JPH0659997B2 - Load transshipment equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of use] The present invention relates to a load transshipping device, and more particularly, to the weight of a load body being instantly detected and the weight body being immediately brought into a zero gravity state. The present invention relates to a load transfer device having a fluid control device for freely moving this load body.

[Conventional technology]

The load transshipment device used conventionally consists of a cylinder, a fluid control device, and a load body chucking device. FIG. 3 shows, for example, the applicant's application.
FIG. 2 is an explanatory view of a cylinder 1 and a fluid control device 7 for a load transfer device disclosed in Japanese Patent Publication No. 201797, in which the fluid control device 7 is suspended by a sheave 2 and a piston 3 of the cylinder 1 is provided.
It is mounted between the output transmission body 4 and the load body 6 which are coupled to each other. The fluid control device 7 is provided with a load or an external force, and is provided with a first chamber 8 having a constant volume and a movable partition 9 that are connected in series via a fluid passage.
A fluid supply passage 13 for supplying a fluid from a fluid pressure generation source to the first chamber 8 via a pressure regulating valve 12, and a fluid inlet / outlet passage 14 connecting the second chamber 10 and the cylinder port 5 of the cylinder 1. It has a fluid discharge passage 15 which is engaged with the box 11 to which a load or an external force is applied so as to be relatively movable in the load direction, communicates with the second chamber 10 of the box 11, and includes a receiver 16a and a case 16b. The load transmission body, the elastic member 17 for giving the piston 3 a force commensurate with the total weight of the load transmission body, the output transmission body 4 and the box 11, and the box 1
The first and second fluid passages 18 and 19 respectively provided between the first chamber 8 and the second chamber 10 and between the second chamber 10 and the fluid discharge passage 15, and both ends thereof are the first 1st and 2nd
The fluid passages 18 and 19 are provided in a closed state when no load or external force is applied, and provided in a valve 20 and a case 16b configured to operate in different states when a load or external force is applied. And a fluid discharge passage 21 communicating with the fluid discharge passage 15. The weight of the load body 6 is instantly detected, and the load body is immediately put into a zero gravity state. It is possible to freely move the load body with.

And in order to fix the load body 6 to this load transfer apparatus,
The load body chucking device (not shown in FIG. 3, FIG. 2 of FIG. 2) is located between the load tool 6 and the lifting tool 23 that is integrated with the box 11, and is locked to the lifting tool 23. The same as the example) was used.

[Problems to be Solved by the Invention]

However, in the above-described conventional technique, in the load lifting work using the cylinder of the fluid control device, the switching valve for the cylinder and the switching valve for the load body chucking device are operated separately. Therefore, there is a very high risk of the load body falling and bouncing due to the erroneous operation of the switching valve.

It is an object of the present invention to provide a load transshipment device that can eliminate the risk of such an erroneous operation.

[Means for Solving the Problems]

In order to solve the above-mentioned problems, the structure of the present invention is as follows: (1) A cylinder having a piston coupled to an output transmission body, a load or an external force is applied, and a fixed volume is continuously provided through a fluid passage. A box having a first chamber and a second chamber having a variable volume, a fluid supply path for supplying a fluid from a fluid pressure source to the first chamber, and a fluid inlet / outlet for connecting the second chamber and a cylinder port of the cylinder. A load transmission body having a fluid discharge passage that is movably engaged with the box to which a load or an external force is applied in the load direction and communicates with the second chamber of the box; Transmitter,
Between the elastic member that gives the piston a force commensurate with the total weight of the output transmission body and the box, between the first chamber and the second chamber of the box, and between the second chamber and the fluid discharge passage. The first and second fluid passages, and both ends thereof close the first and second fluid passages when the load or the external force is not applied, and the load or the external force is applied. And a load control device having a load body fixing device which is mounted on a suspender connected to the box and operates by fluid pressure when a fluid is applied to the box. In the transshipment device, a limited check valve that opens only in the direction of the working fluid flow path of the load body fixing device is provided between the working fluid flow path of the load body fixing device and the fluid inlet / outlet path of the fluid control device. Flow path to connect It is provided.

(2) In (1), the limited check valve is a limited check valve having an operating pressure adjusting means.

(3) In (1) or (2), the working fluid flow path of the load body fixing device is branched from a fluid supply path for supplying a fluid from a fluid pressure generation source of the fluid control device, and is branched via a switching valve. It is a flow path connected to a load body fixing device.

(4) In (1) or (2), the load body fixing device includes a suction pad for adsorbing the load body and an air ejector type vacuum generating device that operates by air pressure.

(5) In (1) or (2), the load body fixing device includes a chucking device for gripping the load body and an air cylinder for operating the chucking device.

It is characterized by that.

[Action]

The load transshipment device of the present invention is provided with a flow path connected between the working fluid flow path of the load fixing device and the fluid flow path of the fluid control device via a limited check valve that opens only in the direction of the fluid flow path. So, as long as there is internal pressure in the cylinder, that is, as long as the capacity of this load transfer device does not disappear, for example,
Since the vacuum cylinder of the air ejector system and the air cylinder for the operation of the chucking device are not opened, it is possible to prevent the load body from dropping and the air ejector and the chucking device from jumping up, and the risk of incorrect operation is completely eliminated. be able to.

〔Example〕

 Examples will be described below.

FIG. 1 is an explanatory view of an embodiment of the load transshipment apparatus of the present invention.
Since the structure of the fluid control device 7 is the same as that of FIG. 3, it is omitted. In FIG. 1, the same parts as those in FIG. 3 are designated by the same reference numerals, but the parts using expressions different from those in FIG.
The same reference numerals with (dash) are attached.

In FIG. 1, 24 is an air ejector type vacuum generator mounted on a hanger 23, and 25 is a vacuum generator 2.
4 is a suction pad, 26 is a switching valve, 27 is a limited check valve, 28 is a silencer, and 6a is a load body on the floor. The air whose pressure is adjusted by the pressure adjusting valve 12 and is supplied through the pipe 13 'is
The pipe 2 is branched before it flows into the fluid control device 7.
9. The vacuum generating device 24 is communicated through the switching valve 26. Further, it is further branched from before entering the vacuum generator 24, and is connected to a pipe 14 ′ connected to the cylinder port 5 side of the cylinder 1 via a pipe 30 limited check valve 27. The air flowing into the vacuum generator 24 is discharged to the atmosphere via the pipe 31 and the silencer 28.

With the load transfer device of this embodiment, when an arbitrary load body 6 below the rating is being lifted, the pipe 13 'and the pipe 1
When the air pressure of 4'is compared, the internal pressure of the pipe 13 'is higher than or equal to the internal pressure of the pipe 14' and cannot be lower.

Therefore, when the switching valve 26 is in the on state, the air flows from the pipe 13 'through the fluid control device 7 to the pipe 1'.
4 ', and also flows from the pipe 13' through the switching valve 26 into the vacuum generator 24 for vacuum generation. At this time, the air flowing in the direction of the pipe 30 is limited to the check valve 27.
Due to this, the inflow to the cylinder 1 side is stopped. This is because the internal pressure of the pipe 14 ′ is equal to or less than the internal pressure of the pipe 13 ′, and is the action of the spring 27 a incorporated in the limited check valve 27. Therefore, the pressure effect on the cylinder port 5 side does not occur. On the other hand, when the switching valve 26 is cut off by an erroneous operation during the lifting operation, the pressure on the pipe 30 side drops.

At this time, the spring 27a incorporated in the limited check valve 27
Is relatively weak, the air in the pipe 14 'passes through the limited check valve 27 and flows from the pipe 30 into the vacuum generating device 24 to perform the vacuum generating work. Therefore, the pressure in the pipe 14 'tends to decrease, but this decreasing tendency is detected by the fluid control device 7, and the air is automatically supplied to the pipe 14' through the fluid control device 7 only in the required amount.

This required amount is the same as the amount lost by the vacuum generator 24. Therefore, the lifting capacity of the cylinder 1 does not decrease, and the suction force of the suction pad 25 is maintained.

When the downward operation force is continuously applied to the fluid control device 7, the force acts to decrease the internal volume in the cylinder 1 via the wire 4'and the pressure of the pipe 14 'tends to increase, but the switching valve When 26 is off, it is discharged to the atmosphere from the vacuum generator 24 via the limited check valve 27 and the silencer 28. When the switching valve 26 is turned on, the pressure is regulated in the fluid control device 7, and the exhaust hole 2 is used as extra energy.
1 is released into the atmosphere.

When the switching valve 26 is turned off after the load is lowered and the tension of the wire 4'becomes completely landed, the pipe 1
The internal pressure of 4'becomes close to 0, the spring 27a in the limited check valve 27 cannot be pushed away, the supply of air to the vacuum generator 24 is cut off, and the suction pad 25 moves the load member 6
To stop the adsorption effect on.

In addition, when the load body 6 is lowered and landed while the switching valve 26 is in the off state during lifting, the limited check valve 27
At the same time that the load body 6 is consumed by the vacuum generator 24, it is also discharged to the atmosphere from the exhaust hole 21 of the fluid control device 7, and the load body 6 descends while maintaining a balanced state. After landing, the load gradually shifts from the cylinder side to the floor surface, but the cylinder load capacity also decreases accordingly.

This is because the internal pressure of the pipe 14 'becomes lower than the force of the spring 27a in the limited check valve 27, so that the spring 27a stops the outflow to the vacuum generator 24 side. Therefore, the spring 27 incorporated in the limited check valve 27
By changing the force of a, the lower operating pressure limit of the vacuum generator 24 is set. The pressure that can be blocked by the force of the spring 27a assembled in the limited check valve 27 remains in the cylinder 1 and becomes the tension of the wire 4 ', so that the force of the spring 27a is constantly suspended (a fluid control device). 7, vacuum generator 24, suction pad 25, etc.) having a force equal to or less than the total weight of the suction pad 25 prevents the jumping phenomenon from occurring when the suction pad 25 is separated from the load body 6.

FIG. 2 is an explanatory view of another embodiment, in which a chucking device using an air cylinder is used as the load body fixing device. In FIG. 2, the same parts as those in FIGS. 1 and 3 are designated by the same reference numerals, but the parts using expressions different from those in FIG. The reference numeral is attached. In FIG. 2, 32 and 32a are load bodies, 33 is an air cylinder having a piston 33a, a spring 33b and a cylinder port 33c, 34 is a chucking device, and 35 is a chucking device.
Is a three-way switching valve, and 36 and 37 are pipes. Two
Reference numeral 7b indicates a spring pressure adjusting screw provided on the limited check valve 27.

In the load transfer apparatus of this embodiment, in the apparatus for chucking and lifting the load body 32 by the chucking device 34 using the air cylinder 33, the structure of the air cylinder 33 is such that it is returned by the spring 33b.

During normal lifting, the pipe 36 and the three-way switching valve 3
5, the air that has passed through the pipe 37 is the air cylinder 33
However, when the three-way switching valve 35 is turned off,
Air is discharged into the atmosphere from the three-way switching valve 35 via the limited check valve 27, and at the same time, the internal pressure of the cylinder 1 is guaranteed by the fluid control device 7.

This flow continues until the air of the fluid control device 7 is blocked by the landing of the load body 32 on the floor surface and the internal pressure of the pipe 14 'is blocked by the spring 27a in the limited check valve 27.

When the load body 32 is completely landed and the tension of the wire 4 is removed, the air pressure in the pipe 14 'decreases accordingly and approaches zero.

This air pressure acts on the air cylinder 33,
When the urging force of the spring 33b incorporated in the air cylinder 33 is lost, the piston 33a moves and the chucking device 34 is opened.

This means that the chucking device 34 does not open as long as the internal pressure of the cylinder 1 is present, that is, unless the capacity of the load transshipping device disappears, preventing the load body 32 from falling and the chucking device 34 from jumping up. It means that you can work.

At this time, the total weight of the air cylinder 33, the chucking device 34, and the like that are suspended below the fluid control device 7 is
The weight is different because it is made individually according to various load bodies.

Since the minimum pipe internal pressure corresponding to this condition is set by the force of the spring 27a incorporated in the limited check valve 27, it is effective to provide the spring 27a with a spring pressure adjusting screw 27b.

As the working fluid of the device for fixing the load body, in the embodiment of FIG. 1, the fluid supplied from the fluid pressure generation source of the fluid control device is branched and used, and in the embodiment of FIG. 2, the fluid control device is used. The fluid pressure generation source different from the fluid pressure generation source is used, but these are appropriately selected depending on the weight of the load body.

〔The invention's effect〕

The load transfer device of the present invention has a load control device that includes a fluid control device that instantly detects the weight of a load body, immediately puts the load body in a weightless state, and freely moves the load body with a slight force of an operator. This makes it possible to eliminate the risk of erroneous operation in the replacement device, and has a great industrial effect.

[Brief description of drawings]

1 and 2 are explanatory views of different embodiments of the load transshipment apparatus of the present invention, and FIG. 3 is an explanatory view of a conventional load transshipment apparatus. 1 ... Cylinder, 6 ... Load element, 7 ... Fluid control device, 13 ', 14' ... Pipe, 24 ... Vacuum generator, 25 ... Adsorption pad, 26 ... Switching valve, 27 ... Limited Check valve, 29, 30, 31 ... Pipe

Claims (5)

[Claims] 1. A cylinder having a piston coupled to an output transmission body, a box having a first chamber of constant volume and a second chamber of variable volume, which are connected to each other via a fluid passage and to which a load or an external force is applied, A fluid supply path for supplying a fluid from a fluid pressure source to the first chamber, a fluid inlet / outlet path connecting the second chamber and a cylinder port of the cylinder, and the box to which a load or an external force is applied. Movably engaged relative to the load direction, the second of the box
A load transfer body having a fluid discharge passage communicating with the chamber, an elastic member that gives the piston a force commensurate with the total weight of the load transfer body, the output transfer body, and the box; the first chamber of the box; First and second fluid passages respectively provided between the two chambers and between the second chamber and the fluid discharge passage, and both ends of the first and second fluid passages are connected to the first and second fluid passages by the load. Or, when no external force is applied, it is closed, and when the load or external force is applied,
A load control device having a fluid control device having valves each configured to operate in a different state, and a load transfer device having a load fixing device mounted on a suspender connected to the box and operated by fluid pressure, Between the working fluid passage of the device and the fluid inlet / outlet passage of the fluid control device, there is provided a passage connected through a limited check valve that opens only in the working fluid passage direction of the load fixing device. Load transshipment device. 2. The load reshipping device according to claim 1, wherein the limited check valve is a limited check valve having an operating pressure adjusting means. 3. An operating fluid flow path of the load body fixing device branches from a fluid supply path for supplying a fluid from a fluid pressure generation source of the fluid control device, and is connected to the load body fixing device via a switching valve. The load transshipment device according to claim 1 or 2, which is a flow path. 4. The load according to claim 1 or 2, wherein the load body fixing device comprises a suction pad for adsorbing the load body and an air ejector type vacuum generator operating by air pressure. Transshipment equipment. 5. The load transshipment according to claim 1, wherein the load body fixing device comprises a chucking device for gripping the load body and an air cylinder for operating the chucking device. apparatus.