JP2017007762A - Erection device and erection method - Google Patents

Abstract

A three-dimensional object is easily erected. A standing device 10 is rotatably connected to a side support mechanism 20 that supports a three-dimensional object from the side when the three-dimensional object 1 is in a lying state, and a predetermined fulcrum 34a. The bottom surface supporting mechanism 30 that supports the three-dimensional object from the bottom surface side when the three-dimensional object is in an upright state, and a connecting member 46 that is rotatably connected to the opposite side of the fulcrum in the bottom surface supporting mechanism. And a sliding member 42 rotatably connected to the coupling member, and a sliding member that slides horizontally in the vertical direction below the connection position between the bottom surface supporting mechanism and the coupling member to stand the bottom surface supporting mechanism. And a cylinder (actuator) 48. [Selection] Figure 5

Description

  The present invention relates to a standing device and a standing method for standing a three-dimensional object.

  When assembling a large three-dimensional object or a three-dimensional object with a large weight, it may be necessary to change the three-dimensional object to various postures such as a standing state or a lying state. In addition, when such a three-dimensional object is not a rigid body or the surface of the three-dimensional object cannot be firmly fixed, in order to change the posture of the three-dimensional object, for the bottom surface that supports the standing three-dimensional object from below vertically It may be necessary to prepare a surface plate and a side surface plate that supports a three-dimensional object in a lying state from vertically below. Then, by connecting the bottom surface plate and the side surface plate and changing the posture of the surface plate that supports the solid object, the solid object can be in an upright state or a lying state without applying high external pressure to the solid object itself. Can be changed.

  For example, an example of assembling the three-dimensional object 1 will be described with reference to FIG. First, as shown to Fig.10 (a), the solid thing 1 whose length of a height direction is longer than the width direction is made into a fallen state, and is supported by the surface plate 2 for side surfaces. In such a lying state, the assembly workability of the three-dimensional object 1 can be improved. The bottom surface plate 3 is connected to the side surface plate 2 so that the respective end portions are rotatable with respect to each other. When the assembly work in the lying state is completed, as shown in FIG. 10B, the bottom surface plate 3 is raised to a position corresponding to the bottom surface 1a of the three-dimensional object 1, and the side surface plate 2 and the bottom surface plate 3 Are arranged in an L shape, and a beam 4 is provided to firmly fix the side surface plate 2 and the bottom surface plate 3. Then, as shown by white arrows in FIG. 10B, the other ends of the side surface plate 2 and the bottom surface plate 3 are independently relaxed by a crane or the like, as shown in FIG. 10C. Then, the three-dimensional object 1 is displaced to the upright state by rotating around the fulcrum A. Thus, the three-dimensional object 1 can be processed in the standing state.

  Conventionally, an apparatus for automatically standing such a three-dimensional object 1 has been studied (for example, Patent Document 1). However, when the size and weight of the three-dimensional object 1 are excessive, there is no appropriate actuator that bears the load. Simple automation was difficult.

JP 2014-152470 A

  As described above, in the case of a large three-dimensional object or a three-dimensional object having a large weight, it may be necessary to prepare a surface plate or to form a surface plate in an L-shape, and assembling does not rely on human hands. Did not get. However, the larger the three-dimensional object is, and the heavier it is, the more important it is to consider the safety of the worker, so the work efficiency is reduced accordingly.

  Then, in view of such a subject, an object of the present invention is to provide a standing device and a standing method which can stand up a solid thing easily.

  In order to solve the above problems, the standing device of the present invention includes a side support mechanism that supports a three-dimensional object from the side surface when the three-dimensional object is in a lying state, and a side support mechanism that is rotatably connected to a predetermined fulcrum. A bottom support mechanism that can be fixed when in a predetermined positional relationship and supports the three-dimensional object from the bottom side when the three-dimensional object is in a standing state, and a connection that is rotatably connected to the opposite side of the fulcrum in the bottom support mechanism. A member, a sliding member rotatably connected to the coupling member, and an actuator that slides the sliding member in a horizontal direction vertically below a connection position between the bottom surface supporting mechanism and the coupling member to stand the bottom surface supporting mechanism And.

  In order to solve the above-described problems, the present invention uses a side support mechanism that supports a three-dimensional object from the side surface side, a bottom surface support mechanism that supports a three-dimensional object from the bottom surface side, and a link mechanism that erects the bottom surface support mechanism. The standing method is to place a three-dimensional object on the side support mechanism, raise the bottom support mechanism by the link mechanism, fix the side support mechanism and the bottom support mechanism in a predetermined positional relationship, and support the bottom by the link mechanism. It is characterized in that a three-dimensional object is erected by overturning the mechanism.

  According to the present invention, a three-dimensional object can be easily erected.

It is explanatory drawing which shows the schematic structure of a standing apparatus. It is the flowchart explaining the flow of the process of the standing-up method. It is explanatory drawing for demonstrating each process of the standing-up method. It is explanatory drawing for demonstrating each process of the standing-up method. It is explanatory drawing for demonstrating each process of the standing-up method. It is explanatory drawing for demonstrating each process of the standing-up method. It is explanatory drawing for demonstrating each process of the standing-up method. It is explanatory drawing for demonstrating the required output of a standing cylinder. It is explanatory drawing for demonstrating the required output of a standing cylinder. It is explanatory drawing which showed the prior art example which assembles a solid object.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The dimensions, materials, and other specific numerical values shown in the embodiments are merely examples for facilitating the understanding of the invention, and do not limit the present invention unless otherwise specified. In the present specification and drawings, elements having substantially the same function and configuration are denoted by the same reference numerals, and redundant description is omitted, and elements not directly related to the present invention are not illustrated. To do.

  When assembling a large three-dimensional object or a heavy three-dimensional object, the three-dimensional object is changed into various postures such as a standing state and a lying state. At that time, there may be the following restrictions. That is, when the solid object is not a rigid body or the surface of the solid object cannot be firmly fixed, in order to switch the posture of the solid object, the bottom surface plate and the side surface plate are fixed in an L shape, Each solid object in the standing state and the lying state must be supported. However, if the L-shaped object is fixed from the beginning, the bottom surface plate becomes an obstacle in the state of the three-dimensional object lying down, and the work on the bottom surface of the three-dimensional object cannot be performed. Therefore, the L-shape must be canceled in the lying down state and fixed to the L-shape just before standing the three-dimensional object. Therefore, the operator is forced to perform two-stage work, such as standing the bottom surface plate and standing both surface plates including the three-dimensional object.

  Further, even if a simple standing device is used for such a standing work, depending on the link mechanism, an appropriate actuator that allows the load cannot be prepared. Furthermore, if the standing device is prepared for each of the two stages of standing the above-described bottom surface plate and standing both surface plates including a three-dimensional object, not only the cost increases but also the arrangement itself cannot be performed due to the limitation of the occupied area. Such a problem may occur. Therefore, in the present embodiment, it is an object of the present invention to provide an upright device that can easily stand up a three-dimensional object with a simple configuration in consideration of safety.

(Standing device 10)
FIG. 1 is an explanatory view showing a schematic configuration of the standing device 10, among which FIG. 1 (a) shows a plan view of the standing device 10, and FIG. 1 (b) shows the front of the standing device 10. The figure is shown. Here, in order to describe the standing device 10, the x direction, the y direction, and the z direction are defined as shown in FIG. Further, the three-dimensional object 1 to be erected has a length in the height direction longer than the width direction, a surface in the width direction is a side surface, and a surface corresponding to the bottom in the height direction is a bottom surface. The standing device 10 displaces the side surface support mechanism 20 that supports the three-dimensional object 1 from the side surface, the bottom surface support mechanism 30 that supports the three-dimensional object 1 from the bottom surface side, and the side surface support mechanism 20 and the bottom surface support mechanism 30. And a link mechanism 40 for standing up the three-dimensional object 1.

  The side support mechanism 20 includes a side plate 22, a side base 24, and a position adjustment cylinder 26. The side surface plate 22 is provided with a plurality of flat plate shapes along the xy plane (for example, three side surface plates 22a, 22b, and 22c here), and the three-dimensional object 1 is in a lying state (high). The three-dimensional object 1 is supported from the side surface side while the horizontal direction is the horizontal direction. Here, the three-dimensional object 1 is laid down and placed on the side surface plate 22, and the operator performs a work that can be performed in a lying state, for example, an assembly work of the three-dimensional object 1.

  In FIG. 1, the side surface base 24 supports the side surface plate 22 in the z direction while restricting movement in the x direction and the z direction from below the side surface plate 22. As described above, the three side surfaces 22a, 22b, and 22c are supported on the side surface base 24 by restricting the movement in the x and z directions, so that the three three-dimensional objects 1 stand up in conjunction with each other. Can be made. The side base 24 is rotatably connected to a fulcrum 34a described later.

  A plurality of position adjustment cylinders 26 (for example, two of the position adjustment cylinders 26a and 26b here) are provided, and the side surface plates 22a and 22c are independently set in the y direction and the y direction by a roller unit or a linear motion bearing. Sliding in the opposite direction, the relative positions of the side surface plates 22a and 22c with respect to the side surface plate 22b are adjusted. The position adjusting cylinder 26 can adjust the interval between the three three-dimensional objects 1 supported by the side surface plates 22a, 22b, and 22c.

  The bottom surface support mechanism 30 includes a bottom surface plate 32 and a bottom surface base 34. The bottom surface plate 32 is formed in a flat plate shape along the xy plane, and, as will be described later, while the three-dimensional object 1 is in the standing state (the height direction is the vertical direction), the three-dimensional object 1 is viewed from the bottom surface side. To support. The bottom surface base 34 extends in the xy plane vertically below the bottom surface plate 32 in FIG. 1 and supports the bottom surface plate 32 fixedly in the z direction. The bottom surface base 34 is rotatably connected to a fulcrum 34a common to the side surface base 24.

  The link mechanism 40 includes a sliding member 42, a rail 44, a connecting member 46, an upright cylinder 48, and a cylinder base 50. The sliding member 42 is guided to a rail 44 that is fixed to the foundation by an anchor bolt or the like and extends in the horizontal direction (x direction) through a linear bearing. One end portion 46 a of the coupling member 46 is rotatably connected to the sliding member 42, and the other end portion 46 b is rotatably connected to the opposite side of the fulcrum 34 a in the bottom surface support mechanism 30. Standing cylinders (actuators) 48 are provided in the front and rear of the bottom support mechanism 30 in the y direction, and are arranged in the horizontal direction while being supported by a cylinder base 50 fixed to the foundation. Further, the standing cylinder 48 moves the sliding member 42 to the rail by the expansion and contraction of the piston rod 48a vertically below the connection position between the bottom surface support mechanism 30 and the link mechanism 40 (the position of the other end 46b of the connecting member 46). Slide in the x direction along 44.

  In the link mechanism 40, the sliding member 42 is slid by the standing cylinder 48 as described above, so that at least the bottom surface support mechanism 30 is switched between the lying state and the standing state. For example, when the piston rod 48a is contracted, the bottom surface support mechanism 30 is in a lying state, and when the piston rod 48a expands, the sliding member 42 slides, and one end 46a of the connecting member 46 moves. Pulled in the x direction. Then, the engagement portion (connection position) with the other end portion 46b of the connecting member 46 in the bottom surface support mechanism 30 is pulled in the x direction, and rotates about the fulcrum 34a fixed to the foundation to cause the bottom surface support mechanism 30 to move. Standing up.

  Further, as described later, when the side surface fixing portion 24a and the bottom surface fixing portion 34b are in a predetermined positional relationship (here, L-shaped), the side surface support mechanism 20 and the bottom surface support mechanism 30 are connected to each other. Can be fixed in an L-shape. The link mechanism 40 can integrally displace the side surface support mechanism 20 and the bottom surface support mechanism 30 formed in the L shape. In this case, the postures of the side surface support mechanism 20 and the bottom surface support mechanism 30 are in a trade-off relationship. That is, when the piston rod 48a is extended, the side surface support mechanism 20 is in a lying state and the bottom surface support mechanism 30 is in a standing state, and when the piston rod 48a is contracted, the side surface support mechanism 20 is in a standing state and the bottom surface support mechanism 30 is in a lying state. . Hereinafter, the posture changes of the side surface support mechanism 20 and the bottom surface support mechanism 30 according to the operation of the link mechanism 40 will be described in detail.

(How to stand up)
FIG. 2 is a flowchart for explaining the processing flow of the standing-up method, and FIGS. 3 to 7 are explanatory diagrams for explaining each processing of the standing-up method. In the standing-up method, as shown in FIG. 2, the processing proceeds in the order of the three-dimensional object forming process S100, the bottom surface support mechanism standing process S102, the side surface support mechanism standing process S104, the side surface support mechanism falling process S106, and the bottom surface support mechanism falling process S108. . Hereinafter, each process of the standing-up method will be described in detail.

(Three-dimensional object formation process S100)
As shown in FIG. 3, the standing device 10 is in a lying state in which both the side support mechanism 20 and the bottom support mechanism 30 are in a stable and safe posture as shown in FIG. 3. Further, since the standing device 10 has a flat attitude as a whole, it is excellent in maintenance and can be easily covered with a cover or the like.

  First, the operator adjusts the intervals between the three three-dimensional objects 1, that is, the intervals between the three side surface plates 22 a, 22 b, and 22 c through the position adjustment cylinder 26. When the interval between the three side surface plates 22a, 22b, and 22c reaches a desired interval, the operator assembles (processes) the three three-dimensional objects 1 on the side surface plate 22 in this state. At this time, since the bottom surface plate 32 is not yet close to the bottom surface 1a of the three-dimensional object 1, the operator can process the bottom surface 1a, for example, by joining the bottom surfaces 1a of the three three-dimensional objects 1. It is.

(Bottom support mechanism standing up process S102)
Further, the side support mechanism 20 and the bottom support mechanism 30 are both connected so that the end on the side where the counterpart in the x direction exists is rotatably connected to the fulcrum 34a, and the fulcrum 34a is fixed to the foundation. On the other hand, both mechanisms 20 and 30 are not fixed to the foundation.

  When the processing of the three-dimensional object 1 in the lying state is completed, the operator switches the bottom surface support mechanism 30 from the lying down state to the standing state through the link mechanism 40. That is, as shown in FIG. 4, when the standing cylinder 48 extends the piston rod 48a, the sliding member 42 slides on the rail 44 in the x direction, and one end 46a of the connecting member 46 moves in the x direction. Be pulled. Then, the engagement portion of the bottom surface support mechanism 30 with the other end 46b of the connecting member 46 is pulled in the x direction, and the bottom surface support mechanism 30 rotates about the fulcrum 34a fixed to the foundation to be in an upright state. .

  Thus, the positional relationship between the side surface support mechanism 20 and the bottom surface support mechanism 30 becomes L-shaped, and the bottom surface platen 32 comes close to the bottom surface 1 a of the three-dimensional object 1. At this time, the side surface fixing portion 24a and the bottom surface fixing portion 34b are in a positional relationship in which the connecting holes provided in the respective surfaces coincide with each other. As shown by the black circles in FIG. The side surface support mechanism 20 and the bottom surface support mechanism 30 can be fixed in an L shape by connecting the bottom surface fixing portion 34b with a connection pin.

(Side Support Mechanism Standing Process S104)
Subsequently, the operator returns the side surface support mechanism 20 and the bottom surface support mechanism 30 fixed in an L shape from the standing state to the lying state through the link mechanism 40. That is, as shown in FIG. 5, when the standing cylinder 48 contracts the piston rod 48a, the sliding member 42 slides on the rail 44 in the direction opposite to the x direction, and one end 46a of the connecting member 46 is moved. It is pressed in the direction opposite to the x direction. Then, the engagement portion of the bottom support mechanism 30 with the other end 46b of the connecting member 46 is pressed in the opposite direction to the x direction, and the bottom support mechanism 30 rotates around the fulcrum 34a fixed to the foundation to fall down. It becomes a state.

  However, since the side surface support mechanism 20 and the bottom surface support mechanism 30 are fixed here, the side surface support mechanism 20 and the bottom surface support mechanism 30 rotate integrally, and the side surface support mechanism 20 and the bottom surface support mechanism 30 Attitude is a trade-off relationship. That is, when the bottom surface support mechanism 30 is in a lying state, the side surface support mechanism 20 is in a standing state accordingly. Therefore, the three-dimensional object 1 supported by the side surface plate 22 also stands up as shown in FIG. In this way, the operator can work in the standing state of the three-dimensional object 1 such as joining the top surfaces 1b of the three three-dimensional objects 1.

  When the processing of the three-dimensional object 1 proceeds in this manner and the work in the standing device 10 is completed, the worker stands up with the three solid objects 1 integrally formed, for example, through a crane or the like. Move from 10 to outside.

(Side support mechanism lodging process S106)
When the movement of the three-dimensional object 1 is completed, the operator switches the bottom surface support mechanism 30 from the lying down state to the standing state again through the link mechanism 40. That is, as shown in FIG. 6, when the standing cylinder 48 extends the piston rod 48a, the sliding member 42 slides on the rail 44 in the x direction, and one end 46a of the connecting member 46 moves in the x direction. Be pulled. Then, the engagement portion of the bottom surface support mechanism 30 with the other end 46b of the connecting member 46 is pulled in the x direction, and the bottom surface support mechanism 30 rotates about the fulcrum 34a fixed to the foundation to be in an upright state. .

  Further, since the side surface support mechanism 20 and the bottom surface support mechanism 30 are still fixed, the side surface support mechanism 20 and the bottom surface support mechanism 30 rotate integrally, and when the bottom surface support mechanism 30 is in an upright state, accordingly. The side support mechanism 20 is in a lying state. However, the three-dimensional object 1 is not placed here.

  When the bottom surface support mechanism 30 is in an upright state (when the side surface support mechanism 20 is in a lying state), the operator removes the connecting pin indicated by the black circle in FIG. 6 and connects the side surface fixing portion 24a and the bottom surface fixing portion 34b. Unlink. In this way, the L-shaped fixation between the side support mechanism 20 and the bottom support mechanism 30 is released.

(Bottom support mechanism lodging process S108)
Subsequently, the operator returns only the bottom surface support mechanism 30 released from the side surface support mechanism 20 from the standing state to the lying state through the link mechanism 40. That is, as shown in FIG. 7, when the standing cylinder 48 contracts the piston rod 48a, the sliding member 42 slides on the rail 44 in the direction opposite to the x direction, and one end 46a of the connecting member 46 is moved. It is pressed in the direction opposite to the x direction. Then, the engagement portion of the bottom support mechanism 30 with the other end 46b of the connecting member 46 is pressed in the opposite direction to the x direction, and the bottom support mechanism 30 rotates around the fulcrum 34a fixed to the foundation to fall down. It becomes a state.

  Thus, the standing device 10 returns to the lying state in which the side surface support mechanism 20 and the bottom surface support mechanism 30 are both stable and safe in the initial state. In such a standing method, work other than assembly of the three-dimensional object 1 and insertion of the connecting pin can be automatically performed by the standing device 10.

  According to the standing device 10 and the standing method, the following actions and effects are obtained. That is, when the three-dimensional object 1 is erected for work on the bottom surface of the three-dimensional object 1, the bottom surface support mechanism 30 is erected (bottom surface support mechanism erection process S102) and the side surface support mechanism 20 is erected (side surface support mechanism erection process). The two processes of S104) are required, and this is realized by only one link mechanism 40. Therefore, the three-dimensional object 1 can be efficiently erected while minimizing the occupation area of the erection device 10.

  In addition, the structure in which the upright cylinder 48 and the rail 44 are horizontally arranged vertically below the connection position between the bottom surface support mechanism 30 and the link mechanism 40 in the link mechanism 40, so that the sliding member 42 is located near the foundation where rigidity can be secured. It can slide horizontally on the ground, and the rigidity and safety of the sliding member 42 can both be achieved. In addition, although there are parts to be fixed to the foundation, the standing device 10 itself is all located above the ground, so that it is not necessary to excavate the ground to embed the device, and the arrangement itself can be easily changed. Is possible.

  Further, at the start of the side support mechanism erecting process S104 with a high load on the upright cylinder 48, the angle difference between the direction of the force of the upright cylinder 48 and the rotational direction around the fulcrum 34a is small. Can be efficiently spent for standing the three-dimensional object 1. Therefore, the three-dimensional object 1 can be easily erected without requiring excessive force. In other words, since the force required to raise the three-dimensional object 1 can be estimated small, the capacity (output) of the standing cylinder 48 itself can be suppressed.

  8 and 9 are explanatory diagrams for explaining the necessary output of the upright cylinder 48. Here, FIG. 8 shows the start time of the side support mechanism erecting process S104, and FIG. 9 shows that the position of the sliding member 42 in FIG. Indicates the minimum required output of the standing cylinder 48 while the three-dimensional object 1 + side support mechanism 20 + bottom support mechanism 30) is raised.

  The standing cylinder 48 contracts the piston rod 48 a to raise the three-dimensional object 1 and displaces the sliding member 42 from the position x = D to x = 0. Here, x = 0 is the position of the sliding member in the initial state in which the three-dimensional object forming process S100 is executed, and x = D is the bottom support mechanism erecting process S102, and the bottom support mechanism 30 is in the upright state. It is the position of the sliding member 42 when it exists in.

  When the sliding member 42 is displaced from x = D to x = 0 as described above, the minimum required output of the upright cylinder 48 has a locus as shown in FIG.

  Here, due to the relationship between the barycentric coordinates of the three-dimensional object 1 and the fulcrum 34a, the direction of the force of the upright cylinder 48 is reversed at the point E in the middle of the displacement of the sliding member 42 from x = D to x = 0. That is, while the sliding member 42 is displaced from x = D to x = E, an output acts in a direction in which the piston rod 48a contracts. However, while the sliding member 42 is displaced from x = E to x = 0, the piston rod 48a is moved. While contracting, the output works in a direction to suppress the contraction. However, in any direction, the absolute value of the minimum required output is equal to or less than the predetermined value P, and it can be understood that the minimum required output can be kept extremely small.

  As described above, in the standing device 10 of the present embodiment, by using the link mechanism 40, it is possible to easily stand the three-dimensional object 1 and to greatly reduce the work time while ensuring safety. It becomes.

  As mentioned above, although preferred embodiment of this invention was described referring an accompanying drawing, it cannot be overemphasized that this invention is not limited to this embodiment. It will be apparent to those skilled in the art that various changes and modifications can be made within the scope of the claims, and these are naturally within the technical scope of the present invention. Is done.

  For example, in the above-described embodiment, the example in which the side surface support mechanism 20 and the bottom surface support mechanism 30 are rotatably connected to the common fulcrum 34 a has been described, but the side surface support mechanism 20 is connected to the bottom surface support mechanism 30. It is only necessary to be fixed by various means such as a beam and to be in an upright state as the bottom surface support mechanism 30 rotates, and the side surface support mechanism 20 itself does not need to be provided rotatably.

  INDUSTRIAL APPLICABILITY The present invention can be used for a standing device and a standing method for standing a three-dimensional object.

DESCRIPTION OF SYMBOLS 1 Three-dimensional object 10 Standing device 20 Side support mechanism 30 Bottom support mechanism 34a Support point 34b Bottom fixing part 40 Link mechanism 42 Sliding member 46 Connecting member 48 Standing cylinder (actuator)

Claims (2)

A side surface support mechanism for supporting the three-dimensional object from the side surface when the three-dimensional object is lying down;
A bottom surface support mechanism that is rotatably connected to a predetermined fulcrum, can be fixed when in a predetermined positional relationship with the side surface support mechanism, and supports the three-dimensional object from the bottom surface side when the three-dimensional object is in an upright state; ,
A connecting member rotatably connected to the opposite side of the fulcrum in the bottom surface support mechanism;
A sliding member rotatably connected to the connecting member;
An actuator that slides the sliding member in a horizontal direction vertically below a connection position between the bottom surface support mechanism and the coupling member, and erects the bottom surface support mechanism;
An upright device comprising: A side surface support mechanism for supporting a three-dimensional object from the side surface side, a bottom surface support mechanism for supporting the three-dimensional object from the bottom surface side, and a standing method for erecting the three-dimensional object using a link mechanism for erecting the bottom surface support mechanism. ,
A solid object is placed on the side support mechanism,
The bottom support mechanism is raised by the link mechanism,
Fixing the side surface support mechanism and the bottom surface support mechanism in a predetermined positional relationship;
An erection method, wherein the three-dimensional object is erected by lowering the bottom surface support mechanism by the link mechanism.

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