KR102273826B1 - Automatic Lift Upper Weight Handling Unit - Google Patents

Abstract

The present invention relates to a weight handling device, and more specifically, to an upper limb handling device for automatically lifting a weight, wherein musculoskeletal diseases of a user can be prevented and workability can be improved by minimally reducing a load on the arms of the user during the operation of lifting or transporting a heavy weight. The weight handling device comprises: a frame consisting of a pair of vertical frames, which are formed with an interval from both sides, and a horizontal frame for connecting the vertical frames; a pulley doubly formed by a first-stage pulley and a second-stage pulley, which overlap with each other, installed on the vertical frames and the horizontal frame to be able to rotate through a bracket, and including a wire rope, which is wound or unwound to lift or lower a weight with a tiny force by changing the acting direction of the force physically during the operation of lifting the weight, at an inner side and on an outer circumference surface; a gripper composed of a pair of a left gripper and a right gripper, and formed in the shape of a glove to be combined with one end of the wire rope and to enable a user to wear the gripper to grip the weight; a driving motor combined with one side surface of the pulley to operate the forward rotation or backward rotation of the pulley; a controller for controlling the rotating operation of the driving motor; and a driving means including a bracket and a battery. A descending stopper and an ascending stopper protrude from one side of the outer circumference of the first-stage pulley and the second-stage pulley to restrict the maximal winding and unwinding of the wire rope.

Description

Automatic Lift Upper Weight Handling Unit

The present invention relates to a heavy object handling device, and in particular, an automatic lift upper extremity that prevents a user's musculoskeletal disease and improves workability by reducing the load on the user's arm to minimize the load on the user's arm during lifting and transporting of heavy weight from the bottom up. It relates to a heavy-duty handling device.

In general, a body-worn upper extremity heavy object handling device that assists the activities of the elderly or the disabled, handles heavy objects in industrial fields, and transports or reconnaissance heavy objects in the field of military is used.

This upper extremity heavy object handling device has a shape that links that perform joint actions similar to those of the human body can be worn on the human body, and a joint and driving means such as a motor are organically combined, and a torque sensor that can grasp the intention of the user for each joint It is made in the form of receiving muscle strength by installing an angle sensor, etc., and driving the motor of each joint according to the intention.

That is, the heavy-duty handling device used in the industrial field is mainly used to perform high-load work that exceeds the general human strength limit by assisting the user's upper or lower extremity muscle strength.

However, the conventional upper extremity heavy object handling apparatus is an overhead type, and since a part of the heavy object handling apparatus is formed above the user's head, there is a problem in that the user's mobility is reduced.

In addition, the conventional upper extremity heavy object handling device has a high center of gravity, so it is difficult for a user to balance, and there is a problem in safety.

In addition, since the lifting means of the heavy-duty handling device is always driven in connection with the actuator, there is a limit to the simplification of the mechanism, there are many restrictions on the work operation, which is dangerous, and there is a problem that the work efficiency cannot be significantly improved.

Korean Patent No. 10-1500525 Patent Publication 10-2017-0119762

Accordingly, the present invention has been devised to solve the above problems, and an object of the present invention is to prevent twisting of a rope using a double pulley and to obtain a high rotational force at the same time to lift or lift a heavy object. It is to provide an automatic lift upper extremity heavy weight handling device that prevents musculoskeletal disorders of the wearer by minimizing the load on the arm, improves work efficiency, and reduces the cost of industrial accidents.

The present invention for achieving the above object is a frame consisting of a pair of vertical frames formed at intervals on both sides and a horizontal frame connecting between the vertical frames, the first-stage pulley and the second-stage pulley are overlapped to form a double, A wire rope that is rotatably installed on the vertical frame and the horizontal frame through brackets, and is wound or unwound to lift or lower the weight with a small force by physically changing the direction of force during the lifting operation on the inner and outer peripheral surfaces. A pulley comprising a pulley, a left gripper and a right gripper are made as a pair, and a gripper coupled to one end of the wire rope and formed in the form of a glove so that a user can hold a heavy object by wearing it on his or her hand, and the pulley are coupled to one side of the pulley A heavy load handling apparatus comprising a driving motor configured to rotate forward or reverse rotation of the pulley, a controller for controlling the rotational operation of the driving motor, and a driving means including a bracket and a battery, wherein the first-stage pulley and the second However, it is characterized in that a descending stopper and an ascending stopper are protruded from one side of the outer periphery of the pulley to limit the maximum winding and unwinding of the wire rope.
The present invention is characterized in that in the heavy object handling apparatus, a lowering limit switch and an ascending limit switch are formed on one side of the bracket to limit the maximum winding and unwinding of the first-stage pulley and the second-stage pulley.

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As described above, the present invention is effective in reducing the cost of industrial accidents by minimizing the load on the upper extremities (arms, shoulders, etc.) during lifting and transporting heavy weights from the bottom up to prevent musculoskeletal disorders of the user.

In addition, the present invention has the effect of improving the user's work efficiency and reducing fatigue caused during work by minimizing the load when lifting a heavy object.

1 is a schematic exploded view of an automatic lift upper extremity heavy object handling apparatus according to a preferred embodiment of the present invention.
FIG. 2 is an assembly view of FIG. 1 .
3 is a front view of FIG. 2 ;
4 is an enlarged view of a pulley according to the present invention.
5 is an enlarged view of a state in which a drive motor of a pulley and a driving means according to the present invention is installed through a bracket.
6 is a diagram schematically illustrating a left gripper, a right gripper, and a pressure sensor according to the present invention.
7 is an enlarged view schematically showing a vertical frame and a guide roll according to the present invention.
8 is a view schematically showing a user and a heavy object wearing the heavy object handling device according to the present invention.
9 is a view schematically illustrating a state in which a user wearing a heavy object handling device according to the present invention holds (grasses) a heavy object with a gripper by bending the waist to lift the heavy object.
10 is a view schematically showing a state in which a user wearing a heavy object handling device according to the present invention lifts a heavy object.
11 is a view schematically showing a state in which a user wearing a heavy object handling device according to the present invention lifts and loads a heavy object.
12 is a view schematically showing a state in which the driving motor according to the present invention releases and maximally unwinds the pulley.
13 is a schematic flowchart of a method for handling a heavy object using an automatic lift heavy object handling apparatus according to the present invention.

Hereinafter, a preferred embodiment of the automatic lift upper extremity heavy object handling apparatus according to the present invention will be described in more detail based on the accompanying drawings.

Here, components having the same function in all the drawings below are omitted from repetitive descriptions using the same reference numerals, and the terms to be described later are defined in consideration of the functions in the present invention, which have their own and commonly used meanings. should be interpreted as

1 to 7 , the automatic lift upper extremity heavy object handling apparatus 100 according to the present invention is largely divided into a frame 110 , a pulley 120 , a gripper 130 , and a driving means 140 .

The frame 110 is composed of a pair of vertical frames 111 formed at intervals on both sides and a horizontal frame 112 connecting the vertical frames 111 .

In addition, the pair of vertical frames 111 has a wire rope accommodating hole 111a formed therein to accommodate a wire rope 000 to be described later, and a wire rope guide roll 111b is formed inside the upper end.

In addition, an upper harness 113 and a lower harness 114 are coupled to the frame 110 to be worn on the user's upper body.

In addition, a side support frame 115 is formed between the upper harness 113 and the lower harness 114 .

The pulley 120 is formed by overlapping the first-stage pulley 121 and the second-stage pulley 122 and is installed to be rotatable through the vertical frame 111 and the horizontal frame 112, and on the inner and outer peripheral surfaces A wire rope 123 that is wound or unwound to lift or lower a weight with a small force is provided by physically changing the action direction of the force during the lifting operation of the heavy object.

More specifically, the first-stage pulley 121 and the second-stage pulley 122 have wire rope accommodating grooves 121a and 122a on the outer circumferential surface to prevent twisting of the wire rope 123 and obtain high rotational force at the same time. Each of these is formed

In addition, a rope insertion hole 121b for accommodating the wire rope 123 is formed in the wire rope receiving groove 121a formed on the outer peripheral surface of the first-stage pulley 121, and the wire rope formed on the outer peripheral surface of the second-stage pulley 122 A rope discharge hole (122b) through which the inserted wire rope 123 exits is formed in the receiving groove (122a).

In addition, a wavy rope rod (rd) through which the wire rope 123 passes is formed inside the first-stage pulley 121 and the second-stage pulley 122, and the wire rope inserted into the rope insertion hole 121b ( 123) passes through the rope rod (rd) and comes out through the rope discharge hole (122b).

In addition, a descending stopper 121c and an ascending stopper 122c are protruded from one side of the outer periphery of the first-stage pulley 121 and the second-stage pulley 122 to limit the maximum winding and unwinding of the wire rope 123 . .

That is, a lowering stopper 121c is protruded from one side of the outer periphery of the first-stage pulley 121 , and a rising stopper 122c is protruded from one outer periphery of the second-stage pulley 122 .

Here, the lowering stopper 121c of the first-stage pulley 121 and the ascending stopper 122c of the second-stage pulley 122 are separate lifting and lowering limit switches 145, ( 146), so excessive winding and unwinding can be prevented.

In addition, at each end of the wire rope 123 wound through the first-stage pulley 121 and the second-stage pulley 122, a hook-shaped hook (not shown) used to lift a heavy object may be formed. can

The pulley 120 of this configuration rotates approximately 330° in association with the operation of the driving means 140 , and the wire rope 123 is a rope rod of the first-stage pulley 121 and the second-stage pulley 122 . Because it rotates through the wire rope receiving grooves (121a), (122a) through (rd), it is wound or unwound without overlap, so that twisting is prevented.

In addition, since the wire rope 123 is connected as one, the grippers can be freely moved even if the left and right grippers 131 and 132 worn on the user's hand, which will be described later, are pulled to either side.

In addition, the wire rope 123 wound around the wire rope receiving grooves 121a and 122a of the first-stage pulley 121 and the second-stage pulley 122 is a hole formed in the pair of vertical frames 111 . (111a) is inserted into the wire rope guide roll (111b) formed inside the upper end is supported so that the winding and unwinding operation is smooth.

The gripper 130 includes a pair of a left gripper 131 and a right gripper 132, and is coupled to one end of the wire rope 123 so that a user can wear it on his or her hand to hold a heavy object. it is preferable

In addition, the left gripper 131 and the right gripper 132 are provided with a pressure sensor 133 capable of detecting a weight in a portion where the user's finger and palm come into contact.

In addition, it is preferable that a wireless transmitter 134 for transmitting a pressure measurement value sensed and output from the pressure sensor 133 to the controller 143 of the driving means 140 to be described later is worn on the user's wrist. .

That is, when the user wearing the left and right grippers 131 and 132 and the wireless transmitter 134 lifts or lowers the weight 200, the presence or absence of pressure applied to the pressure sensor 133 is sensed and The sensed measured value is converted into an electrical signal, outputted, and transmitted to the controller 143 through the wireless transmitter 134 .

In addition, the wireless transmitter 134 may be mounted on a user's wrist in a band type, and may be replaced with a wired one.

In addition, the left gripper 131 and the right gripper 132 are hooks (not shown) formed at one end of the wire rope 123 so that the wire rope 123 can be easily hung and connected to one side of a hook (not shown). ) is preferably formed, and a non-slip pad (not shown) such as rubber or silicone is formed to prevent slipping when holding or transporting the weight 200 to achieve stable grip.

The driving means 140 is coupled to one side of the pulley 120 and includes a driving motor 141 having a reducer to rotate the pulley 120 forward or reversely, and the frame 110 . ) includes a bracket 142 for mounting the driving motor 141 to the bracket 142 , and a controller 143 that is detachably formed through the bracket 142 and controls the rotational operation of the driving motor 141 .

Here, when the pressure applied to the pressure sensor 133 is equal to or less than a set value, within a set value range, or greater than a set value, the controller 143 may differently control the rotation amount of the driving motor 141 more or less. .

For example, when a user wearing the left gripper 131 and the right gripper 132 grips a heavy object, when the pressure applied to the pressure sensor 133 is within a preset pressure value range, the controller 143 controls the driving motor ( 141) is rotated to lift the user's waist, and when the pressure value is higher than the set pressure value range, the drive motor 141 is rotated to a maximum winding operation to lift the user's head up to the top of the user's head, and when no pressure is applied, the pulley ( 120) can be controlled to operate the drive motor 141 to the maximum unwinding operation of the wire rope 123.

In addition, the driving means 140 is formed to be detachable through the bracket 142 and further includes a battery 144 for providing power to the driving motor 141 .

And, on one side of the bracket 142, a lowering stopper 121a and a lowering stopper 122a for limiting the maximum winding and unwinding of the first-stage pulley 121 and the second-stage pulley 122 are lowered for contact. A limit switch 145 and a rising limit switch 146 are formed.

The wear of the upper extremity heavy weight handling device 100 is adjusted by the user wearing the upper harness 113 in the form of a vest and the lower harness 114 positioned at the waist.

Then, after the left gripper 131 and the right gripper 132 are worn on both hands of the user, the band-type wireless transmitter 134 is mounted on the wrist.

Then, the length of the wire rope 123 is adjusted according to the user's height and arm length.

The use state and method of the present invention configured as described above will be described with reference to FIGS. 8 to 13 as follows.

First, when a user (operator) 300 wearing the automatic lift upper extremity heavy object handling apparatus 100 according to the present invention wants to lift or transport the heavy object 200 as a work object, (a) the user 300 uses the gripper Hold (grasp) the weight 200 using 130 and the pressure sensor 133 senses the pressure. (S10)

Specifically, as shown in FIGS. 8 and 13 , the standing user 300 bends (bends) the waist and uses both hands, i.e., the left gripper 131 and the right gripper 132 worn on both hands. will catch

Here, the pulley 120 and the wire rope 123 are initially set to form a maximum unwinding state.

Then, the pressure of holding the weight 200 by the left gripper 131 and the right gripper 132 is sensed by the pressure sensor 133 .

At this time, the pressure measurement value sensed by the pressure sensor 133 is converted into an electrical signal and outputted through the band-type wireless transmitter 134 worn on the user's wrist, the controller 143 of the driving means 140 . is transmitted to

Next, (b) the wire rope wound around the pulley 120 by controlling the controller 143 to rotate the driving motor 141 forward at a predetermined angle, for example, according to the eye pressure value sensed by the pressure sensor 133 . Pull (123) to lift the weight 200. (S20)

For example, the pressure of the user 300 holding the weight 200 with the gripper 130 causes the driving motor 141 to rotate forward to the extent that the weight 200 can be lifted up to the user's waist.

Then, the wire rope 123 is wound as much as the pulley 120 rotates forward at a predetermined angle in association with the forward rotation operation of the driving motor 141 .

Accordingly, the length of the wire rope 123 is reduced and pulled, and the weight 200 held by the gripper 130 is easily lifted even with minimal user force.

Next, (c) the user moves or loads the lifted weight 200 (S30).

Here, when the user 300 wants to further lift the weight 200 to a height greater than or equal to the user's upper body, the user 300 lifts the weight 200 seated on the left and right grippers 131 and 132 high. Since the pressure value applied to the pressure sensor 133 becomes larger than the reference value, the detected pressure measurement value is converted into an electrical signal and output through the band-type wireless transmitter 134 worn on the wrist of the user 300 . It is transmitted to the controller 143 of the driving means 140 .

Accordingly, the drive motor 141 rotates forward with the maximum rotational amount, and in conjunction with this, the pulley 120 also rotates forward to wind the wire rope 123 to the maximum to easily lift the weight 200 to a higher place. be able to

At this time, the lifting stopper 122a formed on one side of the two-stage pulley 122 comes into contact with the lifting limit switch 146 to stop the driving motor 141 .

Next, (d) the controller 143 reversely rotates the drive motor 141 by releasing the pressure held by the user 300 from the moved or loaded weight 200 to the wire rope 123 wound around the pulley 120 . ) to the maximum loosening. (S40)

That is, when the user 300 puts down the weight 200 , the pressure applied to the pressure sensors 133 formed on the left and right grippers 131 and 132 is removed.

At this time, the measured value sensed by the pressure sensor 133 is converted into an electrical signal and outputted to the controller 143 of the driving means 140 through the band-type wireless transmitter 134 worn on the user's wrist. is transmitted

Then, the controller 143 reversely rotates the driving motor 141 at the maximum rotational amount to reversely rotate the pulley 120 and the wire rope 123 to the maximum unwinding state.

At this time, the first-stage pulley 121 performs maximum reverse rotation, and the lowering stopper 121a formed on one side of the first-stage pulley 121 comes into contact with the lowering limit switch 145 to stop the driving motor 141 . do.

In this way, the automatic lift upper extremity heavy object handling apparatus of the present invention minimizes the load on the arm during lifting and transporting heavy weights from the bottom through the above-described action, thereby preventing musculoskeletal diseases and reducing fatigue. there will be

The present invention described above is not limited by the above-described embodiments and the accompanying drawings, and various substitutions, modifications and equivalent changes to other embodiments are possible without departing from the technical spirit of the present invention. It will be apparent to those of ordinary skill in the art to which the invention pertains.

100: automatic lift upper extremity heavy object handling device 110: frame
111: vertical frame 111a: wire rope receiving hole
111b: guide roll 112: horizontal frame
113: upper harness (harness) 114: lower harness
115: side support frame 120: pulley
121: one-step pulley 121a, 122a: wire rope receiving groove
121b: rope insertion hole 121c: descending stopper
122: two-stage pulley 122b: rope outlet hole
122c: rising stopper 123: wire rope
130: gripper 131: left gripper
132: right gripper 133: pressure sensor
134: wireless transmitter 140: driving means
141: drive motor 142: bracket
143: controller 144: battery
145: falling limit switch 146: rising limit switch
200: heavy object 300: user
rd : rope rod

Claims (11)

delete delete delete delete delete A frame consisting of a pair of vertical frames formed at intervals on both sides and a horizontal frame connecting between the vertical frames, the first-stage pulley and the second-stage pulley are overlapped to form a double, and the vertical frame and the horizontal frame through a bracket A pulley that is installed rotatably and has a wire rope that is wound or unwound so as to physically change the direction of force to lift or lower a heavy object with a small force when lifting a heavy object, and a left gripper and a right gripper on the inner and outer peripheral surfaces is made of a pair, a gripper coupled to one end of the wire rope and formed in a glove shape so that a user can wear it on his or her hand to hold a heavy object, and a gripper coupled to one side of the pulley to rotate the pulley forward or reverse In the heavy-duty handling apparatus comprising: a driving motor, a controller for controlling the rotational operation of the driving motor, and a driving means including a bracket and a battery,
An automatic lift upper extremity heavy object handling apparatus, characterized in that a descending stopper and an ascending stopper are protruded from one side of the outer periphery of the first-stage pulley and the second-stage pulley to limit the maximum winding and unwinding of the wire rope. delete delete delete 7. The method of claim 6,
Automatic lift upper extremity heavy material handling apparatus, characterized in that a lowering limit switch and an ascending limit switch are formed on one side of the bracket to limit the maximum winding and unwinding of the first-stage pulley and the second-stage pulley. delete

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