JP6829416B2

JP6829416B2 - Cargo handling assistance device

Info

Publication number: JP6829416B2
Application number: JP2017021917A
Authority: JP
Inventors: 璋好小林
Original assignee: 株式会社ロボテック
Priority date: 2017-02-09
Filing date: 2017-02-09
Publication date: 2021-02-10
Anticipated expiration: 2037-02-09
Also published as: JP2018128365A

Description

本発明は、荷重を電気信号に変換する荷重変換器と、これを用いてモータによって吊った荷役物を上下動させる作業を助力する荷役助力装置に関するものである。 The present invention relates to a load converter that converts a load into an electric signal, and a cargo handling assisting device that assists the work of moving a cargo handling object suspended by a motor up and down using the load converter.

従来から工業製品の組立てを行う工場では、大きな重量を有する工具、作業用機器、製品、半完成品などの荷役物を吊下げて上下動させる荷役機械を使用している。その中でも、使用者が大きな重量の荷役物に対してバランス状態を作り出し、軽い操作力で任意の高さに上下動できるように助力を発生させる荷役助力装置が一部で使用されている。このように助力を発生させる荷役助力装置において、モータによる助力を行ってバランス状態を作り出し、荷役物に小さな操作力を加えることでスムーズに移動させるものは、単に上下動作を電動モータで行うものとは異なり、荷役物の荷重やこれに加わる操作力を例えば荷重センサで検出して、回転角検出器と繋がったＡＣサーボモータ等で細かい力制御を行うように構成されている。 Traditionally, factories that assemble industrial products have used cargo handling machines that suspend and move cargo handling objects such as heavy tools, work equipment, products, and semi-finished products. Among them, some cargo handling assist devices are used to create a balanced state for a heavy cargo handling object and generate an assist so that the user can move up and down to an arbitrary height with a light operating force. In the cargo handling assisting device that generates assisting force in this way, the one that creates a balanced state by assisting with a motor and moves smoothly by applying a small operating force to the cargo handling object is simply a vertical movement performed by an electric motor. However, the load of the cargo handling object and the operating force applied to the load are detected by, for example, a load sensor, and a fine force control is performed by an AC servomotor or the like connected to the rotation angle detector.

特開平０４−０９８１３６号公報Japanese Unexamined Patent Publication No. 04-098136 特開２０１２-００１３２３号公報Japanese Unexamined Patent Publication No. 2012-001323

このような荷役助力装置に適する吊下げ式の従来の荷重変換器（特許文献１）は図１３、図１４で示すような構成を用いるのが従来一般的であり、固定構造物などに吊下げるための吊り部材１６、荷重を支持する支持軸１９、支持軸１９に回動可能として設けられた第１の接続部３ａ、荷重が直接加わる第２の接続部３ｐ、第１の接続部３ａと第２の接続部３ｐの間にあって弾性変形する起歪部３ｂ、起歪部３ｂに添着された荷重検出手段Ｇで構成されている。したがってこれらが直列的に並んでいることから鉛直方向の長さが長くなって、小型化できないという課題があった。 The conventional suspension type load converter (Patent Document 1) suitable for such a cargo handling assist device generally uses the configuration shown in FIGS. 13 and 14, and is suspended from a fixed structure or the like. 16 for suspending members, a support shaft 19 for supporting a load, a first connection portion 3a provided on the support shaft 19 so as to be rotatable, a second connection portion 3p to which a load is directly applied, and a first connection portion 3a. It is composed of a strain generating portion 3b that is elastically deformed between the second connecting portions 3p and a load detecting means G attached to the strain generating portion 3b. Therefore, since these are arranged in series, the length in the vertical direction becomes long, and there is a problem that the size cannot be reduced.

さらに特許文献２に開示された荷役助力装置では、単に荷重を検出する荷重変換器（ロードセル）を間に挟んで駆動部本体を吊っていることから、荷重を加えた際に駆動部本体が傾く場合や、作業者が斜めに力を加えた場合には、鉛直成分以外の荷重も検出してしまい、荷重変換器が検出した荷重と実際に加えた力の乖離が生じてバランス状態が保てず荷役物をバランスを保ちつつ所望の位置へ移動するのが困難になるという課題があった。 Further, in the cargo handling assist device disclosed in Patent Document 2, since the drive unit main body is suspended by simply sandwiching a load converter (load cell) for detecting a load, the drive unit main body tilts when a load is applied. In some cases, or when the operator applies a force diagonally, the load other than the vertical component is also detected, and the load detected by the load converter and the actually applied force are separated, and the balanced state can be maintained. There is a problem that it becomes difficult to move the cargo handling object to a desired position while maintaining a balance.

このような問題に鑑みて、本発明は、鉛直方向の長さを短くして、作業者が斜めに力を加えた時でも鉛直方向の荷重のみを検出する荷重変換器とこれを用いた荷役助力装置を提供することを目的としている。 In view of such a problem, the present invention is a load converter that shortens the length in the vertical direction and detects only the load in the vertical direction even when the operator applies a force diagonally, and cargo handling using the load converter. It is intended to provide an assistive device.

請求項１に記載の荷役助力装置は、上記の目的を達成するために、
吊り部材に吊るされて荷役物の昇降動作を助力する荷役助力装置であって、
吊り部材に回動可能に接続される荷重変換器と、
半円弧部とこれに繋がる直線部からなる長円形の環が交互に連接され、片端が荷役物に繋がるリンクチェーンと、
リンクチェーンを巻きつけるロードシーブと、
ロードシーブを回転させるモータ部と、
ロードシーブを担持するとともに荷重変換器に回動可能に接続する担持接続部と、
ロードシーブ及びモータ部の少なくとも１つの回転角を検出して回転角信号を出力する回転角検出部と、
モータ部の回転を制御する制御回路部と、
を備え、
荷重変換器は、吊り部材と測定対象物の間に配置されて吊り部材及び測定対象物それぞれに接続する接続部を有し、第１の鉛直面に略面対称でかつ第１の鉛直面に垂直な第２の鉛直面に略面対称な形状で、測定対象物から受ける鉛直下向き荷重を検出し、
接続部は、
水平面上の直線を軸線とする第１の円柱面を有する凹み若しくは突起を含んで吊り部材と回動自在で接続する第１の接続部と、
第１の接続部に対して略水平方向に位置し、第１の円柱面の軸方向に直交する直線を軸線とする第２の円柱面を有する凹み若しくは突起を含んで測定対象物と回動自在で接続する第２の接続部と、を有し、
さらに荷重変換器は、
第１の接続部と第２の接続部の中間位置に薄肉で小なる断面積を有して第２の接続部から伝わる荷重にて弾性変形する起歪部と、
起歪部に設けられて起歪部の変形量から第１の接続部若しくは第２の接続部に加わる測定対象物の荷重を検出して出力する荷重検出手段と、を有してロードシーブに加わる荷重を検出して荷重信号に変換して出力し、
制御回路部は荷重信号と回転角信号を受信し演算して荷役物の上下動の助力をモータ部によって制御するように構成されている。
The cargo handling assisting device according to claim 1 is used to achieve the above object.
It is a cargo handling assisting device that is suspended from a hanging member and assists the lifting operation of the cargo handling object.
A load transducer that is rotatably connected to the suspension member,
A link chain in which an oval ring consisting of a semi-arc part and a straight part connected to it is alternately connected, and one end is connected to a cargo handling object.
Road sheave around the link chain and
The motor part that rotates the road sheave and
A carrier connection that supports the load sheave and rotatably connects to the load transducer,
A rotation angle detection unit that detects at least one rotation angle of the load sheave and the motor unit and outputs a rotation angle signal,
A control circuit that controls the rotation of the motor and
With
The load converter has a connection portion that is arranged between the suspension member and the object to be measured and connects to each of the suspension member and the object to be measured, and is substantially plane-symmetrical to the first vertical surface and has a first vertical surface. Detects the vertical downward load received from the object to be measured with a shape that is substantially symmetrical to the vertical second vertical plane.
The connection part is
A first connecting portion that rotatably connects to a suspension member including a recess or protrusion having a first cylindrical surface having a straight line on a horizontal plane as an axis.
Rotates with the object to be measured including a dent or protrusion having a second cylindrical surface located substantially horizontally with respect to the first connecting portion and having a straight line orthogonal to the axial direction of the first cylindrical surface as an axis. It has a second connection part that can be freely connected,
Furthermore, the load transducer is
A strain-causing portion that has a thin and small cross-sectional area at an intermediate position between the first connecting portion and the second connecting portion and is elastically deformed by a load transmitted from the second connecting portion.
The load sheave is provided with a load detecting means provided in the strain generating portion to detect and output the load of the object to be measured applied to the first connecting portion or the second connecting portion from the deformation amount of the strain generating portion. Detects the applied load, converts it to a load signal and outputs it,
The control circuit unit is configured to receive and calculate the load signal and the rotation angle signal to control the assist of the vertical movement of the cargo handling object by the motor unit.

請求項２に記載の荷役助力装置は、上記の目的を達成するために、
第１の接続部の鉛直上側の肉厚が、第１の接続部の鉛直下側の肉厚よりも大きく設けられて構成されている。
The cargo handling assist device according to claim 2 is used to achieve the above object.
The wall thickness on the vertically upper side of the first connecting portion is provided to be larger than the wall thickness on the vertically lower side of the first connecting portion.

請求項３に記載の荷役助力装置は、上記の目的を達成するために、
起歪部が、貫通した貫通部を有し、
荷重検出手段は、貫通部の壁面に設けられて構成されている。
The cargo handling assisting device according to claim 3 is used to achieve the above object.
The strain-causing portion has a penetrating portion and has a penetrating portion.
The load detecting means is provided on the wall surface of the penetrating portion.

請求項４に記載の荷役助力装置は、上記の目的を達成するために、
荷重検出手段が、貫通部の側壁面を全周に渡って塞ぐ封止部材にて外部から遮断されて構成されている。
The cargo handling assist device according to claim 4 is used to achieve the above object.
The load detecting means is configured to be shielded from the outside by a sealing member that closes the side wall surface of the penetrating portion over the entire circumference.

請求項５に記載の荷役助力装置は、上記の目的を達成するために、
起歪部が、互いに反対向きで配置された同一形状の複数の座繰り穴部を有し、
荷重検出手段が、座繰り穴部の底面に設けられて構成されている。
The cargo handling assist device according to claim 5 is used to achieve the above object.
The strain generating portion has a plurality of counterbore portions of the same shape arranged in opposite directions with each other.
The load detecting means is provided on the bottom surface of the counterbore hole portion.

請求項６に記載の荷役助力装置は、上記の目的を達成するために、
荷重検出手段が、座繰り穴部の側壁面を全周に渡って塞ぐ封止部材にて外部から遮断されて構成されている。
The cargo handling assist device according to claim 6 is used to achieve the above object.
The load detecting means is configured to be shielded from the outside by a sealing member that closes the side wall surface of the counterbore hole portion over the entire circumference.

請求項１に記載の発明の荷役助力装置によれば、第１の接続部と起歪部と第２の接続部が略水平方向に並んで配置されていることから、荷重変換器の鉛直方向の長さを短くでき、コンパクトな荷役助力装置を提供できると共に、作業者が斜めに力を加えた時でも鉛直方向の荷重のみを検出することができることから円滑な荷役作業を行うことができる。
According to the cargo handling assisting device of the invention according to claim 1, since the first connecting portion, the strain generating portion and the second connecting portion are arranged side by side in a substantially horizontal direction, the load converter is arranged in the vertical direction. In addition to being able to provide a compact cargo handling assisting device , it is possible to perform smooth cargo handling work because it is possible to detect only the load in the vertical direction even when the operator applies an oblique force.

請求項２に記載の発明の荷役助力装置によれば上記効果に加えて、第２の接続部に過大な荷重が加わった時でも、第１の接続部の上方に剛性の高い領域が存在するためすぐには破壊には至らず、安全面を考慮した荷役助力装置を提供できる。
According to the cargo handling assisting device of the invention according to claim 2, in addition to the above effects, even when an excessive load is applied to the second connecting portion, a highly rigid region exists above the first connecting portion. Therefore, it is not immediately destroyed, and it is possible to provide a cargo handling assistance device in consideration of safety.

請求項３に記載の発明の荷役助力装置によれば上記効果に加えて、起歪部が貫通した壁面形状であることから、加工が容易な荷役助力装置を提供できる。
According to the cargo handling assisting device of the invention according to claim 3, in addition to the above effects, the cargo handling assisting device that is easy to process can be provided because the wall surface shape is such that the strain-causing portion penetrates.

請求項４に記載の発明の荷役助力装置によれば上記効果に加えて、起歪部の荷重検出手段が封止部材にて外部から遮断されているため、水や油等の侵入による配線短絡や部品劣化が防止できる。
According to the cargo handling assisting device of the invention according to claim 4, in addition to the above effect, the load detecting means of the strain generating portion is blocked from the outside by the sealing member, so that the wiring is short-circuited due to the intrusion of water, oil, or the like. And parts deterioration can be prevented.

請求項５に記載の発明の荷役助力装置によれば、起歪部が対向する両側からの座繰り穴で形成されていることから、座繰り穴の底部が隔壁となって剛性を高めることができるとともに、荷重検出手段の設置、形成が容易となる。
According to the cargo handling assisting device of the invention according to claim 5, since the strain generating portion is formed by counterbore holes from both sides facing each other, the bottom portion of the counterbore hole serves as a partition wall to increase the rigidity. At the same time, it becomes easy to install and form the load detecting means.

請求項６に記載の発明の荷役助力装置によれば上記効果に加えて、起歪部の荷重検出手段が封止部材にて外部から遮断されているため、水や油等の侵入による配線短絡や部品劣化が防止できる。
According to the cargo handling assisting device of the invention according to claim 6, in addition to the above effect, since the load detecting means of the strain generating portion is blocked from the outside by the sealing member, the wiring is short-circuited due to the intrusion of water, oil or the like. And parts deterioration can be prevented.

本発明の実施形態に係る荷役助力装置の斜視構成図である。It is a perspective block diagram of the cargo handling assist device which concerns on embodiment of this invention. 本発明の実施形態に係る荷役助力装置内の荷重変換器及び駆動装置周辺の斜視構成図である。It is a perspective block diagram around the load transducer and the drive device in the cargo handling assist device which concerns on embodiment of this invention. 本発明の実施形態に係る荷役助力装置内の荷重変換器周辺の斜視構成図である。It is a perspective view of the periphery of the load transducer in the cargo handling assist device which concerns on embodiment of this invention. 本発明の実施形態に係る荷重変換器の斜視図である。It is a perspective view of the load converter which concerns on embodiment of this invention. 本発明の第１の実施形態の荷重変換器の模式的な正面図（ａ）、Ｓ１−Ｓ１で切断した断面図（ｂ）及び背面図（ｃ）である。It is a schematic front view (a), the sectional view (b) and the rear view (c) cut in S1-S1 of the load transducer of the 1st Embodiment of this invention. 本発明の第１の実施形態の荷重変換器の荷重検出手段を含む回路図である。It is a circuit diagram which includes the load detecting means of the load converter of the 1st Embodiment of this invention. 本発明の第２の実施形態の荷重変換器の模式的な正面図（ａ）、Ｓ２-Ｓ２で切断した断面図（ｂ）及び背面図（ｃ）である。It is a schematic front view (a), the sectional view (b) and the rear view (c) cut in S2-S2 of the load transducer of the 2nd Embodiment of this invention. 本発明の第２の実施形態の荷重変換器の荷重検出手段を含む回路図である。It is a circuit diagram which includes the load detecting means of the load converter of the 2nd Embodiment of this invention. 本発明の第３の実施形態の荷重変換器の模式的な正面図（ａ）、Ｓ３-Ｓ３で切断した断面図（ｂ）及び背面図（ｃ）である。It is a schematic front view (a), the sectional view (b) and the rear view (c) cut in S3-S3 of the load transducer of the 3rd Embodiment of this invention. 本発明の第３の実施形態の荷重変換器の荷重検出手段を含む回路図である。It is a circuit diagram which includes the load detecting means of the load converter of the 3rd Embodiment of this invention. 本発明の第４の実施形態の荷重変換器の模式的な正面図（ａ）及びＳ４-Ｓ４で切断した断面図（ｂ）である。It is a schematic front view (a) and the sectional view (b) cut in S4-S4 of the load transducer of the 4th Embodiment of this invention. 本発明の第４の実施形態の荷重変換器の荷重検出手段を含む回路図である。It is a circuit diagram which includes the load detecting means of the load converter of the 4th Embodiment of this invention. 従来の吊下げ式荷重変換器とその周辺を模式的に表した正面図（ａ）及び右側面図（ｂ）である。It is a front view (a) and the right side view (b) which schematically represented the conventional suspension type load converter and its periphery. 従来の吊下げ式荷重変換器とその周辺を模式的に表した正面図（ａ）及び右側面図（ｂ）である。It is a front view (a) and the right side view (b) which schematically represented the conventional suspension type load converter and its periphery.

以下、本発明の実施形態に係る荷重変換器とこれを用いた荷役助力装置について、図面を基に詳細な説明を行う。図１は本発明の実施形態に係る荷重変換器を内蔵している荷役助力装置である。 Hereinafter, the load transducer according to the embodiment of the present invention and the cargo handling assisting device using the load transducer will be described in detail with reference to the drawings. FIG. 1 is a cargo handling assist device having a built-in load transducer according to an embodiment of the present invention.

荷役助力装置１は、カバー２１と制御回路部カバー２２にて覆われた本体部及び制御回路部２０と、この本体部からリンクチェーン８に沿って下方に伸びた位置にある操作部２５と、リンクチェーン８の片端に繋がった荷役用フック１５と、リンクチェーン８の他端側（無負荷側）に設けられたリンクチェーン収納部２６とで構成されていて、荷役助力装置１は吊り部材１６にて構造物などに吊下げられて荷役用フック１５に引っ掛けられた荷役物の昇降を行う。 The cargo handling assist device 1 includes a main body and a control circuit 20 covered with a cover 21 and a control circuit cover 22, and an operation unit 25 located at a position extending downward along the link chain 8 from the main body. The cargo handling hook 15 connected to one end of the link chain 8 and the link chain accommodating portion 26 provided on the other end side (no load side) of the link chain 8 are formed, and the cargo handling assist device 1 is a suspension member 16. The cargo handling object is lifted and lowered by being suspended from a structure or the like and hooked on the cargo handling hook 15.

カバー２１は後述の荷重変換器３、モータ部２、ロードシーブ１３及びこの周辺の部材を覆って保護するものである。また制御回路部カバー２２はモータ部２や操作部２５と電気的に繋がってこれらを制御する制御回路部２０を覆って保護するものである。 The cover 21 covers and protects the load converter 3, the motor unit 2, the load sheave 13, and the members around the load converter 3, which will be described later. Further, the control circuit unit cover 22 is electrically connected to the motor unit 2 and the operation unit 25 to cover and protect the control circuit unit 20 that controls them.

リンクチェーン８は、半円弧部とこれに繋がる直線部からなる長円形の環が９０度の角度にて交互に連接されたものであって、一端は荷役用フック１５に繋がっていて、他端（無負荷側）はリンクチェーン収納部２６に収納されている。 The link chain 8 is formed by alternately connecting an oval ring composed of a semi-arc portion and a straight portion connected to the semi-arc portion at an angle of 90 degrees, one end of which is connected to the cargo handling hook 15 and the other end. (No-load side) is stored in the link chain storage unit 26.

操作部２５は荷役助力装置１の操作を行うものであって、自動バランスと手動操作の切り換え、手動昇降操作の指令、非常停止などのスイッチが設けられてリンクチェーン８と一緒に上下動する。なお本実施形態では操作部２５は制御回路部２０と有線で繋がっているが、無線方式であっても良いし、またリンクチェーン８に対して着脱可能な構成であっても良い。 The operation unit 25 operates the cargo handling assist device 1, and is provided with switches such as automatic balance and manual operation switching, manual elevating operation command, and emergency stop, and moves up and down together with the link chain 8. In the present embodiment, the operation unit 25 is connected to the control circuit unit 20 by wire, but it may be a wireless system or may be detachable from the link chain 8.

図２は本発明の実施形態に係る荷役助力装置１の本体部である荷重変換器及び駆動装置周辺の内部構造を示した斜視図であって、幾つかの部材を省略して表したものである。 FIG. 2 is a perspective view showing the internal structure around the load transducer and the drive device, which are the main bodies of the cargo handling assist device 1 according to the embodiment of the present invention, and is shown by omitting some members. is there.

モータ２ａの負荷側には減速機７が取り付けられてモータ部２を構成し、減速機７はモータ２ａの回転速度を所定の速度に減速している。減速機７は例えば波動歯車減速機である。波動歯車減速機は外周が楕円状のウエーブジェネレータと、外周に多数の外歯が形成されウエーブジェネレータに外嵌されてウエーブジェネレータの回転により円周方向へ撓まされる位置が変化するようにした弾性変形可能なフレクスプラインと、フレクスプラインの外周側にあってフレクスプラインの外歯と嵌合する内歯を備えたサーキュラスプラインからなる。そして動力は、フレクスプラインを回転出力として繋げた回転出力軸に取り出されて伝達するようになっている。 A speed reducer 7 is attached to the load side of the motor 2a to form a motor unit 2, and the speed reducer 7 reduces the rotation speed of the motor 2a to a predetermined speed. The speed reducer 7 is, for example, a strain wave gearing speed reducer. The wave gear reducer has an elliptical wave generator on the outer circumference and elasticity in which a large number of external teeth are formed on the outer circumference and fitted to the wave generator so that the position where the wave generator is bent in the circumferential direction changes due to the rotation of the wave generator. It consists of a deformable flexspline and a circular spline with internal teeth on the outer peripheral side of the flexspline that fit into the external teeth of the flexspline. Then, the power is taken out and transmitted to the rotary output shaft which connects the flexspline as the rotary output.

減速機７に波動歯車減速機のようなバックラッシが極めて小さいものを使用することで、モータ２ａの正逆回転切り換えを頻繁に行って助力動作を行う時に、切り換え時の制御不能な領域をなくし、スムーズな操作感を実現できる。減速機７にて減速された不図示の回転出力軸はロードシーブ１３に連結され、ロードシーブ１３を連続的に正逆に回転させるものである。 By using a speed reducer 7 having an extremely small backlash such as a strain wave gearing speed reducer, it is possible to eliminate an uncontrollable area at the time of switching when the motor 2a is frequently switched between forward and reverse rotation to perform assisting operation. A smooth operation feeling can be realized. A rotary output shaft (not shown) decelerated by the speed reducer 7 is connected to the load sheave 13 to continuously rotate the load sheave 13 in the forward and reverse directions.

ロードシーブ１３は、回転出力軸からの駆動によって回転してリンクチェーン８の繰り出し、巻付けを行う。本実施形態ではロードシーブ１３は円筒フランジ状の外形をしていて、回転出力軸と繋がっている。リンクチェーン８が巻きつけられる位置はおおよそ吊り部材１６の鉛直下であって、荷役助力装置１の重心位置に近いところに設けられる。リンクチェーン８はロードシーブ１３に設けられたチェーンポケット１４に嵌入されておおよそ１８０度巻きつけられる。 The load sheave 13 is rotated by being driven from the rotary output shaft to unwind and wind the link chain 8. In the present embodiment, the load sheave 13 has a cylindrical flange-like outer shape and is connected to the rotary output shaft. The position where the link chain 8 is wound is approximately vertically below the suspension member 16 and is provided near the position of the center of gravity of the cargo handling assist device 1. The link chain 8 is fitted in a chain pocket 14 provided on the road sheave 13 and wound about 180 degrees.

回転角検出部４は、モータ部２の反負荷側にあって、モータ部２の回転角位置を検出して回転角信号を出力するもので、いわゆるエンコーダと呼ばれるものである。本実施形態ではモータ部２の反負荷側に設けたが、ロードシーブ１３や減速機７近傍に設けて減速後の回転角を検出しても良い。 The rotation angle detection unit 4 is located on the counterload side of the motor unit 2, detects the rotation angle position of the motor unit 2 and outputs a rotation angle signal, and is a so-called encoder. In the present embodiment, the motor unit 2 is provided on the opposite side of the load, but it may be provided near the load sheave 13 or the speed reducer 7 to detect the rotation angle after deceleration.

この荷役助力装置１を吊下げるための吊り部材１６には、軸１７を介してブラケット１８が回動自在に取り付けられている。そしてブラケット１８は略柱状の荷重変換器３と接続軸１９を介して接続され（図３参照）、さらに荷重変換器３は接続板５Ｒと第２の接続部３Ｒ、接続板５Ｌと第２の接続部３Ｌによってそれぞれ接続されている。 A bracket 18 is rotatably attached to the suspension member 16 for suspending the cargo handling assist device 1 via a shaft 17. The bracket 18 is connected to the substantially columnar load converter 3 via the connecting shaft 19 (see FIG. 3), and the load converter 3 is further connected to the connecting plate 5R and the second connecting portion 3R, and the connecting plate 5L and the second. They are connected by the connection unit 3L.

一方、ロードシーブ１３は略Ｕの字型をした担持板６に担持板固定爪６ａにて固定及び担持されている。担持板６の端部付近の向かい合う平面はおおよそ平行であり、接続板５Ｒ、５Ｌからその両端の一部を延伸して９０度に曲げた突起部分にボルトで固定されている。この担持板６と接続板５Ｒ、５Ｌを合わせて担持接続部と定義する。 On the other hand, the load sheave 13 is fixed and supported on the supporting plate 6 having a substantially U shape by the supporting plate fixing claws 6a. The planes facing each other near the ends of the supporting plates 6 are approximately parallel, and are fixed to the protruding portions of the connecting plates 5R and 5L by extending a part of both ends thereof and bending them at 90 degrees. The supporting plate 6 and the connecting plates 5R and 5L are collectively defined as a supported connecting portion.

図３は本発明の実施形態に係る荷役助力装置内の荷重変換器３周辺の詳細を示した斜視図である。 FIG. 3 is a perspective view showing details of the vicinity of the load transducer 3 in the cargo handling assist device according to the embodiment of the present invention.

ブラケット１８はこれを展開した時に延伸部が垂直な４方向に伸びる十字形状で、対向する１組みの平行な延伸部があって、対向するもう１組みの平行な延伸部は逆側へ折れ曲がっている。よってブラケット１８は軸１７によって、軸方向Ａａで回転方向がＲａにて吊り部材１６と相対的に回動するように接続されている。一方、ブラケット１８は荷重変換器３に挿通された接続軸１９によって、軸方向Ａｂで回転方向がＲｂにて荷重変換器３と相対的に回動するように接続されている。 The bracket 18 has a cross shape in which the stretched portion extends in four vertical directions when it is unfolded, and there is one set of parallel stretched portions facing each other, and the other pair of parallel stretched portions facing each other is bent to the opposite side. There is. Therefore, the bracket 18 is connected by the shaft 17 so as to rotate relative to the suspension member 16 in the axial direction Aa and in the rotation direction Ra. On the other hand, the bracket 18 is connected by a connecting shaft 19 inserted through the load converter 3 so as to rotate relative to the load converter 3 in the axial direction Ab and in the rotation direction Rb.

さらに荷重変換器３の両側から突き出た円柱突起を有する第２の接続部３Ｒと第２の接続部３Ｌの軸方向Ａｃを軸として接続板５Ｒ、５Ｌに設けられた穴が、第２の接続部３Ｒと第２の接続部３Ｌにそれぞれ係合して回転方向Ｒｃにて相対的に回動可能に接続されている。 Further, holes provided in the connecting plates 5R and 5L about the axial direction Ac of the second connecting portion 3R and the second connecting portion 3L having cylindrical protrusions protruding from both sides of the load converter 3 are the second connection. It is engaged with the portion 3R and the second connecting portion 3L, respectively, and is relatively rotatably connected in the rotation direction Rc.

図４は本発明の第１から第３の実施形態に係る荷重変換器３の共通な部分の詳細を示した斜視図である。 FIG. 4 is a perspective view showing details of common parts of the load transducer 3 according to the first to third embodiments of the present invention.

荷重変換器３は第１の鉛直面１０及び第１の鉛直面に垂直な第２の鉛直面１１に対して略面対称な形状で構成されている。そして吊り部材及び測定対象物にそれぞれ接続する接続部は、第１の接続部と第２の接続部を有した接続部からなる。 The load transducer 3 is configured to have a shape substantially symmetrical with respect to the first vertical plane 10 and the second vertical plane 11 perpendicular to the first vertical plane. The connecting portion connected to the hanging member and the object to be measured is composed of a connecting portion having a first connecting portion and a second connecting portion.

接続軸１９は、例えば中空の円筒状であり、中空内部にはネジが切られていて、ブラケット１８によって挟み込まれて両側からボルトで固定できるように構成されている。そしてこの接続軸１９を水平方向に挿通できる隙間のはめあい穴を有し、この接続軸１９の円筒外面と当接する部位すなわち第１の円柱面の周辺にて荷重変換器３に加わる荷重を支持してブラケット１８を介して吊り部材１６と接続する部分が第１の接続部３ａである。したがって第１の接続部３ａは接続軸１９の円筒外面に当接して支持されつつ接続軸１９の軸方向Ａｂを中心に回動する。接続軸１９は、これに限らず圧入されて荷重変換器３に固定して結合したものであってもよく、また面３ｃから延伸して突起として設けられた一体構造であっても良い。その際はこの接続軸１９はブラケット１８に対して回動可能な構造となる。すなわち第１の接続部３ａは水平面上の直線を軸線とする第１の円柱面を有する凹み（貫通穴、座繰り穴）若しくは突起を含んで吊り部材１６と回動自在で接続する部分周辺を指すものである。 The connecting shaft 19 has, for example, a hollow cylindrical shape, and is threaded inside the hollow so as to be sandwiched by brackets 18 and fixed with bolts from both sides. Then, it has a fitting hole with a gap through which the connecting shaft 19 can be inserted in the horizontal direction, and supports the load applied to the load converter 3 at a portion of the connecting shaft 19 in contact with the outer surface of the cylinder, that is, around the first cylindrical surface. The portion connected to the suspension member 16 via the bracket 18 is the first connecting portion 3a. Therefore, the first connecting portion 3a rotates about the axial direction Ab of the connecting shaft 19 while being abutted and supported by the outer surface of the cylinder of the connecting shaft 19. The connecting shaft 19 is not limited to this, and may be press-fitted and fixedly coupled to the load converter 3, or may have an integral structure extending from the surface 3c and provided as a protrusion. In that case, the connecting shaft 19 has a structure that is rotatable with respect to the bracket 18. That is, the first connecting portion 3a includes a recess (through hole, counterbore hole) or a protrusion having a first cylindrical surface whose axis is a straight line on the horizontal plane, and rotatably connects to the suspension member 16 around the portion. It points to.

一方、第１の接続部３ａから略水平方向に位置し、接続軸１９の軸方向Ａｂに直交する水平方向すなわち軸方向Ａｃを軸線とした第２の円柱面を有する円柱の突起が左右対称の形状にてそれぞれ設けられたものが、第２の接続部３Ｒと第２の接続部３Ｌである。第２の接続部３Ｒ及び第２の接続部３Ｌの円柱突起の軸線は同一であり、その円柱面の直径も同一である。そしてこの第２の接続部３Ｒ及び第２の接続部３Ｌに、ロードシーブ１３に加わる荷重が担持板６、さらに接続板５Ｒ、５Ｌを経て伝わることになる。接続板５Ｒ、接続板５Ｌにはこの第２の接続部３Ｒ及び第２の接続部３Ｌの円柱突起よりわずかに大きい隙間のはめあい穴が設けられて、この穴に第２の接続部３Ｒ及び第２の接続部３Ｌの円柱の突起が挿入されて、接続板５Ｒ、５Ｌは回動自在となる。なお、第２の接続部３Ｒ及び第２の接続部３Ｌは本実施形態では円柱の突起であるがこれに限らず、円柱型の凹みによるものであっても良い。その際は例えは接続板５Ｒ、５Ｌにカシメを行った段付き円柱状の軸がこの凹みに隙間を有して挿入される等の構成でも良い。すなわち第２の接続部３Ｒ及び第２の接続部３Ｌは円柱面を有する凹み（座繰り穴）若しくは突起を含んで接続板５Ｒ、５Ｌを介して担持板６と回動自在で接続する部分周辺を指すものである。 On the other hand, the protrusions of a cylinder located substantially horizontally from the first connecting portion 3a and having a second cylindrical surface having a horizontal direction, that is, an axial direction Ac as an axis perpendicular to the axial direction Ab of the connecting shaft 19, are symmetrical. The second connecting portion 3R and the second connecting portion 3L are provided in their respective shapes. The axes of the cylindrical protrusions of the second connecting portion 3R and the second connecting portion 3L are the same, and the diameter of the cylindrical surface is also the same. Then, the load applied to the load sheave 13 is transmitted to the second connecting portion 3R and the second connecting portion 3L via the supporting plate 6 and the connecting plates 5R and 5L. The connection plate 5R and the connection plate 5L are provided with a fitting hole having a gap slightly larger than the cylindrical protrusion of the second connection portion 3R and the second connection portion 3L, and the second connection portion 3R and the second connection portion 3R and the second connection portion 3L are provided with a fitting hole having a gap slightly larger than the cylindrical protrusion of the second connection portion 3L. The cylindrical protrusion of the connecting portion 3L of 2 is inserted, and the connecting plates 5R and 5L become rotatable. The second connecting portion 3R and the second connecting portion 3L are cylindrical protrusions in the present embodiment, but are not limited to these, and may be formed by a cylindrical recess. In that case, for example, a stepped columnar shaft crimped on the connecting plates 5R and 5L may be inserted with a gap in the recess. That is, the second connecting portion 3R and the second connecting portion 3L include recesses (counting holes) or protrusions having a cylindrical surface, and are rotatably connected to the supporting plate 6 via the connecting plates 5R and 5L. It refers to.

この第１の接続部３ａと第２の接続部３Ｒ及び第１の接続部３ａと第２の接続部３Ｌのそれぞれ中間位置に薄肉で小なる断面積にて設けられているのが、第２の接続部３Ｒと第２の接続部３Ｌからの荷重を受けて弾性変形する起歪部３ｂであって、第２の接続部３Ｒと第２の接続部３Ｌと同様に左右対称の形状である。詳細は後述するが、この起歪部３ｂには荷重検出手段が設けられている。そしてこの起歪部３ｂの一部の開口を塞いで荷重検出手段を外部から遮断するのが封止部材９であり、外部から水や油等の侵入を防止するものである。封止部材９はＯリングと蓋状の部材からなり、Ｏリングが起歪部３ｂの側壁面を全周に渡って密着して荷重検出手段を外部から遮断している。 The second connection portion 3a and the second connection portion 3R and the first connection portion 3a and the second connection portion 3L are provided at intermediate positions with a thin and small cross-sectional area. It is a strain-causing portion 3b that elastically deforms by receiving a load from the connecting portion 3R and the second connecting portion 3L, and has a symmetrical shape like the second connecting portion 3R and the second connecting portion 3L. .. Although the details will be described later, a load detecting means is provided in the strain generating portion 3b. The sealing member 9 closes a part of the opening of the strain generating portion 3b to block the load detecting means from the outside, and prevents water, oil, or the like from entering from the outside. The sealing member 9 is composed of an O-ring and a lid-shaped member, and the O-ring is in close contact with the side wall surface of the strain-causing portion 3b over the entire circumference to shield the load detecting means from the outside.

図５は本発明の第１の実施形態に係る荷重変換器３の正面図（ａ）、Ｓ１-Ｓ１断面図（ｂ）、背面図（ｃ）であり、封止部材９を省略して表した模式図である。第１の実施形態における起歪部３ｂは円柱面を有する同一形状の複数の座繰り穴部であって、座繰り穴部の直径寸法及び深さ（面３ｃから座繰り穴部の底面３ｅまでの距離、面３ｄから座繰り穴部の底面３ｆまでの距離）の寸法は全て同一である。そしてこの座繰り穴部の凹み方向は面３ｃ及び面３ｄから互いに反対向きで配置されている。 5A and 5B are a front view (a), a cross-sectional view (b), and a rear view (c) of the load transducer 3 according to the first embodiment of the present invention, and the sealing member 9 is omitted. It is a schematic diagram. The strain-causing portion 3b in the first embodiment is a plurality of counterbore holes having the same shape having a cylindrical surface, and has a diameter dimension and a depth (from the surface 3c to the bottom surface 3e of the counterbore hole portion). The dimensions (distance from the surface 3d to the bottom surface 3f of the counterbore) are all the same. The counterbore holes are arranged in opposite directions from the surfaces 3c and 3d.

起歪部３ｂの座繰り穴部の底面３ｅと座繰り穴部の底面３ｆの中央部それぞれには、荷重検出手段ＧＳｔ１〜ＧＳｔ４、ＧＳｃ１〜ＧＳｃ４が設けられており、本実施形態ではこれらは剪断型の歪みゲージである。そして荷重検出手段ＧＳｔ１と荷重検出手段ＧＳｃ１は同じベース材上に形成されて一体となっているものであって、それぞれの歪みに対する最大感度の方向が９０度をなすように配置されている。すなわち図５（ａ）において、荷重検出手段ＧＳｔ１は鉛直上方向をＹ軸正の方向とする直交座標系上でプラス４５度のＮ方向に最大感度を有し、荷重検出手段ＧＳｃ１はマイナス４５度のＭ方向に最大感度を有しており両者の角度差は９０度である。もちろん荷重検出手段ＧＳｔ２と荷重検出手段ＧＳｃ２、荷重検出手段ＧＳｔ３と荷重検出手段ＧＳｃ３、荷重検出手段ＧＳｔ４と荷重検出手段ＧＳｃ４もそれぞれ同様に一体形成されたものである。 Load detecting means GSt1 to GSt4 and GSc1 to GSc4 are provided at the center of the bottom surface 3e of the counterbore hole portion and the bottom surface 3f of the counterbore hole portion of the strain generating portion 3b, respectively. In the present embodiment, these are sheared. It is a type strain gauge. The load detecting means GSt1 and the load detecting means GSc1 are formed on the same base material and integrated, and are arranged so that the direction of the maximum sensitivity to each strain is 90 degrees. That is, in FIG. 5A, the load detecting means GSt1 has the maximum sensitivity in the N direction of plus 45 degrees on the Cartesian coordinate system in which the vertically upward direction is the positive direction of the Y axis, and the load detecting means GSc1 has a minus 45 degrees. It has the maximum sensitivity in the M direction, and the angle difference between the two is 90 degrees. Of course, the load detecting means GSt2 and the load detecting means GSc2, the load detecting means GSt3 and the load detecting means GSc3, and the load detecting means GSt4 and the load detecting means GSc4 are also integrally formed in the same manner.

そして荷重検出手段ＧＳｔ１の裏側には荷重検出手段ＧＳｔ４、荷重検出手段ＧＳｃ１の裏側には荷重検出手段ＧＳｃ４、荷重検出手段ＧＳｔ２の裏側には荷重検出手段ＧＳｔ３、荷重検出手段ＧＳｃ２の裏側には荷重検出手段ＧＳｃ３（図５（ｂ）参照）という配置となっている。これらの荷重検出手段から引き出される配線は、不図示の穴等を通してまとめられ最終的に引出ケーブル３ｈにて制御回路部２０へ繋がっている。 The load detecting means GSt4 is on the back side of the load detecting means GSt1, the load detecting means GSc4 is on the back side of the load detecting means GSc1, the load detecting means GSt3 is on the back side of the load detecting means GSt2, and the load is detected on the back side of the load detecting means GSc2. The arrangement is as means GSc3 (see FIG. 5B). The wiring drawn out from these load detecting means is put together through a hole (not shown) or the like, and finally connected to the control circuit unit 20 by a drawing cable 3h.

この構成で第２の接続部３Ｒと第２の接続部３Ｌの両側に測定対象物であるロードシーブ１３に加わる荷重Ｗが導入されると、第１の接続部３ａには荷重Ｐが加わり、起歪部３ｂは鉛直上下方向に剪断力を受けて弾性変形することになる。したがって荷重検出手段ＧＳｔ１〜ＧＳｔ４、ＧＳｃ１〜ＧＳｃ４によって剪断荷重が検出され、第２の接続部３Ｒと第２の接続部３Ｌに加わる荷重を検出することができる。この時、荷重変換器３は、第２の接続部３Ｒ及び第２の接続部３Ｌによって接続板５Ｒ及び接続板５Ｌと相対的に回動することができ、一方で接続軸１９によってブラケット１８と相対的に回動することができる。ゆえに荷重変換器３はリンクチェーン８を斜めに引いた際にも、鉛直下向き荷重を正確に検出することができる。 In this configuration, when the load W applied to the load shear 13 which is the measurement target is introduced on both sides of the second connecting portion 3R and the second connecting portion 3L, the load P is applied to the first connecting portion 3a. The strain-causing portion 3b receives a shearing force in the vertical vertical direction and is elastically deformed. Therefore, the shear load is detected by the load detecting means GSt1 to GSt4 and GSc1 to GSc4, and the load applied to the second connecting portion 3R and the second connecting portion 3L can be detected. At this time, the load converter 3 can be rotated relative to the connecting plate 5R and the connecting plate 5L by the second connecting portion 3R and the second connecting portion 3L, while the connecting shaft 19 and the bracket 18 It can rotate relatively. Therefore, the load transducer 3 can accurately detect the vertically downward load even when the link chain 8 is pulled diagonally.

図６は第１の実施形態における荷重検出手段ＧＳｔ１〜ＧＳｔ４、ＧＳｃ１〜ＧＳｃ４を含んだホイートストンブリッジ回路図である。荷重検出手段ＧＳｔ１と荷重検出手段ＧＳｔ４、荷重検出手段ＧＳｔ２と荷重検出手段ＧＳｔ３は引張り荷重の検出であって、それぞれ直列に組まれて配置され、直列に組まれた荷重検出手段ＧＳｔ１と荷重検出手段ＧＳｔ４の和と、荷重検出手段ＧＳｔ２と荷重検出手段ＧＳｔ３の和は、ホイートストンブリッジでは向かい合う辺として配置される。一方で荷重検出手段ＧＳｃ１と荷重検出手段ＧＳｃ４、荷重検出手段ＧＳｃ２と荷重検出手段ＧＳｃ３は圧縮荷重の検出であって、それぞれ直列に組まれて配置され、直列に組まれた荷重検出手段ＧＳｃ１と荷重検出手段ＧＳｃ４の和と、荷重検出手段ＧＳｃ２と荷重検出手段ＧＳｃ３の和は、ホイートストンブリッジでは向かい合う辺として配置される。そして電源Ｅを端子Ｔ１−Ｔ３間に印加すると、端子Ｔ２−Ｔ４間に出力Ｓ＋、Ｓ−が電気信号である電圧に変換されて出力される。制御回路部２０が、この出力電圧を増幅及びデジタル変換して数値化し、これから演算して荷重を求める。 FIG. 6 is a Wheatstone bridge circuit diagram including the load detecting means GSt1 to GSt4 and GSc1 to GSc4 in the first embodiment. The load detecting means GSt1 and the load detecting means GSt4, the load detecting means GSt2 and the load detecting means GSt3 are for detecting the tensile load, and they are arranged in series, respectively, and the load detecting means GSt1 and the load detecting means are assembled in series. The sum of GSt4 and the sum of the load detecting means GSt2 and the load detecting means GSt3 are arranged as opposite sides in the Wheatstone bridge. On the other hand, the load detecting means GSc1 and the load detecting means GSc4, the load detecting means GSc2 and the load detecting means GSc3 are for detecting the compressive load, and they are arranged in series, respectively, and the load detecting means GSc1 and the load are assembled in series. The sum of the detecting means GSc4 and the sum of the load detecting means GSc2 and the load detecting means GSc3 are arranged as opposite sides in the Wheatstone bridge. When the power supply E is applied between the terminals T1-T3, the outputs S + and S- are converted into voltages which are electric signals and output between the terminals T2-T4. The control circuit unit 20 amplifies and digitally converts this output voltage into a numerical value, and calculates the load from this.

第１の実施形態における荷重検出手段ＧＳｔ１〜ＧＳｔ４、ＧＳｃ１〜ＧＳｃ４は８個の歪みゲージで構成されて１辺の抵抗値が高くなるので、電源Ｅの電圧を高くすることができて出力Ｓ＋、Ｓ−を大きくすることができる。また荷重変換器３の捻れに関しても荷重検出手段ＧＳｔ１〜ＧＳｔ４、ＧＳｃ１〜ＧＳｃ４によってキャンセルことができるという利点がある。 Since the load detecting means GSt1 to GSt4 and GSc1 to GSc4 in the first embodiment are composed of eight strain gauges and have a high resistance value on one side, the voltage of the power supply E can be increased and the output S +, S- can be increased. Further, there is an advantage that the twist of the load converter 3 can be canceled by the load detecting means GSt1 to GSt4 and GSc1 to GSc4.

以上の構成にて、荷役用フック１５に荷役物が吊るされると、荷役物の重量によってリンクチェーン８が引っ張られるため、荷役用フック１５、リンクチェーン８、ロードシーブ１３、担持板６、接続板５Ｒと接続板５Ｌを介して荷重変換器３の第２の接続部３Ｒと第２の接続部３Ｌが下方に引張られ、荷重変換器３の起歪部３ｂが変形する。そしてロードシーブ１３に加わる荷重を起歪部３ｂの変形量として起歪部３ｂに設けられた荷重検出手段にて検出した荷重信号と、回転角検出部４にて検出した回転角信号を制御回路部２０は受信してさらにこれを基に演算して、荷役物がバランスするようにモータ部２に対して助力する制御を行う。もちろん人手によって荷役物にわずかな外力を印加して上下動させつつバランスするような動作を行うことも可能である。 With the above configuration, when the cargo handling object is hung on the cargo handling hook 15, the link chain 8 is pulled by the weight of the cargo handling object. Therefore, the cargo handling hook 15, the link chain 8, the load sheave 13, the supporting plate 6, and the connecting plate The second connecting portion 3R and the second connecting portion 3L of the load converter 3 are pulled downward via the 5R and the connecting plate 5L, and the strain generating portion 3b of the load converter 3 is deformed. Then, the load applied to the load sheave 13 is used as the deformation amount of the strain generating portion 3b, and the load signal detected by the load detecting means provided in the strain generating portion 3b and the rotation angle signal detected by the rotation angle detecting unit 4 are controlled by the control circuit. The unit 20 receives and further calculates based on this, and controls the motor unit 2 to assist the cargo handling object so as to balance it. Of course, it is also possible to manually apply a slight external force to the cargo handling object to move it up and down while performing a balancing operation.

図７は本発明の第２の実施形態に係る荷重変換器３の正面図（ａ）、Ｓ２-Ｓ２断面図（ｂ）、背面図（ｃ）であり、封止部材９を省略して表した模式図である。第１の実施形態と同様に起歪部３ｂは円柱面を有する複数の座繰り穴部であって、座繰り穴部の直径寸法及び深さ（面３ｃから座繰り穴部の底面３ｅまでの距離、面３ｄから座繰り穴部の底面３ｆまでの距離）の寸法は全て同一である。 7A and 7B are a front view (a), a cross-sectional view (b), and a rear view (c) of the load transducer 3 according to the second embodiment of the present invention, and the sealing member 9 is omitted. It is a schematic diagram. Similar to the first embodiment, the strain generating portion 3b is a plurality of counterbore holes having a cylindrical surface, and the diameter dimension and depth of the counterbore portion (from the surface 3c to the bottom surface 3e of the counterbore hole portion). The dimensions of the distance and the distance from the surface 3d to the bottom surface 3f of the counterbore are all the same.

起歪部３ｂの座繰り穴部の底面３ｅと座繰り穴部の底面３ｆの中央部それぞれには、荷重検出手段ＧＳｔ２と荷重検出手段ＧＳｔ４、荷重検出手段ＧＳｃ２と荷重検出手段ＧＳｃ４が設けられており、第２の実施形態ではこれらは剪断型の歪みゲージである。そして荷重検出手段ＧＳｔ２と荷重検出手段ＧＳｃ２は同じベース材上に形成されて一体となっているものであって、それぞれの歪みに対する感度の方向が９０度をなすように配置されている。すなわち図７（ａ）において、荷重検出手段ＧＳｃ２は鉛直上方向をＹ軸正の方向とする直交座標系上でプラス４５度のＮ方向に最大感度を有し、荷重検出手段ＧＳｔ２はマイナス４５度のＭ方向に最大感度を有しており両者の角度差は９０度である。もちろん荷重検出手段ＧＳｔ４と荷重検出手段ＧＳｃ４も同様に一体形成されたものである。 Load detecting means GSt2 and load detecting means GSt4, load detecting means GSc2 and load detecting means GSc4 are provided on the bottom surface 3e of the counterbore hole portion of the strain generating portion 3b and the center portion of the bottom surface 3f of the counterbore hole portion, respectively. And in the second embodiment, these are shear type strain gauges. The load detecting means GSt2 and the load detecting means GSc2 are formed on the same base material and integrated, and are arranged so that the direction of sensitivity to each strain is 90 degrees. That is, in FIG. 7A, the load detecting means GSc2 has the maximum sensitivity in the N direction of plus 45 degrees on the Cartesian coordinate system in which the vertically upward direction is the positive direction of the Y axis, and the load detecting means GSt2 has a minus 45 degrees. It has the maximum sensitivity in the M direction, and the angle difference between the two is 90 degrees. Of course, the load detecting means GSt4 and the load detecting means GSc4 are also integrally formed in the same manner.

第２の実施形態は第１の実施形態における荷重検出手段ＧＳｔ１と荷重検出手段ＧＳｔ３、荷重検出手段ＧＳｃ１と荷重検出手段ＧＳｃ３を省いて、添着工程及び配線工程の簡素化を図ったものである。 The second embodiment omits the load detecting means GSt1 and the load detecting means GSt3 and the load detecting means GSc1 and the load detecting means GSc3 in the first embodiment to simplify the attachment process and the wiring process.

図８は第２の実施形態における荷重検出手段ＧＳｔ２、荷重検出手段ＧＳｔ４、荷重検出手段ＧＳｃ２及び荷重検出手段ＧＳｃ４を含んだホイートストンブリッジ回路図である。荷重検出手段ＧＳｔ２と荷重検出手段ＧＳｔ４は引張り荷重の検出であって、ホイートストンブリッジでは向かい合う辺として配置される。一方で荷重検出手段ＧＳｃ２と荷重検出手段ＧＳｃ４は圧縮荷重の検出であって、ホイートストンブリッジでは向かい合う辺として配置される。そして電源Ｅを端子Ｔ１−Ｔ３間に印加すると、端子Ｔ２−Ｔ４間に出力Ｓ＋、Ｓ−が電気信号である電圧に変換されて出力される。制御回路部２０が、この出力電圧を増幅及びデジタル変換して数値化し、これから演算して荷重を求める。 FIG. 8 is a Wheatstone bridge circuit diagram including the load detecting means GSt2, the load detecting means GSt4, the load detecting means GSc2, and the load detecting means GSc4 in the second embodiment. The load detecting means GSt2 and the load detecting means GSt4 are for detecting the tensile load, and are arranged as opposite sides in the Wheatstone bridge. On the other hand, the load detecting means GSc2 and the load detecting means GSc4 detect the compressive load, and are arranged as opposite sides in the Wheatstone bridge. When the power supply E is applied between the terminals T1-T3, the outputs S + and S- are converted into voltages which are electric signals and output between the terminals T2-T4. The control circuit unit 20 amplifies and digitally converts this output voltage into a numerical value, and calculates the load from this.

図９は本発明の第３の実施形態に係る荷重変換器３の正面図（ａ）、Ｓ３-Ｓ３断面図（ｂ）、背面図（ｃ）であり、封止部材９を省略して表した模式図である。第１の実施形態と同様に起歪部３ｂは円柱面を有する複数の座繰り穴部であって、座繰り穴部の直径寸法及び深さ（面３ｃから座繰り穴部の底面３ｅまでの距離、面３ｄから座繰り穴部の底面３ｆまでの距離）の寸法は全て同一である。 9A and 9B are a front view (a), a cross-sectional view (b), and a rear view (c) of the load transducer 3 according to the third embodiment of the present invention, and the sealing member 9 is omitted. It is a schematic diagram. Similar to the first embodiment, the strain generating portion 3b is a plurality of counterbore holes having a cylindrical surface, and the diameter dimension and depth of the counterbore portion (from the surface 3c to the bottom surface 3e of the counterbore hole portion). The dimensions of the distance and the distance from the surface 3d to the bottom surface 3f of the counterbore are all the same.

起歪部３ｂの座繰り穴部の底面３ｅと座繰り穴部の底面３ｆの中央部それぞれには、荷重検出手段ＧＳＳｃ１、荷重検出手段ＧＳＳｃ３、荷重検出手段ＧＳＳｔ２及び荷重検出手段ＧＳＳｔ４が設けられており、本実施形態ではこれらは剪断型の単軸歪みゲージである。図９（ａ）と図９（ｃ）に示すように、荷重検出手段ＧＳＳｃ１、荷重検出手段ＧＳＳｃ３、荷重検出手段ＧＳＳｔ２及び荷重検出手段ＧＳＳｔ４は鉛直上方向をＹ軸正の方向とする直交座標系上でマイナス４５度のＮ方向に最大感度を有する。そして、荷重検出手段ＧＳＳｃ１と荷重検出手段ＧＳＳｃ３は圧縮荷重を検出し、荷重検出手段ＧＳＳｔ２と荷重検出手段ＧＳＳｔ４は引張り荷重を検出するように配置されている。第３の実施形態は、剪断型の単軸歪みゲージ１種類で実現できるのでコスト的に有利な面がある。 A load detecting means GSSc1, a load detecting means GSSc3, a load detecting means GSSt2, and a load detecting means GSSt4 are provided at the center of the bottom surface 3e of the counterbore hole portion of the strain generating portion 3b and the bottom surface 3f of the counterbore hole portion, respectively. In this embodiment, these are shear type uniaxial strain gauges. As shown in FIGS. 9A and 9C, the load detecting means GSSc1, the load detecting means GSSc3, the load detecting means GSSt2, and the load detecting means GSSt4 are Cartesian coordinate systems in which the vertically upward direction is the positive direction of the Y axis. It has the maximum sensitivity in the N direction of minus 45 degrees above. The load detecting means GSSc1 and the load detecting means GSSc3 detect the compressive load, and the load detecting means GSSt2 and the load detecting means GSSt4 are arranged so as to detect the tensile load. The third embodiment can be realized by one type of shearing type uniaxial strain gauge, which is advantageous in terms of cost.

図１０は第３の実施形態における荷重検出手段ＧＳＳｃ１、荷重検出手段ＧＳＳｔ２、荷重検出手段ＧＳＳｃ３及び荷重検出手段ＧＳＳｔ４を含んだホイートストンブリッジ回路図である。荷重検出手段ＧＳＳｔ２と荷重検出手段ＧＳＳｔ４は引張り荷重の検出であって、ホイートストンブリッジでは向かい合う辺として配置される。一方で荷重検出手段ＧＳＳｃ１と荷重検出手段ＧＳＳｃ３は圧縮荷重の検出であって、ホイートストンブリッジでは向かい合う辺として配置される。そして電源Ｅを端子Ｔ１−Ｔ３間に印加すると、端子Ｔ２−Ｔ４間に出力Ｓ＋、Ｓ−が電気信号である電圧として出力される。制御回路部２０が、この出力電圧を増幅及びデジタル変換して数値化し、これから演算して荷重を求める。 FIG. 10 is a Wheatstone bridge circuit diagram including the load detecting means GSSc1, the load detecting means GSSt2, the load detecting means GSSc3, and the load detecting means GSSt4 in the third embodiment. The load detecting means GSSt2 and the load detecting means GSSt4 are for detecting the tensile load, and are arranged as opposite sides in the Wheatstone bridge. On the other hand, the load detecting means GSSc1 and the load detecting means GSSc3 detect the compressive load, and are arranged as opposite sides in the Wheatstone bridge. When the power supply E is applied between the terminals T1-T3, the outputs S + and S- are output as voltages which are electric signals between the terminals T2-T4. The control circuit unit 20 amplifies and digitally converts this output voltage into a numerical value, and calculates the load from this.

以上の第１から第３の実施形態による荷重変換器３によれば、起歪部３ｂが対向する両側からの座繰り穴部で形成されていることから、座繰り穴部の底面３ｅと座繰り穴部の底面３ｆで挟まれた部分が隔壁となって荷重変換器３の剛性を高めることができる。またこの座繰り穴部の底面３ｅ及び座繰り穴部の底面３ｆに荷重検出手段である歪みゲージを添着することは単純な治工具を使うことで容易であり、作業の効率化を図ることができる。 According to the load transducer 3 according to the first to third embodiments described above, since the strain generating portion 3b is formed by counterbore holes from both sides facing each other, the bottom surface 3e of the counterbore and the seat are seated. The portion sandwiched between the bottom surface 3f of the hole portion serves as a partition wall, and the rigidity of the load converter 3 can be increased. Further, it is easy to attach a strain gauge, which is a load detecting means, to the bottom surface 3e of the counterbore hole portion and the bottom surface 3f of the counterbore hole portion by using a simple jig, and it is possible to improve work efficiency. it can.

図１１は本発明の第４の実施形態に係る荷重変換器３の正面図（ａ）、Ｓ４-Ｓ４断面図（ｂ）であり封止部材９を省略して表した模式図である。第４の実施形態では起歪部３ｂは角穴による貫通部３ｇによって第１の鉛直面１０及び第２の鉛直面１１に面対称にて構成されている。 FIG. 11 is a front view (a) and a sectional view (b) of S4-S4 of the load transducer 3 according to the fourth embodiment of the present invention, and is a schematic view showing the sealing member 9 omitted. In the fourth embodiment, the strain generating portion 3b is formed symmetrically with respect to the first vertical plane 10 and the second vertical plane 11 by the penetrating portion 3g formed by the square hole.

そして貫通部３ｇの内壁面には荷重検出手段Ｇｃ１〜Ｇｃ４、荷重検出手段Ｇｔ１〜Ｇｔ４が添着されている。荷重検出手段Ｇｃ１〜Ｇｃ４、荷重検出手段Ｇｔ１〜Ｇｔ４はいずれも歪みゲージであって、方向Ｘに最大感度を有する向きで整列されて、面３ｃと面３ｄの中間位置に配置されている。 The load detecting means Gc1 to Gc4 and the load detecting means Gt1 to Gt4 are attached to the inner wall surface of the penetrating portion 3g. The load detecting means Gc1 to Gc4 and the load detecting means Gt1 to Gt4 are strain gauges, are aligned in the direction having the maximum sensitivity in the direction X, and are arranged at an intermediate position between the surfaces 3c and 3d.

第２の接続部３Ｒと第２の接続部３Ｌに荷重Ｗが導入されると、起歪部３ｂは弾性変形して、貫通部３ｇの内壁面では荷重検出手段Ｇｃ１〜Ｇｃ４付近は圧縮荷重、荷重検出手段Ｇｔ１〜Ｇｔ４付近には引張り荷重がそれぞれ働くことになる。 When a load W is introduced into the second connecting portion 3R and the second connecting portion 3L, the strain-causing portion 3b is elastically deformed, and on the inner wall surface of the penetrating portion 3g, the load detecting means Gc1 to Gc4 are compressed. A tensile load acts in the vicinity of the load detecting means Gt1 to Gt4, respectively.

図１２は第４の実施形態における荷重検出手段Ｇｃ１〜Ｇｃ４、荷重検出手段Ｇｔ１〜Ｇｔ４を含んだホイートストンブリッジ回路図である。起歪部３ｂの弾性変形の特性から、直列に組まれた荷重検出手段Ｇｃ１と荷重検出手段Ｇｃ２の和と、荷重検出手段Ｇｃ３と荷重検出手段Ｇｃ４の和は向かい合う辺となり、荷重検出手段Ｇｔ１と荷重検出手段Ｇｔ２の和と、荷重検出手段Ｇｔ３と荷重検出手段Ｇｔ４の和とは向かい合う辺となる。そして電源Ｅを端子Ｔ１−Ｔ３間に印加すると、端子Ｔ２−Ｔ４間に出力Ｓ＋、Ｓ−が電気信号である電圧として出力される。制御回路部２０が、この出力電圧を増幅及びデジタル変換して数値化し、これから演算して荷重を求める。 FIG. 12 is a Wheatstone bridge circuit diagram including the load detecting means Gc1 to Gc4 and the load detecting means Gt1 to Gt4 according to the fourth embodiment. Due to the characteristics of elastic deformation of the strain generating portion 3b, the sum of the load detecting means Gc1 and the load detecting means Gc2 assembled in series and the sum of the load detecting means Gc3 and the load detecting means Gc4 are opposite sides, and the load detecting means Gt1 and The sum of the load detecting means Gt2 and the sum of the load detecting means Gt3 and the load detecting means Gt4 are opposite sides. When the power supply E is applied between the terminals T1-T3, the outputs S + and S- are output as voltages which are electric signals between the terminals T2-T4. The control circuit unit 20 amplifies and digitally converts this output voltage into a numerical value, and calculates the load from this.

第４の実施形態に係る荷重変換器３によれば、起歪部３ｂが貫通した形状であることから、荷重変換器３の加工が容易であって、また汎用の荷重検出手段である歪みゲージを使用できることから、安価な荷重変換器を提供できる。 According to the load transducer 3 according to the fourth embodiment, since the strain generating portion 3b has a penetrating shape, the load transducer 3 can be easily machined, and the strain gauge is a general-purpose load detecting means. Therefore, an inexpensive load transducer can be provided.

さらに第１から第４の実施形態に係る荷重変換器３によれば、第１の接続部３ａの鉛直上側の肉厚が、第１の接続部３ａの鉛直下側の肉厚よりも大きくなるように第１の接続部３ａと起歪部３ｂを設けているので第１の接続部３ａの上側に剛性の高い領域が存在する。したがって急激に過大な荷重が第２の接続部３Ｒと第２の接続部３Ｌに加わった時でも荷重変換器３が破壊に至りにくいものとなっていて、安全面を考慮した荷重変換器３及びこれを用いた荷役助力装置１が実現できる。 Further, according to the load transducer 3 according to the first to fourth embodiments, the wall thickness on the vertically upper side of the first connecting portion 3a is larger than the wall thickness on the vertically lower side of the first connecting portion 3a. Since the first connecting portion 3a and the strain generating portion 3b are provided as described above, a region having high rigidity exists above the first connecting portion 3a. Therefore, even when an excessive load is suddenly applied to the second connection portion 3R and the second connection portion 3L, the load converter 3 is less likely to be destroyed, and the load converter 3 and the load converter 3 in consideration of safety are considered. A cargo handling assisting device 1 using this can be realized.

また第１から第４の実施形態に係る荷重変換器３では、吊り部材１６が第１の接続部３ａに接続され、測定対象物であるロードシーブ１３が第２の接続部３Ｒ、３Ｌに接続されているが、これを逆にして吊り部材１６が第２の接続部３Ｒ、３Ｌに接続され、測定対象物であるロードシーブ１３が第１の接続部３ａに接続される構造であっても良い。 Further, in the load transducer 3 according to the first to fourth embodiments, the suspension member 16 is connected to the first connecting portion 3a, and the load sheave 13 which is the measurement target is connected to the second connecting portions 3R and 3L. However, even if the suspension member 16 is connected to the second connecting portions 3R and 3L by reversing this, and the load sheave 13 which is the object to be measured is connected to the first connecting portion 3a. good.

以上、本発明を好ましい実施形態に基づいて説明したが、本発明は上述した実施形態に限定されるものではなく、その要旨を逸脱しない範囲で種々の変更が可能である。 Although the present invention has been described above based on the preferred embodiments, the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the gist thereof.

本発明の活用例として、荷役物を吊下げて昇降動作により搬送や組立て作業を行う荷役助力装置への適用が可能である。 As an example of utilization of the present invention, it can be applied to a cargo handling assisting device in which a cargo handling object is suspended and transported or assembled by an elevating operation.

１：荷役助力装置
２：モータ部
２ａ：モータ
３：荷重変換器
３ａ：第１の接続部
３ｂ：起歪部
３ｃ：面
３ｄ：面
３ｅ：座繰り穴部の底面
３ｆ：座繰り穴部の底面
３ｇ：貫通部
３ｈ：引出ケーブル
３ｐ：第２の接続部
３Ｌ、３Ｒ：第２の接続部
４：回転角検出部
５Ｌ、５Ｒ：接続板
６：担持板
６ａ：担持板固定爪
７：減速機
８：リンクチェーン
９：封止部材
１０：第１の鉛直面
１１：第２の鉛直面
１３：ロードシーブ
１４：チェーンポケット
１５：荷役用フック
１６：吊り部材
１７：軸
１８：ブラケット
１９：接続軸（突起）
２０：制御回路部
２１：カバー
２２：制御回路部カバー
２５：操作部
２６：リンクチェーン収納部
Ｇ：荷重検出手段
1: Cargo handling assist device 2: Motor part 2a: Motor 3: Load converter 3a: First connection part 3b: Distortion part 3c: Surface 3d: Surface 3e: Bottom surface of counterbore hole 3f: Counterbore hole Bottom surface 3g: Penetration part 3h: Drawer cable 3p: Second connection part 3L, 3R: Second connection part 4: Rotation angle detection part 5L, 5R: Connection plate 6: Support plate 6a: Support plate fixing claw 7: Deceleration Machine 8: Link chain 9: Sealing member 10: First vertical face 11: Second vertical face 13: Road sheave 14: Chain pocket 15: Cargo handling hook 16: Hanging member 17: Axis 18: Bracket 19: Connection Shaft (protrusion)
20: Control circuit unit 21: Cover 22: Control circuit unit cover
25: Operation unit 26: Link chain storage unit G: Load detecting means

Claims

It is a cargo handling assisting device that is suspended from a hanging member and assists the lifting operation of the cargo handling object.
A load transducer rotatably connected to the suspension member,
A link chain in which an oval ring consisting of a semi-arc portion and a straight portion connected to the semi-arc portion is alternately connected, and one end is connected to the cargo handling object.
The road sheave around which the link chain is wound and
The motor unit that rotates the road sheave and
A carrier connection portion that carries the load sheave and rotatably connects to the load transducer,
A rotation angle detection unit that detects at least one rotation angle of the load sheave and the motor unit and outputs a rotation angle signal.
A control circuit unit that controls the rotation of the motor unit and
With
The load converter has a connecting portion that is arranged between the suspension member and the measurement object and connects to the suspension member and the measurement object, respectively, and is substantially plane-symmetrical to the first vertical plane and the first. The vertical downward load received from the measurement object is detected with a shape substantially symmetrical to the second vertical plane perpendicular to the vertical plane of 1.
The connection part
A first connecting portion that rotatably connects to the suspension member including a recess or protrusion having a first cylindrical surface having a straight line on a horizontal plane as an axis.
The object to be measured includes a recess or a protrusion having a second cylindrical surface located substantially horizontally with respect to the first connecting portion and having a straight line orthogonal to the axial direction of the first cylindrical surface as an axis. Has a second connecting portion that rotatably connects to and
Further, the load transducer is
A strain-causing portion having a thin and small cross-sectional area at an intermediate position between the first connecting portion and the second connecting portion and elastically deformed by a load transmitted from the second connecting portion.
There is a load detecting means provided in the strain-causing portion to detect and output the load of the measurement object applied to the first connecting portion or the second connecting portion from the deformation amount of the strain-causing portion. Then, the load applied to the load sheave is detected, converted into a load signal, and output.
The control circuit unit receives and calculates the load signal and the rotation angle signal, and controls the assist for vertical movement of the cargo handling object by the motor unit.

The cargo handling assisting device according to claim 1, wherein the wall thickness on the vertically upper side of the first connecting portion is provided to be larger than the wall thickness on the vertically lower side of the first connecting portion.

The strain-causing portion has a penetrating portion and has a penetrating portion.
The cargo handling assisting device according to claim 1 or 2, wherein the load detecting means is provided on the wall surface of the penetrating portion.

The cargo handling assisting device according to claim 3, wherein the load detecting means is blocked from the outside by a sealing member that closes the side wall surface of the penetrating portion over the entire circumference.

The strain generating portion has a plurality of counterbore portions of the same shape arranged in opposite directions with each other.
The cargo handling assisting device according to claim 1 or 2, wherein the load detecting means is provided on the bottom surface of the counterbore.

The cargo handling assisting device according to claim 5, wherein the load detecting means is blocked from the outside by a sealing member that closes the side wall surface of the counterbore hole portion over the entire circumference.