KR102331930B1 - Method for lifting weight loads and apparatus therefor - Google Patents

Abstract

The present invention relates to a method and apparatus for safely lifting a heavy object in cooperation with a plurality of lifters. According to an embodiment of the present invention, a control device mounted on a lifter for raising a weight seated on a fork together with one or more other lifters in cooperation with one or more other lifters, and controlling the operation of the lifter, includes: a communication unit for communicating with one or more other lifters; a sensing unit for measuring the height of a weight rising from the lifter; And by receiving the lifting information from one or more other lifters through the communication unit, and analyzing the received lifting information and the height measured by the sensing unit, the height of the lifting of the weight of the other lifter and the height of the lifting of the weight of the lifter are balanced and a control unit for controlling the lifting of the lifter to be maintained.

Description

Method for lifting weight loads and apparatus therefor

The present invention relates to a technology for lifting a heavy object, and to a method for safely lifting a heavy object in cooperation with a plurality of lifters and an apparatus therefor.

At the construction site of a plant such as a semiconductor production plant, a display production plant, a manufacturing plant, and a power plant, it is necessary to install heavy objects such as pipes and facilities. These heavy objects are not installed on the floor of the building, but are often installed in a lifted state. In this case, the heavy objects are raised to a specified height, and the work of connecting the heavy objects and the existing facilities in the lifted state is carried out. .

On the other hand, since there is a limit to the weight or size that an individual lifter can lift, a plurality of lifters may work together to lift a heavy or large object. That is, in cooperative mode, multiple lifters lift the same weight together at different positions.

When multiple lifters are working together, it is important to keep the lift height of each lifter constant. That is, when one of the plurality of lifters raises the weight relatively faster, the balance of the weight may be disturbed and the weight may fall in a direction in which the lifting height is low. Alternatively, if the lift height of each lifter is not constant, more load is applied to the lifter with a relatively low lift height. There is a problem in that the fork of the lifter cannot bear the load and may fall.

In order to solve this problem, Korean Patent Application Laid-Open No. 10-2016-0065599 discloses a lifting method for simultaneously raising a plurality of hydraulic pumps through one control device.

The above patent is a configuration that simultaneously transmits a hydraulic lift command to a plurality of hydraulic pumps, and ideal collaboration is possible only when each hydraulic pump and cylinder are set to the same environment. However, even with the same model, the lifters do not have the same ascent speed, and a deviation in the ascent speed occurs. In addition, the load that each lifter is responsible for cannot be the same during collaboration, so even if the same hydraulic pressure is provided, a difference in the ascent speed occurs.

If such a difference in ascent speed occurs, the manager must manually operate the lifter to balance the weight after visually stopping the ascent. It acts as a degrading problem.

Korean Patent Publication No. 10-2016-0065599 (published on Jun. 9, 2016)

The present invention has been proposed in order to solve this problem, and it is an object of the present invention to provide a method for lifting a heavy object and an apparatus therefor for improving stability in a cooperative mode and raising the weight to a specified height while maintaining the balance of the weight.

Other objects and advantages of the present invention may be understood by the following description, and will become more clearly understood by the examples of the present invention. Moreover, it will be readily apparent that the objects and advantages of the present invention may be realized by the means and combinations thereof indicated in the claims.

According to the first aspect of the present invention for achieving the above object, a control device mounted on a lifter that raises a heavy object seated on a fork together with one or more other lifters in cooperation with one or more other lifters to control the operation of the lifter, a communication unit communicating with the lifter; a sensing unit for measuring the height of a weight rising from the lifter; And by receiving the lifting information from one or more other lifters through the communication unit, and analyzing the received lifting information and the height measured by the sensing unit, the height of the lifting of the weight of the other lifter and the height of the lifting of the weight of the lifter are balanced and a control unit for controlling the lifting of the lifter to be maintained.

The control unit analyzes each of the received lifting information to determine the minimum height among the heights of the weights raised by each other lifter, and compares the height of the weights measured through the sensing unit with the minimum heights and the measured weights When the height of the lifter is higher than the minimum height by a threshold value or more, the lifting of the lifter may be temporarily stopped.

The control unit continuously receives the lifting information from other lifters through the communication unit, analyzes each of the received lifting information to check the minimum height again, and then the height of the weight measured through the sensing unit is the again confirmed minimum If it is less than the height, it is possible to resume ascent of the lifter.

As another embodiment, the control unit may analyze each of the received lifting information, determine a minimum ascending speed having a minimum value, and change the ascending speed of the lifter to the checked minimum ascending rate.

In addition, the control unit monitors whether the height of the weight reaches the stage change height, and when it reaches the height of the stage change, temporarily stops the lifting of the lifter, and transmits a standby message indicating that stage change is ready to another lifter using the communication unit. can be transmitted

The control unit, when receiving standby messages from all other lifters through the communication unit, may resume the lifting of the lifter.

According to the second aspect of the present invention for achieving the above object, in the lifter that raises the weight seated on the fork together with one or more other lifters, the method of lifting the weight in the cooperative mode is loaded from the fork and raised measuring the height of a heavy object; receiving lifting information from one or more other lifters; and analyzing the received lifting information and the measured height of the weight, and controlling the lifting of the lifter so that the lifting height of the other lifter and the lifting height of the lifter are balanced.

In the present invention, when a plurality of lifters perform the cooperative mode, the lifter shares the lifting height between the lifters and controls the lifting speed of the lifter so that the height is raised based on the lifter having the minimum height among them. It has the advantage of maintaining the equilibrium of the body and safely raising it to a specified height.

In addition, the present invention has the advantage of minimizing the repeated interruption and resumption of ascending by identifying a lifter having the minimum ascending speed, and setting the ascending rate of the other lifter as the ascending rate of the lifter.

In addition, the present invention has the advantage of saving labor when lifting a heavy object by automatically raising the weight to a specified height through cooperation between lifters without the intervention of an administrator.

The following drawings attached to this specification illustrate preferred embodiments of the present invention, and serve to further understand the technical spirit of the present invention together with specific details for carrying out the invention, so the present invention is described in the drawings It should not be construed as being limited only to the matters.
1A and 1B are perspective views of a lifter, in accordance with an embodiment of the present invention.
2A and 2B are views illustrating a lifter raised by one stage according to an exemplary embodiment of the present invention.
3A and 3B are diagrams illustrating a lifter raised in two stages according to an exemplary embodiment of the present invention.
4 is a side cross-sectional view of a lifter, in accordance with an embodiment of the present invention;
5 is a view illustrating a plurality of fall arresters and a locking jaw included in a lifter according to an embodiment of the present invention.
6 is a diagram illustrating a state in which a plurality of lifters cooperate according to an embodiment of the present invention.
7 is a view showing an elevation control device according to an embodiment of the present invention.
8 is a flowchart illustrating a method for controlling the lifting of a lifter based on lifting information received from another lifter by the lifting control apparatus according to an embodiment of the present invention.
9 is a flowchart illustrating a method of controlling the ascending speed of the lifter in the lifting control apparatus according to another embodiment of the present invention.

The above-described objects, features, and advantages will become more apparent through the following detailed description in relation to the accompanying drawings, whereby those of ordinary skill in the art to which the present invention pertains can easily implement the technical idea of the present invention. There will be. In addition, in the description of the present invention, if it is determined that a detailed description of a known technology related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted. Hereinafter, a preferred embodiment according to the present invention will be described in detail with reference to the accompanying drawings.

1A and 1B are perspective views of a lifter, in accordance with an embodiment of the present invention.

2A and 2B are views illustrating a lifter raised by one stage according to an exemplary embodiment of the present invention.

3A and 3B are diagrams illustrating a lifter raised in two stages according to an exemplary embodiment of the present invention.

4 is a side cross-sectional view of a lifter, in accordance with an embodiment of the present invention;

1 to 4, the lifter 10 according to the present invention includes a lower frame 100, a fixed guide frame 300, a first elevating frame 400, a second elevating frame 500, a hydraulic pack ( 600 ), a lift control device 700 , a hydraulic cylinder 800 , and a height measurement sensor 900 .

The lower frame 100 supports the fixed guide frame 300 and the hydraulic pack 600 , and also functions to seat the lifter 10 on the ground. A plurality of supports 110 and 120 having a predetermined length are formed in the front direction of the lower frame 100 , and wheels 130 are formed on the rear surface of the lower frame 100 . A hydraulic cylinder 800 is installed in a predetermined area of the upper surface of the lower frame 100 .

In addition, a wheel assembly 140 for controlling the movement of the wheel is formed on the upper portion of the wheel 130 , and the wheel assembly 140 is connected to the handle 200 through an extension bar 210 . Accordingly, when the handle 200 is rotated left or right, the rotational force is transmitted to the wheel assembly 140 , and accordingly, the wheel 130 is rotated left or right as intended by the user. In addition, the wheel assembly 140 may include a braking member for preventing rotation of the wheel.

The hydraulic cylinder 800 raises one or more of the first lifting frame 400 and the second lifting frame 500 based on the hydraulic pressure supplied from the hydraulic pack 600 . The hydraulic cylinder 800 may change the rising speed according to the magnitude of the hydraulic pressure supplied to the hydraulic pack 600 . That is, the hydraulic cylinder 800 may have an ascending speed controlled according to the amount of hydraulic pressure supplied from the hydraulic pack 600 , and a descending speed may be controlled according to the hydraulic pressure removed from the hydraulic pack 600 . The hydraulic cylinder 800 may be a cylinder that rises in multiple stages. That is, the hydraulic cylinder 800 may include a first hydraulic cylinder rising to the first stage and a second hydraulic cylinder rising to the second stage.

The hydraulic pack 600 is a hydraulic valve, a hydraulic oil tank, a motor, a connecting pipe, etc., as components necessary for supplying or removing the hydraulic pressure to the hydraulic cylinder are integrally configured, supplying the hydraulic pressure to the hydraulic cylinder 800 or The hydraulic pressure supplied to the hydraulic cylinder 800 is removed. The hydraulic pack 600 may be coupled to the upper surface of the lower frame 100 , or may be coupled to the rear surface of the first fixed guide frame 300 . In addition, the hydraulic pack 600 may be coupled to the upper surface of the lower frame 100 and at the same time coupled to the rear surface of the first fixed guide frame 300 . When the hydraulic cylinder 800 is formed in multiple stages, the hydraulic pack 600 may supply hydraulic pressure to the first stage cylinder and then supply hydraulic pressure to the second stage cylinder when the elevation of the first stage cylinder is completed. The hydraulic pack 600 may have different hydraulic pressures supplied to the first-stage cylinder and the second-stage cylinder. In particular, the hydraulic pack 600 may supply hydraulic pressure to the hydraulic cylinder 800 or remove the hydraulic pressure supplied to the hydraulic cylinder 800 under the control of the elevation control device 700 .

The fixed guide frame 300 is coupled to the upper surface of the lower frame 100 and includes two guide parts 310 and 320 for guiding the ascending and descending of the first lifting frame 400, and additionally a coupling bar 330 . and a fall prevention unit 340 . The guide parts 310 and 320 are formed upright on both sides, and a space in which the first elevating frame 400 can slide is formed inside. In addition, a coupling bar 330 of a predetermined length is fastened to the rear surface of each of the guide parts 310 and 320 , and accordingly, each of the guide parts 310 and 320 and the coupling bar 330 are integrated as one frame. The coupling bar 430 of the first elevating frame 400 may be seated on the upper surface of the coupling bar 330 of the fixed guide frame 300 . That is, when the lifter 10 is not raised, the coupling bar 430 of the first elevating frame 400 is seated on the upper surface of the coupling bar 330 of the fixed guide frame 300 . The coupling bar 330 of the fixed guide frame 300 is longer than the coupling bar 430 of the first elevating frame 400 .

The first elevating frame 400 is slidably coupled to the inside of the fixed guide frame 300 , and ascends and descends along the guide portions 310 and 320 of the fixed guide frame 300 . The first elevating frame 400 includes two guide portions 410 and 420 for guiding the rise and fall of the second elevating frame 500 , a coupling bar 430 , and a fall prevention unit 440 . The guide portions 410 and 420 of the first elevating frame 400 are formed upright on both sides. In addition, the outer surfaces of the guide parts 410 and 420 of the first lifting frame 400 are slidably coupled to the inner surfaces of the guide parts 310 and 320 of the fixed guide frame 300, and the first lifting frame A space is formed on the inner surface of the guide portions 410 and 420 of the 400 to slide the outer surfaces of the guide portions 510 and 520 of the second elevating frame 500 . A locking member (not shown in the drawings) having a predetermined area may be formed on the inner surface of the guide parts 410 and 420 to suppress the rise of the second lifting frame 500 and to ascend to the second stage. The locking member includes a protrusion member (not shown in the drawing) of a predetermined shape protruding from the side surfaces of the guide parts 510 and 520 of the second elevating frame 500 when the second elevating frame 500 rises. face-to-face contact

In addition, a coupling bar 430 of a predetermined length is fastened to the rear surface of the upper portion of the first elevating frame 400 , and accordingly, each guide part 410 , 420 and the coupling bar 430 are integrated as one frame. When the lifter 10 is not raised, the first elevating frame 400 coupling bar 430 is seated on the upper surface of the coupling bar 330 of the fixed guide frame 300 .

The second elevating frame 500 is slidably coupled to the inside of the first elevating frame 400 , and ascends and descends along the guide portions 410 and 420 of the first elevating frame 400 . The second elevating frame 500 includes two guide units 510 and 520 that slide upward or downward along the guide units 410 and 420 of the first elevating frame 400 , and the guide unit 510 . , and a connection bar 530 coupled to the top of the 520). A lower surface of the connection bar 530 is coupled to the other end of the hydraulic cylinder 800 .

A fork support bar 540 is coupled to the lower front surface of the second elevating frame 500 . That is, a fork support bar 540 having a predetermined width is coupled to the front surface of each of the guide parts 510 and 520 of the second elevating frame 500 . In addition, the fork 550 is coupled to the front surface of the fork support bar 540 . A weight is loaded on the upper surface of the fork 550 .

In addition, an end of a wire is fixed to a specific point on the lower surface of the fork support bar 540 , and a height measuring sensor 900 is installed in the lower frame 100 in a vertical downward direction of the wire. The height measuring sensor 900 may measure the height of the weight by measuring the length at which the wire is unwound in a state in which the wire is wound. As another embodiment, the height measuring sensor 900 does not require a wire, and may be a sensor that measures the height of the load using infrared, ultrasonic, laser, or the like. The height measuring sensor 900 may measure the height of the fork 550 as the height of the load or may measure the height of the fork support bar 540 .

The principle that the lifter 10 having such a structure rises is described. As shown in FIG. 1 , when hydraulic pressure is supplied from the hydraulic pack 600 to the hydraulic cylinder 800 in a state where the lifter does not rise, the hydraulic cylinder 800 rises. This is started, and the second lifting frame 500 coupled to the other end of the hydraulic cylinder 800 is gradually raised by the lifting force of the hydraulic cylinder 800 . When the second elevating frame 500 rises to a predetermined height, the protruding member formed on the outer surface of the guide portions 510 and 520 of the second elevating frame 500 is formed by the guide portion 410 of the first elevating frame 400, 420) comes into face-to-face contact with the engaging member formed on the inner surface (refer to FIG. 2). In this way, the protruding member formed on the outer surface of the guide parts 510 and 520 of the second lifting frame 500 is in face-to-face contact with the engaging member formed on the inner surface of the guide parts 410 and 420 of the first lifting frame 400 . When hydraulic pressure is continuously supplied, the lifting force of the second lifting frame 500 is transmitted to the first lifting frame 400 so that the first lifting frame 400 and the second lifting frame 500 rise together, and as a result, As shown in 3, the lifter 10 rises to the height of the second stage.

On the other hand, the lifter 10 according to the present invention is configured to include a plurality of fall prevention parts 340 and 440 and a plurality of lowering locking parts 421 and 521 in order to prevent the rising frames 400 and 500 from falling. do

5 is a view illustrating a plurality of fall arresters and a locking jaw included in a lifter according to an embodiment of the present invention.

Referring to FIG. 5 , a fall prevention unit 340 is installed on the coupling bar 330 of the fixed guide frame 300 . The fall prevention part 340 is installed at a position of the coupling bar 330 opposite to the second guide part 420 of the first elevating frame 400 . In addition, on the rear surface of the second guide part 420 of the first elevating frame 400 , a descending engaging part 421 of a sawtooth pattern is formed, and the descending engaging part 421 is a second guide part 420 and rise or fall together.

The fall prevention unit 340 is movable in the front and rear directions, and includes a moving member 341 and a support member 342 . The support member 342 is coupled to the moving member 341 , and may move toward the lowering stopper 421 or move in the opposite direction to the lowering stopper 421 according to the forward and backward movement of the moving member 431 .

The support member 342 moves closer in the direction of the lowering stopper 421 when the lifter 10 ascends and descends, and comes into contact with the lowering stopper 421 when the lowering stopper 421 ascends. . Conversely, when the lifter 10 is lowered, the support member 342 moves in the opposite direction of the lowering stopper 421 so that the lowering stopper 421 engages with the lowering stopper 421 when descending. become non-contact.

It may be manufactured in a predetermined shape, such as a parallelogram of the support member 342 . In particular, among the surfaces of the support member 342 , a first contact surface in contact with the descending engaging portion 421 is parallel to the diagonal line of the descending engaging portion 421 , and a second contact surface is parallel to the parallel line of the descending engaging portion 421 . do.

As shown in the drawing, the lowering stopper 421 is formed on the rear surface of the second guide portion 420 of the first elevating frame 400 in a sawtooth-shaped pattern in which oblique lines and parallel lines alternate. In a state in which the support member 342 is moved close in the direction of the lowering stopper 421, portions formed in parallel with the ground in the plurality of lowering stoppers 421 are supported when the first elevating frame 400 falls. By being caught by the member 342, the fall of the first elevating frame 400 is prevented, and as a result, the sudden fall of the heavy load is prevented.

On the other hand, in the fall prevention unit 340, one end of the moving member 341 is connected to the support member 342 and the other end is connected to an elastic member such as a spring, so that it can be moved in the rear direction by force. Accordingly, the moving member 341 is movable in the rear direction (ie, in the opposite direction to the lowering stopper) by the force, and returns to its original state if no force is applied. Due to the fall prevention unit 340 having such a structure, when the lowering stopper 421 rises by the rise of the first elevating frame 400, it falls according to the upward movement of the diagonal line formed in the lowering stopper 421. After the moving member 341 and the supporting member 342 of the prevention part 340 are moved in the rear direction, when an oblique line passes, they are returned to their original state. Due to this interaction, when ascending, the fall prevention unit 340 does not interfere with the ascending action of the first elevating frame 400 .

The fall prevention structure between the second rising frame 500 and the first rising frame 400 is also similar to the fall prevention structure between the fixed guide frame 300 and the first rising frame 400 .

When the fall prevention structure between the second lifting frame 500 and the first lifting frame 400 is described with reference to FIG. 5 again, the fall prevention unit 440 is also provided on the coupling bar 430 of the first lifting frame 400 is installed The fall prevention part 440 is installed at a position of the coupling bar 430 opposite to the second guide part 520 of the second elevating frame 500 . On the rear surface of the second guide portion 520 of the second elevating frame 500 , a lowering engaging portion 521 having a sawtooth pattern is formed.

The fall prevention unit 440 is movable in the front and rear directions, and includes a support member 442 and an elastic member 421 . The support member 442 is coupled to the moving member 441 , and may move toward the lowering stopper 521 or move in the opposite direction to the lowering stopper 521 . The support member 442 moves closer in the direction of the lowering stopper 521 when the lifter 10 moves up and down, and comes into contact with the lowering stopper 521 when the lowering stopper 521 ascends. . Conversely, when the lifter 10 descends, the support member 442 moves in the opposite direction to the lowering stopper 521 so that the lowering stopper 521 does not come into contact with the lowering part 521 .

It may be manufactured in a predetermined shape, such as a parallelogram of the support member 442 . In particular, among the surfaces of the support member 442 , a first contact surface in contact with the lowering stopper 521 is parallel to the diagonal line of the lowering stopper 521 , and a second contact surface is parallel to the parallel line of the lowering stopper 521 . do.

As shown in the drawing, the lowering stopper 521 is formed on the rear surface of the second guide portion 520 of the second elevating frame 500 in a sawtooth-shaped pattern in which oblique lines and parallel lines alternate. In a state in which the support member 442 is moved close to the lowering stopper 521, portions formed in parallel with the ground in the plurality of lowering stoppers 521 are supported when the second elevating frame 500 falls. Hooked by the member 442, the fall of the second elevating frame 500 is prevented, as a result, the sudden fall of the heavy load is prevented.

Meanwhile, in the fall prevention unit 440 , one end of the moving member 441 may be connected to the support member 442 , and the other end may be connected to an elastic member having an elastic force. Accordingly, the moving member 441 is movable in the rear direction (ie, in the direction opposite to the lowering stopper) by force, and returns to its original state if no force is applied. Due to the fall prevention unit 440 having such a structure, when the lowering stopper 521 rises by the rise of the second elevating frame 500 , it falls according to the upward movement of the diagonal line formed in the lowering stopper 521 . After the moving member 441 and the supporting member 442 of the prevention part 440 are moved in the rear direction, when the oblique line passes, they are returned to their original state. Due to this interaction, when ascending, the fall prevention unit 440 does not interfere with the ascending action of the second lifting frame 500 .

The elevation control device 700 is a computing device including one or more processors and a memory, and may control the elevation speed of the lifter 10 and may also control the elevation speed. Also, the elevation control device 700 may cooperate with one or more other lifters 10 to control the elevation of the lifter 10 managed by itself based on the elevation state of the other lifters.

The lifter 10 may lift the weight by collaborating with another lifter for a weight that exceeds the load it can lift or has a large volume.

6 is a diagram illustrating a state in which a plurality of lifters cooperate according to an embodiment of the present invention.

As shown in FIG. 6 , after the plurality of lifters 10-1, 10-2, 10-3, and 10-4 are spaced apart from each other by a predetermined interval, after loading the weight 20 of their fork At the same time, the weight 20 is raised.

However, as described above, it is important to raise the weight to the same height when raising the weight in cooperation between lifters.

The lifting control device 700 according to the present invention analyzes the lifting information received from other lifters and its own lifting information, and controls the lifter 10 to raise the weight to the same height as other lifters.

7 is a view showing an elevation control device according to an embodiment of the present invention.

Hereinafter, the lifter 10 on which the elevation control device 700 is mounted is referred to as a control target lifter.

As shown in FIG. 7 , the elevation control device 700 according to an embodiment of the present invention includes a storage unit 710 , a communication unit 720 , a sensing unit 730 and a control unit 740 , and such Components may be implemented as hardware or software, or may be implemented through a combination of hardware and software.

The elevation control device 700 may include one or more processors and a memory, and may be mounted in the memory in the form of a program executed by the processor through an operation of the elevation control device 700 to be described later.

The storage unit 710 is a storage means such as a disk device, a memory, and the like, and performs a function of storing various data, programs, and instruction sets required for the operation of the elevator control apparatus 700 .

The communication unit 720 includes one or more of a wired communication module and a short-range wireless communication module, and performs a function of communicating with another lifter using the communication module. The communication unit 720 may receive lifting information from another lifter. In addition, the communication unit 720 may transmit the lifting information of the control target lifter to another lifter. The lifting information includes identification information of the lifter, and may include a height. In addition, the lifting information may additionally include an ascending speed.

The sensing unit 730 measures the height of the weight by using the height measuring sensor 900 . The sensing unit 730 measures the height of the weight in real time or at regular intervals, and transmits the measured height of the weight to the controller 740 .

The control unit 740 controls the elevation of the lifter 10 to be controlled, and also performs a function of collaborating with other lifters. The control unit 740 may set the control target lifter 10 to a single mode or a cooperative mode, check the current lifting state in the case of a single mode, and transmit the lifting information including the lifting state to a designated master device (eg, , to the administrator's smartphone or PC). At this time, the control unit 740 may transmit the lifting information to the master device by using the communication unit 720, and may also transmit the lifting information to the master device in the cooperative mode. In addition, after receiving a control command from the master device using the communication unit 720, the control unit 740 may control the lifter 10 according to the control command.

The lifting information includes identification information of the lifter to be controlled and the height of the weight, and may additionally include an ascending speed. The control unit 740 may continuously check the height of the weight through the sensing unit 730 and include it in the lifting information. In addition, the control unit 740 may check the height change information of the weight at regular intervals (eg, at intervals of 1 second), calculate the ascent speed based on the height increased per cycle, and include it in the lifting information.

When the control unit 740 operates in the cooperative mode, it transmits its lifting information to another lifter using the communication unit 720 . In addition, the control unit 740 analyzes the lifting information of the other lifter received through the communication unit 720 to temporarily stop the ascent of the lifter 10 or control the ascent speed.

The control unit 740 interworks with the hydraulic pack 600 to determine the strength of the hydraulic pressure provided to the hydraulic cylinder 800 . In particular, the control unit 740 may instruct the hydraulic pack 600 to stop ascending so that the hydraulic pressure supply to the hydraulic cylinder 800 is temporarily stopped, and instruct the hydraulic pack 600 to resume ascending to the hydraulic cylinder 800 . The hydraulic supply to the furnace can be controlled to resume.

8 is a flowchart illustrating a method for controlling the lifting of a lifter based on lifting information received from another lifter by the lifting control apparatus according to an embodiment of the present invention.

Referring to FIG. 8 , when the control target lifter 10 collaborates with another lifter, the control unit 740 of the lifting control device 700 sets the working mode of the lifter 10 to the cooperative mode (S801) . Next, the lifting control device 700 starts to lift the heavy object at the same time as the other lifters, and gradually raises the weight (S803).

When the lifting in the cooperative mode is performed in this way, the control unit 740 measures and monitors the height of the rising weight by using the sensing unit 730 ( S805 ). Next, the control unit 740 generates lifting information including the identification information of the control target lifter 10 and the measured height, and transmits the generated lifting information to another lifter using the communication unit 720 ( S807).

Then, the control unit 740 receives the lifting information from a plurality of other lifters using the communication unit 720 (S809), and analyzes the received lifting information to determine the minimum height among the heights of the weight raised by the other lifters (S811). That is, the control unit 740 checks each of the heights in the plurality of lifting information received from other lifters, and identifies the minimum height having a minimum value among these heights.

Next, the control unit 740 compares the checked minimum height with the height measured through the sensing unit 730, and determines whether the height of the weight measured through the sensing unit 730 is equal to or greater than the checked minimum height ( S813).

Next, if the measured weight height is equal to or greater than the minimum height, the controller 740 calculates a difference between the measured weight height and the minimum height, and checks whether the height difference is greater than or equal to a preset threshold (S815). , S817).

When the height difference is greater than or equal to a preset threshold, the control unit 740 transmits a lifting pause signal to the hydraulic pack 600 in order to balance the height and the minimum height of the weight raised by the control target lifter 10 . (S819). Then, the hydraulic pack 600 temporarily stops supplying hydraulic pressure to the hydraulic cylinder 800 , and accordingly, the lifting of the weight in the controlled lifter 10 is temporarily stopped. Accordingly, the other lifter who has raised the weight to the current minimum height will continue to raise the weight, and the lifter who has raised the weight to a relatively high level is in a standby state in which the lifting of the weight is temporarily stopped.

In this way, in a state in which the lifting of the control target lifter 10 is temporarily stopped, the control unit 740 continuously receives the lifting information from a plurality of other lifters using the communication unit 720 ( S821 ), and the most recently received One lifting information is analyzed and the minimum height is checked again among the heights of the weights raised by other lifters (S823). That is, the control unit 740 checks each of the heights in the plurality of lifting information received from other lifters, and checks the minimum height having a minimum value among these heights again.

Next, the control unit 740 calculates a difference between the height of the weight measured by the sensing unit 730 and the re-checked minimum height, and re-confirms whether the height difference is equal to or greater than a preset threshold (S825, S827).

If the height difference is less than a preset threshold, the control unit 740 determines that the height balance between the lifters in cooperation is maintained, and transmits a rising resume signal to the hydraulic pack 600 (S829). Then, the hydraulic pack 600 resumes supplying hydraulic pressure to the hydraulic cylinder 800 , and accordingly, the lifting of the weight in the controlled lifter 10 starts again.

The method according to FIG. 8 is repeatedly performed until the ascent to the specified target height is achieved.

According to the process according to FIG. 8 , each of the plurality of lifters transmits the height of their own weight to the other lifter, and compares the heights of the weights of the other lifters to raise the weight together while maintaining the balance of the weight.

Meanwhile, in the cooperative mode, the load of the heavy object may be different for each lifter, and accordingly, the lifting speed of the heavy object may be different for each lifter. In this case, the minimum height is continuously measured in a specific lifter, and accordingly, other lifters may repeatedly stop/resume the ascent.

In order to minimize repetition of stopping and resuming ascent, in another embodiment of the present invention, the elevation control device 700 may control the elevation speed of the controlled lifter 10 based on the lifter having the minimum elevation speed. Ascent speed control in cooperative mode can be applied to inverter-type lifters that can change speed. Here, the inverter-type lifter means a lifter that can change the speed of the lifter as a result of changing the rotation speed of the motor driving the hydraulic pump that supplies the hydraulic pressure to the lifter.

9 is a flowchart illustrating a method of controlling the ascending speed of the lifter in the lifting control apparatus according to another embodiment of the present invention.

The method according to FIG. 9 can be applied to an inverter type lifter capable of changing the speed.

Referring to FIG. 9 , when the control target lifter 10 collaborates with another lifter, the control unit 740 of the lifting control device 700 sets the working mode of the lifter 10 to the cooperative mode (S901) . Next, the lifting control device 700 starts to lift the heavy object at the same time as the other lifters, and gradually raises the weight (S903).

When the lifting in the cooperative mode is performed in this way, the control unit 740 measures the height change per unit time set in advance using the sensing unit 730, and measures the lifting speed of the weight based on the measured height change (S905) ). Next, the control unit 740 generates lifting information including the identification information of the control target lifter 10 and the measured height and ascent speed, and transfers the generated lifting information to another lifter using the communication unit 720 . transmit (S907).

Then, the control unit 740 receives the lifting information from a plurality of other lifters using the communication unit 720 (S909). And the control unit 740 checks the rising speed in each of the received lifting information, and confirms the minimum rising speed having a minimum value among them (S911).

Then, the control unit 740 compares the ascent speed of the controlled lifter 10 with the checked minimum ascent speed, and if the minimum ascent speed is slower, sets the ascent speed of the controlled lifter 10 to the checked minimum ascent speed, (S913), the hydraulic pressure pack 600 is controlled so that the hydraulic pressure is supplied according to the minimum rising speed (S915).

The control unit 740 analyzes the lifting information received from other lifters continuously without changing the ascent speed in a single shot, and continuously grasps the minimum ascent speed, and then controls the lifter ( 10) can be controlled to change in real time.

On the other hand, when the hydraulic cylinder 800 is formed in multiple stages, when the hydraulic pressure is supplied to the second stage cylinder after the hydraulic pressure of the first stage cylinder is supplied, the second stage cylinder may be raised faster than the rising speed of the first stage cylinder. That is, when the rising stage is changed from the 1st stage cylinder to the 2nd stage cylinder, the rising speed is instantaneously increased. In this case, the ascent speed of the lifter whose hydraulic pressure is first supplied to the second stage cylinder is instantaneously faster than that of other lifters, so the height balance between the lifters working together may not be maintained.

In order to prevent this, when the stage of the hydraulic cylinder reaches a point where the stage is changed, the control unit 740 transmits a lifting pause signal to the hydraulic pack 600 to temporarily stop the lifting of the weight. That is, the height immediately before the change from the first stage to the second stage (hereinafter referred to as 'stage change height') is set and stored in advance, and the control unit 740 uses the sensing unit 730 to measure the height of the weight. When the height of the weight reaches the height of the step change by monitoring, the lifting temporary stop signal is transmitted to the hydraulic pack 600 to control the lifting of the weight to be stopped. Subsequently, the control unit 740 transmits a standby message informing that the stage change of the hydraulic cylinder 800 is ready to other lifters through the communication unit 720, and monitors whether standby messages are received from all other lifters in cooperation. .

When the control unit 740 receives a standby message informing that the stage change of the hydraulic cylinder 800 is ready from all other lifters, the control unit 740 transmits a lifting resume signal to the hydraulic pack 600, and the lifting of the heavy object is resumed through the second stage cylinder. control it so much

In other words, the control unit 740 controls the hydraulic cylinder 800 to stop immediately before the hydraulic cylinder 800 is raised from the first stage to the second stage, and then broadcasts a standby message to other lifters. In addition, the control unit 740 transmits the ascent resume signal to the hydraulic pack 600 when not only the lifter 10 that has stopped ascending but also the other lifters are ready for stage change (that is, when a standby message is received from other lifters). By transmitting, the lift of the heavy object is controlled to be resumed through the second stage cylinder. Accordingly, all lifters working together temporarily stop lifting just before the stage is changed, and by sending and receiving the standby message, the lifters simultaneously raise the weight using the cylinders of the two stages.

While this specification contains many features, such features should not be construed as limiting the scope of the invention or the claims. Also, features described in individual embodiments herein may be implemented in combination in a single embodiment. Conversely, various features described herein in a single embodiment may be implemented in various embodiments individually, or may be implemented in appropriate combination.

Although acts have been described in the drawings in a specific order, it should not be understood that the acts are performed in the specific order as shown, or that all of the described acts are performed in a continuous order, or to obtain a desired result. .

The present invention described above, for those of ordinary skill in the art to which the present invention pertains, various substitutions, modifications and changes are possible without departing from the technical spirit of the present invention. It is not limited by the drawing.

10: lifter 100: lower frame
110, 120: support 130: wheel
140: wheel assembly 200: handle
210: extension bar 300: fixed guide frame
310, 320: guide part 330: coupling bar
340: fall prevention unit 400: first elevating frame
410, 420: guide part 421: descending locking part
430: coupling bar 440: fall prevention part
500: second elevating frame 510, 520: guide part
521: descending hook 530: connecting bar
540: fork support bar 550: fork
600: hydraulic pack 700: elevating control device
710: storage unit 720: communication unit
730: sensing unit 740: control unit
800: hydraulic cylinder 900: height measuring sensor

Claims (13)

In the control device for controlling the operation of the lifter by being mounted on a lifter that raises the weight seated on the fork together in cooperation with one or more other lifters,
a communication unit communicating with one or more other lifters;
a sensing unit for measuring the height of a weight rising from the lifter; and
Receiving lifting information from one or more other lifters through the communication unit and analyzing the received lifting information and the height measured by the sensing unit, the height of lifting weight of the other lifter and the height of lifting the weight of the lifter are balanced Includes; a control unit for controlling the lifter so as to rise
The control unit is
Analyze each of the received lifting information to determine the minimum height among the heights of the weights raised by each other lifter, and compare the height of the weight measured through the sensing unit with the minimum height to determine the height of the weight measured above. If it is higher than the minimum height by more than a threshold, the lifter temporarily stops rising,
After temporarily stopping the lifting of the lifter, it continuously receives lifting information from other lifters through the communication unit, analyzes each of the received lifting information to check the minimum height again, and the weight measured through the sensing unit If the height is less than the re-checked minimum height, the control device, characterized in that the lifting of the lifter is resumed. delete delete In the control device for controlling the operation of the lifter by being mounted on a lifter that raises the weight seated on the fork together in cooperation with one or more other lifters,
a communication unit communicating with one or more other lifters;
a sensing unit for measuring the height of a weight rising from the lifter; and
Receiving lifting information from one or more other lifters through the communication unit and analyzing the received lifting information and the height measured by the sensing unit, the height of lifting weight of the other lifter and the height of lifting the weight of the lifter are balanced Includes; a control unit for controlling the lifter so as to rise
The control unit is
A control device, characterized in that by analyzing each of the received lifting information, confirming a minimum ascending speed having a minimum value, and changing the ascending speed of the lifter according to the checked minimum ascending speed. In the control device for controlling the operation of the lifter by being mounted on a lifter that raises the weight seated on the fork together in cooperation with one or more other lifters,
a communication unit communicating with one or more other lifters;
a sensing unit for measuring the height of a weight rising from the lifter; and
Receiving lifting information from one or more other lifters through the communication unit and analyzing the received lifting information and the height measured by the sensing unit, the height of lifting weight of the other lifter and the height of lifting the weight of the lifter are balanced Includes; a control unit for controlling the lifter so as to rise
The control unit is
When the height of the heavy object reaches the height of the stage change by monitoring whether it reaches the height of the stage change, the lifting of the lifter is temporarily stopped, and a standby message informing that the stage change is ready is transmitted to the other lifter using the communication unit. controller. 6. The method of claim 5,
The control unit is
When a standby message is received from all other lifters through the communication unit, the control apparatus according to claim 1, wherein the lifting of the lifter is resumed. In the control device for controlling the operation of the lifter by being mounted on a lifter that raises the weight seated on the fork together in cooperation with one or more other lifters,
a communication unit communicating with one or more other lifters;
a sensing unit for measuring the height of a weight rising from the lifter; and
Receiving lifting information from one or more other lifters through the communication unit and analyzing the received lifting information and the height measured by the sensing unit, the height of lifting weight of the other lifter and the height of lifting the weight of the lifter are balanced Includes; a control unit for controlling the lifter so as to rise
The control unit is
Control, characterized in that by periodically checking at least one of the height of the heavy object and the ascending speed, and transmitting lifting information including one or more of the periodically checked height and ascending speed of the heavy object to another lifter using the communication unit Device. A method of lifting a heavy object in a cooperative mode in a lifter that raises a weight seated on a fork in collaboration with one or more other lifters, comprising:
Measuring the height of the weight being loaded and rising from the fork;
receiving lifting information from one or more other lifters; and
Analyzing the received lifting information and the measured height of the weight, controlling the lifting of the lifter so that the lifting height of the other lifter and the lifting height of the lifter are balanced.
The controlling step is
Analyzing each of the received lifting information and confirming the minimum height among the heights of the weights raised by each other lifter;
comparing the measured height of the weight with the minimum height and temporarily stopping the lifting of the lifter when the measured height of the weight is higher than the minimum height by a threshold value or more;

After the pause, continuously receiving lifting information from one or more other lifters, and analyzing the received lifting information to check the minimum height again; and
When the measured height is less than the re-confirmed minimum height, resuming the lifting of the lifter; a heavy lifting method comprising a. delete delete A method of lifting a heavy object in a cooperative mode in a lifter that raises a weight seated on a fork in collaboration with one or more other lifters, comprising:
Measuring the height of the weight being loaded and rising from the fork;
receiving lifting information from one or more other lifters; and
Analyzing the received lifting information and the measured height of the weight, controlling the lifting of the lifter so that the lifting height of the other lifter and the lifting height of the lifter are balanced.
The controlling step is
Analyzing each of the received lifting information, confirming a minimum ascending speed having a minimum value; and
Changing the lifting speed of the lifter to the confirmed minimum ascending rate; A method of lifting a heavy object comprising a. A method of lifting a heavy object in a cooperative mode in a lifter that raises a weight seated on a fork in collaboration with one or more other lifters, comprising:
Measuring the height of the weight being loaded and rising from the fork;
receiving lifting information from one or more other lifters; and
Analyzing the received lifting information and the measured height of the weight, controlling the lifting of the lifter so that the lifting height of the other lifter and the lifting height of the lifter are balanced.
The controlling step is
monitoring whether the height of the weight reaches a stage change height;
temporarily stopping the lifting of the lifter when the height of the weight reaches the step change height; and
However, the step of transmitting a standby message indicating that the change is ready to another lifter; heavy lifting method comprising a. 13. The method of claim 12,
The controlling step, after the step of transmitting to the other lifter,
When the standby message is received from all other lifters, the step of resuming ascent of the lifter; the method of lifting a heavy object further comprising a.

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