JP2015054762A - Spring balancer with motor, and automated suspension device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a spring balancer with a motor that enables a smooth operation and prevents deterioration of a user's working efficiency, and an automated suspension device equipped with the spring balancer with a motor that can exhibit a careless mistake preventing function.SOLUTION: A spring balancer (1) with a motor includes: a rotation drum (4) having a tapered outer peripheral surface; a wire rope (3) wound from a large diameter side to a small diameter side of the rotation drum (4); a power spring that energizes the rotation drum (4) in a direction to wind the wire rope (3); and a motor for generating torque to rotate the rotation drum (4). The motor is a stepping motor (5) and includes a driver (9) for driving the stepping motor (5) and a controller (10) for controlling the driver.

Description

  The present invention relates to a spring balancer with a motor that suspends a tool and the like, and an automatic suspension device including the spring balancer with a motor.

  2. Description of the Related Art Conventionally, there is a spring balancer as a cargo handling device used to suspend (suspend and hold) a tool, work equipment, or the like in a factory or the like where an industrial product is assembled.

  A spring balancer is generally configured by incorporating a rotating drum around which a wire rope for suspending a tool or the like is wound and a mainspring spring that imparts a rotational force for winding up the wire rope to the drum. By balancing the tension of winding the wire rope with the mainspring spring and the weight of the hanging tool, etc., the user can move the tool etc. to an arbitrary height with a relatively light operation. The tool is stopped at the position.

  In such a spring balancer, in order to move the tool upward when not in use or to lower it when in use, the user has to manually raise and lower the tool, especially heavy objects. When suspended, the operation becomes heavy, which may cause a reduction in work efficiency of the operator.

  Therefore, by providing a motor for rotating the rotating drum, a clutch is interposed between the motor and the rotating drum while the motor can rotate the rotating drum and move a tool or the like to a desired position. Thus, there is a spring balancer with a motor that allows the user to finely adjust the position of the tool or the like manually by the clutch separating the motor and the rotating drum after the tool or the like is moved by the motor (see Patent Document 1). ).

Japanese Utility Model Publication No. 1-164085

  However, in the spring balancer with a motor according to Patent Document 1, it is difficult to smoothly perform the operation because the clutch must be connected and disengaged when switching between the position adjustment by motor driving and the position adjustment by manual operation. There is a risk that the work efficiency of the worker may be reduced.

  In view of such a problem, the present invention provides a spring balancer with a motor that enables a smooth operation and prevents a reduction in work efficiency of a user, and an automatic suspension device including the spring balancer with a motor. With the goal.

In order to solve the above problems, the present invention provides a rotating drum having a tapered outer peripheral surface,
A wire rope wound from the large diameter side of the rotating drum to the small diameter side;
A mainspring spring for urging the rotating drum in a direction of winding the wire rope;
A spring balancer with a motor having a motor for generating torque for rotating the rotating drum,
The motor is a stepping motor;
A driver for driving the stepping motor;
And a controller for controlling the driver. A motorized spring balancer is provided.

  Preferably, it has a substantially rectangular parallelepiped main body case that houses the rotating drum, the stepping motor, the driver, and the controller.

  Preferably, center lines as rotation centers of the rotary drum and the stepping motor are parallel to each other, perpendicular to any two opposing planes of the main body case, and aligned in a diagonal direction of the planes. Yes.

  Preferably, transmission of the torque from the stepping motor to the rotating drum is performed by gears.

  Preferably, a limit switch is provided for detecting that the wire rope has reached the winding limit and transmitting a signal to the controller.

Preferably, a spindle to which an inner diameter side end of the mainspring spring is fixed,
A ratchet wheel having a plurality of protrusions fixedly fitted on the spindle and projecting radially outward;
And a pre-winding ratchet for restricting rotation of the ratchet wheel and releasing the ratchet wheel.

  Preferably, the pre-winding ratchet includes a pair of claw portions that engage with the protrusion.

  Preferably, the ratchet wheel and the pre-winding ratchet are accommodated in the main body case.

  Preferably, an output connector is connected to the controller and outputs a signal generated by the controller to the outside of the main body case.

  Preferably, the apparatus has an input connector connected to the controller and for inputting a signal from the outside of the main body case to the controller.

  Preferably, the controller has a volume that is connected to the controller and transmits a signal indicating the unwinding amount of the wire rope to the controller according to a user operation.

  Preferably, the apparatus further includes a changeover switch that is connected to the controller and transmits a signal indicating the unwinding and winding speeds of the wire rope to the controller according to a user operation.

Moreover, in order to solve the said subject, this invention is the above-mentioned several spring balancer with a motor,
A host controller that is electrically connected to each of the controllers of the plurality of motor-equipped spring balancers and controls the plurality of motor-equipped spring balancers;
A barcode reader that reads a barcode attached to a work object and transmits a signal to the host controller;
The host controller provides an automatic suspension apparatus that drives the stepping motor in response to the signal.

Moreover, in order to solve the said subject, this invention is the above-mentioned several spring balancer with a motor,
A host controller that is electrically connected to each of the controllers of the plurality of motor-equipped spring balancers and controls the plurality of motor-equipped spring balancers;
A sensor that detects the movement of the work object and transmits a signal to the host controller,
The host controller provides an automatic suspension apparatus that drives the stepping motor in response to the signal.

Moreover, in order to solve the said subject, this invention is the above-mentioned several spring balancer with a motor,
A host controller that is electrically connected to each of the controllers of the plurality of motor-equipped spring balancers and controls the plurality of motor-equipped spring balancers;
A plurality of sensors each arranged corresponding to the plurality of spring balancers with motors, detecting movement of a work object and transmitting a signal to the host controller;
The host controller provides an automatic suspension apparatus that drives the stepping motor in response to the signal.

In order to solve the above problems, the present invention provides the spring balancer with a motor,
A sensor that detects the movement of the work object and transmits a signal to the controller;
The controller provides an automatic suspension device that drives the stepping motor in response to the signal.

  ADVANTAGE OF THE INVENTION According to this invention, the spring balancer with a motor which enables smooth operation | movement and prevents a user's work efficiency fall, and the automatic suspension apparatus provided with this spring balancer with a motor can be provided.

It is the top view which looked at the internal structure of the spring balancer with a motor which concerns on embodiment of this application from the front side. It is the top view which looked at the internal structure of the spring balancer with a motor concerning the embodiment of this application from the back side. It is a front view of the spring balancer with a motor concerning the embodiment of this application. It is sectional drawing in the AA cut surface shown in FIG. 3 of the spring balancer with a motor which concerns on embodiment of this application. It is an external view of the spring balancer with a motor which concerns on embodiment of this application. (A) shows the upper surface, (b) shows the back surface, (c) shows the lower surface, and (d) shows the left side surface. It is a block diagram which shows the electrical connection between each component of the spring balancer with a motor which concerns on embodiment of this application. It is a flowchart which shows the flow of control and operation | movement of the spring balancer with a motor which concerns on embodiment of this application. It is a block diagram which shows the automatic suspension apparatus as a 1st application example of the spring balancer with a motor which concerns on embodiment of this application. It is a block diagram which shows the automatic suspension apparatus as a 2nd application example of the spring balancer with a motor which concerns on embodiment of this application. It is a block diagram which shows the automatic suspension apparatus as a 3rd application example of the spring balancer with a motor which concerns on embodiment of this application.

  A motor-equipped spring balancer according to an embodiment of the present application will be described with reference to FIGS. 1 to 7.

  Drawing 1 is a top view which looked at the internal structure of spring balancer 1 with a motor concerning the embodiment of this application from the front side. The main body of the motor-equipped spring balancer 1 according to the present embodiment is covered by a substantially rectangular parallelepiped main body case 2 made of a metal flat plate. In FIG. 1, the main body case 2 on the front side is removed. Indicates the state.

  Inside the main body case 2, a wire rope 3 for suspending a tool or the like, a rotating drum 4 for winding the wire rope 3, a stepping motor 5 for generating torque for rotating the rotating drum 4, and a stepping motor 5 A small gear 6 attached to the rotating shaft, a middle gear 7 for transmitting torque from the small gear 6 to the large gear 8, a large gear 8 for transmitting torque from the middle gear 7 to the rotating drum 4, and a stepping motor 5 And a controller 10 for controlling the driver 9 and a part of a limit switch 11 for detecting that the wire rope 3 has reached the winding limit.

  The wire rope 3 extends through the through hole provided in the lower part of the main body case 2 to the lower outside of the main body case 2, passes through the through hole formed in the contact portion 11a of the limit switch 11, and further extends downward. ing. A hook 12 for attaching a hanging tool or the like is attached to the tip of the wire rope 3 via a thimble 13. A shock absorbing rubber 14 that contacts the contact portion 11 a of the limit switch 11 is attached to the wire rope 3 on the base side of the thimble 13. The buffer rubber 14 prevents the contact portion 11a and the thimble 13 from colliding and being damaged when the wire rope 3 is wound up and reaches the winding limit.

  The rotating drum 4 has a tapered outer peripheral surface whose diameter decreases from the front surface side to the back surface side, and a groove portion 4a (not shown in FIG. 1) recessed inward in the radial direction on the outer peripheral surface. Is formed in a spiral shape. The end of the wire rope 3 is detachably fixed to the portion of the groove portion 4a on the large diameter side of the rotating drum 4, and the wire rope 3 is wound along the groove portion 4a toward the smaller diameter side. The reason why the end portion of the wire rope 3 is detachably fixed is to allow the wire rope 3 to be replaced when the wire rope 3 deteriorates due to use.

  Due to the configuration of the tapered outer peripheral surface of the rotating drum 4 and the wire rope 3 spirally wound from the large diameter side to the small diameter side, the wire drum 3 is suspended by the wire rope 3 regardless of the amount of unwinding. It is possible to balance the weight of the tool or the like and the tension of the wire rope 3 by the mainspring spring 15. That is, as the wire rope 3 is pulled out by a user operation or the like, the mainspring spring 15 (not shown in FIG. 1) is elastically deformed to increase the number of turns, and the torque that the mainspring spring 15 applies to the rotating drum 4 increases. Since the outer peripheral surface of the rotating drum 4 has a conical surface, the reaction force received from the wire rope 3 is gradually applied to the large-diameter side of the rotating drum 4, and a gradually large torque is applied to the rotating drum 4. Will be given. In the case where the wire rope 3 is wound up, this acts in reverse. In this way, the change in the torque that the mainspring spring 15 applies to the rotating drum 4 is canceled by changing the position where the reaction force from the wire rope 3 is applied (the distance from the rotation center axis of the rotating drum 4). A substantially constant tension is generated regardless of the amount.

  The rotary drum 4 has a concave portion 4b (not shown in FIG. 1) that is recessed from the large diameter side to the small diameter side of the tapered outer peripheral surface, and the mainspring spring 15 is rotated inside the concave portion 4b. The drum 4 is accommodated in the same circumferential direction as the circumferential direction of the drum 4. A spindle 16 supported by the front side portion and the back side portion of the main body case 2 is inserted through the rotation center of the rotary drum 4 and the center of the mainspring spring 15. The rotary drum 4 is attached to a spindle 16 so as to be relatively rotatable. An outer end portion of the mainspring spring 15 is detachably fixed to the rotary drum 4, and an inner end portion of the mainspring spring 15 is detachably fixed to the spindle 16. The mainspring spring 15 is attached in a direction in which the rotating drum 4 is urged in a direction in which the wire rope 3 is wound up. The mainspring spring 15 is removably fixed so that the mainspring spring 15 can be replaced.

  A safety device 17 is provided at the upper part of the rotating drum 4 to prevent a suspended tool or the like from dropping when the mainspring spring 15 is broken due to the life of the mainspring spring 15 to stop the rotation of the rotating drum 4.

  The stepping motor 5 is driven by a driver 9 and rotates the rotating drum 4 via the small gear 6, the intermediate gear 7, and the large gear 8, and winds and unwinds the wire rope 3. Since the tension of the wire rope 3 generated by the mainspring spring 15 and the tension of the wire rope 3 generated by the weight of the tool or the like are balanced, the torque of the stepping motor 5 is sufficient to be weaker than human power. Since the step-out functions as a torque limiter, the spring balancer with motor 1 according to this embodiment is safe for the operator.

  It is also possible to use a timing belt instead of the gear.

  The small gear 6 is fitted on the rotation shaft of the stepping motor 5 and transmits the torque of the stepping motor 5 to the intermediate gear 7.

  The intermediate gear 7 is rotatably attached to a central shaft attached to the main body case 2 on the front side, and transmits the torque of the small gear 6 to the large gear 8.

  The large gear 8 is fixed to a cover 29 attached to the rotary drum 4 so as to cover the large diameter side of the rotary drum 4 with the spindle 16 as a rotation center axis. As a result, the large gear 8 transmits the torque generated by the stepping motor 5 from the intermediate gear 7 to the rotating drum 4.

  The spring balancer 1 with a motor according to the present embodiment has a frontal shape that is substantially square by disposing the rotation centers of the small gear 6, the intermediate gear 7, and the large gear 8 on a substantially diagonal line when the main body case 2 is viewed from the front. The main body case 2 can be accommodated in a compact manner. When the front shape of the main body case 2 is substantially square, the installation of the motor-equipped spring balancer 1 in a factory or the like is facilitated.

  FIG. 2 is a plan view of the internal structure of the motor-equipped spring balancer 1 according to the embodiment of the present application as viewed from the back side. A ratchet wheel 18 is fitted and fixed to a portion of the spindle 16 protruding from the rotating drum 4. The main body portion of the spindle 16 is rotatably attached to the main body case 2, and can rotate as the ratchet wheel 18 rotates.

  The ratchet wheel 18 is formed of a metal flat plate, and has a plurality of protrusions 18a protruding in the radial direction on the outer periphery, and the protrusions 18a and the pre-winding ratchet 19 are engaged. The pre-winding ratchet 19 includes a lever 19a formed from a metal flat plate, and the lever 19a protrudes downward and outward through a slit 2a provided in the lower portion of the main body case 2. By operating the lever 19a to release the engagement between the ratchet wheel 18 and the pre-winding ratchet 19, the spindle 16 can be rotated using a hexagonal bar spanner (not shown). By rotating the spindle 16, the amount of pre-winding of the mainspring spring 15 can be increased or decreased, and the magnitude of the tension of the wire rope 3 generated when the mainspring spring 15 biases the rotating drum 4 can be adjusted. That is, when the tool suspended by the wire rope 3 is heavy, the amount of pre-winding of the mainspring spring 15 is increased to increase the tension of the wire rope 3, and when the tool suspended by the wire rope 3 is light, the mainspring. The tension of the wire rope 3 can be reduced by reducing the pre-winding amount of the spring 15.

  The pre-winding ratchet 19 is formed of a metal flat plate, has a pair of claw portions 19b and 19c that engage with the protrusions 18a of the ratchet wheel 18, and has a swinging central shaft 20 attached to the inside of the main body case 2. It is configured to be able to swing as a center. The claw portions 19 b and 19 c are arranged at positions where they can be alternately engaged with the rotation of the ratchet wheel 18. For example, in FIG. 2, when the lever 19a is operated to disengage the pre-wound ratchet 19 and the ratchet wheel 18 and the ratchet wheel 18 is gradually rotated clockwise, the protrusion 18a below the claw portion 19b. Before reaching the position at which the claw portion 19b can be engaged, the protrusion 18a above the claw portion 19c reaches the position at which the claw portion 19c can be engaged. Thus, by arranging the claw portion 19b and the claw portion 19c so that the period in which the engagement with the pre-winding ratchet 19 can be engaged according to the amount of rotation of the ratchet wheel 18 is shifted by a half cycle, The pre-winding amount can be adjusted more finely according to the weight.

  The pre-winding ratchet 19 has a long hole 19d extending in the swinging direction, and a regulating member 21 fixed to the main body case 2 is inserted into the long hole 19d. Thereby, the pre-winding ratchet 19 is regulated so as not to swing beyond a predetermined angle range.

  The ratchet wheel 18 and the pre-wound ratchet 19 are accommodated in the main body case 2 and make the outer shape of the motor-equipped spring balancer 1 closer to a rectangular parallelepiped and made compact.

  The portion of the rotating drum 4 on the left side as viewed in FIG. 2, that is, the portion of the rotating drum 4 where the wire rope 3 transitions from the state in contact with the rotating drum 4 to the non-contact state is fixed to the main body case 2. A guide 22 is provided that extends in an inclined manner along the tapered outer peripheral surface of the rotating drum 4. The guide 22 prevents the wire rope 3 from coming off from the groove 4 a formed on the outer peripheral surface of the rotating drum 4 when the wire rope 3 is wound and unwound.

  FIG. 3 is a front view of the motor-equipped spring balancer 1 according to the embodiment of the present application.

  The front surface of the spring balancer 1 is covered with a main body case 2, and the distance to which the distance is lowered when the stepping motor 5 is driven to unwind the wire rope 3 is set on the front surface of the main body case 2. A volume 23, a changeover switch 24 for setting the winding and unwinding speeds of the wire rope 3, an output connector 25 for outputting a predetermined signal, an input connector 26 for inputting an external signal, A lamp 27 that is turned on when the limit switch 11 is detecting is provided.

  The volume 23 is electrically connected to the controller 10, and the controller 10 sends a signal to the driver 9 for obtaining a necessary rotation speed of the stepping motor 5 according to the rotation angle of the volume 23.

  The changeover switch 24 switches the winding and unwinding speeds of the wire rope 3 to a low speed or a high speed, and is electrically connected to the controller 10. The controller 10 switches a signal transmitted to the driver 9 according to whether the low speed or high speed of the changeover switch 24 is pressed, and switches the rotation speed of the stepping motor 5. Thereby, the operator can adjust the speed of vertical movement of the tool or the like according to the work content and the like, and the work efficiency is improved.

  The output connector 25 is electrically connected to the controller 10. When the controller 10 causes the stepping motor 5 to rotate at a rotational speed corresponding to the rotation angle of the volume 23, the controller 10 can output a positioning completion signal to another motor-equipped spring balancer or computer through the output connector 25. Further, when receiving a signal indicating that the winding of the wire rope 3 has reached the winding limit from the limit switch 11, the controller 10 outputs an origin position signal through the output connector 25.

  The input connector 26 is electrically connected to the controller 10. The controller 10 can receive an external signal such as a pendant switch (not shown) or an electronic computer through the input connector 26. The motor-equipped spring balancer of the present application includes the output connector 25 and the input connector 26, so that flexible control in accordance with the use situation is possible in cooperation with an electronic calculator or other motor-equipped spring balancer.

  FIG. 5 is an external view of the motor-equipped spring balancer 1 according to the embodiment of the present application. (A) shows the upper surface, (b) shows the back surface, (c) shows the lower surface, and (d) shows the left side (left side as viewed from the front). In (c), description of the wire rope 3, the hook 12, the thimble 13 and the buffer rubber 14 is omitted. The right side view is the same as the left side view shown in FIG.

  A plurality of screw holes 28 are provided in the body case 2 constituting the back surface, top surface, left side surface, and right side surface of the motor-equipped spring balancer 1 according to the present embodiment. Thereby, the spring balancer 1 with a motor which concerns on this embodiment can be easily installed in a factory etc.

  As can be seen from FIGS. 5C and 5D, the end of the lever 19a is bent at a right angle toward the front side.

  FIG. 6 is a block diagram showing electrical connections between the components of the motor-equipped spring balancer 1 according to the embodiment of the present application.

  The controller 10 is supplied with power from the outside and supplies power to the driver 9, and also receives an external input signal input from the input connector 26, a signal from the limit switch 11, and a set position signal from the volume 23. Based on this, a control signal and a pulse signal are transmitted to the driver 9. Further, the controller 10 transmits a signal to the outside through the output connector 25. 6 and 7, a signal from a button operated by the user is assumed as a signal input from the input connector 26.

  As signals input from the buttons, there are an origin signal instructing to wind the wire rope 3 up to the winding upper limit, and a set position signal instructing to unwind the wire rope 3 to the lowered position set by the volume 23. is there.

  As signals transmitted from the controller 10 to the outside through the output connector 25, an origin position signal indicating that the wire rope 3 has been wound up to the upper limit of winding, and a wire rope 3 wound to the lowered position set by the volume 23. There is a positioning completion signal indicating that it has been issued.

  The driver 9 is electrically connected to the controller 10, receives power supply from the controller 10, receives a control signal and a pulse signal from the controller 10, and transmits a pulse signal to the stepping motor 5. The stepping motor 5 is driven by the pulse signal.

  FIG. 7 is a flowchart showing the flow of control and operation of the motorized spring balancer 1 according to the embodiment of the present application.

  When the motor-equipped spring balancer 1 is turned on, the controller 10 determines whether or not the limit switch 11 is on based on the presence or absence of a signal from the limit switch 11.

  When the limit switch 11 is turned on, that is, when the wire rope 3 is wound up to the winding limit, the controller 10 locks the motor. Further, the controller 10 starts outputting the origin position signal.

  When the user presses the setting position button while the origin position signal is output, the setting position signal is transmitted to the controller 10 through the input connector 26. Upon receiving this signal, the controller 10 turns off the output of the origin position signal and starts transmitting a signal for causing the driver 9 to rotate the stepping motor 5 in the normal direction to lower the hook 12. A pulse signal is transmitted to the stepping motor 5. The stepping motor 5 rotates normally by the pulse signal received from the driver 9, the wire rope 3 is unwound and the hook 12 descends.

  The driver 9 transmits a pulse signal having the number of pulses necessary for lowering the hook 12 to the set position in accordance with the signal transmitted from the controller 10 according to the rotation angle of the volume 23. Thereby, the stepping motor 5 stops when the wire rope 3 is unwound to the set position. By using the stepping motor 5, high-precision positioning is possible.

  When the wire rope 3 is unwound to the set position, the controller 10 starts outputting a positioning completion signal indicating that the hook 12 has reached the position set by the volume 23.

  When the positioning is completed, or when the limit switch 11 has been turned off from the beginning of the power supply, the controller 10 causes the stepping motor 5 to be in a free-running state via the driver 9. Accordingly, the user can freely adjust the vertical position of the suspended tool or the like, similar to a spring balancer without a motor. Moreover, a clutch is not required by using a stepping motor. Therefore, it is possible to reduce manufacturing costs and reduce the occurrence probability of defects. Further, it is not necessary to supply power other than electric power, such as supply of compressed air for the clutch, and the cost for the factory equipment can be reduced.

  When the user presses the origin button, for example, when the use of the tool is finished, the origin signal is input to the controller 10, and the controller 10 turns off the positioning completion signal and locks the stepping motor 5, and the driver 9 Transmission of a signal for reversing the stepping motor 5 is started. The driver 9 that has received the signal starts transmission of a pulse signal that reverses the stepping motor 5, and the stepping motor 5 starts reverse rotation.

  As a result, when the hook 12 is raised and the shock absorbing rubber 14 comes into contact with the contact portion 11a of the limit switch 11, the limit switch 11 is turned on, and transmission of a signal indicating that to the controller 10 is started. The controller 10 that has received the signal stops transmission of a pulse signal for reversing the stepping motor 5 and stops the stepping motor 5. Further, the controller 10 starts outputting the origin position signal.

(First application example)
FIG. 8 is a block diagram showing an automatic suspension device as a first application example of a spring balancer with a motor according to an embodiment of the present application.

  The first application example relates to an automatic suspension apparatus 100 that can appropriately supply an appropriate tool to the worker 133 according to the work content by using a plurality of motor-equipped spring balancers according to the embodiment of the present application. Is. The automatic suspension apparatus 100 can be used in line production type work. In FIG. 8, it is assumed that a work (work object) 132 flows from the left side to the right side in the drawing. As the work 132, for example, automobile parts such as an engine, home appliances, and the like are conceivable.

  The automatic suspension apparatus 100 includes three spring balancers with motors 101a, 101b, and 101c, a host controller 129 electrically connected to the motor-equipped spring balancers 101a to 101c, and a bar electrically connected to the host controller 129. A code reader 130.

  M6 screw nut runners, M8 screw nut runners, and M10 screw nut runners are suspended from the motor-equipped spring balancers 101a, 101b, and 101c as examples of different types of tools.

  As the host controller 129, a control device such as an electronic computer or a programmable logic controller (PLC) can be used. Since the spring balancer with motor of the present invention uses a stepping motor as a motor, it is compatible with a digital control circuit.

  The host controller 129 is connected to the output connectors and input connectors of the spring balancers 101a to 101c with motors, and instead of the above-mentioned “origin” button and “set position” button operated by the worker 133, an “origin” signal And a “set position” signal to the spring balancers 101a to 101c with motors. The host controller 129 also receives a “positioning completion” signal and an “origin position” signal transmitted from the motor-equipped spring balancers 101a to 101c.

  The spring balancers with motors 101a, 101b, 101c having received the “origin” signal issued by the host controller 129 winds the wire rope and transmits an “origin position” signal when the origin is reached. The motor-equipped spring balancers 101a, 101b, and 101c that have received the “set position” signal issued by the host controller 129 unwind the wire ropes to the preset positions, and supply the nut runner to the worker 133. At the same time, a “positioning complete” signal is transmitted.

  The timing at which the nut runner is supplied is determined by the host controller 129 in accordance with a signal from the barcode reader 130 by attaching a barcode corresponding to the type of the workpiece 132 and causing the barcode reader 130 to read the barcode. . That is, the host controller 129 sets in advance to which of the motor-equipped spring balancers 101a, 101b, and 101c the “set position” signal is transmitted according to the work of the worker for each type of work 132. The “setting position” signal is transmitted according to the setting. As the barcode, for example, a barcode obtained by converting a component code into a barcode can be used.

  When the host controller 129 knows in advance what the workpiece 132 is flowing on the line, a sensor 131 that detects that the workpiece 132 has flowed on the line is used instead of the barcode reader 130. Can do. As the sensor 131, a photoelectric sensor, a proximity sensor, or the like can be used.

  In the host controller 129, an estimated work time is preset according to the workpiece 132 and the type of work, and when the estimated work time elapses, the host controller 129 turns on the “origin” signal output. As a result, the motor-equipped spring balancers 101a to 101c wind up the nut runner to the origin when the work of the worker 133 is completed. The winding timing is not limited to the setting of the estimated work time, but may be determined by a nut runner tightening completion signal, a button operation by the user, or the like.

  According to the first application example, according to the barcode attached to the workpiece 132, for example, the unwinding of the wire rope in the order of the spring balancer 101c with motor, the spring balancer 101a with motor, and the spring balancer 101b with motor, Winding can be performed after the estimated work time has elapsed. Depending on the bar code attached to the workpiece 132, the wire rope is unwound and wound after the estimated work time elapses in the order of the motor-equipped spring balancer 101a and the motor-equipped spring balancer 101c, and the motor-equipped spring balancer 101b. Can also be unwound and unwound.

  As described above, according to the automatic suspension apparatus 100 according to the first application example, the motor-equipped spring balancers 101a, 101b, and 101c are arranged in place of the “origin” button and the “set position” button operated by the operator 133. By using the “origin” signal and the “set position” signal from the controller 129, the labor of the operator 133 can be eliminated or reduced, and the work efficiency can be improved.

  Moreover, since the automatic suspension apparatus 100 according to the first application example supplies the tools necessary for the work in the necessary order according to the type of the work 132, the worker 133 forgets to work or makes a mistake in the work procedure. It can also function as an anti-poker.

(Second application example)
FIG. 9 is a block diagram showing a second application example of the motor-equipped spring balancer according to the embodiment of the present application.

  As in the first application example, the automatic suspension apparatus 200 according to the second application example controls a plurality of motor-equipped spring balancers 201a, 201b, and 201c on the line of the line production method by the host controller 229, and tools, etc. Is appropriately supplied to the workers 233a, 233b, and 233c, but the first application is that one motor-equipped spring balancer 201a to 201c is installed in each work area of the workers 233a, 233b, and 233c on the line. It is different from the example.

  The automatic suspension device 200 includes three motor-equipped spring balancers 201a, 201b, and 201c, a host controller 229 that is electrically connected to the motor-equipped spring balancers 201a to 201c, and a sensor that is electrically connected to the host controller 229. 231a, 231b, 231c. As the sensors 231a to 231c, photoelectric sensors, proximity sensors, or the like can be used.

  Tools corresponding to the work contents of the workers 233a, 233b, 233c are suspended from the motor-equipped spring balancers 201a, 201b, 201c.

  As the host controller 229, a control device such as an electronic computer or a programmable logic controller (PLC) can be used.

  The host controller 229 is electrically connected to the output connectors and input connectors of the spring balancers 201a to 201c with motors, and instead of the above-mentioned “origin” button and “set position” button operated by the workers 233a to 233c. The "origin" signal and the "set position" signal are transmitted to the motor-equipped spring balancers 201a to 201c. Further, the host controller 229 receives the “positioning complete” signal and the “origin position” signal transmitted from the motor-equipped spring balancers 201a to 201c.

  The motor-equipped spring balancers 201a, 201b, and 201c that have received the “origin” signal issued by the host controller 229 wind up the wire rope and transmit the “origin position” signal to the host controller 229 when the origin is reached. The motor-equipped spring balancers 201a, 201b, and 201c that have received the “setting position” signal issued by the host controller 229 unwind the wire rope to a preset position and supply the tools to the workers 233a, 233b, and 233c. At the same time, a “positioning complete” signal is transmitted.

  When the tools 231a, 231b, and 231c provided in the respective work areas of the workers 233a to 233c detect the workpiece 232, the timing of supplying the tool is transmitted to the host controller 229, and the signal is detected. The upper controller 229 that has received the signal transmits a “set position” signal to the spring balancers with motors 201a, 201b, and 201c at a predetermined timing.

  The upper controller 229 is preset with an estimated work time according to the work content. When the estimated work time elapses, the upper controller 229 turns on the “origin” signal output. As a result, the motor-equipped spring balancers 201a to 201c wind up the nut runner to the origin when the work of the worker 233 is completed. Note that the winding timing is not limited to the setting of the estimated work time, but may be determined by a nut runner tightening completion signal or a button operation by the user.

  As described above, according to the automatic suspension apparatus 200 according to the second application example, the motor-equipped spring balancers 201a, 201b, and 201c have the “origin” button and the “set position” button operated by the workers 233a, 233b, and 233c. Instead, by using the “origin” signal and the “set position” signal from the host controller 229, the motor-equipped spring balancers 201a to 201c can be sequentially operated according to the movement of the work 232 from the upstream to the downstream of the line. In addition, it is possible to improve the work efficiency of the workers 233a to 233c by eliminating the operation of the workers 233a, 233b, and 233c.

(Third application example)
FIG. 10 is a block diagram showing a third application example of the motor-equipped spring balancer according to the embodiment of the present application.

  As with the second application example, one automatic suspension device 300a, 300b, 300c according to the third application example is installed in each work area of a plurality of workers 333a, 333b, 333c on the line. However, it differs from the second application example in that it does not have a host controller and is independent of each other.

  The automatic suspension devices 300a, 300b, and 300c have spring balancers with motors 301a, 301b, and 301c, and sensors 331a, 331b, and 331c electrically connected to the spring balancers with motors 301a, 301b, and 301c, respectively. ing. As the sensors 331a, 331b, and 331c, photoelectric sensors, proximity sensors, and the like can be used.

  Tools according to the work contents of the workers 333a, 333b, and 333c are suspended from the motor-equipped spring balancers 301a, 301b, and 301c.

  The sensors 331a, 331b, and 331c are electrically connected to the input connectors of the spring balancers with motors 301a, 301b, and 301c, respectively. The sensors 331a to 331c detect that the workpiece 332 has reached a predetermined position, and send a “set position” signal to the motorized spring balancers 301a to 301c.

  The motor-equipped spring balancers 301a to 301c that have received the “set position” signal generated by the sensors 331a to 331c unwind the wire rope to respective preset positions and supply the tools to the workers 333a to 333c.

  In the controller (not shown) provided in the motor-equipped spring balancers 301a to 301c, an estimated work time is set in advance according to the work content, and when the estimated work time elapses, the motor-equipped spring balancers 301a to 301c Wind up the wire rope. Note that the winding timing is not limited to the setting of the estimated work time, but may be determined by a signal transmitted from the tool or a button operation by the user.

  As described above, according to the automatic suspension apparatuses 300a to 300c according to the third embodiment, the tools can be supplied to the workers 333a to 333c according to the movement of the work 332, and the operations of the workers 333a to 333c can be performed. The work efficiency can be improved by eliminating the trouble.

  Further, by arranging the automatic suspension devices 300a to 300c side by side on the line, the motor-equipped spring balancers 301a, 301b, and 301c can be sequentially operated in accordance with the movement of the work 332 from the upstream to the downstream of the line.

  In the above, specific embodiments have been shown and described in order to describe the present invention, but the present invention is not limited to this, and various modifications and improvements can be made. For example, transmission / reception of signals between the components can be performed wirelessly. In the first to third application examples, the automatic suspension device having three motor-equipped spring balancers is shown, but the number of motor-equipped spring balancers is not limited to three, and is set according to the work contents and the like. be able to.

  As described above, according to the present invention, it is possible to provide a motor-equipped spring balancer and an automatic suspension device that enable a smooth operation and prevent a reduction in work efficiency of the user.

1, 1a, 1b, 1c, 101a, 101b, 101c, 201a, 201b, 201c, 301a, 301b, 301c Spring balancer with motor 2 Body case 2a Slit 3 Wire rope 4 Rotating drum 4a Groove 4b Recess 5 Stepping motor 6 Small gear 7 Medium gear 8 Large gear 9 Driver 10 Controller 11 Limit switch 11a Abutting portion 12 Hook 13 Thimble 14 Shock absorbing rubber 15 Mainspring spring 16 Spindle 17 Safety device 18 Ratchet wheel 18a Protrusion 19 Pre-winding ratchet 19a Lever 19b, 19c Claw portion 19d Long hole 20 Oscillation center shaft 21 Restriction member 22 Guide 23 Volume 24 Changeover switch 25 Output connector 26 Input connector 27 Lamp 28 Screw hole 29 Cover 129, 229 Host controller 130 Code reader 131,231a, 231b, 231c, 331a, 331b, 331c sensor 132,232,332 workpiece 133,233a, 233b, 233c, 333a, 333b, 333c operator 100,200,300a, 300b, 300c automatic suspension device

Claims (16)

A rotating drum having a tapered outer peripheral surface;
A wire rope wound from the large diameter side of the rotating drum to the small diameter side;
A mainspring spring for urging the rotating drum in a direction of winding the wire rope;
A spring balancer with a motor having a motor for generating torque for rotating the rotating drum,
The motor is a stepping motor;
A driver for driving the stepping motor;
And a controller for controlling the driver.   The motor-equipped spring balancer according to claim 1, comprising a substantially rectangular parallelepiped main body case that accommodates the rotating drum, the stepping motor, the driver, and the controller.   Center lines as rotation centers of the rotating drum and the stepping motor are parallel to each other, perpendicular to any two opposing planes of the main body case, and aligned in a diagonal direction of the planes. The spring balancer with a motor according to claim 2.   4. The motor-equipped spring balancer according to claim 1, wherein transmission of the torque from the stepping motor to the rotating drum is performed by gears. 5.   The motor-equipped spring balancer according to any one of claims 1 to 4, further comprising a limit switch that detects that the wire rope has reached a winding limit and transmits a signal to the controller. A spindle to which the inner diameter side end of the mainspring spring is fixed;
A ratchet wheel having a plurality of protrusions fixedly fitted on the spindle and projecting radially outward;
The spring balancer with a motor according to any one of claims 1 to 5, further comprising a pre-wound ratchet that restricts rotation of the ratchet wheel and releases the ratchet wheel.   The said pre-winding ratchet is provided with a pair of nail | claw part engaged with the said protrusion, The spring balancer with a motor of Claim 6 characterized by the above-mentioned.   The spring balancer with a motor according to claim 6 or 7, wherein the ratchet wheel and the pre-wound ratchet are accommodated in the main body case.   9. The spring balancer with a motor according to claim 1, further comprising an output connector connected to the controller and outputting a signal generated by the controller to the outside of the main body case.   The motor-equipped spring balancer according to claim 1, further comprising an input connector connected to the controller and configured to input a signal from the outside of the main body case to the controller.   11. The apparatus according to claim 1, further comprising a volume connected to the controller and configured to transmit a signal indicating an unwinding amount of the wire rope to the controller according to a user operation. The spring balancer with a motor as described in the item.   2. A switch, which is connected to the controller and transmits a signal indicating the unwinding and winding speed of the wire rope to the controller according to a user operation. The spring balancer with a motor according to any one of 11. A plurality of motorized spring balancers according to any one of claims 1 to 12,
A host controller that is electrically connected to each of the controllers of the plurality of motor-equipped spring balancers and controls the plurality of motor-equipped spring balancers;
A barcode reader that reads a barcode attached to a work object and transmits a signal to the host controller;
The host controller drives the stepping motor according to the signal. A plurality of motorized spring balancers according to any one of claims 1 to 12,
A host controller that is electrically connected to each of the controllers of the plurality of motor-equipped spring balancers and controls the plurality of motor-equipped spring balancers;
A sensor that detects the movement of the work object and transmits a signal to the host controller,
The host controller drives the stepping motor according to the signal. A plurality of motorized spring balancers according to any one of claims 1 to 12,
A host controller that is electrically connected to each of the controllers of the plurality of motor-equipped spring balancers and controls the plurality of motor-equipped spring balancers;
A plurality of sensors each arranged corresponding to the plurality of spring balancers with motors, detecting movement of a work object and transmitting a signal to the host controller;
The host controller drives the stepping motor according to the signal. A spring balancer with a motor according to any one of claims 1 to 12,
A sensor that detects the movement of the work object and transmits a signal to the controller;
The automatic suspension apparatus, wherein the controller drives the stepping motor in response to the signal.

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