JP2020059561A - Operation part unit of load handling device - Google Patents

Abstract

To provide an operation part unit capable of forming a separate operating unit by incorporating the operation part unit as it is into the control unit housing of a power loading part separately manufactured instead of the operating unit separately manufactured for a heavy duty-type load handling device, as well as the operating unit for a standard type can be formed by incorporating the operation part unit into the box-shape body of the load handling device for a standard-type.SOLUTION: A unitized operation part unit comprises: a lever shaft 1 having an operation lever 2 on one end of the lever shaft and orthogonal to the operation lever 2; a plate 5 with flange which has a bearing 4 of the lever shaft 1 and through which the other end of the lever shaft 1 passes from its front face to be arranged; a rotation regulating part CL of the lever shaft 1 fixed to the lever shaft 1 behind the plate 5 with flange, and having a self-recovery function for the forward and reverse rotations of the lever shaft 1; a cover 6 with flange which is placed over the back of the plate 5 with flange so as to sandwich the rotation regulating part CL and through which the tip side of the lever shaft 1 passes via the bearing 7; and a potentiometer 15 which is installed on the back face of the cover 6 with flange and to which the rotation of the lever shaft 1 is transmitted.SELECTED DRAWING: Figure 1

Description

  The present invention mainly relates to a baggage in which an articulated arm mechanism using parallel links is expanded / contracted, moved up / down, rotated, etc. by a driving force of a motor or the like, and is supported by a load portion formed at a tip portion of the arm mechanism. An operation unit unit of a load handling device in which a load handling device is formed to move (load) to an arbitrary position where the load part reaches Regarding

  BACKGROUND ART Conventionally, a load handling device mainly composed of an articulated arm mechanism using a pantograph-shaped parallel link has been widely used in various fields as a simple crane-type labor-saving machine.

  In the load handling device, the operation of the arm mechanism (horizontal movement or elevating of the load part due to expansion and contraction of the arm) is performed adjacent to a load part provided with a hook or the like provided on the distal arm of the arm mechanism for supporting luggage. Many of them are provided with an operation section for giving instructions, and most of the operation sections are of a type provided with an operation lever that can be held by an operator (operator) with his / her palm.

  Well-known examples of the operation unit include the operation unit disclosed in Patent Documents 1 to 3 and the like. This operation part is provided with an operation lever, which is substantially T-shaped in plan view, rotatably on its support shaft (lever shaft) on the outer wall surface of a substantially cubic box body (box-shaped body) that forms the operation part body. For example, when the lever is rotated in the clockwise direction, a command to raise the load section is generated, and when the operation lever is rotated in the counterclockwise direction, a command to lower the load section is generated. It is provided in the form of a connecting member between the tip of the tip arm and the load portion such as a hook.

  By the way, in the operation section of the load handling device, the size of the luggage to be handled is not so large. It is convenient to provide between the tip of the tip-side arm and the load part for operations such as raising and lowering the load to be supported by the load part and suspending the load and moving it in a plane.

  However, if the load to be handled becomes a heavy load type load handling device (hereinafter, also simply referred to as a heavy load type) of, for example, 500 kg or more, the arm mechanism also has a high strength and a large and heavy structure, and the load to be handled also The outer shape is large or irregular. When the load to be handled is large or odd, when the load is supported (grabbing, hanging, etc.) on the load, if the load is adjacent to the operation unit, the load is supported by the load. There is a case where the operation lever of the operation section is extremely difficult to operate or cannot be operated due to the obstruction of irregular shaped luggage.

  In this type of heavy-duty type load handling device, in which the arm mechanism becomes large and the load to be handled is large or irregular, the standard type load unit supports or releases the load by the driving force of the motor or cylinder. The power load section is replaced with a control section for controlling the operation of the power load section, and the control section is positioned so as to be appropriately separated from the tip of the arm on the tip side of the arm mechanism, and the control section is connected to the power load section via a connecting member such as an attachment. Arrangement is performed in a combined form.

  By the way, the operation part in the above-described standard type load handling device is a form in which all the components of the operation part are arranged in a box-shaped main body arranged between the tip of the tip side arm of the arm mechanism and the load part. . On the other hand, in a heavy load type load handling device, a power load unit and a control unit connected to this power load unit via an attachment are installed, so that the operation unit for moving up and down the power load unit that supports luggage is The box-shaped operating unit used in the standard type cannot be diverted as it is, and a separately manufactured operating unit is attached to the control unit.

Japanese Patent No. 4200304 Japanese Patent Publication No. 8-367 Utility model No. 2578142

  In the present invention, it can be incorporated into the box-shaped body of the standard type load handling device to form an operation part for the standard type, and can be attached to the control part of the power load part separately manufactured for the heavy load type load handling device. It is an object of the present invention to provide an operation unit unit that can be incorporated into the housing of the control unit as it is to form an operation unit instead of the separate operation unit.

The configuration of the operation unit unit of the present invention made for the purpose of solving the above-mentioned problems includes a lever shaft having an operation lever at one end and orthogonal to the operation lever, and a bearing for the lever shaft, and the other end of the lever shaft. A plate with a flange, the side of which is pierced from the front side,
On the back surface of the flanged plate with the rotation restricting portion sandwiched between the rotation restricting portion of the lever shaft that is fixed to the lever shaft behind the flanged plate and has a self-returning function of forward and reverse rotation of the lever shaft. It is characterized by comprising a cover with a flange which covers the tip end side of the lever shaft through a bearing, and a potentiometer which is provided on the back surface of the cover with the flange and which transmits the rotation of the lever shaft.
The operating section unit of the present invention is provided with a box main body forming a standard type operating section and a control section of the power load section on an overlapping flange section in which two flanges of the flanged plate and the flanged cover are overlapped and integrated. It is characterized by forming a mounting part that can be mounted on any of the front panels with screws as it is.

  The rotation restricting portion of the lever shaft in the operation unit includes a stopper plate fixed to the lever shaft, an operation pin erected on the stopper plate, and a torsion coil spring attached to the lever shaft and operated by the operation pin. And a regulation pin that regulates the operation of the torsion coil spring.

  The rotation of the lever shaft transmitted to the potentiometer is driven by a drive gear provided at the tip of the lever shaft and a driven gear that is meshed with the drive gear and provided on the knob shaft of the potentiometer. I was made to be transmitted through.

  The present invention has an opening of a box-shaped main body that forms a standard type operation unit in an overlapping flange portion in which a flanged plate and a flanged cover, which are constituent members of an operation unit, are overlapped and integrated. A mounting portion on which the operation unit of the present invention can be installed by screwing is formed on either the side wall of the housing or the front panel of the housing forming the control unit of the power load unit for supporting and opening the load by driving force. Therefore, one operating unit can be formed on the standard type box-shaped main body by simply screwing it on the mounting part, and on the front panel of the housing that forms the control part of the power load part. It is possible to form the separate operation portion by simply attaching the attachment portion with screws.

FIG. 3 is a vertical cross-sectional side view of an example of the operation unit unit of the present invention. The left side view of the operation part unit of FIG. The right view of the operation part unit of FIG. The front view of the stop plate of a rotation control part. The exploded perspective view of the operation part unit of the present invention. The perspective view of the example which applied the operation part unit of this invention to the operation part of the load handling apparatus of a standard type. FIG. 11 is a perspective view of an example in which the operation unit unit of the present invention is applied to a separate operation unit provided apart from the distal end side arm of the arm mechanism.

  Next, an embodiment of the operation unit of the present invention will be described with reference to the drawings.

  1 to 7, reference numeral 1 denotes a lever shaft which is provided with a laterally operating lever 2 and is oriented orthogonal to the operating lever 2. The lever shaft 1 is formed in the shape of a hollow pipe to reduce the weight, the side to which the operation lever 2 is coupled is formed into a taper portion 1a, and the opposite side of the taper portion 1a is stepped via a step portion 1b. It is formed on the attachment part 1c. Reference numeral 3 is a connecting pin of the lever shaft 1 and the operating lever 2. The operation lever 2 is connected to the lever shaft 1 via the connecting pin 3 at a position of about 1/3 of its entire length, and the lever shaft 1 and the operation lever 2 are connected so as to form a substantially T shape in a plan view. Has been done.

  A plate 5 with a flange is attached to a large diameter portion of the stepped portion 1c including the stepped portion 1b of the lever shaft 1 via a bearing 4. The flanged plate 5 includes a plate portion 5a on the center side where the bearing 4 is located at the center and a flange portion 5b on the outer peripheral side of the plate portion 5a. Reference numeral 5c is a connecting pin for fixing the bearing 4 to the plate portion 5a.

  Reference numeral 6 denotes a flanged cover which covers the flanged plate 5 from the back side on the back side of the flanged plate 5 (on the side opposite to the operation lever 2). The flanged cover 6 has a cover main body 6a having a bearing 7 for supporting the small diameter portion 1g of the stepped portion 1c of the lever shaft 1 in the center thereof, and a flange arranged on the outer peripheral side of the cover main body 6a. The part 6b is provided.

  The flange portion 5b of the flanged plate 5 (hereinafter also referred to as the first flange portion 5b) and the flange portion 6b of the flanged cover 6 (hereinafter also referred to as the second flange portion 6b) have substantially the same outer diameter. They are formed to have substantially the same width, and here, they are joined by three joining screws 8 having a 120 ° pitch on the circumference. Reference numeral 9 is an attachment provided at a middle of each of the connecting screws 8 for connecting the first flange 5b and the second flange 6b in an overlapping manner so as to penetrate the first flange 5b and the second flange 6b at a pitch of approximately 120 degrees. It is a mounting hole that becomes a part.

  In the space formed by the plate portion 5a and the cover body portion 6a that face each other in the flanged plate 5 and the flanged cover 6 in which the first flange portion 5b and the second flange portion 6b are joined in an overlapping state by three joining screws 8. Has a large-diameter portion of the stepped portion 1c of the lever shaft 1 positioned therein, and the rotation restricting portion CL of the operation lever 2 (lever shaft 1) is mounted on the stepped portion 1c. Next, the rotation regulation unit CL will be described.

  The rotation restricting portion CL includes a stopper plate 10 attached to a large-diameter portion of the stepped portion 1c of the lever shaft 1, a stopper pin 11 for stopping angular rotation of the stopper plate 10, and a forward direction attached to the lever shaft 1. Alternatively, a torsion coil spring 12 that transmits a force for returning the lever shaft 1 that is rotated in the opposite direction to the original position, a spring pin 13 that supports the spring force of the torsion coil spring 12, and a stopper for the torsion coil spring 12. A spring retainer 14 for pressing the plate 10 is provided (see FIG. 4). It should be noted that the rotation restricting portion CL shown in the perspective view of FIG. 4 has the upper and lower sides opposite to the vertical direction of the rotation restricting portion CL shown in the sectional view of FIG.

  The stopper plate 10 of the rotation restricting portion CL is shown in FIG. The stopper plate 10 is integrated with the lever shaft 1 by fixing a substantially rectangular substrate 10a viewed from the front to a key groove 1d of a stepped portion 1c of the lever shaft 1 with a key 10b. Reference numeral 10c is a cap screw for the key 10b. The lower side of the stopper plate 10 shown in FIG. 4 is formed in a guide groove 10d having a substantially arcuate recess centered on the lever shaft 1, and the stopper pin 11 is located at a position where the guide pin 10d enters the plate portion 5a of the flanged plate 5. It is installed upright. The stopper plate 10 that rotates integrally with the lever shaft 1 can rotate in the forward and reverse directions until both ends 10e and 10f of the guide groove 10d hit the stopper pin 11.

  The torsion coil spring 12 has both ends of the spring protruding to the outside of a ring-shaped twisted portion in the shape of a leg. Hereinafter, the protruding portion will be referred to as a leg-shaped protruding portion 12a. The torsion coil spring 12 has its ring-shaped portion fitted onto the stepped portion 1c of the lever shaft 1, and the length of the guide groove 10d formed in the stopper plate 10 is long between the two leg-shaped protrusions 12a. A spring pin 13 standing on the edge of the middle portion in the vertical direction is positioned so as to be sandwiched.

  Reference numeral 14 denotes a spring retainer that pushes the torsion coil spring 12 toward the stopper plate 10, and a cover body having a substantially arc shape is formed on the stopper plate 10 with a screw 14a.

The rotation restricting portion CL of the lever shaft 1 (operation lever 2) is configured as described above, and its function is as follows. When the operation lever 2 is now grasped by hand and the lever shaft 1 is rotated clockwise in FIG. 2, the right end (10e in FIG. 4) of the guide groove 10d of the stopper plate 10 contacts the stopper pin 11. It is allowed until it touches, and further clockwise rotation is not possible.

  During the above-described rotation, the torsion coil spring 12 mounted on the lever shaft 1 has its leg-shaped protrusion 12a pushed by the spring pin 13 in the rotation direction of the lever shaft 1 and twists the torsion coil spring 12 to generate a return force. give. The return force applied to the coil spring 12 by the twist acts as a return force that returns the lever shaft 1 to the original position when the operation lever 2 is released due to the elasticity of the coil spring 12.

Even in the counterclockwise direction of the lever shaft 1, the rotation thereof is allowed until the left end (see FIG. 4) of the guide groove 10d comes into contact with the stopper pin 11. With this rotation, the spring pin 13 pushes the leg-shaped protrusion 12a of the torsion coil spring 12 in the torsion direction, and the shaft 1 automatically returns.

  Reference numeral 15 denotes a rotary potentiometer mounted on the back surface of the flanged cover 6 via a mounting base 16 and a mounting spacer 17. The mounting base 16 includes a mounting spacer 17, and the potentiometer 15 is mounted on the mounting base 16 by mounting screws 17a. Reference numeral 16a is a mounting screw for mounting the mounting base 16 on the back surface of the flanged cover 6. Since the potentiometer outputs an electrical value (resistance value or voltage value) that accurately corresponds to the rotation angle, it is equipped with a transmission mechanism for transmitting the rotation of the lever shaft 1 described above for the rotation. There is.

  The transmission mechanism is a pinion gear 15b (driven gear) mounted on the knob shaft 15a of the potentiometer 15 by a mounting screw 15c, and a large-diameter gear that meshes with the pinion gear 15b. The drive gear 1e is attached to the (small diameter portion 1g of the stepped portion 1c) with the attaching screw 15. By this transmission mechanism, when the operation lever 2 is gripped by hand and the lever shaft 1 is rotated clockwise or counterclockwise within the range allowed by the rotation restricting portion CL, the rotation is reversed. It is transmitted to the pinion gear 15b through the drive gear 1e, and the knob shaft 15a of the potentiometer 15 is rotated clockwise or counterclockwise.

  Here, an electric signal obtained by rotating the knob shaft 15a of the potentiometer 15 in the clockwise direction and the counterclockwise direction is a servo motor (not shown in the figure) to which the potentiometer 15 is connected. The rotation direction of the servomotor (the ascending and descending direction of the suspended load) and the number of revolutions in each rotational direction (the speed of ascending and descending the load) are sent to the control circuit of the lifting drive source of the handling device). It is used as a signal for controlling. Reference numeral 18 is an electric coupler having lead wires connected to the three terminals of the potentiometer 15.

  An example of the operation unit unit CU of the present invention in which the operation unit C is unitized by the configuration from the lever shaft 1 including the operation lever 2 described above to the potentiometer 15 provided via the mounting base 16 and the mounting spacer 17 Since it is formed, an application example of the operation unit CU of the present invention will be described next.

  In the flanged plate 5 and the flanged cover 6 described above, the two flange portions 5b and 6b that are joined and integrated by the joining screw 8 have the mounting holes 9 that penetrate the two flange portions 5b and 6b that are joined together. In the illustrated example, three pieces are provided on the circumference. The number of the mounting holes 9 may be three or more. The mounting hole 9 forms the operation unit CU of the present invention integrally with the load unit L arranged at the lower end of the tip side arm A1 of the crane-type load handling device Ba by the pantograph type arm mechanism illustrated in FIG. It functions as a mounting part when the operating part C is mounted on the side wall Ws of the box-shaped main body Bm. F is a hook for hanging luggage.

  That is, a mounting hole (not shown) slightly larger than the cover main body 6a of the flanged cover 6 is formed in the side wall Ws of the box-shaped main body Bm, and a side wall screw hole (see FIG. (Not shown) is formed, and the operation unit CU of the present invention is inserted into the attachment hole of the side wall Ws from the potentiometer 15 side, and the attachment holes 9 of the two integrated flange portions 5b and 6b and the attachment hole 9 are formed. The operation unit unit CU of the present invention can be attached to the box-shaped body Bm of the operation unit C by tightening a mounting screw (not shown) in the side wall screw hole.

  When the operating section unit CU of the present invention is provided in the operating section C of the box-shaped main body Bm integrally with the load section L arranged at the lower end of the distal arm A1, the load is hung on the hook F of the load section L. When lifting, the operator can hold the operating lever 2 with his / her dominant hand and attach the other hand to the baggage to move the baggage up and down in a natural posture.

On the other hand, if the baggage to be handled is large or irregularly shaped, when the baggage is hung on the hook F, the outer shape of the baggage interferes with the operation of the operation lever 2 and it is difficult to smoothly move the baggage up and down. is there.
Therefore, in the load handling device Ba for large-sized luggage, instead of the operation part C and the hook F of the load part L, a power load part by a large-sized gripping device or a chuck device that uses an actuator such as an air cylinder as a drive source. It forms PL. However, if the power load unit PL is adopted in place of the standard type operation unit C and the hook F, a control unit Cp for operating and controlling the power load unit PL is required and the power load unit PL is moved up and down. The issue is where to provide the operation unit C.

  Therefore, in the present invention, the operation unit CU in which the operation lever 2 and the potentiometer 15 are integrated via the flanged plate 5 and the flanged cover 6 is provided adjacent to or separated from the power load unit PL. The problem is solved by mounting the control unit Cp on the front panel Pf of the control box (housing) Bc accommodating the main body of the control unit Cp to form a separate operation unit Ca.

  In FIG. 7, an air cylinder type chuck device is provided as a power load part PL for supporting a large load at the lower end part of the front end side arm A1, and a control part Cp for controlling the operation of the power load part PL is provided. , An example provided via a connection attachment At connected to the power load unit PL. Here, the operation unit CU of the present invention is inserted from the rear (potentiometer 15 side) into the mounting hole formed in the front panel Pf of the housing Bc in which the control unit main body is housed, and the mounting screw inserted in the mounting hole 9 is inserted. Is fastened to the front panel Pf and attached to the housing Bc to form a separate operation portion Ca. In FIG. 7, Ch is a grip chuck, Ai is an air cylinder that is a drive source of the grip chuck Ch, and Bu is an operation button including a switch of the control unit Cp.

  The operator operates an operation button Bu such as a switch or a knob for operating the power load unit PL arranged on the front panel Pf of the housing Bc of the control unit Cp to load a large load on the power load unit PL. The gripping chuck Ch of the power load unit PL is operated by rotating the operating lever 2 of the operating unit unit CU of the present invention in the separate operating unit Ca formed on the same front panel Pf while performing the operation of grasping and releasing. Performs lifting and lowering of the large baggage held by.

  The present invention is as described above, and the control unit of the present invention is provided on either the side wall of the box-shaped main body of the standard type operation unit or the front panel of the control unit of the power load unit arranged in a separately manufactured housing. Since it can be attached, it can be applied to the standard type operation part with one type of operation part unit, and since the control parts have various forms due to the various types of power load parts, they are installed in the control part. The operating portion to be formed can be a separate operating portion for the heavy load type, which is manufactured separately for each case, using one type of operating portion unit of the present invention.

1 Lever Shaft 2 Operation Lever 3 Mounting Pin 4 Bearing 5 Plate with Flange 6 Cover with Flange 7 Bearing 8 Coupling Screw (Screw)
9 Mounting hole CL Rotation regulation part 10 Stopper plate 11 Stopper pin 12 Torsion coil spring 13 Spring pin 14 Spring retainer 15 Potentiometer 16 Mounting base 17 Mounting spacer 18 Electric connector Ba Cargo handling device A1 Tip arm L Load part C Operating part Bm box Body Ws side wall F hook Ca separate operation unit PL power load unit Cp power load unit control unit Bc control unit case Pf case front panel

Claims (4)

  A lever shaft having an operation lever at one end and orthogonal to the operation lever, a flanged plate provided with a bearing for the lever shaft and having the other end side of the lever shaft penetrating from the front surface, and a back of the flanged plate And a rotation restricting portion of the lever shaft that is fixed to the lever shaft and has a self-returning function of forward and reverse rotation of the lever shaft, and is arranged to cover the back surface of the flanged plate so as to sandwich the rotation restricting portion. A load characterized by being unitized with a flanged cover through which the tip end side of the lever shaft penetrates through a bearing, and a potentiometer provided on the back surface of the flanged cover for transmitting the rotation of the lever shaft. The operation unit of the handling device.   In the overlapping flange part where the flanges of the flanged plate and the flanged cover are overlapped and integrated, a box-shaped body forming a standard type operation part, and a front panel included in the control part of the power load part The operation unit of the load handling device according to claim 1, further comprising a mounting portion which can be mounted by screwing as it is.   The rotation restricting portion of the lever shaft includes a stopper plate fixed to the lever shaft, a spring pin erected on the stopper plate, a torsion coil spring attached to the lever shaft and subjected to a torsion action by the spring pin, and the stopper. The operation unit unit of the load handling device according to claim 1, wherein the operation unit unit is provided with a stopper pin that restricts rotation of the plate.   The rotation of the lever shaft transmitted to the potentiometer is driven by a drive gear provided on the tip of the lever shaft and a driven gear meshed with the drive gear and provided on a knob shaft of the potentiometer. The operation part unit of the load handling apparatus according to any one of claims 1 to 3, which is transmitted via a.

Images