JP2001204978A - Baton elevator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a baton elevator which can provide an appropriate assisting force according to the operation condition of a hand-drawing baton. SOLUTION: The baton elevator which ascends and descends a baton according to the operation of a hand drawing rope, has an electric winch (a baton driving means) 10 t provide an assisting force for ascending and descending the baton, a load balancing state controller 53 to set the bas assisting force instructing values, Fub and Fdb, which counter the gravity, an operation assisting force regulator 52 to set the operation assisting force, sensors 31 and 32 to detect the tension (operating force) given to the rope, Fu and Fd, and a controller 40 which calculates the operation assisting force setting values for ascending and descending the baton according to the tension Fu and Fd, and controls the electric winch 10 according to the assisting force setting values values obtained by adding the base assisting force setting values, Fud and Fdb, and the operation assisting force setting values.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an improvement in a baton elevating device for elevating and lowering various hanging objects for stage performance in a theater or the like so that an appropriate assisting force can be applied according to an operation situation.

[0002]

2. Description of the Related Art As a baton elevating device for elevating and lowering various hanging objects for performing on stage in a theater or the like, there is, for example, a device as shown in FIG.

[0003] This baton lifting device comprises a wire rope 1
01, a baton pipe 102 and a counterweight 103 are respectively suspended from the upper and lower pulleys 10.
The baton pipe 102 is moved up and down by manually circulating the hand rope 106 wrapped around 4, 105 to move the counterweight 103 up and down.

An assisting force can be applied by a torque motor 109 to a manual operation of the baton lifting device. The torque motor 109 is a wire rope 101
And the operator operates the assist controller 107
Is turned on and the foot pedal 108 is depressed to rotate the torque motor 109 in both the forward and reverse directions, thereby applying an auxiliary force to the lifting and lowering of the baton pipe 102.

[0005]

However, in such a conventional baton elevating device, the assisting force from the torque motor 109 depends on the speed / torque characteristics of the torque motor 109. It is difficult to set an appropriate value according to the baton mass or an appropriate value according to the operating force at the time of manual operation.

Further, it is necessary to adjust the mass of the counterweight unit 2 so as to be substantially balanced with the mass of the baton. However, when the weight is not sufficiently balanced due to loading of the weight, or when the weight is increased, either of the masses is largely adjusted for ease of use. In such a case, there is a problem in that the operation force required for raising and lowering the baton becomes uneven, and a large operation force is required when the baton is stationary.

SUMMARY OF THE INVENTION The present invention has been made in view of such problems, and has as its object to provide a baton elevating device capable of applying an appropriate assisting force in accordance with the operation state of a guide baton.

[0008]

Means for Solving the Problems The first invention is applied to a baton elevating device which raises and lowers a baton by operating a hand rope.

A baton driving means for applying an auxiliary force for raising and lowering the baton, a load balancing condition adjusting means for setting a base auxiliary force command value against gravity for raising and lowering the baton, and a hand rope are provided. Operating force detecting means for detecting an operating force, an operating assist force command value calculating means for calculating an operating assist force command value for raising and lowering the baton in accordance with the operating force, a base assist force command value, an operating assist force command value, And an auxiliary force control means for controlling the baton driving means in accordance with the auxiliary force command value obtained by adding.

The second invention is characterized in that, in the first invention, an operation assisting force is applied in the moving direction of the hand rope when the operating force applied in the moving direction of the hand rope is equal to or larger than a threshold value. To do.

According to a third aspect of the present invention, in the first or second aspect, an operation assisting force is applied in the moving direction of the hand rope when the operating force applied in the direction opposite to the moving direction of the hand rope is equal to or greater than a threshold value. The configuration to be provided is characterized.

According to a fourth aspect of the present invention, in any one of the first to third aspects, the assisting force command value is kept substantially constant when the operating force applied to the hand rope is smaller than a threshold value. It was assumed that.

According to a fifth aspect of the present invention, in any one of the first to fourth aspects, a speed sensor for detecting a moving speed of the hand rope is provided. Is set to substantially zero, and only the assisting force according to the base assisting force command value is applied.

According to a sixth aspect of the present invention, in any one of the first to fifth aspects, a tension sensor for detecting an upper tension and a lower tension generated at both ends of the hand rope is provided as the operating force detecting means. It was assumed that.

According to a seventh aspect of the present invention, in any one of the first to sixth aspects, a wire rope for suspending the baton as baton driving means, a traction sheave for moving the wire rope, and a rotation for rotationally driving the traction sheave. An actuator and a variable transmission force sliding joint for varying the torque transmitted from the rotary actuator to the traction sheave are provided.

According to an eighth invention, in any one of the first to sixth inventions, a wire rope for suspending the baton as baton driving means, a traction sheave for moving the wire rope, and an electric motor for rotating and driving the traction sheave. And characterized in that:

[0017]

According to the first aspect of the present invention, the operator raises and lowers the baton by manually operating the pull rope. An operation assisting force corresponding to the operating force is applied through the baton driving means. Therefore, the operating force can be reduced.

By applying a base assisting force against the gravity for raising and lowering the baton via the baton driving means, the operating force required for raising and lowering the baton is equalized, and the baton is stationary. In this state, the operation force applied to the hand rope required to hold the baton in place against the gravity can be reduced or reduced to zero, so that the operability can be improved.

In the second invention, when the operating force applied in the direction of movement of the hand rope is equal to or greater than the threshold value, it is determined that the operation assist force is necessary, and the operation assist force is applied in the direction of movement of the hand rope. The auxiliary force required for operation can be obtained.

In the third aspect, when the operation force applied in the direction opposite to the direction of movement of the hand rope is equal to or greater than the threshold value, the operation assist force is determined to be excessive, and the operation assistance provided in the direction of movement of the hand rope is determined. Since the force is reduced, an appropriate braking force can be applied.

According to the fourth aspect of the present invention, when the operation force applied to the hand rope is smaller than the threshold value, the auxiliary force command value is maintained substantially constant, so that a substantially constant operation force is applied and the baton is moved at a substantially constant speed. Is raised and lowered.

In the fifth aspect, when the moving speed of the hand rope becomes substantially zero, it is determined that the rope operation is stopped, and the operation assist force command value is set to substantially zero, and only the assist force according to the base assist force command value is applied. I do. This reduces or eliminates the operating force applied to the hand rope required to hold the baton in place against gravity even when the baton is stationary,
Operability can be improved.

In the sixth aspect, the upper tension and the lower tension generated at both ends of the hand rope are detected as operating forces, and the auxiliary force can be controlled according to the operating force.

In the seventh invention, the torque transmitted from the rotary actuator to the traction sheave via the variable transmission force sliding joint is variable.

In the eighth invention, the torque transmitted from the electric motor to the traction sheave is variable. By controlling the rotation of the motor in accordance with the speed of the rope, energy loss can be reduced.

[0026]

Embodiments of the present invention will be described below with reference to the accompanying drawings.

As shown in FIG. 1, in the baton elevating device, a counterweight unit 2 and a baton pipe (not shown) are hung on both ends of a wire rope 1. Various hangings for stage performance are attached to the baton pipe (hereinafter, the whole of the baton pipe and the hanging objects are referred to as "batons"). A plurality of counterweights are loaded on the counterweight unit 2 as weights according to the mass of the baton.

The guide rope (hemp rope) 3 is wound around a pair of upper and lower pulleys 4 and 5, and its upper and lower ends are connected to the upper and lower parts of the counterweight unit 2, respectively. The operator lifts and lowers the counterweight unit 2 by manually circulating the guide rope 3 and lifts and lowers the baton.

As means for detecting the operating force applied to the hand rope 3, an upper tension sensor 31 and a lower tension sensor 32 (see FIG. Reference). Thereby, the upper tension Fu and the lower tension Fd applied to the hand rope 3 above and below the counterweight unit 2 are detected. When the upper tension Fu increases, the counterweight unit 2 is raised, and the baton is lowered. On the other hand, when the lower tension Fd increases, the counterweight unit 2 is pulled down,
The baton rises.

A hand rope speed sensor 33 (see FIG. 3) for moving the hand rope 3 is provided. Thereby, it is detected whether the hand rope 3 is moving.

An electric winch 10 is provided above the hand rope 3 and the counterweight unit 2 as baton driving means for applying an auxiliary force to the hand rope 3. As shown in FIG. 2, the electric winch 10 includes a traction sheave 11, an electric motor 12 with a speed reducer, a variable transmission force sliding joint 20, and the like.

The traction sheave 11 is provided with the wire rope 1 wound therearound, and sends the wire rope 1 by its rotation. The variable transmission force sliding joint 20 transmits the rotation of the electric motor 12 to the traction sheave 11.

The variable transmission force sliding joint 20 comprises an input unit (input shaft) 21 and an output unit (output shaft) 22 which are coaxially arranged and rotatable relative to each other. The traction sheave 1 is provided on a hollow shaft 23 provided on the rotation axis of the output unit 22.
One rotation shaft 11A is integrally mounted. On the other hand, the input unit 2
A sprocket 24 is fixed on the same coaxial shaft 1, and the sprocket 24 is linked to a sprocket 13 fixed to an output shaft of the electric motor 12 via a chain 14.

The variable transmission force sliding joint 20 has a variable torque transmission between the input section 21 and the output section 22. As will be described later, a command (control current) input from the power amplification section 43 of the control device 40 is provided. (See FIG. 3). As the transmission force variable slip joint 20, for example, a powder joint, a fluid joint, an eddy current joint, or the like is used.

FIG. 3 shows the configuration of a control system of the baton elevating device. The control device 40 includes a CPU 41, a motor driving unit 4
2. It includes a power amplifier 43 and the like. The motor drive unit 42 is a circuit for driving the motor 12,
Any state of suspension can be taken. The power amplifying unit 43
A control current corresponding to the auxiliary force command value is sent to the variable transmission force sliding joint 20, and the variable transmission force sliding joint 20 transmits a torque corresponding to the auxiliary force command value from the input unit 21 to the output unit 22.

Upper tension sensor 31, Lower tension sensor 3
2. The detection signal from the hand rope speed sensor 33 is C
It is input to PU41.

The operation section 50 is operated by an operator, and includes a power switch 51, an operation assist force adjuster 52, a load balance state adjuster 53, and an auxiliary start switch 54.

The auxiliary force adjuster 52 sets an auxiliary force adjustment value Fs in the auxiliary force control described later.

By the way, the counterweight unit 2
Is assumed to be adjusted so that the mass of the baton is almost balanced with the mass of the baton.However, when the balance is not sufficiently balanced by loading the counterweight, or when either of the masses is greatly adjusted for ease of use. is there.

In response to this, the load balance state adjuster 53
Sets the base assist force command values Fub and Fdb according to the mass difference between the counterweight unit 2 and the baton. The operator optionally sets the base assist force command values Fub and Fdb via the load balance state adjuster 53 before the assist start switch 54 is turned on. Note that the load balance condition adjuster 53 corresponds to a load balance condition adjusting means for setting a base auxiliary force command value against gravity that attempts to raise and lower the baton of the present invention.

When the power switch 51 is turned ON, the controller 40 sets the set base assist force command values Fub and Fdb.
Is applied to the wire rope 1 via the variable transmission force sliding joint 20.

If the counterweight unit 2 is heavier than the baton and the counterweight unit 2 descends arbitrarily, the base assist force command value Fub for raising the counterweight unit 2 is output. On the other hand, baton is counterweight unit 2
When the counterweight unit 2 rises arbitrarily, the base assist force command value Fdb for lowering the counterweight unit 2 is output. As a result, the operation force required for raising and lowering the baton is equalized, and even when the baton is stationary, the force applied to the hand rope necessary to hold the baton in place against gravity is reduced or reduced to zero. it can.

4 to 7 show a routine for controlling the auxiliary force, which is executed by the CPU 41 at regular intervals.

The flowchart of FIG. 4 reads the values of various assisting forces set by the operator and the tensions Fu and Fd applied to the hand rope 3 before the operation of the hand rope 3 is started. A routine for applying a base assisting force and initializing various intermediate variables and coefficients will be described.

To explain this, if the power switch 51 is turned off in step S1, the process proceeds to END to end this processing. However, if it is determined that the power switch 51 is turned on, the process proceeds from step S2 to step S3. Proceed to initialize all flags.

In the following step S4, the base assist force command value F
ub and Fdb are read. Base assist force command value Fub,
Fdb is set so that it cannot be operated at the same time.

In the following step S5, the tension Fu and Fd applied to the hand rope 3 are read, and Fu * and Fd * are read, respectively.
Substitute for

In the following step S6, the upper limit value of the operation assist force command value is calculated. This upper limit is the variable transmission force sliding joint 2
This is a value obtained by subtracting the base assist force command values Fub and Fdb from the assist force command value Fout corresponding to the maximum transmission force of 0.

In the following step S7, the base assist force command value F
The auxiliary force command value Fout is calculated based on ub and Fdb, is output to the power amplifying unit 43, and the value of the auxiliary force command value Fout is stored in the intermediate variable Fi. Here, the auxiliary force command value Fout is calculated as follows. If Fub = Fdb = 0, Fout = 0 If Fub> 0 and Fdb = 0, then Fout = Fub Fub = 0 and Fdb> 0, Fout = Fdb. Then, the values Fu * and Fd * obtained in step S5 are threshold values, respectively. The sign inversion coefficient m is calculated as follows in comparison with Fua and Fda. If Fu * ≧ Fua, m = 1 if Fu * <Fua and Fd * <Fda, then m = 1 if Fd * ≧ Fda, then m = −1. Then, the process proceeds to step S8, in which the motor 12 is moved in the direction of raising the weight 2 under the following conditions. Drive. The base assist force Fub (Fub> 0) is changed to the assist force command value F.
When adopted for out When both the base assisting forces Fub and Fdb are zero and the upper tension Fu * is equal to or greater than the threshold value Fua. Further, the motor 12 is driven in a direction to lower the weight 2 under the following conditions. The base assist force Fdb (Fdb> 0) is changed to the assist force command value F.
When adopted as out When the base assisting forces Fub and Fdb are both zero and the lower tension Fd * is equal to or greater than the threshold value Fda. The motor 12 is stopped under the following conditions. Both the base assisting forces Fub and Fdb are zero, the lower tension Fd * is smaller than the threshold value Fda, and the upper tension Fd
When u * is smaller than threshold value Fua In the following step S9, the state of auxiliary start switch 54 is determined, and if it is OFF, the process proceeds to step S10, where zero is substituted for flag S and the process returns to step S1. On the other hand, when this is ON, the process proceeds to step S11, and 1 is substituted for the flag S.

In the following step S12, the adjustment value Fs of the operation assist force command value is read. If the value of the adjustment value Fs is within the upper limit value of the operation assist force command value calculated in step S6, the adjustment value Fs is read as it is, but if it exceeds the upper limit value of the operation assist force, the adjustment value Fs becomes the upper limit. Adopt the value.

In the following step S13, the intermediate variable Fj is calculated as follows. If Fub = Fdb = 0, Fj = Fs · m If Fub> 0 and Fdb = 0, Fj = Fs · m If Fub = 0 and Fdb> 0, Fj = −Fs · m Then, execute the assist routine and return from the assist routine. Then, the process returns to step S9.

The flowchart of FIG.
And a routine for applying an auxiliary force after the auxiliary start switch 54 is turned ON.

To explain this, first, in step S
Before operating the hand rope 3 at 51, the hand rope 3
Is determined. The tension used for this determination is Fu detected when the hand rope 3 is not operated.
*, Fd *.

If the lower tension Fd * of the non-operation of the pull rope 3 is greater than the threshold value Fda in step S51, the flow advances to step S52 to move the baton based on the detection signal of the pull rope speed sensor 33. Is determined. Here, when it is determined that the weight 2 is falling (when the baton is rising), the process proceeds to a Down assist control routine to be described later.

If it is determined that the weight 2 is being raised (when the baton is being lowered), the process proceeds to step S53, where the magnitude of the upper tension Fu when the hand rope 3 is operated is determined. If the upper tension Fu is greater than or equal to the threshold value Fua, the process proceeds to the Up assist control routine described below. Upper tension Fu
Is smaller than the threshold value Fua, the process proceeds to step S54. If it is determined that the moving speed of the hand rope 3 becomes substantially zero and the rope operation is stopped, the assist routine ends and the process proceeds to step S9 in FIG. .

If it is determined in step S51 that the upper side tension Fu * of the non-operation of the hand rope 3 is larger than the threshold value Fua, the flow advances to step S55 to wait based on the detection signal of the hand rope speed sensor 33. 2 is determined. If it is determined that the weight 2 is rising, the process proceeds to the Up assist control routine.

If it is determined that the weight 2 is descending, the process proceeds to step S56, and the magnitude of the lower tension Fd when the hand rope 3 is operated is determined. If the lower tension Fd is greater than or equal to the threshold value Fda, the process proceeds to a Down assist control routine. If the lower tension Fd is smaller than the threshold value Fda, the process proceeds to step S57. If it is determined that the rope operation is stopped when the moving speed of the hand rope 3 becomes substantially zero, the assist routine is terminated, and the routine of FIG. Proceed to step S9.

When it is determined in step S51 that the upper tension Fu * when the hand rope 3 is not operated is smaller than the threshold value Fua and the lower tension Fd * is smaller than the threshold value Fda, the process proceeds to step S58. Then, the moving direction of the baton is determined based on the detection signal of the hand rope speed sensor 33.

If it is determined in step S58 that the weight 2 has been lowered, the flow advances to step S59 to determine the magnitude of the lower tension Fd when the hand rope 3 is operated. Here, when the lower tension Fd is larger than the threshold value Fda, Do
The process proceeds to the wn assist control routine. When the lower tension Fd is smaller than the threshold value Fda, the process proceeds to step S60,
Here, if it is determined that the rope operation is stopped when the moving speed of the hand rope 3 becomes substantially zero, the assist routine ends and the process proceeds to step S9 in FIG.

If it is determined in step S58 that the weight 2 is rising, the flow advances to step S61 to determine the magnitude of the upper tension Fu when the hand rope 3 is operated. Here, when the upper tension Fu is larger than the threshold value Fua,
Proceed to the assist control routine. If the upper tension Fu is smaller than the threshold value Fua, the process proceeds to step S62. If it is determined that the rope operation is stopped when the moving speed of the hand rope 3 becomes substantially zero, the assist routine is terminated and the process of FIG. Proceed to S9.

The flowchart shown in FIG. 6 shows a routine for Up assist control.

This will be described in step S21.
Calculates the auxiliary force command value Fout as Fout = Fi + Fj, and outputs this to the power amplifier 43.
If this Fout is negative, the motor 12 is temporarily stopped,
After inverting the negative value to positive, the motor 12 is reversed. When the process proceeds to step S24 or when it is determined in step S23 that the rope operation has stopped, the rotation of the electric motor 12 is returned to the original position. Proceeding to step S22, when the upper tension Fu at the time of operating the hand rope 3 is determined to be equal to or greater than the threshold value Fua, and when it is determined at step S23 that the rope operation is to be continued, the above Fout is continuously output to the power amplifier 43. I do. As a result, the operation assisting force for raising the weight 2 acts on top of the base assisting force, so that a sufficient assisting force necessary for the operation is obtained, and the baton can be quickly lowered. Further, since the upper limit value of the operation assisting force is given in step S6 of FIG. 4, the assisting force does not become larger than the predetermined upper limit value, so that it does not become excessive.

The operation assist force command value is set to the operation assist force command value adjustment value Fs set via the operation assist force command value adjuster 53.
Thus, the adjustment can be made arbitrarily within the upper limit calculated in step S6 in FIG.

If it is determined in step S22 that the upper tension Fu is smaller than the threshold value Fua, the process proceeds to step S24, where the auxiliary force command value Fout is calculated as Fout = Fi, and is output to the power amplifier 43. . Thus, the assisting force applied to the wire rope 1 becomes the base assisting force, and the weight 2 is raised at a substantially constant speed and a substantially constant operating force.

If it is determined in the following step S25 that the rope operation for raising the weight 2 is to be continued, the process proceeds to step S2.
The program proceeds to 6, where it is determined whether or not the lower tension Fd during operation of the hand rope 3 is equal to or greater than a threshold value Fda. If the lower side tension Fd is equal to or greater than the threshold value Fda, it is determined that the control for reducing the assisting force command value to reduce the rising speed of the weight 2 is necessary, and the process proceeds to step S27 to set 1 to the brake flag. , The auxiliary force command value Fout is set to Fou in step S28.
It is calculated as t = Fi−Fj · R, and this is output to the power amplifying unit 43. Here, R is an operation assist force command value output coefficient at the time of deceleration, and has a relationship of 0 ≦ R ≦ 1.
Further, when Fout is negative, the motor 12 is stopped, and the negative value is inverted to positive, so that the braking force is reliably applied. If it is determined in step S29 that the rope operation is to be continued, the routine of steps S26, 27, 28, and 29 is repeatedly executed. Thereby, the assisting force command value for raising the weight 2 becomes smaller, so that a braking effect of suppressing the speed of raising the weight 2 is obtained, and the weight 2 gradually decelerates and stops smoothly. If it is determined in step S29 that the rope operation has stopped, the process proceeds to step S30, and the brake flag is set to 0.

On the other hand, if it is determined in step S26 that the lower tension Fd is smaller than the threshold value Fda, and if it is determined in step S31 that the brake flag is set to 1, the process proceeds to steps S32 and S33, where the brake flag is set. After being cleared, the auxiliary force command value Fout is calculated as Fout = Fi, and this is output to the power amplifier 43. Thereby, the assisting force applied to the wire rope 1 becomes constant, and the weight 2 can be raised at a substantially constant speed and a substantially constant operating force.

Proceeding to step S34, the upper tension F
It is determined whether or not u is larger than the threshold value Fua.
If the upper tension Fu is greater than or equal to the threshold value Fua, it is determined that control for increasing the auxiliary force command value is necessary, and the routine from step S21 is executed again. Upper tension F
When u is smaller than the threshold value Fua, the process proceeds to step S35, and when the rope operation is continued, the routine from step S26 is repeated.

When it is determined in steps S23, 25, 29, and 35 that the rope operation has been stopped, the process proceeds from step S29 to step S30.
The p assist routine ends, and the process returns to the assist routine of FIG.

The flowchart shown in FIG. 7 shows a routine of the Down assist control. In the flowcharts of FIGS. 6 and 7, the direction in which the auxiliary force is applied is different, but basically the same processing is performed.

This will now be described. Step S36
Calculates the auxiliary force command value Fout as Fout = Fi−Fj, and outputs this to the power amplifying unit 43.
If this Fout is negative, the motor 12 is stopped once, the negative value is inverted to positive, and then the motor 12 is reversed. When the process proceeds to step S39 or when it is determined in step S38 that the rope operation has been stopped, the rotation of the electric motor 12 is returned to the original position. Proceeding to step S37, the lower tension Fd is determined to be equal to or greater than the threshold value Fda, and if it is determined in step S38 that the rope operation is to be continued, the above Fout is continuously output to the power amplifier 43. As a result, the operation assisting force for lowering the weight 2 acts on top of the base assisting force, so that a sufficient assisting force necessary for the operation is obtained, and the baton can be quickly raised. Further, since the upper limit value of the operation assisting force is given in step S6 of FIG. 4, the assisting force does not become larger than the predetermined upper limit value, so that it does not become excessive.

If it is determined in step S37 that the lower tension Fd is smaller than the threshold value Fda, the flow advances to step S39 to calculate the auxiliary force command value Fout as Fout = Fi, and output this to the power amplifier 43. I do. Thereby, the assisting force applied to the wire rope 1 becomes the base assisting force, and the weight 2 is lowered at a substantially constant speed and a substantially constant operating force.

If it is determined in the following step S40 that the operation of the rope in which the weight 2 descends is to be continued, the operation proceeds to step S41.
To determine whether the upper tension Fu at the time of operating the hand rope 3 is equal to or greater than the threshold value Fua. If the upper tension Fu is equal to or greater than the threshold value Fua, it is determined that control is required to decrease the assist force command value to decrease the descending speed of the weight 2, and the process proceeds to step S42, where the brake flag is set to 1, and In step S43, the auxiliary force command value Fout is changed to Fout.
= Fi + Fj · R, and outputs this to the power amplifier 43. If the above Fout becomes negative, the motor 12 is stopped. By inverting the negative value to a positive value, the braking force is reliably applied. If it is determined in step S44 that the rope operation is to be continued, steps S41, S42, S4 are performed.
The routines 3 and 44 are repeatedly executed. As a result, the assisting force command value for lowering the weight 2 becomes smaller, so that an effect of suppressing the lowering speed of the weight 2 is obtained, and the weight 2 gradually decelerates and stops smoothly. Step S
If it is determined in step 44 that the rope operation has been stopped, step S
Proceed to 45 and set the brake flag to zero.

On the other hand, if it is determined in step S41 that the upper tension Fu is smaller than the threshold value Fua, and if it is determined in step S46 that the brake flag is set to 1, the routine proceeds to steps S47 and S48, where the brake flag is cleared. Then, the assist force command value Fout is calculated as Fout = Fi, and is output to the power amplifier 43. Thereby, the assisting force applied to the wire rope 1 becomes constant, and the weight 2 can be lowered at a substantially constant speed and a substantially constant operating force.

Proceeding to a subsequent step S49, the lower tension F
It is determined whether or not d is larger than a threshold value Fda.
If the lower tension Fd is greater than or equal to the threshold value Fda, it is determined that control to increase the assist force command value is necessary, and the routine from step S36 is executed again. Lower tension F
If d is smaller than the threshold value Fda, the routine from step S41 is repeated when the rope operation is continued in step S50.

If it is determined in steps S38, S40, S44 and S50 that the rope operation has been stopped, the processing from step S44 is performed after step S45. However, the Down assist routine is terminated, and the flow returns to the assist routine in FIG. Return.

The power amplifying section 43 amplifies the power of the auxiliary force command value Fout, and applies an auxiliary force to the wire rope 1 via the variable transmission force sliding joint 20. As described in the flowcharts of FIGS. 6 and 7, the rotation direction of the electric motor 12 when the pull rope 3 is operated is switched according to the presence / absence of the pull rope 3, the operation direction, or the calculated value of the auxiliary operation force Fout. Instead, the assisting force applied to the wire rope 1 via the variable transmission force sliding joint 20 acts on the Up assist side or the Down assist side to reduce the operating force.

When the moving speed of the hand rope 3 becomes substantially zero, it is determined that the rope operation has been stopped, and only the assisting force corresponding to the base assisting force command values Fub and Fdb is applied by setting the operation assisting force command value to substantially zero. As a result, even when the baton is stationary, the force applied to the hand rope 3 required to hold the baton in place against gravity can be reduced or eliminated.

As described above, the base assist force command values Fub, Fdb set according to the mass difference between the counterweight unit 2 and the baton act via the electric motor 12 and the transmission force variable sliding joint 20, whereby the baton In addition to equalizing the operating force required for raising and lowering the baton, the force applied to the hand rope 3 required to hold the baton in place against gravity even when the baton is stationary can be reduced or reduced to zero. Operability can be improved.

When the assist operation is stopped, the motor 12 is returned to the state before the start of the assist operation. When the brake operation is stopped, the electric motor 12 is returned to the state before the start of the brake operation.

The rotation speed of the electric motor 12 is set to a sufficiently high speed so that a necessary relative speed difference between the input shaft 21 and the output shaft 22 is ensured even when the baton is operated at the maximum operation speed. And

Next, another embodiment shown in FIG. 8 will be described. The same components as those in the above-described embodiment are denoted by the same reference numerals.

The connection between the electric motor with speed reducer 12 and the traction sheave is made by a fixed joint, and the transmission force variable slip joint is eliminated. The control device 40 controls the voltage supplied to the electric motor 12,
A motor driving power amplifying section 44 for adjusting current and frequency is provided. The motor driving power amplifying unit 44 is controlled so that an auxiliary force according to a command value from the CPU 41 is applied to the wire rope.

The CPU 41 controls the rotation speed of the electric motor 12 according to the speed of the hand rope 3, the operation assist force command value and the base assist force command value, and appropriately adjusts the assist force applied to the wire rope 1. The rotation speed of the electric motor 12 is set to be slightly higher than the speed corresponding to the speed of the hand rope 3.

Also in this case, it is possible to apply the assisting force according to the operating force at the required timing, and the movement of the baton corresponding to the stage performance can be easily realized.

The rotation of the motor 12 is controlled in accordance with the speed of the hand rope 3, so that the energy loss can be reduced.

In each of the above embodiments, an electric motor is used as the rotary actuator for driving the traction sheave, but a hydraulic motor or the like may be used instead.

The base assist force command values Fub, Fdb
May be automatically set in accordance with the detection value of the upper tension sensor 31 or the lower tension sensor 32 while the operation of the electric motor 12 or the like is stopped.

It is apparent that the present invention is not limited to the above-described embodiment, but can be variously modified within the scope of the technical idea.

[Brief description of the drawings]

FIG. 1 is a front view showing a baton lifting device according to an embodiment of the present invention.

FIG. 2 is a side view of the electric winch.

FIG. 3 is a configuration diagram showing a control system of the baton elevating device.

FIG. 4 is a flowchart showing an initialization procedure performed before the baton is moved by operating the hand rope.

FIG. 5 is a flowchart showing a processing procedure when the operation rope is operated to apply an operation assisting force.

FIG. 6 is a flowchart showing a processing procedure of Up assist control.

FIG. 7 is a flowchart showing a processing procedure of Down assist control.

FIG. 8 is a configuration diagram showing a control system of a baton elevating device according to another embodiment of the present invention.

FIG. 9 is a front view showing a conventional baton lifting device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Wire rope 2 Counter weight unit 3 Guide rope 10 Electric winch 11 Traction sheave 12 Electric motor with a reduction gear 20 Variable transmission force joint 31 Upper tension sensor 32 Lower tension sensor 33 Speed sensor 40 Control device 52 Operation auxiliary force adjuster 53 Load Balance conditioner

 ──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Shinpei Goto 2-4-1 Hamamatsucho, Minato-ku, Tokyo World Trade Center Building Kayaba Industry Co., Ltd.

Claims (8)

[Claims] 1. A baton elevating device for raising and lowering a baton by operating a pull rope, a baton driving means for applying an auxiliary force for raising and lowering the baton, and a base auxiliary force command against gravity for raising and lowering the baton. A load equilibrium state adjusting means for setting a value, an operating force detecting means for detecting an operating force applied to the hand rope, and an operation assisting force command for calculating an operation assisting force command value for raising and lowering the baton according to the operating force. A baton elevating device, comprising: a value calculating unit; and an auxiliary force control unit that controls the baton driving unit in accordance with an auxiliary force command value obtained by adding the base auxiliary force command value and the operation auxiliary force command value. . 2. The system according to claim 1, wherein an operation assisting force is applied in the moving direction of the hand rope when the operating force applied in the moving direction of the hand rope is equal to or larger than a threshold value. A baton lifting device as described. 3. An operation assisting force is applied in the moving direction of the hand rope when the operating force applied in the direction opposite to the moving direction of the hand rope is equal to or greater than a threshold value. Item 3. A baton lifting device according to item 1 or 2. 4. The apparatus according to claim 1, wherein the auxiliary force command value is kept substantially constant when the operation force applied to the hand rope is smaller than a threshold value. A baton elevating device according to item 1. 5. A speed sensor for detecting a moving speed of the hand rope, wherein when the moving speed of the hand rope becomes substantially zero, the operation assist force command value is set to substantially zero and only the assist force corresponding to the base assist force command value is set. The baton lifting / lowering device according to any one of claims 1 to 4, wherein the baton lifting device is provided. 6. The operation force detecting means according to claim 1, further comprising a tension sensor for detecting an upper tension and a lower tension generated at both ends of the pull rope. Baton lifting device. 7. A wire rope for suspending the baton as the baton driving means, a traction sheave for moving the wire rope, a rotary actuator for rotating the traction sheave, and transmission from the rotary actuator to the traction sheave. The baton lifting / lowering device according to any one of claims 1 to 6, further comprising: a transmission force variable slip joint that varies a torque. 8. The vehicle according to claim 1, further comprising a wire rope suspending the baton, a traction sheave for moving the wire rope, and an electric motor for rotating the traction sheave as the baton driving means. 7. The baton elevating device according to any one of items 1 to 6.