaches the face of the angle steel.
  • FIG. 10 is a side view showing an example of a state in which the pad portion of the shape steel adsorbing device according to the embodiment of the present invention is in contact with one surface of the angle steel.
  • FIG. 11 is a side view showing an example of a state in which the pad portion of the shape steel adsorbing device according to the embodiment of the present invention is deformed before adsorbing one surface of the angle steel.
  • FIG. 12 is a side view showing an example of a state in which the pad portion of the shape steel adsorbing device according to the embodiment of the present invention adsorbs one surface of the angle steel.
  • the pad portion 301 is elastically deformed so as to compensate for the difference between the maximum inclination angle ⁇ max of the swinging portion 367 and the inclination angle ⁇ 2 of the one surface 201 of the shaped steel 200 (so as to compensate for the difference in angle). To do.
  • the swinging part 367 in an inclined state is lowered toward one surface 201 of the shape steel 200.
  • a part of the tip portion 3010 in the circumferential direction (point P shown in FIG. 10) of the pad portion 301 comes into contact with one surface 201 of the shape steel 200 (see FIG. 10).
  • the locking portion 355, the locked portion 361, the lower extending portion 363, the connecting shaft 365, the upper extending portion are caused by the elastic force (downward force) of the compression coil spring 353.
  • the pad portion 301 is pushed toward one surface 201 of the shaped steel 200 via the portion 305 and the pad support portion 303.
  • the pad portion 301 is elastically deformed so that the contact area with one surface 201 of the shape steel 200 gradually increases (see FIG. 11), and eventually, the maximum inclination angle ⁇ max of the swinging portion 367 and the shape steel 200
  • the pad portion 301 is elastically deformed so as to compensate for the difference from the inclination angle ⁇ 2 of the surface 201 of the first surface 201.
  • tip part 3010 of the pad part 301 closely_contact
  • the vacuum device is activated.
  • the one surface 201 is adsorbed to the entire circumferential direction of the tip portion 3010 of the pad portion 301 by the suction force of the vacuum device.
  • the lifting / lowering unit is driven while operating the vacuum device to raise the first frame material.
  • the shape steel 200 is lifted from the shape steel storage yard 800, and the tension coil spring 313 is extended by the weight of the shape steel 200 and the swinging portion 367, so The shape steel 200 and the swinging part 367 rotate in a direction in which the center of gravity of the moving part 367 is stabilized.
  • the inclination angle of the swinging part 367 becomes substantially zero, it comes into contact with the second stopper part 309. Thereby, the one surface 201 is in a horizontal state. In this state, the conveyance mechanism is driven to convey the section steel 200 toward the welding apparatus (not shown).
  • the shaped steel 200 conveyed to the welding apparatus is arranged in the welding apparatus in a state where one surface 201 is maintained in a horizontal state. Thereafter, the vacuum device is stopped. Thereby, the welded J-section steel can be manufactured by welding the end of the section steel 200 and another steel plate (a flat steel plate).
  • the pad portion 301 has the shape steel.
  • the shape steel 200 can be lifted by adsorbing the one surface 201 of the 200 and making the one surface 201 horizontal.
  • the shape steel adsorbing apparatus 100 of the present embodiment when conveying the shape steel 200 as a material from the material storage area 800 to the welding apparatus at the manufacturing site of the welded shape steel such as welded J-shaped steel, the object to be adsorbed. Even if the shape steel 200 is arranged in the material storage area 800 in a state where the surface 201 is inclined with respect to the horizontal plane (the advancing direction of the swinging portion 367 to one surface 201 of the shape steel 200 is the one surface 201 Even if it is inclined with respect to it, the swinging portion 367 (specifically, the tip portion 3010 of the pad portion 301) can be positioned so that the swinging portion 367 faces the front surface with respect to the one surface 201. Can be changed.
  • the inclination angle of the one surface 201 to be attracted does not have to be a specific angle, and even if the one surface 201 has an arbitrary inclination angle, the swinging portion 367 is moved with respect to the one surface 201.
  • the posture can be a front view.
  • the shape steel (for example, chevron shape) Steel) 200 is suitably held, and the shape steel 200 adsorbed (adhered to) the tip portion 3010 of the pad portion 301 can be lifted by the elevating unit 400.
  • the swinging portion 367 can be held in an inclined state by the first stopper portion 307 and the tension coil spring 313 in a state where the pad portion 301 does not adsorb the shape steel 200. .
  • the second stopper portion 309 can maintain the swinging portion 367 in a state where the inclination angle is substantially zero. Further, by driving the elevating part 400 and pressing the pad part 301 against one surface 201 of the shaped steel 200, the swinging part 367 rotates, and the entire circumferential direction of the tip part 3010 of the pad part 301 is taken as one surface. 201. Thereby, the shape steel 200 can be suitably adsorbed by the pad portion 301.
  • the line of action of the tensile force of the tension coil spring 313 is in a position that does not pass through the center of swing of the swinging portion 367 (connection shaft 365).
  • a moment of force about the swing center (the connecting shaft 365) acts on the swing portion 367.
  • the swinging portion 367 can automatically rotate. Therefore, when the shaped steel 200 is conveyed to the welding apparatus and the adsorption of the shaped steel 200 is released, the swinging coil 367 can be automatically returned to the maximum inclined state by the tension coil spring 313, and the swinging part 367 is moved to the next position. It is possible to prepare for the adsorption operation.
  • the shape steel 200 is predetermined according to a use in the state which the whole circumferential direction of the front-end
  • the pad portion 301 is brought into close contact with one surface 201 of the shape steel 200, and the shape steel 200 is adsorbed to the pad portion 301 by a suction force (adsorption force due to the reduced pressure in the pad portion 301), whereby the material place 800 is provided. Only one top section 200 can be lifted from the plurality of top sections 200 arranged in a stacked manner. Therefore, according to the present embodiment, it is possible to efficiently perform a series of operations for adsorbing and transporting the plurality of shape steels 200 stacked on the material storage area 800 one by one.
  • the shape steel 200 is adsorb
  • a magnet such as an electromagnet may be provided, and the shape steel 200 may be attracted by the magnetic force of the magnet. Even in this case, the inclination angle of the magnet can be changed appropriately so that the magnet can be attracted.
  • suction is piled up.
  • adsorbing together In this case, a plurality of sections are moved simultaneously to the welding apparatus, which is inconvenient when performing the welding operation.
  • the adsorption force acts only on the uppermost shape steel, so that it is surely the best regardless of the thickness of the shape steel to be adsorbed. Only one upper section steel can be adsorbed and lifted.
  • the magnet cannot adsorb a non-magnetic shape steel such as stainless steel, but if the shape steel 200 is adsorbed by a suction force using a vacuum device, whether or not the shape steel is a non-magnetic material. It can be adsorbed and lifted regardless.
  • the “adsorption part” described in the claims is a member capable of adsorbing the shape steel, and examples of the “adsorption part” include the pad part 301 described in the specification.
  • the “advancing part” described in the claims is a member that can advance the adsorbing part toward one surface of the shape steel.
  • the engaging part described in the specification Examples thereof include a stopping portion 355, a locked portion 361, a lower extending portion 363, a connecting shaft 365, a column portion 351, a compression coil spring 353, a first frame material 600, and an elevating portion 400.
  • the “posture changing means” described in the claims is to change the posture of the suction portion 103 so that the suction portion 103 can take a posture facing the front surface of the one surface 201 of the structural steel 200,
  • the connecting shaft 365, the bearing portion, and the pad portion 301 can be exemplified.
  • the “posture holding means” described in the claims holds the angle formed by the front direction of the pad portion 301 with respect to the advance direction of the pad portion 301 at a predetermined angle, for example, the first stopper portion 307. , Second stopper portion 309, tension coil spring 313, and spring support portion 311.
  • the shape steel adsorbing device can suitably adsorb a shape steel (for example, angle steel) arranged such that the target surface to be adsorbed is inclined with respect to the horizontal plane.
  • the welded shape steel can be easily manufactured and can contribute to the spread of the welded shape steel.
  • Shape Steel Adsorption Device 200 Shape Steel 201 Shape Steel Surface (Surface to be Adsorbed) 301 Pad portion 307 First stopper portion 309 Second stopper portion 313 Tensile coil spring 351 Column portion 353 Compression coil spring 355 Locking portion 361 Locked portion 363 Lower extension portion 365 Connecting shaft 400 Lifting portion 600 First frame material

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Abstract

Provided is a shaped steel suction-holding device capable of preferably suction-holding a shaped steel having a suction-holding surface that is inclined. The shaped steel suction-holding device is used to suction-hold a shaped steel 200 as a material in a material yard in the process of transferring the shaped steel 200 as a material from the material yard 800 to a welding device, during manufacturing of a welded shaped steel. The shaped steel suction-holding device is provided with: a suction-holding unit 301 capable of suction-holding a shaped steel; an advancing unit capable of advancing the suction-holding unit toward a surface 201 of the shaped steel; and an attitude modification means for modifying the attitude of the suction-holding unit 301 so that the suction-holding unit 301 can have an attitude directly facing the surface 201 even when an advance direction of the suction-holding unit 301 toward the surface 201 is inclined with respect to the surface 201.

Description

形鋼吸着装置Shape steel adsorption equipment
　本発明は、例えばＪ形鋼等の形鋼を溶接によって製造する際に、材料としての山形鋼等の形鋼を材料置き場から吊り上げて溶接装置へ搬送する過程で、材料置き場で材料としての形鋼を吸着するための形鋼吸着装置に関する。 In the present invention, for example, when a shape steel such as a J-shaped steel is manufactured by welding, a shape steel such as an angle steel as a material is lifted from a material storage and conveyed to a welding apparatus, and the shape as a material is stored in the material storage. The present invention relates to a shape steel adsorption device for adsorbing steel.
　従来、形鋼を溶接によって製造する際に、材料である複数の平板材（フランジ材およびウェブ材）を吸着して溶接装置へ搬送する装置が提案されており、特許文献１にはその一例が開示されている。 Conventionally, when a shaped steel is manufactured by welding, a device that adsorbs a plurality of flat plate materials (flange material and web material) as materials and conveys them to a welding device has been proposed. It is disclosed.
　特許文献１に記載の装置（溶接形鋼の仮組装置）は、Ｈ形鋼の材料である３つの平板材（２つのフランジ材および１つのウェブ材）を板材置き台からバキューム式パットにより水平状態で吸着して吊り上げ、吊り上げた３つの平板材のうちの２つの平板材（２つのフランジ材）を９０°回転させ、３つの平板材を組み合わせて溶接装置へ搬送するものである。 The apparatus described in Patent Document 1 (temporary assembling apparatus for welded section steel) is configured to horizontally arrange three flat plates (two flange members and one web member), which are H-section steel materials, from a plate base by a vacuum pad. The two flat plate members (two flange members) out of the three flat plate members that are picked up in the state are rotated by 90 °, and the three flat plate members are combined and conveyed to the welding apparatus.
特開２０１１－２１２６８７号公報JP 2011-212687 A
　ところで、複数の材料によって形鋼を製造する場合、材料として山形鋼（Ｌ形鋼、アングル鋼）等の形鋼を用いることもあり得る。しかしながら、特許文献１に記載の仮組装置は、山形鋼等の形鋼を吸着して吊り上げることに適さない。その理由を、山形鋼を例に挙げて説明する。 By the way, when a shape steel is manufactured using a plurality of materials, a shape steel such as angle steel (L-shape steel, angle steel) may be used as the material. However, the temporary assembly device described in Patent Document 1 is not suitable for adsorbing and lifting a shape steel such as an angle steel. The reason for this will be explained using an angle steel as an example.
　山形鋼は、材料置き台に配置される場合、頂部が上向きとなるように（頂部を形成する２つの面が水平面に対して傾斜するように）配置される。複数の山形鋼を積み重ねて配置する場合、頂部が上向きとなるように積み重ねる方が各山形鋼の姿勢が安定するからである。 When the angle steel is arranged on the material table, the angle steel is arranged so that the top is upward (the two surfaces forming the top are inclined with respect to the horizontal plane). This is because, when a plurality of angle steels are stacked and arranged, the posture of each angle steel is more stable when stacked so that the top part is upward.
　しかしながら、特許文献１に記載の仮組装置では、エアー吸引によるバキューム式パットを降下させるとバキューム式パットが真下を向くので（特許文献１の図２および図３参照）、山形鋼の面とバキューム式パットの向きとが合わない（向きがずれる）。このため、山形鋼の面とバキューム式パットとの間に大きな隙間が生じて、バキューム式パットが山形鋼を吸着することができない虞がある。 However, in the temporary assembling apparatus described in Patent Document 1, when the vacuum pad is lowered by air suction, the vacuum pad faces directly below (see FIGS. 2 and 3 of Patent Document 1), so that the surface of the angle steel and the vacuum The direction of the formula pad does not match. For this reason, there is a possibility that a large gap is generated between the surface of the angle steel and the vacuum pad, and the vacuum pad cannot adsorb the angle steel.
　そこで、本願発明では、吸着対象となる面が傾斜して配置される形鋼を好適に吸着することができる形鋼吸着装置を提供することを目的とする。 Therefore, an object of the present invention is to provide a shape steel adsorbing device capable of suitably adsorbing a shape steel whose surface to be adsorbed is inclined.
（１）本発明に係る形鋼吸着装置は、溶接形鋼を製造する際に、材料としての形鋼を材料置き場から溶接装置へ搬送する過程で、前記材料置き場で前記材料としての形鋼を吸着するための形鋼吸着装置であって、形鋼を吸着可能な吸着部と、前記吸着部を前記形鋼の一の面に向けて進出させることが可能な進出部と、前記一の面への前記吸着部の進出方向が当該一の面に対して傾斜していたとしても、前記吸着部が前記一の面に対して正面を向く姿勢をとり得るように前記吸着部の姿勢を変更する姿勢変更手段とを備えることを特徴とする。本発明における「吸着」には、例えば、バキューム装置の吸引力を用いて吸着することや、磁石の磁力を用いて吸着することが含まれる。 (1) The shape steel adsorbing device according to the present invention, when producing a welded shape steel, in the process of transporting the shape steel as a material from the material storage location to the welding device, the shape steel as the material at the material storage location. A shape steel adsorbing device for adsorbing, wherein an adsorbing portion capable of adsorbing a shape steel, an advancing portion capable of advancing the adsorbing portion toward one surface of the shape steel, and the one surface Even if the advancing direction of the suction part to the one surface is inclined with respect to the one surface, the posture of the suction part is changed so that the suction part can take a posture facing the front with respect to the one surface. And a posture changing means. “Adsorption” in the present invention includes, for example, adsorption using the suction force of a vacuum device and adsorption using the magnetic force of a magnet.
　上記（１）の形鋼吸着装置によれば、形鋼の一の面への吸着部の進出方向がこの一の面に対して傾斜していたとしても（形鋼の一の面と吸着部の進出方向とが直角をなさない場合であったとしても）、吸着部が上記一の面に対して正面を向く姿勢をとり得るように吸着部の姿勢を変更することができる。したがって、形鋼の上記一の面が水平面に対して傾斜していても、吸着部は、上記一の面に対して正面を向く姿勢をとることができる。さらに、形鋼の形状毎に上記一の面の傾きが異なる場合であっても、吸着部は、形鋼の形状毎に上記一の面に対して正面を向く姿勢をとることができる。このため、上記（１）の形鋼吸着装置では、形鋼の一の面（吸着対象となる面）が水平面に対して傾斜するように配置される形鋼（例えば山形鋼）を好適に吸着することができる。 According to the shape steel adsorbing device of (1) above, even if the advancing direction of the adsorbing portion to one surface of the shape steel is inclined with respect to this one surface (one surface of the shape steel and the adsorbing portion) Even if the advancing direction does not form a right angle), the posture of the suction portion can be changed so that the suction portion can take a posture facing the front with respect to the one surface. Therefore, even if the one surface of the shape steel is inclined with respect to the horizontal plane, the adsorbing portion can take a posture facing the front with respect to the one surface. Furthermore, even if the inclination of the one surface is different for each shape of the shape steel, the adsorption portion can take a posture facing the front with respect to the one surface for each shape of the shape steel. For this reason, in the shape steel adsorption apparatus of said (1), the shape steel (for example, angle steel) arrange | positioned so that one surface (surface used as adsorption | suction object) may incline with respect to a horizontal surface is adsorb | sucked suitably. can do.
（２）上記（１）の形鋼吸着装置において、前記吸着部を、前記一の面に対して正面を向く方向に付勢する付勢手段をさらに備えることを特徴とする。 (2) The shape steel adsorbing apparatus according to (1), further comprising urging means for urging the adsorbing portion in a direction facing the front with respect to the one surface.
　上記（２）の構成によれば、吸着部を、一の面に対して正面を向く方向にスムーズに変えることが可能となる。 According to the configuration of (2) above, it is possible to smoothly change the suction portion in a direction facing the front with respect to one surface.
　本発明に係る形鋼吸着装置よれば、吸着対象となる面が傾斜して配置される形鋼を好適に吸着することができる。 According to the shape steel adsorbing apparatus according to the present invention, it is possible to suitably adsorb the shape steel in which the surface to be adsorbed is inclined.
本発明の実施形態に係る形鋼吸着装置の一例を示す正面図である。It is a front view which shows an example of the shape steel adsorption | suction apparatus which concerns on embodiment of this invention. 本発明の実施形態に係る形鋼吸着装置の一例を示す側面図である。It is a side view which shows an example of the shape steel adsorption | suction apparatus which concerns on embodiment of this invention. 本発明の実施形態に係る形鋼吸着装置の吊り部材の一例を示す斜視図であり、吊り部材のパッド部が山形鋼の一の面を吸着している状態を示す斜視図である。It is a perspective view which shows an example of the suspending member of the shape steel adsorption | suction apparatus which concerns on embodiment of this invention, and is a perspective view which shows the state which the pad part of the suspending member is adsorb | sucking one surface of angle iron. 本発明の実施形態に係る形鋼吸着装置の吊り部材の一例を示す正面図である。It is a front view which shows an example of the suspension member of the shape steel adsorption | suction apparatus which concerns on embodiment of this invention. 本発明の実施形態に係る形鋼吸着装置のパッド部が山形鋼の一の面に接近する様子の一例を示す側面図である（揺動部の最大傾斜角度θｍａｘが形鋼の一の面の傾斜角度θ１よりも大きい値に設定されている場合）。It is a side view which shows an example of a mode that the pad part of the shape steel adsorption | suction apparatus which concerns on embodiment of this invention approaches one surface of angle iron (the maximum inclination angle (theta) max of a rocking | swiveling part is one surface of a shape steel). (When set to a value larger than the inclination angle θ1). 本発明の実施形態に係る形鋼吸着装置のパッド部が山形鋼の一の面に接した状態の一例を示す側面図である（図５に示す状態の次の状態）。It is a side view which shows an example of the state which the pad part of the shape steel adsorption | suction apparatus which concerns on embodiment of this invention contact | connected the one surface of the angle iron (the state following the state shown in FIG. 5). 本発明の実施形態に係る形鋼吸着装置のパッド部が山形鋼の一の面を吸着している状態の一例を示す側面図である（図６に示す状態の次の状態）。It is a side view which shows an example of the state which the pad part of the shape steel adsorption | suction apparatus which concerns on embodiment of this invention has adsorb | sucked one surface of angle iron (the state following the state shown in FIG. 6). 本発明の実施形態に係る形鋼吸着装置のパッド部が山形鋼を吊り上げている状態の一例を示す側面図である（図７に示す状態の次の状態）。It is a side view which shows an example of the state which the pad part of the shape steel adsorption | suction apparatus which concerns on embodiment of this invention lifts the angle iron (the state following the state shown in FIG. 7). 本発明の実施形態に係る形鋼吸着装置のパッド部が山形鋼の面に接近する様子の一例を示す側面図である（揺動部の最大傾斜角度θｍａｘが形鋼の一の面の傾斜角度θ２よりも小さい値に設定されている場合）。It is a side view which shows an example of a mode that the pad part of the shape steel adsorption | suction apparatus which concerns on embodiment of this invention approaches the surface of an angle iron (the maximum inclination angle (theta) max of a rocking | swiveling part is the inclination angle of one surface of a shape steel) (when set to a value smaller than θ2). 本発明の実施形態に係る形鋼吸着装置のパッド部が山形鋼の一の面に接した状態の一例を示す側面図である（図９に示す状態の次の状態）。It is a side view which shows an example of the state which the pad part of the shape steel adsorption | suction apparatus which concerns on embodiment of this invention contact | connected the one surface of the angle iron (the state following the state shown in FIG. 9). 本発明の実施形態に係る形鋼吸着装置のパッド部が山形鋼の一の面を吸着する前に変形していく状態の一例を示す側面図である（図１０に示す状態の次の状態）。It is a side view which shows an example of the state which the pad part of the shape steel adsorption | suction apparatus which concerns on embodiment of this invention deform | transforms before adsorb | sucking one surface of angle iron (the state following the state shown in FIG. 10). . 本発明の実施形態に係る形鋼吸着装置のパッド部が山形鋼の一の面を吸着している状態の一例を示す側面図である（図１１に示す状態の次の状態）。It is a side view which shows an example of the state which the pad part of the shape steel adsorption | suction apparatus which concerns on embodiment of this invention has adsorb | sucked one surface of angle iron (the state following the state shown in FIG. 11).
　以下、本発明の実施形態に係る形鋼吸着装置について、図面を参照しつつ説明する。 Hereinafter, a shape steel adsorption device according to an embodiment of the present invention will be described with reference to the drawings.
　先ず、形鋼吸着装置の全体構成について、図１および図２を参照して説明する。図１は本発明の実施形態に係る形鋼吸着装置の一例を示す正面図、図２はその側面図である。 First, the overall configuration of the shape steel adsorption device will be described with reference to FIGS. 1 and 2. FIG. 1 is a front view showing an example of a shape steel adsorbing apparatus according to an embodiment of the present invention, and FIG. 2 is a side view thereof.
　図１および図２に示されるように、本実施形態に係る形鋼吸着装置１００は、例えば溶接Ｊ形鋼（溶接によって製造されるＪ形鋼）等の形鋼を製造する際に、材料としての形鋼（例えば山形鋼）を材料置き場から溶接装置（図示略）へ搬送する過程で、形鋼を材料置き場から吊り上げることが可能な装置である。形鋼吸着装置１００は、形鋼を吸着しつつ吊り上げる吊り部材３５０を備えている。なお、本実施形態に係る形鋼吸着装置１００は、形鋼を溶接装置へ搬送する以外の用途に使用することも可能である。 As shown in FIG. 1 and FIG. 2, the shape steel adsorbing device 100 according to this embodiment is used as a material when producing a shape steel such as a welded J shape steel (J shape steel produced by welding). This is a device capable of lifting the shape steel from the material storage in the process of transporting the shape steel (for example, angle steel) from the material storage to the welding device (not shown). The shape steel adsorbing apparatus 100 includes a suspension member 350 that lifts the shape steel while adsorbing the shape steel. In addition, the shape steel adsorption | suction apparatus 100 which concerns on this embodiment can also be used for uses other than conveying a shape steel to a welding apparatus.
　この形鋼吸着装置１００は、形鋼の一の面に吸着して当該形鋼を吊り上げることが可能な装置であり、形鋼の一の面を吸着しつつ吊り上げる複数の吊り部材３５０と、各吊り部材３５０を支持する第１フレーム材６００と、第１フレーム材６００を昇降させる複数の昇降部４００と、各昇降部４００を支持する第２フレーム材７００と、第２フレーム材７００の上部に設けられた搬送機構９００とを備えている。 This shape steel adsorbing device 100 is an apparatus capable of adsorbing to one surface of a shape steel and lifting the shape steel, and a plurality of suspension members 350 that lift while adsorbing one surface of the shape steel, A first frame member 600 that supports the suspension member 350, a plurality of lift units 400 that lift and lower the first frame member 600, a second frame member 700 that supports each lift unit 400, and an upper portion of the second frame member 700. And a transport mechanism 900 provided.
　第１フレーム材６００は、吸着対象である形鋼の長手方向に沿って延びている。第１フレーム材６００は、例えば、形鋼の長手方向に沿って延びる３つの梁部材６０１（図２参照）と、これら３つの梁部材６０１どうしを連結する連結部材６０３（図２参照）とにより構成することができる。３つの梁部材６０１には、上下方向に貫通する貫通孔（図示略）が形成されている。この貫通孔には、吊り部材３５０における後述の柱部の上部が上下動可能に挿通される。なお、柱部は梁部材６０１に直接的に固定されていてもよい。 The first frame member 600 extends along the longitudinal direction of the shape steel to be adsorbed. The first frame member 600 includes, for example, three beam members 601 (see FIG. 2) extending along the longitudinal direction of the shape steel, and a connecting member 603 (see FIG. 2) that connects the three beam members 601 to each other. Can be configured. The three beam members 601 are formed with through holes (not shown) penetrating in the vertical direction. Through this through hole, an upper portion of a pillar portion described later in the suspension member 350 is inserted so as to be movable up and down. Note that the column portion may be directly fixed to the beam member 601.
　昇降部４００は、例えば、空気圧シリンダ等のシリンダ装置４０１の流体圧力（例えば空気圧）を用いて第１フレーム材６００を昇降させるように構成されている。昇降部４００は、第１フレーム材６００を昇降させることで、第１フレーム材６００に支持された吊り部材３５０を昇降させる。吊り部材３５０の降下に伴い、後述の揺動部が形鋼の吸着対象である一の面に対して進出する。なお、昇降部４００はシリンダ装置によるものに限定されず、他の任意の装置を用いることが可能である。昇降部４００によって第１フレーム材６００を昇降させることで、吊り部材３５０を昇降させることができる。 The elevating unit 400 is configured to elevate and lower the first frame member 600 using fluid pressure (for example, air pressure) of a cylinder device 401 such as a pneumatic cylinder. The elevating unit 400 raises and lowers the suspension member 350 supported by the first frame material 600 by raising and lowering the first frame material 600. As the suspension member 350 is lowered, a swinging portion described later advances with respect to the one surface that is the target of suction of the shape steel. In addition, the raising / lowering part 400 is not limited to what is based on a cylinder apparatus, It is possible to use other arbitrary apparatuses. The lifting member 350 can be raised and lowered by raising and lowering the first frame member 600 by the raising and lowering unit 400.
　搬送機構９００は、複数の車輪９０１と、車輪９０１を駆動するモータ（図示略）とを備えている。車輪９０１は、第１フレーム材６００の幅方向（図２の紙面左右方向）に延びるレール（図示略）の上に載っている。 The transport mechanism 900 includes a plurality of wheels 901 and a motor (not shown) that drives the wheels 901. The wheel 901 is placed on a rail (not shown) extending in the width direction of the first frame member 600 (the left-right direction in FIG. 2).
　搬送機構９００は、モータを駆動することで車輪９０１が回転して、形鋼吸着装置１００を形鋼の溶接装置へ向けて搬送することができる。 The conveyance mechanism 900 can convey the shape steel adsorption | suction apparatus 100 toward the welding apparatus of a shape steel, when the wheel 901 rotates by driving a motor.
　吊り部材３５０は、図１および図２に示される例では、第１フレーム材６００に複数個、具体的には１８個設けられている。より具体的には、吊り部材３５０は、第１フレーム材６００の長手方向（図１の紙面左右方向）に沿って６つ、第１フレーム材６００の幅方向（図２の紙面左右方向）沿って３つ設けられている。なお、第１フレーム材６００に設けられる吊り部材３５０の数はこの例に限定されるものではなく、第１フレーム材６００の長手方向および幅方向において、それぞれ任意に変更可能である。 In the example shown in FIGS. 1 and 2, a plurality of suspension members 350 are provided on the first frame member 600, specifically, 18 pieces. More specifically, there are six suspension members 350 along the longitudinal direction of the first frame member 600 (left and right direction in the drawing of FIG. 1), and along the width direction (left and right direction of the drawing in FIG. 2) of the first frame member 600. Three are provided. The number of suspension members 350 provided on the first frame member 600 is not limited to this example, and can be arbitrarily changed in the longitudinal direction and the width direction of the first frame member 600.
　また、第１フレーム材６００の幅方向における各吊り部材３５０のうち、いずれか１つまたは２つを吊り部材３５０ａ（形鋼を吊り上げる機能を有する吊り部材）とし、それ以外の吊り部材を他の種類の吊り部材（例えば、平板状の鋼板を吊り上げる機能を有する吊り部材３５０ｂ）としてもよい。また、幅方向における全ての吊り部材を同じ種類の吊り部材（吊り部材３５０ａ）としてもよい。 In addition, any one or two of the suspension members 350 in the width direction of the first frame member 600 are defined as suspension members 350a (a suspension member having a function of lifting a shape steel), and other suspension members are used as other suspension members. It is good also as a kind of suspension member (for example, suspension member 350b which has a function which lifts a flat steel plate). Also, all the suspension members in the width direction may be the same type of suspension member (suspending member 350a).
　図２に示される例では、第１フレーム材６００の幅方向中央に吊り部材３５０ａが配置され、第１フレーム材６００の幅方向両端部に吊り部材３５０ｂが配置されている。形鋼、および、平板状の鋼板は、溶接形鋼（例えば溶接Ｊ形鋼）の材料とすることができる。 In the example shown in FIG. 2, a suspension member 350a is disposed at the center in the width direction of the first frame member 600, and a suspension member 350b is disposed at both ends in the width direction of the first frame member 600. The shape steel and the flat steel plate can be made of a welded shape steel (for example, welded J-shaped steel).
　次に、吊り部材３５０ａの構成について、図３～図５を参照して説明する。図３は形鋼吸着装置の吊り部材の一例を示す斜視図、図４は形鋼吸着装置の吊り部材の一例を示す正面図、図５は形鋼吸着装置のパッド部が山形鋼の一の面に接近する様子の一例を示す側面図である。なお、本明細書では、吊り部材３５０ａおよび吊り部材３５０ｂは構成が共通するため、吊り部材３５０ａについて具体的に説明し、吊り部材３５０ｂについては具体的な説明を省略する。 Next, the configuration of the suspension member 350a will be described with reference to FIGS. FIG. 3 is a perspective view showing an example of a suspension member of the shape steel adsorption device, FIG. 4 is a front view showing an example of the suspension member of the shape steel adsorption device, and FIG. It is a side view which shows an example of a mode that it approaches a surface. In this specification, since the suspension member 350a and the suspension member 350b have the same configuration, the suspension member 350a will be specifically described, and the description of the suspension member 350b will be omitted.
　吊り部材３５０ａ（３５０）は、上述の第１フレーム材に形成された貫通孔に上部が挿通された柱部３５１と、柱部３５１に沿って設けられた圧縮コイルばね３５３と、柱部３５１の下端部に設けられた係止部３５５と、係止部３５５に着脱可能に係止された吸着装置３５７とを備えている。 The suspension member 350a (350) includes a column part 351 whose upper part is inserted into the through hole formed in the first frame material, a compression coil spring 353 provided along the column part 351, and a column part 351. A locking portion 355 provided at the lower end portion and a suction device 357 detachably locked to the locking portion 355 are provided.
　柱部３５１は、上下方向に延びる柱状部材である。柱部３５１の上部は、上述の第１フレーム材に形成された貫通孔に上下方向に移動可能に挿通されている。柱部３５１は、上述の第１フレーム材に圧縮コイルばね３５３を介して取り付けられている。 The column part 351 is a columnar member extending in the vertical direction. The upper part of the column part 351 is inserted in the through-hole formed in the above-mentioned 1st frame material so that a movement to an up-down direction is possible. The column portion 351 is attached to the first frame material described above via a compression coil spring 353.
　圧縮コイルばね３５３は、係止部３５５を介して吸着装置３５７を下向きに付勢する部材である。上述の昇降部の動作により上述の第１フレーム材が降下し、その降下により吊り部材３５０ａの下端部（後述のパッド部３０１）が形鋼２００の吸着対象となる面である一の面２０１に当接し、さらに第１フレーム材が降下したときに、圧縮コイルばね３５３は吸着装置３５７を下向きに付勢する。吊り部材３５０ａの下端部（パッド部３０１）が形鋼２００の一の面２０１に当接し、さらに第１フレーム材が降下するとき、その降下に伴い、第１フレーム材の貫通孔からの柱部３５１の上端部の突出量が増加する。圧縮コイルばね３５３の弾性力により、吊り部材３５０ａの下端部（パッド部３０１）は、形鋼２００の吸着対象となる一の面２０１に密着することができる。圧縮コイルばね３５３の弾性力は、パッド部３０１を形鋼２００の一の面２０１に密着させる力を所望の値に設定するべく適宜に設定可能である。 The compression coil spring 353 is a member that urges the suction device 357 downward via the locking portion 355. The above-described first frame material is lowered by the operation of the above-described lifting unit, and the lower end portion (a pad portion 301 described later) of the suspension member 350a is lowered to one surface 201 that is a surface to be attracted to the shape steel 200 by the lowering. When the first frame member descends, the compression coil spring 353 urges the suction device 357 downward. When the lower end portion (pad portion 301) of the suspension member 350a comes into contact with one surface 201 of the shaped steel 200 and the first frame material is further lowered, the column portion from the through hole of the first frame material is accompanied with the lowering. The amount of protrusion at the upper end of 351 increases. Due to the elastic force of the compression coil spring 353, the lower end portion (pad portion 301) of the suspension member 350 a can be in close contact with the one surface 201 to be attracted to the shape steel 200. The elastic force of the compression coil spring 353 can be set as appropriate so as to set the force for bringing the pad portion 301 into close contact with the one surface 201 of the shaped steel 200 to a desired value.
　係止部３５５は、吸着装置３５７の上端部を着脱可能に係止する部分である。係止部３５５の下部には、横方向に延びる溝状レール３５９が形成されている。溝状レール３５９は、吸着装置３５７の上端部（後述の被係止部３６１）がスライドして着脱され得るように構成されている。なお、係止部３５５と吸着装置３５７とを着脱可能に係止する形態はこの例に限定されず、他の形態であってもよい。 The locking portion 355 is a portion that detachably locks the upper end portion of the suction device 357. A groove-like rail 359 extending in the lateral direction is formed below the locking portion 355. The groove-shaped rail 359 is configured such that the upper end portion (latched portion 361 described later) of the suction device 357 can be slid and attached. In addition, the form which latches the latching | locking part 355 and the adsorption | suction apparatus 357 so that attachment or detachment is possible is not limited to this example, Another form may be sufficient.
　ここで、吸着装置３５７の吸着対象となる形鋼について図５を参照しつつ説明する。図５に示される形鋼２００は、頂部が上向きとなるように材料置き場８００に配置される。この場合、頂部を形成する２つの面が水平面に対して傾斜する。吊り部材３５０ａは、頂部を形成する２つの面のうち、吸着対象となる面である一の面２０１を吸着して形鋼２００を吊り上げ、溶接装置へ搬送する。 Here, the shape steel to be adsorbed by the adsorption device 357 will be described with reference to FIG. The shape steel 200 shown in FIG. 5 is disposed in the material storage area 800 so that the top portion is directed upward. In this case, the two surfaces forming the top are inclined with respect to the horizontal plane. The suspension member 350a attracts one surface 201, which is the surface to be attracted, of the two surfaces forming the top, lifts the shaped steel 200, and conveys it to the welding apparatus.
　形鋼２００としては、例えば山形鋼を挙げることができるが、他の種類の形鋼であってもよい。また、形鋼２００の材質も特に限定されない。形鋼２００の材質は、磁石で吸着可能な材質であってもよいし、磁石で吸着できない材質であってもよい。 Examples of the shape steel 200 include angle steel, but other types of shape steel may be used. Further, the material of the shape steel 200 is not particularly limited. The material of the shape steel 200 may be a material that can be attracted by a magnet or a material that cannot be attracted by a magnet.
　また、吊り部材３５０ａが吊り上げる形鋼２００を材料とする溶接形鋼の種類は、溶接Ｊ形鋼に限定されるものではなく、他の種類の形鋼であってもよい。 Further, the type of the welded shape steel made of the shape steel 200 lifted by the suspension member 350a is not limited to the welded J-shape steel, and may be another type of shape steel.
　以下の説明では、吊り部材３５０ａによって吊り上げられる形鋼２００が山形鋼（Ｌ形鋼、アングル鋼）である場合について説明する。なお、山形鋼は等辺山形鋼であってもよいし、不等辺山形鋼であってもよい。図５に示される例では、形鋼２００は不等辺山形鋼とされている。本例では、吸着される面が広い方が好ましいことから、不等辺山形鋼の頂部を形成する２つの面のうち、幅方向に大きい面（図５の符号２０１の面）を吸着することが好ましいが、吊り部材３５０で吸着することができれば、幅方向に小さい面を吸着してもよい。 In the following description, a case where the shape steel 200 lifted by the suspension member 350a is an angle steel (L-shape steel, angle steel) will be described. The angle steel may be an equilateral angle steel or an unequal angle iron. In the example shown in FIG. 5, the shape steel 200 is an unequal side angle steel. In this example, since it is preferable that the surface to be adsorbed is wide, it is possible to adsorb a surface that is large in the width direction (surface of reference numeral 201 in FIG. 5) among the two surfaces that form the top of the unequal angle iron. Although it is preferable, a small surface in the width direction may be adsorbed as long as it can be adsorbed by the suspension member 350.
　図５に示されるように、吸着装置３５７は、溝状レール３５９に対してスライドして着脱可能な断面Ｔ字状の被係止部３６１と、被係止部３６１から下側へ延出する下側延出部３６３と、下側延出部３６３に設けられた円柱状の連結軸３６５と、連結軸３６５を介して被係止部３６１および下側延出部３６３に対して揺動可能に設けられた揺動部３６７とを備えている。以下、この明細書において、被係止部３６１および下側延出部３６３を固定部と称することがある。 As shown in FIG. 5, the suction device 357 is slidable with respect to the groove-like rail 359 and can be attached / detached with a T-shaped cross section, and extends downward from the locked section 361. The lower extension 363, a columnar connecting shaft 365 provided on the lower extension 363, and swingable with respect to the locked portion 361 and the lower extension 363 via the connecting shaft 365. And a swinging portion 367 provided in the housing. Hereinafter, in this specification, the locked portion 361 and the lower extension portion 363 may be referred to as a fixing portion.
　揺動部３６７は、形鋼２００の吸着対象となる一の面２０１を吸着してその状態を保持する弾性変形可能なパッド部３０１と、パッド部３０１を上側から支持するパッド支持部３０３と、パッド支持部３０３の上側に設けられパッド支持部３０３の上端部から上方へ延出する左右一対の上側延出部３０５と、各上側延出部３０５に設けられた第１ストッパ部３０７および第２ストッパ部３０９と、各上側延出部３０５から横方向に突出するように設けられたばね支持部３１１と、ばね支持部３１１と係止部３５５とを繋ぐように設けられた引張コイルばね３１３とを備えている。なお、図５～図１２において、ハッチングを付した状態で第２ストッパ部３０９を示しているが、このハッチングは便宜上付しているものであり、断面を示すものではない。 The swinging portion 367 includes an elastically deformable pad portion 301 that sucks the one surface 201 to be attracted to the shape steel 200 and holds the state, a pad support portion 303 that supports the pad portion 301 from above, A pair of left and right upper extension portions 305 provided above the pad support portion 303 and extending upward from the upper end portion of the pad support portion 303, and a first stopper portion 307 and a second stopper provided on each upper extension portion 305. A stopper portion 309, a spring support portion 311 provided so as to protrude laterally from each upper extending portion 305, and a tension coil spring 313 provided so as to connect the spring support portion 311 and the locking portion 355. I have. 5 to 12, the second stopper portion 309 is shown in a hatched state, but this hatching is provided for convenience and does not show a cross section.
　揺動部３６７は、連結軸３６５を回動可能に支持する軸受部（図示略）を有している。連結軸３６５は、軸受部の外側に設けられた蓋部材３６８（図３参照）によってその端部がカバーされている。揺動部３６７は、図５に示されるように、連結軸３６５を介して下側延出部３６３に揺動可能に支持されている。なお、図５においては、便宜上、蓋部材３６８の図示を省略している（後述する図６～図１２においても同様）。 The rocking portion 367 has a bearing portion (not shown) that rotatably supports the connecting shaft 365. The end of the connecting shaft 365 is covered by a lid member 368 (see FIG. 3) provided outside the bearing portion. As shown in FIG. 5, the swinging portion 367 is supported by the lower extension portion 363 via the connecting shaft 365 so as to be swingable. In FIG. 5, the illustration of the lid member 368 is omitted for convenience (the same applies to FIGS. 6 to 12 described later).
　次に、揺動部３６７について、図４～図８を参照しつつ説明する。図６は、形鋼吸着装置のパッド部が山形鋼の一の面に接した状態の一例を示す側面図である。図７は、形鋼吸着装置のパッド部が山形鋼の一の面を吸着している状態の一例を示す側面図である。図８は、形鋼吸着装置のパッド部が山形鋼を吊り上げている状態の一例を示す側面図である。 Next, the swinging part 367 will be described with reference to FIGS. FIG. 6 is a side view showing an example of a state in which the pad portion of the shape steel adsorbing device is in contact with one surface of the angle steel. FIG. 7 is a side view showing an example of a state in which the pad portion of the shape steel adsorbing device adsorbs one surface of the angle steel. FIG. 8 is a side view showing an example of a state in which the pad portion of the shape steel adsorbing device lifts the angle steel.
　固定部に対して揺動部３６７を揺動させるための回動機構は、連結軸３６５および上記軸受部により構成される。この回動機構は、例えば、吸着対象となる一の面２０１への揺動部３６７の進出方向（例えば、図５において白抜きの矢印Ａ１で示される方向）に対して一の面２０１が傾斜していたとしても、揺動部３６７（具体的にはパッド部３０１）が一の面２０１に対して正面を向く姿勢をとり得るように揺動部３６７の姿勢を変更する機能を有する。図７に示される例では、揺動部３６７の進出方向（図５のＡ１）に対して一の面２０１が傾斜していたとしても、揺動部３６７（具体的にはパッド部３０１）が一の面２０１に対して摺動することにより、パッド部３０１の先端部３０１０と一の面２０１とが略平行となるように揺動部３６７の姿勢が変更される（上述の正面を向く姿勢）。図７に示される例ではパッド部３０１の中心線ＣＬと一の面２０１とが略直交する（略直角をなす）ように（一点鎖線で示される態様から実線で示される態様に）、揺動部３６７の姿勢が変更される（上述の正面を向く姿勢）。このような構成によれば、揺動部３６７の進出方向（図５のＡ１）に対する形鋼の吸着面の傾斜角度にかかわらず、パッド部３０１の先端部３０１０と一の面２０１とが略平行となるように揺動部３６７の姿勢が変更される。 The rotation mechanism for swinging the swinging portion 367 with respect to the fixed portion is constituted by the connecting shaft 365 and the bearing portion. In this rotating mechanism, for example, one surface 201 is inclined with respect to the advancing direction of the swinging portion 367 to the one surface 201 to be attracted (for example, the direction indicated by the white arrow A1 in FIG. 5). Even if it does, it has a function which changes the attitude | position of the rocking | swiveling part 367 so that the rocking | swiveling part 367 (specifically pad part 301) can take the attitude | position which faces the front with respect to the one surface 201. FIG. In the example shown in FIG. 7, even if one surface 201 is inclined with respect to the advance direction (A1 in FIG. 5) of the swinging portion 367, the swinging portion 367 (specifically, the pad portion 301) is By sliding with respect to the one surface 201, the posture of the swinging portion 367 is changed so that the tip portion 3010 of the pad portion 301 and the one surface 201 are substantially parallel (the posture facing the front described above). ). In the example illustrated in FIG. 7, the center line CL of the pad portion 301 and the one surface 201 are substantially orthogonal (substantially perpendicular) (from the mode shown by the one-dot chain line to the mode shown by the solid line). The posture of the portion 367 is changed (the posture facing the front described above). According to such a configuration, the front end portion 3010 of the pad portion 301 and the one surface 201 are substantially parallel regardless of the inclination angle of the attracting surface of the shape steel with respect to the advancing direction of the swinging portion 367 (A1 in FIG. 5). The posture of the swinging part 367 is changed so that
　このように揺動部３６７の姿勢が変更されることで、揺動部３６７の進出方向（図５のＡ１）に対する形鋼の吸着面の傾斜角度にかかわらず、パッド部３０１の先端部３０１０を一の面２０１に対して密着させることが可能となる。また、揺動部３６７の姿勢が変更されることで、形鋼２００の形状毎に一の面２０１の傾きが異なる場合であっても、パッド部３０１は、形鋼２００の形状毎に一の面２０１に対して正面を向く姿勢をとることができ、形鋼２００の形状毎にパッド部３０１の先端部３０１０の周方向全体を一の面２０１に対して密着させることが可能となる。 By changing the posture of the swinging portion 367 in this way, the tip end portion 3010 of the pad portion 301 can be moved regardless of the inclination angle of the shape steel suction surface with respect to the advancing direction of the swinging portion 367 (A1 in FIG. 5). It becomes possible to make it closely_contact | adhere with respect to the one surface 201. FIG. Moreover, even if the inclination of the one surface 201 is different for each shape of the structural steel 200 due to the change in the posture of the swinging portion 367, the pad portion 301 is one for each shape of the structural steel 200. It is possible to take a posture facing the front surface with respect to the surface 201, and the entire circumferential direction of the distal end portion 3010 of the pad portion 301 can be brought into close contact with the one surface 201 for each shape of the structural steel 200.
　図５に示されるパッド部３０１は、先端部３０１０が環状（リップ状）に形成されている。この先端部３０１０が周方向全体に亘って形鋼２００の一の面２０１に密着し（図７参照）、図外のバキューム装置による吸引力により、先端部３０１０が一の面２０１を吸着する。バキューム装置は、例えば真空ポンプであり、可撓性を有するバキューム配管３１５（図４参照）を介してパッド支持部３０３に接続されている。パッド部３０１は可撓性（弾性）を有しており、吸盤として機能することができる。パッド部３０１は例えばゴム製である。パッド部３０１は、形鋼２００の長手方向に沿って延びている。具体的には、パッド部３０１が真下を向いた状態において、平面視で、形鋼２００の長手方向に沿って延びる互いに平行で互いに同一長さの２つの直線と、これら２つの直線の同じ側の端部どうしをつなぐ半円状の２つの曲線とから構成される輪郭を有している。また、パッド部３０１は、側面視で、例えば台形状に形成されている。台形の下底が上記先端部３０１０に相当し、先端部３０１０が形鋼２００の一の面２０１に密着する。なお、パッド部３０１の形状は上述のような形状に限定されず、例えば、平面視で円形状であってもよい。 The pad portion 301 shown in FIG. 5 has a tip portion 3010 formed in an annular shape (lip shape). The tip 3010 closely contacts the one surface 201 of the section steel 200 over the entire circumferential direction (see FIG. 7), and the tip 3010 adsorbs the one surface 201 by a suction force by a vacuum device (not shown). The vacuum device is, for example, a vacuum pump, and is connected to the pad support portion 303 via a flexible vacuum pipe 315 (see FIG. 4). The pad portion 301 has flexibility (elasticity) and can function as a suction cup. The pad portion 301 is made of rubber, for example. The pad portion 301 extends along the longitudinal direction of the shape steel 200. Specifically, in a state where the pad portion 301 is directed downward, two straight lines extending in parallel with each other along the longitudinal direction of the structural steel 200 and having the same length in the plan view, and the same side of these two straight lines It has a contour composed of two semicircular curves that connect the end portions of each other. Moreover, the pad part 301 is formed in trapezoid shape, for example by side view. The lower base of the trapezoid corresponds to the tip portion 3010, and the tip portion 3010 is in close contact with one surface 201 of the shaped steel 200. In addition, the shape of the pad part 301 is not limited to the above-mentioned shape, For example, circular shape may be sufficient as planar view.
　図５～図７に示されるパッド支持部３０３は、パッド部３０１の輪郭を相似的に縮小したような輪郭を有している。パッド支持部３０３は、バキューム配管３１５と連通するバキューム通路（図示略）を有している。このバキューム通路は、パッド部３０１の内側空間と連通している。バキューム装置を作動させると、バキューム装置による吸引力は、バキューム配管およびバキューム通路を介してパッド部３０１の内側空間に伝達される。これにより、バキューム通路内のエア（空気）およびパッド部３０１の内側空間内のエアが排気される（バキューム装置に吸引される）。 The pad support portion 303 shown in FIGS. 5 to 7 has a contour similar to the contour of the pad portion 301 reduced. The pad support part 303 has a vacuum passage (not shown) communicating with the vacuum pipe 315. This vacuum passage communicates with the inner space of the pad portion 301. When the vacuum device is operated, the suction force by the vacuum device is transmitted to the inner space of the pad portion 301 via the vacuum pipe and the vacuum passage. Thereby, the air (air) in the vacuum passage and the air in the inner space of the pad portion 301 are exhausted (sucked by the vacuum device).
　図５～図７に示される第１ストッパ部３０７は、揺動部３６７の傾斜角度の最大値（図５に示される最大傾斜角度θｍａｘ）を規定する部材である。「揺動部３６７の傾斜角度」は、パッド部３０１の先端部３０１０と水平面とがなす角度である。第１ストッパ部３０７は、図５に示される例では、すりわり付き止めねじ（いわゆる芋ネジ）とされている。図５に示される例では、すりわり付き止めねじの外側先端部が係止部３５５に当接することにより、揺動部３６７の傾斜角度がそれ以上増加しないようになっている。「最大傾斜角度θｍａｘ」は、例えば、図５に示される例では、第１ストッパ部３０７の外側先端部が係止部３５５に当接している状態で、パッド部３０１の先端部３０１０と水平面とがなす角度である。 The first stopper portion 307 shown in FIGS. 5 to 7 is a member that defines the maximum value of the inclination angle of the swinging portion 367 (maximum inclination angle θmax shown in FIG. 5). The “inclination angle of the rocking portion 367” is an angle formed by the tip portion 3010 of the pad portion 301 and the horizontal plane. In the example shown in FIG. 5, the first stopper portion 307 is a set screw with a slit (so-called 芋 screw). In the example shown in FIG. 5, the inclination angle of the swinging portion 367 is not further increased by the outer tip portion of the set screw having a sliding contact with the locking portion 355. For example, in the example shown in FIG. 5, the “maximum inclination angle θmax” is obtained when the outer end portion of the first stopper portion 307 is in contact with the engaging portion 355 and the tip portion 3010 of the pad portion 301 and the horizontal plane. Is the angle formed by
　なお、揺動部３６７の最大傾斜角度θｍａｘは、ねじ穴からのすりわり付き止めねじの突出量を調節することにより調節できるようになっている。つまり、すりわり付き止めねじの突出量が増加する程、揺動部３６７の最大傾斜角度θｍａｘが小さくなるようになっている。なお、第１ストッパ部３０７は、すりわり付き止めねじに限定されるものではなく、他の形態に変更することも可能である。揺動部３６７の最大傾斜角度θｍａｘは、形鋼２００の一の面２０１の傾斜角度θ１と同じ傾斜角度に設定されていてもよいし、形鋼２００の一の面２０１の傾斜角度より大きな値または小さい値に設定されていてもよい。一の面２０１の傾斜角度は、例えば、一の面２０１と水平面とがなす角度θ１（例えば、図５参照）とされる。 It should be noted that the maximum inclination angle θmax of the swinging portion 367 can be adjusted by adjusting the protruding amount of the set screw with a slide from the screw hole. That is, the maximum inclination angle θmax of the oscillating portion 367 becomes smaller as the protruding amount of the set screw with sliding increases. In addition, the 1st stopper part 307 is not limited to a set screw with a slide, It is also possible to change into another form. The maximum inclination angle θmax of the rocking portion 367 may be set to the same inclination angle as the inclination angle θ1 of the one surface 201 of the shaped steel 200, or a value larger than the inclination angle of the one surface 201 of the shaped steel 200. Alternatively, it may be set to a small value. The inclination angle of the one surface 201 is, for example, an angle θ1 (for example, see FIG. 5) formed by the one surface 201 and the horizontal plane.
　図５～図７に示される第２ストッパ部３０９は、揺動部３６７が下側に揺動した（傾斜角度が小さくなる方向に揺動した）際に、傾斜角度が略ゼロとなる位置（パッド部３０１の先端部３０１０が真下を向く位置）で揺動部３６７の揺動を停止させる部材である。第２ストッパ部３０９は、揺動部３６７の傾斜角度が略ゼロになったときに係止部３５５と当接する当接面を有する部材（ハッチングで示す部材）である。揺動部３６７の傾斜角度が略ゼロとなる位置で揺動部３６７の揺動を停止させることで、形鋼２００の一の面２０１が水平な状態となるように形鋼２００を吸着することができる。これにより、形鋼２００を溶接に適した姿勢とし、その姿勢を維持した状態で形鋼２００を溶接装置へ搬送することが可能となる。 The second stopper portion 309 shown in FIGS. 5 to 7 is a position where the tilt angle becomes substantially zero when the swinging portion 367 swings downward (swings in a direction in which the tilt angle becomes smaller). This is a member that stops the swinging of the swinging portion 367 at a position where the tip end portion 3010 of the pad portion 301 faces directly below. The second stopper portion 309 is a member (a member indicated by hatching) having a contact surface that contacts the locking portion 355 when the inclination angle of the swinging portion 367 becomes substantially zero. The shape steel 200 is adsorbed so that one surface 201 of the shape steel 200 is in a horizontal state by stopping the swing of the swing portion 367 at a position where the inclination angle of the swing portion 367 is substantially zero. Can do. Thereby, it becomes possible to make the shape steel 200 into the attitude | position suitable for welding, and to convey the shape steel 200 to the welding apparatus in the state which maintained the attitude | position.
　図５～図７に示される引張コイルばね３１３は、揺動部３６７の傾斜角度が大きくなる方向に揺動部３６７を付勢する部材である。引張コイルばね３１３は、一方の端部（図５に示される例では下端部）がばね支持部３１１の先端部付近に固定され、他方の端部（図５に示される例では上端部）が係止部３５５に固定されている。引張コイルばね３１３は、連結軸３６５から離れた位置に設けられている。また、引張コイルばね３１３の力の作用線（引張コイルばね３１３の両端部を通る直線）は、連結軸３６５を通らない位置にある。したがって、引張コイルばね３１３の弾性力（引張力）により、連結軸３６５を中心とする力のモーメントがばね支持部３１１に作用する。この力のモーメントにより、揺動部３６７は傾斜角度ゼロの状態から最大傾斜状態（図５参照）となるように自動的に回動することが可能となっている。パッド部３０１が形鋼２００を持ち上げていない状態では、引張コイルばね３１３の弾性力により、揺動部３６７は最大傾斜角度θｍａｘで傾斜した状態にある。引張コイルばね３１３は、揺動部３６７（具体的にはパッド部３０１）が形鋼２００の一の面２０１に対して正面を向く姿勢をとり得るように伸縮することができる。このように、引張コイルばね３１３の付勢力によって揺動部３６７を傾斜させておくことで、パッド部３０１の先端部３０１０と一の面２０１とが略平行となるように揺動部３６７の姿勢を変えることがスムーズに行われる。 The tension coil spring 313 shown in FIGS. 5 to 7 is a member that urges the swinging portion 367 in a direction in which the tilt angle of the swinging portion 367 increases. The tension coil spring 313 has one end (the lower end in the example shown in FIG. 5) fixed near the tip of the spring support 311 and the other end (the upper end in the example shown in FIG. 5). It is fixed to the locking portion 355. The tension coil spring 313 is provided at a position away from the connecting shaft 365. Further, the line of action of the force of the tension coil spring 313 (the straight line passing through both ends of the tension coil spring 313) is at a position that does not pass through the connecting shaft 365. Therefore, a moment of force about the connecting shaft 365 acts on the spring support portion 311 due to the elastic force (tensile force) of the tension coil spring 313. By this moment of force, the swinging portion 367 can automatically rotate so as to change from a state where the inclination angle is zero to a maximum inclination state (see FIG. 5). In a state where the pad portion 301 does not lift the shape steel 200, the swinging portion 367 is inclined at the maximum inclination angle θmax by the elastic force of the tension coil spring 313. The tension coil spring 313 can be expanded and contracted so that the swinging portion 367 (specifically, the pad portion 301) can take a posture facing the front surface with respect to the one surface 201 of the shaped steel 200. In this way, by tilting the swinging portion 367 by the biasing force of the tension coil spring 313, the posture of the swinging portion 367 is set so that the tip portion 3010 of the pad portion 301 and the one surface 201 are substantially parallel. Change is done smoothly.
　パッド部３０１に形鋼２００が吸着されていない状態では、引張コイルばね３１３の弾性力により、揺動部３６７は最大傾斜角度θｍａｘとなる位置にある（図５および図６参照）。一方、パッド部３０１に形鋼２００が吸着され、形鋼２００が吊り上げられた状態では、形鋼２００の重量により引張コイルばね３１３が伸びて、揺動部３６７は下方を向いた状態（揺動部３６７の傾斜角度が略ゼロの状態）となる（図８参照）。なお、引張コイルばね３１３に代えて、空気圧シリンダ等の他の伸縮手段を設けてもよい。 In a state where the shape steel 200 is not adsorbed to the pad portion 301, the swinging portion 367 is at a position where the maximum inclination angle θmax is reached due to the elastic force of the tension coil spring 313 (see FIGS. 5 and 6). On the other hand, in a state where the shape steel 200 is adsorbed to the pad portion 301 and the shape steel 200 is lifted, the tension coil spring 313 is extended by the weight of the shape steel 200, and the swinging portion 367 faces downward (swinging) The inclination angle of the portion 367 is substantially zero) (see FIG. 8). Instead of the tension coil spring 313, other expansion / contraction means such as a pneumatic cylinder may be provided.
　なお、本実施形態では、引張コイルばね３１３の付勢力により、すりわり付き止めねじの外側先端部が係止部３５５に当接する状態（最大傾斜状態）まで揺動部３６７を回動させているが、最大傾斜角まで回動させることは必須ではない。例えば、引張コイルばね３１３の弾性力を弱めに設定する（ばね係数を小さめに設定する）ことにより、パッド部３０１が形鋼２００を吊り上げていない状態（例えば揺動部３６７が形鋼２００の一の面２０１に向かって進出するとき）において、第１ストッパ部３０７が係止部３５５に当接していない状態（揺動部３６７の傾斜角度が最大傾斜角度θｍａｘ未満の状態）としてもよい。 In the present embodiment, the oscillating portion 367 is rotated by the urging force of the tension coil spring 313 until the outer front end portion of the sliding set screw comes into contact with the locking portion 355 (maximum inclined state). However, it is not essential to rotate to the maximum inclination angle. For example, when the elastic force of the tension coil spring 313 is set to be weak (spring coefficient is set to be small), the pad portion 301 is not lifting the shape steel 200 (for example, the swinging portion 367 is one of the shape steel 200). The first stopper portion 307 may not be in contact with the engaging portion 355 (when the swinging portion 367 has an inclination angle less than the maximum inclination angle θmax).
　次に、本実施形態に係る形鋼吸着装置１００の使用方法の一例について説明する。 Next, an example of how to use the shape steel adsorption device 100 according to the present embodiment will be described.
　ここでは、Ｊ形鋼を製造するために、例えば、第１フレーム材６００の幅方向中央に設けられた吊り部材３５０ａにより、形鋼２００として山形鋼を吊り上げる場合について、図５～図８を参照しつつ説明する。 Here, in order to manufacture the J-section steel, for example, in the case where the angle steel is suspended as the section steel 200 by the suspension member 350a provided at the center in the width direction of the first frame member 600, refer to FIGS. However, it will be explained.
　形鋼（山形鋼）２００は、形鋼置き場８００の上に、吸着対象となる一の面２０１が水平面に対して傾斜するように配置される。形鋼２００は積み重ねて配置されてもよいし、積み重ねないで配置されてもよい。図５～図８においては、簡単のため、形鋼２００を積み重ねないで配置した状態で示している。 The shape steel (angle steel) 200 is disposed on the shape steel storage 800 so that one surface 201 to be adsorbed is inclined with respect to the horizontal plane. The shape steel 200 may be stacked and may be disposed without being stacked. 5 to 8, for the sake of simplicity, the shape steel 200 is shown in a state where it is arranged without being stacked.
　上記第１フレーム材の長手方向に沿って設けられた６つの上記吊り部材のうち、いずれの吊り部材を用いるかは、吊り上げる対象となる形鋼２００の重量や長さに応じて適宜に設定することができる。 Of the six suspension members provided along the longitudinal direction of the first frame material, which suspension member is used is appropriately set according to the weight and length of the shape steel 200 to be lifted. be able to.
　例えば、第１フレーム材と略同じ長さの形鋼２００であって、形鋼２００の重量が６つの吊り部材で吊り上げることができる重量であり、さらに、形鋼２００の重量が６つの吊り部材の各引張コイルばね３１３の弾性力の総和よりも大きい場合には、６つの吊り部材を全て使用することができる。 For example, the shape steel 200 is approximately the same length as the first frame material, and the weight of the shape steel 200 is a weight that can be lifted by six suspension members, and the weight of the shape steel 200 is six suspension members. In the case where the sum of the elastic forces of the tension coil springs 313 is larger than all of the six suspension members, the six suspension members can be used.
　また、例えば、第１フレーム材と略同じ長さの形鋼２００であって、形鋼２００の重量が４つの吊り部材で吊り上げることができる重量であり、さらに、形鋼２００の重量が４つの吊り部材の各引張コイルばね３１３の弾性力の総和よりも大きい場合には、４つの吊り部材を使用することができる。 Further, for example, the shape steel 200 is approximately the same length as the first frame material, and the weight of the shape steel 200 is a weight that can be lifted by four suspension members, and the weight of the shape steel 200 is four. When it is larger than the total elastic force of the tension coil springs 313 of the suspension member, four suspension members can be used.
　また、例えば、第１フレーム材の約３分の２の長さの形鋼２００であって、形鋼２００の重量が４つの吊り部材で吊り上げることができる重量であり、さらに、形鋼２００の重量が４つの吊り部材の各引張コイルばね３１３の弾性力の総和よりも大きい場合には、４つの吊り部材を使用することができる。 In addition, for example, the shape steel 200 is approximately two-thirds the length of the first frame material, and the weight of the shape steel 200 can be lifted by four suspension members. When the weight is larger than the total elastic force of the tension coil springs 313 of the four suspension members, the four suspension members can be used.
　形鋼２００を吊り上げる手順は以下の通りである。ここでは、一例として、揺動部３６７の最大傾斜角度θｍａｘが形鋼２００の一の面２０１の傾斜角度θ１よりも大きい値に設定されている場合について説明する。 The procedure for lifting the shape steel 200 is as follows. Here, as an example, a case where the maximum inclination angle θmax of the rocking portion 367 is set to a value larger than the inclination angle θ1 of the one surface 201 of the shaped steel 200 will be described.
　まず、上記昇降部を駆動して、上記第１フレーム材を降下させ、傾斜状態にある揺動部３６７（図５参照）を形鋼２００の一の面２０１に向かって降下させる（図５の白抜き矢印Ａ１参照）。この段階では、揺動部３６７は、引張コイルばね３１３の弾性力（上向きの力）により、例えば、最大傾斜角度θｍａｘで傾斜した状態にある。第１フレーム材６００を降下させると、パッド部３０１の先端部３０１０の周方向の一部が形鋼２００の一の面２０１に当接する（図６参照）。さらに第１フレーム材６００を降下させると、圧縮コイルばね３５３の弾性力（下向きの力）により、係止部３５５、被係止部３６１、下側延出部３６３、連結軸３６５、上側延出部３０５、およびパッド支持部３０３を介して、パッド部３０１が形鋼２００の一の面２０１に向かって押される。これにより、パッド部３０１が形鋼２００の一の面２０１に対して正面を向く（パッド部３０１の先端部３０１０が形鋼２００の一の面２０１と略平行になる）姿勢をとるように、パッド部３０１が一の面２０１上を摺動（スライド）しつつ（図６の白抜き矢印Ａ３参照）、揺動部３６７が連結軸３６５を中心として回動し（図６に示される例では、白抜き矢印Ａ２で示されるように反時計回りに回動する）、パッド部３０１の先端部３０１０の周方向全体が一の面２０１に密着する（図７参照）。次に、バキューム装置を作動させる。すると、バキューム装置による吸引力で、パッド部３０１の先端部３０１０の周方向全体に一の面２０１が吸着される。 First, the elevating part is driven to lower the first frame member, and the swinging part 367 (see FIG. 5) in an inclined state is lowered toward one surface 201 of the shape steel 200 (see FIG. 5). (See white arrow A1). At this stage, the oscillating portion 367 is in a state of being inclined, for example, at the maximum inclination angle θmax by the elastic force (upward force) of the tension coil spring 313. When the first frame member 600 is lowered, a part of the tip portion 3010 of the pad portion 301 in the circumferential direction comes into contact with one surface 201 of the shaped steel 200 (see FIG. 6). When the first frame member 600 is further lowered, due to the elastic force (downward force) of the compression coil spring 353, the locking portion 355, the locked portion 361, the lower extending portion 363, the connecting shaft 365, the upper extending portion. The pad portion 301 is pushed toward one surface 201 of the shaped steel 200 via the portion 305 and the pad support portion 303. Thus, the pad portion 301 faces the front surface 201 of the shape steel 200 (the tip portion 3010 of the pad portion 301 is substantially parallel to the surface 201 of the shape steel 200). While the pad portion 301 slides on the one surface 201 (see the white arrow A3 in FIG. 6), the swinging portion 367 rotates around the connecting shaft 365 (in the example shown in FIG. 6). , It rotates counterclockwise as indicated by the white arrow A2), and the entire circumferential direction of the tip portion 3010 of the pad portion 301 is in close contact with the one surface 201 (see FIG. 7). Next, the vacuum device is activated. Then, the one surface 201 is adsorbed to the entire circumferential direction of the tip portion 3010 of the pad portion 301 by the suction force of the vacuum device.
　次に、バキューム装置を作動させたまま上記昇降部を駆動して、上記第１フレーム材を上昇させる。すると、図８に示されるように、形鋼置き場８００から形鋼２００が吊り上げられるとともに、形鋼２００および揺動部３６７の重量により引張コイルばね３１３が伸ばされて、形鋼２００および揺動部３６７の重心が安定する方向に形鋼２００および揺動部３６７が回動する。すると、揺動部３６７の傾斜角度が略ゼロになったときに、第２ストッパ部３０９が係止部３５５と当接する。これにより、一の面２０１が水平な状態となる（図８参照）。この状態で、上記搬送機構を駆動して、形鋼２００を溶接装置（図示略）に向けて搬送する。溶接装置に搬送された形鋼２００は、一の面２０１が水平状態を維持した状態で溶接装置に配置される。その後、バキューム装置を停止させる。これにより、形鋼２００の端部と他の鋼板（平板状の鋼板）との溶接により、溶接Ｊ形鋼を製造することができる。 Next, the lifting / lowering unit is driven while operating the vacuum device to raise the first frame material. Then, as shown in FIG. 8, the shape steel 200 is lifted from the shape steel yard 800, and the tension coil spring 313 is extended by the weight of the shape steel 200 and the swinging portion 367. The section steel 200 and the swinging part 367 rotate in a direction in which the center of gravity of the 367 is stabilized. Then, the second stopper portion 309 comes into contact with the locking portion 355 when the tilt angle of the swinging portion 367 becomes substantially zero. Thereby, the one surface 201 is in a horizontal state (see FIG. 8). In this state, the conveyance mechanism is driven to convey the section steel 200 toward the welding apparatus (not shown). The shaped steel 200 conveyed to the welding apparatus is arranged in the welding apparatus in a state where one surface 201 is maintained in a horizontal state. Thereafter, the vacuum device is stopped. Thereby, the welded J-section steel can be manufactured by welding the end of the section steel 200 and another steel plate (a flat steel plate).
　次に、揺動部３６７の最大傾斜角度θｍａｘが形鋼２００の一の面２０１の傾斜角度θ２（図９参照）よりも小さい値に設定されている場合の、形鋼２００を吊り上げる手順について、図９～図１２を参照しつつ説明する。 Next, a procedure for lifting the shape steel 200 when the maximum inclination angle θmax of the swinging portion 367 is set to a value smaller than the inclination angle θ2 (see FIG. 9) of one surface 201 of the shape steel 200. This will be described with reference to FIGS.
　図９は、本発明の実施形態に係る形鋼吸着装置のパッド部が山形鋼の面に接近する様子の一例を示す側面図である。図１０は、本発明の実施形態に係る形鋼吸着装置のパッド部が山形鋼の一の面に接した状態の一例を示す側面図である。図１１は、本発明の実施形態に係る形鋼吸着装置のパッド部が山形鋼の一の面を吸着する前に変形していく状態の一例を示す側面図である。図１２は、本発明の実施形態に係る形鋼吸着装置のパッド部が山形鋼の一の面を吸着している状態の一例を示す側面図である。 FIG. 9 is a side view showing an example of a state in which the pad portion of the shape steel adsorption device according to the embodiment of the present invention approaches the face of the angle steel. FIG. 10 is a side view showing an example of a state in which the pad portion of the shape steel adsorbing device according to the embodiment of the present invention is in contact with one surface of the angle steel. FIG. 11 is a side view showing an example of a state in which the pad portion of the shape steel adsorbing device according to the embodiment of the present invention is deformed before adsorbing one surface of the angle steel. FIG. 12 is a side view showing an example of a state in which the pad portion of the shape steel adsorbing device according to the embodiment of the present invention adsorbs one surface of the angle steel.
　この場合には、揺動部３６７の最大傾斜角度θｍａｘと形鋼２００の一の面２０１の傾斜角度θ２との差異を補うように（角度の差異を埋め合わせるように）、パッド部３０１が弾性変形する。 In this case, the pad portion 301 is elastically deformed so as to compensate for the difference between the maximum inclination angle θmax of the swinging portion 367 and the inclination angle θ2 of the one surface 201 of the shaped steel 200 (so as to compensate for the difference in angle). To do.
　まず、上記昇降部を駆動して上記第１フレーム材を降下させることにより、傾斜状態にある揺動部３６７を形鋼２００の一の面２０１に向かって降下させる。揺動部３６７を降下させると、パッド部３０１の先端部３０１０の周方向の一部（図１０に示す点Ｐ）が形鋼２００の一の面２０１に接触する（図１０参照）。さらに上記第１フレーム材を降下させると、圧縮コイルばね３５３の弾性力（下向きの力）により、係止部３５５、被係止部３６１、下側延出部３６３、連結軸３６５、上側延出部３０５、およびパッド支持部３０３を介して、パッド部３０１が形鋼２００の一の面２０１に向かって押される。すると、パッド部３０１は形鋼２００の一の面２０１との接触面積が次第に増加するように弾性変形し（図１１参照）、やがて、揺動部３６７の最大傾斜角度θｍａｘと形鋼２００の一の面２０１の傾斜角度θ２との差異を補うように、パッド部３０１が弾性変形する。これにより、パッド部３０１の先端部３０１０の周方向全体が一の面２０１に密着する（図１２参照）。つまり、パッド部３０１の先端部３０１０が形鋼２００の一の面２０１と略平行になる。次に、バキューム装置を作動させる。すると、バキューム装置による吸引力で、パッド部３０１の先端部３０１０の周方向全体に一の面２０１が吸着される。 First, by driving the elevating part and lowering the first frame material, the swinging part 367 in an inclined state is lowered toward one surface 201 of the shape steel 200. When the swinging portion 367 is lowered, a part of the tip portion 3010 in the circumferential direction (point P shown in FIG. 10) of the pad portion 301 comes into contact with one surface 201 of the shape steel 200 (see FIG. 10). When the first frame material is further lowered, the locking portion 355, the locked portion 361, the lower extending portion 363, the connecting shaft 365, the upper extending portion are caused by the elastic force (downward force) of the compression coil spring 353. The pad portion 301 is pushed toward one surface 201 of the shaped steel 200 via the portion 305 and the pad support portion 303. Then, the pad portion 301 is elastically deformed so that the contact area with one surface 201 of the shape steel 200 gradually increases (see FIG. 11), and eventually, the maximum inclination angle θmax of the swinging portion 367 and the shape steel 200 The pad portion 301 is elastically deformed so as to compensate for the difference from the inclination angle θ2 of the surface 201 of the first surface 201. Thereby, the whole circumferential direction of the front-end | tip part 3010 of the pad part 301 closely_contact | adheres to the one surface 201 (refer FIG. 12). That is, the tip portion 3010 of the pad portion 301 is substantially parallel to the one surface 201 of the shaped steel 200. Next, the vacuum device is activated. Then, the one surface 201 is adsorbed to the entire circumferential direction of the tip portion 3010 of the pad portion 301 by the suction force of the vacuum device.
　次に、バキューム装置を作動させたまま上記昇降部を駆動して、上記第１フレーム材を上昇させる。すると、図８に示した例と同様に、形鋼置き場８００から形鋼２００が吊り上げられるとともに、形鋼２００および揺動部３６７の重量により引張コイルばね３１３が伸ばされて、形鋼２００および揺動部３６７の重心が安定する方向に形鋼２００および揺動部３６７が回動する。すると、揺動部３６７の傾斜角度が略ゼロになったときに、第２ストッパ部３０９と当接する。これにより、一の面２０１が水平な状態となる。この状態で、上記搬送機構を駆動して、形鋼２００を溶接装置（図示略）に向けて搬送する。溶接装置に搬送された形鋼２００は、一の面２０１が水平状態を維持した状態で溶接装置に配置される。その後、バキューム装置を停止させる。これにより、形鋼２００の端部と他の鋼板（平板状の鋼板）との溶接により、溶接Ｊ形鋼を製造することができる。 Next, the lifting / lowering unit is driven while operating the vacuum device to raise the first frame material. Then, similarly to the example shown in FIG. 8, the shape steel 200 is lifted from the shape steel storage yard 800, and the tension coil spring 313 is extended by the weight of the shape steel 200 and the swinging portion 367, so The shape steel 200 and the swinging part 367 rotate in a direction in which the center of gravity of the moving part 367 is stabilized. Then, when the inclination angle of the swinging part 367 becomes substantially zero, it comes into contact with the second stopper part 309. Thereby, the one surface 201 is in a horizontal state. In this state, the conveyance mechanism is driven to convey the section steel 200 toward the welding apparatus (not shown). The shaped steel 200 conveyed to the welding apparatus is arranged in the welding apparatus in a state where one surface 201 is maintained in a horizontal state. Thereafter, the vacuum device is stopped. Thereby, the welded J-section steel can be manufactured by welding the end of the section steel 200 and another steel plate (a flat steel plate).
　ここでは詳しい説明を省略するが、揺動部３６７の最大傾斜角度θｍａｘが形鋼２００の一の面２０１の傾斜角度と同じ値に設定されている場合においても、もちろん、パッド部３０１で形鋼２００の一の面２０１を吸着し、一の面２０１を水平な状態にして、形鋼２００を吊り上げることができる。 Although detailed explanation is omitted here, even when the maximum inclination angle θmax of the rocking portion 367 is set to the same value as the inclination angle of the one surface 201 of the shape steel 200, of course, the pad portion 301 has the shape steel. The shape steel 200 can be lifted by adsorbing the one surface 201 of the 200 and making the one surface 201 horizontal.
　（効果）
　本実施形態の形鋼吸着装置１００によれば、溶接Ｊ形鋼等の溶接形鋼の製造現場において、材料となる形鋼２００を材料置き場８００から溶接装置へ搬送するに際し、吸着対象となる一の面２０１が水平面に対して傾斜した状態で形鋼２００が材料置き場８００に配置されていたとしても（形鋼２００の一の面２０１への揺動部３６７の進出方向が一の面２０１に対して傾斜していたとしても）、揺動部３６７（具体的にはパッド部３０１の先端部３０１０）が一の面２０１に対して正面を向く姿勢をとり得るように揺動部３６７の姿勢を変更することができる。しかも、吸着対象となる一の面２０１の傾斜角度は特定の角度である必要はなく、一の面２０１が任意の傾斜角度であったとしても、揺動部３６７を一の面２０１に対して正面を向く姿勢とすることができる。このため、本実施形態では、形鋼２００の一の面２０１（吸着対象となる面）が水平面に対して傾斜し、しかもその傾斜角度が任意の角度であっても、当該形鋼（例えば山形鋼）２００を好適に保持し、パッド部３０１の先端部３０１０に吸着（密着）された形鋼２００を、昇降部４００により吊り上げることができる。 (effect)
According to the shape steel adsorbing apparatus 100 of the present embodiment, when conveying the shape steel 200 as a material from the material storage area 800 to the welding apparatus at the manufacturing site of the welded shape steel such as welded J-shaped steel, the object to be adsorbed. Even if the shape steel 200 is arranged in the material storage area 800 in a state where the surface 201 is inclined with respect to the horizontal plane (the advancing direction of the swinging portion 367 to one surface 201 of the shape steel 200 is the one surface 201 Even if it is inclined with respect to it, the swinging portion 367 (specifically, the tip portion 3010 of the pad portion 301) can be positioned so that the swinging portion 367 faces the front surface with respect to the one surface 201. Can be changed. Moreover, the inclination angle of the one surface 201 to be attracted does not have to be a specific angle, and even if the one surface 201 has an arbitrary inclination angle, the swinging portion 367 is moved with respect to the one surface 201. The posture can be a front view. For this reason, in this embodiment, even if one surface 201 (surface to be adsorbed) of the shape steel 200 is inclined with respect to the horizontal plane and the inclination angle is an arbitrary angle, the shape steel (for example, chevron shape) Steel) 200 is suitably held, and the shape steel 200 adsorbed (adhered to) the tip portion 3010 of the pad portion 301 can be lifted by the elevating unit 400.
　また、本実施形態によれば、パッド部３０１が形鋼２００を吸着していない状態において、第１ストッパ部３０７および引張コイルばね３１３により、揺動部３６７を傾斜した状態で保持することができる。また、パッド部３０１が形鋼２００を吊り上げている状態において、第２ストッパ部３０９により、揺動部３６７を傾斜角度が略ゼロの状態に維持することができる。また、昇降部４００を駆動してパッド部３０１を形鋼２００の一の面２０１に押し付けることで、揺動部３６７が回動し、パッド部３０１の先端部３０１０の周方向全体を一の面２０１に密着させることができる。これにより、パッド部３０１で形鋼２００を好適に吸着することができる。 Further, according to the present embodiment, the swinging portion 367 can be held in an inclined state by the first stopper portion 307 and the tension coil spring 313 in a state where the pad portion 301 does not adsorb the shape steel 200. . In addition, in the state where the pad portion 301 is lifting the shape steel 200, the second stopper portion 309 can maintain the swinging portion 367 in a state where the inclination angle is substantially zero. Further, by driving the elevating part 400 and pressing the pad part 301 against one surface 201 of the shaped steel 200, the swinging part 367 rotates, and the entire circumferential direction of the tip part 3010 of the pad part 301 is taken as one surface. 201. Thereby, the shape steel 200 can be suitably adsorbed by the pad portion 301.
　また、本実施形態によれば、引張コイルばね３１３の引張力の作用線が揺動部３６７の揺動中心（連結軸３６５）を通らない位置にあるので、引張コイルばね３１３の引張力により、揺動中心（連結軸３６５）を中心とする力のモーメントが揺動部３６７に作用する。この力のモーメントにより、揺動部３６７は自動的に回動することができる。したがって、形鋼２００を溶接装置へ搬送して形鋼２００の吸着を解除すると、引張コイルばね３１３により、揺動部３６７を最大傾斜状態に自動的に戻すことができ、揺動部３６７を次の吸着動作への準備状態とすることができる。 In addition, according to the present embodiment, the line of action of the tensile force of the tension coil spring 313 is in a position that does not pass through the center of swing of the swinging portion 367 (connection shaft 365). A moment of force about the swing center (the connecting shaft 365) acts on the swing portion 367. By this moment of force, the swinging portion 367 can automatically rotate. Therefore, when the shaped steel 200 is conveyed to the welding apparatus and the adsorption of the shaped steel 200 is released, the swinging coil 367 can be automatically returned to the maximum inclined state by the tension coil spring 313, and the swinging part 367 is moved to the next position. It is possible to prepare for the adsorption operation.
　また、本実施形態によれば、パッド部３０１の先端部３０１０の周方向全体が形鋼２００の一の面２０１を吸着してその状態を保持した状態で、形鋼２００が用途に応じた所定の姿勢をとることができる。したがって、例えば、形鋼２００が山形鋼であって、山形鋼が溶接Ｊ形鋼（溶接によって製造されるＪ形鋼）の材料である場合に、山形鋼を溶接に適した姿勢にすることができる。 Moreover, according to this embodiment, the shape steel 200 is predetermined according to a use in the state which the whole circumferential direction of the front-end | tip part 3010 of the pad part 301 adsorb | sucked the one surface 201 of the shape steel 200, and hold | maintained the state. Can take the attitude. Therefore, for example, when the section steel 200 is an angle steel and the angle steel is a material of a welded J-shaped steel (J-shaped steel manufactured by welding), the angled steel can be in a posture suitable for welding. it can.
　また、パッド部３０１を形鋼２００の一の面２０１に密着させて、吸引力（パッド部３０１内の減圧による吸着力）により形鋼２００をパッド部３０１に吸着させることにより、材料置き場８００に積み重ねて配置されている複数の形鋼２００から最上段にある１つの形鋼２００のみを吊り上げることができる。したがって、本実施形態によれば、材料置き場８００に積み重ねて配置されている複数の形鋼２００を一つずつ吸着して搬送する一連の作業を効率よく行うことができる。 Further, the pad portion 301 is brought into close contact with one surface 201 of the shape steel 200, and the shape steel 200 is adsorbed to the pad portion 301 by a suction force (adsorption force due to the reduced pressure in the pad portion 301), whereby the material place 800 is provided. Only one top section 200 can be lifted from the plurality of top sections 200 arranged in a stacked manner. Therefore, according to the present embodiment, it is possible to efficiently perform a series of operations for adsorbing and transporting the plurality of shape steels 200 stacked on the material storage area 800 one by one.
　なお、上記実施形態では、バキューム装置を用いた吸引力により形鋼２００を吸着しているが、これに限定されない。例えば、パッド部３０１に代えて電磁石などの磁石を設け、この磁石の磁力によって形鋼２００を吸着してもよい。この場合においても、磁石による吸着ができるように、磁石の傾斜角度を適切に変更することができる。 In addition, in the said embodiment, although the shape steel 200 is adsorb | sucked with the attraction | suction force using a vacuum apparatus, it is not limited to this. For example, instead of the pad portion 301, a magnet such as an electromagnet may be provided, and the shape steel 200 may be attracted by the magnetic force of the magnet. Even in this case, the inclination angle of the magnet can be changed appropriately so that the magnet can be attracted.
　ところで、磁石を用いて吸着する場合には、磁力の強さによっては、一回の吸着で、積み重ねて配置されている複数の形鋼２００のうち最上段から２段または３段の形鋼をまとめて吸着してしまう可能性がある。この場合、溶接装置に複数の形鋼を同時に移動させることになり、溶接作業を行う上で不都合である。そのような問題を解消する対策としては、最上段の形鋼のみを吸着できるように磁力の大きさを予め調節しておくことが考えられる。しかし、この方法では、吸着対象である形鋼の厚みが変更される毎に、磁力の大きさを変更する必要がある。その点、バキューム装置を用いた吸引力により形鋼２００を吸着する場合には、吸着力は最上段の形鋼のみに作用するので、吸着対象である形鋼の厚みを問わず、確実に最上段の１つの形鋼のみを吸着して吊り上げることができる。また、磁石はステンレスなどの非磁性体の形鋼を吸着することができないが、バキューム装置を用いた吸引力で形鋼２００を吸着する場合には、形鋼が非磁性体であるか否かを問わず、吸着して吊り上げることができる。 By the way, when attracting | sucking using a magnet, depending on the strength of magnetic force, the shape steel of the 2nd stage or the 3rd stage | paragraph from the uppermost stage among the some shape steel 200 arrange | positioned by one adsorption | suction is piled up. There is a possibility of adsorbing together. In this case, a plurality of sections are moved simultaneously to the welding apparatus, which is inconvenient when performing the welding operation. As a measure for solving such a problem, it is conceivable to adjust the magnitude of the magnetic force in advance so that only the uppermost shape steel can be adsorbed. However, in this method, it is necessary to change the magnitude of the magnetic force every time the thickness of the shape steel to be attracted is changed. In this regard, when the shape steel 200 is adsorbed by the suction force using the vacuum device, the adsorption force acts only on the uppermost shape steel, so that it is surely the best regardless of the thickness of the shape steel to be adsorbed. Only one upper section steel can be adsorbed and lifted. In addition, the magnet cannot adsorb a non-magnetic shape steel such as stainless steel, but if the shape steel 200 is adsorbed by a suction force using a vacuum device, whether or not the shape steel is a non-magnetic material. It can be adsorbed and lifted regardless.
　特許請求の範囲に記載の文言と明細書に記載の文言との対応関係について説明する。特許請求の範囲に記載の「吸着部」は、形鋼を吸着可能な部材であり、これに相当するものとして、例えば、明細書に記載のパッド部３０１を挙げることができる。特許請求の範囲に記載の「進出部」は、吸着部を形鋼の一の面に向けて進出させることが可能な部材であり、これに相当するものとして、例えば、明細書に記載の係止部３５５、被係止部３６１、下側延出部３６３、連結軸３６５、柱部３５１、圧縮コイルばね３５３、第１フレーム材６００、昇降部４００を挙げることができる。特許請求の範囲に記載の「姿勢変更手段」は、吸着部１０３が形鋼２００の一の面２０１に対して正面を向く姿勢をとり得るように吸着部１０３の姿勢を変更するものであり、例えば、連結軸３６５、軸受部、パッド部３０１を挙げることができる。特許請求の範囲に記載の「姿勢保持手段」は、パッド部３０１の進出方向に対してパッド部３０１の正面方向がなす角度を所定の角度に保持するものであり、例えば、第１ストッパ部３０７、第２ストッパ部３０９、引張コイルばね３１３、ばね支持部３１１を挙げることができる。 * Explain the correspondence between the words described in the claims and the words described in the specification. The “adsorption part” described in the claims is a member capable of adsorbing the shape steel, and examples of the “adsorption part” include the pad part 301 described in the specification. The “advancing part” described in the claims is a member that can advance the adsorbing part toward one surface of the shape steel. As an equivalent to this, for example, the engaging part described in the specification Examples thereof include a stopping portion 355, a locked portion 361, a lower extending portion 363, a connecting shaft 365, a column portion 351, a compression coil spring 353, a first frame material 600, and an elevating portion 400. The “posture changing means” described in the claims is to change the posture of the suction portion 103 so that the suction portion 103 can take a posture facing the front surface of the one surface 201 of the structural steel 200, For example, the connecting shaft 365, the bearing portion, and the pad portion 301 can be exemplified. The “posture holding means” described in the claims holds the angle formed by the front direction of the pad portion 301 with respect to the advance direction of the pad portion 301 at a predetermined angle, for example, the first stopper portion 307. , Second stopper portion 309, tension coil spring 313, and spring support portion 311.
　本願発明に係る形鋼吸着装置は、吸着する対象面が水平面に対して傾斜するように配置される形鋼（例えば山形鋼）を好適に吸着することができるため、例えば溶接Ｊ形鋼などの溶接形鋼を容易に製造することができ、溶接形鋼の普及に貢献することができる。 The shape steel adsorbing device according to the present invention can suitably adsorb a shape steel (for example, angle steel) arranged such that the target surface to be adsorbed is inclined with respect to the horizontal plane. The welded shape steel can be easily manufactured and can contribute to the spread of the welded shape steel.
　１００　　形鋼吸着装置
　２００　　形鋼
　２０１　　形鋼の面（吸着の対象である面）
　３０１　　パッド部
　３０７　　第１ストッパ部
　３０９　　第２ストッパ部
　３１３　　引張コイルばね
　３５１　　柱部
　３５３　　圧縮コイルばね
　３５５　　係止部
　３６１　　被係止部
　３６３　　下側延出部
　３６５　　連結軸
　４００　　昇降部
　６００　　第１フレーム材 100 Shape Steel Adsorption Device 200 Shape Steel 201 Shape Steel Surface (Surface to be Adsorbed)
301 Pad portion 307 First stopper portion 309 Second stopper portion 313 Tensile coil spring 351 Column portion 353 Compression coil spring 355 Locking portion 361 Locked portion 363 Lower extension portion 365 Connecting shaft 400 Lifting portion 600 First frame material

Claims (2)

  1. 　溶接形鋼を製造する際に、材料としての形鋼を材料置き場から溶接装置へ搬送する過程で、前記材料置き場で前記材料としての形鋼を吸着するための形鋼吸着装置であって、
    　形鋼を吸着可能な吸着部と、
    　前記吸着部を前記形鋼の一の面に向けて進出させることが可能な進出部と、
    　前記一の面への前記吸着部の進出方向が当該一の面に対して傾斜していたとしても、前記吸着部が前記一の面に対して正面を向く姿勢をとり得るように前記吸着部の姿勢を変更する姿勢変更手段とを備える
    　ことを特徴とする形鋼吸着装置。     A shape steel adsorbing device for adsorbing the shape steel as the material at the material place in the process of transporting the shape steel as a material from the material place to the welding device when manufacturing the welded shape steel,
    An adsorbing part capable of adsorbing shape steel;
    An advancing portion capable of advancing the adsorption portion toward one surface of the shape steel; and
    Even if the advancing direction of the adsorbing part to the one surface is inclined with respect to the one surface, the adsorbing part can take a posture in which the adsorbing part faces the front with respect to the one surface. A shape steel adsorbing device comprising: a posture changing means for changing the posture of the steel.
  2. 　前記吸着部を、前記一の面に対して正面を向く方向に付勢する付勢手段をさらに備える
    　ことを特徴とする請求項１に記載の形鋼吸着装置。     The shape steel adsorbing device according to claim 1, further comprising urging means for urging the adsorbing portion in a direction facing the front with respect to the one surface.
PCT/JP2019/004379 2018-02-26 2019-02-07 Shaped steel suction-holding device WO2019163527A1 (en)

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JP2018032482A JP2019147163A (en) 2018-02-26 2018-02-26 Shaped steel adsorber
JP2018-032482 2018-02-26

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS502465Y1 (en) * 1970-10-08 1975-01-23
JPH06297371A (en) * 1993-04-16 1994-10-25 Hagiwara Eng Kk Sucking mechanism
JP2002114480A (en) * 2000-10-12 2002-04-16 Nippon Steel Weld Prod & Eng Co Ltd Material distribution device

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS502465Y1 (en) * 1970-10-08 1975-01-23
JPH06297371A (en) * 1993-04-16 1994-10-25 Hagiwara Eng Kk Sucking mechanism
JP2002114480A (en) * 2000-10-12 2002-04-16 Nippon Steel Weld Prod & Eng Co Ltd Material distribution device

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