JP4815627B2 - 3D moving device - Google Patents

Description

  The present invention relates to a three-dimensional moving apparatus including a crane apparatus including a Z-axis motor that moves a hook as a moving body in the vertical direction and an X-axis motor and a Y-axis motor that move in a horizontal plane. The present invention relates to a three-dimensional movement apparatus that is much easier to operate than a conventional three-dimensional movement apparatus such as a crane apparatus and that can be reliably operated even by beginners.

  An overhead crane installed on a ceiling of a factory or the like is wound, for example, between a pair of saddles that travel via wheels on a traveling rail laid parallel to the vicinity of the ceiling of a building, as shown in Patent Document 1. The girder is equipped with a girder that is capable of traversing the upper machine. As this hoisting machine, an electric hoist using a wire rope or an electric chain block using a load chain is used as a hoisting support, and a hook provided on a hook block suspended from the hoisting machine is used. Then, the slinging tool hung around the transported object is hung up and lifted, and the transported object is moved to an arbitrary position by the overhead crane.

  Such overhead cranes are conventionally operated by sequentially pressing six push buttons (east, west, south, north, up and down) of a wired remote control device suspended from a hoisting machine. However, when the transported object is large, there is a possibility that the transported object lifted by the hoisting machine and the operator who operates the wired remote control device suspended from the hoisting machine may come into contact with each other. There was a problem that it was not perfect.

Therefore, in order to solve such a problem, a radio-controlled remote control device, for example, an optical remote control device for a crane described in Patent Document 2 has been developed. This optical remote control device for cranes uses conventional radio-controlled remote control devices that use radio waves, and it is difficult to reduce costs. On the other hand, optical remote control devices can easily reduce costs. For the problem that transmission / reception is not possible if there is an object that obstructs the beam, a practical optical remote control device for cranes has been established by placing two or more receivers with wide-angle light receiving characteristics under the hoisting machine body .
JP 2004-75284 A JP-A-11-106179

  However, regardless of whether the remote control device is wired or wireless, especially in the case of overhead cranes used in paint factories, etc., the push buttons on the remote control device become dirty with paint, etc., and stamped on the push buttons. The characters (East, West, South, North, Up, Down) are difficult to read, and you have to push the buttons while watching the remote control device. In addition to being unable to keep an eye on it, it is difficult to quickly and accurately perform the work, and there is a possibility that even if the transported object approaches the operator who operates the remote control device, it may not be noticed.

  Also, if the remote control device is very dirty, even an experienced worker should try the push button once and check the transported object lifted by the hoisting machine to move to the actual transport work. It was a reality to do. Furthermore, when a beginner operates, it is difficult to instantaneously determine the directions of east, west, south, and north.

  Therefore, the present invention does not require gazing at the hand of the remote controller for operation, and can be operated while gazing at the movement of a moving body such as a hook, and even a beginner can easily, safely, reliably and quickly operate it. It is an object of the present invention to provide a three-dimensional moving device including a crane device.

The three-dimensional movement apparatus of the present invention includes a moving mechanism including a Z-axis motor that moves a moving body in the vertical direction by an elevator, an X-axis motor and a Y-axis motor that move in a horizontal plane, the X-axis motor, A motor drive control circuit for driving the Y-axis motor and the Z-axis motor to move the movable body to a desired position; a case direction determining means for detecting a direction in which the remote control case is facing; An operation switch built in the remote control casing for controlling the X-axis motor and / or the Y-axis motor by the motor drive control circuit so as to move horizontally in the directed direction, and raising or lowering the moving body An up / down switch built in the remote control housing, and the direction data of the remote control housing detected by the housing direction discrimination means, Pitch, comprising an operation for the remote controller to communicate the presence or absence of motion data of the upper and lower switches between said motor drive control circuit, communication between the manipulation remote and the motor drive control circuit for the operation The communication cable is configured to perform wired communication using a communication cable that connects a remote controller and the motor drive control circuit. The communication cable is flexible and includes a communication wire in a cable tube that is not twisted. The body direction discriminating means is characterized in that a rotary encoder is provided in a rotary connecting portion that rotatably connects the remote control housing to the lower end of the cable tube.

Preferably, the communication cable is flexible and has a communication line built in a cable tube that is not twisted, and the casing direction determining means is a rotary connection that rotatably connects the remote control casing to the lower end of the cable tube. A rotary encoder is provided in the section.

  Here, “flexible but not twisted cable tube” specifically includes a metal flexible conduit and a vinyl-coated metal flexible conduit defined in JIS-C8309. A product name pre-tube or a waterproof pre-tube manufactured by Seisakusho can be used.

Preferably, the rotary encoder is an absolute encoder.

Preferably, communication between the operation remote controller and the motor drive control circuit is performed by wireless communication using a transmission device provided in the operation remote controller and a reception device connected to the motor drive control circuit. The casing direction discriminating means is a gyro means built in the remote control casing.

Preferably, the wireless communication is by a radio communication device.

Preferably, the wireless communication is by an optical communication device.

Preferably , the X-axis motor and / or the Y-axis motor and / or the Z-axis is obtained by turning on the main power of the moving mechanism in a state where the remote control housing of the operation remote controller is directed in a predetermined original direction. A motor operates to move the moving body to a predetermined original position.

Preferably, a second operation switch is provided on a surface opposite to the surface on which the operation switch of the remote control housing is provided, and the movable body is moved to the remote control housing by pressing the second operation switch. It moves in the direction opposite to the direction where is directed.

Preferably, the operation switch is a cross key, and when the upper part of the cross key is pressed, the moving body moves in a horizontal plane in the direction in which the remote control housing is directed, and when the lower part of the cross key is pressed, When the moving body moves within the horizontal plane in the direction opposite to the direction in which the remote control housing is directed, and the left part of the cross key is pressed, the moving body is 90 degrees with respect to the direction in which the remote control housing is directed. When moving to the left in the horizontal plane and pressing the right part of the cross key, the moving body moves 90 degrees to the right in the horizontal plane with respect to the direction in which the remote control housing is directed.

Preferably, the operation switch is a switch that can be pushed in two steps. When the operation switch is pushed in strongly, the operation switch is fixed in a pushed state, and the operation switch is pushed in even if the remote control housing changes its orientation. At this point, the moving body continues to move in a horizontal plane in the direction in which the remote control housing is facing, and when the operation switch is pushed again strongly, the operation switch returns and the moving body stops.

  A three-dimensional movement apparatus according to a first aspect of the invention includes a Z-axis motor that moves a moving body in the vertical direction by an elevator, a moving mechanism that includes an X-axis motor and a Y-axis motor that move in a horizontal plane, and an X-axis A motor drive control circuit that drives a motor, a Y-axis motor, and a Z-axis motor to move a moving body to a desired position, a case direction determination unit that detects a direction in which the remote control case is facing, and a remote control case Control switch built in the remote control housing for controlling the X-axis motor and / or Y-axis motor by the motor drive control circuit so as to move it horizontally in the specified direction, and the up / down built-in in the remote control housing for moving the moving body up or down The remote control housing direction data detected by the housing direction discriminating means, operation switch, and up / down switch operation presence / absence data are monitored. Comprising the operation remote controller that communicates with the motor drive control circuit.

  Here, concrete examples of the three-dimensional moving device include overhead cranes, vehicle-mounted cranes, jib cranes and other crane devices, aerial work platforms (including self-propelled aerial work vehicles), and radio control. There are ceremony airplanes and helicopters. Specific examples of the “elevator” include a hoisting machine in a crane apparatus, a boom in an aerial work vehicle, and a main propeller in a helicopter. Specific examples of the “moving body” include a hook in a crane apparatus, a bucket (deck) in an aerial work vehicle, and a helicopter body in a helicopter.

  As a result, the operator holds the operation remote control in his / her hand, gazing at the moving body, and pressing the operation switch while keeping the remote control housing in the direction in which he wants to move the moving body in the horizontal plane. The moving body can be moved horizontally to a desired position without releasing the button. Then, the movable body can be lowered to a desired position by operating the up / down switch of the remote control housing.

  Therefore, even beginners can operate quickly and safely, and the remote control housing has two switches (when the up / down switch is integrated) or three switches (when the up / down switch is separate from the up / down switch). Therefore, even if the remote control housing surface is dirty, there is no danger of pressing the switch.

  In this way, there is no need to gaze at the hand of the remote controller for operation, and it can be operated while gazing at the movement of the moving body, and even a beginner can easily, safely, reliably, and quickly operate it. It becomes a device.

  In the three-dimensional movement apparatus according to the invention of claim 2, communication between the operation remote controller and the motor drive control circuit is performed by wired communication using a communication cable connecting the operation remote controller and the motor drive control circuit. By adopting the wired operation method in this way, it is not necessary to attach a wireless communication device according to Patent Document 2, and a simple configuration can be achieved. In addition, by using a gyro means such as a piezoelectric gyro or an optical fiber gyro as the housing direction discriminating means, it is possible to accurately detect the direction in which the remote control housing is facing even if the communication cable is twisted. The moving body can be moved horizontally.

  As a result, the operator holds the operation remote control in his / her hand, gazing at the moving body, and pressing the operation switch while keeping the remote control housing in the direction in which he wants to move the moving body in the horizontal plane. The moving body can be moved horizontally to a desired position without releasing the button. Then, the movable body can be lowered to a desired position by operating the up / down switch of the remote control housing.

  Therefore, even beginners can operate quickly and securely, and the remote control housing has two switches (when the up / down switch is integrated) or three switches (when the up / down switch is separate in the up / down switch) Therefore, even if the surface of the remote control housing is dirty, there is no danger of pressing the switch.

  In this way, there is no need to gaze at the hand of the remote controller for operation, and it can be operated while gazing at the movement of the moving body, and even a beginner can easily, safely, reliably, and quickly operate it. It becomes a device.

  In the three-dimensional movement device according to the invention of claim 3, the communication cable is flexible and the communication cable is built in the cable tube which is not twisted, and the housing direction discriminating means has a remote control housing at the lower end of the cable tube. A rotary encoder is provided in a rotary connecting portion that is rotatably connected.

  Here, “flexible but not twisted cable tube” specifically includes a metal flexible conduit and a vinyl-coated metal flexible conduit defined in JIS-C8309. A product name pre-tube or a waterproof pre-tube manufactured by Seisakusho can be used.

  Accordingly, the operation remote controller can be operated at a position away from directly below the moving body by bending the cable tube, and it is not necessary to approach the moving body, thereby ensuring the safety of the operator. In addition, since the cable tube bends but does not twist, the cable tube does not rotate even if the operation remote controller is moved, and the origin of the rotary encoder as the casing direction discriminating means does not shift.

  Therefore, it is measured how many times the remote control housing is rotated by the rotary encoder provided in the rotary connection, and the measurement data is transmitted to the motor drive control circuit through the communication line, and the motor drive control circuit receives Based on the measurement data, the X-axis motor and / or the Y-axis motor are controlled so that the moving body is moved in the horizontal plane in the direction in which the remote control housing is facing.

  As a result, the operator holds the operation remote control in his / her hand, gazing at the moving body, and pressing the operation switch while keeping the remote control housing in the direction in which he wants to move the moving body in the horizontal plane. The moving body can be moved horizontally to a desired position without releasing the button. Then, the movable body can be lowered to a desired position by operating the up / down switch of the remote control housing.

  Therefore, even beginners can operate quickly and securely, and the remote control housing has two switches (when the up / down switch is integrated) or three switches (when the up / down switch is separate in the up / down switch) Therefore, even if the surface of the remote control housing is dirty, there is no danger of pressing the switch.

  In this way, there is no need to gaze at the hand of the remote controller for operation, and it can be operated while gazing at the movement of the moving body, and even a beginner can easily, safely, reliably, and quickly operate it. It becomes a device.

  In the three-dimensional movement apparatus according to the invention of claim 4, the rotary encoder is an absolute encoder. Here, the “absolute encoder” is an encoder that can not only simply measure the rotation direction and angle as in a normal rotary encoder, but also detect the absolute direction of the current direction.

  Therefore, even when the main power of the 3D mobile device is turned off due to the end / interruption of the work, etc., when the main power of the 3D mobile device is turned on again, the direction in which the remote control housing is immediately facing by the absolute encoder Therefore, it is not necessary to perform a reset operation every time the main power is turned off / on, and the operation can be started immediately.

  As a result, the operator holds the operation remote control in his / her hand, gazing at the moving body, and pressing the operation switch while keeping the remote control housing in the direction in which he wants to move the moving body in the horizontal plane. The moving body can be moved horizontally to a desired position without releasing the button. Then, the movable body can be lowered to a desired position by operating the up / down switch of the remote control housing.

  Therefore, even beginners can operate quickly and securely, and the remote control housing has two switches (when the up / down switch is integrated) or three switches (when the up / down switch is separate in the up / down switch) Therefore, even if the surface of the remote control housing is dirty, there is no danger of pressing the switch.

  In this way, it is not necessary to look closely at the hand of the remote controller for operation, and it can be operated while paying attention to the movement of the moving body, and even a beginner can easily, safely, reliably and quickly operate it. There is no need to perform a reset operation every time the power is turned off / on, and the three-dimensional movement apparatus can be started immediately.

  According to a fifth aspect of the present invention, in the communication between the operation remote controller and the motor drive control circuit, the communication between the operation remote controller and the transmission device provided in the operation remote controller and the reception device connected to the motor drive control circuit is performed. The case direction determining means is a gyro means built in the remote control case.

  Here, as the gyro means, for example, a piezoelectric gyro, an optical fiber gyro, or the like can be used. In addition, the remote control housing may have any shape including flat plate, disc shape, rectangular parallelepiped, cube, etc., by marking the front or tip part of the remote control housing, etc. It suffices if the direction in which the remote control housing is facing can be clearly understood. Further, the operation switch may be provided at any position on the remote control housing.

  As described above, the three-dimensional movement apparatus according to the present invention has a great feature in that the three-dimensional movement apparatus according to claims 2 to 4 is a wireless remote control operation type in contrast to the wired operation method. . That is, the gyro means provided on the operation remote controller detects the absolute direction of the remote controller housing and transmits the data from the transmitter to the receiver as a radio signal, and the motor drive control circuit transmits the signal. The X-axis motor and the Y-axis motor are controlled so as to horizontally move the moving body in the direction in which the remote control housing is facing.

  Therefore, it is not necessary to pay attention to the handling of the communication cable as in the case of the wired remote control operation type, and it is possible to operate from a place far away from directly under the moving body (in the case of a crane device, helicopter, etc.) Therefore, the safety for the operator is improved and the operation becomes easier. Here, when the orientation of the remote control housing is perpendicular to the direction of attachment of the gyro means, the orientation of the remote control housing cannot be detected by the gyro means. In such a case, the operation switch is pressed. However, it is necessary to keep the moving body from moving.

  In this way, it is not necessary to look closely at the hand of the remote controller for operation, and it can be operated while paying attention to the movement of the moving body, and even a beginner can easily and safely, reliably and quickly operate it. It becomes a three-dimensional movement device that is improved in safety and easier to operate.

  In the three-dimensional mobile device according to the sixth aspect of the invention, the wireless communication is performed by a radio wave communication device. Here, “radio waves” are electromagnetic waves having a frequency of about several THz or less, and include long waves, medium waves, short waves, ultrashort waves, and microwaves.

  Wireless communication using radio waves enables reliable communication even when there are obstacles in between, so an operator with an operation remote control can move a moving object from the safest position where it can be operated most easily. be able to. In this way, by using radio waves as the wireless communication means, a place where the operation remote controller is operated is not selected, so that the three-dimensional movement apparatus becomes very easy to use.

  In this way, it is not necessary to look closely at the hand of the remote controller for operation, and it can be operated while paying attention to the movement of the moving body, and even a beginner can easily, safely, reliably, and quickly operate the remote controller for operation. It becomes a three-dimensional movement device that is very easy to use regardless of the place to operate.

  In the three-dimensional mobile device according to the seventh aspect of the invention, the wireless communication is performed by an optical communication device. Here, “light” is an electromagnetic wave having a wavelength in the range of about 1 nm to about 1 mm, and includes not only visible light but also infrared light and ultraviolet light.

  Unlike radio waves, light has the disadvantage that if there is an obstacle between the transmitting device (light emitting device) and the receiving device (light receiving device), signal transmission is hindered. It has the advantage of being far less expensive. Therefore, an operation system for a three-dimensional mobile device by wireless communication can be constructed at a low cost.

  In this way, it is not necessary to look closely at the hand of the remote controller for operation, and it can be operated while paying attention to the movement of the moving body. It becomes a three-dimensional movement apparatus that can construct a system at low cost.

  In the three-dimensional movement apparatus according to the invention of claim 8, by turning on the main power supply with the remote control housing of the operation remote controller oriented in a predetermined original direction, the X-axis motor and / or the Y-axis motor and / or Z The shaft motor operates to move the moving body to a predetermined original position.

  In the case of a wireless operation type three-dimensional movement apparatus, when the main power of the three-dimensional movement apparatus is turned off / on, the absolute encoder cannot be used as in the three-dimensional movement apparatus according to the invention of claim 4. Therefore, it is necessary to take a reset means. In particular, in the case of a vehicle-mounted crane, the necessity is great.

  Therefore, when the main power supply of the three-dimensional mobile device is cut off, the main power switch provided on the operation remote controller or the other is set with the remote control housing of the operation remote control facing in the predetermined original direction. The reset operation can be performed by turning on the main power switch provided at the location and driving the X-axis motor / Y-axis motor / Z-axis motor to move the movable body to a predetermined original position. From that point on, the data of the orientation of the remote control casing of the operation remote controller is measured by gyro means built in the remote control casing and transmitted wirelessly.

  In particular, in the case of a wireless operation type three-dimensional mobile device, it is necessary to operate the charger as a rechargeable battery, using the remote controller as a rechargeable battery, taking advantage of the fact that the remote controller must also have its own power source. When the remote controller is set, the reset operation can be performed more reliably if the remote controller casing is oriented in a predetermined original direction.

  In this way, it is not necessary to look closely at the hand of the remote controller for operation, and it can be operated while paying attention to the movement of the moving body, and even a beginner can easily, safely, reliably and quickly operate it. The three-dimensional movement device can be surely reset every time the power is turned off / on.

  In the three-dimensional movement device according to the invention of claim 9, the second operation switch is provided on the surface opposite to the surface on which the operation switch of the remote control housing is provided, and the second operation switch is pressed. The moving body moves in a direction opposite to the direction in which the remote control housing is directed.

  Thus, in the three-dimensional movement apparatus according to the inventions of claims 1 to 8, in order to move the moving body in any direction of 360 degrees in the horizontal plane, the remote control housing needs to be rotated 360 degrees. However, in the three-dimensional movement apparatus according to the present invention, the moving body can be moved in any direction of 360 degrees in the horizontal plane only by rotating the remote control housing within the range of 180 degrees.

  Therefore, it becomes easier for the operator to operate the three-dimensional movement apparatus, and the operation can be performed with a simple posture and a short movement distance. Moreover, since the moving body can always be moved in the direction of the moving body and the back is not turned to the moving moving body, the safety is further improved.

  In this way, it is not necessary to keep a close eye on the hand of the remote controller for operation, and it can be operated while paying attention to the movement of the moving body. Therefore, the three-dimensional moving device can be operated with a small moving distance and higher safety.

  In the three-dimensional movement apparatus according to the tenth aspect of the invention, the operation switch is a cross key, and when the upper part of the cross key is pressed, the moving body moves in the horizontal plane in the direction in which the remote control housing is directed. When the lower part of the moving body is pressed, the moving body moves in the horizontal plane in the direction opposite to the direction in which the remote control housing is directed, and when the left part of the cross key is pressed, the moving body is moved 90 relative to the direction in which the remote control housing is directed. When the right part of the cross key is pressed, the moving body moves 90 degrees to the right in the horizontal plane with respect to the direction in which the remote control housing is directed.

  Thus, in order to move the moving body in any direction of 360 degrees in the horizontal plane, in the three-dimensional movement apparatus according to the inventions of claims 1 to 8, it is necessary to also rotate the remote control housing 360 degrees. In the three-dimensional movement apparatus according to the ninth aspect of the present invention, the remote control casing needs to be rotated 180 degrees. However, in the three-dimensional movement apparatus according to the present invention, the remote control casing is rotated within a range of 90 degrees. The moving body can be moved in any direction of 360 degrees in the horizontal plane simply by making it.

  Therefore, it becomes easier for the operator to operate the three-dimensional movement device, and the operation can be performed with a more comfortable posture and a shorter moving distance. Moreover, since the moving body can always be moved in the direction of the moving body and the back is not turned to the moving moving body, the safety is further improved.

  In this way, it is not necessary to look closely at the hand of the remote controller for operation, and it can be operated while paying attention to the movement of the moving body. Thus, the three-dimensional moving device can be operated with less moving distance and higher safety.

  In the three-dimensional movement apparatus according to the invention of claim 11, the operation switch is a switch that can be pushed in two stages. When the operation switch is pushed in strongly, the operation switch is fixed in the pushed-in state, and the remote control housing changes its orientation thereafter. Even when the operation switch is pushed in, the moving body continues to move in the horizontal plane in the direction in which the remote control housing is facing, and when the operation switch is pushed again strongly, the operation switch returns and the moving body stops.

  Even if the operator holding the operation remote control matches the direction in which the remote control housing is facing with the direction in which the moving body is desired to move in the horizontal plane and presses the operation switch, the operator points the remote control housing in that direction. If it is necessary to continue to hold it, it will be a burden on the operator. Therefore, if the operation switch is pushed in two steps, if it is pushed hard, it will be fixed in the pushed state, and if the direction of the remote control housing is changed after that, the moving body will not move in the horizontal direction. This eliminates the need to hold the remote control housing in a fixed orientation, greatly reducing the burden on the operator. When it is desired to stop the moving body, the operation switch may be returned by pressing it again.

  In this way, it is not necessary to look closely at the hand of the remote controller for operation, and it is possible to operate while gazing at the movement of the moving body. It becomes a three-dimensional movement device that can greatly reduce

  A three-dimensional movement device according to a twelfth aspect of the present invention is a movement mechanism including a Z-axis motor that moves a moving body in the vertical direction by an elevator, an X-axis motor and a Y-axis motor that move in a horizontal plane, and an X-axis. A motor drive control circuit that drives a motor, a Y-axis motor, and a Z-axis motor to move a moving body to a desired position; and a remote controller for operation connected to the motor drive control circuit by a communication cable. Communication cable is built in a cable tube that can be flexed and is not twisted, and the remote controller for operation is provided on each of the four sides of the cuboid remote controller housing fixed to the lower end of the communication cable and the remote controller housing. Operating switches and up / down switches for raising and lowering the moving body, and when one of the operating switches is pressed, the motor drive control circuit is electrically connected to the motor via the communication line. Signal is transmitted, X-axis motor and the Y axis motor by the motor drive control circuit to move in a horizontal plane in a direction moving body driven operation switch is depressed.

  Thus, while gazing at the moving body, of the four operation switches provided on the side surface of the remote control casing, the operation switch in the direction in which the moving body is to be moved is pressed, and the direction in which the moving body is to be moved is the rectangular parallelepiped. In the case of being inclined with respect to the remote control housing, the mobile body can be moved to the desired position without taking an eye from the mobile body by moving the mobile body zigzag in a horizontal plane by alternately pressing the two operation switches. Can be moved to a position. Then, the moving body can be lowered to a desired position by operating the up / down switch of the remote control housing to lower the moving body.

  Therefore, even a beginner can operate the three-dimensional moving device quickly and securely, and the remote control housing is provided with only one operation switch on each side, so the remote control housing is dirty. There is no danger of pressing the operation switch. Further, in the three-dimensional movement apparatus according to the present invention, unlike the three-dimensional movement apparatus according to the first to eleventh aspects of the invention, an expensive device such as a casing direction discriminating means (rotary encoder, gyro apparatus, etc.). Since it is a simple structure which does not use, it can be made low-cost.

  Further, the present invention is not limited to the case where each side surface of the remote control housing is parallel to the X axis and the Y axis of the three-dimensional movement device. If the moving body is moved horizontally in the X-axis direction by making it parallel to the Y-axis, only one operation switch needs to be kept pressed, and even if the moving body is moved horizontally in the Y-axis direction, one operation switch is also required. Since it is sufficient to keep pressing only, it is easier to operate and more preferable.

  In this way, it is not necessary to pay close attention to the hand of the remote controller for operation, and it can be operated while paying attention to the movement of the moving body, and even a beginner can easily, safely, reliably, and quickly operate, and at a lower cost. It becomes a three-dimensional moving device capable of

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

Embodiment 1
First, the three-dimensional movement apparatus concerning Embodiment 1 of this invention is demonstrated with reference to FIG. 1 thru | or FIG.

  FIG. 1 is a perspective view showing an overall configuration of an overhead crane as a three-dimensional movement apparatus according to Embodiment 1 of the present invention. FIG. 2 is a diagram showing a structure of a hoisting machine as an elevator for an overhead crane as a three-dimensional movement apparatus according to the first embodiment of the present invention. FIG. 3A is a perspective view showing a remote control housing portion of the remote controller for operation in the three-dimensional movement apparatus according to the first embodiment of the present invention, and FIG. 3B is a tertiary according to a modification of the first embodiment of the present invention. It is a perspective view which shows the remote control housing | casing part of the operation remote control in the former moving apparatus. FIG. 4 is a block diagram showing a control mechanism in the overhead crane as the three-dimensional movement apparatus according to the first embodiment of the present invention.

  As shown in FIG. 1, an overhead crane 1 as a three-dimensional movement apparatus according to the first embodiment is a pair of traveling rails 2A and 2B laid in parallel near the ceiling of a building via wheels. A crane girder 4 equipped with a hoisting machine 5 as a lifting machine can be traversed between the saddles 3A and 3B, and a moving body is attached to the tip of a support wire rope 6 wound up by the hoisting machine 5 as a lifting machine. The hook 7 is fixed.

  As described above, the overhead crane 1 is configured so that the crane girder 4 is horizontally mounted substantially perpendicular to the traveling rails 2A and 2B, and the hoisting machine 5 having the hook 7 at the tip moves on the crane girder 4. Since it is comprised, the tertiary concerning this invention centering on the moving mechanism which comprises the Z-axis motor which moves the hook 7 as a moving body to an up-down direction, and the X-axis motor and Y-axis motor which move in a horizontal surface Suitable as a former mobile device.

  From the hoisting machine 5, the communication cable 8 that is bent but not twisted hangs down to the vicinity of the floor surface, and the lower end of the communication cable 8 is connected to the remote control housing via a rotary connection portion 12 that is rotatable with respect to the communication cable 8. Connected to the body 10. Here, the communication cable 8 which is bent but not twisted has a communication line built in the cable tube which is bent but not twisted, and the casing direction discriminating means can freely rotate the remote control casing 10 at the lower end of the cable tube. A rotary encoder is provided in the rotary connecting portion 12 connected to the rotary encoder. Specific examples of the “flexible but not twisted cable tube” include a metal flexible conduit and a vinyl-coated metal flexible conduit defined in JIS-C8309. A brand name plica tube or a waterproof plica tube can be used.

  On the front of the rectangular parallelepiped remote control housing 10, a two-step push button type operation switch 11 is provided. The operation switch 11 is not fixed when pressed lightly and returns with spring force when released, and is pressed when pressed hard. It is held in a state, and when it is pressed again, it returns with spring force. An optical rotary encoder as a housing direction discriminating unit is built in the rotary connection unit 12. The operation remote controller 9 according to the first embodiment is composed of a remote controller housing 10 having these operation switches 11 and a rotary connection portion 12 that rotatably connects the remote controller housing 10 to the communication cable 8. Yes.

  Further, as shown in FIG. 2, the hoisting machine 5 has a pair of wheels 14 provided with the crane girder 4 sandwiched therebetween, and these wheels 14 are traversing motors (Y-axis motors) 13. The hoisting machine 5 traverses along the crane girder 4 by being driven and rotated. A hoisting machine main body 17 is suspended and supported by these traversing units by a support member 15, and a hoisting motor (Z-axis motor) for hoisting or extending the supporting wire rope 6 on the hoisting machine main body 17. 16 is attached.

  The saddles 3A and 3B that travel on the traveling rails 2A and 2B with the crane girder 4 shown in FIG. 1 supported at both ends are provided with a traveling wheel and a traveling motor (X-axis motor) (not shown), respectively. It has been. Further, the hoisting machine body 17 shown in FIG. 2 has a motor drive control circuit for driving these X-axis motor, Y-axis motor 13 and Z-axis motor 16 in accordance with the operation of the operation remote controller 9. Built in.

  Next, the structure of the operation remote controller 9 according to the first embodiment will be described with reference to FIG. As shown in FIG. 3A, the remote control housing 10 is attached to the communication cable 8 through the rotation connection portion 12 so as to be rotatable 360 degrees, and the remote control housing 10 has a large central portion on the front surface. The operation switch 11 is provided, and ascending and descending switches 11A and 11B as upper and lower switches are provided above and below.

  As described above, the rotary connection unit 12 is provided with an optical rotary encoder as a casing direction discriminating means, and the direction in which the remote controller casing 10 serves as a reference (this embodiment 1 is shown in FIG. 1). The remote control housing 10 is measured in which direction the remote control housing 10 is rotated in parallel with the crane girder 4), and the rotation angle data is stored in the communication cable 8 as an electrical signal. Is transmitted to the motor drive control circuit built in the hoisting machine main body 17 through the communication line.

  Here, when the operation switch 11 is lightly pressed, an electric signal that the operation switch 11 is lightly pressed is transmitted to the motor drive control circuit built in the hoisting machine body 17 through the communication line built in the communication cable 8. The X-axis motor and / or the Y-axis motor 13 is actuated by the control of the motor drive control circuit, and the direction in which the hook 7 as the moving body faces the remote control housing 10, that is, the front surface of the remote control housing 10. Move horizontally in the opposite direction.

  Control in this motor drive control circuit will be described with reference to FIG.

  As shown in FIG. 4, an operation switch 11, an ascending switch 11A, and a descending switch 11B are provided in a remote controller housing 10 constituting the operation remote controller 9, and a rotating connection portion 12 is provided as a housing direction discriminating means. The rotary encoder (optical rotary encoder) 19 is incorporated. The motor drive control circuit 18 built in the hoisting machine main body 17 includes a microcomputer (hereinafter also referred to as “microcomputer”) 20 and an inverter (or contactor) 21.

  Here, the microcomputer 20 includes a CPU (central processing unit), a memory device such as a ROM / RAM, and an input / output (I / O) device, and transmits from the remote control housing 10 through a communication line in the communication cable 8. The electric signal to be received is received, necessary calculation processing is performed, and the processing result is output to the inverter (or contactor) 21 as an electric signal. The microcomputer 20 may be a so-called one-chip microcomputer, or may be composed of a plurality of chips or elements / parts.

  The optical rotary encoder 19 measures how many times the remote controller housing 10 is rotated from the original position with respect to the communication cable 8, and uses the measured value as an electrical signal through a communication line in the communication cable 8. 20 to send. When the operation switch 11 is pressed, a predetermined electrical signal is transmitted to the microcomputer 20 through the communication line in the communication cable 8, and the microcomputer 20 transmits a control signal to the inverter (or contactor) 21 to (Or contactor) 21 supplies a drive current to X-axis motor 23 and / or Y-axis motor 13 in accordance with a control signal, and drives X-axis motor 23 and / or Y-axis motor 13 to move hook 7 as a moving body. Is moved in the direction in which the remote controller housing 10 is facing.

  Here, when the inverter 21 is used, since the magnitude of the drive current supplied to the X-axis motor 23 and the Y-axis motor 13 can be controlled steplessly, the remote controller housing 10 faces the hoisting machine 5. However, when the contactor 21 is used, the magnitude of the drive current supplied to the X-axis motor 23 and the Y-axis motor 13 is always a constant value. 7 can be moved only in a total of eight directions including a direction parallel to the traveling rails 2A and 2B, a direction parallel to the crane girder 4, and an intermediate direction therebetween. Accordingly, the hook 7 of the hoisting machine 5 travels in a zigzag manner when viewed in detail, and moves in the direction in which the remote control housing 10 faces.

  When the up switch 11A and the down switch 11B as the up / down switches provided on the operation remote controller 9 are pressed, a predetermined electrical signal is transmitted to the motor drive control circuit 18 through the communication line in the communication cable 8. Similarly, when the drive current is supplied to the Z-axis motor 16 from the contactor 22 and is pushed to the Z-axis motor 16 when the lift switch 11A is pressed, the Z-axis motor 16 is connected to the support cable 6. When the lowering switch 11B is pushed, the Z-axis motor 16 operates to extend the support cable 6 and lower the hook 7.

  Therefore, the operator who operates the overhead crane 1 shown in FIG. 1 first presses the lowering switch 11B of the operation remote controller 9 to operate the Z-axis motor 16 to lower the hook 7, and is placed on the floor surface. The hook 7 is hung on the conveyed product, the lift switch 11A is pushed, the Z-axis motor 16 is operated, the support wire rope 6 is wound up, and the conveyed product is lifted to a height that does not hinder horizontal movement. Subsequently, the remote control housing 10 is directed in the direction in which the transported object is to be moved, the operation switch 11 is lightly pressed, and the direction of the remote control housing 10 is slightly adjusted while observing the moving direction of the transported object that is hung on the hook 7. By adjusting, the conveyed product can be translated in a desired direction.

  When the pressing of the operation switch 11 is stopped, the operation switch 11 returns with a spring force, and the hook 7 of the hoisting machine 5 stops. When it is confirmed that the transported object is moving in a desired direction, the operation switch 11 is held in the depressed state by pressing the operation switch 11 strongly. Thereafter, the electric signal in the direction in which the remote controller housing 10 is directed. Is no longer transmitted, and the direction in which the hook 7 of the hoisting machine 5 moves does not change even if the orientation of the remote controller housing 10 is changed.

  In this way, when the transported object hung on the hook 7 of the hoisting machine 5 is horizontally moved to a desired position, the operation switch 11 is released (if it is kept lightly pressed) or pushed in again (operation switch). 11) When the operation switch 11 is returned to stop the hook 7 of the hoisting machine 5 and the lowering switch 11B is pressed, the Z-axis motor 16 operates in a direction to lower the hook 7, and the support wire rope 6 is extended, the conveyed product descends by its own weight and is lowered to a predetermined position.

  Thus, in the overhead crane 1 according to the first embodiment, the hook 7 of the hoisting machine 5 moves in the direction in which the remote controller housing 10 is facing by pressing the operation switch 11, so watch closely. There is no need to adjust the direction of the remote control housing 10 while paying attention to the moving direction of the transported object, so that the transported object can be removed without keeping an eye on the transported object hung on the hook 7 of the hoisting machine 5. It can be moved to a desired position.

  Therefore, even a beginner can operate the overhead crane 1 quickly and safely, and the remote control housing 10 has only three switches (the operation switch 11, the up switch 11A, and the down switch 11B). Even if the remote control housing 10 is dirty due to use, etc., there is no fear of pressing the switch.

  In this way, it is not necessary to look closely at the hand, and it can be operated while paying attention to the movement of the transported object that is hung on the hook 7 of the hoisting machine 5, and even a beginner can easily and safely The overhead crane 1 can be operated quickly.

  In the first embodiment, it is assumed that the operation switch 11 can be pushed in two stages. When the operation switch 11 is pushed in strongly, the operation switch 11 is fixed in the pushed-in state, and even if the orientation of the remote control housing 10 is changed thereafter, the winding is performed. The case where the moving direction of the hook 7 of the upper machine 5 is assumed to be unchanged has been described. However, it is not necessarily required to be pushed in two steps, and the direction of the remote control housing 10 is followed while the operation switch 11 is being pressed. The moving direction of the hook 7 of the hoisting machine 5 may be changed.

  Next, an operation remote controller in the crane device according to the modification of the first embodiment will be described with reference to FIG. Since the operation remote controller 9 according to the first embodiment described above has only one operation switch 11 as shown in FIG. 3A, in order to retract the hook 7 of the hoisting machine 5, the remote controller It was necessary to rotate the casing 10 180 degrees and press the operation switch 11. That is, in order to move the hook 7 of the hoisting machine 5 in all directions in the horizontal plane, it is necessary to rotate the remote control housing 10 by 360 degrees.

  On the other hand, as shown in FIG. 3B, in the operation remote controller 9A according to the modification of the first embodiment, the second operation switch 11C is provided on the back surface of the operation switch 11. When the second operation switch 11C is pressed, the hook 7 of the hoisting machine 5 is moved in the direction opposite to the direction in which the remote controller housing 10 is facing (180 degree direction). Control is performed in the computer 20.

  Thus, when the hook 7 of the hoisting machine 5 is retracted, the hook 7 of the hoisting machine 5 can be accurately retracted by pressing the second operation switch 11C without moving the remote controller housing 10. it can. Therefore, by using the two operation switches 11 and 11C in combination, the hook 7 of the hoisting machine 5 can be moved in any direction within the horizontal plane by simply rotating the remote control housing 10 within a range of 180 degrees. It will be good.

  In this way, in the overhead crane according to the modification of the first embodiment, it is possible to operate while gazing at the movement of the transported object that is hung on the hook 7 of the hoisting machine 5, even for beginners. It can be operated easily, safely, reliably, and quickly, and the movement distance of the operator is shortened, so that it can be operated more easily.

  Also in the modification of the first embodiment, the operation switch 11 and / or the second operation switch 11C are assumed to be pushed in two steps. Even if the direction of the body 10 is changed, the moving direction of the hook 7 of the hoisting machine 5 may be the same, or while the operation switch 11 and / or the second operation switch 11C is being pressed, It is good also as a system in which the moving direction of the hook 7 of the hoisting machine 5 changes following the direction.

Embodiment 2
Next, the overhead crane as a three-dimensional movement apparatus concerning Embodiment 2 of this invention is demonstrated with reference to FIG.5 and FIG.6. FIG. 5 is a perspective view showing an overall configuration of an overhead crane as a three-dimensional movement apparatus according to Embodiment 2 of the present invention. FIG. 6 is a perspective view showing an operation remote controller in the three-dimensional movement apparatus according to Embodiment 2 of the present invention.

  The overhead crane 1A according to the second embodiment is the same in appearance as the overhead crane 1 according to the first embodiment shown in FIG. 1 except for the operation remote controller 35. The same reference numerals as those in FIG. Further, the configuration of the motor drive control circuit is the same as that of the first embodiment shown in FIG. 4 except that the structure of the operation switch is different, so that detailed description will be omitted with reference to FIG. 4 as appropriate.

  As shown in FIG. 5, in the overhead crane 1A according to the second embodiment, as described in the first embodiment, the lower end of the communication cable 8 using the tube that bends but does not twist is used. An operation remote controller 35 having a flat remote controller housing 36 different from 1 is attached. The remote controller housing 36 is attached to the communication cable 8 via a rotatable connecting portion 12, and a cross key 37 as an operation switch is provided in the center on the front surface of the remote controller housing 36.

  Next, the configuration of the operation remote controller 35 will be described with reference to FIG.

  As shown in FIG. 6, in the operation remote controller 35 according to the second embodiment, the cross key 37 as the operation switch is provided in the center on the front surface of the remote control housing 36 as described above. Above and below are provided an up switch 38A and a down switch 38B as up / down switches. Here, the upper part 37a, the lower part 37b, the left part 37c, and the right part 37d of the cross key 37 can be pushed in two stages. When lightly pushed, the springs return when released and pushed hard. In some cases, it is fixed in the pushed-in state, and when pressed again, it returns with spring force.

  As shown in FIG. 4, a rotary encoder (optical rotary encoder) 19 is provided inside the rotary connection unit 12, and the remote control housing 36 is at an initial position (second embodiment) with respect to the communication cable 8. In FIG. 5, data indicating how many times the remote controller housing 36 has rotated from the direction in which the remote controller housing 36 is parallel to the crane girder 4 is wound as an electric signal through the communication line in the communication cable 8. The data is transmitted to the microcomputer 20 in the upper machine body 17.

  Here, in the cross key 37 as an operation switch shown in FIG. 6, when the upper part 37a is pressed, the hook 7 of the hoisting machine 5 moves horizontally in the direction in which the remote control housing 36 faces, and when the lower part 37b is pressed, the remote controller 37 is operated. The hook 7 of the hoisting machine 5 moves horizontally in the direction opposite to the direction in which the housing 36 is facing (180-degree direction), and when the left portion 37c is pressed, the left side 37c is 90 degrees to the left The hook 7 of the hoisting machine 5 moves horizontally in the direction, and when the right part 37d is pressed, the hook 7 of the hoisting machine 5 moves horizontally 90 degrees to the right of the remote controller housing 36. Controlled by the microcomputer 20 and the inverter (or contactor) 21.

  Therefore, it is possible to move the hook 7 of the hoist 5 in any direction of 360 degrees in the horizontal plane simply by rotating the remote control housing 36 from the initial position to the right or left within a range of 90 degrees. .

  When the hook 7 of the hoisting machine 5 is moved horizontally to a desired position in this way, the cross key 37 as an operation switch is released (when pressed lightly) or pressed again (strongly pressed and fixed). Case) Returning the cross key 37 to stop the hook 7 of the hoisting machine 5 and pressing the lowering switch 38B, an electric signal is transmitted to the contactor 22 in the hoisting machine main body 17 through the communication line in the communication cable 8. Then, a drive current is supplied to the Z-axis motor 16 by the contactor 22, the Z-axis motor 16 is driven in a direction to lower the hook 7, the support wire rope 6 is extended, and the conveyed product is lowered by its own weight, so that a predetermined position is reached. To be taken down.

  As described above, in the overhead crane 1A according to the second embodiment, the remote controller housing 36 is directed toward the remote controller housing 36 by pressing the upper part 37a, the lower part 37b, the left part 37c, and the right part 37d of the cross key 37 as an operation switch. Since the hook 7 of the hoisting machine 5 moves in a predetermined direction with respect to the moving direction, it is not necessary to watch the hand, and it is only necessary to adjust the direction of the remote control housing 36 while watching the moving direction of the conveyed product. The conveyed product can be moved to a desired position without taking the eyes off the conveyed product hung on the hook 7 of the hoisting machine 5.

  In this way, in the overhead crane 1A according to the second embodiment, it is not necessary to watch the hand, and it is operated while paying attention to the movement of the transported object that is hung on the hook 7 of the hoisting machine 5 and transported. In addition, even beginners can easily, safely, reliably, and quickly operate, and can operate more easily.

  In the second embodiment, each portion 37a, 37b, 37c, 37d of the cross key 37 as an operation switch is pushed in two steps. Although the case where the moving direction of the hook 7 of the hoisting machine 5 is not changed even if the direction of the hoisting machine 5 is changed has been described, it is not necessarily required to be pushed in two steps, and each part 37a, 37b of the cross key 37 is not necessarily required. , 37c, and 37d, the direction of movement of the hook 7 of the hoisting machine 5 may be changed following the direction of the remote control housing 36.

Embodiment 3
Next, the overhead crane as a three-dimensional movement apparatus concerning Embodiment 3 of this invention is demonstrated with reference to FIG. 7 thru | or FIG.

  FIG. 7: is a perspective view which shows the whole structure of the overhead crane as a three-dimensional movement apparatus concerning Embodiment 3 of this invention. FIG. 8 is a perspective view showing an operation remote controller in the three-dimensional movement apparatus according to Embodiment 3 of the present invention. FIG. 9 is a perspective view showing an operation remote controller in a three-dimensional movement apparatus according to a modification of the third embodiment of the present invention.

  The overhead crane 1B according to the third embodiment is the same in appearance as the overhead crane 1 according to the first embodiment shown in FIG. 1 except for the operation remote controller 40. The same reference numerals as those in FIG. The configuration of the motor drive control circuit is the same as that of the first embodiment shown in FIG. 4 except that the structure of the operation switch is different and the rotary encoder is an absolute encoder. Detailed description is omitted by reference.

  As shown in FIG. 7, in the overhead crane 1B as the three-dimensional movement apparatus according to the third embodiment, as described in the first embodiment, the communication cable 8 using a tube that bends but does not twist is used. At the lower end, an operation remote controller 40 having a flat remote controller casing 41 provided with a grip portion different from those of the first and second embodiments is attached. The remote control casing 41 is attached via a rotary connection portion 12 that is rotatable with respect to the communication cable 8 perpendicular to the flat plate surface. A cross key 42 as an operation switch is provided on the upper surface of the remote control casing 41. It is provided in the center.

  Next, the configuration of the operation remote controller 40 will be described with reference to FIG.

  As shown in FIG. 8, in the remote controller 40 for operation according to the third embodiment, a cross key 42 as an operation switch is provided on the top surface of the remote controller housing 41, and at the tip of the remote controller housing 41. A rotary up / down switch 43 also serving as a grip is provided. The upper part 42a, the lower part 42b, the left part 42c, and the right part 42d of the cross key 42 transmit a predetermined electric signal to the microcomputer 20 through the communication line in the communication cable 8 while all are pressed, and when released, the spring force is applied. It comes to return.

  The up / down switch 43 does not rotate unless the operator presses the remote controller housing 41 with one hand and puts force with the other hand, and the hook 7 rises when rotated clockwise. When rotated counterclockwise, the hook 7 descends, but the upper and lower switches 43 are engraved with the arrows so that the characters “up” and “down” are clearly visible.

  Further, the rotary connecting part 12 incorporates a rotary encoder (optical absolute encoder) 19 as a housing direction discriminating means, and the remote control housing 41 is rotated from the initial position to the position where the remote control housing 41 is rotated many times. Data of absolute information of a certain angle is transmitted as an electrical signal to the microcomputer 20 in the hoisting machine main body 17 through the communication line in the communication cable 8. The remote controller housing 41 can be rotated 360 degrees freely with respect to the communication cable 8 as indicated by an imaginary line and an arrow, but the cross key 42 as an operation switch can be turned in any direction. 4 is controlled by the microcomputer 20 shown in FIG. 4 so that the hook 7 of the hoisting machine 5 is moved in the direction in which the upper portion 42a of the operation switch 42 faces when the upper portion 42a is pushed.

  That is, since the rotary encoder (absolute encoder) 19 always sends data in the direction in which the remote controller housing 41 is currently directed to the microcomputer 20, it indicates that the upper portion 42a of the cross key 42 as an operation switch has been pressed. When an electric signal is transmitted to the microcomputer 20, the inverter (or contactor) 21 is connected to the microcomputer 20 so that the hook 7 of the hoisting machine 5 moves forward in the direction in which the remote control housing 41 is facing in the microcomputer 20. A control signal is transmitted, and drive current is supplied from the inverter (or contactor) 21 to the X-axis motor 23 and the Y-axis motor 13 accordingly.

  Similarly, when the lower part 42b of the cross key 42 as the operation switch is pressed, the hook 7 of the hoist 5 is controlled to move horizontally in the direction opposite to the direction in which the remote control housing 41 faces at that time. When the left part 42c of the key 42 is pressed, the hook 7 of the hoisting machine 5 is controlled to move horizontally by 90 degrees to the left with respect to the direction in which the remote control housing 41 is facing. When the portion 42d is pressed, the hook 7 of the hoisting machine 5 is controlled to move horizontally in the right direction by 90 degrees with respect to the direction in which the remote control housing 41 is facing.

  Therefore, it is possible to move the hook 7 of the hoist 5 in any direction 360 degrees in the horizontal plane simply by rotating the remote control casing 41 rightward or leftward within a range of 90 degrees from the initial position. At the same time, since it is possible to operate around the position where the operator can easily operate, the movement distance becomes shorter and the operation becomes easier.

  Thus, when the hook 7 of the hoisting machine 5 is horizontally moved to a desired position, the cross key 42 as an operation switch is released to stop the hook 7 of the hoisting machine 5, and the up / down switch 43 is turned counterclockwise. By rotating, the electric signal is transmitted to the contactor 22 in the hoisting machine main body 17 through the communication cable 8, the drive current is supplied to the Z-axis motor 16 by the contactor 22, and the Z-axis motor 16 lowers the hook 7. Driven in the direction, the support wire rope 6 is extended, and the conveyed product is lowered by its own weight and lowered to a predetermined position.

  As described above, in the overhead crane 1B according to the third embodiment, the remote controller housing 41 is faced by pressing the upper part 42a, the lower part 42b, the left part 42c, and the right part 42d of the cross key 42 as an operation switch. Since the hook 7 of the hoisting machine 5 moves in a predetermined direction with respect to the moving direction, it is not necessary to watch the hand, and it is only necessary to adjust the direction of the remote control housing 41 while watching the moving direction of the conveyed product. The conveyed product can be moved to a desired position without taking the eyes off the conveyed product hung on the hook 7 of the hoisting machine 5.

  In this way, in the overhead crane 1B according to the third embodiment, it is not necessary to watch the hand, and it can be operated while watching the movement of the transported object hung on the hook 7 of the hoisting machine 5. Even beginners can operate easily, safely, reliably and quickly, and more easily.

  Furthermore, in the overhead crane 1B according to the third embodiment, the absolute direction which is not currently used is not only a rotational direction and angle measurement as in the case of an absolute encoder, that is, a normal rotary encoder, as a housing direction discriminating means. Even if the main power of the overhead crane 1B is turned off due to the end / interruption of the work, etc. by using an encoder capable of detecting the direction, the remote control is instantly controlled by the absolute encoder when the main power of the overhead crane 1B is turned on again. Since the direction in which the housing 41 is facing can be detected, there is no need to perform a reset operation each time the main power of the overhead crane 1B is turned off / on, and the operation of the overhead crane 1B can be started immediately. .

  Next, an operation remote controller 40A according to a modification of the third embodiment will be described with reference to FIG. As shown in FIG. 9, the structure of the operation remote controller 40A according to the modification of the third embodiment is generally similar to that of the operation remote controller 40 shown in FIG. The difference is that the grip 44 fixed to the remote control housing 41 does not rotate and does not serve as the up / down switch of the hoisting machine main body 17. Instead, as shown in FIG. The up switch 43A and the down switch 43B are provided independently.

  As a result, when the grip (up / down switch) 43 is rotated as shown in FIG. 8, it is not necessary to carefully check whether the hook 7 is lowered, and the hook 7 is raised. In this case, the lift switch 43A shown in FIG. 9 may be pushed, and when the hook 7 is lowered, the drop switch 43B may be pushed. Operation becomes easier.

  In this way, in the overhead crane and the operation remote control 40A according to the modification of the third embodiment, the operation is performed while gazing at the movement of the conveyed object that is hung on the hook 7 of the hoisting machine 5 and conveyed. Thus, even a beginner can easily and safely operate, and the lifting and lowering operation can be more reliably and quickly performed.

  In the third embodiment, the movement direction of the hook 7 as the moving body changes following the direction of the remote control housing 36 while the respective portions 42a, 42b, 42c, and 42d of the cross key 42 as the operation switch are pressed. In this case, as described above, the respective parts 42a, 42b, 42c, and 42d of the cross key 42 are pushed in two stages. When pushed strongly, the parts are fixed in the pushed state, and thereafter the direction of the remote control casing 41 is changed. Even if it is changed, the moving direction of the hook 7 as a moving body may not change.

Embodiment 4
Next, the overhead crane as a three-dimensional movement apparatus concerning Embodiment 4 of this invention is demonstrated with reference to FIG.10 and FIG.11.

  FIG. 10 is a perspective view showing an overall configuration of an overhead crane as a three-dimensional movement apparatus according to Embodiment 4 of the present invention. FIG. 11 is a perspective view showing an operation remote controller in the three-dimensional movement apparatus according to Embodiment 4 of the present invention.

  The overhead crane 1C according to the fourth embodiment is the same in appearance as the overhead crane 1 according to the first embodiment shown in FIG. 1 except for the operation remote controller 45. The same reference numerals as those in FIG.

  As shown in FIG. 10, in the overhead crane 1C according to the fourth embodiment, as described in the first embodiment, the lower end of the communication cable 8 using the tube that bends but does not twist is used. An operation remote controller 45 having a rectangular parallelepiped remote controller housing 46 different from those of the first to third embodiments is attached. The remote control housing 45 is fixed and attached to the communication cable 8 so as not to rotate. Operation switches 47A, 47B, 47C, and 47D are provided on each side of the rectangular parallelepiped of the remote control housing 45, respectively.

  Next, the configuration of the operation remote controller 45 will be described with reference to FIG. As shown in FIG. 11, in the operation remote controller 45 according to the fourth embodiment, as described above, the remote controller housing 46 is fixed to the lower end of the communication cable 8. Are provided with operation switches 47A, 47B, 47C and 47D, respectively. Further, on the side surface on which the operation switch 47A is provided, an up / down switch 48A and a down switch 48B as up / down switches are provided above and below the operation switch 47A.

  The side surfaces on which the operation switches 47A and 47C are provided are parallel to the traveling rails 2A and 2B of the overhead crane 1C, and the side surfaces on which the operation switches 47B and 47D are provided are connected to the crane girders 3A and 3B of the overhead crane 1C. It is parallel.

  Further, only the contactor is provided as a control device in the hoisting machine main body 17, and when the operation switch 47A is pressed, the hook 7 of the hoisting machine 5 shown in FIG. When the operation switch 47C is pushed so as to move to the 3A side, the hook 7 of the hoisting machine 5 moves along the crane girder 4 to the saddle 3B side, and when the operation switch 47B is pushed, the crane girder 4, so that the crane girder 4 moves in the lower left direction of FIG. 1 when the operation switch 47D is pressed so that the movement of the crane girder 4 in the upper right direction of FIG. A drive current is supplied to an X-axis motor 23 (not shown) provided in 3B.

  Therefore, the operator who operates the overhead crane 1C particularly presses one of the four operation switches 47A, 47B, 47C, 47D of the remote control housing 46 while gazing at the transported object hung on the hook 7. When moving the transported object in an oblique direction, any two of the operation switches 47A, 47B, 47C, and 47D are alternately and intermittently pushed to zigzag the hook 7 of the hoisting machine 5 in the desired direction. The conveyed product can be moved by moving it.

  Thus, when the hook 7 of the hoisting machine 5 is moved horizontally to a desired position, the operation switches 47A, 47B, 47C, 47D are released to stop the hook 7 of the hoisting machine 5, and the lowering switch 48B is pressed. As a result, a drive current is supplied to the Z-axis motor 16, the Z-axis motor 16 is driven in the direction of lowering the hook 7, the support wire rope 6 is extended, and the conveyed product is lowered by its own weight and lowered to a predetermined position. It is.

  Thus, in the overhead crane 1C according to the fourth embodiment, when the operation switches 47A, 47B, 47C, 47D are pressed, the hook 7 of the hoisting machine 5 moves in the direction in which each switch is pressed. Therefore, it is not necessary to gaze at the hand, and it is only necessary to press one of the operation switches 47A, 47B, 47C, 47D while gazing at the moving direction of the conveyed product, and therefore the conveyance hung on the hook 7 of the hoisting machine 5 The conveyed item can be moved to a desired position without taking an eye off the item.

  Furthermore, the overhead crane 1C according to the fourth embodiment, unlike the first to third embodiments, has a simple structure that does not use an expensive device such as an optical rotary encoder or a microcomputer. It is inexpensive and easy to install even in small factories.

  In this way, in the overhead crane 1C according to the fourth embodiment, it is not necessary to look closely at the hand, and it is operated while paying attention to the movement of the conveyed object that is hung on the hook 7 of the hoisting machine 5 and conveyed. In addition, even a beginner can easily, safely, reliably, and quickly operate the system, and at a lower cost.

Embodiment 5
Next, the overhead crane as a three-dimensional movement apparatus concerning Embodiment 5 of this invention is demonstrated with reference to FIG. 12 thru | or FIG. FIG. 12: is a perspective view which shows the whole structure of the overhead crane as a three-dimensional movement apparatus concerning Embodiment 5 of this invention. FIG. 13A is a front view showing the overall configuration of the remote control housing of the operation remote controller in the three-dimensional movement apparatus according to Embodiment 5 of the present invention, and FIG. 13B is a left side view. FIG. 14 is a block diagram showing a control mechanism of the operation remote controller in the three-dimensional movement apparatus according to Embodiment 5 of the present invention.

  The overhead crane 1D according to the fifth embodiment is the same as that shown in FIG. 1 except for the point that there is no communication cable 8, the configuration of the motor drive control circuit in the hoisting machine, and the operation remote controller 50. Since the appearance is the same as that of the overhead crane 1 according to the first embodiment, the same reference numerals as those in FIG.

  As shown in FIG. 12, the overhead crane 1 </ b> D according to the fifth embodiment is a wired operation type in which all the overhead cranes according to the first to fourth embodiments described above use the communication cable 8. On the other hand, the point that it is wirelessly operated is greatly different.

  That is, in the fifth embodiment, as shown in FIG. 14, a radio wave transmitter 30 is built in the remote control casing 51, and a radio wave receiver 31 is built in the hoist 29. When the cross key 52 or the like as an operation switch of the remote control housing 51 is pressed, the data is converted into a radio signal and transmitted as a radio wave from the transmitting device 30, and the receiving device 31 receives the radio wave to The signal is converted into a signal and input to an input / output (I / O) port of the microcomputer 20 in the motor drive control circuit 28 to control the movement of the hook 7 as a moving body.

  Therefore, although it is somewhat expensive, since the movement control of the hook 7 can be performed from anywhere in the building where the overhead crane 1D is installed, the overhead crane 1D is safer and very easy to use.

  First, the internal configuration of the remote controller casing 51 and the hoisting machine 29 will be described with reference to FIG. As shown in FIG. 14, in the fifth embodiment, a microcomputer (hereinafter also referred to as “microcomputer”) 27 is also built in the remote control housing 51, and the microcomputer 27 is the same as the microcomputer 20. , A CPU (Central Processing Unit), a memory device such as a ROM / RAM, and an input / output (I / O) device. Further, the piezoelectric gyro 25 and the geomagnetic sensor 26 are built in the remote control casing 51, and the direction in which the remote control casing 51 faces is detected by the rotation of the remote control casing 51 by the piezoelectric gyro 25.

  Further, in addition to the operation switch 52, the up switch 53A, and the down switch 53B, a reset button 55 is provided. When the reset button 55 is deviated in the direction detection by the piezoelectric gyro 25, it is pressed. The direction of true north accurately measured by the geomagnetic sensor 26 can be reset as the reference direction of the piezoelectric gyro 25 (direction of 0 degree direction).

  The electrical signals from the piezoelectric gyro 25, the geomagnetic sensor 26, the operation switch 52, the ascending switch 53A, the descending switch 53B, and the reset button 55 are input to the microcomputer 27 and operated according to a program stored in the memory device of the microcomputer 27. After being processed, it is transmitted as a control signal to the transmitting device 30 and transmitted from the transmitting device 30 as a radio wave.

  On the other hand, a microcomputer 20 is built in the hoisting machine 29 as in FIG. 4, and an electric signal from a receiving device 31 that receives a radio wave transmitted from the transmitting device 30 is input to the microcomputer 20. Control signals are transmitted as electrical signals to the inverter (or contactor) 21 and the contactor 22, and the inverter (or contactor) 21 receives the X-axis motor 23 and the Y-axis from the inverter (or contactor) 21. A drive current corresponding to the control signal is supplied to the motor 13, and a drive current is supplied from the contactor 22 to the Z-axis motor 16.

  Next, the specific content of the control of the moving direction of the hook 7 as the moving body in the fifth embodiment will be described with reference to FIG. 13 (a) and FIG. In FIG. 13A, it is assumed that the remote controller housing 50 is held almost horizontally. As shown in FIG. 13A, when the tip of the remote control housing 50 is oriented westward by an angle θ with respect to the 0-degree direction (true north direction) of the piezoelectric gyro 25, the cross as an operation switch When the upper portion of the key 52 is pressed, it is detected that the piezoelectric gyro 25 is directed westward by an angle θ with respect to the true north direction, and the data signal is transmitted to the microcomputer 27.

  Then, in the microcomputer 27, it is determined that the remote controller housing 50 is oriented in the direction of west west with respect to the true north direction and that the upper part of the cross key 52 is pressed, and the hook 7 is moved in the true north direction. The control signal is transmitted to the transmission device 30 so as to move in the west direction at an angle θ. The control signal transmitted from the receiving device 31 that has received the control signal transmitted as a radio wave from the transmitting device 30 is transmitted to the inverter 21 as an electric signal by the microcomputer 20, and the inverter 21 moves the hoisting machine 29 in the true north direction. The necessary drive currents are respectively supplied to the X-axis motor 23 and the Y-axis motor 13 so as to move in the west direction of the angle θ.

  In FIG. 13A, when the right portion 52a of the cross key 52 as the operation switch is pressed, in the microcomputer 27, the remote control housing 50 is directed to the angle θ west with respect to the true north direction. And that the right portion 52a of the cross key 52 is pressed, the hook 7 is moved westward by an angle (θ−90) degrees with respect to the true north direction, that is, an angle (90−θ) degrees. The control signal is transmitted to the transmission device 30 so as to move only in the east direction. The microcomputer 20 that has received the control signal controls the inverter 21 to move the hook 7 in the east direction by an angle (90-θ) degrees with respect to the true north direction. A necessary drive current is supplied to each of these.

  In FIG. 13A, the remote control case 50 is assumed to be held almost horizontally. However, even if the remote control case 50 is inclined in the front-rear direction or the left-right direction, the remote control case 50 is moved by the piezoelectric gyro 25. It is detected in which direction in the horizontal plane, and similarly, control for moving the hook 7 as a moving body is performed. However, when the remote control housing 50 is inclined approximately 90 degrees or more in the front-rear direction or the left-right direction, the direction cannot be detected by the piezoelectric gyro 25, and therefore the hook 7 as a moving body does not move even if the cross key 52 is pressed. It is like that.

  Therefore, the operator who operates the overhead crane 1D according to the fifth embodiment firstly uses the cross key 52 of the operation remote controller 50 at a place away from the transported object placed on the floor and the hook 7 of the hoisting machine 29. The hook 7 of the hoisting machine 29 is moved directly above the transported object by pressing any one of the upper, lower, left and right sides of the machine and directing the remote control casing 51 in an appropriate direction. Subsequently, as shown in FIG. 13 (b), by pressing a lowering switch 53B provided on the left side surface of the remote control casing 51, the Z-axis motor 16 is driven to lower the hook 7 until it reaches the conveyed product. .

  Then, the operator approaches the transported object, hooks the hook 7 on the transported object, moves again to a position away from the transported object, and is provided on the left side surface of the remote control housing 51 as shown in FIG. By pushing the raised switch 53A, the Z-axis motor 16 is driven to raise the hook 7, and the conveyed product is lifted to a height that does not hinder horizontal movement. Then, by pressing any one of the upper, lower, left, and right portions of the cross key 52 of the operation remote controller 50 and directing the remote controller casing 51 in an appropriate direction, the hook 7 of the hoist 29 is moved to the transport location. Move horizontally toward the top of the. When the hook 7 of the hoisting machine 29 is moved to a position just above the conveyance place, the cross key 52 of the operation remote controller 50 is released to stop the hook 7 of the hoisting machine 29, and the lowering switch 53B is pressed, whereby the Z-axis motor 16 is driven, the hook 7 is lowered, and the conveyed product is unloaded to a predetermined conveyance place.

  As described above, in the overhead crane 1D according to the fifth embodiment, in order to move the hook 7 of the hoisting machine 29 by radio waves, the operator can start from any position in the building where the overhead crane 1D is installed. The overhead crane 1D can be operated, and it is possible to operate the overhead crane 1D easily, safely, reliably, and quickly because it is possible to operate while observing the movement of the transported object without having to watch the hand. it can.

  Here, as for the piezoelectric gyro 25, there are many cases where a deviation occurs in the direction detection with time, and when the operator determines that a deviation has occurred in the direction detection, it is shown in FIG. 13B. By pressing the reset button 55 provided on the left side surface of the remote control housing 51 as described above, the true north direction accurately measured by the geomagnetic sensor 26 is set as the reference direction of the piezoelectric gyro 25 (direction of 0 degree direction). You can fix it.

  In addition, in the overhead crane 1D according to the fifth embodiment, the case where the geomagnetic sensor 26 is used to correct the deviation in the direction detection has been described. However, in the building where the overhead crane 1D is installed, If it is known, it is not necessary to use the geomagnetic sensor 26. By pressing the reset button 55 in a state where the remote controller casing 51 of the operation remote controller 50 is directed to the true north, an accurate true north direction can be set to the piezoelectric gyro 25. Can be reset as the reference direction (direction of 0 degree direction).

  Further, in the fifth embodiment, when the movement direction of the hook 7 as the moving body changes following the direction of the remote control housing 51 while pressing each part 52a of the cross key 52 as the operation switch. As described above, it is assumed that each part 52a of the cross key 52 can be pushed in two steps, and when it is pushed in strongly, it is fixed in the pushed state, and the hoisting machine 29 is changed even if the orientation of the remote control casing 51 is changed thereafter. The moving direction of the hook 7 may be the same.

  Furthermore, although the case where a radio wave communication apparatus is used as a wireless communication method has been described in the fifth embodiment, light can be used instead of radio waves. Unlike radio waves, light has the disadvantage that if there is an obstacle between the transmitting device (light emitting device) and the receiving device (light receiving device), signal transmission is hindered. It has the advantage of being far less expensive. Therefore, the operation system of the overhead crane by wireless communication can be constructed at low cost.

  In addition, since the overhead crane 1D as the three-dimensional movement apparatus according to the fifth embodiment is wirelessly operated, the operation remote controller 50 also needs to have its own power source. As a rechargeable battery, when the operation remote controller 50 is set in the charger, the charger is constructed so that the direction of the remote controller housing 51 is parallel (or vertical) to the traveling rails 2A and 2B of the overhead crane 1D. It may be fixed indoors.

  Thus, when the main power supply of the overhead crane 1D is cut off due to the completion / interruption of the work, etc., the remote controller casing 51 is oriented in a predetermined original direction by setting the operation remote controller 50 to the charger. The main power switch provided on the operation remote controller 50 or the main power switch provided elsewhere is turned on, and the X-axis motor 23, the Y-axis motor 13 and the Z-axis motor 16 are driven to move the hook 7 Is moved to a predetermined original position, so that the reset operation can be performed, and the reset operation is surely performed even when the main power supply of the overhead crane 1D is repeatedly turned off and on.

  In each of the above embodiments, only the example of the overhead crane has been described as the three-dimensional moving device according to the present invention. However, the three-dimensional moving device according to the present invention is not limited to the overhead crane, and is a mobile herber crane / vehicle. It can be widely used in various crane devices such as on-board cranes and jib cranes, aerial work platforms (including self-propelled aerial work vehicles), radio controlled airplanes and helicopters.

  Further, in each of the above embodiments, the example in which the motor drive control circuit is arranged in the hoisting machine has been described. However, the motor drive control circuit is not limited to being arranged in the hoisting machine, and is located near the hoisting machine. You may arrange | position in the housing | casing.

  When practicing the present invention, the configuration, shape, quantity, material, size, connection relationship, etc. of the other parts of the three-dimensional movement apparatus are not limited to the above-described embodiments, but are arbitrary. It can be in the form.

FIG. 1 is a perspective view showing an overall configuration of an overhead crane as a three-dimensional movement apparatus according to Embodiment 1 of the present invention. FIG. 2 is a diagram showing a structure of a hoisting machine as an elevator for an overhead crane as a three-dimensional movement apparatus according to the first embodiment of the present invention. FIG. 3A is a perspective view showing a remote control housing portion of the remote controller for operation in the three-dimensional movement apparatus according to the first embodiment of the present invention, and FIG. 3B is a tertiary according to a modification of the first embodiment of the present invention. It is a perspective view which shows the remote control housing | casing part of the operation remote control in the former moving apparatus. FIG. 4 is a block diagram showing a control mechanism in the overhead crane as the three-dimensional movement apparatus according to the first embodiment of the present invention. FIG. 5 is a perspective view showing an overall configuration of an overhead crane as a three-dimensional movement apparatus according to Embodiment 2 of the present invention. FIG. 6 is a perspective view showing an operation remote controller in the three-dimensional movement apparatus according to Embodiment 2 of the present invention. FIG. 7: is a perspective view which shows the whole structure of the overhead crane as a three-dimensional movement apparatus concerning Embodiment 3 of this invention. FIG. 8 is a perspective view showing an operation remote controller in the three-dimensional movement apparatus according to Embodiment 3 of the present invention. FIG. 9 is a perspective view showing an operation remote controller in a three-dimensional movement apparatus according to a modification of the third embodiment of the present invention. FIG. 10 is a perspective view showing an overall configuration of an overhead crane as a three-dimensional movement apparatus according to Embodiment 4 of the present invention. FIG. 11 is a perspective view showing an operation remote controller in the three-dimensional movement apparatus according to Embodiment 4 of the present invention. FIG. 12: is a perspective view which shows the whole structure of the overhead crane as a three-dimensional movement apparatus concerning Embodiment 5 of this invention. FIG. 13A is a front view showing the overall configuration of the remote control housing of the operation remote controller in the three-dimensional movement apparatus according to Embodiment 5 of the present invention, and FIG. 13B is a left side view. FIG. 14 is a block diagram showing a control mechanism of the operation remote controller in the three-dimensional movement apparatus according to Embodiment 5 of the present invention.

Explanation of symbols

1,1A, 1B, 1C, 1D Three-dimensional moving device (overhead crane)
2A, 2B Traveling rail 3A, 3B Saddle 4 Crane girder 5,29 Elevator (winding machine)
6 Support wire 7 Moving body (hook)
8 Communication cable 9, 9A, 35, 40, 40A, 45, 50 Operation remote control 10, 36, 41, 46, 51 Remote control housing 11, 47A, 47B, 47C, 47D Operation switches 11A, 38A, 43A, 48A, 53A Ascent switch 11B, 38B, 43B, 48B, 53B Lowering switch 11C Second operation switch 12 Rotating connection 13 Traverse motor (Y-axis motor)
16 Hoisting motor (Z-axis motor)
37, 42, 52 Operation switch (cross key)
43 Up / down switch

Claims (9)

A moving mechanism comprising a Z-axis motor that moves the moving body in the vertical direction by an elevator, and an X-axis motor and a Y-axis motor that move in a horizontal plane;
A motor drive control circuit for driving the X-axis motor, the Y-axis motor, and the Z-axis motor to move the movable body to a desired position;
Case direction discrimination means for detecting a direction in which the remote control case is facing, and the X-axis motor and / or the Y-axis motor by the motor drive control circuit so as to move horizontally in the direction in which the remote control case is directed. An operation switch built in the remote control casing for controlling the movement, and an up / down switch built in the remote control casing for raising or lowering the moving body, and the remote control casing detected by the casing direction discriminating means. An operation remote controller that communicates data of the direction of the direction, the operation switch, presence / absence data of the operation of the up / down switch with the motor drive control circuit,
The communication between the operation remote control and the motor drive control circuit is performed by wired communication using a communication cable connecting the operation remote control and the motor drive control circuit,
The communication cable is flexible and has a built-in communication line in a cable tube that is not twisted, and the housing direction discriminating means is provided in a rotary connecting portion that rotatably connects the remote control housing to the lower end of the cable tube. A three-dimensional movement device characterized in that a rotary encoder is provided. The three-dimensional movement apparatus according to claim 1, wherein the rotary encoder is an absolute encoder.   Communication between the operation remote controller and the motor drive control circuit is performed by wireless communication using a transmission device provided in the operation remote controller and a reception device connected to the motor drive control circuit, The three-dimensional movement apparatus according to claim 1, wherein the casing direction determining means is a gyro means built in the remote control casing. A moving mechanism comprising a Z-axis motor that moves the moving body in the vertical direction by an elevator, and an X-axis motor and a Y-axis motor that move in a horizontal plane;
A motor drive control circuit for driving the X-axis motor, the Y-axis motor, and the Z-axis motor to move the movable body to a desired position;
Case direction discrimination means for detecting a direction in which the remote control case is facing, and the X-axis motor and / or the Y-axis motor by the motor drive control circuit so as to move horizontally in the direction in which the remote control case is directed. An operation switch built in the remote control casing for controlling the movement, and an up / down switch built in the remote control casing for raising or lowering the moving body, and the remote control casing detected by the casing direction discriminating means. An operation remote controller that communicates data of the direction of the direction, the operation switch, presence / absence data of the operation of the up / down switch with the motor drive control circuit,
Communication between the operation remote controller and the motor drive control circuit is performed by wireless communication using a transmission device provided in the operation remote controller and a reception device connected to the motor drive control circuit, The case direction determining means is a gyro means built in the remote control case,
In addition, by turning on the main power of the moving mechanism in a state where the remote control casing of the operation remote controller is directed in a predetermined original direction, the X-axis motor and / or the Y-axis motor and / or the Z-axis motor The three-dimensional moving device is characterized in that the moving body moves to a predetermined original position by operating. The three-dimensional movement apparatus according to claim 4, wherein the wireless communication is performed by a radio wave communication apparatus. The three-dimensional movement apparatus according to claim 4, wherein the wireless communication is performed by an optical communication apparatus. A second operation switch is provided on a surface of the remote control housing opposite to the surface on which the operation switch is provided, and the remote control housing is directed to the movable body by pressing the second operation switch. The three-dimensional movement device according to any one of claims 1 to 6, wherein the three-dimensional movement device moves in a direction opposite to the direction of the movement. The operation switch is a cross key,
When the upper part of the cross key is pressed, the moving body moves in the horizontal plane in the direction in which the remote control housing is directed, and when the lower part of the cross key is pressed, the moving body is moved in the direction in which the remote control housing is directed. When the left side of the cross key is pressed in the opposite direction and the left part of the cross key is pressed, the moving body moves 90 degrees to the left in the horizontal direction with respect to the direction in which the remote control housing is directed. 7. When the right part is pressed, the moving body moves in a horizontal plane 90 degrees rightward with respect to the direction in which the remote control housing is directed. three-dimensional movement apparatus. The operation switch is a switch that can be pushed in two stages. When the operation switch is pushed in strongly, the operation switch is fixed in a pushed state, and the operation switch is pushed in even if the remote control housing changes its orientation. in claims, characterized in that the remote control the mobile in the direction in which housing was facing continues to move in a horizontal plane, the moving body back the operation switch by slamming the operation switch again stops The three-dimensional movement apparatus as described in any one of Claim 1 thru | or 8 .

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