JPS5882996A - Transporter for heavy material - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a heavy object moving device that can move a heavy object such as a module plant up and down in parallel using a plurality of jacks.

Generally, when lifting or lowering a heavy object such as a modular plant, specifically, when hoisting it to a vehicle, or unloading it from a vehicle, etc., use multiple jacks at multiple points on the hit object. By the way, due to the structure of module plants, each part is not equal and often has a large unbalanced load, so as mentioned above, the same jack is placed at multiple points of the IT item. Even if they are arranged, the weight applied to each jack will be uneven due to this reason, and when the heavy object is raised or lowered, it will lose its balance.

Conventionally, in order to prevent such misalignment, a worker was assigned to each jack to adjust the movable displacement of the jack. The reality is that the pressure fluid flow rate, etc., should be adjusted to the highest level possible, and therefore, the horizontal accuracy of the plant based on work man-hours, safety, and human operations is important.
I couldn't escape the disadvantages and inconveniences.

Note that a method has also been proposed in which each jack is relatively synchronized and interlocked, but although this method is relatively applicable to lifting and lowering objects, it is not suitable for modular plants such as the device of the present invention. For devices used to raise and lower hoisting objects, heavy objects are difficult to maintain due to the difficulty of continuous control. However, there were disadvantages such as not being able to maintain a horizontal angle of 4°, and in the end, we were forced to rely on manual work as described above.

In order to cope with this situation, the present invention provides a module that controls multiple jacks by a predetermined control device fI even if the module is a heavy object such as a plant.
IK allows for centralized control and remote control, and even if there is an uneven load on the heavy object to be moved, the displacement of each jack can be almost continuously corrected, and the displacement of all the jacks can be adjusted at all times. The object of the present invention is to provide a heavy object moving device that can be moved as much as possible, and specifically, each of the above-mentioned jacks is equipped with a movable displacement detecting means, and the control device is controlled in a predetermined manner. a control signal generating means related to the deviation of the detection signal from the detection means with respect to a reference signal; and a control means for controlling the supply chamber or the discharge amount of pressure fluid to the jacket according to the control signal, This is a percentage mark that is constructed so that the movable displacement amounts of

Specific examples will be described below in detail with reference to the drawings.

FIG. 1 shows the overall structure of a heavy object moving device according to the present invention, and in particular is a perspective view of the structure showing its usage mode. In the figure, 1 indicates a heavy object to be moved, such as a module plant. A plurality of jacks are arranged at predetermined positions of the object 1 to be moved, and the object 1 to be moved is supported by the scissors. In FIG. 1 showing the embodiment, there are four jacks 2 (two not shown).
．． 2a... can of course be implemented in the same way using any number of jacks.Then, each jack 2.2B 11@- is connected to an oil pipe 14.14a,
14b.

and 14c, and is connected to a control device 15 through which the above-mentioned jacks are centrally controlled.
・Ru. Note that the oil pipe 14.14a.

14b and 14c include a code for transmitting a detection signal from a movable displacement detection means provided in the jack.

The schematic structure of the above jack is based on the following diagram IIc.
・I will explain. In addition, there is no particular disclaimer in the following explanation (for convenience, the explanation is only for one jack (), but it is equally applicable to other jacks) In Fig. 1, 3 is the jack body, 4 is the tensioner, 5 is the manual nut,
It constitutes a so-called center hole jack.

Reference numeral 6 denotes a rotating nut device, which includes means for detecting the movable displacement of the jack according to the present invention. In addition, the main parts of such jacking will be explained in detail later.

On the other hand, 7 is a coupler fixed to the lower end of the tension bar -4. Also, this coupler 4 is provided with a clevis 8, for example, by screw connection. For example, two clevises 9 are installed side by side near the tip of the beam.
Ru. When the object 1 to be moved is heavily loaded on the jack, the clevis bin 10 is connected to the clevis 8 on the jack side and the clevis 1 m on the object side to the holes provided in the clevis. On the other hand, when detaching, use the clevis pin 1 mentioned above.
This is done by removing 0. Note that 12 is a support member that supports the jack main body, and has legs 13 at both ends thereof, and with this configuration, the jack is fixed at a constant height position.

The above is the general configuration of the apparatus of the present invention, and each part will be explained in more detail next.

First, the control system of the device of the present invention will be explained with reference to Figure '7iA2. As the detection means, a rotary transducer is used as described later, and its output is a pulse signal having a number of repetitions proportional to the movable displacement of the jack.The detection signal is this pulse signal. is supplied to the control unit 21 via the transmission code 20, and the control unit 21 generates a predetermined control signal h'- based on the above-mentioned detection number (details will be described later).

The control signal is supplied, for example, to the electromagnetic on-off valve 18 provided in the discharge oil pipe 16, and drives the insolenoid 19 provided in the -on-off valve 18 to the driving side (111I'''.On the other hand, in the control unit 21, the above-mentioned The movable displacement of the jack is calculated based on the detection signal, and the absolute amount of the movable displacement is displayed on the display 23. In Fig. 2, 17 is a throttle valve for adjusting the descending speed of the jack, and 24 is an oil tank. , 25 indicates a pressure oil inlet end provided with a jack film, and 26 indicates a pressure oil discharge end provided on the jack. The opening/closing square 18 and the throttle valve 17 are housed in the control device t15, and are arranged so that the operating status of the entire device can be easily checked and operated. Fig. 2 shows the movable displacement of the jack. Regarding the control system when lowering the
However, the same configuration can be used even when the jack is raised, and in this case, the same device can be installed on the oil pipe for feeding into the jack. The control system for the power switch is also composed of the same system as above.

Next, we will explain the details of the control system and its specific structure and operating principles. Figure 3 shows the main parts of the jack, especially the rotating nut device 6 The main part of the jack itself constitutes a known center hole jack, therefore, its #P,
- detailed explanation will be omitted, and only a simple explanation of its configuration and operation will be given. First, reference numeral 3 is a jack main body, and the details of this main body 3 include a cylinder part, and inside this cylinder part there are rods that move forward and backward by pressure oil supplied to the pressure oil feed big end 25. -RIA' is constructed so that the tension bar 4 can be freely moved forward and backward within the jack. Also, there are screws on the outer periphery of the tension bar 4. Five manual nuts are screwed together above the jack main body, and the manual nuts 5 are engaged with the ram 46 to tighten the tension bar 4.
Preventing it from pulling out downwards. On the other hand, the rotating nut device 6 is provided below the jack body, and the rotating nut 28 is screwed onto the tension bar 4. Therefore, in such a configuration, for example, when gradually lowering the tension bar 4, first rotate the manual nut 5 to move it above the tension bar 4, and then supply pressure oil from the pressure oil feed +11125 of the jack. supply and raise the ram 46. In this case, no rotational driving force is applied to the rotating nut 28 at the bottom of the jack body, so the tension bar 4 is supported by the rotating nut 28 and its position is fixed.
Ru. Note that the rotary nut 28 is engaged with a nut receiver 29, so that the load of the tension bar 4 is borne by the rotary nut 28. Next, when the manual nut 5 is stopped at a predetermined position and pressure oil is continued to be supplied to the jack, the load 1 of the tension bar 4 is 2mm 46, that is, the manual nut 5
, and when further pressure oil is supplied, the tension bar 4 also rises together with the manual nut 5 locked to the ram 46. However, since the rotation nut 28 also rises at the same time as the tension bar 4 rises, the tension bar 4 stops when the support plate 43 interposed above the rotation nut 28 comes into contact with the upper surface of the nut case 45. Note that, as a result, the load of the tension bar 4 on the rotating nut 28 is released. Next, leave the manual nut in place and remove the pressure oil supplied to the jack from the pressure oil discharge end 26, and the ram 46 will gradually descend and engage with the ram 46 (. The manual nut 5 and tension bar 4 are also about to descend together.At this time, the rotary nut 28 is driven to rotate,
If a rising speed of 5 is applied to cancel the descending speed of the tension bar 4, the height position of the rotating nut 28 is maintained as it is, but only the tension bar 4 is lowered. This descent of the tension bar 4 continues until the position where the movable displacement of the jack is minimized, and eventually the rotating nut 28 also descends and comes into contact with the nut receiver 29, so that the load of the tension bar 4 is transferred to the rotating nut 28. Stop at the point. If the same operation is repeated thereafter, the tension bar 4 can be lowered by a predetermined distance. On the other hand, when raising the tension bar 4, use the opposite method to lowering it.
Those skilled in the art can easily carry out the procedure according to the following, and the explanation thereof will be omitted. Although the manual nut 5 has been described in the embodiment, a device similar to the rotating nut device 6 described above may be provided in place of the manual nut 5 (the configuration of the main parts of the jack described above is as follows). The present invention is not limited to this embodiment.

Next, the movable displacement detecting means of the jack constructed according to the present invention will be explained. Specifically, as shown in FIG. This is done by meshing the pinion 40 attached to the shaft 41 of the spur gear 27jC oil motor 3θ, which is scattered to rotate.In order to clarify the principle, a partially extracted configuration diagram is shown in Fig. 4. As described above, when the tension bar 4 is lowered, it is necessary to raise the rotating nut 28 relative to the tension bar 4 at the same rising speed as the lowering speed.

In this embodiment, the rotation of the oil motor 39 is controlled by the rotating nut 2B.
As a result, the spur gear 27 attached to the rotating nut 28 rotates with a constant pressing force to rotate the support plate 43 inserted above it. It is constructed so that it comes into sliding contact with the bottom surface. Therefore, the oil motor 39 always rotates with a constant slip, but the rotary nut 28 always rotates while maintaining a constant position. In addition,
Since the support plate 43 has a hole with a larger diameter than the outer diameter of the tension bar 4 and is fitted into the tension bar, it constantly comes into contact with the spur gear due to its own weight, and the -jf of the support plate 43 along with the mold.
lk)! S) A collar piece 44 is provided, and this stopper piece 44 locks with a part of the nut case 45 to prevent co-rotation with the spur gear 27 (see Figure 3).
.

Note that the oil motor 39 is attached to the support plate 43. On the other hand, at another position on the cough support plate 43, a rotary transducer 35 is provided which meshes with the spur gear 27 and can detect its rotational displacement. This rotating transducer 35 generates pulses with a repetition frequency proportional to the amount of rotation, and since the amount of rotation is proportional to the amount of movable displacement of the jack, the repetition rate is proportional to the amount of displacement of the jack's ridge movement. A frequency pulse signal can be obtained. 38 is a code for transmitting this pulse signal, that is, the jack movable displacement detection signal, and is a code for transmitting the above-mentioned control 1.
3-Knit 21 (see Fig. 2) is connected. In Fig. 3, 3o is the pace plate, 33 and 34 are fixing bolts, 37 is the shaft of the rotating transducer,
42 is a pressure oil pipe for driving the oil motor, 31.3
2 and 33 represent fixing bolts, respectively.

Next, the processing of the detection signal and the control unit 21Fc which generates the control signal will be explained. control unit 2
1 is composed of a block system as shown in FIG. 5, and is mainly composed of an electric circuit (48 is the main body of the control unit, 49 is a step WI number unit, 5
0 is a control signal generation unit, and 51 is a power supply unit. First, the above-mentioned jack movable displacement detection signal is supplied to the input terminal 47 and input to the control unit main body 48. As mentioned above, the input detection signal is a pulse signal as shown in FIG. 6aK, and the repetition frequency of this pulse is proportional to the amount of movable displacement of the jack. A digital signal is generated and supplied to the control unit main body 48, and the control unit main body 48 detects the deviation between the detection signal and the reference signal.

Based on this deviation, a predetermined control signal is generated by the control signal generating unit 50 and guided to the output terminal 52. This control signal is a pulse signal as shown in FIG. However, the step speed, for example 7.6.
The size of the period T is also selectively set according to a predetermined speed selected from reference speeds such as 5.4...(sec/rrm). This step speed is set in advance according to the weight, properties, etc. of the object to be moved, and thereby determines the actual moving speed of the jack. Figure 6 bl is the basic jack control signal, and the pulse width tO is 1/2 of the period T.
, that is, the duty ratio is 50 (chi). On the other hand, for example, for other jacks with a heavy hook weight, as shown in the figure bn and
tz) is formed as a short control signal (i.e., in the control signal generation unit 50, in response to the input deviation signal), the pulse width changes and the deviation is corrected. It is formed as a control signal.

The control signal is supplied from the output terminal 52 to the solenoid 19 provided in the electromagnetic on-off valve 18, and the solenoid 19 is driven in accordance with the pulse waveform of the control signal.

That is, in the control signal shown in FIG.
()1 level) state, the solenoid 19 is turned on and the electromagnetic on-off valve 1B is opened. On the other hand, when the pulse is in the L (low level) state, the solenoid 19 is turned off and the electromagnetic on-off valve 18 is closed. Therefore, the pulse width is long (・For the control signal, the flow rate of pressure oil passing through the on-off valve 18 is large, and conversely, the pulse width is short.・For the control signal, the flow rate of pressure oil passing through the on-off valve 18 is small. In addition, although a throttle valve 17 is provided in Figure 2, this throttle valve 1
7 is one in which the moving speed of the jack can be manually distorted. Therefore, it is possible to form the control signal as an analog No. 1g corresponding to the deviation signal, for example, and to continuously control the pressure of the throttle valve. In this case, the oil pressure is several hundreds (Kp/m) or more, and such continuous control is not easy, so the method of the embodiment of the present invention is used. However, even if the opening/closing valve is controlled intermittently by the busy digital signal as in the embodiment, the control is 11! Set (for example, recommend) the repetition frequency of the pulse signal that is the signal as appropriate.
This allows for more substantially continuous control. In FIG. 5, since the detection signal input to the control unit main body 48 is proportional to the amount of displacement of the jack, it is possible to display the absolute value of the amount of displacement by using the detection signal with a predetermined parameter. be. This display signal is processed by the control unit main body 48 and supplied to the display 23 from the output terminal 53, where it is displayed digitally. In addition, since the deviation of the detection signal from the standard is used as a means of obtaining a control signal, for example, a function may be provided to temporarily stop the jack when the deviation exceeds a predetermined deviation value (not shown). . . . Providing a safety device such as fully closing the electromagnetic on-off valve 18 when fully jacked can easily lead to wear and tear.

Now, regarding the configuration of the jack and the configuration principle of the control device outlined above, its operation is as follows.
There are two modes of movement of the jack: raising and lowering the object to be moved. Below, we will explain the lowering, and raising the object can be easily carried out in the same way as lowering it. Since this can be done, detailed explanation will be omitted.

First, as shown in FIG.
0 is placed in a predetermined position. In this case, the tensioner 4 of the jacks is raised in advance in an empty state, and the object 1 to be moved is attached to each jack in such a state. On the other hand, in the control device 15, a predetermined step speed is selected and set, and from this K, the pulse repetition frequency in the control signal is determined as described above, and at the same time, the reference from the δ step function unit (see FIG. 5) is determined. A step function is determined.

Next, at t., all the jacks are activated simultaneously to gradually lower the boat. In the initial stage, the flow rate of pressure oil for all the jacks is controlled by the basic control signal as shown in FIG. 6 (blk). However, let us assume that the landing speed of any jack is larger than that of other jacks, and as a result, the descending speed of the jack becomes faster than the reference speed (the above-mentioned step speed). In this case, the magnitude of the speed may vary, causing a deviation in the output of the unit body 48 from the reference signal from the step function unit 49. Due to this deviation, the control signal generating unit 50 changes the pulse width to (sixth
From figure bl), the example is tt (tl<10) (Figure 6 bi
) #c Obtain a changed control signal.

Therefore, the electromagnetic on-off valve 1 controlled by this control No.
8, the opening time is shortened, and the amount of pressurized oil passing through the tooth wrinkle electromagnetic closing chamber 18 is eventually reduced. In this case, the movable displacement of the jack is lowered, lowered, and the pressure oil is discharged from the jack (・
This means that emissions will decrease. As a result, the speed of descent of the cough shirt becomes slower, and as a result, feedback control is performed until the speed returns to the predetermined reference speed.

The above feedback control is carried out in exactly the same way for each of the other jacks, so that all the jacks always descend at a predetermined speed set in advance.

Although the present invention device is configured by the above embodiment,
The present invention is not limited to these embodiments. For example, although digital signals are used as processing signals in the control system, they may also be processed using analog signals, and oil motors, rotary transducers, etc. may be replaced with other motors or transformers with equivalent functions. It is possible and
Furthermore, the control unit can be configured by a computer and controlled by predetermined software.

In this way, according to the heavy object moving device of the present invention, even if there is an uneven weight of the heavy objects when lifting and lowering the heavy objects in the module plant group, this will prevent the KX heavy object from losing its balance. It is possible to move up and down in parallel while always maintaining a constant horizontal state. Moreover, its horizontal accuracy is high and the actually permissible deviation is within 10 mm. The control of each jack is performed by feedback control of each jack in accordance with the reference step speed, so unlike a method in which, for example, each jack is synchronized and relative deviation is corrected, it is possible to quickly Control and continuous control are made possible.

Furthermore, since it can be applied to a center hole jack equipped with a tension bar and a rotating nut, its safety is extremely high.It is also constructed with a control device that enables remote operation and centralized control. It has an equiaxed mass which can further improve the number of man-hours and work efficiency.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing the overall structure of a heavy object moving device according to the present invention, particularly showing how it is used. FIG. 2 is a system diagram showing the control system of the heavy object moving device according to the present invention. FIG. 3 is a partial cross-sectional configuration diagram showing the main part of the jack used in the device of the present invention. FIG. 4 is a partial configuration diagram extracted from FIG. 3. FIG. 5 is a concrete block system diagram of a control unit used in the device fK of the present invention. FIG. 6 shows timing charts of signals in the block system diagram of the WS diagram. 2.2a...Jacket 16.16a-...Discharge oil pipe 17.17a/Fist/throttle valve 18.18a...Solenoid on/off valve 19.19a...Solenoid 20.20a111 Transmission cord 21/■Control Unit 23.23a...Display 27...Spur gear 28...Rotating nut 35...Rotating transducer 36...-Pinion 39...Oil motor 486@@*IJe4): x-nit Main body 490, step function unit 50...control signal generation unit 51...power supply unit ゛2nd sail ZjO 3'; 7 笥4')': ! 5 yen"-'-"-" 35 L□" Figure 6 CG) (b)

Claims (1)

[Scope of Claims] (11) Consisting of a plurality of jacks for supporting a moving object at a predetermined position, and a control device for controlling the jacks, each of the jacks is equipped with a movable displacement detecting means, and The control device includes a control No. 46 generating means related to the deviation of the detection signal from the detection means with respect to a predetermined reference signal, and a control for controlling the inlet lid or discharge sound of the pressure fluid to the jack based on this control signal. and means;
A 1i lid moving device configured so that the movable displacements of the plurality of jacks are the same. (2) The apparatus for moving heavy objects of carpet as set forth in claim 1, wherein the jack is a center hole jack equipped with a tension screw fitted with a nut. (3) The movable displacement detection means is constructed using a rotary transducer that utilizes rotation of a nut screwed into a thread of a tension screw. A heavy object moving device according to claim 1. (4) A heavy object moving device according to claim 1, characterized in that the control signal is constituted by a Norms signal whose pulse width varies. (5) The control means is Claim 1 or 4, characterized in that the opening and closing of the on-off valve is controlled by a control signal.
The heavy object moving device described in Section 1.