JP2016111545A - Wireless driver, cargo handling machine and control method of cargo handling machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a safer wireless cargo handling machine which allows for emergency stop of a wireless driver, without being affected by the reception mistake of the switch data.SOLUTION: A winch 2, i.e., an example of cargo handling machine, includes a receiver 20 for receiving the carrier from a transmitter, and a winch section 30 having a motor 35 operating based on the data of the carrier received in the receiver 20. The receiver 20 is provided with a carrier determination unit 26 for determining whether or not there is the carrier. When a determination is made that there is no carrier in the carrier determination unit 26, operation of the motor 35 is stopped.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a wireless drive device that drives a motor by wireless communication, and more particularly, to a technology that makes an emergency stop operation of a cargo handling machine such as a winch or a hoist.

Conventionally, this kind of cargo handling machine is known to be operated by wireless communication.
In such a cargo handling machine, with the cargo handling machine body having a receiver installed at a predetermined location, operation data is transmitted wirelessly from the transmitter, and a predetermined operation is performed based on the data received by the receiver of the cargo handling machine. Is configured to do.

  By the way, in a conventional cargo handling machine, an emergency stop switch is provided in the transmitter, and when some trouble occurs, the emergency stop switch is operated to transmit emergency stop information to the cargo handling machine body. The operation of the main body of the cargo handling machine is stopped.

  However, in the prior art, for example, the receiver of the cargo handling machine body may not be able to receive emergency stop information due to the influence of noise or the like, and if such a reception error occurs, the cargo handling machine body cannot be stopped. It becomes dangerous.

  Also, in general, winches, hoists, etc. are installed at a position away from the operator, so it is difficult to determine the operating state, and when the above-mentioned reception error occurs when emergency stop information is transmitted Even so, there is a problem that the situation cannot be confirmed and the situation becomes more dangerous.

JP-A-9-117888

  The present invention has been made to solve the above-described problems of the prior art, and the object of the present invention is to make an emergency stop of a wireless driving device without being affected by a switch data reception error or the like. An object of the present invention is to provide a safer and safer cargo handling machine that can easily check its operating state.

In order to achieve the above object, the present invention comprises a receiver that receives a predetermined carrier wave, and a drive unit that has a motor that operates based on the carrier wave data received by the receiver. The wireless driving device is provided with a carrier wave determination unit that determines the presence or absence of the carrier wave, and is configured to stop the operation of the motor when the carrier wave determination unit determines that there is no carrier wave.
In the present invention, the wireless driving device includes a transmitter that transmits a carrier wave to a receiver of the wireless driving device, and the transmitter transmits the carrier wave by turning off the power. This is also effective when a carrier wave stopping unit for stopping is provided.
Further, the present invention is a cargo handling machine including any one of the above-described wireless driving devices and configured to rotationally drive a drum around which a rope for holding a cargo handling object is wound by the motor.
Further, the present invention is a method for controlling a cargo handling machine having the above-described transmitter and a wireless driving device, by operating a carrier wave stopping unit of the transmitter to turn off the power of the transmitter. Stopping the transmission of the carrier once transmitted, and stopping the operation of the motor when the carrier determination unit of the receiver of the wireless driving device determines that there is no carrier received once, thereby rotating the drum. And a step of stopping the cargo handling machine.

  In the case of the wireless drive device of the present invention, the operation of the motor of the drive unit is stopped when the carrier wave determination unit provided in the receiver determines that there is no carrier wave. Even if emergency stop information cannot be received due to a reception error, the motor operation can be stopped reliably, and the emergency stop operation can be stabilized.

Further, according to the present invention, since transmission / reception of a carrier wave can be stopped by turning off the power of the transmitter, an emergency stop operation can be performed without providing a new switch.
On the other hand, if the transmitter that transmits the carrier wave to the receiver of the wireless driving device is provided with a carrier wave stopping unit that stops the transmission of the carrier wave by turning off the power source, the power of the transmitter is turned off. Thus, it is possible to provide a wireless drive device that has a very simple circuit configuration and that can easily recognize a switch and can easily perform an emergency stop operation.

  Further, according to the present invention, it is possible to recognize that the wireless drive device is in an emergency stop state (inoperable state) if the power source of the transmitter is off, while in an emergency stop state when the power source of the transmitter is on. Can be reliably recognized as being in an operable state, so that the state management of the wireless drive device can be easily performed.

Furthermore, in the emergency stop state in which the transmitter is turned off, it can be recognized that the emergency stop state of the wireless drive device has been released simply by turning on the transmitter, so that the operation can be resumed quickly.
Furthermore, according to the cargo handling machine having the above-described wireless drive device and configured to rotationally drive a drum around which a rope for holding a cargo handling object is wound by a motor, a switch data reception error, etc. Therefore, the wireless drive device can be emergency-stopped without being affected by this, and a safer wireless cargo handling machine can be provided.

  In this case, the transmission of the carrier once transmitted is stopped by operating the carrier stop unit of the transmitter to turn off the power of the transmitter, and the carrier determination unit of the receiver of the wireless driving device receives the signal once. When it is determined that there is no carrier, the operation of the loading machine can be stopped with a very simple operation by stopping the operation of the motor and stopping the rotation of the drum. Can improve the safety.

  Further, as described above, in the emergency stop state in which the transmitter is turned off, it can be recognized that the emergency stop state of the cargo handling machine has been released simply by turning on the transmitter, so that the work can be resumed quickly. be able to.

  As described above, according to the present invention, it is possible to make the wireless driving device stop emergency without being affected by a switch data reception error or the like, and it is easy to check its operation state, and it is safer. Can be provided.

(A): Plan view showing an external configuration of a transmitter used in this embodiment (b): Block diagram showing a main part of a circuit configuration of the transmitter The block diagram which shows the circuit structure of the winch which is embodiment of the cargo handling machine which concerns on this invention Flow chart showing operation of transmitter in the present embodiment Flow chart showing operation of winch in this embodiment

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 1A is a plan view showing the external configuration of the transmitter used in this embodiment, and FIG. 1B is a block diagram showing the main part of the circuit configuration of the transmitter.

As shown to Fig.1 (a), the transmitter 1 in this Embodiment is provided with the power switch 3 and the emergency stop switch 4 (carrier wave stop part) on the main-body part 1a.
The emergency stop switch 4 is written with characters such as “stop”, for example, so that it can be easily distinguished from the power switch 3.

Further, as the operation switch 5, a high speed up switch 5a, a high speed down switch 5b, a low speed up switch 5c, and a low speed down switch 5d are provided.
Further, on the main body 1 a of the transmitter 1, a power lamp 6 that displays the power on / off state and an operation lamp 7 that displays the operation state of the transmitter 1 are provided.

As shown in FIG. 1B, the transmitter 1 has a power supply unit 11 driven by, for example, a battery.
The power supply unit 11 is configured to be turned on / off by the operation of the power switch 3 described above, and is configured to be turned off by the operation of the emergency stop switch 4 described above.

The emergency stop switch 4 of the present embodiment has only a function of turning off the power by operating in a state where the power is on, and does not have a function of turning on the power.
Therefore, even when the emergency stop switch 4 is operated a plurality of times, the power is not turned on.

A carrier wave generation unit 12 is connected to the power supply unit 11.
The carrier generation unit 12 has a function of generating, for example, an FM carrier (carrier wave) having a predetermined frequency.
A signal data modulation unit 13 is connected to the carrier wave generation unit 12.

  In the signal data modulation unit 13, the ID data output unit 15 that outputs the unique ID information of the transmitter 1 and the signal data from the operation switch 5 described above are mounted (multiplied) on the carrier wave generated in the carrier wave generation unit 12. And converted into a radio wave signal and sent to the transmitting antenna 14.

FIG. 2 is a block diagram showing a circuit configuration of a winch which is an embodiment of a cargo handling machine according to the present invention.
As shown in FIG. 2, the winch (loading machine) 2 according to the present embodiment includes a receiver 20 and a winch unit 30.

The receiver 20 has a receiving antenna 21 that receives the radio signal transmitted from the transmitter 1 described above.
An ID data determination unit 22 is connected to the reception antenna 21.

  The ID data determination unit 22 has a function of reading the ID information of the transmitter from the radio signal received by the receiving antenna 21 and determining whether or not the radio signal is transmitted from the transmitter 1 of the local station as a pair. doing.

A signal data demodulation unit 23 is connected to the ID data determination unit 22.
The signal data demodulator 23 has a function of demodulating the radio signal received by the receiving antenna 21.

A signal data determination unit 24 is connected to the signal data demodulation unit 23.
The signal data determination unit 24 reads and determines the contents (type and size) of the operation data instructing the operation of the winch unit 30 from the demodulated signal data, and the corresponding operation output unit 25 (high-speed rising output unit) 25a, a high-speed descent output unit 25b, a low-speed rise output unit 25c, and a low-speed descent output unit 25d).

  The operation output unit 25 outputs a signal corresponding to the operation data received by the high-speed rise output unit 25a, the high-speed drop output unit 25b, the low-speed rise output unit 25c, and the low-speed drop output unit 25d. 36.

On the other hand, in the present embodiment, a carrier wave determination unit 26 is connected to the reception antenna 21.
The carrier determination unit 26 has a function of determining whether there is a carrier from the transmitter 1, that is, whether or not the carrier transmitted from the transmitter 1 is received by the receiver 20.

An emergency stop signal output unit 27 is connected to the carrier wave determination unit 26.
The emergency stop signal output unit 27 outputs an emergency stop signal for stopping the motor 35 of the winch unit 30 to a power supply unit 31 and a state detection unit 37, which will be described later, based on the result obtained by the carrier wave determination unit 26. It is configured.
In the initial state where the receiver 20 is not receiving radio waves, the emergency stop signal output unit 27 is in a state of outputting an emergency stop signal.

The winch unit 30 of the present embodiment includes a power supply unit 31 connected to, for example, a commercial power supply, and is configured to control the rotational drive of the motor 35 with the following configuration.
A waveform control unit 32 is connected to the power supply unit 31.
The waveform control unit 32 sets a voltage waveform for controlling the driving of the motor 35, for example, an acceleration, deceleration, constant velocity waveform, based on the output signal from the rotation control unit 36 described above.

  A PWM generator 33 is connected to the waveform controller 32, and the PWM generator 33 generates a low voltage waveform and sends it to the inverter 34. The voltage waveform input in the inverter 34 is converted into a motor driving waveform, and the motor 35 is rotationally driven.

On the other hand, the motor 35 is provided with a position detection unit 38 for detecting the rotation direction. The position detection unit 38 sends the detection result to the state detection unit 37.
The state detection unit 37 is configured to perform feedback control by outputting the detection result obtained by the position detection unit 38 to the power supply unit 31 and the waveform control unit 32.

  The motor 35 controlled in this way rotates the cylindrical drum 40. Here, for example, a rope 43 having a hook 42 for suspending the cargo handling article 41 is wound around the drum 40, and the cargo handling article 41 is raised and lowered by rotating the drum 40.

FIG. 3 is a flowchart showing the operation of the transmitter in the present embodiment, and FIG. 4 is a flowchart showing the operation of the winch in the present embodiment.
Hereinafter, the operation of the present embodiment will be described with reference to FIGS.

  First, in the operation standby state of the transmitter 1, the power switch 3 is operated to operate the power supply unit 11 (step S1 in FIG. 3), and when the transmitter 1 is turned on (step S2 in FIG. 3). Then, a carrier wave is generated and transmitted by the carrier wave generator 12 described above (step S3 in FIG. 3). In the present embodiment, the carrier wave generation unit 12 always generates and transmits a carrier wave.

  Next, after determining whether or not the emergency stop switch 4 of the transmitter 1 has been operated (step S4 in FIG. 3), the operation switch 5 (high speed up switch 5a, high speed down switch 5b, low speed up switch 5c, low speed down switch) It is determined whether or not 5d) has been operated (step S5 in FIG. 3).

  If it is determined that the operation switch 5 has been operated, the signal data of the operated operation switch 5 is modulated by the signal data modulation unit 13 (step S6 in FIG. 3) and transmitted as a radio signal from the transmission antenna 14. (FIG. 3, step S7).

  On the other hand, if it is determined in step S5 that the operation switch 5 is not operated, only the carrier wave generated by the carrier wave generator 12 of the transmitter 1 is transmitted as a radio signal from the transmission antenna 14 (step S7 in FIG. 3). ).

Then, it returns to step S1 and repeats the flow mentioned above.
When the power switch 3 is operated so as to turn off the power of the transmitter 1 in steps S1 and S2 during the repetition of this flow, the generation of the carrier wave is stopped and the power of the transmitter 1 is turned off ( FIG. 3 steps S8 and S9). Thereby, the transmission of the carrier wave from the transmitter 1 to the receiver 20 is stopped.

  If the emergency stop switch 4 is operated in step S4, the generation of the carrier wave is stopped and the power of the transmitter 1 is turned off (steps S8 and S9). Thereby, the transmission of the carrier wave from the transmitter 1 to the receiver 20 is stopped.

  On the other hand, in the receiver 20, when the reception antenna 21 receives a radio signal in a state of waiting for reception of radio waves (step S11 in FIG. 4), the ID data determination unit 22 uses the transmitter 1 of its own station to be paired. Is determined (step S12 in FIG. 4), and if it is determined that the received radio signal is from another station transmitter, the emergency stop signal is detected by the power supply unit 31 and the state detection. Is output to the unit 37 (steps S12 and S17 in FIG. 4), and then the process returns to step S11 to resume radio wave reception.

  On the other hand, when it is determined that the received radio signal is a radio wave from the transmitter 1 of the local station, an emergency stop signal is sent from the emergency stop signal output unit 27 to the power supply unit 31 and the state detection unit 37 of the winch unit 30. Is turned off (step S13 in FIG. 4).

  Then, the signal data demodulator 23 demodulates the radio signal received by the receiving antenna 21 to extract the signal data (step S14 in FIG. 4), and the signal data determination unit 24 determines whether or not the signal data is normal. (Step S15 in FIG. 4).

If it is determined that the signal data is normal, the corresponding data is output from the operation output unit 25 to the rotation control unit 36 of the winch unit 30 based on the signal data (step S16 in FIG. 4). The operation of the motor 35 is controlled based on the data.
On the other hand, when the signal data determination unit 24 determines that the demodulated signal data is abnormal, it performs processing that the data is abnormal (steps S15 and S18 in FIG. 4).

Then, it returns to step S11 and repeats the flow mentioned above.
When the flow is repeated, if the transmission of the carrier wave from the transmitter 1 to the receiver 20 is stopped in step S12, the carrier wave is not received by the receiver 20, and therefore the emergency stop signal output unit 27 supplies power. An emergency stop signal is output to the unit 31 and the state detection unit 37 (steps S12 and S17 in FIG. 4).
Thereby, operation | movement of the motor 35 of the winch part 30 stops.

  In the present embodiment described above, the operation of the motor 35 of the winch unit 30 is stopped when the carrier determination unit 26 provided in the receiver 20 of the winch 2 determines that there is no carrier wave. Even when the emergency stop information cannot be received due to a reception error of the receiver 20 as in the art, the operation of the motor 35 can be stopped reliably, and thus the emergency stop operation can be stabilized.

  In the present embodiment, the transmitter 1 that transmits the carrier wave to the receiver 20 of the winch 2 is provided with the emergency stop switch 4 that stops the transmission of the carrier wave. It is possible to provide a wireless drive device that has a very simple circuit configuration that is simply turned off, and that can easily recognize the emergency stop switch 4 and that can easily perform an emergency stop operation.

  Further, according to the present embodiment, it can be recognized that the winch 2 is in an emergency stop state (inoperable state) if the transmitter 1 is turned off, while the transmitter 1 is in an emergency state when the transmitter 1 is turned on. Since it is possible to reliably recognize that the stop state is released and the device is in an operable state, the state management of the winch 2 can be easily performed.

In particular, in the present embodiment, by operating the emergency stop switch 4 of the transmitter 1 to turn off the power of the transmitter 1, the transmission of the carrier once transmitted is stopped, and the carrier of the receiver 20 of the winch 2 is stopped. When the determination unit 26 determines that there is no carrier wave once received, the operation of the motor 35 is stopped and the rotation of the drum 40 is stopped. Therefore, the operation of the winch 2 can be reliably stopped by a simple operation. The safety of work by the winch 2 can be improved.
Furthermore, in the emergency stop state in which the power source of the transmitter 1 is off, it can be recognized that the emergency stop state of the winch 2 has been released simply by turning on the power source of the transmitter 1, so that the operation can be resumed quickly.

  As described above, according to the present embodiment, it is possible to perform an emergency stop without being affected by an erroneous reception of switch data, etc. A winch 2 can be provided.

The present invention is not limited to the above-described embodiment, and various changes can be made.
For example, in the above-described embodiment, the winch has been described as an example of the cargo handling machine. However, the present invention is not limited thereto, and can be applied to, for example, a hoist or a unloader.
However, from the viewpoint of further improving safety by wireless operation, the present invention is more effective when applied to a winch or a hoist.

1 ... transmitter 2 ... winch (wireless drive, cargo handling machine)
3 ... Power switch 4 ... Emergency stop switch (carrier stop)
DESCRIPTION OF SYMBOLS 5 ... Operation switch 11 ... Power supply part 12 ... Carrier wave preparation part 13 ... Signal data modulation part 14 ... Transmission antenna 20 ... Receiver 21 ... Reception antenna 23 ... Signal data demodulation part 24 ... Signal data determination part 30 ... Winch part (drive) Part)
40 ... drum 41 ... cargo handling 43 ... rope

Claims (4)

A receiver for receiving a predetermined carrier wave;
A drive unit having a motor that operates based on data of a carrier wave received by the receiver;
A carrier wave determination unit for determining the presence or absence of the carrier wave is provided in the receiver,
A wireless driving device configured to stop the operation of the motor when the carrier determination unit determines that the carrier does not exist. A wireless drive device according to claim 1;
A transmitter for transmitting a carrier wave to a receiver of the wireless driving device;
A wireless driving device in which the transmitter is provided with a carrier wave stopping unit that stops transmission of the carrier wave by turning off the power. A wireless drive device according to claim 1 or 2,
A cargo handling machine configured to rotationally drive a drum around which a rope for holding a cargo handling article is wound by the motor. A method for controlling a cargo handling machine according to claim 3, comprising the wireless drive device according to claim 2.
A step of stopping transmission of the carrier once transmitted by operating the carrier stop unit of the transmitter to turn off the power of the transmitter;
A method for controlling a cargo handling machine, comprising: a step of stopping operation of the motor and stopping rotation of the drum when it is determined by a carrier wave determination unit of a receiver of the wireless driving device that a carrier wave has not been received once.

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