JPH0710468A - Object moving device - Google Patents

Abstract

PURPOSE:To prevent occurrence of an accident such as dropping of an object which is lifted or loaded by or on an object moving device during moving the object, with the use of a simple arrangement. CONSTITUTION:An object moving device comprises weight measuring means for measuring a weight of an object hooked and lifted by a hooking part 22, simultaneously with the lift-up thereof, weight display means 24 for externally displaying the weight measured by the measuring means, appropriate weight determining means, warning means (26, 28 and the like) for externally informing danger if the weight is excessive, a weight measuring unit for measuring loads on at least both left and right side of a carrier, an external weight display unit, a balance determining means for comparing the right and left loads with each other so as to determine a balanced condition in order to externally inform a danger if it is unbalanced, and wire inclination detecting means provided on the front end part 16a of a boom, for detecting an inclination angle of a wire 20, exceeding a predetermined angle so as to externally inform danger in accordance with the inclination angle.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a structure for ensuring safety when moving an object, particularly an object hoisting device such as a crane or a hoist, or a device for loading and moving an object such as a truck or a forklift. is there.

[0002]

2. Description of the Related Art Conventionally, an object moving device such as a crane or a forklift has been known as a device for moving a heavy object that cannot be moved manually. In such an object moving device, it is necessary to eliminate the risk of accidents caused by moving an object with an excessive weight exceeding the allowable range, and ensure safety during movement based on the size and performance of each device. The maximum lifting weight and the maximum loading weight are set in advance as the weight range that can be achieved, and safety of moving work is achieved. Therefore, the worker who moves the object lifts the object or loads the object within the set safe weight range and operates the apparatus.

[0003]

However, in the case of a manufactured machine product or the like whose weight can be clearly determined in advance, it is possible to easily ensure the operation with the weight within the safety allowable range. When transporting an object of undefined weight such as rock or concrete, it is not possible to check the individual weight of the object to be moved at the work site, and it is difficult to determine the total weight of the lifted object. Therefore, it is the current situation that a worker predicts the weight from experience and operates the moving device, or does the moving operation without considering the weight of the object to be moved.
In such a situation, there is a high possibility that an object having a weight exceeding the allowable weight of each device is being moved, which is dangerous for the worker and those in the vicinity thereof. In reality,
Many disasters occur due to accidents of falling objects while moving objects.

Further, even if the weight of the object to be moved is within the allowable weight range of each device, there is a risk that the balance may be lost and the moving operation may be dangerous depending on the way of installation and loading of the object during movement. For example, there are many accidents in which the moving device falls or the load collapses when moving in an unbalanced state and changing the direction. Further, in a moving operation using a crane or the like, if the wire that suspends the object sways or is caught by something and tilts, the locked state of the object becomes unstable, causing a fall accident. In particular, the inclination of the wire tends to be overlooked because the operator's attention is directed to the side of the object being lifted. Therefore, the work is a dangerous work that requires skill.

The present invention has been made to solve the above-mentioned various problems, and an object thereof is to cause an accident such as dropping of a lifted or loaded object when the object is moved by an object moving device. An object of the present invention is to provide an object moving device having a safety mechanism with a simple structure that can prevent the occurrence of the above.

[0006]

In order to achieve the above object, an object moving device according to a first aspect of the present invention is provided with an engaging portion which is directly or indirectly engaged with an object to be moved, and a position of the engaging portion. And a drive unit for moving the object in a three-dimensional direction, and in an object moving device for hoisting and moving the object locked by the locking unit, the weight of the object lifted by being locked by the locking unit is lifted. It is characterized in that it is provided with a weight measuring means capable of measuring at the same time as the operation and a weight displaying means for displaying the weight measured by the weight measuring means to the outside.

An object moving device according to a second aspect is the object moving device according to the first aspect, wherein the weight measuring means outputs a electric signal according to the weight of the object and the converting part. A weight value from the signal from the calculation unit and outputs the weight signal, and receives the weight signal from the calculation unit to determine whether or not the signal indicates a weight heavier than a predetermined safety value. If the weight is heavy, a weight adequacy determining means for transmitting an overweight signal, and a warning means for receiving one or more operations for notifying a danger to the outside by receiving an overweight signal from the weight adequacy determining means are provided. It is characterized by having.

Next, the object moving apparatus according to claim 3 is an object moving apparatus for carrying an object by placing it on a bed, and separately measuring loads applied to at least both left and right sides of the bed in the traveling direction. A weight measuring means for transmitting a load signal, a weight display means for displaying at least the left and right weights and total weight measured by the weight measuring means to the outside, and a left and right load signal from the weight measuring means, Balance determining means for transmitting an imbalance signal when there is a difference in a predetermined safety value abnormality, and one or two for notifying the danger to the outside by receiving the imbalance signal from the balance determining means. And a warning unit that performs the above operation.

Further, in the object moving device according to a fourth aspect of the present invention, an expandable / contractible boom, a hook portion attached to a wire hung from a tip end portion of the boom, and an expandable / contractible boom are provided.
A moving means for moving the hook portion in a three-dimensional direction by rotating and winding / rewinding a wire; and an object moving device that locks an object on the hook portion to perform a lifting movement. A tubular member provided at the tip so as to always maintain a vertical state with respect to the ground and covering the hanging wire around the wire for a predetermined length at a position spaced a predetermined distance from the wire, and an inner wall of the tubular member. Wire tilt detecting means provided for detecting that the wire has come into contact with the inner wall, and warning means for performing one or more operations for notifying a danger to the outside based on a detection signal from the wire tilt detecting means. It is characterized by having.

[0010]

According to the object moving device of the first aspect, the weight of the object can be measured at the same time when the object is lifted, and the operator and / or another operator in the vicinity thereof can be displayed on the weight display means. Can check its weight. Therefore, it is possible to quickly know that the weight is over, and quickly take an action for avoiding danger.

Next, according to the object moving device of the second aspect, the overweight judging means judges whether or not the appropriate weight is exceeded according to the weight signals measured by the converting part and the calculating part, and the excess weight is exceeded. If so, the warning means informs the danger to the outside. For example, it is possible to call the operator's attention by stopping the operation of the device itself, making an alarm sound, blinking an alarm lamp, or the like. Therefore, even if the operator neglects to judge the weight, or if he / she overlooks the above-mentioned display, the device automatically detects the overweight and surely informs the operator. You can

According to the object moving device of the third aspect, when an object is placed on the bed of the moving device, the loads applied to at least the left and right sides of the moving direction of the bed are measured and displayed externally. You can Then, the total weight of the object can be grasped from the loads on both the left and right sides, and further, the difference between the left and right loads is detected, and if the difference exceeds the safe value, an imbalance state is detected. The worker or the like can be informed of the dangerous state in the same manner as in the second aspect. Therefore, even if you are not skilled in loading objects, the device automatically determines the unbalance of the loading state,
Since various warning operations are performed, the loading operation itself can be properly performed. That is, it is possible to prevent transportation in an unbalanced state.

Further, according to the object moving device of the fourth aspect, in a hoisting type object moving device such as a crane, when the object is locked to the hook portion attached to the wire and the wire moves, the wire sways. In addition, when the robot tilts or becomes in a dangerous state, the sensor installed inside the cylindrical body that covers the wire can detect this swing and automatically notify the worker of the danger. Therefore, it is possible to effectively prevent the operator from overlooking the sway and tilt of the wire,
It is possible to effectively avoid a fall of an object during movement.

[0014]

Embodiments of the present invention will now be described in detail with reference to the drawings. FIG. 1 shows an example in which the present invention is applied to a crane as a moving device that lifts and moves an object. As shown in the figure, the crane 10 has a swivel post 14 that is rotated by a drive system built in the crane body 12 and a multi-stage boom 16 that is attached to the upper end of the swivel post 14 and that is also extended and contracted by the drive system. The tilt of the multi-stage boom 16 is adjusted by a hoisting cylinder 18. A wire 20 is hung from the tip portion 16a of the multistage boom 16, and a hook portion 22 is provided at the lower end portion thereof. Then, an object to be moved is locked to the hook portion 22 via a wire or directly.

In this embodiment, a moving object is locked on the hook portion 22, and the lifting operation is started by the operation of the drive system.
As a means for detecting the weight of an object when the object is lifted, the load cell is a tip portion 1 of the multistage boom 16.
6a (not shown). The load cell is installed under a support member such as a pulley that supports the wire 20 so as to receive the entire load applied to the support member. That is, it is installed below the bearing so that the weight of the bearing such as the pulley can be measured. As the load cell, it is possible to use various load cells such as a strain gauge type, an electrostatic capacitance type, and a piezoelectric electric type. Then, the result detected by the load cell is displayed as a weight display on the display unit 24 provided on the display for the operator of the crane body 12. From this display, the operator operating the crane can recognize the weight of the target object at the same time as lifting the target object, and determine whether or not the weight is within the allowable range and quickly avoid the danger. It is possible.

Further, in this embodiment, various safety means are provided based on the weight detection by the load cell. First, at the tip 16a of the boom 16, a warning lamp 26 that blinks when the weight of the hoisted object exceeds the maximum allowable weight is installed.
2 is equipped with a voice generator 28 which simultaneously emits an alarm sound. These warning means make it possible to visually and audibly inform the external worker of the danger.
Further, if the worker does not respond promptly when this danger occurs, the drive system in the crane body 12 is controlled to stop.

FIG. 2 is a block diagram showing the structure of the safety control portion of the crane according to the above embodiment. As shown in the figure, an amplifier 32 is connected to the load cell 30 installed at the boom tip portion 16a, and a voltage signal S1 according to the weight of a hoisted object is sent to the amplifier 32. An A / D converter 34 is connected to the amplifier 32, and the amplified signal S2 is converted into a digital signal. The A / D converter 34 is connected to the CPU 36, and the CPU 36
Then, various calculations are performed based on the digital signal S3 from the A / D converter 34.

First, the CPU 36 calculates the weight of the object suspended on the hook portion 22 and displays it on the display 24 of the crane body 12 as a weight display. Then, based on this weight, it is compared and determined whether or not the crane 10 exceeds the maximum weight at which it can be safely lifted and moved. If the weight of the object exceeds the maximum allowable weight, the alarm activation unit 38 that activates the alarm lamp 26, the sound generator 28, and the like.
Send an operation signal to. Further, the CPU 36 controls the warning operation unit
If the overweight condition is not avoided within a predetermined time after issuing the drive signal to the drive system 8, the drive system 4 in the crane body 12
A signal is sent to 0 to stop the operation of the drive system 40 (stop the operation of the crane itself). In this way, it is possible to promptly inform the operator of the excess weight of the object during the object hoisting operation, and even when the operator cannot take appropriate measures, finally the operation of the moving device is stopped, The worker can no longer carry out the work while the weight is over, and the occurrence of an accident is more surely prevented.

3 to 5 show an example in which the present invention is applied to a truck and a forklift as a moving device for placing an object on a bed and carrying and moving it to a predetermined position. Below the base plate 46 of the loading platform 44 of the truck 42, the weight measuring device 4
As shown in FIG. 7B, 8 are installed at four places on four sides of the loading platform 44 and one place at a substantially central position, for a total of five places. The total of the measured weights of the five weight measuring devices 48a to 48e indicates the total weight of the object loaded on the bed 44. The loads are displayed on a display 54 arranged on a panel or the like in front of the driver's seat of the truck.

The characteristic feature of this embodiment is that the weight measuring devices 48a to 48d arranged on all sides detect whether or not the balance of the loaded state is good. That is, the loading platform 44 is measured by the measuring devices 48a and 48c.
Measure the load on the left side of the
The right side load can be measured by. Further, in this embodiment, it is possible to check the weight balance of the loads on the front side and the rear side of the loading platform 44. That is, the front side is measured by the measuring devices 48a and 48b, and
Since the load on the rear side can be detected by 8d,
It is possible to check the balance in the front-back direction.

As a means for displaying this on the outside based on the check of the weight balance of the left and right and front and rear loading states as described above, alarms 50a are provided on all four sides of the loading platform 44.
~ 50d are provided. These alarm devices 50 are composed of a lamp that blinks light and a small speaker that emits a signal sound. Then, when the weight is heavier or lighter than a predetermined ratio in comparison with other places, the alarm device 50 of that portion
(Any one of 4 places) is made to blink. For example, when the balance only in the front-back direction is poor, the front two alarm devices 50a and 50b or the rear alarm device 50c are provided.
And 50d are operated, and when the lateral balance is not good, 50a, 50c or 50b, 50d are operated.

Of course, when the weight is uneven in only one of the four directions, it is possible to operate the alarm device 50 in only one place. The weight measuring device 48e arranged in the center of the loading platform 44 does not particularly function for the balance check, but functions to more accurately grasp the total weight of the objects loaded on the loading platform 44.

FIG. 4 is a block diagram showing the overall structure of the safety control portion of the truck shown in FIG. As shown in the figure, the weight detection signals from the weight measuring devices 48a to 48e at five locations are sent to the CPU 52, and the CPU 52 calculates a signal for displaying the total weight on the display 54. Further, the CPU 52 has four measuring devices 48a to 48a.
The load of d is compared and calculated, and the front, rear, left, right, and four sides are checked for balance, and a signal corresponding to the unbalanced state is sent to the warning actuating unit 56. Based on the signal, the warning actuating unit 56 outputs each alarm device 50a ... Activate 50d,
Turn on the lamp and generate an alarm sound.

For example, as the calculation of this CPU 52,
Total weight addition calculation based on signals from the respective measuring devices 48, comparison calculation of weight based on signals of the front measuring devices (48a, 48b) and weight based on signals of the rear measuring devices (48c, 48d), left measuring device ( 48a, 48c) the weight based on the signal of the right side measuring device (48b, 48d), the comparison calculation of the weight based on the signal of each measuring device, the comparison calculation of the total weight of the weight based on the signal of each measuring device, the signal of the other measuring device Based on the comparison with the weight.

FIG. 5 shows an example in which the present invention is applied to a forklift. Forklift 6 as shown
0 is provided with two arms 62a and 62b for lifting and supporting an object to be moved from below, and these two arms 62 are moved upward from below to carry an object in a lifted state. To do. In this embodiment, weight measuring devices 64a and 64b for individually measuring the loads applied to the two arms 62a and 62b are provided, and the total weight of the object lifted by these measuring devices 64 and the lifted condition You can check the weight balance of. Then, the total weight and the left and right balance states are displayed on the display device 66 installed on the display in front of the driver's seat. Thus, when the object to be moved is lifted in a state of being biased to the left or right, the driver can instantly detect this.
Further, in the case of a biased state of a predetermined value or more, the alarm 68 in front of the driver's seat emits an alarm sound and blinks the alarm lamp. This makes it possible to effectively prevent a fall of an object that occurs when the object is lifted in an unbalanced state and the direction is changed as it is.
It is possible to prevent damage caused by an object falling.

The safety control mechanism of the forklift 60 is basically the same as that shown in FIG. 2 and FIG. 4, and the weight signal from the weight measuring devices 64a and 64b is supplied to the forklift main body by the CPU. Received, compared and calculated, and displayed on the display 66 based on the result,
Further, a warning operation such as the operation of the alarm device 68 and the stop of the device itself is performed. As with the truck shown in FIG. 3 and FIG. 4, the forklift 60 is also provided with a weight measuring device 64 at the tip side of the arm 62 so that the load applied to the four positions on the front, rear, left and right of the arm 62 can be measured. It is also possible to do so. For example, it can be installed by providing a thin hard plate member on the upper surface of the main body member of the arm 62 and disposing a weight measuring device capable of measuring a load between the plate member and the main body member and in the front and rear. . Various calculations based on the measured values from these weight measuring devices are performed by the above-mentioned FIG.
The CPU is installed in the same manner as described above.

FIG. 6 shows a boom tip portion 16a of a crane loaded with a safety device according to another invention of the present application. As shown in the figure, a cylindrical wire inclination detector 70 is provided around the wire 20 suspended from the tip portion 16a. The wire inclination detector 70 is swingably attached to a position below the boom tip end portion 16a by a pin 71, and is always kept in a state perpendicular to the ground regardless of the inclination of the boom 16. A touch sensor 72 is arranged below the inner peripheral wall surrounding the wire 20 at a predetermined distance. This touch sensor 7
When the wire tilts in any direction and touches the touch sensor 72, the wire 2 detects this and the crane main body 1
This wire inclination detection signal is sent to the control section provided on the second side.

The control unit which detects the inclination of the wire 20 operates the warning actuating unit as shown in each of the above-described embodiments to emit an alarm sound, turn on an alarm lamp, and further operate the crane. Stop. As a result, the danger can be notified and the worker can be prompted to perform the danger avoidance operation. That is, when an object that is being lifted and moved is caught on another part, or when the wire that suspends the object is shaking more than necessary, the object may fall or a nearby component There is a risk of damage to the vehicle, but this can be detected quickly to notify the operator and an accident can be avoided.

The present invention is not limited to the configuration of each of the above embodiments, and various modifications can be made within the scope of the invention. The weight measuring device arranged in each of the above embodiments is not limited to an electronic measuring device such as a load cell,
Other measuring devices can be used as long as the weight can be accurately measured by some means. The mounting position is not limited to the boom tip portion 16a,
Any place may be used as long as it can receive the total load of the object. Further, the alarm sound of each alarm device may be not only a signal sound but also a voice notifying that the weight is over.

[0030]

As described above, according to the object moving device of the first invention, the weight of an object can be detected when the object is hoisted, and the operator can quickly recognize the weight.
Since the operator is informed that the object that has exceeded the allowable maximum weight has been lifted, the danger avoidance operation can be immediately performed. Therefore, it is possible to effectively prevent the occurrence of an accident due to work in an overweight state. According to the object moving device of the second aspect of the present invention, the weight of the hoisted object is quickly detected, and when the maximum allowable weight is exceeded, not only the weight display but also a warning operation to the outside is automatically performed. As a result, it is possible to more reliably recognize the operator's overweight condition, and more surely avoid the danger. With the object moving device according to the third aspect of the present invention, the weight of the object placed on the bed and the weight balance of the placed state can be quickly detected, and in the case of an unbalanced state exceeding a predetermined degree, Since the warning operation for notifying this to the outside is automatically performed, the worker can quickly eliminate the dangerous state and the accident is effectively prevented. Further, according to the object moving device of the fourth invention,
The inclination of the wire in the suspended state can be detected quickly, and the operator can be informed early of the swinging of the wire and the state of being caught by another member. As a result, it is possible to contribute to prevention of accidents such as dropping of an object due to the inclination of the wire.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of a crane according to an embodiment.

FIG. 2 is a block diagram showing an overall configuration of a safety mechanism of the embodiment shown in FIG.

3A and 3B are a schematic overall configuration diagram of a truck and a schematic plan view of a luggage carrier according to an embodiment.

FIG. 4 is a schematic block diagram showing an overall configuration of a safety mechanism of the embodiment of FIG.

FIG. 5 is a schematic overall configuration diagram of a forklift according to an embodiment.

FIG. 6 is a schematic configuration diagram of a boom tip portion of the crane according to the embodiment.

[Explanation of symbols]

 16 multi-stage boom 20 wire 22 hook part 26 alarm lamp 28 voice generator 48 64 weight measuring device 50 68 alarm device 24 66 display device 72 touch sensor

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI Technical indication location B66C 23/90 H 9037-3F B 9037-3F B66F 9/24 M 7515-3F

Claims (4)

[Claims] 1. A locking part, which is directly or indirectly locked to an object to be moved, and a driving part, which moves the position of the locking part in a three-dimensional direction, and is locked to the locking part. In an object moving device for hoisting and moving a fixed object, a weight measuring unit capable of measuring the weight of the object suspended by the locking portion at the same time as the hoisting operation, and a weight measured by the weight measuring unit. An object moving device, comprising: a weight display means for displaying on the outside. 2. The object moving apparatus according to claim 1, wherein the weight measuring unit calculates a weight value based on a conversion unit that outputs an electric signal according to the weight of the object and a signal from the conversion unit. A weight signal from the calculation unit, and determines whether the signal indicates a weight that is heavier than a predetermined safety value.If the signal is heavy, an overweight signal is output. An object moving device comprising: a weight adequacy determining unit that transmits the signal; and an alerting unit that receives an overweight signal from the weight adequacy determining unit and performs one or more operations for notifying a danger to the outside. . 3. An object moving device for carrying an object by placing it on a bed and carrying it, and a weight measuring means for separately measuring loads applied to at least both right and left sides of the bed in the traveling direction, and sending a load signal. Weight display means for externally displaying at least the left and right weights and total weight measured by the weight measuring means, and the left and right load signals from the weight measuring means, and comparing the left and right loads to obtain a predetermined safety value abnormality Balance determining means for transmitting an imbalance signal when there is a difference between the two, and a warning means for receiving one or more of the imbalance signals from the balance determining means and performing one or more operations to notify the outside of the danger. An object moving device characterized by the above. 4. An extendable and retractable boom, a hook portion attached to a wire suspended from a tip portion of the boom, and a hook portion which is extended and retracted by the boom and retracted and rewound to tertiary the hook portion. An object moving device having a driving means for moving in an original direction and performing an hoisting movement by locking an object on the hook portion, the tip end portion of the boom being provided so as to always maintain a vertical state with respect to the ground. A tubular member that covers the hanging wire around the wire at a predetermined distance from the wire for a predetermined length, and a wire inclination detection that is provided on the inner wall of the tubular member and detects that the wire contacts the inner wall. An object moving device comprising: a means and a warning means for performing one or more operations for notifying a danger to the outside based on a detection signal from the wire inclination detection means.