JPH0214967A - Inching-type automatic elevating device running along c-type running rail - Google Patents

Abstract

PURPOSE:To use an escort rail for elevating luggage by enabling two fore and aft trolleys with claws to grasp a rail to swing with a swinging joint in a running plane and an inching drive link to vertically shift against a running plane, and turning carriers independently in each direction. CONSTITUTION:To two fore and aft trolleys 1, 1' each of which has a truck 24 having a lock claw 26 thereon operated by an electromagnet 28, a carrier frame 4 and a luggage keeping means K are fixed. To inching drive links 2, 3, connection arm 13s are connected by means of hinge pins 12. Each connection arm 13 is put to turn in a running direction and its tip is connected to the swinging joint J of each trolley 1 or 1'. The fore and aft inching drive links 2, 3 are then connected to a reciprocating drive mechanism which makes them close to and separate from each other. By these swinging joints J and connection arms 13, change of directions in a running plane and a vertical plane is done at the same time. Moving forward and backward by making lock claws 26 of the fore and aft trolleys 1, 1' alternately work, enables a carrier to make inching-motion.

Description

[Detailed Description of the Invention] 3.11 Purpose of the Invention [Industrial Application Field of the Invention] This invention facilitates the lifting and unloading of cargo for work on relatively high steel towers such as power transmission towers. Regarding the automatic lifting device for lifting 1 heavy object, we utilize the varnish coat rail provided for the safety of workers working in high places. It can be used to lift and lower workers on steel towers.

[Prior Art and Problems to be Solved by the Invention] Conventionally, in order to transport materials and equipment onto a high steel tower, there were two methods: hoisting them using a rope, or having workers climb the tower while carrying the material on their person. However, in the former case, the work directly below the tower is often dangerous due to spatial constraints on the tower site.

In the latter case, if the object is large, it will interfere with the operation of climbing the tower and endanger the safety of the tower, so the size of the object is limited to a certain size or less that can be safely transported. In addition, since the work is done manually, lifting and lowering is not only inefficient, but also significantly exhausts the physical strength of each worker and accumulates fatigue. There is a strong demand for automation of work.

Recently, it seems that lifting robots are being developed to automate this work, but this type of robot lifts and lowers a number of interconnected trolleys along a linear rail. Therefore, the existing Escort 1-rail, which is arranged in a winding manner along the route that tower workers ascend and descend, cannot be used as a running rail for the transport carrier.

Multiple trolleys are connected by inching drive links, and the front and rear end trolleys move forward alternately.

In order for transport carriers that move up and down three-dimensionally and greatly curved varnish coat rails to run smoothly along the varnish coat rail, it is necessary to make sure that all the carriers can be oriented three-dimensionally in any direction independently of each other. It is essential to do so.

To this end, an object of the present invention is to enable the carriers traveling along the varnished rail to be directed in any three-dimensional direction independently of each other without causing any hindrance to the movement of the carriers by the links. That is.

3.21 Structure of the Invention [Means Taken to Solve the Problems] The measures taken to solve the above problems of the present invention are based on the following four elements.

(a) Two trolleys with rail gripping claws, front and rear; (b) Connect the connecting arm to the Sebo Tei motion link with a hinge pin, and point the connecting arm in the running direction and connect the tip to the swivel joint of each trolley. to be connected to.

(c) Connecting the front and rear moving links to a reciprocating drive mechanism that moves these both toward and away from each other; (d) Attaching a load support to the carrier frame supported by the front and rear trolleys.

The above-mentioned trolley is a conventionally well-known general trolley having four running wheels, front and rear, left and right, which roll on a varnished rail made of channel material with a C-shaped cross section. A joint that is pivotable about an axis that is perpendicular to the plane and passes through the center of the trolley.

[Function] The frame of the load carrying carrier is supported at two points, the front trolley and the rear trolley, and the trolley can pivot relative to the frame within the running plane using a swivel joint.
Direction changes within the same plane are made smoothly.

In addition, the connecting arm connected to the tip of the one-inch drive link by a hinge pin can swing in a plane perpendicular to the running plane of the trolley, so the trolley cannot be displaced in a direction perpendicular to the running plane. I can do it. This movement is performed independently of the front and rear trolleys, so that the front and rear trolleys can move relative to each other perpendicular to the running plane. Therefore, the varnish coated rail can be smoothly run without any hindrance to bending in a plane perpendicular to the running plane.

As mentioned above, direction change within the travel plane.

Changes in direction within a plane perpendicular to the plane of travel can be performed without any problem, and changes in both directions can be performed at the same time.

Next, the operation of the drive mechanism for the trolley and carrier will be explained.

The lock claws on each trolley temporarily fix the trolley to the varnished rail.The lock claws on the front and rear trolleys operate alternately, so when one trolley is locked, the other trolley is unlocked. be done. In this state, the reciprocating drive mechanism moves the other trolley forward via the drive link.

or reverse and then lock the other trolley,
One trolley is unlocked and the one trolley is moved forward or backward by the reciprocating drive mechanism via the drive drive link. By repeating this motion, the carrier is driven (same as the walking motion of an inchworm).

[Embodiment] (A) About the lock claw.

The lock pawl only needs to be able to temporarily fix the trolley to the varnish coat rail, so the front flange of the varnish coat rail is held between the running wheels of the trolley and the lock pawl, and the lock pawl is frictionally attached to the front flange. Alternatively, the tip of the lock claw may be engaged with a large number of holes or small protrusions provided on the front flange. Furthermore, lock claws are provided on both sides of the trolley.

The left and right locking claws may hold the sides of the varnish coat rail.The driving mechanism for the locking claws is a screw machine end driven by an electromagnet, a hydraulic cylinder, an air cylinder, or an electric motor, or a cam mechanism. can be adopted, but electromagnets simplify the mechanism,
Desirable from the viewpoint of ease of maintenance.

(B) Regarding the reciprocating drive mechanism, the reciprocating drive mechanism is a mechanism that moves the front and rear drive links toward and away from each other, that is, it is a mechanism that moves the front and rear drive links alternately forward or backward. Simplification of its mechanism.

In terms of weight reduction and maintenance, a screw drive mechanism consisting of an electric motor and a screw shaft driven by the electric motor is most preferable.

Connect the piston rod of a hydraulic or pneumatic cylinder to one drive drive link.

It is also possible to employ a mechanism in which the cylinder head is connected to the other driving drive link. Even in this case, it is preferable to use an air cylinder from the viewpoint of maintenance, and it is preferable to install the compressor on the ground and let out an air hose to supply compressed air to the traveling carrier. The same applies to the case of the above embodiment, but the control system can be simplified by employing remote control.

big[! Hydraulic cylinders are preferable in order to make the /JN model more compact and lighter by generating power with small-diameter cylinders. Due to the viscosity of hydraulic fluid.

It is necessary to keep in mind that the loss of energy in the pipeline is large and that problems associated with oil leakage remain.

It is also possible to drive the crank and cam plate by an air motor or a hydraulic motor, thereby alternately driving the front and rear drive links.

The electric motor drives the crank and cam plate,
This allows for front and rear dimensions! F, IJ It is also possible to drive the drive link, but - to increase the travel speed by increasing the stroke of the drive link, and to simplify the oval shape of the transport carrier, - to drive the drive link Also from the viewpoint of ease of adjusting the stroke vR, a drive mechanism using an electric motor and a screw shaft is desirable. In this case,
A mechanism may be adopted in which one forward and reverse motor drives one screw shaft to alternately drive two drive links.

When using two motors to rotate the screw shaft forward and reverse, the two screw shafts may be driven alternately by the two motors, or a separate screw shaft may be connected to each motor, and each screw shaft may be The front and rear drive links may be connected one by one to each screwed nut member.

(1) Regarding swivel joints.

The swivel joint may be any mechanism that allows the other joint member to pivot about the center line of one joint member and does not allow relative movement between the two joint members in other directions.
In this case, a ring may be fitted to a central pivot pin protruding from one joint member through a bearing.As for the bearing, if it is a radial bearing such as a rolling bearing or a bearing bush, Any aspect can be applied. Since this rotational movement is a slow movement, there is no need for high-precision bearings.

[Example] Specific examples will be described below to help understand the embodiments of each element of Means 1 of the invention and their effects.

One screw shaft is driven by two motors.

Since the mode in which the front and rear drive links are alternately moved forward or backward by means of this screw shaft is most preferable in terms of simplifying the mechanism of the carrier frame and making it lightweight, a specific example of this mode will be shown.

Front 1 - Rory 1. The rear trolley 1' is attached to the tip of the carrier frame 4 via an inching drive link 2.3.

and is connected to the blanket 5' of the nut member 5.

In this example, the front inching drive link 2 is.

It is a type of arm that is fixed to the central inner surface of the front frame plate 6 of the carrier frame 4 and extends in the direction of the varnish coat rail 10.

The front frame plate 6 and the rear frame plate 7 are connected to each other by a pair of left and right connecting rods (guide shafts of the nut member 5) 8.8, and an L-shaped bracket 9 is provided protruding forward from the front movement link 2. An electric motor m is attached to the rear frame plate 7, and another electric motor m2 is attached to an L-shaped bracket 9 protruding rearward from the rear frame plate 7.A screw shaft 11 is attached to the center of the front and rear frame plates 6°7. Both ends are rotatably supported, and both ends project forward and backward from the frame plates 6 and 7, and the rotating shafts of motors m1 and m2 are connected to these projecting ends.

The nut member 5 has a female threaded hole in the center and guide holes on the left and right sides of this female threaded hole. The back and forth movement of the nut member is guided by the connecting rod 8. The screw shaft 11 is screwed into the central female screw hole, and the screw shaft rotates in the normal direction.
The nut member 5 is moved back and forth by reversing.

A connecting arm t113 is connected to the tips of the FhFJM dynamic links 2 and 3 by a hinge pin 12, and the tip of the connecting arm 13 is connected to a swivel joint J provided on the frame 20 of the 1-Rolly 1.1'.

In the swivel joint J, a joint ring 23 is rotatably supported via a bearing 22 on a swivel pin 21 protruding from the end face of the frame 20 of the trolley 1, L'.

It is held down by a thrust ring r by a nut and a lock nut n. The center line of the turning pin 21 is
Since it coincides with the center line Ω of the trolley 1.1', the coupling ring 23 can rotate about the center line Q of the trolley 1.1'.

The trolley 1.1' has a frame 20 consisting of a bracket 25 on a platform 24 having a total of four running wheels, two each in the front and rear, and a lock claw 26 is pivotally supported by a pin 27 on the side of the platform 24, and the trolley 1.1' is locked. A plunger of an electromagnet 28 is connected to the outer end of the claw 26 by a pin 29. Fl! A magnet 28 is fixed to the bracket 25, and the lock pawl 26 is operated by this electromagnet 28.

A cargo holding means K such as a cargo support stand is fixed to a front frame plate 6 and a rear frame plate 7 of a carrier frame 4.

First, the front trolley 1 is fixed to the varnish coat rail 10 by actuating the lock pawl 26, and the screw shaft 11 is rotated in the forward direction by the motor m□. Due to the normal rotation of the screw shaft, the nut member 5 moves forward with respect to the carrier frame 4 while being guided by the connecting rod 8 of the carrier frame 4.

As a result, the rear trolley 1' is connected to the Amabo drive link 3, the connecting arm 13. It is pulled up via the swivel joint J. When the nut member 5 reaches the top dead center, this is detected by a limit switch or the like (not shown), the electromagnet 28 of the rear trolley 1' is activated, and the rear trolley 1' is attached to the varnished rail 10 by the lock claw 26. Fix it. Next, the varnish coat rail 10 is unlocked by the lock claw 24 of the front trolley 1, and then the screw shaft 11 is reversed by the electric motor m2.

At this time, the nut member 5 cannot slide downwards because the trolley 1' is locked, so the screw shaft 1.1 shifts upwards with respect to the nut member 5.
Push up the entire carrier frame 4. By shifting the screw shaft 11 upwards.

The nut member 5 is shifted downward relative to the screw shaft 11. When the naso I member 5 reaches the bottom dead center due to this downward shift 1-, this is detected by a limit switch or the like and the electric motor m2 is stopped. After that, the trolleys 1 to 1 are locked again, the trolley 1' is unlocked, and the screw shaft 11 is again driven by the electric motor m1.
is rotated in the normal direction, and the trolley 1' is pulled up by the nut member 5.

By repeating the above operations, the carrier frame is raised along the varnish coat rail 10 while being powered. This sequential movement can be easily carried out by electrical sequence control, with each cycle of movement advancing the carrier frame 4 a distance corresponding to the stroke of the nut member 5.

When descending, the trolley 1 is locked, the trolley 1' is lowered, and the trolley 1' is firstly locked and the trolley 1 is lowered. By repeating this sequential operation, the carrier frame 4 is lowered while being powered.

When approaching a curve in the running plane of the varnish coat rail, the trolley 1.1' turns around the center MrQ along the bend of the curve. The twist associated with this turning is
Since it is absorbed by the swivel joint J, it is not affected by the connecting arm and the electric drive link 2.3, and it runs smoothly along the curve without any trouble.

As you approach the unevenness of the varnish coated rail, trolley 1.
Trolley 1' can move in a plane perpendicular to the running surface while swinging the connecting arm 13 around the hinge pin 126. Therefore, trolley 1' can run smoothly along the curve of the unevenness of the varnish coat. can do.

In addition, by rotatably connecting the swivel joint of one trolley and the connecting arm via a swivel joint whose axis is the center line of the connecting arm, electric automatic lifting and lowering can be achieved even along twisted varnished rails. The device can be run.

Although it is preferable to directly transmit the movement of the nut member 5 and the movement of the screw shaft to the front and rear electric drive links 2 and 3 in terms of simplification and robustness of the mechanism, it is preferable to amplify or reduce the movement of the nut member 5. If it is desired to transmit the force by increasing the force, the nut member 5 may be transmitted to the electric drive link 3 via the bell crank lever.

It is preferable that the distance between the wheels W and W of the trolley 1, 1'', that is, the wheel base wb, be as small as possible from the viewpoint of smooth running, but there is one point to reduce the load on the car @W and the axle. Therefore, it is preferable that the wheelbase Wb is larger.

Ultimately, its possible maximum value is limited by the minimum radius of curvature of the curved path of the varnished rail. The minimum value is limited by the load capacity of the varnished rails, wheels and axles.

When the varnish coat rail is bent at a right angle.

By arranging a so-called turntable at the corner and changing the direction of the trolley by 90 degrees with the turntable, the carrier frame 4 can be smoothly run along the right-angled rail. When the turntable is disposed in the middle of the traveling rail in this way, it is preferable to make the wheelbase wb as small as possible in order to make the diameter of the turntable as small as possible.

3.3. Effects This invention has solved the above problem, and one of the major effects of this invention is that by solving this problem, the varnish coat rail can be used as a rail for lifting cargo. In addition, conventionally known turntables can be used in cases where the carrier is forced to run along a rail with such a steep slope that it cannot be safely raised or lowered by the frictional force between the wheels and the rail, and even when making a right-angled bend. It is possible to achieve sufficient tracking by utilizing .

[Brief explanation of the drawing]

FIG. 1 is a side view showing an embodiment of an automatic lifting device according to the present invention, FIG. 2 is a front view of a carrier frame, and FIG.
The figure is a view taken along arrow III-III in FIG. 1, and FIG. 4 is a sectional view taken along line IV-IV in FIG. In the figure, 1... Front trolley, 1'... Rear trolley, 2.3... Inching drive link, 4... Carrier frame, 5... Nut member, 8... Connection rond. (
guide shaft), 10... varnish coat rail, 11...
Screw, screw shaft, 12... Hinge pin, 13... Connecting arm, 24... Dolly, 26...° lock claw, 28...
Electromagnet, m. m8: electric motor, J: swivel joint, W: wheel, Wb: wheel base.

Claims (7)

[Claims] (1) It has two trolleys with rail gripping claws, front and rear, and a connecting arm is connected to the inching drive link by a hinge pin,
The connecting arm is oriented in the traveling direction and its tip is connected to the turning joint of each trolley, and the front and rear inching drive links are connected to a reciprocating drive mechanism that moves these both toward and away from each other, and the carrier frame is attached to the front and rear trolleys. support,
A cargo support means is attached to this carrier frame, C
An inching type automatic lifting device that runs along the mold running rail. (2) A first system in which the front flange of the C-type running rail is held between the wheels of the trolley and the lock pawl, and the lock pawl is frictionally engaged with the front flange of the C-type travel rail.
The inching type automatic lifting device described in . (3) The inching type automatic lifting device according to item 2, wherein the lock pawl is engaged with a hole in the front flange of the C-shaped running rail. (4) The inching type automatic lifting device according to item 1, wherein the side surfaces of the C-shaped traveling rail are held between the left and right lock claws. (5) A reciprocating drive mechanism for moving the front and rear inching drive links toward and away from each other is composed of a screw shaft that is driven forward and backward by an electric motor, and a nut member that is guided by a guide shaft and screwed into the screw shaft. , the inching type automatic lifting device according to item 1. (6) A reciprocating drive mechanism in which one inching drive link is connected to the piston rod of the air cylinder, the other inching drive link is connected to the cylinder head, and the front and rear inching drive links move toward and away from each other. The inching type automatic lifting device according to item 1, which is configured. (7) The inching type automatic lifting device according to item 1, wherein the pivot joint of one trolley and the connecting arm are connected via a pivot joint whose axis is the center line of the connecting arm.