JPH0457595B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a hanging device that suspends articles from a lifting section that moves up and down relative to a frame by driving a motor.

[Prior Art] Generally, this type of device uses a motor to raise and lower the lifting part and the article, and then stops the motor and uses the motor's own surlock to hold the lifting part and the article at a predetermined hanging height. The article is then conveyed to the unloading position while maintaining this holding state.

[Problems to be Solved by the Invention] However, since the entire weight of the lifting section and the article is not loaded onto the motor, a large-capacity motor is essential, and especially when the speed and frequency of lifting is high, A larger capacity motor is required to ensure sufficient margin. Additionally, if the weight of the lifting section is balanced using the air pressure of an air cylinder, for example, the load on the motor will be only the goods, making it possible to use a relatively small-capacity motor, but this will reduce the weight of the goods being handled. If there is a large variation from light to heavy items, the motor capacity must be matched to the heaviest item handled, so some of the motor capacity is wasted when handling lightweight items. There were problems such as unavoidable problems.

The object of the present invention is to solve the problems of the above-mentioned conventional devices and to provide a suspension device that requires a small motor capacity and can effectively utilize the capacity without wasting it. .

[Means for Solving the Problems] In order to achieve the above object, the present invention provides an apparatus for suspending an article from an elevating part that moves up and down relative to a frame by driving a motor, in which at least the weight of the elevating part is suspended by air pressure. The air cylinder is provided with an air cylinder that maintains a balance with the air pressure and can switch the air pressure according to the weight of the article to be suspended.

[Function] By adopting the above means, the present invention can set the air pressure in the air cylinder to an air pressure that maintains a balance with at least a part of the weight of the suspended article in addition to the actual weight of the lifting section. Therefore, the capacity of the motor is sufficient to raise and lower the weight of the suspended article minus the weight balanced by the air cylinder.

[Example] Hereinafter, an example of the present invention shown in the drawings will be described.

1 to 6 show an embodiment of the present invention, and 1 is a table supported so as to be able to run along rails 2, 2, as shown in FIGS. 2 and 5. A lunnut 4 is rotatably attached to the lower surface of the table 1 and is screwed into a ball screw 3 fixedly fixed in parallel. A fixed pulley 7 and a pulley 8 fixed to the lug nut 4 are interlocked via a belt 9 to rotate the ball nut 4, thereby causing the table 1 to reciprocate along the rails 2, 2. . Reference numeral 10 denotes a ball nut that is rotatably attached through the table 1, and when a servo motor 11 attached to the top surface of the table 1 is driven, a pulley 13 fixed to the rotating shaft 12 of the motor 11 and the ball nut 10 are rotated. Fixed pulley 14
is interlocked with the ball nut 1 via the belt 15.
0 is set to rotate. ball nut 1
0 is screwed with a vertically extending ball screw 16, and an elevating plate 17 is fixed to the lower end of the ball screw 16.
The lifting plate 17 has columns 18, 18 and a mounting plate 19.
The rotating unit 20 is suspended so as to be vertically displaceable, and appropriate articles can be suspended from the rotating shaft 21 protruding from the lower end of the rotating unit 20 via the hanging frame 22 as necessary. ing. As shown in FIG. 4, an air cylinder 23 is also vertically attached to the table 1, and guide shafts 24, 24 extending parallel to the air cylinder 23 are attached so as to be movable up and down. The protruding piston rod 25 and the lower ends of the guide shafts 24, 24 are fixed to the elevating plate 17, so that the ball screw 16 and the air cylinder 23 are parallel to each other, and the ball screw 16 and the piston rod 25 are connected via the elevating plate 17. combined into one,
As a result, the ball screw 16 is held unrotatable and is moved up and down by the rotation of the ball nut 10. The air cylinder 23 moves at least the elevating part (i.e., the ball screw 16, the elevating plate 17, the support column 1) by the air pressure sent into the cylinder.
8, 18, mounting plate 19, rotation unit 20, guide shafts 24, 24, etc.), and the air pressure can be changed according to the weight of the article to be suspended. That is, as shown in FIG. 6, the air cylinder 23 is connected to the output port of a pilot type relief regulator 28 whose input port is connected to a compressed air source 26 via a pressure adjustment unit 27. The pilot pressure port 29 of the regulator 28 includes a low pressure pilot regulator 30, a medium pressure pilot regulator 31, to which compressed air is applied from the compressed air source 26 via the pressure adjustment unit 27.
The pilot regulator 32 for high pressure is connected via the electromagnetic valve 33 for switching between low and medium pressures and the electromagnetic valve 34 for switching between medium and high pressures, thereby selectively switching the electromagnetic valves 33 and 34. The air pressure supplied to the air cylinder 23 can be switched to one of low pressure, medium pressure, and high pressure. When the air pressure supplied to the air cylinder 23 is low, the air cylinder 23 maintains a balance only with the weight of the lifting section, and when the air pressure is medium pressure, the air cylinder 23 maintains a balance with the weight of the lifting section. The air cylinder 23 maintains a balance with the weight of the relatively light object plus a predetermined weight, and when the air pressure is high, the air cylinder 23 maintains a balance with the weight of the lifting section plus the predetermined weight of a relatively heavy object. I'm doing it.

In the above-mentioned hanging device, if the solenoid valves 33 and 34 are set to the illustrated positions and the air pressure in the air cylinder 23 is kept at a low pressure controlled by the low pressure pilot regulator 30, the air cylinder 23 In order to maintain the balance, substantially no downward force is applied to the ball screw 16, so that the motor 11
is servo-locked with a small current to keep the ball screw 16 stationary at a desired height. The motor 11 is driven, the ball nut 10 is rotated, the ball screw 16 is lowered to a predetermined height, and the motor 1
1 is stopped and the rotating shaft 21 or hanging frame 22 holds the article, if the article is relatively light, leave the electromagnetic valves 33 and 34 at the positions shown in the figure, and if the article is inside. If the item is of a certain weight, manually switch the solenoid valve 33 to the opposite position from that shown in the figure to set the air pressure in the air cylinder 23 to medium pressure controlled by the medium pressure pilot regulator 31, and If the item is relatively heavy, manually switch the solenoid valves 33 and 34 to the opposite position from that shown in the figure to bring the air pressure in the air cylinder 23 to the high pressure controlled by the high pressure pilot regulator 32, and then 11 to rotate the ball nut 10 in the opposite direction. Then, only the weight remaining after subtracting the weight balanced by the air cylinder 23 from the weight of the suspended article is loaded on the ball screw 16, and therefore the motor 11 can raise the lifting section and the article with a small capacity. When the ball screw 16 is raised to a predetermined height, the drive of the motor 11 is stopped.
Then, the servo lock of the motor 11 itself reliably holds the lifting section including the article at a predetermined height.
By driving the motor 5 in this state, the article can be conveyed along the table 1 to a desired position along the rails 2, 2. When the desired position is reached, the drive of the motor 5 is stopped, while the motor 11 is driven to rotate the ball nut 10 to tighten the ball screw 16.
is lowered to a predetermined height, the drive of the motor 11 is stopped, and the article is lowered from the rotating shaft 21 or the hanging frame 22. Then, the electromagnetic valves 33, 3 are manually operated.
4 to the illustrated position to bring the air pressure in the air cylinder 23 to a low pressure controlled by the low pressure pilot regulator 30, and then drive the motor 11 to rotate the ball nut 10 in the opposite direction. Then, the ball screw 16 rises without any downward force being applied to it, and when the ball screw 16 rises to a predetermined height, the drive of the motor 11 is stopped, and the elevating section is balanced by the air cylinder 23 and remains at that height. Therefore, in this state, the motor 5 is driven to convey it to the original position. By rotating the rotating unit 20 when the rotating shaft 21 or the hanging frame 22 is holding or lowering the article, the article can be held at a predetermined angle no matter what angle it is at. , can be lowered at a desired angle, and when the rotating unit 20 receives an upward force, it is displaced upwardly with respect to the lifting plate 17 together with the columns 18, 18, thereby giving an impact to the article (for example, a cathode ray tube). It can be held without any problems and can be taken down.

In the above embodiment, the ball nut 10 is rotated by the drive of the servo motor 11, and the ball screw 1 is rotated by the drive of the servo motor 11.
Although the ball screw 16 and ball nut 10 may be replaced with a rack and pinion, the ball screw 3 and ball nut 4 may be similarly replaced with a rack and pinion. Also, in the above embodiment, the pressure applied to the pilot pressure port 29 of the pilot type relief regulator 28 was set to three levels: low pressure, medium pressure, and high pressure, but the pressure is not limited to this.
It goes without saying that the present invention can be modified in various ways to the above-described embodiments.

[Effects of the Invention] Since the present invention is configured as described above, the air pressure of the air cylinder can be set to an air pressure that maintains a balance with at least a part of the weight of the suspended article in addition to the own weight of the lifting section. Therefore, the capacity of the motor can be kept small, as it is sufficient to lift and lower the weight of the suspended item minus the weight balanced by the air cylinder, and the capacity is not wasted. Therefore, since the capacity of the motor is small, the moment of inertia is reduced, and high-speed response control can be realized.

[Brief explanation of the drawing]

FIG. 1 is a plan view showing an embodiment of the present invention, FIG. 2 is a longitudinal sectional front view taken along the line - in FIG. 1, FIG. 3 is a longitudinal sectional side view taken along the line - in FIG. 4 is a longitudinal sectional side view taken along the - line in FIG. 1, FIG. 5 is a longitudinal sectional side view taken along the - line in FIG. 1, and FIG. 6 is an air system diagram of the air cylinder. 1...Table, 2...Rail, 3...Ball screw,
4... Ball nut, 5... Servo motor, 6... Rotating shaft, 7, 8... Pulley, 9... Belt, 10... Ball nut, 11... Servo motor, 12... Rotating shaft, 1
3, 14... Pulley, 15... Belt, 16... Ball screw, 17... Elevating plate, 18... Support column, 19... Mounting plate, 20... Rotating unit, 21... Rotating shaft, 22...
Hanging frame, 23...air cylinder, 24...guide shaft,
25... Piston rod, 26... Compressed air source, 27
...Pressure adjustment unit, 28...Pilot type relief regulator, 29...Pilot pressure port, 3
0... Pilot regulator for low pressure, 31... Pilot regulator for medium pressure, 32... Pilot regulator for high pressure, 33... Solenoid valve for low and medium pressure switching, 34... Solenoid valve for medium and high pressure switching.

Claims (1)

[Scope of Claims] 1. A device for suspending an article from an elevating part that is raised and lowered relative to a frame by driving a motor, which uses air pressure to balance at least the own weight of the elevating part and according to the weight of the article to be suspended. A hanging device comprising an air cylinder whose air pressure can be switched. 2. The hanging device according to claim 1, wherein the elevating part includes a ball screw that is screwed into a ball nut rotatably provided on the frame and is moved up and down by the rotation of the ball nut. 3. The suspension device according to claim 2, wherein the air cylinder is arranged parallel to the ball screw. 4. The suspension device according to claim 2, wherein the air cylinder is attached to the frame, and the piston rod is integrally connected to the ball screw.