JP2869530B2 - Heavy lifting equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

TECHNICAL FIELD The present invention relates to a conveyed object (heavy object)
The present invention relates to a heavy-lifting device that lifts and holds a heavy load with low power while maintaining a weight balance between the lifting device and the lifting device.

[0002]

2. Description of the Related Art In the handling of agricultural materials,
At the time of transshipment and loading into various transport equipment (work equipment),
There are still many tasks of lifting and holding heavy objects by human power. In order to reduce this work load, use of a handling device using a hydraulic device of an industrial / transport robot arm or an agricultural tractor has been considered.

[0003]

However, the handling device using the robot arm or the hydraulic device has a complicated and expensive mechanism, is heavy, and requires a large installation (work) area. It was difficult to use it as it was.

[0004] Therefore, the present invention can increase the carrying capacity compared to the apparatus main body, can be inexpensive, requires a small installation area, and can lift a heavy object with less power while maintaining the weight balance with the conveyed object. An object of the present invention is to provide a handling device that can be held and can carry a heavy object as needed.

[0005]

In order to achieve the above object, the present invention provides: At the front end of the body frame extending in the front-rear direction, the base of a lifting arm having an end effector that supports a heavy object at the front end is pivotally supported so as to be able to rotate back and forth, and the lower end is grounded at the rear end of the body frame. The upper end of the leg arm that can move back and forth is pivotally supported so as to be able to rotate back and forth, and the back and forth rotation of the leg arm causes the rear side of the main body frame to tilt up and down with the front end of the main body frame as a fulcrum. In addition, a driving device for transmitting rotational power to a shaft support of the lifting arm and the leg arm is mounted on a rear side of the main body frame.

B. A drive device for transmitting rotational power to the shaft support portions of the lifting arm and the leg arm is constituted by a reduction gear with a clutch / brake, a clutch, etc., driven by a single prime mover, and comprises the main body frame and the leg arm. Control means for detecting the angle and determining when to operate the clutch includes a rotational position sensor, a relay, and the like. By rotating the lifting arm and the leg arm in conjunction with each other, the leg arm is first rotated backward. By moving, the rear end of the main body frame is raised, and then the release of the potential energy stored in the main body frame is transmitted to the lifting arm.

C. A grounding wheel is provided at a front end portion and a rear end portion of the main body frame, and the main body frame lifts a heavy object to a predetermined height while retreating by a recoil during operation.

D. The maximum lifting of the heavy object is possible by moving the front end grounding wheel of the main body frame in the direction of the heavy object during the lifting operation, or by applying a driving force in the forward direction around the front end grounding wheel of the main body frame. It is characterized by increasing the mass.

[0009]

According to the above structure, in the heavy object lifting apparatus according to the present invention, first, the rotating shaft of the leg arm is driven by the motor to rotate the leg arm, and lifts and tilts the rear portion of the main body frame. In this state, when the load (heavy load) is held by the end effector of the lifting arm and the brake is released, the leg arm rotates toward the side approaching the main body frame and the rear part of the main body frame descends due to gravity. When the leg arm starts to rotate, the lifting arm is fixed to the main body frame, but the leg arm is further rotated so that the inclination angle of the main body frame becomes equal to or less than the set angle. When the speed is obtained, the clutch is engaged, and the lifting arm rotates in conjunction with the leg arm to lift the conveyed object and hold it at the lifting position.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the heavy-lifting apparatus (prototype machine) and the operation principle according to the present invention will be specifically described below with reference to the drawings.

In FIGS. 1 and 2, reference numeral 1 denotes a main body frame extending in the front-rear direction, and a lifting arm 3 having an end effector 2 at the front end of the main body frame 1 for supporting a heavy object (transported object) at the front end. The base is pivotally supported by the rotating shaft 4 so as to be rotatable in the front-rear direction. At the rear end of the body frame 1, an upper end of a pair of left and right leg arms 6, which is provided with a grounding wheel 5 at a lower end and is rotatable in the front-rear direction,
It is supported by a rotating shaft 7. A pair of left and right front wheels 8 and a rear wheel 9 are provided at a front end and a rear end of the main body frame 1.
Is provided.

The leg arm 6 rotates the grounding wheel 5 in the front-rear direction by contacting the grounding wheel 5 with the ground, thereby forming the main body frame 1.
Of the main body frame 1 with the front wheel 8 at the front end of the main body frame 1 as a fulcrum.
A drive device 10 for transmitting rotational power to the shaft support of the leg arm 6 is mounted on the rear side of the leg arm 6. This drive 1
In FIG. 6, as shown in FIG. 6, a reduction gear with clutch / brake 12 having a motor 11 mounted on one side, a clutch 13, a small-diameter sprocket 14 and the like are provided on a rotary shaft 15, and the small-diameter sprocket 14 and the rotary shaft 7 are provided. The chain 17 is wound between the large-diameter sprocket 16 and the large-diameter sprocket 16 to transmit rotational power to the leg arm 6. Further, the rotation force of the leg arm 6 is transmitted to the lifting arm 3 by the chain transmission system 18 provided between the rotation shaft 7 and the rotation shaft 4.

The large-diameter sprocket 16 (or the leg arm 6) is provided with a photoelectric switch for controlling ON / OFF of the clutch 13. As shown in FIGS. 1 and 3, when the leg arm 6 rotates. From the set-up state in which the main body frame 1 is inclined at the predetermined inclination angle r, the leg arm 6 is slightly rotated to move the main body frame 1 in the horizontal direction to a predetermined angle until the main body frame 1 is in the horizontal state. Is detected, and the clutch 13 is detected via the relay.
Is turned on, the power is transmitted to the chain transmission system 18, the lifting arm 3 is rotated in conjunction with the leg arm 6, and the conveyed object (heavy object) A supported by the end effector 2 is lifted as shown in FIG. Hold in that state.

The following table shows the main specifications and operating performance of the prototype. Full length of the aircraft When setting up 198cm When lifting 217cm Total width 100cm When total height When setting up 114cm When lifting 82cm Mass 155kg When operating body tilt angle change amount 10 ° Motor 200W, 1/200 Maximum lifting mass 20kg Lifting object movement amount (Transported substance amount 16. 1kg) Horizontal 530mm Vertical 395mm Operating time Lifting 1.7sec Setup 2.5sec Power consumption Idle operation 50W At setup (peak value) 240W

Next, the operation of the heavy-lifting apparatus having the above-described structure will be described with reference to the principle diagrams of FIGS. 3 and 4, and the graphs of FIGS.

First, the leg arm 6 is driven by the power from the motor 11 and the speed reducer with clutch / brake 12, and the rear part of the body frame 1 is lifted as shown in FIGS.
Set up with the whole tilted and store potential energy at the rear of the body. In this state, when the conveyed object A is held by the end effector 2 of the lifting arm 3 and the brake of the speed reducer with clutch / brake 12 is released, the rotation shaft 7 of the leg arm 6 becomes rotatable, and the rear portion of the main body is moved by the gravity. The leg arm 6 descends and rotates sequentially as it is folded, but when the angle between the main body frame 1 and the leg arm 6 becomes a predetermined angle or less, the photoelectric switch of the large-diameter sprocket 16 is activated to operate via the relay. The clutch 13 is turned on, and the chain transmission system 18 operates to raise the lifting arm 3.
Is rotated to lift the transported object A to a predetermined height as shown in FIG.

According to the present invention, in order to balance the weight of the transferred object A and transmit the potential energy, the conditions to be satisfied by the mechanical specifications are numerically analyzed, and the prototype shown in the above table is created. did. FIG. 5 shows an analysis example of the relationship between the main body inclination angle, the reduction ratio between the lifting arm 3 axis and the leg arm 6 axis, and the front wheel 8 axis moment in this prototype. The numbers in the figure are the axial moments (Nm) of the front wheels 8. In FIG. 5, the connection between the lifting arm 3 and the leg arm 6 is interrupted by the clutch 13 to change the reduction ratio discontinuously, and the operation is enabled by always making the moment negative (indicated by a dotted line in the drawing). . In this case, power is only required during setup. FIG. 6 shows the power transmission system during setup and lifting.

The machine of this magazine is equipped with an end effector 2 for holding a compact bale, capable of performing a desired lifting operation with respect to a compact bale of 20 kg, and operated with one 200 W compact motor 11 used for setup. . The locus of movement of the compact bale has a large horizontal component because the entire mechanism moves in the direction of the leg arm 6 when the compact bale is lifted. Further, during the lifting operation, the front end grounding wheel 8 of the main body frame 1 is moved in the direction of the heavy object, or a driving force in the forward direction is provided around the front end grounding wheel 8 of the main body frame 1 to thereby increase the weight of the heavy object. Can be increased.

The following are conceivable as specific application examples of the present invention, but the present invention is not limited to these.

[0020] When the compact bale is to be loaded on a truck bed as described above, the compact bale placed on the ground is held by the end effector 2 and the main body is moved to the truck and loaded on the truck. Thereafter, a setup operation for accumulating potential energy in the main body is performed while moving to the next veil. By using the moving time for the setup in this way, the time can be shortened, and the setup can take a sufficiently long time, so that the motor can be driven by a small motor. It is also possible to provide a loading platform on the main body so that about three compact bales can be stacked.

[0021] A fertilizer bag or a bag of concentrated feed is gripped one by one from the pallet loading state and moved to the hobber of the spraying device. And, while holding the bag at the input port of the hopper,
Open the bag and pour the contents into the hopper. While moving from the hopper to the pallet, the above. Set up as in the case of.

[0022] When used as a roll bale transporter and a simple feeder, the size of the roll bale is much larger than that of the above-described embodiment, and the roll bale can be transported by itself by providing a driving unit for traveling. Further, a simple roll bale feeding device can be provided by gripping the cylindrical shaft portion of the roll bale from both sides so as to be rotatable and unrolling the roll bale while running the machine at a low speed in the stall tub.

[0023]

As described above, the heavy object lifting device according to the present invention has the following effects by the above configuration.

According to the first aspect of the present invention, the rotation shaft of the leg arm is driven by the motor to rotate the leg arm,
Lift and tilt the rear part of the main body frame, hold the heavy object on the end effector of the lifting arm in this state, and release the brake to rotate the leg arm to the side approaching the main body frame and release the main body frame. The rear of the ship descends due to gravity. When the leg arm starts to rotate, the lifting arm is fixed to the main body frame, and when the leg arm further rotates and the inclination angle of the main body frame becomes equal to or less than the set angle, the clutch is connected by the photoelectric switch. Then, the lifting arm rotates in conjunction with the leg arm, so that the conveyed object can be lifted and held at the lifting position. Therefore, the heavy object can be lifted with a small amount of power and held at the lifting position.

According to the second aspect of the present invention, when the leg is rotated by one motor to lift the rear portion of the body frame, the leg arm is rotated in the opposite direction to move the body frame in the horizontal direction. By rotating the arm and the leg arm in conjunction with each other, a heavy object held at the tip of the lifting arm can be easily lifted.

According to the third aspect of the present invention, the front wheel and the latter wheel are rotated by the recoil during the operation, the main body frame is retracted, the heavy object is lifted to a predetermined height, and the heavy object is moved to the next place. Is good.

According to the fourth aspect of the present invention, the front arm of the main frame is moved toward the heavy object during the operation of lifting the heavy object by the lifting arm, or only the forward driving force is applied around the front wheel of the main frame. Thus, the maximum liftable mass of the heavy object can be increased, and the heavy object can be easily lifted with less power.

[Brief description of the drawings]

FIG. 1 is a side view of a prototype of a heavy object lifting device according to the present invention.

FIG. 2 is a plan view of the same.

FIG. 3 is an explanatory view of the operation principle of the heavy object lifting device according to the present invention.

FIG. 4 is an explanatory view of the operation principle of the heavy object lifting device according to the present invention.

FIG. 5 is a graph showing a relationship between a front wheel torque and an inclination angle and a reduction ratio of a main body frame of the heavy object lifting device according to the present invention.

FIG. 6 is a diagram showing a power transmission system of a heavy object lifting device according to the present invention, and illustrating that the device utilizes power from an electric motor only during setup.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Main body frame 2 End effector 3 Lifting arm 4, 7, 15 Rotation axis 5 Grounding wheel 6 Leg arm 8 Front wheel 9 Rear wheel 10 Drive 11 Motor 12 Reduction gear with clutch and brake 13 Clutch 14 Small diameter sprocket 16 Large diameter sprocket 17 Chain 18 Chain transmission system A Conveyed object (heavy object) r Body tilt angle

Claims (4)

(57) [Claims] 1. A base portion of a lifting arm having an end effector for supporting a heavy object at a front end thereof is rotatably supported on a front end portion of a main body frame extending in the front-rear direction so as to be able to rotate back and forth. The lower end is grounded and pivotally supports the upper end of the leg arm that can move back and forth so as to be able to rotate back and forth, and the back and forth rotation of the leg arm causes the rear side of the main body frame to use the front end ground point of the main body frame as a supporting point A heavy-lifting device comprising: a driving device for vertically rotating, and a driving device for transmitting rotational power to a shaft support of the lifting arm and the leg arm mounted on a rear side of the main body frame. 2. A drive device for transmitting rotational power to a shaft support portion of the lifting arm and the leg arm is constituted by a clutch / brake reduction gear, a clutch, and the like driven by a single prime mover. A control means for detecting an angle formed with the leg arm and determining a timing for operating the clutch includes a rotation position sensor, a relay, and the like. 2. The weight according to claim 1, wherein the rear end of the main body frame is raised by rotating the arm backward, and then the release of potential energy stored in the main body frame is transmitted to the lifting arm. Object lifting equipment. 3. A grounding wheel is provided at a front end and a rear end of the main body frame, and the main body frame retreats and lifts a heavy object to a predetermined height by a recoil during operation. The weight lifting device as described. 4. A front end grounding wheel of the main body frame is moved in the direction of a heavy object during the lifting operation, or
4. The heavy object lifting device according to claim 1, wherein the maximum liftable mass of the heavy object is increased by applying a driving force in a forward direction around the front end grounding wheel of the main body frame.