JPS6076983A - Gripping lifting gear - 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 manual and remote controlled or automatic gripping and landing device that performs simultaneous multi-directional gripping and lifting of the center of gravity by arbitrarily selecting and adapting the center of gravity to various work environments and conditions. .

Previously, it was impossible to operate the same model in a corner building and outside the building during the process of transitioning to an overhead crane or trunk crane type, and it was necessary to confirm that the center of gravity was maintained at an appropriate horizontal position in an oblique direction. Accuracy is often low and poor at visual confirmation positions such as (especially when the center of gravity is displaced due to movement of movement, wind, water volume, etc., or when two vehicles are suspended and lifted, etc., causing them to lose their horizontal sense and fall.) The work capacity is limited and tight due to irregular placement operations, and all the work of holding and engaging objects requires a large number of people, and due to the work circulation process, it is impossible to leave the site each time. There were many things that were possible, and there was an emphasis on respect for human life and safety, and the safety of the work environment at extremely high and low positions was low, the danger rate was high, and the rationality was extremely poor due to inefficiency.

The present invention eliminates the above-mentioned drawbacks, and allows operation to be performed in many directions and in various shapes, from manual pointing visual recognition to remote control or automatic unattended operation.

The work environment is adjusted to the center of gravity, and even subtle changes in the center of gravity can be automatically adjusted due to joint landings in two directions at the same time using ICs at both ends of long heavy materials. The purpose of the gripping and landing device is to automatically lift the device by arranging several long members or flexible hard materials so that the speed of simultaneous lifting can be increased and the entire device can be accurately lifted and lowered horizontally without the need for individual holding operations.

Next, the configuration of the present invention will be specifically explained with reference to the embodiments shown in the drawings.

Figure 1.2.3 shows that the members for each movement have telescoping functions. The inner thigh intermediate frame 1 can be extended and contracted in both positions, the intermediate frame 2 can be extended and contracted in one direction, and the outer frame 3 can be extended and contracted in both positions. −
1. The outer frame 4 can be selectively engaged in telescopic movement in one direction. In Figures 4.5.6, the frame 61 is attached to the fixed frame 5, and a hanging ring, which has a shape of a zigzag, is attached to the center of gravity of the hanging support. The rotation mechanism is folded inwards.
- A rotating device 8 in the shape of a frame is mounted on the center of gravity for left and right rotation, and on both end faces of the frame 9 there are reinforcing plates 10 to prevent the claw shaft tube 11 from opening outward, and reinforcing plates 12 to prevent deflection of the arm body. will be established. In FIG. 7.8, the driving cylinder 13 of the telescopic and vertical movement mechanism suitable for various objects is locked so that the claw shaft tube 11 is opened outward. FIG. 6 shows a gripping engagement made of a soft material having various shapes and passed through the claw shaft hole 14 and the claw shaft tube 11 at the upper end of the frame body, and a part of the claw 16 screwed into the lower part of the claw shaft 15. The claw shaft tube 11 can be rotated according to the inner diameter of the angle 17 and the reinforcing tube 18, which are fixed to the outside and other parts are fixed. 7 jaws 19 whose lower part is L-shaped and vertically below the jaw shaft 20 there is an inner reinforcing tube 21 with the same diameter as the claw shaft tube 11, and an outer reinforcing tube 22 which is longer than the 21 (and has a larger diameter shaft tube shape). Fig. 9 shows the position detection/positioning and brake/clutch operating mechanisms with the claws positioned at appropriate positions on the upper surface of both ends of the frame body for the left and right rotation of the claw 16 and the rotary movement for attaching and detaching various objects. The equipped drive motor 23 can be selected to perform individual or simultaneous rotational motions.When equipped with each member for holding the object in the proper position with respect to the gripping tolerance limit, the tactile sensation caused by the rod shape, radio waves, and light beams can be adjusted.・Measurement devices such as energization and detection can be selectively engaged, and overload can be detected and stopped by the instrumentation, and multiple operations such as position detection, confirmation, and stop devices that ensure proper gripping and non-deviation are possible. The sensing device 24 equipped with a mechanism includes manual, automatic and visual sensing, and can be optionally installed.A bearing 25.25 is installed above the rotating device 8.
The arm 26.26 has an internal telescopic and rotational movement function, and the 7-arm 27.27 on the inner thigh has a reversal and up-and-down movement function that connects and engages with the arm 26.
A rotating device 29 for left and right rotation is mounted on the bearing 28 above the
The crane 31 that operates the entire trolley 30 has a magnetic or bearing device that applies a magnetic field to the straight conductor to keep one side of the crane in an appropriate state for levitation and deviation due to variable loads due to the rotation, expansion and contraction, and reciprocation of the lower arm. The linear mounting R32, which is equipped with a form that requires a concave-convex interlocking shape or an L-shaped hooking shape, allows the compatible body 1c to be easily horizontally reciprocated. In FIG. 1o, the bending shaft 33 is engaged with the drive motor 23,
Joint intermediate shaft 3 that can freely rotate left and right and bend the axis, and can be freely rearranged into various forms that suit the working environment and conditions.
4 is a drive cylinder 35 that can hold various multi-functions above the bearing 25, and is equipped with an instrumented operation mechanism that enables horizontal adjustment within the horizontal adjustment limit. You can get a variety of results. The boom 36 on the inner thigh has a telescopic function and the boom 3'7 on the inner thigh has a left/right reversal function.
The K bearing 38 can be connected and engaged in telescopic movement and reversal movement. The elevating device 39 is equipped with a variety of vertical movement mechanisms and position detection/positioning instrumentation that can be selectively installed temporarily or permanently depending on the work environment and conditions, and can be maintained in vertical motion. . The water injection pipe 40 and the bowse 4, which require an intermediate trap joint port for immediate connection of extinguishing and water injection through various work processes, are connected to the winding device 42 and the water outlet 43 for water injection and water injection. Each part of the movement is equipped with a device for detecting and colliding with various obstacles, an appropriate recognition device, a position detection/positioning/correction device, a speed setting/adjustment device, a forward/reverse rotation device, and a self-diagnosis device for abnormality detection. An auxiliary control device 45 is equipped on each member to set operations such as teaching and correction, and a wide variety of controls are installed on each member, and an operation panel 46 internally equipped with input/output devices for proper operation can be operated manually or automatically. The transmitting/receiving device can be operated selectively from all directions, and the remote control panel 47 equipped on each operating member can be operated from a safe position to detect light beams and radio waves in the cable. The horizontal device 48, which is equipped with a horizontal movement mechanism that requires a weight at the bottom of the center of a cylindrical shape with an arrow shape at both ends with the center axis as the center of gravity depending on the work environment and conditions for various shapes or various grips, can instantly detect the horizontal state. The angle of inclination is marked on an arc-shaped display plate 49 at the tip of the arrow-shaped body, making it visible from many directions. It is possible to set the position adjustment device with the slope number marked at the visible position and the appropriate holding operation degree by arbitrary selection, the holding operation is possible within the set safe operation degree range, and the operation range of the set caution degree is a caution color. A caution action function for lights or alarms and a danger action function for danger color lights or alarms are built in if the caution level deviates from the operating range, and a transition function that uses the caution level as a caution transition number and adjusts the position to the appropriate center of gravity. The horizontal device 50, which is equipped with a plurality of movement mechanisms, is visually recognized as automatic sensing and detection. In addition, an arc shape is provided for the instant horizontal fine movement function and tilting both sides of the optical direction, and each member 1 of the movement (position detection,
Equipped with a movement mechanism of an automatic device with positioning operation hardness and appropriate position correction, the position of the set number of shifts is automatically corrected to the appropriate center of gravity, and the number of shifts can be arbitrarily adjusted. The horizontal measuring device 51, which is equipped with a variety of plurality of operating mechanisms such as a device to stop the operation depending on the deviation, can be selectively engaged in detecting light beams, radio waves, etc.
The inclination number can be visually recognized on the visual surface. A temporary attachment/detachment board 52 using a magnet or an adsorption function can be attached to and detached from the various holding mechanisms as desired. It has a falling lock and a tilting lock for fine movement and deviation of the object, and a drive cylinder 53 is formed in the lateral position of the frame body so that the object lock can be attached and detached in any selective manner.

According to this invention, even if the shape and form of the target object is diversified, it can be grasped from the lower part of the soft and hard object, and the structure can be used in large tanks, docks, and super high-rise buildings that can be held in various places and freely. It engages with the side of the object, and controls the intermediate vertical movement freely, and furthermore, it can be used to supply water for fire extinguishing, fire extinguishing water, etc. to the forward and inner positions, as well as to the deep interior of the object and the forward direction of both sides.・Used in general for maintenance management cleaning, etc., and is especially useful for the maintenance of 7 tanochements such as gondolas and fork claws, and adapts to the changing operating environment and conditions of various complex and subtle objects that respond to changes in social structure. It has flexibility and flexibility, expands the field of application, and is highly sophisticated, highly accurate, and reasonably labor-saving.

[Brief explanation of drawings]

FIG. 1 is a perspective view of an intermediate frame equipped with a multi-leveling device and an outer frame member configured to engage; FIG. FIG. 2 is a perspective view of an intermediate frame equipped with a leveling device and an outer frame member arranged for engagement; FIG. 3 is a plan view of the intermediate frame member configured to engage; FIG. 4 is a perspective view of the frame member. FIG. 5 is a perspective view of the hanging ring and rotating device members. FIG. 6 is a side view of a rod-shaped sensing device and a frame member equipped with a reinforcing plate assembled together. FIG. 7 is a side view of a state in which a frame member equipped with a light beam sensing device and a drive cylinder is assembled; FIG. 8 is a perspective view of a state in which the claw shaft and the claw member are engaged with each other. Figure 9 shows a crane equipped with a straight line device, which is engaged with a gripping and landing device that is equipped with a 7-arm and full operation at the lower part of the crane, and is configured to be automatic with memory, and is in use by gripping cut sheets stacked without packaging. Figure 10 is a side view of a lifting device that is fixed to the side of a building, and a gripping and lifting device equipped with zoom and movement is engaged at the tip of the lifting device, and is configured for remote control, and is used for bulk loading without strap tightening. FIG. 3 is a plan view of the pipe material being held and used. DESCRIPTION OF SYMBOLS 1 Intermediate frame, 2 Intermediate frame, 3 Outer frame, 4...Outer frame, 7-Hanging ring, 8 Rotating device, 1 Towbar shaft tube, 12 Reinforcement plate, 13 Drive cylinder, 15
Claw shaft, 16 Claw, 17 Angle, 1st Reinforcement pipe,
19 claw, 20 claw shaft, 21 inner reinforcing pipe, 22 outer reinforcing pipe, 23) drive motor, 26 arm, 27
Arm, 28 bearings, 29 rotation device, 30 torley,
31 crane, 32 linear device, 35 drive cylinder,
36 boom, 37 boom, 39 lifting device, 40
Water injection pipe, 41 hose, 42 winding device, 43 water outlet, 44 control device, 45 auxiliary control device, 46-operation panel, 47 remote control panel, 48-horizontal device, 49 display board,
50 horizontal device, 51 horizontal measuring device, 52 detachable board,
53 Drive cylinder, (Fig. 5) (Fig. 10)

Claims (1)

[Claims] The intermediate frame 1 of the inner thigh can be positioned in both directions, the intermediate frame 2 can be positioned in one direction, and the outer frame 3 can be positioned in both positions. The outer frame 4 extends in one direction, and the rotating device 8 has a hanging ring 7 and a rotating mechanism installed at the center of gravity.
・Shaped. A reinforcing plate 12 is fixedly installed to prevent the bending of the human body, and a drive cylinder 13 that is telescopic and vertically movable is locked to the outside of the claw shaft tube, and a part of the lower jaw 16 of the claw shaft 15 is screwed into the cylinder. Then, the other parts are fixed, and the claw shaft pipework 1 rotates to the inner diameter of the angle bracket 7 and reinforcing pipe 18 fixed on the outside, and the claw shaft is installed vertically below the L-shaped claw 19 and the claw shaft 20. An inner reinforcing pipe 21 having the same diameter as the pipe 11, and an outer reinforcing pipe 22 in the shape of a large-diameter shaft pipe are fixed above the 21, and position detection, positioning, and brake/clutch operation are provided on the upper surface of both ends of the frame body. The drive motor 23 equipped with a mechanism can be rotated individually or simultaneously, and can be used for tactile/notification VR using rod shape, radio waves, and light beams, - detection and measurement device, overload detection/stop device, and deviation control device. The sensing device 24, which is equipped with a plurality of operating mechanisms such as stop position detection, confirmation, and stop devices, can be operated manually, automatically, or visually. Expansion/contraction
The rotary operation function is connected to the inner arm 26.26, and the reversing raising and lowering operation function is connected to the inner arm 27.27. Two rotation devices for left and right rotation are mounted on the bearing 28, and the entire trolley 30 is installed above the inner arm 27.27. In operation, the crane 31 is rotated by the lower arm, and the linear device 32, which is equipped with a magnetic field or bearing device in an interlocking or hooked manner, is horizontally reciprocated to properly hold the load due to the reciprocating movement of the lower arm.
The drive cylinder 35, which is equipped with a horizontal instrumentation operating mechanism, is tilted, horizontally moved, and tilted in many directions. A boom 36 on the inner thigh with a telescopic function and a boom 37 on the inner thigh with a horizontal reversal function are connected and engaged for telescopic movement and reversal movement. Temporary installation by optional (-< means fixed position detection and positioning instrumentation, lifting device 39 equipped with vertical movement mechanism, extinguishing and various work processes, water injection pipe 40 and hose 41, winding device 42 and the water outlet 43 are engaged with water.
A control device 44 equipped with a wide variety of operating mechanisms such as a positioning correction device, a speed setting/adjustment device, a forward/reverse rotation device, and a self-diagnosis device for detecting abnormalities. An auxiliary control device 45 equipped with each member for control and an operation panel 46 equipped with input/output devices for operation can be operated manually or automatically. A remote control panel 47 equipped on each member for detecting the transmitting/receiving device from all directions is operated from a safe position. The leveling device R4 equipped with a horizontal movement mechanism detects instantaneous leveling, displays the slope number on an arc-shaped display board 49, can be viewed from multiple directions, uses a position adjustment device to mark the slope number, and performs proper holding operation. Setting the frequency, the holding operation is the safe operation degree, 1-1 the operation of the caution degree is the caution color light or caution alarm operation function, and the deviation from the caution degree is the danger color light or the danger alarm operation function. Position adjustment transition operation function and attention If there is a deviation from the number of transitions, the horizontal device 50 in the inner thigh automatically detects and visually recognizes a plurality of stop operation mechanisms, and provides an instantaneous horizontal fine movement function and an arc shape in the diagonal moving side light direction, and operates. Each member is equipped with a position detection/positioning operation function and an operation mechanism of an appropriate automatic position correction device, and is equipped with a wide variety of multiple devices such as a transition device that can arbitrarily adjust the number of transitions and a stop device operation mechanism that deviates from the number of transitions. Horizontal measuring device 5
1 arbitrarily maintains the detection of light beams and radio waves.1-1 Visually recognizes the inclination number mark on the viewing surface, and can freely attach and detach a temporary detachable board 52 using a magnet function or an adsorption function. The sill 53 is a gripping and landing device that can be used to arbitrarily engage the attachment and detachment of the object to lock it and tilt it to the side of the frame.