JPH0687598A - Load elevating device - Google Patents

Abstract

PURPOSE:To provide a load elevating device with excellent work performance by adding stop mechanism to the free action part of elevating mechanism so as to enable the stop of the elevating mechanism in an optional work position. CONSTITUTION:When an elevation command signal X is outputted to a driver 15 from an arithmetic part 11, a motor 4 starts action, and elevating mechanism 1 is put in elevating action. At this time, a speed detection signal SF from a speed detector 14 is fed back to the driver 15, and the elevating mechanism 1 is controlled to the speed based on the elevation command signal X. A position detection signal XF from a speed detector 16 is inputted into a present counter 17 so as to supply the present position of the elevating mechanism 1 to a position computing part 18. Load suspended by the elevating mechanism 1 is put in elevating action in association with the operation of an operating lever operated by a worker, and the load can be moved into an optional elevated position.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a load lifting device using a parallelogram link type link mechanism.

[0002]

2. Description of the Related Art A conventional load lifting device will be described with reference to FIGS. The lifting mechanism 1 of this type of load lifting device is lifted and lowered by a lifting drive motor 4 and a gear mechanism 5, and the lifting mechanism 1 is fixed to a ceiling or floor through a turning mechanism 2. A lifting tool 7 is provided at the tip of the lifting mechanism 1 to hang the load 6. Further, an operating lever 10 of the speed command device 9 is provided in order for the operator to command the ascending / descending speed to the elevating mechanism 1, and the speed command signal S from the speed command device 9 is subjected to V / F conversion of the calculation unit 11. The pulse is converted by the unit 12 and input to the target counter 13, and is input to the position calculation unit 18 as the target position of the lifting mechanism 1.

Further, a motor 4 for raising and lowering a drive is provided with a speed detector 14 for detecting the speed of the raising and lowering mechanism 1 and a position detector 16 for detecting a position, and a signal from the speed detector 14 is a signal of the motor 4. The speed feedback signal SF is fed back to the driving device 15 to control the speed of the elevating mechanism 1. Further, the position detection signal XF from the position detector 16 is calculated by the calculation unit 1
1 is input to the current counter 17 and the current position of the lifting mechanism 1 is input to the position calculation unit 18. In the position calculation unit 18, the target position from the target counter 13 and the current counter 1 are input.
The current position from 7 is compared and calculated, and the calculation result is the lifting mechanism 1
In order to drive up and down, the D / A converter 19 performs analog conversion, and then is input to the drive device 15 as a vertical drive signal X.
With the above-described configuration, the conventional load elevating / lowering device performs the elevating / lowering operation according to the operation of the operation lever 10 of the speed commander 9.

[0004]

In the conventional load lifting apparatus, since the lifting mechanism is driven up and down by the motor, it is possible to stop it at a certain lifting position by the operation of the operator. The other movements, that is, the rotation of the lifting mechanism body, the front-back movement, and the rotation of the tip end are free movements. For this reason, when a worker applies a force to work on the suspended load in the suspended state, the suspended load moves from the work position, which makes it extremely difficult to perform the work.

When attempting to work in such a state, when the load is once lowered onto the workbench, the necessary work is performed, and then the posture of the load is changed, an elevating operation is performed and the load is reloaded on the workbench. The lowering work will be continued.

As described above, when a load is lifted by the conventional load elevating device, the load moves as described above, which makes it difficult to carry out the work and involves a risk that the posture of the load is arbitrarily changed. It will be.

The present invention has been made in order to solve such a problem, and by adding a stop mechanism to a freely operating portion of the elevating mechanism, the elevating mechanism can be stopped at an arbitrary working position, which is extremely effective. To provide a load lifting device having good workability.

[0008]

In order to achieve the above object, a load lifting device according to the present invention detects a load lifting mechanism for lifting a load, a driving mechanism for driving the lifting mechanism, and a position of the load lifting mechanism. Position detector, the current position counter that counts the current position of the load lifting mechanism, the command device that the operator commands the position or speed of the lifting mechanism, and the position calculation unit that calculates each of these output signals. Controls the position and speed of the lifting mechanism. Further, the entire lifting mechanism is mounted on the turning mechanism, and the turning mechanism is provided with a brake mechanism. Similarly, the front and rear mechanisms and the turning mechanism at the tip of the raising and lowering mechanism are also provided with brake mechanisms.

[0009]

[Operation] The elevating mechanism is driven up and down with the command signal from the commander operated by the operator as the target value, and its position is counted by the current counter by the signal from the position detector and constantly compared with the target value from the commander. The position of the elevating mechanism is controlled by controlling, and the elevating mechanism can be controlled to elevate and lower based on a command from the operator.

Further, by operating the brake mechanism provided in the turning mechanism and similarly the brake mechanism provided in the front and rear mechanisms and the turning mechanism at the tip of the lifting mechanism, the lifting mechanism can be stopped at any position. As a result, the elevating mechanism can be stopped at a position that is easy for the operator, and work in a suspended state of the elevating mechanism is very easy, and the elevating mechanism can be made easy to use.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described with reference to one embodiment shown in FIGS.

A parallel link type lifting mechanism 1 is attached to a fixed pole 3 via a turning mechanism 2. The lifting mechanism 1 is driven up and down by a lifting driving motor 4 and a gear mechanism 5, and a lifting tool 7 is provided at the tip through an operation box 8 to hang a load 6. The operation box 8 is provided with an operation lever 10 of a speed command device 9 for instructing an ascending / descending speed of the elevating mechanism 1, and a speed command signal S from the speed command device 9 is pulse-converted by a V / F converter 12 of a calculator 11. And input to the target counter 13.

The motor 4 is provided with a speed detector 14 for detecting the speed of the elevating mechanism 1, and the speed detection signal SF is input to a driving device 15 of the motor 4 to control the speed of the elevating mechanism 1. Further, a position detector 16 is provided to detect the position of the elevating mechanism 1, and the position detection signal XF outputs the position detection signal XF.
Is currently input to the counter 17.

The target position signal from the target counter 13 of the calculation unit 11 and the current position signal from the current counter 17 are input to the position calculation unit 18, and the position calculation unit 18 causes the lifting mechanism 1 to move.
The elevation command is calculated, and the elevation command X converted into an analog signal by the D / A converter 19 is input to the drive device 14 of the elevation mechanism 1 to drive the elevation mechanism 1 up and down.

Further, the slide mechanism 2 is attached to the mounting portion 20 on the movable side of the gear mechanism 5 so that the lift mechanism 1 can freely move back and forth.
1, and the operation box 8 is attached to the elevating mechanism 1 via a revolving mechanism 22 so as to be revolvable.

Further, the turning mechanism 2 is provided with a brake mechanism 24 by the operation of the cylinder 23 so as to stop the turning operation of the elevating mechanism 1, and similarly, the slide mechanism 21 and the turning mechanism 22 of the operation box 8 also have cylinders 25, 26. The brake mechanisms 27 and 28 for the operation of are provided. An operation switch 29 for operating the brake mechanisms 24, 27, 28 is attached to the operation box 8, a stop signal T from the operation switch 29 is input to the control unit 30, and the air valves 31, 32, 33.
Output the valve operation signal to the brake mechanism 2
Operate 4, 27, 28 cylinders.

Next, the operation of the load lifting device according to the present invention will be described. When the operator operates the operation lever 10, the speed command signal S is input from the speed command device 9 to the calculation unit 11, and the calculation unit 11 sends a lift command signal to the drive device 15 depending on the amount of operation of the operation lever 10 by the worker. X is output, and the elevating mechanism 1 performs the elevating operation according to the operation of the operation lever 10.

At this time, in the calculation unit 11, the speed command signal S from the speed command unit 9 is pulse-converted by the V / F conversion unit 12, and the value of the target counter 13 is continuously changed to change the target position of the lifting mechanism 1. Change continuously. By constantly comparing the target counter 13 value and the current counter 17 value, the deviation between the target position and the current position of the elevating mechanism 1 is obtained, and a calculation is performed such that a certain gain constant is multiplied based on this deviation. The result is converted into an analog signal by the D / A converter 19, and is output to the drive device 15 of the motor 4 as a lift command signal X.

The value of the current counter 17 input to the position calculation unit 18 of the calculation unit 11 is obtained by detecting the current position of the lifting mechanism 1 by the position detector 16 and counting the position detection signal XF. The current position of the lifting mechanism 1 is given to 18.

When the raising / lowering command signal X is output from the arithmetic unit 11 to the driving device 15, the motor 4 starts operating and the raising / lowering mechanism 1 performs the raising / lowering operation. At this time, the speed detection signal SF from the speed detector 14 is fed back to the driving device 15, and the lifting mechanism 1 is controlled at the speed based on the lifting command signal X. Further, the position detection signal X from the position detector 16
F is currently input to the counter 17 and provides the position calculation unit 18 with the current position of the lifting mechanism 1. As a result, the lifting mechanism 1
The load 6 hung up and down moves up and down in accordance with the operation of the operating lever 10 by the operator, and the load 6 can be moved to an arbitrary up and down position.

At this time, when the operator stops the load 6 suspended by the elevating mechanism 1 at an arbitrary position to perform work such as machining or assembly, the stop signal T is controlled by operating the operation switch 29 of the operation box 8. In order to apply a brake to each part of the freely moving part of the elevating mechanism 1 that is input to the part 30, the control part 30 outputs an operation signal to the brake valves 31, 32, 33 to thereby cause the cylinders 23, 25, 26 to operate. Works,
The brake mechanisms 24, 27, 28 work and the lift mechanism 1 can stop the load 6 at an arbitrary position.

Further, by reducing the pressure applied to the cylinders 23, 25, 26 to reduce the force acting on the brake mechanisms 24, 27, 28, or by reducing the braking force due to the friction force acting on the brake mechanisms 24, 27, 28. It is also possible to make a freely moving part heavy without completely stopping it, to make it operate with moderate force, and to change the weight of the operation depending on the type of work.

As described above, the elevating mechanism 1 can be braked and stopped at an arbitrary position, and the load 6 suspended by the elevating mechanism 1 can be stopped at a position where it is easy to work.

As described above, since the elevating mechanism can be stopped at any position, the load is stopped at a position where the operator can easily work, and when the load is stopped, the elevating mechanism does not move from that position. Since the work can be done easily and the suspended load 6 is in a stopped state, the safety is improved and a very easy-to-use load lifting device can be provided. (Other embodiments)

Another embodiment according to the present invention will be described with reference to FIGS. The operation box 8 provided at the tip of the elevating mechanism 1 has brake operation switches 29a, 29b, 29c corresponding to the brake mechanisms 24, 27, 28 of the elevating mechanism 1.
Are provided for the respective operation switches 29a, 29b, 29
By operating c, each part of the brake mechanism 24, 27, 28
Can be controlled independently. Further, by providing the select switch 34 in addition to the operation switch 29, it is possible to control the operation of the brake mechanisms 24, 27, 28 in various patterns, and it becomes easier to use.

[0026]

As described above, according to the present invention, since the lifting mechanism can be stopped at any position, the load is stopped at a position where the operator can easily work, and when the load is stopped, the lifting mechanism will move to that position. You can work very easily because it doesn't move.

Furthermore, the raising and lowering mechanism can be stopped in any combination, which makes it easier for the operator to use. In addition, since the suspended load 6 is in a stopped state, safety is improved and a very easy-to-use load lifting device can be provided.

[Brief description of drawings]

FIG. 1 is a structural diagram showing a first embodiment of the present invention,

FIG. 2 is a control block diagram thereof,

FIG. 3 is an explanatory view of a brake operation switch showing another embodiment,

FIG. 4 is an explanatory view of a brake operation switch showing another embodiment,

FIG. 5 is a mechanical configuration diagram of a conventional embodiment,

FIG. 6 is a control block diagram thereof.

[Explanation of symbols]

1 ... Lifting mechanism 2, 22 ... Rotating mechanism 4 ... Motor 6 ... Load 7 ... Lifting tool 8 ... Operation box 9 ... Speed command device 14 ... Speed detector 15 ... Drive device 16 ... Position detector 18 ... Position calculation unit 24, 27, 28
... Brake mechanism 29, 29a, 29b, 29c ... Brake operation switch 30 ... Control unit

Claims (5)

[Claims] 1. A parallel link type mechanism for lifting and lowering a load, a drive source by an electric motor for driving the lifting and lowering mechanism of the load and its driving means, a detecting means for detecting the position or speed of the lifting mechanism, and an operator. In a load lifting device having means for commanding the speed or position of the lifting mechanism, the lifting mechanism is attached to a turning mechanism so that the entire lifting mechanism can be turned, a brake mechanism is provided on the turning mechanism, and the operator operates the A load raising / lowering device comprising a stop mechanism that allows a brake mechanism to operate and a turning mechanism to stop at that position. 2. A parallel link type mechanism for lifting and lowering a load, a drive source by an electric motor for driving the lifting and lowering mechanism of the load and its driving means, a detecting means for detecting the position or speed of the lifting mechanism, and an operator. In a load lifting device that has means for commanding the speed or position of the lifting mechanism, a front-rear slide mechanism is provided so that the lifting device of the lifting mechanism moves back and forth, and a brake mechanism is provided on this front-rear slide mechanism so that the operator can operate it. The load elevating / lowering device is characterized by having a stop mechanism in which the brake mechanism operates to stop the front and rear slide mechanism at that position. 3. A parallel link type mechanism for raising and lowering a load, a drive source by an electric motor for driving the load raising and lowering mechanism and its driving means, a detecting means for detecting the position or speed of the lifting mechanism, and an operator. In a load lifting device having means for instructing the speed or position of a lifting mechanism, a lifting device of the lifting mechanism is attached via a turning mechanism so as to be able to rotate with respect to the lifting mechanism, and a braking mechanism is attached to the lifting mechanism of the lifting device. The load elevating / lowering device is provided with a stop mechanism such that the brake mechanism is operated by an operator to operate and the turning mechanism of the suspender stops at that position. 4. A parallel link type mechanism for raising and lowering a load, a drive source by an electric motor for driving the load raising and lowering mechanism and its driving means, a detecting means for detecting the position or speed of the raising and lowering mechanism, and an operator. In a load lifting device having means for instructing the speed or position of the lifting mechanism, a brake mechanism is provided for each of the swing mechanism that swings the entire lifting mechanism and the front-rear slide mechanism, or the swing mechanism and the hanging device that swings the entire lifting mechanism. A brake mechanism is provided for each of the rotating mechanism and the swing mechanism, or a brake mechanism is provided for each of the slide mechanism and the swing mechanism for the lifting device in the front and rear, and the brake mechanism of each mechanism operates independently or at the same time. Load lifting device. 5. The load elevating / lowering device according to any one of claims 1 to 4, wherein the braking force acting on each mechanism is reduced and the mechanism is operated so as to increase the operation of each mechanism without stopping it completely.