JPS6229356B2 - - Google Patents

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 modular plant up and down in parallel using a plurality of jacks.

Generally, lifting and lowering heavy objects such as modular plants, etc.
Specifically, when loading a load onto a vehicle or unloading it from a vehicle, a plurality of jacks are placed at multiple points on the heavy object. By the way, due to the construction of modular plants, the weight of each part is not equal and there are many cases where there is a large uneven load. Therefore, even if the same jack is placed at multiple points on the heavy object as described above, it will not be possible to As a result, the weight applied to each jack becomes uneven, resulting in a loss of balance when raising and lowering the heavy object, and it may not be possible to maintain a constant horizontal state and move in parallel.

Conventionally, in order to prevent such damage, a worker was assigned to each jack to adjust the movable displacement of the jack. The reality is that the flow rate of the pressure fluid is adjusted as much as possible, and as a result, there are disadvantages and inconveniences in terms of work man-hours, safety, plant horizontal accuracy based on human operations, etc.

Note that a method of relatively synchronizing and interlocking each jack, such as a fluid type tuning device described in Japanese Patent Application Laid-open No. 108697/1983, has also been proposed.
Although such a method can be applied to lifting and lowering relatively light objects, it is difficult to ensure safety or the lifting weight is high when it comes to equipment used for lifting and lowering heavy objects such as modular plants, such as the device of the present invention, or lifting weights. This method cannot be easily applied due to the difficulty of continuous control based on this, and has the disadvantage that horizontal accuracy cannot be ensured, and as a result, it has no choice but to rely on manual work as described above.

In order to deal with this situation, the present invention makes it possible to centrally control a plurality of jacks using a predetermined control device, even if the load is heavy such as a modular plant, and to enable remote control. It is an object of the present invention to provide a heavy object moving device in which the movable displacement of each jack can be almost continuously corrected even when an object is subjected to an uneven load, and the movable displacement of all the jacks can be automatically controlled so as to be constant at all times. Specifically, in a heavy object moving device comprising a plurality of center hole jacks that support a predetermined position of an object to be moved, and a control device that controls the movement amount of the jacks by a hydraulic circuit, each jack has the following features: A tension bar for supporting heavy objects is inserted into a hole in the ram built into the jack body so that it can move forward and backward.
A rotating nut screwed onto a screw threaded on the outer periphery of the tension bar, a spur gear attached to the rotating nut, and a pinion attached to a support plate provided above the spur gear and meshing with the spur gear. a rotation control motor for the rotary nut, which is attached to the support plate and has a pinion meshed with the spur gear; and a nut receiving portion of a rotating nut, and the control device includes control signal generating means related to the deviation of the detection signal from the detection means with respect to a predetermined reference signal, and The apparatus is characterized in that it includes a control means for controlling the amount of pressure fluid fed into or discharged from the jacks, and is configured such that the movable displacement amounts of the plurality of jacks match.

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. In FIG. 1 showing the embodiment, four jacks 2, 2a (two jacks are not shown) are shown.
. . . However, it is of course possible to use any number of jacks in the same manner. Each jack 2, 2a... is an oil pipe 14, 14a, 14, respectively.
It is connected to a control device 15 via b and 14c, and the above-mentioned jacks are centrally controlled by this control device 15. Note that the oil pipes 14, 14
A, 14b, and 14c include a code for transmitting a detection signal from a movable displacement detection means provided in the jack.

Next, the schematic structure of the jack will be explained based on FIG. 1. In the following explanation, unless otherwise specified, for convenience only one jack will be explained, but the same applies to other jacks as well. In Figure 1,
3 is the jacket body. Further, 4 is a tension bar, and 5 is a manual nut, which constitutes a so-called center hole jack. Reference numeral 6 denotes a rotating nut device which, according to the invention, includes means for detecting the movable displacement of the jack. 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. Further, this coupler 4 is provided with a clevis 8, for example, by screw connection. The other beam 11 is a beam provided on the object 1 to be moved, and two clevises 9, for example, are attached in parallel near the tip of the beam. When the object 1 to be moved is suspended from a jack, the clevis pins 10 are inserted into holes provided in the clevis 8 on the jack side and the clevis 9 on the object to be moved, respectively, to connect them. On the other hand, when the clevis pin 10 is to be removed, the clevis pin 10 is removed. In addition,
Reference numeral 12 denotes a support member which supports the jack main body and has legs 13 at both ends thereof, and with this structure, the jack is fixed at a constant height position.

The above is the general configuration of the device of the present invention,
Next, each part will be explained in more detail.

First, the control system of the apparatus of the present invention will be explained with reference to FIG. The rotary nut device 6 provided in the jack main body 2 is provided with a means for detecting the movable displacement of the jack. As described later, a rotary transducer is used as the movable displacement detecting means, and its output is the movable displacement of the jack. A pulse signal with a repetition frequency proportional to displacement is obtained. This detection signal, which is a pulse signal, is supplied to the control unit 21 via the transmission cord 20, and the control unit 21 generates a predetermined control signal based on the detection signal (details will be described later).
The control signal is supplied to, for example, an electromagnetic on-off valve 18 provided in the discharge oil pipe 16, and drives and controls a solenoid 19 provided on the on-off valve 18. On the other hand, the control unit 21 calculates the movable displacement of the jack based on the detection signal, and displays it on the display 23.
Displays the absolute amount of movable displacement. In Fig. 2, 17 is a throttle valve for adjusting the descending speed of the jack, 24 is an oil tank, 25 is a pressure oil inlet end provided on the jack, and 26 is a pressure oil also provided on the jack. The discharge end of each is shown. Also,
The control unit 21, display section 23, electromagnetic on-off valve 18, and throttle valve 17 are housed in the control device 15, and are arranged so that the operating state of the entire device can be easily checked and operated. In addition,
Figure 2 shows the control system when the movable displacement of the jack is lowered, but it can also be implemented with a similar configuration when moving the jack up; in this case, the same device is installed in the oil pipe for supplying the jack. Just set it up. Furthermore, the control systems for each of the other jacks are also constructed of the same system as described above.

Next, the detailed configuration and operating principles of the control system will be explained in order. FIG. 3 shows the main parts of the jack, and in particular shows a sectional view of the rotating nut device 6. The main part of the jack itself constitutes a well-known center hole jack, therefore, detailed explanation thereof will be omitted and only a simple explanation of its structure and operation will be given. First, reference numeral 3 is a jack body, and a cylinder part is provided inside this main body 3, and a ram 46 that moves forward and backward by pressure oil supplied to the pressure oil feed end 25 is installed inside this cylinder part. has been done. Further, the tension bar 4 is inserted into a through hole provided in the ram 46 and is configured to be freely movable forward and backward within the jack. Further, a screw is provided on the outer periphery of the tension bar 4, and a manual nut 5 is screwed onto the upper part of the jack body, and this manual nut 5 is engaged with the ram 46, and the tension bar 4 is pulled out downwardly. is being prevented. On the other hand, the rotary nut device 6 is provided below the jack body, and a rotary 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 supply pressure oil from the pressure oil inlet end 25 of the jack. to raise the ram 46. In this case, since no rotational driving force is applied to the rotating nut 28 at the bottom of the jack main body, the tension bar 4 is supported by the rotating nut 28,
Its position is fixed. 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 of the tension bar 4 is transferred to the ram 46, that is, the manual nut 5. The tension bar 4 also rises together with the manual nut 5 which is engaged with the manual nut 5. However, since the rotation nut 28 also rises at the same time as the tension bar 4 rises, the support plate 43 interposed above the rotation nut 28
stops when it 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, while the manual nut remains as it is, if the pressure oil supplied to the jack is removed from the pressure oil discharge end 26, the ram 46 will gradually lower and the manual nut 5 and tension bar 4
He also tries to descend with him. At this time, the oil motor 39 is started to rotate the rotary nut 28 via the pinion 40 and the spur gear 27.
If a rising speed that cancels out the descending speed of the tension bar 4 is applied, 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 the nut holder 29
The tension bar 4 stops when the load of the tension bar 4 is transferred to the rotating nut 28. 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, a person skilled in the art can easily carry out the procedure by following the reverse procedure of lowering the tension bar 4, 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. It is not limited to the examples.

Next, the jack movable displacement detecting means constructed according to the present invention will be explained. Specifically, as shown in FIG. 3, the rotation of the rotary nut 28 is driven by a pinion 40 attached to the shaft 41 of an oil motor 39, which is attached to a spur gear 27 attached to the upper part of the rotary nut 28 so as to rotate together. This is done by combining them. In order to clarify the principle involved, a partially extracted configuration diagram is shown in FIG. 4. As mentioned 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 set to be slightly faster than the number of revolutions required to maintain the rotary nut 28 at the same height, and as a result, the spur gear 27 attached to the rotary nut 28 has a constant force. It is configured to slide under pressure against the lower surface of a support plate 43 inserted above it. Therefore, the oil motor 39 always rotates with a constant slip, but the rotary nut 28 always rotates while maintaining a constant position. Note that the support plate 43 has a hole with a diameter larger than the outer diameter of the tension bar 4 and is fitted into the tension bar, so that it is constantly in contact with the spur gear due to its own weight, and a stopper piece 44 is provided at one end of the support plate 43. This stopper piece 44 is engaged with a part of the nut case 45 to prevent it from rotating together with the spur gear 27 (see FIG. 3). Note that the oil motor 39 is attached to the support plate 43. On the other hand, at another position on the support plate 43, a rotary transducer 35 is provided which meshes with the spur gear 27 and can detect rotational displacement thereof. This rotary transducer 35 generates pulses with a repetition frequency proportional to the amount of rotation thereof, and since the amount of rotation is proportional to the amount of movable displacement of the jack, the repetition frequency is proportional to the amount of movable displacement of the jack. A pulse signal can be obtained. Reference numeral 38 is a cord for transmitting this pulse signal, that is, a signal for detecting the displacement of the jack, and is connected to the control unit 21 (see FIG. 2) described above. In addition, in Figure 3, 30
is the base plate, 33 and 34 are fixing bolts, 37 is the shaft of the rotating transducer, 4
2 is a pressure oil pipe for driving an oil motor; 3
1, 32, and 33 represent fixing bolts, respectively.

Next, the processing of the detection signal and the control unit 21 that generates the control signal will be explained. The control unit 21 is composed of a block system as shown in FIG. 5, and is mainly composed of electric circuits. Reference numeral 48 designates a control unit body, 49 a step function unit, 50 a control signal generation unit, and 51 a power supply unit. First, the aforementioned jack movable displacement detection signal is supplied to the input terminal 47 and input to the control unit main body 48. As described above, the input detection signal is a pulse signal as shown in FIG. 6a, and the repetition frequency of this pulse is proportional to the amount of movable displacement of the jack. On the other hand, the step function generating unit 49 generates a reference digital signal, and the control unit main body 48
At the same time, the control unit main body 48 obtains the deviation between the detection signal and the reference signal. Then, based on this deviation, a predetermined control signal is generated from the control signal generation unit 50 and sent to the output terminal 5.
2. This control signal is a pulse signal as shown in FIG. 6b, and in the same figure, , and exemplify the control signals for each jack, respectively. The pulse period T is the same for each jack, but the step speed, e.g. 7, 6, 5, 4
The size of the period T is also selectively set according to a predetermined speed selected from standard speeds such as ... (seconds/mm). This step speed is preset according to the weight, properties, etc. of the object to be moved, and thereby determines the actual moving speed of the jack. Figure 6b
is the basic jack control signal, and the pulse width t ₀ is 1/2 of the period T, that is, the duty ratio is 50.
(%). On the other hand, for other jacks with a large lifting weight, the pulse widths are formed as short control signals such as t ₁ and t ₂ (to > t ₁ > t ₂ ), as shown in Figure b and 2. . That is, in the control signal generating unit 50, the pulse width changes in accordance with the input deviation signal, and a control signal is generated to correct the deviation.

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. 6b, when the pulse is in the H (high level) state, the solenoid 19 becomes conductive and the electromagnetic on-off valve 18 becomes open. On the other hand, when the pulse is in the L (low level) state, the solenoid 19 is in a non-conducting state and the electromagnetic on-off valve 18 is closed. Therefore, a control signal with a long pulse width will increase the flow rate of pressure oil passing through the on-off valve 18, and conversely, a control signal with a short pulse width will limit the flow rate of pressure oil passing through the on-off valve 18. . In addition, although a throttle valve 17 is provided in FIG. 2, this throttle valve 17 is designed so that the moving speed of the jack can be adjusted manually. Therefore, it is possible to form the control signal as an analog signal corresponding to the deviation signal and continuously control the throttle valve, but in reality, it is possible to control the throttle valve continuously. Hydraulic pressure is several hundreds (Kg/cm ² ) or more during lifting and lowering, and such continuous control is not easy, but the method of the embodiment of the present invention is used. However, even if the on-off valve is controlled intermittently by a digital signal as in the embodiment, substantially continuous control is possible by appropriately setting (for example, increasing) the repetition frequency of the pulse signal that serves as the control signal. . 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 as 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 for digital display. Also, since the deviation of the detection signal with respect to the reference is used as a means to obtain the control signal, for example, although not shown in the figure, if the deviation exceeds a predetermined value, a function may be provided to temporarily stop the jacking.
Alternatively, it is easily possible to provide a safety device such as fully closing the electromagnetic on-off valve 18 when the valve is fully jacked.

Now, the operation of the structure of the jack and the principle of structure of the control device described above is as follows. Note that the movement of the jack may involve raising or lowering the object to be moved, but below, the lowering will be explained, and the raising will be easily carried out in the same way as the lowering. Since it is possible to do so, a detailed explanation thereof will be omitted.

First, as shown in FIG. 1, a plurality of jacks 2 are placed at predetermined positions on the object 1 to be moved. In this case, the tension bar 4 is raised in advance with the jack in an empty state, and the object 1 to be moved is suspended from each jack in this state. On the other hand, the control device 15 selects and sets a predetermined step speed, which determines the pulse repetition frequency in the control signal as described above, and at the same time serves as a reference from the step function unit (see FIG. 5). A step function is determined.

Next, the jacks are operated simultaneously to gradually lower the jacks. In the initial stage, the pressure oil flow rate of all the jacks is controlled by a basic control signal as shown in FIG. 6b. However, if the lifting weight of any jack is larger than other jacks,
For this reason, let us assume that 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 appears as an increase in the repetition frequency of the detection signal from the jack movable displacement detection means, that is, the pulse signal, and as a result, the output of the control unit main body 48 has a reference value from the step function unit 49. Deviations to the signal occur. Due to this deviation, the control signal generating unit 50 changes the pulse width from t ₀ (FIG. 6b) to
A control signal changed to t ₁ (t ₁ <t ₀ ) (FIG. 6b) is obtained. Therefore, the opening time of the electromagnetic on-off valve 18 controlled by this control signal is shortened, and the amount of pressure oil passing through the electromagnetic on-off valve 18 is eventually reduced.
In this case, the movable displacement of the jack is downward, that is, the pressure oil is being discharged from the jack, which means that the discharge amount is reduced. As a result, the descending speed of the jack becomes slower, and as a result, feedback control is performed until the jack returns to a 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.

It should be noted that although the apparatus of the present invention is constructed according to the embodiments described above, 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. can also be replaced with other motors or converters with equivalent functions. Furthermore, the control unit can be configured by a computer and controlled by predetermined software.

Thus, according to the heavy object moving device according to the present invention, even if there is an uneven weight of the heavy object when lifting and lowering the heavy object such as a modular plant, the heavy object can be unbalanced due to this. It is possible to move up and down in parallel while always maintaining a constant horizontal state without losing it. Moreover, its horizontal accuracy is high and the actual allowable deviation is within 10 mm.
Since the control of each jack is performed by feedback control for each jack in accordance with the reference step speed, it is possible to quickly adjust the deviation, unlike a method that synchronizes each jack and relatively corrects the deviation. Control and continuous control are made possible. Furthermore, since it can be applied to center hole jacks equipped with tension bars and rotating nuts, its safety is extremely high, and since it is configured with a control device that enables remote operation and centralized control, it reduces man-hours and improves work efficiency. It has various features such as being able to further improve the performance of other systems.

[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 partially sectional configuration diagram showing the main parts of the jack used in the device of the present invention. Figure 4 is the third
Partially extracted configuration diagram from the figure. FIG. 5 is a concrete block system diagram of the control unit used in the apparatus of the present invention.
FIG. 6 shows a timing chart of the signals in the block system diagram of FIG. 5, respectively. 2, 2a... Jacket, 16, 16a... Discharge oil pipe, 17, 17a... Throttle valve, 18, 18a
...Solenoid on-off valve, 19, 19a...Solenoid,
20, 20a...Transmission cord, 21...Control unit, 23, 23a...Display device, 27...Spur gear, 28...Rotating nut, 35...Rotating transducer, 36...Pinion, 39... ... Oil motor, 48 ... Control unit main body, 49 ... Step function unit, 50 ... Control signal generation unit, 51 ... Power supply unit.

Claims (1)

[Claims] 1. In a heavy object moving device consisting of a plurality of center hole type jacks that support a predetermined position of an object to be moved, and a control device that controls the amount of movement of the jacks by a hydraulic circuit, each of the jacks has a A tension bar for supporting heavy objects inserted into a through hole provided in an internal ram so as to be movable forward and backward; a rotating nut screwed into a screw threaded on the outer periphery of the tension bar; and a spur gear attached to the rotating nut; a rotation control motor for the rotary nut having a pinion mounted on a support plate provided above the spur gear and meshed with the spur gear; and a pinion mounted on the support plate and meshed with the spur gear. The control device is equipped with a rotary nut device including a rotary transducer that detects the amount of movable displacement of the tension bar based on the rotation speed of the rotary nut, and a nut receiving portion of the rotary nut. control signal generation means related to the deviation of the detection signal from the detection means for the plurality of jacks; and control means for controlling the amount of pressure fluid fed into or discharged from the jacks based on the control signal; A heavy object moving device configured to match the amount of displacement.