JPH107400A - Balance type cargo handling device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide balance type cargo handling device whose arm is constituted so as not to ascend even if a work is separated from the arm and which can change a working level freely even during working. SOLUTION: The air pressure of an air supply source 51 is supplied directly into a balance cylinder 16 to lift a work. When the work has reached a working level, the pressure of the balance cylinder 16 becomes the pressure balancing with the weight with the load at that time added to the dead load of the arm by selecting the first regulator 61 through a controller 53, thus moving the work easily. In changing the working level to 'Low', the fourth regulator 64 may be selected. If the work gets out of the arm, a work presence detecting means 52 detects that no work is present. Based on its signal, the third regulator 63 is selected, so that the emply arm is kept at that level.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a balance type cargo handling device.

[0002]

2. Description of the Related Art A balance-type cargo handling apparatus moves a work to a predetermined position with a small force of an operator while offsetting the weight of the work. An automatic sensing control device in a cargo handling device is known. The balance type cargo handling device of this publication includes a work weight control device. The work weight control device suspends a heavy object (work) on the vertical arm 17 shown in FIG. 1, detects and stores the weight, and stores the stored air pressure. Is supplied to the balance cylinder 3 to offset the weight of the work and maintain the balance. This allows
The operator can horizontally and pivotally move the work with a small force.

[0003]

The above-mentioned conventional cargo handling device can move a heavy work easily and laterally, thereby greatly reducing the burden on the operator. However, when the work falls off from the arm 17, there is a disadvantage that the action of the balance cylinder 3 prevails and the arm 17 continues to rise. At this time, the operator must immediately operate the valve to take measures against it, and the burden on the operator is large.

After the work level is determined by the above procedure, the work level may be corrected upward or downward. However, the above cargo handling device does not have a structure that takes this level change into account. In particular, it is difficult to correct the level to "down".

SUMMARY OF THE INVENTION It is an object of the present invention to provide a loading device in which the arm does not rise even if the work separates from the arm for any reason, and the work level can be freely changed.

[0006]

According to a first aspect of the present invention, there is provided an air pressure supply path from an air supply source to a balance cylinder, the weight of which is obtained by adding a load at that time to the weight of the arm. Load balance pressure generating means for generating a pressure that balances with the load, work lowering pressure generating means for generating a pressure that balances a slightly smaller weight than the minimum load obtained by adding the minimum load to the arm's own weight, and the arm's own weight No-load balance pressure generating means for generating a pressure that balances only the workpiece, a work presence / absence detection means for detecting whether or not the arm has a work, and based on a work absence signal from the work presence / absence detection means. Select the no-load balance pressure generating means and supply the air pressure of the air supply source directly to the balance cylinder based on a manual operation or Comprising lance pressure generating means, the workpiece under buck generating means, a controller makes the selected controlled supply the controlled air pressure to the balance cylinder one of the no-load balancing pressure generating means.

The work is raised by directly supplying the air pressure of the air supply source to the balance cylinder. When the work balance is reached, if the load balance pressure generation means is selected through the controller, the pressure of the balance cylinder will be a pressure that balances the weight of the arm's own weight plus the current load, making it possible to move the work extremely easily It is. In order to correct the work level to “down”, the work lowering pressure generating means may be selected. In the meantime, if the work falls off the arm during this time, the work presence / absence detecting means detects the absence of the work. The no-load balance pressure generating means is selected based on this signal, and the empty arm is held at that level.

As described above, the arm does not rise even if the work is detached from the arm, and the work level can be freely changed on the way.

[0009]

Embodiments of the present invention will be described below with reference to the accompanying drawings. The drawings should be viewed in the direction of reference numerals. FIG. 1 is an exploded perspective view of a balance-type cargo handling device according to the present invention. The balance type cargo handling device 1 includes a work moving device 2 and a work weight control device 50. The work moving device 2 includes a tower unit 3, and a work lifting / lowering unit 15 that connects to the tower unit 3 and moves the work 10 up and down. Consists of

The tower 3 comprises a base 4, a column 5 rotatably mounted on the base 4, and a frame 6 fixed to the column 5. The frame 6 has a substantially U-shaped cross section and includes cylinder brackets 7 and 8 and guide rails 9 and 9.

The work elevating unit 15 is connected to the balance cylinder 16 between the brackets 7 and 8 of the frame 6 via pins 16a, and is connected to the balance cylinder 16 via pins 16a so as to be able to move up and down on the guide rails 9 and 9 of the frame 6. Lifting and lowering body 17 supported,
A first arm 20 connected to the pin 18 of the elevating body 17 through a long hole 20a and rotatably connected to the frame 6 via a pin 19; First link 2 rotatably connected to frame 6
2, a connecting portion 23 attached to the distal end of the first arm 20 and the first link 22, and the first arm 2 through the connecting portion 23.
The second arm 30 connected to the front end of the first arm 30 so as to be able to turn horizontally.
And a second link 3 arranged in parallel with the first arm 20.
5

The second link 35 has one end rotatably connected to the base 4 and the other end connected to a pin 35a. The pin 35a is connected to the bracket 3 via a bearing 35b.
4 is rotatably mounted. The second arm 30 includes a rotatable first pulley 31 and a second pulley 32, and an endless belt 3 stretched over the first and second pulleys 31 and 32.
3 is provided. 20b are receiving pieces slidably fitted to the guide rails 9, 9; 38, a shaft that rotates integrally with the second pulley 32; and 39, a work suction portion.

FIG. 2 is a side view of the work moving device according to the present invention, and shows that the first arm 20, the first link 22, and the second link 35 are respectively parallel in a side view. 4
0a is an upper limit stopper, 40b is a lower limit stopper, and each stopper 40a, 40b regulates the rising amount and the descending amount of the elevating body 17. Reference numeral 41 denotes an upper limit switch, reference numeral 42 denotes a lower limit switch, reference numeral 43 denotes an operation rod, and the operation rod 43 moves up and down together with the first arm 20 to turn on and off the upper limit switch 41 and the lower limit switch 42.

FIG. 3 is a plan view of the work moving device according to the present invention, and shows that the first arm 20, the first link 22, and the second link 35 are parallel to each other in plan view. The second arm 30 is free to turn.

FIG. 4 is a sectional view of a connecting portion according to the present invention. The connecting portion 23 includes the first arm 20 and the first link 22.
A housing 24 attached to the tip of the housing 24;
A cylindrical body 26 rotatably supported by the shaft 25 and holding the second arm 30;
6, a drive motor 29 rotatably supporting a drive gear 28 meshing with the gear 27. The drive motor 29 is mounted on the housing 24. A shaft 36 extends from the first pulley 31 in the second arm 30, and one end of the bracket 34 is fixed to a lower end of the shaft 36. The shaft 36 has a bearing 37a and a cylinder 37 extending downward from the second arm 30.
It is held rotatably via 37a.

The operation of the above-described work moving device according to the present invention will be described. FIGS. 5A, 5B, and 5C are diagrams for explaining the operation of the workpiece moving device according to the present invention when it is moved up and down. (A) shows a state where the pin 18 is located substantially at the center of the elongated hole 20a and the first arm 20 is held horizontally.
(B), by contracting the balance cylinder 16,
A state in which the elevating body 17 is lowered in the direction of the arrow and the first arm 20 is rotated clockwise in FIG. Since the first arm 20, the first link 22 and the second link 35 form a parallel link, the second arm 30
Remain horizontal, and the posture of the work 10 is kept the same as that of FIG. (C), when the balance cylinder 16 is extended, the elevating body 17 rises in the direction of the arrow, and the pin 18
Shows a state where the first arm 20 is raised. Since the first arm 20, the first link 22, and the second link 35 form a parallel link, the posture of the work 10 is (a) or (b).
And keep the same posture.

FIGS. 6 (a) and 6 (b) are views for explaining the operation of the work moving device according to the present invention at the time of horizontal movement. (A) shows a state where the first arm 20 and the second arm 30 are linearly extended and the work 10 is sucked. (B) is the first
The state where the arm 20 is rotated in the direction of the arrow is shown. At this time, the bracket 34 rotates in the direction of the arrow, and the first pulley 31 also rotates in the direction of the arrow via the shaft 36 shown in FIG. As a result, the belt 33 rotates and the second pulley 32 rotates in the direction of the arrow via the belt 33.
The posture of the work 10 keeps the same posture as (a).

FIGS. 7A to 7C are views for explaining the operation of the second arm according to the present invention. In FIG. 6A, the first arm 20 is not turned and only the second arm 30 is turned. Will be described, if the first arm 20 is not turning,
The first pulley 31 is brought into a non-rotational state by the action of the bracket 34 and the second link 35. Figure 7 and the first pulley 31 and the second mark pulley 32 two points P ₁ and the point P ₂ denoted (a), a and was placed the workpiece 10 at point P _2. From this state, the second arm 30 is turned as shown by the arrow. Then, since the first pulley 31 is in the non-rotating state, the belt 3
3, the second pulley 32 is turned as shown by the arrow.
(B) is the result, wherein the arrows are offset,
This indicates that the posture of the work 10 does not change. Further, the second arm 30 is turned as shown by the arrow. Then, similarly to (a), the second pulley 32 is rotated via the belt 33 as shown by the arrow. (C) shows the result, and the posture of the work 10 does not change.

FIG. 8 is an explanatory view of the operation of the work moving device according to the present invention for horizontal movement. From the operation of FIGS. 6 and 7, the second arm 30 is rotated θ from the position of the imaginary line in the direction of the arrow. This shows a state in which the posture of the work 10 does not change even if it does.

FIG. 9 is an air circuit diagram of the cargo handling device according to the present invention. 50 is a work weight control device, and 51 is an air supply source. A small frame 52 surrounded by a dashed line is a work presence / absence detecting means, 52a is a work detection unit, 52b is an on / off valve, 52c is a pressure switch, and 53 is a controller. When the work is detected by the work detection unit 52a, the on / off valve 52b is turned on, the pressure switch 52c detects the pressure, and sends "work present" information to the controller 53.

Reference numeral 55 enclosed by a large frame is a pressure adjusting unit 55. Reference numeral 61 denotes a first regulator as load balance pressure generating means, 62 denotes a second regulator for an initial set pressure, 63 denotes a third regulator as no-load balance pressure generating means, and 64 denotes a fourth regulator as work lowering pressure generating means.
It is a regulator. As is clear from the drawing, the second regulator 62, the third regulator 63, and the fourth regulator 64 are so-called self-acting pressure reducing valves, and adjust the secondary pressure to a preset value. The first regulator 61 is a non-self-acting pressure reducing valve that adjusts the secondary pressure based on an external pilot pressure, and the secondary pressure can be freely changed by changing the pilot pressure.

The “load balance pressure” generated by the first regulator 61 is a load that generates a holding force that balances the load, that is, the weight of the work. In order to facilitate understanding, the first and second arms 2 are used when there is no load (no load).
0, 30, etc., load W acting on balance cylinder 16
₁ for 100 kg, work weight W ₂ for 50 kg to 200 k
g, the weight to be covered by the “load balance pressure” is W ₁ + W ₂ (150 kg to 300 kg).

The "initial set pressure" generated by the second regulator 62 is equal to the weight W ₁ + W when the minimum weight of the workpiece is suspended.
₂ (150 kg).

The “no-load balance pressure” generated by the third regulator 63 refers to the balance pressure when there is no work, and the weight to be held at this pressure is W ₁ (100) kg.

The "falling pressure" generated by the fourth regulator 64 is a pressure slightly lower than the initially set pressure (W ₁ + W ₂ = 150 kg). For example, the weight to be held at this pressure is
140 kg. Therefore, the following relationship is satisfied: no-load balance pressure (W ₁ ) <downward pressure <initial setting pressure ≦ load balance pressure (W ₁ + W ₂ ) <air supply source pressure. The weight value such as 50 kg is exemplified only for the purpose of explanation.

Further, at the center and lower part of the figure, 59 and 60 are flow path switching valves, 65 is an on-off valve, and 66 and 67.
Is a flow path switching valve, and 68 is an on / off valve. 69, 70 and 71 at the upper center of the figure are solenoid valves, and 72 and 73 at the center of the figure.
Is a timer, 74 is an on / off valve, 75 (three places) is a speed controller, 76 (four places) is an exclusive OR circuit, and 77 (one place) at the lower right is an AND circuit. The exclusive OR circuit 76 opens and outputs pilot pressure only when pressure is supplied from one of the two paths connected to the input side.
The AND circuit 77 opens and outputs a pilot pressure only when pressure is simultaneously supplied from two input side passages.

Reference numerals 78 and 79 denote manual on / off valves, 8
0 is a manual flow path switching valve, 81 is a shuttle valve, and 82 is a pressure indicator.

The control of the work weight control device according to the present invention described above will be described. FIG. 10 is a first operation diagram (setting of the initial set pressure), and shows a procedure of the initial setting for setting the balance cylinder 16 to the initial set pressure. First, when the work detection unit 52a detects a work to start the work, the on / off valve 52b is opened and the information of "work present" is transmitted to the controller 53 via the pressure switch 52c, and the flow path switching valves 59 and 60 are operated. Switch. The flow path switching valve 67 is also opened. As a result, the high-pressure air acts on the second regulator 62 → the valve 60 → the valve 59 → the first regulator 61 as shown by the thick line. Since the second regulator 62 generates the initial set pressure, the first regulator 61 sets the initial set pressure. This state is an initial setting.

As described above, by setting the first regulator 61 to the initial set pressure, the air pressure supplied from the air supply source is adjusted to the initial set pressure by the first regulator 61, and the adjusted air pressure is flowed. The signal is transmitted to the on / off valve 68 via the path switching valves 66 and 67.

FIG. 11 is a second operation diagram (work lifting), and the manner in which the work is lifted by the balance cylinder 16 will be described. Via the controller 53, the solenoid valve 69 is turned on and the on / off valve 74 is opened. Similarly, the solenoid valve 71 is turned on and the on / off valve 68 is opened. Then, the high-pressure air flows as shown by the thick line to reach the balance cylinder 16, pushes up the piston of the balance cylinder 16, and starts lifting the work. That is, the original pressure (maximum pressure) of the air acts on the balance cylinder 16.

FIG. 12 is a third operation diagram (work rise), and the operation pilot pressure of the first regulator 61 in FIG. 11 will be described. That is, FIG. 11 and FIG. 12 are separately described for convenience for the sake of simplicity. That is, the air pressure (original pressure at this time) acting on the balance cylinder 16 is controlled by the valves 68, 6 as indicated by the thick lines.
It reaches the first regulator 61 via 7, 66, 65, 59. Therefore, the pilot pressure of the first regulator 61 is synchronized with the working pressure of the balance cylinder 16.

In this state, the work gradually rises.
The operator may perform the following operation at a desired height to stop the ascent. In FIG. 11, the solenoid valve 6
9 is turned off and the on / off valve 74 is turned off. The timer 72 is operated to turn off the on / off valve 65. Next, the timer 73 is operated to switch the flow path switching valve 66. The result is shown in the following figure.

FIG. 13 is a fourth operation diagram (load balance pressure setting, work state). Since the on / off valve 65 is turned off, the pilot pressure of the first regulator 61 is set when the work is stopped at a desired height. It is fixed to the pressure. The air acts on the balance cylinder 16 via the valves 66, 67, 68 via the first regulator 61 set in this way. This completes the setting of the “load balance pressure”. In this state, the work such as laterally moving the work may be performed.

The work level is set to “up” for the convenience of the work.
When it is necessary to correct the above, FIG.
12 may be performed, and then FIG. 13 may be performed again. In this way, even during the work, the work level can be easily corrected to “up”. Work level "down"
Will be described later.

FIG. 14 is a fifth operational view (measures against no-load balance pressure, work falling off, etc.). During the movement of the work, the work may fall off from the tip of the arm. When the work falls off, the load on the balance cylinder 16 suddenly decreases, and the arm rapidly rises as it is. Therefore, in the present apparatus, the falling off of the work is detected by the work detection unit 52a, and the on / off valve 52b is turned off. When the on / off valve 52b is turned off, the on / off valves 59 and 60 that have been on are turned off.

As a result, the air is supplied to the third regulator 63
Acts as pilot pressure in the order of → the valve 59 → the first regulator 61. The third regulator 63 generates a “no-load balance pressure” that is a balance pressure when there is no work. Therefore, the pressure adjusted to the no-load balance pressure by the third regulator 63 acts on the balance cylinder 16 as indicated by the thick line. As a result, the arm remains at that position without ascending or descending. As described above, the present apparatus is an apparatus that instantaneously and accurately responds to the dropping of the work. As a part of normal work, when the work is released from the arm,
The device will be in the same no-load balance pressure mode as described above.

Returning to FIG. 13, if it is necessary to correct the level of the work to "down" before, during and after the normal work, the level is corrected in the following manner. In addition,
The "up" modification of the level has been explained. FIG. 15 is a sixth operation diagram (work lowering), in which the solenoid valve 70 is switched through the controller 53 to open from the state of FIG. Then, pressure is applied to the two input paths of the exclusive OR circuit 76, so that the OR circuit 76 is closed, the next AND circuit 77 is turned off, the flow path switching valve 67 is switched, and as shown in FIG. As shown by the fourth regulator 6
4 to a balance cylinder 16. The fourth regulator 64 acts on the balance cylinder 16 with a downward pressure slightly lower than the minimum load balance pressure (initial set pressure). Therefore, the work descends quietly. When the work reaches the correction level, the solenoid valve 70 may be switched and closed. This returns to FIG. 13, so that normal work can be resumed from there.

The manual operation described in the claims includes not only operating a switch or a button (neither is shown) on the controller 53 but also directly operating a manual valve. The type of the load balance pressure generating means 61, the work lowering pressure generating means 64, and the no-load balance pressure generating means 63 are not particularly limited as long as they can adjust the air to a predetermined pressure.

[0039]

According to the present invention, the following effects are exhibited by the above configuration. Claim 1 is a load balance pressure generating means for generating, in an air pressure supply path from an air supply source to a balance cylinder, a pressure that balances the weight of the arm's own weight plus the load at that time, The arm comprises: a work lowering pressure generating means for generating a pressure that balances to a weight slightly smaller than the lowest load where a load is applied; and a no-load balance pressure generating means for generating a pressure that balances only with the weight of the arm. A work presence / absence detection means for detecting whether or not there is a work, and selecting the no-load balance pressure generation means based on a work absence signal from the work presence / absence detection means, and an air supply source based on a manual operation. Supply the air pressure directly to the balance cylinder, or generate the load balance pressure generating means, the work lowering pressure generating means, and the no-load balance pressure A controller forming a selected and controlled to supply a controlled air pressure to the balance cylinder one of the means.

The work is raised by directly supplying the air pressure of the air supply source to the balance cylinder. When the work balance is reached, if the load balance pressure generation means is selected through the controller, the pressure of the balance cylinder will be a pressure that balances the weight of the arm's own weight plus the current load, making it possible to move the work extremely easily It is. In order to correct the work level to “down”, the work lowering pressure generating means may be selected. In the meantime, if the work falls off the arm during this time, the work presence / absence detecting means detects the absence of the work. The no-load balance pressure generating means is selected based on this signal, and the empty arm is held at that level.

As described above, the arm does not rise even if the work is detached from the arm, and the work level can be freely changed on the way.

[Brief description of the drawings]

FIG. 1 is an exploded perspective view of a balance-type cargo handling device according to the present invention.

FIG. 2 is a side view of the work moving device according to the present invention.

FIG. 3 is a plan view of a work moving device according to the present invention.

FIG. 4 is a sectional view of a connecting portion according to the present invention.

FIG. 5 is an explanatory view of an operation of the work moving device according to the present invention when the work moving device is vertically moved.

FIG. 6 is an explanatory diagram of an operation of the work moving device according to the present invention at the time of horizontal movement.

FIG. 7 is a view for explaining the operation of the horizontal movement of the second arm according to the present invention.

FIG. 8 is an explanatory view of an operation of horizontal movement of the work moving device according to the present invention.

FIG. 9 is an air circuit diagram of the cargo handling device according to the present invention.

FIG. 10 is a first operation diagram (setting of initial set pressure).

FIG. 11 is a second operation diagram (work rising).

FIG. 12 is a third operation diagram (work rise).

FIG. 13 is a fourth operation diagram (load balance pressure setting, working state).

FIG. 14 is a diagram showing a fifth operation (measures against no-load balance pressure, work falling off, etc.)

FIG. 15 is a sixth operation diagram (work descending).

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Balance type cargo handling apparatus, 10 ... Work, 16 ... Balance cylinder, 20, 30 ... Arm, 51 ... Air supply source, 52 ... Work presence detection means, 53 ... Controller,
61 load balance pressure generating means (first regulator)
63: no-load balance pressure generating means (third regulator), 64: work lowering pressure generating means (fourth regulator).

 ──────────────────────────────────────────────────の Continued on the front page (72) Inventor Mitsunori Nanjo 3-2-2-3 Marunouchi, Chiyoda-ku, Tokyo Inside Koganei Co., Ltd.

Claims (1)

[Claims] 1. A balance-type cargo handling device capable of holding an arm on which a work is suspended by a balance cylinder and moving the work to a predetermined position by an operator in this state. A load balance pressure generating means for generating a pressure that balances the weight of the arm's own weight plus the load at that time in the air pressure supply path to the balance cylinder, and a minimum load where a minimum load is applied to the arm's own weight A work lowering pressure generating means for generating a pressure that balances slightly smaller than the weight, and a no-load balance pressure generating means for generating a pressure that balances only with the weight of the arm. Is provided, and the no-load balance pressure generating means is selected based on a no-work signal from the work presence detecting means. And directly supply the air pressure of the air supply source to the balance cylinder based on a manual operation, or select and control one of the load balance pressure generating means, the work downward pressure generating means, and the no-load balance pressure generating means. A balance-type cargo handling device comprising a controller for controlling supply of the adjusted air pressure to a balance cylinder.