阅读说明：本技术 具有自动张紧功能的卷扬机装置 (Winch device with automatic tensioning function ) 是由 浦上不可止 于 2018-11-04 设计创作，主要内容包括：提供一种利用滑轮和位置传感器执行自动实施卷扬、放下和停止这三个动作,因此容易使通用的卷扬机装置具有自动张紧功能,并且廉价且交货时间短的的卷扬机。本发明的卷扬机装置具有两个悬挂有绳索的滑轮,其构成为能够根据绳索的张力来改变滑轮彼此之间的距离,张力增大时滑轮彼此之间的距离变小,位移传感器执行动作,卷扬机转变为放下动作,且通过无杆气缸的力的作用使得滑轮之间的距离增大；张力变小时滑轮彼此之间的距离增大,另一个位置传感器执行动作,由此卷扬机转变为卷扬动作,滑轮彼此之间的距离变小,通过因2个位置传感器的动作从而反复进行以上的绳索回退动作和绳索牵拉动作,从而将绳索的张力控制在一定的张力状态。(A hoist is provided which is inexpensive and has a short delivery time, and in which a general-purpose hoist device is easily provided with an automatic tension function by automatically performing three operations of hoisting, lowering, and stopping by using a sheave and a position sensor. The winch device comprises two pulleys with a suspended rope, and is configured to change the distance between the pulleys according to the tension of the rope, the distance between the pulleys is reduced when the tension is increased, a displacement sensor executes action, the winch is converted into a lowering action, and the distance between the pulleys is increased by the action of the force of a rodless cylinder; when the tension is reduced, the distance between the pulleys is increased, and the other position sensor operates, so that the winch is converted into a winding operation, the distance between the pulleys is reduced, and the rope retracting operation and the rope pulling operation are repeated by the operation of the 2 position sensors, so that the tension of the rope is controlled to be in a constant tension state.)

1. A hoist device having an automatic tension function, characterized by comprising:

a hoist main body having functions of performing a rope pulling operation, a rope retracting operation, and a rope stopping operation;

at least two pulleys on which the rope is suspended, the pulleys being disposed between an object to be pulled, which is pulled by the hoist main body through the rope, and the hoist main body;

a pulley holding mechanism that holds the pulleys and is capable of changing a distance between the pulleys;

an actuator, a spring, or a weight, which is disposed between the pulleys and has a force that displaces the distance between the pulleys in a direction in which the distance increases;

a rope suspended from the pulleys so that, when tension of the rope increases, a distance between the pulleys decreases due to the increase in the tension; and

a displacement sensor that detects a change in the distance between the pulleys, including at least one of a position sensor that detects a change in the distance between the pulleys and a load sensor that detects a change in the distance between the pulleys as a change in load,

when the tension of the rope is increased, the distance between the pulleys is reduced due to the increase of the tension, the displacement sensor executes an action, the winch main body retreats the rope when the action is taken as a trigger, the distance between the pulleys is increased due to the retreating action of the rope,

on the other hand, when the tension of the rope is small, the distance between the pulleys is increased due to the reduction of the tension, the displacement sensor performs an operation, the rope is pulled by the winch main body when the operation is triggered, the distance between the pulleys is reduced due to the pulling operation of the rope,

the above-described rope retracting operation and rope pulling operation are repeated by the operation of the displacement sensor, whereby the tension of the rope is controlled to a constant tension.

2. A hoist device having an automatic tension function, characterized by comprising:

a hoist main body having functions of pulling a rope, retracting the rope, and stopping the rope;

at least two pulleys on which the rope is suspended, the pulleys being disposed between an object to be pulled, which is pulled by the hoist main body through the rope, and the hoist main body;

a pulley holding mechanism that holds the pulley;

a rope suspended from the pulleys so that a force with which the pulleys press against each other increases when a tension of the rope increases; and

a load sensor that detects a change in force with which the pulleys are pressed against each other,

when the tension of the rope increases, the load sensor is operated due to the increase of the tension, the winch main body retracts the rope when the operation is triggered, the force pressing the pulleys against each other is reduced due to the rope retracting operation,

on the other hand, when the tension of the rope becomes small, the load sensor operates due to the reduction of the tension, and when the operation is performed, the hoisting machine body pulls the rope, and the force pressing the pulleys against each other increases due to the rope pulling operation,

the above-described rope retracting operation and rope pulling operation are repeated by the operation of the load sensor, whereby the tension of the rope is controlled to a constant tension.

Technical Field

The present invention relates to a hoisting device in which a drum is rotated to wind a rope such as a wire rope around the drum or to retract the rope from the drum, or a hoisting device called an endless rope type hoisting machine (hereinafter, the hoisting device is referred to as a hoisting machine main body) in which the rope such as a wire rope is not wound around the drum or retracted from the drum but is pulled or retracted by frictional force by gripping the rope with a hook, and the hoisting device has a function of automatically adjusting the tension of the rope so that the rope is not excessively loosened but is not excessively tightened when the hoisting machine main body is operated, that is, a hoisting device having an automatic tightening function.

Background

As a hoisting machine device having an automatic tensioning function, a device described in japanese patent laid-open publication No. hei 5-8768 can be cited as an example.

The hoist device having an automatic tensioning function described in japanese patent laid-open No. 5-8768 is a device that is used for the purpose of cleaning a wall surface of a structure such as a building wall or peeling off deteriorated paint or the like, that is attracted to the wall surface by negative pressure and can automatically move along the wall surface, and that supplements and fulfills the function of a "wall peeling robot".

Japanese patent laying-open No. 5-8768 discloses an example of an application of a hoisting machine device having an automatic tensioning function in the wall detachable robot as follows.

The wall-peeling robot is suspended by a pair of automatic tensioning winches 50 and 50.

If the tension of the pair of automatic tensioning winches 50, 50 is set to such a degree that the wire 51 is not loosened and does not obstruct the movement of the robot main body 1, the tension of the pair of automatic tensioning winches 50, 50 acts to support all or a part of the weight of the robot main body 1.

The automatic tensioning winches 50 and 50 have a predetermined tensioning force (in the example, the tensioning force is 15 to 20Kgf when the weight of the robot body 1 is 290 Kgf), and are always in a state in which the wire 51 can be wound (when energized). The two automatic tensioning winches 50 and 50 are provided at an appropriate interval, the robot main body 1 is suspended between the two automatic tensioning winches 50 and 50, the wires 51 and 51 are guided by pulleys 52 and 52 disposed on the roof side to be folded back, and the tip ends of the wires are connected to the suspension metal members 3 and 3 fixed to the main body 10.

The automatic tensioning winches 50 and 50 suspend the robot body 1, and the main purpose of the automatic tensioning winches 50 and 50 is not to actively move the robot body 1 along the wall surface W, but to reduce the burden of the suction force of the suction ring 3 described later by supporting a part or all of the weight of the robot body 1, and therefore, the tension thereof is set to such a degree that the wires 51 and 51 are not loosened and the robot body 1 is not actively pulled up.

Further, the automatic tensioning winches 50 and 50 are intended to prevent the robot body 1 from falling down due to insufficient suction force of the robot body 1 to the wall surface W in the event of a power failure or the like, and the tensioning force is set to a value that is small enough to support the weight of the robot body 1 as described above in the present embodiment, and are mainly used for the above purpose. "

In the hoisting machine device having the automatic tensioning function described in japanese patent laid-open No. 5-8768, it is extremely difficult to modify a general-purpose hoisting machine device and convert it to the hoisting machine device having the automatic tensioning function. That is, the hoist apparatus having the automatic tensioning function described in japanese patent laid-open No. 5-8768 requires special design and special manufacture, and therefore, is extremely expensive and requires a long time for delivery.

Therefore, the present inventors have proposed a winch device having an automatic tensioning function, which is inexpensive and has a short delivery time, by automatically performing three operations of winding, lowering, and stopping by using a displacement sensor, and by simply adding the automatic tensioning function to a general-purpose winch device, in japanese patent laid-open No. 2009-173391.

An outline of the hoist device having the automatic tensioning function described in japanese patent laid-open No. 2009-173391 is as follows.

"providing a device comprised of at least:

a hoist body including a rotating drum for winding a rope such as a wire rope and an actuator for rotationally driving the rotating drum; a rotating shaft capable of swinging the winch main body on a plane intersecting with the rotating shaft of the rotating drum; and a displacement sensor for detecting a threshold value of the swing displacement of the hoist main body.

In addition, a device is provided which is configured as follows:

when the threshold value of the swing displacement is not detected by the displacement sensor because the winch main body does not swing due to the small tension of the rope, the rotating drum winds the rope, the winch main body swings when the tension of the rope is increased, and the rotation of the rotating drum stops when the displacement sensor detects the threshold value of the swing displacement,

the winch main body swings due to the increase of the tension of the rope, the displacement sensor detects the threshold value of the swing displacement, the rotating drum retracts the rope, the winch main body swings reversely when the tension of the rope is reduced, and the rotation of the rotating drum stops as soon as the displacement sensor detects the threshold value of the swing displacement.

Further, there is provided an apparatus including an actuator such as a coil spring, a clockwork spring, or a rotary actuator for suppressing the winch main body from swinging or rotating in the same direction as the direction in which the circumferential portion of the rotary drum is rotated by the tension of the rope.

In addition, a device is provided, which is configured as follows:

the disclosed device is provided with: a 1 st displacement sensor for detecting a small swing displacement of the hoist main body, and a 2 nd displacement sensor for detecting a large swing displacement of the hoist main body,

when the 1 st displacement sensor does not detect the threshold value of the swinging displacement because the tension of the rope is small, the rotating drum winds the rope, the tension of the rope is increased, the winch body swings at the moment, and the 1 st displacement sensor detects the threshold value of the swinging displacement, the rotation of the rotating drum is stopped,

when the tension of the rope is further increased, the winch main body further swings, so that the 2 nd displacement sensor detects the threshold value of the swing displacement, the rotating drum retracts the rope, the winch main body reversely swings when the tension of the rope is reduced, and the 1 st displacement sensor stops the rotation of the rotating drum when detecting the threshold value of the swing displacement,

when the tension of the rope is further reduced, the hoisting machine main body swings further in the reverse direction by the force of the actuator such as the spring, and when the state reaches a threshold value at which the 1 st displacement sensor does not detect the swing displacement, the rotating drum starts winding the rope again.

The axis of the rotating shaft that can swing the hoist main body on the plane intersecting the rotating shaft of the rotating drum is substantially the same as the center of gravity of the hoist main body on the plane orthogonal to the plane intersecting the rotating shaft of the rotating drum. "

Patent document 1: japanese patent laid-open No. Hei 5-8768

Patent document 2: japanese patent laid-open publication No. 2009-173391

Disclosure of Invention

Technical problem to be solved by the invention

The hoist device having the automatic tensioning function described in japanese patent laid-open No. 2009-173391 described above converts a change in the tension of the rope into a change in the angle at which the hoist main body swings, and performs winding or rewinding of the rope by the hoist main body by the operation of the displacement sensor due to the change in the angle, thereby realizing the automatic tensioning function.

However, in the hoist apparatus having the automatic tensioning function described in japanese patent laid-open No. 2009-173391, there are technical problems to be solved as follows:

the technical problem to be solved in claim 1 is that although the winch main body swings due to a change in the tension of the rope, since it is difficult to increase the swing angle, the frequency of the operation performed by the displacement sensor increases, and therefore, the winding operation and the retraction operation of the winch main body are frequently repeated, and thus, when the electric motor with a brake is used for the winch main body, the brake wear may be increased.

In view of the above, the present invention provides a winding machine device with an automatic tensioning function, in which the frequency of the motion performed by the displacement sensor is reduced.

The problem to be solved in claim 2 is that since a mechanism for swinging the heavy winch main body is required, the size of the winch main body becomes large and heavy, and then it is difficult to save space in the installation place of the winch main body and to reduce the weight.

In contrast, the present invention provides a hoist device having an automatic tension function, which does not require a mechanism for swinging a hoist main body, and which can easily save space in a place where the hoist main body is installed, and can easily achieve weight reduction.

In addition, the present invention provides a hoist apparatus having an automatic tension function, in which a mechanism for realizing the automatic tension function can be installed in a place far from a hoist main body, so that space saving in the place where the hoist main body is installed and weight reduction can be more easily achieved.

Means for solving the problems

Hereinafter, a method for solving the above problem will be described.

In order to solve the above technical problem, the present invention provides a hoist apparatus having an automatic tensioning function, wherein the hoist apparatus is composed of:

a hoist main body having functions of performing a rope pulling operation, a rope retracting operation, and a rope stopping operation;

at least two pulleys on which the rope is suspended, the pulleys being disposed between an object to be pulled, which is pulled by the hoist main body through the rope, and the hoist main body;

a pulley holding mechanism that holds the pulleys and is capable of changing a distance between the pulleys;

an actuator, a spring, or a weight, which is disposed between the pulleys and has a force that displaces the distance between the pulleys in a direction in which the distance increases;

a rope suspended from the pulleys so that, when tension of the rope increases, a distance between the pulleys decreases due to the increase in the tension; and

a displacement sensor that detects a change in the distance between the pulleys, the displacement sensor including at least one of a position sensor that detects a change in the distance between the pulleys and a load sensor that detects a change in the distance between the pulleys as a change in load,

when the tension of the rope increases, the distance between the pulleys decreases due to the increase of the tension, the displacement sensor performs an operation, the winch main body retracts the rope when the operation is triggered, the distance between the pulleys increases due to the retraction operation of the rope,

when the tension of the rope is reduced, the distance between the pulleys is increased due to the reduction of the tension, the displacement sensor performs an operation, the rope is pulled by the winch main body when the operation is triggered, the distance between the pulleys is reduced due to the pulling operation of the rope,

the above-described retracting operation of the rope and the pulling operation of the rope are repeated by the operation of the displacement sensor, whereby the tension of the rope is controlled to a constant tension.

Further, as another means for solving the above-mentioned problems, the present invention provides a hoist device having an automatic tensioning function, comprising:

a hoist main body having functions of pulling a rope, retracting the rope, and stopping the rope;

at least two pulleys on which the rope is suspended, the pulleys being disposed between an object to be pulled, which is pulled by the hoist main body through the rope, and the hoist main body;

a pulley holding mechanism that holds the pulley;

a rope suspended from the pulleys so that when tension of the rope is increased, the magnitude of a force with which the pulleys press against each other is increased; and

a load sensor that detects a change in the magnitude of a force with which the pulleys are pressed against each other,

the hoisting machine main body retracts the rope when the tension of the rope increases and the load sensor operates due to the increase of the tension, and the force pressing the pulleys against each other is reduced due to the operation of retracting the rope,

on the other hand, when the tension of the rope becomes small, the load sensor is operated due to the reduction of the tension, and when the operation is performed, the hoisting machine body pulls the rope, and the force pressing the pulleys against each other is increased due to the rope pulling operation,

the above-described retracting operation of the rope and the pulling operation of the rope are repeated by the operation of the load sensor, whereby the tension of the rope is controlled to a constant tension.

ADVANTAGEOUS EFFECTS OF INVENTION

The invention can realize the following effects:

1, in the hoist apparatus having the automatic tensioning function described in japanese patent laid-open No. 2009-173391, since the frequency of the operation performed by the displacement sensor is large, the winding operation and the retracting operation of the hoist main body are frequently repeated, but in the present invention, a hoist apparatus having an automatic tensioning function with less frequency of the operation performed by the displacement sensor can be realized.

2, in the hoist apparatus having the automatic tension function described in japanese patent laid-open No. 2009-173391, since a mechanism for swinging the heavy hoist main body is required, the size of the hoist main body becomes large and heavy, and it is difficult to achieve space saving and weight reduction of the installation place of the hoist main body, but in the present invention, a mechanism for swinging the hoist main body is not required, and therefore, it is possible to achieve a hoist apparatus having an automatic tension function, which can easily achieve space saving and weight reduction of the installation place of the hoist main body.

In addition, in the present invention, since the mechanism for realizing the automatic tightening function can be installed at a place far from the hoist main body, a hoist apparatus having the automatic tightening function, which can more easily realize space saving and weight reduction of the installation place of the hoist main body, is realized.

Drawings

Fig. 1 is an overall view showing the structure of a device according to a 1 st preferred embodiment of the device constructed according to the present invention.

Fig. 2 is a plan view showing the hoist main body, the sheave holding mechanism, and the wire rope according to the 1 st preferred embodiment of the apparatus constructed according to the present invention.

Fig. 3 is a right side view of the device shown in fig. 1.

Fig. 4 is a left side view of the device shown in fig. 1.

Fig. 5 is a partial cross-sectional view of the device shown in fig. 2, taken along the line a-a.

Fig. 6 is a partial cross-sectional view of the device shown in fig. 2, taken in the direction of the arrows B-B.

Fig. 7 is a partial cross-sectional view of the device shown in fig. 3, taken in the direction of the arrows C-C.

Fig. 8 is a partial cross-sectional view showing another aspect of the 1 st preferred embodiment of the present invention, in which 2 weights 8 are arranged instead of 2 rodless cylinders 6 in the apparatus shown in fig. 6.

Fig. 9 is a partial cross-sectional view showing a part of the apparatus according to the 2 nd preferred embodiment of the present invention, in which 2 load sensors 9 are arranged instead of 2 rodless cylinders 6 in the apparatus shown in fig. 6.

Fig. 10 is an overall view showing the structure of the apparatus of the 2 nd preferred embodiment of the apparatus constructed according to the present invention.

Description of the reference numerals

Hoist body 1

Table plate 101

Wire rope 2

Pulley holding mechanism 3

Pulley holding mechanism frame 301

Upper pulley 4

Upper pulley sliding bearing 401

Upper sheave axle 402

Lower pulley 5

Lower pulley sliding bearing 501

Lower pulley axle 502

Lower pulley shaft holding plate 503 (rodless cylinder driving part connecting plate)

Rodless cylinder 504

Longitudinal sliding guide rail 6 of lower pulley shaft

Displacement sensor 7

Weight 8

Load cell 9 (load cell)

Pulley 10

Wall surface 11

Device 12 attached to and moving along a wall

Cylindrical cylinder 13 with piston rod

Detailed Description

Preferred embodiments of the apparatus according to the present invention will be described below with reference to the accompanying drawings.