JP2019052007A - Cargo handling assistance device and control method of cargo handling assistance device - Google Patents

Abstract

To improve safety and operability of a cargo handling assistance device mounted with a balance function to perform a moving work of cargoes.SOLUTION: The cargo handling assistance device has: a locking member 8 to lock cargoes 30 to be lifted and lowered; a lifting/lowering operation unit to lift and lower the locking member 8 by feeding a chain or a rope; a motor unit of a driving source connected to the lifting/lowering operation unit; a weight detection unit to detect a weight applied to the lifting/lowering operation unit; a position detection unit to detect a feeding position of the locking member 8; a control unit 10 to issue a command to the motor unit on the basis of a position signal from the position detection unit and a weight signal from the weight detection unit; and an operation command unit 22a to issue a command related to the lifting/lowering of the locking member 8 to the control unit. The control unit 10 limits the feeding length of the locking member 8 to equal to or less than a first length L1 capable of presetting variably, when the control unit 10 detects that the weight sum of the locking member 8 and the cargoes 30 is applied to the weight detection unit and controls the motor unit so as to keep the balance of the cargoes 30.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a cargo handling assisting device that is used in manufacturing assembly equipment in the manufacturing field, transfer equipment in the transportation field, and the like, and balances the weight of goods in the vertical and vertical directions with the assistance of a motor and moves up and down with a slight operating force. .

  2. Description of the Related Art Conventionally, factories for assembling industrial products use a handling machine that hangs and moves up and down a heavy load such as a tool, work equipment, product, and semi-finished product. Among them, the cargo handling assisting device that generates assistance so that the user can move a heavy load handling item up and down to an arbitrary height with a relatively light operating force is one that uses an air cylinder and one that uses a motor. It has been known.

  Air cylinders are mainly arm-type, require pressure air, require an air compressor, etc., and need a safety device when the air supply is cut off. There is one that uses an electric motor to generate a balance so that only electricity can be supplied. Among them, for example, those using link chains, the chain is wound around a cylindrical load sheave, and one end is locked to a hook (locking member) that suspends the cargo, and the other end is not fixed. It has a structure that accumulates in

JP-A-2006-222462

  The above-described motor-type cargo handling assist device has a function of detecting the weight of a cargo handling object to be suspended, and simultaneously detecting the lift position of the cargo handling article, and controlling the motor so that the cargo handling object is balanced at an arbitrary position. doing.

  Such a cargo handling assist device is provided in the vicinity of the hook of the cargo handling object as disclosed in Patent Document 1, and switches the balance state and manual operation by operating an operation unit that moves up and down together with the cargo handling article. At the same time, a method in which an operator applies an external force in the vertical vertical direction directly to the cargo handling object to perform a lifting operation is common. With such a cargo handling assistance device, when the cargo handling object is suspended on the hook and in a balanced state, the worker accidentally continues to apply external force to the hook and the cargo handling object in a vertically downward direction. There was a possibility of colliding with the floor.

  In addition, when the load is not suspended from the locking member and the hook is pushed up vertically in a balanced state, there is a problem in that the operator's hand cannot be reached because the operation unit is raised too much. In particular, when the worker is changed and the height of the previous worker is very high, there is a problem that the subsequent worker cannot reach the operation unit.

  Furthermore, when it is desired to move the cargo handling equipment on the first floor to the third floor in a building with an atrium structure, for example, there is a problem that it is difficult for an operator to directly touch the cargo handling equipment because of its height. It was.

  In view of such a problem, an object of the present invention is to improve the safety and operability of a cargo handling operation in a cargo handling assisting device equipped with a balance function for moving a cargo handling object.

In order to achieve the above object, the material handling assisting device according to claim 1 is a locking member that locks a material to be lifted and lowered.
A lifting and lowering operation unit that raises and lowers the locking member by feeding the locking member with a chain or rope;
A motor unit of a drive source connected to the lifting and lowering operation unit;
A weight detection unit that detects the weight applied to the lifting operation unit and outputs a weight signal;
A position detection unit that detects a feeding position of the locking member and outputs a position signal;
Based on the position signal from the position detection unit and the weight signal from the weight detection unit, a control unit that commands the motor unit,
An operation command unit that is electrically connected to the control unit and is provided in the vicinity of the locking member, and that commands the control unit to raise and lower the locking member.
When the control unit detects that the sum of the weight of the locking member and the weight of the cargo handling material is added to the weight detection unit and controls the motor unit to balance the locking member and the cargo handling material, the control is performed. The portion is configured to limit the feeding length of the locking member to a first length or less that can be variably set in advance.

  In the cargo handling assistance device according to claim 2, in order to achieve the above-described object, the control unit detects that the weight of only the locking member is added to the weight detection unit and balances the locking member. When the motor unit is controlled, the control unit is configured to limit the feeding length of the locking member to a second length or more that can be variably set in advance.

In order to achieve the above object, the cargo handling assistance device according to claim 3 is configured so that:
The target position for stopping the locking member is stored by a command from the operation command unit,
The raising and lowering of the locking member to the target position is performed by a command from the operation command unit,
When the locking position of the locking member is acquired from the position detector and it is detected that the locking member has reached the target position, the locking member is held at the target position or the locking position is set as the starting position. Is configured to balance.

  In order to achieve the above object, at least one of the control unit and the operation command unit holds the locking member at the target position or locks the target position as the start position. It is configured to include a selection unit that enables selection of either of balancing the members in advance.

In order to achieve the above object, the cargo handling assisting device according to claim 5 provides:
The control unit controls the motor unit based on the motor control value obtained by adding or subtracting a predetermined value to the load applied to the weight detection unit during the period from the start of raising / lowering of the locking member to the target position to the arrival of the target position. Is configured to do.

  In the cargo handling assistance device according to claim 6, in order to achieve the above-described object, the control unit directly applies to the locking member during a period from the start of the raising / lowering of the locking member to the target position to the arrival of the target position. The vertical movable range of the locking member by external force applied manually or indirectly is configured to move with the position of the locking member.

In order to achieve the above object, the control method of the cargo handling assist device according to claim 7 includes: a locking member that locks the cargo handling object that is moved up and down;
A lifting and lowering operation unit that raises and lowers the locking member by feeding the locking member with a chain or rope;
A motor unit of a drive source connected to the lifting and lowering operation unit;
A weight detection unit that detects the weight applied to the lifting operation unit and outputs a weight signal;
A position detection unit that detects a feeding position of the locking member and outputs a position signal;
Based on the position signal from the position detection unit and the weight signal from the weight detection unit, a control unit that commands the motor unit,
An operation command unit that is electrically connected to the control unit and issues a command related to the raising and lowering of the locking member, and a control method of the cargo handling assisting device,
The control unit
A balance control step (S105) for controlling the motor unit so as to balance the locking member and the cargo handling object by detecting that the sum of the weight of the locking member and the weight of the cargo handling material is added to the weight detection unit; A step (S107) of determining whether the feeding length of the member exceeds the first length;
And a step (S108) of controlling the motor unit by limiting the feeding length of the locking member to the first length or less.

In order to achieve the above object, the control method of the cargo handling assistance device according to claim 8 is characterized in that:
A load control step (S110) without a cargo handling article in which the control unit detects that the weight of only the locking member is added to the weight detection unit and controls the motor unit to balance the locking member;
A step (S111) of determining whether the feeding length of the locking member is less than the second length;
And a step (S112) of controlling the motor unit by limiting the feeding length of the locking member to the second length or more.

In order to achieve the above object, the control method of the material handling assisting device according to claim 9 includes:
A target position registration step (S122) for setting and registering a target position for stopping the locking member;
A position acquisition step (S201) for acquiring the current position of the locking member from the position detection unit according to a command from the operation command unit;
An ascending / descending determination step (S202) for determining whether the movement from the current position to the target position is ascending or descending;
The motor control value for raising or lowering the locking member is obtained by adding or subtracting a predetermined value to the weight value applied to the locking member that holds the cargo item, and commands the motor unit based on the motor control value. A movement command step (S203) for performing
A target position arrival determination step (S207) of acquiring the locking member feeding position from the position detection unit and determining whether the locking member feeding position has reached the target position;
It is comprised so that it may be executed.

In order to achieve the above object, the control method of the material handling assisting device according to claim 10 includes:
A limit value setting step (S204) for acquiring the position of the locking member from the position detection unit and setting a limit value that defines the range of operation at a predetermined distance in the direction opposite to the moving direction of the locking member;
A limit value arrival determination step (S205) for determining whether or not the locking member has reached the limit value;
A position limiting step (S206) instructing to limit movement exceeding the limit value when the locking member has reached the limit value;
Is executed between the execution of the movement command step (S203) and the target position arrival determination step (S207).

In order to achieve the above object, the control method for a cargo handling assist device according to claim 11 is characterized in that:
When the locking position of the locking member is acquired from the position detector and it is determined that the target position has been reached in the target position arrival determination step (S207), the locking member is set to be held at the target position. A target position holding setting determining step (S208) for determining whether or not the holding member is held in the target position when the setting for holding the locking member in the target position is made in advance (step S208). Step S101) is executed, and if the setting for holding the locking member at the target position is not made in advance, a reweighing step (S209) for reweighing the load applied to the weight detection unit, and a balance control step ( S105).

  According to the cargo handling assistance device of the invention described in claim 1, the position of the locking member where the cargo handling object suspended from the locking member does not hit the floor is registered in advance as a predetermined position, When suspended and in a balanced state, the locking member is restricted from being extended beyond a predetermined position, so that it is possible to prevent the cargo item from colliding with the floor even when sudden external force is applied vertically downward. In addition, it is possible to provide a cargo handling assist device that improves the safety of cargo handling operations.

  According to the cargo handling assist device of the invention described in claim 2, in addition to the above effect, when the cargo handling object is not suspended from the locking member and is in a balanced state only by the locking member, the locking member is lifted. Since the end position is limited, it is possible to prevent the worker from raising the locking member too much and prevent other low-height workers from operating, thereby providing a cargo handling assist device that improves operability.

  According to the cargo handling assistance device of the invention described in claim 3, in addition to the above effects, by registering the target position in advance, the operator can easily perform a cargo handling operation with a high lift without directly touching the cargo handling object. Since the position can be maintained or balanced after reaching the target position, it is possible to provide a cargo handling assistance device with excellent operability.

  According to the cargo handling assistance device of the invention described in claim 4, in addition to the above-mentioned effect, either the holding or the balance of the position can be selected in advance after reaching the target position, which is optimal for the contents of the cargo handling operation. It is possible to provide a cargo handling assisting device capable of securing operations in advance.

  According to the cargo handling assist device of the invention described in claim 5, in addition to the above-described effect, even when the cargo handling object comes into contact with an obstacle or the like fixed in the period until the target position is reached, and its movement is hindered. The operator can provide a cargo handling assisting device that can be easily removed and resumed.

According to the cargo handling assist device of the invention described in claim 6, in addition to the above-described effect, the control unit sequentially increases or decreases the limit range of movement when receiving external force during the period until reaching the target position. Therefore, it is possible to prevent the cargo handling object from colliding with another structure or the like due to the sudden application of external force, and therefore it is possible to provide a cargo handling assisting device that improves safety.

It is a perspective lineblock diagram of the whole material handling assistance device concerning an embodiment of the present invention. It is a perspective lineblock diagram which abbreviate | omitted some members of the material handling assistance device concerning the embodiment of the present invention. It is a schematic diagram which shows the movable range of the material handling assistance apparatus which concerns on embodiment of this invention. It is a schematic diagram which shows the movable range of the material handling assistance apparatus which concerns on embodiment of this invention. It is operation | movement explanatory schematic diagram of the target position mode of the material handling assistance apparatus which concerns on embodiment of this invention. It is operation | movement explanatory schematic diagram of the target position mode of the material handling assistance apparatus which concerns on embodiment of this invention. It is operation | movement explanatory schematic diagram of the target position mode of the material handling assistance apparatus which concerns on embodiment of this invention. It is operation | movement explanatory schematic diagram of the target position mode of the material handling assistance apparatus which concerns on embodiment of this invention. It is a control flowchart of the material handling assistance apparatus which concerns on embodiment of this invention. It is a control flowchart during target position movement of the material handling assistance apparatus which concerns on embodiment of this invention.

Hereinafter, a material handling aid according to an embodiment of the present invention will be described in detail based on the drawings. FIG. 1 is a perspective configuration diagram of the entire cargo handling assisting apparatus according to an embodiment of the present invention.

  The cargo handling assisting device 1 includes a main body part covered with a cover 11, and a locking member 8 that hangs and locks the cargo handling object 30 at a position extending downward from the main body part along the link chain 6. The operation command unit 22a is moved up and down together with the locking member 8. The cargo handling assisting device 1 is provided with a hanging hook 9 in the main body, and is hung on a structure such as a beam of a building or a movable device provided on a rail 34 (see FIG. 3) movable in a horizontal direction. Can be used.

  A control unit 10 that controls the material handling assisting device 1 is housed inside the main body. The control unit 10 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), other storage devices, and an input / output device. The control unit 10 is electrically connected to the motor unit 2, the operation command unit 22 a, and the like, and includes a drive circuit for the motor unit 2.

  FIG. 2 shows a part of the internal structure of the main body with the cover 11 of the cargo handling assisting apparatus 1 according to the embodiment of the present invention omitted.

  A reduction gear is attached to the load side of the motor of the drive source, and the motor unit 2 is configured together with the motor. This motor is, for example, an AC servo motor.

  The speed reducer reduces the rotational speed of the motor to a predetermined speed. The speed reducer is, for example, a wave gear speed reducer. The wave gear reducer has a wave generator with an elliptical outer periphery, and a large number of external teeth formed on the outer periphery, which are externally fitted to the wave generator so that the position bent in the circumferential direction is changed by the rotation of the wave generator. The flexspline includes a deformable flexspline and a circular spline having an inner tooth that fits with an outer tooth of the flexspline on the outer peripheral side of the flexspline. The power is extracted and transmitted to the rotation output shaft 3 that connects the flexspline as a rotation output. For example, a wave gear reducer such as a wave gear reducer is used as the speed reducer of the material handling assisting device 1 so that when the assisting operation is performed by frequently switching the forward / reverse rotation of the motor, the control at the time of switching cannot be performed. Smooth operation feeling can be realized.

  The rotation output shaft 3 is a rotation shaft decelerated by a reduction gear, and is connected to the lifting / lowering operation unit 7 to continuously rotate the lifting / lowering operation unit 7 forward and backward.

  A hanging hook 9 is fixed to suspend the cargo handling assisting device 1 from the top surface of the main body. The hanging hook 9 is provided at a position near the center of gravity of the cargo handling assisting device 1 in the horizontal direction.

  The link chain 6 has an oval ring composed of a semicircular arc part and a straight part connected to the semicircular arc part, and is alternately connected. One end is connected to a locking member 8 and the other end (no load) Side) is stored in the link chain storage portion 12.

  The lifting / lowering operation unit 7 is rotated by driving from the motor unit 2 to feed and wind the link chain 6. In the present embodiment, the lifting operation unit 7 has a cylindrical outer shape and is connected to the rotation output shaft 3. The position where the link chain 6 is wound is approximately near the vertical bottom of the hanging hook 9 and is provided near the center of gravity of the main body of the cargo handling assisting device 1. The link chain 6 is inserted into a pocket groove provided in the elevating operation unit 7 and is wound about 180 degrees. In the present embodiment, the link chain 6 is used to be connected to the locking member 8 and wound around the elevating / lowering operation unit 7. However, the present invention is not limited to this, and a wire rope may be used. In that case, the raising / lowering operation part 7 is a drum shape, and the wire rope is wound with one end fixed.

  A position detection unit 4 that detects the rotational angle position of the motor is connected to the motor unit 2 on the opposite side of the motor unit 2. The position detection unit 4 is a so-called absolute encoder, and detects the rotational angle position of the motor by an optical method and outputs a position signal. The position detection unit 4 can detect the extended position of the locking member 8, that is, the lift position.

  The weight detection unit 5 includes a strain body and a strain gauge attached to the strain body so that the force transmitted from the link chain 6 wound around the lifting operation unit 7 can be detected as a reaction force. The strain gauge is incorporated in a Wheatstone bridge circuit that converts strain generated in the strain generating body into an electric signal in accordance with the weight, whereby the weight detection unit 5 outputs a weight signal.

  The control unit 10 is disposed in the cover 11 in the vicinity of the lifting operation unit 7. The control unit 10 controls the motor unit 2 based on the position signal from the position detection unit 4 and the weight signal from the weight detection unit 5. The electrical equipment section including the control section 10 is disposed in the cover 11 in order to enable the material handling assisting device 1 to be used in a place where powder particles or water droplets are applied.

  In the present embodiment, the position detection unit 4 is disposed on the side opposite to the load of the motor unit 2. However, the position detection unit 4 is not limited thereto, and may be provided on the rotation output shaft 3 or the lifting operation unit 7 that is the output of the speed reducer. May be provided. Furthermore, not only an optical type but a magnetic type or a capacitance type may be used.

  The weight detection unit 5 is not limited to this, and may be any type that can detect the weight applied to the locking member 8, such as a rotational type that detects torque from the twist of the rotary shaft provided between the speed reducer and the lifting operation unit 7. A structure or a drum-type structure that detects a reaction force received by the motor unit 2 may be used.

  The operation command part 22 a is arranged in the vicinity of the end of the link chain 6 in the vertically upward direction of the locking member 8. The operation command unit 22a has a box shape, and is provided with an illumination type operation switch and the like. These switches are electrically connected to the control unit 10 by a spiral cord 13, and are used to raise and lower the locking member 8. This command is given to the control unit 10. The connection between the operation command unit 22a and the control unit 10 is not limited to a wired connection, and may be wireless using infrared rays or the like. The operation switch of the operation command unit 22a includes a balance button 22b for bringing the cargo handling object 30 suspended from the locking member 8 into a balanced state, a holding button 22c for holding the current position of the locking member 8, and a holding button 22c. After being held, it consists of an up button 22d for raising the locking member 8 by electric operation and a down button 22e for lowering the locking member 8 by electric operation. The operation switches of these operation command units 22a notify the operator that the operation command unit 22a has been pressed by light emission.

  FIG. 3 is a schematic diagram showing an operation and a movable range of the cargo handling assistance device according to the embodiment of the present invention. FIG. 9 is a flowchart of the operation of the cargo handling assistance apparatus according to the embodiment of the present invention.

  With reference to FIG. 3 and FIG. 9, the cargo handling work and the operation and control method of the cargo handling assisting apparatus when the cargo handling object 30 is placed on the floor 31 will be described. First, when the operator turns on the power switch of the material handling assisting device 1 and presses the holding button 22c of the operation command unit 22a, the control unit 10 performs a holding step (S101) for setting the locking member 8 to the holding state at that time. Run. As a result, the material handling assisting device 1 enters the holding mode. Then, the operator continues to push down the lowering button 22e of the operation command portion 22a to lower the locking member 8, and feeds the link chain 6 to a position where the cargo handling object 30 can be locked. Since the length of the link chain 6 is finite, the limit of the feeding length that limits the feeding length of the link chain 6 is the software limit length SL1, as shown in FIG. It is set by an operator or the like.

  The operator pushes and moves the lowering button 22e or the uppering button 22d of the operation command portion 22a to a position where the locking member 8 can lock the cargo handling object 30, and then locks the locking member 8 to the cargo handling object 30 ( FIG. 3 (b)). Next, when the operator pushes the lift button 22d to raise the load 30 to a position away from the floor 31, and then presses the balance button 22b, the control unit 10 determines that the balance button 22b has been pushed (S103). Is executed, and the step (S104) of obtaining the weight signal from the weight detection unit 5 and determining the presence / absence of the cargo handling object 30 is executed, and when it is further determined that the cargo handling object 30 is suspended from the locking member 8, A balance control step (S105) is executed. As a result, the material handling assist device 1 is switched to the balance mode.

  The control unit 10 performs the following operation in the balance control step (S105). When the cargo handling object 30 is suspended from the locking member 8, the link chain 6 is pulled vertically downward by the weight of the cargo handling object 30, and accordingly, the lifting / lowering operation unit 7, the rotary output shaft 3, the motor unit 2, and the weight detection unit 5. Is also pulled vertically downwards. Then, the strain generating part of the weight detecting unit 5 is deformed, and the control unit 10 detects a load applied to the weight detecting unit 5 with a strain gauge attached to the strain detecting part of the weight detecting unit 5 and electrically converts the weight signal. And a force applied to the locking member 8 generated by the lifting / lowering operation unit 7 and a vertically downward force applied to the lifting / lowering operation unit 7 based on the position signal of the locking member 8 detected by the position detection unit 4. Are balanced, and control for assisting the motor unit 2 is performed so that the cargo handling object 30 is balanced at an arbitrary position.

  Then, the control unit 10 determines whether the feeding length of the locking member 8 exceeds the first length L1 while controlling the balance when the cargo handling object 30 is suspended from the locking member 8. If (S107) is executed and the feeding length of the locking member 8 exceeds the first length L1, the feeding length of the locking member 8 is controlled to be equal to or less than the first length L1. Step (S108) is executed. That is, the control unit 10 limits the movable range of the locking member 8 to the first length L1 that can be variably set in advance. If the operator presses the lift button 22d in step (S120) and moves the balance button 22b away from the floor 31 at a position where the locking member 8 is longer than the first length L1. When pushed, the operator applies a vertical upward external force to the locking member 8 and the cargo handling object 30 to raise the locking member 8 and when the feeding length of the locking member 8 enters the region of the first length L1 or less. This restriction takes effect. That is, when the operator pushes the balance button 22b in a region where the feeding length of the locking member 8 exceeds the first length L1, the worker feeds the locking member 8 and the cargo item 30 out of the locking member 8. After raising the length until it enters the region of the first length L1 or less, the restriction on the feeding length of the locking member 8 becomes effective. The first variable length L1 that can be variably set is set in advance by an operator or a work manager in consideration of the size, weight, etc. of the handled cargo 30 to be handled, and is stored in the storage device of the control unit 10.

  Accordingly, during this balance mode, even if an operator continues to apply an external force vertically downward to the locking member 8 or the cargo handling object 30, the cargo handling object 30 does not reach the floor 31. It is possible to prevent a collision.

  If the operator needs to place the cargo handling item 30 on the floor 31 again, the operator presses the holding button 22c, and the control unit 10 determines that the holding button 22c has been pressed (S109). The locking member 8 can be lowered by moving to the holding step (S101) and operating the lowering button 22e. Since the limit of the feeding length of the locking member 8 at this time is the software limit length SL1, the operator lowers the locking member 8 and lowers the cargo handling object 30 to the floor surface, thereby locking the cargo handling object 30. It can be removed from the member 8.

  FIG. 4 is a schematic diagram illustrating an operation and a movable range when the cargo handling assisting apparatus according to the embodiment of the present invention does not suspend a cargo handling article. The operation of the material handling assisting device when the material handling object 30 is not suspended from the locking member 8 will be described with reference to the flowcharts of FIGS. 4 and 9.

  When the operator pushes the balance button 22b without suspending the cargo handling article 30 on the locking member 8, the control unit 10 executes a step (S103) for determining that the balance button 22b has been pushed, and further the weight. A step (S104) of obtaining a weight signal from the detection unit 5 and determining the presence or absence of a cargo handling object is executed to judge that the cargo handling object 30 is not hung on the locking member 8, and a balance control step without cargo handling material. (S110) is executed. As a result, the cargo handling assistance device 1 is switched to the balance mode without cargo handling.

  The control unit 10 performs the following operation during the balance control step without cargo handling (S110). The control unit 10 detects the weight signal obtained by detecting only the load that only the locking member 8 pulls the lifting / lowering operation unit 7 vertically downward with a strain gauge attached to the strain generating unit and electrically converting it, and the position detecting unit 4 detects the weight signal. Based on the calculated position signal, the force applied to the locking member 8 generated by the lifting / lowering operation unit 7 is balanced with the weight of the locking member 8 and the vertically downward force applied thereto. Control is performed to assist the motor unit 2 so as to balance the position. This operation is basically the same as when the cargo handling object 30 is suspended from the locking member 8.

  And the control part 10 performs the step (S111) which judges whether the feeding length of the locking member 8 is less than 2nd length L2, and the feeding length of the locking member 8 is 2nd length. If it is less than L2, the step (S112) of restricting the extension length of the locking member 8 to be equal to or longer than the second length L2 is executed. The operator can move the locking member 8 in the vertical and vertical directions within the range WS by executing the balance control step without cargo handling (S110) to the step (S112) for limiting the feeding length of the locking member 8. (FIG. 4B). Therefore, by adjusting the movable range WS of the locking member 8 to the height of the operator, the work can be performed lightly and freely. The second length L2 of the feeding length of the locking member 8 is also set in advance by the operator or work manager and stored in the storage device of the control unit 10.

  When the worker starts the cargo handling work by suspending the cargo handling object 30 from the balance control state without the cargo handling article, the operator presses the holding button 22c, and the control unit 10 has pushed the holding button 22c. Is detected (S113), the process moves to the holding step (S101) to switch to the holding mode, and the worker performs the work according to the above-described procedure.

  5 to 8 are schematic diagrams for explaining the operation in the target position mode of the cargo handling assisting apparatus 1 according to the embodiment of the present invention. The target position mode of the cargo handling assistance device will be described with reference to the flowchart of FIG.

  The target position mode of the material handling assisting device 1 means that the control unit 10 is locked by a command from the operation command unit 22a in a state where the cargo handling object 30 is suspended from the locking member 8 as shown in FIG. For example, the feeding position of the member 8 is moved to a predetermined third length L3 and stopped. After the cargo handling object 30 reaches a predetermined position in the vertically upward direction, the operator uses the rail 34 and a mechanism (not shown) to move the cargo handling assisting device 1 vertically above the fixed structure 32 having a height different from that of the floor 31. Can be moved horizontally and lowered onto the fixed structure 32.

  In executing the target position mode, it is necessary to set a target position for moving the cargo handling object 30 and the locking member 8 in advance. This may be performed only by the locking member 8 or the cargo handling object 30 is suspended. You may go in the state. The control unit 10 executes the holding step (S101) when the operator presses the holding button 22c, and then the operator presses the descending button 22e or the ascending button 22d of the operation command unit 22a. Step (S102) is executed, and then step (S120) for moving the locking member 8 is executed. Further, although not shown here, the selection means for enabling selection between holding the balance and the balance after the cargo handling object 30 and the locking member 8 have reached the target position or the control unit 22a and the control unit. This is realized by a switch or the like provided in at least one of 10.

  The operator moves the locking member 8 to a predetermined position, and then executes target position registration for registering the target position. The target position can be registered by long pressing the holding button 22c. Of course, other buttons for registration may be provided, or a combination of other buttons may be used. The control unit 10 executes a target position registration determination step (S121) for determining whether or not a target position registration command has been received. When the target position registration command is received, the control unit 10 determines the current position of the locking member 8 as a control unit. The target position registration step (S122) stored in the storage device 10 is executed.

  Next, using FIG. 6 to FIG. 10, a procedure until the cargo handling object 30 placed on the floor 31 is moved onto the fixed structure 32 using the cargo handling assistance device of the present invention will be described.

  Since the details from the holding step (S101) to the balance control step (S105) described in FIG. 9 have been described above, the balance control step (S105) and subsequent steps will be described. After the cargo handling item 30 is in the balanced state in the balance control step (S105) shown in FIG. 9, the control unit 10 determines whether or not there is a target position movement command. The target position movement command is performed by the operator pressing a button provided on the operation command unit 22a. In the present embodiment, the target position movement command is performed by long pressing of the balance button 22b for 3 seconds or more, for example. Of course, the target position movement command is not limited to this, and a dedicated button may be provided, or a modification such as a combination with other buttons may be used.

  When the control unit 10 determines in step (S106) that the target position movement command has been generated, the control unit 10 executes the movement step to the target position (S200), that is, the procedure shown in FIG. Thereby, the material handling assistance apparatus 1 switches to the target position mode.

  FIG. 10 shows the moving step (S200) to the target position. At the beginning of the movement step (S200), the control unit 10 executes a position acquisition step (S201) for obtaining the current feeding position of the locking member 8 from the position detection unit 4. Next, the control unit 10 compares the current feeding position of the locking member 8 obtained from the position detection unit 4 with the feeding position stored in advance in the target position registration step (S122), and the movement to the target position is not increased. An ascending / descending determination step (S202) for determining whether or not the vehicle is descending is executed. For example, in the case of movement to the target position as shown in FIGS.

  And the control part 10 calculates | requires the motor control value for raising the cargo handling object 30 and the latching member 8 by adding a predetermined value to the weight value added to the weight detection part 5, and motor part based on a motor control value The movement command step (S203) for commanding to 2 is executed. When the motor control value is transmitted from the cargo handling object 30 and the locking member 8 to be a weight value applied to the weight detection unit 5, the cargo handling object 30 is in a balanced state and is in a stationary state. When a predetermined value is added to the motor control value, the control unit 10 tries to balance a material that is heavier than the weight value of the cargo handling material 30, so that the cargo handling material 30 and the locking member 8 rise. The predetermined value to be added is set according to specifications such as a weight range of the cargo handling object 30 targeted by the material handling assisting device 1.

  Next, the control unit 10 acquires the current position of the locking member 8 from the position detection unit 4, and sets a limit value with a predetermined distance h from the current position as a moving range in the direction opposite to the moving direction of the locking member 8. A limit value setting step (S204) to be set is executed.

  Then, the control unit 10 executes a limit value arrival determination step (S205) for determining whether or not the locking member 8 has reached the limit value set in the limit value setting step (S204). If the limit value has reached the limit value, a position limit step (S206) for instructing to limit the movement exceeding the limit value is executed, and this is performed until the locking member 8 does not reach the set limit value. repeat. The meaning from this limit value setting step (S204) to the position limit step (S206) will be described later.

  When the locking member 8 has not reached the set limit value, the control unit 10 acquires the current position of the locking member 8 from the position detection unit 4, and the locking member 8 reaches the target position. A target position arrival determination step (S207) is performed to determine whether or not it has been performed. If the locking member 8 has not yet reached the target position, the control unit 10 returns to the movement command step (S203) and continues to rise.

  When the control unit 10 determines that the locking member 8 has reached the target position in the target position arrival determination step (S207), the control unit 10 holds the position when the locking member 8 reaches the target position. A target position holding setting determining step (S208) for determining whether the setting has been performed in advance is executed. When the setting to hold the locking member 8 at the target position is made in advance, the control unit 10 executes the holding step (S101) at the target position and switches to the holding mode. On the other hand, when the setting to hold the locking member 8 at the target position is not made in advance, the control unit 10 re-weighs the load applied to the weight detection unit 5 (S209), and balance control. Step (S105) is executed to switch to the balance mode.

  Each of the above steps will be described with reference to FIG. 7B, FIG. 8C and FIG. 8D in light of actual cargo handling work. When the cargo handling object 30 is lifted by the locking member 8 and the target position is being moved by the movement command step (S203), a beam which is an obstacle vertically above the cargo handling object 30 as shown in FIG. If 33 exists, the cargo handling object 30 will contact | abut to the beam 33 with the force of a predetermined value. Although the control unit 10 controls to raise the locking member 8, since the beam 33 is fixed, the cargo handling object 30 remains in contact with the beam 33 and has a predetermined value. It does not come into contact with the beam 33 with a force exceeding the force, but acts as a limiter. Then, the operator tries to remove the cargo handling object 30 from the beam 33 and applies an external force to the locking member 8 directly or indirectly via the cargo handling object 30 in the vertically downward direction. The distance h that can be moved vertically downward when the cargo handling object 30 is removed from the beam 33 is set and defined in the limit value setting step (S204) (FIG. 8C). The movable range of the locking member 8 due to the external force rises following the rising of the locking member 8. Further, the control unit 10 works to decelerate the descent speed when reaching the distance h in which the cargo handling object 30 can move vertically downward by this external force, so that the control unit 10 moves gently in the vicinity of the limit position.

  Even if the operator applies an external force to the locking member 8 or the cargo handling object 30 downward in the vertical direction, the control unit 10 continues the load applied to the weight detection unit 5 from the locking member 8 that has locked the cargo handling object 30. Attempts to rise with the power of a given value. Therefore, when the worker speaks his / her hand after moving the cargo handling assisting device 1 to the left as shown in FIG. 8C so that the beam 33 does not come vertically above the cargo handling object 30, 8 reaches the feeding position of the third length L3. Thereafter, the operator can use the rails 34 and a mechanism (not shown) to horizontally move the cargo handling assisting device 1 to the upper side of the fixed structure 32 having a height different from that of the floor 31 so as to be lowered onto the fixed structure 32. .

  Further, the control unit 10 works to decelerate the ascending speed when the locking member 8 and the cargo handling object 30 reach the vicinity of the target position. When the target position is reached, the work manager and the worker determine whether the locking member 8 and the cargo handling object 30 are held at the position or the balance control state with the position as the start position. It is possible to make a selection in advance by a selection means provided in at least one of the operation command units 22a. With this function, it is possible to use properly depending on the size and weight of the cargo item and the content of the work, and the workability can be improved.

  In this embodiment, the cargo handling object 30 is moved from the floor 31 to the fixed structure 32 at a higher position, but conversely, the descent movement from the fixed structure 32 to the floor 31 is also possible by the same operation. Even if there is an obstacle up to the target position for moving the cargo handling object 30, the cargo handling object 30 stays there and can be moved without damaging the cargo handling object 30. This is because the control unit 10 adds a predetermined value to the weight value applied to the locking member 8 that holds the cargo handling object 30 or the motor control value for raising or lowering the cargo handling object 30 and the locking member 8. This is because it is obtained by subtraction, and if this predetermined value is decreased, the force with which the cargo handling object 30 comes into contact with the obstacle also decreases.

  As mentioned above, although this invention was demonstrated based on preferable embodiment, this invention is not limited to embodiment mentioned above, A various change is possible in the range which does not deviate from the summary.

  As an application example of the present invention, the present invention can be applied to a cargo handling assistance device that is suspended in a building structure or mounted on a movable vehicle or the like.

1: Load handling assist device 2: Motor unit 3: Rotation output shaft 4: Position detection unit 5: Weight detection unit 6: Link chain 7: Lifting operation unit 8: Locking member 9: Hanging hook 10: Control unit 11: Cover 12: Link chain storage part 13: Spiral cord 22a: Operation command part 22b: Balance button 22c: Holding button 22d: Lifting button 22e: Lowering button 30: Load handling 31: Floor 32: Fixed structure 33: Beam 34: Rail

Claims (11)

A locking member for locking the cargo item to be raised and lowered;
An elevating operation unit for raising and lowering the locking member by feeding the locking member with a chain or a rope;
A motor unit of a driving source connected to the lifting operation unit;
A weight detection unit that detects a weight applied to the lifting operation unit and outputs a weight signal;
A position detection unit that detects a feeding position of the locking member and outputs a position signal;
Based on the position signal from the position detection unit and the weight signal from the weight detection unit, a control unit that commands the motor unit;
An operation command unit that is electrically connected to the control unit and is provided in the vicinity of the locking member, and that commands the control unit to raise and lower the locking member;
The control unit detects that the sum of the weight of the locking member and the weight of the cargo item is added to the weight detection unit, and controls the motor unit to balance the locking member and the cargo item. When controlling, the said control part restrict | limits the delivery length of the said locking member to below the 1st length which can be variably set beforehand, The cargo handling assistance apparatus characterized by the above-mentioned.   When the control unit detects that the weight of only the locking member is added to the weight detection unit and controls the motor unit to balance the locking member, the control unit The cargo handling assisting device according to claim 1, wherein a feeding length of the locking member is limited to a second length that can be variably set in advance. The controller is
A target position for stopping the locking member is stored by a command from the operation command unit,
The raising and lowering of the locking member to the target position is performed by a command from the operation command unit,
When the feeding position of the locking member is acquired from the position detection unit and it is detected that the locking member has reached the target position, the locking member is held at the target position or the target position The cargo handling assisting device according to claim 1, wherein the locking member is balanced with the starting position as a starting position.   At least one of the control unit and the operation command unit can select in advance either holding the locking member at the target position or balancing the locking member with the target position as a start position. The cargo handling assisting device according to claim 3, further comprising selection means.   The control unit is based on a motor control value obtained by adding or subtracting a predetermined value to a load applied to the weight detection unit during a period from the start of the raising / lowering of the locking member to the target position until reaching the target position. The cargo handling assisting device according to claim 3, wherein the motor unit is controlled in the same manner. The control unit includes a vertical direction of the locking member due to an external force applied directly or indirectly to the locking member during a period from the start of raising / lowering of the locking member to the target position until reaching the target position. The cargo handling assisting device according to claim 5, wherein the movable range is moved along with the position of the locking member.
A locking member for locking the cargo item to be raised and lowered;
An elevating operation unit for raising and lowering the locking member by feeding the locking member with a chain or a rope;
A motor unit of a driving source connected to the lifting operation unit;
A weight detection unit that detects a weight applied to the lifting operation unit and outputs a weight signal;
A position detection unit that detects a feeding position of the locking member and outputs a position signal;
Based on the position signal from the position detection unit and the weight signal from the weight detection unit, a control unit that commands the motor unit;
An operation command unit that is electrically connected to the control unit and issues a command related to the raising and lowering of the locking member, and a control method for a cargo handling assisting device having:
The controller is
A balance control step for controlling the motor unit so as to balance the locking member and the cargo handling object by detecting that the sum of the weight of the locking member and the weight of the cargo handling material is added to the weight detection unit. (S105) and a step (S107) of determining whether the feeding length of the locking member exceeds the first length;
And a step (S108) of controlling the motor unit by limiting a feeding length of the locking member to the first length or less (S108). The controller is
The control unit detects that the weight of only the locking member is applied to the weight detection unit and controls the motor unit so as to balance the locking member (S110). When,
Determining whether the feeding length of the locking member is less than a second length (S111);
The method for controlling a cargo handling assisting device according to claim 7, further comprising a step (S 112) of controlling the motor unit by limiting a feeding length of the locking member to be equal to or longer than the second length. . The controller is
A target position registration step (S122) for setting and registering a target position for stopping the locking member;
A position acquisition step (S201) for acquiring a current position of the locking member from the position detection unit according to a command from the operation command unit;
Ascending / descending determination step (S202) for determining whether the movement from the current position to the target position is ascending or descending;
A motor control value for raising or lowering the locking member is obtained by adding or subtracting a predetermined value to a weight value applied to the locking member that holds the cargo item, and based on the motor control value A movement command step (S203) for commanding the motor unit;
A target position arrival determination step (S207) for acquiring a feeding position of the locking member from the position detection unit and determining whether the feeding position of the locking member has reached the target position;
The method for controlling a cargo handling assist device according to claim 7 or 8, wherein the control method is executed. The controller is
A limit value setting step of acquiring a position of the locking member from the position detection unit and setting a limit value that defines a range of operation at a predetermined distance in the opposite direction of the movement direction of the locking member (S204). When,
A limit value arrival determination step (S205) for determining whether or not the locking member has reached the limit value;
A position limiting step (S206) for instructing to limit movement exceeding the limit value when the locking member has reached the limit value;
10. The method for controlling a cargo handling assisting device according to claim 9, wherein the control is executed between the execution of the movement command step (S203) and the target position arrival determination step (S207). The controller is
When the extension position of the locking member is acquired from the position detection unit and it is determined that the target position has been reached in the target position arrival determination step (S207), the locking member is moved to the target position. A target position holding setting determining step (S208) for determining whether or not a setting to hold is performed is performed, and when the setting to hold the locking member at the target position is made in advance, the locking member is When the holding step (S101) for holding at the target position is executed and the setting for holding the locking member at the target position is not made in advance, the load applied to the weight detection unit is measured again. The method for controlling the material handling assisting device according to claim 9 or 10, wherein the reweighing step (S209) and the balance control step (S105) are executed. .

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