JPH06183684A - Positioning mechanism in vertical moving device - Google Patents

Abstract

PURPOSE:To maintain a high positioning accuracy even when a vertically moving device is upsized and multi-staged, and carry out the automatically controlled carriage of e.g., heavy goods. CONSTITUTION:A vertically moving device is provided with a fixed cylindrical body 10, a vertically movable moving cylindrical body 11, a driving cable drum 12, a driving motor 13, and a driving cable 14 provided between the moving cylindrical body 11 and the driving cable drum. A positioning mechanism is provided with a winding cable drum 16, a winding cable 17 an end of which is connected to the moving cylindrical body, a measuring cable drum 18 connected to the winding cable drum, a measuring cable 19 one end of which is connected to the moving cylindrical body, and a sensor 20 for position control which is connected to the measuring cable drum and detects the position of the moving cylindrical body from the quantity of rotation of the drum. It is preferable that the winding cable is passed through a fixed pulley 21 provided at the lower part of the fixed cylindrical body, and fixed at the upper end part of the moving cylindrical body through a spring anchor 22.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a moving cylinder positioning mechanism in an apparatus for vertically moving a moving cylinder, and more specifically, a cable driving system and a position detecting system for the moving cylinder. The present invention relates to a positioning mechanism of a vertical movement device in which an error caused by extension of a drive cable is minimized by separating them into a separate system to improve positioning accuracy. The present mechanism is suitable for various automatic transfer devices that use moving cylinders, such as overhead traveling cranes.

[0002]

2. Description of the Related Art Up-and-down movement devices for attaching and detaching hooks, grips, and the like to the tip of a moving cylinder to raise and lower articles are conventionally known. This type of device is used, for example, in an overhead traveling crane or the like that conveys products in an automatic conveyance factory or the like by combining with a traveling / traversing device for a moving cylinder, a control computer, and the like.

As a conventional technique, a fixed cylinder is combined with a plurality of movable cylinders that are vertically movable with respect to the fixed cylinder and are movable, and are moved by using a drive cable. A device for vertically moving the cylinder is generally used.
In that case, a drive cable drum, a drive motor coupled to the drive cable drum, and a position control sensor connected to the drive motor are provided on the fixed side, and one end of the drive cable is attached to the lowermost movable cylinder. It is fixed to the body and the other end is attached to the drive cable drum. The drive cable is driven by the rotation of the drive motor to move the moving cylinder up and down. At that time, the tip of the lowermost moving cylinder is positioned by measuring the rotation amount of the drive motor or the cable drum with a position control sensor such as a resolver or an encoder.

The operation of each moving cylinder (for example, when the moving cylinder has a three-stage structure) is as follows. When the moving cylinder is shortened, the drive cable drum is rotated by the operation of the drive motor to wind up the drive cable. Then, first, the entire stroke of the lowermost moving cylinder is raised, and its flange portion is caught by the intermediate moving cylinder. When the drive cable is further wound up, the moving cylinder in the middle stage is raised. Thus, finally, all the moving cylinders can be housed in the fixed cylinder. On the contrary, when the movable cylinder is extended, the holding of the drive cable by the drive cable drum is loosened. Then, due to the weight of the moving cylinders, first, the entire moving cylinders are lowered by the entire stroke of the uppermost stage, and subsequently, the moving cylinders of the intermediate stage and the lowermost stage are lowered. In this way, it is possible to descend one step at a time and finally to the entire stroke of the lowermost moving cylinder.

[0005]

Since the drive cable suspends all the moving cylinders, the handling weight increases as the moving cylinders increase in size and number.
The weight also changes depending on the extension amount of the moving cylinder. Therefore, in the related art, the elongation of the drive cable directly appears as an error in the positioning accuracy. Especially when handling heavy objects, the positioning error reaches several cm or more. For this reason, it is difficult to perform accurate positioning, and it is practically impossible to transfer heavy goods by automatic control.

The object of the present invention is to solve the above-mentioned drawbacks of the prior art and to provide high positioning accuracy even if the vertical movement device is large-sized and multi-staged. Therefore, it is possible to carry out, for example, automatic conveyance of heavy objects. To provide such a positioning mechanism.

[0007]

FIG. 1 shows the basic configuration of the present invention. The prerequisite vertical movement device is the fixed cylindrical body 10.
A movable cylinder 11 that is vertically movable with respect to the fixed cylinder 10, a drive cable drum 12, a drive motor 13 coupled to the drive cable drum 12, and a movable cylinder at one end. A drive cable 14 fixed to 11 and attached to the drive cable drum 12 at the other end,
The cylinder is expanded and contracted by the operation of the drive motor 13. The positioning mechanism includes a winding cable drum 16 and
A winding cable 17 having one end connected to the movable cylinder 11 and the other end attached to the winding cable drum 16;
The measuring cable drum 18 connected to the winding cable drum 16, the measuring cable 19 having one end connected to the moving cylinder 11 and the other end attached to the measuring cable drum 18, and the measuring cable drum 18. It is equipped with a position control sensor 20 that is coupled to detect the position of the movable cylinder 11 from the drum rotation amount. Winding cable 1
One end of 7 is a fixed pulley 2 provided at the bottom of the fixed cylinder 10.
It is preferable to fix the movable cylinder 11 through the spring anchor 22 at the upper end of the movable cylinder 11.

Usually, there are a plurality of moving cylinders according to the required moving distance, and they are combined so that they can expand and contract. Each cylinder, including the fixed cylinder, consists of a pulley provided at the upper and lower ends of the intermediate cylinder, and an interlocking cable that passes through both pulleys and is fixed to the lower end of the outer cylinder and the upper end of the inner cylinder, respectively. By the cylinder interlocking system, each moving cylinder is supported so as to interlock simultaneously and uniformly. If the number of moving cylinders is odd, one end of the winding cable is fixed to the uppermost moving cylinder via a spring anchor, and the fixed pulley at the bottom of the fixed cylinder and the uppermost moving cylinder have the same level. It is routed through a group of movable pulleys. If the number of moving cylinders is an even number, one end of the winding cable is fixed to the lower part of the fixed cylinder via a spring anchor, and the movable pulley is at the same level as the fixed pulley below the fixed cylinder and the uppermost moving cylinder. It is routed through a group of pulleys. In this way, the total amount of movement of each moving cylinder is secured, and one end of the measuring cable is fixed to the lowermost moving cylinder.

[0009]

The moving cylinder 11 is suspended by the drive cable 14, and is raised by the rotation of the drive cable drum 12 by the drive motor 13 and lowered by utilizing its own weight. Drive cable drum 12, drive motor 13
The drive system including the drive cable 14 is solely responsible for the vertical movement of the movable cylinder 11. The winding cable 17 causes the winding cable drum 16 to rotate as the moving cylinder 11 moves up and down. Measurement cable drum 18
Is connected to the winding cable drum 16, so that the measuring cable 19 is also revolved and retreated by rotating in the same manner. The extension length of the measurement cable 19 at this time is measured by the position control sensor 20. Therefore,
No excessive load is applied to the measurement cable 19,
It is possible to measure the movement amount of the moving cylinder 11 regardless of the extension of the drive wire 14 that moves the moving cylinder 11 up and down. The spring anchor 22 always applies an appropriate tension to the winding cable 17 to prevent loosening.

The cylindrical body interlocking system moves a plurality of movable cylindrical bodies simultaneously and uniformly. Therefore, when the lowermost moving cylinder moves, the uppermost moving cylinder also moves accordingly. Then, when the movable cylinder is raised, the winding cable is fed out by the action of the pulley group, the measurement cable drum is rotated, and the measurement cable is wound up.

[0011]

FIG. 2 is a schematic diagram showing an embodiment of the present invention, in which the movable cylinder has a three-stage structure. The vertical movement device includes a fixed cylinder body 30, movable cylinder bodies 31, 32, and 33 of three stages that are vertically movable with respect to the fixed cylinder body 30, and a drive cable drum installed on the fixed side. 34, and a drive motor 35 coupled to the drive cable drum 34
And a drive cable 36 having one end fixed to the third (lowermost) movable cylinder 33 and the other end attached to the drive cable drum 34. 1st to 3rd stage 3
The moving cylinders 31, ..., 33 are thin in that order, and are stretchably combined. Each of the moving cylinders 31, ..., 33 may have a cylindrical shape or a rectangular cylinder (square cylinder or hexagonal cylinder) shape.

FIG. 3 shows the support structure for each cylinder. A is a longitudinal sectional view and B is a bottom view. This is a structure in which both rollers are supported by a roller provided on the outer cylinder and a rail surface provided on the inner cylinder. The roller 4 is attached to the fixed cylinder 30.
Three sets of two 1s are arranged one above the other at 120-degree intervals, and three rail surfaces 42 extending in the axial direction are provided on the outer peripheral surface of the first stage moving cylinder 31 correspondingly. Similarly, the first stage moving cylinder 31 is provided with the roller 43, and the second stage moving cylinder 32 is provided with the rail surface 44 correspondingly. Further, the second stage moving cylinder 32 is provided with a roller 45, and correspondingly the third stage moving cylinder 33 is provided with a rail surface 46. By these, it is possible to freely expand and contract each cylinder and prevent rattling at the time of expansion and contraction.

Returning to FIG. 2, the moving cylinders 31, ..., 33 are moved up and down by the operation of the drive motor 35. That is, the moving cylinders 31, ...
5 by winding up the drive cable 36,
The descent is performed by loosening the holding of the driving cable 36 by the driving motor 35 and utilizing the own weight of the moving cylinders 31, ..., 33.

The moving cylinders 31, ..., 33 are supported by the cylinder interlocking system 50 so as to move simultaneously and uniformly. Details of the cylindrical body interlocking system 50 will be described with reference to FIG. The two interlocking cables 51 and 52 fixed to the lower end of the fixed cylindrical body 30 are respectively the movable cylinder 3 of the first stage.
It is fixed to the upper end of the second stage moving cylinder 32 via pulleys 53 and 54 fixed to the upper end and the lower end of 1. Further, the two interlocking cables 5 fixed to the lower end of the first stage moving cylinder 31
5, 56 are fixed to the upper end of the third-stage moving cylinder body 33 via pulleys 57 and 58 fixed to the upper and lower ends of the second-stage moving cylinder body 32, respectively. When the interlocking cable is connected in this way, the moving cylinder 33 of the third stage is raised by, for example, 1 m by the drive cable 36, and the moving cylinder 32 of the second stage also moves 1 m from the moving cylinder 31 of the first stage. To rise.
As a result, the moving cylinder 31 of the first stage rises 1 m above the fixed cylinder 30. Therefore, the moving amount of each moving cylinder 31, ..., 33 is 1 m, and the lower end of the moving cylinder 33 of the third stage is lifted by 3 m in total from the rising start position. In the case of extending the movable cylinders, similarly, the movable cylinders descend simultaneously and uniformly.

Returning to FIG. 2 again, the positioning mechanism includes the winding cable drum 60 and the movable barrel 3 having one end at the first stage.
A winding cable 61, which is connected to 1 and whose other end is attached to the winding cable drum 60, and a measuring cable drum 63 connected to the winding cable drum 60.
A measurement cable 64 having one end connected to the third-stage moving cylinder 33 and the other end attached to the measuring cable drum 63; A position control sensor 65 for detecting the position is provided.

Here, one end of the winding cable 61 is fixed to the first stage moving cylinder 31 via a spring anchor 66, and the winding cable 61 is fixed to the fixed cylinder 3.
0 The fixed pulley 67 in the lower part, the movable pulley 69 provided at the same level as the upper end of the first-stage moving cylinder 31, and the fixed pulley 68 in the lower part of the fixed cylinder 30 are routed so as to fully move each moving cylinder. Secure quantity. The details of the cable routing are shown in FIG. 5, and the configuration in which both cable drums and the position control sensor are combined is shown in FIG. The two fixed pulleys 67 and 68 are provided on the lower inner wall of the fixed cylindrical body 30 so as to overlap with each other, and the movable pulley 69 is attached to the upper outer wall of the first-stage movable cylindrical body 31 so as to overlap with the spring anchor 66. Here, the spring anchor 66 includes the winding cable drum 60 and the first cable drum 60.
The tension of the winding cable 61 between the upper end of the moving cylinder 31 of the step is kept constant and the winding cable 61 is adjusted so as not to loosen when the moving cylinder expands and contracts. In addition,
The measurement cable 64 fed out from the measurement cable drum 63 is securely fixed to the upper part of the moving cylinder 33 of the third stage.

FIG. 7 shows the movement of each moving cylinder. A is the state at the time of extension and B is the state at the time of contraction. The moving cylinders are simultaneously and uniformly moved up and down by the aforementioned cylinder interlocking system.
Assuming that the moving cylinders in each stage are raised by 1 m,
The movable cylinder 33 of the third stage rises by 3 m in total. Here, the winding cable 61 includes the two fixed pulleys 67 and 68 of the fixed tubular body 30 and the movable pulley 6 of the first stage moving tubular body 31.
Since it is connected via 9, the first stage moving cylinder 31
Is moved up by 1 m with respect to the fixed cylinder 30, the moving cylinder 3
The movable pulley 69 supported by 1 also rises 1 m with respect to the two fixed pulleys 67 and 68.
Therefore, the payout amount of the winding cable 61 from the winding cable drum 60 is 3 m in total, and accordingly, the measurement cable 64 is wound around the measurement cable drum 63 by a length of 3 m. Since almost no load is applied to the measurement cable 64, an accurate position can be detected by the position control sensor.

FIG. 8 shows an example in which the moving cylinder has four stages, where A is in the extended state and B is in the shortened state. The moving cylinders 81, ..., 84 are simultaneously and uniformly moved up and down by the same cylinder interlocking system (not shown) as described above. Winding cable 91 from winding cable drum 90
Is the two fixed pulleys 96, 97 at the bottom of the fixed tubular body 80.
And the two movable pulleys 9 on the upper part of the first stage moving cylinder 81.
8 and 99, and the tip is connected to the spring anchor 95 below the fixed cylinder 80. Therefore,
When the moving cylinder 81 of the first stage moves up by 1 m with respect to the fixed cylinder 80, the two movable pulleys 98 and 99 supported by the movable cylinder 81 also include the two fixed pulleys 67 and 68 and the spring anchor. It will be 1m higher than 95. Therefore, the payout amount of the winding cable 91 from the winding cable drum 90 is also 4 m in total, and accordingly, the measurement cable 94 is wound around the measurement cable drum 93 by a length of 4 m. When the number of moving cylinders is an even number as described above, the winding and attaching structure of the winding cable may be changed to match the number.

By combining the above-mentioned vertical movement device with the traveling / traversing device in the horizontal plane of the fixed cylinder, it can be used as a conveying device such as an overhead traveling crane as in the prior art. The present invention can be applied to a vertical movement device that uses an arbitrary number of moving cylinders.

[0020]

As described above, the present invention separates the measuring system for position control from the drive system to which a large load is applied, and uses a simple mechanism using the winding cable drum and the winding cable to measure the measuring cable. Control the feeding and feeding of
Since it is configured to measure it, the positioning accuracy (stopping accuracy during vertical movement) does not decrease even if the vertical movement device becomes larger and the handling weight becomes heavier and the extension of the drive wire increases. It becomes possible to control.

In particular, when the cylinder interlocking system is incorporated when a plurality of moving cylinders are combined, even if the number of the moving cylinders increases, the backlash of the connecting portion is reduced, and the adverse effect due to the elongation of the drive wire is avoided. Due to the synergistic effect with what can be done, it becomes possible to always control the stop accuracy during vertical movement within a range of about 1 mm even when carrying heavy objects. Therefore, it becomes possible to carry out the transport of heavy objects, which has been difficult in the past, more reliably by automatic control.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing a basic configuration of the present invention.

FIG. 2 is a schematic configuration diagram showing an embodiment of the present invention.

FIG. 3 is an explanatory view of a cylindrical body support structure.

FIG. 4 is a detailed explanatory view of a tubular body interlocking system.

FIG. 5 is a detailed explanatory view of a positioning mechanism.

FIG. 6 is an explanatory diagram of a combination state of a cable drum and a position control sensor.

FIG. 7 is an operation explanatory view of the positioning mechanism.

FIG. 8 is an operation explanatory view of a positioning mechanism in another embodiment of the present invention.

[Explanation of symbols]

 10 Fixed Cylindrical Body 11 Moving Cylindrical Body 12 Drive Cable Drum 13 Drive Motor 14 Drive Cable 16 Winding Cable Drum 17 Winding Cable 18 Measurement Cable Drum 19 Measurement Cable 20 Position Control Sensor 21 Pulley 22 Spring anchor

Claims (4)

[Claims] 1. A fixed cylindrical body, a movable cylindrical body that is vertically movable with respect to the fixed cylindrical body, a drive cable drum, a drive motor coupled to the drive cable drum, and one end In a vertical movement device having a drive cable fixed to a moving cylinder body and the other end attached to a drive cable drum, the cylinder body expands and contracts by the operation of a drive motor, and a winding cable drum and the winding cable drum A winding cable attached to the cable drum and interlocked with the vertical movement of the moving cylinder, a measurement cable drum connected to the winding cable drum, and one end connected to the moving cylinder and the other end for measurement. A measurement cable attached to the cable drum, and a position control sensor that is connected to the measurement cable drum and detects the position of the moving cylinder from the drum rotation amount. Positioning mechanism in a vertical movement device. 2. The movable cylinder body according to claim 1, wherein there are a plurality of movable cylinder bodies, and the movable cylinder bodies are stretchably combined with each other, and each cylinder body comprises a pulley provided at an upper end and a lower end of an intermediate cylinder body, and A positioning mechanism in which each moving cylinder is supported so as to simultaneously and uniformly interlock with each other by a cylinder interlocking system consisting of interlocking cables fixed to the lower end of the outer cylinder and the upper end of the inner cylinder through the pulleys. 3. The odd number of moving cylinders according to claim 2, wherein one end of the winding cable is fixed to the uppermost moving cylinder via a spring anchor, and a fixed pulley is provided below the fixed cylinder. The total amount of movement of each moving cylinder is secured by pulling through a pulley group consisting of movable pulleys at the same level as the uppermost moving cylinder, and one end of the measurement cable is fixed to the lowermost moving cylinder. Positioning mechanism. 4. The even number of moving cylinders according to claim 2, wherein one end of the winding cable is fixed to a lower portion of the fixed cylindrical body via a spring anchor, and a fixed pulley below the fixed cylindrical body and an uppermost stage are fixed. Positioning mechanism that secures the total amount of movement of each moving cylinder by pulling through a pulley group consisting of movable pulleys at the same level as the upper part of the moving cylinder, and one end of the measurement cable is fixed to the lowermost moving cylinder. .