JP6670124B2 - Work lifting device, work lifting method and work processing method - Google Patents

Description

  An embodiment of the present invention relates to a work lifting device, a work lifting method, and a work processing method.

  2. Description of the Related Art Conventionally, when performing machining of a flat work (workpiece), the work is turned from a standing state to a horizontal state or from a horizontal state to a standing state in order to set the work in a horizontal state on a table of a machine tool. A known technique is known (for example, see Patent Documents 1 and 2). As a specific example, a technique has been proposed in which a plurality of bars are fixed to a rotating arm so as to be able to support a flat work, and the work is turned upside down by rotating the rotating arm while the work is supported by the plurality of bars. ing. As another example, a structure is known in which a flat work is fixed to a frame and the frame is tilted.

  However, when manufacturing a large and heavy product, if the frame is temporarily manufactured according to the size of the work, the size and weight of the frame itself that supports the work also increase. For example, when manufacturing a large-sized structure such as an aircraft wing structure in which a girder (spar), a small bone (rib) or a stringer (stringer) is attached to an outer plate (panel), the work and the work are supported. The combined weight of each frame can be several tons. Therefore, when manufacturing a large and heavy product compared to when manufacturing a small and light product, the posture of the work is changed using a dedicated device even if a frame that supports the work is manufactured. Is difficult to do.

  Therefore, when manufacturing a large and heavy product such as an aircraft structure, a crane is used to transfer a work and change a posture of the work. As a specific example, in order to assemble a structure such as a center wing of an aircraft, a large jig to which a work is fixed is lifted by a crane and set in an auto riveter. Similarly, the work that has been completed by the automatic riveter, such as drilling, is removed from the automatic riveter by a crane together with a large jig.

JP-A-7-081726 JP 2008-012649 A

  However, when using a crane to change the attitude of a large and heavy work, there is a problem that work efficiency is poor because work is performed by a plurality of persons.

  Further, when a large and heavy plate-like work is installed in a horizontal state in an apparatus such as an auto riveter, it is necessary to alternately move the crane laterally and gradually lower the work. For this reason, there is a problem that the operation of the crane is difficult.

  Further, there is also a problem that changing a work to a crane or fixing the work to a device such as an auto riveter involves a danger because the work is performed at a high place.

  Therefore, an object of the present invention is to enable a large work or a heavy work to be easily turned over.

A work lifting device according to an embodiment of the present invention includes a support mechanism, a rotation assist mechanism, and a lifting mechanism. The support mechanism rotatably supports the tilting target at a support position above the center of gravity of the tilting target when the tilting target including the work is in the standing state. When the rotation assisting mechanism pushes the tilting target in the upright state supported by the support mechanism below the support position to rotate the tilting target from the upright state to the down state, Assisting the rotation of the tilting object about the support position. The elevating mechanism raises and lowers the support mechanism to raise and lower the object to be tilted. The rotation assisting mechanism is configured to be able to move in a direction approaching the falling object and in a direction away from the falling object, and when rotating the falling object from the standing state to the falling state. Is configured to approach the falling object and to push the falling object below the support position by contacting the falling object.
Further, the work lifting device according to the embodiment of the present invention includes a support mechanism, a rotation assisting mechanism, an elevating mechanism, and a lock mechanism. The support mechanism rotatably supports the tilting target at a support position above the center of gravity of the tilting target when the tilting target including the work is in the standing state. When the rotation assisting mechanism pushes the tilting target in the upright state supported by the support mechanism below the support position to rotate the tilting target from the upright state to the down state, Assisting the rotation of the tilting object about the support position. The elevating mechanism raises and lowers the support mechanism to raise and lower the object to be tilted. The lock mechanism suppresses the rotation of the falling object by locking the falling object in the standing state. The lock mechanism is configured to open and rotate the upright object when the upright object in the upright state rises to a predetermined position by driving the up / down mechanism, while the upright object in the upright state. Has a structure that locks the object to be tilted when it descends to a predetermined position to prevent rotation.
Further, the work lifting device according to the embodiment of the present invention includes a support mechanism, a rotation assist mechanism, and a lifting mechanism. The support mechanism rotatably supports the tilting target at a support position above the center of gravity of the tilting target when the tilting target including the work is in the standing state. When the rotation assisting mechanism pushes the tilting target in the upright state supported by the support mechanism below the support position to rotate the tilting target from the upright state to the down state, Assisting the rotation of the tilting object about the support position. The elevating mechanism raises and lowers the support mechanism to raise and lower the object to be tilted. The support mechanism has a plurality of parallel grooves that are not on the same straight line and have a shape corresponding to a shape of a rotating shaft formed on the tilting target, and a position of the center of gravity in a thickness direction of the tilting target. The rotation shaft is configured to be supported by one of the plurality of grooves selected according to the following.
Further, the work lifting device according to the embodiment of the present invention includes a support mechanism, a rotation assist mechanism, and a lifting mechanism. The support mechanism rotatably supports the tilting target at a support position above the center of gravity of the tilting target when the tilting target including the work and the frame for mounting the work is in the standing state. The support mechanism rotatably supports a rotation shaft provided on the frame. When the rotation assisting mechanism pushes the tilting target in the upright state supported by the support mechanism below the support position to rotate the tilting target from the upright state to the down state, Assisting the rotation of the tilting object about the support position. The elevating mechanism raises and lowers the support mechanism to raise and lower the object to be tilted. A bearing is provided at a position below the center of gravity of the object to be tilted on the frame in the upright state, and a guide mechanism is provided for guiding the moving direction of the bearing while rolling the bearing.

Further, the work raising and lowering method according to the embodiment of the present invention is configured such that, when the tilting target including the work is in the standing state, the tilting target can be rotated at a support position above the center of gravity of the tilting target. Supporting, and pressing the object to be lowered in the standing state below the supporting position to rotate the object to be tilted from the standing state, with the supporting position as the center. The method includes a step of assisting the rotation of the object to be lowered, and a step of raising and lowering the support position by raising and lowering the support position. In the step of assisting the rotation of the tilting target, in order to rotate the tilting target from the standing state to the tilted state, in a direction approaching the tilting target and in a direction away from the tilting target. The rotation assisting mechanism configured to be movable is approached toward the tilting target, and the tilting target is pushed below the support position by bringing the rotation assisting mechanism into contact with the tilting target.

Further, the work processing method according to the embodiment of the present invention is a step of rotatably supporting the upright object in the upright state at a support position above the center of gravity of the upright object including the work in the upright state, Rotating the object by at least a predetermined angle by pressing the object to be lowered in the standing state below the supporting position; and supporting the object after the object is rotated by a predetermined angle. The method includes a step of rotating the object to be lowered by lowering a position, and a step of manufacturing a product or a semi-finished product by processing the work in the lowered state. In the step of rotating the tilting target by at least a predetermined angle, a rotation assisting mechanism configured to be able to move in a direction approaching the tilting target and in a direction away from the tilting target is provided to the tilting target. The object is pushed down below the support position by approaching the object and bringing the rotation assist mechanism into contact with the object.

FIG. 1 is a front view showing the entire configuration of a work lifting device according to a first embodiment of the present invention. FIG. 2 is a perspective view showing a part of the work lifting device shown in FIG. 1. FIG. 2 is a first diagram illustrating a process of moving the work up and down by the work raising and lowering device illustrated in FIG. 1. FIG. 2 is a second diagram illustrating a process of raising and lowering the work by the work raising and lowering device illustrated in FIG. 1. FIG. 3 is a third diagram showing a process of moving the work up and down by the work raising and lowering device shown in FIG. 1. The figure which shows another structural example of the support mechanism shown in FIG. FIG. 6 is a front view showing the entire configuration of a work lifting device according to a second embodiment of the present invention. FIG. 8 is a first diagram illustrating a process of moving the work up and down by the work raising and lowering device illustrated in FIG. 7. FIG. 8 is a second diagram illustrating a process of raising and lowering the work by the work raising and lowering device illustrated in FIG. 7. FIG. 8 is a third diagram illustrating a process of moving the work up and down by the work raising and lowering device illustrated in FIG. 7. FIG. 8 is a fourth diagram illustrating a process of moving the work by the work moving device illustrated in FIG. 7. FIG. 8 is a fifth diagram illustrating a process of moving the work up and down by the work raising and lowering device illustrated in FIG. 7. FIG. 8 is a sixth diagram illustrating a process of moving the work up and down by the work raising and lowering device illustrated in FIG. 7.

  A work lifting device, a work lifting method, and a work processing method according to an embodiment of the present invention will be described with reference to the accompanying drawings.

(First embodiment)
(Structure and function)
FIG. 1 is a front view showing the entire configuration of the work lifting device according to the first embodiment of the present invention, and FIG. 2 is a perspective view showing a part of the work lifting device shown in FIG. FIGS. 3, 4, and 5 are first, second, and third views, respectively, showing a process of raising and lowering a workpiece by the workpiece lifting apparatus shown in FIG.

  The work raising and lowering device 1 is a device for raising and lowering the work W. That is, the work raising and lowering device 1 is a device that lowers the work W from the standing state to the tilted state while raising the work W in the lowered state to the rising state. For this reason, the work raising and lowering device 1 can be used to set the work W in a state where the work W is tilted to the desired processing device 2. Therefore, the work lifting device 1 may be a component for assisting the setting of the work W in the processing device 2.

  Specific examples of the processing device 2 include surface treatment equipment such as shot peening equipment, blast processing equipment or solvent processing equipment, machine tools that perform machining such as machining centers and milling machines, assembling equipment such as auto riveters, autoclave equipment and press machines. And the like. Needless to say, the work lifting device 1 can be used for any purpose, such as when the work W is stored in a warehouse.

  The object to be raised by the work raising and lowering device 1 can be a work W having an arbitrary structure that needs to be lowered. In particular, the work raising and lowering device 1 is configured to be able to lower the work W with a small power even if the work W is large or heavy. Accordingly, not only the flat work W but also a rod-shaped or block-shaped work W can be set as a target to be raised by the work lifting device 1.

  Normally, a state where the work W is arranged in a direction where the height of the work W does not become the minimum is a standing state of the work W, and a state where the work W is arranged in a direction where the height of the work W is lower than the standing state is a falling state of the work W. It will be in the state that was done. For example, in the case of a plate-shaped workpiece W, a state in which the thickness direction is substantially horizontal is an upright state, and a state in which the thickness direction is substantially vertical is a collapsed state.

  Of course, an assembly having a complicated structure, such as an aircraft assembly, can be set as a target to be lowered by the work lifting device 1. In the illustrated example, a plate-like wing structure in which a plurality of stringers are attached to a panel is a work W which is to be moved by the work raising and lowering device 1. The size of the wing structure has a size of several meters.

  The work raising and lowering device 1 can be configured by a support mechanism 3, a rotation assisting mechanism 4, an elevating mechanism 5, a roller 6, a lock mechanism 7, and a movable carriage 8.

  On the other hand, the work W can be lowered by the work raising and lowering device 1 in a state where the work W is mounted on the frame 9. If the work W is moved up and down via the frame 9, it is possible to move up and down various kinds of works W having different structures by the work raising and lowering device 1. That is, the works W having different structures can be mounted on the frame 9 having the common structure with the clamps 9A corresponding to the structure of the work W.

  Further, by determining the structure of the frame 9 in accordance with the structure of the work raising and lowering device 1, the work raising and lowering device 1 can be easily lowered. As a specific example, the frame 9 can be provided with a rotating shaft 9B for rotating the frame 9 in the tilting direction. Therefore, equipment such as the frame 9 for attaching the work W and the clamp 9 </ b> A attached to the frame 9 may be used as a component of the work lifting device 1.

  Note that the frame 9 itself may be a jig used for another process of the work W such as an assembly jig. In that case, the labor for attaching and detaching the work W to and from the frame 9 can be reduced. Of course, the work W may be directly moved up and down by the work raising and lowering device 1 without using the frame 9. In particular, when mass production of small varieties is performed, or when it is possible to provide the work W with an appropriate structure for moving the work W by the work raising and lowering device 1, the work W can be directly lowered. This is effective from the viewpoint of reducing work.

  In the illustrated example, a plate-shaped work W having a size of several meters is attached to a rectangular frame 9 to which columns are connected by clamps 9A. If the size of the work W is several meters, the total weight of the frame 9 including the work W may exceed 1 ton. Hereinafter, a case where the work W is turned upside down using the frame 9 will be described as an example.

  The support mechanism 3 is a component for rotatably supporting the tilting target at a support position above the center of gravity of the tilting target when the tilting target including the work W is in the standing state. When the work W is held by the frame 9, the object to be raised is the work W and the frame 9. Further, a jig or the like necessary for processing by the processing device 2 can be attached to the work W. Conversely, when only the work W is to be turned upside down, only the work W is to be turned upside down. Therefore, the position of the center of gravity of the object to be tilted is shifted from the position of the center of gravity of the work W in accordance with the weight of the frame 9 and other components. However, an assembled component whose weight is relatively small with respect to the weight of the work W may be ignored. When the weight of the frame 9 is relatively small with respect to the weight of the work W, the weight of the frame 9 may be ignored.

  In the illustrated example, a rotation shaft 9 </ b> B provided to protrude left and right of the frame 9 is rotatably supported by the support mechanism 3. For this purpose, the support mechanism 3 can be constituted by a block 3B having a groove 3A for supporting the left and right rotation shafts 9B of the frame 9 respectively.

  The rotation shaft 9B is provided above the position of the center of gravity of the frame 9 while holding the work W. Therefore, if the rotation shaft 9B of the frame 9 is supported by the block 3B, the work W and the frame 9 are supported by the support mechanism 3 above the position of the center of gravity of the frame 9 in a state where the work W is held. Has become. The tilting target including the work W and the frame 9 is supported by the support mechanism 3 at a position above the position of the center of gravity. Therefore, the falling target supported by the support mechanism 3 is stabilized in the standing state.

  FIG. 6 is a diagram showing another example of the structure of the support mechanism 3 shown in FIG.

  When the work W is a wing structure, it has a structure in which components such as stringers are attached to the panel. That is, the structure of the work W is not completely plate-shaped. Further, even when the work W is only the panel, the panel may be curved. In such a case, the center of gravity of the work W does not coincide with the center in the thickness direction of the panel. In this case, the work W is inclined while the work W is freely suspended.

  Therefore, as shown in FIG. 6, a plurality of grooves 3A can be provided in each block 3B constituting the support mechanism 3. That is, a plurality of parallel grooves 3A that are not on the same straight line and have a shape corresponding to the shape of the rotating shaft 9B formed on the tilting target including the workpiece W and the frame 9 can be formed in each block 3B. Then, the rotating shaft 9B can be supported by one of the plurality of grooves 3A selected according to the position of the center of gravity in the thickness direction of the tilting target. Thereby, even if the falling object including the work W and the frame 9 is inclined in the standing state, the falling object can be supported at an appropriate position.

  The rotation assisting mechanism 4 is a device for pushing out a falling object including the work W in a standing state supported by the supporting mechanism 3 below the supporting position. The direction in which the rotation assisting mechanism 4 pushes the object to be tilted is a direction corresponding to the direction in which the object to be inverted is tilted. Therefore, the rotation direction of the object to be tilted is regulated by the pushing of the object to be tilted by the rotation assisting mechanism 4 in the direction of the tilting. This makes it possible to assist the rotation of the tilting object around the support position when rotating the tilting target from the standing state to the tilted state.

  In the illustrated example, the rotation assisting mechanism 4 is configured by two pushing devices 10 for pushing out the right and left columns of the frame 9. Each extruder 10 has a structure in which a roller 10B is attached to the tip of an L-shaped arm 10A, and is configured to be movable in a direction approaching the frame 9 and in a direction away from the frame 9 by a moving mechanism 10C. ing. Therefore, the frame 9 can be pushed out by moving the arm 10A in the same direction after the arm 10A approaches the frame 9 to bring the roller 10B into contact with the frame 9. Any mechanism for linear movement, such as a ball screw or a rack and pinion, can be used as the moving mechanism 10C.

  Note that the rotation assisting mechanism 4 may be configured to push the work W itself. However, as shown in the drawing, if the frame 9 is extruded, it becomes possible to extrude the object to be turned down regardless of the shape of the work W as described above. Further, it is possible to avoid a possibility that the work W is damaged.

  The elevating mechanism 5 is a device that raises and lowers the support mechanism 3 to raise and lower a target to be tilted including the work W and the frame 9. That is, as illustrated in FIG. 4, if the tilting target is rotated by a predetermined angle by pushing the tilting target with the rotation assisting mechanism 4, as illustrated in FIG. By lowering the support mechanism 3 while the mechanism 4 supports the object, the object can be rotated from the upright state to the downside state. As a specific example, if the object to be tilted is tilted about two to three degrees by the rotation assisting mechanism 4, the center of gravity of the object to be moved moves in accordance with the direction in which the object is to be moved. In other words, by lowering the supporting position of the object to be pushed down while supporting the object to be pushed below the center of gravity of the object to be brought down, the object to be brought down can be pushed down.

  Conversely, if the support mechanism 3 is raised in the state where the object to be lowered is in the state of being tilted, it is possible to return the object to be raised from the state where the object to be tilted is lowered by gravity. In this case, the pushing operation of the object to be turned down by the rotation assisting mechanism 4 is not performed. Therefore, the arm 10A and the roller 10B of the rotation assisting mechanism 4 move to the retracted position by the driving of the moving mechanism 10C.

  It should be noted that, as the support position of the object to be lowered by the support mechanism 3 is further away from the position of the center of gravity of the object to be raised, the object can be stabilized by preventing the object from being inverted. In order to push out, more power is needed. Also, when raising the object to be raised, the more the position of the support of the object to be raised by the support mechanism 3 is further away from the position of the center of gravity of the object to be raised, the more easily the object to be raised is raised by the action of gravity. It is possible to do.

  Therefore, it is easy to stabilize the falling object and to easily support the falling object at a supporting position where the distance from the center of gravity of the falling object to the height of the falling object in the standing state is more than 0% and 10% or less. This is suitable from the viewpoint of achieving both a proper standing and a reduction in power for pushing out a falling object. As a specific example, if the height of the frame 9 is about 3 m, the position at which the falling object is supported by the support mechanism 3, that is, the relative position of the rotating shaft 9B with respect to the frame 9 is about 100 mm from the center of gravity of the falling object. The position can be shifted upward.

  As shown in the figure, the lifting mechanism 5 can be configured by attaching a linear guide 5B and a ball screw 5C to columns that form a pair of rectangular frames 5A. Each linear guide 5B is a guide for regulating the moving direction of the block 3B of the support mechanism 3 in the vertical direction. Each ball screw 5C is a slide mechanism for linearly moving the block 3B of the support mechanism 3 in the vertical direction. Of course, the elevating mechanism 5 can be configured by an arbitrary linear moving mechanism such as a rack and pinion or a mechanism using a wire and a pulley.

  The space between the columns constituting the rectangular frame 5 </ b> A can be used for loading and unloading the work W and the frame 9 to and from the work lifting device 1. That is, in a state where the work W and the frame 9 are erected, the work W and the frame 9 can be carried into and out of the work raising and lowering device 1 while being moved in a direction substantially perpendicular to the thickness direction. Therefore, it is practical to arrange the rollers 6 so that the lower end of the frame 9 can be easily moved. The lifting mechanism 5 is configured to retract the block 3B below the frame 9 when loading and unloading the work W and the frame 9.

  Further, the work raising and lowering device 1 can be provided with a lock mechanism 7 for locking the raising and lowering target in the standing state, thereby suppressing unintended rotation of the raising and lowering target. In the illustrated example, four sets of opposed upper and lower, right and left contacting plates 7A are attached as lock mechanisms 7 to the left and right frames 5A of the elevating mechanism 5 and the bottom connecting the left and right frames 5A. The surface where the two opposing contact plates 7A oppose each other is used as a surface for contacting the end of the object to be raised in the upright state. That is, by sandwiching the end of the upright target in the upright state between the two opposing contact plates 7A, unintended rotation of the upright target can be suppressed.

  The contact surface of each contact plate 7A is arranged at a position where it comes into contact with the end of the upright target only when the upright target in the upright state has been lowered to a predetermined position by driving of the elevating mechanism 5. In other words, when the elevating object in the erect state is raised to a predetermined height by driving the elevating mechanism 5, the abutting surface of each abutting plate 7A is brought to a position where it does not contact the end of the elevating object. The contact plate 7A is arranged.

  When the lock mechanism 7 is configured with such a structure, as shown in FIG. 3, when the elevating target in the erect state rises to a predetermined position by driving the elevating mechanism 5, the elevating target can be opened and rotated. On the other hand, when the upright target in the upright state has descended to a predetermined position, it is possible to lock the upright target and suppress rotation. That is, it is possible to switch between the locked state and the unlocked state of the tilting target without using a dedicated power.

  In addition, the contact surface for suppressing unintended rotation of the falling object by contacting the end of the falling object in the standing state may be formed by any structure other than the contact plate 7A. . That is, the contact surface may be formed by a non-plate-shaped structure.

  At least a part of the object to be lowered after being lowered is supported by the rotation assisting mechanism 4. In the example shown in FIG. 5, the block 3B of the support mechanism 3 is lowered by driving the lifting mechanism 5 until the rotating shaft 9B of the frame 9 is separated from the groove 3A of the block 3B. Therefore, the frame 9 in the folded state is supported at four positions by the support 10D and the roller 10B provided at the joints of the two L-shaped arms 10A.

  However, in addition to the support 10D of the arm 10A, a support for supporting the object to be turned down after being turned down may be provided. Alternatively, the object to be turned upside down may be supported by the block 3B of the support mechanism 3 and the roller 10B of the arm 10A. In this case, the block 3B of the support mechanism 3 is lowered to a position supporting the object to be raised by driving the lifting mechanism 5. However, supporting the object to be fallen down at a position as far as possible from the position of the center of gravity of the object to be fallen leads to stabilization of the object to be fallen. Therefore, from the viewpoint of stably supporting the object to be lowered after being turned down, as illustrated in FIG. 5, from the position of the center of gravity of the object to be tilted by the support 10D of the arm 10A or another support. It is preferable to support the object to be turned upside down after being sunk at a sufficiently distant position.

  The falling object supported by the rotation assisting mechanism 4 after being tilted can be transferred from the rotation assisting mechanism 4 to the movable carriage 8. The movable cart 8 places the object to be turned upside down and sends it out to the processing apparatus 2 for the work W, and places and supports the object to be turned down including the work W after processing in the processing apparatus 2. This is a device for returning the object to a position where the mechanism 3 can support the falling object.

  The movable trolley 8 can be configured by attaching a table 8C for mounting an object to be lowered on an elevating device 8B such as a scissor lift that can travel on the traveling device 8A. The traveling device 8 </ b> A is a device that moves between the turning target supported by the rotation assisting mechanism 4 and the processing device 2. The traveling device 8A can be constituted by wheels or the like traveling along a rail. The lifting device 8B is a device for changing the height of the table 8C.

  When the tilting target falls down and is supported by the rotation assisting mechanism 4, the movable carriage 8 is moved downward while the height of the table 8 </ b> C is lowered below the bottom of the tilting target supported by the rotation assisting mechanism 4. Can be moved below. Then, the raising / lowering device 8B raises the height of the table 8C to a position higher than the bottom surface of the tilting object supported by the rotation assisting mechanism 4, thereby transferring the tilting target from the rotation assisting mechanism 4 to the movable carriage 8. Can be. Thereby, the movable object 8 can send out the object to be raised to the processing device 2 side.

  After the object to be tilted completely falls down and is supported by the rotation assisting mechanism 4, the object to be tilted is completely tilted and supported by the rotation assisting mechanism 4 so that the movable object 8 can be replaced. May be detected. As a specific example, a pressure sensor 10E that detects a pressure applied to the support 10D of the rotation assisting mechanism 4 can be provided at an arbitrary position of the rotation assisting mechanism 4. On the other hand, a control device 8D for controlling the movable carriage 8 based on the detection signal of the pressure sensor 10E can be provided. The control device 8D can be configured by an electronic circuit such as a computer. Then, after the falling object is completely fallen and the pressure is detected by the pressure sensor 10E, the movable carriage 8 can be moved to the falling object side by the control of the control device 8D.

  The work W sent to the processing device 2 by the movable carriage 8 can be transferred together with the frame 9 to a table or a work holding mechanism of the processing device 2. Alternatively, the workpiece W may be processed by the processing device 2 while being placed on the movable carriage 8. That is, the table 8C of the movable carriage 8 may be used as a table for the processing device 2.

  On the other hand, the movable carriage 8 and the rotation assisting mechanism 4 may be integrated. In this case, the object to be raised and pushed is pushed down by the rotation assisting mechanism 4 attached to the movable carriage 8 by the movement of the movable carriage 8, and the rotation assist mechanism 4 or the table 8 </ b> C of the movable carriage 8 raises the object after the falling down. It is possible to support the defeat target. In particular, if the table 8C of the movable trolley 8 supports the fall-down target after the fall, the transfer of the fall-down target to the movable trolley 8 can be omitted. Conversely, as shown in the figure, if the movable carriage 8 is moved after the frame 9 on which the work W is mounted is pushed down by pushing the frame 9 by the rotation assisting mechanism 4, the work W which is a heavy object is A contact accident with the movable trolley 8 can be reliably avoided.

(Operation and action)
Next, a method of raising and lowering the work W by the work raising and lowering device 1 and a method of processing the work W using the work raising and lowering device 1 will be described with reference to FIGS. 1, 3, 4, and 5. FIG.

  First, the work W is attached to the frame 9 by the clamp 9A. The work W held by the frame 9 is transported to a position where the work W is loaded into the work lifting device 1. At this time, the block 3B of the support mechanism 3 is in a state of being lowered to the lower evacuation position. For this reason, the frame 9 to which the work W is attached can be carried into the work lifting device 1 from the space between the columns constituting the rectangular frame 5A of the elevating mechanism 5 using the rollers 6.

  The ends of the four corners of the frame 9 carried into the work lifting device 1 are sandwiched by four corner contact plates 7 </ b> A provided as lock mechanisms 7. Therefore, the frame 9 holding the work W is in an upright state, and does not fall.

  Next, the ball screw 5C of the lifting mechanism 5 is driven. Therefore, the block 3B of the support mechanism 3 moves up while being guided by the linear guide 5B. As a result, the rotating shaft 9B of the frame 9 is supported by the groove 3A of the block 3B.

  Further, when the block 3B moves up, the frame 9 holding the work W moves up together with the block 3B. For this reason, as illustrated in FIG. 3, the ends of the four corners of the frame 9 come off from between the contact plates 7A. That is, the lock for preventing the frame 9 from falling over by the lock mechanism 7 is released. Conversely, the frame 9 holding the work W moves up with the block 3B until the lock mechanism 7 is unlocked by the driving of the lifting mechanism 5 to prevent the frame 9 from falling over.

  Thereby, the falling object in the standing state including the work W and the frame 9 is rotatably supported by the block 3B of the support mechanism 3 with the position of the rotating shaft 9B disposed above the center of gravity of the falling object as the supporting position. It will be in the state that was done.

  Next, the rotation of the tilt target around the support position when the tilt target is rotated from the standing state to the tilted state is assisted by the rotation assisting mechanism 4. Specifically, the two pushing devices 10 of the rotation assisting mechanism 4 are driven, and each moving mechanism 10C moves in a direction approaching the frame 9. For this reason, the roller 10B provided at the tip of the L-shaped arm 10A mounted on each moving mechanism 10C contacts a position below the rotation shaft 9B of the frame 9. Each moving mechanism 10C further proceeds. Thereby, as illustrated in FIG. 4, the frame 9 is extruded by the rollers 10 </ b> B of the extruder 10 at a position below the center of gravity of the object to be tilted including the work W and the frame 9.

  That is, the object to be raised in the upright state is pushed out by the rotation assisting mechanism 4 below the position supported by the supporting mechanism 3. Thus, the tilting target rotates in the tilting direction by a predetermined angle, and rotation of the tilting target in the reverse direction is suppressed. In other words, the direction in which the object is raised is restricted.

  Next, the ball screw 5C of the elevating mechanism 5 is driven in the reverse direction after the object to be turned has been rotated by at least a predetermined angle. Therefore, the block 3B of the support mechanism 3 descends while being guided by the linear guide 5B. When the block 3B moves down, the rotating shaft 9B of the frame 9 holding the work W also moves down together with the block 3B. On the other hand, a portion of the frame 9 below the rotation shaft 9B is supported by a roller 10B provided at the tip of the arm 10A of the rotation assisting mechanism 4. Therefore, the frame 9 holding the work W rotates in the tilting direction around the rotating shaft 9B as the rotating shaft 9B is lowered by the block 3B.

  Further, the lowering of the block 3B is continued until the width direction of the frame 9 holding the work W, that is, the width direction, which was the height direction in the standing state, becomes substantially horizontal. That is, by lowering the rotating shaft 9B that is the support position of the frame 9, the object to be tilted including the work W and the frame 9 is rotated from the upright state to the down state.

  When the object to be raised including the work W and the frame 9 is in a fallen state, the frame 9 is supported by the support 10D of the arm 10A and the roller 10B as illustrated in FIG. Therefore, when the block 3B is further lowered, the rotating shaft 9B of the frame 9 is separated from the groove 3A of the block 3B. When the block 3B descends to the initial position, the ball screw 5C of the lifting mechanism 5 stops. Thereby, the lowering of the block 3B is stopped.

  On the other hand, when the falling object including the work W and the frame 9 is supported by the support 10D of the arm 10A and the roller 10B, the pressure by the falling object is detected by the pressure sensor 10E. The detection signal from the pressure sensor 10E is output to the control device 8D of the movable carriage 8. Then, a control signal is output from control device 8D, and travel device 8A travels. Thereby, the movable carriage 8 moves toward the tilting target including the work W and the frame 9.

  When the movable carriage 8 moves and the table 8C reaches below the work W and the frame 9, the traveling device 8A stops. That is, the movable carriage 8 stops. Then, the table 8C is raised by driving the lifting device 8B. As a result, the work W and the frame 9 are scooped by the table 8C. That is, the work W and the frame 9 are transferred from the arm 10A of the rotation assisting mechanism 4 to the movable carriage 8.

  When the work W and the frame 9 are placed on the table 8C, the traveling device 8A travels toward the processing device 2. Thereby, the workpiece W and the frame 9 can be sent out to the processing device 2. The processing device 2 can manufacture a product or a semi-finished product by processing the work W in a state where the work W is tilted. For example, the work W and the frame 9 can be mounted on the holding mechanism of the automatic riveter, and the work W can be driven.

  The product or semi-finished product manufactured by processing in the processing device 2 is mounted on the table 8C of the movable trolley 8 again as an object to be raised. Then, the traveling device 8A of the movable carriage 8 travels. Thereby, the movable trolley 8 on which the product or the semi-finished product is placed on the table 8C moves toward the support 10D and the roller 10B of the rotation assist mechanism 4. When the product or semi-finished product held by the frame 9 reaches above the support 10D of the arm 10A and the roller 10B, the traveling device 8A stops. That is, the movable carriage 8 stops.

  When the movable carriage 8 stops, the table 8C is lowered by the driving of the lifting device 8B. As a result, the product or semi-finished product held by the frame 9 is supported by the support 10D of the arm 10A and the roller 10B. That is, the product or semi-finished product held by the frame 9 is transferred from the movable cart 8 to the arm 10A of the rotation assisting mechanism 4 as an object to be turned upside down. When the transfer of the product or semi-finished product held by the frame 9 to the arm 10A is completed, the movable carriage 8 moves toward the processing device 2 and stops at the retracted position.

  Then, by driving the elevating mechanism 5, the product or semi-finished product held by the frame 9 can be raised. Specifically, the ball screw 5C of the lifting mechanism 5 is driven. Therefore, the block 3B of the support mechanism 3 moves up while being guided by the linear guide 5B. As a result, the rotating shaft 9B of the frame 9 is supported by the groove 3A of the block 3B. Furthermore, when the block 3B moves up, the rotating shaft 9B of the frame 9 holding the product or semi-finished product moves up together with the block 3B.

  The rotating shaft 9B of the frame 9 is provided at a position distant from the position of the center of gravity of the frame 9 that holds a product or a semi-finished product. Therefore, even if the rotating shaft 9B of the frame 9 rises together with the block 3B, the frame 9 rotates around the rotating shaft 9B by the action of gravity. Therefore, the center of gravity of the frame 9 relative to the rotation shaft 9B is continuously supported by the rollers 10B of the arm 10A.

  Further, when the block 3B rises, the frame 9 holding the product or semi-finished product rises while rotating while being supported by the rollers 10B of the arm 10A. When the frame 9 rises to a sufficient height, specifically, when the frame 9 is rotated around the rotation shaft 9B, the ends of the four corners of the frame 9 are positioned above the contact plates 7A at the four corners. When the frame 9 rises to a certain position, the ball screw 5C of the lifting mechanism 5 stops. Therefore, the raising of the frame 9 holding the product or the semi-finished product together with the block 3B of the support mechanism 3 also stops.

  Next, the two pushing devices 10 of the rotation assisting mechanism 4 are driven, and each moving mechanism 10C moves in a direction away from the frame 9, that is, in a direction toward the processing device 2. As a result, the frame 9 holding the product or semi-finished product rotates while being supported by the roller 10B of the arm 10A. When the frame 9 rotates to a position where the four corner ends of the frame 9 are located above the four corner contact plates 7A, the extruder 10 stops. Thereby, the frame 9 holding the product or the semi-finished product stands up in a state where the excessive rotation is suppressed by the roller 10B of the arm 10A.

  Next, the ball screw 5C of the lifting mechanism 5 is driven, and the block 3B of the support mechanism 3 is lowered. For this reason, the frame 9 holding the product or the semi-finished product also descends. As a result, the ends at the four corners of the frame 9 are sandwiched between the contact plates 7A at the four corners. Thus, rotation of the frame 9 is suppressed. That is, the frame 9 is locked.

  When the block 3B further descends, the lower surface of the frame 9 is supported by the rollers 6. When the block 3B is further lowered, the rotating shaft 9B of the frame 9 is separated from the groove 3A of the block 3B. Thereby, the weight of the frame 9 holding the product or the semi-finished product is supported by the rollers 6.

  Thereafter, the block 3B can be lowered to the retreat position below the rollers 6. When the block 3B reaches the retracted position, the ball screw 5C of the lifting mechanism 5 stops. Then, the frame 9 holding the product or the semi-finished product can be carried out of the work lifting device 1 by using the rollers 6 from the space between the columns constituting the rectangular frame 5A of the elevating mechanism 5.

  On the other hand, the extrusion device 10 can be further moved in a direction toward the processing device 2. Thereby, the work lifting device 1 can be returned to the initial state before the frame 9 on which the work W is mounted is carried into the work lifting device 1. For this reason, it is possible to perform processing including the step of raising and lowering the work W again for the next work W. That is, by raising and lowering the support position of the frame 9 to which the work W is attached by the lifting mechanism 5, the object to be lowered including the work W can be moved up and down. Then, the processing by the processing device 2 can be performed on the workpiece W in the collapsed state.

  In other words, the work lifting device 1, the work lifting method, and the work processing method as described above support a position above the center of gravity of the object to be lowered, such as the frame 9 to which the work W is attached, and move from the position of the center of gravity of the object to be lowered. Also, by lowering the support position while pushing and supporting the lower part, the object to be tilted is turned upside down using gravity.

(effect)
Therefore, according to the work raising and lowering device 1, the work raising and lowering method, and the work processing method, even the work W having a large weight can be moved up and down with little power. In addition, since the work W rotates around a rotation shaft 9B provided at a predetermined distance from the center of gravity of the work W, the work W is rotated as compared with the case where the table for setting the work is tilted or the arm for holding the work is rotated. The moving range of the work W is narrow. Therefore, even for a large work W, the posture of the work W can be safely changed in a limited space.

  Therefore, according to the work lifting apparatus 1, the work lifting method and the work processing method, even a heavy work W or a large work W can be automatically raised and lowered without using a crane. It can be sent to the device 2. In particular, if the loading and unloading of the workpiece W to and from the workpiece lifting device 1 is also automated, a plurality of workpieces W having various shapes attached to the frame 9 can be continuously and automatically transferred to the processing device 2 such as an auto riveter. It can be supplied and set.

(Second embodiment)
(Structure and function)
FIG. 7 is a front view showing an entire configuration of a work lifting device according to a second embodiment of the present invention, and FIGS. 8 to 13 show a process of lifting a work by the work lifting device shown in FIG. It is the 1st thru / or 6th figures which show.

  In the work lifting apparatus 1A according to the second embodiment shown in FIGS. 7 to 13, the configuration of the rotation assisting mechanism 4A is different from that of the work lifting apparatus 1 according to the first embodiment. Other configurations and operations of the work raising and lowering device 1A in the second embodiment are not substantially different from those of the work raising and lowering device 1 in the first embodiment. And the description is omitted.

  The rotation assisting mechanism 4A of the work lifting device 1A according to the second embodiment includes a first rotation assisting mechanism 20, a second rotation assisting mechanism 21, and a guide mechanism 22. Further, since the work W has a structure in which a reinforcing component such as a stringer is attached to the panel, a part of the work W protrudes from one side in the thickness direction of the frame 9. For this reason, the center of gravity of the tilting target including the work W and the frame 9 is shifted from the center position in the thickness direction of the frame 9.

  Therefore, as illustrated in FIG. 6, each block 3B constituting the support mechanism 3 is provided with two grooves 3A. On the other hand, a rotating shaft 9B is provided on the frame 9 via a plate in accordance with the position of the center of gravity of the object to be raised. That is, the rotation shaft 9B is provided at a position shifted from the center position in the thickness direction of the frame 9 in the direction in which the center of gravity of the falling object is located. For this reason, the rotating shaft 9B is supported by the groove 3A of the block 3B on the side of the center of gravity of the object to be tilted with respect to the center position in the thickness direction of the frame 9 in the vertical state.

  As described above, the frame 9 provided with the rotating shaft 9B at a position shifted in the thickness direction according to the position of the center of gravity of the work W in the thickness direction, and the center of the frame 9 in the thickness direction in a state of standing vertically. By using the block 3B provided with the groove 3A at a position shifted according to the position of the center of gravity of the work W in the thickness direction from the position, even when the center of gravity of the work W is not at the center in the thickness direction, In a state where the rotating shaft 9B, which is the object to be raised and attached to the frame 9, is supported by the block 3B, the frame 9 can be raised in a direction as close to the vertical direction as possible.

  The first rotation assisting mechanism 20 pushes the upright object in the upright state supported by the support mechanism 3 in a first direction corresponding to the direction in which the upright object is tilted below the support position, so that the first rotation assist mechanism 20 is moved from the upright state. It can be used to assist the rotation of the object to be turned to the down state. That is, the first rotation assisting mechanism 20 can be used for tilting the tilting target in the first direction.

  On the other hand, the second rotation assisting mechanism 21 moves the falling object supported by the support mechanism 3 in the second direction corresponding to the rising direction of the falling object, which is opposite to the first direction below the support position. Can be used for assisting the rotation of the falling object to make the falling object stand up by pressing with. That is, the second rotation assisting mechanism 21 can be used for erecting the falling object in the second direction.

  In addition, the first rotation assisting mechanism 20 can be used as an assisting mechanism for erecting the tilting target in the first direction. That is, the first rotation assisting mechanism 20 is pressed against the falling object supported by the support mechanism 3 in the first direction corresponding to the rising direction of the falling object below the support position. It can be used as a component for assisting the rotation of the object to be raised for the upright state.

  On the other hand, the second rotation assisting mechanism 21 can also be used as an assisting mechanism for tilting the tilting target in a second direction opposite to the first direction. That is, the second rotation assisting mechanism 21 is pushed up by pushing the upright object in the upright state supported by the support mechanism 3 in a second direction corresponding to the direction in which the upright object is tilted below the support position. It can be used as a component for assisting the rotation of the object to be lowered from the state to the depressed state.

  That is, the rotation assisting mechanism 4A and the elevating mechanism 5 in the second embodiment are configured so that the frame 9 on which the work W is mounted can be bidirectionally moved up and down. More specifically, the rotation assisting mechanism 4A is configured to be able to bidirectionally rotate the falling object in the upright state by a predetermined angle about the rotation axis 9B when the falling object is to be lowered. I have. On the other hand, the elevating mechanism 5 can tilt the object in both directions about the rotation shaft 9B by moving the support mechanism 3 up and down after the object to be rotated is rotated by a predetermined angle in any direction. Is configured.

  In addition, the rotation assisting mechanism 4A assists the rotation of the falling object from the standing state to the falling state by pushing one side of the falling object in the standing state below the support position, and is turned down. It is configured to be able to assist the rotation of the falling object to make the falling object in the standing state by pushing the falling object from the other side below the support position during the change from the state to the standing state. ing.

  In particular, when the rotating shaft 9B of the frame 9 in the unlocked state to which the work W is attached is supported by the block 3B of the support mechanism 3, and the frame 9 to which the work W is attached is inclined by its own weight, the object to be turned upside down is set. The direction in which the work W can be easily turned changes according to the inclination direction of the frame 9 on which the work W is mounted. Therefore, it is determined which of the first rotation assisting mechanism 20 and the second rotation assisting mechanism 21 is to be used for raising and lowering the object to be tilted in accordance with the inclination direction of the object to be tilted in the unlocked state. Can be appropriately determined.

  For example, the first rotation assisting mechanism 20 pushes the object to be tilted in the first direction in order to defeat the object to be tilted, while the second rotation assisting mechanism 21 pushes the object to be erected in order to erect the object to be tilted. It can be extruded in two directions. Conversely, the second rotation assisting mechanism 21 pushes the object to be tilted in the second direction in order to defeat the object, while the first rotation assisting mechanism 20 pushes the object to be erected in order to erect the object. It may be extruded in the first direction. Alternatively, while the first rotation assisting mechanism 20 pushes the object to be tilted in the first direction to lower the object to be tilted, the first rotation assisting mechanism 20 pushes the object to be tilted from the first direction. Excessive rotation of the raising / lowering object may be suppressed. Conversely, the second rotation assisting mechanism 21 pushes the object to be tilted in the second direction in order to defeat the object, and the second rotation assisting mechanism 21 pushes the object in the second direction in order to erect the object. , The excessive rotation of the object to be raised may be suppressed.

  Of course, both the first rotation assisting mechanism 20 and the second rotation assisting mechanism 21 may be brought into contact with the object to be raised in order to raise the object to be raised. That is, while the first rotation assisting mechanism 20 pushes the falling object in the first direction to raise the falling object, the second rotation assisting mechanism 21 excessively rotates the falling object from the second direction. Can be suppressed. Conversely, while the falling object is pushed up in the second direction by the second rotation assisting mechanism 21, the falling object is raised, while the first rotation assisting mechanism 20 causes the excess of the falling object from the first direction. Rotation can be suppressed.

  As described above, when the tilting direction of the tilting target in the unlocked state is changed according to the position of the center of gravity in the thickness direction of the tilting target, the position of the center of gravity in the thickness direction of the tilting target is changed. It is more effective to select the groove 3A for supporting the rotating shaft 9B of the frame 9 according to the condition. That is, by selecting a combination of the position of the groove 3A for supporting the rotating shaft 9B of the frame 9 and the extrusion direction of the frame 9, it is possible to perform proper falling according to the position of the center of gravity of the falling object. Become.

  Further, in the case of raising the object to be raised, the first rotation assisting mechanism 20 or the second rotation assisting mechanism 21 pushes the falling object in the middle of changing from the fallen state to the upright state in the rising direction. This makes it possible to reliably orient the frame 9 in the vertical direction regardless of the position of the center of gravity in the thickness direction of the tilting target. Therefore, after the object to be raised is raised, the block 3B is lowered by the elevating mechanism 5 so that the frame 9 can be reliably sandwiched between the contact plates 7A. On the other hand, even when the tilting target is defeated, the tilting direction of the tilting target in the unlocked state is set to the tilting direction, so that the tilting target can be defeated with less power.

  The first rotation assisting mechanism 20 can have a structure in which a roller 20B is provided at the tip of an arm 20A that stands upright and the arm 20A can be moved by a moving mechanism 20C using a ball screw or the like. A pressure sensor 20D that detects a pressure applied to the roller 20B and the arm 20A and outputs a detection signal to the control device 8D can be attached to the arm 20A. Similarly, the second rotation assisting mechanism 21 also has a structure in which a roller 21B is provided at the tip of an arm 21A that stands upright, and the arm 21A can be moved by a moving mechanism 21C using a ball screw or the like. it can. A pressure sensor 21D that detects a pressure applied to the roller 21B and the arm 21A and outputs a detection signal to the control device 8D can be attached to the arm 21A.

  Note that the first rotation assisting mechanism 20 and the second rotation assisting mechanism 21 may be configured by using an L-shaped arm as exemplified in the first embodiment. In this case, the first rotation assisting mechanism 20 and the second rotation assisting mechanism 21 may be configured such that the L-shaped arm advances and retreats from both sides of the tilting target toward the tilting target.

  However, if the first rotation assisting mechanism 20 and the second rotation assisting mechanism 21 are configured using the arms 20A and 21A having a simple structure that stands upright in the vertical direction, respectively, they are provided at the tips of the arms 20A and 21A. The rollers 20B and 21B can be brought into contact from any direction of the tilting target. In addition, the space required for disposing the first rotation assisting mechanism 20 and the second rotation assisting mechanism 21 can be reduced.

  The roller 20B attached to the tip of the arm 20A constituting the first rotation assisting mechanism 20 and the roller 21B attached to the tip of the arm 21A constituting the second rotation assisting mechanism 21 respectively move upside down targets. In addition to being pushed out to make the object fall, or contacting the object to be turned to suppress excessive rotation when the object is to stand up, it can be used to support the object to be turned down.

  Accordingly, the moving range of the moving mechanism 20C for moving the arm 20A of the first rotation assisting mechanism 20 is determined by the position of the arm 20A when the falling target is supported from below in the fall state, and the moving range of the first target by the first position. The movement range of the arm 20A necessary for pushing out from the direction is determined so as to be covered. Similarly, the moving range of the moving mechanism 21C for moving the arm 21A of the second rotation assisting mechanism 21 is determined by the position of the arm 21A in the case of supporting the falling object in the fallen state from below, and the movement range of the second Is determined so as to cover the range of movement of the arm 21A necessary for pushing out from the direction of.

  In the illustrated example, the length of the movement range of the arm 20A of the first rotation assisting mechanism 20 and the length of the movement range of the arm 21A of the second rotation assisting mechanism 21 are determined to be substantially equal. The movement range of the arm 20A of the first rotation assist mechanism 20 and the movement range of the arm 21A of the second rotation assist mechanism 21 are shifted from each other by a predetermined distance in the movement direction of the arms 20A and 21A. Has been determined.

  If the moving range of the arm 20A of the first rotation assisting mechanism 20 and the moving range of the arm 21A of the second rotation assisting mechanism 21 are set to be sufficiently long so that they can be moved to both sides of the tilting object, respectively, Using both the first rotation assisting mechanism 20 and the second rotation assisting mechanism 21, it is possible to push out the object to be tilted in the same direction. That is, it is possible to push out the object to be tilted in the first direction by using both the first rotation assisting mechanism 20 and the second rotation assisting mechanism 21. Conversely, it becomes possible to push out the object to be raised in the second direction using both the first rotation assisting mechanism 20 and the second rotation assisting mechanism 21. In the illustrated example, the first direction is a direction away from the processing device 2, and the second direction is a direction toward the processing device 2.

  If the arm 20A of the first rotation assisting mechanism 20 and the arm 21A of the second rotation assisting mechanism 21 can be moved to the side of the processing device 2 to be tilted, the arm of the first rotation assisting mechanism 20 can be moved. 20A and the arm 21A of the second rotation assisting mechanism 21 are moved to the processing device 2 side with respect to the rotating shaft 9B of the frame 9 so that the lower surface of the frame 9 in the fall state is moved to the first rotation assisting mechanism 20. And the arm 20A of the second rotation assisting mechanism 21 can be supported at two places.

  Similarly, if the arm 20A of the first rotation assisting mechanism 20 and the arm 21A of the second rotation assisting mechanism 21 can be respectively moved to the side distant from the processing device 2 to be tilted, the first rotation assisting By moving both the arm 20A of the mechanism 20 and the arm 21A of the second rotation assisting mechanism 21 to the side farther from the processing device 2 than the rotation shaft 9B of the frame 9, the lower surface of the frame 9 in the collapsed state is It is possible to support at two places using both the arm 20A of the first rotation assisting mechanism 20 and the arm 21A of the second rotation assisting mechanism 21.

  In order to stably support the falling object in the fall state, it is important to support the falling object on both sides of the center of gravity of the falling object. Therefore, providing the support structure 23 for supporting the falling object on the side not supported by the first rotation assisting mechanism 20 and the second rotation assisting mechanism 21 from the viewpoint of stably supporting the falling object. It is suitable.

  The support structure 23 can be configured by a bearing 9C fixed to the frame 9 and a guide mechanism 22 that guides the moving direction of the bearing 9C while rolling the bearing 9C.

  The bearing 9C is fixed to both sides of the frame 9 so that the rotation axis of the bearing 9C and the rotation axis 9B of the frame 9 are parallel to each other. The mounting position of the bearing 9C on the frame 9 is a position below the center of gravity of the falling object in the upright state.

  On the other hand, the guide mechanism 22 is a linear guide for rolling the bearing 9 </ b> C whose height has been increased by rotating the frame 9 in the upright state by a predetermined angle or more in a substantially horizontal direction. The guide mechanism 22 can be configured by a groove-shaped rail provided with a groove for inserting the bearing 9C or a simple rod-shaped rail forming a running surface of the bearing 9C.

  When the support structure 23 using such a bearing 9C and the guide mechanism 22 is provided in the work elevating device 1A, one side of the frame 9 is moved to the first rotation assisting mechanism 20 when the elevating object is elevated. The second rotation assisting mechanism 21 can be supported by the guide mechanism 22 instead of the arms 20A and 21A. Further, after the object to be tilted is lowered, one side of the frame 9 is supported by the guide mechanism 22, and the other side of the frame 9 is supported by the arms 20 </ b> A of the first rotation assist mechanism 20 and the second rotation assist mechanism 21. , 21A. That is, it is possible to support the frame 9 in the fallen state at four places. Therefore, the arms 20A and 21A of the first rotation assisting mechanism 20 and the second rotation assisting mechanism 21 are used for pushing out the frame 9 and supporting the frame 9 in a fall state.

  Note that, in the illustrated example, a bidirectional guide mechanism 22 that guides the movement of the bearing 9C in the opposite direction is provided so that the object to be lowered can be moved up and down in both directions. That is, the four guide mechanisms 22 for guiding the two bearings 9C on both sides of the frame 9 are fixed to the four columns constituting the rectangular frame 5A of the elevating mechanism 5, respectively.

(Operation and action)
Next, a method of raising and lowering the work W by the work raising and lowering device 1A will be described with reference to FIGS. 8 to 13 show an example of a method of raising and lowering the work W by the work raising and lowering device 1A.

  When the frame 9 holding the work W is to be tilted and is to be tilted in the horizontal direction from the standing state, the block 3B of the support mechanism 3 is raised by the driving of the lifting mechanism 5. As a result, the frame 9 comes off from between the contact plates 7A, and the frame 9 is unlocked. Next, as shown in FIG. 8, the arms 20 </ b> A and 21 </ b> A of the first rotation assist mechanism 20 and the second rotation assist mechanism 21 move to push the lower part of the frame 9. As a result, the frame 9 rotates by a predetermined angle about the rotation axis 9B, and the bearing 9C moves upward along a circular locus. As a result, the position of the bearing 9C is slightly higher than the guide mechanism 22.

  Next, the block 3B of the support mechanism 3 is lowered by the driving of the lifting mechanism 5. Therefore, as shown in FIG. 9, the bearing 9 </ b> C comes into contact with the guide mechanism 22, and moves linearly in the guide direction of the guide mechanism 22 while rolling at a constant height. As a result, the frame 9 holding the work W rotates around the rotation shaft 9B. That is, the object to be raised is gradually defeated. On the other hand, each of the arms 20A and 21A of the first rotation assisting mechanism 20 and the second rotation assisting mechanism 21 moves toward a position that supports the lower surface of the frame 9 in a state where it is tilted.

  Then, when the block 3B of the support mechanism 3 is further lowered, as shown in FIG. 10, the lower surface of the frame 9 in the collapsed state becomes the arms 20A, 21A of the first rotation assist mechanism 20 and the second rotation assist mechanism 21. And comes into a horizontal state. That is, the object to be raised is brought down. At this time, the frame 9 is stably supported at four places by the arms 20A and 21A of the first rotation assisting mechanism 20 and the second rotation assisting mechanism 21, and the bearings 9C on both sides.

  Then, when the block 3B of the support mechanism 3 is further lowered, the rotating shaft 9B of the frame 9 is completely separated from the groove 3A of the block 3B. Thereby, the work W held by the frame 9 can be sent out to the processing device 2.

  On the other hand, when the object to be raised is raised, as shown in FIG. 11, the arm 21A of the second rotation assisting mechanism 21 is rotated in a direction away from the processing device 2 by the rotation for raising the frame 9. Move to a position that does not interfere.

  Next, the block 3B of the support mechanism 3 is raised by the drive of the lifting mechanism 5. When the rotating shaft 9B of the frame 9 is supported by the groove 3A of the block 3B, the rotating shaft 9B of the frame 9 moves up together with the block 3B. Therefore, as shown in FIG. 12, the bearing 9C moves linearly in the guide direction of the guide mechanism 22 while rolling at a constant height. As a result, the frame 9 holding the work W rotates around the rotation shaft 9B. That is, the falling object is gradually raised.

  When the block 3B of the support mechanism 3 further rises, the frame 9 approaches an upright state, and the bearing 9C is separated upward from the guide mechanism 22. Therefore, the frame 9 holding the work W is rotatably supported only by the rotation shaft 9B. Therefore, the position of the center of gravity of the object to be raised including the work W and the frame 9 is vertically below the rotation axis 9B.

  Therefore, when the position of the center of gravity of the object to be lowered is not at the center of the frame 9 in the thickness direction, the object to be tilted is inclined. Then, as shown in FIG. 13, the arm 21A of the second rotation assisting mechanism 21 moves toward the processing device 2 side. Then, the lower part of the frame 9 is pushed out toward the processing device 2 by the arm 21A of the second rotation assisting mechanism 21. Thereby, even when the tilting target freely supported by the rotating shaft 9B is inclined, the frame 9 can be reliably raised in the vertical direction.

  On the other hand, the arm 20A of the first rotation assisting mechanism 20 can be moved to a position where it comes into contact with the lower part of the frame 9 standing upright. Thereby, it is possible to prevent the falling object from rotating excessively.

  The arm 20A of the first rotation assisting mechanism 20 may be brought into contact with the rotating frame 9 instead of waiting at a position where the arm 20A comes into contact with the lower part of the vertically standing frame 9. That is, the frame 9 can be erected while the arm 21A of the second rotation assisting mechanism 21 and the arm 20A of the first rotation assisting mechanism 20 are in contact from both directions of the frame 9. In this case, the inclination angle of the frame 9 with respect to the vertical direction can be accurately controlled in accordance with the positions of the arm 21A of the second rotation assisting mechanism 21 and the arm 20A of the first rotation assisting mechanism 20.

  In the second embodiment as described above, the object to be turned can be turned in both directions. In addition, the arms 20A and 21A can be pressed from both sides of the object to be raised as needed when the object to be raised is erected.

(effect)
For this reason, according to the second embodiment, even when the object to be tilted is tilted in a state where the object to be tilted is freely suspended, while the object to be tilted is tilted in an appropriate direction, the object is reliably moved in the vertical direction. The erecting object can be erected. Of course, the same effect as the effect in the first embodiment can be obtained.

(Other embodiments)
As mentioned above, although a specific embodiment was described, the described embodiment is only an example and does not limit the scope of the invention. The novel methods and apparatus described herein can be embodied in various other ways. In addition, various omissions, substitutions, and changes can be made in the method and apparatus described herein without departing from the spirit of the invention. It is intended that the appended claims and their equivalents include such various forms and modifications as fall within the scope and spirit of the invention.

  1, 1A: Work lifting device, 2: Processing device, 3: Support mechanism, 3A: Groove, 3B: Block, 4, 4A: Rotation assisting mechanism, 5: Lifting mechanism, 5A: Frame, 5B: Linear guide, 5C ... Ball screw, 6 ... Roller, 7 ... Lock mechanism, 7A ... Abutment plate, 8 ... Movable carriage, 8A ... Traveling device, 8B ... Elevating device, 8C ... Table, 8D ... Control device, 9 ... Frame, 9A ... Clamp , 9B: rotating shaft, 9C: bearing, 10: extruder, 10A: arm, 10B: roller, 10C: moving mechanism, 10D: support, 10E: pressure sensor, 20: first rotation assisting mechanism, 20A: arm , 20B: roller, 20C: moving mechanism, 20D: pressure sensor, 21: second rotation assist mechanism, 21A: arm, 21B: roller, 21C: moving mechanism, 21D: pressure sensor, 22: guide mechanism, 23: support Structure

Claims (12)

A support mechanism that rotatably supports the tilting target at a support position above the center of gravity of the tilting target when the tilting target including the work is in the standing state,
By pushing the object to be raised in the upright state supported by the support mechanism below the support position, the support position is centered when the upright object is rotated from the upright state to the down state. A rotation assisting mechanism for assisting the rotation of the tilting object;
An elevating mechanism that raises and lowers the support mechanism by raising and lowering the support mechanism;
Equipped with a,
The rotation assisting mechanism is configured to be able to move in a direction approaching the falling object and in a direction away from the falling object, and when rotating the falling object from the standing state to the falling state. , said raised or lowered closer towards said object, the said raised or lowered subject by contacting the raised or lowered target support position configured Ru workpiece raisably apparatus to extrude at lower than. A support mechanism that rotatably supports the tilting target at a support position above the center of gravity of the tilting target when the tilting target including the work is in the standing state,
By pushing the object to be raised in the upright state supported by the support mechanism below the support position, the support position is centered when the upright object is rotated from the upright state to the down state. A rotation assisting mechanism for assisting the rotation of the tilting object;
An elevating mechanism that raises and lowers the support mechanism by raising and lowering the support mechanism;
A lock mechanism for suppressing rotation of the tilting target by locking the tilting target in the standing state ;
With
The lock mechanism is configured to open and rotate the upright object when the upright object in the upright state rises to a predetermined position by driving the up / down mechanism, while the upright object in the upright state. A work raising and lowering device having a structure for locking the above-mentioned object to be lowered and for preventing rotation when the object is lowered to a predetermined position. A support mechanism that rotatably supports the tilting target at a support position above the center of gravity of the tilting target when the tilting target including the work is in the standing state,
By pushing the object to be raised in the upright state supported by the support mechanism below the support position, the support position is centered when the upright object is rotated from the upright state to the down state. A rotation assisting mechanism for assisting the rotation of the tilting object;
An elevating mechanism that raises and lowers the support mechanism by raising and lowering the support mechanism;
With
The support mechanism has a plurality of parallel grooves that are not on the same straight line and have a shape corresponding to a shape of a rotating shaft formed on the tilting target, and a position of the center of gravity in a thickness direction of the tilting target. A work lifting device configured to support the rotating shaft with one of the plurality of grooves selected according to the following. A support mechanism for rotatably supporting the object to be tilted at a support position above the center of gravity of the object to be tilted when the object to be tilted including a work and a frame for mounting the workpiece is in an upright state. The support mechanism rotatably supports a rotation shaft provided on the frame,
By pushing the object to be raised in the upright state supported by the support mechanism below the support position, the support position is centered when the upright object is rotated from the upright state to the down state. A rotation assisting mechanism for assisting the rotation of the tilting object;
An elevating mechanism that raises and lowers the support mechanism by raising and lowering the support mechanism;
With
A bearing is provided at a position below the center of gravity of the object to be raised, of the frame in the upright state,
A work lifting and lowering device provided with a guide mechanism for guiding the moving direction of the bearing while rolling the bearing. The elevating mechanism lowers the support mechanism with the rotation assist mechanism supporting the tilting object after the tilting target is rotated by a predetermined angle by pushing the tilting object with the rotation assisting mechanism. The work raising and lowering device according to any one of claims 1 to 4, wherein the device is configured to rotate the raising / lowering target from the standing state to the tilted state. The support mechanism may support the tilting target at the support position where the distance of the tilting target from the center of gravity is greater than 0% and equal to or less than 10% of the height of the tilting target in the standing state. The work lifting device according to any one of claims 1 to 5, wherein the work lifting device is configured to: The lock mechanism has a contact surface for suppressing rotation of the falling object by contacting an end of the falling object in the standing state,
The workpiece raising / lowering device according to claim 2 , wherein the contact surface is disposed at a position where the contact surface comes into contact with the end portion only when the raising / lowering mechanism drives the raising / lowering target in the upright state to the predetermined position. apparatus. The rotation assisting mechanism is configured to be able to rotate the falling object in the standing state by a predetermined angle bidirectionally around a rotation axis,
The elevating mechanism is capable of tilting the tilting object bidirectionally around the rotation axis by raising and lowering the support mechanism after the tilting object is rotated by the predetermined angle in any direction. The work raising and lowering device according to any one of claims 1 to 7 , configured as described above. The rotation assisting mechanism assists the rotation of the falling object from the standing state to the collapsed state by pushing one side of the falling object in the standing state below the support position, The rotation of the falling object for changing the falling object to the standing state by pushing the falling object from the other side below the support position during the change from the folded state to the standing state. The work raising and lowering device according to any one of claims 1 to 8 , configured to assist the work. A frame for mounting the work,
The support mechanism, a work raisably device according to any one of claims 1 to 3 configured to rotatably support a rotary shaft provided on the frame. A step of rotatably supporting the object to be lowered at a support position above the center of gravity of the object to be raised when the object to be raised including the work is in the standing state,
By pushing the object to be lowered in the standing state below the support position, in a case where the object to be rotated is rotated from the standing state to a state in which the object is rotated, the object to be raised centered on the supporting position is Assisting rotation;
Raising and lowering the support position to raise and lower the tilt target;
Have a,
In the step of assisting the rotation of the tilting target, in order to rotate the tilting target from the standing state to the tilted state, in a direction approaching the tilting target and in a direction away from the tilting target. A rotation assisting mechanism configured to be movable is brought closer to the tilting target, and the rotation assisting mechanism is brought into contact with the tilting target to push the tilting target below the supporting position. Defeat method. A step of rotatably supporting the upright object in the upright state at a support position above the center of gravity of the upright object including the work in the upright state;
Rotating the tilting target by at least a predetermined angle by pushing the tilting target in the standing state below the support position;
Rotating the tilting target to a tilted state by lowering the support position after the tilting target rotates by a predetermined angle;
Manufacturing a product or a semi-finished product by processing the work in the collapsed state;
Have a,
In the step of rotating the tilting target by at least a predetermined angle, a rotation assisting mechanism configured to be able to move in a direction approaching the tilting target and in a direction away from the tilting target is provided to the tilting target. A work processing method for pushing the object to be lowered below the support position by bringing the object closer to the object and bringing the rotation assisting mechanism into contact with the object to be tilted .

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