JP2895382B2 - Heavy object handling equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a heavy object handling apparatus used for disassembling and repairing various plants and large-sized precision machinery, and holding and transporting equipment during assembly.

[0002]

2. Description of the Related Art Conventionally, when a heavy object is attached to or detached from the upper part of a plant building or a large structure, it is usually carried out by using a lifting device such as a crane or a forklift. When small adjustments are required, an auxiliary lifting device is used in each case.

[0003]

By the way, equipment constituting a plant or a large-sized apparatus is detached and attached without applying an impact to a main body supporting member, for example, a thin mirror of a large diameter mirror such as an astronomical telescope. Is required at the time of assembling repair for repairing a large-diameter mirror surface.

[0004] However, in the conventional device as described above,
It is difficult to attach and remove heavy and precise equipment such as plants and large precision machinery without impact, and it is difficult to tilt the heavy load every time. It was necessary to use a lifting device in combination, and the complexity and cost of the device were unavoidable, resulting in extremely low productivity.

It is an object of the present invention to provide a new heavy object handling apparatus which solves these problems.

[0006]

According to another aspect of the present invention, there is provided a heavy object handling apparatus , comprising:
A drive motor for driving the movable carriage, and the movable carriage
Provided equally on the same pitch circumference on the plane of the car's upper surface
Multiple vertical drive actuators and each of these
Each of the actuators is provided corresponding to the actuator.
A load detection sensor for detecting a load acting on the
Performs overall operation of the actuator and drive motor.
The operation panel and the mobile trolley running operation from this operation panel
Control the drive motor by using the control panel.
An operation command to the actuator and the load detection sensor;
Drive each actuator according to the detection signal from the
And a control device for controlling the actuator.
Operation of the heavy object to be installed and supported from the operation panel
The vertical movement and the tilt control can be controlled in accordance with an instruction .

[0007]

In the heavy object handling apparatus of the present invention configured as described above, the actuators installed on the movable trolley can be individually moved up and down individually.
Moreover, since all the actuators are installed on the same plane on the same plane on the same pitch circle, when all the actuators are raised, the weight to be handled loaded thereon rises. The weight handled falls. In addition, when the actuator at one end is raised and the actuator at the other end is lowered, the weight to be handled can be inclined.

Further, by installing these actuator groups on a movable carriage, the actuators have a moving function and can carry a heavy object to be handled to a required position. Positioning to the mounting position and removal can be embodied.

Further, by equipping the lower or upper part of each actuator with a load sensor, a load acting on each actuator can be detected, and a soft contact can be made without giving an impact to a handling member or a mating member at the time of positioning to the mounting position. Or to maintain the overall load balance.

[0010]

Next, an embodiment of the present invention (in the case of six actuators) will be described with reference to FIGS. FIG. 1 is a side view of a heavy object handling apparatus according to the present invention, and FIG. 2 is a plan view showing an arrangement state of actuator groups in the apparatus.

In these figures, reference numeral 1 denotes a movable trolley, on which an actuator group 2 is installed in a simultaneous manner. The actuator group 2 holds a weight 3 to be handled.

The actuator group 2 (2a to 2f) is shown in FIG.
As shown in (1), they are arranged on the same plane of the movable carriage at equal intervals on the same pitch circumference. (Even if three or more actuators are satisfied, this embodiment shows a case of six actuators.)

When the group of actuators 2 configured as described above is raised in conjunction with each other, the weight to be handled 3 is raised, and when the group of actuators 2 is lowered, the weight to be processed 3 is lowered.

Next, by raising the actuators 2b and 2c and lowering the actuators 2f and 2e in the state where the actuators 2a and 2d are stationary, the actuators 2a and 2d are tilted with respect to the line BB 'shown in FIG. Can be given. Further, by raising the actuators 2a, 2b, 2f and lowering the actuators 2c, 2d, 2e or vice versa, the inclination can be given with reference to the line AA 'shown in FIG.

Although the basic movement is as described above, in order to realize soft contact and balanced support which are another feature of the present invention, the present invention includes the following mechanism. I do.

That is, the actuators (2a to 2f)
The load detection sensor 4 is provided above or below (in this example, above and between the object 3 to be handled).

Since the load applied to each of the actuators (2a to 2f) is detected based on the information from the load detection sensor 4, it is possible to support and contact the software softly, and to balance the weight of the weight 3 to be handled (evenly). ) It becomes possible to support.

As described above, the lifting / lowering and the posture control (to give a tilt) of the weight 3 to be handled and the soft support /
The contact and the equalizing pressure support can be realized by combining with a control device 5 having a system diagram configuration as shown in FIG. 3 as an example.

FIG. 3 is an example of a system diagram including a control device for the heavy-material handling apparatus according to the present invention.
Amplifier 6 and the actuator (2)
a to 2f), an electric motor driving driver 8 for driving the mobile trolley 1, an I / O interface 9 for controlling these inputs and outputs, an operation panel 10 for controlling the entire operation, and control. And a power supply unit 12 for supplying power to all of them.

In the above-described operation by the control device 5 having the above-described configuration, for example, the loads acting on the actuators (2a to 2f) are detected by the load sensor 4, and the information is detected by the sensor amplifier 6, the I / O interface 9 to the CPU 11 and a lightly loaded actuator (2
For a to 2f), a command is sent via the I / O interface 9 and the driver 7 to drive the electric actuators (2a to 2f) in the direction of increasing load.

A lighter object sends a reverse command to reduce the total load of the weight 3 to be handled by each of the actuators (2a to 2a).
In f), the pressure is made to converge to a value that is almost equalized.

Although one embodiment of the present invention has been described in detail, the present invention is not limited to the above embodiment, and various design changes can be made within the scope of the technical idea of the present invention.
All of them belong to the technical scope of the present invention.

[0023]

As described above, the heavy article handling apparatus according to the present invention has the following effects. 1. The operation of the actuator group 2 enables the vertical movement of the weight to be handled, the tilting based on the line AA 'shown in FIG. 2, and the tilting based on the line BB' shown in FIG. By combining the above, it is possible to give any attitude (inclination) to the weight to be handled. 2. In addition, the information of the load detection sensor can be used to support and contact the software softly, and the entire load can be uniformly balanced and supported by each actuator. 3. Accordingly, attachment and detachment of heavy and precise equipment such as a plant and a large precision machine can be realized without giving an impact. 4. By mounting these actuator groups on a movable trolley, it is possible to move equipment to be attached and detached, and a series of operations can be easily realized only with the device of the present invention.

[Brief description of the drawings]

FIG. 1 is a side view of a heavy object handling apparatus according to an embodiment of the present invention.

FIG. 2 is a plan view showing an arrangement of actuator groups in the device.

FIG. 3 is a schematic configuration diagram of a system diagram including a control device of the device.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Moving trolley 2 Actuator group 2a, 2b, 2c, 2d, 2e, 2f Actuator 3 Weight to be handled 4 Load detection sensor 5 Control device

──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Takeya Kawamura 1-1-1, Wadasaki-cho, Hyogo-ku, Kobe-shi Inside Mitsubishi Heavy Industries, Ltd. Kobe Shipyard (56) References JP-A-5-104401 (JP, A JP-A-49-8984 (JP, A) JP-A-62-163841 (JP, A) JP-A-61-295918 (JP, A) JP-A-59-176133 (JP, A) 191927 (JP, A) JP-A-5-213108 (JP, A) JP-A-5-49104 (JP, U) JP-A-3-45366 (JP, U) JP-A-59-113232 (JP, U) (58) Field surveyed (Int.Cl. ⁶ , DB name) B60P 3/00 B23P 19/00 302 B66F 17/00

Claims (1)

(57) [Claims] 1. A mobile trolley and a drive for driving the mobile trolley.
Drive motor and the same pin on the plane
A plurality of vertically driving switches provided equally on the switch circumference.
Corresponding to the actuator and each of these actuators
Provided to detect a load acting on each of the actuators.
Load detection sensor, each of the actuators and drive module
Operation panel that performs the overall operation of the data
Control the drive motor in accordance with the traveling operation of the mobile trolley.
Operation of each actuator from the operation panel.
Operation command and the detection signal from the load detection sensor
A control device for driving and controlling each of the actuators
And the weight to be handled supported and installed on the actuator
Move the object up and down and tilt according to the operation instruction from the operation panel.
A heavy object handling device characterized by being configured to be capable of dynamic control .