Steel material transfer device and steel material transfer method

Abstract

To provide a steel material transfer device which is effective for transferring a steel material with a higher degree of freedom.SOLUTION: A steel material transfer device 10 includes: a carriage 111 reciprocating along a horizontal circular orbit 114 between a carry-in position where a steel material 9 having a longitudinal direction LD is carried in in a state where the longitudinal direction LD is in a first horizontal direction, and a carry-out position where the steel material 9 is carried out in a state where the longitudinal direction LD is in a second horizontal direction crossing the first direction; an arm 14 provided on the carriage 111 so as to swing around a horizontal base axial line 141 crossing the circular orbit 114; a saddle 15 connected to the end of the arm 14 so as to swing around an end axial line 151 parallel to the base axial line 141; and a driving device 20 for driving the carriage 111, the arm 14 and the saddle 15 so as to arrange the saddle 15 at a receiving position P21 where the steel material 9 is received from the carry-in position, and delivery positions P31, P32 and P33 where the steel material 9 is delivered to the carry-out position.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present disclosure relates to a steel material transfer device and a steel material transfer method.

Background Art

[0002] Patent Document 1 discloses a trolley-type steel material turner for turning a steel material by 90 degrees in the horizontal direction, which has a turning mechanism capable of turning the steel material by 90 degrees on the trolley.

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The present disclosure provides a steel material transfer device effective for transferring steel materials with a higher degree of freedom.

Means for Solving the Problems

[0005] A steel material transfer device according to one aspect of the present disclosure includes a trolley that reciprocates along a horizontal circular orbit between a loading position where a steel material having a longitudinal direction is loaded with the longitudinal direction along a horizontal first direction, and an unloading position where the steel material is unloaded with the longitudinal direction along a horizontal second direction intersecting the first direction; an arm provided on the trolley so as to swing around a horizontal base axis intersecting the circular orbit; a saddle connected to the end of the arm so as to swing around an end axis parallel to the base axis; a receiving position for receiving the steel material from the loading position; a delivery position for delivering the steel material to the unloading position; and a driving device for driving the trolley, the arm, and the saddle so that the saddle is disposed at the receiving position and the delivery position.

[0006] This steel material transfer device has at least two degrees of freedom, namely the freedom to swing the arm around the base axis and the freedom to swing the saddle around the end axis, on the trolley. Therefore, it is effective for transferring steel materials with a higher degree of freedom.

[0007] The drive device may have an arm drive device for swinging the arm around the base axis and a saddle drive device for swinging the saddle around the end axis independently of the swing of the arm. Since the swing angle of the arm around the base axis and the swing angle of the saddle around the end axis can be changed independently of each other, it is effective for transferring steel materials with a higher degree of freedom.

[0008] The arm has an intermediate joint and is configured to bend at the intermediate joint around an intermediate axis parallel to the base axis and the end axis. The drive device may further have a joint drive device for bending the arm around the intermediate axis independently of the swing of the arm and the swing of the saddle. Independently of the swing angle of the arm around the base axis and the swing angle of the saddle around the end axis, the distance between the base axis and the end axis can be changed. For this reason, it is possible to flexibly adapt to various variations in the positional relationship between the loading position and the unloading position. For example, it is possible to flexibly adapt even when the heights of the loading position and the unloading position are different. Therefore, it is effective for transferring steel materials with a higher degree of freedom.

[0009] The saddle drive device may have a motor provided on the trolley and a transmission unit for transmitting the driving force of the motor to the saddle along the arm. By arranging the motor away from the saddle, the heat resistance of the saddle can be improved.

[0010] The transmission unit may be configured to keep the posture of the saddle constant in the vertical direction even when the arm swings or bends in a state where the motor has stopped. The posture of the steel material during transfer can be easily stabilized.

[0011] The arm drive device may change the swing angle of the arm with respect to the carriage when placing the saddle at the receiving position and when placing the saddle at the delivery position. The saddle drive device may change the swing angle of the saddle with respect to the arm when placing the saddle at the receiving position and when placing the saddle at the delivery position. It can flexibly adapt to various variations in the positional relationship between the loading position and the unloading position.

[0012] The joint drive device may change the bending angle of the arm when placing the saddle at the receiving position and when placing the saddle at the delivery position. It can flexibly adapt to various variations in the positional relationship between the loading position and the unloading position.

[0013] The drive device is configured to be able to execute any of the following: driving the carriage, the arm, and the saddle so as to perform the first-mode transfer of delivering the steel material received by the saddle at the loading position to the unloading position without rotating it around a turning axis parallel to the end axis; driving the carriage, the arm, and the saddle so as to perform the second-mode transfer of delivering the steel material received by the saddle at the loading position to the unloading position after rotating it 90° around the turning axis; and driving the carriage, the arm, and the saddle so as to perform the third-mode transfer of delivering the steel material received by the saddle at the loading position to the unloading position after rotating it 180° around the turning axis. Taking advantage of the high degree of freedom, the same device can be used for three types of driving: the first mode, the second mode, and the third mode.

[0014] The saddle is connected to the end of the arm so as to swing around the end axis, and has a saddle base having a first support surface, a finger protruding from the saddle base so as to form a second support surface perpendicular to the first support surface, and a chip protruding from the end of the finger so as to form a third support surface perpendicular to the second support surface and facing the first support surface. The driving device drives the arm and the saddle so that the steel material is supported from below by the first support surface both when receiving the steel material from the loading position and when delivering the steel material to the unloading position in the transfer of the first mode. In the transfer of the second mode, the arm and the saddle are driven so that the steel material is supported from below by the first support surface when receiving the steel material from the loading position, and the steel material is supported from below by the second support surface when delivering the steel material to the unloading position. In the transfer of the third mode, the arm and the saddle may be driven so that the steel material is supported from below by the first support surface when receiving the steel material from the loading position, and the steel material is supported from below by the third support surface when delivering the steel material to the unloading position. An apparatus adaptable to the three types of driving in the first mode, the second mode, and the third mode can be realized with a simple saddle configuration.

[0015] When viewed from the direction along the end axis, the protruding length of the chip from the finger may be smaller than the width of the first support surface. In each mode, the steel material can be easily held and released.

[0016] A steel material transfer method according to another aspect of the present disclosure includes moving a carriage that can reciprocate along a horizontal circular orbit between a loading position where the steel material is loaded along a horizontal first direction and an unloading position where the steel material is unloaded along a horizontal second direction intersecting the first direction to a receiving base position near the loading position; swinging an arm provided on the carriage around a base axis perpendicular to the circular orbit, and swinging a saddle connected to the end of the arm around an end axis parallel to the base axis to arrange the saddle at a receiving position for receiving the steel material from the loading position; moving the carriage to a delivery base position near the unloading position; swinging the arm around the base axis, and swinging the saddle around the end axis to arrange the saddle at a delivery position for delivering the steel material to the unloading position.

[0017] According to this transfer method, when placing the saddle at the receiving position and when placing the saddle at the delivery position, both the arm and the saddle swing. Therefore, the configuration of the transfer device can be effectively utilized for transporting steel materials with a high degree of freedom.

[0018] Placing the saddle at the delivery position may include bending the arm around an intermediate axis parallel to the base axis and the end axis to place the saddle at a delivery position where the steel material can be delivered to an unloading position at a different height from the loading position. According to this transfer method, the degree of freedom in bending the arm can be effectively utilized for transferring the steel material from the loading position to an unloading position at a different height from the loading position.

[0019] Placing the saddle at the delivery position may include placing the saddle at the delivery position without rotating the saddle based on the posture of the saddle at the receiving position. The configuration of the transfer device can be effectively utilized for transferring steel materials in the first mode.

[0020] Placing the saddle at the delivery position may include turning the saddle 90° around the end axis and placing it at the delivery position based on the posture of the saddle at the receiving position. The configuration of the transfer device can be effectively utilized for transferring steel materials in the second mode.

[0021] Placing the saddle at the delivery position may include turning the saddle 180° around the end axis and placing it at the delivery position based on the posture of the saddle at the receiving position. The configuration of the transfer device can be effectively utilized for transferring steel materials in the third mode.

Advantages of the Invention

[0022] According to the present disclosure, it is possible to provide a steel material transfer device effective for transferring steel materials with a higher degree of freedom.

Brief Description of the Drawings

[0023]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Mode for Carrying Out the Invention

[0024] Hereinafter, embodiments will be described in detail with reference to the drawings. In the description, the same reference numerals are given to the same elements or elements having the same function, and redundant descriptions are omitted.

[0025] The conveying system 1 shown in Fig. 1 is a system for conveying a steel material 9 having a longitudinal direction LD. Specific examples of the steel material 9 having a longitudinal direction LD include a rolled material formed by rolling or an intermediate product in the forming process of the rolled material. Specific examples of the intermediate product include a continuous casting material and the like. As shown in Fig. 1, the conveying system 1 includes a drive device 20, a second conveying device 80, and a steel material transfer device 10.

[0026] The first transfer device 70 transfers the steel material 9 along the first direction D1 with the longitudinal direction LD of the steel material 9 aligned with the horizontal first direction D1. For example, the first transfer device 70 includes a plurality of rollers 71 arranged along the first direction D1. Each of the plurality of rollers 71 supports the steel material 9 and rotates around a horizontal axis perpendicular to the first direction D1 to transfer the steel material 9.

[0027] The second transfer device 80 transfers the steel material 9 along the second direction D2 with the longitudinal direction LD of the steel material 9 aligned with the horizontal second direction D2. The second direction D2 intersects (for example, is perpendicular to) the first direction D1. Here, the intersection includes a relationship where they are in a twisted position relative to each other, such as a so-called three-dimensional intersection. For example, the second transfer device 80 includes a plurality of rollers 81 arranged along the second direction D2. Each of the plurality of rollers 81 supports the steel material 9 and rotates around a horizontal axis perpendicular to the second direction D2 to transfer the steel material 9.

[0028] The steel material transfer device 10 transfers the steel material 9 from the first transfer device 70 to the second transfer device 80. For example, the steel material transfer device 10 transfers the steel material 9 from the loading position P1 to the unloading position P2. The loading position P1 is the position where the steel material 9 is loaded by the first transfer device 70 with the longitudinal direction LD aligned with the first direction D1. The unloading position P2 is the position where the steel material 9 is unloaded by the second transfer device 80 with the longitudinal direction LD aligned with the second direction D2.

[0029] When viewed from above, the transfer path R1 of the steel material 9 by the first transfer device 70 and the transfer path R2 of the steel material 9 by the second transfer device 80 intersect at the intersection point JP. The loading position P1 is located near the intersection point JP on the transfer path R1. The unloading position P2 is located near the intersection point JP on the transfer path R2.

[0030] The steel material transfer device 10 includes a turning device 11, a delivery device 12, and a driving device 20. The turning device 11 turns the steel material 9 arranged such that the longitudinal direction LD is along the first direction D1 so that the longitudinal direction LD is along the second direction D2. The turning device 11 has a carriage 111. The carriage 111 reciprocates along a horizontal circular track 114 between the loading position P1 and the unloading position P2. For example, the carriage 111 turns around a vertical turning axis 113 passing through the center of the circular track 114. The carriage 111 travels on a rail 115 along the circular track 114 and reciprocates between a receiving base position P11 near the loading position P1 and a delivery base position P12 near the unloading position P2.

[0031] The delivery device 12 is provided on the turning device 11. In a state where the turning device 11 is located at the receiving base position P11, the delivery device 12 receives the steel material 9 from the loading position P1, and in a state where the turning device 11 is located at the delivery base position P12, the delivery device 12 delivers the steel material 9 to the unloading position P2. For example, the delivery device 12 has a plurality of delivery units 13. The plurality of delivery units 13 are arranged side by side along a horizontal arrangement direction AD orthogonal to the circular track 114. In a state where the carriage 111 is located at the receiving base position P11, the plurality of delivery units 13 are alternately arranged with a plurality of rollers 71 along the first direction D1. Each of the plurality of delivery units 13 receives the steel material 9 from the loading position P1 between the rollers 71.

[0032] As shown in FIG. 2, in a state where the carriage 111 is located at the delivery base position P12, the plurality of delivery units 13 are alternately arranged with a plurality of rollers 81 along the second direction D2, and each of the plurality of delivery units 13 delivers the steel material 9 to the unloading position P2 between the rollers 81.

[0033] As shown in FIG. 3, each of the plurality of delivery units 13 has an arm 14 and a saddle 15. The arm 14 is provided on the carriage 111 so as to swing around a horizontal base axis 141 that intersects (for example, is orthogonal to) the circular orbit 114. For example, the carriage 111 has an upwardly protruding arm support portion 112, and the arm 14 is connected to the upper end of the arm support portion 112 so as to swing around the base axis 141.

[0034] The arm 14 extends in a direction away from the base axis 141. The saddle 15 is connected to the end of the arm 14 so as to swing around an end axis 151 parallel to the base axis 141, and supports the steel material 9 to be transferred from the loading position P1 to the unloading position P2.

[0035] For example, the saddle 15 has a saddle base 152, fingers 153, and chips 154. The saddle base 152 is connected to the end of the arm 14 so as to swing around an end axis 151 parallel to the base axis 141. The saddle base 152 has a planar end face 155.

[0036] The end face 155 has edges 161 and 162. The edges 161 and 162 are arranged in the swinging direction of the saddle 15 around the end axis 151. The fingers 153 project from the saddle base 152 along the normal of the end face 155 between the edges 161 and 162.

[0037] The fingers 153 are located closer to the edge 161 between the edges 161 and 162. Among the end face 155, the portion between the finger 153 and the edge 162 is used as a first support surface 156 for supporting the steel material 9. The finger 153 constitutes a second support surface 157 perpendicular to the first support surface 156. As will be described later, it is also possible to support the steel material 9 by the second support surface 157.

[0038] Chip 154 protrudes from the end of the finger 153 along the normal line of the second support surface 157. The chip 154 constitutes a third support surface 158 facing the first support surface 156. As will be described later, it is also possible to support the steel material 9 by the third support surface 158. When viewed from the direction along the end axis 151, the protruding length L1 of the chip 154 from the finger 153 is smaller than the width W1 of the first support surface 156.

[0039] According to such a configuration of the saddle 15, it is possible to support the steel material 9 by any of the first support surface 156, the second support surface 157, and the third support surface 158. For this reason, while any of the first support surface 156, the second support surface 157, and the third support surface 158 faces upward, the saddle 15 can be rotated while supporting the steel material 9. Thereby, the steel material 9 can be rotated around a rotation axis parallel to the end axis 151.

[0040] The configuration of the saddle 15 is merely an example. As long as it can be rotated while supporting the steel material 9, the configuration of the saddle 15 can be appropriately changed. For example, the saddle 15 may be configured to grip the steel material 9 by a pair of fingers.

[0041] The arm 14 may have an intermediate joint 142 and be configured to bend at the intermediate joint 142 around an intermediate axis 143 parallel to the base axis 141 and the end axis 151. For example, the arm 14 has a first arm 144 and a second arm 145. The first arm 144 is connected to the upper end of the arm support portion 112 so as to swing around the base axis 141 and extends in a direction away from the base axis 141. The second arm 145 is connected to the end of the first arm 144 so as to swing around the intermediate axis 143 and extends in a direction away from the intermediate axis 143. The saddle 15 is connected to the end of the second arm 145 so as to swing around the end axis 151.

[0042] By bending the arm 14 around the intermediate axis 143, the distance between the base axis 141 and the end axis 151 changes. Note that the configuration of the arm 14 shown here is merely an example. The arm 14 may be configured to bend at two or more intermediate joints.

[0043] The drive device 20 drives the carriage 111, the arm 14, and the saddle 15 so as to place the saddle 15 at a receiving position for receiving the steel material 9 from the loading position P1 and a delivering position for delivering the steel material to the unloading position P2. For example, the drive device 20 includes a turning drive device 21, an arm drive device 22, and a saddle drive device 23. The turning drive device 21 reciprocates the carriage 111 along the circular track 114. For example, the turning drive device 21 reciprocates the carriage 111 by the power generated by a power source such as a motor.

[0044] The arm drive device 22 swings the arm 14 around the base axis 141. For example, the arm drive device 22 swings the arm 14 by the power generated by a power source such as a motor.

[0045] The saddle drive device 23 swings the saddle 15 around the end axis 151 independently of the swing of the arm 14. For example, the saddle drive device 23 swings the saddle 15 by the power generated by a power source such as a motor.

[0046] According to the drive device 20 configured as described above, the carriage 111, the arm 14, and the saddle 15 can be driven so as to perform the transfer of the first mode in which the steel material 9 received by the saddle 15 at the loading position P1 is delivered to the unloading position P2 without being rotated around a turning axis parallel to the end axis 151. The carriage 111, the arm 14, and the saddle 15 can also be driven so as to rotate the steel material 9 received by the saddle 15 at the loading position P1 by 90° around the turning axis and deliver it to the unloading position P2. The carriage 111, the arm 14, and the saddle 15 can also be driven so as to perform the transfer of the third mode in which the steel material 9 received by the saddle 15 at the loading position P1 is rotated by 180° around the turning axis and delivered to the unloading position P2.

[0047] For example, in the transfer of the first mode, when the driving device 20 receives the steel material 9 from the loading position P1 and when delivering the steel material 9 to the unloading position P2, the driving device 20 drives the arm 14 and the saddle 15 so as to support the steel material 9 from below by the first support surface 156. In the transfer of the second mode, when the driving device 20 receives the steel material 9 from the loading position P1, it supports the steel material 9 from below by the first support surface 156, and when delivering the steel material 9 to the unloading position P2, it drives the arm 14 and the saddle 15 so as to support the steel material 9 from below by the second support surface 157. In the transfer of the third mode, when the driving device 20 receives the steel material 9 from the loading position P1, it supports the steel material 9 from below by the first support surface 156, and when delivering the steel material 9 to the unloading position P2, it drives the arm 14 and the saddle 15 so as to support the steel material 9 from below by the third support surface 158.

[0048] The driving device 20 may further include a joint driving device 24. The joint driving device 24 bends the arm 14 around the intermediate axis 143 independently of the swing of the arm 14 and the swing of the saddle 15. For example, the joint driving device 24 bends or extends the arm 14 by the power generated by a power source such as a hydraulic cylinder.

[0049] According to the driving device 20 having the joint driving device 24, by changing the bending angle of the arm 14, the height of the saddle 15 when receiving the steel material 9 from the loading position P1 and when delivering the steel material 9 to the unloading position P2 can be freely adjusted. FIGS. 3 and 4 illustrate the states of the arm 14 and the saddle 15 when the transfer of the third mode is performed.

[0050] In FIG. 3, the saddle 15 is disposed at a receiving position P21 where the steel material 9 is supported from below by the first support surface 156. In FIG. 4, the saddle 15 is disposed at a delivery position P33 where the steel material 9 is supported from below by the third support surface 158. In the examples of FIGS. 3 and 4, the arm drive device 22 changes the swing angle of the arm 14 with respect to the carriage 111 (the swing angle of the first arm 144 with respect to the carriage 111) when disposing the saddle 15 at the receiving position P21 and when disposing the saddle 15 at the delivery position P33. The saddle drive device 23 changes the swing angle of the saddle 15 with respect to the arm 14 (the swing angle of the saddle 15 with respect to the second arm 145) when disposing the saddle 15 at the receiving position P21 and when disposing the saddle 15 at the delivery position P33.

[0051] Furthermore, the joint drive device 24 changes the bending angle of the arm 14 when disposing the saddle 15 at the receiving position P21 and when disposing the saddle 15 at the delivery position P33. By changing the bending angle of the arm 14 to change the distance between the base axis 141 and the end axis 151, the saddle 15 is disposed at a delivery position P33 where the steel material 9 can be delivered to a delivery position P2 having a different height from the loading position P1. For example, by increasing the distance between the base axis 141 and the end axis 151 when disposing the saddle 15 at the delivery position P33 compared to when disposing the saddle 15 at the receiving position P21, the saddle 15 is disposed at a delivery position P33 where the steel material 9 can be delivered to a delivery position P2 higher than the loading position P1.

[0052] As shown in FIG. 5, the saddle drive device 23 may include a motor 231 and a transmission unit 232. The motor 231 is, for example, an electric rotary motor and is provided on the carriage 111. The transmission unit 232 transmits the driving force of the motor 231 to the saddle 15 along the arm 14. The transmission unit 232 may be configured to keep the posture of the saddle 15 constant with respect to the vertical direction even when the arm 14 swings or bends while the motor 231 is stopped.

[0053] For example, the transmission unit 232 includes a pivot gear 233 driven by a motor 231, an articulation gear 235 provided at an intermediate joint 142 between the first arm 144 and the second arm 145, a saddle shaft gear 234 directly connected to the saddle 15, and a plurality of transmission gears 236 installed between these gears. The articulation gear 235 is rotatable about the intermediate axis 143 with respect to both the first arm 144 and the second arm 145. An odd number of transmission gears 236 for transmitting the rotation of the pivot gear 233 to the articulation gear 235 are arranged between the pivot gear 233 and the articulation gear 235. An odd number of transmission gears 236 for transmitting the rotation of the articulation gear 235 to the saddle shaft gear 234 are arranged between the articulation gear 235 and the saddle shaft gear 234. The pivot gear 233, the articulation gear 235, the saddle shaft gear 234, and the transmission gears 236 have the same PCD (Pitch Circle Diameter) and the same number of teeth as each other. The pivot gear 233, the odd number of transmission gears 236, the articulation gear 235, the odd number of transmission gears 236, and the saddle shaft gear 234 are arranged along the arm 14.

[0054] According to this configuration, even when the arm 14 swings or bends, the angle of the saddle shaft gear 234 with respect to the pivot gear 233 is kept constant. When the motor 231 is stopped, the posture of the pivot gear 233 with respect to the vertical direction is kept constant, so the posture of the saddle shaft gear 234 with respect to the vertical direction is also kept constant. Therefore, the posture of the saddle 15 with respect to the vertical direction is kept constant.

[0055] When the motor 231 rotates the pivot gear 233, the saddle shaft gear 234 rotates in the same direction and by the same angle as the pivot gear 233. Therefore, the saddle 15 can be swung independently of the swing of the arm 14.

[0056] As shown in FIG. 6, the arm driving device 22 may include a motor 221 and an arm shaft gear 222. The motor 221 is, for example, an electric rotary motor and is provided on the carriage 111. The arm shaft gear 222 transmits the driving force of the motor 221 to the second arm 145. For example, the arm shaft gear 222 is fixed to the arm shaft 223, and the arm shaft 223 is fixed to the first arm 144. The arm shaft 223 extends along the base axis 141 and is rotatably supported by the arm support portion 112. The pivot gear 233 described above is mounted on the outer periphery of the arm shaft 223. Since the pivot gear 233 is not fixed to the arm shaft 223, it is possible to independently perform the rotational drive of the arm shaft 223 by the motor 221 and the rotational drive of the pivot gear 233 by the motor 231.

[0057] The configuration of the transmission unit 232 is not limited to the configuration using a gear train. For example, as shown in FIG. 7, the transmission unit 232 may include sprockets 251, 252, 253, an annular transmission member 254, and an annular transmission member 255. The sprocket 251 is driven by the motor 231. The sprocket 252 is directly connected to the saddle 15. The sprocket 253 is rotatable about the intermediate axis 143 with respect to both the first arm 144 and the second arm 145. The sprockets 251, 252, 253 have the same PCD (Pitch Circle Diameter) and the same number of teeth. The annular transmission member 254 is spanned between the sprocket 251 and the sprocket 253 so as to transmit the rotation of the sprocket 251 to the sprocket 253. The annular transmission member 255 is spanned between the sprocket 252 and the sprocket 253 so as to transmit the rotation of the sprocket 253 to the sprocket 252.

[0058] According to this configuration, even if the arm 14 swings or bends, the angle of the sprocket 252 with respect to the sprocket 251 is kept constant. When the motor 231 is stopped, since the posture of the sprocket 251 with respect to the vertical direction is kept constant, the posture of the sprocket 252 with respect to the vertical direction is also kept constant. For this reason, the posture of the saddle 15 with respect to the vertical direction is kept constant.

[0059] When the motor 231 rotates the sprocket 251, the sprocket 252 rotates in the same direction and by the same angle as the sprocket 251. For this reason, the saddle 15 can be swung independently of the swing of the arm 14.

[0060] As shown in FIG. 8, the steel material transfer device 10 may further include a control device 30. The control device 30 controls the swing drive device 21, the arm drive device 22, the saddle drive device 23, and the joint drive device 24 so that the steel material transfer device 10 transfers the steel material 9 from the loading position P1 to the unloading position P2.

[0061] For example, the transfer of the steel material 9 that the control device 30 causes the steel material transfer device 10 to execute includes moving the carriage 111 to the receiving base position P11, swinging the arm 14 around the base axis 141, and swinging the saddle 15 around the end axis 151 to arrange the saddle 15 at the receiving position for receiving the steel material 9 from the loading position P1, moving the carriage 111 to the transfer base position P12, swinging the arm 14 around the base axis 141, and swinging the saddle 15 around the end axis 151 to arrange the saddle 15 at the transfer position for delivering the steel material 9 to the unloading position P2.

[0062] Placing the saddle 15 at the delivery position may include bending the arm 14 around the intermediate axis 143 to place the saddle 15 at a delivery position where the steel material 9 can be delivered to a delivery position P2 with a different height from the loading position P1. Placing the saddle 15 at the delivery position may include placing the saddle 15 at the delivery position without rotating the saddle 15 based on the posture of the saddle 15 at the receiving position. Thereby, the transfer of the first mode is performed.

[0063] For example, after the control device 30 moves the carriage 111 to the receiving base position P11 by the turning drive device 21, as shown in FIG. 9(a), the arm drive device 22, the saddle drive device 23, and the joint drive device 24 are controlled to place the saddle 15 at the receiving position P21. Next, as shown in FIG. 9(b), the control device 30 swings the first arm 144 by the arm drive device 22 so as to raise the saddle 15 supporting the steel material 9. Next, the control device 30 moves the carriage 111 to the delivery base position P12 by the turning drive device 21. While the carriage 111 is moving to the delivery base position P12, the control device 30 controls the arm drive device 22 and the joint drive device 24 so as to place the saddle 15 above the delivery position P2, as shown in FIGS. 10(a) and 10(b). For example, the control device 30 swings the first arm 144 by the arm drive device 22 so as to tilt the first arm 144 toward the delivery position P2 side, and extends the arm 14 by the joint drive device 24 so as to increase the distance between the base axis 141 and the end axis 151.

[0064] From FIG. 9(a) to FIG. 10(b), the control device 30 does not operate the motor 231. For this reason, the saddle 15 is maintained in a state where the first support surface 156 faces upward. After the carriage 111 moves to the delivery base position P12 and the saddle 15 is placed above the delivery position P2, the control device 30 places the saddle 15 at the delivery position P31 while keeping the first support surface 156 facing upward, as shown in FIGS. 11(a), 11(b), and 11(c), and controls the arm drive device 22 and the joint drive device 24 to deliver the steel material 9 from the first support surface 156 to the delivery position P2.

[0065] Placing the saddle 15 at the handover position may include rotating the saddle 15 by 90° about the end axis 151 and placing it at the handover position with reference to the posture of the saddle 15 at the receiving position. Thereby, the transfer of the second mode is performed. For example, similar to the case of the transfer in the first mode, the control device 30 controls the turning drive device 21, the arm drive device 22, and the joint drive device 24 so as to place the saddle 15 supported by the first support surface 156 from below at the receiving position P21 above the carry-out position P2 (see (a) to (b) of FIG. 9). After the carriage 111 moves to the handover base position P12 and the saddle 15 is placed above the carry-out position P2, the control device 30 rotates the saddle 15 by the motor 231. For example, as shown in (a), (b), and (c) of FIG. 12, the control device 30 rotates the saddle 15 by 90° by the motor 231, places the saddle 15 at the handover position P32 with the second support surface 157 facing upward, and controls the arm drive device 22 and the joint drive device 24 so as to hand over the steel material 9 from above the second support surface 157 to the carry-out position P2.

[0066] Placing the saddle 15 at the handover position may include rotating the saddle 15 180° about the end axis 151 based on the posture of the saddle 15 at the receiving position and then placing it at the handover position. Thereby, the transfer of the third mode is performed. For example, similar to the case of the transfer in the first mode, the control device 30 controls the turning drive device 21, the arm drive device 22, and the joint drive device 24 so as to place the saddle 15 that supports the steel material 9 from below by the first support surface 156 at the receiving position P21 above the carry-out position P2 (see (a) in FIG. 9 to (b) in FIG. 10). After the carriage 111 moves to the handover base position P12 and the saddle 15 is placed above the carry-out position P2, the control device 30 rotates the saddle 15 by the motor 231. For example, as shown in (a), (b), and (c) of FIG. 13, the control device 30 rotates the saddle 15 180° by the motor 231 through the state where the second support surface 157 faces upward, places the saddle 15 at the handover position P33 with the third support surface 158 facing upward, and controls the arm drive device 22 and the joint drive device 24 so as to hand over the steel material 9 from above the third support surface 158 to the carry-out position P2.

[0067] 〔Effects of the Embodiment〕 As described above, the steel material transfer device 10 includes a carriage 111 that reciprocates along a horizontal circular orbit 114 between a carry-in position where a steel material 9 having a longitudinal direction LD is carried in with the longitudinal direction LD along a horizontal first direction, and a carry-out position where the steel material 9 is carried out with the longitudinal direction LD along a horizontal second direction intersecting the first direction; an arm 14 provided on the carriage 111 so as to swing about a horizontal base axis 141 intersecting the circular orbit 114; a saddle 15 connected to the end of the arm 14 so as to swing about an end axis 151 parallel to the base axis 141; a receiving position P21 for receiving the steel material 9 from the carry-in position; and a drive device 20 for driving the carriage 111, the arm 14, and the saddle 15 so as to place the saddle 15 at handover positions P31, P32, and P33 for handing over the steel material 9 to the carry-out position.

[0068] This steel material transfer device 10 has at least two degrees of freedom, namely, the degree of freedom to swing the arm 14 around the base axis 141 and the degree of freedom to swing the saddle 15 around the end axis 151, on the carriage 111. Therefore, it is effective for transferring the steel material 9 with a higher degree of freedom.

[0069] The drive device 20 may have an arm drive device 22 that swings the arm 14 around the base axis 141 and a saddle drive device 23 that swings the saddle 15 around the end axis 151 independently of the swing of the arm 14. Since the swing angle of the arm 14 around the base axis 141 and the swing angle of the saddle 15 around the end axis 151 can be changed independently of each other, it is effective for transferring the steel material 9 with a higher degree of freedom.

[0070] The arm 14 has an intermediate joint 142 and is configured to bend at the intermediate joint 142 around an intermediate axis 143 parallel to the base axis 141 and the end axis 151. The drive device 20 may further have a joint drive device 24 that bends the arm 14 around the intermediate axis 143 independently of the swing of the arm 14 and the swing of the saddle 15. Independently of the swing angle of the arm 14 around the base axis 141 and the swing angle of the saddle 15 around the end axis 151, the distance between the base axis 141 and the end axis 151 can be changed. For this reason, it is possible to flexibly adapt to various variations in the positional relationship between the loading position and the unloading position. For example, it is possible to flexibly adapt even when the heights of the loading position and the unloading position are different. Therefore, it is effective for transferring the steel material 9 with a higher degree of freedom.

[0071] The saddle drive device 23 may have a motor 231 provided on the carriage 111 and a transmission unit 232 that transmits the driving force of the motor 231 to the saddle 15 along the arm 14. By arranging the motor 231 away from the saddle 15, the heat resistance of the saddle 15 can be improved.

[0072] The transfer unit 232 may be configured to keep the posture of the saddle 15 with respect to the vertical direction constant even when the arm 14 swings or bends while the motor 231 is stopped. The posture of the steel material 9 during transfer can be easily stabilized.

[0073] The arm drive device 22 may change the swing angle of the arm 14 with respect to the carriage 111 when placing the saddle 15 at the receiving position P21 and when placing the saddle 15 at the delivery positions P31, P32, and P33. The saddle drive device 23 may change the swing angle of the saddle 15 with respect to the arm 14 when placing the saddle 15 at the receiving position P21 and when placing the saddle 15 at the delivery positions P31, P32, and P33. It can flexibly adapt to various variations in the positional relationship between the loading position and the unloading position.

[0074] The joint drive device 24 may change the bending angle of the arm 14 when placing the saddle 15 at the receiving position P21 and when placing the saddle 15 at the delivery positions P31, P32, and P33. It can flexibly adapt to various variations in the positional relationship between the loading position and the unloading position.

[0075] The drive device 20 is configured to be able to execute any of the following: driving the carriage 111, the arm 14, and the saddle 15 to perform the first-mode transfer in which the steel material 9 received by the saddle 15 at the loading position is delivered to the unloading position without being rotated around a turning axis parallel to the end axis 151; driving the carriage 111, the arm 14, and the saddle 15 to perform the second-mode transfer in which the steel material 9 received by the saddle 15 at the loading position is rotated 90° around the turning axis and delivered to the unloading position; and driving the carriage 111, the arm 14, and the saddle 15 to perform the third-mode transfer in which the steel material 9 received by the saddle 15 at the loading position is rotated 180° around the turning axis and delivered to the unloading position. Taking advantage of the high degree of freedom, the same device can be used for three types of driving: the first mode, the second mode, and the third mode.

[0076] The saddle 15 is connected to the end of the arm 14 so as to swing around the end axis 151, and includes a saddle base 152 having a first support surface 156, a finger 153 protruding from the saddle base 152 so as to form a second support surface 157 perpendicular to the first support surface 156, and a chip 154 protruding from the end of the finger 153 so as to form a third support surface 158 perpendicular to the second support surface 157 and facing the first support surface 156. The driving device 20 drives the arm 14 and the saddle 15 so that the first support surface 156 supports the steel material 9 from below when receiving the steel material 9 from the loading position and when delivering the steel material 9 to the unloading position in the first mode of transfer. In the second mode of transfer, the arm 14 and the saddle 15 are driven so that the first support surface 156 supports the steel material 9 from below when receiving the steel material 9 from the loading position, and the second support surface 157 supports the steel material 9 from below when delivering the steel material 9 to the unloading position. In the third mode of transfer, the arm 14 and the saddle 15 may be driven so that the first support surface 156 supports the steel material 9 from below when receiving the steel material 9 from the loading position, and the third support surface 158 supports the steel material 9 from below when delivering the steel material 9 to the unloading position. An apparatus adaptable to the three types of driving in the first mode, the second mode, and the third mode can be realized with a simple configuration of the saddle 15.

[0077] When viewed in the direction along the end axis 151, the protruding length of the chip 154 from the finger 153 may be smaller than the width of the first support surface 156. In each mode, the holding and releasing of the steel material 9 can be easily performed.

[0078] The steel material transfer method by the steel material transfer device 10 includes moving a carriage 111 that can reciprocate along a horizontal circular orbit 114 between a loading position where the steel material 9 is carried in along a horizontal first direction and an unloading position where the steel material 9 is carried out along a horizontal second direction intersecting the first direction to a receiving base position P11 near the loading position; swinging an arm 14 provided on the carriage 111 around a base axis 141 perpendicular to the circular orbit 114, and swinging a saddle 15 connected to the end of the arm 14 around an end axis 151 parallel to the base axis 141 to place the saddle 15 at a receiving position P21 for receiving the steel material 9 from the loading position; moving the carriage 111 to a delivery base position P12 near the unloading position; swinging the arm 14 around the base axis 141 and swinging the saddle 15 around the end axis 151 to place the saddle 15 at delivery positions P31, P32, P33 for delivering the steel material 9 to the unloading position.

[0079] According to this transfer method, when the saddle 15 is placed at the receiving position P21 and when the saddle 15 is placed at the delivery positions P31, P32, P33, both the arm 14 and the saddle 15 swing. Therefore, the configuration of the transfer device can be effectively utilized for transporting the steel material 9 with a high degree of freedom.

[0080] Placing the saddle 15 at the delivery positions P31, P32, P33 may include bending the arm 14 around an intermediate axis 143 parallel to the base axis 141 and the end axis 151 to place the saddle 15 at the delivery positions P31, P32, P33 where the steel material 9 can be delivered to an unloading position at a different height from the loading position. According to this transfer method, the degree of freedom of bending the arm 14 can be effectively utilized for transferring the steel material 9 from the loading position to an unloading position at a different height from the loading position.

[0081] Placing the saddle 15 at the delivery positions P31, P32, P33 may include placing the saddle 15 at the delivery positions P31, P32, P33 without rotating the saddle 15 with reference to the posture of the saddle 15 at the receiving position P21. The configuration of the transfer device can be effectively utilized for transferring the steel material 9 in the first mode.

[0082] Placing the saddle 15 at the transfer positions P31, P32, P33 may include rotating the saddle 15 by 90° about the end axis 151 with reference to the posture of the saddle 15 at the receiving position P21 and placing it at the transfer positions P31, P32, P33. The configuration of the transfer device can be effectively utilized for the transfer of the steel material 9 in the second mode.

[0083] Placing the saddle 15 at the transfer positions P31, P32, P33 may include rotating the saddle 15 by 180° about the end axis 151 with reference to the posture of the saddle 15 at the receiving position P21 and placing it at the transfer positions P31, P32, P33. The configuration of the transfer device can be effectively utilized for the transfer of the steel material 9 in the third mode.

[0084] Although the embodiments have been described above, the present invention is not necessarily limited to the above-described embodiments, and various modifications are possible without departing from the gist thereof.

Explanation of Reference Numerals

[0085] 10... Steel material transfer device, 111... Cart, 114... Circular orbit, P11... Base position for receiving, P12... Base position for transfer, 14... Arm, 141... Base axis, 15... Saddle, 151... End axis, 152... Saddle base, 156... First support surface, 153... Finger, 157... Second support surface, 154... Chip, 158... Third support surface, 142... Intermediate joint, 143... Intermediate axis, P21... Receiving position, P31, P32, P33... Transfer positions, 20... Driving device, 22... Arm driving device, 24... Joint driving device, 23... Saddle driving device, 231... Motor, 232... Transmission unit, 233... Pivot gear, 234... Saddle shaft gear, 235... Joint gear, 9... Steel material, LD... Longitudinal direction.

Claims

1. A carriage that reciprocates along a horizontal circular track between a loading position where a steel material having a longitudinal direction is loaded with the longitudinal direction along a horizontal first direction, and an unloading position where the steel material is unloaded with the longitudinal direction along a horizontal second direction intersecting the first direction; An arm provided on the carriage so as to swing about a horizontal base axis intersecting the circular track; A saddle connected to an end of the arm so as to swing about an end axis parallel to the base axis; A driving device that drives the carriage, the arm, and the saddle so that the saddle is disposed at a receiving position for receiving the steel material from the loading position and a delivery position for delivering the steel material to the unloading position; The driving device includes an arm driving device that swings the arm about the base axis, and a saddle driving device that swings the saddle about the end axis independently of the swing of the arm. A steel material transfer device.

2. The arm has an intermediate joint and is configured to bend at the intermediate joint about an intermediate axis parallel to the base axis and the end axis. The driving device further includes a joint driving device that bends the arm about the intermediate axis independently of the swing of the arm and the swing of the saddle. The steel material transfer device according to claim 1.

3. The saddle driving device includes a motor provided on the carriage and a transmission unit that transmits the driving force of the motor to the saddle along the arm. The steel material transfer device according to claim 2.

4. The transmission unit is configured to keep the posture of the saddle with respect to the vertical direction constant even when the arm swings or bends while the motor is stopped. The steel material transfer device according to claim 3.

5. ​The arm driving device changes the swing angle of the arm with respect to the carriage when placing the saddle at the receiving position and when placing the saddle at the delivery position. The saddle driving device changes the swing angle of the saddle with respect to the arm when placing the saddle at the receiving position and when placing the saddle at the delivery position. The steel material transfer device according to any one of claims 2 to 4.

6. The joint driving device changes the bending angle of the arm when placing the saddle at the receiving position and when placing the saddle at the delivery position. The steel material transfer device according to any one of claims 2 to 5.

7. The driving device drives the carriage, the arm, and the saddle so as to perform transfer in a first mode in which the steel material received by the saddle at the loading position is delivered to the unloading position without being rotated around a turning axis parallel to the end axis. The driving device drives the carriage, the arm, and the saddle so as to perform transfer in a second mode in which the steel material received by the saddle at the loading position is rotated 90° around the turning axis and delivered to the unloading position. The driving device drives the carriage, the arm, and the saddle so as to perform transfer in a third mode in which the steel material received by the saddle at the loading position is rotated 180° around the turning axis and delivered to the unloading position. The steel material transfer device according to any one of claims 1 to 6 is configured to be able to execute any of them.

8. The saddle has a saddle base connected to the end of the arm so as to swing around the end axis and having a first support surface, fingers protruding from the saddle base so as to form a second support surface perpendicular to the first support surface, and a tip protruding from the end of the finger so as to form a third support surface perpendicular to the second support surface and facing the first support surface. The driving device has In the transfer of the first mode, when receiving the steel material from the loading position and when delivering the steel material to the unloading position, the arm and the saddle are driven so as to support the steel material from below by the first support surface. In the transfer of the second mode, when receiving the steel material from the loading position, the steel material is supported from below by the first support surface, and when delivering the steel material to the unloading position, the arm and the saddle are driven so as to support the steel material from below by the second support surface. In the transfer of the third mode, when receiving the steel material from the loading position, the steel material is supported from below by the first support surface, and when delivering the steel material to the unloading position, the arm and the saddle are driven so as to support the steel material from below by the third support surface. The steel material transfer device according to claim 7.

9. The steel material transfer device according to claim 8, wherein, when viewed from a direction along the end axis, the protruding length of the tip from the finger is smaller than the width of the first support surface.

10. Between a loading position where a steel material is loaded along a horizontal first direction and an unloading position where the steel material is unloaded along a horizontal second direction intersecting the first direction, moving a carriage capable of reciprocating along a horizontal circular orbit to a receiving base position near the loading position; Swinging an arm provided on the carriage around a base axis perpendicular to the circular orbit, and swinging a saddle connected to an end of the arm around an end axis parallel to the base axis to arrange the saddle at a receiving position for receiving the steel material from the loading position; Moving the carriage to a delivery base position near the unloading position; Swinging the arm around the base axis and swinging the saddle around the end axis to arrange the saddle at a delivery position for delivering the steel material to the unloading position, including: Placing the saddle at the handover position includes bending the arm around an intermediate axis parallel to the base axis and the end axis, and placing the saddle at the handover position where the steel material can be handed over to the unloading position having a different height from the loading position. This is a steel material transfer method.

11. Placing the saddle at the handover position includes placing the saddle at the handover position without rotating the saddle with reference to the posture of the saddle at the receiving position. The steel material transfer method according to claim 10.

12. Placing the saddle at the handover position includes placing the saddle at the handover position by rotating the saddle 90° around the end axis with reference to the posture of the saddle at the receiving position. The steel material transfer method according to claim 10.

13. Placing the saddle at the handover position includes placing the saddle at the handover position by rotating the saddle 180° around the end axis with reference to the posture of the saddle at the receiving position. The steel material transfer method according to claim 10.

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