JPH0687600A - Load balancer - Google Patents

Abstract

(57) [Summary] (Correction) [Purpose] To provide an easy-to-use load balancer including an operating mechanism that stores a load weight and enables operation in a balance mode in which the load weight is used as a target. [Structure] The load detector 1 detects a load (W) when a signal from a commander is within a certain range by an operator's operation.
When 0 is detected and the target weight is stored in the weight storage unit, the subsequent operation is in the equilibrium mode. When the worker applies a force F to the load, the load detector 10 detects the load (W + F), and the calculation unit loads the load. The difference between (W + F) and the weight (W) is calculated to obtain the force F applied by the operator. By using the obtained value as the drive command, the lifting mechanism 1 performs the lifting operation at a speed corresponding to the operating force F. At this time, the hanging device 7 that suspends the load
When a worker holds the operation ring 9 and applies a force (F1), the load detector 10 detects a load of (W + F1). Therefore, the elevating mechanism 1 elevates and lowers the force (F1) applied by the worker. It operates as a lift command for the mechanism 1.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a load balancing device such as a hoist type or parallelogram link type, and more particularly to improvement of operation in a balanced state.

[0002]

2. Description of the Related Art As a method of operating a load balancing device of this type, for example, Japanese Patent Laid-Open No. 50-85060 (operating device for a balancing carrier) and Shokai 48-48356 (operating control unit for a weightless arm crane). Etc., and a commonly used operation method will be described with reference to FIGS. 7 to 9.

First, the operation method of Japanese Unexamined Patent Publication No. 50-85060 (operating device for a balanced carrier) is as follows. Electric motor·
For luggage hung by a drive source consisting of air pressure and hydraulic pressure,
In a balanced transporter that gives a driving force (lifting force) according to the weight of luggage, a mounting tool is provided so as to surround the outer circumference of the cargo to be normally suspended, and a part of this mounting tool It is an operating device for a balanced transporter, which is equipped with an operating unit for controlling ascent / descent and speed. Further, the attachment of the operating device is attached to the luggage support so as to be freely rotatable.

Further, the operation method of the actual open shaft 48-48356 (weightless arm crane operation control section) is as follows. A parallelogram link mechanism is formed by the link arms, and a suspension gripping part for the load is provided at one of the arm extension ends, and the other link part is made by a potentiometer inside the arm crane linked to the drive source of the electric motor. The upper side of the casing having the control device is pivotally attached to the lower end of the extension arm, and a hanging grip portion for a load such as a hook or a grip is provided on the lower side, and the potentiometer and the electric motor are provided in the swivel portion. It is an operation control unit of a weightless arm crane, which is electrically connected through a provided slip ring and is provided with an operation bar of a potentiometer from a side surface of the housing such that a handle thereof is parallel to a side surface of the housing.

Further, a conventional example will be described with reference to FIG. 7 as to a method of operating a general load lifting device of this type. In a lifting device that uses an electric motor and a drive source, a speed commander including a potentiometer that operates in conjunction with an operating lever 13 is provided in an operating box 11 provided at the tip of an elevating mechanism 1 including a parallel link. Is operated to give a lift command to the control section of the lift mechanism, and the operation lever 13
The elevator mechanism 1 is moved up and down in accordance with the operation (1) to lift the luggage.

Further, as shown in FIGS. 8 and 9, in an elevating device using air pressure, hydraulic pressure or the like as a drive source, a control box 34 is provided at the tip of the elevating mechanism 1 and the flow rate is controlled in the control box. The control valve 35 is installed. The operation lever 36 of the lifting mechanism 1 is provided on the lower surface or side surface of the control box so as to surround the operation box, and the side opposite to the operation side of the operation lever 36 is the fulcrum 3
7 is supported and fixed, and the operation side of the operation lever 36 and the fulcrum 3
By providing a cylinder 38 that connects the control valve 35 near the middle of 7 and moves up and down to the output side of the control valve 35, when the operating lever 36 is operated up and down, the control valve 35
When the operation amount of the operation lever 36 is small, the movement amount of the control valve 35 is small and the flow rate is small, so that the cylinder 38 operates at low speed and the lifting mechanism 1 operates at low speed. Further, when the operation amount of the operation lever 36 is large, the flow rate increases, so that the lifting mechanism 1 driven by the cylinder 38 operates at high speed.

As described above, there are many conventional operating methods of the lifting device, such as an operating lever system and a system in which an operating cylinder operating lever is attached, but all of them are a method of raising and lowering using the operating lever.

[0008]

In the prior art, the operating lever of the lifting mechanism is used only to lift and lower the suspended load, and stores the weight of the suspended load.
After that, it is not used in the equilibrium mode state in which the load weight operates as a target.

Therefore, in a load balancing apparatus which operates in a balanced mode in which the load weight is stored and the load weight is used as a target, it is preferable to apply a force to the suspended load and raise or lower it in proportion to the force. However, if the load is extremely dirty or hot, the operator cannot directly apply force to the load to raise or lower it, and the operating lever is used, so even if you want to perform delicate operation in the equilibrium mode I have no choice but to operate the lever. When the load is extremely dirty or hot as described above, it is actually impossible to operate in the equilibrium mode state, and all operations are performed by the operation lever.

The present invention has been made in order to solve such a problem. Even when the load suspended by the lifting mechanism is very dirty or hot, the load weight is stored and operation is performed with this stored weight as a target. (EN) Provided is an easy-to-handle load balancing device that realizes an operating method including an operating mechanism that enables operation in a balanced mode.

[0011]

In order to achieve the above-mentioned object, a load balancing apparatus according to the present invention comprises a load lifting mechanism for lifting a load, a drive mechanism for driving this lifting mechanism, and an operator A commander that commands the speed, a speed detector that detects the speed of the lifting mechanism, a position detector that detects the position of the lifting mechanism, a load detector that detects the weight of the load, and a signal from this load detector. Is stored as the weight of the load, and a computing unit that computes each of the signals controls the lifting operation of the lifting mechanism, and the load detector that detects the loaded weight is a worker other than a suspender that suspends the load. A working ring will be provided.

[0012]

[Operation] The load detector detects the load when the signal from the commander by the operator's operation falls within a certain range (when the operator's operation disappears), and the target weight is stored in the weight storage unit. Remember. Load weight suspended in the weight storage (W)
When the operator applies a force F to the load, the subsequent operation becomes the equilibrium mode.
+ F) is detected, the difference between the load (W + F) and the weight (W) is calculated by the calculation unit, and the force F applied by the operator is obtained. By using the obtained value as the drive command for the lifting mechanism, the lifting mechanism performs the lifting operation at a speed corresponding to the operating force F. At this time, when the operator applies a force (F1) by holding the operation ring attached to the load detector together with the hanging device that suspends the load, the load detector detects a load of (W + F1). Therefore, the lifting mechanism operates with the force (F1) applied by the operator as a lifting command to the lifting mechanism.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described with reference to an embodiment shown in FIGS.

A parallel link type lifting mechanism 1 is attached to a fixed pole 3 via a swivel mechanism 2 and is used to drive a lifting motor 4.
The gear mechanism 5 is driven to move up and down, and a lifting tool 7 is provided at the tip to hang the load 6. Further, an operating handle 9 is also attached to the lifting tool mounting portion 8 to which the lifting tool 7 is mounted.
Via the load detector 10 that detects the weight W of the operation box 11
Install on. Further, the operation box 11 is provided with an operation lever 13 of a speed command device 12 for instructing the ascending / descending speed of the elevating mechanism 1.

The speed command signal S from the speed commander 12 of the operation box 11 is pulse-converted by the V / F converter 15 of the calculator 14 and input to the target counter 17 through the mode selector 16 to the lifting mechanism 1. Position calculation unit 18 as the target position
Entered in.

The load 6 weight W detected by the load detector 10 is input as a load signal WA to the A / D converter 19, where it is digitally converted and output as a load signal WB to the weight storage 20 and the deviation detector 21. . Here, the weight storage unit 20 receives the weight storage signal M from the position calculation unit 18, stores the load signal WB indicating the current weight W, and outputs it to the deviation detection unit 21 as the target weight signal WC.

The deviation detection unit 21 receives the load signal WB from the A / D conversion unit 19 and the target weight signal WC from the weight storage unit 20.
And the deviation signal WR, which is the calculation result, is pulse-converted by the pulse converter 22, and then the mode selector 1
Output to 6.

The elevating mechanism 1 is attached to the motor 4 for elevating and lowering.
A speed detector 23 is provided to detect the speed of 1 and the speed detection signal SF is fed back to the drive device 24, so that the lifting mechanism 1 operates at a speed synchronized with the lifting command X from the calculation unit 14. Further, a position detector 25 is provided for detecting the position of the lifting mechanism 1, and the position detection signal XF is input to the current counter 26 of the calculation unit 14 and is input to the position calculation unit 18 as the current position of the lifting mechanism 1.

The position calculation unit 18 calculates the deviation between the target position from the target counter 17 and the current position from the current counter 26, and after performing the calculation for raising and lowering the lifting mechanism 1,
The calculation result is converted into an analog signal by the D / A converter 27 and is output to the drive device 24 as a lift command X, whereby the lift mechanism 1 is driven up and down. Next, the operation of the balanced load device according to the present invention will be described.

The balance load device has two operation modes, a position mode in which a load lever 6 operates based on a command from the operating lever 13 and a load balance mode in which a suspended load weight is a target, and the weight W of the load 6 is stored in the weight storage unit 20. It operates in the position mode until it is stored.

In the position mode, the mode selection unit 15
Is selected to the position mode side, and the speed command signal S from the speed command device 12 by the operator operating the operation lever 13 is pulse-converted by the V / F converter 15 and input to the target counter 17 of the position calculator 14. To be done. As a result, the value of the target counter 17 continuously changes with the operation amount of the operation lever 13.

At this time, the current counter 26 of the arithmetic unit 14 counts the position detection signal XF from the position detector 25,
The current position of the lifting mechanism 1 is given to the position calculation unit 18, and the position calculation unit 18 constantly compares the value of the current counter 26 with the value of the target counter 17 to calculate the deviation between the target position of the lifting mechanism 1 and the current position. Then, the deviation mechanism 1 is added to this deviation.
Performs an operation for improving the operation characteristic when performing the up-and-down operation, converts the result into an analog signal by the D / A conversion unit 27, and sends the up-and-down command signal X to the drive unit 24 of the motor 4.
Output as.

The lift command signal X is input as a drive signal to the drive device 24 of the motor 4 for driving the lift mechanism 1 up and down, and the lift mechanism 1 is lifted and lowered by the rotation of the motor 4 and hung on the suspender 7. The load 6 moves up and down according to the operation amount of the operation lever 13. At this time, the speed detection signal SF from the speed detector 23 of the lifting mechanism 1 is fed back to the driving device 24, and the lifting mechanism 1 carries out the lifting operation at a speed proportional to the lifting command signal X.

At this time, the position calculation unit 18 of the calculation unit 14 first determines that the change in the speed command signal S from the speed command unit 12 has become small, and then the difference between the target counter 17 and the current counter 26 becomes small. It is determined that the operation of the lifting mechanism 1 has almost stopped by determining that the weight storage unit 20
To the memory signal M.

When the weight storage unit 20 stores the load weight W, the operation mode shifts from the position mode to the load balancing mode, and the mode selecting unit 16 switches to the load balancing mode side.
The deviation between the load weight WB from the load detector 10 and the stored memory weight WC with the memory weight WC stored in the weight memory 20 as a target is taken by the deviation memory detector 21, and the resulting deviation signal WR is obtained. After the pulse conversion is performed by the pulse conversion unit 22, the lifting / lowering mechanism 1 is switched to the operation in the load balancing mode by outputting to the mode selection unit 16.

In the load balancing mode, since the lifting mechanism 1 operates with the weight W of the load 6 suspended on the lifting tool 7 as a target, when an operator applies a force F in the ascending or descending direction,
The load detection signal WA from the load detector 10 increases or decreases, and a deviation corresponding to the force F applied by the operator is generated between the memory weight WB and the load weight WB, and the deviation detecting unit 21 calculates the deviation. By performing pulse conversion in the post-pulse conversion unit 22 and outputting to the target counter 17 via the mode selection unit 16,
The target counter 17 of the calculation unit 14 continuously changes the target position according to the magnitude of the deviation between the stored weight WC and the load weight WB. As a result, the position calculation unit 18 works to output the lift command signal X to the lift drive unit 24 of the lift mechanism 1, and the lift mechanism 1 moves in the direction in which the worker applies the force F. .

The speed of this moving position change is based on the force F applied by the worker, and the calculation unit 14 performs a calculation corresponding to the position change on the force F applied by the worker, and the lifting mechanism 1
After performing a calculation for improving the lifting motion of the robot, by multiplying it by a constant gain constant, the speed of the position movement of the lifting mechanism 1 becomes a motion proportional to the magnitude of the force F applied by the worker, and the worker Small force F irrespective of the weight W of the suspended load 6
The load 6 can be moved up and down with.

At this time, when the worker applies the force F1 by holding the operation handle 9 attached to the hanger attachment portion 8 instead of carrying out the lifting operation with the load 6, the force F1 applied to the operation handle 9 is the load. The weight is added to the weight W of the load 6 and detected by the detector 10. In other words, it is possible to perform the lifting operation by holding the operation handle 9 in the same manner as a conventional worker carries out the lifting operation with the load 6. As a result, the load 6 suspended in the lifting mechanism 1
Even if the operator is very dirty or very hot and cannot be touched by the operator, the operator can carry out the lifting operation in the load balancing mode by holding the operating handle 9 so that the lifting device is very easy to handle. be able to.

As described above, by carrying out the present invention, the load balancing apparatus stores the weight of the load and is suspended by the lifting mechanism during the operation in the load balancing mode in which the weight of the load is the target. Even if the load is very dirty or hot, the operator can operate the operation ring to move up and down without touching the load itself, providing a safe and easy-to-use load balancing device. (Other Embodiments) Another embodiment of the present invention is shown in FIGS.
Will be explained. The main part of the lifting / lowering device main body is almost the same as that of the first embodiment, and therefore its explanation is omitted.

Operation box 11 attached to the tip of the lifting mechanism 1
Includes a lifting mechanism 1 when the lifting device operates in position mode.
The operating lever 13 of the speed commanding device 12 for giving the raising / lowering command S to the above is provided, and when operating in the position mode, it operates to raise / lower the raising / lowering mechanism 1 according to the operation amount of the operating lever 13.

A suspender 7 for suspending the load 6 is attached to the operation box 11 via a load detector 10 for detecting the weight of the load 6, and the weight W of the load 6 from the load detector 10 is detected. The detected load detection signal WA is digitally converted by the A / D conversion unit 19 and the weight storage unit 2 outputs the load signal WB.
0 is input to the deviation detector 21. Weight storage 20
Then, the weight W of the load 6 currently hung is stored and the stored weight WC is output to the deviation detection unit 21. Further, the deviation detection unit 21 constantly compares the stored weight WC from the weight storage unit 20 with the load weight WB from the load detector 10, and outputs the deviation signal WR to the adder 28.

Further, the operation handle 2 is provided on the lower surface of the operation box 11.
9 is attached, and one end of the operating handle 29 has an operating box 11
Is supported by a support portion 30 so as to be slightly rotatable vertically, and an operation force detector 32 is provided between the support portion 30 and a handle 31 portion operated by the operator to detect an operation force of the operator. Is attached to the operation box 11. The output of the operating force detector 32 is digitally converted by the A / D converter 33 and input to the adder 28.

Here, by detecting the weight of the load 6 and adding it to the deviation signal WR between the stored weight WC from the weight storage unit 20 and the loaded weight WB from the load detector 10, the lifting mechanism 1 is placed in the load balancing mode. When the operator operates the operating handle 29 to apply a force F2 during the operation in, the adder 28 outputs the force F2 applied to the operating handle 29 to the computing unit 14 as an elevating command for the elevating mechanism 1. To do. Therefore, the first
Similarly to the embodiment described above, even when the load 6 is not directly touched by the operator in the load balancing mode, the lifting mechanism 1 can be lifted and lowered by applying a slight force F2 to the operating handle 29.

In this case, even if the operator touches the operating handle 29 while storing the weight W of the load 6, the detected weight does not include the force applied to the operating handle 29 by the operator and is stored. As for the weight, there is no error and an accurate value is stored, which makes the lifting device easier to use.

[0035]

As described above, the load balancing apparatus operates in a load balancing mode in which the weight of the load is stored as a target, and the load suspended by the lifting mechanism is very dirty or hot. Even in the case, the operator can operate the operation ring to perform the lifting operation without touching the load itself. Also, by changing the configuration of the operating ring and the detector that detects the operating force, it is possible to prevent erroneous memory of weight during operation in the load balancing mode, and to provide a safe load balancing device that is extremely easy to handle. be able to.

[Brief description of drawings]

FIG. 1 is a mechanism configuration diagram showing an embodiment of the present invention,

FIG. 2 is a detailed explanatory view of the operation part,

FIG. 3 is an explanatory view of the shape of the operating handle of the present invention,

FIG. 4 is a control block diagram of the present invention,

FIG. 5 is a detailed explanatory view of an operation portion showing another embodiment,

FIG. 6 is a control block diagram of another embodiment,

FIG. 7 is a structural diagram of a conventional general lifting device.

FIG. 8 is a structural diagram of a lifting device using hydraulic pressure or pneumatic pressure,

FIG. 9 is an operation explanatory view of the control valve and the cylinder.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Elevating mechanism 2 ... Slewing mechanism 4 ... Motor 5 ... Gear mechanism 6 ... Load 7 ... Lifting tool 8 ... Lifting tool attachment part 9 ... Operation handle 10 ...
Load detector 12 ... Speed command device 13 ... Operating lever 15 ...
V / F conversion unit 16 ... Mode selection unit 20 ... Weight storage unit 23 ...
Speed detector 24 ... Driving device 25 ... Position detector 29
… Operating handle 31… Operating handle 32… Operating force detector 34
… Control box 36… Operating lever

Claims (2)

[Claims] 1. An elevating mechanism for raising and lowering a load, a driving means for driving the elevating mechanism, a means for detecting the speed or position of the elevating mechanism, a means for detecting the weight of the load, and a detected weight of the load. For storing a signal, a means for instructing the speed or position of the lifting mechanism by an operator, a first calculation means for calculating a difference between the stored load amount and the detected load amount, and respective signals A position mode in which a worker has a second calculation means for giving a command to the means for driving the elevating mechanism, and an operator commands the speed or position of the elevating mechanism, and the weight of the load is stored to operate with the stored weight as a target. In the load balancing device having two operation modes of the balance mode, the operation lever for operating the lifting mechanism in the balance mode while operating in the balance mode is used as a means for detecting the weight of the load. Attached octopus And a load balancing device. 2. An elevating mechanism for elevating and lowering a load, driving means for driving the elevating mechanism, means for detecting the speed or position of the elevating mechanism, means for detecting the weight of the load, and the detected weight of the load. For storing a signal, a means for instructing the speed or position of the lifting mechanism by an operator, a first calculation means for calculating a difference between the stored load amount and the detected load amount, and respective signals A position mode in which a worker has a second calculation means for giving a command to the means for driving the elevating mechanism, and an operator commands the speed or position of the elevating mechanism, and the weight of the load is stored to operate with the stored weight as a target. In a load balancing device having two operation modes of a balance mode, an operating lever handled by an operator is attached to the tip of the elevating mechanism, means for detecting an operating force applied to the operating lever, and an adder are provided to store the memory. Load amount of The output signal from the first calculating means for calculating the difference between the detected weights and the detection signal from the means for detecting the operating force applied to the operating lever are added by the adder to be the input of the second calculating means. A load balancing device, wherein the lifting mechanism is operated in the balance mode by operating the operating lever during operation in the mode.