JP6996908B2 - Suspended support of cargo carrier - Google Patents

Suspended support of cargo carrier Download PDF

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JP6996908B2
JP6996908B2 JP2017162913A JP2017162913A JP6996908B2 JP 6996908 B2 JP6996908 B2 JP 6996908B2 JP 2017162913 A JP2017162913 A JP 2017162913A JP 2017162913 A JP2017162913 A JP 2017162913A JP 6996908 B2 JP6996908 B2 JP 6996908B2
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hook
hanging support
cargo handling
attached
hand
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JP2019038669A (en
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和樹 下村
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アイコクアルファ株式会社
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Description

本発明は、手で荷役物を把持し、力センサーを備えた手付近に装着した吊下げ支持部を吊上げ、作業者の手に装着された力センサーの電気信号の増減に応じて荷役物を昇降させる荷役物運搬機の吊下げ支持部に関するものである。 In the present invention, the cargo handling object is gripped by hand, the hanging support portion mounted near the hand equipped with the force sensor is lifted, and the cargo handling object is lifted according to the increase or decrease of the electric signal of the force sensor mounted on the worker's hand. It relates to a hanging support part of a cargo handling machine to be raised and lowered.

従来技術を説明する。従来は、手にハンド部を装着していたので、「ハンド部」と記載していた。本発明では、ハンド部は手に装着していないので、「吊下げ支持部」としているが、昇降部から吊下げている点では、ハンド部は吊下げ支持部の一種である。 The prior art will be described. In the past, since the hand part was attached to the hand, it was described as "hand part". In the present invention, since the hand portion is not attached to the hand, it is referred to as a "hanging support portion", but the hand portion is a kind of hanging support portion in that it is suspended from the elevating portion.

引用文献１は、ハンド部を手に装着しており、例えば、荷役物を把持し、段ボールに、段ボールサイズに近い荷役物を入れようとすると、ハンド部の環部（右手用及び左手用）が段ボールの入り口に引っ掛かり、作業しづらいという不具合点があった。 In Cited Document 1, the hand portion is attached to the hand, and for example, when a cargo handling object is gripped and an attempt is made to put a cargo handling object close to the cardboard size into a corrugated cardboard, the ring portion of the hand portion (for right hand and left hand). Was caught in the entrance of the cardboard, which made it difficult to work.

特願２０１７－１１０５１１Japanese Patent Application No. 2017-110511

解決しようとする問題点は、荷役物を把持し、荷役物を容器に入れる際、容器のサイズと荷役物のサイズが近いと、吊下げ支持部（ハンド部）が引っ掛かり、作業しづらい点である。 The problem to be solved is that when the cargo is grasped and the cargo is put into the container, if the size of the container and the size of the cargo are close to each other, the hanging support part (hand part) is caught and it is difficult to work. be.

本発明は、指サックを除く吊下げ支持部を手に装着せず、前腕に装着する腕装着部を備えたことを最も主要な特徴とする。 The most main feature of the present invention is that the hanging support portion other than the finger cot is not attached to the hand, but the arm attachment portion to be attached to the forearm is provided.

本発明の荷役物運搬機の吊下げ支持部は、腕装着部を有し、腕装着部を前腕に装着することで、容器に荷役物を入れる際、容器と荷役物のサイズが近くとも、荷役物を把持した手が容器に入りやすいという利点がある。補足すると、指サックは指に装着するが、指サックは比較的小さいので、容器に引っ掛かりにくい。 The hanging support portion of the cargo handling device of the present invention has an arm mounting portion, and by mounting the arm mounting portion on the forearm, when the cargo handling object is put into the container, the size of the container and the cargo handling object are close to each other. There is an advantage that the hand holding the cargo handling object can easily enter the container. Supplementally, the finger cot is attached to the finger, but since the finger cot is relatively small, it is difficult to get caught in the container.

図１は、本発明の実施例の荷役物運搬機の総体図ある。（実施例１）FIG. 1 is an overall view of a cargo handling machine according to an embodiment of the present invention. (Example 1) 図２は、吊下げ支持部と作業者と連結具の図である。（実施例１）FIG. 2 is a diagram of a hanging support portion, an operator, and a connecting tool. (Example 1) 図３は、吊下げ支持部の斜視図である。（実施例１）FIG. 3 is a perspective view of the hanging support portion. (Example 1) 図４は、吊下げ支持部の側面図である。（実施例１）FIG. 4 is a side view of the hanging support portion. (Example 1) 図５は、吊下げ支持部の側面図である。（実施例２）FIG. 5 is a side view of the hanging support portion. (Example 2)

吊下げ支持部の腕装着部を前腕に装着することにより、容器に荷役物を入れる際、容器と荷役物のサイズが近くとも、荷役物を把持した手が容器に入れやすい作業を実現した。 By attaching the arm mounting part of the hanging support to the forearm, even if the size of the cargo handling object is close to that of the container, the hand holding the cargo handling object can easily put it in the container.

図１は、荷役物運搬機の総体図である。荷役物運搬機１は、台座２に旋回台３が取り付けられ、旋回台３には昇降機構４が取り付けられ、昇降機構４には平行リンク式アーム５が取り付けられている。昇降機構４は、昇降駆動源（図示せず）により昇降駆動され、平行リンク式アーム５の先端の昇降部６が上下する。昇降部６に連結具８が取付けられている。吊下げ支持部７は、連結具８を介して荷役物運搬機１の昇降部６に吊られている。連結具８の点線で示してある箇所は、ロープやスリングベルトである。吊下げ支持部７を作業者（図示せず）の前腕（図示せず）に装着させて、荷役物９を手（図示せず）で把持して３次元に移載できる。荷役物９は、箱である。台１０に容器１１が置かれ、作業者（図示せず）が荷役物９を横方向から把持し、容器１１の中に荷役物９を入れる作業である。容器１１の中の点線は、荷役物９が容器に入った時である。容器１１の内側サイズと荷役物９の外側サイズは大差は無いが、作業者（図示せず）の手（図示せず）と指サック（図示せず）は入るスペースはある。昇降駆動源（図示せず）は、電気モータ、エアシリンダ、油圧シリンダーなど、何を用いても良い。 FIG. 1 is an overall view of a cargo handling machine. In the cargo handling machine 1, a swivel base 3 is attached to a pedestal 2, an elevating mechanism 4 is attached to the swivel base 3, and a parallel link type arm 5 is attached to the elevating mechanism 4. The elevating mechanism 4 is elevated and driven by an elevating drive source (not shown), and the elevating portion 6 at the tip of the parallel link type arm 5 moves up and down. A connector 8 is attached to the elevating part 6. The hanging support portion 7 is suspended from the elevating portion 6 of the cargo handling machine 1 via the connecting tool 8. The portion indicated by the dotted line of the connector 8 is a rope or a sling belt. The hanging support portion 7 can be attached to the forearm (not shown) of an operator (not shown), and the cargo handling object 9 can be grasped by hand (not shown) and transferred in three dimensions. The cargo handling item 9 is a box. The container 11 is placed on the table 10, and an operator (not shown) grips the cargo handling object 9 from the side and puts the cargo handling object 9 in the container 11. The dotted line in the container 11 is when the cargo-handling material 9 enters the container. There is no big difference between the inner size of the container 11 and the outer size of the cargo handling object 9, but there is a space for the operator's (not shown) hand (not shown) and the finger cot (not shown). As the elevating drive source (not shown), any electric motor, air cylinder, hydraulic cylinder, or the like may be used.

図２は、吊下げ支持部と作業者と連結具の図である。吊下げ支持部７は連結具８に吊られている。吊下げ支持部７を作業者１２の前腕１３に装着させている。作業者１２は吊下げ支持部７を前腕１３に装着して荷役物９を把持する。力センサ（図示せず）は指サック（図示せず）に内蔵され、指サック（図示せず）はいづれかの指に装着する。力センサ（図示せず）を荷役物９に押し付ける力に応じて昇降駆動源（図示せず）が稼動し、荷役物９を手１４で把持し昇降させ３次元に軽々と移載できる。 FIG. 2 is a diagram of a hanging support portion, an operator, and a connecting tool. The hanging support portion 7 is suspended from the connector 8. The hanging support portion 7 is attached to the forearm 13 of the worker 12. The worker 12 attaches the hanging support portion 7 to the forearm 13 and grips the cargo handling object 9. A force sensor (not shown) is built into a finger cot (not shown), and a finger cot (not shown) is attached to one of the fingers. The elevating drive source (not shown) operates according to the force that presses the force sensor (not shown) against the cargo handling object 9, and the cargo handling object 9 can be grasped by the hand 14 and moved up and down to be easily transferred in three dimensions.

図３は、吊下げ支持部の斜視図である。図に向って左が右腕用であり、向って右が左腕用である。右手用の吊下げ支持部７は、腕装着部２０、指サック２１で構成している。腕装着部２０は、面ファスナー２２と引掛け部２３を配設している。指サック２１には、力センサ（図示せず）が内蔵されている。指サック２１は、帯部２４を有し、帯部２４の端部に面ファスナー（図示せず）を配設し、面ファスナー（図示せず）で腕装着部２０に取付けられ、指サック２１は着脱可能である。右手用は、面ファスナー２２で固定され、前腕（図示せず）に装着している状態である。左手用の吊下げ支持部７は、右手用の指サックが無い状態で、腕装着部２０で構成している。腕装着部２０は、面ファスナー２２と引掛け部２３を配設している。左手用は、面ファスナー２２での固定前である。腕装着部２０を前腕（図示せず）に装着する時は、作業者の前腕の太さに応じて面ファスナー２２を固定する。腕装着部２０、引掛け部２３、面ファスナー２２、帯部２４は、それぞれ柔軟性がある素材である。 FIG. 3 is a perspective view of the hanging support portion. The left side of the figure is for the right arm, and the right side is for the left arm. The hanging support portion 7 for the right hand is composed of an arm mounting portion 20 and a finger cot 21. The arm mounting portion 20 is provided with a hook-and-loop fastener 22 and a hooking portion 23. The finger cot 21 has a built-in force sensor (not shown). The finger cot 21 has a band portion 24, a hook-and-loop fastener (not shown) is arranged at the end of the band portion 24, and the finger cot 21 is attached to the arm mounting portion 20 by the hook-and-loop fastener (not shown). Is removable. The one for the right hand is fixed by the hook-and-loop fastener 22 and is attached to the forearm (not shown). The hanging support portion 7 for the left hand is composed of the arm mounting portion 20 without the finger cot for the right hand. The arm mounting portion 20 is provided with a hook-and-loop fastener 22 and a hooking portion 23. The one for the left hand is before fixing with the hook-and-loop fastener 22. When the arm mounting portion 20 is mounted on the forearm (not shown), the hook-and-loop fastener 22 is fixed according to the thickness of the forearm of the operator. The arm mounting portion 20, the hooking portion 23, the hook-and-loop fastener 22, and the band portion 24 are each made of a flexible material.

図４は、吊下げ支持部の側面図である。右手用の吊下げ支持部７で示している。腕装着部２０、指サック２１で構成している。腕装着部２０は、面ファスナー２２と引掛け部２３を配設している。指サック２１には、力センサ（図示せず）が内蔵されている。指サック２１は帯部２４を有し、帯部２４の端部に面ファスナー２５を配設し、面ファスナー２５で腕装着部２０に取付けられ、指サック２１は腕装着部２０から着脱可能である。連結具８の端部はフック２６であり、フック２６に引掛け部２３が係合されている。引掛け部２３は連結具８から着脱可能である。腕２７と手１４は点線で示し、前腕１３に腕装着部２０を装着している。指サック２１は、人差し指２８に装着している。指サック２１は、人差し指２８以外の指に装着しても良い。 FIG. 4 is a side view of the hanging support portion. It is shown by the hanging support portion 7 for the right hand. It is composed of an arm mounting portion 20 and a finger cot 21. The arm mounting portion 20 is provided with a hook-and-loop fastener 22 and a hooking portion 23. The finger cot 21 has a built-in force sensor (not shown). The finger cot 21 has a band portion 24, a hook-and-loop fastener 25 is arranged at the end of the band portion 24, and the finger cot 21 is attached to the arm mounting portion 20 by the hook-and-loop fastener 25, and the finger cot 21 is removable from the arm mounting portion 20. be. The end of the connector 8 is a hook 26, and the hook portion 23 is engaged with the hook 26. The hook portion 23 is removable from the connector 8. The arm 27 and the hand 14 are shown by dotted lines, and the arm mounting portion 20 is attached to the forearm 13. The finger cot 21 is attached to the index finger 28. The finger cot 21 may be attached to a finger other than the index finger 28.

図１～４より作用を説明する。荷役物９を作業者１２が手１４で把持して荷役物９を持ち上げて、容器１１に荷役物９を入れる。人差し指２８に装着した指サック２１は、邪魔になる大きさではないので、作業がスムースにできる。図１～図４は、制御の配線は省略している。 The operation will be described with reference to FIGS. 1 to 4. The operator 12 grasps the cargo handling object 9 by hand, lifts the cargo handling object 9, and puts the cargo handling object 9 in the container 11. Since the finger cot 21 attached to the index finger 28 is not large enough to get in the way, the work can be done smoothly. In FIGS. 1 to 4, control wiring is omitted.

図５は、吊下げ支持部の側面図である。右手用の吊下げ支持部７で示している。腕装着部２０、手首リング３０、指サック２１で構成している。腕装着部２０は、面ファスナー２２と引掛け部２３を配設している。腕装着部２０と指サック２１の間に手首リング３０を配設している。指サック２１には、力センサ（図示せず）が内蔵されている。指サック２１は、帯部２４を有し、帯部２４の端部に面ファスナー２５を配設し、面ファスナー２５で手首リング３０に取付けられ、指サック２１は手首リング３０から着脱可能である。連結具８の端部はフック２６であり、フック２６に引掛け部２３が係合されている。引掛け部２３は連結具８から着脱可能である。腕２７と手１４は点線で示し、前腕１３に腕装着部２０を装着している。指サック２１は、人差し指２８に装着している。指サック２１は、人差し指２８以外の指に装着しても良い。図５は、制御の配線は省略している。 FIG. 5 is a side view of the hanging support portion. It is shown by the hanging support portion 7 for the right hand. It is composed of an arm mounting portion 20, a wrist ring 30, and a finger cot 21. The arm mounting portion 20 is provided with a hook-and-loop fastener 22 and a hooking portion 23. A wrist ring 30 is arranged between the arm mounting portion 20 and the finger cot 21. The finger cot 21 has a built-in force sensor (not shown). The finger cot 21 has a band portion 24, a hook-and-loop fastener 25 is arranged at the end of the band portion 24, and the finger cot 21 is attached to the wrist ring 30 by the hook-and-loop fastener 25, and the finger cot 21 is removable from the wrist ring 30. .. The end of the connector 8 is a hook 26, and the hook portion 23 is engaged with the hook 26. The hook portion 23 is removable from the connector 8. The arm 27 and the hand 14 are shown by dotted lines, and the arm mounting portion 20 is attached to the forearm 13. The finger cot 21 is attached to the index finger 28. The finger cot 21 may be attached to a finger other than the index finger 28. In FIG. 5, the control wiring is omitted.

１ 荷役物運搬機
２ 台座
３ 旋回台
４ 昇降機構
５ 平行リンク式アーム
６ 昇降部
７ 吊下げ支持部
８ 連結具
９ 荷役物
１０ 台
１１ 容器
１２ 作業者
１３ 前腕
１４ 手
２０ 腕装着部
２１ 指サック
２２ 面ファスナー
２３ 引掛け部
２４ 帯部
２５ 面ファスナー
２６ フック
２７ 腕
２８ 人差し指
３０ 手首リング 1 Cargo carrier 2 Pedestal 3 Swing stand 4 Elevating mechanism 5 Parallel link type arm 6 Elevating part 7 Suspended support part 8 Hook 9 Cargo goods 10 units 11 Container 12 Worker 13 Forearm 14 Hand 20 Arm mounting part 21 Finger cot 22 Hook-and-loop fastener 23 Hook-and-loop part 24 Band part 25 Hook-and-loop fastener 26 Hook 27 Arm 28 Index finger 30 Wrist ring

Claims (1)

吊下げ支持部は連結具を介して荷役物運搬機の昇降部に吊られており、前記吊下げ支持部を作業者に装着させ、作業者は両手で荷役物を把持し、前記吊下げ支持部は力センサを備え、前記力センサが内蔵された指サックをいずれかの指に装着し、前記力センサが受ける力に応じて前記荷役物を昇降させ、前腕を覆う腕装着部と前記力センサが内蔵された前記指サックを備え、前記腕装着部は作業者の前記前腕に装着する荷役物運搬機の吊下げ支持部において、前記吊下げ支持部は引掛け部を有し、前記引掛け部は前記腕装着部の略中央に位置し、前記連結具の先端にフックを備え、前記フックに前記引掛けが係合されていることを特徴とする荷役物運搬機の吊下げ支持部。 The hanging support portion is suspended from the elevating part of the cargo handling machine via a connecting tool, and the hanging support portion is attached to the worker, and the worker grips the cargo handling portion with both hands and supports the hanging support. The unit is equipped with a force sensor, and a finger cot with a built-in force sensor is attached to one of the fingers, and the cargo handling object is raised and lowered according to the force received by the force sensor. The finger cot with a built-in force sensor is provided, the arm mounting portion is a hanging support portion of a cargo handling machine to be mounted on the forearm of an operator, and the hanging support portion has a hooking portion. The hooking portion is located substantially in the center of the arm mounting portion, has a hook at the tip of the connecting tool, and is characterized in that the hook is engaged with the hook. Department.
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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003339801A (en) 2002-05-22 2003-12-02 Kumagai Gumi Co Ltd Exercise assisting device
JP2005001870A (en) 2003-06-16 2005-01-06 Aikoku Alpha Corp Cargo carrier
WO2010117065A1 (en) 2009-04-09 2010-10-14 国立大学法人筑波大学 Wearable motion assist device

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5865426A (en) * 1996-03-27 1999-02-02 Kazerooni; Homayoon Human power amplifier for vertical maneuvers
US5915673A (en) * 1996-03-27 1999-06-29 Kazerooni; Homayoon Pneumatic human power amplifer module

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003339801A (en) 2002-05-22 2003-12-02 Kumagai Gumi Co Ltd Exercise assisting device
JP2005001870A (en) 2003-06-16 2005-01-06 Aikoku Alpha Corp Cargo carrier
WO2010117065A1 (en) 2009-04-09 2010-10-14 国立大学法人筑波大学 Wearable motion assist device

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