JPH11147698A - Cargo handling and transferring device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To stabilize control because the force of an operator who grips a handle does not act on a load cell by calculating a pressure of working fluid from a load signal detected by the load cell and setting a pressure of working fluid to be supplied to a drive cylinder device to control a working fluid supply means. SOLUTION: A controller 19 calculates a pressure in a drive cylinder device 8 required for holding a cargo 2 based on a load signal of the cargo 2 detected by a load cell 24 when an operation lever comes to a neutral position. Then, it outputs an electric signal to a converter device 29 so as to hold the pressure. The pressure in the drive cylinder device 8 is kept at the set and required pressure based on the results of calculation of the controller 19. A position of an operation valve part 29A of the converter device 29 is manipulated to control the flow of working fluid from an air source 41. The reaction force which cancels a weight of the cargo 2 is given to a hold arm device side by the drive cylinder device 8 so that the cargo 2 is balanced. The cargo 2 is held at the height when the operation lever is set to the neutral position.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cargo handling / moving apparatus for holding and moving a load to a predetermined place.

[0002]

2. Description of the Related Art A conventional cargo handling / moving device (also referred to as a balancer) is provided with a support for holding a load, which is rotatably supported around an axis of the support and which can move up and down along the axis of the support. An arm, a load holder attached to the tip of the holding arm, a driving device such as an air cylinder device for driving the holding arm, and a load with a detector for detecting air pressure applied to the driving device A control device.

In such a cargo handling and moving device, in order to balance the load attached to the load holder at a predetermined position, the air pressure is always detected by a detector, and the information is fed back to a load control device, and the information is fed back to a load control device. It continues to load the driving device so as to maintain the pressure.

[0004]

In the above-mentioned conventional cargo handling and moving device, information on the air pressure detected by the detector is fed back to the load control device, and a constant air pressure is continuously applied to the drive device to load the predetermined load. Since it is configured to balance at a position, it is difficult to control for balancing the load, and the manufacturing cost of the entire apparatus has been increased.

[0005] Further, in the above-mentioned conventional cargo handling / moving device, since the load is kept at a predetermined position by continuously applying a constant air pressure to the driving device, the load comes off the load holder. In this case, an excessive air pressure is applied to the holding arm, and the load may cause the holding arm to jump up.

Further, in the above-mentioned conventional cargo handling and moving device, since a constant air pressure is continuously applied to the driving device so that the load is balanced at a predetermined position, the operator can hold the load from the balanced state. It was difficult to raise and lower this.

Therefore, an object of the present invention is to provide a cargo handling device capable of solving the above problems.

[0008]

Means for Solving the Problems In order to hold a load and move it to a predetermined place, the object of the present invention is to support the support so as to be rotatable around the axis of the column and to be able to move up and down. A holding arm for holding a load serving as a holding unit for holding a load, a drive cylinder device for raising and lowering the holding arm, a working fluid supply unit for supplying a working fluid to the drive cylinder device, A load cell for detecting the weight of the load held by the load holding unit as an electrical load signal, and knowing the weight of the load from the load signal detected by the load cell to determine the pressure of the working fluid corresponding to the weight of the load. And a control device for controlling the working fluid supply means so that the pressure of the working fluid supplied to the drive cylinder device becomes the set pressure. It is disposed between the lifting arm and the strut.

According to the above configuration, when the load held by the load holding unit is raised via the holding arm by driving the drive cylinder device, the load cell detects the weight of the load as an electric load signal, and Calculates and sets the pressure of the working fluid corresponding to the load weight from this load signal,
The control device controls the working fluid supply means so that the pressure of the working fluid supplied from the working fluid supply means to the drive cylinder device becomes the set pressure, whereby the load is suspended, and the holding arm is moved. The load is moved by rotating around the axis of the column.

Further, according to the configuration in which the load cell is provided in the load holding portion of the holding arm, and the handle used for rotating the load is attached to the holding arm, the load is held when the load is moved. In addition, since the force of the person holding the handle does not act on the load cell, the control of the working fluid supply means in the control device is stabilized.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described below with reference to FIGS. The cargo handling and moving device 1 according to the first embodiment of the present invention is for holding the cargo 2 by suction or gripping and moving it to a predetermined place, and includes a column 4 erected on a base 3, An elevating rod member 6 rotatably supported around an axis 5 of the column 4 and configured to be able to move up and down along the axis 5 of the column 4, and attached to the elevating rod member 6. A holding arm device 7 for holding a load and a driving cylinder device (for example, an air cylinder device) 8 for moving the holding arm device 7 in the vertical direction are provided.

The holding arm device 7 includes a base arm 9 attached to the elevating rod member 6 and a turning arm 10 supported at the tip of the base arm 9. The base arm 9 is provided with a horizontal pin 1
1 and a pair of support arms 15 rotatably mounted in a vertical plane via a pair of support arms 15 and a connecting member 16 which is connected to the distal ends of the support arms 15 via another horizontal pin 12. The turning arm unit 10 is constituted by a link mechanism. The turning arm unit 10 includes a turning shaft 18 inserted through a support plate 17 attached to the connecting member 16 in a plurality of stages, and a holding arm 20 attached to a lower end of the turning shaft 18.
And a support rod member 21 that connects the upper end of the turning shaft 18 and the tip of the holding arm 20.

The distal end of the holding arm 20 is used as a mounting portion 22 for a load holding device (not shown) such as a gripper or a suction device for holding the load 2. An operation lever 23 for raising and lowering is mounted.

A load cell 24 for detecting the weight of the load 2 held by the load holder as an electrical load signal is mounted via a bracket 26 mounted on an upper portion of the support column 4, and the driving cell The cylinder device 8 is provided between the lower support arm 15 and the load cell 24, and the piston rod 8 a of the drive cylinder device 8 is
It is rotatably attached to the lower support arm 15 via a.

As shown in FIG. 2, a control valve device (an example of a working fluid supply means) for controlling the flow of a working fluid (air in this case) 28 supplied to the drive cylinder device 8 is provided. 31 is connected to the load cell 24
An amplifier A and a control device 19 which will be described later are sequentially connected to the output side of the device. The control device 19 has a conversion device 29 for converting the pressure of the working fluid 28 according to the value of the electric signal. The device 29 transmits a transmission line 30 to the control device 19.
The conversion device 29 is provided with an operation valve portion 29A for keeping the pressure in the drive cylinder device 8 constant.

The control device 19 detects the weight of the load 2 from the load signal output from the load cell 24, calculates the pressure of the working fluid 28 corresponding to the weight of the load 2, and holds the pressure. Has the function of outputting an electric signal to the converter 29 to the converter 29.

On the input side of the control device 19, an operation knob T1 for offsetting a load other than the load 2 detected by the load cell 24, and a sensitivity adjusting knob for adjusting the sensitivity of the load cell 24 are provided. T2 is connected.

The control valve device 31 includes a four-port two-position switching valve (hereinafter referred to as "first switching valve") 35 with an operating solenoid 32 and a four-port three-position switching valve (hereinafter referred to as "first switching valve") with an operating solenoid 33. The second switching valve 36), an air supply pipe 37 that connects the first switching valve 35 and the second switching valve 36, an intermediate point 38 of the air supply pipe 37, and a cylinder chamber 39 of the drive cylinder device 8. Connecting pipe 40 to be connected,
And the air source 41, 42 connected to each of the first switching valve 35 and the second switching valve 36, and the conversion device 29 is a separate air supply pipe connecting the first switching valve 35 and the air source 41. 43 is provided in the middle.

In the above configuration, at the time of initial setting, the operation knob T1 and the sensitivity adjustment knob T2 are operated to offset the load amount other than the load 2 detected by the load cell 24, and to adjust the sensitivity of the load cell 24. deep.

Then, the worker holds the load 2 with the load holder (for example, locks the load holder at the locking portion of the load 2) and operates the operation lever 23 upward. Then, the control device 19
Outputs a drive signal to the operation solenoid 33 in response to an operation signal from the operation lever 23, and outputs the second switching valve 3
The driving signal is output to the driving unit of the air source 42 of No. 6.

As a result, the second switching valve 36 is connected to the supply side 36.
a, the working fluid 28 is supplied from the air source 42 into the cylinder of the drive cylinder device 8 via the second switching valve 36, and by this operation, the piston rod 8a of the drive cylinder device 8 starts to rise. As a result, the lifting rod member 6, the holding arm device 7, and the load 2 start to rise.

At this time, the control device 19 outputs a drive signal to the operating solenoid 32 of the first switching valve 35 in advance, whereby the first switching valve 35 is switched to the supply stop side 35a.

Thereafter, when the operator confirms that the load 2 has risen to the predetermined height and returns the operation lever 23 to neutral (balanced state), this signal is output to the control device 19. Then, the control device 19 outputs a drive signal to the operating solenoid 33 to switch the second switching valve 36 to the supply stop side 36.
b. As a result, the supply of the working fluid 28 from the air source 42 into the drive cylinder device 8 is stopped. On the other hand, the control device 19 outputs a drive signal to the operating solenoid 32 of the first switching valve 35 and the air source 41, thereby switching the first switching valve 35 to the supply side 35b.

Further, the control device 19 includes an operation lever 23
Is calculated based on the load signal of the load 2 detected by the load cell 24 when the load cell 24 becomes neutral, and the pressure in the drive cylinder device 8 required to hold the load 2 is calculated, and an instruction to hold the pressure is given. The electric signal to be output to the converter 29.

Based on the calculation result from the control device 19,
The position of the operation valve portion 29A of the conversion device 29 is manipulated so that the inside of the drive cylinder device 8 has a set required pressure, and the flow of the working fluid 28 from the air source 41 is controlled.

As a result, a reaction force sufficient to cancel the weight of the load 2 is generated by the driving cylinder device 8 by the holding arm device 7.
Side, the load 2 is hung, and the load 2 is
When 3 is neutralized, it will be held at that height.

As described above, since the reaction force corresponding to the weight of the load 2 is applied by the drive cylinder device 8 and the suspended state is maintained, the operator can carry the load 2 up and down. , Can be freely and easily performed without operating the operation lever 23.

When the load 2 comes off the load holder and the load becomes zero, the load cell 24 detects that the load of the load 2 has become zero, and there is no load (load 2). Is calculated in the control device 19, and the control device 19 adjusts the pressure of the working fluid 28 converted by the conversion device 29 to be the pressure corresponding to the case where the load is zero. As a result, the working fluid 2
8 is immediately released from the operation valve portion 29A to the outside,
The position of the operation valve portion 29A is adjusted.

As described above, even if the load 2 comes off the load holder while the load 2 is moving, for example, the working fluid 28 in the drive cylinder device 8 is immediately discharged, so that the holding arm device 7 jumps up at once. Dangerous situations such as accidents can be avoided.

To lower the load 2 after moving it to a predetermined location, the operator first operates the operation lever 23 downward. Then, the control device 19 outputs a drive signal to the operating solenoid 32 to switch the first switching valve 35 to the supply stop side 35a. In addition, the control device 19
In response to an operation signal from the operation lever 23, a drive signal is output to the operation solenoid 33, and the second switching valve 36 is switched to the vent side 36c. Thereby, the working fluid 28 of the drive cylinder device 8 is discharged to the outside, the piston rod 8a descends, and the load 2 descends.

When the worker confirms that the load 2 has been completely unloaded, the worker removes the load 2 from the load holder. For example, when the worker returns the operation lever 23 to the neutral position, this signal is sent to the control device 19. The control device 19 outputs the drive signal to the operating solenoid 33, and the second switching valve 36 moves to the supply stop side 36b.

As described above, according to the first embodiment of the present invention, when the operation lever 23 is neutralized while holding the load 2, the load of the load 2 is measured by the load cell 24, and the load 2
The pressure corresponding to the load on the drive cylinder device 8 acts on
Is applied to the holding arm device 7 by the drive cylinder device 8 and is held in a balanced state suspended by the load of the load 2, so that the worker can raise the load 2 in the neutral state. The lowering operation and the turning operation can be easily performed with a small force.

Further, when the load 2 is moved, even if the load signal of the load 2 measured by the load cell 24 changes according to the work situation, the pressure in the drive cylinder device 8 immediately depends on the weight of the load 2. Since the load value is corrected to a value, for example, even when the load 2 suddenly comes off, the load cell 24 measures this and the control device 19 controls the control device 19 to immediately remove the working fluid 28 in the drive cylinder device 8. Therefore, a dangerous state in which the holding arm device 7 jumps up at a time can be avoided, and the cargo handling operation can be performed safely.

Further, since the control contents are relatively simple, such as measuring the weight of the load 2 with the load cell 24 and applying a pressure corresponding to the load amount to the drive cylinder device, the control unit detects the load with the detector as in the prior art. The control for suspending the load 2 is compared with the case where the information of the air pressure is fed back to the load control device and the load needs to be controlled in a complicated manner such that a constant air pressure is continuously applied to the drive device to balance the load. Is easy, and the manufacturing cost of the entire apparatus is reduced.

Next, a second embodiment of the present invention will be described with reference to FIGS. Note that the same reference numerals are given to constituent members having functions similar to those of the first embodiment, and description thereof will be omitted.

In the cargo handling and moving apparatus 1 according to the second embodiment of the present invention, a load cell 24 is attached to the tip of the holding arm 20, and the load cell 24 is provided with an attachment portion 22 for a load holder for holding the load 2. An operation lever 23 for operating the lifting and lowering of the holding arm device 7 is mounted on the mounting portion 22, and a handle 4 used when rotating the load 2 is mounted.
Reference numeral 5 is attached in the middle of the holding arm 20.

The drive cylinder device 8 is disposed between the bracket 26 attached to the upper portion of the support 4 and the lower support arm 15, and the piston rod 8 a of the drive cylinder device 8 is provided.
Is rotatably attached to the lower support arm 15 via a horizontal pin 15a, and the other end of the drive cylinder device 8 is rotatably attached to a bracket 26 via another horizontal pin 15b. . A load indicator 50 is connected to the amplifier A connected to the output side of the load cell 24.

In the above configuration, the operation of the operation lever 23 when raising or lowering the load 2 or setting the load 2 to the neutral state, and the control operation of the control device 19 accompanying the operation of the operation lever 23 are the same as those in the first embodiment. However, in the case of the second embodiment of the present invention, since the load cell 24 is attached to the tip of the holding arm 20, the weight of the holding arm 20 does not act on the load cell 24, and the load detected by the load cell 24 Is almost a value close to the load of the load 2, and the load cell 24 can more accurately detect the load amount, and therefore, the reliability of the device can be improved.

Further, the weight of the load 2 currently being handled is displayed almost accurately on the load indicator 50, so that the load 2 can be used as a reference. Further, when the load 2 is rotated, the grip 45 is gripped.
Since the load cell 24 is attached to the middle of the holding arm 20 and the load cell 24 is attached to the distal end of the holding arm 20, if the operator grips the handle 45 and moves the load 2, the force applied by the operator will increase. It does not work on the load cell 24. That is, when the operator moves the load 2 with his hand, the load amount measured by the load cell 24 changes due to the force from the operator, and the pressure applied to the drive cylinder device is adjusted accordingly. As a result, there is a possibility that a force opposing the lifting force and the pushing-down force of the operator may be applied. However, by adopting a configuration in which the force from the operator does not act on the load cell 24 as described above, it is possible to oppose the force of the operator. As a result, a load handling operation such as lifting and lowering the load 2 can be performed more easily, and stable control for hanging the load 2 can be performed.

The other structure, operation, and effect are the same as those of the first embodiment, and the description is omitted.

[0041]

As is apparent from the above description, the present invention relates to a drive cylinder device for raising and lowering a holding arm for holding a load, and a working fluid supply means for supplying a working fluid to the drive cylinder device. A load cell for detecting the weight of the load held by the load holding unit as an electrical load signal, and a working fluid corresponding to the load weight by detecting the load weight from the load signal detected by the load cell. A pressure control means for controlling the working fluid supply means so that the pressure of the working fluid supplied from the working fluid supply means to the drive cylinder device becomes the calculated pressure. The pressure corresponding to the applied load is applied to the drive cylinder device, and a force equal to the load is applied to the holding arm by the drive cylinder device, and the load is suspended in balance. Since is held in, the operator can easily perform a small force a load of up unloading operation remains in the neutral state.

Also, when the load comes off the load holder,
Even when the weight of the load becomes zero, the load cell detects that the weight of the load has become zero, and the pressure corresponding to the state where there is no load is calculated by the control device. Since the pressure in the apparatus is adjusted to a pressure corresponding to the case where the load is zero, even if the load comes off the load holder, it is possible to avoid a dangerous state in which the holding arm jumps up at once.

In addition, when the load changes, the load cell detects the change, the pressure corresponding to the load is calculated by the control device, and the pressure corresponding to the load is applied to the drive cylinder device to hang. It will be in a state, as before,
The air pressure information detected by the detector is fed back to the load control device, and a constant air pressure is continuously applied to the drive device to suspend the load at a predetermined position. The control for matching is easy, and the manufacturing cost of the entire apparatus is reduced.

[Brief description of the drawings]

FIG. 1 is a perspective view of a cargo handling device according to a first embodiment of the present invention.

FIG. 2 is a schematic diagram showing the entire configuration.

FIG. 3 is a perspective view of a cargo handling device according to a second embodiment of the present invention.

FIG. 4 is a schematic diagram showing the overall configuration.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 cargo handling and moving device 2 load 3 base 4 support 7 holding arm device 8 drive cylinder device 10 turning arm unit 15 support arm 16 connecting member 20 holding arm 23 operating lever 28 working fluid 29 conversion device 31 control valve device 35 first switching valve 36 Second switching valve 41 Air source 42 Air source

Claims (4)

[Claims] 1. A cargo-handling / moving device for holding a load and moving it to a predetermined place, wherein the load-handling / moving device is rotatably and vertically movable about an axis of a support column and has a tip for holding the load. A holding arm for holding a load serving as a load holding unit, a drive cylinder device for moving the holding arm up and down,
A working fluid supply unit for supplying a working fluid to the drive cylinder device, a load cell for detecting a weight of the load held by the load holding unit as an electric load signal,
From the load signal detected by the load cell, the weight of the load is known, the pressure of the working fluid corresponding to the weight of the load is calculated and set, and the pressure of the working fluid supplied to the drive cylinder device is set to the set pressure. And a control device for controlling the working fluid supply means. 2. The cargo moving device according to claim 1, wherein the load cell is disposed between the holding arm and the column. 3. The cargo handling and moving device according to claim 1, wherein the load cell is provided on a load holding portion of the holding arm. 4. The cargo handling and moving device according to claim 3, wherein a handle used for rotating the load is attached to the holding arm.