JP7182776B2 - Operating unit for load handling equipment - Google Patents

Description

The present invention relates to an articulated arm mechanism mainly using parallel links, which is operated by a driving force such as a motor to extend, retract, lift, rotate, etc., and is supported by a load portion formed at the tip of the arm mechanism. An operation part unit of a load handling device formed so as to move a (load) to an arbitrary position reached by the load part, wherein an operation part for at least moving the load part of the arm mechanism up and down is unitized. Regarding.

2. Description of the Related Art Conventionally, a load handling device mainly composed of an articulated arm mechanism using pantograph-like parallel links has been widely used as a simple crane-type labor-saving machine.

In the load handling device, the operation of the arm mechanism (horizontal movement and elevation of the load portion due to expansion and contraction of the arm) is performed adjacent to the load portion provided with a hook or the like for supporting the load provided on the tip side arm of the arm mechanism. Many of them are provided with an operation part for giving instructions, and many of the above-mentioned operation parts are of a type provided with an operation lever that can be gripped by an operator (operator) with his/her palm.

As well-known examples of the operation unit, there are operation units disclosed in Patent Documents 1 to 3 and the like. This operation part has an operation lever which is approximately T-shaped in plan view and is rotatably provided on the outer wall surface of a substantially cubic box body (box-shaped main body) forming the operation part main body about its support shaft (lever shaft). For example, when the lever is rotated clockwise, a command to raise the load portion is generated, and when the operating lever is rotated counterclockwise, a command to lower the load portion is generated. It is provided in the form of a connecting member between the tip of the tip side arm and a load portion such as a hook.

By the way, the operation part of the load handling device is a standard type load handling device (hereinafter also simply referred to as a standard type) that handles a load that is not so large. The provision between the tip of the distal end side arm and the load section is convenient for operations such as lifting and lowering the load supported by the load section, suspending the load, and moving it within a plane.

However, if the cargo to be handled is, for example, a heavy load type load handling device with a weight of 500 kg or more (hereinafter also simply referred to as a heavy load type), the arm mechanism will also have a high strength, large size, and heavy weight structure, and the cargo to be handled will be large. The external shape becomes large and irregular. If the cargo to be handled becomes large or oddly shaped, when the load section is used to support (grab, hang, etc.) the load, if the operation section is adjacent to the load section, the large load supported by the load section may become unusable. Odd-shaped cargo interferes with the operation of the operation lever, making it extremely difficult or impossible to operate.

In a large-load type load handling device in which the arm mechanism is large and the load to be handled is also large or irregularly shaped, the load part of the standard type is supported or released by the driving force of a motor, cylinder, or the like. A control section for controlling the operation of the power load section is positioned at an appropriate distance from the tip of the arm on the distal end side of the arm mechanism, and the control section is connected to the power load section via a connecting member such as an attachment. Arrangement in a combined form is practiced.

By the way, the operating section in the above-described standard type load handling device has a form in which all the constituent members of the operating section are arranged in a box-shaped main body arranged between the tip of the tip side arm of the arm mechanism and the load section. . On the other hand, in a large-capacity type load handling device, a power load section and a control section connected to the power load section via an attachment are installed. The box-shaped operation unit used in the standard type could not be used as it was, and a separate operation unit was attached to the control unit.

Japanese Patent No. 4200304 Japanese Patent Publication No. 8-367 Utility Model No. 2578142

In the present invention, it can be incorporated into the box-shaped main body of a standard type load handling device to form a standard type operation section, and can be attached to the control section of the power load section separately manufactured for a large load type load handling device. It is an object of the present invention to provide an operation unit unit that can be incorporated in the housing of the control unit as it is to form an operation unit instead of the separate operation unit that has been used.

The operation portion unit of the present invention, which has been made for the purpose of solving the above-mentioned problems, has a structure comprising a lever shaft having an operation lever at one end and perpendicular to the operation lever, and a bearing of the lever shaft having a bearing at the other end of the lever shaft. a flanged plate arranged side by side through the front;
a lever shaft rotation restricting portion fixed to the lever shaft behind the flanged plate and having a self-returning function of forward and reverse rotation of the lever shaft; It is characterized by comprising a cover with a flange on which the tip side of the lever shaft penetrates via a bearing, and a potentiometer provided on the rear surface of the cover with the flange and transmitting the rotation of the lever shaft.
The operating section unit of the present invention comprises a box body forming a standard type operating section on the overlapped flange section formed by stacking and integrating the two flanges of the flanged plate and the flanged cover, and a control section for the power load section. It is characterized by forming a mounting portion that can be mounted on any of the front panels as it is by screwing.

The rotation restricting portion of the lever shaft in the operating portion unit includes a stopper plate fixed to the lever shaft, an operating pin erected on the stopper plate, and a torsion coil spring attached to the lever shaft and operated by the operating pin. and a regulating pin for regulating the operation of the torsion coil spring.

Further, the rotation of the lever shaft transmitted to the potentiometer is a transmission mechanism using a driving gear provided at the tip of the lever shaft and a driven gear meshed with the driving gear and provided on the knob shaft of the potentiometer. It was made to be transmitted through.

In the present invention, an opening of a box-shaped main body forming a standard type operation portion is provided in an overlapping flange portion formed by stacking and integrating flanges of a flanged plate and a flanged cover, which are constituent members of the operation portion unit. or the front panel of the housing that forms the control section of the power load section that supports and releases the cargo with the driving force. Therefore, one operating section unit can be formed in the operating section by simply attaching it to the standard type box-shaped main body with screws at the mounting section, and can be formed on the front panel of the housing forming the control section of the power load section. It is possible to form a separate operation section simply by screwing the attachment section.

FIG. 2 is a longitudinal side view of an example of the operating portion unit of the present invention; FIG. 2 is a left side view of the operation section unit in FIG. 1; FIG. 2 is a right side view of the operation section unit in FIG. 1; FIG. 4 is a front view of a stop plate of the rotation restricting portion; FIG. 2 is an exploded perspective view of the operating portion unit of the present invention; FIG. 10 is a perspective view of an example in which the operating section unit of the present invention is applied to the operating section of a standard type load handling device; FIG. 10 is a perspective view of an example in which the operating section unit of the present invention is applied to a separate operating section provided apart from the distal arm of the arm mechanism;

Next, an embodiment of the operating section unit of the present invention will be described with reference to the drawings.

In FIGS. 1 to 7, reference numeral 1 denotes a lever shaft which has a horizontal operating lever 2 and which is perpendicular to the operating lever 2. As shown in FIG. The lever shaft 1 is formed in the shape of a hollow pipe for weight reduction. It is formed in the attached portion 1c. 3 is a connecting pin for connecting the lever shaft 1 and the operating lever 2 . The operating lever 2 is connected to the lever shaft 1 via the connecting pin 3 at a position about 1/3 of the total length of the operating lever 2, and the lever shaft 1 and the operating lever 2 are connected so as to form a substantially T shape in plan view. It is

A flanged plate 5 is attached via a bearing 4 to the large-diameter portion of the stepped portion 1c of the lever shaft 1 including the stepped portion 1b. The flanged plate 5 has a central plate portion 5a on which the bearing 4 is positioned at the center and a flange portion 5b on the outer peripheral side of the plate portion 5a. 5c is a connecting pin for fixing the bearing 4 to the plate portion 5a.

Reference numeral 6 denotes a flanged cover that covers the flanged plate 5 from the rear side thereof on the rear side of the flanged plate 5 (the side opposite to the operation lever 2). The flanged cover 6 includes a cover main body 6a having a bearing 7 at its center for supporting the small diameter portion 1g of the stepped portion 1c of the lever shaft 1, and a flange provided on the outer peripheral side of the cover main body 6a. A portion 6b is provided.

The flange portion 5b of the flanged plate 5 (hereinafter also referred to as the first flange portion 5b) and the flange portion 6b of the flanged cover 6 (hereinafter also referred to as the second flange portion 6b) have substantially the same outer diameter. They are formed to have substantially the same width and are connected here by three connecting screws 8 with a pitch of 120 degrees on the circumference. Reference numeral 9 denotes an attachment provided through the first flange 5b and the second flange 6b at a pitch of approximately 120 degrees between each of the connection screws 8 that overlap and join the first flange 5b and the second flange 6b. It is a mounting hole that becomes a part.

In the space formed by the plate portion 5a and the cover body portion 6a facing each other in the flanged plate 5 and the flanged cover 6, in which the first flange portion 5b and the second flange portion 6b are joined in an overlapping state by three coupling screws 8. A large-diameter portion of the stepped portion 1c of the lever shaft 1 is positioned at , and a rotation restricting portion CL of the operating lever 2 (lever shaft 1) is provided on the stepped portion 1c. Next, the rotation restricting portion CL will be described.

The rotation restricting portion CL includes a stopper plate 10 attached to the large-diameter portion of the stepped portion 1c of the lever shaft 1, a stopper pin 11 for stopping the angular rotation of the stopper plate 10, and the lever shaft 1 mounted to rotate in the forward direction. Alternatively, a torsion coil spring 12 that transmits a force for returning the lever shaft 1 rotated in the opposite direction to its original position to the lever shaft 1, a spring pin 13 that supports the spring force of the torsion coil spring 12, and the torsion coil spring 12 as a stopper. A spring retainer 14 is provided to press against the plate 10 (see FIG. 4). The rotation restricting portion CL shown in the perspective view of FIG. 4 is upside down with respect to the vertical direction of the rotation restricting portion CL shown in the sectional view of FIG.

The stopper plate 10 of the rotation restricting portion CL is shown in front cross section in FIG. The stopper plate 10 is integrated with the lever shaft 1 by fixing a substantially rectangular substrate 10a viewed from the front to a key groove 1d of a stepped portion 1c of the lever shaft 1 with a key 10b. 10c is a press screw for the key 10b. The lower side of the stopper plate 10 shown in FIG. 4 is formed in a guide groove 10d having a generally arcuate concave shape centered on the lever shaft 1, and the stopper pin 11 is inserted into the plate portion 5a of the flanged plate 5 at the position where the guide groove 10d is inserted. is set up in A stopper plate 10 that rotates integrally with the lever shaft 1 can rotate in forward and reverse directions until both ends 10e and 10f of the guide groove 10d hit the stopper pin 11. As shown in FIG.

Both ends of the torsion coil spring 12 protrude outside the ring-shaped torsion portion in the form of legs. The protruding portion is hereinafter referred to as a leg-shaped protruding portion 12a. A ring-shaped portion of the torsion coil spring 12 is fitted onto the stepped portion 1c of the lever shaft 1, and the length of the guide groove 10d formed in the stopper plate 10 is between the two leg-shaped protrusions 12a. A spring pin 13 erected on the edge of the middle portion in the width direction is sandwiched between them.

Reference numeral 14 denotes a spring retainer for pressing the torsion coil spring 12 toward the stopper plate 10, and is formed such that a substantially arcuate cover body is fixed to the stopper plate 10 with screws 14a.

The rotation restricting portion CL of the lever shaft 1 (operating lever 2) is configured as described above, and its function is as follows. Now, when the operating lever 2 is grasped by hand and the lever shaft 1 is rotated clockwise in FIG. It is allowed until it touches, and no further clockwise rotation is possible.

During the above rotation, the torsion coil spring 12 mounted on the lever shaft 1 has its leg-shaped projecting portion 12a pushed by the spring pin 13 in the rotation direction of the lever shaft 1, twisting the torsion coil spring 12 and exerting a return force. give. The return force applied to the coil spring 12 by twisting acts as a return force for returning the lever shaft 1 to its original position when the operating lever 2 is released due to the elasticity of the coil spring 12 .

Rotation of the lever shaft 1 in the counterclockwise direction is also permitted until the left end of the guide groove 10d (see FIG. 4) contacts the stopper pin 11. As shown in FIG. With this rotation, the spring pin 13 pushes the leg-like projection 12a of the torsion coil spring 12 in the twisting direction, and the shaft 1 automatically returns.

A rotary potentiometer 15 is attached to the rear surface of the flanged cover 6 via a mounting base 16 and a mounting spacer 17 . The mounting base 16 has mounting spacers 17, and the potentiometer 15 is attached to the mounting base 16 with mounting screws 17a. Reference numeral 16a denotes a mounting screw for mounting the mounting base 16 on the rear surface of the flanged cover 6. As shown in FIG. Since the potentiometer outputs an electric value (resistance value or voltage value) that accurately corresponds to the rotation angle, it is equipped with a transmission mechanism for transmitting the rotation of the lever shaft 1 described above. there is

The transmission mechanism consists of a pinion gear 15b (driven gear) attached to the knob shaft 15a of the potentiometer 15 by means of a mounting screw 15c, and a large-diameter gear meshing with the pinion gear 15b. (small-diameter portion 1g of stepped portion 1c) and driving gear 1e attached by mounting screw 15. As shown in FIG. With this transmission mechanism, when the operating lever 2 is gripped by hand and the lever shaft 1 is rotated clockwise or counterclockwise within the range permitted by the rotation restricting portion CL, the rotation is regulated. It is transmitted to the pinion gear 15b through the drive gear 1e and rotates the knob shaft 15a of the potentiometer 15 clockwise or counterclockwise.

Here, the electric signals obtained by the clockwise angular rotation and the counterclockwise angular rotation of the knob shaft 15a of the potentiometer 15 are applied to a servo motor (not shown in the drawing) to which the potentiometer 15 is connected (loaded, not shown). The rotation direction of the servo motor (lifting direction and descent direction of the suspended load) and the number of revolutions in each rotation direction (lifting and descent speed of the load) are set for the control circuit of the lifting drive source of the handling equipment). It is used as a signal for control. 18 is an electric coupler with lead wires connected to three terminals of the potentiometer 15 .

An example of the operation portion unit CU of the present invention, in which the operation portion C is unitized by the configuration from the lever shaft 1 having the operation lever 2 to the potentiometer 15 provided via the mounting base 16 and the mounting spacer 17 described above, will be described. Next, an application example of the operating unit unit CU of the present invention will be described.

In the flanged plate 5 and the flanged cover 6 described above, the two flanges 5b and 6b that are integrated by the coupling screws 8 are provided with mounting holes 9 penetrating the two integrated flanges 5b and 6b. , and in the illustrated example, three are provided on the circumference. The number of the mounting holes 9 may be three or more. The mounting hole 9 integrates the operating portion unit CU of the present invention with the load portion L arranged at the lower end portion of the distal end side arm A1 of the crane-type load handling device Ba by the pantograph-type arm mechanism illustrated in FIG. It functions as an attachment portion when attaching to the side wall Ws of the box-shaped main body Bm of the operation portion C. As shown in FIG. F is a hook for hanging luggage.

That is, a mounting hole (not shown) slightly larger than the cover body 6a of the flanged cover 6 is formed in the side wall Ws of the box-shaped main body Bm, and a side wall screw hole ( (not shown) are formed in advance, and the operating unit unit CU of the present invention is inserted into the mounting hole of the side wall Ws from the potentiometer 15 side, and the mounting holes 9 of the two integrated flange portions 5b and 6b and the mounting holes 9 of the flange portions 5b and 6b are mounted. The operating section unit CU of the present invention can be attached to the box-shaped main body Bm of the operating section C by tightening mounting screws (not shown) into the side wall screw holes.

When the operation portion unit CU of the present invention is provided in the operation portion C of the box-shaped main body Bm integrally with the load portion L arranged at the lower end of the distal end side arm A1, the hook F of the load portion L suspends a load. When lifting, the operator can hold the operating lever 2 with his/her dominant hand and raise/lower the load with the other hand in a very natural posture.

On the other hand, if the load to be handled is large or odd-shaped, when the load is hung on the hook F, the outer shape of the load interferes with the operation of the operating lever 2, making it difficult to smoothly lift and lower the load. be.
For this reason, in the load handling device Ba for large cargo, instead of the operating portion C and the hook F of the load portion L, a large gripping device or a chucking device driven by an actuator such as an air cylinder is used as a power load portion. form a PL. However, if the power load section PL is adopted in place of the standard type operating section C and hook F, a control section Cp for operating and controlling the power load section PL is required, and at the same time, the power load section PL is required to move up and down. The problem is where to provide the operation unit C.

Therefore, in the present invention, an operating section unit CU in which the operating lever 2 and the potentiometer 15 are integrated via a flanged plate 5 and a flanged cover 6 is provided adjacent to or spaced from the power load section PL. The above problem is solved by forming a separate operation unit Ca by attaching it to the front panel Pf of the control box (housing) Bc in which the main body of the control unit Cp is housed.

In FIG. 7, an air cylinder type chucking device is provided as a power load section PL as an example to support a large load at the lower end of the tip side arm A1, and a control section Cp for controlling the operation of the power load section PL is provided. , is provided via a connecting attachment At coupled to the power load section PL. Here, the operation section unit CU of the present invention is inserted from the rear (potentiometer 15 side) into the mounting hole formed in the front panel Pf of the housing Bc in which the control section main body is housed, and the mounting screw inserted into the mounting hole 9 is attached to the front panel Pf to form a separate operating portion Ca attached to the housing Bc. In FIG. 7, Ch is a gripping chuck, Ai is an air cylinder as a driving source of the gripping chuck Ch, and Bu is an operation button including a switch of the control part Cp.

An operator operates an operation button Bu such as a switch or knob for activating the power load section PL arranged on the front panel Pf of the housing Bc of the control section Cp to load a large load onto the power load section PL. The grasping chuck Ch of the power load section PL is operated by rotating the operating lever 2 of the operating section unit CU of the present invention in the separate operating section Ca formed on the same front panel Pf as well as performing a gripping and releasing operation. Perform the lifting operation of the large luggage that is held by the

The present invention is as described above, and the control section unit of the present invention can be mounted either on the side wall of the box-shaped main body of the standard type operation section or on the front panel of the control section of the power load section arranged in a separate housing. Since it can be attached, one type of operation unit can be applied to the standard type operation unit, and the power load units of various forms also have different control units, so they can be installed in the control unit. It is possible to form a separate operating portion for a large load type, which has been manufactured separately each time, by using one type of the operating portion unit of the present invention.

1 Lever shaft 2 Operation lever 3 Mounting pin 4 Bearing 5 Plate with flange 6 Cover with flange 7 Bearing 8 Connection screw (screw)
9 Mounting hole CL Rotation restricting portion 10 Stopper plate 11 Stopper pin 12 Torsion coil spring 13 Spring pin 14 Spring retainer 15 Potentiometer 16 Mounting base 17 Mounting spacer 18 Electrical connector Ba Cargo handling device A1 Front end arm L Load section C Operation section Bm Box Main body Ws Side wall F Hook Ca Separate operation unit PL Power load unit Cp Power load unit control unit Bc Control unit housing Pf Housing front panel

Claims (3)

An operation lever, a lever shaft orthogonal to the operation lever, a plate through which the lever shaft passes from the front surface, and a rotation restricting portion that performs a self-returning action on the forward and reverse rotation of the lever shaft on the back side of the plate. , and an operating portion of a load handling device comprising a potentiometer to which the rotation of the lever shaft is transmitted,
The plate is formed as a flanged plate, and a flanged cover through which the tip end side of the lever shaft penetrates with the rotation restricting portion in between is placed on the rear surface of the flanged plate, and the flanges of the flanged plate and the flanged cover are covered with each other. are stacked and integrated, the potentiometer is attached to the back surface of the integrated flanged cover, and the integrated flange is provided with a mounting portion by a screw hole to form an operation portion unit, and the operation portion unit is In the screw holes of the mounting part provided in the integrated flange, it is used by screwing it to the box-shaped body forming the operation part of the standard type load handling device, or the power loading part of the heavy type load handling device. An operation unit of a load handling device, which is used by being screwed to a panel of a housing provided in the control unit through the screw holes of the mounting unit. The rotation restricting portion disposed between the integrated flanged plate and the flanged cover in the operating portion unit includes a stopper plate fixed to the lever shaft and a spring pin erected on the stopper plate. 2. The operating portion of the load handling device according to claim 1, further comprising a torsion coil spring attached to said lever shaft and subjected to a twisting action by said spring pin, and a stopper pin for restricting rotation of said stopper plate. Rotation of the lever shaft, which is transmitted to the potentiometer in the operation unit, is a transmission mechanism using a driving gear provided at the tip of the lever shaft and a driven gear meshed with the driving gear and provided on the knob shaft of the potentiometer. 3. The operating portion of a load handling device according to claim 1 or 2, wherein the operating portion is transmitted through the .

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