JP2018135167A - Electrical lifting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce power consumption of an electrical lifting device which lifts goods up and down with small force by balancing weights of the goods to be lifted up and down at an arbitrary position.SOLUTION: An electrical lifting device comprises: a holding member (a pedestal section 21) which holds goods 60 to be lifted up and down; a lifting action section 5 which lifts up and down the pedestal section 21; a motor section 6 which includes a reduction gear to drive the lifting action section 5; weight detection means 15a to 15d which outputs weight signals by detecting a weight loaded on the pedestal section 21; position detection means 19 which outputs a positional signal by detecting a lifting position of the pedestal section 21; a control section 10 which controls so as to balance the pedestal section 21 at an arbitrary position on the basis of the positional signal and the weight signals; and an operation section 13 which is connected to the control section 10 and instructs operation related to lifting the goods up and down. When lifting the pedestal section 21 vertically upward to hold the same at a desired position, the control section 10 controls in a manner that the pedestal section 21 is lifted from a desired position by a predetermined distance in a vertically upward direction and, then, the pedestal section 21 is lowered to be held at the desired position.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an electric lifting apparatus that is used in manufacturing assembly equipment in the manufacturing field, transfer equipment in the transportation field, and the like, and weight-balances articles in the vertical and vertical directions with the assistance of a motor and moves up and down with a slight operating force.

  2. Description of the Related Art Conventionally, some lifting devices use a pair of meshing chains that are meshed with each other and driven integrally to move an article such as a heavy object up and down. Such a lifting device using a meshing chain supports and lifts the article in the vertical direction by utilizing the fact that the meshing chains mesh with each other to be rigid. And this elevating device is an electric system, an elevating operation unit having a meshing chain, a sprocket that performs a feeding operation of the meshing chain, and a storage unit that stores the meshed chain that has been disengaged in opposite directions, and A motor and a speed reducer for driving the lifting operation unit, an electric circuit for driving the motor, and the like were included.

JP 2010-001129 A JP 2012-001360 A

  However, as described in Patent Document 1 and Patent Document 2, the above-described electric lifting device simply moves the article placed on the pedestal portion electrically by an operation switch or the like. Therefore, if an electric lifting device that simply moves the article up and down electrically is used for precise assembly work, it is difficult to move the article to a desired position. Therefore, the electric lifting device under development by the inventors detects the weight applied to the pedestal part, and simultaneously detects the raising and lowering position of the pedestal part, and the motor is installed so that the pedestal part is balanced at an arbitrary position. It has a function to control.

  In this configuration, first, an operator places an article on the pedestal and measures it to register the weight. After the registration is completed, the operator can select a mode in which the operator manually moves up and down by a manual switch that is selectively pressed and a mode in which automatic weight balancing is performed by a balance switch. In the automatic weight balance mode, the operator can hold the pedestal portion and the like and move the article and the pedestal portion up and down to an arbitrary position in the elevation range.

  In this series of operations, reduction of power consumption when holding an article at an arbitrary position has been a problem. This is because the time for holding the article at an arbitrary position occupies most of the use of the electric lifting device. The use of a large number of electric lifting devices increases the amount of power and causes economic difficulties. In addition, the electric lifting device that is mobile and incorporates the battery has a short working time if the power consumption is large.

  In view of such a problem, an object of the present invention is to reduce power consumption of an electric lifting device that balances a target article at an arbitrary position and moves it up and down with a small force.

In order to achieve the above object, the electric lifting device according to claim 1
A locking member for locking the article to be moved up and down;
A lifting / lowering operation unit connected to the locking member to raise and lower the locking member;
A drive source motor connected to the lifting and lowering operation unit;
A decelerator between the motor and the lifting and lowering unit that decelerates the speed of the motor;
Weight detection means for detecting a weight applied to the locking member and outputting a weight signal;
Position detecting means for detecting a lift position of the locking member and outputting a position signal;
Position signal and weight detection from the position detection means so that the locking member is balanced at an arbitrary position by balancing the force applied to the locking member generated by the lifting / lowering operation unit and the vertically downward force applied to the locking member. A control unit for instructing the motor based on a weight signal from the means;
An operation unit that is connected to the control unit and issues a command related to the raising and lowering of the locking member;
With
The control unit
When the locking member is moved to the desired position in the vertically upward direction and held, the locking member is moved vertically upward from the desired position by a predetermined amount, and then moved vertically downward to the desired position as desired. It is comprised so that it may control to hold | maintain in this position.

In order to achieve the above object, the electric lifting device according to claim 2
The speed reducer is composed of a wave gear speed reducer.

In order to achieve the above object, the electric lifting device according to claim 3 is:
When the control unit detects the weight of the article according to a command from the operation unit and completes the registration of the weight of the article, or when the control unit completes the control to hold the locking member at the desired position, the control unit It is connected and has an informing means for informing completion by at least one of sound, light emission, image display, and vibration.

In order to achieve the above object, the electric lifting device according to claim 4 is:
The motor and the control unit are configured to be driven by a battery.

In order to achieve the above object, the electric lifting device according to claim 5 is:
The raising / lowering operation part is provided with the meshing chain which is paired by the drive of the motor and meshes with each other to be stiffened vertically upward.

In order to achieve the above object, the electric lifting device according to claim 6 is:
Elevating action part
A link chain in which an oval ring composed of a semicircular arc part and a straight line part connected thereto is alternately connected, and one end is connected to a locking member;
A load sheave that is wound around a link chain and rotated by driving a motor;
It has.

  According to the electric lifting device of the invention described in claim 1, when the locking member that locks the article to be moved up and down is moved to the desired position in the vertically upward direction and held, the control unit is moved from the desired position. The motor is controlled to move vertically upward by a predetermined amount and then vertically downward to a desired position and hold it at the desired position. When a speed reducer that reduces the speed of the motor is provided between the motor and the lifting / lowering operation unit, the transmission efficiency when increasing the speed from the lifting / lowering operation unit side and applying torque to the motor is reduced from the motor side to the lifting / lowering operation unit. Lower than the transmission efficiency when applying torque. Therefore, when the desired position of the locking member is vertically above the current position, it is necessary to move to the predetermined position once beyond the desired position, rather than moving the locking member directly to the desired position and holding it. By moving it back to the desired position after moving it, the motor can hold that position with a small torque. Therefore, the power consumption of the motor during holding can be reduced.

  According to the electric lifting device of the invention described in claim 2, in addition to the above effect, since the wave gear speed reducer is used as the speed reducer, the backlash is extremely small, so that it is set above the desired position vertically. Therefore, the amount of movement from the predetermined position to the desired position can be reduced, and an electric lifting device excellent in workability and usability can be realized.

  According to the electric lifting device of the invention described in claim 3, in addition to the above effect, when the registration of the weight of the article is completed, or when the holding of the locking member at the desired position is completed, the sound, light emission, image Since the completion notification is made by at least one of the display and the vibration, the operator can easily determine the completion of the operation, so that the up and down movement operation with excellent usability can be performed.

  According to the electric lifting device of the invention described in claim 4, in addition to the above effects, since the motor and the control unit are driven by the battery, the electric lifting device can be used for a long time by reducing power consumption. It becomes.

  According to the electric lifting device of the invention described in claim 5, in addition to the above effect, the lifting operation portion is constituted by a meshing chain that stiffens vertically upward. This is useful for an electric lifting device used when there is an obstacle and it is difficult to suspend it.

According to the electric lifting device of the invention described in claim 6, in addition to the above-described effect, since the article to be lifted / lowered is suspended by the link chain, the present invention is for work with a relatively high lift. Useful for electric lifting devices.

1 is a perspective configuration diagram of an electric lifting device according to a first embodiment of the present invention. It is a perspective lineblock diagram which transparentized a part of electric lifting and lowering device concerning a 1st embodiment of the present invention. It is a left view of the electric lifting apparatus which concerns on the 1st Embodiment of this invention. It is operation | movement explanatory drawing (a) (b) of the electric lifting apparatus which concerns on the 1st Embodiment of this invention. It is operation | movement explanatory drawing (c) (d) of the electric lifting apparatus which concerns on the 1st Embodiment of this invention. It is a perspective external view of the electric lifting apparatus which concerns on the 2nd Embodiment of this invention. It is a perspective block diagram of the main-body part of the electric lifting apparatus which concerns on the 2nd Embodiment of this invention. It is a structure schematic diagram of the main-body part of the electric lifting apparatus which concerns on the 2nd Embodiment of this invention. It is operation | movement explanatory drawing (a) (b) (c) of the electric lifting apparatus which concerns on the 2nd Embodiment of this invention. It is operation | movement explanatory drawing (d) (e) of the electric lifting apparatus which concerns on the 2nd Embodiment of this invention.

Hereinafter, the electric lifting apparatus according to the first embodiment of the present invention will be described in detail based on the drawings. FIG. 1 is a perspective view of an electric lifting apparatus according to a first embodiment of the present invention when an article 60 is placed. FIG. 2 is a table with the top plate 14 made transparent by removing the article 60 in FIG. 3 is a configuration diagram showing the inside of a unit 21. FIG. FIG. 3 is a left side view of the electric lifting apparatus according to the first embodiment of the present invention.

  The electric lifting apparatus 1 according to the first embodiment of the present invention is a locking means for locking the article 60 as a lifting part, and a placing base part 21 on which the article 60 is placed, and the placing base part 21 in the vertical direction. For example, an X-shaped link mechanism 30 and a parallel structure that constitute an elevating support unit 20 that supports and fixes the elevating operation unit 5, and an arm unit 22 that guides and corrects the elevating of the pedestal unit 21. The mold link mechanism 40, the motor unit 6 that drives the elevating operation unit 5, the weight detection means 15 a to 15 d that detect the weight applied to the pedestal unit 21, and the elevating position of the article 60 connected to the motor unit 6. The position detection means 19 to detect and the control part 10 which controls the raising / lowering operation | movement of the stand part 21 are provided. The electric lifting device 1 includes a carriage 2 having wheels 3, a handle grip 12, and an operation unit 13 in addition to these lifting units.

  The wheel 3 on the lower surface side of the carriage 2 is provided with a plurality of free wheels that can freely change direction and a plurality of driven wheels that are fixed wheels that cannot change direction. Therefore, the operator can steer the electric lifting device 1 by pushing and pulling the handle grip 12.

  The elevating support unit 20 is provided on the carriage 2, and the elevating operation unit 5 that allows the pedestal unit 21 to elevate is placed on the elevating support unit 20. The raising / lowering operation part 5 is a well-known thing which has the meshing chain 4, for example, Comprising: It has a chain which can mesh | engage in a pair. The meshing chain 4 is accommodated in the meshing chain accommodating portions 5a and 5b of the lifting and lowering operation portion 5 in a state where the meshing chain 4 extends in the disengaged direction and can be bent. The meshing chain 4 is meshed by driving a drive source connected to the lifting / lowering operation unit 5 and is advanced in a vertically upward direction in a rigid state, and one end of the meshing chain 4 engaged is connected. The pedestal 21 that is present is raised. More specifically, one end portion of the meshing chain 4 that is meshed, that is, the cradle connection portion 53 is connected and fixed to the support plate 18 of the cradle portion 21 with a bolt or the like, and the other end portion is from a position where the mesh is disengaged. They move in opposite directions along the guide portions provided in the meshing chain accommodating portions 5a and 5b of the lifting / lowering operation portion 5, and are accommodated at the free ends. The meshing chain 4 can be moved back and forth by a sprocket in the case of the elevating operation unit 5, and the rotating shaft of the sprocket is connected to a motor unit 6 as a driving source via a coupling 8.

  The motor unit 6 is, for example, a servo motor to which a speed reducer 7 is attached, and a torque generated by the motor is amplified to a torque necessary for moving up and down the heavy article 60 by the speed reducer 7. In the embodiment of the present invention, the speed reducer 7 uses a wave gear speed reducer. The wave gear reducer has a wave generator whose outer periphery is elliptical, and a large number of external teeth are formed on the outer periphery. The wave gear reducer is externally fitted to the wave generator so that the position bent in the circumferential direction is changed by the rotation of the wave generator. It consists of a flexspline that can be elastically deformed, and a circular spline that is provided on the outer peripheral side of the flexspline and has internal teeth that fit with external teeth of the flexspline. The power is extracted and transmitted to a sprocket rotating shaft that connects the flexspline as a rotational output. In the electric lifting device, it is desirable to reduce the backlash of the rotational power system as much as possible, and the backlash of the speed reducer affects the lifting / lowering state of the lifting / lowering operation unit 5. Therefore, in the embodiment of the present invention, the backlash is very small. A gear reducer is used.

  Position detecting means 19 for detecting the rotational position of the motor is attached to the non-load side of the motor unit 6. In this embodiment, the position detecting means 19 is an encoder disposed on the anti-load side of the motor unit 6. However, the position detecting unit 19 is provided on the sprocket and the rotating shaft of the sprocket in the case of the lifting / lowering operation unit 5 to determine the feeding position of the mesh chain 4. The position may be detected. Further, the position detection means 19 may be provided in the speed reducer 7 or the like. In the present embodiment, the position detection means 19 is an optical reflection encoder, but is not limited to this, and may be an optical and transmission type, or may use a magnetic force. Further, the position detecting means 19 may be a reflection type optical sensor or the like installed on the lifting support section 20 and may detect the vertical position of the pedestal section 21 by measuring the distance from the pedestal section 21. .

  The arm portion 22 is composed of a plurality of arms each extending and contracting in the vertical direction, and corrects and holds the posture of the pedestal portion 21 by the elevating operation unit 5 when elevating and lowering. The arm portion 22 has an X-shaped link mechanism 30 and a parallel link mechanism 40 that connect the support plate 18 and the lift support portion 20 and has a two-stage structure in the vertically upward direction.

  The elevating support unit 20 is composed of a metal frame, a sheet metal or the like, and supports and fixes the arm unit 22 and the elevating operation unit 5 on the carriage 2.

  The table 21 has a support plate 18 and a top plate 14. The top plate 14 is disposed on the support plate 18, and the support plate 18 supports the top plate 14. Further, weight detection means 15 a to 15 d are arranged between the top plate 14 and the vicinity of the upper surface of the support plate 18. The weight detectors 15a to 15d are load cells having strain gauges, for example. The weight detection means 15a to 15d have a strain generating portion, and a strain gauge is attached to the strain generating portion, so that the strain applied to the strain generating portion can be detected. The strain gauge constitutes a Wheatstone bridge circuit and outputs an analog signal corresponding to the amount of strain. Further, the detected analog signal is amplified and calculated to obtain the weight applied to the top plate 14 and output it as a weight signal. Is. The weight signal is transmitted to the control unit 10 by a wiring cable (not shown) or the like. The wiring cable may be a spiral cord that expands and contracts, or may be wired and fixed along the arm portion 22.

  In the present embodiment, four weight detecting means are provided in the pedestal 21 but the present invention is not limited to this. By arranging a plurality of weight detection means, the degree of freedom of the position where the article 60 is placed on the top plate 14 is increased, and the flexible work can be improved.

  On the other hand, the weight detection means may be configured to provide a strain generating portion on the sprocket shaft in the elevating operation portion 5 and attach a strain gauge to similarly obtain the torque value and calculate the weight, It may be provided integrally with the speed reducer 7 and a strain gauge attached thereto with the output shaft of the speed reducer 7 as a strain generating portion. In this case, the weight detection is not limited to the strain gauge type, but may be based on a magnetostriction type or a capacitance type.

  The control unit 10 is fixed to the elevating support unit 20 with a bracket or the like, and the weight detection means 15a to 15d are connected to the control unit 10 with a cable or the like. The control unit 10 has a circuit for driving the motor unit 6 and is connected to the motor unit 6 by a cable.

  The power source 11 is fixed to the elevating support unit 20 with a bracket or the like, and is constituted by a battery and an inverter, for example, and supplies power to the control unit 10 and the motor unit 6.

  The operation unit 13 is located on the handle unit of the carriage 2 and is connected to the control unit 10 with a cable or the like to perform switching of the operation mode or manual operation. The operation unit 13 may be detachable from the handle unit of the carriage 2 or may be wirelessly connected to the control unit 10.

  With this configuration, the control unit 10 receives weight signals from the weight detection units 15a to 15d provided on the pedestal unit 21, and receives position signals from the position detection unit 19 on the non-load side of the motor unit 6, respectively. Then, a command signal for instructing to balance the weight received by the cradle unit 21 is calculated while maintaining the vertical position of the cradle unit 21. Then, the control unit 10 drives the motor unit 6 in response to this command signal, and the article 60 placed on the pedestal unit 21 stays at an arbitrary position, maintains a balanced state, and holds the position. Then, the operator can move the cradle unit 21 up and down in a vertical direction by a direct operation of applying a slight external force while placing a hand on the cradle unit 21 or the article 60. Thereafter, when the operator stops the external force, the cradle unit 21 is held in a balanced state at that position. That is, the control part 10 balances the force to the stand 21 (locking member) which the raising / lowering operation part 5 generate | occur | produces, and the perpendicular downward force added to the stand 21 (locking member), and the stand 21 ( The locking member is balanced at an arbitrary position.

  4 and 5 are operation explanatory views of the electric lifting device according to the first embodiment of the present invention. In the initial state, the operator moves the cradle unit 21 to the lower end side H0 as shown in FIG. 4A, and then places the article 60 on the cradle unit 21 and keeps the balance state at the operation unit 13. Command. Upon receiving this command, the control unit 10 obtains a weight signal from the weight detection means 15 a to 15 d provided on the pedestal unit 21 and calculates an accurate weight of the article 60. As a result of the calculation, if it is within the allowable weight range of the electric lifting device 1, the control unit 10 notifies the operator that the weight registration is completed using a notification unit connected to the control unit 10. The notification means is at least one of sound, light emission, image display, and vibration. For example, an environment in which this electric lifting device is used, such as light emission of a buzzer, LED, etc., image or character display by a display, vibration by a small motor, etc. It is selected according to the above, and a plurality of combinations may be used. The registration of the weight of the article 60 is completed by notification from the notification means. In addition, this alerting | reporting means may be arrange | positioned in any place of this electric raising / lowering apparatus 1 other than the control part 10 and the operation part 13, and may be comprised by what can be attached or detached.

  After confirming the completion of the weight registration, the operator can lift the cradle unit 21 with a slight force. Then, when the operator raises the pedestal 21 to the desired position Ht, the operator releases his / her hand at that position (FIG. 4B). The control unit 10 detects from the weight signals from the weight detection means 15a to 15d that the external force no longer changes because the operator releases his / her hand from the pedestal unit 21, and as shown in FIG. 5 (c). The pedestal 21 is moved to a position H1 that is higher than the desired position Ht by a predetermined amount δh. Then, after the cradle unit 21 reaches the position H1, the control unit 10 reverses the motor unit 6 to move the cradle unit 21 to the desired position Ht again vertically downward (FIG. 5D). ).

  At this time, the control unit 10 notifies the operator that the movement and holding to the desired position has been completed by a notification unit connected to the control unit 10. Similar to the weight registration of the article 60 described above, the notification means is at least one of sound, light emission, image display, and vibration, for example, light emission of a buzzer, LED, etc., image or character display by a display, vibration caused by a vibration motor. For example, it may be selected according to the environment in which the electric lifting device is used, and may be a plurality of combinations. Further, the notification means may perform a buzzer sound different from that at the time of weight registration, a light emission color such as an LED, an image or a character display, etc. in order to distinguish from the completion of the weight registration of the article 60. Further, the notification means may be arranged at any location of the electric lifting device 1 in addition to the control unit 10 and the operation unit 13.

  In this embodiment, a wave gear speed reducer is used as the speed reducer 7 and the backlash is very small. Therefore, the predetermined amount δh can be realized with a very small size, and the work is not hindered by the overstroke.

  If the operator then moves the cradle 21 to a position higher than the desired position Ht currently held by the worker, the worker lifts the cradle 21 again by hand to a new desired position. When moved, the control unit 10 performs the same operation. If the operator wants to move the pedestal unit 21 to a position lower than the current position currently held, the operator depresses it, moves the pedestal unit 21 to a new desired position, and releases the hand. The control unit 10 performs control so as to keep the desired position as it is.

The reason why the power consumed by the motor unit 6 in the holding state can be reduced by the above control will be described below. When a speed reducer that reduces the speed of the motor is provided between the motor and the lifting / lowering operation unit, the transmission efficiency when increasing the speed from the lifting / lowering operation unit side and applying torque to the motor decreases from the motor side to the lifting / lowering operation unit Lower than the transmission efficiency when applying torque. Therefore, the torque of the motor necessary for lowering the table 21 by its own weight of the table 21 and the article 60 and holding it at a desired position is decelerated from the motor side to the lifting / lowering operation unit 5 to cause the table 21 to move. It may be smaller than the torque of the motor required to lift the stand 21 in a desired position by lifting it vertically upward. For example, when a wave gear reducer with a deceleration efficiency of 0.9 is used, the speed increasing efficiency from the output side (lifting operation unit side) is about 0.89. The motor torque T _m1 required to decelerate the motor from the motor side to the lifting operation unit and lift it vertically upward to hold the cradle unit 21 at a desired position is represented by T _m1 = T / 0.9R. .
Here, R is a reduction ratio, and T is a value obtained by converting the loads of the table 21 and the article 60 into torque.

On the other hand, the torque T _m2 of the motor necessary for lowering the table 21 by its own weight of the table 21 and the article 60 and holding it at a desired position is represented by T _m2 = 0.88 T / R. Therefore, the ratio between T _m2 and T _m1 is represented by T _m2 / T _m1 = 0.79.

  Therefore, in the method in which the table 21 and the article 60 are lowered by their own weights and held at a desired position, the holding can be performed with a torque of about 80%, and the torque is proportional to the motor current. The power consumption can be reduced.

  And not only when it is held in a balanced state, but also when raising the pedestal part 21 by manual operation of the operation part 13, that is, when raising it indirectly without applying external force to the pedestal part 21 by a human hand. The same implementation is possible and the same effect can be obtained. That is, after the manual raising button of the operation unit 13 is pressed to raise the cradle unit 21 and stop at a desired position, the control unit 10 moves the cradle unit 21 vertically by a predetermined amount δh, and then the motor Can be performed by reversing and returning to a desired position.

  FIG. 6 shows the appearance of the electric lifting apparatus 101 according to the second embodiment of the present invention. The electric lifting device 101 is connected to a main body 127 covered with a cover 121, an operation part 125 at a position extending downward from the main body 127 along the link chain 108, and one end of the link chain 108. The cargo handling hook 115 is a stop member, and the link chain storage portion 126 is provided on the other end side (no load side) of the link chain 108.

  FIG. 7 shows the internal structure of the main body 127 of the electric lifting apparatus 101 according to the embodiment of the present invention. A part of the cover 121 in FIG. 6 is omitted, and some members are made translucent. It is a thing. FIG. 8 is a schematic diagram showing the internal configuration of the electric lifting apparatus 101 corresponding to this.

  A reduction gear 107 is attached to the load side of the motor 102 a to constitute the motor unit 102. The speed reducer 107 decelerates the rotational speed of the motor 102a to a predetermined speed. The speed reducer 107 is, for example, a wave gear speed reducer. The wave gear reducer has a wave generator with an elliptical outer periphery, and a large number of external teeth formed on the outer periphery, which are externally fitted to the wave generator so that the position bent in the circumferential direction is changed by the rotation of the wave generator. The flexspline includes a deformable flexspline and a circular spline having an inner tooth that fits with an outer tooth of the flexspline on the outer peripheral side of the flexspline. The power is extracted and transmitted to a rotation output shaft 103 that connects the flexspline as a rotation output.

  By using a small backlash such as a wave gear reducer as the speed reducer 107, an uncontrollable area at the time of switching is eliminated when the assisting operation is performed by frequently switching the forward / reverse rotation of the motor 102a. Smooth operation feeling can be realized. The rotation output shaft 103 is a rotation shaft decelerated by the speed reducer 107, is connected to the load sheave 113, and continuously rotates the load sheave 113 forward and backward. The rotation output shaft 103 is rotatably supported by a rotation output shaft bearing portion 118 fixed to the frame 119. The rotary output shaft bearing portion 118 includes a bearing 118a, a bearing retainer 118b for fixing the bearing 118a, and a bearing cover 118c, and has a structure for protecting the bearing 118a from dust and the like.

  A suspension hook 116 for suspending the electric lifting device 1 is fixed to the top frame 119. The hanging hook 116 is provided at a position close to the center of gravity of the electric lift device 101 in the horizontal position.

  The link chain 108 has an oval ring composed of a semicircular arc part and a straight part connected to the semicircular arc part alternately connected at an angle of 90 degrees, one end connected to the cargo handling hook 115 and the other end. (No load side) is stored in the link chain storage portion 126.

  The load sheave 113 is rotated by driving from the rotation output shaft 103 to feed out and wind the link chain 108. In the second embodiment, the load sheave 113 has a cylindrical bottomed outer shape, is arranged so as to cover the outer periphery of the motor unit 102 that is an assisting drive source, and the bottom is connected to the rotation output shaft 103. The position where the link chain 108 is wound is approximately below the hanging hook 116 and provided near the center of gravity of the electric lifting apparatus 101 main body. The link chain 108 is inserted into a pocket provided in the load sheave 113 and wound about 180 degrees.

  On the other hand, the link chain guide 120 is provided to maintain a posture in which the link chain 108 is wound around the load sheave 113. The link chain guide 120 is provided with a cross-shaped through hole so that the link chain 108 passes through in a posture, and is fixed to the frame 119 in the tangential direction of the outer periphery of the load sheave 113.

  The brake 106 is on the non-load side of the motor unit 102 and is further connected to a rotation angle detection unit 104 that detects the rotation angle of the motor unit 102. On the other hand, there is a torque detector 105 that branches off from the joint between the brake 106 and the rotation angle detector 104, and the torque detector 105 is fixed to the frame 119. The torque detection unit 105 includes a strain gauge (not shown) so that the force transmitted from the link chain 108 wound around the load sheave 113 can be detected as a reaction force. And the control part 117 which controls the motor part 102, the brake 106, the rotation angle detection part 104, and the torque detection part 105 is arrange | positioned in the vicinity. In order to enable the electric lifting device 101 to be used in a place where powder particles or water droplets are applied, each electrical component including the control unit 117 is disposed in the cover 121. The brake 106 is used for holding in an emergency when an excessive load is applied, or holding when the power is turned off, and is used for holding the position of the link chain 108 during normal operation. is not.

  In the second embodiment, the rotation angle detection unit 104 is disposed on the anti-load side of the motor unit 102. However, the rotation angle detection unit 104 is not limited thereto, and may be provided on the rotation output shaft 103 or the load sheave 113 that is the output of the speed reducer 107. Moreover, you may provide in both. Furthermore, not only an optical type but a magnetic type or a capacitance type may be used. The torque detection unit 105 is not limited to this, and only needs to be able to detect the load applied to the load sheave 113. The torque detection unit 105 is provided between the speed reducer 107 and the load sheave 113. A rotary type torque detector that detects torque from twisting of the rotary shaft may be used.

  With the above configuration, when the article 160 is hung on the cargo handling hook 115, the link chain 108 is pulled by the weight of the article 160. Therefore, the cargo handling hook 115, the link chain 108, the load sheave 113, the rotation output shaft 103, the deceleration The torque detector 105 is also pulled downward via the machine 107, the motor 102a, and the brake 106. Then, the strain generating portion of the torque detecting unit 105 is deformed, and the control unit 117 detects the torque signal detected by the strain gauge attached to the strain generating unit and the rotation angle detecting unit 104 for the torque applied to the load sheave 113. Control based on the rotation angle signal thus performed is performed to assist the motor unit 102 so that the article 160 is balanced. Of course, the operator can apply a slight external force to the article 160 or the cargo handling hook 115 to perform an operation of balancing the article 160 while moving the article 160 up and down.

  9 and 10 are operation explanatory views of the electric lifting device according to the second embodiment of the present invention. In an initial state, the operator brings the cargo handling hook 115 close to the article 160 placed on the lower end side H0 as shown in FIG. Then, the worker presses the registration button of the operation unit 125 to instruct registration of the weight of the article 160. To register the weight of the article 160, the control unit 117 drives the motor 102a to rotate the load sheave 113 and winds up the link chain 108. The control unit 117 obtains a weight signal from the torque detection unit 105 serving as a weight detection unit, and calculates the weight of the article 160 when the value of this signal converges. As a result of the calculation, if it is within the allowable weight range of the electric lifting and lowering apparatus 101, the control unit 117 notifies the operator that the weight registration has been completed by a notification unit connected to the control unit 117. The position of the bottom surface of the article 160 when the weight registration is completed is Hr (FIG. 9B). The notification means is at least one of sound, light emission, image display, and vibration. For example, an environment in which this electric lifting device is used, such as light emission of a buzzer, LED, etc., image or character display by a display, vibration by a small motor, etc. It is selected according to the above, and a plurality of combinations may be used. The weight registration of the article 160 is completed by the notification from the notification means. In addition, this alerting | reporting means may be arrange | positioned in any place of this electric raising / lowering apparatus 101 other than the control part 117 and the operation part 125, and may be comprised with a detachable thing.

  When the worker confirms the completion of the weight registration, the electric lifting device 101 is in an automatic balance state, and the worker can lift the article 160 with a slight force by hand. Then, when the operator raises the article 160 to the desired position Ht, the worker releases the hand at that position (FIG. 9C). The control unit 117 detects from the weight signal from the torque detection unit 105 that is the weight detection means that the external force is no longer applied because the hand is released from the article 160 or the cargo handling hook 115, and then, FIG. As shown, the article 160 is first moved to a position H1 that is higher than the desired position Ht by a predetermined amount δh. After the article 160 reaches the position H1, the control unit 117 reverses the motor unit 102 to move the article 160 to the desired position Ht again and hold it (FIG. 10 (e)).

  Next, the control unit 117 notifies the operator that the article 160 has been moved to and held at a desired position and has been notified by the notification means connected to the control unit 117. Similar to the weight registration of the article 160 described above, the notification means is at least one of sound, light emission, image display, and vibration, for example, light emission from a buzzer, LED, etc., image or character display by a display, vibration caused by a vibration motor. The electric lifting device 101 is selected according to the environment in which it is used, and a plurality of combinations may be used. In order to distinguish from the completion of the weight registration of the article 160, the notification means may perform a buzzer sound different from that at the completion of the weight registration, a light emission color such as an LED, an image or a character display. Further, the notification means may be arranged at any location of the electric lifting device 101 in addition to the control unit 117 and the operation unit 125, or may be configured to be detachable.

  Thereafter, when the article 160 is moved to a position higher than the desired position Ht currently held by the operator, the article 160 is lifted by hand again and moved to a new desired position, thereby the control unit. 117 performs the same operation. If the worker moves the article 160 to a position that is vertically lower than the current position currently held by the operator, the worker moves the article 160 to a new desired position and releases the control unit 117. Controls to keep the position as it is.

  The reason why the power consumed by the motor 102a in the holding state can be reduced by the above control is the same as in the first embodiment.

  Here, in the second embodiment, for example, in the case where the position of the article is held by the holding brake as in the case of a simple electric lifting device having only the function of moving the article up and down, the holding brake is turned on / off by the control unit. It is necessary to control. In this case, each time the article is moved, the holding brake is repeatedly turned off and on, and time is required. Therefore, it is desirable that the position is maintained by the motor during the lifting / lowering operation while maintaining the weight balance. In normal work using this electric lifting device, the holding time often occupies most of the work, and the effect of reducing power consumption by reducing the motor holding current is significant.

  As mentioned above, although this invention was demonstrated based on preferable embodiment, this invention is not limited to embodiment mentioned above, A various change is possible in the range which does not deviate from the summary.

  As an application example of the present invention, the present invention can be applied to an electric lifting device mounted on a carriage and a movable vehicle.

1: Electric lifting device 2: Bogie 3: Wheel 4: Engagement chain 5: Elevating operation part 5a, 5b: Engagement chain accommodating part 6: Motor part 7: Reducer 8: Coupling 10: Control part 11: Power supply 12: Handle Grip 13: Operation unit 14: Top plates 15a, 15b, 15c, 15d Weight detection means (strain gauge type load cell)
18: Support plate 19: Position detecting means 20: Elevating support portion 21: Stand (locking member)
22: Arm part 30: X-shaped link mechanism 40: Parallel type link mechanism 53: Stand connection part 60: Article

DESCRIPTION OF SYMBOLS 101: Electric lifting device 102: Motor part 102a: Motor 103: Rotation output shaft 104: Rotation angle detection part 105: Torque detection part (weight detection means)
106: Brake 107: Reduction gear 108: Link chain 113: Load sheave 115: Hook for cargo handling (locking member)
116: Hanging hook 117: Control unit 118: Rotating output shaft bearing 118a: Bearing 118b: Bearing press 118c: Bearing cover 119: Frame 120: Link chain guide 121: Cover 125: Operation unit 126: Link chain storage unit 127 : Main unit

Claims (6)

A locking member for locking the article to be moved up and down;
An elevating operation unit that is connected to the locking member to raise and lower the locking member;
A drive source motor connected to the elevating operation unit;
A decelerator between the motor and the lifting and lowering operation unit for reducing the speed of the motor;
Weight detection means for detecting a weight applied to the locking member and outputting a weight signal;
Position detecting means for detecting a lift position of the locking member and outputting a position signal;
From the position detection means, the balance member is balanced at an arbitrary position by balancing the force applied to the locking member generated by the lifting / lowering operation unit and the vertically downward force applied to the locking member. Based on the position signal and the weight signal from the weight detection means, a control unit that commands the motor;
An operation unit that is connected to the control unit and issues a command for raising and lowering the locking member;
With
The controller is
When the locking member is moved to a desired position in the vertically upward direction and held, the locking member is moved vertically upward from the desired position by a predetermined amount, and then vertically downward to the desired position. An electric lifting device that is controlled so as to be moved and held at the desired position.     The electric lifting device according to claim 1, wherein the speed reducer is a wave gear speed reducer.   When the control unit detects the weight of the article according to a command from the operation unit and completes the registration of the weight of the article, or the control unit performs control to hold the locking member at the desired position. 3. The electric lifting device according to claim 1, further comprising a notifying unit that, when completed, is connected to the control unit and notifies completion by at least one of sound, light emission, image display, and vibration. .   The electric lifting device according to any one of claims 1 to 3, wherein the motor and the control unit are driven by a battery.   5. The electric lifting / lowering unit according to claim 1, wherein the lifting / lowering operation unit includes a meshing chain that meshes with each other by being driven by the motor and stiffens vertically. apparatus. The elevating operation unit is
A link chain in which an oval ring composed of a semicircular arc part and a linear part connected thereto is alternately connected, and one end is connected to the locking member;
A load sheave wound around the link chain and rotated by driving the motor;
The electric lifting device according to any one of claims 1 to 4, further comprising: