JP2019018953A - Cargo handling assistance device - Google Patents

Abstract

To improve the safety and operability of a cargo handling assistance device that balances a cargo to be lifted up and down at an arbitrary position and lifts and moves it with a small force.SOLUTION: The cargo handling assistance device includes a locking member 8 locking a cargo to be lifted up and down, a lifting up and down operation part 7 lifting up/down the locking member 8, a motor part 2 of a driving source, a weight detection part 5 detecting the weight applied to the locking member 8, a position detection part 4 detecting the lifting up/down position of the locking member, a control part for performing the controlling to balance the locking member 8, a pair of handle parts 21a and 21b such that an operator performs the operation by gripping them, an operation command part 22a giving a command related to the lifting up/down at the vicinity of the handle part 21a, a grip member 23 capable of being gripped at the vicinity of the handle part 21b together therewith, and a gripping detection part 27 detecting that the handle part 21b is gripped together with the grip member 23. The control part controls the gripping detection part 27 such that it receives a command from the operation command part 22a only when it detects that the grip member 23 is gripped together with the handle part 21b.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a cargo handling assisting device that is used in manufacturing assembly equipment in the manufacturing field, transfer equipment in the transportation field, and the like, and balances the weight of goods 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, factories that assemble industrial products use a cargo handling machine that suspends and moves up and down a heavy load such as tools, work equipment, products, and semi-finished products. Among them, cargo handling assistance devices that generate assistance so that a user can move a heavy cargo handling object up and down to an arbitrary height with a relatively light operating force are those using an air cylinder and those using a motor. It has been known.

  The one using an air cylinder is mainly an arm type, requires pressure air, requires a separate air compressor, etc., and has a drawback that a safety device is necessary when the air supply is cut off, Some use an electric motor to generate and help balance. In general, the wire rope is wound around a drum when the cargo is suspended by a wire rope, but if the lift is long, the winding drum becomes longer in the direction of the axis of rotation and the main body becomes larger. There are problems that the wire rope is wound in a turbulent manner and that the position of the wire rope on the take-up drum changes, so that the control of the motor that generates the assistance becomes complicated.

  On the other hand, for example, the one using a link chain is advantageous for the high head because the chain is stored in the winding bucket, and the position of the chain does not change with the winding amount unlike the wire rope. The device does not tilt and can be made compact.

JP-A-2006-222462

  The above-described chain-type load handling assist device has a function of detecting the weight of a suspended load and simultaneously detecting the lift position of the load and controlling the motor so that the load is balanced at an arbitrary position. doing.

  As disclosed in Patent Document 1, such a cargo handling assist device operates the operation unit to switch between the balance mode and the manual operation mode, and applies an external force directly to the cargo handling object in the vertical vertical direction to perform the lifting operation. The method of doing was common. At this time, although the heavy load handling equipment can be operated with a light force by the load handling assisting device, when the worker pushes the load handling work in the horizontal direction, the inertial force due to the weight of the load handling work returns to the worker as a reaction force. In some cases, there was a possibility of damaging the cargo. In some cases, it may be desirable to avoid direct contact with the cargo handling object, such as when the cargo handling object is a container that has pumped up liquid. Therefore, the inventor is developing a handle that is provided in the vicinity of a locking member that suspends the cargo handling object so that the operator can work without directly touching the cargo handling object and operates this handle part. is there.

  In the cargo handling equipment assisting device having such a handle, since the operator works by holding the handle, if the operation unit is provided at a place different from the handle as in the prior art, the operator The operation must be performed with the hand removed from the handle each time, and the work intended by the operator cannot be performed quickly, leaving room for improvement.

  In view of such a problem, an object of the present invention is to improve the safety and operability of a cargo handling assistance device that balances a target cargo handling object at an arbitrary position and moves it up and down with a small force.

In order to achieve the above object, the material handling assist device according to claim 1
A locking member for locking the cargo item to be raised and lowered;
A lifting / lowering operation unit connected to the locking member to raise and lower the locking member;
A motor unit of a drive source connected to the lifting and lowering operation unit;
A weight detector that detects the weight applied to the locking member and outputs a weight signal;
A position detection unit that detects a lift position of the locking member and outputs a position signal;
Position signal and weight from the position detection unit so as to balance the locking member at an arbitrary position by balancing the force applied to the locking member generated by the lifting and lowering operation unit and the vertically downward force applied to the locking member. Based on the weight signal from the detection unit, a control unit that commands the motor unit,
A pair of handle portions that are moved up and down together with the locking member and operated by the operator;
An operation command unit that is electrically connected to the control unit and is disposed in the vicinity of the one handle unit, and commands the lifting and lowering of the locking member;
A gripping member provided in the vicinity of the other handle part and capable of being gripped by the operator together with the handle part;
A grip detection unit that is electrically connected to the control unit and detects that the grip unit is gripped together with the gripping member;
Including
The control unit controls to receive a command from the operation command unit and enable a predetermined operation only when the grip detection unit detects that the gripping member and the handle unit are gripped together. It is configured.

In order to achieve the above object, the cargo handling assistance device according to claim 2 is provided.
When the control unit controls the locking member to balance, when the gripping detection unit detects that the gripping member is not gripped together with the handle, the locking member is Control is shifted so as to hold the position.

In order to achieve the above object, the cargo handling assistance device according to claim 3 is provided.
When the control unit detects that the gripping member and the handle unit are gripped together, the control unit notifies that the operation is possible with at least one of sound, light emission, image display, and vibration. It has a means.

In order to achieve the above object, the material handling assisting device according to claim 4 provides:
The lifting operation unit winds a link chain in which an oval ring composed of a semicircular arc part and a linear part connected to the semicircular arc part is alternately wound, and is rotated by driving of the motor part and connected to one end of the link chain. It is comprised so that a member may be raised / lowered.

  According to the cargo handling assistance device of the first aspect of the invention, since the operation button of the operation command unit is effective only when the gripping member is gripped together with the handle portion, the cargo handling assistance that is improved in safety. Equipment can be provided. In addition, since the operation command section is provided in the vicinity of the other handle, the operation can be performed without releasing the hand each time the operation is switched, so that it is possible to provide a cargo handling assistance device with improved operability.

  According to the cargo handling assist device of the invention described in claim 2, in addition to the above-described effect, when the cargo handling object is suspended and in a balanced state, the balance state is released by releasing the hand from the gripping member and the handle part. In addition, since the cargo is held in that position, a cargo handling assisting device that improves safety can be provided.

  According to the cargo handling assist device of the invention described in claim 3, in addition to the above-described effect, the control unit can be operated with at least one of sound, light emission, image display, and vibration by detection from the grip detection unit. Since the notification means for performing the notification is provided, it is possible to provide a cargo handling assisting device that is improved in work efficiency by using an optimum device according to the work environment.

It is a perspective lineblock diagram of the whole material handling assistance device concerning an embodiment of the present invention. It is a perspective lineblock diagram which abbreviate | omitted some members of the material handling assistance device concerning the embodiment of the present invention. It is a perspective view of the locking member vicinity of the material handling assistance apparatus which concerns on embodiment of this invention. It is a perspective view of the locking member vicinity of the material handling assistance apparatus which concerns on embodiment of this invention.

Hereinafter, a material handling aid according to an embodiment of the present invention will be described in detail based on the drawings. FIG. 1 is a perspective configuration diagram of the entire cargo handling assisting apparatus according to an embodiment of the present invention.

  The cargo handling assisting device 1 includes a main body part covered with a cover 11, a locking member 8 that hangs and holds a cargo handling object at a position extending downward from the main body part along the link chain 6, The frame 20 is moved up and down together with the locking member 8, a pair of grip portions 21 a and 21 b fixed to the frame 20, an operation command portion 22 a, a gripping member 23, and the like. The cargo handling assistance device 1 is provided with a hanging hook 9 in the main body, and can be used by being hung on a structure such as a beam of a building.

  A control unit 10 that controls the material handling assisting device 1 is housed inside the main body. The control unit 10 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), other storage devices, and an input / output device. The control unit 10 is electrically connected to the motor unit 2, the operation command unit 22a, and the like.

  FIG. 2 shows a part of the internal structure of the main body with the cover 11 of the cargo handling assisting apparatus 1 according to the embodiment of the present invention omitted.

  A reduction gear is attached to the load side of the motor of the drive source, and the motor unit 2 is configured together with the motor. This motor is, for example, an AC servo motor. The speed reducer reduces the rotational speed of the motor to a predetermined speed. The speed reducer 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 the rotation output shaft 3 that connects the flexspline as a rotation output.

  By using a small backlash, such as a wave gear reducer, as the speed reducer, it is possible to eliminate the uncontrollable area at the time of switching when performing the assisting operation by frequently switching the forward / reverse rotation of the motor. Can realize a comfortable operation. The rotation output shaft 3 is a rotation shaft decelerated by a reduction gear, and is connected to the lifting / lowering operation unit 7 to continuously rotate the lifting / lowering operation unit 7 forward and backward.

  A hanging hook 9 for hanging the cargo handling assisting device 1 is fixed to the top surface of the main body. The hanging hook 9 is provided at a position near the center of gravity of the cargo handling assisting device 1 in the horizontal direction.

  The link chain 6 is formed by alternately connecting an oval ring composed of a semicircular arc portion and a straight line portion connected to the semicircular arc portion at an angle of 90 degrees, and has one end connected to the locking member 8 and the other end. (No load side) is stored in the link chain storage unit 12.

  The lifting / lowering operation unit 7 is rotated by driving from the rotation output shaft 3 to feed and wind the link chain 6. In the present embodiment, the lifting operation unit 7 has a cylindrical outer shape and is connected to the rotation output shaft 3. The position where the link chain 6 is wound is provided approximately vertically below the hanging hook 9 and close to the position of the center of gravity of the main body of the cargo handling assisting device 1. The link chain 6 is inserted into a pocket provided in the elevating operation unit 7 and is wound about 180 degrees.

  A position detection unit 4 that detects the rotational angle position of the motor is connected to the motor unit 2 on the opposite side of the motor unit 2. The position detection unit 4 is a so-called absolute encoder, and detects the rotational angle position of the motor by an optical method and outputs a position signal. The position detection unit 4 can detect the elevation position of the locking member 8 via the motor unit 2 and the speed reducer.

  The weight detection unit 5 includes a strain body and a strain gauge attached to the strain body so that the force transmitted from the link chain 6 wound around the lifting operation unit 7 can be detected as a reaction force. The strain gauge is incorporated in a Wheatstone bridge circuit that converts strain generated in the strain generating body into an electric signal in accordance with the weight, whereby the weight detection unit 5 outputs a weight signal.

  Based on the position signal from the position detection unit 4 and the weight signal from the weight detection unit 5, a control unit 10 that controls the motor unit 2 is disposed in the cover 11 in the vicinity of the elevating operation unit 7. In order to make it possible to use the cargo handling assistance device 1 in a place where powder particles or water droplets are applied, each electrical component including the control unit 10 is disposed in the cover 11.

  In the present embodiment, the position detection unit 4 is disposed on the anti-load side of the motor unit 2. However, the position detection unit 4 is not limited thereto, and may be provided on the rotation output shaft 3 or the lifting operation unit 7 that is the output of the speed reducer. It may be provided. Furthermore, not only an optical type but a magnetic type or a capacitance type may be used.

  The weight detection unit 5 is not limited to this, and may be any type that can detect the weight applied to the locking member 8, such as a rotational type that detects torque from the twist of the rotary shaft provided between the speed reducer and the lifting operation unit 7. You may use the structure of a drum type structure which detects the structure and the reaction force which the motor part 2 receives.

  FIG. 3 is a perspective view showing the details of the operation portion including the grip portions 21a and 21b provided in the vicinity of the locking member 8. FIG.

  The frame 20 is a substantially U-shaped structural member engaged with the locking member 8, and moves up and down together with the lifting and lowering operation of the locking member 8. The frame 20 is composed of a combination of a metal plate, a metal square, and the like, and may have other shapes depending on the shape of the target cargo handling object.

  The handle portions 21 a and 21 b are provided on the frame 20 as a pair. The handle portions 21a and 21b have a cylindrical rod-like shape in the present embodiment, and are not limited to this as long as the operator can easily grip the handle. Further, the positions and orientations of the grip portions 21a and 21b are not limited to this, and may be anything that can be lifted and lowered together with the locking member 8 so that the operator can work with both hands.

  The operation command part 22a is fixed to the frame 20 in the vicinity of one handle part 21a of the pair of handle parts. The operation command unit 22a has a box shape and is provided with an illumination type operation switch and the like. These switches are electrically connected to the control unit 10 with a curl cord (not shown) and Commands for raising and lowering are performed. The connection between the operation command unit 22a and the control unit 10 is not limited to a wired connection, and may be wireless using infrared rays or the like. The operation switch of the operation command section 22a is held by a balance button 22b that balances the cargo item suspended from the locking member 8, a holding button 22c that holds the position in the current state, and a holding button 22c. Later, it consists of an up button 22d for raising the locking member 8 by electric operation and a down button 22e for lowering the locking member 8 by electric operation. The operation switches of these operation command units 22a are provided at positions where they can be pressed with, for example, the thumb even when the handle unit 21a is touched, and the operator is notified that the pressed button has been pressed by light emission. To do.

  On the other hand, a gripping member 23 is provided in the vicinity of the other handle portion 21b of the pair of handle portions. The gripping member 23 is attached to a plate 24 that rotates at a limited angle about a shaft 25, and is urged clockwise A by a coil spring 26. The gripping member 23 is a lever-shaped member having a size that can be gripped together with the handle portion 21b.

  The grip detection unit 27 detects the rotational position of the plate 24 and uses a limit switch with a lever in this embodiment. That is, when the gripping member 23 and the grip portion 21b are gripped together, the gripping member 23 rotates in the direction B about the shaft 25, and the angle formed by the gripping member 23 and the grip portion 21b is equal to or less than a predetermined angle. At this point, the grip detection unit 27 detects that the gripping member 23 and the grip portion 21b are gripped together. FIG. 4 shows a state where the angle formed by the gripping member 23 and the handle portion 21b is equal to or smaller than a predetermined angle. The wiring from the grip detection unit 27 is electrically connected to the control unit 10 via the frame 20 and the operation command unit 22a.

  The gripping member 23 and the gripping detection unit 27 are not limited to this, and the gripping member is provided by a protruding member protruding from the handle portion 21b, and when the operator grips the gripping member 23, the gripping member is the handle portion. The grip detection unit may be configured to detect the position of the gripping member with a structure that enters inside 21b.

  With the above configuration, the cargo handling work and the operation of the cargo handling assisting apparatus when the cargo handling object is placed on the floor will be described. First, the operator grips the grip portion 21b and the gripping member 23. Then, the control part 10 detects the rotational position of the board 24 by the grip detection part 27, and detects that the handle part 21b and the grip member 23 are gripped. Based on this, the control unit 10 controls the motor unit 2 so as to hold the current position of the locking member 8, enables each operation button of the operation command unit 22 a, and makes subsequent operations from the operation command unit 22 a. Accept the directive. At the same time, the controller 10 turns on the light emitting element of the holding button 22c. Since each operation button of the operation command unit 22a is enabled, the operator pushes the lift button 22d or the drop button 22e while grasping the handle portion 21a to move the locking member 8 in the vertical upward direction of the cargo item. For example, the operator removes his / her hand from the handle portion 21 a and the handle portion 21 b and attaches the cargo handling item to the locking member 8. Also at this time, the control unit 10 controls the motor unit 2 so as to maintain the current position of the locking member 8.

  Thereafter, the operator again grasps the grip portion 21b and the gripping member 23 to validate the operation of the operation command portion 22a, and then presses the lift button 22d to raise the cargo item until it is separated from the floor surface. The worker shifts to the balance state by pressing the balance button 22b when the cargo item is separated from the floor surface. At this time, the control unit 10 turns on the light emitting element of the balance button 22b.

  The control unit 10 performs the following control in order to maintain a balanced state. When the cargo item is suspended from the locking member 8, the link chain 6 is pulled by the weight of the cargo item, and the lifting operation unit 7, the rotation output shaft 3, the motor unit 2, and the weight detection unit 5 are also pulled downward. Then, the strain detecting portion of the weight detecting portion 5 is deformed, and the control portion 10 detects the load applied to the weight detecting portion 5 with a strain gauge attached to the strain detecting portion and electrically converts the weight signal, and the position detecting portion. 4 is calculated based on the position signal detected at 4, and the force applied to the locking member 8 generated by the lifting and lowering operation unit 7 is balanced with the vertically downward force applied to the locking member 8, so that the cargo item is at an arbitrary position. Control is performed to assist the motor unit 2 so as to balance.

  When the cargo handling object suspended from the locking member 8 is in a balanced state, the operator can raise and lower the cargo handling object by applying a predetermined force in the vertical direction while grasping the grip portions 21a and 21b. In this state, when the operator removes his / her hand from the grip portion 21b and the gripping member 23, the grip detection portion 27 detects this, and the control portion 10 invalidates each operation button of the operation command portion 22a based on this. At the same time, the control is shifted so as to maintain the current position of the locking member 8 obtained from the position detection unit 4 to control the motor unit 2. At the same time, the controller 10 turns on the light emitting element of the holding button 22c.

  When the operator moves the cargo handling object vertically above the desired position, the holding button 22c is pushed, and then the lowering button 22e is pushed to lower the cargo handling material, and the cargo handling object is placed at the desired position to complete. It becomes.

  The notifying means for notifying that each operation button of the operation command unit 22a is in an effective state, that is, operable, is not limited to the illumination type provided on each operation button of the operation command unit 22a, but a sound generated by a buzzer or the And at least one of image display and character display on a liquid crystal screen. In addition to the operation command unit 22a, the notification means may be arranged at any location of the cargo handling assisting device 1 including the frame 20.

  That is, when the cargo item is suspended and in a balanced state, when the operator releases his / her hand from at least the handle portion 21b, the position holding state is established, and the balanced state is released. Therefore, when an obstacle is generated in the movement path when the cargo handling object is moved and the obstacle is to be removed, the cargo handling object is maintained in the position from the balance state when the operator releases the handle 21b. Thus, the cargo handling object is in a safe state where it cannot be lifted or lowered. Even if the worker trips over an obstacle and falls over, the cargo handling object is held in its position when the operator's hand leaves the handle portion 21b. Even if the operator's weight is greatly applied by covering the cargo handling material, the cargo handling material is maintained in its lifted position, and it is possible to improve safety. The work can be resumed due to the balance because the operator can hold the handle portion 21b and the gripping member 23 together and press the balance button 22b, so that the operation can be easily and reliably performed.

  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 a cargo handling assistance device that is suspended in a building structure or mounted on a movable vehicle or the like.

1: Load handling assist device 2: Motor unit 3: Rotation output shaft 4: Position detection unit 5: Weight detection unit 6: Link chain 7: Lifting operation unit (load sheave)
8: Locking member 9: Hanging hook 10: Control unit 11: Cover 12: Link chain storage unit 20: Frame 21a, 21b: Handle 22a: Operation command unit 22b: Balance button 22c: Holding button 22d: Lift button 22e: Down button 23: Grip member 24: Plate 25: Shaft 26: Coil spring 27: Grip detection unit

Claims (4)

A locking member for locking the cargo item to be raised and lowered;
An elevating operation unit that is connected to the locking member to raise and lower the locking member;
A motor unit of a driving source connected to the lifting operation unit;
A weight detector that detects the weight applied to the locking member and outputs a weight signal;
A position detection unit for detecting a lift position of the locking member and outputting a position signal;
From the position detection unit, the force applied to the locking member generated by the elevating operation unit and the vertically downward force applied to the locking member are balanced to balance the locking member at an arbitrary position. A control unit that issues a command to the motor unit based on the position signal and the weight signal from the weight detection unit;
A pair of handle parts that are moved up and down together with the locking member and operated by an operator,
An operation command unit that is electrically connected to the control unit and is disposed in the vicinity of one of the handle portions and issues a command for raising and lowering the locking member;
A gripping member provided in the vicinity of the other grip portion and capable of being gripped by an operator together with the grip portion;
A grip detection unit that is electrically connected to the control unit and detects that the grip unit is gripped together with the gripping member;
Including
The control unit receives a command from the operation command unit and enables a predetermined operation only when the grip detection unit detects that the gripping member and the handle unit are gripped together. A cargo handling assisting device, characterized by being controlled.   When the control unit is controlling the locking member to balance, when the gripping detection unit detects that the gripping member is not gripped together with the handle, 2. The cargo handling assist device according to claim 1, wherein control is shifted so as to hold the locking member at a current position.   The control unit is operable with at least one of sound, light emission, image display, and vibration when the grip detection unit detects that the grip member and the handle are gripped together. The cargo handling assisting device according to claim 1, further comprising a notification unit that performs notification. The elevating operation part winds a link chain in which an oval ring composed of a semicircular arc part and a linear part connected to the semicircular arc part is alternately connected, and is rotated by driving of the motor part and connected to one end of the link chain. The cargo handling assisting device according to any one of claims 1 to 3, wherein the locking member is moved up and down.

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