JP2020172374A - Loading assistance device - Google Patents

Abstract

To improve operability in a loading assistance device which balances a loaded article while regulating a lifting track and proving slidable guiding on a multistage slide rail.SOLUTION: This loading assistance device comprises: a locking member 11 that locks a loaded article 12 to be lifted; a lifting operation unit 25 that delivers the locking member 11 by means of a chain 8 and lifts the locking member 11; a multistage slide rail 5 for regulating a lifting track of the locking member 11 at at least three or more stages and slidably guiding the locking member; a driving source motor 20 that is connected to the lifting operation unit 25; a weight detection unit that detects weight applied to the lifting operation unit 25 and outputs a weight signal; a position detection unit 21 that detects the delivery position of the locking member and outputs a position signal; and a control unit 23 that instructs the motor 20 on the basis of the position signal and the weight signal. The control unit 23 executes balance control by adding/subtracting a prescribed value to/from the weight applied to the lifting operation unit 25 in accordance with a section S defined on the basis of the delivery position of the locking member 11.SELECTED DRAWING: Figure 7

Description

The present invention relates to a cargo handling assisting device used for manufacturing assembly and transportation in the manufacturing field, for example, relating to a cargo handling assisting device that balances weight with the assistance of a motor and moves up and down with a slight operating force when raising and lowering a cargo handling object. is there.

Traditionally, factories that assemble industrial products have used cargo handling devices that suspend and move cargo handling objects such as heavy tools, work equipment, products, and semi-finished products. Among the cargo handling devices, some cargo handling assist devices are used to create a balanced state for a heavy cargo handling object and generate an assist so that the user can move up and down to an arbitrary height with a light operating force. There is. The cargo handling assisting device that generates the assisting force in this way can be smoothly moved by assisting with a motor to create a balanced state and applying a small operating force to the cargo handling object. Therefore, unlike the case where the vertical movement is simply performed by an electric motor, the load of the cargo handling object and the operating force applied to it are detected by, for example, a load detector, and fine balance control is performed by an AC servo motor connected to the rotation angle detector. It is configured to do.

It is required to handle various shapes of cargo handling objects by using such a cargo handling assist device. The cargo handling object is locked by a locking member provided at the end of the cord (link chain or wire rope) unwound from the cargo handling assist device, but the cargo handling object has various shapes and is loaded when it is lifted. Depending on the position of the center of gravity of the cargo handling object, the posture of the cargo handling object may be greatly tilted.

JP-A-2018-43874

Patent Document 1 discloses a technique of using a plurality of cargo handling assisting devices in order to correct this posture. However, if a plurality of cargo handling assist devices are used, the cost will increase and the installation location will be restricted. Therefore, in order to move up and down while keeping the posture of the cargo handling object constant, the inventors are studying a method of providing a rail that guides the cargo handling object in a slidable manner while regulating the trajectory of the cargo handling assist device. This rail has a large vertical range for raising and lowering the cargo to be handled, and workers are required to prevent the rail from protruding vertically downward from the suspended cargo and obstructing the work. We have adopted a multi-stage slide rail that interlocks multiple rails in multiple layers in the vertical direction. However, when the multi-stage slide rail is used in the vertical direction, there is room for improvement in operability because the load applied to the cargo handling assist device changes depending on whether all the rails are pulled out or some rails are accommodated. was there.

In view of such a problem, an object of the present invention is to improve operability in a cargo handling assisting device that balances cargo handling objects while restricting an ascending / descending trajectory by a multi-stage slide rail and guiding them slidably.

The cargo handling assisting device according to claim 1 is used to achieve the above object.
A locking member that locks the cargo handling object to be raised and lowered,
An elevating and lowering operation part that raises and lowers the locking member by feeding out the locking member with a chain or rope,
A multi-stage slide rail in which a plurality of stacked rails having at least three stages or more are interlocked in the vertical direction to guide the locking member in a slidable manner while regulating the vertical trajectory of the locking member.
The motor part of the drive source connected to the elevating part and
A weight detection unit that detects the weight applied to the elevating operation unit and outputs a weight signal,
A position detection unit that detects the feeding position of the locking member and outputs a position signal,
A control unit that issues commands to the motor unit based on the position signal from the position detection unit and the weight signal from the weight detection unit.
It is a cargo handling assistance device that has
The control unit is configured to perform balance control by adding or subtracting a predetermined value to the weight applied to the elevating operation unit according to a section determined by the feeding position of the locking member.

The cargo handling assist device according to claim 2 is used to achieve the above object.
The predetermined value is configured to include the weight of at least one of the intermediate stages of the multi-stage slide rail.

The cargo handling assisting device according to claim 3 is used to achieve the above object.
The control unit is configured to execute balance control by gradually adding or subtracting a predetermined value equally or unequally to the weight applied to the elevating operation unit in the vicinity of the boundary of the defined section. Has been done.

According to the cargo handling assisting device system of the present invention, operability is improved in the cargo handling assisting device system that balances cargo handling objects while restricting ascent and descent by a multi-stage track rail.

It is a perspective block diagram of the cargo handling assist device which concerns on embodiment of this invention. It is a side view of the cargo handling assist device which concerns on embodiment of this invention. It is a detailed view of the drive unit of the cargo handling assist device which concerns on embodiment of this invention. It is a schematic diagram which shows the elevating operation by the cargo handling assist device which concerns on embodiment of this invention. It is a schematic diagram which shows the elevating operation by the cargo handling assist device which concerns on embodiment of this invention. It is a schematic diagram which shows the elevating operation by the cargo handling assist device which concerns on embodiment of this invention. It is a schematic diagram which shows the elevating operation by the cargo handling assist device which concerns on embodiment of this invention.

Hereinafter, the cargo handling assisting device according to the embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1 is a perspective configuration diagram of a cargo handling assisting device which is an example of an embodiment of the present invention.

The cargo handling assist device 1 is mainly composed of a drive unit 2, a locking member 11, a multi-stage slide rail 5 (5a to 5c), and a frame 3. The drive unit 2 raises and lowers the cargo handling object 12. The locking member 11 is connected to a link chain 8 extending vertically downward from the drive unit 2. The multi-stage slide rail 5 expands and contracts in the vertical direction along the link chain 8. The frame 3 supports and fixes the drive unit 2 and the multi-stage slide rail 5. The cargo handling assist device 1 can be moved in the horizontal direction by the rollers 13 along the track of the horizontal rail 7 provided as a structure.

FIG. 2 is a side view of a cargo handling assisting device which is an example of the embodiment of the present invention. 1 and 2 show a state in which the rails of the multi-stage slide rail 5 are extended.

The drive unit 2 is suspended by a hanging member 6 on a top plate 4 assembled and fixed by a frame 3. The frame 3 is provided so as to surround the side surface of the drive unit 2 and extends vertically downward. The end of the link chain 8 extending vertically downward from the drive unit 2 is connected to the frame frame 10 by the connecting portion 9. The frame frame 10 has a rectangular hollow frame shape, and a rotation shaft 10a is rotatably provided at the center thereof. A part of the rotating shaft 10a protrudes vertically downward from the frame frame 10, and the protruding portion of the rotating shaft 10a is connected and fixed to the locking member 11.

As the locking member 11, a member that matches the shape of the cargo handling object to be handled is used. In the present embodiment, for example, the cargo handling object 12 has a portion protruding from a portion having a substantially square cross section, and the protruding portion is a substantially rectangular parallelepiped. The locking member 11 is a pipe-shaped member having a rectangular cross section. Therefore, the cargo handling object 12 can be locked by the locking member 11 by inserting the protruding portion into the locking member 11. Further, the locking member 11 and the cargo handling object 12 can be rotated about the rotation shaft 10a.

The multi-stage slide rail 5 has at least three stages and is fixed to the frame 3 so as to expand and contract in the vertical direction. The multi-stage slide rail 5 is one in which a plurality of stacked rails are interlocked, and in the present embodiment, the multi-stage slide rail 5 has three stages, and is composed of a vertical rail 5a, a vertical rail 5b, and a vertical rail 5c, which are further opposed to each other. It is provided as a pair. The vertical rail 5a is fixed to the frame 3, and the second and subsequent vertical rails 5b and the vertical rail 5a are drawn into the vertical rail 5a when the multi-stage slide rail 5 is contracted. The side surfaces of the frame frame 10 are connected and fixed so as to be sandwiched by the pair of vertical rails 5c, and the multi-stage slide rail 5 regulates the elevating trajectory of the frame frame 10 and the locking member 11 and guides them slidably. To do.

FIG. 3 is a detailed view in which a part of the cover and the like of the drive unit 2 of the cargo handling assist device 1 according to the embodiment of the present invention is omitted.

The drive unit 2 includes a cover, and a control unit 23, a motor unit 20, an elevating operation unit 25, a weight detection unit 22, and the like are housed therein.

The control unit 23 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), other storage devices, and an input / output device, and moves the locking member 11 up and down via the link chain 8. Perform control, etc.

A speed reducer is attached to the load side of the motor, which is a drive source for raising and lowering the locking member 11 and the cargo handling object 12, and together with the motor, constitutes the motor unit 20. This motor is, for example, an AC servomotor.

Then, the speed reducer reduces the rotation speed of the motor to a predetermined speed. The speed reducer is, for example, a strain wave gearing speed reducer. The strain wave gearing speed reducer has an elliptical wave generator on the outer circumference and elasticity in which a large number of external teeth are formed on the outer circumference and are fitted onto the wave generator so that the position of being bent in the circumferential direction changes due to the rotation of the wave generator. It consists of a deformable flexspline and a circular spline with internal teeth on the outer peripheral side of the flexspline that fit into the external teeth of the flexspline. Then, the power is taken out and transmitted to the output shaft 24 which connects the flexspline as a rotational output. By using a speed reducer of this device with a minute backlash, such as a strain wave gearing speed reducer, when the motor is frequently switched between forward and reverse rotation to move up and down, an uncontrollable area at the time of switching is created. It can be eliminated and a smooth operation feeling can be realized.

The output shaft 24 is a rotation shaft that outputs power that is increased by decelerating the rotation speed by a speed reducer, and is connected to the elevating operation unit 25 to continuously rotate the elevating operation unit 25 in the forward and reverse directions. ..

The link chain 8 is formed by intersecting and alternately connecting an elliptical ring composed of a semicircular arc portion and a straight portion connected to the semicircular arc portion, and one end thereof is connected to the frame frame 10 by a connecting portion 9. The other end (non-load side) of the link chain 8 is housed in the chain storage portion 31.

The elevating operation unit 25 includes a rotating member that rotates by transmitting power from the motor unit 20 of the drive source. In the present embodiment, the rotating member of the elevating and lowering operation unit 25 has a hollow cylindrical shape, is connected to the output shaft 24, winds the link chain 8, and winds and unwinds the link chain 8. The position where the link chain 8 is wound is approximately vertically below the hanging member 6 and is provided near the position of the center of gravity of the drive unit 2. The link chain 8 is fitted into a pocket groove provided in the rotating member of the elevating and lowering operation portion 25 and is wound by about 180 degrees. In the present embodiment, the link chain 8 is used for being wound around the elevating operation unit 25, but the present invention is not limited to this, and a wire rope may be used. When a wire rope is used, the elevating operation portion 25 has a drum shape, and one end of the wire rope is fixed to the drum and wound around the body.

A position detection unit 21 that detects the rotation angle position of the motor is connected to the motor unit 20 on the opposite load side of the motor unit 20. The position detection unit 21 is a so-called absolute rotary encoder, which optically detects the rotation angle position of the motor and outputs a position signal. Therefore, the position detection unit 21 can detect the extension position, that is, the elevating position of the locking member 11.

The weight detecting unit 22 includes a strain-causing body that elastically deforms so that the force transmitted from the link chain 8 wound around the lifting operation unit 25 can be detected as a reaction force, and a strain gauge attached to the strain-causing body. There is. The strain gauge is incorporated in a Wheatstone bridge circuit that converts the strain generated in the strain-causing body according to the weight into an electric signal, and the weight detection unit 22 detects the weight value applied to the elevating operation unit 25 and outputs the weight signal. ..

The control unit 23 is arranged in the vicinity of the elevating operation unit 25 in the drive unit 2, for example. The control unit 23 controls the motor unit 20 based on the position value from the position detection unit 21 and the weight value from the weight detection unit 22. The control unit 23 and the electrical components such as the power supply related thereto are arranged in the cover so that the drive unit 2 can be used in a place where powder particles or water droplets are applied.

In the present embodiment, the position detection unit 21 is arranged on the opposite load side of the motor unit 20, but is not limited to this, and may be provided on the output shaft 24 and the elevating operation unit 25, which are the outputs of the speed reducer, or both. It may be provided. Further, the type is not limited to the optical type, and may be a magnetic type, a capacitance type, or the like.

Further, the weight detection unit 22 only needs to be able to detect the weight applied to the elevating operation unit 25, and has a rotary structure for detecting torque from the twist of the rotating shaft provided between the speed reducer and the elevating operation unit 25, and a motor unit. It may have a drum-shaped structure that detects the reaction force received by 20. Further, the strain gauge type is not limited to the capacitance type.

The operation device 26 is a device for remotely controlling the drive unit 2, and in the present embodiment, it communicates with the transmission / reception circuit in the control unit 23 by radio waves. The operating device 26 is driven by a battery. The operating device 26 has, for example, a balance button 27, a holding button 28, an ascending button 29, and a descending button 30 as operating means.

Next, the role of each operation button, which is an operation means provided in the operation device 26, will be described. Each operation button is, for example, a momentary switch. When the operator presses the balance button 27, the control unit 23 receives this and starts shifting the drive unit 2 to the balance mode. The control unit 23 detects the weight applied to the elevating operation unit 25 by the weight detecting unit 22 and performs a calculation based on the output weight value to cancel the weight applied to the elevating operation unit 25 so as to be in a balanced state. Controls the motor unit 20. Therefore, the drive unit 2 is in the balance mode immediately after the operator presses the balance button 27, the control unit 23 receives it, and executes the above calculation. On the other hand, when the operator presses the holding button 28, the control unit 23 receives this and performs an calculation to hold the elevating operation unit 25 at the current position, that is, to keep the elevating positions of the locking member 11 and the cargo handling object 12 constant. The motor unit 20 is controlled so as to keep the temperature. Therefore, from this time, the drive unit 2 is in the holding mode.

Further, in either of the above balance mode and the holding mode, the operator pushes the ascending button 29 or the descending button 30 to forcibly operate the elevating and lowering operation unit 25 to lock the locking member 11 and the cargo handling object 12. It can be raised or lowered.

4 to 7 are schematic views showing an ascending / descending operation of the cargo handling assisting device 1 according to the embodiment of the present invention. FIG. 4 shows a case where the locking member 11 is located at the position P4 at a vertical distance L4 from the drive unit 2. When the locking member 11 is at the position P4, for example, the vertical rail 5b and the vertical rail 5c are exposed in the vertically downward direction in a state where all the multi-stage slide rails 5 are extended, and for example, in the vertically downward direction. This is a position where the locking member 11 cannot be lowered. In this state, the operator can move the cargo handling assist device 1 in the direction A along the horizontal rail 7. Then, the operator pushes the balance button 27 to put the drive unit 2 into the balance mode, and the control unit 23 stores the weight applied to the weight detection unit 22 at this time and starts the balance control based on this. Therefore, the operator can grab the locking member 11 and move it up and down freely. The cargo handling object 12 is placed in contact with the floor, and the cargo handling object 12 is not yet locked to the locking member 11.

In FIG. 5, the operator moves the cargo handling assist device 1 in the direction A along the horizontal rail 7, locks the cargo handling object 12 with the locking member 11, and keeps pressing the ascending button 29 to bring the cargo handling object 12 to the floor. It is the state when it is floated away from the surface. When the operator presses the balance button 27 at the position P3 where the cargo handling object 12 is away from the floor surface, the control unit 23 stores the weight detected by the weight detection unit 22 at this time. Then, the balance control is started in a state where the cargo handling object 12 is locked to the locking member 11. The position P3 has a relationship of L3 <L4 when the locking member 11 is at a distance L3 in the vertical direction from the drive unit 2.

In FIG. 5, since the control unit 23 always executes the balance control after the operator presses the balance button 27, the cargo handling object 12 or the locking member 11 is touched by the cargo handling object 12 or the locking member 11. Can be raised while maintaining a balanced state. The locking member 11 can reach the height of position P2 (FIG. 6). Then, the vertical rail 5c enters the vertical rail 5b, and eventually the vertical rail 5c comes into contact with the stopper 5d provided at the upper end of the vertical rail 5b (position P2). If the operator continues to touch the cargo handling object 12 or the locking member 11 to raise the cargo, the operator feels the force of the vertical rail 5c to lift the vertical rail 5b as a resistance force. Since the control unit 23 performs balance control based on the weight previously registered by the command of the balance button 27, the force for lifting the vertical rail 5b is not generated from the elevating operation unit 25. When the locking member 11 is in a position vertically upward from this position P2, the control unit 23 adds the weight of the vertical rail 5b to the previously stored weight and stores it as a new weight, and stores this new weight. Balance control is executed based on.

When the operator continues to touch and raise the cargo handling object 12 or the locking member 11, the vertical rail 5c is taken into the vertical rail 5b while lifting the vertical rail 5b. Eventually, the locking member 11 can reach the position P1 shown in FIG. The position P1 is located vertically downward by a distance L3 from the drive unit 2, and is the upper end of the movable range of the locking member 11.

Therefore, when the operator presses the balance button 27 at the position P3 to memorize the weight at that time and start the balance mode, the vertical position of the locking member 11 is controlled in the section S2 based on the memorized weight. The unit 23 executes balance control. Then, in the section S1, the position of the locking member 11 in the vertical direction is stored as a new weight by adding a predetermined value (weight of the vertical rail 5b) stored in advance to the stored weight, and based on the new weight. The control unit 23 executes balance control. The predetermined value is the weight of at least one of the intermediate stages of the multi-stage rail, that is, the weight of the vertical rail 5b. Further, a force or the like generated by the sliding resistance of the vertical rail 5b or the like may be applied to a predetermined value.

When the multi-stage slide rails 5 of the present embodiment are used in pairs, there may be a difference in the position where each vertical rail 5c starts to come into contact with the stopper 5d, that is, the position P2. Therefore, the control unit 23 equally divides the predetermined value in the vicinity of the position P2 which is the boundary between the section S2 and the section S1 (when the locking member 11 rises and approaches a predetermined distance from the section S2 side). Alternatively, the unequally divided values are added to the weight values stored at that time, and the balance control is executed each time. Then, the addition value may be gradually increased as the locking member 11 approaches the position P2, and when the locking member 11 enters the section S1, all the addition may be completed and the balance control may be executed. When the predetermined values are equally divided and added, the value changes to a straight line, and when the predetermined values are equally divided and added, the value changes to a quadratic curve, for example. This may be selected by the worker, the manager, etc. depending on the content of the cargo handling work and the cargo handling object.

Further, the predetermined distance at which the addition is started stepwise may be a fixed value that can be reset, or may be variable depending on the moving speed of the locking member 11. The control unit 23 can differentiate the position signal obtained from the position detection unit 21 to calculate the speed, and set a predetermined distance to start the addition stepwise based on this. When the moving speed of the locking member 11 is relatively high, a smooth operation feeling can be obtained by increasing a predetermined distance at which addition is started stepwise.

When the balance button 27 is pressed by the operator in the vertical position of the locking member 11 in the section S1, the weight value stored by the control unit 23 includes the weight of the vertical rail 5b. Therefore, after that, the operator lowers the locking member 11 downward beyond the position P2, and when entering the section S2, the weight value of the vertical rail 5b is subtracted to perform balance control.

In the embodiment of the present invention, the vertical rail has three stages, but the present invention is not limited to this, and the present invention can be applied as long as it has at least three stages or more. For example, when there are four vertical rails, there are two positions to switch the balance control, and the section where the weight of the vertical rails for two of the intermediate stages is added, and the vertical rail for the lower one of the intermediate stages. The control unit can continuously perform balance control in three sections for three different weights, such as a section in which the weights of the above are added and a section in which the weight is not added.

Although the present invention has been described above based on the preferred embodiments, the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the gist thereof.

As an example of utilization of the present invention, it can be applied to a cargo handling assisting device that assists the movement of a cargo handling object.

1: Cargo handling assist device 2: Drive unit 3: Frame 4: Top plate 5: Multi-stage slide rail 5a: Vertical rail 5b: Vertical rail 5c: Vertical rail 5d: Stopper 6: Suspension member 7: Horizontal rail 8: Link chain 9 : Connection part 10: Frame frame 10a: Rotating shaft 11: Locking member 12: Cargo handling material 13: Roller 20: Motor unit 21: Position detection unit 22: Weight detection unit 23: Control unit 24: Output shaft 25: Lifting operation unit 26: Operating device 27: Balance button 28: Holding button 29: Up button 30: Down button 31: Chain storage

Claims (3)

A locking member that locks the cargo handling object to be raised and lowered,
An elevating and lowering operation unit that raises and lowers the locking member by feeding out the locking member with a chain or a rope.
A multi-stage slide rail in which a plurality of stacked rails having at least three stages or more are interlocked in the vertical direction to guide the locking member in a slidable manner while regulating the vertical trajectory of the locking member.
The motor unit of the drive source connected to the elevating operation unit and
A weight detection unit that detects the weight applied to the elevating operation unit and outputs a weight signal,
A position detection unit that detects the feeding position of the locking member and outputs a position signal,
A control unit that issues a command to the motor unit based on the position signal from the position detection unit and the weight signal from the weight detection unit.
It is a cargo handling assistance device that has
The control unit is a cargo handling assist device, characterized in that balance control is executed by adding or subtracting a predetermined value to the weight applied to the elevating operation unit according to a section determined by the feeding position of the locking member. The cargo handling assist device according to claim 1, wherein the predetermined value includes the weight of at least one of the intermediate stages of the multi-stage slide rail. The control unit executes balance control by stepwise adding or subtracting a value obtained by equally or unequally dividing the predetermined value to the weight applied to the elevating operation unit in the vicinity of the boundary portion of the defined section. The cargo handling assisting device according to claim 2, wherein the cargo handling assisting device is characterized.

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