JPS6114076B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a direct copying conveyance device, in which, for example, when loading materials into a machine tool, a heavy object is kept in a balanced state at the beginning, and the conveyance work of the heavy object is apparently performed manually by an operator. This paper proposes a device that can be used to transport lightweight objects.

In order to achieve the above object, the present invention includes a rotatable vertical post, a plurality of booms connected by hinges in series in a vertical plane from the tip of the vertical post, and a plurality of booms connected to the vertical post and the booms connected thereto. A servo cylinder installed between booms and between adjacent booms, a forward/reverse servo motor that rotationally drives the vertical post, and a heavy object suspended from the tip of the boom when a manual load is applied to the heavy object. A detector that detects the amount of displacement in the three-dimensional direction, and the energy equivalent to the working force due to the hand load obtained by calculating the detection results of the mass of the suspended weight section and the amount of displacement of the heavy object by the detector. , a central control device is provided to the servo cylinder and the forward/reverse servo motor to cause the tip of the boom to follow the movement of a heavy object due to manual load.

An embodiment of the present invention will be described below based on the drawings. In Figure 1, C is an articulated crane, for example, a vertical post that is rotatably installed around the axis.
P ₀ , a substantially horizontal first boom B ₁ pivotably mounted to the tip of the vertical post P ₀ via a horizontal axis (not shown) so as to be able to rise and fall freely, and a horizontal shaft attached to the tip of the first boom B _1. A diagonal second boom B ₂ is pivotally connected via a horizontal axis (not shown), and a diagonal second boom B 2 is pivotably attached to the tip of the second boom B ₂ via a horizontal shaft (not shown). and substantially hanging third booms B ₃ having predetermined lengths l ₁ , l ₂ , l ₃ and l ₄ , respectively. In addition, a hydraulic servo cylinder SL ₁ is installed between the vertical post P ₀ and the first boom B ₁ , between the first boom B ₁ and the second boom B ₂ , and between the second boom B ₂ and the third boom B ₃ , respectively.
SL ₂ and SL ₃ are interposed. M is a forward/reverse servo motor that rotates the vertical post _P0 around its axis.

D is a scanning detector fixed to the tip of the third boom _B2 , and as shown in Fig. 2, it is interposed between the spring bodies _E1 to _E3 arranged in three dimensions and the two ends thereof. It consists of high-precision angle detectors S ₁ to S ₃ and a universal joint UJ that suspends a heavy object W via an arm A ₀ . That is, the spring body E ₁ ~
E ₃ only allows displacement in the longitudinal direction, and the z-axis spring body
E ₃ is the third boom B ₃ and universal joint UJ
The third boom B ₃ is disposed directly between the x-axis spring body E ₁ and the y-axis spring body E ₂ along the length direction of the third boom B 3 .
are respectively disposed between both ends of the universal joint UJ in a direction perpendicular to the arm _A0 and in a direction perpendicular to each other. An angle detector _S3 interposed between both ends of the spring body _E3 is connected to a suspended heavy object W.
Detects the mass of the object W, and detects the component of the hand load in the z-axis direction (up and down direction) when the hand baggage is added to the heavy object W and moves. An angle detector S ₃ interposed between both ends of the spring body E ₁ detects the component of the hand load in _the x-axis direction (horizontal direction). ₂ detects each component of the hand load in the y-axis direction (horizontal direction).

The high-precision angle detectors S ₁ to _{S 3} consist of, for example, a rack R and a pinion P, and optically detect the rotation angle of the pinion P due to the expansion and contraction of the spring bodies E ₁ to _{E 3} , so that they can measure 360 degrees at 10 ^-7 It can be divided into Therefore, a decomposition performance of about 3×10 ⁴ counts per degree can be obtained. In Figure 3, the length _l5 of the arm _A0 on which the heavy object W is suspended is 1 to 3 m, and
A 10 ton heavy object W is suspended, and this heavy object W is 2 kg.
Calculating ^the displacement ^{angle θ} _X when pushing horizontally with a hand load _F ^, θ
degrees). This 1×10 ⁻² (degree) corresponds to 3×10 ² counts in the high-precision angle detectors S ₁ to S ₃ , and it is understood that sufficient resolution performance can be obtained. If the displacement in this case is Δl, then Δl≒l ₅・F/W=(1~3)×2/1×10 ⁴ =2×10 ^-4 ~6×10 ^-4 (m)≒0.1~0.2mm becomes. That is, even if the hand load F causes a slight displacement of about 0.1 to 0.2 mm, its magnitude and direction can be detected. Therefore, by applying the hand load F, the displacement to be moved in order to cause the third boom _B3 to follow the heavy object W is calculated from the displacement amount detected by the copying detector D, and the third boom B3 is moved to follow the heavy object W. If the hydraulic servo cylinders SL ₁ to _{SL 3} and the forward/reverse servo motor M are driven so that the tip of B ₃ obtains the acceleration required for its displacement, the tip of the third boom B ₃ will follow the movement of the heavy object W. .

The CCU is a central control unit consisting of, for example, a computer, and performs arithmetic processing to cause the tip of the third boom _B3 to follow the movement of the heavy object W based on the detection result of the copying detector D. The displacement detected by the angle detector S ₃ is related to the drive of the hydraulic servo cylinders SL ₁ to _{SL 3} , and the displacement detected by the angle detectors S ₁ and S ₂ is related to the drive of the hydraulic servo cylinders SL ₁ to SL ₃ and It is related to driving the forward and reverse servo motor M.

Next, its operation will be explained. Initially, a heavy object W is manually suspended from the arm _A0 , and its mass is detected as the amount of displacement by the angle detector _S3 , and is stored in the central control unit CCU. Thereafter, the heavy object W is always operated in this balanced state. Next, when the automatic switch is turned on and the worker pushes the heavy object W to move it toward the desired position, the central control unit CCU detects the amount of displacement of the heavy object W detected by each angle detector _S1 to _S3 . The working force due to the manual load F of the worker is detected from , and the energy corresponding to the increased working force is calculated and obtained, and the energy is transferred to each hydraulic servo cylinder SL ₁ ~
The injection is distributed to the SL ₃ and the forward/reverse servo motor M so that the tip of the third boom B ₃ follows the movement of the heavy object W due to the manual load F of the worker. In other words, the mass of the heavy load W is initially balanced, and the crane-specific constants such as the rigidity, vibration frequency, weight, and length of each part stored in the central control unit CCU are taken into account, and the heavy load is calculated based on the apparent weight. Energy corresponding to the working force due to the manual load obtained by minute detection of the amount of displacement of the heavy object W is added so that the load is light enough to correspond to the manual load of the worker.

In this way, while pushing the heavy object W as shown in Fig. 4a, the central control unit CCU calculates and processes minute displacements detected every moment, and controls each hydraulic servo cylinder.
Increased work force is applied to SL ₁ to SL ₃ and the forward/reverse rotation servo motor M. When you stop pushing and let go,
As shown in Fig. 4b, the heavy object W returns by θ ₁ minute from the desired position A, but as the tip of the third boom B ₃ continues to move to the position corresponding to A, the heavy object W is swung out for another θ ₂ minutes, and the heavy object W will come to a stop while vibrating around here. However, the actual stopping error θ ₃
The minutes are so small that there is no problem.

As described above, according to the present invention, the amount of displacement in the three-dimensional direction of the heavy object suspended at the tip of the boom is detected, and the boom and vertical post are then driven by the servo cylinder and the forward/reverse servo motor to follow the movement of the heavy object. Displacement in the three-dimensional direction by manual load can be easily performed, and the following movement of the boom tip makes it possible to move the heavy object in the three-dimensional direction extremely easily.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention, and FIG. 1 is a schematic diagram of the configuration, FIG. 2 is a schematic diagram of a copying detector, FIG. 3 is an explanatory diagram for manual force detection, and FIG.
Figures a and b are diagrams explaining the operation. C...Articulated crane, _B1 to _B3 ...Boom,
P ₀ ... Vertical post, D... Copying detector, E ₁ ~
E ₃ ... Spring body, S ₁ ~ _{S 3} ... Optical angle detector,
UJ...Universal joint, W...Heavy load, SL ₁ to _{SL 3} ...Hydraulic servo cylinder, M...
Forward/reverse servo motor, CCU...Central control unit.

Claims (1)

[Claims] 1. A rotatable vertical post, a plurality of booms hinged in series in a vertical plane from the tip of the post, and interposed between the vertical post and the booms connected to it and between adjacent booms. a servo cylinder, a forward and reverse servo motor that rotationally drives the vertical post, and a detector that detects the amount of three-dimensional displacement of the heavy object suspended from the tip of the boom when a manual load is applied to the heavy object. , Applying energy equivalent to the working force due to the manual load obtained by calculating the mass of the suspended heavy object and the detection result of the displacement amount of the heavy object by the detector to the servo cylinder and the forward/reverse rotation servo motor. 1. A direct copying conveyance device comprising: a central control device that causes the tip of the boom to follow the movement of a heavy object by manual loading;