JP6590712B2 - lift device - Google Patents

Description

  The present invention relates to a lifting device that communicates between a low position and a high position.

  Conventionally, for example, Patent Document 1 relates to a lifting device (lifter) mounted on a moving device for performing inspection, repair, and the like while moving in a building environment such as various plants. An elevating device mounted on a mobile device for performing work in a place where human work is difficult such as a radiation control area is shown. The lifting device includes a base mounted on a moving device that is moved by an operator's remote operation, a table disposed above the base, a lifting body that lifts and lowers the table, and is disposed inside the lifting body to drive the lifting body. And a drive unit for The elevating body is composed of a plurality of cylinders fitted so as to slide up and down with respect to the base portion, and the drive unit includes a pulley provided in each cylinder body and a wire stretched over the pulley. And a drive unit for winding the wire, and while pushing up the wire by winding the wire by the drive unit, the cylinder is expanded and contracted by rewinding the wire by the drive unit. .

  Conventionally, for example, Patent Document 2 discloses a traveling cart that supports the vicinity of the four corners of an elevating frame having a substantially rectangular planar shape with telescopic struts, and further includes a travel driving means at the bottom of each telescopic strut. The arranged lifting device (self-propelled lifter device) is shown.

JP 2014-227251 A Japanese Patent No. 5207624

  The lifting device described in Patent Literature 1 and Patent Literature 2 is configured to push up and support a table and a lifting frame from below. For this reason, if a variable load with a biased center of gravity occurs at the end of the table or the lifting frame due to the placement of the mounted device mounted on the table or the lifting frame, the lifting of the table or the lifting frame becomes unstable. As a result, a rigid structure is required and the apparatus is increased in size, making it difficult to work in a confined place.

  This invention solves the subject mentioned above, and aims at providing the raising / lowering apparatus which can perform the stable raising / lowering operation | movement.

  In order to achieve the above-described object, the lifting device of the present invention includes a telescopic part provided with a plurality of box-shaped frames having support columns at four corners inside and outside so as to be stretchable in the vertical direction; The end of the chain spanned over the sprockets arranged in the vicinity of the columns of the lower box frame arranged vertically when extending is fixed to the vicinity of the columns of the box frame on the upper side. A frame support part for supporting the upper box frame by suspending it through the lower box frame, and moving the chains in the frame support part to move the upper box frame to the lower side. A frame drive unit that moves up and down relative to the box frame, a rectangular plate-like stage provided in the uppermost box frame that is positioned at the uppermost portion of the expansion and contraction portion when extended, The end of the chain spanned by sprockets arranged in the vicinity of each column of the box frame is fixed near each corner of the stage, and the stage is suspended through the top box frame. A stage support part that is supported by being lowered, and a stage drive part that moves the stage up and down with respect to the uppermost box frame by moving each chain in the stage support part.

  According to this lifting device, the upper box frame, which is arranged vertically when the telescopic part is extended, is suspended from the lower box frame by the sprocket and chain, and the chain is moved to raise and lower the upper box frame. In addition, the sprocket and chain are used to suspend the stage on the uppermost box frame when the telescopic part is extended, and the stage is moved up and down by moving the chain. Even if a fluctuating load with a biased center of gravity occurs at the end of the stage, each corner is suspended by a chain. Can be done. As a result, a special rigid structure is not required and the apparatus can be reduced in size, so that work in a narrow place can be performed.

  In the lifting device of the present invention, one of the two opposite sides of the stage is the inlet side and the other is the outlet side, and the lower span between the columns on the inlet side of each box frame is opened. In addition, an upper span between each of the columns on the outlet side in the uppermost box frame is opened.

  According to this lifting device, when carrying a plurality of continuous devices connected in series by cables from the lower floor to the upper floor one by one, the expansion and contraction of the expansion and contraction and the lifting and lowering of the stage can be repeated. No cables are pinched even when the expansion and contraction and the raising and lowering of the stage are repeated. As a result, it is possible to carry a plurality of consecutive mounted devices one by one from the lower floor to the upper floor with a cable.

  Further, in the lifting device of the present invention, one of the two opposite sides of the stage is the inlet side, the other is the outlet side, the inlet side overhanging portion provided to be able to advance and retreat on the inlet side of the stage, An exit-side projecting portion provided on the exit side of the stage so as to advance and retract.

  According to this lifting device, it is possible to easily load or unload a mounted device that can run on the stage.

  Further, in the lifting device of the present invention, the inlet side overhanging portion is formed with a notch that opens at the tip, and a notch that leads to the notch in the inlet side overhanging portion is formed at the inlet side edge of the stage. It is characterized by.

  According to this lifting device, the cable extending from the mounted device mounted on the stage can be held and positioned by each notch, and the cable can be prevented from interfering with other parts.

  In the lifting device of the present invention, the plurality of wheels provided at the lower part of the lowermost box-shaped frame located at the lowermost part of the expansion / contraction portion when extended, and the wheels for rotationally driving at least two of the wheels It is provided with a drive part and a wheel support part which supports the wheel rotated at least by the wheel drive part so that movement in the up-and-down direction is possible.

  According to this lifting device, even if there is a step on the floor surface, the rotation of the wheel can be transmitted to the floor surface and the vehicle can run, and the followability to the floor surface can be improved.

  Further, the lifting device of the present invention is characterized by including a surrounding imaging unit that images the entire circumference of the expansion and contraction unit.

  According to this lifting device, the entire periphery of the telescopic part can be confirmed, and the workability in the narrow part can be improved in remote operation.

  In the lifting device of the present invention, a laser irradiation unit that is provided near the upper end of each column of the box frame in the expansion / contraction unit and irradiates laser light upward, and the laser provided on the stage. And an upper imaging unit that images an area above the range including the laser beam irradiated by the irradiation unit.

  According to this lifting device, the horizontal position of the telescopic part and the stage with respect to the vertical can be confirmed.

  In the lifting device according to the present invention, an inclination detecting unit that detects an inclination angle of the expansion / contraction part is provided.

  According to this lifting device, it is possible to monitor the inclination of the telescopic portion. By monitoring the inclination of the expansion / contraction part, it is possible to take measures to avoid the situation where the expansion / contraction part interferes with the surroundings.

  In the lifting device according to the present invention, a plurality of jacks that are provided at a lower portion of the lowermost box-shaped frame that is positioned at the lowermost portion of the expansion / contraction portion and that supports the expansion / contraction portion while being lifted with respect to the floor surface. It comprises a part.

  According to this lifting device, it is possible to correct the inclination of the expansion / contraction part and to secure the horizontal position of the expansion / contraction part and the stage in the vertical direction.

  According to the present invention, a stable lifting operation can be performed.

FIG. 1 is a perspective view of a lifting device according to an embodiment of the present invention when it is reduced. FIG. 2 is a perspective view when the lifting device according to the embodiment of the present invention is reduced. FIG. 3 is a plan view when the lifting device according to the embodiment of the present invention is reduced. FIG. 4 is a perspective view when the lifting device according to the embodiment of the present invention is extended. FIG. 5 is a perspective view when the lifting device according to the embodiment of the present invention is extended. FIG. 6 is a perspective view when the lifting device according to the embodiment of the present invention is extended. FIG. 7 is a perspective view showing the operation of the lifting device according to the embodiment of the present invention. FIG. 8 is a perspective view showing the operation of the lifting device according to the embodiment of the present invention. FIG. 9 is a perspective view showing the operation of the lifting device according to the embodiment of the present invention. FIG. 10 is a perspective view showing the operation of the lifting device according to the embodiment of the present invention. FIG. 11 is a perspective view showing the operation of the lifting device according to the embodiment of the present invention. FIG. 12 is a perspective view showing the operation of the lifting device according to the embodiment of the present invention. FIG. 13 is a perspective view showing the operation of the lifting device according to the embodiment of the present invention.

  Embodiments according to the present invention will be described below in detail with reference to the drawings. In addition, this invention is not limited by this embodiment. In addition, constituent elements in the following embodiments include those that can be easily replaced by those skilled in the art or those that are substantially the same.

  1 and 2 are perspective views when the lifting device according to the present embodiment is reduced. FIG. 3 is a plan view when the lifting device according to the present embodiment is reduced. 4 to 6 are perspective views when the lifting device according to the present embodiment is extended.

  The lifting device of the present embodiment includes a telescopic unit 1, a frame support unit 3, a frame drive unit 5, a stage 7, a stage support unit 9, a stage drive unit 11, a wheel 13, and a wheel drive unit 15. The wheel support unit 17, the surrounding imaging unit 19, the laser irradiation unit 21, the upper imaging unit 23, the inclination detection unit 25, the jack unit 27, and the control panel 29 are included.

  The expansion / contraction part 1 has a plurality of (three in this embodiment) box-type frames 1A, 1B, 1C. The box-type frames 1A, 1B, and 1C are provided so as to be able to expand and contract in the vertical direction by being combined inside and outside. In the present embodiment, the expansion / contraction part 1 has the lowermost box-shaped frame 1A positioned at the lowermost part when extended and the outermost part having the largest outer shape, and the central box-shaped frame 1B positioned at the center when extended. The uppermost box frame 1C, which is located at the uppermost position when extended, is arranged inside the central box frame 1B. Further, when the expansion / contraction part 1 is reduced, the central box frame 1B is accommodated in the lowermost box frame 1A, and the uppermost box frame 1C is accommodated in the central box frame 1B.

  Each box-type frame 1A, 1B, 1C has pillars 1Aa, 1Ba, 1Ca extending in the vertical direction at four corners and is formed in a rectangular outer shape. In the present embodiment, the space between the columns 1Aa, 1Ba, and 1Ca in the box-type frames 1A, 1B, and 1C is referred to as a span.

  In the lowermost box frame 1A, the span between the columns 1Aa has an upper beam 1Ab that connects the upper ends of the columns 1Aa in the horizontal direction and a lower beam that connects the lower ends of the columns 1Aa in the horizontal direction. Material 1Ac is provided. The space between the pillars 1Aa where the upper beam members 1Ab are arranged is called an upper span, and the area between the pillars 1Aa where the lower beam members 1Ac are arranged is called a lower span. In the lowermost box-type frame 1A, the upper beam material 1Ab is provided at all four locations of the upper span between the columns 1Aa. Further, the lowermost box frame 1A is provided with lower beam members 1Ac at three locations in the lower span between the columns 1Aa. That is, the lowermost box-type frame 1A is configured by opening one portion of the lower span between the support columns 1Aa. Although not clearly shown in the drawing, a reinforcing material is provided to obliquely connect the connecting portion of the upper beam member 1Ab of the upper span and the lower beam member 1Ac of the lower span to the column 1Aa.

  Further, in the central box-shaped frame 1B, an upper beam member 1Bb that connects the upper ends of the columns 1Ba in the horizontal direction and a lower beam member that connects the lower ends of the columns 1Ba in the horizontal direction are spans between the columns 1Ba. 1Bc. The space between the columns 1Ba where the upper beam members 1Bb are arranged is called an upper span, and the space between the columns 1Ba where the lower beam materials 1Bc are arranged is called a lower span. The central box-shaped frame 1B is provided with the upper beam material 1Bb at all four positions of the upper span between the columns 1Ba. The central box frame 1B is provided with lower beam members 1Bc at three locations in the lower span between the columns 1Ba. That is, the central box-shaped frame 1B is configured such that one portion of the lower span between the support columns 1Ba is opened. The portion where one portion of the lower span between the columns 1Ba is opened is a portion in the same direction as the portion where one portion of the lower span between the columns 1Aa is opened in the lowermost box frame 1A. Although not clearly shown in the figure, a reinforcing material is provided to obliquely connect the connecting portion of the upper beam member 1Bb of the upper span and the lower beam member 1Bc of the lower span to the support column 1Ba.

  Further, in the uppermost box-type frame 1C, an upper beam member 1Cb that connects the upper ends of the columns 1Ca in the horizontal direction and a lower beam member that connects the lower ends of the columns 1Ca in the horizontal direction are spans between the columns 1Ca. 1Cc and a middle beam member 1Cd that connects the middle of each support column 1Ca in the lateral direction are provided. The space between the columns 1Ca where the upper beam material 1Cb is arranged is called an upper span, the column between the columns 1Ca where the lower beam material 1Cc is arranged is called a lower span, and the space between the columns 1Ca where the middle beam material 1Cd is arranged. This is called a span. The uppermost box-shaped frame 1C is provided with the upper beam member 1Cb only at one position of the upper span between the columns 1Ca. Further, the uppermost box frame 1C is provided with lower beam members 1Cc at three locations in the lower span between the columns 1Ca. The uppermost box-shaped frame 1C is provided with middle beam members 1Cd at three locations in the middle span between the columns 1Ca. The uppermost box-type frame 1C is configured such that the same one portion of the lower span and the middle span between the columns 1Ca is opened. The portion where one of the lower span and the middle span between the columns 1Ca is opened is the portion where one portion of the lower span between the columns 1Aa is opened in the lowermost box frame 1A and the center box frame 1B. In FIG. 1, one portion of the lower span between the pillars 1Ba is the same direction as the opened portion. Further, in the uppermost box-type frame 1C, the upper beam member 1Cb provided only at one position of the upper span between the support columns 1Ca is arranged corresponding to a portion where one of the lower span and the middle span is opened. Yes. Although not clearly shown in the drawing, a reinforcing material is provided to connect the connecting portion of the middle beam member 1Cd of the middle span and the support beam 1Ca of the lower beam member 1Cc of the lower span obliquely. Further, an illumination 1Ce is attached to each column 1Ca of the uppermost box frame 1C.

  The frame support portion 3 supports the upper box frame, which is arranged vertically when extended, by hanging it through the lower box frame. In the present embodiment, the frame support portion 3 includes a frame support portion 3A that supports the central box frame 1B by hanging it through the lowermost box frame 1A, and the uppermost frame via the central box frame 1B. And a frame support portion 3B for supporting the box frame 1C by suspending it.

  In the frame support portion 3A, support sprockets 3Aa are arranged in the vicinity of the upper ends of the respective pillars 1Aa of the lowermost box-type frame 1A, and one end of each chain 3Ab spanned by the four support sprockets 3Aa is connected to the center. By fixing in the vicinity of the lower end of each column 1Ba of the box frame 1B, the center box frame 1B is suspended and supported via the lower box frame 1A. The frame support portion 3A has a rotation shaft 3Ac arranged along the upper beam member 1Ab of the upper span in the lowermost box frame 1A. Two of the above-described support sprockets 3Aa are provided on the rotating shaft 3Ac, and the other ends of the two chains 3Ab spanned between the two support sprockets 3Aa are attached to the lowermost box frame 1A. It is fixed. In addition, the rotary shaft 3Ac is provided with two shaft sprockets 3Ad, and two chains 3Ab spanning the other two of the above-described support sprockets 3Aa with respect to the two shaft sprockets 3Ad. The other end is fixed to the lowermost box frame 1A. Thus, the central box-type frame 1B has four support sprockets 3Aa provided in the vicinity of the four pillars 1Ba at the four corners of the lowermost box-type frame 1A, It is supported by being suspended by each chain 3Ab spanned on the support sprocket 3Aa.

  In the frame support portion 3B, support sprockets 3Ba are arranged in the vicinity of the upper ends of the respective supports 1Ba of the central box-type frame 1B, and one end of each chain 3Bb spanned between the four support sprockets 3Ba is connected to the uppermost box. The uppermost box frame 1C is suspended and supported via the central box frame 1B by being fixed in the vicinity of the lower end of each column 1Ca of the mold frame 1C. Further, the frame support portion 3B is disposed in the vicinity of the lower end of each support shaft 1Ba of the rotation shaft 3Bc disposed along the upper beam member 1Bb of the upper span in the central box frame 1B and the central box frame 1B. Relay sprocket 3Be. The rotary shaft 3Bc is provided with four shaft sprockets 3Bd, and four chains 3Bb spanned from the four support sprockets 3Ba through relay sprockets 3Be to the four shaft sprockets 3Bd, respectively. The other end is fixed to the central box frame 1B. As described above, the uppermost box-type frame 1C includes the support sprockets 3Ba provided in the vicinity of the four columns 1Ba at the four corners of the central box-type frame 1B and the support sprockets 3Ba. It is supported by being suspended by each chain 3Bb spanned over the sprocket 3Ba.

  The frame driving unit 5 moves the upper box frame up and down with respect to the lower box frame via the frame support unit 3. In this embodiment, the frame driving unit 5 includes a frame driving unit 5A that moves each chain 3Ab of the frame supporting unit 3A to move the central box frame 1B up and down relative to the lowermost box frame 1A, and a frame supporting unit. A frame driving unit 5B that moves each chain 3Bb of the unit 3B and moves the uppermost box frame 1C up and down with respect to the center box frame 1B.

  The frame drive unit 5A moves each chain 3Ab via each support sprocket 3Aa by rotationally driving the rotation shaft 3Ac in the frame support unit 3A. The frame drive unit 5A includes a drive motor 5Aa and a transmission mechanism 5Ab that transmits the rotation of the main shaft of the drive motor 5Aa to the rotation shaft 3Ac. The transmission mechanism 5Ab includes a sprocket provided on the main shaft of the drive motor 5Aa, a sprocket provided on the rotary shaft 3Ac, and an endless chain wound around each sprocket. Therefore, the frame drive unit 5A rotates the rotating shaft 3Ac in one direction, so that each support sprocket 3Aa rotates in synchronization with each other through each chain 3Ab, pulls each chain 3Ab, and moves the central box frame 1B to the maximum position. The lower box frame 1A is raised. In addition, the frame driving unit 5A rotates the rotating shaft 3Ac to the other, so that each support sprocket 3Aa rotates synchronously via each chain 3Ab to push out each chain 3Ab, and the central box-type frame 1B is Lower with respect to the lower box frame 1A. The frame drive unit 5A is provided with a limit switch 5Ac (see FIG. 6) in the vicinity of the rotation shaft 3Ac in the lowermost box frame 1A. The limit switch 5Ac is used when the central box frame 1B is raised relative to the lowermost box frame 1A and when the central box frame 1B is lowered relative to the lowermost box frame 1A. The chain 3Ab whose slack changes is operated. Therefore, the limit switch 5Ac lowered the central box frame 1B relative to the lowermost box frame 1A and lowered the central box frame 1B relative to the lowermost box frame 1A. Detect when.

  The frame drive unit 5B moves each chain 3Bb via each support sprocket 3Ba by rotationally driving the rotation shaft 3Bc in the frame support unit 3B. The frame drive unit 5B includes a drive motor 5Ba and a transmission mechanism 5Bb that transmits the rotation of the main shaft of the drive motor 5Ba to the rotation shaft 3Bc. The transmission mechanism 5Bb includes a sprocket provided on the main shaft of the drive motor 5Ba, a sprocket provided on the rotary shaft 3Bc, and an endless chain wound around each sprocket. Accordingly, the frame driving unit 5B rotates the rotating shaft 3Bc in one direction, so that each support sprocket 3Ba rotates in synchronization with each other through each chain 3Bb and pulls each chain 3Bb, so that the uppermost box frame 1C is centered. The box-shaped frame 1B is raised. Further, the frame driving unit 5B rotates the rotating shaft 3Bc to the other side, so that each support sprocket 3Ba rotates synchronously through each chain 3Bb to push out each chain 3Bb, and the uppermost box frame 1C is centered. The box-type frame 1B is lowered. Further, the frame driving unit 5B is provided with a limit switch 5Bc (see FIG. 5) in the vicinity of the rotation shaft 3Bc in the central box-shaped frame 1B. The limit switch 5Bc is slack when the uppermost box frame 1C is raised relative to the central box frame 1B and when the uppermost box frame 1C is lowered relative to the central box frame 1B. Is operated by the changed chain 3Bb. Accordingly, the limit switch 5Bc is used when the uppermost box frame 1C is raised relative to the central box frame 1B and when the uppermost box frame 1C is lowered relative to the central box frame 1B. To detect.

  Moreover, in the expansion / contraction part 1 mentioned above, the cylinder 6a (refer FIG. 6) which has a piston movably forward / backward is provided in the vicinity of the upper end of each support | pillar 1Aa of the lowermost box-type frame 1A. In addition, a protrusion 6b (see FIG. 6) is provided near the lower end of each column 1Ba of the central box frame 1B to engage with the piston that the cylinder 6a has advanced. Accordingly, the cylinder 6a and the protrusion 6b are arranged so that the piston of the cylinder 6a is advanced with the central box frame 1B raised relative to the lowermost box frame 1A. Functions as a stopper to prevent the descent. Moreover, in the expansion / contraction part 1 mentioned above, the cylinder 6a (refer FIG. 5) which has a piston movably forward / backward is provided in the vicinity of the upper end of each support | pillar 1Ba of the center box-type flame | frame 1B. Further, a protrusion 6b (see FIG. 5) is provided near the lower end of each column 1Ca of the uppermost box-type frame 1C to engage with the piston that has advanced the cylinder 6a. Accordingly, the cylinder 6a and the projection 6b are moved down by moving the piston of the cylinder 6a with the uppermost box frame 1C raised relative to the central box frame 1B. It functions as a stopper to prevent These cylinders 6a may be air cylinders, but are preferably hydraulic cylinders so as to withstand the load. The lowermost box frame 1A and the center box frame 1B are respectively provided with hydraulic pumps 6c for supplying hydraulic oil to the cylinders 6a.

  The stage 7 is a stage on which an object is placed, and is composed of a rectangular plate-like member arranged horizontally in the present embodiment. The stage 7 is housed in the uppermost box-shaped frame 1C located at the uppermost portion of the extendable portion 1 when extended, and is provided so as to be movable up and down with respect to the uppermost box-shaped frame 1C.

  The stage support unit 9 supports the stage 7 by suspending it via the uppermost box frame 1C. The stage support portion 9 has support sprockets 9a arranged in the vicinity of the upper ends of the respective columns 1Ca of the uppermost box-type frame 1C, and one end of each chain 9b spanned by the four support sprockets 9a is connected to the stage 7 By fixing in the vicinity of the four corners, the stage 7 is suspended and supported via the uppermost box frame 1C. Moreover, the stage support part 9 has the rotating shaft 9c arrange | positioned along the upper beam material 1Cb of an upper span in the uppermost box-type flame | frame 1C. Two of the above-described support sprockets 9a are provided on the rotating shaft 9c, and the other ends of the two chains 9b spanned over the two support sprockets 9a are fixed to the uppermost box frame 1C. Has been. Further, the rotary shaft 9c is provided with two shaft sprockets 9d, and two chains 9b spanning the other two of the above-described support sprockets 9a with respect to the two shaft sprockets 9d. The other end is fixed to the uppermost box frame 1C. In this way, the stage 7 has the four corners near the support sprockets 9a provided in the vicinity of the pillars 1Ca at the four corners of the uppermost box frame 1C, and the chains spanned by the support sprockets 9a. 9b is supported by being suspended.

  The stage drive unit 11 moves each chain 9b via each support sprocket 9a by rotationally driving the rotating shaft 9c in the stage support unit 9. The stage drive unit 11 includes a drive motor 11a and a transmission mechanism 11b that transmits the rotation of the main shaft of the drive motor 11a to the rotation shaft 9c. The transmission mechanism 11b includes a sprocket provided on the main shaft of the drive motor 11a, a sprocket provided on the rotary shaft 9c, and an endless chain wound around each sprocket. Accordingly, the stage driving unit 11 rotates the rotating shaft 9c in one direction so that each support sprocket 9a rotates in synchronization and pulls each chain 9b to raise the stage 7 relative to the uppermost box frame 1C. . The raised stage 7 is arranged at a position higher than the middle beam member 1Cd in the uppermost box-type frame 1C when the extendable part 1 is extended. Further, the stage driving unit 11 rotates the rotating shaft 9c in the other direction, so that each support sprocket 9a rotates in synchronization to push out each chain 9b, and lowers the stage 7 with respect to the uppermost box frame 1C. . The lowered stage 7 is disposed along the floor surface at a position lower than the lower beam member 1Ac in the lowermost box frame 1A when the expansion / contraction part 1 is expanded / contracted.

  In the stage 7, one of the two opposite sides is an entrance side for carrying in the mounted device, and the other is an exit side for carrying out the mounted device. Specifically, the entrance side corresponds to a portion of the box-type frames 1A, 1B, and 1C of the expansion / contraction part 1 that is configured by opening the lower span between the columns 1Aa, 1Ba, and 1Ca and the middle span of the column 1Ca. is doing. Further, the outlet side corresponds to a portion of the uppermost box-shaped frame 1C of the extendable portion 1 that is configured by opening an upper span between the support columns 1Ca. And the stage 7 is provided in the entrance side so that the entrance side overhang | projection part 7A can be advanced / retreated by the air cylinder 7Aa (refer FIG. 6) as a drive means. Further, the stage 7 is provided on the outlet side so that the outlet side protruding portion 7B can be advanced and retracted by an air cylinder 7Ba (see FIG. 6) as a driving means. 1 to 3 show a state in which the inlet side overhanging portion 7A and the outlet side overhanging portion 7B are retracted and housed on the bottom surface of the stage 7, and in FIGS. 4 to 6, the inlet side overhanging portion is shown. 7A and the outlet side overhanging portion 7B are advanced and overhang outside the stage 7. Further, the inlet side overhanging portion 7A is formed with a notch 7Ab whose tip is open at the center thereof. A notch 7a that communicates with the notch 7Ab is also formed on the edge of the entrance side of the stage 7. Further, the stage 7 is provided with a compressor 7C for supplying working air to the air cylinders 7Aa and 7Ba on the side portion.

  Further, the stage 7 has a support column 8 (see FIG. 4) standing on its side, a pan / tilt zoom camera 8a is attached to the upper end of the support column 8, and below the pan / tilt zoom camera 8a. An illumination 8b is attached.

  The wheels 13 are provided at four locations in the vicinity of the lower end of each column 1Aa of the lowermost box frame 1A.

  The wheel drive unit 15 rotates the wheel 13 and, for example, a drive motor is applied. In the present embodiment, the wheel driving unit 15 rotationally drives two adjacent wheels 13 on the exit side of the stage 7. And the wheel drive part 15 makes the expansion-contraction part 1 move forward or backward on the floor surface by rotating the two wheels 13 forward and backward. Further, the wheel drive unit 15 changes the course of the telescopic unit 1 by rotating any one of the wheels 13.

  The wheel support portion 17 supports the wheel 13 so as to be movable in the vertical direction. In the present embodiment, the wheel support unit 17 supports the wheel 13 driven by the wheel drive unit 15 so as to be movable in the vertical direction. Specifically, the wheel support portion 17 is a rod-like member disposed along the lower beam member 1Ac of the lower span of the lowermost box-type frame 1A. The wheel support portion 17 is provided such that both ends thereof are moved in the vertical direction by attaching a rod-like center portion to the center portion of the lower beam member 1Ac so as to be rotatable by a support shaft 17a. Wheels 13 are respectively provided at both ends of the wheel support portion 17. The wheel drive unit 15 is attached to the wheel support unit 17 and configured to always drive the wheel 13 even if the wheel support unit 17 rotates and moves.

  The surrounding imaging unit 19 is a camera that images the surroundings of the expansion / contraction unit 1. In the present embodiment, the surrounding imaging unit 19 is provided on the center portion of the upper beam member 1Ab of the lowermost box frame 1A so as to face outward. The upper beam member 1Ab of the lowermost box-type frame 1A is provided at four locations in each upper span between the columns 1Aa, and the surrounding imaging units 19 are also provided at four locations in each upper span. The surrounding imaging unit 19 is a wide-angle camera, and can capture a wide range around the lowermost box frame 1A. In the present embodiment, the lighting 20 is provided on each upper beam member 1Ab of the lowermost box frame 1A so that the surrounding imaging unit 19 can capture images even in a dark place.

  The laser irradiation unit 21 is provided in the vicinity of the upper end of each column 1Aa of the lowermost box frame 1A in the expansion / contraction unit 1, and irradiates the laser beam upward. The rectangular range formed by the four laser beams irradiated by the four laser irradiation units 21 is set to be larger than the range of the outer shape of the uppermost box frame 1C. The laser irradiation unit 21 is not limited to the lowermost box frame 1A, and may be provided in the vicinity of the upper end of each column 1Ba, 1Ca of any box frame 1B, 1C.

  The upper image pickup unit 23 is a camera that is provided on the stage 7 and picks up an image of an area above the range including the laser light emitted by the laser irradiation unit 21.

  The tilt detection unit 25 is a sensor that detects the tilt angle of the extendable unit 1. Inclination detectors 25 are arranged at two locations, each facing one of the upper beam members 1Ab in the upper span between the columns 1Aa in the lowermost box frame 1A in the telescopic unit 1. The inclination detection unit 25 detects the inclination angle of the expansion / contraction unit 1 with respect to the vertical at a phase direction of 90 degrees in plan view at each of these two locations.

  The jack part 27 is provided in the lower part of the lowermost box-type frame 1A in the telescopic part 1 and in the vicinity of the lower end of each column 1Aa. The jack part 27 is a hydraulic jack, and supports the stretchable part 1 in a state where it is lifted with respect to the floor surface by extending. The four jack portions 27 are driven independently. The lowermost box-type frame 1 </ b> A is provided with a hydraulic pump 27 a that supplies hydraulic oil to the jack portion 27.

  The control panel 29 controls the operation of the above-described lifting device based on the operation of an operation unit (not shown) by the operator, and is attached to the lowermost box frame 1A. Note that transmission / reception of signals between the control panel 29 and the operation unit may be either wireless or wired. Hereinafter, an example of the operation of the lifting device will be described with reference to perspective views showing the operation of the lifting device according to the present embodiment in FIGS. 7 to 13 illustrate the operation of carrying the mounted device 100 from the lower floor to the upper floor through the rectangular opening hole 50 formed on the upper floor using the lifting device. In addition, the mounted device 100 is illustrated as being capable of self-running by an operator's operation and having a plurality connected in series via a cable 101.

  As shown in FIG. 7, the lifting device in which the stretchable portion 1 is reduced on the lower floor is moved directly below the opening hole 50. That is, based on the operator's operation, the control panel 29 controls the wheel drive unit 15 to make the telescopic unit 1 run. At this time, the control panel 29 turns on the illumination 20 and transmits the image captured by the surrounding imaging unit 19 to the operator side. The operator operates the direction of the expansion / contraction unit 1 while confirming the image of the surrounding imaging unit 19 on the monitor. In the running direction, since the driving wheel 13 is supported by the wheel support portion 17 so as to be movable in the vertical direction, the lifting device can travel by transmitting the rotation of the wheel 13 to the floor even if there is a step. It is.

  As shown in FIG. 8, when it is determined that the operator has reached directly below the opening hole 50, the control panel 29 transmits a detection signal of the inclination detection unit 25 to the operator side. The operator operates the jack unit 27 based on the received detection signal of the inclination detection unit 25. Based on this operation, the control panel 29 controls the jack portion 27 to correct the inclination of the extendable portion 1.

  Further, as shown in FIG. 8, when it is determined that the operator has reached directly below the opening hole 50, the control panel 29 controls the laser irradiation unit 21 to irradiate the laser beam upward based on the operator's operation. . Since the laser irradiation part 21 is provided in four places near the upper end of each support column 1Aa of the lowermost box-type frame 1A in the expansion / contraction part 1, it matches the rectangle of the opening hole 50. And the control panel 29 transmits the image | video imaged by the upper imaging part 23 to the operator side. The operator looks at the image of the upper imaging unit 23 on the monitor, and the rectangular range formed by the four laser beams irradiated by the four laser irradiation units 21 matches the rectangle of the opening hole 50. Confirm. That is, it is confirmed that the range of the outer shape of the uppermost box-shaped frame 1C matches the rectangle of the opening hole 50. Further, the horizontal positions of the telescopic unit 1 and the stage 7 can be confirmed by the laser irradiation unit 21 and the upper imaging unit 23. When the horizontal positions of the telescopic unit 1 and the stage 7 are not maintained, the operator operates the jack unit 27. Based on this operation, the control panel 29 controls the jack portion 27 to correct the horizontal positions of the telescopic portion 1 and the stage 7.

  Thereafter, as shown in FIG. 8, based on the operation of the operator, the control panel 29 controls the air cylinder 7 </ b> Aa to project the inlet side projecting portion 7 </ b> A from the stage 7. Then, as shown in FIG. 9, the operator places the mounted device 100 on the stage 7 via the inlet side protruding portion 7A.

  Thereafter, as shown in FIG. 10, based on the operator's operation, the control panel 29 controls the drive motor 5Aa of the frame drive unit 5A to raise the central box frame 1B with respect to the lowermost box frame 1A. Let At this time, the control panel 29 inputs a detection signal of the limit switch 5Ac, detects that the central box frame 1B has been raised with respect to the lowermost box frame 1A, and stops the drive motor 5Aa. Further, the control panel 29 inputs a detection signal of the limit switch 5Ac, and at the timing when the central box frame 1B is raised with respect to the lower box frame 1A, the cylinder 6a of the lower box frame 1A Move the piston forward. Further, based on the operation of the operator, the control panel 29 controls the drive motor 5Ba of the frame drive unit 5B to raise the uppermost box frame 1C relative to the center box frame 1B. At this time, the control panel 29 inputs a detection signal of the limit switch 5Bc, detects that the uppermost box frame 1C has been raised with respect to the central box frame 1B, and stops the drive motor 5Ba. Further, the control panel 29 inputs the detection signal of the limit switch 5Bc, and moves the piston of the cylinder 6a of the central box frame 1B at the timing when the uppermost box frame 1C is raised relative to the central box frame 1B. Operate advance. Further, based on the operation of the operator, the control panel 29 controls the drive motor 11a of the stage drive unit 11 and lifts the stage 7 with the entrance side overhanging part 7A retracted with respect to the uppermost box frame 1C. Let At this time, the control panel 29 turns on the illumination 1Ce and the illumination 8b and transmits an image captured by the pan / tilt zoom camera 8a to the operator side. The operator operates the raised position of the stage 7 with respect to the opening hole 50 while confirming the image of the pan / tilt zoom camera 8a on the monitor.

  Thereafter, as shown in FIG. 11, when the stage 7 reaches the position above the opening hole 50, the control panel 29 controls the air cylinder 7 </ b> Aa to place the inlet side overhanging portion 7 </ b> A on the stage based on the operation of the operator. 7, and the air cylinder 7 </ b> Ba is controlled to project the outlet side protruding portion 7 </ b> B from the stage 7. Thereafter, based on the operator's operation, the control panel 29 controls the drive motor 11a of the stage drive unit 11 to lower the stage 7 in a state where the inlet side overhanging part 7A and the outlet side overhanging part 7B are advanced, By pressing the inlet side overhanging part 7A and the outlet side overhanging part 7B against the edge of the opening hole 50, the inlet side overhanging part 7A and the outlet side overhanging part 7B are stretched over the opening hole 50 together with the stage 7. Then, the operator sends the mounted device 100 to the upper floor via the exit-side protruding portion 7B. The cable 101 of the mounted device 100 is passed through the notch 7Ab of the inlet side overhanging portion 7A, passes through the inside of each box frame 1A, 1B, 1C and continues from the lower floor to the upper floor.

  After that, as shown in FIG. 12, based on the operator's operation, the control panel 29 retracts the inlet side overhanging portion 7A and the outlet side overhanging portion 7B, and the stage 7, the uppermost box frame 1C, the central box The mold frame 1B is lowered. Thereafter, based on the operation of the operator, the control panel 29 projects the entrance side overhanging portion 7A when the stage 7 reaches the floor of the lower floor. Then, the operator places the next mounted device 100 on the stage 7 via the inlet side protruding portion 7A. At this time, the lower spans between the entrance-side columns 1Aa, 1Ba, 1Ca in the box-type frames 1A, 1B, 1C are opened, and the outlet-side columns 1Ca in the uppermost box-type frame 1C are opened. As shown in FIG. 12, the cable 101 continues to the next mounted device 100 without being pinched at all. Otherwise, when the telescopic part 1 is reduced, the cable 101 is sandwiched between the entrance side and the exit side of each box-type frame 1A, 1B, 1C. I can't put it.

  Thereafter, as shown in FIG. 13, the next onboard device 100 is sent to the upper floor in the same manner as described above with reference to FIG. Similarly, the next mounted device 100 can also be sent to the upper floor. Moreover, what is necessary is just to reverse the said operation | movement, when returning the mounting apparatus 100 to a lower floor.

  As described above, the control panel 29 controls various parts based on the operation of the operator and transmits various detection signals to the operator side. The connection cable between the control panel 29 and each control target or detection target is mainly the column 1Aa, 1Ba, 1Ca of each box frame 1A, 1B, 1C, or each beam 1Ab, 1Ac, 1Bb, 1Bc, 1Cb, 1Cc. , 1Cd, the cable bear 29a is used in a portion where the length changes due to expansion / contraction of the expansion / contraction part 1 or the like.

  As described above, the lifting device according to the present embodiment is provided with a plurality of box-shaped frames 1A, 1B, and 1C having support columns 1Aa, 1Ba, and 1Ca at four corners, which are provided inside and outside to be extendable in the vertical direction. 1 and a chain 3Ab (hanging around a sprocket 3Aa (3Ba) respectively arranged in the vicinity of each column 1Aa (1Ba) of a lower box-type frame 1A (1B) arranged vertically when the telescopic part 1 is extended 3Bb) is fixed to the vicinity of each column 1Ba (1Ca) of the upper box frame 1B (1C), and the upper box frame 1B (1C) is passed through the lower box frame 1A (1B). The upper box frame 1B (1C) is moved to the lower side by moving the frame support 3A (3B) suspended and supported, and the chains 3Ab (3Bb) in the frame support 3A (3B). A frame drive unit 5 that moves up and down with respect to the mold frame 1A (1B), a rectangular plate-like stage 7 provided in the uppermost box-shaped frame 1C located at the uppermost part of the extendable part 1 when extended, and an uppermost part The ends of the chains 9b spanned by the sprockets 9a respectively arranged in the vicinity of each column 1Ca of the box frame 1C are fixed near the corners of the stage 7, and the stage 7 is interposed via the uppermost box frame 1C. A stage support section 9 that is supported by being suspended, and a stage drive section 11 that moves the stage 9 up and down with respect to the uppermost box frame 1C by moving each chain 9b in the stage support section 9 are provided.

  According to this lifting device, the upper box frame 1B (1C) arranged up and down when the telescopic part 1 is extended by the sprocket 3Aa (3Ba) and the chain 3Ab (3Bb) is changed to the lower box frame 1A (1B). ), The upper box frame 1B (1C) is moved up and down by moving the chain 3Ab (3Bb), and the stage 7 is extended by the sprocket 9a and the chain 9b so that the stage 7 is extended to the uppermost box frame. 1C, the chain 9b is moved and the stage 7 is moved up and down, so that even if a variable load with a biased center of gravity occurs at the end of the stage 7 due to the placement of the mounting device 100 mounted on the stage 7, Since the corner portions are suspended by the chains 3Ab, 3Bb, 9b, the overturning load generated in the stretchable portion 1 can be suppressed. It is possible to perform the lifting of di 7 stable. As a result, a special rigid structure is not required and the apparatus can be reduced in size, so that work in a narrow place can be performed.

  Further, in the lifting device of the present embodiment, one of the two opposite sides of the stage 7 is the entrance side and the other is the exit side, and each column 1Aa, 1Ba, 1C on the entrance side of each box frame 1A, 1B, 1C, While opening the lower span between 1Ca, the upper span between each support | pillar 1Ca of the exit side in uppermost box-type flame | frame 1C is open | released.

  According to this lifting device, when carrying a plurality of continuously mounted devices 100 with a cable 101 one by one from the lower floor to the upper floor, the expansion / contraction of the expansion / contraction part 1 and the lifting / lowering of the stage 7 can be repeated. Even if the expansion / contraction of the expansion / contraction part 1 and the raising / lowering of the stage 7 are repeated, the cable 101 is not pinched at all. As a result, it is possible to carry a plurality of consecutively mounted devices 100 one by one from the lower floor to the upper floor with the cable 101.

  Further, in the lifting device of the present embodiment, one of the two opposite sides of the stage 7 is the inlet side, the other is the outlet side, and the inlet side overhanging portion 7A provided to be able to advance and retreat on the inlet side of the stage 7, And an exit side protruding portion 7B provided on the exit side of the stage 7 so as to be able to advance and retract.

  According to this lifting device, it is possible to easily mount or drop the mounted device 100 that can run on the stage 7. In particular, for example, it is suitable for the case where the mounted device 100 is carried to the upper floor through the opening hole 50 provided on the upper floor.

  Further, in the lifting device of the present embodiment, the entrance-side overhanging portion 7A is formed with a notch 7Ab whose tip is open, and a notch 7a that communicates with the notch 7Ab in the entrance-side overhanging portion 7A is formed at the entrance-side edge of the stage 7. Is formed.

  According to this lifting device, the cable 101 extending from the mounted device 100 mounted on the stage 7 can be held and positioned by the notches 7Ab and 7a, and the cable 101 can be prevented from interfering with other parts.

  In the lifting device of the present embodiment, at least two of the plurality of wheels 13 provided at the lower portion of the lowermost box-shaped frame 1A located at the lowermost portion when the extendable portion 1 is extended and at least two of the wheels 13 are rotationally driven. And a wheel support portion 17 that supports at least the wheel 13 that is rotationally driven by the wheel drive portion 15 so as to be movable in the vertical direction.

  According to this lifting device, even if there is a step on the floor surface, the rotation of the wheel 13 can be transmitted to the floor surface and the vehicle can run, and the followability to the floor surface can be improved.

  In addition, the lifting device according to the present embodiment includes a surrounding imaging unit 19 that captures the entire periphery of the extendable unit 1.

  According to this lifting device, the entire periphery of the telescopic part 1 can be confirmed, and the workability in the narrow part can be improved in remote operation.

  In the lifting device of the present embodiment, a laser that is provided near the upper end of each column 1Aa (1Ba, 1Ca) of one of the box-type frames 1A (1B, 1C) in the extendable portion 1 and emits laser light upward. The irradiation part 21 and the upper imaging part 23 which images the upper part of the range containing the laser beam which is provided in the stage 7 and which the laser irradiation part 21 irradiates are provided.

  According to this lifting device, the horizontal position of the telescopic unit 1 and the stage 7 with respect to the vertical can be confirmed.

  In addition, the lifting device of the present embodiment includes an inclination detection unit 25 that detects the inclination angle of the expansion / contraction part 1.

  According to this lifting device, it is possible to monitor the inclination of the telescopic unit 1. By monitoring the inclination of the expansion / contraction part 1, it is possible to take measures to avoid the situation where the expansion / contraction part 1 interferes with the surroundings.

  Moreover, in the raising / lowering apparatus of this embodiment, two or more are provided in the lower part of the lowermost box-type flame | frame 1A located in the lowest part at the time of expansion | extension in the expansion-contraction part 1, and it supports in the state which lifted the expansion-contraction part 1 with respect to the floor surface. A jack portion 27 is provided.

  According to this lifting device, it is possible to correct the inclination of the expansion / contraction part 1 and to secure the horizontal position of the expansion / contraction part 1 and the stage 7 with respect to the vertical.

DESCRIPTION OF SYMBOLS 1 Telescopic part 1A Box-type frame 1Aa support | pillar 1B Box-type frame 1Ba support | pillar 1C Box-type frame 1Ca support | pillar 3 Frame support part 3A Frame support part 3Aa Support sprocket (sprocket)
3Ab Chain 3B Frame support 3Ba Support sprocket (sprocket)
3Bb chain 5 frame drive unit 5A frame drive unit 5B frame drive unit 7 stage 7a notch 7A inlet side overhang 7Ab notch 7B outlet side overhang 9 stage support 9a support sprocket (sprocket)
9b Chain 11 Stage drive unit 13 Wheel 15 Wheel drive unit 17 Wheel support unit 19 Ambient imaging unit 21 Laser irradiation unit 23 Upper imaging unit 25 Tilt detection unit 27 Jack unit

Claims (8)

A lifting device that carries a plurality of continuous devices one by one with a cable,
A plurality of box-shaped frames having struts at four corners, which are combined inside and outside, and provided with a stretchable portion that can be vertically stretched;
The ends of the chains spanned by the sprockets arranged in the vicinity of each column of the lower box frame arranged vertically when the telescopic portion is extended are connected to the columns of the column frame on the upper side. A frame support section that is fixed in the vicinity and suspends and supports the upper box frame through the lower box frame;
A frame driving unit for moving the chain in the frame support unit up and down the upper box frame with respect to the lower box frame;
A rectangular plate-like stage that is provided in the uppermost box-shaped frame located at the uppermost portion when the telescopic portion is extended, and on which the mounted device is placed ;
The end of the chain spanned by sprockets arranged in the vicinity of each column of the uppermost box frame is fixed near the corners of the stage, and the stage is inserted through the upper box frame. A stage support section that is supported by hanging,
A stage drive unit for moving the chain in the stage support unit up and down with respect to the uppermost box frame;
Equipped with a,
One of the two opposite sides in the stage is the inlet side of the mounted device and the other is the outlet side of the mounted device,
The lower span between the support columns on the inlet side in each box frame is opened, and the upper span between the support columns on the outlet side in the uppermost box frame is opened. lift device. Of the two opposite sides of the stage, one is the entrance side and the other is the exit side,
An inlet-side overhanging portion provided so as to be able to advance and retreat on the inlet side of the stage;
An exit side overhanging portion provided on the exit side of the stage so as to be able to advance and retreat
The lifting device according to claim 1, further comprising: The entrance-side overhanging portion is formed with a notch that opens at a tip, and a notch that leads to the notch in the entrance-side overhanging portion is formed at an edge of the entrance side of the stage. The lifting device according to 2 . A plurality of wheels provided at the lower part of the lowermost box-shaped frame located at the lowermost part at the time of extension in the stretchable part;
A wheel drive unit that rotationally drives at least two of the wheels;
A wheel support unit that supports at least the wheel that is rotationally driven by the wheel drive unit in a vertically movable manner;
The elevating device according to any one of claims 1 to 3 , further comprising: Lifting device as claimed in any one of claims 1-4, characterized in that it comprises a peripheral imaging unit for imaging the entire circumference of the extensible portion. A laser irradiation unit that is provided in the vicinity of the upper end of each column of the box-shaped frame in the expansion and contraction unit and irradiates a laser beam upward;
An upper imaging unit that images the upper part of the range including the laser beam provided on the stage and irradiated by the laser irradiation unit;
The elevating device according to any one of claims 1 to 5 , further comprising: The elevating device according to any one of claims 1 to 6 , further comprising an inclination detection unit that detects an inclination angle of the expansion and contraction unit. A plurality of jacks are provided at the lower part of the lowermost box-shaped frame located at the lowermost part of the stretchable part when extended, and support the stretchable part in a state where it is lifted with respect to the floor surface. Item 8. The lifting device according to any one of items 1 to 7 .

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