JPS62161695A - Automatic centripetal 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 Field of the Invention The present invention relates to a device for hoisting an object by hooking it with a plurality of locking claws, and particularly to a device for lifting an object to be lifted by hooking it with a plurality of locking claws, and particularly to a device for hoisting an object to be lifted by hooking it with a plurality of locking claws. This invention relates to an automatic centripetal lifting device that automatically moves the object to a predetermined position when it is lifted.

The problem to be solved by the prior art and the invention is to grasp and move a lifted object by hooking a plurality of locking claws that move horizontally so as to concentrate or spread out on the outer periphery or center hole of the object. In a lifting device that lifts the object and lowers it to a predetermined position, if the object to be lifted is heavy and the position where it was placed before lifting has shifted from the predetermined gripping position, some parts of the object may be lifted. If the locking claw remains off the outer edge or the center hole of the object to be lifted and the hooking stops, and if you try to lift it in this state, the object may fall off and fail to be lifted, or even if it is lifted, If the object to be hoisted is in a cantilevered position, or if the object remains misaligned with respect to the locking pawl, and the object is moved to the next position, it may cause problems in subsequent work. .

Means for Solving the Problems As a means for solving the above-mentioned problems, the present invention provides linear motion link mechanisms in which one point on a movable link performs a strictly straight line motion or an approximate straight line motion, and that the upper and lower A fixed link of the linear motion link mechanism is fixed to a moving member that moves up and down by a drive device so that the one point moves in a horizontal direction, and the one point of the upper linear motion link mechanism
The fixed links of the lower linear motion linkage are connected such that one point of the fixed link moves in a horizontal direction substantially perpendicular to the one point of the upper linear motion linkage, and the fixed links are mutually concentrated at the one point of the lower linear motion linkage. Alternatively, a gripping tool having a plurality of locking claws that are expanded and hooked on the outer peripheral edge or center hole of the lifted object is connected, and the above-mentioned upper and lower linear motion link mechanisms are used to return each of the above-mentioned points to the home position. It is configured to be equipped with a spring.

When the working gripping tool receives a horizontal force, the upper linear motion link mechanism and the lower linear motion link mechanism move in a horizontal direction that is approximately perpendicular to each other, and the gripping tool moves in any direction in the horizontal plane, and the force is released. When the object is lifted, it returns to its original position by the elasticity of the return springs of both the upper and lower linear movement link mechanisms, and the objects are concentrated on the outer periphery or center hole of the lifted object, which is placed at a position shifted from the predetermined grasping position. Or, when multiple locking claws that move horizontally and spread out are brought close together, some of the claws first come into contact with the object to be lifted, and if the locking claws continue to move, the object is lifted. As the gripping tool moves horizontally without moving, all the locking claws come into contact with the object to be lifted and are caught, and then the object to be lifted is lifted upward by the drive of the drive device and the object to be lifted is placed. When the object is lifted away from the surface, the gripping tool returns to its original position while gripping the object due to the elasticity of the return springs of both the upper and lower linear motion link mechanisms, and the object is always held in place regardless of its position before lifting. It is transported to the next fixed position.

EXAMPLE 1 An example in which the present invention is applied to a tire lifting device for a tire combustion boiler will be described with reference to the accompanying drawings.

In FIGS. 1 and 2, the moving device 1 includes an elevating body 5 that is attached to a column 2 erected on the floor and which is raised and lowered via a wire 4 driven by an elevating motor 3. A rotating arm 7 is attached that rotates in a horizontal plane at an angle of about 90 degrees by a motor 6, and a chain conveyor 9 moves a large number of loading carts on a rail 8 laid near the moving device 1. 10 are conveyed, and several tires a are stacked on each mounting trolley 10, and one tire is picked up by a gripper 12 attached to the tip of the swing arm 7 via a return device 11 while the elevating body 5 is lowered. The elevating body 5 rises, the swivel arm 7 rotates, and the elevating body 5 descends again, so that the elevating body 5 is placed on the upper surface of the pushing base 15 located at the supply port 14 of the tire combustion boiler 13, and is pushed. With the platform 15 tilted toward the boiler 13 around the swing shaft 18 by the lever crank device 16, the push platform 1
5 is pushed into the boiler 13 through the supply port 14 by a push rod 17.

[Return device at the tip of the swing arm 7 of the moving device 1] 1 includes two Robert's approximate linear motion link mechanisms 2 at the upper and lower portions.
0a and 20b are connected. The lower ends of a pair of support rods 23 of the same length are connected by a ball joint 24 to the bottom surfaces of the frames 22a and 22b of these linear motion link mechanisms 20a and 20b, respectively. At the upper end of 23, hanging rods 25a, 25b each consisting of a pair of parallel plates 36a, 36a and 36b, 36b extending in the vertical direction have connecting portions 26, 26 projecting symmetrically at the upper end of each. It is suspended freely swinging by being connected by a shaft 27.27, and a pair of support rods 23.2
3 swings clockwise or counterclockwise around the ball joints 24 and 24 in the same plane, and each suspension rod 25a, 25b swings around the support rod 23 around the shaft 27 in the same plane. By swinging in the counterclockwise or clockwise direction relative to the hanging rod 25a,
The lower end of 25b is adapted to perform an approximate linear movement in the horizontal direction to the right or left.

Mounting holes 28 provided on both side walls of the frames 22a and 22b.
A tension coil spring 30 for return is installed between the bolt 29 that has passed through the hole 29 and the center portion of each support rod 23, and a tension coil spring 30 for adjusting the balance position is installed in the portion of the bolt 29 that protrudes outward from the mounting hole 28. The double nuts 31 and 31 are screwed together so that the suspension rods 25a and 25b are balanced in a vertically extending position. At the lower end protruding from the opening 32,
The fixed gear 34 sandwiched between the parallel plates 36a, 36a is partially grounded and comes into contact with the stopper 33, so that it is fixed relatively non-rotatably to the hanging rod 25a, and this fixed gear 34 Two parallel support plates 37.3 protrude from the upper surface of the lower frame 22b, and the connecting shaft 35 passes through the center of the suspension rod 25a and is orthogonal to the swinging direction of the suspension rod 25a.
The upper ends of the supporting plates 37.7 are rotatably connected to each other.
A movable gear 38 that meshes with the fixed gear 34 between 37 and 37 is connected to the shaft 3.
9, it is rotatably supported by the lower hanging rod 2.
5b, an upper connecting plate 57 having bolt holes 56 is horizontally fixed to the lower end protruding from the opening 32 formed in the bottom surface of the frame 22b, and the lower surface of the ball joint 55 is fixed to the upper connecting plate 57. A lower connecting plate 59 having bolt holes 58 fixed to its upper end is fixed by bolts and nuts (not shown), and a gripping tool 12 is attached to the lower end of the ball joint 55.

As shown in FIGS. 5 and 6, the gripping tool 12 has the ball joint 55 fixed to the center of the top surface of the top plate 41, which has the shape of an equilateral triangle with its apex cut out.
A motor 42 attached to the center of the bottom surface of this top plate 41
A rotary body 45 having three crank arms 44 projecting horizontally and radially at 120° intervals is fixed to the downward output shaft 43 of the rotor 43, and a support 4 fixed to the lower side of the rotary body 45
6 and three supports 47 hanging from each vertex of the top plate 41.
The three guide rods 48 are horizontal and 120° between the lower end of the
On the lower surface of the slider 49, which extends radially at intervals and is slidably fitted onto each of the guide rods 48, an outwardly facing leg 51 is fitted on the lower end of a leg portion 51 on which a rotary tube 53 is rotatably fitted. A locking pawl 50 forming a hook portion 52 is fixed, and both ends of a connecting arm 54 are connected between the top surface of the slider 49 and the tip of the crank arm 44 of the rotating body 45 so as to be freely rotatable in the horizontal direction. It consists of a slider crank mechanism,
By driving the motor 42 and rotating the rotating body 45 together with the output shaft 43, the slider 49 slides along the guide rod 48, and the locking pawl 50 of each slider 49 reduces its diameter around the output shaft 43. Or they are moved horizontally so that they are located on the same expanding circle.

Next, the operation of this embodiment will be explained.

The tires a are stacked by the worker's hands at a stacking position (not shown), and the center of each tire a is shifted from the lifting center ○ on the loading cart 10 as shown in FIG. 12, and when the loading cart 10 stops when its lifting center ○ coincides with the axis of the output shaft 43, which is the center of the gripper 12, the elevating body 5 of the moving device 1 descends. , each of the locking claws 50 of the gripper 12 is connected to the fifth
As shown by the solid line in the figure, the tires a are concentrated on each other.
is inserted into the center hole of the tire a and moved in the expansion direction by the drive of the motor 42, and at this time, if the center of the tire a is offset from the lifting center ○, that is, from the axis of the output shaft 43, first , one locking claw 50 of the three locking claws 50
comes into contact with the edge of the center hole, and when the motor 42 continues to drive, the contact pawl 50 tries to push the tire a, but the tire a is heavy and has a large frictional resistance and cannot be pushed. As a result, the rotating cylinder 53 of this locking claw 50
While rolling on the edge of the center hole, the gripping tool 12 rotates about the axis of the output shaft 43 by the ball joint 55, and engages one of the two locking claws 50 that are not in contact with each other. The retaining claws 50 come into contact with each other, and in this state, the gripping tool 12 is pushed toward the center of the tire a and tries to move while being slightly tilted.

When this pushed direction matches the swinging direction of the hanging rod 25b of the lower linear motion link mechanism 20b, the hanging rod 25a of the upper linear motion linkage mechanism 20a remains stationary and the lower hanging rod 25b swings. When the lower end thereof moves horizontally together with the gripper 12 and coincides with the swinging direction of the upper hanging rod 25a, the lower hanging rod 25b swings as shown by the chain line in FIG. The upper hanging rod 25a swings without moving, and the lower linear movement link mechanism 20b moves to the hanging rod 25a.
It moves horizontally with almost no inclination by rotating relative to the connecting shaft 35, and furthermore, when the direction in which it is pushed does not coincide with the swinging direction of either of the hanging rods 25a, 25b, both The hanging rods 25a and 25b each swing by a predetermined amount depending on the direction in which they are pushed.
As a result, the gripping tool 12 is moved in parallel in a predetermined direction according to the direction of displacement of the tire a, while maintaining approximately the same height, and the output shaft 43, which is the center of the gripping tool 12, is moved in parallel.
The drive of the motor 42 is stopped when the axis of the tire a coincides with the center of the tire a and all of the locking pawls 50 come into contact with the edges of the center hole. After this, when the elevating body 5 rises, the tire a hooked to the hook part 52 of the locking pawl 50 is lifted and separated from the tire a below it or the mounting surface of the mounting cart 10. Upper and lower linear motion link mechanisms 20a, 2
Due to the elasticity of each tension coil spring 30 of 0b, the swinging and tilted suspension rods 25a, 25b are returned to their original vertically extending positions, and as a result, the gripping tool 12 is returned to its original position and the tire a is The center of matches the lifting center O, and the tire a
is placed on the upper surface of the pushing table 15 in front of the boiler 13 by the rotation of the swinging arm 7 and the lowering of the elevating body 5 in this state, and its center coincides with the center P of pushing of the pushing table 15. When pushed by the rod 17, it is pushed straight into the boiler 13 without being caught in the supply port 14.

In this embodiment, the gripping tool 12 is rotatably connected using a ball joint 55, and a rotary cylinder 53 is fitted onto the portion of the locking claw 50 that contacts the center hole of the tire a. Therefore, the movement of the gripping tool 12 is not hindered by the friction between the locking claw 50 and the tire a, and
All of the three locking claws 50 come into contact with the hole edge of the center hole, so that the center of the tire a and the center of the gripper 12 can be reliably aligned, and the upper linear motion link mechanism 20a and the lower linear motion link Since the fixed gear 34 and the movable gear 38 are attached to the connecting portion of the mechanism 20b, there is an advantage that the vibration of the lower linear motion link mechanism 20b can be attenuated by the frictional force caused by their meshing.

Similarly, in this embodiment, in order to lift the tire a, the locking claw 50 is hooked into the center hole of the tire a, but if the object to be lifted is small, the locking claw 50 is hooked into the center hole of the tire a. Alternatively, two Robert's approximate linear motion link mechanisms were used to connect them vertically, but instead of this, Scott Russell's mechanism and Hart's mechanism could be used. A strict linear motion linkage such as Watt's approximate linear motion linkage, Chebyshev's approximate linear motion linkage, etc. may be used as other approximate linear motion linkages. Different types of linear motion link mechanisms may be combined.

Effects of the Invention As specifically explained in the above embodiments, the automatic centripetal lifting device of the present invention allows the gripping tool to move horizontally in accordance with the position even if the object to be lifted deviates from the predetermined gripping position. As a result, all the locking claws can catch the object to be lifted and securely grip it, and at the same time lift the object to be lifted and release it from the mounting surface, both upper and lower linear motion link mechanisms Since the gripper returns to its original position while gripping the object to be lifted by each return spring, even if the positions of the objects to be lifted are uneven before lifting, all the objects to be lifted can be moved to the next process. It has the effect of being able to be transported to a fixed position and preventing any hindrance to subsequent work.

[Brief explanation of drawings]

1 and 2 are a partially cutaway side view and a plan view, respectively, of a tire lifting device for a tire combustion boiler to which the present invention is applied, and FIGS. 3 and 4 are, respectively, a two-lower linear motion link mechanism. FIGS. 5 and 6 are a partially cutaway perspective view and a partially cutaway side view of the gripping tool, respectively, and a partially cutaway perspective view of the gripping tool and a side view of the holding tool with a tire hooked thereon. 1: Moving device (drive device) 5: Elevating body (moving member)
12: Grip tool 20a: Upper linear motion link mechanism 2
0b = Lower linear motion link mechanism 22a, 22b = Frame (
Fixed link) 25a, 25b: Hanging rod (movable link)
30: Tension coil spring (return spring) 50: Locking claw a: Tire (lifted object)

Claims (1)

[Claims] Linear motion link mechanisms in which one point on a movable link performs exact linear motion or approximate linear motion are arranged vertically, and the fixed link of the upper linear motion link mechanism is connected to a movable member that is moved up and down by a drive device so that the one point is horizontal. a fixed link of the lower linear motion linkage at the point of the upper linear motion linkage; A gripper having a plurality of locking claws converging or expanding each other to catch on the outer peripheral edge or center hole of the lifted object is connected to the one point of the lower linear motion link mechanism. and an automatic centripetal lifting device characterized in that said upper and lower linear motion link mechanisms are each equipped with a return spring that returns said one point to a home position.