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

Operation part unit of load handling device Download PDF

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JP2020059561A
JP2020059561A JP2018189780A JP2018189780A JP2020059561A JP 2020059561 A JP2020059561 A JP 2020059561A JP 2018189780 A JP2018189780 A JP 2018189780A JP 2018189780 A JP2018189780 A JP 2018189780A JP 2020059561 A JP2020059561 A JP 2020059561A
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lever shaft
unit
lever
load
plate
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JP7182776B2 (en
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公之 元田
Kimiyuki Motoda
公之 元田
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Motoda Giken Co Ltd
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Motoda Giken Co Ltd
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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

本発明は、主として平行リンクを利用した関節型のアーム機構を、モータなどの駆動力によって伸縮、昇降、回転などの動作をさせ、前記アーム機構の先端部に形成した負荷部に支持させた荷物(荷重)を、前記負荷部が届く任意の位置に移動させるように形成された荷重取扱装置における前記アーム機構の負荷部に少なくとも昇降動作をさせる操作部をユニット化した荷重取扱装置の操作部ユニットに関する。   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

従来から、パントグラフ状の平行リンクを利用した関節型のアーム機構を主体とする荷重取扱装置は、簡易なクレーンタイプの省力機械として多方面において広く活用されている。   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.

前記荷重取扱装置では、アーム機構の先端側アームに設けた荷物を支持するフック等を備えた負荷部に隣接して前記アーム機構の動作(アームの伸縮等による負荷部の水平移動や昇降)を指示するための操作部を設けたものが多く、また、前記操作部には、オペレーター(操作員)がその掌で握ることができる操作レバーを備えた形式のものが多い。   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.

前記操作部のよく知られている例としては、特許文献1〜3等に開示された操作部がある。この操作部は、操作部本体をなす略立方体状の箱体(ボックス状本体)の外側壁面に、平面視略T状の操作レバーをその支持軸(レバー軸)において回転自在に設け、前記操作レバーを例えば時計回り方向に回転させると前記負荷部の上昇指令が生成され、前記操作レバーを反時計回り方向に回転させると前記負荷部の下降指令が生成されるように形成されており、前記先端側アームの先端とフック等による負荷部の間に連結部材の形で設けられている。   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.

ところで、上記荷重取扱装置の操作部は、取扱う荷物の大きさがそれほど大きくない、例えば、取扱う荷物が100kg重〜200kg重程度のいわば標準タイプの荷重取扱装置(以下、単に標準タイプともいう)では、先端側アームの先端と負荷部の間に設けられていることが、負荷部に支持させる荷物の上げ下ろしやその荷物を吊下げて平面内で移動させる等の操作をする上で便宜である。   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.

しかし、取扱う荷物が、例えば500kg重以上のいわば大荷重タイプの荷重取扱装置(以下、単に大荷重タイプともいう)になると、アーム機構も高強度で大型・大重量の構造になり、取扱う荷物も外形が大形・異形になる。取扱う荷物が大形や異形になると、負荷部にその荷物を支持(掴む、吊下げる等)させるとき、この負荷部に操作部が隣接していると、負荷部で支持している大形荷物や異形荷物が邪魔になって操作部の操作レバーがきわめて操作しにくいか、或は操作できない場合が生じていた。   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.

このようにアーム機構が大型になって取扱い荷物も大形や異形になる大荷重タイプの荷重取扱装置では、標準タイプの負荷部を、モータやシリンダ等の駆動力によって荷物の支持や開放を行うパワー負荷部に置き換え、このパワー負荷部の動作を制御する制御部をアーム機構の先端側アームの先端から適宜離間させて位置付け、この制御部をアタッチメント等の連結部材を介して前記パワー負荷部に結合した形で配置することが行われている。   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.

ところで、上述した標準タイプの荷重取扱装置における操作部は、アーム機構の先端側アームの先端と負荷部の間に配置されるボックス状本体に操作部の構成部材の全てが配置された形態である。一方、大荷重タイプの荷重取扱装置においては、パワー負荷部とこのパワー負荷部にアタッチメントを介して連結された制御部が設置されるため、荷物を支持するパワー負荷部を昇降させる操作部は、標準的タイプに用いているボックス状の操作部をそのまま転用することはできず、別製した操作部を前記制御部に付設していた。   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.

特許第4200304号公報Japanese Patent No. 4200304 特公平8−367号公報Japanese Patent Publication No. 8-367 実用新案第2578142号公報Utility model No. 2578142

本発明では、標準タイプの荷重取扱装置のボックス状本体に組み込んで標準タイプ用の操作部に形成できると共に、大荷重タイプの荷重取扱装置のために別製されたパワー負荷部の制御部に付設されていた別体の操作部に代え前記制御部の筐体にそのまま組み込んで操作部を形成できる操作部ユニットを提供することを課題とする。   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.

前記課題を解決することを目的としてなされた本発明操作部ユニットの構成は、操作レバーを一端に備えて前記操作レバーに直交したレバー軸と、前記レバー軸の軸受を備えそのレバー軸の他端側が前面から貫通して配置されるフランジ付プレートと、
前記フランジ付プレートの後ろで前記レバー軸に固定され前記レバー軸の正,逆回転の自己復帰機能を有するレバー軸の回転規制部と、前記回転規制部を挟む形で前記フランジ付きプレートの背面に被せられ前記レバー軸の先端側が軸受を介して貫通するフランジ付カバーと、前記フランジ付カバーの背面に設けられて前記レバー軸の回転が伝道されるポテンシヨメータとを備えることを特徴とする。
本発明操作部ユニットは、前記フランジ付プレートとフランジ付カバーの2つのフランジを重ねて一体化した重複フランジ部に、標準タイプの操作部を形成するボックス本体、及びパワー負荷部の制御部が備える正面パネルのいずれにもそのままネジ止めで取付けることが出来る取付部を形成したことを特徴とする。
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.

前記操作部ユニットにおけるレバー軸の回転規制部は、前記レバー軸に固着されたストッパ板と、該ストッパ板に立設された作動ピンと、前記レバー軸に取付けられ前記作動ピンで作動される捩りコイルバネと、前記捩りコイルバネの動作を規制する規制ピンを備えて形成されている。   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.

また、前記ポテンシヨメータに伝動されるレバー軸の回転は、前記レバー軸の先端部に設けた駆動ギアと、該駆動ギアに噛合されてポテンシヨメータのつまみ軸に設けた従動ギアによる伝動機構を介して伝動されるようにした。   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.

本発明は、操作部ユニットの構成部材であるフランジ付プレートとフランジ付カバーの夫々のフランジを重ねて一体化した重複フランジ部に、標準タイプ用の操作部を形成するボックス状本体の開口部を有する側壁か、又は駆動力で荷物の支持と開放をするパワー負荷部の制御部を形成する筺体のフロントパネルのいずれかに、本発明操作部ユニットをネジ止して設置できる取付部を形成したから、一つの操作部ユニットを、標準タイプのボックス状本体に前記取付部においてネジ止で取付けるだけで操作部に形成することが出来ると共に、パワー負荷部の制御部を形成する筺体のフロントパネルに前記取付部においてネジ止で取付けるだけで別体操作部に形成することができる。   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.

本発明操作部ユニットの一例の縦断側面図。FIG. 3 is a vertical cross-sectional side view of an example of the operation unit unit of the present invention. 図1の操作部ユニットの左側面図。The left side view of the operation part unit of FIG. 図1の操作部ユニットの右側面図。The right view of the operation part unit of FIG. 回転規制部のストップ板の正面図。The front view of the stop plate of a rotation control part. 本発明操作部ユニットの分解斜視図。The exploded perspective view of the operation part unit of the present invention. 本発明操作部ユニットを標準タイプの荷重取扱装置の操作部に適用した例の斜視図。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. 本発明操作部ユニットをアーム機構の先端側アームから離れて設けた別体操作部に適用した例の斜視図。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.

次に、本発明操作部ユニットの実施の形態例について、図を参照しながら説明する。   Next, an embodiment of the operation unit of the present invention will be described with reference to the drawings.

図1〜図7において、1は、横向きの操作レバー2を備え、前記操作レバー2と直交した向きのレバー軸である。前記レバー軸1は、重量軽減のため中空パイプ状に形成されており、前記操作レバー2を結合した側がテーパー部1aに形成され、該テーパー部1aの反対側は、段部1bを介して段付部1cに形成されている。3は前記レバー軸1と操作レバー2の結合ピンである。前記操作レバー2は、その全長の略1/3程度の位置でレバー軸1に前記結合ピン3を介して結合され、前記レバー軸1と操作レバー2が平面視略T状をなすように結合されている。   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.

前記レバー軸1の段部1bを含む段付部1cの太径部位には、軸受4を介してフランジ付きプレート5が装着されている。フランジ付プレート5は、前記軸受4が中心に位置する中心側のプレート部5aと該プレート部5aの外周側のフランジ部5bを備えている。5cは前記軸受4をプレート部5aに固定するための結合ピンである。   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.

6は、前記フランジ付プレート5の背面側(操作レバー2とは反対側)において、そのフランジ付プレート5に背面側から被せたフランジ付カバーである。そのフランジ付カバー6は、その中心に、前記レバー軸1の段付部1cの小径部位1gを支承する軸受7を有するカバー本体部6aと、そのカバー本体部6aの外周側に配されたフランジ部6bを備える。   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.

前記フランジ付プレート5のフランジ部5b(以下、第1フランジ部5bともいう)と、前記フランジ付カバー6のフランジ部6b(以下、第2フランジ部6bともいう)とは、略同じ外径で略同じ幅に形成され、ここでは周上120度ピッチの3本の結合ネジ8によって結合されている。9は、前記第1フランジ5bと第2フランジ6bを重ねて結合する前記の各結ネジ8の中間に、略120度ピッチで前記第1フランジ5bと第2フランジ6bを貫通して設けた取付部になる取付穴である。   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.

第1フランジ部5bと第2フランジ部6bが3本の結合ネジ8によって重複状態で結合されたフランジ付プレート5とフランジ付カバー6において対面するプレート部5aとカバー本体部6aが形成する空間内には、前記レバー軸1の段付部1cにおける大径部分が位置付けられ、前記操作レバー2(レバー軸1)の回転規制部CLが前記段付部1cに装備されている。次に、回転規制部CLについて説明する。   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.

回転規制部CLは、レバー軸1の段付部1cの大径部位に取付けられたストッパ板10と、ストッパ板10の角回転を止めるストッパピン11と、前記レバー軸1に装着されて正方向又は逆方向に回転されるレバー軸1を元の位置に復帰させる力を当該レバー軸1に伝える捩りコイルバネ12と、前記捩りコイルバネ12のバネ力を支持するバネピン13と、前記捩りコイルバネ12をストッパ板10に押付けるバネ押え14を備えている(図4参照)。なお、図4の斜視図に示された回転規制部CLは、図1の断面図に示した回転規制部CLの上下方向の向きと、上,下が逆になっている。   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.

回転規制部CLのストッパ板10は、図4に正断面の姿を示した。ストッパ板10は、正面から見た略矩形の基板10aがレバー軸1の段付部1cのキー溝1dにキー10bによって固定されてレバー軸1と一体化されている。10cはキー10bの押えネジである。図4に示したストッパ板10の下辺は、レバー軸1を中心とする略円弧凹状のガイド溝10dに形成され、このガイド溝10dに入る位置にストッパピン11がフランジ付プレート5のプレート部5aに立設されている。レバー軸1と一体に回転するストッパ板10は、そのガイド溝10dの両端部10e、10fがストッパピン11に当るまで、正方向と逆方向に回転可能である。   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.

捩りコイルバネ12は、そのバネの両端側が脚のような姿でリング状になった捩り部の外側に突出している。以下、突出している部分を脚状突出部12aと呼ぶ。捩りコイルバネ12は、そのリング状部がレバー軸1の段付部1cに外嵌されており、2本の脚状突出部12aの間に、前記ストッパ板10に形成されたガイド溝10dの長さ方向中間部の縁に立設したバネピン13が挟まれた形で位置するようになっている。   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.

14は、前記捩りコイルバネ12をストッパ板10の側へ押付けるバネ押えであり、大略円弧状のカバー体がストッパ板10にネジ14aで止められるように形成されている。   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.

以上によりレバー軸1(操作レバー2)の回転規制部CLを構成するが、その機能は次の通りである。いま操作レバー2を手で掴み、レバー軸1を図2の時計回り方向に回転させると、その回転は、ストッパ板10のガイド溝10dの右端(図4では符号10e)がストッパピン11に当接するまで許容され、それ以上の時計回り方向の回転はできない。 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.

上記の回転中に、レバー軸1に装設している捩りコイルバネ12は、その脚状突出部12aがバネピン13によってレバー軸1の回転方向に押されて捩りコイルバネ12を捩って戻り力を与える。捩りによってコイルバネ12に与えられた戻り力は、そのコイルバネ12の弾性によって操作レバー2から手を放すとレバー軸1を元の位置に戻す復帰力として作用する。   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.

前記レバー軸1の反時計回り方向においても、その回転がガイド溝10dの左端(図4参照)がストッパピン11に当接するまで許容される。この回転に伴いバネピン13が捩りコイルバネ12の脚状突出部12aを捩り方向に押して軸1は自動復帰する。 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.

15は、フランジ付きカバー6の背面に、取付台16と取付スペーサ17を介して取付けたロータリー型のポテンシヨメータである。取付台16は取付スペーサ17を備えており、ポテンシヨメータ15が取付ビス17aにより取付台16に取付けられている。16aは前記取付台16をフランジ付カバー6の背面に取り付けるための取付ビスである。前記ポテンシヨメータは、回転角に正確に対応した電気値(抵抗値又は電圧値)を出力するから、その回転のために先に述べたレバー軸1の回転を伝えるための伝動機構を備えている。   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.

伝動機構は、前記ポテンシヨメータ15のつまみ軸15aに取付ビス15cによって取付けたピニオンギア15b(従動ギア)と、前記ピニオンギア15bに噛合う大径のギアであって前記レバー軸1の末端部(段付部1cにおける小径部位1g)に取り付けネジ15により取付けられた駆動ギア1eとにより形成されている。この伝動機構により、操作レバー2を手で掴みレバー軸1を時計回り方向又は反時計回り方向に、回転規制部CLで許容される範囲内で正,逆の角回転をさせると、その回転が駆動ギア1eを通してピニオンギア15bに伝わり、ポテンシヨメータ15のツマミ軸15aを、時計回り方向又は反時計回り方向に回転させる。   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.

ここで、ポテンシヨメータ15のつまみ軸15aの時計回り方向の角回転と反時計回り方向の角回転によって得られた電気信号は、前記ポテンシヨメータ15が接続されるサーボモータ(図示しないが荷重取扱装置の持上げ駆動源)の制御回路に対し、前記サーボモータの回転方向(吊下げている荷物の上昇方向と降下方向)と各回転方向での回転数(荷物の上昇と下降の速度)を制御するための信号として利用される。18はポテンシヨメータ15の3つの端子に接続されたリード線を備えた電気カプラーである。   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.

以上に説明した操作レバー2を備えるレバー軸1から取付台16、取付スペーサ17を介して設けたポテンシヨメータ15までの構成によって、操作部Cをユニット化した本発明操作部ユニットCUの一例を形成するので、次に本発明操作部ユニットCUの適用例について説明する。   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.

先に述べたフランジ付プレート5とフランジ付カバー6において、結合ビス8によって結合一体化された2つのフランジ部5bと6bには一体化した2つのフランジ部5bと6bを貫通する取付穴9が、図示した例では周上に3個設けられている。前記取付穴9は、3個以上であってもよい。取付穴9は、本発明操作部ユニットCUを、図6に例示するパントグラフ型アーム機構によるクレーン型の荷重取扱装置Baの先端側アームA1の下端部に配置される負荷部Lと一体をなす操作部Cのボックス状本体Bmの側壁Wsに取付ける際の取付部として機能する。Fは荷物吊下げ用のフックである。   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.

すなわち、前記ボックス状本体Bmの側壁Wsに、フランジ付カバー6のカバー本体6aより僅かに大きい装着穴(図示せず)を形成すると共に、前記取付穴9と対応する位置に側壁ネジ穴(図示せず)を形成しておき、側壁Wsの前記装着穴に、本発明操作部ユニットCUを、ポテンシヨメータ15の側から差し入れ、2つの一体化したフランジ部5b,6bの取付穴9と前記側壁ネジ穴に、取付用ネジ(図示せず)を締め込むことにより、本発明操作部ユニットCUを前記操作部Cのボックス状本体Bmに取り付けることができる。   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.

先端側アームA1の下端部に配置される負荷部Lと一体に、ボックス状本体Bmの操作部Cに本発明操作部ユニットCUが設けられると、負荷部LのフックFに荷物を吊下げて持上げるとき、操作者は利き手で操作レバー2を握り、他方の手を荷物に添えて当該荷物の昇降をさせるという操作を、至って自然体の姿勢で行うことができる。   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.

一方、取扱う荷物が大形や異形であると、その荷物を前記フックFに吊下げたとき、荷物の外形が操作レバー2の操作を邪魔して円滑な荷物の昇降操作が行い難いといった問題がある。
このため大形荷物用の荷重取扱装置Baにおいては、負荷部Lの操作部CとフックFに代えて、エアシリンダ等のアクチュエータを駆動源とする大形の掴み装置やチャック装置によるパワー負荷部PLを形成している。しかし標準タイプの操作部CやフックFに代えてパワー負荷部PLを採用すると、パワー負荷部PLの操作や制御のための制御部Cpが必要であると共に前記パワー負荷部PLを昇降させるための操作部Cをどこに設けるかが課題となる。
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.

そこで本発明では、操作レバー2とポテンシヨメータ15をフランジ付プレート5とフランジ付カバー6を介して一体化した形態の操作部ユニットCUを、前記パワー負荷部PLに隣接又は離間して設けられる制御部Cpの本体が収容された制御ボックス(筐体)BcのフロントパネルPfに取付けて別体操作部Caを形成し前記課題を解決した。   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.

図7は、先端側アームA1の下端部に、大型荷物を支持させるために一例としてエアシリンダ式のチャック装置をパワー負荷部PLとして設け、そのパワー負荷部PLの動作を制御する制御部Cpを、前記パワー負荷部PLに結合した連結アタッチメントAtを介して設けた例である。ここでは、制御部本体が納められた筐体BcのフロントパネルPfに形成した取付穴に本発明操作部ユニットCUを後部(ポテンシヨメータ15の側)から入れ、取付穴9に入れた取付ネジを前記フロントパネルPfに締め込んで筐体Bcに取付け別体操作部Caを形成している。図7において、Chは掴みチャック、Aiは掴みチャックChの駆動源たるエアシリンダ、Buは制御部Cpのスイッチを含む操作ボタンである。   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.

操作員は、前記制御部Cpの筐体BcのフロントパネルPfに配置されたパワー負荷部PLを作動させるためのスイッチやツマミ等の操作ボタンBuを操作して前記パワー負荷部PLに大型荷物を掴ませたり放したりする動作をさせると共に、同じフロントパネルPfに形成した別体操作部Caにおける本発明操作部ユニットCUの操作レバー2を回転操作することによって、前記パワー負荷部PLの掴みチャックChに掴ませた大形荷物の昇降動作を行う。   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.

本発明は以上の通りであって、標準タイプの操作部のボックス状本体の側壁か、又は別製の筺体に配置されるパワー負荷部の制御部のフロントパネルのいずれにも本発明制御部ユニットを取付けることが出来るから、一種類の操作部ユニットで標準タイプの操作部に適用できることは勿論、様々な形態のパワー負荷部ゆえにそれらの制御部も区々の形態となるため、制御部に設置される操作部もその都度別製されていた大荷重タイプ用の別体操作部を、一種類の本発明操作部ユニットを用いて形成することができる。   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 レバー軸
2 操作レバー
3 取付ピン
4 軸受
5 フランジ付プレート
6 フランジ付カバー
7 軸受
8 結合ビス(ネジ)
9 取付穴
CL 回転規制部
10 ストッパ板
11 ストッパピン
12 捩りコイルバネ
13 バネピン
14 バネ押え
15 ポテンシヨメータ
16 取付台
17 取付スペーサ
18 電気コネクタ
Ba 荷役取扱装置
A1 先端側アーム
L 負荷部
C 操作部
Bm ボックス状本体
Ws 側壁
F フック
Ca 別体操作部
PL パワー負荷部
Cp パワー負荷部の制御部
Bc 制御部の筐体
Pf 筐体のフロンパネル
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)

操作レバーを一端に備えて前記操作レバーに直交したレバー軸と、前記レバー軸の軸受を備えそのレバー軸の他端側が前面から貫通して配置されるフランジ付プレートと、前記フランジ付プレートの後ろで前記レバー軸に固定され前記レバー軸の正,逆回転の自己復帰機能を有する前記レバー軸の回転規制部と、前記回転規制部を挟む形で前記フランジ付きプレートの背面に被せて配置され前記レバー軸の先端側が軸受を介して貫通するフランジ付カバーと、前記フランジ付カバーの背面に設けられて前記レバー軸の回転が伝動されるポテンシヨメータを備えてユニット化したことを特徴とする荷重取扱装置の操作部ユニット。   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. 前記フランジ付プレートと前記フランジ付カバーにおける夫々のフランジを重ねて一体化した重複フランジ部に、標準タイプの操作部を形成するボックス状本体、及びパワー負荷部の制御部が備える正面パネルのいずれにもそのままネジ止めで取付けることが出来る取付部を形成した請求項1に記載の荷重取扱装置の操作部ユニット。   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. 前記レバー軸の回転規制部は、前記レバー軸に固着されたストッパ板と、該ストッパ板に立設されたバネピンと、前記レバー軸に取付けられ前記バネピンで捩り作用を受ける捩りコイルバネと、前記ストッパ板の回転を規制するストッパピンを備えて形成されている請求項1又は2に記載の荷重取扱装置の操作部ユニット。   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. 前記ポテンシヨメータに伝動される前記レバー軸の回転は、前記レバー軸の先端部に設けた駆動ギアと、該駆動ギアに噛合されて前記ポテンシヨメータのツマミ軸に設けた従動ギアによる伝動機構を介して伝動される請求項1〜3のいずれかに記載の荷重取扱装置の操作部ユニット。   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.
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Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4918262U (en) * 1972-05-20 1974-02-15
US3948487A (en) * 1974-04-11 1976-04-06 Kenro Motoda Control lever mechanism in lifting apparatus
JPS53157293U (en) * 1977-05-16 1978-12-09
JPS5593484U (en) * 1978-12-20 1980-06-28
JPH0196343U (en) * 1987-12-18 1989-06-27
JPH06336396A (en) * 1993-05-25 1994-12-06 Hitachi Ltd Hand operation type variable speed motor-driven hoisting machine
US6612449B1 (en) * 1999-12-10 2003-09-02 Fanuc Robotics North America, Inc. Intelligent power assisted manual manipulator
JP2007245263A (en) * 2006-03-14 2007-09-27 Motoda Giken Kk Noninertial type load handling device
US20110077590A1 (en) * 2009-09-30 2011-03-31 Gianni Plicchi Interface for Actuating a Robotic Manipulator from a Remote Position for Manoeuvring Steerable Catheters in the Human Cardiovascular System

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4918262U (en) * 1972-05-20 1974-02-15
US3948487A (en) * 1974-04-11 1976-04-06 Kenro Motoda Control lever mechanism in lifting apparatus
JPS53157293U (en) * 1977-05-16 1978-12-09
JPS5593484U (en) * 1978-12-20 1980-06-28
JPH0196343U (en) * 1987-12-18 1989-06-27
JPH06336396A (en) * 1993-05-25 1994-12-06 Hitachi Ltd Hand operation type variable speed motor-driven hoisting machine
US6612449B1 (en) * 1999-12-10 2003-09-02 Fanuc Robotics North America, Inc. Intelligent power assisted manual manipulator
JP2007245263A (en) * 2006-03-14 2007-09-27 Motoda Giken Kk Noninertial type load handling device
US20110077590A1 (en) * 2009-09-30 2011-03-31 Gianni Plicchi Interface for Actuating a Robotic Manipulator from a Remote Position for Manoeuvring Steerable Catheters in the Human Cardiovascular System

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