JP4267737B2 - Balancer device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention includes a hoisting boom that is driven to move up and down, and a folding boom that is extendable and connected to the front end of the hoisting boom and is driven to bend. The front end of the bending boom It is related with the balancer apparatus comprised so that each said boom might be driven according to the operation force added to.
[0002]
[Prior art]
Conventionally, various balancer devices have been proposed in which a boom is driven according to an operating force applied by an operator, and a control reference point set at, for example, a boom tip is moved to a position corresponding to the operating force. One of them is a hoisting boom that is driven to move up and down, and a folding boom that is extendable and connected to the distal end portion of the hoisting boom.
[0003]
By the way, in a balancer device provided with such a hoisting boom and a telescopic bending boom, for example, a control reference point is set on the distal end side of the bending boom, and the control reference point is set on a vertical plane. In this case, a total of three driving means, that is, the raising / lowering driving means of the raising / lowering boom, the folding driving means of the folding boom, and the expansion / contraction driving means, are involved in this. The control reference point is moved to a position intended by the operator by appropriately operating according to the operation force from the operator applied to the point portion.
[0004]
[Problems to be solved by the invention]
However, in the conventional balancer device, since all of the three driving means can be operated over the entire operation region in the vertical plane, the control reference point is moved to the position instructed by the operator. In this case, there are many combinations of these drive means. Therefore, the control program becomes complicated and the cost is increased by the degree of freedom of the combination of the drive means in the movement control of the control reference point.
[0005]
Further, depending on the combination of these driving means and the selection of the priority of operation between these driving means, for example, the control reference point is set at a predetermined position while the height of each boom is kept low. Although there is a combination of driving means that can be moved or priority of operation, the height of each boom is increased by selecting a different combination of driving means or priority of operation. Depending on the boom, there is room for improvement in terms of accuracy of operation, such as the work becoming difficult due to interference between the boom and surrounding equipment.
[0006]
SUMMARY OF THE INVENTION The present invention has been made for the purpose of proposing a balancer device that can achieve both cost reduction and operation accuracy by simplifying a control system.
[0007]
[Means for Solving the Problems]
In the present invention, the following configuration is adopted as a specific means for solving such a problem.
That is, the base end portion 1a of the first boom 1 is connected to the swivel base 3 that can be swung freely and can be driven up and down by the hoisting drive means 7 disposed between the swivel base 3 and the base end 1a. The telescopic second boom 2 that is telescopically driven by the telescopic driving means 9 is connected to the distal end portion 1b of the first boom 1 so as to be foldable along the undulating surface of the first boom 1 and folded. The bending drive means 8 can be driven to bend, and the operation force detection means 32 detects the operation force applied to the distal end 2b side of the second boom 2, and the direction of the operation force detected by the operation force detection means 32 The second boom 2 is calculated by calculating a control value related to the operating direction and the operating speed of each of the driving means 7 to 9 based on the size and operating the driving means 7 to 9 based on the control value. Control reference point P set on the tip 2b side of In the balancer device comprising a control means 39 that moves in a direction and speed corresponding to the operating force, the control means 39 moves the first boom 1 up and down with respect to the movement of the control reference point P in the vertical plane. And the second boom 2 with the bending angle of the second boom 2 fixed to the minimum as an operation region in the vertical plane determined by the three movements of the bending movement and the expansion and contraction movement of the second boom 2. First movement region X that can be moved by the telescopic movement of the first boom 1 and the hoisting movement of the first boom 1₁And a second operation region X that is movable by a folding operation of the second boom 2 and a raising / lowering operation of the first boom 1 with the expansion / contraction amount of the second boom 2 fixed to a minimum.₂And the first operating region X₁, The movement of the control reference point P is controlled only by the expansion / contraction movement of the second boom 2 and the raising / lowering movement of the first boom 1 while the bending angle of the second boom 2 is fixed to the minimum. Operating region X₂, The movement of the control reference point P is controlled only by the bending movement of the second boom 2 and the raising / lowering movement of the first boom 1 while the expansion amount of the second boom 2 is fixed to the minimum. It is characterized by having.
[0008]
【The invention's effect】
Therefore, according to the balancer device of the present invention, when the control reference point P moves in the operation area in the vertical plane, the first operation area X of the operation area is included.₁In this case, only the two driving means of the undulation driving means 7 and the expansion / contraction driving means 9 are in the second operating region X.₂Since only the two drive means of the undulation drive means 7 and the bending drive means 8 are involved, for example, all of the three drive means can be operated over the entire operation region as in the prior art. The control program for controlling the movement of the control reference point P in the operation region is further simplified, and the cost of the control system is correspondingly reduced as the number of drive means to be controlled is smaller than in the case where the control is performed. You can go down.
[0009]
In addition, each operation region X₁, X₂Therefore, when building a control program, it is easy to build a program so that the control reference point P can be moved while keeping the heights of the booms 1 and 2 as low as possible. As a result, it is possible for the booms 1 and 2 to interfere with surrounding equipment as much as possible in the actual work using the balancer device, so that the height of the booms 1 and 2 is kept low. Therefore, it is possible to achieve a useful effect in terms of the accuracy and safety of the operation of the balancer device.
[0010]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 shows a stationary balancer device Z as a preferred embodiment of the balancer device according to the present invention. The balancer device Z is configured such that the base end 1a of the first boom 1 is attached to the upper end 3a of the swivel base 3 that is pivotably attached to the fixed frame 4 fixed to the attachment base 5. 1 is connected so that it can be raised and lowered in a vertical plane, and can be driven up and down by a raising and lowering cylinder 7 (corresponding to the “undulation driving means” in the claims) arranged between the swivel 3 and the rotary table 3. On the other hand, a base end portion 2a of the second boom 2 described below is connected to a distal end portion 1b of the first boom 1 via a fulcrum pin 21. The undulation angle of the first boom 1 is detected by the undulation angle detector 16.
[0011]
The second boom 2 includes a proximal boom 2A and a distal boom 2B that is telescopically inserted into the proximal boom 2A, and has a proximal end 2a (that is, a proximal end of the proximal boom 2A). Is connected to the tip 1b of the first boom 1 by a fulcrum pin 21 so that it can be bent along the undulating surface of the first boom 1, that is, along the vertical surface. The bending cylinder 8 (corresponding to the “folding driving means” in the claims) disposed between them is driven to bend. A bending angle (a machine angle) of the second boom 2 with respect to the first boom 1 is detected by a bending angle detector 17.
[0012]
Further, the second boom 2 is provided with a telescopic cylinder 9 (corresponding to “extension drive means” in the claims), and the second boom 2 is driven to expand and contract by the expansion and contraction of the expansion cylinder 9. It is like that. The extension / contraction length of the second boom 2 is detected by an extension / contraction length detector 18.
[0013]
Further, the distal end portion 2b of the second boom 2 (that is, the distal end portion of the distal boom 2B) is described below via a fulcrum pin 22 provided in a direction perpendicular to the folding surface of the second boom 2. A work mounting table 6 is attached.
[0014]
As shown in FIGS. 1 and 2, the workpiece mounting table 6 is pivotally supported by the distal end portion 2 b of the second boom 2 via the fulcrum pin 22 and is disposed between the distal end boom 2 </ b> B. A mounting table frame 13 that is maintained at a constant ground posture by the cylinder 10 is provided. A turntable 14 is provided on the upper surface side of the mounting table frame 13 so that the turntable 14 is appropriately swiveled by a work turning cylinder 12 and tilted by a work tilt cylinder 23. It has become. The leveling angle (ground angle) of the workpiece mounting table 6 is detected by a leveling angle detector 19.
[0015]
Further, the balancer device Z in this embodiment is operated in accordance with the balance mode in which the operation is controlled according to the operation force accompanying the operation of the operator and the operation of the operation lever (not shown), as will be described later. The operation mode of the operator is controlled in the balance mode operation control, and the operation mode of the balance mode is used to move the work table 6 to a predetermined position. In order to detect this, a left / right direction operation force detector 27, a front / rear direction operation force detector 28, and an up / down direction operation force detector 29 are provided, and a lever operation state detector (not shown) for detecting the operation state of the operation lever. (Omitted) is provided.
[0016]
Furthermore, in this embodiment, the control reference point P, which is a control reference for the position control of the workpiece mounting table 6, is the axis of the fulcrum pin 22 that is a connection point between the second boom 2 and the workpiece mounting table 6. The heart position is set. Further, the work mounting table 6 includes a monitor 24 for displaying various information such as the weight of the work W mounted on the work mounting table 6 and the operation state of the balancer device Z, and a speaker for voice notification of the various information. 25 is provided.
The above is the specific structure of the balancer device Z.
[0017]
Next, with reference to FIG. 3, the operation area (that is, the movement area of the control reference point P) in the balancer device Z of this embodiment will be described.
[0018]
The operation area of the balancer device Z is a substantially trapezoidal area obtained by connecting “position a”, “position c”, “position g”, “position f”, and “position d” in FIG. Here, “position a” is the position of the control reference point P when the second boom 2 is fully extended in the state where the first boom 1 is raised up to the maximum. “Position c” indicates that the control reference point P is moved from the “position a” to the downward movement limit line L only by the inclining operation of the first boom 1.₀It is the position when it is moved to. “Position d” is the position of the control reference point P when the second boom 2 is fully contracted in the state where the first boom 1 is raised to the maximum. The “position f” is a position when only the second boom 2 is bent from the “position d” to the maximum bending posture. “Position g” means that only the first boom 1 is laid down from “Position f” and the control reference point P is set to the lower limit line L₀This is the position when positioned above. Therefore, the operation region includes the movement locus from “position a” to “position c” and the lower movement limit line “L”.₀”, A movement locus from“ position g ”to“ position f ”, a movement locus from“ position f ”to“ position d ”, and a movement locus from“ position d ”to“ position a ”. It becomes an area.
[0019]
In this embodiment, the operation region of such a balancer device Z is defined as the first operation region X described below in terms of control.₁And second operating region X₂It is divided into two areas. That is, the control reference point P is moved from the “position d” to the lower movement limit line L only by the fall of the first boom 1.₀The trajectory up to “position e” when matched to the top is indicated by the area division line “L₁”And this area marking line“ L₁”To divide the operating area in the working radius direction, and the area dividing line“ L₁The region on the side where the working radius is larger than the first operation region X₁And the smaller region is the second operating region X₂It is said.
[0020]
Corresponding to such a section of the operation area, the first operation area X₁And second operating region X₂The control mode of the operation in each of these is set.
[0021]
That is, in this embodiment, the first operation region X₁In this case, the bending angle of the second boom 2 is fixed to a minimum angle, and only the expansion and contraction movement of the second boom 2 and the raising and lowering movement of the first boom 1 are allowed. Further, the second operating region X₂The second boom 2 is fixed in a fully contracted state, and only the bending movement of the second boom 2 and the raising / lowering movement of the first boom 1 are allowed. The area dividing line L₁The above is the first operation region X.₁Include in
[0022]
As described above, the two first operation regions X₁And second operating region X₂As will be described later, the movement control of the control reference point P of the balancer device Z is performed in each of the operation regions X.₁, X₂This is performed in a control form corresponding to each of the above.
[0023]
Next, the control system of the balancer device Z will be described.
[0024]
FIG. 4 shows a block diagram of a control system in the balancer device Z according to this embodiment. At the center of this control system is a control means 39 having an arithmetic function, and the control means 39 receives signals from the state detection means 30, the operating force detection means 32, and the mode switching means 33, respectively.
[0025]
The state detection means 30 comprises the turning angle detector 15, a undulation angle detector 16, a bending angle detector 17, an expansion / contraction length detector 18, and a leveling angle detector 19. Information on the state of the balancer device Z detected by each detector, that is, the undulation angle and turning angle of the first boom 1, the bending angle and extension / contraction length of the second boom 2, and the work mounting table 6 Information regarding the leveling angle is output to the control means 39 described later.
[0026]
The operation force detection means 32 receives a signal related to the operation from the operation means 31 and outputs an operation force (actually an operation speed) and an operation direction to the control means 39 described later. In the above, the lever operation state detector is included in addition to the left / right direction operation force detector 27, the front / rear direction operation force detector 28, and the up / down direction operation force detector 29 provided in the workpiece mounting table 6. Corresponds to this. The operation means 31 that outputs a signal to the operation force detection means 32 differs depending on the operation mode. The operation lever corresponds to this when the lever mode is set, and the operator corresponds to this when the balance mode is set. To do. As will be described later, when the balance mode is set, the operation force detection means 32 detects a load in an initial state before the operator's operation force is applied, and outputs this as an initial load value. It is also like.
[0027]
As described above, the mode switching means 33 switches between the lever mode and the balance mode, and is selected and operated by the operator. When the lever mode is set, the mode switching means 33 is related to the operation amount and the operation direction of the operation lever. A signal output from the operation force detection means 32 and a signal output from the operation force detection means 32 corresponding to the operation force applied by the operator and the operation direction when the balance mode is set are selectively selected. Is output to the control means 39 described later.
[0028]
The control means 39 includes a target coordinate position calculation unit 40, an operation region determination unit 46, a target value calculation unit 47, a leveling drive control unit 48, and a boom drive control unit 49 described below.
[0029]
The target coordinate position calculation unit 40 includes an initial coordinate position calculation unit 41, a target speed conversion unit 42, a storage unit 43, and an integrator 44.
The initial coordinate position calculation means 41 is information relating to the state of the balancer device Z input from the state detection means 30, that is, the undulation angle and turning angle of the first boom 1, and the bending angle of the second boom 2. And the length of the expansion / contraction, and the leveling angle of the work table 6 and the current position of the control reference point P in the overall coordinate system (that is, the coordinate system indicating the position in the three-axis direction) by geometric calculation. That is, the initial coordinate position is obtained. The initial coordinate position obtained by the initial coordinate position calculating means 41 is stored and held in the storage unit 43 and is output to the adder 45 described later as one of the operators. The initial coordinate position stored in the storage unit 43 is sequentially updated and stored in response to a target coordinate position obtained by an adder 45 described later. The initial coordinate position calculation process in the initial coordinate position calculation means 41 is the same both when the lever mode is set and when the balance mode is set.
[0030]
The target speed conversion unit 42 receives the signals related to the operation force and the operation direction from the operation force detection means 32, and the target speed of the control reference point P at each of the lever mode setting and the balance mode setting. Is calculated.
That is, when the lever mode is set, an operation command (specifically, a command related to the operation amount and the operation direction) from the operator by operating the operation lever (horizontal movement operation lever and vertical movement operation lever) is received, and A target speed when the control reference point P is moved horizontally and vertically in the entire coordinate system is obtained by geometric calculation and is output.
[0031]
On the other hand, when the balance mode is set, first, the initial load value output from the operating force detecting means 32 is received and stored, and thereafter, when the operating force is applied by the operator, the stored initial load value and Based on the actual load value that is detected and output after the operation force is applied, the operation force actually applied by the operator with the intention of moving the control reference point P is calculated, and the control reference point P is calculated. The target speed for horizontal / vertical movement in the global coordinate system is obtained by geometric calculation and output.
[0032]
The integrator 44 receives the target speed from the target speed conversion unit 42 and integrates it to obtain the change amount of the target position on the entire coordinate system of the control reference point P. The target position change amount obtained here is output to the adder 45 described below.
[0033]
The adder 45 calculates the target coordinate position of the control reference point P on the entire coordinate system by adding the target position change amount from the integrator 44 to the initial coordinate position from the storage unit 43. The obtained target coordinate positions are output to the operation area determination unit 46 and the target value calculation unit 47 described below.
[0034]
In the motion region determination unit 46, the target coordinate position of the control reference point P on the entire coordinate system is converted into a position on the local coordinate system indicating the position on the vertical plane, and the target coordinate on the local coordinate system is converted. Based on the position, the current operation region is the first operation region X from the operation region diagram shown in FIG.₁The second operating region X₂And the determination result is output as a region determination signal to the target value calculation unit 47 described below.
[0035]
In the target value calculator 47, the target speed from the target speed converter 42 and the target coordinate position from the adder 45 are input. Then, a target angle, a target angular velocity, a target boom length, and a target boom expansion / contraction speed are obtained corresponding to the operation area by geometric calculation based on the target speed and the target coordinate position. That is, the current operation area is the first operation area X₁In this case, the controlled objects are the up-and-down movement of the first boom 1 on the vertical plane, the expansion and contraction movement of the second boom 2, and the turning movement of the swivel base 3 on the horizontal plane. The undulation target angle of 1 boom 1, the expansion / contraction target length of the second boom 2 and the turning target angle of the swivel 3 are obtained. On the other hand, the current operation region is the second operation region X.₂In this case, since the controlled objects are the up-and-down movement of the first boom 1 on the vertical plane, the bending movement of the second boom 2, and the turning movement of the swivel base 3 on the horizontal plane, The undulation target angle of the first boom 1, the bending target angle of the second boom 2 and the turning target angle of the swivel 3 are obtained. Each of the target values obtained here is input to the boom drive control unit 49 as a calculation element of the valve command value. At the same time, among the target values, the undulation target speed and the bending are calculated. The target speed is input to the leveling drive control unit 48 described below as a leveling control element of the work table 6.
[0036]
In the boom drive control unit 49, information on each target value input from the target value calculation unit 47 and the current boom state input from the state detection means 30 (that is, the current undulation speed and bending speed). , The control valve for undulation, the control valve for folding, the control valve for expansion and contraction, and the control for rotation necessary for moving the control reference point P horizontally and vertically to the target position based on the Command values relating to the valve operation amount and the operation direction are obtained, and the command values are output to the drive means 36 of the control valves, and the undulation cylinder 7, the bending cylinder 8, the telescopic cylinder 9 and the swing motor 11 are operated appropriately. Let
[0037]
In the leveling drive control unit 48, based on each target value input from the target value calculation unit 47 and the current undulation speed, bending angle, and leveling angle input from the state detection means 30, A command value relating to the amount and direction of operation of the leveling valve necessary to keep the work table 6 in a constant posture at all times regardless of the operation of the first boom 1 and the second boom 2 is obtained. The leveling cylinder 10 is operated as appropriate.
[0038]
In this embodiment, the leveling drive control unit 48 and the boom drive control unit 49 constitute the “drive means 34” in the claims.
[0039]
The above is description of the control system in the balancer apparatus Z concerning this embodiment.
[0040]
Next, actual control in the balancer device Z will be described taking the balance mode setting as an example.
[0041]
At the time of work using the balancer device Z, for example, at the same time when the control system is turned on, the current states of the booms 1 and 2 of the balancer device Z are detected by the detectors 15 to 19, Based on this, the initial coordinate position of the control reference point P is calculated and stored. In addition, when the operator sets the mode switching means 33 to the balance mode, the initial load value of the workpiece mounting table 6 and the left-right direction operating force detector 27 provided on the workpiece mounting table 6 and the front-rear direction operating force are set. It is calculated based on the detection values of the detector 28 and the vertical operation force detector 29 and is stored and held. Thus, preparation for movement control of the workpiece mounting table 6 in the balance mode is completed.
[0042]
Thereafter, when the operator desires to move the workpiece mounting table 6 to a predetermined position and gives an appropriate operating force to the workpiece mounting table 6 in an appropriate direction, the magnitude of the operating force is large. The target speed of the control reference point P corresponding to the operation direction is calculated, and the change amount of the target position is calculated based on the target speed. Further, based on the change amount of the target position and the initial coordinate position of the control reference point P, a target coordinate position to which the control reference point P should be moved is calculated.
[0043]
Then, based on the target coordinate position, the motion region in which the operation control is performed is the first motion region X.₁And second operating region X₂Is determined. The target value of the operation is calculated only for the actuator to be controlled in the operation region selected by the determination of the operation region. That is, for example, the first operation region X₁In this case, only the up-and-down movement of the first boom 1 and the expansion and contraction movement of the second boom 2 on the vertical plane and the turning movement of the swivel base 3 on the horizontal plane are controlled. The hoisting target angle of the boom 1, the telescopic target length of the second boom 2, and the turning target angle of the swivel 3 are obtained. Further, the second operation region X₂In this case, since the control targets are the up-and-down movement of the first boom 1 and the bending movement of the second boom 2 on the vertical plane, and the turning movement of the swivel base 3 on the horizontal plane, The undulation target angle of the boom 1, the bending target angle of the second boom 2, and the turning target angle of the swivel 3 are obtained.
[0044]
A valve command value is calculated based on the target value obtained here, and the actuators such as the hoisting cylinder 7 and the bending cylinder 8 are appropriately operated based on the command value. The workpiece W) placed on the workpiece placing table 6 is moved in the direction designated by the operator's operating force and at the designated speed.
[0045]
Further, the operation of the leveling cylinder 10 is controlled in accordance with the operation of the booms 1 and 2, so that the workpiece mounting table 6 maintains a constant posture regardless of the operation of the booms 1 and 2. Will do.
[0046]
The control at the time of setting the lever mode is the same as the control at the time of setting the lever mode described above except that information that is the basis for calculating the target speed of the control reference point P is given by the operation amount and the operation direction of the operation lever. Since it is the same, description here is abbreviate | omitted.
[0047]
As described above, in the balancer device Z according to this embodiment, when the movement of the control reference point P in the operation region in the vertical plane is seen, the first operation region X of the operation region is included.₁Only the two actuators of the hoisting cylinder 7 and the telescopic cylinder 9 are in the second operating region X.₂Since only the two actuators of the hoisting cylinder 7 and the bending cylinder 8 are controlled, the hoisting cylinder 7, the bending cylinder 8, and the telescopic cylinder 9 are, for example, in the entire operating region as in the prior art. Compared to the case where all of the actuators are controlled objects, the control program related to the movement control of the control reference point P in the operation region is simplified by the smaller number of controlled objects. Costs can be reduced.
[0048]
In addition, each operation region X₁, X₂Therefore, when building a control program, it is easy to build a program so that the control reference point P can be moved while keeping the heights of the booms 1 and 2 as low as possible. As a result, it is possible for the booms 1 and 2 to interfere with surrounding equipment during actual work using the balancer device Z by the amount that the height of the booms 1 and 2 is kept low. The balancer device Z is extremely useful in terms of the accuracy of operation and safety.
[0049]
Other
(1) In the above embodiment, as described above, the operation area of the balancer device Z is the first operation area X as shown in FIG.₁And second operating region X₂In the above description, it is explained that the specific effect as described above can be obtained by setting the operation region. The point of simplification is that the operation region is changed to the first operation region X as in the above embodiment.₁And second operating region X₂It is not obtained only by dividing into two. For example, this can also be realized by setting an operation area as shown in FIG.
[0050]
FIG. 5 shows a first operation region X in which the entire operation region of the balancer device Z is surrounded by “position a”, “position b”, “position d”, and “position c”.₁And a second motion region X surrounded by “position a”, “position c”, “position f”, and “position e”₂And the third motion region X surrounded by “position c”, “position d”, “position g”, and “position f”_ThreeThe first operation region X₁The second boom 2 is fixed in the fully extended state, and only the bending movement of the second boom 2 and the raising / lowering movement of the first boom 1 are allowed, and the second operation region X is allowed.₂In the state where the first boom 1 is raised up and fixed to the maximum, only the expansion and contraction and folding of the second boom 2 are allowed, and the third operating region X_ThreeThe second boom 2 is configured to permit only the expansion and contraction movement of the second boom 2 and the raising and lowering movement of the first boom 1 in a state where the second boom 2 is bent and fixed to the maximum.
[0051]
6 shows a first operation region X in which the entire operation region of the balancer device Z is surrounded by “position a”, “position b”, “position f”, and “position e”.₁And the second motion region X surrounded by “position b”, “position d”, “position i”, “position g”, and “position f”₂And the third motion region X surrounded by “position b”, “position c”, and “position d”_ThreeAnd a fourth motion region X surrounded by “position e”, “position f”, “position g”, and “position h”_FourAnd the fifth motion region X surrounded by “position i”, “position j”, and “position g”_FiveThe first operation area X₁In the second operation region X, only the telescopic motion of the second boom 2 and the raising and lowering motion of the first boom 1 are allowed with the bending angle of the second boom 2 fixed to the minimum.₂The first boom 1 is fixed at the undulation angle at “position b” or “position f”, and only the expansion and contraction and folding movements of the second boom 2 are allowed. X_ThreeThe second boom 2 is fixed at full extension, and only the bending movement of the second boom 2 and the raising / lowering movement of the first boom 1 are allowed, and the fourth operating region X_FourThe second boom 2 is fixed in full contraction, and only the bending movement of the second boom 2 and the raising / lowering movement of the first boom 1 are allowed, and the fifth operation region X_FiveIn FIG. 2, only the expansion and contraction movement of the second boom 2 and the raising and lowering movement of the first boom 1 are allowed with the bending angle of the second boom 2 fixed to the maximum.
[0052]
As described above, even when the operation area is divided into two or more as shown in FIG. 5 or FIG.₁~ X_ThreeOr operating region X₁~ X_FiveBy setting the number of control objects in to two, the effect of simplification of the control program due to the decrease in the control objects can be realized.
[0053]
However, when the operation region is divided into three or five as shown in FIG. 5 or FIG. 6, each first operation region X₁To third operating region X_ThreeOr the first operating region X₁To fifth operating region X_FiveIn the operation in each of the above, it is particularly important to construct a program so that the control reference point P can be moved while keeping the heights of the booms 1 and 2 as low as possible. Since the time control becomes complicated, the operation region is the first operation region X as in the above embodiment.₁And second operating region X₂Therefore, it is difficult to realize another one of the effects peculiar to the present invention of facilitating the construction of a program.
[0054]
From these facts, in the present invention, the operation region is set to the first operation region X as shown in FIG.₁And second operating region X₂The two are specific.
[0055]
(2) In the above embodiment, as described above, the work placing table 6 includes the monitor 24 and the speaker 25, and the weight of the work W placed on the turntable 14 on the monitor 24 is controlled. Information on the state (for example, whether the current control mode is the lever mode or the balance mode, or information on the presence or absence of control abnormality) is displayed in text or an image, and this is notified by voice from the speaker 25. I try to let them. By adopting such a configuration, the worker can always obtain information related to the work, for example, an unreasonable operation in an overload state is reliably prevented and work safety is ensured. Realization of appropriate work based on information improves work reliability.
[0056]
In the above embodiment, the monitor 24 is directly installed on the workpiece mounting table 6. However, the arrangement position or fixing structure of the monitor 24 can be appropriately set according to work needs. For example, it may be fixed to the workpiece mounting table 6 with a link mechanism or a flexible tube so that it can be moved to a position that is easy for the operator to see. In addition, by transmitting the information signal to the monitor 24 wirelessly, the monitor 24 can be fixedly arranged at a position that is easy for the operator to see.
[0057]
(3) In the above embodiment, the stationary balancer device Z has been described as an example. However, the balancer device Z according to the present invention is not limited to the stationary type. For example, as shown in FIG. Of course, this can be mounted on a traveling vehicle Y such as a crawler to make it self-propelled.
[Brief description of the drawings]
FIG. 1 is an overall view of a balancer device according to the present invention.
FIG. 2 is an enlarged view of a workpiece mounting table portion in the balancer device shown in FIG. 1;
FIG. 3 is an operation region diagram of the balancer device shown in FIG. 1;
FIG. 4 is a control block diagram in the balancer device shown in FIG. 1;
FIG. 5 is an operation region diagram in another balancer device.
FIG. 6 is an operation region diagram in another balancer device.
FIG. 7 is a side view showing an example of mounting the balancer device according to the present invention on a traveling vehicle.
[Explanation of symbols]
1 is a first boom, 2 is a second boom, 3 is a swivel base, 4 is a fixed frame, 5 is a mounting base, 6 is a work mounting base, 7 is a hoisting cylinder (hitting drive means), and 8 is a bending cylinder ( (Folding drive means), 9 is a telescopic cylinder (extension drive means), 10 is a leveling cylinder, 11 is a turning motor, 12 is a work turning cylinder, 13 is a mounting frame, 14 is a turntable, 15 is a turning angle detector, 16 is a undulation angle detector, 17 is a bending angle detector, 18 is a telescopic length detector, 19 is a leveling angle detector, 20 is a fulcrum pin, 21 is a fulcrum pin, 22 is a fulcrum pin, and 23 is a work tilt cylinder. , 24 is a monitor, 25 is a speaker, 27 is a lateral operation force detector, 28 is a longitudinal operation force detector, 29 is a vertical operation force detector, 39 is a control means, 40 is a target coordinate position calculation unit, 41 Is the first Coordinate position calculation means, 42 is a target speed conversion unit, 43 is a storage unit, 44 is an integrator, 45 is an adder, 46 is an operation region determination unit, 47 is a target value calculation unit, 48 is a leveling drive control unit, 49 Is the boom drive controller, X₁~ X_FiveIs an operation area, and Z is a balancer device.

Claims (1)

The undulation drive means (7) is configured such that the base end (1a) of the first boom (1) is connected to the swivel base (3) which can be swiveled, and is disposed between the swivel base (3). ) Can be driven up and down,
A telescopic second boom (2) that is telescopically driven by the telescopic drive means (9) is folded along the undulating surface of the first boom (1) at the distal end (1b) of the first boom (1). Bendably connected and bendable by the bend drive means (8),
Furthermore, an operating force detecting means (32) for detecting an operating force applied to the tip (2b) side of the second boom (2),
Based on the direction and magnitude of the operating force detected by the operating force detecting means (32), a control value related to the operating direction and operating speed of each of the driving means (7) to (9) is calculated, and this control value is calculated. The control reference point (P) set on the tip end (2b) side of the second boom (2) by actuating the driving means (7) to (9) based on the direction corresponding to the operating force And a control means (39) for moving at a speed,
The control means (39) relates to the movement of the control reference point (P) in the vertical plane, ie, the up-and-down motion of the first boom (1), the folding motion of the second boom (2) and the expansion and contraction motion. As an operation region in a vertical plane determined by two operations, the second boom (2) extends and contracts and the first boom (1) with the bending angle of the second boom (2) fixed to a minimum. The first boom region (X ₁ ) that can be moved by the hoisting movement of the second boom (2), the folding operation of the second boom (2) in a state where the amount of expansion and contraction of the second boom (2) is fixed to the minimum, and the first A second movement region (X ₂ ) that can be moved by the up and down movement of one boom (1),
In the first operation region (X ₁ ), the second boom (2) is expanded and contracted and the first boom (1) is raised and lowered while the bending angle of the second boom (2) is fixed to the minimum. The movement of the control reference point (P) is controlled only by this, and in the second operation region (X ₂ ), the second boom (2) is kept with the expansion / contraction amount of the second boom (2) being fixed to the minimum. The balancer device is configured to control the movement of the control reference point (P) only by the bending movement of the first boom (1) and the raising and lowering movement of the first boom (1).

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