JP2015124022A - Crane device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To achieve both the size reduction of a motor and an increase in load capacity in a pantograph-type and hybrid crane device.SOLUTION: A crane device 10 comprises: a vertical load support device 30 supporting a vertical load generating a vertical thrust at an input point 6b and acting on the input point 6b while permitting the input point 6b to move horizontally; a first motor 41 changing rotational angles of a first arm 1 and a first link 3 by driving a first support shaft 42 fixed to the first arm 1 or the first link 2 to rotate; a second motor 51 changing rotational angles of a second arm 2 and a second link 4 by driving a second support shaft 52 fixed to the second arm 2 or the second link 4 to rotate; and a controller 60 controlling the first motor 41 and the second motor 51 to operate in a cooperative fashion.

Description

  The present invention relates to a so-called pantograph type crane apparatus that employs a pantograph mechanism for a boom, and in particular, a so-called hybrid type crane that includes a motor for driving a boom and thereby has not only a hand crane function but also an assist function or an automatic function. Relates to the device.

  Patent Document 1 discloses a balanced cargo handling apparatus as an example of a pantograph type and hybrid type crane apparatus. In this apparatus, the fulcrum of the pantograph mechanism is on the first support shaft for pivotally supporting the boom on the base, the input point is on the connecting pin that interconnects the two links, and the output point is on the transport head. Located on a third spindle for pivotal attachment to the tip. The connecting pin and the third support shaft are movable in a plane perpendicular to each axis.

  This apparatus includes a servo motor that raises and lowers the connecting pin, and a second motor that horizontally moves the connecting pin. The servo motor directly applies a thrust in the vertical direction to the connecting pin, and the second motor directly applies a thrust in the horizontal direction to the connecting pin. When the motor operates, the input point and the output point are driven so as to move in the plane while drawing similar movement trajectories, and the boom is driven. This apparatus includes an operating body for giving a drive command to the second motor. A clutch is interposed between the second motor and the connecting pin.

  When the operator gives a drive command to the operating body, the clutch is connected and the second motor is driven, and the transport head and the load suspended by the transport head move horizontally without depending on human power. When the operating body is not operated, the clutch is disengaged, and the worker can manually move the transport head and the load horizontally. When an operator tries to raise or lower the load manually, this is detected and the servo motor operates to assist manual lifting of the load.

JP-A-8-268700

  In the device of Patent Document 1, the servo motor must generate not only a thrust for moving the connecting pin but also a braking force for supporting a vertical load acting on the connecting pin based on the weight load of the load. . For this reason, the capacity and therefore the size of the servo motor must be increased, and it is difficult to reduce both the servo motor and the load capacity. In addition, since the distance from the fulcrum to the output point is longer than the distance from the fulcrum to the input point, the movable range of the transport head increases, but the connecting pin has a vertical load that doubles the weight load of the load by the distance ratio. Works. For this reason, the above-described compatibility becomes more difficult.

  Furthermore, since both motors apply a linear thrust to the connecting pin, the motor drive transmission mechanism requires a motion conversion mechanism that converts rotation into translation (Patent Document 1 exemplifies a rack and pinion). Accordingly, the structure of the drive transmission mechanism is complicated.

  Therefore, an object of the present invention is to provide a pantograph-type and hybrid-type crane apparatus that can reduce the motor and increase the transportable weight.

  A crane apparatus according to the present invention includes a base, a boom provided on the base, and a hand provided at a tip of the boom, wherein the boom includes a first arm and a first arm. A second arm having a proximal end pivotally supported at a distal end portion; and first and second links forming a pantograph mechanism together with the first and second arms, wherein the first link is coupled to the first arm. Parallel and one end of the first link is pivotally connected to the second arm, the second link is parallel to the second arm and one end of the second link is the first link. The other end of the first link and the other end of the second link are rotatably connected to each other, and the first end at the base end of the first arm is connected to the first arm. A point, a connection point between the first link and the second link, and Of the second points at the tip of the two arms, one of the first point and the connection point is pivotally supported by the base as a fulcrum and the other of the first point and the connection point and the second point Each of which constitutes an input point and an output point of the pantograph mechanism, and generates a thrust against a vertical load acting on the input point while allowing the input point to move in the horizontal direction. And a first motor that changes the rotation angle of the first arm and the first link by rotationally driving the first support shaft fixed to the first arm or the first link. A second motor that changes a rotation angle of the second arm and the second link by rotationally driving the second support shaft fixed to the second arm or the second link; and the first motor; Movement of the second motor Further comprising a controller for cooperatively controlling.

  According to the configuration, when the first and second motors are operated, the postures of the first and second arms and the first and second links are changed, thereby moving the input point. The position of the input point can be controlled by cooperatively controlling the first and second motors, and an assist function or an automatic function can be exhibited. On the other hand, the hand crane function can be exhibited by turning off the power of the first and second motors. Therefore, the crane apparatus which has an assist function or an automatic function in addition to a hand crane function can be provided.

  Since the first and second motors rotate the spindle, there is no need to interpose a motion conversion mechanism such as a rack and a pinion between the motor and the spindle. When an assist function or an automatic function is added to the crane device, a mechanism for transmitting the driving force of the motor to the input point is simplified.

  The vertical load acting on the input point is supported by the vertical load support device. Here, since the pantograph mechanism is adopted for the boom, as long as the weight load of the hand is constant, the vertical load acting on the input point is constant regardless of the posture of the first and second arms with respect to the base. Therefore, even if the thrust of the vertical load support device is constant, the first and second motors do not need to bear the vertical load acting on the input point. If the vertical load support device can generate a large thrust, the loadable weight can be increased accordingly. For this reason, the first and second motors can be made small regardless of the transportable weight. Even if the thrust of the vertical load support device is not variably set, that is, the first and second motors can be made small while keeping the configuration of the vertical load support device simple.

  The first point may be pivotally supported on the base as a fulcrum, and the connection point and the second point may constitute an input point and an output point of the pantograph mechanism, respectively.

  A first clutch interposed between the first motor and the first support shaft; a second clutch interposed between the second motor and the second support shaft; and the first and second clutches. A release switch for giving a release command, and the output elements of the first and second clutches may be connected to the first and second support shafts without passing through a transmission, respectively.

  According to the said structure, an operator can operate a boom by oneself by releasing a 1st clutch. Since the first motor rotationally drives the first support shaft, unlike the conventional example described above, there is no need to interpose a motion conversion mechanism between the first clutch and the first support shaft. There is no speed reducer between the first clutch and the first support shaft. For this reason, the operator does not have to compensate for the frictional resistance of the mechanism, and the boom can be manually operated easily.

  An output rotatable first reduction gear attached coaxially with the first support shaft; an output rotatable second reduction gear attached coaxially with the second support shaft; and the first and second motors. A release switch for giving a command to stop the servo may be further provided.

  According to the said structure, an operator can operate a boom by own power by stopping the servo of a 1st motor. Since the speed reducer can output and rotate, the lightness of crane operation can be maintained even without a clutch.

  A wrist portion provided on the second arm and having one or more wrist joints for changing the posture of the hand regardless of the posture of the first and second arms with respect to the base; and the one or more wrist joints You may provide one or more wrist motors which drive each.

  According to the said structure, a fine movement can be made to perform a hand.

  A first detection shaft parallel to the first support shaft; a first transmission mechanism that transmits rotation of the first support shaft to the first detection shaft; and a first encoder that detects a rotation angle of the first detection shaft. And may be further provided.

  According to the said structure, it can avoid that components are crowded around a spindle and a motor.

  The vertical load support device is a cylinder having a vertically extendable rod, and the rod allows the input point to move in the horizontal direction while transmitting the thrust generated by the cylinder to the input point. It may be connected to the input point through a connecting member configured as described above.

According to the said structure, the structure of accept | permitting the movement of an input point, generating a thrust can be implement | achieved easily. In addition, it is possible to easily generate a constant thrust.
A thrust sensor for detecting a thrust generated by the cylinder;
An encoder for detecting rotation angles of the first support shaft and the second support shaft, respectively, and the control device is configured to detect a load from a thrust detected by the thrust sensor and a rotation angle detected by the encoder. It may be configured to detect weight.

  According to the said structure, the load of various weight can be handled and the convenience of a crane apparatus improves.

  According to the present invention, it is possible to provide a pantograph-type and hybrid-type crane apparatus that achieves both a reduction in the motor and an increase in the transportable weight.

It is a mimetic diagram of a pantograph mechanism concerning a 1st embodiment. It is a side view which shows the crane apparatus which concerns on 1st Embodiment. It is sectional drawing which shows the 1st motor shown in FIG. 2, and its periphery structure. It is a block diagram which shows the structure of the crane apparatus shown in FIG. It is a side view which shows the crane apparatus which concerns on 2nd Embodiment. It is a block diagram which shows the structure of the crane apparatus shown in FIG.

  Hereinafter, embodiments will be described with reference to the drawings. The same or corresponding elements are denoted by the same reference numerals throughout the drawings, and redundant detailed description is omitted.

(First embodiment)
[Constitution]
FIG. 1 is a schematic diagram of a pantograph mechanism according to the first embodiment. As shown in FIG. 1, the pantograph mechanism includes a first arm 1, a second arm 2, a first link 3 and a second link 4.

  The base end portion of the first arm 1 is pivotally supported by the base at the pivoting portion 5a. The base end portion of the second arm 2 is pivotally supported on the distal end portion of the first arm 1 by a pivoting portion 5b. The first arm 1 can change its posture by rotating around the axis of the pivot portion 5a, and the second arm 2 can change its posture by rotating around the axis of the pivot portion 5b. it can.

  The links 3 and 4 together with the arms 1 and 2 constitute a pantograph mechanism. The first link 3 is parallel to the first arm 1, and the second link 4 is parallel to the second arm 2. One end of the first link 3 is pivotally connected to the second arm 2 by a pivoting portion 5c. One end of the second link 4 is pivotally connected to the first arm 1 by a pivoting portion 5e. The other end portion of the first link 3 and the other end portion of the second link 4 are pivotally connected to each other by a pivoting portion 5d. The first link 3 is a long link longer than the second link 4, and the second link 4 is a short link shorter than the first link 3.

  The axes of the pivot portions 5a to 5e are parallel to each other. Each pivot part 5a-e has a spindle and a bearing. The support shaft is fixed to one of the two members to be connected, and the bearing is provided on the other to rotatably support the support shaft. The quadrilateral with the four members 1 to 4 as the sides and the four pivoting portions 5b to e as the apexes is deformed according to the change in the posture of the arms 1 and 2, while maintaining the parallelogram, Regardless, the first link 3 is kept parallel to the first arm 1 and the second link 4 is kept parallel to the second arm 2.

  The pantograph mechanism has a fulcrum 6a, an input point 6b, and an output point 6c. The three points 6a to 6c are located on one virtual straight line 7 extending in a plane orthogonal to the axis of the pivoting portions 5a to 5e. A first point at the base end portion of the first arm 1 (for example, the axis of the pivoting portion 5a) is pivotally supported on the base as a fulcrum 6a. A connection point between the first link 3 and the second link 4 (for example, the axis line of the pivoting portion 5d) constitutes the input point 6b. The second point at the tip of the second arm 2 constitutes the output point 6c. The input point 6b is located on the virtual straight line 7 between the fulcrum 6a and the output point 6c.

  The input point 6b is movable in a plane orthogonal to the axis of the pivoting portions 5a to 5e, and the postures of the arms 1 and 2 change according to the movement. If the postures of the arms 1 and 2 change, the input point 6b moves in the above plane following this. If the input point 6b moves, the output point 6c also moves. The movement locus of the output point 6c is similar to the movement locus of the input point 6b (see the dotted line triangle in FIG. 1). The distance L1 from the fulcrum 6a to the input point 6b is shorter than the distance L2 from the fulcrum 6a to the output point 6c. For this reason, the movement locus of the output point 6c corresponds to an enlargement of the movement locus of the input point 6b by the ratio L2 / L1 of the two distances L1 and L2 (hereinafter referred to as “link ratio”). The input point 6b and the output point 6c move in the same direction as viewed from the fulcrum 6a.

  Here, the axis of the pivot parts 5a to 5e is horizontal. When the output point 6c receives a downward weight load W, such as when a heavy object is suspended from the output point 6c, a rotational moment is generated based on the weight load W. The input point 6b receives a downward vertical load obtained by doubling the weight load W by the link ratio, and tends to move downward together with the output point 6c. At this time, if an upward thrust that balances with the heavy load W acting on the output point 6c is applied to the input point 6b, and the vertical load acting on the input point 6b is supported by the thrust, the input point 6b and the output point 6c. The movement of the four members 1 to 4 can be maintained by preventing the movement of the four members.

  FIG. 2 is a side view showing the crane apparatus 10 according to the first embodiment. As shown in FIG. 2, the crane apparatus 10 includes a base 11, a boom 12 provided on the base 11, and a hand 13 provided at the tip of the boom 12. The base 11 is installed in a cargo handling work place and has, for example, a column shape. The hand 13 can hold the baggage and release the held baggage. The hand 13 includes a hand main body 13a and a hand actuator 13b for causing the hand main body 13a to perform a gripping and releasing operation of a load. The gripping method is not particularly limited. For example, the hand main body 13a may have a plurality of detachable fingers and carry a load with the fingers, and in that case, the hand actuator 13b is configured to generate power necessary for detachment of the fingers. The The hand body 13a may suck a load, and in that case, the hand actuator 13b is configured to generate a negative pressure necessary for the suction.

  The crane apparatus 10 is a pantograph type, and the above-described pantograph mechanism is employed in the boom 12. The boom 12 includes the arms 1 and 2 and the links 3 and 4 described above. The axis of the pivot parts 5a to 5e is horizontal. The base end portion of the first arm 1 is pivotally supported by the base 11, and the pivot attachment portion 5 a and the fulcrum 6 a are provided on the base 11. In the present embodiment, the fulcrum 6 a is immovable with respect to the base 11. In the present embodiment, the hand 13 is pivotally supported on the tip of the second arm 2 by the pivoting portion 5f, and the axis of the pivoting portion 5f forms the second point constituting the output point 6c.

  The boom 12 includes a first side link 14, an intermediate plate 15 and a second side link 16. The pivot portion 5 b is provided on the intermediate plate 15, and the distal end of the first arm 1 and the proximal end of the second arm 2 are pivotally supported by the intermediate plate 15. The first side link 14 constitutes a parallel link mechanism together with the first arm 1, the base 11 and the intermediate plate 15. The second side link 16 constitutes a parallel link mechanism together with the second arm 2, the intermediate plate 15 and the hand 13. By adopting these parallel link mechanisms for the boom 12, the posture of the hand 13 with respect to the base 11 is maintained regardless of the postures of the arms 1 and 2.

  The 1st arm 1 has the extension part 1a extended on the opposite side to the pivot point 5b seeing from the pivot point 5a which forms the fulcrum 6a. The extension portion 1 a is provided with a boom self-weight load support device 17 that applies a downward load to the first arm 1, thereby supporting the self-load of the boom 12. The boom self-weight load support device 17 according to the present embodiment is a counterweight.

  When the hand 13 grips the load and the load is lifted from the ground, the output point 6c receives a weight load based on the weight of the load and the input point 6b receives a vertical load based on the weight load. The crane apparatus 10 includes the vertical load support device 30 that supports the vertical load acting on the input point 6b as described above. The vertical load support device 30 is fixed to the base 11. The vertical load support device 30 gives a vertical thrust to the input point 6b while allowing the input point 6b to move in the vertical direction. The vertical load is supported by this thrust, and the thrust balances with the weight load acting on the output point 6c.

  In the pantograph type crane device 10, unlike the SCARA type, a period from when a load is lifted to the ground when the load starts to act on the ground or when the load is released in the air (hereinafter referred to as “the load”). In the “gripping period”), the weight load acting on the output point 6 c is constant regardless of the postures of the arms 1 and 2. Therefore, the vertical load support device 30 applies a certain thrust to the input point 6b during a load gripping period and a period from when a certain load is released to when the next load is lifted (hereinafter, “empty gripping period”). Configured.

  For example, the vertical load support device 30 is configured by a fluid cylinder mechanism. The fluid cylinder mechanism includes a cylinder 31 having a rod 32 that is extendable in the vertical direction. The cylinder 31 may be an air cylinder or a hydraulic cylinder (including a hydraulic circulation cylinder). The input point 6 b is attached to the rod 32. As the rod 32 expands and contracts, the input point 6b is allowed to move vertically and guided. The vertical load support device 30 includes a guide member 33 that allows and guides the horizontal movement of the input point 6b. The guide member 33 is provided on the rod 32, and the input point 6b is attached to the rod 32 through the guide member 33 so as to be horizontally movable.

  In the present embodiment, since the vertical load acting on the input point 6b is downward, the vertical load support device 30 applies upward thrust to the input point 6b. The vertical load support device 30 is disposed below the input point 6b. The direction of the thrust is the same as the extending direction of the rod 32.

  The crane apparatus 10 is a hybrid type and includes first and second motors 41 and 51 that drive the boom 12. The motors 41 and 51 are, for example, servo motors. The first motor 41 rotationally drives the first support shaft 42 fixed to the first arm 1 or the first link 3, thereby changing the rotation angles of the first arm 1 and the first link 3. The second motor 51 rotationally drives the second support shaft 52 fixed to the second arm 2 or the second link 4, thereby changing the rotation angles of the second arm 2 and the second link 4.

  As an example, the first support shaft 42 is a support shaft that constitutes the pivot attachment portion 5a, is fixed to the first arm 1, and is provided on the base 11 that also constitutes the pivot attachment portion 5a. (See FIGS. 3 and 4). When the first support shaft 42 is rotated, the posture of the first arm 1 is changed, and the posture of the first link 3 is changed so as to be parallel to the first arm 1. The second support shaft 52 is, for example, a support shaft that constitutes the pivot attachment portion 5e, is fixed to the second link 4, and is a second bearing 53 (see FIG. 5) provided on the first arm 1 that also constitutes the pivot attachment portion 5e. 4)). When the second support shaft 52 rotates, the posture of the second link 4 changes and the posture of the second arm 2 changes so as to be parallel to the second link 4.

  Although there are other candidates for the second support shaft 52, one close to the fulcrum 6 a is selected as the second support shaft 52 here. Thereby, even if the second motor 51 is attached to the boom 12 (for example, the first arm 1) to rotationally drive the second support shaft 52, the center of gravity of the boom 12 can be prevented from moving away from the fulcrum 6a. . Therefore, the self load that the boom self-weight load support device 17 should support can be reduced, and the boom self-weight load support device 17 (in this embodiment, the counterweight) can be reduced in size and / or the extension portion 1a can be shortened. The entire crane apparatus 10 is reduced in size. The first support shaft 42 constitutes a pivoting portion 5 a that forms the fulcrum 6 a, and the first motor 41 can be avoided from being added to the weight of the boom 12.

  FIG. 3 is a sectional view showing the first motor 41 shown in FIG. 2 and its peripheral configuration. As illustrated in FIG. 3, the crane apparatus 10 includes a first driving force transmission unit 44 that transmits the driving force generated by the first motor 41 to the first support shaft 42. The first driving force transmission unit 44 includes a first speed reducer 45 and a first clutch 46. The first speed reducer 45 is interposed between the first motor 41 and the first clutch 46. The first clutch 46 is electromagnetic, and switching between the engaged state and the released state is electronically controlled. The output element of the first clutch 46 is connected to the first support shaft 41 without passing through the transmission. However, the first driving force transmission unit 44 may have a joint interposed between the first clutch 46 and the first support shaft 42.

  The input shaft and the output shaft of the first reduction gear 45 are arranged coaxially with each other. The first reduction gear 45 is constituted by, for example, a planetary gear or a wave gear. The first support shaft 42 is arranged coaxially with the first clutch 46, the first speed reducer 45, and the first motor 41.

  The crane apparatus 10 includes a first detection shaft 47 parallel to the first support shaft 41, a first transmission mechanism 48 that transmits the rotation of the first support shaft 41 to the first detection shaft 47, and a rotation angle of the first detection shaft 47. The first encoder 49 is provided. The first transmission mechanism 48 includes a drive element 48 a fixed to the first support shaft 41 (or a joint portion that rotates integrally therewith) and a driven element 48 b fixed to the first detection shaft 47. The first transmission mechanism 48 extracts power downstream of the first clutch 46 in the transmission path defined by the first driving force transmission unit 44. When the first transmission mechanism 48 includes a belt transmission mechanism or a chain transmission mechanism, the first transmission mechanism 48 further includes a transmission element 48c that transmits the rotation of the driving element 48a to the driven element 48b. The first transmission mechanism 48 may be configured by a parallel shaft gear train. The first encoder 49 is disposed away from the first motor 41 and the first driving force transmission unit 44 in the radial direction. Therefore, it is possible to avoid parts from being concentrated around the first motor 41 and the first support shaft 42.

  The first transmission mechanism 48 increases the rotation of the first support shaft 41 and transmits it to the first detection shaft 47. As an example, the speed ratio of the first transmission mechanism 48 is the reciprocal of the speed ratio of the first speed reducer 62, and the first detection shaft 47 has the same speed as the first motor 41 when the first clutch 46 is in the engaged state. Rotate with.

  The first motor 41 and the first reduction gear 46 are held by the motor holder 18. The motor holder 18 has a protrusion 18a, and the first encoder 49 is attached to the protrusion 18a. The first motor 41, the first driving force transmission unit 44, the first detection shaft 47, the first transmission mechanism 48 and the first encoder 49 are unitized through the motor holder 18.

  FIG. 4 is a block diagram showing a configuration of the crane apparatus 10 shown in FIG. As shown in FIG. 4, the second motor 51 and its peripheral configuration are the same as those of the first motor 41. The second driving force transmission unit 54, the second reduction gear 55, the second clutch 56, the second detection shaft 57, the second transmission mechanism 58, and the second encoder 59 are configured in the same manner as the elements 44 to 49 described above, These elements 44 to 49 are unitized together with the second motor 51 via a motor holder (not shown).

  The crane device 10 includes a thrust adjustment device 35 that adjusts the thrust generated by the vertical load support device 30. The thrust adjustment device 35 keeps the thrust applied to the input point 6b constant while allowing the input point 6b to move in the vertical direction during the above-described luggage gripping period and idle gripping period.

  When the vertical load support device 30 is the cylinder 31, the thrust adjustment device 35 pumps the working fluid in the cylinder 31, and the pressure of the working fluid supplied to the cylinder 31 and supply / discharge of the working fluid to the cylinder 31. And a servo valve 37 to be controlled. The servo valve 37 is an electromagnetic type. The thrust generated by the vertical load support device 30 is detected by a thrust sensor 39. For example, the thrust sensor 39 is configured by a pressure sensor that detects an internal pressure of the cylinder 31 that is proportional to the thrust.

  The crane device 10 includes a control device 60. The control device 60 is connected to the first encoder 49, the second encoder 59, and the thrust sensor 39 described above, and detects the rotation angle of the first detection shaft 47, the rotation angle of the second detection shaft 57, and the detected values of the internal pressure of the cylinder 31. input. The control device 60 is connected to the first motor 41 and the second motor 51 described above, and gives a drive command to the motors 41 and 51 to control the operation of the motors 41 and 51. As a result, the rotation angles of the arms 1 and 2 and the positions of the input point 6b and the output point 6c (that is, the hand 13 and the load held by the hand 13) are controlled.

  The control device 60 is connected to the hand actuator 13 b and controls the operation of the hand 13. The control device 60 is connected to the first and second clutches 46 and 56 described above, and controls the operation or state of the clutches 46 and 56. The control device 60 is connected to the servo valve 37, and controls the thrust applied from the vertical load support device 30 to the input point 6b by controlling the operation of the servo valve 37.

  The control device 60 is connected to the operation device 70 and inputs a command input to the operation device 70 by an operator. As an example, the operation device 70 includes a changeover switch 71, a control lever 72, a load release button 73, a weight measurement button 74, and a continuous conveyance button 75. These operation members 71 to 75 may be attached together as a single member, or are distributed and arranged in a plurality of members (for example, the base 11, the hand 13, a dedicated operation body, etc.). May be.

  The changeover switch 71 is a member for performing an operation of switching and specifying the operation mode of the crane apparatus 10, and the operator can select a desired operation mode by operating the changeover switch 71. The changeover switch 71 is installed in the hand body 13a, for example (see FIG. 2). The control device 60 controls the operations of the first motor 41, the second motor 51, the first clutch 46, the second clutch 56, and the like according to the operation mode specified by the changeover switch 71.

  In the operation mode, for example, a hand crane mode in which the operator manually moves the load held by the hand 13 by manually moving the boom 12, and the operator is gripped by the hand 13 by remotely operating the boom 12. It includes a maneuvering mode that moves the luggage without having to do it yourself. The operation mode includes an automatic mode in which the handling work is automatically performed by operating the boom 12 and the hand 13 according to a program taught in advance, and a teaching mode in which the boom 12 and the hand 13 are operated to create the program. May be.

  The control lever 72 is a member for an operator to give an operation command of the boom 12 in the control mode or the teaching mode. The operation command may be a rotation command for the arms 1 and 2, or a vertical movement command and a horizontal movement command for the output point 6c (that is, the hand 13 and the baggage held by the hand 13). The control device 60 obtains an operation target value of the motors 41 and 51 in accordance with an operation command from the worker, and cooperatively controls the motors 41 and 51. The other operation members 73 to 75 will be described later.

  The control device 60 is connected to the human sensor 65 and the alarm device 66. The human sensor 65 detects whether a human is present near the sensor using infrared rays and / or ultrasonic waves. For example, the human sensor 65 is installed in the hand main body 13a (see FIG. 2). When the hand main body 13a or the tip of the second arm 2 approaches a human, the human sensor 65 outputs a detection signal indicating that to the control device 60. When the control device 60 receives a detection signal from the human sensor 65 during execution of the steering mode, the automatic mode, and the teaching mode, the control device 60 activates the alarm device 66.

  The alarm device 66 includes a rotating lamp 66a and a speaker 66b. For example, the rotation 66a is installed on the base 11, and the speaker 66b is installed on the hand body 13a (see FIG. 2). Thereby, an operator can be protected from the boom 12, the hand 13, or a load which moves automatically. In conjunction with the operation of the alarm device 66, the operation target values of the motors 41 and 51 are corrected so that the operation speed of the boom 12 is slower than usual, or the motors 41 and 51 are controlled so as to stop the boom 12. May be.

[Action]
Hereinafter, operation | movement and an effect | action of the crane apparatus 10 comprised as mentioned above are demonstrated. When the crane apparatus 10 is used, a cargo handling operation of transporting a plurality of loads one by one within the movable range of the boom 12 can be performed.

  First, the automatic function of the crane apparatus 10 will be described. When the control mode is selected by the operation of the changeover switch 71, the clutches 46 and 56 are engaged and the operation command from the control lever 72 becomes valid, and the operator is allowed to remotely operate the boom 12. When the control lever 72 is operated, the motors 41 and 51 operate under coordinated control. The driving force generated by the motors 41 and 51 is transmitted to the support shafts 42 and 52 via the clutches 46 and 56 in the connected state. Thereby, the postures of the arms 1 and 2 and the position of the hand 13 are controlled in accordance with an operation command from the operator. When the moving direction of the output point 6c includes a horizontal component, the input point 6b is guided in the horizontal movement by the guide member 33 and smoothly moves in the horizontal direction.

  When the moving direction of the output point 6c includes a vertical component, a vertical load based on the driving force generated by the motors 41 and 51 will act on the rod 32 via the input point 6b, and the internal pressure of the cylinder 31 will fluctuate. And The control device 60 controls the servo valve 37 of the thrust adjusting device 35 so that the thrust (internal pressure) of the cylinder 31 is maintained at a constant value regardless of the action of such a load. More specifically, the control device 60 monitors the detection value of the thrust sensor 39 and controls the servo valve 37 so that the internal pressure of the cylinder 31 is maintained at a value corresponding to the thrust. As a result, the cylinder 31 continues to apply the necessary thrust to the input point 6b, while the rod 32 can smoothly expand and contract without receiving the resistance of the cylinder 31. Therefore, the input point 6b moves smoothly in the vertical direction.

  When the hand 13 is not gripping a load, the control device 60 reads the previously stored minimum thrust value (or the minimum internal pressure value corresponding thereto) so that the thrust of the cylinder 31 is maintained at this minimum thrust value. The servo valve 37 is controlled. The minimum thrust value is a thrust value necessary to support a weight load acting on the output point 6c based only on the weight of the hand 13 and various components (for example, the human sensor 65 and the speaker 66b) installed on the hand 13. It can be grasped at the design stage of the hand 13.

  After the hand 13 is sufficiently close to the next package to be transported, the weight measurement button 73 is operated. When the weight measurement button 73 is operated, the control device 60 performs a detection operation for detecting the weight of the load based on the thrust detected by the thrust sensor 39 and the rotation angle detected by the encoders 49 and 59. The weight measurement button 73 is a member for giving a command to start the detection operation.

  As an example of the detection operation, the control device 60 drives the hand actuator 13b to cause the hand body 13a to grip the load. Next, the servo valve 37 is driven to change the internal pressure of the cylinder 31 so as to increase the thrust of the cylinder 31, and the inputs from the encoders 49 and 59 are monitored. When the detection values of the encoders 49 and 59 change, the control device 60 stores the detection value of the thrust sensor 39 at that time. When the input point 6b and the output point 6c move upward and the load is lifted, the first support shaft 42 and the second support shaft 52 rotate, and the detection values of the encoders 49 and 59 change. Therefore, the detected value of the thrust sensor 39 at that time corresponds to a thrust value that balances with the weight load acting on the output point 6c based on the total weight of the hand 13 holding the load. Thus, in the detection operation, not the weight of the load itself but a thrust value required according to the weight or an internal pressure value corresponding to the thrust value may be detected.

  When performing the detection operation, the control device 60 may release the clutches 46 and 56. As a result, the cylinder 31 does not have to compensate for the friction of the driving force transmission units 44 and 54 and the braking force of the motors 41 and 51, so that the weight detection accuracy is improved. Further, since the transmission mechanisms 48 and 58 take out power from the clutches 46 and 56 and the support shafts 42 and 52 to rotationally drive the detection shafts 47 and 57, the encoders 49 and 59 have the clutches 46 and 56 in the released state. Even if this is the case, this can be detected when the support shafts 42 and 52 rotate.

  When the detection operation is finished, the boom 12 can be remotely controlled by using the control lever 72, so that the luggage can be transported without human power. When gripping a load, the control device 60 controls the servo valve 37 so that the thrust of the cylinder 31 is maintained at the thrust value stored in the detection operation.

  After the package is conveyed to a desired position, the package release button 74 is operated. The baggage release button 74 is a member for giving a command for the operator to release the baggage. When the load release button 74 is operated, the control device 60 controls the hand actuator 13b so that the load held by the hand 13 is released. The control device 60 monitors inputs from the encoders 49 and 59. When the detection values of the encoders 49 and 59 change, the control device 60 switches the target value of the thrust of the cylinder 31 to the minimum thrust value and controls the servo valve 37 so that the thrust of the cylinder 31 is maintained at the minimum thrust value. . If the load 13 moves away from the hand 13 while the thrust of the cylinder 31 is maintained at the detected value, the thrust of the cylinder 31 becomes excessive with respect to the weight load acting on the output point 6c, and the input point 6b moves upward. Thus, the support shafts 42 and 52 rotate. Therefore, by switching the target value of the thrust to the minimum thrust value at this time, it is possible to suppress the unnecessary behavior of the boom 12 even if the weight load at the output point 6c is rapidly reduced.

  In carrying the next package, the same operation as described above may be repeated. When the weight of the load varies, the detection operation is performed each time. Each time the detection operation is performed, the control device 60 updates and stores the detected weight of the load, the thrust value required according to the weight, or the internal pressure value corresponding thereto. By performing the detection operation, loads with various weights can be transported, and the convenience of the crane apparatus 10 is enhanced. In the detection operation, a sensor necessary for operating the motor to drive the boom 12 is used. For this reason, the structure of the control system of the crane apparatus 10 can be kept simple.

  If the weight of the package is uniform, the detection operation may be performed before the first package is transported. When transporting the second and subsequent packages is started, the continuous transport button 75 is operated instead of the weight detection button 73. When the continuous conveyance button 75 is operated, the control device 60 drives the hand actuator 13b to cause the hand main body 13a to grip the load. Next, the servo valve 37 is controlled so that the thrust of the cylinder 31 is maintained at the detected value by switching to the detected value storing the target value of the thrust of the cylinder 31. As a result, the luggage is raised until it no longer receives vertical drag from the pallet or the like.

  In the teaching mode, the boom 12 and the hand 13 may be operated in the same manner as in the steering mode while appropriately setting teaching points. When the automatic mode is selected by the changeover switch 71, the control device 60 controls the boom 12 and the hand 13 in accordance with the program created in the teaching mode, whereby the cargo handling operation is automatically performed.

  According to the present embodiment, the vertical load acting on the input point 6 b is supported by the vertical load support device 30. Therefore, the first and second motors 41 and 51 do not need to compensate for the heavy load acting on the output point 6c. In addition, since the self-load of the boom 12 is supported by the boom self-weight load support device 17, the first and second motors 41 and 51 do not need to compensate the self-load of the boom 12. The first and second motors 41, 51 accelerate or decelerate the first and second arms 1, 2, so that frictional forces generated at the driving force transmission parts 44, 54 and the pivot part (for example, rolling friction of bearings, etc.) ) To bear the torque necessary to compensate. When it is desired to increase the transportable weight, the vertical load support device 30 may be configured so as to be able to generate a larger thrust, and the capacities of the first and second motors 41 and 51 need not be increased. Accordingly, it is possible to achieve both reduction in the capacity of the first and second motors 41 and 51 and increase in the loadable weight.

  Since the pantograph mechanism is adopted for the boom 12, even if the thrust of the vertical load support device 30 is constant, the first and second motors 41 and 51 do not have to bear the vertical load acting on the input point 6b. . For this reason, the first and second motors 1 and 2 are reduced in size without performing complicated control in which the thrust of the vertical load support device 30 is changed according to the postures of the first and second arms 1 and 2. be able to. Therefore, both simplification of thrust control and reduction of the first and second motors 1 and 2 can be achieved.

  Since the first and second motors 41 and 51 rotationally drive the first and second support shafts 42 and 52, the driving force transmission units 44 and 54 do not require a motion conversion mechanism such as a rack and a pinion. Therefore, when providing a hybrid crane apparatus, the structure of the driving force transmission units 44 and 54 can be simplified.

  Next, the hand crane function of the crane apparatus 10 will be described. When the hand crane mode is selected by the operation of the changeover switch 71, the first and second clutches 46 and 56 are released and the operation command from the control lever 72 becomes invalid. Thus, the changeover switch 71 functions as a release switch that gives a command to release the first clutch 46 and the second clutch 56.

  When the clutches 46 and 56 are released, the first and second support shafts 42 and 52 do not receive the braking force from the motors 41 and 51. For this reason, the operator can swing the arms 1 and 2 by his / her own force, thereby moving the hand 13 and the load held by the hand 13. The output elements of the clutches 46 and 56 are connected to the support shafts 42 and 52 without passing through the transmission. For this reason, the operator does not need to compensate for the frictional resistance of the driving force transmission units 44 and 54, and can manually operate the boom 12 easily.

  When causing the hand 13 to hold the load, the weight detection button 73 or the continuous conveyance button 75 is operated as described above. When releasing the load from the hand 13, the load release button 74 is operated as described above. When the operator tries to move the output point 6c in the direction including the vertical component, the control device 60 determines that the thrust of the cylinder 31 is a constant value (minimum thrust value during the idle gripping period, The servo valve 37 of the thrust adjustment device 35 is controlled so as to be maintained at the stored detection value. Thereby, also in the hand crane mode, the vertical load support device 30 generates a thrust that balances the heavy load acting on the output point 6c, thereby supporting the vertical load at the input point 6b.

[Second Embodiment]
FIG. 5 is a side view of the crane apparatus 110 according to the second embodiment. Detailed description of the same configuration as that of the first embodiment will be omitted, and differences from the first embodiment will be mainly described.

  The crane apparatus 110 according to the second embodiment is a two-groove pantograph type. The base 111 has two guide grooves, a vertical guide groove 111a and a horizontal guide groove 111b. The base end of the first arm 1 is not directly supported by the base 111. Instead, the base end of the first arm 1 is pivotally supported by one end of the lower link 119 at the pivoting portion 105a, and the other end of the lower link 119 is pivotally supported by the lower end of the first side link 14 by the pivoting portion 105g. . The pivot portions 105a and 105g are received in the vertical guide groove 111a, and therefore the lower link 119 is held in a state of extending vertically. The lower link 119 forms a parallel link mechanism with the first arm 1, the first side link 14, and the intermediate plate 15. The pivot portion 5e is received in the horizontal guide groove 111b.

  The boom self-weight load support device 117 according to the present embodiment is a cylinder 117a. The cylinder 117a applies a downward thrust to the extension portion 1a from the pivoting portion 105a of the first arm 1, and balances the self-load of the boom 112 with the thrust. Since the self-weight load is constant, the cylinder 117a generates a certain thrust necessary to balance the self-weight load while expanding and contracting the rod 117b according to the posture of the first arm 1. Thus, it is possible to support the self-load of the boom 12 without using the counterweight.

  The pivot portion 105a is allowed and guided to move in the vertical direction by the vertical guide groove 111a. The pivoting portion 5d is allowed and guided to move horizontally by the horizontal guide groove 111b. When a vertically downward weight load acts on the output point 6c, the pivoting portion 105a and the lower link 119 and pivoting portion 105g connected to the pivoting portion 105a tend to move upward. The vertical load support device 130 applies a downward thrust to the pivot portion 105a, and balances the weight load acting on the output point 6c with the thrust. Also in this embodiment, the vertical load support device 130 includes a cylinder 131, and the cylinder 131 is disposed on the pivoting portion 105 a, and the thrust direction is the same as the extension direction of the rod 132 of the cylinder 131. Also in this embodiment, since the motors 141 and 151 that drive the boom 112 do not have to bear the heavy load acting on the output point 6c, the motors 141 and 151 can be downsized and the load capacity of the crane apparatus 110 can be reduced. Enlarging can be compatible.

  The first support shaft 142 constitutes a pivot portion 105a, is fixed to the first arm 1, and is rotatably supported by a first bearing 143 (see FIG. 6) provided on a lower link that also constitutes the pivot portion 105a. Is done. When the first motor 141 is operated, the first support shaft 142 is rotationally driven, whereby the postures of the first arm 1 and the first link 3 are changed. The second support shaft 152 constitutes a pivot portion 5d, is fixed to the second link 4, and is a second bearing 153 provided at the base end of the first link 3 that also constitutes the pivot portion 5d (see FIG. 6). Is rotatably supported. When the second motor 151 operates, the second support shaft 152 rotates, whereby the postures of the second link 4 and the second arm 2 change.

  The base 111 includes a base part 121 installed in the cargo handling work place, and a turning part 122 that can rotate around a vertical axis with respect to the base part 121. The guide grooves 111a and 111b, the boom self-weight load support device 118, and the vertical load support device 130 are provided in the turning portion 122.

  The boom 112 has a wrist 180 that is provided at the tip of the second arm 2 and forms the tip of the boom 112, and the hand 13 is provided at the wrist 180. The distal end of the second arm 2 is pivotally supported by the first wrist member 181 at the pivoting portion 105f. The axis of this pivoting portion 105f forms the second point constituting the output point 6c of the pantograph mechanism. The lower end of the second side link 16 is pivotally supported by the first wrist member 181, and the first wrist member 181 constitutes a parallel link mechanism together with the second arm 2, the second side link 16 and the crank plate 15. The second wrist member 182 is coupled to the first wrist member 181 via the first wrist joint 184 so as to be rotatable around the first wrist axis S. The third wrist member 183 is connected to the second wrist member 182 via the second wrist joint 185 so as to be rotatable around the second wrist axis B. The hand 13 is connected to the third wrist member 182 via the third wrist joint 186 so as to be rotatable around the third wrist axis T. The first wrist axis S is kept vertical regardless of the postures of the arms 1 and 2 by the action of the parallel link mechanism. The second wrist axis B is orthogonal to the first wrist axis S and is kept horizontal regardless of the postures of the arms 1 and 2. The third wrist axis T is orthogonal to the second wrist axis B.

  The crane apparatus 110 includes a boom turning motor 191 and wrist motors 192 to 194 corresponding to the wrist joints 184 to 186, respectively. The boom turning motor 191 rotationally drives the turning part 122 with respect to the base part 121. The wrist turning motor 192 rotates the second wrist member 182 around the first wrist axis S with respect to the first wrist member 181. The wrist bending motor 193 drives the third wrist member 183 to bend around the second wrist axis B with respect to the second wrist member 182. The wrist twisting motor 194 twists and drives the hand 13 around the third wrist axis T with respect to the third wrist member 183. In the present embodiment, the wrist 180 has three wrist joints 184 to 186, but the number of wrist joints is not particularly limited.

  When the turning unit 122 rotates, the entire boom 122 and the hand 13 turn horizontally. Therefore, the movable range of the hand 13 is greatly expanded, and the convenience of the cargo handling work is improved. Moreover, since the hand 13 is provided in the wrist part 180 having the three wrist joints 184 to 186, the position and posture of the hand 13 can be finely adjusted, and the convenience of the cargo handling work is improved.

  The crane device 110 includes a wrist load support device 187 for supporting the own weight load of the wrist portion 180. The wrist load support device 187 is provided in the horizontal portion 188 of the wrist portion 180 that is maintained in a horizontal posture regardless of the operation of the motors 141, 151, 191 to 194. Here, “maintained in a horizontal posture” means that the posture around two orthogonal axes forming a horizontal plane is constant. In the present embodiment, the first and second wrist members 181 and 182 constitute the horizontal portion 188.

  The wrist load support device 187 according to the present embodiment is a cylinder 187a. The cylinder 187a applies a downward thrust to the horizontal portion 188, and balances with the self-weight load of the wrist portion 180 by the thrust. Since the self-weight load is constant and the horizontal portion 188 is maintained in a horizontal posture, the cylinder 187a generates a constant thrust necessary for balancing with the self-weight load. By providing the wrist load support device 187, the motors 192 to 194 that drive the wrist part 180 do not have to bear the weight load of the wrist part 180, and the motors 192 to 194 can be made smaller.

  FIG. 6 is a block diagram showing a configuration of the crane apparatus 110 shown in FIG. As shown in FIG. 6, the control device 160 controls the operation of the motors 191 to 194. The control lever 172 is configured to be able to give operation commands for these motors 191 to 194. The thrust adjustment device 135 is configured to adjust the thrust of the cylinder 131 of the vertical load support device 130, the cylinder 117a of the boom self-weight load support device 117, and the cylinder 187a of the wrist load support device 187. The thrust adjusting device 135 is controlled so that the thrusts 117, 130, and 187 are maintained constant. Although not shown in FIG. 6, thrust sensors are provided corresponding to the cylinders 117a, 131, and 187a.

  The first driving force transmission unit 144 does not have the first clutch 46 (see FIG. 1). The first driving force transmission unit 144 includes a first speed reducer 145, and the output of the first speed reducer 145 is input to the first support shaft 142 without a clutch. The first reduction gear 145 is arranged coaxially with the first support shaft 142 as in the first embodiment. The first reduction gear 145 is capable of output rotation. The first transmission mechanism 48 takes out power downstream of the first speed reducer 145. The second driving force transmission unit 154 and the second reduction device 155 are the same as the first driving force transmission unit 144 and the first reduction device 145. The driving force transmission unit that transmits the power of the boom turning motor 191 is similarly configured.

  When the changeover switch 71 is operated and the hand crane mode is selected, the control device 160 stops the servos of the first motor 141, the second motor 151, and the boom turning motor 191. Thus, the changeover switch 71 functions as a release switch that gives a command to stop the servos of the motors 141, 151, and 191. By stopping the servo, the operator can easily operate the boom 112.

[Modification]
The above embodiment is an example, and the above configuration can be appropriately changed within the scope of the present invention. For example, in the first and second embodiments, the pantograph mechanism in which the input point 6b is located between the fulcrum 6b and the output point 6c is employed in the boom, but the fulcrum 6b is located between the input point 6b and the output point 6c. A so-called reverse pantograph mechanism in which the moving direction of the input point 6b and the moving direction of the output point 6c are opposite to each other when viewed from the base 2 may be adopted for the boom. Although detailed illustration is omitted, in this case, the connection point between the first link and the second link is pivoted to the base as a fulcrum, the first point at the base end of the first arm constitutes the input point, and the second point The second point at the tip of the arm constitutes the output point.

  The second arm 2 may have a joint between the pivot portions 5c and 5f. At this time, if the axis of the joint is positioned on a straight line connecting the pivot portions 5c and 5f, the pantograph mechanism is not destroyed.

  Although the vertical load support devices 30 and 130 are configured by the fluid cylinder mechanism, they may be configured by a load support motor that rotationally drives the ball screw. In this case, a load cell that detects a load in the vertical direction is provided on a nut that is screwed to the ball screw or a connecting member that connects the nut to the input point 6b, and the input of the load cell is used to perform the same as in the above embodiment. Control of detection operation and thrust adjustment can be executed.

  The present invention is useful when used in a pantograph-type and hybrid-type crane apparatus.

DESCRIPTION OF SYMBOLS 1 1st arm 2 2nd arm 3 1st link 4 2nd links 5a-f, 105a, 105f, 105g Pivoting part 6a Support point 6b Input point 6c Output point 10,110 Crane apparatus 11,111 Base 12,112 Boom 13 Hands 18, 118 Boom self-weight load support device 30, 130 Vertical load support device 31, 131 Cylinder 32, 132 Rod 39 Thrust sensor 41, 141 First motor 51, 151 Second motor 42, 142 First support shaft 52, 152 Second support shafts 44 and 144 First drive force transmission portions 54 and 154 Second drive force transmission portions 45 and 145 First reduction gears 55 and 145 Second reduction gear 46 First clutch 56 Second clutch 47 First detection shaft 57 Second detection shaft 48 First transmission mechanism 58 Second transmission mechanism 49 First encoder 59 Second encoder 60, 160 Control device 6 Warning device 70, 170 the operating device 71 the change-over switch (release switch)
180 Wrist part 184 to 186 Wrist joint 187 Wrist load support device 188 Horizontal part 192 to 194 Wrist motor

Claims (8)

A base, a boom provided on the base, and a hand provided at the tip of the boom;
The boom includes a first arm, a second arm having a base end pivotally supported at a distal end portion of the first arm, and first and second links constituting a pantograph mechanism together with the first and second arms. The first link is parallel to the first arm, one end of the first link is pivotally connected to the second arm, and the second link is parallel to the second arm. In addition, one end of the second link is rotatably connected to the first arm, and the other end of the first link and the other end of the second link are rotatable with respect to each other. Of the first point at the proximal end of the first arm, the connection point between the first link and the second link, and the second point at the distal end of the second arm, the first point and One of the connecting points is pivotally supported by the base as a fulcrum And the other to the second point of the first point and the connection point constitutes the input point and an output point of the pantograph mechanism, respectively, a crane apparatus,
A vertical load support device that generates a thrust against a vertical load acting on the input point while allowing the input point to move in the horizontal direction;
A first motor that changes a rotation angle of the first arm and the first link by rotationally driving a first support shaft fixed to the first arm or the first link;
A second motor that changes a rotation angle of the second arm and the second link by rotationally driving a second support shaft fixed to the second arm or the second link;
A crane apparatus further comprising: a control device that cooperatively controls operations of the first motor and the second motor.   The crane apparatus according to claim 1, wherein the first point is pivotally supported on the base as a fulcrum, and the connection point and the second point constitute an input point and an output point of the pantograph mechanism, respectively. A first clutch interposed between the first motor and the first support shaft;
A second clutch interposed between the second motor and the second support shaft;
A release switch for giving a command to release the first and second clutches;
The crane apparatus according to claim 1 or 2, wherein output elements of the first and second clutches are connected to the first and second support shafts without passing through a transmission, respectively. A first speed reducer that is mounted coaxially with the first support shaft and capable of rotating output;
A second speed reducer mounted on the same axis as the second support shaft and capable of rotating the output;
The crane apparatus according to claim 1, further comprising a release switch that gives a command to stop the servo of the first and second motors. A wrist portion provided on the second arm and having one or more wrist joints for changing the posture of the hand regardless of the posture of the first and second arms with respect to the base;
The crane apparatus of any one of Claims 1 thru | or 4 provided with the 1 or more wrist motor which drives each of the said 1 or more wrist joint. A first detection axis parallel to the first support shaft;
A first transmission mechanism for transmitting rotation of the first support shaft to the first detection shaft;
The crane apparatus according to claim 1, further comprising: a first encoder that detects a rotation angle of the first detection shaft.   The vertical load support device is a cylinder having a vertically extendable rod, and the rod allows the input point to move in the horizontal direction while transmitting the thrust generated by the cylinder to the input point. The crane apparatus of any one of Claims 1 thru | or 6 connected with the said input point via the connection member comprised in this way. A thrust sensor for detecting a thrust generated by the cylinder;
An encoder that respectively detects rotation angles of the first support shaft and the second support shaft;
The crane device according to claim 7, wherein the control device is configured to detect a load weight from a thrust detected by the thrust sensor and a rotation angle detected by the encoder.

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