JPH08325000A - Control device for balancer - Google Patents

Abstract

PURPOSE: To prevent suddenly moving a suspension arm by releasing an electromagnetic brake after giving drive force in a lift side to a drive motor, in the case where operating equipment is placed from a condition of stopping the suspension arm to lowering down at a fine speed. CONSTITUTION: An article is suspended in a tip end of a suspension arm in a balancer, and when an operating lever 2 is operated by a worker, the suspension arm is lifted. In the case of lowering down from a condition stopped by suspending the article in the suspension arm, in a condition that drive force to a lift side is given to a driving motor 3, an electromagnetic brake 4 is released. Accordingly, even when suddenly applied own weight of the suspension arm and weight of the article to the drive motor 3, suddenly lowering down the suspension arm is also eliminated, to gradually perform lowering down while balancing drive force to a lift side of the drive motor 3 with own weight of the suspension arm and weight of the article. In this way, lowering down the suspension arm is made in smooth moving, so that safe work of moving the article can be performed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a balancer used for moving heavy articles such as paddy bags and cardboard cases.
It is intended to smoothly move the article.

[0002]

2. Description of the Related Art In a balancer, a suspending arm is composed of parallel links, and a horizontal movement is performed by manually moving a suspending arm that supports an article in a balanced state, and a vertical movement is performed by operating an operation tool. Then, the electric motor, the hydraulic cylinder, etc. are operated.

[0003]

In a balancer that raises and lowers a suspension arm by the driving force of an electric motor, when suspending an article and lowering it at a slow speed, the suspension arm suddenly moves due to the weight of the article. It may drop to the ground and collide the suspended goods with the ground or a truck. An object of the present invention is to eliminate such a sudden movement of the suspension arm.

[0004]

According to the present invention, in the balancer for operating the operating tool 2 provided at the tip of the suspending arm 1 to raise and lower the suspended article A, the suspending arm 1
It has a drive motor 3 for moving up and down and an electromagnetic brake 4 for stopping it at an arbitrary position, and when the operating tool 2 is moved down from the stopped state of the suspension arm 1 at a slow speed, a drive force to the drive motor 3 is applied to the rising side. After that, the electromagnetic brake 4 was controlled to be released.

[0005]

The action and effect of the invention: The article A is hung on the tip of the suspending arm 1 of the balancer, and the operator operates the operating tool 2 to move up or down, so that the suspending arm 1 moves up and down. When the article A is suspended from the suspension arm 1 and is lowered from the stopped state, the electromagnetic brake 4 is released while the drive motor 3 is first provided with a drive force to the upward side. Even if the dead weight and the weight of the article A are suddenly applied to the drive motor 3, the hanging arm 1 does not suddenly descend, and the driving force of the drive motor 3 toward the rising side causes the dead weight of the hanging arm 1 and the article A to increase. It will descend gradually while balancing the weight. In this way, when the suspending arm 1 descends, the suspending arm 1 moves smoothly, and safe operation of moving articles can be performed.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, an embodiment of the present invention will be described with reference to the drawings. In this embodiment, the present invention is applied to a self-propelled balancer, and a balancer 13 is mounted on a chassis 11 equipped with a crawler traveling device 10 via a horizontal holding mechanism 12. The balancer 13 includes a first suspension arm 15 which is erected obliquely upward from the base 14 and a second suspension arm 1 which is pivotally supported on the tip side of the first suspension arm 15.
A catch claw 17 for catching an article at the tip of the second suspending arm 16
And an operation box 18 are provided.

The operation box 18 includes a suspension arm 1
There are provided a horizontal lock switch 19 for locking the horizontal rotation of the device, an operation switch 20 of the horizontal holding mechanism 12, and an operation lever 2 for moving up and down the tip of the suspension arm 1, that is, the catch claw 17. 21 is an annular handle ring. The lifting arm 1 is moved up and down by the drive motor 3 provided in the base 14.
The control signal flow is as shown in the block diagram of FIG.

A moving direction signal and a moving speed signal according to the vertical turning angle of the operating lever 2 are input to the control device 22, and a vertical movement limit signal is input from the upper end sensor S1 and the lower end sensor S2. Further, the encoder 2 attached to the drive motor 3
The rotation speed of the motor 3 is input to the control device 22 from the rotation speed detection circuit 24. An ON / OFF signal is output from the control device 22 to the main relay 25, and a rotation control signal is sent to the motor drive circuit 26, the dynamic braking circuit 27, the forward / reverse relay of the forward / reverse switching circuit 28, the reverse relay, and the electromagnetic brake drive circuit 29. Is output to control the rotation direction and rotation speed of the drive motor 3. Reference numeral 30 is a battery that supplies electric power to the drive motor 3.

As shown in FIG. 3, the operating lever 2 rotates up and down by an angle of ± 80 ° with reference to the horizontal position, and ± 5 °.
The range a of ° is a play range in which the suspension arm 1 does not move even if it is rotated, the range b of ± 5 ° to less than + 30 ° is a fine speed increase range, and the range c of + 30 ° to + 80 ° is a proportional increase speed. In the range where the speed becomes faster, similarly, the range d from −5 ° to less than −30 ° is the slow speed falling range, and the range e from −30 ° to −80 °
Is a range in which the descending speed increases proportionally.

The control state is as shown in the flow charts of FIGS. FIG. 4 schematically shows the whole lifting control. In step S00, a control signal is sent every 25 msec. In step S01, the read control of the set speed VO by the turning angle of the operation lever 2 is performed, and in step S02. It is determined whether or not the suspension arm 1 is stopped. If the suspension arm 1 is stopped, the process proceeds to the start control of step S03, and if it is in operation, steps S04, S09 and S are performed.
The process moves to the determination of the set speed VO of 11.

If the set speed VO is 0 in step S04, the deceleration stop control in step S05 is followed by a judgment in step S06 as to whether the actual speed V is 0, that is, whether the operation is stopped. To do.
If the set speed VO coincides with the actual speed V in the judgment of step S09, the process returns to the step before step S00 as it is, and if the set speed VO is faster than the actual speed V in the judgment of step S11, the control shifts to the acceleration control of step S12, If the set speed VO is slower than the actual speed V, the deceleration control of step S13 is performed and the process returns to the step before step S00.

FIG. 5 shows the set speed reading control in step S01. In step S20, the accelerator value ACC, which is the rotation direction and angle of the operating lever 2, is read, and in steps S21 and S22, the accelerator value A is read.
CC judgment is performed. In step S21, the accelerator value ACC, that is, the rotation direction and the rotation angle of the operation lever 2 are ±
If it is within 5 °, the set speed VO is set to 0 in step S26.
Then, in step S27, the set moving direction DT for rising or falling is set.
To stop. In step S22, the accelerator value ACC
Is within ± 30 °, the set speed V is set in step S28.
O is the minimum speed VL, for example, 0.1 m / s. If the accelerator value ACC is ± 30 ° or more, the set speed VO is calculated by the following equation. VO = (| ACC | −30) × VH / 50 However, VH is 1 m / s at the maximum speed. After that, in step S24, it is determined whether the accelerator value ACC is positive or negative, that is, whether the accelerator value ACC is rising or falling. In steps S25 and S29, the set movement direction DT is lowered or raised.

FIG. 6 shows the starting control in the step S03. If the set speed VO in step S30 is 0, the set duty d and the output duty D are set to 0 in step S41. . If it is determined in step S31 whether or not the set moving direction DT is a descent, the set speed VO is the minimum speed VL in step S33.
If not, the rotation direction relay RY of the motor 3 is switched to the descending direction in step S36, and the set speed VO is the minimum speed VL.
If so, in step S34, the rotation direction relay RY of the motor 3 is switched to up in step S35 under the condition that the minimum speed VL continues for 0.1 second or more.

If the determination of the set movement direction DT in step S31 is positive, the increase / decrease duty α is set to twice the normal initial duty DO in step S32 and step S38 is performed.
To move before. If the set duty d is 0 in step S38, the set duty d is set to the initial duty DO in step S39. Finally, in step S40, the brake operation of the electromagnetic brake 4 is released to enable traveling. When the minimum speed VL does not continue for 0.1 second in step S34, the process proceeds to step S41 and the set duty d and the output duty D are set to 0 and the process returns.

7 and 8 show the acceleration control in step S12. In step S50, the set speed VO is the minimum speed VL, in step S51 the set moving direction DT is lowered, and in step S52 the motor 3 is rotated. If the relay RY rises, the output to the motor 3 is stopped in step S53, and the process waits for 0.1 second in step S54, that is, waits until it is almost stopped, and the start control of step S03 is performed.
If it is out of the condition at each of steps S50, S51, and S52, the process proceeds to before the setting of the increase / decrease duty α in step S57. After that, the increase / decrease duty α is set to the normal duty DA in step S57, and if the set movement direction DT is lowered in step S58, the motor 3 in step S59.
Under the condition that the rotation direction relay RY of is on the up side, step S
In 60, the increase / decrease duty α is set to a low duty DS, and the increase / decrease duty α is changed to the high duty DL under the condition that the actual rotation direction M of the motor 3 in step S61 is increasing,
Increase / decrease duty α to set duty d in step S63
Is added, and the output duty D is replaced with a value obtained by subtracting the set duty d from the maximum duty DM in step S64.

If the determination of the set movement direction DT in step S58 is positive, the increase / decrease duty α, that is, the normal duty DA is added to the set duty d in step S65, and the output duty D is set in step S66.
As described above, the process proceeds to step S67. FIG. 9 shows deceleration control or deceleration stop control. In the case of simple deceleration, the increase / decrease duty α is set to the normal duty DA in step S70, and in the case of deceleration stop, the increase / decrease duty α is set to high duty DL in step S71. To do.

In step S72, the set duty d is the current set duty d minus the increase / decrease duty α. In step 73, it is determined whether or not the set movement direction DT is down, and in step S74, it is determined whether or not the rotation direction of the rotation direction relay RY of the motor 3 is up, and if both determinations are YES, the output duty D is It is replaced with a value obtained by subtracting the set duty d from the maximum duty DM, and if either of the judgments is NO, the output duty D is set as the set duty d.

[Brief description of drawings]

FIG. 1 is an overall side view of an embodiment of the present invention.

FIG. 2 is a block diagram of control.

FIG. 3 is a partially enlarged side view.

FIG. 4 is an overall control flowchart of a drive motor and an electromagnetic brake.

FIG. 5 is a flow chart of reading control of set speed.

FIG. 6 is a flowchart of start control.

FIG. 7 is a part of a flowchart of acceleration control.

FIG. 8 is a part of a flowchart of acceleration control.

FIG. 9 is a flowchart of deceleration control and deceleration stop control.

[Explanation of symbols]

 1 Suspension arm 2 Operation tool (operation lever) 3 Drive motor 4 Electromagnetic brake A Article

Claims (1)

[Claims] 1. A balancer for raising and lowering a suspended article (A) by operating an operating tool (2) provided at the end of the suspension arm (1), and a drive motor (for moving the suspension arm (1) up and down). 3) and an electromagnetic brake (4) for stopping at an arbitrary position, and an operating tool (2) suspending arm (1)
Drive motor (3) when the vehicle is stopped at a slow speed
After applying the driving force to the ascending side to the electromagnetic brake (4)
The balancer control device is characterized in that