JP2567806Y2 - Lifting machine - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a lifting machine for lifting a suspension by a wire.

[0002]

2. Description of the Related Art Generally, a hoist such as a crane for hoisting a suspended body by a wire has a sheave attached to a gripper for grasping the suspended body, and winds the wire wound around the sheave by a winch or the like. The gripper is moved up and down while being wound up by the drum.

[0003]

[Problems to be Solved by the Invention] By the way, there is a plan to carry out so-called vitrification treatment and store and dispose of radioactive waste and the like generated in nuclear facilities. Must be reliably prevented. However, in the case of the hoisting machine, if the wire is cut during the hoisting, there is a possibility that the hoisting body will be dropped. On the other hand, when a robot hand such as a manipulator is used, it is difficult to apply the method to a narrow place or the like because the arm and the like become large.

The present invention makes it possible to apply the present invention to a narrow space or the like by lifting a suspended body by using a wire, and to prevent the suspended body from being dropped even if the wire is cut. The purpose is to provide.

[0005]

The lifting machine according to the present invention comprises:
A plurality of sheaves are provided on a gripper for holding the suspension, and wires are wound around these sheaves, respectively, and one ends of these wires are wound around a winding drum, and the other ends of the wires are supported by a swingable equalizer. The equalizer is provided with a support point for each wire so as to be arranged at another vertex position of the triangle having the swing fulcrum as a vertex,
In addition, a sensor for detecting rotation of the swing fulcrum is provided.

[0006]

In the lifting machine according to the present invention, the holding tool is suspended by a plurality of wires, so that even if one of them is cut, the suspended state can be maintained by another wire. In this case, the equalizer is arranged so that each wire supporting point forms a triangle with respect to the swing fulcrum. Therefore, when tension is uniformly applied to each wire, the equalizer is balanced by these tensions. Is in a stationary state, but if one of the wires is cut, the balance of the tension is lost, so the equalizer is pressed so that the support point on which the cut wire was supported is pushed outward. Rotate in the direction. Then, the rotation can be detected by a sensor to know the cutting of the wire.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the lifting machine according to the present invention will be described below with reference to the drawings. The hoisting machine 1 handles vitrified radioactive waste as a holding body 2 and is attached to a transfer device 3 for transferring the hanging body 2 as shown in FIG. The suspension 2 is formed in a columnar shape, and a knob 2a is formed on the head thereof.

The transporting device 3 comprises a shielding container 4 which accommodates the hanging member 2 and travels, a lid 5 for closing the upper part thereof, and a turning mechanism 6 for rotating the lid 5. An opening 8 that is opened and closed by a slidable shutter 7 is provided on the bottom wall of the camera. An opening 1 that can be hermetically closed by a shielding plug (not shown) is provided on a floor surface 9 on which the transport device 3 travels.
0 is provided to pass the suspension 2 from the opening 10 to a storage room or the like below the floor.

The lifting machine 1 is provided with a transfer device 3
For example, four grippers 5 are provided at intervals of 90 ° in the turning direction of the lid 5, and a gripping tool 11 is suspended from the lid 5 into the shielding container 4 by a wire 12, and
Are lifted one by one, and a total of four suspended bodies 2 can be stored in the shielding container 4 while being pivoted together with the lid 5 by the pivoting mechanism 6.

[0010] Each lifting machine 1 is provided with a knob 2
a, two sheaves 15, 16 attached to the gripper 11, and these sheaves 15, 16
One end of each wire 12 wound around
A winding device 18 pulled by the wire 12 and the other end of each wire 12 supported by the equalizer 19 while the wire 12
And a wire support device 20 for detecting cutting of the wire.

The gripper 11 is mounted on the hanging body 2 and is moved up and down so that the claw is closed by the action of the cam to grip the hanging body 2 and the holding body 2 is held. When releasing the hook, the gripper 11 can be moved up and down while the hanging body 2 is placed on the floor, so that the claw can be opened similarly by the action of the cam. Instead, it has a mechanical structure in which the pawl is opened and closed by its own vertical movement with respect to the suspension 2.

Then, a bracket 21 is fixed to the head of the gripping tool 11 as shown in FIG.
1 supports the two sheaves 15 and 16. These sheaves 15, 16 are arranged in a vertical positional relationship, and their shafts 15a, 16a are supported in a state where they are shifted in the horizontal rotation direction.
16 are arranged so as to intersect. Both wires 12 wound around these sheaves 15 and 16 are connected to a suspended sheave 22 provided in the lid 5 of the transport device 3.
, And is pulled out to the outside through the wall of the lid 5. Reference numeral 23 denotes a through hole 24 in the wall.
Shows the bush provided in.

The hoisting device 18 is provided on a base 31 on the side of the lid 5. As shown in FIGS. 3 and 4, two rails 32 parallel to the surface of the base 31 are provided. A pair of bearing blocks 33 are movably supported on the rail 32 while being fixed, and both ends of the winding drum 17 are rotatably supported between the bearing blocks 33. A screw rod 34 is screwed into the winding drum 17 at the center thereof in parallel with the rail 32, and the screw rod 34 is fixed on the base 31 at both ends of the rail while being restricted from rotating. I have.

Further, at one end of the winding drum 17,
A gear 35 around a screw rod 34 is provided, while a motor 36 is fixed on the base 31,
A gear 40 meshing with the gear 35 of the hoisting drum 17 is movably supported on a spline shaft 39 which is rotationally driven from the motor 36 via a brake 37, a speed reducer 38 and the like. The gear 40 moves integrally with the bearing block 33 along a spline shaft 39 while maintaining a state of meshing with the gear 35 of the winding drum 17. When the motor 36 is driven, the hoisting drum 17 is rotated by the rotation transmitting action of the two gears 35 and 40, and with the rotation, the solid line position and the chain line position in FIGS. It reciprocates between and.

The two wires 12 are simultaneously wound around the winding drum 17 via a guide sheave 41 and a rope guide 42 provided on the side of the winding drum 17. 17
Is wound around the winding drum 17 in an aligned state by the rotation and the axial movement described above.

On the other hand, the wire support device 20 includes the equalizer 19 and the wire 1 supported by the equalizer 19.
Rope end 45 for fixing the end of 2 on the base 31
And a fulcrum mechanism 46 for supporting the equalizer 19 in a swingable manner.
It is composed of

In the equalizer 19, a pair of isosceles triangular plate members 47 are connected at intervals to each other by shafts 48 arranged at respective apexes.
Among them, a roller 49 is supported at a vertex position at both ends of the base of the isosceles triangle, and the fulcrum mechanism 46 is connected to the other vertex positions.
And is attached to each rope end 45 via a cable.

The fulcrum mechanism 46 is attached to a bracket 50 fixed on the base 31 by a shaft 48 of the equalizer 19.
The tip of an arm 51 attached to the arm 51 is swingably supported by a fulcrum shaft 52, and two sensors 53 composed of limit switches are arranged on both sides of the arm 51 so as to detect the rotation of the arm 51. ing. These sensors 53
Is normally placed in a non-contact state with the arm 51, but operates when the arm 51 is pushed by the arm 51 by swinging. A load cell 54 for detecting the tension of the wire 12 is provided at an intermediate position of the length of the arm 51. Note that reference numeral 55 is
A buffer for alleviating an impact when the equalizer 19 rotates rapidly is shown, and is disposed on both sides of the equalizer 19. A vertical guide roller 56 is provided near the outlet of the through hole 24 in the cover 5 so as to be disposed on the left and right of the wire 12.

In the transporting apparatus 3 having the hoisting machine 1 configured as described above, the handle 2 is gripped by the gripper 11 to put the hanging body 2 in and out of the opening 7 of the shielding container 4. However, since two wires 12 are provided and the sheaves 15 and 16 of the gripper 11 are arranged in an intersecting state, the swing in the left-right direction is prevented, and the up-down movement of the hanging body 2 is prevented. It can be performed smoothly and accurately. In other words, if the sheave is suspended by only one wire 12, the sheave tends to run out in the axial direction, but the two sheaves 15, 16 arranged in the direction in which the shafts 15a, 16a intersect each other, Since the wires 12 are supported, the other wires 12 regulate the deflection of one of the wires 12, and as a result, the deflection is prevented and stabilized.

Even if one of the wires 12 is cut off during such a lifting operation, the suspended state can be maintained by the remaining wires 12, so that the suspension 2 can be dropped. Although not provided, the two rollers 4 of the equalizer 19 of the wire support device 20 are used for the cutting and holding.
One of the tensions acting uniformly on the wire 9 disappears and becomes zero.
The equalizer 19 rotates to one side about the fulcrum shaft 52 of the arm 51 of FIG. Referring to the model diagram of FIG. 1, if the right wire 12 of the equalizer 19 in FIG. 1 is cut, the equalizer 19 rotates counterclockwise about the fulcrum shaft 52 due to the tension of the left wire 12. For this reason, the arm 51 of the fulcrum mechanism 46
One of the sensors 53 arranged on both sides of the arm 5
1 can detect that the wire 12 has been cut.

Further, as described above, since the gripper 11 is hung by the wire 12, the hoisting device 18 can be separated from the gripper 11, and FIG.
As shown in FIG. 5, the wire 12 is bent and stretched by the hanging sheave 22, so that the wire 12 can be easily incorporated even in a narrow portion. Can be applied.

In the present invention, the following embodiment may be adopted. (1) In the wire support device 20, in one embodiment, the arm 51 of the fulcrum mechanism 46 of the equalizer 19 is used.
Are provided on both sides of the equalizer 19, but may be provided on both sides of the equalizer 19 instead of the arm 51. Further, the rotation of the fulcrum shaft 52 may be directly detected by a sensor such as a rotary encoder. (2) Instead of winding the wire 12 around the roller 49 of the equalizer 19, the wire 12 may be directly fixed to the equalizer 19. (3) It was configured to be suspended by two wires.
In this case, the equalizer is formed in a triangular pyramid shape, and the wire is supported at each corner on the bottom surface, and a rocking fulcrum such as a ball joint is provided at the apex of the triangular pyramid. It should just be arranged. That is, two of the three wire support points may be arranged so as to form a triangle with the swing fulcrum. If the limit switches are arranged so as to face each side surface of the triangular pyramid, the equalizer can be turned to activate the limit switches when one of the wires is cut.

[0023]

As is clear from the above description, according to the lifting machine of the present invention, since it is suspended by a plurality of wires, even if one of the wires is cut, it is still suspended by another wire. The suspended state can be maintained, and the fall can be reliably prevented.At the time of the cutting, the equalizer is rotated and detected by the sensor, so that the cutting of the wire can be detected, and the occurrence of a fall accident can be detected. It can be prevented beforehand. In addition, since it is configured to be lifted by a wire, there is an effect that the drive source can be easily applied to a narrow portion by separating the driving source and the gripper.

[Brief description of the drawings]

FIG. 1 is a perspective view schematically showing an embodiment of the lifting machine of the present invention.

FIG. 2 is a vertical sectional view showing an example of a transfer device incorporating the lifting machine of the embodiment.

FIG. 3 is a partial cross-sectional view taken along line AA of FIG. 2;

FIG. 4 is an arrow view along the line BB in FIG. 3;

5 is a sectional view taken along line CC of FIG. 3;

FIG. 6 is a sectional view taken along the line DD in FIG. 3;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Lifting machine 2 Hanging body 3 Transporting device 4 Shielding container 5 Lid 6 Swivel mechanism 11 Gripping tool 12 Wire 15, 16 Sheave 17 Hoisting drum 18 Hoisting device 19 Equalizer 20 Wire support device 21 Bracket 22 Hanging sheave 31 stand 32 rail 33 bearing block 34 screw rod 35 gear 36 motor 39 spline shaft 40 gear 45 rope end 46 fulcrum mechanism 47 plate member 48 shaft 49 roller 51 arm 52 fulcrum shaft 53 sensor 55 buffer

 ──────────────────────────────────────────────────続 き Continuation of the front page (56) References Japanese Utility Model Sho 55-86084 (JP, U) Japanese Patent Publication Sho 61-29316 (JP, B2)

Claims (1)

(57) [Scope of request for utility model registration] A plurality of sheaves are provided on a gripper for gripping a suspension body, wires are wound around these sheaves, one ends of these wires are wound around a winding drum, and the other ends of the wires are rocked. The equalizer is supported by a free equalizer, and the equalizer is provided with a support point for each wire so as to be disposed at another vertex position of the triangle having the pivot point as a vertex, and the pivot point of the pivot point A lifting machine characterized by comprising a sensor for detecting the lifting.