JP6745505B2 - Cargo handling assistance device - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cargo handling assistance device that assists a moving operation of a cargo or the like.

2. Description of the Related Art Conventionally, factories for assembling industrial products use a cargo handling machine that hangs and vertically moves a cargo having a large weight such as tools, working equipment, products, and semi-finished products. Among them, a cargo handling assistance device is used in part to generate a help for a user to create a balanced state for a heavy weight cargo and move up and down to an arbitrary height with a light operating force.

In a cargo handling assistance device that generates assistance, a machine that assists with a motor to create a balanced state and smoothly moves by applying a small operating force to a cargo is different from the one that only vertically moves with an electric motor. There is. That is, there is a configuration in which a load sensor and an operating force applied thereto are detected by, for example, a load sensor, and fine torque control is performed by an AC servomotor or the like connected to a rotation angle detector.

On the other hand, since it is necessary for the cargo to be moved and transported in the lateral direction as well as moved up and down, the cargo handling assisting device was hung on an arm that pivots around a column or a rail that runs in the horizontal direction. However, if there are shelves, etc. near the vertical direction of the cargo that is placed, or if there is a structure above the space where the cargo is installed, it is not possible to hang the cargo with the conventional cargo assistance device. , It was difficult to move cargo.

The lifting device of patent document 1 is disclosed with respect to the cargo handling work when there is a structure on the space in which the cargo is installed. The technique of Patent Document 1 is a movable frame in which an accessory device having a certain weight is mounted while adjusting the posture of the main body frame by extending and contracting the hydraulic cylinder when the arm device is extended from the main body frame to suspend a cargo. The operator balances the posture of the main body frame by inclining and changing the position of the center of gravity.

JP, 10-218549, A

In the lifting device disclosed in Patent Document 1, since the operator adjusts the posture balance of the main body frame and the movable frame by the expansion and contraction operation of the two hydraulic cylinders, it is difficult to finely adjust the balance posture, and desired cargo handling is possible. There was a problem that skill was required to perform the work. Further, the operation of moving the cargo is performed by an operator of a crane at a remote place, and it is difficult for the worker to directly touch the arm or the cargo to move the cargo vertically.

INDUSTRIAL APPLICABILITY The present invention makes it possible to increase the degree of freedom of the hanging position of a cargo, while keeping the balance during the transportation of the cargo, and to easily take in and out the cargo at a place where the structure is in the vertical direction without requiring skill. The purpose of the present invention is to provide a cargo handling assistance device.

The cargo handling assistance device according to claim 1 achieves the above object.
A plurality of cords provided separately,
A frame that is swingably connected to each rope and is suspended,
An arm that is provided so as to be movable relative to the frame and that has a suspending unit that suspends the cargo,
A plurality of actuator units that respectively wind each cord and vertically move the frame to generate an assisting force,
Each actuator unit is provided with an operation unit that is connected to a plurality of actuator units in a wired or wireless manner and gives an operation command.
A motor,
Position detecting means for detecting the rotational position of the motor and outputting a position signal,
A winding drum that winds each rope by connecting with a motor,
A torque detecting means for detecting a torque applied to the motor or the winding drum and outputting a torque signal;
And a control unit for controlling the motor so as to assist by controlling the posture of the frame by calculating based on the position signal from the position detecting unit and the torque signal from the torque detecting unit.

The cargo handling assistance device according to claim 2 achieves the above object.
The position of the suspending portion of the arm is configured to reach the outside of the outer circumference of the frame.

The cargo handling assistance device according to claim 3 achieves the above object.
It has a holding mechanism for holding the position of the arm in the movement range of the arm.

The cargo handling assistance device according to claim 4 achieves the above object.
The control unit
Torque control means for obtaining a torque signal from the torque detection means of each actuator unit, calculating so that the sum of the torque signals becomes zero, and outputting a first control reference value;
Position target calculation means for calculating the position target value of the rotational position of each motor according to a command from the operation unit,
A position signal is obtained from the position detection means of each actuator unit and summed with the position target value of each motor from the position target calculation means so that the rotational position of each motor becomes the respective position target value. Position control means for calculating and outputting a second control reference value;
Control command output means for receiving a first control reference value and a second control reference value and outputting a control command signal to the motor;
Drive means for receiving a control command signal and driving the motor.

In order to achieve the above-mentioned object, the cargo handling assistance device according to a fifth aspect of the present invention is configured such that the operating portion has a varying means for varying the position target value.

According to the cargo handling assistance device of claim 1, a plurality of motor-driven actuators capable of torque control are arranged, the cargo is kept in a balanced state when no external force is applied, and a slight external force is applied. It is possible to provide a cargo handling assistance device that enables vertical movement of a cargo cargo by applying it to an object or the like. That is, when the number of actuators is one, the frame is tilted and it becomes difficult to control the cargo handling object unless the cargo handling object is hung vertically downward from the tip of the rope, but according to the cargo handling assistance device of the present invention, the torque is reduced. Since it is possible to arrange a plurality of actuators using motors that can perform control and to control them synchronously, it is possible to control the attitude of the frame including the cargo. Further, since the arm for suspending the cargo is movable relative to the frame, the restriction on the relative positional relationship between the cargo and the frame is reduced.

According to the cargo handling assistance device of claim 2, in addition to the above effects, since the cargo can be projected from the outer periphery of the frame, there is a structure in the vertical direction of the cargo that is placed, or the vertical direction. Even in storage areas where there are structures, it is possible to move and set up cargo while balancing.

According to the cargo handling assistance device of claim 3, in addition to the above effects, since the position of the arm can be held within the movable range of the arm, the relative position of the cargo to the frame is maintained. Even in a tilted posture, the free movement of the arm can be prevented, so that the safety can be improved.

According to the cargo handling assistance device of claim 4 , in addition to the above effects, the position target value of the rotational position of each motor, that is, the position in the vertical direction of the connection position with each cord of the frame, is set by a command from the operation unit. Since each can be set, the posture of the frame can be changed, and the cargo can be moved while being balanced even in the space of the frontage which is smaller than the horizontal length of the frame. (See Figure 5)

According to the cargo handling assistance device of claim 5 , in addition to the above effects, since the operating portion has a varying means for varying the position target value of the rotational position of each motor, the cargo handling vertical operation Since the posture of the frame can be changed at arbitrary timing, a smoother movement operation can be performed even in the spatial movement of the frontage at intervals smaller than the horizontal length of the frame.

It is a figure which shows the structure and movement operation of the cargo handling assistance apparatus which concerns on the 1st Embodiment of this invention. It is a figure which shows the structure and movement operation of the cargo handling assistance apparatus which concerns on the 1st Embodiment of this invention. It is a figure which shows the structure and movement operation of the cargo handling assistance apparatus which concerns on the 1st Embodiment of this invention. It is a figure which shows the structure of control of the cargo handling assistance apparatus which concerns on the 1st Embodiment of this invention. It is a figure which shows the frame of the cargo handling assistance apparatus which concerns on the 1st and 2nd embodiment of this invention, an arm, and the relationship of cargo. It is a schematic diagram which shows the movement operation|movement of the frame of the cargo handling assistance apparatus which concerns on the 1st Embodiment of this invention, an arm, and a cargo.

Hereinafter, a cargo handling assistance device according to an embodiment of the present invention will be described in detail with reference to the drawings. 1 to 3 are diagrams showing a configuration and a moving operation of a cargo handling assistance device according to the first embodiment of the present invention. FIG. FIG. 3 shows a state in which the cargo 26 is hoisted and immediately before the cargo 26 is placed on the shelf board 101.

The ceiling rail 12 is laid on the ceiling or structure of the building in which the cargo handling assistance device 29 of the first embodiment of the present invention is used. The cargo handling assistance device 29 of the present invention is suspended by the suspending member 14 via the suspending hook 13 and can be freely moved in the horizontal direction by the ceiling rail 12. In FIGS. 1 to 3, the moving direction is only one left and right direction, but rails may be laid in a direction orthogonal to this.

The loading assistance device 29 according to the embodiment of the present invention includes two actuator units 18a and 18b. Of course, a plurality of actuator units are sufficient, and three or four actuator units may be used. The actuator units 18a and 18b are drive mechanical units 15a for performing assisting operations. 15b and control units 5a and 5b. Details of the actuator unit will be described later with reference to FIG.

The ropes 16a and 16b are chains that extend vertically downward from the drive mechanism portions 15a and 15b, respectively, and are arranged in a plurality with a space therebetween. Of course, the ropes 16a and 16b may be wire ropes, and can be appropriately modified depending on the application. U-shaped connection fittings 20a and 20b are provided at the ends of the cords 16a and 16b, respectively, and the cords 16a and 16b can swing the frame 22 via the connection rings 21a and 21b. The frame 22 is a combination of rod-shaped members having a rectangular cross section and flat plates, and has, for example, a rectangular parallelepiped shape. The connection rings 21a and 21b are, for example, hoist rings or the like, and are attached to the frame 22.

An arm 23 is arranged on the lower surface of the frame 22, and the arm 23 projects in the horizontal direction with respect to the frame 22 so that the arm 23 can expand and contract to move. A suspending portion 27 is provided on the lower surface of the arm 23 so that the suspending portion 27 is located outside the outer periphery of the frame 22 when extended (FIG. 3). The counterweight 25 is installed on the lower surface of the frame 22. Of course, the counterweight 25 may be installed on the upper surface of the frame 22, and the installation condition will be described later with reference to FIG.

Further, the arm 23 has a holding mechanism 28 for holding its position in the moving range, so that the rod can be held in the hole of the arm 23 by engaging with the hole of the arm 23 which engages with the holding mechanism 28, for example. It has become. Therefore, when the arm 23 is slid, the knob of the holding mechanism 28 is pulled downward to move the arm 23, and if the hand is released from the knob at a desired position, the arm 23 is held at that position. The holding mechanism 28 may be a clamp lever type in which members are fastened by turning a lever, and various modifications are possible.

On the other hand, the operation units 17a and 17b operate the actuator units 18a and 18b, and in the present embodiment, communicate with the control units 5a and 5b by a wireless method of infrared communication. In the present embodiment, the operating portions 17a and 17b are fixed near the ends of the cords 16a and 16b via holders (not shown), but the present invention is not limited to this and may be removable. Of course, the operation units 17a and 17b and the control units 5a and 5b may be connected by wire, and in that case, they are connected using a spiral cord or the like. The operation units 17a and 17b can operate the corresponding actuator units 18a and 18b, respectively, and both actuator units 18a and 18b can be operated only by the operation unit 17a or only the operation unit 17b by the synchronous control described later in FIG. It can also be moved.

FIG. 1 shows a state in which the cargo handling article 26 is placed on the floor 100, and the cargo handling article 26 is hooked on the suspending portion 27 of the arm 23. Therefore, the cargo 26 has not been lifted yet, and the frame 22 is in a horizontal posture. At this time, the center of gravity obtained by combining the frame 22 and the arm 23 together is at G1.

Next, FIG. 2 shows a state in which the load 26 is lifted, the suspending member 14 is horizontally moved along the ceiling rail 12, and is moved to the vicinity of the shelf board 101 attached to the column 103. The frame 22 is maintained in a horizontal balance state by the two actuator units 18a and 18b. At this time, the weight of the cargo 26 is added to the frame 22, and the center of gravity obtained by combining these is moved to G2.

Then, in FIG. 3, when the holding mechanism 28 is released and the arm 23 is slid to the left side, the cargo 26 is located above the shelf board 101. At this time, the suspending portion 27, which is the suspending portion for the cargo 26 in the arm 23, is located outside the outer periphery of the frame 22 in the horizontal direction. Of course, even if the cargo 26 moves, the frame 22 is maintained in a horizontal balance state by the two actuator units 18a and 18b. Accordingly, the cargo-handling article 26 can be handled even if there is a structure such as the shelf board 102 vertically above the shelf board 101. At this time, the center of gravity moves further to the side of the cargo 26 and becomes G3.

After that, by applying a vertically downward external force to any of the frame 22, the arm 23, and the cargo handling article 26, the cargo handling article 26 can be placed on the shelf board 101.

Next, the actuator units 18a and 18b and the control units 5a and 5b of the cargo handling assistance device 29 will be described with reference to FIG.

The motors 1a and 1b are drive sources for assisting the movement of the frame 22 and the like including the cargo 26, and in order to detect the attitude of the frame 22, the motors 1a and 1b are provided on the anti-load side. Position detecting means 2a, 2b for detecting the rotational position of 1b and outputting a position signal are attached. The position detecting means 2a, 2b are optical encoders each including, for example, a slit plate and a light emitting/receiving element attached to the motors 1a, 1b. On the other hand, on the load side, there are winding drums 4a and 4b connected to the frame 22 by cords 16a and 16b. Torque detecting means for detecting the torque applied to the rotating shaft between the motors 1a and 1b and the winding drums 4a and 4b. 3a and 3b are provided.

The torque detecting means 3a, 3b has a rotary shaft that is connected in series to the load-side output shaft of the motors 1a, 1b. A strain gauge is attached to this rotary shaft. The torque applied to is detected and a torque signal is output.

The winding drums 4a, 4b are connected in series to the load side of the rotation shafts of the torque detecting means 3a, 3b and have a cylindrical shape rotatably supported. It has a sprocket, a chain pocket, etc. so that 16a and 16b can be wound or sent out. The winding drums 4a and 4b can be rotationally driven by using the motors 1a and 1b as power sources, and are generated in the winding drums 4a and 4b by applying an external force to the weight of the frame 22 and the cargo material 26 and the frame 22 and the arm 23. The force can be detected by the torque detecting means 3a, 3b.

The position detecting means 2a, 2b may be magnetic, or may be installed on the winding drums 4a, 4b side. Further, the torque detecting means 3a, 3b may detect the reaction force of the force applied to the winding drums 4a, 4b by attaching a strain gauge to a strain generating body connected to the housing in which the motors 1a, 1b are fixed. good. Further, a speed reducer may be provided between the motors 1a and 1b and the torque detecting means 3a and 3b, if necessary.

The cargo handling assistance device according to the first embodiment of the present invention includes a drive mechanism unit 15a including the motor 1a, a position detecting unit 2a, a torque detecting unit 3a, a winding drum 4a, and an actuator unit 18a including a control unit 5a. A total of two actuator units 18b similar to this are provided, and the control units 5a and 5b control each of the plurality of actuator units 18a and 18b to assist.

The control units 5a and 5b are electrically connected to the motors 1a and 1b, the position detecting units 2a and 2b, and the torque detecting units 3a and 3b by cables or the like, and collect data from these devices, store data, and store data. It performs control such as calculation and transmission of control commands. A connection cable 19 (FIGS. 1 to 3) is provided for mutual communication between the actuator unit 18a and the actuator unit 18b. Of course, this mutual communication may be wireless.

The control of each actuator unit 18a, 18b is performed as follows. The torque signals output from the torque detection means 3a, 3b of each actuator unit 18a, 18b are summed and collected as a sum. The torque control means 6 generates the first control reference value so that this sum becomes zero. That is, assuming that the torque signal output from the torque detection means 3a is Ta and the torque signal output from the torque detection means 3b is Tb, the first control reference value is calculated so that Ta+Tb=0.

On the other hand, the position signals output from the position detecting means 2a and 2b are collected as a difference. On the other hand, the position target calculating means 8 receives the position target command from the position target changing means 7 provided in the operating portions 17a and 17b, and calculates the position target value of each actuator unit 18a and 18b. When the position target value is set to zero, each actuator unit 18a, 18b moves the frame 22 in parallel. That is, the position target changing means 7 is a changing means for changing the target value of the position target calculating means 8, and is composed of a switch, an operating lever, an operating handle, etc., and intentionally changes the position target value. Then, the difference between the positions of the connection points of the frame 22 and the ropes 16a, 16b output from the position detection means 2a, 2b of each actuator unit 18a, 18b and the position target value calculated and output by the position target calculation means 8. Is input to the position control means 9, and the position control means 9 calculates these inputs to generate a second control reference value. That is, when the position target value is zero, when the position signal output from the position detecting means 2a is θa and the position signal output from the position detecting means 2b is θb, the second control reference is made so that θa=θb. Calculate the value. If the position target value is not zero, calculation is performed by adding or subtracting the difference.

In this embodiment, acceleration values are used as the first control reference value and the second control reference value, for example. By controlling using acceleration, it is possible to improve the control performance of the motor, and it may be easier to improve the robustness against changes in the load or the moment of inertia of the motor and suppress vibration, but this is not the only option. It is not something that will be done.

The control command output means 10 adds the first control reference value output from the torque control means 6 and the second control reference value output from the position control means 9 and multiplies a constant to give a control command to the driving means 11a. Output each signal. Similarly, the first control reference value output from the torque control means 6 and the second control reference value output from the position control means 9 are added, multiplied by a constant, and a control command signal is output to the drive means 11b. To do. The drive means 11a, 11b drive the respective motors 1a, 1b by current control based on the control command signal.

FIG. 5 is a view of the frame 22, the arm 23, and the cargo 26 when viewed from above with the arm 23 extended. FIG. 5A is a first embodiment in the case of two actuator units. FIG. 5B shows the second embodiment in the case of four actuator units.

In FIG. 5A, the arm 23 extends and moves, and the suspending portion 27 that suspends the cargo 26 is located outside the outer periphery of the frame 22. Then, the counterweight 25 is set so that the composite center of gravity G3 at this time is on the line segment connecting the connection point Pa between the cord 16a and the connection ring 21a and the connection point Pb between the cord 16b and the connection ring 21b. It is provided.

In FIG. 5B, the arm 23 extends and moves, and the suspending portion 27 that suspends the cargo 26 is located outside the outer periphery of the frame 22. Since the combined center of gravity G3 at this time has four actuator units, the four connection rings 21a to 21d are connected to the cords in a one-to-one correspondence. Then, a connection point Pa between the connection ring 21a and the cord 16a, a connection point Pb between the connection ring 21b and the cord 16b, and a connection point Pc between the connection ring 21c and a cord (not shown) connected thereto. The counterweight 25 is provided so as to enter the area surrounded by the line segment that sequentially connects the connection ring 21d and the connection point Pd of the cord (not shown) connected to the connection ring 21d.

In any case, since the synthesized center of gravity position is on the line segment connecting the connection points of the ropes or inside the area surrounded by the line segment and is within the controllable range, the cargo handling object 26 is the frame. The balance state will be maintained even if it is moved outward in the horizontal direction from 22.

FIG. 6 is an application example when the above-described position target value is intentionally changed. In this case, the wall 104 is installed at a distance W from the shelves 101 and 102, and shows a state change when the cargo 26 placed on the shelves 101 is taken out. The length of the frame 22 in the horizontal direction is L, and L>W. In this case, the frame 22 cannot move vertically between the wall 104 and the shelves 101 and 102 in a horizontal posture. However, by variably setting the position target values of the connection ring 21a and the connection ring 21b by the position target changing means 7 so that there is a height difference of H, the state of FIG. 6A is changed to that of FIG. 6B. be able to. Of course, even in the state of FIG. 6B, the balanced state is maintained, and the cargo object 26 can be moved up and down with a slight external force. Further, by setting the position target values of the connection ring 21a and the connection ring 21b to zero from the state of FIG. 6B, it is possible to change to the horizontal balance state as shown in FIG. 6C.

Therefore, according to the present embodiment, it is possible to assist the vertical movement while balancing the cargo by using a plurality of assisting devices even if there is a structure in the vertical direction of the cargo. Further, it is possible to move the cargo while changing its posture on the way, which is useful for improving the efficiency of the assembling work.

Although the present invention has been described above based on the preferred embodiments, the present invention is not limited to the above-described embodiments for handling cargo, and various modifications can be made within the scope of the gist of the present invention. It is possible.

As an application example of the present invention, it can be applied to a cargo handling assistance device.

1a, 1b: Motors 2a, 2b: Position detecting means 3a, 3b: Torque detecting means 4a, 4b: Winding cylinders 5a, 5b: Control section
6: Torque control means 7: Position target changing means 8: Position target calculating means 9: Position control means 10: Control command output means 11a and 11b: Driving means 12: Ceiling rail 13: Hanging hook 14: Hanging member 15a, 15b: drive mechanism 16a, 16b: rope (chain)
17a, 17b: Operation parts 18a, 18b: Actuator unit 19: Connection cables 20a, 20b: Connection metal fittings (U-shape)
21a to 21d: Connection ring 22: Frame 23: Arm 25: Counterweight 26: Cargo material 27: Hanging part 28: Holding mechanism 29: Cargo handling assistance device 100: Floor 101: Shelf plate (bottom)
102: Shelf board (top)
103: Support 104: Walls G1 to G3: Center of gravity points Pa to Pd: Connection points

Claims (5)

A plurality of cords provided separately,
A frame that is swingably connected to each cord and is suspended,
An arm having a suspending portion, which is provided so as to be movable relative to the frame, and suspends the cargo.
A plurality of actuator units that respectively generate the assisting force while winding the cords to move the frame up and down,
An operating unit that is wired or wirelessly connected to the plurality of actuator units to issue an operation command, and each actuator unit includes:
A motor,
Position detecting means for detecting a rotational position of the motor and outputting a position signal,
A winding drum that is connected to the motor to wind the cords,
Torque detection means for detecting a torque applied to the motor or the winding drum and outputting a torque signal;
And a control unit that controls the motor so as to assist while controlling the posture of the frame by calculating based on the position signal from the position detection unit and the torque signal from the torque detection unit, respectively. A cargo handling assistance device characterized by having. The cargo handling assistance device according to claim 1, wherein the position of the suspending portion of the arm reaches outside the outer periphery of the frame. The cargo handling assistance device according to claim 1 or 2, further comprising a holding mechanism that holds the position of the arm in the movement range of the arm. The control unit is
Torque control means for obtaining the torque signals from the torque detection means of each of the actuator units, calculating so that the sum of the torque signals becomes zero, and outputting a first control reference value;
Position target calculation means for calculating a position target value of each rotation position of the motor according to a command from the operation unit,
The position signals are respectively obtained from the position detection means of each actuator unit, and the position signals are added to the position target values of the respective motors from the position target calculation means, so that the rotational positions of the respective motors are calculated. Position control means for calculating the position target value and outputting a second control reference value;
Control command output means for receiving the first control reference value and the second control reference value and outputting a control command signal to the motor;
Drive means for receiving the control command signal and driving the motor,
The cargo handling assistance device according to any one of claims 1 to 3, further comprising: The cargo handling assistance device according to claim 4, wherein the operation unit has a varying means for varying the position target value.