EP0428724A1 - Appareil de manutention de marchandises a balancier et procede de commande d'un tel appareil - Google Patents

Appareil de manutention de marchandises a balancier et procede de commande d'un tel appareil Download PDF

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Publication number
EP0428724A1
EP0428724A1 EP89905756A EP89905756A EP0428724A1 EP 0428724 A1 EP0428724 A1 EP 0428724A1 EP 89905756 A EP89905756 A EP 89905756A EP 89905756 A EP89905756 A EP 89905756A EP 0428724 A1 EP0428724 A1 EP 0428724A1
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Prior art keywords
mode
workpiece
signal
circuit
work
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EP89905756A
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German (de)
English (en)
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EP0428724A4 (en
Inventor
Shyu Takeda
Hitoshi Tomaru
Kazuhiko Ohtsubo
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Komatsu Ltd
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Komatsu Ltd
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Publication of EP0428724A1 publication Critical patent/EP0428724A1/fr
Publication of EP0428724A4 publication Critical patent/EP0428724A4/en
Withdrawn legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D3/00—Portable or mobile lifting or hauling appliances
    • B66D3/18—Power-operated hoists

Definitions

  • the present invention relates to an equilibrium cargo handling apparatus and a method for controlling the same which realize a state of equilibrium between a workpiece lifting means of the cargo handling apparatus and a workpiece being suspended having arbitrary weight by allowing a workpiece suspending and driving device to produce a force commensurate with its weight, and which makes it possible to make the workpiece to be lifted or lowered freely with an operator's light force as the operator directly touches the workpiece.
  • a controlling method using two modes, a lever mode for storing the weight of a workpiece and a balance mode for realizing a state of equilibrium between a workpiece lifting means and the workpiece is disclosed, and the controlling method provided is such that immediately upon stopping the operation of the lever, the mode shifts to the balance mode.
  • the arrangement provided is such that when the load acting on the workpiece has changed suddenly and the load detector has detected this sudden change in load, a brake is applied to stop the sudden movement (rapid fall or rapid rise) of the workpiece.
  • the present invention has been devised in view of the above-described circumstances, and its object is to provide an equilibrium cargo handling apparatus and a method for controlling the same in which, in order to ensure that a workpiece being suspended can be made stationary speedily when the operator has loosened his or her hold of the workpiece even if there is a slight error in the stored value of the weight of the workpiece, a position mode is provided while the mode shifts from the lever mode to the balance mode, the weight of the workpiece is stored at this position mode, and this position mode is held until the operator subsequently applies an operating force, so as to make the workpiece stationary.
  • Another object of the present invention is to provide an equilibrium cargo handling apparatus which, at a time when an abnormality is detected such as a sudden change in the load acting on a workpiece being suspended, is capable of stopping workpiece at an initially placed position without swinging the workpiece, and allows a normal controlling operation to be continued by simply effecting the operation of a lever at the time of restarting after the stopping of the workpiece.
  • a method for controlling an equilibrium cargo handling apparatus comprising the steps of: storing the weight of a workpiece in position-mode control provided between lever-mode control for controlling a work suspending operation by the operation of an operation lever by an operator on the one hand, and balance-mode control for controlling a driving device for lifting the workpiece at the time of a work lifting/lowering operation by the operator on the other; holding the position-mode control until the operator applies an operating force to the workpiece, so as to maintain a stationary state of the workpiece, whereby the workpiece can be made stationary speedily even if there is a slight error in a stored value of the weight of the workpiece.
  • a method for controlling an equilibrium cargo handling apparatus wherein when a speed command signal is inputted by the operation of the operation lever, the mode is preferentially set to the lever-mode control, and when this speed command signal has become zero, the mode is set to the position-mode control.
  • a method for controlling an equilibrium cargo handling apparatus wherein when the storage of the weight of the workpiece is completed, and an absolute value of a difference between a load detection signal and the stored value of the weight of the workpiece exceeds a preset threshold, the mode is changed over to the balance-mode control, while when the absolute value has reached the threshold or below, the mode is changed over to the position-mode control.
  • an equilibrium cargo handling apparatus including work lifting means for lifting or lowering a workpiece being suspended, driving means for driving the work lifting means, load detecting means for detecting load acting on the workpiece, position detecting means for detecting a position of the workpiece lifting means, speed commanding means for outputting a speed command signal in accordance with the operation of an operation lever by an operator, and weight storing means for storing the weight of the workpiece
  • the apparatus comprising: a lever mode calculating unit for negatively feeding back a work lifting/lowering speed with the speed command signal from the speed commanding means set as a targeted value; a position mode calculating unit which sets as a targeted value the position of the work lifting means at a moment when the speed command value has become very small and which negatively feeds back the position and the work lifting/lowering speed at that time; a balance mode calculating unit for negatively feeding back a load detection signal from the load detecting means with the weight of the workpiece set as a targeted
  • an equilibrium cargo handling apparatus wherein the calculation circuit is a digital-type calculation circuit including an A/D converter, a digital calculation unit, a timer, and a D/A converter.
  • an equilibrium cargo handling apparatus wherein the calculation circuit further comprises a balance stationary mode calculating unit, whereby load feedback is applied to positional control of the workpiece, and a large change occurring between an output value of calculation and a motor speed command value at the time of the balance mode is prevented.
  • an equilibrium cargo handling apparatus wherein a shift to the balance stationary mode is effected when a relationship
  • an equilibrium cargo handling apparatus wherein an acceleration signal from an acceleration detector for detecting lifting/lowering acceleration of the workpiece at the time of operation of the workpiece by the operator is inputted to the calculation circuit.
  • an equilibrium cargo handling apparatus further comprising a determining circuit for outputting a changeover signal to the mode selecting circuit in accordance with an input signal from each of the means, wherein the calculation circuit further includes an abnormality mode calculating unit for stopping the driving means at a position corresponding to a position signal of the work lifting means by outputting an abnormality mode command to the driving means by negatively feeding back the position signal, wherein the determining circuit includes a determining circuit for an abnormality mode for outputting a signal for changing over the mode selecting circuit to the abnormality mode calculating unit by detecting a sudden change of the load acting on the work, wherein when the load acting on the work changes suddenly, on the basis of signals outputted from the load detecting means, the speed detecting means, and the speed commanding means at that time, absolute values of the respective signals and their thresholds are respectively compared and calculated by the determining circuit for the abnormality mode, the mode selecting circuit is changed over to
  • Three modes i.e., the lever-mode control based on a speed command from the operation lever, the balance-mode control for realizing a state of equilibrium of the workpiece, and the position-mode control for making the workpiece stationary, can be realized. Even if there is a slight error in the stored value of the weight of the workpiece, the workpiece can be made stationary when the operator has released his or her hold of the workpiece.
  • the workpiece can be stopped at an initial position without swinging the workpiece after detection of an abnormality such as a sudden change of the load acting on the workpiece.
  • an abnormality such as a sudden change of the load acting on the workpiece.
  • Fig. 1 shows a first embodiment explaining a basic principle of the present invention, in which reference numeral 1 denotes a drum rotatively driven by a motor 2; 3, a position detector for detecting the rotational position of the motor 2; and 4, a speed detector for detecting the rotational speed of the motor 2. Meanwhile, numeral 5 denotes a workpiece which is wound up onto the drum 1 via a rope 6. A load detector 7 and a speed commanding device 8 are provided for the rope 6 for suspending this workpiece 5.
  • Reference character 8a denotes an operation lever of the speed commanding device 8.
  • the speed commanding device 8 is adapted to output a speed command signal R corresponding to an amount of the operation lever 8a operated, and the load detector 7 is adapted to detect the load (force) acting on the workpiece 5 and output its signal F L . Furthermore, the position detector 3 and the speed detector 4 are adapted to output a rotational position signal x of the motor and a speed signal V, respectively.
  • Reference numeral 11 denotes a drive circuit for driving the motor 2, and this drive circuit 11 comprises an adder 12 for calculating a difference between a command value Vf and the speed signal V of the motor 2, as well as a drive circuit 13, and is adapted to drive the motor 2 in accordance with the difference Vf - V.
  • Reference numeral 14 denotes a motor acceleration feedback circuit, and this circuit 14 has a differential device 15 for obtaining an acceleration signal V ⁇ of the motor 2 by differentiating the speed signal V outputted from the speed detector 4 of the motor 2 as well as an adding point 16, and is adapted to output a motor speed command value Vf by calculating at the adding point 16 a difference between the aforementioned acceleration signal V ⁇ and a speed command value V M from a calculation circuit 171 which will be described later.
  • the reference numeral 171 denotes the calculation circuit which outputs the aforementioned speed command value V M , and this calculation circuit 171 is provided with a lever mode calculating unit 18, a position mode calculating unit 19, and a balance mode calculating unit 20.
  • Reference numeral 21 denotes a mode selecting circuit for selecting the aforementioned mode calculating units 18, 19, 20, as necessary.
  • numeral 22 denotes a weight storage calculating unit, and this calculating unit 22 is adapted to output a weight command W0 by storing the weight W of the workpiece.
  • the aforementioned mode selecting circuit 21 is adapted to effect a selecting operation shown in each flowchart which will be described later.
  • the operation lever 8a of the speed commanding device 8 is operated.
  • the speed command signal R outputted from the speed commanding device 8 is inputted to the lever mode calculating unit 18 of the calculation circuit 171.
  • the speed signal V is also inputted from the speed detector 4 to the lever mode calculating unit 18 for the purpose of stabilization.
  • a gain K R is multiplied, and its result is inputted to the drive circuit 11 of the motor 2 via the adding point 16.
  • the speed signal V of the motor is multiplied by a gain Kvn, is negatively fed back, and is inputted to the drive circuit 11 so as to stabilize the motor speed command value Vf.
  • lever mode takes precedence over the other modes, and when there is a lever input, the mode selecting circuit 21 is forcedly changed over to a lever mode position a .
  • the mode selecting circuit 21 is changed over to a position mode position b so as to start the position mode.
  • the load storage calculating unit 22 also begins to operate. After the starting of the position mode, unless the operator effects an operation after the lapse of a stored time T M , the following formula becomes valid:
  • the mode does not shift to the balance mode and the position mode is maintained, so that the workpiece remains stationary.
  • the threshold R0 and the threshold F0 are set in advance.
  • positional feedback is effected so as to make the workpiece 5 stationary and, in practice, a difference x - x0 from the motor signal x at the moment when the position mode is set is multiplied by a gain Kx so as to effect negative feedback. Meanwhile, the motor speed signal V is multiplied by the gain Kvn for the purpose of stabilization, thereby effecting negative feedback.
  • a detected value F L from the load detector 7 is compared with the stored value W0 of the weight from the weight storage calculating unit 22 at an adding point 25, and this difference (W0 - F L ) is multiplied by a predetermined gain K F .
  • the motor speed signal V is multiplied by a gain Kvp so as to effect positive feedback, and its result is inputted to the adder 16 of the acceleration feedback circuit 14 via the mode selecting circuit 21.
  • the weight W of the workpiece 5 at the time when it is stationary is stored in advance in the aforementioned weight storage calculating unit 22.
  • the detected value F L of the load detector 7 at this time is inputted to the adding point 25.
  • the adding point 25 compares the output W0 from the weight storage calculating unit 22 with the aforementioned detected value F L . Then, its difference is multiplied by the gain K F so as to be amplified. After the operating force signal at this time is positively fed back to a value in which the motor speed signal V is multiplied by the gain Kvp, the operating force signal is inputted to the acceleration feedback circuit 14.
  • Fig. 5 illustrates a second embodiment of the present invention in a case where a digital-type calculation circuit 172 is used.
  • the four signals, the motor speed signal V, motor position signal x, load detection signal F L , and speed command value R, are inputted to the calculation circuit 172, and this calculation circuit for its part converts the signals to digital form via an A/D converter.
  • the mode is first determined by the flowchart sown in Fig. 6.
  • the threshold R0 falls in a nonsensitive zone for the operation lever 8a
  • the threshold R0 is preferably a very small value.
  • the threshold F0 acts like the stationary frictional force in the balance mode. If this value is set to be large, when the operator effects an operation, he or she feels the force to be heavy, so that it is difficult to effect fine control. On the other hand, if the value is set to a small value, in a case where the stored value W0 is not accurate, the mode soon shifts to the balance mode, so that even if the operator has loosened his or her hold, the workpiece does not become stationary and moves in an inching manner.
  • x0 represents the position of the motor at the moment when the position mode is set.
  • W0 represents the stored value of the weight of the workpiece, and is obtained from an average value of the force signal F L for a duration of a T M second by the calculation unit in the position mode.
  • the speed signal V is differentiated through the differential circuit 15, is constantly subtracted from the aforementioned V M1 - V M3 , is negatively fed back, and is inputted to the motor driving circuit 11.
  • Fig. 7 shows a state of transition between the respective modes.
  • an AC or DC motor is used as the motor 2.
  • an angle of inclination of the operation lever 8a is detected by a potentiometer and, as the speed detector 4, a resolver, a tachogenerator, or the like is used.
  • the load detector 7 a general load cell or the like is used and, as the position detector 3, an encoder, a resolver, or the like is used.
  • a link-type lifting machine of a parallellogrammic type such as the one shown in Fig. 8 may be used instead of the aforementioned drum 1 and the rope 6.
  • the equilibrium cargo handling apparatus in accordance with the invention shown in the first and second embodiments, it is possible to realize the three modes, i.e., the lever mode based on a speed command using the operation lever 8a, the balance mode for realizing a state of equilibrium, and the position mode for making the workpiece stationary. It is possible to demonstrate an advantage in that even if there is a slight error in the stored value of the weight of the workpiece 5, when the hold is released, the workpiece 5 can be made stationary.
  • Figs. 9 to 14 illustrate a third embodiment of the present invention.
  • the mode once the mode is set to the balance mode and the operator has loosened his or her hold, the mode does not immediately return to the position mode, and the balance stationary mode is provided separately, in which mode it becomes possible to prevent the occurrence of large variations in the calculation output value and the motor speed command value during the balance mode by adding load feedback to the position control.
  • Fig. 9 explains the basic principle of this third embodiment, the same members as those of the first embodiment shown in Fig. 1 are denoted by the same reference numerals, and a description thereof will be omitted.
  • a calculation circuit 173 is provided with a balance stationary mode calculating unit 26 in addition to the lever mode calculating unit 18, the position mode calculating unit 19, and the balance mode calculating unit 19, and these modes are adapted to be selected by a mode selecting circuit 21a.
  • Positional feedback is effected so as to make the workpiece 5 in the same way as in the position mode. Now, it is assumed that only positional feedback is being effected.
  • the logic of mutual changeover of the balance mode and the balance stationary mode is similar to the logic of mutual changeover of the balance mode and the position mode in the above-described first embodiment.
  • the mode transition in this third embodiment is shown in Fig. 13.
  • Fig. 14 is a flowchart of the third embodiment.
  • the workpiece 5 does not move unless the operator imparts a force (load) of not less than the threshold F0, i.e., the mode cannot shift to the balance mode. For this reason, the nonsensitive zone F0 occurs, so that the operation for effecting fine positioning, such as a pin fitting operation, has been difficult.
  • a fourth embodiment which will be described below.
  • the balance mode is shifted to the balance stationary mode at the moment when the formula
  • the mode is shifted to the balance stationary mode only when the formula
  • the operating force need not be below the threshold for the period of time Td.
  • the mode does not shift to the balance stationary mode, nor the nonsensitive zone appears, and it is easy to effect the aforementioned fine control.
  • the operating force continuously falls below the threshold F0, and the mode is set to the balance stationary mode after Td, making the workpiece stationary.
  • the mode is first determined by the digital calculator shown in Fig. 5. Its flowchart is shown in Fig. 16.
  • the threshold RO falls in the nonsensitive zone of the lever, the threshold RO is preferably as small as possible.
  • F0 constitutes stationary friction at the time when the mode shifts from the stationary state (position mode, balance position mode) to the balance mode. If this value is large, there are cases where the mode shifts to the balance stationary mode even while the fitting operation is being carried out, thereby making it difficult to effect fine control. On the other hand, if this value is made too small, it becomes difficult to shift the mode to the balance stationary mode, and the workpiece is difficult to be set stationary when the hold is released.
  • a timer or a sampling time may be used instead.
  • the flowchart shown in Fig. 16 illustrates a case where the timer is used.
  • the delay time Td is too long, the workpiece moves substantially due to the error in the stored value of the weight by the time the balance stationary mode is set.
  • the delay time Td is too short, the mode shifts soon to the balance stationary mode, and the nonsensitive zone of the load occurs during the time when the fitting operation is being carried out, making it difficult to effect fine control.
  • FIG. 17 A fifth embodiment of the present invention is shown in Fig. 17. This embodiment is an example in which the acceleration detector 9 at the time of operation of the workpiece 5 is provided to the first embodiment shown in Fig. 1.
  • the acceleration signal a is multiplied by a gain Kan and is negatively fed back to avoid swinging.
  • the acceleration signal a is multiplied by a gain Kan and is negatively fed back to avoid swinging in the same way as the lever operation mode.
  • the swing in a case where acceleration feedback is provided, the swing becomes small, as shown in Fig. 20B, so that the weight can be stored accurately even by an average taken for a short period of time.
  • the balance mode is operated in the same way as in the first embodiment.
  • Fig. 21 illustrates a sixth embodiment in a case where a digital calculation circuit 175 is used instead of the calculation circuit 174.
  • this digital calculation circuit 175 the mode is first determined in accordance with the flowchart shown in Fig. 6.
  • the threshold RO falls in the nonsensitive zone of the operation lever 8a, the threshold RO is preferably a very small value.
  • the threshold F0 acts like the stationary frictional force at the time of the balance mode. If this value is set to be large, the workpiece is felt to be heavy by the oprerator when he or she engages with the operation, makes it difficult to effect fine control. On the other hand, if this value is set to be small, in a case where the stored value W0 of the weight is not accurate, the mode shifts soon to the balance mode, so that even if the operator loosens his or her hold, the workpiece does not become stationary and moves in an inching manner.
  • x0 represents the position of the motor at the moment when the position mode is set.
  • W0 represents the stored value of the weight of the workpiece, and is obtained from an average value of the force signal F L for a duration of a T M second by the calculation unit in the position mode.
  • the speed signal v is differentiated through the differential circuit 15, is constantly subtracted from the aforementioned V M1 - V M3 , is negatively fed back, and is inputted to the motor driving circuit 11.
  • Fig. 22 explains a basic principle of a seventh embodiment of the present invention, in which reference numeral 1 denotes the drum rotatively driven by the motor 2; 3, the position detector for detecting the rotational position of the motor 2; and 4, the speed detector for detecting the rotational speed of the motor 2. Meanwhile, numeral 5 denotes the workpiece which is wound up onto the drum 1 via the rope 6. The load detector 7, the speed commanding device 8, and the acceleration detector 9 are provided for the rope 6 for suspending this workpiece 5.
  • Reference character 8a denotes the operation lever of the speed commanding device 8.
  • the speed commanding device 8 is adapted to output the speed command signal R corresponding to an amount of the operation lever 8a operated
  • the load detector 7 is adapted to detect the load (force) acting on the workpiece 5 and output its signal F L
  • the acceleration detector 9 is adapted to output the acceleration signal a .
  • the position detector 3 and the speed detector 4 are adapted to output the rotational position signal x of the motor and the speed signal V, respectively.
  • a primary delay circuit 10 is interposed in the output circuit of the aforementioned speed commanding device 8, and this primary delay circuit 10 is provided with the aforementioned speed command signal R and adapted to output a primary delay signal R'.
  • Reference numeral 11 denotes the drive circuit for driving the motor 2, and this drive circuit 11 comprises the adder 12 for calculating a difference between the command value Vf and the speed signal V of the motor 2, as well as the drive circuit 13, and is adapted to drive the motor 2 in accordance with the difference Vf - V.
  • Reference numeral 14 denotes the acceleration feedback circuit, and this circuit 14 has the differential device 15 for obtaining the acceleration signal V ⁇ of the motor 2 by differentiating the speed signal V outputted from the speed detector 4 of the motor 2 as well as the adding point 16, and is adapted to output the motor speed command value Vf by negatively feeding back at the adding point 16 a difference between the aforementioned acceleration signal V ⁇ and the speed command value V M from a calculation circuit 176 which will be described later.
  • the reference numeral 176 denotes the calculation circuit which outputs the aforementioned speed command value V M , and this calculation circuit 176 is provided with the lever mode calculating unit 18, the position mode calculating unit 19, the balance mode calculating unit 20, and an abnormality mode calculating unit 23.
  • Reference numeral 21b denotes a mode selecting circuit for selecting the aforementioned mode calculating units 18, 19, 20, 23, as necessary.
  • numeral 22 denotes the weight storage calculating unit, and this calculating unit 22 is adapted to output the weight command W0 by storing the weight W of the workpiece.
  • Reference numeral 24 denotes a determining circuit for operating the aforementioned mode selecting circuit 21b to operate in accordance with the flowchart shown in Fig. 27.
  • the operation lever 8a of the speed commanding device 8 is operated.
  • the speed command signal R outputted from the speed commanding device 8 is inputted to the lever mode calculating unit 18 of the calculation circuit 176 as the primary delay signal R' via the primary delay circuit 10
  • the speed signal V is also inputted from the speed detector 4 to the lever mode calculating unit 18 for the purpose of stabilization.
  • the acceleration signal a is inputted to the aforementioned calculating unit 18 for the purpose of prevention of swinging.
  • the primary delay signal R' is multiplied by the gain K R , and its result is inputted to the drive circuit 11 of the motor 2 via the adding point 16.
  • the speed signal V of the motor is multiplied by the gain Kvn
  • the acceleration meter signal a is multiplied by the gain Kan, and they are respectively negatively fed back and are inputted to the drive circuit 11 so as to stabilize the motor speed command value Vf.
  • lever mode takes precedence over the other modes owing to the determining circuit 24, and when there is a lever input, the mode selecting circuit 21b is forcedly changed over to the lever mode position a .
  • the mode selecting circuit 21b is changed over to the position mode position b by means of the determining circuit 24 so as to start the position mode.
  • the weight storage calculating unit 22 also begins to operate. After the starting of the position mode, unless the operator effects an operation after the lapse of the stored time T M , the following formula becomes valid:
  • the mode does not shift to the balance mode and the position mode is maintained, so that the workpiece remains stationary.
  • the threshold R0 and the threshold F0 are set in advance.
  • positional feedback is effected so as to make the workpiece 5 stationary and, in practice, the difference X - X0 from the motor signal x at the moment when the position mode is set is multiplied by the gain Kx so as to effect negative feedback. Meanwhile, the motor speed signal V is multiplied by the gain Kvn for the purpose of stabilization, thereby effecting negative feedback. In addition, the acceleration signal a is negatively fed back by being multiplied by the gain Kan for the purpose of prevention of swinging.
  • a detected value F L from the load detector 7 is compared with the stored value W0 of the weight from the weight storage calculating unit 22 at the adding point 25, and this difference (W0 - F L ) is multiplied by the predetermined gain K F .
  • the motor speed signal V is multiplied by the gain Kvp so as to effect positive feedback, and its result is inputted to the adder 16 of the acceleration feedback circuit 14 via the mode selecting circuit 21.
  • the weight W of the workpiece 5 at the time when it is stationary is stored in advance in the aforementioned weight storage calculating unit 22.
  • the detected value F L of the load detector 7 at this time is inputted to the adding point 25.
  • the adding point 25 compares the output W0 from the weight storage calculating unit 22 with the aforementioned detected value F L . Then, its difference is multiplied by the gain K F so as to be amplified. After the operating force signal at this time is positively fed back to a value in which the motor speed signal V is multiplied by the gain Kvp, the operating force signal is inputted to the acceleration feedback circuit 14.
  • the signal a from the acceleration detector 9 is multiplied by the acceleration gain Kan
  • the signal V from the speed detector 4 is multiplied by the acceleration gain Kvn
  • the difference X - X0 between the position X at the moment when the abnormality is detected and the signal X0 from the position detector 3 is multiplied by a gain Kxn, and they were added together.
  • the result is set as a command value for the abnormality mode, and is outputted as a command value to the motor driving circuit 11 in a case where the abnormality mode is selected by the mode selecting circuit 21b.
  • Each gain of the acceleration, speed, and position is negative, and the motor 2 is stopped at its position by the aforementioned command value.
  • the aforementioned respective modes are selectively determined by the determining circuit 24 in accordance with the flowchart shown in Fig. 27.
  • the lever mode is automatically selected, but in a case where
  • the lever mode takes precedence over the abnormality mode, so that even if the abnormality mode has been selected, the mode returns to the lever mode by operating the lever.
  • Fig. 28 shows an example of the determining circuit 27 for the abnormality mode which is one of the determining circuits for the respective modes in the above-described determining circuit 24.
  • reference numeral 28 denotes a differentiator for differentiating the load signal F L from the load detector 7;
  • numeral 29 denotes an absolute value comparator for comparing the absolute value
  • Numeral 30 denotes an absolute value comparator for comparing the absolute value
  • Numeral 31 denotes an absolute value comparator for comparing the absolute value
  • Numeral 32 denotes an AND circuit for outputting a signal “1" as both signals "1" of the load detector-side absolute value comparator 29 and the speed detector-side absolute value comparator 30 are inputted thereto; numeral 32 denotes a latch circuit which latches the signal from this AND circuit 32 during the time when the signal "1" is transmitted from the speed commanding device-side absolute value comparator 31 and is reset by the signal "0".
  • the mode selecting circuit 21b As the signal from the aforementioned determining circuit 27 is inputted to the mode selecting circuit 21b, the mode is changed over to the abnormality mode, and the command value for the abnormality mode is inputted to the drive circuit 11 via the acceleration feedback circuit 14, thereby stopping the motor 2 at its position.
  • the control of stopping and holding by means of the aforementioned calculation circuit 176 may be effected by negatively feeding back the position signal X of the motor; however, in a case where the rigidity of the rope 6 (or arm) for connection between the motor 2 and the workpiece 5 is soft, if the workpiece 5 is stopped suddenly, there are cases where the workpiece 5 is swung when it is stopped. Accordingly, by negatively feeding back the acceleration signal a of the workpiece 5 together with the speed signal V of the motor 2 for the purpose of stabilizing the control system in addition to the position signal X of the motor 2, the dynamic movement of the workpiece 5 is suppressed, so that the workpiece 5 can be stopped at the position where the abnormality was detected.
  • the primary delay circuit of the lever may not be particularly provided.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position Or Direction (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

L'invention se rapporte à un appareil de manutention de marchandises à balancier et à un procédé de commande d'un tel appareil, qui peut rapidement interrompre une charge suspendue, lorsque l'opérateur lâche la charge, même s'il existe une erreur dans la valeur stockée correspondant au poids de la charge. L'appareil de manutention de marchandises à balancier contient dans son circuit actuateur (17) une unité d'actionnement en mode position (19) qui maintient le mode d'actionnement en mode position lors du passage du mode levier dirigé par une instruction de vitesse (R) provenant d'un levier actuateur (8a) à un mode balancier, afin de placer la charge (5) en état d'équilibre. Lorsque survient une anomalie, telle qu'un changement rapide de la force s'exerçant sur la charge (5), une unité d'actionnement en mode anomalie (23), disposée additionnellement dans le circuit actuateur (17), arrête la charge dans la position dans laquelle elle se trouvait auparavant sans qu'aucun mouvement de balancier n'anime la charge. Un circuit d'évaluation (24) est prévu séparément de façon à émettre un signal de changement de mode en accord avec chaque signal d'entrée (V, X, R, FL, a) vers le circuit de sélection de modes (21), en vue de permettre la sélection de chacun des modes. Un circuit d'évaluation (27) servant à évaluer un mode au moment où survient l'anomalie est contenu dans le premier circuit d'évaluation.
EP19890905756 1989-05-11 1989-05-11 Balanced cargo handling apparatus and its control method Withdrawn EP0428724A4 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP1989/000484 WO1990013507A1 (fr) 1989-05-11 1989-05-11 Appareil de manutention de marchandises a balancier et procede de commande d'un tel appareil

Publications (2)

Publication Number Publication Date
EP0428724A1 true EP0428724A1 (fr) 1991-05-29
EP0428724A4 EP0428724A4 (en) 1992-03-18

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EP19890905756 Withdrawn EP0428724A4 (en) 1989-05-11 1989-05-11 Balanced cargo handling apparatus and its control method

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EP (1) EP0428724A4 (fr)
WO (1) WO1990013507A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0604971A1 (fr) * 1992-12-28 1994-07-06 Peter SCHÜLE Appareil d'équilibrage pour lever et porter
AU655306B2 (en) * 1991-09-11 1994-12-15 Enichem Synthesis S.P.A. Polysiloxanic stabilizers containing sterically hindered phenol groups and reactive groups
FR2744802A1 (fr) * 1996-02-12 1997-08-14 Ainf Sa Procede de controle de changements d'etats des caracteristiques cinematiques de l'organe moteur d'un engin
FR2768139A1 (fr) * 1997-09-09 1999-03-12 Mecaplastifor Procede et dispositif de manipulation et d'equilibrage de charge par verin pneumatique avec pesee automatique sans capteur
WO2000069771A1 (fr) * 1999-05-13 2000-11-23 Hamayoon Kazerooni Amplificateur de force humaine pour levage de charges avec dispositif anti-mou pour l'elingue

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GB1440596A (en) * 1973-07-19 1976-06-23 Hitachi Ltd Electrically operated handling apparatus for a load

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JPS50113969A (fr) * 1974-02-22 1975-09-06
JPS5135948A (ja) * 1974-09-24 1976-03-26 Hitachi Ltd Heikonpanki
JPS5911513B2 (ja) * 1976-09-03 1984-03-15 謙郎 元田 荷役運搬機
JPS6382299A (ja) * 1986-09-26 1988-04-13 株式会社小松製作所 平衡荷役装置
JPS6382298A (ja) * 1986-09-26 1988-04-13 株式会社小松製作所 平衡荷役装置
JPH0717348B2 (ja) * 1986-12-25 1995-03-01 株式会社小松製作所 平衡荷役装置
JPH0818796B2 (ja) * 1987-02-10 1996-02-28 株式会社小松製作所 平衡荷役装置
JP2530446B2 (ja) * 1987-03-23 1996-09-04 株式会社小松製作所 平衡荷役装置
JPH0818797B2 (ja) * 1987-06-18 1996-02-28 株式会社小松製作所 平衡荷役装置
JPH0818798B2 (ja) * 1987-06-30 1996-02-28 株式会社小松製作所 平衡荷役装置の安全装置
JPH01127600A (ja) * 1987-11-11 1989-05-19 Komatsu Ltd 平衡荷役装置
JPH0747479B2 (ja) * 1987-11-17 1995-05-24 株式会社小松製作所 平衡荷役装置の制御方法

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GB1440596A (en) * 1973-07-19 1976-06-23 Hitachi Ltd Electrically operated handling apparatus for a load

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See also references of WO9013507A1 *

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU655306B2 (en) * 1991-09-11 1994-12-15 Enichem Synthesis S.P.A. Polysiloxanic stabilizers containing sterically hindered phenol groups and reactive groups
EP0604971A1 (fr) * 1992-12-28 1994-07-06 Peter SCHÜLE Appareil d'équilibrage pour lever et porter
FR2744802A1 (fr) * 1996-02-12 1997-08-14 Ainf Sa Procede de controle de changements d'etats des caracteristiques cinematiques de l'organe moteur d'un engin
FR2768139A1 (fr) * 1997-09-09 1999-03-12 Mecaplastifor Procede et dispositif de manipulation et d'equilibrage de charge par verin pneumatique avec pesee automatique sans capteur
WO2000069771A1 (fr) * 1999-05-13 2000-11-23 Hamayoon Kazerooni Amplificateur de force humaine pour levage de charges avec dispositif anti-mou pour l'elingue

Also Published As

Publication number Publication date
EP0428724A4 (en) 1992-03-18
WO1990013507A1 (fr) 1990-11-15

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