JP3159192B2 - Transfer device and transfer method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for winding and unwinding a cable or the like, and more particularly to a method for positioning a cable or the like.

[0002]

2. Description of the Related Art Conventionally, in a device for winding and unwinding a cable or the like, a cable is wound on the basis of the number of rotations of a winding drum on which the cable or the like is wound and on the basis of the diameter of the cable wound on the winding drum. Positioning was performed by determining the take-out and feed-out distances.

However, since it is difficult to wind a cable around a winding drum with a uniform diameter, there is a problem that a large difference occurs between the determined distance and the actual winding and feeding distance. In addition, since the detection bar for detecting the diameter of the cable wound on the winding drum is pressed against the cable, the detection bar hinders the smooth feeding and winding of the cable by the winding drum, and the contact between the cable and the detection bar. Therefore, there is a problem that the cable is easily worn.

In order to solve these problems, Japanese Patent Application Laid-Open No. 61-75278, Japanese Patent Application Laid-Open No. 5-187806 and Japanese Utility Model Application Laid-Open No. 7-34311 disclose magnetic cables provided at equal intervals. There is disclosed a technique in which a magnetized point formed from a material is detected by a sensor, and the feeding and winding distance of the cable is determined from the number of the detected magnetized points.

[0005] However, the techniques disclosed in these publications have a problem that it is difficult to perform high-precision positioning at a position desired by a user because magnetized points are formed at equal intervals in the cable. is there.

Further, since the magnetized points formed at equal intervals are detected and the cable length is calculated from the number of detected magnetized points, there is a problem that the configuration becomes complicated.

[0007]

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has a simple structure, such as a winch capable of reliably stopping a suspended load or cable at a desired position with high accuracy. And a transfer method.

[0008]

In order to achieve the above object, a transport device according to a first aspect of the present invention comprises: a cable for suspending a transported object; a winding drum on which the cable is wound;
Carrying out and winding the cable by rotating the winding drum, conveying means for conveying the object to which the cable is suspended, and the object to be suspended suspended in the cable,
When reaching the target position by the conveying means, a first magnetic portion disposed on the cable so as to be positioned at a predetermined position on the moving path of the cable, is the cable said transportable
When located at the suspended position of the object to be sent,
A second magnetic portion disposed on the cable so as to be positioned
Disposed between the first magnetic unit and the second magnetic unit
A third magnetic part provided in the vicinity of the predetermined position, and the first and second moving parts are moved to the predetermined position as the object to be conveyed is conveyed to the target position by the conveyance means . It detects the magnetism of the second magnetic portion outputs a first detection signal, the third which has been further moved to the predetermined position
Detecting means for detecting the magnetism of the magnetic part and outputting a second detection signal ; and stopping the feeding and winding of the cable by the transport means based on the first detection signal output by the detection means. Transport stop means , the transport stop means
Is based on a second detection signal detected by the detection means,
Speed of feeding and winding of the cable by the conveying means.
Reduce and reduce the cable based on the first detection signal.
The feeding and the winding are stopped .

According to this configuration , the detecting means includes the transporting means.
Moves to a predetermined position as the cable is fed and wound by
Detecting the magnetism of the first and second magnetic portions,
The detection signal is output, and the third
And outputs a second detection signal by detecting the magnetism of the
The feed stopping means is configured to output the second stop signal based on the second detection signal output by the detection means.
Speed of cable feeding and winding by transport means
Then, based on the first detection signal, the unwinding and winding of the cable are performed.
Stop. Therefore, the object to be transported suspended on the cable
Will move to the specified position when it reaches the target position.
The first magnetic part is arranged in the
When located at the position, the second magnet located at the predetermined position
And a portion between the first magnetic portion and the second magnetic portion.
By disposing the third magnetic part in
Even when transporting from the suspension position to the destination
High accuracy of cable positioning at the bridge position and target position
Therefore , a smooth stopping operation can be performed.

[0010] The third magnetic part is located near the first magnetic part and the third magnetic part.
One each may be arranged in the vicinity of the two magnetic parts.
No. In this case, whether the third magnetic portion has passed a predetermined position.
Until the first or second magnetic part moves to a predetermined position.
Speed of winding and unwinding the cable can be reduced
This prevents sudden stoppage of the cable,
Movement can be suppressed.

[0011]

[0012]

[0013]

[0014]

In order to achieve the above object, a transport method according to a second aspect of the present invention is a transport method in which a cable is fed and wound to transport a transported object on which the cable is suspended. Arranged at the position where it moves to a predetermined position on the movement path as the object is transported to the destination position
The transferred first magnetic part and the object to be conveyed are in the suspension position.
When placed, it is arranged to be located at the predetermined position
A second magnetic unit, the first magnetic unit, and the second magnetic unit
And a third step of suspending the object to be transported with a cable including a third magnetic portion disposed between the cable and the cable, and carrying out and winding the cable to transport the object to which the cable is suspended. Outputting a first detection signal by detecting the first and second magnetic units that have moved to the predetermined position as the object to be transferred is transferred to the target position in the transfer step; And further moved to the predetermined position.
Detecting the magnetism of the third magnetic unit and outputting a second detection signal
That the detecting step and the second detection signal which is output by the detection step
Based on No., feeding and winding of the cable in the transport step
And a transport stopping step of stopping feeding and winding of the cable based on the first detection signal.

According to this method , in the detection step,
To a predetermined position as the cable is extended and wound
Detecting the magnetism of the first and second magnetic portions,
The detection signal is output, and the third
And outputs a second detection signal by detecting the magnetism of the
In the feeding stop step, the second detection signal output in the detection step
Cable feeding and winding speed in the transport process based on
Reduce and extend and retract the cable based on the first detection signal
And stop. Therefore, the transport pair suspended on the cable
When the elephant reaches the target position, it moves to the specified position
The first magnetic part is arranged so that the cable
When located in the suspension position, the second
A magnetic unit, a first magnetic unit and a second magnetic unit;
By placing the third magnetic part between the
Is transported several times from the suspension position to the target position.
Of the cable in the suspension position and the target position
The degree of operation can be increased, and a smooth stopping operation can be performed.

The third magnetic part is located near the first magnetic part and the third magnetic part.
One each may be arranged in the vicinity of the two magnetic parts.
No. In this case, whether the third magnetic portion has passed a predetermined position.
Until the first or second magnetic part moves to a predetermined position.
Speed of winding and unwinding the cable can be reduced
This prevents sudden stoppage of the cable,
Movement can be suppressed.

[0018]

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A winch 100 according to an embodiment of the present invention will be described below with reference to the drawings.

The winch 100 of the present embodiment is shown in FIG.
As shown in FIG. 1A, a cable 3 for suspending a frame 1, a suspended load 20 as an object to be conveyed, a winding drum 7 around which the cable 3 is wound, and a motor 9 with a reduction gear for rotating the winding drum 7. When,
Magnetic sensor 11 and pulley 13 for guiding cable 3
And a storage circuit 15 for storing an operation program to be processed by the control circuit 17, and a control circuit 17 for controlling the motor 9 with a speed reducer, for lifting or lifting the load 20 between the load position and the target position. Lower.

The frame 1 has a housing portion 1a for housing the winding drum 7 and the motor 9 with a reduction gear, a projecting member 1b formed to protrude from the top surface of the housing portion 1a, and a projecting member for protruding from the side surface of the housing portion 1a. And a support member 1c fixed to the overhang member 1b and supporting the overhang member 1b.

The cable 3 is wound around the winding drum 7 and hangs from a pulley 13. The cable 3 includes first and second magnetic portions 3a and 3b formed by applying a magnetic material.
And a hook 4 on which the suspended load 20 is suspended.

The first magnetic portion 3a is disposed at a predetermined position PS when lifting the suspended load 20 disposed at the suspended load position. The second magnetic part 3b is provided with a suspended load 20 in the cable 3.
And the length L1 from the first magnetic part 3a is substantially the same, and is disposed at the predetermined position PS as the suspended load 20 is disposed at the target position.

The hook 4 is provided at one end of the cable 3 and engages with the slinging wire 20a to suspend the suspended load 20.
The winding drum 7 is rotatably supported and fixed to the housing portion 1a, and the cable 3 is wound thereon. The motor 9 with a reduction gear rotates the winding drum 7 to feed out or wind up the cable 3, and lifts or suspends the suspended load 20 suspended on the hook 4. The pulley 13 is rotatably supported and fixed to the overhang member 1b, and guides the cable 3.

The magnetic sensor 11 is fixed to the projecting member 1b near the predetermined position PS, and moves to the predetermined position PS as the cable 3 is fed or wound, and the first or second magnetic portion 3a, 3b. And supplies a detection signal to the control circuit 17.

The storage circuit 15 stores an operation program to be processed by the control circuit 17 when the cable 3 is fed or wound.

The control circuit 17 controls the motor 9 with a speed reducer to rotate the winding drum 7 based on the operation program, and feeds out or winds the cable 3 wound on the winding drum 7, and hooks the cable 3. The suspended load 20 suspended in 4 is lifted or suspended. When receiving the detection signal supplied from the magnetic sensor 11, the control circuit 17 stops the rotation of the winding drum 7 and stops lifting or suspending the suspended load 20.

Hereinafter, the operation of the winch 100 will be described with reference to the drawings. When lifting the load 20 from the load position to the target position, the winch 100 moves the first magnetic part 3a to a predetermined position PS near the magnetic sensor 11 as shown in FIG. The second magnetic part 3b is the first magnetic part 3
Each of the hooks 4 is disposed at a position of the length L1 closer to the hook 4 than the position a.

From this state, the control circuit 17 first controls the motor 9 with a speed reducer to rotate the winding drum 7 in the direction of arrow YA, winds the cable 3 and moves the hook 4 upward,
Lift the suspended load 20.

As the suspended load 20 rises, the first and second magnetic portions 3a and 3b of the cable 3 move toward the winding drum 7 on the moving path of the cable 3. As shown in FIG. 1B, when the suspended load 20 rises from the suspended position to the target position, the second magnetic unit 3b reaches the predetermined position PS.

The magnetic sensor 11 detects the magnetism of the second magnetic section 3b that has moved to the predetermined position PS, and supplies a detection signal to the control circuit 17. When receiving the detection signal, the control circuit 17 controls the motor 9 with the speed reducer to stop the rotation of the winding drum 7 and stop the movement of the suspended load 20.

The winch 100 that has lifted the load 20 is
As shown in FIG. 2A, the second magnetic part 3b is located at a predetermined position PS, and the first magnetic part 3a is located at a position higher than the predetermined position PS.
Are disposed at the positions of the length L1 on the sides.

From this state, the control circuit 17 controls the motor 9 with a speed reducer to rotate the winding drum 7 in the direction of the arrow YB, pull out the cable 3 from the winding drum 7, and lower the hook 4. As shown in FIG. 2B, when the first magnetic unit 3a moves to a predetermined position, the magnetic sensor 11 detects the magnetism of the first magnetic unit 3a and outputs a detection signal. When receiving the detection signal, the control circuit 17 stops the extension of the cable 3 and stops the movement of the hook 4.

As described above, when the magnetic sensor 11 detects the magnetism of the first or second magnetic portion 3a, 3b disposed at the predetermined position PS, the feeding or winding of the cable 3 is stopped. The winch 100 can position the suspended load 20 or the hook 4 at a position desired by the user with high accuracy.

In the above embodiment, the operation of lifting the suspended load 20 has been described.
Even in the case of hanging, the positioning accuracy of the suspended load 20 and the hook 4 can be increased.

In this case, as shown in FIG. 1B, the winch 100 is moved from the state in which the second magnetic portion 3b is disposed at the predetermined position PS and the suspended load 20 is suspended by the hook 4, as shown in FIG.
As shown in (a), the first magnetic part 3a is positioned at a predetermined position PS.
Out, and the suspended load 20 is arranged at the target position.

When the suspended load 20 is suspended again, the winch 100 is moved from the state in which the first magnetic portion 3a is arranged at the predetermined position PS as shown in FIG.
As shown in (2), the cable 3 is wound up until the second magnetic part 3b is located at the predetermined position PS.

As described above, the winch 10 is wound by winding or unwinding the cable 3 until the first or second magnetic portion 3a, 3b is located at the predetermined position PS.
0 indicates that even when the user suspends the suspended load 20 from the suspended position to the target position a plurality of times, the user can move the suspended load 20 to a desired position.
Alternatively, the hooks 4 can be arranged with high accuracy.

In the above embodiment, when the first or second magnetic section 3a, 3b is disposed at the predetermined position PS, the cable 3
Has been stopped, for example, the suspended load 2
When it is necessary to avoid sudden stop of the feeding or winding of the cable 3 such as to suppress the vibration applied to zero, FIG.
A configuration like a winch 200 shown in FIG.

The winch 200 has substantially the same configuration as the winch 100. However, the winch 200 is provided between the first magnetic part 3a and the second magnetic part 3b of the cable 3 in the vicinity of the first magnetic part 3a and the second magnetic part 3b,
A third magnetic portion 3c and a fourth magnetic portion 3d formed from a magnetic material are provided.

When the load 20 is lifted from the load position to the target position, the control circuit 17 determines that the first magnetic part 3a is located at the predetermined position PS and the hook 4 as shown in FIG. The cable 3 is wound up from the state where the suspended load 20 is suspended. As shown in FIG. 3B, when the fourth magnetic part 3d moves to the predetermined position PS, the control circuit 17 gradually reduces the winding speed of the cable 3 as shown in FIG. As shown, when the second magnetic part 3b moves to the predetermined position PS, the winding of the cable 3 is completely stopped.

When lifting the load again, the control circuit 1
7 draws out the cable 3 from the state where the second magnetic part 3b is arranged at the predetermined position PS as shown in FIG. 4A, and the third magnetic part as shown in FIG. When the first magnetic portion 3a moves to the predetermined position PS, the feeding speed of the cable 3 is gradually reduced as shown in FIG. The feeding of 3 is completely stopped.

As described above, according to the winch 200, the third and fourth magnetic portions 3c and 3d are positioned at the predetermined position PS.
, The winding and unwinding speed of the cable 3 is gradually reduced until the first and second magnetic portions 3a and 3b move to the predetermined position PS. Therefore, cable 3
Abrupt stop of feeding or take-up can be prevented, and vibration of the suspended load can be suppressed.

In the above embodiment, when the magnetic sensor 11 detects the magnetism of the first or second magnetic portion 3a, 3b disposed at the predetermined position PS, the rotation of the winding drum 7 is stopped, thereby suspending the winding drum 7 a plurality of times. Even when a load is lifted or suspended, positioning of the suspended load or hook with high accuracy is enabled. However, if one of the lifting and the hanging of the suspended load is performed and the positioning of the hook for the second or subsequent lifting is not required to be highly accurate, the magnetic part formed by applying the magnetic material is used. May be provided.

In the above-described embodiment, the lifting or hanging of the suspended load in the case where the target position is one place has been described. However, the number of the positions of lifting or suspending the suspended load is arbitrary. Set the lifting or hanging position to 3
It may be a part. In this case, each magnetic part is provided at a position where the moving distance of the suspended load to each lifting or hanging target position and the length from the predetermined position PS are substantially the same, and each magnetic part that has moved to the predetermined position PS is provided. When the detection is performed by the magnetic sensor 11, the feeding or winding of the cable 3 may be stopped.

In the above embodiment, the case where the present invention is applied to a winch has been described. However, the present invention can also be applied to positioning in another winding device such as a fishing line reel for feeding or winding a fishing line. For example, in a fishing line reel, a magnetic material is applied to a specific position of the fishing line wound on the reel, and a fishing rod on which the reel is mounted is provided with a sensor for detecting the magnetic material, so that the fishing line is unwound or wound. You can adjust the distance.

The thickness and material of the cable 3 are optional.
For example, it may be formed from natural fiber or resin.

The first cable 3 of the above embodiment has
The second magnetic portion is formed by applying a magnetic material. However, the present invention is not limited to this configuration. For example, when the cable 3 is manufactured, the material of the cable 3 is formed by mixing a magnetic material powder. Is also good.

Although the winch 100 of the above embodiment lifts and hangs the load, the load may be towed. The drive source for rotating the winding drum 7 is arbitrary, and may be, for example, a hydraulic motor.

[0050]

As described above, according to the present invention,
It is possible to smoothly stop a suspended load or a cable at a desired position with high accuracy.

[Brief description of the drawings]

FIG. 1A is a schematic view of a winch according to an embodiment of the present invention with a suspended load suspended. FIG. 2B is a schematic view of the winch of FIG. 1A in a state where the suspended load is transported to a target position.

FIG. 2A is a schematic diagram of the winch of FIG. 1 in a state where a suspended load is released at a target position. (B) is a schematic diagram of the winch of FIG. 1 in a state where a hook is arranged at a suspension position.

FIG. 3A is a schematic diagram of a winch according to a modified example of the embodiment of the present invention with a suspended load suspended. (B) is a schematic diagram of a winch of a modified example of the embodiment of the present invention in a state where a suspended load is being conveyed to a target position. (C) is a schematic diagram of a winch of a modified example of the embodiment of the present invention in a state where a suspended load is transported to a target position.

FIG. 4A is a schematic view of a winch according to a modification of the embodiment of the present invention in a state where a suspended load is released at a target position. (B) is a schematic diagram of a winch of a modification of the embodiment of the present invention in a state where the hook is lowered to the suspension position. (C) is a schematic diagram of a winch according to a modified example of the embodiment of the present invention in a state where a hook is arranged at a suspension position.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Frame 1a Housing part 1b Overhang member 1c Support member 3 Cable 3a First magnetic part 3b Second magnetic part 3c Third magnetic part 3d Fourth magnetic part 4 Hook 7 Roller cylinder 9 Motor with reduction gear 11 Magnetic Sensor 13 Pulley 15 Storage device 17 Control device 20 Hanging load 20a Sling wire

Claims (4)

(57) [Claims] 1. A cable for suspending a conveyed object, a winding cylinder on which the cable is wound, and an object to be conveyed on which the cable is suspended by rotating the winding cylinder to feed and wind the cable. Transport means for transporting the object, and the object to be transported suspended by the cable is arranged on the cable so as to be located at a predetermined position on a moving path of the cable when the transport means reaches a target position. A first magnetic part and the cable is the object to be conveyed;
Is located at the predetermined position when located at the suspension position
A second magnetic portion disposed on the cable as described above,
A first magnetic unit disposed between the first magnetic unit and the second magnetic unit.
3 and the magnetic part, the provided near the predetermined position, the conveying object by the conveying means along with being transported to a target position, the first and second magnetic which has moved to the predetermined position detecting the magnetic parts of the first detection signal and outputs, further predetermined
Detecting the magnetism of the third magnetic part that has moved to the position,
A detecting means for outputting a second detection signal, based on the first detection signal the detection means outputs, and a conveyance stop means for stopping the feeding and winding of the cable by the transport means, the transport The stopping means is provided for detecting the second detection detected by the detecting means.
Based on the output signal, the transport means turns the cable.
Reducing the unwinding and winding speeds and reducing the speed based on the first detection signal.
Transporting and winding of the cable are stopped . Wherein said third magnetic portion, according to claim 1, wherein said first near the vicinity and the second magnetic portion of the magnetic portion is disposed one each, it Transport device. 3. A conveying method for feeding and winding a cable to convey an object on which said cable is suspended, wherein said object is conveyed to a target position along a predetermined route on a moving path. A first magnetic unit disposed at a position where the object is moved to a position;
A second magnetic unit arranged to be located at the predetermined position
Disposed between the first magnetic unit and the second magnetic unit
A suspension step of suspending the object to be conveyed by a cable including the third magnetic part, and a transporting step of feeding and winding the cable and transporting the object to which the cable is suspended, In the transfer step, the first and the second move to the predetermined position as the transfer target is transferred to the target position .
First outputs a detection signal by detecting the magnetic member, further pre
The magnetism of the third magnetic part that has moved to the predetermined position is detected.
A detecting step of outputting the second detection signal and outputting the second detection signal; and reducing a feeding and winding speed of the cable in the transporting step based on the second detection signal output in the detecting step.
A transport stopping step of stopping the feeding and winding of the cable based on the first detection signal. 4. The first magnetic part is provided with a third magnetic part.
One each in the vicinity and in the vicinity of the second magnetic part
Conveying method according to claim 3, wherein in that, it is.