JPH07157282A - Hand engagement detector for cargo lift device - Google Patents
Hand engagement detector for cargo lift deviceInfo
- Publication number
- JPH07157282A JPH07157282A JP33002593A JP33002593A JPH07157282A JP H07157282 A JPH07157282 A JP H07157282A JP 33002593 A JP33002593 A JP 33002593A JP 33002593 A JP33002593 A JP 33002593A JP H07157282 A JPH07157282 A JP H07157282A
- Authority
- JP
- Japan
- Prior art keywords
- load
- hand
- sensor
- engagement
- sides
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Load-Engaging Elements For Cranes (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は荷昇降装置の昇降枠の両
側に設けられたハンド部先端の係合爪が荷の把手に係合
したことを検知する荷昇降装置のハンド係合検知装置に
関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hand engagement detecting device for a load lifting device for detecting that engagement claws at the ends of the hand parts provided on both sides of a lifting frame of the load lifting device are engaged with a handle of the load. It is about.
【０００２】[0002]
【従来技術】従来この種の荷昇降装置としては、図３に
その概略構成を示すものがある。図３において、１０は
昇降枠で、該昇降枠１０は吊持ベルト１５で、図示しな
い天井に敷設されたガイドレール等を走行する走行台車
に吊り下げられている。吊持ベルト１５を走行台車に設
けられた巻上装置により巻き上げ下げすることにより、
昇降枠１０は昇降するようになっている。昇降枠１０の
左右両側にはハンド部１１，１１が設けられ、該ハンド
部１１，１１は互いに離隔及び接近する方向に公知の手
段で移動できるようになっている。ハンド部１１，１１
の先端にはそれぞれ係合爪１２，１２が設けられてい
る。2. Description of the Related Art Conventionally, as a load lifting device of this type, there is one shown in FIG. In FIG. 3, reference numeral 10 is an elevating frame, and the elevating frame 10 is suspended by a suspension belt 15 from a traveling carriage that travels on a guide rail or the like laid on a ceiling (not shown). By hoisting and lowering the suspension belt 15 by the hoisting device provided on the traveling carriage,
The elevating frame 10 can be moved up and down. Hand parts 11 and 11 are provided on both left and right sides of the elevating frame 10, and the hand parts 11 and 11 can be moved by a known means in a direction in which the hand parts 11 and 11 are separated from and approach each other. Hand part 11, 11
Engaging claws 12, 12 are provided at the tips of the respective.
【０００３】上記構成の荷昇降装置において、走行台車
の走行により、昇降枠１０を荷（ケース）１３の真上に
移送すると共に、荷１３上端との間隔が所定位置になる
まで降下させる。その後、両側のハンド部１１，１１を
その先端の係合爪１２が荷１３の両側の把手１４の真下
になる位置まで接近させる。その後、吊持ベルト１５を
巻き上げることにより、昇降枠１０が上昇し、係合爪１
２と把手１４が係合し、荷１３は上昇する。In the load elevating apparatus having the above-described structure, the elevating frame 10 is moved right above the load (case) 13 by traveling of the traveling carriage, and is lowered until the interval between the upper end of the load 13 and the upper end of the load 13 reaches a predetermined position. After that, the hand portions 11, 11 on both sides are brought close to the positions where the engaging claws 12 at the tips thereof are directly under the handles 14 on both sides of the load 13. Then, the lifting frame 10 is raised by winding up the suspension belt 15, and the engaging claw 1
2 and the handle 14 are engaged, and the load 13 rises.
【０００４】[0004]
【発明が解決しようとする課題】上記構造の昇降装置に
おいて、荷１３の昇降に際して、何らかの理由で、両側
のハンド部１１，１１先端の係合爪１２，１２のいずれ
か一方が荷１３の把手１４に係合しない場合がある。こ
の場合に昇降枠１０を上昇させると荷１３が片側吊りの
状態になり、更に上昇させると荷１３が落下する事故が
発生するという問題があった。そして従来は、このハン
ド部１１，１１先端の係合爪１２，１２と荷１３の把手
１４，１４の係合状態は作業員の目による視覚的検知に
頼らざるを得ず、自動的に検知する手段はなかった。In the lifting device having the above structure, when the load 13 is raised or lowered, for some reason, either one of the engaging claws 12, 12 at the tips of the hand portions 11, 11 on both sides grips the load 13. 14 may not be engaged. In this case, when the elevating frame 10 is raised, the load 13 is suspended on one side, and when it is further raised, there is a problem that the load 13 falls. In the prior art, the engagement state between the engaging claws 12, 12 at the tips of the hand parts 11, 11 and the grips 14, 14 of the load 13 has to rely on visual detection by a worker's eyes and is automatically detected. There was no way to do it.
【０００５】本発明は上述の点に鑑みてなされたもの
で、ハンド部先端の係合爪が荷の把手に係合したか否か
を自動的に検知できる荷昇降装置のハンド係合検知装置
を提供することを目的とする。The present invention has been made in view of the above points, and is a hand engagement detecting device for a load lifting device capable of automatically detecting whether or not the engaging claw at the tip of the hand portion is engaged with the handle of the load. The purpose is to provide.
【０００６】[0006]
【課題を解決するための手段】上記課題を解決するため
本発明は、図３に示すように、左右両側にハンド部１
１，１１を具備する昇降枠１０を具備し、昇降枠１０を
荷１３の真上に移送すると共に、ハンド部１１，１１を
該荷１３の両側から接近させ、その先端に設けられた係
合爪１２，１２を荷１３の両側の把手１４，１４に係合
させ、昇降枠１０を昇降させることにより、荷１３を昇
降する荷昇降装置において、図１に示すように、ハンド
部１１，１１先端の係合爪１２，１２が荷１３の両側の
把手１４，１４に係合したことを検出する触覚センサ１
７又は圧力センサ１９（図２参照）等のセンサを設けた
ことを特徴とする。In order to solve the above-mentioned problems, according to the present invention, as shown in FIG.
An elevating frame 10 provided with 1 and 11 is provided, the elevating frame 10 is transferred directly above the load 13, and the hand parts 11 and 11 are approached from both sides of the load 13, and the engagement is provided at the tip thereof. In the load lifting device that lifts and lowers the load 13 by engaging the claws 12 and 12 with the grips 14 and 14 on both sides of the load 13 and moving the lifting frame 10 up and down, as shown in FIG. Tactile sensor 1 for detecting that the engaging claws 12, 12 at the tips have engaged with the handles 14, 14 on both sides of the load 13.
7 or a sensor such as a pressure sensor 19 (see FIG. 2) is provided.
【０００７】[0007]
【作用】本発明は上記構成を採用することにより、セン
サがハンド部１１，１１先端の係合爪１２，１２が荷１
３の両側の把手１４，１４に係合したことを自動的に検
知するので、荷１３の片側吊りを未然に確実に防止する
ことが可能となる。According to the present invention, by adopting the above-mentioned structure, the sensor is such that the engaging claws 12 and 12 at the tips of the hand parts 11 and 11 are the loads 1 and 1 respectively.
Since the engagement with the handles 14 on both sides of the load 3 is automatically detected, it is possible to reliably prevent the load 13 from hanging on one side.
【０００８】[0008]
【実施例】以下、本発明の実施例を図面に基づいて説明
する。図１は本発明のハンド係合検知装置の構成を示す
図で、同図（ａ）は側断面図、同図（ｂ）は底面図であ
る。図１において、１１は図３のハンド部であり、該ハ
ンド部１１の先端部に係合爪１２が設けられている。ハ
ンド部１１の先端及び係合爪の所定の位置には、それぞ
れスリット１１ａ及び１２ａ、１２ｂが設けられてい
る。これらの該スリット１１ａ、１２ａ及び１２ｂはハ
ンド部１１及び係合爪１２を貫通するスリット穴を形成
している。１７は触覚センサであり、該触覚センサ１７
はブラケット１６を介してハンド部１１の先端部にネジ
１８により取付けられている。Embodiments of the present invention will be described below with reference to the drawings. 1A and 1B are views showing the configuration of a hand engagement detection device according to the present invention. FIG. 1A is a side sectional view and FIG. 1B is a bottom view. In FIG. 1, 11 is the hand portion of FIG. 3, and an engaging claw 12 is provided at the tip of the hand portion 11. Slits 11a, 12a and 12b are provided at predetermined positions of the tip of the hand portion 11 and the engaging claws, respectively. These slits 11a, 12a and 12b form slit holes penetrating the hand portion 11 and the engaging claw 12. Reference numeral 17 denotes a tactile sensor, and the tactile sensor 17
Is attached to the tip of the hand portion 11 via a bracket 16 with a screw 18.
【０００９】上記触覚センサ１７はセンサ本体１７−１
と弾性を有する線状の触覚部材１７−２からなり、該触
覚部材１７−２はスリット１１ａ、１２ａ及び１２ｂで
形成されるスリット穴内で、係合爪１２と荷１３の把手
１４が正常に係合する位置で、該把手１４により押圧さ
れる位置に配置されている。なお、図示は省略するが上
記の触覚センサ１７は左右両側のハンド部１１に設けら
れていることは当然である。The tactile sensor 17 is a sensor body 17-1.
And a linear tactile member 17-2 having elasticity. The tactile member 17-2 normally engages the engaging claw 12 and the handle 14 of the load 13 in the slit hole formed by the slits 11a, 12a and 12b. It is arranged at a position where it is pressed by the handle 14 at a matching position. Although illustration is omitted, it goes without saying that the tactile sensor 17 is provided on the left and right hand parts 11.
【００１０】上記構成のハンド係合検知装置において、
図３に示すように、昇降枠１０が荷１３の真上に移送す
ると共に、荷１３上端との間隔が所定位置になるまで降
下し、両側のハンド部１１，１１をその先端の係合爪１
２が荷１３両側の把手１４の真下になる位置まで接近さ
せる。この状態で触覚センサ１７の触覚部材１７−２は
荷１３における把手１４の下方に位置する。吊持ベルト
１５を巻き上げることにより、昇降枠１０が上昇する
と、荷１３の把手１４が先ず触覚部材１７−２を押圧す
る。触覚部材１７−２は弾性を有する線材でできている
から、弓型に変形しながら押し下げられる。該触覚部材
１７−２の押し下げにより、センサ本体１７−１内のス
イッチが作動し、係合爪１２と把手１４が正しい係合位
置にあることを検知する。In the hand engagement detecting device having the above structure,
As shown in FIG. 3, the elevating frame 10 is transferred right above the load 13 and is lowered until the distance between the load 13 and the upper end of the load 13 reaches a predetermined position. 1
2 is approached to a position directly below the handles 14 on both sides of the load 13. In this state, the tactile member 17-2 of the tactile sensor 17 is located below the handle 14 of the load 13. When the elevating frame 10 is raised by winding the suspension belt 15, the handle 14 of the load 13 first presses the tactile member 17-2. Since the tactile member 17-2 is made of a wire material having elasticity, the tactile member 17-2 is pushed down while deforming into an arch shape. When the tactile member 17-2 is pushed down, a switch in the sensor body 17-1 is actuated, and it is detected that the engaging claw 12 and the handle 14 are in the correct engaging positions.
【００１１】係合爪１２と把手１４が正しい係合位置に
ない場合、つまり係合爪１２が把手１４の真下に位置し
ない場合、昇降枠１０が上昇しても把手１４が触覚部材
１７−２を押し下げることがないから、センサ本体１７
−１内のスイッチは作動しない。従って、係合爪１２と
把手１４が係合する位置まで昇降枠１０が上昇しても、
触覚センサ１７が作動しない場合、係合爪１２と把手１
４が正しい係合位置にないとして、例えば警報を発した
り、更には昇降枠１０の上昇を自動的に停止させること
により、荷１３の片側吊り事故を未然に防止することが
できる。When the engaging claw 12 and the handle 14 are not in the correct engaging position, that is, when the engaging claw 12 is not located directly below the handle 14, even if the elevating frame 10 is lifted, the handle 14 will be held by the tactile member 17-2. Is not pushed down, the sensor body 17
The switches in -1 do not work. Therefore, even if the elevating frame 10 moves up to the position where the engaging claw 12 and the handle 14 are engaged,
When the tactile sensor 17 does not operate, the engaging claw 12 and the handle 1
If 4 is not in the correct engagement position, for example, an alarm is issued, and further, the raising and lowering of the elevating frame 10 is automatically stopped, whereby the one-sided hanging accident of the load 13 can be prevented.
【００１２】図２は本発明のハンド係合検知装置の他の
構成を示す図で、同図（ａ）は側面図、同図（ｂ）はＡ
−Ａ’拡大断面図である。図２において、１９は把手１
４の先端が当接したことを検出する圧力センサであり、
該圧力センサとしては、テープスイッチ等の把手１４の
先端が当接したことを検知するセンサや圧力が所定値以
上になったことを検出するセンサを使用することができ
る。圧力センサ１９の両側には該圧力センサ１９が把手
１４の大きい押圧力により破損するのを防止するため、
受部材２０が配設されている。この受部材２０の高さと
圧力センサ１９の高さの差が圧力センサ１９の作動スト
ロークｄとなる。2A and 2B are views showing another structure of the hand engagement detecting device of the present invention. FIG. 2A is a side view and FIG. 2B is A.
-A 'is an enlarged sectional view. In FIG. 2, 19 is a handle 1
4 is a pressure sensor that detects the contact of the tip of 4.
As the pressure sensor, it is possible to use a sensor such as a tape switch which detects that the tip of the handle 14 is in contact with the pressure sensor or a sensor which detects that the pressure has reached a predetermined value or more. On both sides of the pressure sensor 19, in order to prevent the pressure sensor 19 from being damaged by a large pressing force of the handle 14,
The receiving member 20 is provided. The difference between the height of the receiving member 20 and the height of the pressure sensor 19 is the operating stroke d of the pressure sensor 19.
【００１３】上記構成のハンド係合検知装置において、
図３に示すように、昇降枠１０が荷１３の真上に移送す
ると共に、荷１３上端との間隔が所定位置になるまで降
下し、両側のハンド部１１，１１をその先端の係合爪１
２が荷１３両側の把手１４の真下になる位置まで接近さ
せる。この状態で把手１４の先端は圧力センサ１９の真
上に位置する。この状態で昇降枠１０が上昇すると、荷
１３の把手１４の先端が先ず圧力センサ１９の上面に当
接し、作動ストロークｄ上昇後に圧力センサ１９が作動
し、係合爪１２と把手１４が正しい係合位置にあること
を検知する。なお、図示は省略するが、上記の圧力セン
サ１９及び受部材２０は左右両側のハンド部１１に設け
られていることは当然である。In the hand engagement detecting device having the above structure,
As shown in FIG. 3, the elevating frame 10 is transferred right above the load 13 and is lowered until the distance between the load 13 and the upper end of the load 13 reaches a predetermined position. 1
2 is approached to a position directly below the handles 14 on both sides of the load 13. In this state, the tip of the handle 14 is located right above the pressure sensor 19. When the elevating frame 10 is raised in this state, the tip of the handle 14 of the load 13 first comes into contact with the upper surface of the pressure sensor 19, and the pressure sensor 19 is activated after the operating stroke d is raised, so that the engaging claw 12 and the handle 14 are correctly engaged. It detects that it is in the correct position. Although illustration is omitted, it goes without saying that the pressure sensor 19 and the receiving member 20 are provided on the left and right hand parts 11 respectively.
【００１４】係合爪１２と把手１４が正しい係合位置に
ない場合、つまり係合爪１２が把手１４の真下に位置し
ない場合、昇降枠１０が上昇しても把手１４の先端が圧
力センサ１９に当接することがないから、圧力センサ１
９は作動しない。従って、係合爪１２と把手１４が係合
する位置まで昇降枠１０が上昇しても、圧力センサ１９
が作動しない場合、係合爪１２と把手１４が正しい係合
位置にないとして、例えば警報を発したり、更には昇降
枠１０の上昇を自動的に停止させることにより、荷１３
の片側吊り事故を未然に防止することができる。If the engaging claw 12 and the handle 14 are not in the correct engaging position, that is, if the engaging claw 12 is not located directly below the handle 14, the tip of the handle 14 will be pressure sensor 19 even if the elevating frame 10 is raised. Pressure sensor 1
9 does not work. Therefore, even if the elevating frame 10 moves up to the position where the engaging claw 12 and the handle 14 engage with each other, the pressure sensor 19
Is not activated, it is determined that the engaging claw 12 and the handle 14 are not in the correct engaging position, and, for example, an alarm is issued, and further, the lifting of the elevating frame 10 is automatically stopped, so that the load 13
It is possible to prevent one side suspension accident.
【００１５】なお、上記実施例では、係合爪１２と把手
１４が係合したことを検知するセンサとして触覚センサ
１７やテープスイッチ等の圧力センサ１９を例に説明し
たが、係合爪１２と把手１４の係合を検出するセンサと
してはこれに限定されるものではなく、例えばハンド部
１１にレーザ光を発する発光素子と反射光を受光する受
光素子からなる光検知器を設け、係合爪１２と把手１４
が係合位置に達したら、発光素子で発光され把手１４で
反射された反射光を受光素子で受光するような構成の光
学的センサを用いても良い。要はハンド部１１の先端の
係合爪１２が荷１３の両側の把手１４に係合したことを
検知できるセンサであればよい。In the above embodiment, the tactile sensor 17 and the pressure sensor 19 such as a tape switch are used as the sensors for detecting the engagement between the engaging claw 12 and the handle 14, but the engaging claw 12 and The sensor for detecting the engagement of the grip 14 is not limited to this. For example, the hand portion 11 is provided with a photodetector including a light emitting element that emits a laser beam and a light receiving element that receives a reflected light, and the engaging claw is provided. 12 and handle 14
An optical sensor may be used in which the light receiving element receives the reflected light emitted by the light emitting element and reflected by the handle 14 when reaches the engaging position. In short, any sensor can be used as long as it can detect that the engaging claws 12 at the tip of the hand portion 11 are engaged with the grips 14 on both sides of the load 13.
【００１６】[0016]
【発明の効果】以上説明したように本発明によれば、ハ
ンド部先端の係合爪が荷の両側の把手係合したことをセ
ンサで自動的に検知するので、荷の片側吊りを未然に確
実に防止することが可能となる。As described above, according to the present invention, the fact that the engaging claws at the tip of the hand portion are engaged with the grips on both sides of the load is automatically detected by the sensor, so that the load can be hung on one side. It is possible to surely prevent it.
【図１】本発明の荷昇降装置のハンド係合検知装置の構
成を示す図で、同図（ａ）は側断面図、同図（ｂ）は底
面図である。FIG. 1 is a diagram showing a configuration of a hand engagement detection device of a load lifting device according to the present invention, in which FIG. 1 (a) is a side sectional view and FIG. 1 (b) is a bottom view.
【図２】本発明の荷昇降装置のハンド係合検知装置の他
の構成を示す図で、同図（ａ）は側面図、同図（ｂ）は
Ａ−Ａ’拡大断面図である。2A and 2B are views showing another configuration of the hand engagement detection device of the load lifting / lowering device of the present invention, wherein FIG. 2A is a side view and FIG. 2B is an enlarged sectional view taken along line AA ′.
【図３】本発明の荷昇降装置のハンド係合検知装置を用
いる荷昇降装置の概略構成を示す図である。FIG. 3 is a diagram showing a schematic configuration of a load lifting device using the hand engagement detection device of the load lifting device of the present invention.
１０ 昇降枠 １１ ハンド部 １２ 係合爪 １３ 荷 １４ 把手 １５ 吊持ベルト １６ ブラケット １７ 触覚センサ １８ ネジ １９ 圧力センサ ２０ 受部材 10 Lifting frame 11 Hand part 12 Engaging claw 13 Load 14 Handle 15 Suspending belt 16 Bracket 17 Tactile sensor 18 Screw 19 Pressure sensor 20 Receiving member
Claims (3)
具備し、該昇降枠を荷の真上に移送すると共に、ハンド
部を該荷両側から接近させ、その先端に設けられた係合
爪を該荷両側の把手に係合させ、該昇降枠を昇降させる
ことにより、荷を昇降する荷昇降装置において、 前記ハンド部先端の係合爪が荷両側の把手に係合したこ
とを検知するセンサを設けたことを特徴とする荷昇降装
置のハンド係合検知装置。1. A lifting frame having hand parts on both left and right sides, the lifting frame being transferred directly above a load, the hand part being approached from both sides of the load, and an engagement provided at a tip thereof. A load lifting device that lifts and lowers a load by engaging claws on the handles on both sides of the load and lifting and lowering the elevating frame to detect that the engaging claws at the tip of the hand portion have engaged the handles on both sides of the load. A hand engagement detection device for a load lifting device, which is provided with a sensor.
ンサであり、該触覚センサを前記ハンド部の先端部に設
け、該触覚部材に荷の把手が接触することにより、ハン
ド部先端の係合爪と把手が係合したことを検知すること
を特徴とする請求項１記載の荷昇降装置のハンド係合検
知装置。2. The sensor is a tactile sensor including a tactile member, and the tactile sensor is provided at a tip portion of the hand portion, and when a handle of a load comes into contact with the tactile member, the tip of the hand portion is engaged. The hand engagement detection device of the load lifting device according to claim 1, wherein the engagement of the claw and the grip is detected.
センサを前記ハンド部先端の係合爪の把手が係合する位
置で且つ該把手に押圧される位置に設け、該圧力センサ
を把手が押圧することにより、係合爪と把手の係合を検
知することを特徴とする請求項１記載の荷昇降装置のハ
ンド係合検知装置。3. The sensor is a pressure sensor, and the pressure sensor is provided at a position where a grip of an engaging claw at the tip of the hand portion is engaged and a position where the grip is pressed by the grip, and the pressure sensor is The hand engagement detection device of the load lifting device according to claim 1, wherein the engagement of the engagement claw and the grip is detected by pressing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP33002593A JPH07157282A (en) | 1993-11-30 | 1993-11-30 | Hand engagement detector for cargo lift device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP33002593A JPH07157282A (en) | 1993-11-30 | 1993-11-30 | Hand engagement detector for cargo lift device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH07157282A true JPH07157282A (en) | 1995-06-20 |
Family
ID=18227940
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP33002593A Pending JPH07157282A (en) | 1993-11-30 | 1993-11-30 | Hand engagement detector for cargo lift device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH07157282A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011057385A (en) * | 2009-09-10 | 2011-03-24 | Temco Corp | Article carrying box clamping tool for transfer device |
| JP2018008338A (en) * | 2016-07-13 | 2018-01-18 | 本田技研工業株式会社 | Method for checking engagement by robot |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5853780B2 (en) * | 1980-07-10 | 1983-12-01 | 璋 岸 | gaming calculator |
| JPS61257897A (en) * | 1985-05-10 | 1986-11-15 | 日産自動車株式会社 | Load detector for forklift |
-
1993
- 1993-11-30 JP JP33002593A patent/JPH07157282A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5853780B2 (en) * | 1980-07-10 | 1983-12-01 | 璋 岸 | gaming calculator |
| JPS61257897A (en) * | 1985-05-10 | 1986-11-15 | 日産自動車株式会社 | Load detector for forklift |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011057385A (en) * | 2009-09-10 | 2011-03-24 | Temco Corp | Article carrying box clamping tool for transfer device |
| JP2018008338A (en) * | 2016-07-13 | 2018-01-18 | 本田技研工業株式会社 | Method for checking engagement by robot |
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