JPH0610071B2 - Automatic centripetal lifting device - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for hanging an object to be hung by a plurality of locking claws and lifting the object, and particularly, to a device placed horizontally displaced from a predetermined position. The present invention relates to an automatic centripetal lifting device that automatically moves an upper object to a predetermined position.

2. Description of the Related Art Problems to be Solved by the Prior Art and the Invention Grasp an object to be suspended by hooking a plurality of locking claws that horizontally move so as to concentrate or spread on the outer peripheral edge or central hole of the object. In a hoisting device that hoists with a moving device and lowers it to a predetermined position, if the object to be hoisted is heavy and the position placed before the hoisting is deviated from the predetermined gripping position, some When the hook stops while the locking claws of the item are disengaged from the outer peripheral edge or the center hole of the object to be hung, and you try to hoist in this state, the object to be hung up falls off, which may result in loss of hoisting or even hoisting. However, if the object to be hung is in a cantilevered state, or if it is moved to the next position as it is, it may hinder the subsequent work. Atsuta

Means for Solving the Problems As a means for solving the above problems, the present invention provides a linear motion link mechanism in which one point on a movable link performs a strict linear motion or an approximate linear motion, and the linear motion link mechanism is arranged above and below the upper part. The fixed link of the linear motion link mechanism is fixed to a moving member that moves up and down by a driving device so that the one point moves horizontally, and the one point of the upper linear motion link mechanism is fixed to the one point.
The fixed link of the lower linear motion link mechanism is connected so that a point on the movable link of the lower linear motion link mechanism performs a horizontal motion substantially orthogonal to the point of the upper linear motion link mechanism, To the one point of the linear motion link mechanism, a gripping tool having a plurality of locking claws that are concentrated or spread to each other and hook on the outer peripheral edge or center hole of the object to be suspended is connected, and the upper and lower linear motion link mechanisms are connected. In addition, a return spring for returning each of the points to a fixed position is attached.

When the work gripper receives a horizontal force, it moves in an arbitrary direction in the horizontal plane by the horizontal linear motions of the upper linear motion link mechanism and the lower linear motion link mechanism that are substantially orthogonal to each other, and When the force is released, it returns to its original position by the elastic force of the respective return springs of the upper and lower linear motion link mechanisms, and the outer peripheral edge or the center of the object to be hung is deviated from the predetermined gripping position. When a plurality of locking claws that horizontally move so as to concentrate or spread with each other are brought closer to the hole, first, some of the locking claws come into contact with the object to be suspended, and the locking claws continue to move as they are. , The suspended object does not move, and the gripper moves horizontally, so that all the locking claws come into contact with the suspended object and catch it, after which it is lifted up by the drive of the drive device. Being lifted away from the surface on which the suspended object was placed. Then, the elastic force of the return springs of both the up and down linear motion link mechanism causes the gripping tool to return to the original position while holding the object to be hung, and the object to be hung is always the next constant regardless of the position before lifting. Transferred to a location.

Example An example in which the present invention is applied to a tire lifting device for a tire combustion boiler will be described below with reference to the accompanying drawings.

In FIG. 1 and FIG. 2, the moving device 1 attaches an elevating body 5 which elevates and lowers via a wire 4 by driving an elevating motor 3 to a column 2 which is erected on the floor, and swings on the elevating body 5. A swivel arm 7 that swivels in a horizontal plane at an angle of about 90 ° by a motor 6 is mounted, and a rail 8 laid near the moving device 1 is mounted on a rail 8 by a chain conveyor 9. A plurality of tires a are conveyed to the loading carts 10, and a plurality of tires a are stacked on each of the loading carts 10 to a gripping tool 12 attached to the tip of the swing arm 7 via a restoring device 11 in a state where the lifting body 5 is lowered. Therefore, the lifting and lowering body 5 is lifted up one by one, the swing arm 7 is swung, and the lifting and lowering body 5 is lowered again, whereby the upper surface of the push-in base 15 located in front of the supply port 14 of the tire combustion boiler 13 is held. Placed on the pushing table 1 The Gateko crank device 16 in an inclined state to the boiler 13 side around the pivot shaft 18, pushing board 1
The tire a on No. 5 is pushed into the boiler 13 from the supply port 14 by the push rod 17.

The return device 11 at the tip of the revolving arm 7 of the moving device 1 is provided with two upper and lower Robert approximate linear motion link mechanisms 2
It is a combination of 0a and 20b. The bottom ends of the frame members 22a and 22b of the linear motion link mechanisms 20a and 20b are connected to the lower ends of a pair of support rods 23 of the same length by a ball joint 24 and a pair of support rods. At the lower end of 23, hanging rods 25a and 25b, which consist of a pair of parallel plates 36a, 36a and 36b and 36b extending in the vertical direction, are provided with connecting portions 26 and 26 which are symmetrically projected at their upper ends. By being connected by shafts 27, 27, they are suspended so that they can swing freely.
3 swings in the clockwise or counterclockwise direction about the ball joints 24, 24 in the same plane, and the suspension rods 25a, 25b support the support rod 23 about the shaft 27 in the same plane. By swinging in a counterclockwise or clockwise direction with respect to each, each hanging rod 25
The lower ends of a and 25b are adapted to perform an approximate linear motion in the horizontal direction to the right or left.

Mounting holes 28 provided on both side walls of the frame bodies 22a and 22b, respectively.
A tension coil spring 30 for return is mounted between the bolt 29 penetrating through the hole and the central portion of each support rod 23, and a balancing position adjusting portion is provided at a portion of the bolt 29 projecting outward from the mounting hole 28. The double nuts 31, 31 are screwed together so that the suspension rods 25a, 25b are balanced in a state of taking a posture extending in the vertical direction, and are formed on the bottom surface of the frame 22a of the upper suspension rod 25a. At the lower end protruding from the opening 32,
The fixed gear 34 sandwiched between the parallel plates 36a and 36a is fixed to the suspension rod 25a so as not to rotate relative to the suspension rod 25a by scraping a part of the fixed gear 34 and contacting the stopper 33. Of two parallel support plates 37, 3 projecting from the upper surface of the lower frame 22b on a connecting shaft 35 that penetrates through the center of the hanging rod 25a and is orthogonal to the swing direction of the hanging rod 25a.
The upper end of 7 is rotatably connected to support plate 37,
The movable gear 38 that meshes with the fixed gear 34 between the shaft 37
It is rotatably supported by 9 and has a lower hanging rod 2
An upper connecting plate 57 having a bolt hole 56 is horizontally fixed to a lower end of the frame 5b projecting from an opening 32 formed in the bottom surface of the frame 22b, and the lower surface of the upper connecting plate 57 has a ball joint 55. A lower connecting plate 59 having a bolt hole 58 fixed to the upper end is fixed by a bolt and a nut (not shown), and a gripping tool 12 is attached to the lower end of the ball joint 55.

As shown in FIG. 5 and FIG. 6, the gripping tool 12 is one in which the above ball joint 55 is fixed to the center of the upper surface of the top plate 41 having a shape in which the apex of an equilateral triangle is cut.
The motor 42 attached to the center of the lower surface of the top plate 41
A rotary body 45 having three crank arms 44 horizontally projecting radially at 120 ° intervals is fixed to the output shaft 43 facing downward, and the support body 4 fixed to the lower side of the rotary body 45 is fixed.
6 and three support rods 47 hanging from each vertex of the top plate 41.
The three guide rods 48 are horizontally arranged radially at an interval of 120 ° between the lower end of the slider and the lower faces of the sliders 49 slidably fitted on the guide rods 48, respectively. A locking claw 50 formed by forming an outward hooking portion 52 is fixed to a lower end of a leg portion 51 in which a cylinder 53 is rotatably fitted to the outside, and an upper surface of a slider 49 and a tip of a crank arm 44 of a rotating body 45 are fixed. Both ends of the connecting arm 54 are connected in a freely rotatable manner in the horizontal direction to form a slider crank mechanism.
By driving the motor 42 and rotating the rotating body 45 together with the output shaft 43, the sliders 49 slide along the guide rods 48, and the locking claws 50 of the sliders 49 center around the output shaft 43. It is designed to move in the horizontal direction so as to be located on the same circle where the diameter is reduced or expanded.

Next, the operation of this embodiment will be described.

The tires a are stacked by a worker's hand at a stacking position (not shown), and the center of each tire a is displaced from the center O of lifting on the mounting carriage 10 as shown in FIG. When the carriage 10 is carried to a position below the gripping tool 12 and stopped when the loading carriage 10 makes its hoisting center O coincide with the axis of the output shaft 43 which is the center of the gripping tool 12, the lifting / lowering body 5 of the moving device 1 is lowered. Then, each locking claw 50 of the gripping tool 12
As shown by the solid line in the figure, the tire a
If the center of the tire a is deviated from the hoisting center O, that is, the axis of the output shaft 43, it is first inserted into the center hole b of the tire and is moved in the expanding direction by the driving of the motor 42. One of the three locking claws 50
Contacts the edge of the center hole b, and if the motor 42 continues to drive, the contacting pawl 50 tries to push the tire a, but the tire a is heavy and does not move due to large friction resistance. It is pushed, and the rotary cylinder 53 of the locking claw 50 is pushed.
While rolling along the hole edge of the center hole b, the gripping tool 12 rotates about the shaft center of the output shaft 43 by the ball joint 55, and one of the two engaging claws 50 that are not in contact with each other. The stop claws 50 come into contact with each other, and in this state, the gripping tool 12 is pushed toward the center of the tire a and tries to move while slightly tilting.
When the pushed direction coincides with the swinging direction of the hanging rod 25b of the lower linear motion link mechanism 20b, the hanging rod 25a of the upper linear motion link mechanism 20a remains stationary and the lower hanging rod 25b rocks. When the lower hanging rod 25b moves, the lower end of the lower hanging rod 25b moves horizontally along with the gripping tool 12, and when it coincides with the swinging direction of the upper hanging rod 25a, the lower hanging rod 25b swings as shown by the chain line in FIG. Without doing so, the upper hanging rod 25a swings, and the lower linear motion link mechanism 20b moves to the hanging rod 25a.
When the hanging rod 25a, 25b does not coincide with the swing direction of the hanging rods 25a and 25b by moving relative to the connecting shaft 35, it moves horizontally without tilting. The hanging rods 25a, 25b of the sway are oscillated by a predetermined amount according to the pushed direction,
Accordingly, the gripping tool 12 performs parallel movement in a predetermined direction according to the direction of deviation of the tire a and while maintaining substantially the same height, and the output shaft 43, which is the center of the gripping tool 12, is moved.
The drive of the motor 42 is stopped when the axis center of the is aligned with the center of the tire a and all the locking claws 50 come into contact with the edge of the center hole b. After that, when the lifting / lowering body 5 rises, the tire a hooked on the hooking portion 52 of the locking claw 50 is lifted and separated from the tire a therebelow or the mounting surface of the mounting carriage 10, Upper and lower linear motion link mechanisms 20a, 2
By the elastic force of each tension coil spring 30 of 0b, the swinging and tilted suspension rods 25a and 25b are returned to their original postures extending in the vertical direction, whereby the gripping tool 12 is returned to its original position. The center of the tire a matches the hoisting center O, and the tire a
Is placed on the upper surface of the pushing table 15 in front of the boiler 13 by the turning of the turning arm 7 and the lowering of the elevating / lowering body 5 in this state, and its center coincides with the pushing center P of the pushing table 15. When pushed by the rod 17, it is pushed straight into the boiler 13 without being caught by the supply port 14.

In the present embodiment, the gripping tool 12 is rotatably connected using the ball joint 55, and the rotary cylinder 53 is externally fitted to the portion of the locking claw 50 that abuts the center hole b of the tire a. Therefore, the movement of the gripping tool 12 is not hindered by the friction between the locking claw 50 and the tire a.
All of the one locking claws 50 abut on the hole edge of the center hole b so that the center of the tire a and the center of the gripping tool 12 can be surely aligned, and the upper linear motion link mechanism 20a and the lower linear motion link mechanism 20a. Since the fixed gear 34 and the movable gear 38 are attached to the connecting portion of the mechanism 20b, there is an advantage that the sway of the lower linear motion link mechanism 20b can be damped by the frictional force due to the meshing of these.

Similarly, in this embodiment, in order to lift the tire a, the locking claw 50 is hooked on the center hole b of the tire a, but when the object to be hung is small, the locking claw is hung up. The two may be hooked on the outer peripheral edge of the object, and two Robert's approximate linear motion link mechanisms are used as the linear motion link mechanism to connect them up and down. Strict linear motion link mechanism such as Hart's mechanism, or Watt's approximate linear motion link mechanism or other similar linear motion link mechanism may be used. Different types of linear motion link mechanisms may be combined.

EFFECTS OF THE INVENTION As described specifically with reference to the above embodiments, the automatic centripetal hoisting device of the present invention has the gripping tool in the horizontal direction according to the position of the object to be hung even if the object is deviated from the predetermined gripping position. Since all the locking claws can be hooked on the object to be suspended and firmly grasped at the same time, the object to be suspended can be lifted and released from its mounting surface, and at the same time, both upper and lower sides can be lifted. The return spring of the linear motion link mechanism allows the gripper to return to the original position while holding the object to be hung, so even if the position of each object to be hung is not uniform There is an effect that the upper product can be transferred to a fixed position in the next process, and it can prevent the subsequent work from being disturbed.

[Brief description of drawings]

1 and 2 are partially cutaway side views and a plan view of a tire lifting device for a tire combustion boiler to which the present invention is applied, and FIGS. 3 and 4 are vertical and vertical linear motion link mechanisms, respectively. Partial cutaway perspective view and partial cutaway side view, FIG. 5 and FIG.
The drawings are a partially cutaway perspective view of a gripping tool and a side view of a state in which a tire is pulled and broken, respectively. 1: moving device (driving device), 5: lifting body (moving member),
12: gripping tool, 20a: upper linear motion link mechanism, 20
b: lower linear motion link mechanism, 22a, 22b: frame (fixed link), 25a, 25b: hanging rod (movable link), 30: tension coil spring (return spring), 50: locking claw, a: tire (Suspended object)

Claims (1)

[Claims] 1. A moving member in which a linear motion link mechanism for performing a strict linear motion or an approximate linear motion at one point on a movable link is arranged vertically, and a fixed link of the upper linear motion link mechanism is vertically moved by a driving device. Is fixed so that the one point moves horizontally, the fixed link of the lower linear motion link mechanism is fixed to the one point of the upper linear motion link mechanism, and one point on the movable link of the lower linear motion link mechanism is The upper linear motion link mechanism is connected so as to perform a horizontal motion substantially orthogonal to the one point, and the outer linear edge or the center of the suspended object is concentrated or expanded at the one point of the lower linear motion link mechanism. A gripping tool having a plurality of locking claws hooked in the holes is connected, and a return spring for returning each of the points to a fixed position is attached to each of the upper and lower linear motion link mechanisms. Auto centripetal lifting device according to claim.