JPH1111898A - Method and device for inertialess operation of burden supporting part of load handling device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To move a burden supported in the inertialess condition in the horizontal direction without feeling the gravitation of the burden. SOLUTION: A bendable vertical shaft is installed upon setting the coordinates about the X1, Y1, Z1 axes parallel with the reference coordinate X, Y, Z-axes, and a bendable horizontal shaft is installed near the vertical shaft in a plane parallel with a horizontal plane formed from the X1-and Y1-axes, and deflections generated in the vertical and horizontal shafts are sensed on the oversurface and undersurface of the horizontal shaft and that surface of vertical shaft intersecting the X1-and Y1-axes. Sensors produce electric signals as prepared by converting the manual operating force applied to the two shafts into signals for controlling the output of a drive source, and a ring-shaped handle 24 is supported on the vertical shaft to apply a shearing force on each shaft. When either of the pushing, pulling, lifting, and lowering operational force is applied to the handle, the sensors sense the direction and size of the operating force to serve for controlling the output of the drive source whereby the burden supporting part is moved and stopped within the space of coordinates.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for operating a load supporting device of a load handling device in a so-called inertia state without feeling the weight of the load supported by an operator. Things.

[0002]

2. Description of the Related Art A load-handling device, for example, of the virtual fixed ratio rod type, supports a load in the air in a pseudo zero-gravity state, and lifts or lowers the load from the support point by output of a driving force. Also, as a kind of intensifier, it has been conventionally used in various fields as a kind of intensifier which moves horizontally while supporting the luggage in the air.

In the above-described baggage handling apparatus, when the baggage is raised or lowered, a rod-shaped or lever-shaped operation grip or operation handle provided near the baggage support portion is moved in the lifting or lowering direction of the baggage. By operating in such a manner as to push and pull toward, the driving of the motor and the like is controlled and executed. However, the horizontal movement in a state where the load is supported in the air is
It is done by pushing or pulling the luggage supported in the air horizontally by hand.

That is, in the horizontal movement of a load suspended and supported in the air, even if the load is supported in the air in a pseudo-immobile state, in order to horizontally move a load having a considerable weight, In addition to the problem that considerable labor is required, there is a problem that the load cannot be positioned at a desired position unless an operator supports the movement inertia generated by the horizontal movement. In particular, this point poses a problem as an assisting device that places a large burden on the operator when heavily moving a heavy load and wants to stop it at a predetermined position.

[0005] With respect to the problems of the conventional baggage handling device as described above, in order to move the baggage suspended and supported in the air in the horizontal direction, a drive source for horizontal movement of the baggage is provided in the load handling device. The present invention has been disclosed in Japanese Patent Application No. 5-229 by the present inventor in which the luggage is horizontally moved by the driving force.
571 and the like.

A load handling device proposed so as to support a load so as to be movable and positioned in a three-dimensional space by a driving force of a motor or the like is provided in a load portion for supporting the load. A vertically deflectable shaft connected to the device main body is provided as a fixed reference shaft, and an operation portion support that is rotatable around the axis is attached to the reference shaft, and the support is A deflectable operating rod that is rotatably crossed with the reference axis in a direction substantially perpendicular to the reference axis and has one end protruding from the support body and a grip provided on the protruding portion, in the length direction of the rod. An operation unit for the load handling device is formed by attaching a sensor for detecting the deflection to the reference shaft and the operation rod while the microscopic slide or the deflection rod is horizontally mounted.

However, the invention proposed above is designed to selectively move the luggage in all directions of the X, Y, and Z axes by operating one operating rod. Can be achieved, but the operation of the operating rod is delicate, and this point causes usability to be further poor.

[0008]

SUMMARY OF THE INVENTION In view of the foregoing, it is an object of the present invention to provide a load handling device in which a load supporting portion is moved manually in a direction in which the load supported by the load is moved by a human hand. By simply applying a force, the luggage support is moved in the direction in which it is to be moved, and if the hand applying the force is released from the luggage support, the luggage stops there, in other words, in an inertia state An object of the present invention is to provide a method for moving a load supported by the load support, in particular, a horizontal movement without feeling the weight of the load, and an apparatus for performing the method. It is assumed that.

[0009]

SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned problems, and the method of the present invention supports a load caused by various loads in a three-dimensional space by a driving force of a motor or the like so that the load can be moved and positioned. The reference coordinates are set by a Z-axis perpendicular to the load handling device formed so as to be capable of being driven, and X and Y axes in a horizontal plane having the Z-axis as an origin. X ₁ always parallel to,
The coordinate of the luggage support portion by each of the axes Y ₁ and Z ₁ is set and a flexible vertical axis is arranged, and the flexible axis is bent near the vertical axis in a plane parallel to a horizontal plane formed by the X ₁ and Y ₁ axes. A sensor for detecting deflection occurring in both the vertical and horizontal axes on a surface intersecting the X ₁ and Y ₁ axes of the vertical axis and on upper and lower surfaces of the horizontal axis while providing a possible horizontal axis. A sensor for generating an electric signal whose manual operation force is converted into a signal for controlling the output of a driving source such as a motor is provided, and the vertical axis and the horizontal axis are supported directly or indirectly on the vertical axis. An operating portion for moving the luggage support portion is formed by providing an annular handle for applying a shear force to the handle, and the handle is pushed and pulled in a horizontal plane, and raised and lowered in a vertical plane. When any of the lowering operations are added, A drive source for detecting the direction and magnitude of the manual operation force by the sensor provided on the vertical axis or the horizontal axis, and for moving and stopping the luggage support in the coordinate space based on the detection signal. Is controlled.

One configuration of an operating device for carrying out the above method is a load handling device formed so as to be able to move and position a load caused by various loads in a three-dimensional space by a driving force of a motor or the like. The reference coordinates are set by the Z axis perpendicular to the apparatus and the X and Y axes in a horizontal plane having the Z axis as the origin, and the luggage support of the apparatus is supported by the luggage support by an axis always parallel to the axis of the reference coordinates. A flexible vertical axis is arranged by setting the coordinates of the part, and a flexible horizontal axis is provided near the vertical axis in a plane parallel to a horizontal plane formed by the X ₁ and Y ₁ axes, while the vertical axis is provided. A sensor for converting the deflection generated in both the vertical and horizontal axes into an electric signal is provided on a surface intersecting the X ₁ and Y ₁ axes and on the upper and lower surfaces of the horizontal axis, and is connected to the vertical axis or the axis. Supported by the operating member By providing an annular handle for applying a shearing force to the vertical axis and the horizontal axis, an operation unit for moving the luggage support unit is formed, and the handle is manually pushed and pulled in a horizontal plane, and Either the vertical axis or the horizontal axis is deflected by one of the operations of raising and lowering in the vertical plane, and the sensor detects the deflection, processes this detection signal, and makes the luggage support part desired. Is moved at a desired speed in the direction of (1) to perform positioning.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a perspective view for explaining a schematic structure of an example of a load handling apparatus to which the operating method of the present invention is applied, and FIG. 2 is a view for explaining a schematic structure of another example of a load handling apparatus to which the operating method of the present invention is applied. FIG. 3 is a perspective view, and FIG. 3 is a side view showing the structure of another example of the load handling apparatus to which the operation method of the present invention is applied.
Is a longitudinal sectional view of an example of the operating device of the present invention, FIG. 5 is a plan view of the operating device of FIG. 4, FIG. 6 is a longitudinal sectional view schematically showing the structure of another example of the operating device of the present invention, and FIG. It is a block diagram of an example of a control system which performs a method.

First, the concept of the operation method of the present invention will be described with reference to FIGS. An example of a load handling apparatus to which the method of the present invention is applied is a column P vertically erected on the ground as shown in FIG. 1, and a vertical axis (Z axis) of the column P on the column P with a rear end. A horizontal arm that can only be pivoted around
A _1, the A - arm of A ₁ in the distal end side in a horizontal plane retractably of A - arm A _2,該A - vertically attached to the tip of the arm A ₂ freely in only lifting the vertical axis A - arm Az An arm consisting of each arm of
And arm mechanism A, the vertical A - a vertical axis to the lower end of the arm Az (Z ₁ axis)
It is assumed that it is formed by a load supporting portion (hereinafter, referred to as a load portion B) provided to be able to turn around. Incidentally, in the horizontal plane, the X axis to the arm A ₁ and coaxially with the Z-axis as the origin, orthogonal to the X-axis to set the Y-axis, and this is referred to as reference coordinates.

In the load handling apparatus shown in FIG. 1, the load B is raised and lowered, the arms A ₁ and A ₂ are turned around the Z axis, and the arms A ₂
Although not shown, it is assumed that a driving force of a motor or the like is used for each of the movement of the arm Az and the movement of the arm Az.
In such a load handling device using a driving force,
Its load unit B is vertical A - lifting the arm Az, second A - back and forth of the arm A _2, first A - individually each operation of the arm A ₁ turning, or by performing a combination of the operation The load portion B can be freely moved and positioned in cylindrical coordinates indicating the maximum movable range CF drawn around the support P by the load portion B.

According to the present invention, in order to move the load portion B in each direction within the movable range in the horizontal plane, its moving speed, and the stopping operation with a so-called inertial feel, the operating portion is provided with the following. Such a configuration was adopted. First, in the present invention, in the state of the load handling apparatus shown in FIG. 1, the vertical A - the load of the lower arm Az B,該A - provided coaxially to the vertical axis Z ₁ of beam Az, this axis around the Z _1, wherein the X-axis parallel to the X ₁ axis and the coordinates of the luggage supporting portion coordinates by parallel Y ₁ axis in the Y-axis, i.e., set as a load unit coordinates. It is assumed that the arm mechanism A is formed using a parallel link mechanism so that the load portion coordinates are always kept parallel to the reference coordinates.

[0015] Thus, X ₁ axis relative to the said axis Z _1, the load unit coordinates by Y ₁ axis, A - by beam A _1, A ₂ is pivoted on the pillar P, this turning integrally It turns in the same phase as the plane coordinates by the rotating X axis and Y axis. That is, no matter where the arms A ₁ and A ₂ are at the turning angles on the Z axis, X and
The plane coordinates of the Y axis and the plane coordinates of the X ₁ and Y ₁ axes maintain a parallel relationship of the same phase.

[0016] Next, in the present invention, with reference to the above Z ₁ axis,
When the user intends to move the load portion B on the X ₁ axis or the Y ₁ axis plane coordinate set around the axis Z ₁ , the load portion B is moved in the moving direction, for example, by hand. If either or shrinkage pressing, pressing in the direction of the X ₁ axis a - the sliding direction on the arm a ₁ of beam a _2, also when either or pulling pushing in the direction of the Y ₁ axis, a - arm a ₁ and the integral rotation of the a _2, were directly made to indicate.
That is, in the present invention, the above-mentioned Z ₁ axis, X ₁ axis, Y ₁ axes of the intersection, that is, a plane perpendicular to respective each axis Z _1, X _1, Y ₁ relates the origin, is applied to the handle to be described later A strain sensor is provided as an example of a sensor for detecting the direction and magnitude of the operation force, and the hand force applied to the load portion B with respect to any one of the axes Z ₁ , X ₁ , and Y ₁ is determined by the direction of the force. The operation unit is formed so that the size and the size are detected by the sensor, and by processing the detection signal, the load unit B is connected to the X ₁ ,
In order to move and position on any one of the Y ₁ and Z ₁ axes, the drive of the drive source is controlled. This will be described in detail later. In the present invention, a detecting means such as a pressure sensor, a small displacement sensor, and a potentiometer can be selected and used as the sensor.

FIG. 2 shows a guide frame Fx disposed parallel to the X axis of the reference coordinates, on which a girder frame Fy movable in the X axis direction and parallel to the Y axis is mounted. Digit frame Fy
A trolley M movable in the Y-axis direction is placed on the
FIG. 11 is a perspective view showing a conceptual configuration of another example of a load handling device provided with a vertical arm Az that moves up and down in the Z-axis direction and a load section B provided below the arm Az.

In the load handling device shown in FIG. 2, a fixed shaft Z integrated with a vertical arm Az set in the load portion B is used.
_1, the X ₁ axis and Y ₁ axes and the axis Z ₁ and origin, digits frame -
Axis F of the coordinate system on which the vehicle Fy, the cart M, and the vertical arm Az move,
It is always parallel to the Y and Z axes. Accordingly, the strain sensor provided on the surface relates origin is the intersection of the axes Z _1, X _1, Y _1, which is perpendicular to the each axis Z _1, X _1, Y ₁ in the load section B of the load handling device of FIG. 1 Similarly to the load handling device of FIG. 2, it is desirable to provide a strain sensor for each axis Z ₁ , X ₁ , Y ₁ of the load portion B and to move the load portion B of FIG. 2 manually. The direction and the pressing force (or pulling force) indicating the speed to be moved at that time and the direction are detected by respective sensors provided on each axis. In FIG. 2, CF is a movable range of the load portion B.

The present invention applies the configuration of the operation method for the load section B of the load handling device illustrated in FIGS. 1 and 2 to an example of a load handling device using a pantograph link mechanism shown in FIG. Next, this point will be described. The configuration of the load handling device of FIG. 3 is as follows. In FIG. 3, reference numerals 1 to 4 denote four link members which are pivotally connected at four pivot points P1 to P4 so that each pivot point P1 to P4 forms a parallelogram. This constitutes the arm mechanism A. Here, the link member 2
The lengths of the link members 1 to 4 are adjusted so that the three points of the front end 2a, the pivot point P3 of the link members 3, 4 and the rear end 1a of the link member 1 are on the imaginary line L. Have been.

Reference numerals 5 and 6 denote sub-link members which are parallel to and have the same length as the link members 1 and 2, respectively.
One end is pivotally attached to P5 and P6. The other end portions 5a and 6a of the auxiliary link members 5 and 6 are connected by connecting link members 8 and 9 at ends 1a and 2a of the link member 1 and the link member 2, respectively. 2 and 6 are held in parallel.

The above-described arm mechanism A includes a connecting link member 8.
The rear ends 1a, 5a of the link members 1, 5 connected by
The vertical guide 10 via the rolling wheels 10a, 10a, and the pivot point P3 of the link members 3, 4 to the horizontal guide 11 via the rolling wheels 11a,
Each is slidably supported. And the above 2
The arm mechanism A is provided in the machine casing 12 by providing the two guides 10, 11 in the bracket-shaped machine casing 12, and the rolling wheel 10 supported and guided by the guides 10, 11 is provided.
The a and 11a roll inside the guides 10 and 11 to change the posture of the arm mechanism A, and the leading ends 2a and 6a of the link members 2 and 6.
Can be arbitrarily moved within a plane including the virtual line L.

Reference numeral 13 denotes a support column which supports the machine housing 12 so as to be rotatable, and B denotes a load unit integrally connected to the connecting link member 9 at the distal ends 2a and 6a of the link members 2 and 6, and an operating unit 14 to be described later. And a load supporting member such as a hook F is attached.

Reference numeral 15 denotes a rolling wheel 10 supported and guided by a vertical guide 10.
A motor for driving the movement of the guide a in the guide 10. The motor includes a speed reducer and a winding drum (not shown), and guides a rope 16 such as a chain wound around the winding drum. The rolling wheel 1 via the wheel 16a
0a, and the winding and unreeling operation of the cable body 16,
The rolling wheel 10a is moved up and down in the vertical guide 10.

Reference numeral 17 denotes a rolling wheel 11 supported and guided by a horizontal guide 10.
A motor for driving the movement in the horizontal guide of a, which includes a speed reducer, an output sprocket, etc. (not shown),
A rope 18 such as a chain having a rolling wheel 11a inserted and connected on the way is wound around the output sprocket or the like via a guide wheel 18a, and the rope 18 is moved forward and backward by a motor 17. The wheels 11a are moved back and forth in the guide 11 by being selectively driven. Reference numeral 19 denotes a motor for transmitting a rotational force to a rotating shaft 12a that rotatably supports the machine housing 12 on the support column 13.

Each of the motors 15, 17, and 19 rotates forward or backward to change the posture of the arm mechanism A, that is, the vertical plane including the virtual line L of the load portion B. Movement and positioning within the shaft and this operation are performed by the rotation shaft 12
Acts as a drive source for performing around a. Therefore, a load (not shown) is supported by a support member such as a hook F on a load portion B provided on the distal end side of the link members 2 and 6, and the motors 15, 17, and 19 are selectively or simultaneously driven. By doing so, the load can function as a load handling device that can freely carry the load in a three-dimensional space where the arm mechanism A can deform its posture (within the movable range indicated by the same coordinates as the cylindrical coordinates in FIG. 1). You do it.

In the prior art, as described above, the operation of controlling the rotation and stop of each of the motors 15, 17, and 19 in the load handling device of FIG. By operating operating members formed by a handle, a grip, or a button of a switch box, etc., each of the motors 15, 17,
Although the start and stop operations of the armature 19 were operated, a wide variety of operation contents such as the direction in which the handle or the like was installed, the operation direction thereof, or the operation sequence of a plurality of operation members, and the arm mechanism A The direction and direction of the posture deformation of the machine, or the machine supporting the arm mechanism
Since the relation between the rotation of the twelve columns 13 and the rotation thereof is complicated, there is a problem that a considerable amount of skill is required to perform a smooth operation.

Therefore, in the present invention, each of the motors 15,
An operation unit 14 for controlling the start and stop of 17, 19
A load (not shown), which is configured as illustrated in FIGS. 4 to 7 and supported by a support member such as a hook F formed below the operation unit 14 by hanging or the like, is attached to a hand of an operator. The operator can freely move the weight of the luggage without feeling the operator, in particular, move the luggage horizontally, with the operation feeling as it is. Hereinafter, an example of the configuration of the operation unit 14 will be described with reference to FIGS.

The operating portion 14 shown in FIGS. 4 and 5 is provided on a connecting link member 9 provided at the tip of the link 2 or 6 and a column 20 vertically extending therefrom. the upper end only a cylindrical force sensing member 21 provided as vertical axis by providing integrally secured to the cylindrical body 20, the plane or its X ₁ axis and Y ₁ axis is fixed on a lower portion of the sensing member 21 is formed A force sensor 22, 23 as a horizontal axis extending in the form of a rod extending in a plane parallel to the shaft, a ring-shaped handle 24 connected to the tip of the sensor 22, 23, The mechanical structure is formed by a luggage support portion such as a hook rotatably provided at the lower end of the columnar body 20.

When the handle 24 is pushed and pulled in a horizontal plane, the two force sensors 21 and 22 and 23 have a vertical posture (vertical axis) and a horizontal posture (horizontal axis).
The vertical force sensing element 21 bends, and when the handle 24 is pushed and pulled up and down in a vertical plane, the horizontal force sensing elements 22 and 23 bend. The magnitude is detected by detecting which surface of the two force sensors 21, 22, and 23 is bent, and the degree of bending.

For this reason, in the present invention, the force sensing element in the vertical posture
As an example, four strain sensors 25, 26, 27, 28 are provided on the outer surface (or inner surface) of 21 and passing through the X ₁ axis and the Y ₁ axis,
Further, four sets of strain sensors 29 are provided on the upper and lower surfaces of the force sensors 22 and 23 in the horizontal posture and outside the cylindrical sensor 21.
To 32 ', and the respective force sensing elements 21 and 22,
The direction and degree of the deflection of 23 can be detected, and these detection signals are processed to control, for example, the motors 15, 17, and 19, which are the driving sources of the respective axes, in the load handling device of FIG. I did it.

Each of the strain sensors 25 to 28 and 29 to 3 described above
2, 29 'to 32' generate the following signals depending on the direction and magnitude of the hand force applied to the handle 24. Hold the handle 24 and move the handle in a horizontal direction, for example X ₁
Pushing (pulling) in the plus direction of the axis will result in a cylindrical force sensor 21
Is flexed in the direction in which the force is applied, so that the flexure is regarded as an extension of the strain sensor 25 or a contraction of the strain sensor 26, and the sensor 25 outputs an electric signal corresponding to the degree of the extension,
The sensor 26 generates an electric signal corresponding to the degree of contraction.
Pressing the handle 24 in the negative direction of the X ₁ axis and (pulling), the signal of the inverse relationship to the sensors 25 and 26 occurs. Generating form of the signal is the same for the strain sensors 27, 28 provided on the Y ₁ axis of the tubular force sensing member 21.

On the other hand, if the handle 24 is manually pushed downward or pulled upward on its periphery, this operation causes the force sensors 22, 23 in the horizontal plane to bend downward or upward. This deflection depends on which position on the periphery of the handle 24 applies a force in the lifting direction or the pressing direction when viewed from the plane, and four sets of sensors 29 to 32, 29 'provided on the force sensing elements 22, 23.
32 ′ or any two adjacent in the plane
The set of sensors produces an electrical signal commensurate with their expansion or contraction. For example, when the right side of the handle 24 in FIG. 5 is depressed, the strain sensors 30, 30 'provided on the upper and lower sides on the right side of the center of the force sensor 22 extend on the upper side of the sensor 22 and contract on the lower side. , Resulting in signals corresponding to them. When the handle 24 of this portion is lifted, the signals generated at the upper and lower sensors 30, 30 'have characteristics opposite to those of the above example. The manner in which such a signal is generated is determined by the force sensors 22, 23.
Other sets of strain sensors 29, 29 ', 31, 31', 3
The same applies to 2, 32 '.

In the handle 24, the intermediate position on the periphery of the handle 24 with respect to the horizontal force sensors 22 and 23, which are provided so as to be crossed about the force sensor 21 in the vertical direction, is directed upward in the same manner as described above. Alternatively, when a downward force is applied, in a sensor adjacent to a plane that bends due to the force, for example, in the handle of FIG. 5, the first quadrant of the X and Y axis coordinates (FIG.
When a force is applied to the portion located on the upper right side of FIG. 2, the same electrical signal as described above is obtained at the adjacent strain sensors 30, 30 'and 31, 31'. This point is the same as that of other sensor combinations, for example, strain sensors 31 and 31 'and 29 and 29', and strain sensors 29 and 29 '.
32, 32 'and between the strain sensors 32, 32' and 30, 30 '.

According to the present invention, one of the sensors 25 to 28 provided on the force sensing element 21 is generated depending on the force for manually pushing (pulling) the handle 24 in an arbitrary direction in the horizontal plane in the horizontal plane, that is, the operation force and the direction. 4 provided on the force sensing bodies 22 and 23 by an electric signal or / and a force applied manually upward or downward in a vertical plane at an arbitrary position on the circumference of the handle 24.
The electric signals generated by the set of sensors 29 to 32 and 29 'to 32' are converted into the motors 15 and 1 of each axis in the load handling device illustrated in FIG.
Since the signals are used after being converted into signals for controlling the rotation directions and rotation outputs of 7 and 19, this point will be described below with reference to FIG. Prior to this description, the outputs of the sensors 25 to 28, 29 to 32 and 29 'to 32' and the motors
The relationship with the rotation of 15, 17, and 19 will be described in advance.

The relationship between the signal output of each of the sensors 25 to 28, 29 to 32, 29 'to 32' and each of the motors 15, 17, 19, and the rotational direction of each of the motors 15, 17, 19, and , The motor
The relationship between the rotation directions of 15, 17, and 19 and the load portion B serving as the luggage support, that is, the moving direction of the operation unit 14 will be described.

Each set of sensors 29 to 32, 29 'to 32' provided on the force sensors 22 and 23 in the horizontal plane is configured such that the sensors 29 to 32 on the upper surface side of the sensors 22 and 23 reduce their contraction. When the corresponding signal is generated (or when the sensors 29 'to 32' on the lower surface generate a signal corresponding to their extension), that is, when the handle 24
When the motor 15 is lifted upward at an arbitrary position on its circumference, the motor 15 rotates in the forward rotation direction, and each of the sensors 29 to
When a signal having a characteristic opposite to the above occurs at 32 (or the sensors 29 'to 32'), that is, when the handle 24 is pressed downward at any position on its circumference, the motor 15 is rotated in the reverse direction. The forward rotation of the motor 15 causes the load B to rise,
Causes the load B to descend.

On the other hand, the sensors 25 to
In 28, sensors 25 and 26 on the X ₁ axis, when the sensor 25 is shrunk elongation sensor 26, that is, in FIG. 5, the handle 24 is pushed in the positive direction of the X ₁ axis in the horizontal plane (or pull The motor 17 is reversed, and the two sensors
When 25 and 26 showing the inverse of the signal characteristics from said, that FIG handle 24 in 5 (was or pulled) pushed in the negative direction of the X ₁ axis in the horizontal plane is rotated forward the motor 17 when Treated as a signal. Here, the reverse rotation of the motor 17 causes the load section B to move rightward in FIG. 3 in the load handling device of FIG. 3, and the forward rotation of the motor 17 causes the load section B to move leftward in FIG. Bring the move.

Next, the sensor on the Y ₁ axis perpendicular force sensing member 21
27 and 28, when the sensor 27 is contracted sensor 28 is extended, i.e. the handle 24 in FIG. 5 (was or pulled) pressed in a horizontal plane in the negative direction of the Y ₁ axis is rotated forward the motor 19 when, Further, when said two sensors 27 and 28 in which the inverse of the signal characteristics from said, that FIG handle 24 in 5 (was or pulled) pressed in a horizontal plane in the positive direction of the Y ₁ axis in a horizontal plane when The motor 19 is reversed. Here, the forward rotation of the motor 19 moves the load section B toward the near side, and the reverse rotation of the motor 19 moves the load section B toward the side. The load B
Movement in Y ₁ axis direction is the turning motion about the support column 13 of the arm mechanism A is the device of FIG.

Now, an example in which a load handling apparatus in the posture of FIG. 3 lifts and holds a load placed on the ground and moves the load in an arbitrary direction in a horizontal plane in this state is shown in FIGS. , FIG. 5 and FIG.

In FIG. 3, when an arbitrary position on the periphery of the handle 24 is manually pushed downward in order to bring the load portion B closer to the load on the ground, any one of the lower surfaces of the horizontal force sensors 22 and 23 is provided. A signal on the compression side is generated at the sensors 29 'to 32'.
This signal, on the Z ₁ axis, is determined downward force under the direction of the determination portion 40Z, is formed on the reverse rotation command signal of the motor 15 by the command unit 41Z of the next direction of rotation. The motor reverse rotation command is sent to the amplifier 42
Amplified by Z and converted to a control command signal of the motor 15 in a signal conversion unit 43Z to which the next signal processing operation function is added,
Thereafter, the sensors 29 'to 3
2 ′ is formed into a motor drive control signal corresponding to the magnitude of the signal generated in any one of 2 ′ and the motor 1
5 to rotate the motor 15 in the reverse direction.

The reverse rotation of the motor 15 causes the cable body 16 connected to the rear ends of the arms 1 and 5 in the arm mechanism A of FIG.
Since it appears as an operation to rise along guide 10,
The load B moves down by the action of the arm mechanism A. When the load portion B reaches the desired height, when the user releases the handle B, the output from any of the sensors 29 'to 32' stops, and the motor 15 automatically stops.

When a load (not shown) is hooked on the hook F at the position of the load portion B and is pulled in a direction in which the handle 24 is lifted (almost right above), the upper surfaces of the force sensors 22 and 23 are pulled up. Outputs a signal on the contraction side of any one of the strain sensors 29 to 32 provided in the first stage. The signal output with is determined that an upward force in the vertical direction of the determination portion 40Z of Z ₁ axial rotation direction command unit
At 41Z, a normal rotation command for the motor 15 is formed, and the subsequent circuit operates in the same manner as described above to rotate the motor 15 forward. In this case, the forward rotation of the motor 15 requires an output to lift the load unit B supporting the load together with the load, and the required output is formed as follows as an example.

First, the rotation state of the motor 15 is constantly monitored by a motor sensor 46Z such as a tachogenerator, and a control signal supplied from the servo amplifier 45Z to the motor 15 is fed back to the feedback section 47Z. The feedback signal from the motor sensor 46Z is converted into the same signal as the supply signal from the servo amplifier 45Z by the conversion unit 48Z, and the signal and the supply signal from the servo amplifier 45Z are compared with the comparison operation unit 49Z. And the deviation is added to the signal conversion unit 43Z as a correction signal.

Then, the motor 15 is initially
However, when the load due to the luggage is applied to the motor 15, the load section B does not rise only with the output, so that the supply signal supplied from the servo amplifier 45Z to the motor 15 A deviation signal obtained by comparing the feedback signal of the motor sensor 46Z is applied to the signal converter 43Z, and the addition of the correction signal continues until the deviation signal disappears. That is, the correction is performed until the output of the servo amplifier 45Z matches the rotation of the motor 15 due to the output. Thereby, regardless of the size of the load supported by the load portion B,
The load B supporting the load can be raised by the manual force applied to the handle 24.

Here, even if the user lifts his / her hand from the handle 24 in a state where the load is hung, the servo amplifier 45Z when the load is lifted in order to keep the load stationary in the air. A supply signal to the motor 15 branched from the output and fed back is formed into a servo lock signal in the comparison operation unit 49Z, and the servo lock signal is supplied to the signal conversion unit 43Z to hold the load in the air. Also, the trigger signal of the servo lock signal for holding the load in the air is a signal output from the sensor 29 to 32 or 29 'to 32' while the load B is supported or lifted while supporting the load. When the logical product condition that the signal from the motor sensor 46Z disappears is satisfied, the signal converter 43Z is formed, and the servo lock is formed by holding the output of the servo amplifier 45Z at that time.

Therefore, when the handle 24 is pushed up or down (pulled) when the motor 15 is in the servo locked state, any one of the sensors 29 to 32 or 29 'corresponding thereto is pushed.
Since the control signal of the motor 15 formed in accordance with the output of .about.32 'is added to or subtracted from the servo lock output in the signal converter 43Z, the load B rises or falls again.

In the state where the baggage described above is held in the air, the baggage can be moved in the horizontal plane at the suspended position by pushing (or pulling) the handle 24 in a desired direction. . Movement in a horizontal plane of the load unit B in baggage handling system of FIG. 3, the X ₁ axial expansion and contraction of the arm mechanisms A, Y ₁ axial direction by the turning of the on posts 13 of the arm mechanism A, carried out respectively However, the direction in which the handle 24 moves is determined by pushing and pulling the handle 24 in a desired direction in a horizontal plane. Here, each axis of X ₁ , Y ₁ , Z ₁ of the load portion B is connected to the support P of the device.
X centered at 13, Y, since in a parallel positional relationship with the Z axis, movement in the axial direction of the X _1, Y _1, Z ₁ is, X, Y, and movement in the axial direction of the Z Is the same.

[0048] Then, the control system of the motor 19 is a moving driving source to the motor 17, Y ₁ axially a movement driving source of the X ₁ axis direction, the control system configuration and basic motor 15 of the Z ₁ axis Are the same. That is, with respect to the X ₁ axis, sensors 25 and 26, the positive rotation direction of the motor 17, the inverse determination unit 50X, normal and reverse rotation command unit 51X,
Amplifying portion 52X, the signal conversion unit 53X, the control signal generator 54X, servo amplifiers 55X, are formed by a motor 17, with respect to the Y ₁ axis sensor 27, the positive rotation direction of the motor 19, the inverse determination unit
50Y, a forward / reverse rotation command section 51Y, an amplification section 52Y, a signal conversion section 53Y, a control signal formation section 54Y, a servo amplifier 55Y, and a motor 19.

The movement of the load portion B in the horizontal plane is controlled by the handle
With 24, press the respective handle 24 to the X ₁ axis or Y ₁ axially, or shrinkage if so deflects the degree corresponding to a force perpendicular force sensing member 21 is applied to the handle 24, either resulting electrical signal corresponding to the deflection degree sensor 25 to 28 is, X ₁ axis or Y ₁ axis of the motor 17 or 19 on the basis of the signal output is forward or reverse rotation control, the output of the motor 17 or 19 When the load portion B supporting the load is moved in the direction in which the handle 24 is pushed or pulled by the handle 24 and the pushing (pulling) of the handle 24 is stopped, the motor 17 or 19 is stopped. Finish.

[0050] Further, with the handle 24, or shrinkage if pressed in the middle of the oblique direction of the X ₁ axis and Y ₁ axis, the sensor 25 to 28
Of the electrical signal is generated in the sensor of both X ₁ axis and Y ₁ axis adjacent in a plane. In this case, X ₁ axis, Y ₁ axes of the motor 17,
Since 19 operates simultaneously in response to both the sensor output resulting signals, the load unit B supporting the luggage, presses the handle 24 (or minus) in the middle direction between the X ₁ axis and Y ₁ axis It will be moved. Of course, if you let go of the handle 24, you will not get any output from any of the sensors,
Both the motors 17 and 19 are stopped, and the horizontal movement of the load (load section B) is stopped there.

In the conventional load handling apparatus of the type shown in FIG. 3, since the motors 17 and 19 are basically not provided, it is necessary to move a load suspended and supported in the air in a horizontal plane. Exclusively pushing the load B supporting the luggage by hand,
I was pulling it and moving it. However, if the supported luggage weighs, for example, 100 kg or more, moving the luggage horizontally with the load section B manually requires not only considerable labor but also inertia due to the horizontal movement. As mentioned above, stopping the moving luggage also required considerable effort.

In this regard, in the present invention, by grasping an arbitrary position of the annular handle 24 and pushing or pulling the handle 24 in a horizontal plane direction in which the load supported by the load portion B is to be moved, Luggage can be moved horizontally,
Also, if you want to stop moving luggage at the desired position,
If you let go of the handle 24, the motor will stop and can be stopped automatically. If there is a possibility that the load does not stop at a desired position due to its inertia during horizontal movement, the force applied to the handle 24 is gradually reduced, or the handle 24 is moved in the direction in which the load is moving. By pulling or pushing in the opposite direction, the motor is gradually decelerated, or the signal generated at the sensor by the aforementioned pulling (or pushing) operation causes the motor to move in the opposite direction to the direction in which the load is moving. Since the driving is started and braking is applied to the drive source motor for the horizontal movement, a flow phenomenon due to inertia of the horizontally moving load does not occur. In other words, the load can be moved horizontally without inertia.

In the above embodiment, the load handling device functioning as an assisting device using a motor as a drive source has been described. The drive source of the load handling device to which the present invention can be applied includes: In addition to the above motors, there are hydraulic and pneumatic cylinders and motor cylinders. When a cylinder is used as a drive source, the control command is a drive pump or motor for the cylinder, or
It is for the control valve.

Next, a modification of the operation unit of the present invention described above with reference to FIGS. 4 and 5 will be described with reference to FIG.
6, the same reference numerals as those in FIGS. 4 and 5 denote the same members and the same parts.

[0055] In FIG. 6, the connecting link 9 of the arm mechanism A of the load section B, force sensing element a vertical axis to the axis Z ₁ and coaxially
In addition to being provided as a hanging member 21, a cylindrical casing 20 'is provided via a bearing 20a on the outside of the sensing element 21 having the vertical axis. In the casing 20 ', the support rod 2 of the handle 24 is
Vertical holes 20b for inserting 2 'and 23'
a, the support rods 22 ', 2
The tip of 3 'is loosely inserted and connected so as to be vertically slidable, and each of the supporting rods 22' and 23 'is held by the casing 20' through the vertical slide guide 61 in the hole 20b so as to be vertically slidable. . 62 is a support for supporting the supporting rods 22 'and 23' from below via a spring, 63 is the supporting rod
The displacement post 64 standing on the 22 'and the displacement post 63
Is a force sensor provided as a horizontal axis, the tip of which is supported by being freely inserted and coupled. Above vertical force sensor 21
The top, the strain sensor 25 to 27 is provided on a surface facing the X _1, Y ₁ axis, the upper and lower surfaces of the horizontal force sensing member 64, the strain sensor 29,2
9 '(or 30, 30') is provided, and the same operation as in the previous embodiment is applied to each sensor by the vertical operation of the handle 24, or the pushing and pulling operations in the horizontal plane. An electric signal can be obtained.

In the above embodiment of the present invention, a potentiometer is provided on the slide guide 61 instead of the strain sensor,
The amount of sliding displacement above and below the handle 24 due to an upward and downward operation force applied to the handle 24 may be detected by the potentiometer. In this sense, the X _1, Y operation force applied in a horizontal plane containing _one axis of the handle 24, the handle 24 previously formed to slide displaceable in a horizontal plane, positive displacement amount in this horizontal plane It can also be formed to detect with a tensiometer.

[0057]

As described above, according to the present invention, X,
Driving of each axis of the load handling device provided for moving the load section in the direction of each axis on the load section coordinates X ₁ , Y ₁ , Z ₁ formed by axes parallel to the reference coordinates by the Y and Z axes With respect to the source, the operator can determine the direction in which the load is to be moved and the degree of the speed at which the load is to be moved, by holding the annular horizontal handle provided around the load unit, and adjusting the handle in the direction in which the load is to be moved. by either or pulling pushing have any position, the driving source of the corresponding movement axes X ₁ on the load section coordinate, Y _1, Z ₁ is controlled in a state such as to operate at as if drew human manipulation intention Therefore, there is no room for malfunction due to the inconsistency between the direction of the force applied to the steering wheel and the moving direction of the load.

In particular, according to the present invention, when moving a load supported in the air in a horizontal plane, it is possible to push or pull by simply pushing or pulling any position of the annular handle in the direction to be moved in the horizontal direction. The load can be moved horizontally in the direction of pushing and pulling at a speed proportional to the magnitude of the pulling force, so that the load can be moved horizontally in the desired direction from any position around the load. It is very convenient to use.

Also, in the above-described horizontal movement, if the driver releases the handle, the driving source stops, so that the horizontally moving luggage can be stopped without requiring any human power.
Further, even if inertia occurs in the load due to horizontal movement, the force applied to the handle is gradually reduced, or the handle is pushed or pulled in the direction opposite to the direction in which the load is moving. Therefore, the moving speed is gradually reduced, or the driving source is controlled so as to output in the direction opposite to the direction in which the load is moving. In addition, it is possible to realize good operability, which is not found in conventional load handling devices, that the operator does not experience the weight of the load, that is, can move and position the load horizontally without inertia.

Further, in the operation section of the present invention, the force sensing element having a vertical and horizontal posture provided with respect to the moving axis of the load section is caused to bend by being operated by gripping the annular handle. Since the size can be detected by a strain sensor or the like, and a signal for controlling the driving source of each moving axis can be formed based on the detected magnitude, the applicable load handling device has a load portion whose Z-axis is the reference coordinate. , And X axis and Y
The present invention can be applied regardless of the type and structure of the load handling device as long as it has a function of being moved by an output of a drive source along both or one of the axes and an axis parallel to one of the axes.

[Brief description of the drawings]

FIG. 1 is a perspective view for explaining a schematic structure of an example of a load handling apparatus to which an operation method of the present invention is applied.

FIG. 2 is a perspective view for explaining a schematic structure of another example of a load handling device to which the operation method of the present invention is applied.

FIG. 3 is a side view showing the structure of another example of the load handling device to which the operation method of the present invention is applied.

FIG. 4 is a longitudinal sectional view of an example of the operating device of the present invention.

FIG. 5 is a plan view of the operation device of FIG. 4;

FIG. 6 is a longitudinal sectional view schematically showing the structure of another example of the operating device of the present invention.

FIG. 7 is a block diagram of an example of a control system that executes the operation method of the present invention.

[Explanation of symbols]

1, 2, 3, 3, 4 Ring member 1a Rear end of ring member 1 2a End of ring member 5, 6 Sub-ring member 5a, 6a Other end of sub-ring member 7 Connecting member 8, 9 Connecting link member 10 Vertical guide 11 Horizontal guides 10a, 11a Rollers 12 Machine housing 12a Rotary shaft 13 Supports 14 Operation parts 15, 17, 19 Motor 16 Cables such as chains wound around the winding drum 16a Guide wheels 18 Cables such as chains inserted and connected 18a Guide wheel 20 Column-shaped body 21 Cylindrical force sensor 22, 23 Supporting rod-shaped force sensor 24 Handle 25, 26, 27, 28 Strain sensors 29, 29 ', 30, 30' Strain sensors 31, 31 ', 32 , 32 'Distortion sensor 40Z discriminator 41Z rotation direction commander 43Z signal converter 45Z servo amplifier 46Z motor sensor 47Z feedback 48Z converter 49Z comparison calculator 50X, 50Y positive / reverse discriminator 51X, 51Y forward / reverse command unit 52X, 52Y Amplifiers 53X, 53Y Signal converters 54X, 54Y Control signal generators 55X, 55Y Servo amplifier A Arm mechanism A ₁ , A ₂ Horizontal arm Az Vertical arm B Load part F Hook P Post P1, P2, P3, P4 Pivot point P5, P6 Other end of sub ring member L Virtual line M Dolly Fy Girder frame X, Y , Z axis X ₁ , Y ₁ , Z ₁ axis

Claims (3)

[Claims] 1. A Z-axis perpendicular to a load-handling device formed so as to be able to move and position in a three-dimensional space a load caused by various loads by a driving force of a motor or the like, and a horizontal plane having the Z-axis as an origin. X of the inner sets a reference coordinate by the Y-axis, the coordinates of the luggage supporting portion due to each axis of each axis always parallel X _1, Y _1, Z ₁ of the reference coordinate luggage supporting portion of the apparatus Set and bend a vertical axis that can be bent, and set the X ₁ and Y ₁
A flexible horizontal axis is provided near the vertical axis in a plane parallel to a horizontal plane formed by the axes, while X ₁ and Y ₁ in the vertical axis are provided.
A sensor for detecting a deflection generated in both the vertical and horizontal axes on a surface intersecting the axis and on upper and lower surfaces of the horizontal axis. A manual operation force applied to the both axes controls the output of a driving source such as a motor. By providing a sensor that generates an electrical signal that is converted into a signal for the load, and by providing an annular handle that directly or indirectly supports the vertical axis and applies a shearing force to the vertical axis and the horizontal axis. Forming an operation unit for moving the vertical axis or the horizontal axis when one of push and pull operations in a horizontal plane and raising and lowering operations in a vertical plane is applied to the handle. The sensor provided on the shaft detects the direction and magnitude of the manual operation force, and controls the output of a drive source for moving and stopping the luggage support in the coordinate space based on the detection signal. You Inertialess Operation luggage supporting portion of the load handling device, characterized in that. 2. A Z-axis perpendicular to a load-handling device formed so as to be able to move and position in a three-dimensional space a load caused by various loads by a driving force of a motor or the like, and a horizontal plane having the Z-axis as an origin. The reference coordinates are set based on the X and Y axes inside, and the load supporting portion of the apparatus is set with the coordinates of the load supporting portion by an axis always parallel to the reference coordinate axis, and a flexible vertical axis is arranged. the X _1, Y ₁ while the axis provided horizontal axis deflectable in the vicinity of said vertical axis in a horizontal plane parallel to a plane formed, X _1, Y the horizontal axis crossing with a surface on _one axis in the vertical shaft The upper and lower surfaces are provided with sensors for converting deflections generated in both the vertical and horizontal axes into electric signals, and are rotatably or non-rotatably supported by the vertical axis or an operation unit component member coupled to the axis. An annular hand that exerts a shear force on the vertical and horizontal axes By providing an operation unit for moving the luggage support unit, by manually pushing or pulling the handle in a horizontal plane, and by raising or lowering in a vertical plane, Any one of the vertical axis and the horizontal axis is bent, the bending is detected by the sensor, the detection signal is processed, and the luggage support is moved and positioned at a desired speed in a desired direction. A non-inertial operation device for a luggage support in a load handling device. 3. A deflectable vertical shaft disposed on a load supporting portion of a load handling device formed so as to be capable of moving and positioning various loads in a three-dimensional space by a driving force of a motor or the like. In addition, X, Y, and Z coordinates having this axis as the Z axis are set, and a sensor that converts deflection generated in the vertical axis into an electric signal is provided on a surface intersecting the X and Y axes of the vertical axis, An operating unit for moving the luggage support unit is formed by providing a sensor that supports an annular handle slidably up and down on the vertical axis and converts the amount of slide displacement of the handle on the vertical axis into an electric signal. The deflection of the vertical axis and the vertical displacement of the handle caused by the operation of pushing or pulling the handle in a horizontal plane by hand or raising or lowering the handle in a vertical plane by hand. Wherein the load support is moved in a desired direction at a desired speed and positioned at a desired speed. .