JP4107128B2 - lift device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a lifting device.
[0002]
[Prior art]
Conventionally, hoist devices and power assist devices have been used for transporting heavy workpieces in automobile assembly plants and the like.
[0003]
For example, as a hoist device, a winding body part, an under hook for hanging a load (work) is attached to the lower end, and a chain that is lifted and lowered by an air motor housed in the winding body part, There is an air hoist that is attached to the under-hook side and includes an operation unit that operates to drive and stop the winding drum unit (see, for example, Patent Document 1).
[0004]
In addition, for example, as a power assist device, a lifting rail arranged in a vertical direction, a wheel provided on a suspension block for suspending a work, and a drive motor that rotationally drives the wheel are provided. There is one that raises and lowers the suspension block along the elevating rail by rotating in a state of pressing.
In this power assist device, the operation state of the operator is detected by a force sensor or the like, the assist operation is obtained by multiplying the detected operation state (operation force) by a constant, and an assist torque corresponding to the assist force is generated. The drive motor is driven and controlled.
[0005]
[Patent Document 1]
JP 2002-29687 A (second page, FIG. 1)
[0006]
[Problems to be solved by the invention]
Since the air hoist winds up or lowers the chain by an air motor, the responsiveness to the operation of the operator is poor, and it is difficult to slightly displace the underhook, so it is difficult to accurately position the workpiece height position. There was a problem that there was.
[0007]
Further, the power assist device must support the combined weight of the work and the suspension block only by the frictional force between the wheel and the lifting rail. Therefore, when the workpiece weight is large, the necessary frictional force also increases, and in order to obtain such a large frictional force, in addition to using large wheels, expensive materials with a large friction coefficient are used on the surfaces of the wheels and the lifting rail. There is a need.
[0008]
Furthermore, since the power assist device must suspend the weight of the work and the suspension block, the drive motor must suspend, so when the work weight is large, a large capacity drive motor with a large driving force must be used, A large and expensive drive motor is required.
Therefore, the power assist device has a problem that it is large and expensive.
[0009]
The present invention has been made to solve the above problems, and an object of the present invention is to provide a small and inexpensive lifting device capable of accurately positioning the lifting position.
[0010]
[Means / actions for solving the problems and effects of the invention]
  (Claim 1)
  The invention according to claim 1 made to achieve such an object,
  Balancing means to keep the suspended work in a balanced state close to zero gravity;
  A power assist means for raising and lowering the work by generating an assist force for assisting an operator's operation force when the balance means holds the work in a balanced state;,
Separating means for separating the power assist means from the workpiece;
A lifting device comprising:
The balancing means includes a hoist mechanism for raising and lowering the workpiece,
  The power assist means includes
  An operation state detecting means for detecting an operation state of the operator;
  Based on the operation state detected by the operation state detection means, calculation means for obtaining an assist force capable of assisting the lifting and lowering of the workpiece;
  Drive means for raising and lowering the workpiece by generating the assist force obtained by the computing means,
Lifting and lowering the work by the balancing means when the power assist means is separated from the work by the separating means.The gist.
[0011]
Therefore, in the first aspect of the invention, the balance means only holds the workpiece in a balanced state, and the workpiece is raised and lowered by the power assist means. Since the power assist means includes the operation state detection means and the calculation means, the responsiveness of the drive means with respect to the operation of the operator is good, and it is easy to slightly displace the work by the drive means. Accurate positioning of the height position can be performed.
According to the first aspect of the present invention, the driving force of the driving means is small because the balance means holds the work in a state close to zero gravity as compared with the case where the power assist means lifts and lowers the work alone. That's it.
Therefore, according to the first aspect of the present invention, it is possible to provide a small and inexpensive lifting device that can accurately position the lifting position.
[0013]
  Claim 1According to the invention described in the above, when the power assist means has an abnormality, the work can be lifted and lowered using the hoist mechanism of the balance means in a state where the power assist means is separated from the work by the separating means. The work transfer operation using the lifting device can be continued.
[0014]
  (Claim 2)
Next, the invention described in claim 2
Balancing means to keep the suspended work in a balanced state close to zero gravity;
A power assist means for raising and lowering the work by generating an assist force for assisting an operator's operation force when the balance means holds the work in a balanced state;
A lifting device comprising:
The power assist means includes
An operation state detecting means for detecting an operation state of the operator;
Based on the operation state detected by the operation state detection means, calculation means for obtaining an assist force capable of assisting the lifting and lowering of the workpiece;
Driving means for raising and lowering the workpiece by generating the assist force obtained by the computing means;
  Lifting rails arranged in the lifting direction of the workpiece;
  Suspension means for suspending the workpiece;
  Wheels provided in the suspension means;
  A drive motor that rotates the wheels,
With
  The gist is that the suspension means is moved up and down along the lifting rail by rotating the wheel by the drive motor in a state where the wheel is pressed against the lifting rail.
  Therefore,Claim 2According to the invention described in (1), the power assist means can be realized with a simple configuration.
[0015]
  (Claim 3)
  next,Claim 3The invention described inClaim 1In the lifting apparatus according to claim 1, the power assist means includes a lifting rail disposed in a lifting direction of the work, a suspension means for suspending the work, a wheel provided on the suspension means, and a rotational drive of the wheel. A drive motor for rotating the suspension means along the lift rail by rotating the wheel with the drive motor in a state in which the wheel is pressed against the lift rail, The gist is to separate the wheel from the lifting rail.
  Therefore,Claim 3According to the invention described in (1), the power assist means and the separation means can be realized with a simple configuration.
[0016]
  (Claim 4)
  next,Claim 4The invention described inClaim 2 or claim 3The lifting device according to claim 1, further comprising brake means for applying a brake to the wheel so that the wheel cannot be rotated in a state where the wheel is pressed against the lifting rail.
[0017]
  Therefore,Claim 4According to the invention described in the above, the suspension means is fixed to the elevating rail by raising and lowering the work to a desired height position of the operator and then applying the brake to the wheel to make the wheel unrotatable. Is possible.
  As a result, the work suspended by the suspension means can be prevented from inadvertently moving up and down and colliding with something.
[0018]
(Explanation of terms)
The correspondence relationship between the constituent elements described in [Claims] and [Means for Solving the Problems and Effects of the Invention] described above and the constituent members described in [Embodiments of the Invention] described below is as follows. It is as follows.
[0019]
The “balance means” corresponds to the balance hoist device 30.
The “power assist means” corresponds to the power assist device 40.
The “operation state detection unit” corresponds to the operation rod 51 and the force sensor 52.
The “calculation means” corresponds to the control device 60, and particularly corresponds to the operations of steps 106 and 124 in the control device 60.
[0020]
The “driving means” corresponds to the servo motor 44 and the wheels 45.
The “separating means” corresponds to the suspension block 23, the wheel block 42, the rotation pin 43, the mounting plate 46, and the air cylinder 47.
The “hoist mechanism” corresponds to the air motor 31 and the wire rope 32 that realize the hoist function of the balance hoist device 30.
[0021]
The “suspension means” corresponds to the structural member 20, and particularly corresponds to the suspension block 23, the grip frame 24, and the work grip member 26.
The “drive motor” corresponds to the servo motor 44.
The “brake means” corresponds to the brake mechanism 44c.
[0022]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an elevator apparatus according to an embodiment of the present invention will be described with reference to the drawings.
[0023]
[Overall schematic configuration]
1 and 2 are front views of the lifting device 10 of the present embodiment.
3 to 6 are enlarged front views of main parts of the lifting device 10 shown in FIG.
[0024]
The elevating device 10 is attached to a construction frame 100 provided in a factory (for example, an automobile assembly factory).
The gate-type erection frame 100 is composed of two column members 101a and 101b and one beam member 101c.
[0025]
Each of the column members 101a and 101b is erected in a substantially vertical direction with respect to a floor surface (ground surface) G of the factory. Both ends of the beam member 101c are fixed to the upper ends of the column members 101a and 101b, respectively. In other words, the beam member 101c is laid on the column members 101a and 101b and arranged in the horizontal direction with respect to the floor surface G.
[0026]
The lifting device 10 includes a structural member 20, a balance hoist device 30, a power assist device 40, an operation device 50, and a control device 60.
[0027]
The structural member 20 includes a base member 21, a lifting frame 22, a suspension block 23, a gripping frame 24, a support pin 25, a work gripping member 26, and the like.
[0028]
The base member 21 is fixedly attached to the lower side of the beam member 101c of the installation frame 100.
The elevating frame 22 is a long object having a substantially quadrangular prism shape. The elevating frame 22 has upper and lower ends, and its upper end (fixed end) is attached and fixed to the lower side of the base member 21, and its lower end (free end) is not fixed to anything. That is, the elevating frame 22 is suspended from the base member 21 (beam material 101c) and arranged in the vertical direction.
[0029]
The suspension block 23 has a substantially square cylindrical shape, and the elevating frame 22 is inserted into the suspension block 23. Therefore, the suspension block 23 can move up and down (up and down) in the vertical direction along the lifting frame 22 while sliding with the lifting frame 22.
[0030]
A support pin 25 is attached to the outer surface of the suspension block 23 in the vertical direction.
The grip frame 24 is a long object having a substantially quadrangular prism shape. The grip frame 24 has both left and right end portions, and the right end portion (fixed end portion) is attached to the outer surface of the suspension block 23 via a support pin 25, and the left end portion (free end portion) is attached to the work gripping member 26. Is fixed. The grip frame 24 can be rotated about 180 ° in a horizontal plane with the support pin 25 as a rotation axis.
The workpiece gripping member 26 is configured to grip and fix a workpiece (cargo, workpiece) W and hang it.
[0031]
[Configuration of Balance Hoist Device 30]
The balance hoist device 30 includes an air motor 31 and a wire rope 32.
The air motor 31 is attached and fixed to the lower side of the base member 21 (beam material 101c).
[0032]
The gear turbine type air motor 31 includes a wire take-up drum 31a having an outer shape in a drum shape and a cylinder in the inside, and a ball screw 31b inserted through the center of the wire take-up drum.
[0033]
When air is introduced into the cylinder in the wire take-up drum 31a from an air supply device (not shown) provided outside, the wire take-up drum 31a is rotated by the combination of the cylinder and the ball screw 31b, The wire rope 32 can be wound or rewound.
Incidentally, since the gear turbine type air motor 31 having such a structure is known, a detailed description of the structure and operation thereof will be omitted.
[0034]
Incidentally, in the suspension block 23, a wire rope attachment member 23a is provided above the grip frame 24.
And the front-end | tip part of the wire rope 32 pulled out from the air motor 31 is attached and fixed to the wire rope attachment member 23a.
[0035]
Therefore, as shown in FIG. 2, when the wire rope 32 is wound up by the air motor 31, the suspension block 23 is pulled up against the gravity by the wire rope 32, and the suspension block 23 is raised vertically along the lifting frame 22. Ascend in the direction.
[0036]
As shown in FIG. 1, when the wire rope 32 is rewound by the air motor 31, the suspension block 23 is pulled down according to gravity by the wire rope, and the suspension block 23 descends vertically downward along the lifting frame 22. .
Thus, the work W gripped by the work gripping member 26 can be lifted and lowered by lifting and lowering the suspension block 23 by the balance hoist device 30.
[0037]
By the way, as will be described later, the balance hoist device 30 is in a “balanced state” in which the work W gripped by the work gripping member 26 is close to weightlessness in addition to the “hoist function” that lifts and lowers the work W as described above. "Balance function" as a "balancer" to maintain
Incidentally, such a balance hoist device 30 is commercially available, for example, from Miyake Industry Co., Ltd. under the trade name “balance hoist”.
[0038]
[Configuration of Power Assist Device 40]
As shown in FIGS. 3 and 4, a power assist device 40 is provided on the outer surface of the suspension block 23 that faces the outer surface to which the grip frame 24 is attached.
The power assist device 40 includes a lifting rail 41, a wheel block 42, a rotation pin 43, a servo motor 44, wheels 45, a mounting plate 46, an air cylinder 47, and the like.
[0039]
The elevating rail 41 is a flat plate-like long object, and is fixedly mounted from the lower end portion on the outer side surface of the elevating frame 22 to the vicinity of the upper end portion.
A rotation pin 43 is attached to the outer surface of the suspension block 23 in the horizontal direction.
The wheel block 42 is attached to the outer surface of the suspension block 23 via a rotation pin 43. The wheel block 42 can rotate (tilt) in the vertical plane with the rotation pin 43 as a rotation axis.
[0040]
A servo motor 44 is attached and fixed to the wheel block 42, and a motor shaft hole 42a for inserting the motor shaft 44a of the servo motor 44 is formed therethrough.
The motor shaft hole 42 a is disposed above the rotation pin 43.
The electric motor shaft 44 a is disposed in the horizontal direction and is fixedly attached to the wheel 45 to constitute the central axis of the wheel 45.
[0041]
By the way, the servo motor 44 is provided with a rotation angle sensor 44b for detecting the rotation angle of the motor shaft 44a. Note that any type of rotation angle sensor (for example, a rotary encoder) may be used as the rotation angle sensor 44b.
The servo motor 44 is provided with a brake mechanism 44c for mechanically braking the motor shaft 44a so that the motor shaft 44a cannot be rotated. Note that any type of brake (for example, a disc brake or the like) may be used for the brake mechanism 44c.
[0042]
The attachment plate 46 is a substantially flat plate-like long object. The mounting plate 46 has both upper and lower ends, its upper end is fixedly attached to the wheel block 42, its lower end extends downward from the wheel block 42, and an air cylinder 47 is fixedly attached to its lower end. Yes.
The piston shaft 47 a of the air cylinder 47 is attached and fixed to the suspension block 23.
[0043]
The wheel block 42 and the mounting plate 46 constitute a “lever” mechanism having the pivot pin 43 as a fulcrum, and a wheel 45 is arranged at the upper end of the “lever” to constitute an action point. An air cylinder 47 is arranged at the lower end of the lever to form a power point.
[0044]
Therefore, as shown in FIG. 5, when the piston shaft 47a of the air cylinder 47 is extended, the piston shaft 47a tries to push out the suspension block 23. The heavy lifting elevator frame 22 is inserted into the suspension block 23. It does not move.
For this reason, the air cylinder 47 and the mounting plate 46 are urged in the direction of the arrow α by the reaction of the force by which the piston shaft 47a pushes the suspension block 23, and the wheel block 42 has the direction of the arrow γ (reverse) Rotating clockwise), the force of urging the wheel 45 in the direction of the arrow β (the direction opposite to the arrow α) works by the principle of “lever”.
As a result, the wheel 45 is pressed against the lifting rail 41.
[0045]
Here, since the distance between the location (power point) of the air cylinder 47 and the rotation pin 43 (fulcrum) is longer than the distance between the wheel 45 (action point) and the rotation pin 43 (fulcrum), the air cylinder 47. Even if the extension force of the piston shaft 47a is small, the wheel 45 can be pressed against the lifting rail 41 with a strong force.
[0046]
When the wheel 45 is pressed in the arrow γ direction by the servo motor 44 with the wheel 45 pressed against the lifting rail 41, the wheel 45 moves along the lifting rail 41 due to the frictional force between the wheel 45 and the lifting rail 41. Ascending vertically upward, the suspension block 23 ascends vertically upward along the lifting frame 22 as the wheel 45 rises.
[0047]
Further, when the wheel 45 is rotated in the direction of arrow δ (clockwise) by the servo motor 44 with the wheel 45 pressed against the lift rail 41, the friction force between the wheel 45 and the lift rail 41 causes the wheel 45 to move along the lift rail 41. Thus, the wheel 45 descends vertically downward, and the suspension block 23 descends vertically downward along the lifting frame 22 as the wheel 45 descends.
Thus, the work W gripped by the work gripping member 26 can be lifted and lowered by lifting and lowering the suspension block 23 by the power assist device 40.
[0048]
As shown in FIG. 6, when the piston shaft 47a of the air cylinder 47 retracts, the piston shaft 47a tries to draw the suspension block 23, and the heavy lifting frame 22 is inserted into the suspension block 23. It does not move.
Therefore, the piston shaft 47a is urged in the direction of arrow β by the reaction of the force pulling the suspension block 23, and the wheel block 42 rotates in the direction of arrow δ with the rotation pin 43 as the rotation axis. Due to the principle of “lever”, a force that urges the wheel 45 in the direction of the arrow α works.
As a result, the wheel 45 is separated from the lifting rail 41, and a gap S is generated between the wheel 45 and the lifting rail 41.
[0049]
[Configuration of Operation Device 50]
In the suspension block 23, an operating device 50 is attached to an outer surface where the grip frame 24 and the power assist device 40 are not provided.
The operation device 50 includes an operation rod 51, a force sensor 52, an operation enable button 53, a balance / hoist switching button 54, a power assist disconnect button 55, a brake operation button 56, and the like.
[0050]
The operating rod 51 is a substantially rod-shaped object that is formed in a dimension that can be grasped by an operator with one hand, and protrudes vertically upward from the housing 50 a of the operating device 50.
An operation enable button 53 is provided at the tip of the operation rod 51.
Further, buttons 54 to 56 are provided in the vicinity of the operation rod 51 in the housing 50 a of the operation device 50.
[0051]
The force sensor 52 is connected to the proximal end portion of the operating rod 51 and detects the magnitude and direction of the operating force applied to the operating rod 51 by the operator.
The force sensor 52 is a force sensor having six axes (x-axis, y-axis, z-axis, and x-axis, y-axis, and z-axis rotation axes a-axis, b-axis, c-axis). However, in the present embodiment, it is sufficient to detect only the magnitude and direction of the operating force applied to the z-axis among the six axes.
[0052]
When the brake operation button 56 is turned on, the brake mechanism 44c mechanically brakes the motor shaft 44a of the servo motor 44 to make the wheels 45 unrotatable.
[0053]
[Configuration of Control Device 60]
FIG. 7 is a block circuit diagram showing a schematic configuration of the control device 60.
The control device 60 includes an interface circuit (I / F) 61, a microcomputer 62, an electric motor drive circuit 63, an air motor drive circuit 64, and an air cylinder drive circuit 65.
[0054]
As shown in FIG. 1, the control device 60 is installed in the factory as a separate body from the device attached to the installation frame 100.
The control device 60 is connected to the sensors 44b and 52, the buttons 53 to 55, the air motor 31, the servo motor 44, and the air cylinder 47 by signal lines (not shown).
[0055]
The detection signals of the force sensor 52 and the rotation angle sensor 44b and the operation signals of the respective buttons (the operation enable button 53, the balance / hoist switching button 54, and the power assist disconnect button 55) are connected to the microcomputer via the interface circuit 61. 62.
[0056]
The interface circuit 61 includes an A / D conversion circuit 61a and a digital filter 61b.
The A / D conversion circuit 61a A / D converts the detection signal and the operation signal, which are analog signals, into digital signals.
[0057]
The digital filter 61b includes a low-pass filter in which the frequency of the axial interference component of the force sensor 52 is set to a cutoff frequency, a notch filter that selectively removes the mechanical natural frequency component of the operating device 50, and the like. An unnecessary signal component is removed from each digital signal generated by the / D conversion circuit 61a.
[0058]
The microcomputer 62 stores a CPU 62a for performing various arithmetic processes by the computer, a ROM 62b in which a computer program for the CPU 62a to execute arithmetic processes is recorded (stored), intermediate data of the arithmetic processes of the CPU 62a, and the like. A RAM 62c is mounted.
[0059]
When the operable button 53 is turned on and the balance / hoist switch button 54 is switched to the balance side, the microcomputer 62 drives the servo motor 44 based on the detection signals of the force sensor 52 and the rotation angle sensor 44b. A control signal for control is generated, and the control signal is sent to the motor drive circuit 63.
[0060]
Here, the microcomputer 62 multiplies the detection signal of the force sensor 52 (the magnitude and direction of the operating force applied to the operating rod 51 by the operator) by a constant to obtain the assist force, and the assist torque corresponding to the assist force. Is generated by the servo motor 44.
[0061]
The motor drive circuit 63 includes a power source, a PWM converter, a switching circuit (not shown), and the like, generates a drive current based on a control signal sent from the microcomputer 62, and uses the drive current as a servo motor. The servo motor 44 is driven and controlled.
[0062]
Further, when the balance / hoist switching button 54 is switched to the balance side, the microcomputer 62 keeps the work W gripped by the work gripping member 26 by the “balance function” in the “balanced state”. A control signal for driving and controlling the air motor 31 is generated, and the control signal is sent to the air motor driving circuit 64.
[0063]
When the operable button 53 is turned on and the balance / hoist switching button 54 is switched to the hoist side, the microcomputer 62 causes the balance hoist device 30 to perform the “hoist function” based on the detection signal of the force sensor 52. A control signal for driving and controlling the air motor 31 to raise and lower the workpiece W gripped by the workpiece gripping member 26 is generated, and the control signal is sent to the air motor drive circuit 64.
[0064]
The air motor drive circuit 64 adjusts the amount of air supplied from the air supply device (not shown) to the air motor 31 on the basis of a control signal sent from the microcomputer 62 to drive and control the air motor 31.
[0065]
Further, when the power assist disconnect button 55 is turned on, the microcomputer 62 generates a control signal for driving and controlling the air cylinder 47 so that the piston shaft 47a of the air cylinder 47 retracts as shown in FIG. The control signal is generated and sent to the air cylinder drive circuit 65.
[0066]
When the power assist disconnect button 55 is turned off (when not turned on), the microcomputer 62 moves the air cylinder 47 so that the piston shaft 47a of the air cylinder 47 extends as shown in FIG. A control signal for drive control is generated, and the control signal is sent to the air cylinder drive circuit 65.
[0067]
The air cylinder drive circuit 65 adjusts the amount of air supplied from an air supply device (not shown) to the air cylinder 47 based on a control signal sent from the microcomputer 62 to drive and control the air cylinder 47.
[0068]
[Work Process of Embodiment]
FIG. 8 is a flowchart for explaining a work work transfer process using the lifting device 10.
[0069]
The operator (operator) first determines whether or not the power assist device 40 is normal with no failure (step 101).
In the following description, the work process of steps 102 to 107 when the power assist device 40 is normal without any failure is referred to as a “power assist function addition mode”, and The work process of steps 121 to 124 is referred to as “balance hoist single mode” in the following description.
[0070]
Then, when the power assist device 40 is normal, the operator turns off the power assist separation button 55 to extend the piston shaft 47a of the air cylinder 47 and move the wheel 45 to the lifting rail 41 as shown in FIG. Press (step 102).
[0071]
Subsequently, the operator switches the balance / hoist switching button 54 to the balance side and holds the workpiece W gripped by the workpiece gripping member 26 by the “balance function” of the balance hoist device 30 in the “balanced state” ( Step 103).
[0072]
Next, the operator holds the operation rod 51 with one hand, turns on the operation enable button 53 with the thumb (step 104), and then turns off the brake operation button 56, so that the servo motor 44 by the brake mechanism 44c is operated. The brake on the motor shaft 44a is released, and the wheel 45 is made rotatable (step 105).
[0073]
In this way, the workpiece W gripped by the workpiece gripping member 26 by the “balance function” of the balance hoist device 30 is held in the “balanced state” (step 103), and then the motor shaft of the servo motor 44 by the brake mechanism 44c. By releasing the brake for 44a (step 105), it is possible to reliably prevent the suspension block 23 from falling.
[0074]
Then, the operator operates the operation rod 51 while turning on the operation enable button 53 with the thumb and raises and lowers the suspension block 23 by the power assist device 40, so that the workpiece W gripped by the workpiece gripping member 26 is removed. Move to a desired height position (step 106).
[0075]
At this time, if the operator removes the thumb from the operable button 53 (when the operable button 53 is operated to be turned off), the power assist device 40 does not operate even if the operating rod 51 is operated. That is, the operation enable button 53 functions as a safety device that prevents the power assist device 40 from operating when the operator's body accidentally touches the operation rod 51.
[0076]
Subsequently, the operator turns on the brake operation button 56, mechanically brakes the motor shaft 44a of the servo motor 44 by the brake mechanism 44c, and makes the wheel 45 unrotatable (step 107).
Then, the operator removes his / her hand from the operating rod 51, puts his / her hand on the gripping frame 24 and pushes the support pin 25 so that the workpiece W gripped by the workpiece gripping member 26 is in a desired position. Then, the grip frame 24 is rotated (step 108).
[0077]
For example, in an automobile assembly factory, there is an operation of putting various parts into the vehicle compartment from an opened door part. After lifting the parts to the open part of the door using the lifting device 10, the grip frame 24 is rotated. If the workpiece W (part) that is moved and gripped by the workpiece gripping member 26 is put into the vehicle interior, the operation can be easily performed.
[0078]
Further, when the power assist device 40 is abnormal, the operator turns on the power assist disconnect button 55 to retract the piston shaft 47a of the air cylinder 47 and move the wheel 45 from the lifting rail 41 as shown in FIG. Pull apart (step 121).
[0079]
Next, the operator switches the balance / hoist switching button 54 to the hoist side to make the “hoist function” of the balance hoist device 30 available (step 122).
[0080]
Subsequently, the operator holds the operation rod 51 with one hand, operates the operation rod 51 while turning on the operation enable button 53 with the thumb (step 123), and moves the suspension block 23 up and down by the balance hoist device 30. Thus, the workpiece W gripped by the workpiece gripping member 26 is moved to a desired height position (step 124).
[0081]
If it is determined in step 101 that the power assist device 40 is abnormal, the buttons 62 in steps 121 to 123 may be automatically performed by the microcomputer 62 of the control device 60.
[0082]
At this time, when the operator removes the thumb from the operable button 53 (when the operable button 53 is turned off), the balance hoist device 30 does not operate even if the operating rod 51 is operated. That is, the operation enable button 53 functions as a safety device that prevents the balance hoist device 30 from operating as a hoist when the operator's body accidentally touches the operation rod 51.
When the operation in step 124 is completed, the operator executes the operation in step 108.
[0083]
[Operations and effects of the embodiment]
According to the embodiment described above in detail, the following actions and effects can be obtained.
[1] When the power assist device 40 is normal without any failure, in the power assist function addition mode, the workpiece W gripped by the workpiece gripping member 26 by the “balance function” of the balance hoist device 30 is held in the “balanced state” ( Step 103).
[0084]
The “balanced state” means that the workpiece W gripped by the workpiece gripping member 26 is in a state close to weightlessness, and the operator can lightly move it up and down by placing a hand on the operation rod 51 or the workpiece W. In addition, it means a state that can be stopped at that position even if the hand is released at the position where it is moved up and down.
[0085]
Therefore, the balance hoist device 30 realizes the “balanced state” by the weight of the workpiece W and the movable part of the lifting device 10 (wire rope 32, suspension block 23, grip frame 24, support pin 25, workpiece grip member 26, In order to suspend (suspend) the total weight including the weight of the power assist device 40 and the operation device 50) excluding the lifting rail 41, the wire rope 32 is pulled up with a constant tension by the air motor 31.
[0086]
When the balance hoist device 30 holds the workpiece W gripped by the workpiece gripping member 26 in the “balanced state”, the power assist device 40 raises and lowers the suspension block 23 according to the operation of the operation rod 51, and the workpiece gripping member The workpiece W gripped by 26 is moved to a height position desired by the operator (steps 104 and 106).
That is, in the power assist function addition mode, the “balance function” of the balance hoist device 30 and the power assist device 40 are used in combination.
[0087]
By the way, when the balance hoist device 30 lifts and lowers the suspension block 23 alone without using the power assist device 40, the balance hoist device 30 winds or unwinds the wire rope 32 by the air motor 31. Since the responsiveness to the operation is poor and it is difficult to slightly displace the suspension block 23, it is difficult to accurately position the height position of the workpiece W.
[0088]
However, in the power assist function addition mode of the present embodiment, the balance hoist device 30 only holds the “balance state” by suspending the weight of the workpiece W and the total weight of the movable parts of the lifting device 10, The lifting and lowering of the suspension block 23 is performed by the power assist device 40.
[0089]
The power assist device 40 detects the rotation angle of the motor shaft 44a and servo-controls the rotation of the servo motor 44, and rotates the wheels 45 by the servo motor 44 to raise and lower the elevating rail 41. Therefore, since the responsiveness to the operation by the operator's operation rod 51 is good and the suspension block 23 can be easily displaced slightly, the height position of the workpiece W can be accurately positioned.
[0090]
Further, when the power assist device 40 lifts and lowers the suspension block 23 independently without using the balance hoist device 30, the power assist device 40 determines the total weight of the weight of the workpiece W and the movable part of the lifting device 10 as the wheel 45. It must be supported only by the frictional force between the lift rail 41 and the lift rail 41. Therefore, when the weight of the workpiece W is large, the necessary frictional force is also increased. In order to obtain the large frictional force, in addition to using the large wheels 45, the surfaces of the wheels 45 and the lifting rail 41 have a large friction coefficient. Materials must be used.
Further, when the power assist device 40 moves up and down the suspension block 23 alone, when the weight of the workpiece W is large, a large-capacity servo motor 44 having a large driving force must be used, and a large and expensive servo motor 44 is used. Is required.
[0091]
However, in the power assist function addition mode of the present embodiment, the balance hoist device 30 has the weight of the workpiece W and the total weight of the movable parts of the lifting device 10 as compared with the case where the power assist device 40 lifts and lowers the suspension block 23 alone. Thus, the frictional force between the wheel 45 and the lifting rail 41 can be reduced as much as the “balanced state” is maintained, and the driving force of the servo motor 44 can be reduced.
[0092]
Therefore, according to the power assist function addition mode of the present embodiment, small wheels 45 are used, and inexpensive materials having a small friction coefficient are used on the surfaces of the wheels 45 and the lifting rails 41, and a small and inexpensive servo motor 44 is used. Even if is used, the heavy workpiece W can be moved up and down.
Thus, according to the present embodiment, it is possible to provide a small and inexpensive lifting device 10 that can accurately position the lifting position.
[0093]
[2] When the power assist device 40 has some trouble, as shown in FIG. 6, the piston shaft 47a of the air cylinder 47 is retracted to separate the wheel 45 from the lifting rail 41 (step 121), and the balance hoist alone In the mode, the suspension block 23 is raised and lowered by the “hoist function” of the balance hoist device 30 without using the power assist device 40 (step 122).
[0094]
Therefore, according to the present embodiment, it is possible to continue the work of transporting the workpiece W using the lifting device 10 even when the power assist device 40 fails.
Further, since the “lever” including the wheel block 42, the mounting plate 46, and the rotation pin 43 and the air cylinder 47 are used to separate the wheel 45 from the lifting rail 41, the wheel 45 can be easily removed from the lifting rail 41. And it can be pulled apart reliably. Since the structure using the “lever” and the air cylinder 47 is simple, it can be manufactured at low cost in addition to high mechanical strength.
[0095]
[3] When the brake mechanism 44c mechanically brakes the motor shaft 44a of the servo motor 44 and the wheel 45 is made unrotatable (step 107), the force with which the wheel 45 presses the lifting rail 41 Thus, the suspension block 23 is fixed to the elevating frame 22 (elevating rail 41).
[0096]
Therefore, when the operator puts his / her hand on the grip frame 24 and pushes it and pivots the grip frame 24 around the support pin 25 as a pivot, the vertical movement of the suspension block 23 is prevented, so that the grip frame 24 can be easily moved. In addition to being able to rotate, the workpiece W gripped by the workpiece gripping member 26 can be prevented from inadvertently moving up and down and colliding with something.
[0097]
[4] If there is an existing lifting device in which only the balance hoist device 30 is used alone, the lifting device 10 can be realized simply by retrofitting the power assist device 40.
[0098]
[Another embodiment]
By the way, the present invention is not limited to the above-described embodiment, and may be embodied as follows, and even in that case, operations and effects equivalent to or higher than those of the above-described embodiment can be obtained.
[0099]
[1] In the above embodiment, the elevating frame 22 (elevating rail 41) is arranged in the vertical direction.
However, the elevating frame 22 (elevating rail 41) is not limited to the vertical direction, and may be arranged in the elevating direction of the workpiece W. For example, the elevating frame 22 may be arranged in an oblique direction from the vertical.
[0100]
[2] In the power assist device 40 of the above-described embodiment, the servo motor 44 is used to rotate the wheels 45.
However, the servo motor 44 may be replaced with an appropriate type of motor (for example, an air motor) that rotates the wheel 45.
[0101]
[3] In the above embodiment, it is determined whether or not the power assist device 40 is normal (step 101), the brake operation button 56 is operated (steps 105 and 107), and the power assist disconnect button 55 is operated (steps 102 and 121). The operator operates the balance / hoist switching button 54 (steps 103 and 122) and the operation rod 51 (steps 106 and 124), respectively.
However, the microcomputer 62 of the control device 60 may automatically perform at least one of the steps 101 to 107 and 121 to 124.
[0102]
[4] The balance hoist device 30 of the above embodiment uses a wire rope 32.
However, not only the wire rope 32 but any suspension material (for example, chain etc.) may be used.
[0103]
[5] In the above embodiment, a gear turbine type air motor is used as the air motor 31 of the balance hoist device 30.
However, it is not limited to the gear turbine type, and any type of air motor (for example, a vane type or a radial piston type) may be used.
[0104]
[6] In the balance hoist device 30 of the above embodiment, the air motor 31 is used to wind or unwind the wire rope 32.
However, the air motor 31 may be replaced with an appropriate type of motor (for example, an electric motor) that winds or unwinds the wire rope 32.
[0105]
[7] The balance hoist device 30 of the above embodiment includes both a “hoist function” and a “balance function”.
However, the balance hoist device 30 may be replaced with a simple “balancer” having no “hoist function”. In this case, the operation / effect of the balance hoist single mode cannot be obtained, but the operation / effect similar to the above-described embodiment can be obtained in the power assist function addition mode.
[0106]
Further, the balance hoist device 30 is attached to and fixed to the position of the air motor 31, the wire rope 32 having one end attached and fixed to the wire rope attachment member 23 a and the other end of the wire rope 32. You may replace with the counterweight apparatus provided with the attached weight. Also in this case, substantially the same operation and effect as the above embodiment can be obtained.
[0107]
[8] In the power assist device 40 of the above embodiment, the air cylinder 47 is used to rotate (tilt) the wheel block 42 with the rotation pin 43 as a rotation axis.
However, the air cylinder 47 may be replaced with an appropriate expansion / contraction device (for example, an electromagnetic solenoid) that expands and contracts the same member as the piston shaft 47a.
[0108]
[9] A traverse device may be added to the elevating device 10 of the above embodiment, and the traverse device may cause the base member 21 of the elevating device 10 to move horizontally in the longitudinal direction of the beam member 101c of the installation frame 100.
Moreover, you may make it use the apparatus which can move the base member 21 to the arbitrary positions in the horizontal surface in which the beam material 101c is contained as the said traversing apparatus.
[Brief description of the drawings]
FIG. 1 is a front view of a lifting device 10 according to an embodiment of the present invention.
FIG. 2 is a front view of the lifting device 10. FIG.
3 is an enlarged front view of a main part of the lifting device 10. FIG.
4 is an enlarged front view of a main part of the lifting device 10. FIG.
FIG. 5 is an enlarged front view of a main part of the lifting device 10;
6 is an enlarged front view of the main part of the lifting device 10. FIG.
7 is a block circuit diagram showing a schematic configuration of a control device 60 provided in the lifting device 10. FIG.
FIG. 8 is a flowchart for explaining a work transfer process of the workpiece W using the lifting device 10;
[Explanation of symbols]
10 ... Lifting device
20 ... Structural member
23 ... Suspension block (suspension means, separation means)
24. Holding frame (suspension means)
26 ... Work gripping member (suspension means)
30 ... Balance hoist device (balance means)
31 ... Air motor (hoist mechanism)
32 ... Wire rope (hoist mechanism)
40 ... Power assist device (power assist means)
41 ... Elevating rail
42 ... Wheel block (separation means)
43 ... Rotating pin (separating means)
44 ... Servo motor (drive means, drive motor)
44c ... Brake mechanism (brake means)
45 ... wheel (drive means)
46 ... Mounting plate (separation means)
47 ... Air cylinder (separation means)
50. Operating device
51. Operation rod (operation state detecting means)
52. Force sensor (operation state detecting means)
60 ... Control device (calculation means)
W ... Work

Claims (4)

Balancing means to keep the suspended work in a balanced state close to zero gravity;
A power assist means for raising and lowering the work by generating an assist force for assisting an operator's operation force when the balance means holds the work in a balanced state ;
An elevating device comprising a separating means for separating the power assist means from the workpiece ,
The balancing means includes a hoist mechanism for raising and lowering the workpiece,
The power assist means includes
An operation state detecting means for detecting an operation state of the operator;
Based on the operation state detected by the operation state detection means, calculation means for obtaining an assist force capable of assisting the lifting and lowering of the workpiece;
And drive means for vertically moving said workpiece by generating an assist force calculated in the calculation means,
An elevating device characterized in that, when the power assist means is separated from the work by the separating means, the work is raised and lowered by the balance means . Balancing means to keep the suspended work in a balanced state close to zero gravity;
A power assist means for raising and lowering the work by generating an assist force for assisting an operator's operation force when the balance means holds the work in a balanced state;
A lifting device comprising:
The power assist means includes
An operation state detecting means for detecting an operation state of the operator;
Based on the operation state detected by the operation state detection means, calculation means for obtaining an assist force capable of assisting the lifting and lowering of the workpiece;
Driving means for raising and lowering the workpiece by generating the assist force obtained by the computing means;
Lifting rails arranged in the lifting direction of the workpiece;
Suspension means for suspending the workpiece;
Wheels provided in the suspension means;
A drive motor for rotating the wheel,
Wherein in a state pressed against the wheel lifting rail, by rotating the wheel by the drive motor, lifting apparatus characterized by along said lifting rail Ru is lifting the suspension means. The lifting device according to claim 1 ,
The power assist means includes
Lifting rails arranged in the lifting direction of the workpiece;
Suspension means for suspending the workpiece;
Wheels provided in the suspension means;
A drive motor for rotating the wheel,
In a state where the wheel is pressed against the lifting rail, by rotating the wheel by the drive motor, the suspension means is lifted and lowered along the lifting rail,
The lifting / lowering device, wherein the separating means pulls the wheel away from the lifting rail. The lifting device according to claim 2 or claim 3 ,
An elevating apparatus comprising brake means for applying a brake to the wheel so that the wheel cannot be rotated while the wheel is pressed against the elevating rail.

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