JPH06144783A - Handling device for heavy article - Google Patents

Abstract

PURPOSE:To provide a heavy article handling device which enables a man to easily handle even a heavy article the holding weight of which is on the order of tonnage, and also can secure an ample space for the heavy article to be loaded over a load carrying platform with the number of drive shafts minimized. CONSTITUTION:The device is equipped with a trolley 1 which includes a load carrying platform 2, is driven by a traveling servo motor 37 and in steering motor 11 to travel back and forth and from side to side, a lifting means 5 hoisting a heavy article with a wire 8 driven by a lifting servo motor 223 installed over the load carrying platform 2 of the trolley 1, a wire detection means 7-1 through 7-3 detecting operating physical force in the longitudinal, lateral and vertical directions to which the wire 8 is subjected, the traveling servo motor 37, the steering motor 11, and with a control means 17 controlling the lifting servo motor 223.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a heavy object handling device suitable for carrying and mounting construction materials in construction work.

[0002]

2. Description of the Related Art In transporting and handling construction materials in construction work, a handling device as shown in a perspective view of FIG. 7 is provided as a support device for carrying and mounting heavy objects which cannot be handled directly by hand. It has been put to practical use. In this system, a control device 51 is placed on a trolley 50, an articulated arm 52 such as a manipulator or a balance arm is attached to the control device 51, the load at the tip of the arm is detected by a force sensor, and the gripping weight is offset by the arm driving force. As a result, in the movable space of the multi-joint arm 52, even a heavy object can be easily handled by one person, and the manipulator of the multi-joint arm 52 is lightly grasped and moved by a person. Again dolly 50
The operation is generally performed by a push button method using the operation box 53, but wireless operation is also available depending on the application.

However, in such a device, the gripping weight is limited to several hundreds kg due to the mechanical limitation of the multi-joint arm 52, and the number of drive axes is large, so the mechanism of the control device 51 becomes complicated and large. The work cannot be loaded on the dolly 50, or it becomes an unnecessarily large device, and the application range is limited.
In addition, the device becomes expensive. Further, it becomes a work unit within the movable range of the multi-joint arm 52, in which a relatively high-precision work can be performed because it takes a free posture, but if it exceeds the range, preparatory work such as moving the carriage 50 becomes necessary. . Therefore, even if it is possible to perform continuous work while moving little by little like attaching a wallboard in a corridor, it is wasteful to go to the wallboard one by one, and also work on the second floor by lifting objects from the first floor to the second floor. Even if it is necessary, another lifting equipment is required, that is, such a device mainly functions as a load reducing jig in a limited work range, and is used by incorporating it in all work including transportation of goods. The device has not been reached.

[0004]

SUMMARY OF THE INVENTION The present invention has been proposed in view of the above circumstances, and even a heavy object having a gripping weight can be handled lightly by one person, and the number of drive shafts can be minimized. It is possible to hold down a space for loading heavy objects on the loading platform, and there is no particular restriction on the working range.Continuous work can be done at any place as long as the carriage passage is secured and it is a manual transportation range. It is an object of the present invention to provide a heavy load handling device capable of performing the above.

[0005]

To this end, the present invention is directed to a truck having a cargo bed, which is driven by a traveling motor and a steering motor to travel forward, backward, leftward and rightward, and is driven by an elevating motor established on the truck. The present invention is characterized by comprising a lifting device for hanging a heavy object with a hanging rope, a detector for detecting front, rear, left and right and up and down operation forces applied to the hanging rope, and a control device for controlling the motor.

[0006]

In the heavy load handling device of the present invention, since the heavy load is lifted by using the lifting device driven by the lifting motor, there is no restriction of gripping weight unlike the articulated arm, and the heavy load can be moved. Since it also serves as the drive shaft of the truck, it is possible to realize the functions required for work with the minimum number of drive shafts. As a result, an inexpensive device configuration with a wide cargo bed is obtained. Further, the work range is not particularly limited because the carriage itself moves with the worker, and the work can be transferred to another floor as a normal lifting device. Therefore, it can be placed on a trolley, moved to a work area, and can be continuously worked while mounting the materials of the loading platform one by one at a predetermined place, and can also be applied to the operation of collectively lifting a plurality of materials on the first floor to the second floor.

[0007]

1 is a longitudinal sectional view, FIG. 2 is a perspective view, and FIG. 3 is a perspective view.
4 is a detailed view of a truck drive unit, FIG. 4 is a control system diagram, FIG. 5 is an explanatory diagram of a truck traveling control procedure, and FIG. 6 is an explanatory diagram of a truck operation mode switching procedure. 1 to 3, a cart 1 has a loading platform 2 on its upper surface, and four caster wheels 3 and one traveling drive wheel 4 are grounded on the floor surface, and traveling and steering are driven by the traveling drive wheels 4. Servo motor 37 for traveling during traveling,
The traveling drive wheels 4 are driven through the decelerator 36, and stopped by the brake 38. The traveling servomotor 37 is controlled by a servo system using the speed from the speed detector 39 as a feedback signal. Steering motor 1 during steering
1, reduction gear for steering 15, bevel gear 41, bevel gear 3
4, the traveling drive wheel 4 is rotated through the housing 14.
The housing 14 is rotatably supported by bearings 33, and the spring 43 constantly pushes the traveling drive wheels 4 on the ground to reliably transmit the driving force. The pin 40 prevents the wheel from coming off. The steering angle is detected by the angle detector 35 via the bevel gear 34 and the bevel gear 42.

A hoisting device 5 is established on the trolley 1 to lift and lower a heavy load. The column 5-1 is fixed, and the arm 5-
Reference numeral 2 is rotatably supported by a support column 5-1 by a bearing 28. The rotation angle of the arm 5-2 is detected by the arm rotation angle detector 27 via the fixed gear 25 and the spur gear 26.
Wire 8 is wire guide roller 20, guide roller 2
4, via the wire sheave 221, the speed reducer 222, is driven up and down by the lifting servo motor 223, the speed detector 22
The speed is controlled by the speed feedback signal from 5. The stop is by the brake 224. Arm 5 of wire 8
-2, a load detection force sensor 22 for detecting the tip load (vertical operation force) of the wire 8 is provided between the guide roller block 21 and the support block 23 at the exit from -2, The wire detection force sensors 31-1 to 31-3 for detecting the operating force are the wire detection devices 7 respectively.
It is attached to -1 to 7-3. Wire detection device 7-1
7-7 have rollers 214-1 to 214-
The wire 3 is in contact with the wire 8. At the tip of the wire 8,
The hook 9 is attached, and the load lifting device 10 is a tip jig such as a magnet plate or a suction cup for fixing an object to be handled. Further, grip force sensors 30-1 and 30-2 are attached to the two connecting portions of the handle 12 and the trolley 1, respectively, and when the trolley 1 is simply moved, the trolley 1 is pushed by an operation force of pushing the handle 12. It is intended for driving.

The operation mode of this apparatus is selected by the operation box 13. When not using this device, changeover switch 23
When set to 1 "stop," all motor power is turned off and the brakes are activated. Switch to "move" and handle 1
It becomes a mere movement mode of the trolley 1 using 2. In this case, the lifting device 5 is in a stopped state. In the "handling" mode, the trolley 1 and the lifting device 5 are operated according to the operation force applied to the wire 8 in the front-rear, left-right and up-down directions. In this case, handle 1
You cannot move using 2. The bumper 6 is the arm 5
-2, in order to prevent interference with others, contact detector 6-1
When it is detected that the bumper 6 has operated, the carriage 1 is stopped and only the operation in the opposite direction is possible. The overall control of this device is performed by the control device 17. The power source is the battery 16
Supplied from

The operating procedure of such a device will be described with reference to FIGS. During normal movement of the truck, the load suspension device 10
After fixing the to the loading platform 2, the changeover switch 231 is switched to the “moving” mode, and if an operating force is applied to the handle 12, the force is detected by the handle force sensor 30-1 and the handle force sensor 30-2 (Fig. 5 P ₁ and P ₂ ). In the carriage movement direction detection circuit 304, the two detection signals are compared, and (P ₁ + P
₂ ) / 2 is set as the traveling speed, and the angle β due to the difference between P ₁ and P ₂ is set as the steering angle.
3, Servo driver 308 / motor driver 309 for running servo motor 37, steering motor 11
To drive. The posture of the trolley 1 may change due to the difference in the road surface resistance of the caster wheels 3 while the vehicle is running.
Since it is a ring, it can be easily corrected by operating the handle 12 in the same manner as an ordinary hand cart.

In the case of work such as unloading or mounting of loads, the changeover switch 231 is switched to the "load handling" mode, and any one of the load lifting devices 10 to 8 is operated in the direction in which it is desired to be moved directly. When moving laterally, the arm 5-2 rotates when an operating force is applied in the front-rear and left-right directions, and the wire detection force sensors 31-1 to 31-31 detect the deviation of the wire 8 from the vertical direction.
-3 is detected (f _{1 to} f _{3 in} FIG. 5). In the wire displacement detection circuit 301, the three component forces are combined to generate the tip coordinate system z-xy.
The operating force f at the arm 5-2 detected by the arm rotation angle detector 27 is determined by the trolley moving direction correction circuit 302.
The rotation angle θ is corrected and converted into the carriage coordinate system Z-XY, and the magnitude of f is set to the traveling speed and the angle α is set to the steering angle to drive the vehicle.

When the work is performed outside the loading platform 2 by the above control method, there is no particular problem even if the rotation of the arm 5-2 and the movement of the trolley 1 are performed in parallel, but the loading and unloading of the loading on the loading platform 2 is not a problem. In order to prevent the entire trolley 1 from moving sometimes and hindering the work, as shown in FIG. 6, the length L of the arm 5-2 and the trolley 1
In the rotation angle θ _{0 of the} arm 5-2, which is determined by the work width W ₀ of the loading platform that is the width Wi of the work passage W, an interlock is provided in the operation management circuit 303 so as to prohibit the operation of the carriage 1. . Loading and unloading on the loading platform 2 is limited to lifting and unloading work in the vicinity of the rotation arc of the arm 5-2, and it is not possible to cover the entire loading platform 2; If a simple lateral movement jig is prepared, the practical function can be sufficiently achieved.

Although the posture of the carriage 1 may change due to variations in road surface resistance of the caster wheels 3 during movement of the carriage, the movement speed in the "load handling" mode is slow, and even if the posture changes a little, there is no problem in actual work. . If the posture changes significantly, correct it in "Move" mode. When an operating force is applied in the vertical direction, the load of the suspended load + operating force is detected by the load detecting force sensor 22. When the load switch mode is set by the changeover switch 231, the load detection force sensor 22 to the load detection force sensor 22 to the load load signal stored in the wire load reference signal setting circuit 307 as a reference value.
The subtraction circuit 306 calculates the difference from the actual load value of the wire load detection circuit 305, sets the direction in which this difference becomes zero and the speed proportional to the difference, and raises and lowers it via the operation management circuit 303 and the servo driver 310. The servo motor 223 is driven to move up and down.

During the "load handling" work, the actual load value is constantly monitored by the wire load reference signal setting circuit 307, and the work situation when landing the suspended load, lifting it, or applying an operating force is actually measured. Judgment is made based on the difference in the rate of change of load, and the reference value is updated based on the result. In other words, the rate of change in operating force is several
While it is kg / sec, the rate of change is several tens of kg / sec when landing or hoisting. By detecting this difference, the above work status is automatically determined. As a result, at the time of landing (lifting), the descending (raising) operation is temporarily stopped, and then the set actual load value is updated as the reference value at the time of landing.

However, in the above embodiment, for example, in the case of mounting the wall plate, one piece of the wall plate on the loading platform 2 is gripped by the load lifting device 10 in the "load handling" mode, and the operation in the front-rear, left-right and up-down directions up to the mounting location Move while applying force. At the installation location,
The wall plate can be easily installed by raising it along the installation position. In other words, the weight of the object is supported by the wire 8, so the person who is working concentrates on the posture adjustment of the object,
You can operate it as if you were handling a light object that can be lifted by yourself.

[0016]

In summary, according to the present invention, there are provided a carriage having a cargo bed and driven by a traveling motor and a steering motor to travel forward, backward, leftward and rightward, and a suspension line which is established on the truck and is driven by a lifting motor. A lifting device that hangs heavy objects, and a detector that detects the operating force in the front, rear, left, right, and up and down directions applied to the hanging rope,
By having a control device for controlling the motor,
One person can easily handle a heavy object with a gripping weight on the order of tons, and the number of drive shafts can be minimized to secure a space for loading a heavy object on the platform, and the work range is not particularly limited. INDUSTRIAL APPLICABILITY The present invention is extremely useful industrially, because a heavy object handling device that can continuously work at an arbitrary place within a range where a carriage passage is secured by a human can be obtained.

[Brief description of drawings]

FIG. 1 is a vertical cross-sectional view of an embodiment of the heavy load handling device of the present invention.

FIG. 2 is a perspective view of the same device.

FIG. 3 is a detailed view of a carriage driving unit of the same apparatus.

FIG. 4 is a control system diagram of the same device.

FIG. 5 is an explanatory diagram of a trolley traveling control procedure of the same apparatus.

FIG. 6 is an explanatory diagram of a trolley operation mode switching procedure of the same apparatus.

FIG. 7 is a perspective view of a conventional heavy load handling device.

[Explanation of symbols]

 1 cart 2 carrier 3 caster wheel 4 traveling drive wheel 5 lifting device 5-1 support post 5-2 arm 6 bumper 6-1 contact detector 7-1 wire detection device 7-2 wire detection device 7-3 wire detection device 8 Wire 9 Hook 10 Load lifting device 11 Steering motor 12 Handle 13 Operating box 14 Housing 15 Steering speed reducer 16 Battery 17 Control device 20 Wire guide roller 21 Guide roller block 22 Load detection force sensor 23 Support block 24 Guide roller 25 Fixed gear 26 spur gear 27 arm rotation angle detector 28 bearing 30-1 grip force sensor 30-2 grip force sensor 31-1 wire detection force sensor 31-2 wire detection force sensor 31-3 wire detection force sensor 33 bearing 34 bevel gear 35 Horn Detector 36 Speed reducer 37 Traveling servo motor 38 Brake 39 Speed detector 40 Pin 41 Bevel gear 42 Bevel gear 43 Spring 214-1 Roller 214-2 Roller 214-3 Roller 221 Wire sheave 222 Speed reducer 223 Elevating servo motor 224 Brake 225 Speed detector 231 Changeover switch 301 Wire displacement detection circuit 302 Bogie moving direction correction circuit 303 Operation management circuit 304 Bogie moving direction detection circuit 305 Wire load detection circuit 306 Subtraction circuit 307 Wire load reference signal setting circuit 308 Servo driver 309 Motor driver 310 Servo driver

Claims (1)

[Claims] 1. A hoisting device for suspending a heavy object with a trolley having a loading platform and driven by a traveling motor and a steering motor to travel forward, backward, leftward and rightward, and a hoisting line which is established on the trolley and is driven by a lifting motor. A heavy object handling device comprising: a detector for detecting an operation force in the front-rear, left-right, and up-down directions applied to the suspension rope; and a control device for controlling the motor.