WO2012001994A1 - 操作装置及びその操作装置を備える移動装置 - Google Patents
操作装置及びその操作装置を備える移動装置 Download PDFInfo
- Publication number
- WO2012001994A1 WO2012001994A1 PCT/JP2011/003787 JP2011003787W WO2012001994A1 WO 2012001994 A1 WO2012001994 A1 WO 2012001994A1 JP 2011003787 W JP2011003787 W JP 2011003787W WO 2012001994 A1 WO2012001994 A1 WO 2012001994A1
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- WIPO (PCT)
- Prior art keywords
- detection unit
- input
- operating device
- unit
- ring
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
- B66C13/44—Electrical transmitters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K5/00—Casings, cabinets or drawers for electric apparatus
- H05K5/0017—Casings, cabinets or drawers for electric apparatus with operator interface units
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K5/00—Casings, cabinets or drawers for electric apparatus
- H05K5/02—Details
- H05K5/03—Covers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
Definitions
- the present invention directs the operation of a driving device that drives the movement of an object, and manipulates the moving direction of the object (including the azimuth and direction of movement, etc., hereinafter the same applies in the present invention and the present specification).
- the present invention relates to an operating device that can be used and a moving device including the operating device.
- the operator instructs the operation of the drive device that drives the movement of the object by changing the amount of relative rotation between the housing of the first device element and the housing of the second device element.
- An operation device capable of operating the direction of movement of an object is known, and a movement device including such an operation device is also known (Patent Documents 1 and 2).
- the conventional operating device has a gap between the housing of the first device element and the housing of the second device element. When there is this gap, dust and water that adversely affect the electronic substrate and electronic components in the housing are likely to enter.
- the housing of the first (or second) device element is usually on the upper side, and the second (or first) device element is Since the casing is arranged on the lower side, the weight balance of the operation device, the installation position of the operation buttons, etc. must be designed comprehensively from the viewpoint of ease of use for the operator. In addition, if parts are assigned to both cases in consideration of the weight balance, the problem that the assembly becomes complicated cannot be ignored.
- the present invention has been made in view of the above problems, and firstly, it provides an operating device having higher sealing performance (for example, dust resistance and waterproofness), together with restrictions on design and load of assembly work. It is an object of the present invention to provide an operation device with a small amount of movement and to provide a moving device including such an operation device.
- the present invention is an operating device including a detection unit that detects an input related to an operation instruction of a driving device that drives the movement of an object, and a housing, wherein the plurality of detection units correspond to the moving direction of the object. Then, it is arranged in a part or all of the range around the trunk of the casing.
- an outer cover member that covers the detection unit is provided.
- the outer member is rotatable around the trunk of the casing at least within a range where the detection units are arranged.
- the outer member is provided with an input unit for performing the input.
- a fine adjustment input detection unit that detects an input related to an instruction for correcting the moving direction of the object is provided.
- the casing is formed so as to be relatively rotatable with respect to the inner casing on the outer side of the inner casing having the detection unit provided on the surface thereof, and the inner casing. It has an external housing provided with an inner surface of a reference member which is an ON means with respect to the detection portion of the internal housing.
- the inner casing since the inner casing is housed inside the outer casing, the operator simply rotates the outer casing, and by the relative rotational displacement with the inner casing inside. The movement direction can be changed. For this reason, it is possible for the operator to change the moving direction of the object with an operation based on the sensuousness of the operating person without requiring confirmation of the correct direction such as east, west, south, and north.
- an illumination that forms a light spot as a notification unit that informs a traveling direction of the traveling body that is moved by the driving device on a surface that is exposed to the outside of the housing and corresponds to a side opposite to the operator.
- a device is arranged. According to the above configuration, the operator himself / herself is notified of the direction of the traveling body when he / she operates, by using the light spot. It is possible to perform the operation, and attention can be paid to the moving object and the person in the direction of movement of the object by the moving object and the human beings in the vicinity (human beings around the operator), so that the occurrence of an accident can be prevented in advance. Can do.
- the surrounding human can know the direction in which the traveling body is directed, that is, the direction in which the moving object is directed, by notifying the notification section without confirming the display on the display section. It is possible to detect the danger of the person due to the approaching of the object at an early stage.
- the leaving means is a light spot, the light irradiated from the operating device illuminates the traveling body instructed by the operating device by the operator or the moving direction of the object by the traveling body, so that the operator and the surroundings Can recognize the moving direction visually or intuitively.
- the display unit for displaying is fixed to a traveling body that moves together with the object. According to the above configuration, since the display unit is arranged at a high position in the work space, an operator who views the display unit and / or surroundings by an object moving in the work space, an installation in the work space, or the like. Since the human view is not obstructed, the worker can perform each work quickly, reliably and safely.
- the display unit is arranged on a traveling body that travels on a Y-direction rail, the operator and / or surrounding people can see the moving direction of the object and the behavior of the driving device from the display unit that moves with the traveling body. Since knowledge recognition or prediction can be performed, it is possible to easily and intuitively grasp the positional relationship and sense of distance between the self or the surrounding person and the moving object.
- the present invention is a moving device including a driving device that drives movement of an object and an operating device that instructs the operation of the driving device, the operating device according to any one of the first to eighth aspects. It is characterized by being.
- a plurality of detection units for detecting an input related to an operation instruction of a driving device that drives the movement of an object, a part or all of the circumference of the case corresponding to the movement direction of the object Therefore, in order to instruct the moving direction of the object, it is sufficient to cause the detection unit corresponding to the moving direction to detect an input related to the instruction. Therefore, according to the first embodiment, there is no need to configure the operating device by two casings that can be rotated relative to each other as in the prior art, and therefore there is no gap between the two casings. In addition, it is possible to realize an operating device having waterproof properties, particularly an operating device having a simpler structure.
- the outer cover member that covers the periphery of the plurality of detection units arranged around a part or all of the circumference of the casing of the operating device is provided, it is further dustproof or waterproof.
- An operating device can be realized (second embodiment).
- a portion of the outer cover member that covers at least the plurality of detection units may be made of a soft material that can be deformed by the finger pressure of the operator, thereby facilitating the operation by the operator. .
- a button member is attached to the mantle member, and the operator presses the button member toward the housing from the outside of the mantle member, thereby instructing the operator to each of the plurality of detection units ( An instruction for the operation of the driving device that drives the movement of the object may be input.
- the button member is a typical example of an input unit (fourth embodiment) for performing an input related to an operation instruction of a driving device that drives the movement of an object.
- the mantle member is configured to be rotatable around the trunk of the housing at least within the range in which the detectors are arranged, the portion to be composed of the soft material and the button member are attached to the housing. Since it is not necessary to install over all or a plurality of detectors arranged in a row, the number of parts to be formed of the soft material and the number of button members can be reduced (third Form).
- the case and the outer member are respectively connected to the first and second (or second and first) of the conventional operation device. It can be handled as a casing of the device element. However, in this case, it is almost unnecessary to attach electronic components to the mantle member, or only a small number of electronic components need to be attached. Therefore, the structure is not complicated compared to the conventional operation device, and in addition, (depending on the embodiment) However, since the number of parts does not increase, it is only necessary to design the casing body around the outer cover member, and the assembly load can be reduced (third form).
- the outer member is rotatably attached to the case body, and the outer member and the outer member are respectively attached to the first and second (or second and first) device elements of the conventional operating device.
- the gap formed between the outer cover member and the housing becomes a problem, but it can be configured so that such a gap is not formed. Can be realized (described later).
- the moving direction of the object can be more accurately indicated. It can. Specifically, an operator's instruction (instruction for the operation of the driving device that drives the movement of the object) is input to a plurality of detection units arranged around the casing of the operation apparatus to input the object. If the movement direction is set roughly and then finely adjusted, more accurate positioning can be performed (fifth embodiment). This is because, since each of the plurality of detection units arranged in a part or all of the circumference of the casing of the operation device is large, more detection units cannot be installed. This is useful when the direction of movement cannot be set in detail.
- the transfer device represented by the crane is a representative example of the moving device according to the present invention, but is not limited to the crane and is not limited to other transfer devices.
- the “detection unit” means a mechanism or means (sensor, element, switch, etc.) having a function of detecting an input related to an operation instruction of a driving device that drives the movement of an object.
- any arrangement method eg vertical, contact type, non-contact method, electromagnetic induction method, electrostatic capacity method, waterproof type, dustproof type, etc.
- any arrangement method eg vertical, contact type, non-contact method, electromagnetic induction method, electrostatic capacity method, waterproof type, dustproof type, etc.
- any arrangement method eg vertical, contact type, non-contact method, electromagnetic induction method, electrostatic capacity method, waterproof type, dustproof type, etc.
- the “input unit” means a member, a part, or the like having a function of performing an input regarding an operation instruction of a driving device that drives the movement of an object to the detection unit.
- a typical example thereof is a button member represented by a button or a panel surface of a touch panel.
- the combination of the detection unit and the input unit may constitute an operation switch for the operator to instruct the operation of the drive device that drives the movement of the object using the operation device.
- an operation switch is also included in the “detection unit”.
- a set of a plurality of or two or more detection units may be expressed as a “detection unit group”.
- a single detection unit has substantially the same function as a plurality of detection units (for example, a detection unit in which a plurality of pressure-sensitive elements are surface-distributed, such as For example, a single detection unit corresponds to the “detection unit group”.
- FIG. 1 It is a perspective view which shows the whole structure of the overhead crane as a moving apparatus which concerns on embodiment of this invention. It is a figure which shows the structure of the hoisting machine as an elevator of an overhead crane as a moving apparatus which concerns on embodiment of this invention. It is a block diagram which shows the principal part structure of the moving apparatus which concerns on the 1st Embodiment of this invention, and its electric structure. It is a figure which shows the structure of the operating device which concerns on the 2nd Embodiment of this invention. It is a figure which shows the structure of the operating device which concerns on the 3rd Embodiment of this invention. It is a figure which shows the structure of the operating device which concerns on the 4th Embodiment of this invention.
- FIG. 17 is a time chart showing an outline of a reference position adjustment method by the reference position adjustment mechanism of FIG. 16.
- FIG. 17 is a flowchart showing processing of each component when executing a reference position adjustment method by the reference position adjustment mechanism of FIG. 16.
- FIG. 1 is a perspective view showing an overall configuration of an overhead crane as a moving device according to an embodiment of the present invention.
- FIG. 2 is a view showing a structure of a hoisting machine as an elevator of an overhead crane as a moving device according to an embodiment of the present invention.
- an overhead crane 1 as a moving device is a row that is at least a pair of X-direction rails arranged in parallel with the X direction at a predetermined interval near the ceiling of a building.
- Rails 2A and 2B are provided.
- a pair of saddles 3A and 3B are provided which are in contact with the wheels via the X direction rails 2A and 2B, respectively, and run in the X direction.
- a crane girder 10 which is a Y direction rail disposed in the Y direction perpendicular to the X direction is provided.
- the traveling body 9 is a traveling elevator, and is configured by fixing a hook 7 as a moving body to the tip of a support wire rope 6 wound around the traveling body 9.
- the overhead crane 1 is configured such that the crane girder 10 is horizontally mounted substantially perpendicular to the traveling rails 2A and 2B, and the traveling body 9 having the hook 7 at the tip moves on the crane girder 10. Therefore, the present invention is centered on a three-dimensional moving mechanism including a Z-axis motor that moves the hook 7 as a moving body in the vertical direction, and an X-axis motor and a Y-axis motor that move in a horizontal plane. It is suitable as such a moving device.
- the communication cable 8 that is bent as a long member but is not twisted hangs down to the vicinity of the floor surface, and the lower end of the communication cable 8 is a housing that is not rotationally displaced relative to the communication cable 8. It is connected to an operating device 3 having a body 31 (described later).
- the communication cable 8 that bends but does not twist is electrically connected to the operating device 3 with a communication line built in a cable tube that bends but does not twist.
- Specific examples of the “flexible but not twisted cable tube” include, for example, a metal flexible conduit and a resin-coated metal flexible conduit defined in JIS-C8309. A product name plica tube or a waterproof plica tube can be used.
- the traveling body 9 has a pair of wheels 14 provided with a crane girder 10 interposed therebetween, and these wheels 14 are driven by a transverse motor (Y-axis motor) 13. By rotating, the traveling body 9 traverses along the crane girder 10.
- a hoisting machine main body 17 is suspended and supported by these traversing units by a support member 15, and a hoisting motor (Z-axis motor) for hoisting or extending the support wire rope 6 on the hoisting machine main body 17. 16 is attached.
- the saddles 3A and 3B that travel on the traveling rails 2A and 2B with the crane girder 10 shown in FIG. 1 supported at both ends are provided with traveling wheels and a traveling motor (X-axis motor) (not shown), respectively. It has been. Further, the hoisting machine main body 17 shown in FIG. 2 has a built-in motor drive control circuit for driving these X-axis motor, Y-axis motor 42 and Z-axis motor 29 according to the operation of the operation device 3. Has been. The motor drive control circuit will be described in detail later.
- a display unit that displays the orientation of the operating device 3 or the traveling direction of the object is provided in a region that is within the field of view of the operator and excluding each surface of the casing 31 of the operating device 3. .
- the display unit 100 is configured as a direction display device and is shown as a flat display panel. However, as will be described later, other shapes are used in order to ensure a wide viewing range. It can also be adopted.
- the display unit 110 causes a person existing in a wide range to see the direction in which the traveling body 9 travels according to a command from the operation device 3 with as large letters and symbols as possible.
- As a method of informing the direction of the display unit 100 light, sound, display of different colors by color display, characters, and the like are appropriately selected.
- the installation place of the display unit 100 is preferably a ceiling or other high place so as to enable visual recognition from a wide range.
- the display unit 100 may be installed at an appropriate location that does not collide with the traveling body 9 of the crane girder 10. If the display unit 100 is installed on the crane girder 10, it is more preferable to install the display unit 100 on the crane girder 10 in the vicinity of the central part of the crane girder 10 in the length direction (limited to an appropriate place that does not collide with the traveling body 9). .
- the crane girder 10 is a moving path of the traveling body 9, if the display unit 100 is installed on the crane girder 10, an operator who watches the movement of the traveling body 9 and a person around it can easily see the display unit 100. Even if it falls out of sight for a moment and loses sight, it can quickly grasp where it is.
- the stay 101 is fixed to the upper surface of the hoisting machine main body 17 that is the traveling body 9, the display unit 100 is directed to the stay 101, and the display surface 103 is directed downward. Attached.
- Reference numeral 102 denotes a drive circuit of the display unit 100.
- the display unit 100 When the display unit 100 is applied to an overhead crane installed in a wide facility, it is preferable to install the display unit 100 on the traveling body 9, that is, on the crane girder 10. It is more preferable to fix in the vicinity. This is because it is dangerous to keep following the display unit 100 that moves together with the traveling body 9 moving in a wide facility with eyes, and it is less dangerous to fix the display unit 100 at a fixed position.
- the number of display units 100 is not limited to one, and a plurality of display units 100 may be provided.
- another display unit 100a may be provided and arranged in a management room (not shown) located away from the overhead crane. Thereby, the facility manager can also know the current movement of the crane, which is convenient for management.
- the plurality of display units 100 are visible to any place other than the outer surface other than the operation device 3, such as a factory ceiling, a factory pillar, and a factory wall, that is, a person around the operator. Can be installed anywhere you get.
- the display content of the display unit is not only the shape and color, but in addition to this, in addition to this, a guide unit that informs the traveling direction of the crane traveling body 9 by voice is provided so that the operator and surrounding human beings The information can be informed through hearing.
- a guide unit that informs the traveling direction of the crane traveling body 9 by voice is provided so that the operator and surrounding human beings The information can be informed through hearing.
- FIG. 3 is a block diagram showing the main configuration and the electrical configuration of the mobile device according to the first embodiment of the present invention.
- the moving device 1 includes a driving device 2 and an operating device 3 for operating the driving device 2.
- the drive device 2 includes a drive motor 4 and a motor drive control device 5 that controls the drive motor 4.
- the drive motor 4 includes an X-axis motor 41, a Y-axis motor 42, and a Z-axis motor 43, and serves as a driving force source for three-dimensional movement of an object.
- the motor drive control device 5 includes an inverter or contactor 51 that supplies a drive signal to the X-axis motor 41 and the Y-axis motor 42, an inverter or contactor 52 that supplies a drive signal to the Z-axis motor 43, and an inverter or contactor 51 and an inverter or And a microcomputer 53 for controlling the contactor 52.
- the microcomputer 53 includes an input end portion 54 to which an operation signal from the operation device 3 is transmitted.
- the power source 6 supplies power necessary for the operation of the operation device 3, the drive motor 4 (X-axis motor 41, Y-axis motor 42 and Z-axis motor 43), the motor drive control device 5, and the like.
- FIG. 3 The display unit 100, 100a described with reference to FIG. The configuration and function of the display units 100 and 100a will be described in detail later.
- the operation device 3 includes a housing 31 that can be held by an operator who operates the movement of an object.
- the housing 31 is driven by an operator operating the input unit and an input unit operated by the operator.
- a detection unit 32 that detects an operation instruction of the apparatus 2 (hereinafter also referred to as “operation input”), a microcomputer 33 that processes a signal from the detection unit 32 and generates an operation signal, and inputs the operation signal And an output end 34 that outputs toward the end 54.
- the method of controlling the inverter or contactor 51 by the microcomputer 53 is not particularly limited, and may be an analog method, a multistage speed method, or another method. Further, there is no particular limitation on the communication method between the microcomputer 33 and the microcomputer 53. Further, the signal transmission method between the output end 34 and the input end 54 is not particularly limited, and may be a wireless method or a wired method.
- the output end portion 34 and the input end portion 54 are each provided with a communication cable for connecting the two parts in the case of a wired system, and each of the output end part 34 and the input end part 54 is provided with a transmitting means and a receiving means that is paired with this.
- the controller device 3 preferably includes an illumination unit 20a as a notification unit. That is, the microcomputer 53 is connected to the lighting unit 20 and indicates the direction of the traveling body 9. The illumination unit 20a will be described in detail later.
- the detection unit 32 includes (1) a lift input detection unit 321 (a rising input detection unit 321a and a lowering input detection unit 321b) that detects an operation input related to the vertical movement of the object, and (2) a part of the waist of the casing 31. Or a plurality of detection units arranged in all, each of the detection units 322a, 322b, 322c,... One or two or more detection units 323 (detection unit 323a for detecting an operation input related to emergency stop, which detects an operation input related to activation, restart, stop, reset, etc. of the device 2, the operation device 3, the power source 6, etc.
- It includes a detection unit 323b that detects an operation input related to reset, and a detection unit 323c that detects an operation input related to power ON / OFF.
- a fine adjustment input detection unit a detection unit 325 that detects an operation input related to a special function (hereinafter, also referred to as a “special input detection unit”) And (6) detecting an operation input related to a driving instruction necessary for driving the drive device 2 to move the object in the direction associated with an arbitrary detection unit 322x constituting the detection unit group 322.
- a drive start detector 326 is provided.
- the detection unit group 322 is arranged in a ring shape that is closed over the entire circumference of the case 31. However, if the detection unit group 322 functions as a whole to detect the moving direction of the object selected by the operator, the case It may be arranged in a circular arc shape or a non-closed or open annular shape over a part of the circumference of 31 trunks.
- a plurality of detection units including but not limited to the detection unit group 322 arranged over part or all of the circumference of the case 31 may be expressed as “ring-type detection units”.
- the fine adjustment input detection unit 324 and the special input detection unit 325 are provided as necessary.
- Both the fine adjustment input detection unit 324 and the drive start detection unit 326 are provided as detection units that detect an operation input to the drive device 2.
- the special input detection unit 325 may be provided as a detection unit that detects an operation input to the drive device 2 or may be provided for other purposes.
- the drive device 2 does not drive the movement of the object in the direction associated with the detection unit 322x only when the detection unit 322x configuring the detection unit group 322 detects the operation input, and then starts driving. It is driven when the detection unit 326 detects an operation input.
- the operation device 3 and the drive device 2 can be designed so that the detection unit 322x configuring the detection unit group 322 is driven only by detecting an operation input. In this case, the drive start detection unit 326 and its input unit P326 are unnecessary.
- the input unit P32 is an input unit P321 (P321a, P321b), P322 (P322a, P322b, P322c,...), P323 (P323a, P323b), P324 ( P324a, P324b), P325, and P326 (all not shown).
- the input unit P32 is typically a push button button, but is a mechanism or means for generating an operation input, and the operation input can be detected by an element, a sensor, or the like constituting the detection unit 32. If there is enough. Therefore, even when the operation input is performed by relative rotation of the two casings as in the conventional operation device, it is not excluded from the input unit P32. (In this case, it can be considered that the two casings that perform relative rotation correspond to the input unit.)
- the input unit 324 of the fine adjustment input detection unit 324 is not necessary when the fine adjustment input detection unit 324 is not provided. Similarly, the input unit P325 of the special input detection unit 325 is unnecessary when the special input detection unit 325 is not provided.
- the elevation input detection unit 321 and its input unit P321 correspond to the operation of driving the Z-axis motor 43.
- the elevation input detection unit 321 When the operator operates the input unit P321 and the elevation input detection unit 321 detects an operation input corresponding to the operation, the elevation input detection unit 321 generates a signal corresponding to the operation input.
- the signal is transmitted to the microcomputer 33.
- the microcomputer 33 performs necessary processing on the signal and generates an operation signal based on the signal.
- the operation signal is transmitted from the output end 34 to the input end 54 and from the input end 54 to the microcomputer 53.
- the microcomputer 53 generates a control signal based on the operation signal, and the control signal is transmitted to the inverter or contactor 52.
- the inverter or contactor 52 controls the operation of the Z-axis motor 43.
- the fine adjustment input detection unit 324 and its input unit P324 are a detection unit and its input unit for fine adjustment or correction of the movement of an object in the vertical direction
- the fine adjustment input detection unit 324 and its input unit P324 are used.
- the vertical fine adjustment input detection unit and the input unit correspond to the operation of driving the Z-axis motor 43, as in the above example.
- the detection unit group 322 and its input unit P322, and the drive start detection unit 326 and its input unit P326 correspond to the operation of driving the X-axis motor 41 and the Y-axis motor 42, respectively.
- it is as follows. (1) When an operator operates the input unit P322, and any of the detection units 322x constituting the detection unit group 322 detects an operation input corresponding to the operation, the detection unit 322x is associated with the detection unit 322x in advance. A signal relating to the moving direction of the moving object is generated. The signal is transmitted to the microcomputer 33. The microcomputer 33 performs necessary processing on the signal and generates an operation signal based on the signal.
- the drive start detection unit 326 After the operator operates the input unit P322, the operator operates the input unit P326, and when the drive start detection unit 326 detects an operation input corresponding to the operation, the drive start detection unit 326 Generate a signal corresponding to the input.
- the signal is transmitted to the microcomputer 33.
- the microcomputer 33 performs necessary processing on the signal and generates an operation signal based on the signal.
- All of these operation signals are transmitted from the output end 34 to the input end 54 and from the input end 54 to the microcomputer 53.
- the microcomputer 53 generates a control signal based on these operation signals, and the inverter or contactor 51 controls the operations of the X-axis motor 41 and the Y-axis motor 42 based on the respective control signals.
- the fine adjustment input detection unit 324 and its input unit P324 are a detection unit and its input unit for fine adjustment or correction of the moving direction of the object on the horizontal plane
- the fine adjustment input detection unit 324 and its input The part P324 corresponds to the operation of driving the X-axis motor 41 and the Y-axis motor 42 as in the above example. Further, the display units 100 and 70a described with reference to FIG. The display unit will be described in detail later.
- the operator can change the Z-axis direction, the X-axis direction or the Y-axis direction, and the X-axis direction and the Y-axis direction corresponding to the operation of the input unit performed by the operator.
- the movement of the object in the combined direction can be manipulated. Therefore, the operator can operate the movement of the object in the three-dimensional space corresponding to the operation of the input unit performed by the operator by using the operation device 1 in the moving device 1.
- the moving device 1 is an overhead crane device, it can be operated by using the operating device 1.
- the motor that enables the hoisting operation (moving in the Z-axis direction) of the overhead crane corresponds to the Z-axis motor, and traversing (moving in the X-axis direction) or traveling (Y-axis direction) along the horizontal wall surface of the building
- the motor that enables the operation of the skew that is a combination of the traverse and the traveling corresponds to the X-axis motor and the Y-axis motor.
- the correspondence relationship between the detection unit group 322 (322a, 322b, 322c,%) And its input unit P322 (P322a, P322b, P322c,...) And the moving direction of the object is as follows. For example, in the case where there are a total of N detection units constituting the detection unit group 322 and they are arranged at an equal distance over the entire circumference of the casing, any adjacent detection units 322m and 322n can detect the detection unit 322m. The direction of movement of the object based on the operation input is shifted by (360 / N) degrees with respect to the direction of movement of the object based on the operation input to the detection unit 322n. If the view is changed, the moving direction of the object cannot be set at an angle smaller than (360 / N) degrees.
- the fine adjustment input detection unit 324 and its input unit P324 (324a, 324b) change the movement direction of the object in a direction that is difficult to set by operation input to the adjacent detection units 322m, 322n. It is made possible by modifying it.
- the correction unit (U) is set by dividing (360 / N) degrees into t, and the operation to the fine adjustment input detection unit 324a for the forward direction (for example, clockwise, right direction, etc.)
- the number of inputs or the input time is a positive value
- a negative value is an operation input to the fine adjustment input detection unit 324b for the reverse direction (for example, counterclockwise, left direction, etc.).
- P324 calculates the total number of operations or operation time (p), adds (360 / Nt) degrees to the p-value, and adds this to the direction before correction (R0)
- (360 / N) degree also becomes small. In that case, the fine adjustment input detection unit 324 and its input unit P324 are not essential.
- the casing 31 of the controller device 3 includes a detection unit 32, specifically, a lift input detection unit 321, a detection unit group 322, an activation-related input detection unit 323, and the like.
- the fine adjustment input detection part 324 and the input part P32 are provided, and the hollow protrusion part 31a is provided in the upper part.
- the input unit P321 of the lifting input detection unit 321 includes the casing 31.
- the input unit P324 of the fine adjustment input detection unit 324 is near the input unit P322 of the detection unit group 322, and the input unit P323 of the activation related input detection unit 323 is the lower part of the casing ( When the housing 31 is held at hand, it is arranged at the lower part of the front of the operator.
- each detection unit 32 (including the input unit P322x of any detection unit 322x configuring the detection unit group 322) forms a single operation switch integrally with the detection unit 32.
- Each detection unit 32 includes a mechanical contact that enables energization, a pressure-sensitive element that detects pressure, a sensor that detects capacitance or a change thereof, a magnetic sensor that detects magnetism, an optical sensor that detects light, and the like. Or if it is a non-contact system, it can be comprised by all the sensors generically called a proximity sensor.
- Each detection unit 322x configuring the detection unit group 322 also serves as the drive start detection unit 326. Therefore, when the operator operates the input unit 322x, the operation input becomes an operation input for determining the moving direction of the object associated with the detection unit 322x, for example, the traveling body 9 in FIGS. This is an operation input for instructing driving of the driving device 2 for moving the object in the direction.
- the detection unit group 322 is arranged in an annular shape over the entire circumference of the case 31.
- Each detection unit of the detection unit group 322 is set to correspond to each direction of movement of the object with respect to the operator, and the setting is changed by changing a setting pattern of a wiring setting pin (not shown). Can do. For example, when the operator holds the casing 31 at hand so that the input unit P321 of the lifting input detection unit 321 faces the front of the operator, the detection unit 322a positioned in front of the operator The traveling direction of the body 9 can be selected and set in the next direction and instructed.
- the detection unit 322c positioned in the middle of the detection units 322a and 322b is moved in the direction of the operator's right hand or on the left hand side of the operator, between the detection units 322a and 322b.
- a detection unit located between the detection units 322a and 322c, between 322c and 322b, between 322a and 322d, and between 322d and 322b.
- the detection units 322a and 322b can be changed to correspond to the front and rear of the operator, respectively, and the detection units 322c and 322d can be changed to correspond to the left and right hand directions of the operator, respectively.
- the casing 31 includes a microcomputer 33 connected to the wirings A, B, and C, an output end 34, and each detection unit 32 connected to the wirings A and B. I have.
- the wiring C is disposed in the hollow protrusion 31a and connects the outside and the inside of the housing 31.
- the wirings A, B, and C include a signal line for transmitting a signal and a power supply line for supplying power. Electric power necessary for the operation of the operation device 3 is supplied to the microcomputer 33 from the external power supply through the wiring C or from the internal power supply 61 typified by a battery, and is distributed to the detection units 32 through the wirings A and B. When the operator operates each detection unit 32, a signal related to an operation input corresponding to the operation is transmitted to the microcomputer 33 through the wirings A and B. The microcomputer 33 performs necessary processing on the signal and generates an operation signal based on the signal. The operation signal is transmitted from the output end 34 to the input end 54 through the wiring C.
- the operation device 3 that employs the detection unit group 322 as described above prepares two housings and arranges them vertically, and does not require a relative rotation operation of these housings. . Therefore, there is no gap as a boundary between the two casings, and the controller device 3 has a higher sealing property (for example, dust resistance and waterproofness). In addition, the structure is simpler and the number of parts is relatively small, which helps to reduce the design contract and assembly work load.
- the wiring C as the feeder line is unnecessary, and the wiring C and the hollow protrusion 31a are unnecessary as long as it is.
- the wiring C plays a role as a signal line for signal transmission to the outside via the communication cable 8
- the wiring C and the hollow protrusion 31a are necessary.
- the wiring C and the hollow protrusion 31a have other roles (see the modification described later), they are still necessary.
- the wiring C and the hollow protrusion 31a have other roles (see the modification described later), they are still necessary.
- it when it is necessary to provide an antenna of the transmitting means that constitutes the output end portion 34 in order to perform signal transmission in a wireless manner, it can be installed inside the hollow projection portion 31a and plays its role. As long as the hollow protrusion 31a is still necessary.
- FIG. 5 is a diagram showing the configuration of the operating device according to the third embodiment of the present invention, and is also a diagram showing a modification of the operating device of FIG.
- the operation device shown in FIG. 5 is characterized in that a mantle member D that covers the surface of the ring-type detection unit 322 is provided.
- the outer sheath member D includes a ring-type detection unit 322 (individual detection units 322 a, 322 b, 322 c,...) And an input unit P 322 ( P322a, P322b, P322c,...)) And the outer surface of the casing 31 in the vicinity thereof, and a cover that covers the ring-type detector 322 as understood from the illustrated embodiment. It is a member. At least a portion corresponding to the input unit P322 of the ring-shaped detection unit 322 of the outer cover member D is provided with a through hole that can be operated with a soft synthetic resin or a finger to such an extent that the operator does not have difficulty operating the input unit P322. Yes.
- the outer cover member D may be fixed so as not to move with respect to the ring-type detection unit 322 or the outer surface of the casing 31, or may not be fixed, for example, 360 degrees around the trunk of the casing 31. Or you may install so that rotation is possible in the angle range more than or less than that.
- the input part P322 is interposed between the outer cover member D and the outer surface of the ring-shaped detection part 322, the reference member J, the protective sheet S, and the like are interposed between the input part P322 and the outer cover member D.
- the reference member J and the protective sheet S are not shown in FIG. 5, they have substantially the same configuration as that of FIGS. 7 and 11 which are specific examples of other embodiments described later.
- the reference member J serves to “turn on” the mechanical switches and sensors that constitute the detection unit 32. That is, it broadly means a device that plays a role or function of detecting the displacement angle or the like of the operating device 3 or detecting an operator's switch operation.
- the reference member J is formed on the back surface of the mantle member D, and can be composed of a convex or projecting permanent magnet, a magnetic body, or the like.
- the protective sheet S is a protective sheet for the detection unit 32 formed so as to cover the surface of the input unit P322 of the ring-type detection unit 322.
- the protective sheet S is preferably dustproof and waterproof, and is capable of operating a push button. It is formed of a transparent film having elasticity. Therefore, when the outer member D is configured to be rotatable, the reference member J is a projecting member or a permanent magnet corresponding to one input part P322. When the outer cover member D is configured not to rotate, a plurality of the outer cover members D are provided so as to correspond one-to-one to the positions facing each of the input portions P322.
- a typical example of the operation switch constituted by the ring-type detection unit 322 and its input unit P322, the other detection units 321, 323 and 324 and the input units P321, P323 and P324 is provided from the outer member D through the operation of the operator.
- It is a push button switch in which the input unit (button of the push button) operates by the pressure received, a pressure sensitive sensor that detects the pressure received by the input unit, and the outer cover member D serves as an input unit by itself or is input
- the proximity sensor that detects the approach and separation of the outer cover member D by the operation of the operator is also an example of the operation switch.
- the ring-type detection unit 322 can be configured relatively inexpensively or compactly. (2) It is possible to increase the number (N) of detection units constituting one ring-type detection unit, and the direction difference between adjacent detection units is relatively small ((360 / N) degree is small, so the details are small. A ring-type detector 322 (with direction setting) can be configured.
- FIG. 6 is a diagram showing the configuration of the operating device according to the fourth embodiment of the present invention, and is also a diagram showing a modification of the operating device of FIG. 6 is characterized in that the mantle member D, that is, the cover member D, covers not only the ring-type detection unit 322 and its vicinity, but also other regions on the surface of the housing. is there.
- the outer cover member D is a member that covers and covers substantially the entire outer surface of the casing 31 from the bottom of the casing 31 to the upper hollow protrusion 31 a.
- At least a portion corresponding to the input portion P322 of the ring-shaped detection unit 322 in the outer cover member D is made of a soft synthetic resin to the extent that it is difficult for the operator to operate the input unit P322.
- the synthetic resin in this part is preferably transparent or translucent.
- the other portions are made of a relatively hard material by multicolor molding or the like in order to maintain the outer shape of the outer shell member D.
- the outer sheath member D may or may not be fixed so as not to move with respect to the outer surface of the hollow protrusion 31 a, the casing 31, or each detection unit 32, for example, around the trunk of the casing 31. It may be installed so as to be rotatable in an angle range of 360 degrees or more or less.
- An input unit P322 is interposed between the outer cover member D and the outer surface of the ring-shaped detection unit 322. However, in the manner described in the third embodiment, a reference is provided between the input unit P322 and the outer cover member D. The member J, the protective sheet S, etc. may intervene (not shown).
- the outer cover member D When the outer cover member D is provided, it is possible to improve the sealing performance of the ring-type detection unit 322 and the other ring-type detection units 323, 324, and 325 and the casing 31. This has the same incidental effect as in the third embodiment. Moreover, since the dustproofness and waterproofness of the operation switch comprised by the other detection parts 321, 323, and 324 and its input parts P321, P323, and P324 can be improved, the price of the operation device 3 can be further reduced and the size can be reduced. It helps.
- FIG. 7 is a diagram showing the configuration of the operating device according to the fifth embodiment of the present invention, and is also a diagram showing a modification of the operating device of FIG.
- the operation device of FIG. 7 is characterized in that at least all the detection units 32 are ring-type detection units arranged in parallel in the vertical direction, and the case 31 has two cases.
- the body element (the outer casing 31 o and the inner casing 31 i) is configured, and the drive start detection unit 326 is provided separately from the detection unit group 322.
- the outer casing 31o and the inner casing 31i that is completely accommodated inside the outer casing 31o and is not exposed to the outside are substantially similar hollow circular bodies.
- a reference member J is fixedly arranged on the inner surface of the external casing 31o as an ON means for specifying the selected direction and turning on the detection unit in accordance with the selected direction.
- the casing 31 of the controller device 3 is 360 degrees or around the trunk of the inner casing 31i so as to enclose the hollow and substantially cylindrical inner casing 31i and the inner casing 31i.
- a substantially hollow cylindrical outer casing 31o is mounted so as to be rotatable in an angular range of more or less than that.
- the inner casing 31i includes hollow protrusions 31a3b at the upper and lower parts thereof, and the outer casing 31o is interposed via a bearing mechanism G such as a bearing attached to each hollow protrusion 31a3b. Are attached to the inner casing 31i.
- the protrusion H provided on the inner casing 31i side surface of the outer casing 31o engages with the track groove i provided on the outer surface of the inner casing 31i and moves around the trunk of the inner casing 31,
- the distance between the casing 31o and the inner casing 31i is kept constant, and both casings are coaxial and rotatable. For this reason, when the operator changes the orientation or posture of the hand, arm, or body holding the external housing 31o, the external housing 31o can rotate relative to the internal housing 31i.
- the two casings are similar to the conventional operating device in that the two casings are relatively rotatable, the two casings in the operating device of FIG. 7 are not arranged vertically as in the conventional case.
- the protrusion part (arc-shaped protrusion) H is formed, for example in the shape of a closed loop or a long circular arc, on the surface of the outer case 31o on the inner case 31i side, the protrusion H is also useful for reinforcing the outer case 31o. .
- Ring-type detection units corresponding to the detection units 32 (321, 322, 323, 326,...) are provided around the trunk of the internal casing 31i.
- the fine adjustment input detection unit 324 and the special input detection unit 325 that are not shown are provided as necessary, but when these are provided, it is necessary to include a plurality of detection units such as a ring-type detection unit. However, it is sufficient if it is in the form of an operation switch as shown in FIGS.
- the external housing 31o rotates relative to the internal housing 31i. Therefore, the reference member J attached to the external housing 31o accordingly rotates around the ring-type detection unit 322 attached to the internal housing 31i. Then, the specific detection part 322j in the position corresponding to the amount of relative rotation among the several detection parts which comprise the ring type detection part 322 detects the approach or contact of the reference member J.
- any detection unit 322x constituting the ring-type detection unit 322 is associated with a moving direction of a specific object in advance, the specific detection unit 322j that detects the approach or contact of the reference member J is A signal corresponding to the moving direction of the specific object associated therewith is generated. Therefore, the ring-type detection unit 322 functions as means for detecting the moving direction of the object selected by the operator. In this case, it can be seen that the two casings 31i3o themselves constitute the input unit P322.
- the individual detection units 322x constituting the ring-type detection unit 322 may be any mechanism or means (sensor, element, switch, or the like) that detects contact or approach with the reference member J.
- the pressure received from the reference member J If it detects a pressure sensor, a magnetic sensor if it detects a magnetic material included in the reference member J, an optical sensor if it detects light shielding or reflection by the reference member J, If the approach of the reference member J is detected in a non-contact manner, a proximity sensor can be used (see FIG. 11).
- the reference member J is small, when the reference member J is disposed between adjacent detection units, a situation may occur in which no detection unit can detect this. Therefore, the size of the reference member J is set in advance to be equal to or larger than the gap width between adjacent detection units, or a plurality of reference members J are provided so that at least one detection unit can detect this.
- Other than the ring type detection unit 322 are input units P321a, P321b, P323a, A mechanism or means (sensor, element, switch, etc.) for detecting an operation input from P323b, P323c, P326,... Suffices.
- a pressure received from an input unit is detected, a pressure sensor, an input Magnetic sensor for detecting magnetic material in the unit, optical sensor for detecting light shielding and reflection by the input unit, and for detecting the approach of the input unit in a non-contact manner collectively.
- a proximity sensor can be used (see FIG. 12).
- ring type detection units other than the ring type detection unit 322 (including a fine adjustment input detection unit 324 and a special input detection unit 325 provided as necessary) and input units thereof are collectively or individually. It may be written as 32U and P32U.
- a protective sheet S can be provided on the outer surface of each detection unit as long as the functions of the ring-type detection unit and the individual detection units constituting the ring-type detection unit are not hindered. (See FIGS. 11 and 12). Providing the protective sheet S extends the life of each detection unit, and thus each ring-type detection unit, and helps to improve dust resistance and waterproofness.
- the protective sheet S is made of rubber or synthetic resin and has a function equivalent to that of the outer cover member D in the operating device of FIG. 5 in terms of improving dust resistance and waterproofness.
- the notification part 20a of FIG.7 (b) exhibits the function as an operator's work assistance means, for example, directs as shown toward the direction which the traveling body 9 demonstrated in FIG. 1 travels.
- It is an illuminating device that irradiates a light beam and forms a light spot.
- a relatively high power LED, a red laser beam, illumination light from a bulb, a strong light beam such as a halogen lamp, a xenon lamp, or the like that collects light by a predetermined optical system can be used.
- the casing 31 includes a microcomputer 31 connected to the wirings A, B, and C, an output end 34, and ring-type detection units connected to the wirings A and B. 32, and the wiring C is disposed in the hollow protrusion 31a.
- the power required for the operation of each ring type detection unit 32 (more specifically, individual detection units constituting each ring type detection unit 32) and other components that require power supply is first supplied from the power source 6 through the wiring C or the battery. Is supplied to the microcomputer 33 from the internal power supply 61, and then distributed to the detection units 32 through the wirings A and B.
- the detection unit 32 detects an operation input performed by the operator through relative rotation with the two housings 31i3o and other operation inputs performed by the operator by operating the input unit P32, and uses the detected operation input. Generate a corresponding signal.
- the signal is transmitted to the microcomputer 33 through the wirings A and B.
- the microcomputer 33 generates an operation signal based on the signal.
- the operation signal is transmitted from the output end 34 to the input end 54 through the wiring C.
- any of the detection units 322x constituting the ring-type detection unit 322 detects an operation input performed by the operator through relative rotation with the two casings 31i3o (more specifically, the reference member J is detected).
- the detection unit 322x (322j) When the unit 322j detects), the detection unit 322x (322j) generates a signal related to the movement direction of the object associated in advance, and then the microcomputer 33 generates an operation signal based on the signal. After the operator operates the input unit P322, the input unit P326 is operated. When the operation start is detected by the drive start detection unit 326, a signal corresponding to the operation input is generated. An operation signal based on the above is generated. Any of these operation signals is transmitted from the output end 34 to the input end 54 through the wiring C.
- each operation signal is transmitted from the input end 54 to the microcomputer 53, and the microcomputer 53 generates a control signal based on the operation signal, and based on the control signal, the inverter or contactor 51
- the operation of the X-axis motor 41 and the Y-axis motor 42 is controlled, and the inverter or contactor 52 controls the operation of the Z-axis motor 43.
- the outer casing 31 o is a member that covers the periphery of the ring-type detection unit attached to the inner casing 31 i, and thus corresponds to the outer cover member D.
- the two casings 31i3o do not have a vertical arrangement relationship as in the prior art, and the outer casing 31o covers substantially the entire inner casing 31i, and the outer inner casing 31i and the outer casing Since a bearing mechanism G such as a bearing is provided at the boundary with 31o, there is no gap between the outer casing 31o and the inner casing 31i. Therefore, the airtightness (for example, dustproofness and waterproofness) of the operating device of FIG. 7 becomes higher. In this case, if each detection part 32 is made into a dustproof type or a waterproof type, the sealing performance of said operating device 3 can further be improved.
- the design object can be mainly narrowed down to the internal casing 31i, design constraints are relaxed compared to the conventional case, and the load of assembly work is also reduced.
- FIG. 8 is a view showing a modification of the operation device of FIG. 7, and is also a view showing a configuration of the operation device according to the sixth embodiment of the present invention.
- the operation device of FIG. 8 is characterized in that only the detection unit group 322 is a ring-type detection unit and between the two case elements (the external case 31o and the internal case 31i).
- a slip ring is used to ensure power supply (and signal transmission), and wireless communication means is used to ensure signal transmission.
- the casing 31 of the controller device 3 is 360 degrees or around the trunk of the inner casing 31i so as to enclose the hollow and substantially cylindrical inner casing 31i and the inner casing 31i.
- a hollow cup-shaped external housing (for example, a shape in which a small cup is inserted into a large cup and connected by a flat surface at the opening), which is rotatably mounted in an angular range of more or less.
- a body 31o is provided. Since a bearing mechanism G such as a bearing is interposed between the outer casing 31o and the inner casing 31i so as to fill a gap between the two casings, both the casings are coaxially rotatable.
- the external housing 31o can rotate relative to the internal housing 31i.
- the two casings are similar to the conventional operating device in that the two casings are relatively rotatable, the two casings in the operating device in FIG. 8 are not arranged vertically as in the conventional case.
- a ring-shaped detection unit corresponding to the detection unit group 322 is provided around the trunk of the inner casing 31i.
- This ring-type detection unit 322 is the same as the ring-type detection unit 322 in the operating device of FIG. 7. If the individual detection units 322 x constituting the ring-type detection unit 322 are associated with the moving direction of the object, It functions as a means for detecting the direction of movement of the object selected by the operator. It suffices that each of the detection units 322x constituting the ring-type detection unit 322 is a sensor that detects contact or approach with the reference member J.
- the external casing 31o has an operation panel M on the outer surface thereof.
- the operation panel M is provided with a display means N at a position where the operator can see the casing 31 when the operator holds the casing 31, and a hand that can be operated.
- An input unit P321 (P321a, P321b), P323, P324, P325, P326 is provided at a position, and a detection unit 321 (321a) that detects an operation input from each input unit on the operation panel M or incorporated therein. , 321b), 323, 324, 325, 326.
- the detection unit 32U other than the detection unit group 322 and its input unit P32U are attached to the operation panel M, and the operation device shown in FIGS. 4 to 4 except that the drive start detection unit 326 and its input unit P326 are provided.
- the drive start detection unit 326 and its input unit P326 are basically the same as those of the operation device in FIG. 7 except that the drive start detection unit 326 and the input unit P326 are not configured as a ring type detection unit.
- the drive start detection unit 326 and its input unit P326 are integrated with each other to form one operation switch, and each detection unit 32 and its input unit P32 shown in FIGS. It is the same.
- the internal housing 31i has a microcomputer 33 therein.
- the microcomputer 33 also performs processing related to the operation of the display means N provided on the surface of the external housing 31o. More specifically, the microcomputer 33 displays information useful for the operator to be displayed on the display means N (for example, moving directions such as east, west, south, north, up, down, 360 °, and the like) Direction, the content of the operation performed by the operator, the power on / off of the operating device 3, the status of the moving device 1 and the operating device 3, warning matters, etc.) and the signal is transmitted to the display means N .
- the display means N displays the information according to the signal from the microcomputer 33.
- the information displayed by the display means N includes numbers, characters and symbols, and preferably includes image information. More preferably, a part or all of the information of the display unit 100 described with reference to FIG.
- the operator can perform the next operation while confirming his / her actions, which is convenient. For example, every time an operator who wants to move an object in a desired direction rotates the external housing 31 o relative to the internal housing 31 i and transmits an operation input thereby to the microcomputer 33, the micro When the computer 33 transmits a signal corresponding to the operation input to the display means N and the display means N is configured to display a picture of an arrow corresponding to the signal, the operator has a hand holding the external casing 31o, While changing the direction or posture of the arm or body, the display means N can confirm the change in the picture of the arrow depicting the moving direction of the object, which immediately responds to the action.
- the direction can be specified.
- the operator operates the input unit 326 to cause the drive start detection unit 326 to detect the operation input, and finally drives the drive device 2.
- the object can be moved in the moving direction. It is therefore convenient and safe.
- the casing 31 includes a microcomputer 31 connected to the wirings A *, B *, and C, an output end 34, and each detection unit connected to the wirings A and B. 32, and the wiring C is disposed in the hollow protrusion 31a.
- a slip ring K for electrically connecting the wiring along the rotation axis and the wiring around the rotation axis is installed in the internal space below the outer casing 31o.
- a typical slip ring includes a rotating cylinder and a body portion that is rotatably mounted around the rotating cylinder.
- a through hole E is provided between the bottom of the inner casing 31i and the bottom of the outer casing 31o along the coaxial rotation axis of the inner casing 31i and the outer casing 31o. The rotating cylinder is inserted, and the body part is fixed to the inner space at the bottom of the outer member 31o.
- the wiring in the inner space of the inner casing 31i is connected to the wiring on the rotating cylinder side, and the outer casing 31o
- the wiring in the internal space is connected to the wiring on the body side. Therefore, even if the outer casing 31o is rotatable relative to the inner casing 31i, the wiring in the inner space of the inner casing 31i and the wiring in the inner space of the outer casing 31o are electrically connected. Connection is secured.
- a wireless communication means L is provided between the internal housing 31i and the external housing 31o.
- the wirings A ** and B * like the wiring C, include a signal line for transmitting a signal and a power supply line for supplying power.
- the wiring A * is only a signal line.
- the electric power necessary for the operation of each element of the operating device 3 is first supplied from the power source 6 through the wiring C or from the internal power source 61 represented by the battery to the microcomputer 33. Then, it is distributed to the ring type detection unit 322 through the wiring A **, to the other detection unit 32, the display means N, etc. through the wiring B * and through the slip ring K.
- a signal (a signal corresponding to an operation input performed through the approach or contact of the reference member J) generated by the ring-type detection unit 322 that has detected the reference member J is transmitted to the microcomputer 33 through the wiring A **.
- the detection units 321, 323, 324, 325, and 326 that have detected operation inputs from the input units P 321, P 323, P 324, P 325, and P 326 on the operation panel M generate signals corresponding to the operation inputs.
- the signal is transmitted to the microcomputer 33 through the wiring A * and through the wireless communication means L, but a part of the signal is transmitted to the microcomputer 33 through the wiring B * and through the slip ring K. You may do it.
- the microcomputer 33 generates an operation signal based on the signal transmitted from each detection unit 32.
- the operation signal is transmitted from the output end 34 to the input end 54 through the wiring C.
- a signal for the display means N on the operation panel M is transmitted from the microcomputer 33 to the display means N through the wiring A * and through the wireless communication means L or through the wiring B * and through the slip ring K.
- the outer casing 31 o is a member that covers the periphery of the ring-type detection unit attached to the inner casing 31 i, and thus corresponds to the outer cover member D.
- the operation device 3 of FIG. 8 can rotate two housings relatively as in the conventional operation device, but unlike the conventional operation device, the two housings are not arranged vertically. No gap is formed in the casing 31. Further, since the outer casing 31o covers substantially the entire inner casing 31i, and a bearing mechanism G such as a bearing is interposed at the boundary between the outer inner casing 31i and the outer casing 31o, the outer casing 31o There is no gap between the inner casing 31i and the inner casing 31i. Therefore, the above-described operating device 3 has high sealing properties (for example, dustproof property and waterproof property).
- the configuration of the external housing 31o becomes very simple and the design object Can be narrowed down mainly to the inner casing 31i.
- the external housing 31o can be easily attached.
- the outer casing 31o covers substantially the entire inner casing 31i, the design contract of balancing the weights of the upper and lower casings as in the conventional case is eased. Therefore, it is not necessary to consider the balance and matching between the design of the first device element in the housing and the design of the second device element in the housing, and the load of the assembly work is reduced.
- FIG. 9 is a diagram showing the configuration of the operating device according to the seventh embodiment of the present invention, and is also a diagram showing a modification of the operating device of FIG.
- the operation device of FIG. 9 is characterized by using a non-contact power feeding means O instead of the slip ring K for securing the power supply as compared with the operation device of FIG. It is a point.
- a pair of non-contact power supply means O instead of the slip ring K is provided at the bottom of each of the internal casing 31 i and the external casing 31 o constituting the casing 31 of the controller device 3. Is provided.
- the non-contact power supply means O is a non-contact power transmission means, regardless of the system, the electromagnetic induction system or other systems may be used.
- the wiring A ** like the wiring C, includes a signal line for transmitting a signal and a power supply line for supplying power, but the wiring A * includes only a signal line, and the wiring B ** indicates a power supply line. Only.
- the electric power necessary for the operation of each element (the detection unit 32, the display means N, etc.) of the operating device 3 is first supplied from the power source 6 through the wiring C or from the internal power source 61 to the microcomputer 33, and then the wiring A **. Through the wiring B ** and through the non-contact power supply means O to the other detection parts 32 and the display means N.
- a signal generated by the ring-type detection unit 322 by detecting the reference member J is transmitted to the microcomputer 33 through the wiring A **.
- the detection units 321, 323, 324, and 325 that have detected the operation input from the input units P 321, P 323, P 324, and P 325 on the operation panel M generate signals corresponding to the operation input.
- the signal is transmitted to the microcomputer 33 through the wiring A * and the wireless communication means L.
- the microphone computer 33 generates an operation signal based on the signal, and the operation signal is transmitted from the output end 34 to the wiring C.
- a signal for the display unit N on the operation panel M is transmitted from the microcomputer 33 to the display unit N through the wiring A * and the wireless communication unit L.
- the outer casing 31o is a member that covers the periphery of the ring-type detector attached to the inner casing 31i, and therefore corresponds to the outer cover member D.
- the operating device 3 has the same effect as the operating device of FIG. Since signal transmission and power supply between the external housing 31o and the internal housing 31i in the operation device 3 are both wirelessly and non-contacting, complication of the configuration can be avoided. It becomes easier to specialize in the internal design of 31i, and the difficulty of assembly also decreases.
- FIG. 10 is a diagram showing the configuration of the operating device according to the eighth embodiment of the present invention, and is also a diagram showing a modification of the operating device of FIG. Compared with the operation device of FIG. 7, the operation device of FIG. 10 is characterized in that there are more detection units 32 and input units P32 and a plurality of input units are arranged per ring detection unit. Is a point.
- the casing 31 of the operating device in FIG. 10 includes a hollow, substantially cylindrical inner casing 31i, and a cup-shaped outer casing arranged so as to enclose the inner casing 31i. It includes a body 31o and a bearing mechanism such as a bearing that is installed between the inner casing 31i and the outer casing 31o and holds the casings 31i3o relatively rotatably. For this reason, when the operator changes the orientation or posture of the hand, arm, or body holding the external housing 31o, the external housing 31o can rotate relative to the internal housing 31i.
- a protrusion Q is provided on the bottom of the outer surface of the inner casing 31i so as to protrude along the coaxial rotation axis of the inner casing 31i and the outer casing 31o and come into contact with the surface of the outer casing 31o. Since the distance between the two housings is held by the protrusion Q, the two housings can smoothly rotate relative to each other.
- a protrusion Q may be provided on the surface of the outer casing 31o so as to contact the bottom of the outer surface of the inner casing 31i, instead of being provided on the outer surface bottom of the inner casing 31i.
- the two casings 31i3o are similar to the conventional operating device in that the two casings 31i3o are relatively rotatable, the two casings in the operating device in FIG. 10 are not arranged vertically as in the conventional case. . Further, since the bearing mechanism G such as a bearing is interposed between the upper inner casing 31i and the outer casing 31o of the casing 31, a gap between the casings 31i3o is not substantially formed. equal.
- the ring type detection unit 321 is an ascending / descending input detection unit (an ascending input detection unit 321a and a descending input detection unit 321b), 323 is an activation-related input detection unit, 325 is a special input detection unit, 326 is an activation start detection unit, Each corresponds.
- the ring type detection unit 321 includes an ascending input detection unit 321a and a descending input detection unit 321b.
- the ring type detection unit 323 detects a detection input 323a that detects an operation input related to an emergency stop and a detection unit that detects an operation input related to a reset. And a detection unit 323b that also functions as a detection unit that detects an operation input related to power ON / OFF.
- the ring-type detection unit 325 includes a detection unit 325a that detects operation inputs corresponding to three functions (F1, F2, and F3), and a detection unit 325E that detects operation inputs corresponding to the movement of an object in each direction of east, west, north, and south. 325W, 325S, 325N.
- the ring-type detection unit 326 includes a detection unit 326a that serves as both a detection unit that detects an operation input corresponding to the movement of an object in each of the left and right directions and a detection unit that detects an operation input corresponding to the forward movement in each of the left and right directions.
- a detection unit 326b that detects an operation input corresponding to the backward movement in each of the left and right directions is provided.
- a protective sheet S can be provided on the outer surface of each detection unit as long as the functions of the ring type detection unit and the individual detection units constituting the ring type detection unit are not impaired.
- the reference member J is positioned at a position corresponding to the ring type detection unit 322, and at a position corresponding to each of the ring type detection units 32U (321, 323, 325, 326) other than the ring type detection unit 322.
- An input unit P32U (P321, P323, P325, P326) is installed.
- the input unit P321 includes input units P321a and P321b of the lift input detection units 321a and 321b.
- the input unit 323 includes the input units P323a, P323b, and P323c of the activation-related input detection units 323a, 323b, and 323c, respectively.
- the input unit 325 includes special input detection units P325a, P325b, P325E, P325W, P325N, and P325S, respectively. P326a and P326b) are installed. An operation panel M is attached to the external casing 31o, and the input unit P32U is installed on the operation panel.
- the operating device in FIG. 10 includes the ring-type detection units (323b, 325a, 326a) having a plurality of input units.
- the ring type detection unit 323b includes an input unit P323b for performing an operation input related to reset and an input unit P323c for performing an operation input related to power ON / OFF.
- the operation input corresponding to the operation of each input unit by is detected.
- the ring-type detection unit 325a includes input units P325a, P325b, and P325c for performing operation inputs corresponding to the three functions (F1, F2, and F3), and supports operations of individual input units by the operator. Detect operation input.
- the ring-type detection unit 326a corresponds to the input units P326R and P326L for performing an operation input relating to selection of the rightward or leftward movement of the object and the forward movement of the object in the rightward or leftward direction.
- An input unit P326a for performing an operation input is provided, and an operation input corresponding to the operation of the input unit P326R or P326L by the operator and an operation input corresponding to the operation of the input unit P326b are simultaneously detected.
- the operation instruction of the drive device 2 is configured by a combination of detections by a plurality of ring-type detection units. Specifically, (III) by operating the input unit P326R or P326L and the input unit P326b at the same time, the object moves backward or rightward (or depending on how to set, from the rightward or leftward direction). (Reverse object).
- the input units P322 [1], P322 [2], and P322 [3] are initially set to the detection units 322 [k + n1], 322 [k + n2], and 322, respectively, at positions separated by n3 detection units. At a position corresponding to [k + n3] And is location.
- the input units P322 [1], 322 [2] and 322 [3] are arranged at positions corresponding to the detection units 322 [k + p + n1], 322 [k + p + n2] and 322 [k + p + n3], respectively (p is an arbitrary integer). This is because the outer casing 31o is rotated relative to the inner casing 31i, and accordingly, the three input sections P322 [1], P322 [2], and P322 [3] are rotated relative to the ring-type detection section 322.
- three input units P32U [1], P32U [2], and P32U [3] exist for any ring type detection unit 32U other than the ring type detection unit 322 with the specific position as the position of the reference member J.
- the k-th detection unit 32U [h] constituting the ring-type detection unit 32U detects the reference member J, and in the positive direction from the position of the reference member J, the input unit P32U [ 1] at a position separated by the detection part m1, the input part P32U [2] at a position separated by the detection part m2, and the input part P32U [3] at a position separated by the detection part m3.
- the input units P32U [1], P32U [2], and P32U [3] are initially arranged at positions corresponding to the detection units 32U [h + m1], 32U [h + m2], and 32U [h + m3], respectively.
- the input units P322 [1] and 322 [2]. 322 [3] are arranged at positions corresponding to the detection units 322 [h + q + m1], 322 [h + q + m2], and 322 [h + q + m3], respectively (q is an arbitrary integer).
- the coordinates (arrangement position) of the input unit P32 can be determined based on the specific position, so that the specific position is set as in the above two examples.
- the microcomputer 33 performs the process of associating the input unit and the detection unit on the basis of this, the case where there are a plurality of input units in one or a plurality of ring-type detection units (in the case of (I) and (II) above).
- the operator can instruct the operation of the drive device 2 by operating each input unit.
- the process of associating the input unit and the detection unit based on the specific position as in the above two examples can be realized by a circuit or software in a microcomputer.
- the processing may be performed by the microcomputer 33, but may be performed by the microcomputer 53.
- an effect equivalent to that produced by the fifth embodiment can be obtained.
- the operator can instruct the operation of the drive device 2 by operating each input unit. This means that even if an operation device requires a certain number of input units, the number of ring-type detection units can be reduced, or the number of input units can be increased without increasing the number of ring-type detection units. It is useful for simplifying the internal structure of the operating device, reducing the number of parts of the operating device, facilitating assembly, and reducing the price. Moreover, since it can respond flexibly to the increase / decrease of the input part, it is also beneficial in terms of design.
- the input unit located at the nth position from a preset specific position (assumed to be the position of the reference member J) among the detection units constituting the ring-type detection unit 32.
- the tip of P32 [n] is extended from the position of the reference member J to the position Z corresponding to the detection unit 32 [v] at the vth position by the wiring Lv or the like, and the operation input from the input unit P32 [n] Can be detected by the detection unit 32 [v].
- the tip of the input part is Wiring to each position corresponding to the detection unit 32 [v1] at the position of the v1st or later, the position of the v2th, v3th,... or 32 [v2], 32 [v3],. If it is stretched by, for example, the operation input from the input unit other than P32 [n] located at the same nth position is detected by the detection unit 32 [v1] or the subsequent 32 [v2], 32 [v3],. ⁇ ⁇ Can be detected.
- FIGS. 11 and 12 respectively show a ring-type detection unit 322 and other ring-type detection units 321, 323, 324 (hereinafter collectively or individually denoted by the symbol “32U”. It is a figure which shows the cross section of the basic composition of an input part (it describes with the code
- a part of the waistline refers to a range around the waistline other than the range W, and when an array of a plurality of detection units in such a range is arranged in an open annular shape or an arc shape. Equivalent to.
- the size of the range W depends on the design of the operating device 3, and the case where the range W is not present corresponds to “the entire circumference of the waist”, which corresponds to the case where it is arranged in a closed annular shape.
- the detection unit includes a wide range of mechanisms and means for detecting an operation input from an operator using the operation device, and the approach or contact of the reference member J corresponds to an operation input by the operator using the operation device. Can be considered as an input section.
- the ring type detection unit 322 detects the approach or contact of the reference member J attached to the outer cover member D. If the casing 31 is positioned as the inner casing 31i, the outer cover member D corresponds to the outer casing 31o.
- the moving direction of the object is associated in advance with the detecting units constituting the ring type detecting unit 322. Therefore, the ring-type detection unit 322 that has detected the reference member J generates a signal related to the moving direction of the object associated with the detection unit that has detected the reference member J. (The signal is transmitted to the microcomputer 33.)
- the detection method of the reference member J by the ring-type detection unit 322 may be a non-contact method (see FIG. 11A) or a contact method (see FIG. 11B).
- examples of the ring-type detection unit and the reference member J are a magnetic sensor and a member provided with a magnetic body attached to the outer cover member D in the case of a non-contact method, and a pressure-sensitive sensor and , A projection member with wheels attached to the outer sheath member D so as to face the pressure-sensitive sensor.
- the ring-type detection unit 322 is attached to the outer surface 31c of the casing 31, but may be attached to the inner surface 31b from the outer surface 31c so as to be embedded in the outer surface 31c. Further, if the approach of the reference member J can be detected, it may be attached to the inner surface 31b.
- one detection unit always operates from the reference member J. Designed to detect input.
- each detection unit constituting the ring type detection unit 322 is covered with a protective sheet S.
- the protective sheet S is desirable because it is useful for improving the dust-proof property, waterproofing and other sealing properties of the ring-type detector, improving the impact resistance, and extending the service life.
- the detection by the detection unit of the reference member J is a contact method (see FIG. 11B)
- the ring-type detection unit 322 is already protected to some extent by being covered by the outer member D, when the detection by the detection unit of the reference member J is a non-contact method (see FIG. 11A),
- the protective sheet S is not essential.
- each detection unit constituting the ring type detection unit 32U is not associated with the moving direction of the object. Instead, the ring-type detection unit 32U detects an operation input from the input unit P32U and generates a signal corresponding to the operation input. (The signal is transmitted to the microcomputer 33.)
- the input unit P32U illustrated in FIG. 12 is based on, for example, a push button method.
- the detection method of the ring-type detection unit 32U may be a non-contact method (see FIG. 12A) or a contact method (see FIG. 12B).
- the magnetic sensor that detects the approach of the magnetic body and the approach and separation of the magnetic sensor can be moved elastically.
- 12B is a push button including a magnetic body, and the example shown in FIG. 12B is attached to the mantle member D so as to be pushed toward the pressure sensor. It is a push button provided with the projection member with a wheel.
- the combination of the ring type detection unit 32 and the reference member J or the input unit P32 is an operation switch T, for example, among the plurality of ring type detection units shown in FIG.
- the unit 322 constitutes an operation switch T322 in combination with the reference member J, and the other ring-type detection units 321, 323, 324, and 325 are operated in combination with the input units P321, P323, P324, and P325, respectively. , T323, T324, and T325.
- each of the arbitrary detection units 322x and 32Ux configuring the ring-type detection units 322 and 32U is not integrally configured with an input unit such as a push button.
- the reference member J functions as the input unit P322x of the detection unit 322x
- the input unit P32U functions as the input unit P32Ux of the arbitrary detection unit 32Ux. Therefore, in this example, the arbitrary detection units 322x and 32Ux constitute an operation switch by a combination of the reference member J and the detection unit 322x, respectively.
- arbitrary detection units 322x and 32Ux are respectively combined with the input units P322x and P32Ux to form a single operation switch.
- the reference member J and the input unit P32U transmit the operation input to the input unit by directly contacting the input units P322x and P32Ux, respectively, and the input from the input unit is detected by the detection units 322x and 32Ux. Is detected. Therefore, the reference member J and the input unit P32U function as input units P322x and P32Ux of arbitrary detection units 322x and 32Ux, and also function as input units P322 and P32Ux of ring-type detection units 322 and 32U. .
- the operating device in FIG. 15 is a specific example of the eighth embodiment.
- the tip of the input unit 326b is extended to the position of V1 of the detection unit 321a by wiring or the like.
- the input unit P321b is extended to the position V2 of the detection unit 321a, and the input units P325W, P325N, and P325S are extended to the positions V3, V4, and V5 of the detection unit 325E, respectively.
- the detection unit 326b can be integrated into the detection unit 326a
- the detection unit 321b can be integrated into the detection unit 321a
- the detection units 325W, 325N, and 325S can be integrated into the detection unit 325E, thereby reducing five ring-type detection units. be able to. Accordingly, the operating device of FIG. 15 clearly has a simpler internal structure, reduces the number of parts, and is easy to assemble and design, and is lower in price than that of FIG.
- the display unit 100 is not limited to a specific technical means as long as it can display a relatively large direction.
- the display unit 100 uses a liquid crystal display device, an LED (light emitting diode), and an optical display such as an arrow display.
- Various applications such as a display device that indicates a direction, an EL, a segment using a photoelectric tube, and the like can be applied.
- the display unit 100-2 in FIG. 17, and the like the direction display by arrows and the reference numerals 100-1a, 100-1b, 100-2a, 100-2b
- a display method in which display portions using characters (in this case, “UP” and “DOWN” in English) are combined.
- the display unit 100-2 in FIG. The display color (for example, red) when the movement (including driving of the hoisting machine) is being executed is changed and displayed.
- the actual movement timing can be notified to the surroundings, and step-by-step alerts can be made.
- the arrow is blinked and the arrow is changed to a lighting state when the movement is executed. Good.
- the display unit 100 is synchronized with the display by the display means of the operating device described with reference to FIG. It can be set as the structure which can be changed.
- the display unit 100 displays an image
- the display unit 100 changes in accordance with the display change such as the character display. It is a point that can be done.
- the operator's own recognition in the operation of the operating device 3 by the operator and the information of the person around the operator who refers to the display unit 100 completely match the information such as the movement of the traveling body 9.
- the display unit 100 is arranged at the highest position on the work site, so that the operator and the surrounding people can share the moving direction of the luggage in real time, thereby avoiding danger.
- the display surface of the display unit is not a flat surface, but is configured by a dome-shaped projecting curved surface downward. Thereby, it is possible to view in a wider range in the space where the overhead crane is installed.
- a display unit may be provided near the middle in the length direction of the Y-direction rail 4. As a result, the operator and the surrounding people can visually recognize the display unit 100-3 from the widest range of the work area, and safety can be improved.
- the operator who operates the overhead crane 1 shown in FIG. 1 first presses the lifting switch of the operating device 3 to operate the Z-axis motor 43 to lower the hook 7 and place it on the floor surface.
- the hook 7 is hung on the transported object, and the Z-axis motor 43 is actuated by pushing the ascending button, the support wire rope 6 is wound up, and the transported object is lifted to a height that does not hinder horizontal movement.
- the housing 31 is directed in the direction in which the conveyed product is desired to be moved, the travel button is lightly pressed, and the orientation of the re-housing 31 is finely adjusted while observing the moving direction of the conveyed product that is hung on the hook 7. As a result, the conveyed product can be translated in a desired direction.
- a reference position adjusting unit 70 shown in FIG. For example, in the configuration of FIG. 1, in order to obtain a reference regarding the relative position of the motor drive control device 5 on the ceiling side and the operation device 3 that randomly changes the position without using the communication cable 8, the reference position adjustment Part 70 is required. This is because it is necessary to always correct the displacement in the relative position.
- various remote communication means such as infrared light communication can be used as the operation signal in addition to the radio waves of various bunt bodies.
- the short-range wireless communication is activated, so that the operation device 10-1 can be operated after the mutual protocol is established.
- the short-range wireless communication means such as Bluetooth is incorporated in the transmitter 74 and the receiver 143.
- an instruction button 75 is provided on the operation device 3 and a button for starting adjustment of the reference position, that is, calibration is provided on the instruction button 75 so that the reference position is not automatically set as described above.
- the reference position setting described later may be performed by operating the reference position setting button when the operator starts use.
- a radio wave transmitter 74 is built in the operating device 3, and a radio wave receiver 143 is built in the hoisting machine, and operates the instruction button 75 of the operating device 3.
- the data is converted into a radio signal and transmitted as a radio wave from the transmission device 74, and the reception unit 143 receives the radio wave and converts it into an electric signal, and the input / output of the microcomputer 53 in the motor drive control device 5.
- the movement control of the traveling body 9 and the hook 7 as the moving body is performed by inputting to the (I / O) port.
- the operating device 3 also includes a microcomputer 73, which, like the microcomputer 25, is a memory device such as a CPU (Central Processing Unit), ROM, RAM, and input / output (I). / O) equipment. Furthermore, the operation device 3 includes a piezoelectric gyro 91 and a geomagnetic sensor 95, and the direction in which the operation device 3 faces is detected by the piezoelectric gyro 91 by the rotation of the operation device 3 by the operator. So in this embodiment. A reference signal generation unit 71 that outputs a reference signal according to an instruction from the motor drive control device 5 side is provided. The reference signal from the reference signal generator is received by a reference signal receiver 72 in the controller device 3.
- a reference signal receiver 72 in the controller device 3.
- the signal received by the reference signal receiving unit 72 is input to the reference position setting unit 76 via the microcomputer 73, and the positional information error obtained by the piezoelectric gyro 91 and the geomagnetic sensor 95, such as the direction and orientation of the operating device 3, etc. Is corrected to obtain a reference position, and after setting the reference position, the controller device 3 issues a drive instruction to the traveling body 9 and the hook 7.
- a reference signal generation unit 71 is, for example, a predetermined linearly polarized light generation unit as will be described later.
- a reference signal generator 71 that generates linearly polarized light having a polarization plane in a determined direction as a reference signal
- a reference signal receiver 72 that receives a reference signal from the reference signal generator 71
- a receiver 72 A light receiving unit 82 that receives the received optical signal and generates a signal
- a microcomputer 73 for receiving and processing the signal from the light receiving unit 82 are provided.
- the reference position setting unit 76 in FIG. 18A can be constituted by an LED (light emitting semiconductor) lamp or the like. This LED is turned on after confirming that the controller device 3 is disposed at the reference position. Thereby, the operation of the travel instruction by the operation device 3 can be started at that position.
- the reference signal generation unit 71 is disposed, for example, on the crane X direction rails 2 ⁇ / b> A, 2 ⁇ / b> B or the Y direction rail 4 in FIG. 1, and emits light as a reference signal downward.
- a polarizing filter 71a is provided in the reference light irradiation unit, and light from a light source (not shown) or natural light behind is converted into linearly polarized light having a polarization plane in the Y direction.
- a filter 72 that transmits only the linearly polarized light in the Y direction is disposed on the outer surface of the operation device 3.
- the transmitted light When the transmitted light is incident on the light receiving element 82, an electric signal is generated by a photoelectric conversion action. Is transmitted to the microcomputer 73. This process is as shown in FIG. 20.
- the operation device 3 On the device side, linearly polarized light is emitted from the reference signal generating means 71 near the ceiling, and the operation device 3 includes a filter that passes only the linearly polarized light and a light receiving element that receives transmitted light. Provide. The operator waits for lighting of, for example, an LED as the reference position setting unit while changing the direction of the operating device under the crane.
- FIG. 21 illustrates this method in more detail, and it is preferable to use a reference signal generator that emits light by pulse control as a light source.
- a reference signal generator that emits light by pulse control as a light source. If the microcomputer 73 on the operating device 3 side sets the reference position by a signal having a predetermined pulse period, noise due to stray light such as disturbance light can be removed.
- the operator rotates the operation device 3 horizontally along the Y direction (see FIG. 20), the operator can set the reference position when the direction matches the polarization plane of the reference light. In this case, the light receiving unit reaches the peak of the signal intensity every 180 ° rotation, but the north-south direction can be easily determined by the built-in gyro 91 or the like in advance.
- the microcomputer 73 of the operating device 3 has a built-in time measuring means (timer), and when there is no calibration at a fixed time, that is, when the reference position is not set, the operator is instructed to move the operating device 3 by an LED lamp. By informing by blinking 76 or the like, the operation instruction by the operation device 3 can always be made accurate.
- timer time measuring means
- an operating device having higher dustproofness and waterproofness particularly an operating device having a simpler structure, and a moving device including the operating device.
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Control And Safety Of Cranes (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Invalid Beds And Related Equipment (AREA)
- Selective Calling Equipment (AREA)
Abstract
Description
上記構成によれば、外部筐体の内側に内部筐体を収容する構成としたから、操作者は外部筐体を回動するだけで、内側にある内部筐体との相対的回動変位により、移動方向の変更の変更を行うことができる。このため、操作者にとって、東西南北等の正確な方位の「確認を要することなく、操作する人の感覚的に基づく動作で、物体の移動方向の変更操作を可能にすることができ、移動方向の変更が容易で解り易い。しかも、筐体を二つ有しながら、これを長さ方向もしくは縦方向に連結することがないため、これにより、重量バランスに優れた操作装置を得ることができる。
さらに、外側と内側の各筐体の相対的回動変位を検出すれば、移動方向が変更できるので、ロータリエンコーダ等の複雑で高価で、しかも重量のある部品を搭載しないで済む利点がある。
加えて、内部筐体に収容される電気・電子部品は、二重の筐体の覆われることになり、防水性、防塵性が格段に向上する。
上記構成によれば、操作者自身にあっては、自己が操作する際に前記走行体が向かう方向について、光スポットによりをあらためて報知されるので、報知内容を確認しながら安心して安全な操作を行うことができるとともに、前記走行体や前記走行体による物体の移動方向の先や周囲にいる人間(操作者の周囲の人間)に注意を払うことができるので、事故の発生を未然に防ぐことができる。また、その周囲の人間にあっては、表示部による表示を確認せずとも報知部の報知により前記走行体の向かう方向、即ち移動される物体が向かう方向を知ることができ、前記走行体や物体の接近による身の危険を早期に察知することができる。
しかも、放置手段が光スポットであるから、操作装置から照射される光により、操作者が操作装置により指示した前記走行体や前記走行体による物体の移動方向が照らし出されるので、操作者及び周囲の人間は当該移動方向を視覚的に又は直感的に認識できる。
上記構成によれば、前記表示部が作業空間内の高い位置に配置するので、作業空間内を移動する物体、作業空間内の設置物などにより、前記表示部を眺める操作者及び/又は周囲の人間の視界が遮られることがないので、作業員は迅速・確実、且つ安全にそれぞれの作業を行うことができる。特に、前記表示部がY方向レール上を走行する走行体に配置されているので、操作者及び/又は周囲の人間は、走行体とともに移動する表示部から物体の移動方向や駆動装置の挙動を知認識又は予測することができるので、自己又は周囲の人間と移動している物体との位置関係や距離感覚を直観的に容易に把握することができる。
なお、ボタン部材は、物体の移動を駆動する駆動装置の動作の指示に関する入力を行うための入力部(第4の形態)の典型例である。
なお、外套部材を筐体の胴回りに回動可能に取り付けて、筐体及び外套部材を、それぞれ、従来の操作装置における第1及び第2(又は第2及び第1)の装置要素の筐体として取り扱うも場合には、外套部材と筐体との間に形成される隙間が問題になるが、このような隙間が形成されないように構成できるので、従来の装置よりもより高い防塵性又は防水性を実現することができる(後述)。
本発明において「入力部」とは、検知部に対して、物体の移動を駆動する駆動装置の動作の指示に関する入力を行う機能を有する部材、部品等を意味し、既述のとおり、押しボタンのボタン、タッチパネルのパネル面などに代表されるボタン部材がその典型例である。検知部と入力部との組み合わせにより、操作装置を用いて物体の移動を駆動する駆動装置の動作の指示を操作者が行うための操作スイッチが構成される場合がある。本発明の形態にもよるが、このような操作スイッチも「検知部」に含まれる。
また、以下において、一個のみの検知部と区別するために、複数個又は二個以上の検知部の集合を「検知部群」と表現する場合があるが、「検知部群」は検知部が複数個ある外観を有するものである必要はない。一見、一個の検知部であっても、実質的に、検知部が複数個あるのと同等の機能を果たすもの(例えば、複数個の感圧素子が面分布してなる検知部、そのような検知部を一つの単位としてそれが複数個配列して構成される検知部など)であれば、当該一個の検知部は「検知部群」に該当する。
以下、この発明の好適な実施形態について添付図面を参照しながら詳細に説明する。その際、必要に応じて図表を参照しつつ説明するが、各図表において同じ部分又は相当する若しくは共通する部分にはこれと同じ符号を付し、一部の説明を省略する。尚、以下に述べる実施形態は、本発明の好適な具体例であるから、技術的に好ましい種々の限定が付されているが、本発明の範囲は、以下の説明において特に本発明を限定する旨の記載がない限り、これらの態様に限られるものではない。
即ち、走行体9は走昇降機であり、走行体9に巻き上げられる支持ワイヤロープ6の先端に移動体としてのフック7を固定して構成されている。
ここで、撓みはするが捩れない通信ケーブル8は、撓みはするが捩れないケーブルチューブ内に通信線を内蔵して操作装置3と電気的に接続されている。「撓みはするが捩れないケーブルチューブ」としては、具体的には、例えばJIS-C8309に規定される金属製可とう電線管及び樹脂被覆金属製可とう電線管があり、例えば株式会社三桂製作所製の商品名プリカチューブ或いは防水プリカチューブを用いることができる。
図1および図2では、表示部100は方向表示装置として構成されており、平面的な表示パネルとして示されているが、後述するように、広く視認範囲を確保するために、他の形状を採用することもできる。表示部110は、走行体9が操作装置3からの指令により走行する際に向かう方向をできるだけ大きな文字や記号で広範囲に存在する人に視認させるものである。表示部100の方向報知の手法には光や音、カラー表示による色違いの表示、文字等が適宜選択される。
本実施形態では、図2から理解されるように、走行体9である巻上げ機本体17の上面に、ステー101を固定し、該ステー101に表示部100を、その表示面103を下に向けて取り付けている。なお、符号102は表示部100の駆動回路である。
表示部100を広い施設内に設置された天井クレーンに適用する場合には、走行体9にこれを設置するより、即ちクレーンガーダ10に設置するのが好ましく、グレーンガータ4の長さ方向の中央付近に固定するのがより好ましい。広い施設内で移動する走行体9とともに移動する表示部100を眼で追い続けるのは危険であり、表示部100を定位置に固定しておく方が却って危険が少ないからである。
また、複数の表示部100は、管理室以外にも、工場の天井、工場の柱、工場の壁面等、操作装置3以外の外面以外のあらゆる場所、即ち、操作者の周囲の人間に視認され得るあらゆる場所に設置可能である。
さらに、表示部の表示内容は、形状や色だけでなく、これに替え、これに加えて、音声でクレーンの走行体9の走行方向を知らせるガイド部を設けて操作者やその周囲の人間の聴覚を通じてその情報を知らせるようにすることもできる。
表示部100の詳しい構成例は後述する。
<要部構成>
この図に示されるように、移動装置1は、駆動装置2とこれを操作するための操作装置3を備えている。駆動装置2は、駆動モータ4とこれを制御するモータ駆動制御装置5を備えている。駆動モータ4は、X軸モータ41、Y軸モータ42及びZ軸モータ43を備えており、物体の3次元移動の駆動力源となる。モータ駆動制御装置5は、X軸モータ41とY軸モータ42とに駆動信号を与えるインバータ又はコンタクタ51と、Z軸モータ43に駆動信号を与えるインバータ又はコンタクタ52と、インバータ又はコンタクタ51とインバータ又はコンタクタ52を制御するマイクロコンピュータ53とを備えている。マイクロコンピュータ53は、操作装置3からの操作信号が伝達される入力端部54を備えている。
電源6は、操作装置3、駆動モータ4(X軸モータ41、Y軸モータ42及びZ軸モータ43)、モータ駆動制御装置5などの動作に必要な電力を供給する。図3の電源6は操作装置3筐体31の外部に配置しているが、操作装置3の動作に必要な電力の一部又は全部をその筐体31内に設けたバッテリーに代表される内部電源61から供給してもよい。
マイクロコンピュータ53には、図1で説明した表示部100,100aが接続されている。表示部100,100aの構成と機能については詳しく後で述べる。
また、操作装置3には、好ましくは、報知手段として、照明部20aを備えている。すなわち、マイクロコンピュータ53が、照明部20に接続されており、走行体9の進路の方向を示すようになっている。照明部20aについては、後で詳しく述べる。
検知部32は、(1)物体の昇降移動に関連する操作入力を検知する昇降入力検知部321(上昇入力検知部321a及び下降入力検知部321b)、(2)筐体31の胴回りの一部又は全部に配列している複数個の検知部であって、個々の検知部322a、322b、322c、・・・が予め物体の移動方向に対応付けられている検知部群322、(3)駆動装置2、操作装置3、電源6などの起動、再起動、停止、リセットなどに関連する操作入力を検知する一個又は二個以上の検知部323(緊急停止に関する操作入力を検知する検知部323a、リセットに関する操作入力を検知する検知部323b及び電源のON/OFFに関する操作入力を検知する検知部323cを含む。以下、まとめて又は個別に「起動関連入力検知部」という場合がある)、(4)物体の移動方向を微調整又は修正するため操作入力を検知する検知部324(所定方向の微調整に関する検知部324a及びその逆方向の微調整に関する検知部324bを含む。以下、まとめて又は個別に「微調整入力検知部」という場合がある)、(5)特別な機能に関する操作入力を検知する検知部325(以下、「特殊入力検知部」という場合がある)並びに、(6)検知部群322を構成する任意の検知部322xに対応付けられた方向への物体の移動を駆動装置2により駆動させるために必要な、その駆動の指示に関する操作入力を検知する駆動開始検知部326備えている。
なお、検知部群322を構成する検知部322xが操作入力を検知しただけで駆動するように、操作装置3及び駆動装置2を設計することもできる。この場合には、駆動開始検知部326及びその入力部P326は不要になる。
入力部P32は、押しボタンのボタンが代表例であるが、操作入力を生成させる機構や手段であって、検知部32を構成する素子、センサ等による当該操作入力の検出が可能になるものであれば足りる。従って、従来の操作装置のように、二つの筐体の相対的回動により操作入力を行う場合も、入力部P32から除外されない。(この場合、相対的回動を行う二つの筐体そのものが入力部に相当すると考えることができる。)
昇降入力検知部321及びその入力部P321はZ軸モータ43の駆動の操作に対応する。例えば、次のとおりである。操作者が入力部P321を操作し、その操作に対応する操作入力を昇降入力検知部321が検知すると、昇降入力検知部321はその操作入力に対応する信号を生成する。当該信号はマイクロコンピュータ33に伝達される。マイクロコンピュータ33は、当該信号に対して必要な処理を行い、当該信号に基づく操作信号を生成する。当該操作信号は出力端部34から入力端部54に、入力端部54からマイクロコンピュータ53に伝達される。マイクロコンピュータ53は、当該操作信号に基づき制御信号を生成し、その制御信号はインバータ又はコンタクタ52に伝達される。インバータ又はコンタクタ52はZ軸モータ43の動作を制御する。
また、マイクロコンピュータ53には、図1で説明した表示部100,70aが接続されている。表示部については後で詳しく説明する。
操作者は、移動装置1において操作装置1を用いることにより、自身が行った入力部の操作に対応したZ軸方向と、X軸方向またはY軸方向、ならびにX軸方向とY軸方向とが合成した方向への物体の移動を操作することができる。
それ故、操作者は、移動装置1において操作装置1を用いることにより、自身が行った入力部の操作に対応した3次元空間内での物体の移動を操作することができる。
例えば、移動装置1が天井クレーン装置である場合、操作装置1を用いることにより、これを操作することができる。この場合、天井クレーンの巻上動作(Z軸方向の移動)を可能にするモータがZ軸モータに該当し、建屋の水平壁面に沿った横行(X軸方向の移動)若しくは走行(Y軸方向の移動)又は横行と走行の合成である斜行の動作を可能にするモータがX軸モータ及びY軸モータに該当する。
図2及び図4において、検知部群322(322a、322b、322c、・・・)及びその入力部P322(P322a、P322b、P322c、・・・)と、物体の移動方向との対応関係は、例えば、検知部群322を構成する検知部が合計N個あり、筐体の胴回り全体にわたり均等距離で配列している場合であれば、任意の隣接する検知部322m、322nにおいて、検知部322mに対する操作入力に基づく物体の移動の方向は、検知部322nに対する操作入力に基づく物体の移動の方向に対して(360/N)度ずれる関係になる。見方を変えると、(360/N)度よりも小さな角度で物体の移動方向を設定できないことになる。
なお、個々の検知部が小さい場合(図13参照)には、(360/N)度も小さくなる。その場合には、微調整入力検知部324及びその入力部P324は不可欠でない。
図3と図4を参照して、本発明の第2の実施形態に係る操作装置について説明する。
<要部構成>
図3及び図4(a)に示されるように、操作装置3の筐体31は、検知部32、具体的には、昇降入力検知部321、検知部群322、起動関連入力検知部323及び微調整入力検知部324、並びにその入力部P32(P321、P322、P324)を備えており、その上部に中空突起部31aを備えている。
各検知部32は、通電を可能にする機械的な接点、圧力を検知する感圧素子、静電容量又はその変化を検知するセンサ、磁気などを検知する磁気センサ、光を検知する光学センサなど、或いは非接触方式であれば、近接センサと総称されるあらゆるセンサにより構成することができる。
すなわち、筐体31から操作者に向かう方向(即ち操作者の後方)と、あるいは検知部322aの反対側に位置する検知部322bが、操作者から筐体31に向かう方向(即ち操作者の前方)と、あるいは操作者の右手側において、検知部322aと322bとの中間に位置する検知部322cを操作者の右手方向へと、あるいは操作者の左手側において、検知部322aと322bとの中間に位置する(従って検知部322cの反対側に位置する)検知部322dを操作者の左手方向に対応するように、それぞれ選択設定することができる。
また検知部322a及び322bを、それぞれ、操作者の前方及び後方に対応するように変更することができ、検知部322c及び322dを、それぞれ、操作者の左手方向及び右手方向に対応するように変更することもできる。
図4(b)に示されるように、筐体31は、その内部に、配線A、B、Cと接続するマイクロコンピュータ33、出力端部34、配線A、Bと接続する各検知部32を備えている。配線Cは、中空突起部31a内に配置して筐体31の外部と内部とを接続している。
操作者が各検知部32を操作すると、その操作に対応する操作入力に関する信号が配線A、Bを通じてマイクロコンピュータ33に伝達される。マイクロコンピュータ33は、当該信号に対して必要な処理を行い、当該信号に基づく操作信号を生成する。その操作信号は、出力端部34から配線Cを通じて入力端部54に伝達される。
上記のような検知部群322を採用する操作装置3は、従来の操作装置と異なり、二つの筐体を用意して、上下に配置し、これら筐体の相対的回動操作を必要としない。それ故、当該二つの筐体の境目としての隙間がなく、操作装置3は、密閉性(例えば防塵性や防水性)がより高いものになる。また、構造がより簡素で部品点数も比較的少なくて済むことも手伝って、設計上の成約や組立て作業の負荷が軽減されるという長所がある。
なお、出力端部34と入力端部54との間の信号伝達を有線方式で行う場合、配線Cとマイクロコンピュータ33との接点が出力端部34に該当すると考えることができ、図4(b)に示されるとおりである。しかし、その信号伝達を無線方式で行う場合には、当該接点が出力部である必要はない。配線Cは、図1.図2で説明した通信ケーブル8と連続しており、中空突起部31a内に入り込む。無線方式の具体例については後述する。
操作装置3の動作に必要な電力が内部電源から供給される場合において外部との信号伝達を無線方式で行うときは、配線Cや中空突起部31aは不要になる。しかし、配線Cや中空突起部31aが他の役割(後述の変形例参照)を担っているのであれば、それらは依然必要である。例えば、信号伝達を無線方式で行うために、出力端部34を構成する発信手段のアンテナを設ける必要があるときは、中空突起部31aの内部にそれを設置することができ、その役割を担う限りにおいて中空突起部31aは依然必要である。
図5は、本発明の第3の実施形態に係る操作装置の構成を示す図であり、図4の操作装置の変形例を示す図でもある。図4の操作装置と比べて図5の操作装置において特徴的なのは、リング型検知部322の表面を覆う外套部材Dを備えている点である。
外套部材Dは、リング型検知部322や筐体31の外表面に対して移動しないように固定されていてもよいし、固定されていなくてもよく、例えば筐体31の胴周りに360度又はそれ以上若しくはそれ未満の角度範囲で回動可能に設置されていてもよい。
ここで、基準部材Jと保護シートSは、図5には示されていないが、後述する他の実施形態の具体例である図7や図11とほぼ同様の構成をなすものである。
基準部材Jは、検知部32を構成する機械的スイッチやセンサ類を「オン」する役割を果たす。つまり、操作装置3の変位の角度等を検出したり、操作者のスイッチ操作を検出する役割や機能を果たすものを広く意味するものである。
本実施形態では、例えば、基準部材Jは、外套部材Dの裏面に形成されるもので、凸部もしくは突起状の永久磁石、磁性体等で構成することができる。
保護シートSはリング型検知部322の入力部P322の表面を覆うように形成された検知部32の保護シートであり、好ましくは防塵防水性を有し、押しボタン操作等を可能にする程度の弾性を有する透明フィルム等で形成されている。
したがって、外套部材Dを回動自在に構成した場合には、基準部材Jはひとつの入力部P322に対応した突起状の部材もしくは永久磁石などである。
外套部材Dを回動しない構成とした場合には、入力部P322のひとつひとつに対向した位置に一対一対応するように複数個設けられる。
(1)リング型検知部322を比較的安価又はコンパクトに構成できる。
(2)一つのリング型検知部を構成する検知部の数(N)を増やすことができ、隣接する検知部間の方向差が比較的小さい((360/N)度が小さく、従って細かな方向設定がなされた)リング型検知部322を構成することができる。
図6は、本発明の第4の実施形態に係る操作装置の構成を示す図であり、図5の操作装置の変形例を示す図でもある。図5の操作装置と比べて図6の装置において特徴的なのは、外套部材Dすなわちカバー部材Dがリング型検知部322及びその近傍のみならず、筐体表面のその他の領域も覆っている点である。
図7は、本発明の第5の実施形態に係る操作装置の構成を示す図であり、図6の操作装置の変形例を示す図でもある。図6の操作装置と比べて図7の操作装置において特徴的なのは、少なくとも、すべての検知部32が縦方向に並列的に配置されたリング型検知部である点、筐体31が二つの筐体要素(外部筐体31oと内部筐体31i)により構成されている点及び駆動開始検知部326が検知部群322とは別に設けられている点である。
外部筐体31oと、該外部筐体31oの内側に完全に収容されて外部に露出しない内部筐体31iとは、略相似形の中空円体である。
外部筐体31oの内面には、選択された方向を特定し、当該選択方向に合わせて検知部をオンさせるオン手段としての基準部材Jが固定配置されている。
図7(a)に示されるように、操作装置3の筐体31は、中空で略円柱状の内部筐体31iと内部筐体31iを包み込むように且つ内部筐体31iの胴回りを360度又はそれ以上若しくはそれ未満の角度範囲で回動可能に取り付けられた略中空円筒状の外部筐体31oを備えている。具体的には、内部筐体31iは、その上部及び下部のそれぞれに中空突起部31a3bを備えており、外部筐体31oは、各中空突起部31a3bに取り付けられたベアリングなどの軸受け機構Gを介して内部筐体31iに取り付けられている。外部筐体31oの内部筐体31i側表面に設けられた突起Hは、内部筐体31iの外表面に設けられた軌道溝iに係合して内部筐体31の胴回りを移動するので、外部筐体31oと内部筐体31iとの距離は一定に保たれるとともに、両筐体は同軸で回転自在となる。このため、操作者が外部筐体31oを持つ手、腕又は体の向きや姿勢を変えると、外部筐体31oが内部筐体31iに対して相対的に回動可能となる。二つの筐体が相対的に回動可能であるという点で従来の操作装置に似ているが、図7の操作装置における二つの筐体は従来のように上下には配置してはいない。
なお、外部筐体31oの内部筐体31i側表面に例えば閉じた環状又は長い円弧状に突起部(円弧状突条)Hを形成すると、当該突起部Hは外部筐体31oの補強にも役立つ。
内部筐体31iの胴回りには、各検知部32(321、322、323、326、・・・)に対応するリング型検知部が設けられている。図示されていない微調整入力検知部324及び特殊入力検知部325は必要に応じて設けられるが、これらが設けられるときは、リング型検知部のような複数個の検知部を備えるものである必要はなく、図4乃至図6に示されるような操作スイッチのような形態であれば足りる。
それ故、リング型検知部322は、操作者が選択した物体の移動方向を検知する手段として機能する。この場合、二つの筐体31i3oそれ自体が入力部P322を構成している、と見ることができる。
なお、基準部材Jが小さいと、隣接する検知部の間にその基準部材Jが配置したとき、いずれの検知部もこれを検知できないという事態が起こりかねない。それ故、予め、基準部材Jの大きさを、隣接する検知部の間隙幅以上に設定する、複数個設けるなどして、少なくとも一つの検知部がこれを検知できるようにしておく。
なお、以下において、リング型検知部322以外のリング型検知部(必要に応じて設けられる微調整入力検知部324及び特殊入力検知部325を含む)及びその入力部を、まとめて又は個別的に32U及びP32Uと表記する場合がある。
照明装置は、比較的パワーの大きいLEDや、赤色レーザ光、バルブ球による照明光、ハロゲンランプ、キセノンランプ等の強い光ビームを所定の光学系により集光するもの等を用いることができる。
図7(b)に示されるように、筐体31は、その内部に、配線A、B、Cと接続するマイクロコンピュータ31、出力端部34、配線A、Bと接続する各リング型検知部32を備えており、配線Cは中空突起部31a内に配置している。各リング型検知部32(より詳しくは、各リング型検知部32を構成する個々の検知部)やその他の給電を要する部品の動作に必要な電力は、まず、電源6から配線Cを通じて又はバッテリーに代表される内部電源61からマイクロコンピュータ33に供給され、次いで、配線A、Bを通じて各検知部32に分配される。
特に、操作者が二つの筐体31i3oと相対的回動を通じて行う操作入力を、リング型検知部322を構成するいずれかの検知部322xが検知すると(より具体的には、基準部材Jを検知部322jが検知すると)、当該検知部322x(322j)は、予め対応付けられている物体の移動方向に関する信号を生成し、次いでマイクロコンピュータ33は、その信号に基づく操作信号を生成する。操作者が入力部P322を操作した後、入力部P326を操作し、その操作入力を駆動開始検知部326が検知すると、その操作入力に対応する信号を生成し、次いでマイクロコンピュータ33は、その信号に基づく操作信号を生成する。それらの操作信号は、いずれも、出力端部34から配線Cを通じて入力端部54に伝達される。
図7の操作装置3において、外部筐体31oは、内部筐体31iに取り付けられたリング型検知部の周囲を覆う部材であり、従って外套部材Dに該当する。
図8は、図7の操作装置の変形例を示す図であり、本発明の第6の実施形態に係る操作装置の構成を示す図でもある。図7の操作装置に比べて図8の操作装置において特徴的なのは、検知部群322のみがリング型検知部である点及び二つの筐体要素(外部筐体31oと内部筐体31i)間の電力供給(及び信号伝達)を確保するためにスリップリングを、信号伝達を確保するために無線通信手段を、それぞれ採用している点である。
図8(a)に示されるように、操作装置3の筐体31は、中空で略円柱状の内部筐体31iと内部筐体31iを包み込むように且つ内部筐体31iの胴回りを360度又はそれ以上若しくはそれ未満の角度範囲で回動可能に取り付けられた、中空のコップ状(たとえれば、大きなコップの中に小さなコップが入り込んで開口部において平面で接続されたような形状)の外部筐体31oを備えている。外部筐体31oと内部筐体31iとの間には、両筐体の隙間を埋めるようにベアリングなどの軸受け機構Gが介設されているので、両筐体は同軸で回転自在になり、操作者が外部筐体31oを持つ手、腕又は体の向きや姿勢を変えると、外部筐体31oが内部筐体31iに対して相対的に回動可能となる。二つの筐体が相対的に回動可能であるという点で従来の操作装置に似ているが、図8の操作装置における二つの筐体は従来のように上下には配置してはいない。
駆動開始検知部326及びその入力部P326については、リング型検知部として構成されていない点を除き、図7の操作装置のものと基本的に同じである。駆動開始検知部326及びその入力部P326は、これらが一体となって一つの操作スイッチが構成されている点で、図4乃至図6に示されている各検知部32とその入力部P32と同様である。
さらに好ましくは、当該表示手段Nには、図1で説明した表示部100の情報の一部又は全部が同期して表示されることができる。
図8(b)に示されるように、筐体31は、その内部に、配線A*、B*、Cと接続するマイクロコンピュータ31、出力端部34、配線A、Bと接続する各検知部32を備えており、配線Cは中空突起部31a内に配置している。
また、内部筐体31iと外部筐体31oとの間には無線通信手段Lが設けられている。
操作装置3の各要素(検知部32、表示手段Nなど)の動作に必要な電力は、まず、電源6から配線Cを通じて又はバッテリーに代表される内部電源61からマイクロコンピュータ33に供給され、次いで、配線A**を通じてリング型検知部322に、配線B*を通じて且つスリップリングKを介してその他の検知部32、表示手段Nなどに分配される。
操作パネルM上の表示手段Nに対する信号は、マイクロコンピュータ33から表示手段Nに、配線A*を通じて且つ無線通信手段Lを介して又は配線B*を通じて且つスリップリングKを介して、伝達される。
図8の操作装置3において、外部筐体31oは、内部筐体31iに取り付けられたリング型検知部の周囲を覆う部材であり、従って外套部材Dに該当する。
図9は、本発明の第7の実施形態に係る操作装置の構成を示す図であり、図8の操作装置の変形例を示す図でもある。図9(a)に示されるように、図8の操作装置と比べて図9の操作装置において特徴的なのは、電力供給を確保するためのスリップリングKの代わりに非接触給電手段Oを使用している点である。
操作装置3の各要素(検知部32、表示手段Nなど)の動作に必要な電力は、まず、電源6から配線Cを通じて又は内部電源61からマイクロコンピュータ33に供給され、次いで、配線A**を通じてリング型検知部322に、配線B**を通じて且つ非接触給電手段Oを介してその他の検知部32や表示手段Nに分配される。
操作パネルM上の表示手段Nに対する信号は、マイクロコンピュータ33から表示手段Nに、配線A*を通じて且つ無線通信手段Lを介して伝達される。
図10は、本発明の第8の実施形態に係る操作装置の構成を示す図であり、図7の操作装置の変形例を示す図でもある。図7の操作装置と比べて図10の操作装置において特徴的なのは、検知部32及び入力部P32がより多い点及びリング型検知部一つ当たり複数個の入力部が配置されているものがある点である。
図10(a)に示されるように、図10の操作装置の筐体31は、中空で略円柱状の内部筐体31iと、内部筐体31iを包み込むように配置されたコップ状の外部筐体31oと、内部筐体31iと外部筐体31oの間に設置され、両筐体31i3oを相対的に回動自在に保持するベアリングなどの軸受け機構とを備えている。このため、操作者が外部筐体31oを持つ手、腕又は体の向きや姿勢を変えると、外部筐体31oが内部筐体31iに対して相対的に回動可能となる。
なお、内部筐体31iの外表面底部には、内部筐体31iと外部筐体31oとの同軸回転軸に沿って突出し、外部筐体31oの表面と接触する突起Qが設けてある。突起Qにより両筐体間の距離が保持されるので、両筐体は円滑に相対的回動を行うことができる。このような突起Qは、内部筐体31iの外表面底部に設けるのではなく、外部筐体31oの表面に、内部筐体31iの外表面底部と接触するように設けてもよい。
いずれのリング型検知部であれ、そのリング型検知部及びそれを構成する個々の検知部の機能を阻害しない限りにおいて、各検知部の外表面には保護シートSを設けることができる。
図10の操作装置の電気的構成は、上記(I)乃至(III)に関連する構成を除き、図7の操作装置のそれと同じである。そこで、上記(I)乃至(III)に関連する構成について言及する。
<第1の例>
特定位置を基準部材Jの位置とし、リング型検知部322に対して例えば三個の入力部P322[1]、P322[2]、P322[3]が存在し(図13(a)参照)、当初、リング型検知部322を構成するk番目の検知部322[k]が基準部材Jを検知しており、基準部材Jの位置から内部筐体31iの胴回り(仮に反時計回りを正(+)方向とする)において、入力部P322[1]が検知部n1個分だけ離隔した位置に、入力部P322[2]が検知部n2個分だけ離隔した位置に、入力部P322[3]が検知部n3個分だけ離隔した位置に、換言すれば、当初、入力部P322[1]、P322[2]、P322[3]は、それぞれ、検知部322[k+n1]、322[k+n2]、322[k+n3]に対応する位置に配置しているとする。
このことは、内部筐体31iに対して外部筐体31oが、従ってリング型検知部322に対して三個の入力部P322[1]、P322[2]、P322[3]が相対的に回動しても、入力部P322[1]、P322[2]、P322[3]の操作により、入力部P322[1]、P322[2]、P322[3]のそれぞれに設定された三つの機能(例えばF1、F2、F3)に対応する操作入力として検知することができることを意味している。また、一つのリング型検知部の配列に沿って設置された入力部の数の分だけ操作入力に対応する機能を設定することができること、一つのリング型検知部に配列に沿って設置された第一の入力部と第二の入力部とを同時に操作してもそれぞれの操作入力を検知できること、も意味している。
特定位置を基準部材Jの位置とし、リング型検知部322以外の任意のリング型検知部32Uに対して例えば三個の入力部P32U[1]、P32U[2]、P32U[3]が存在し(図13(b)参照)、リング型検知部32Uを構成するk番目の検知部32U[h]が基準部材Jを検知しており、基準部材Jの位置から正方向において、入力部P32U[1]が検知部m1個分だけ離隔した位置に、入力部P32U[2]が検知部m2個分だけ離隔した位置に、入力部P32U[3]が検知部m3個分だけ離隔した位置に、換言すれば、当初、入力部P32U[1]、P32U[2]、P32U[3]は、それぞれ、検知部32U[h+m1]、32U[h+m2]、32U[h+m3]に対応する位置に配置しているとする。
このとき、外部筐体31oが内部筐体31iに対して負方向に回動し、検知部322[h+q]が基準部材Jを検知するに至ると、入力部P322[1]、322[2]、322[3]は、それぞれ、検知部322[h+q+m1]、322[h+q+m2]、322[h+q+m3]に対応する位置に配置することになる(qは任意の整数)。
なお、上記の二つの例のように特定位置に基づき入力部及び検知部を関連付ける処理は、マイクロコンピュータにおける回路やソフトウェアにより実現することができる。また、当該処理は、マイクロコンピュータ33で行えば足りるが、マイクロコンピュータ53で行うようにしてもよい。
複数個のリング型検知部による検知の組み合わせにより駆動装置2の動作の指示を構成する処理は、マイクロコンピュータにおける回路やソフトウェアにより実現することができる。また、当該処理は、マイクロコンピュータ33で行えば足りるが、マイクロコンピュータ53で行うようにしてもよい。
第8の実施形態によれば、第5の実施形態が奏するものと同等の効果を得ることができる。それに加えて、一つのリング型検知部に複数個の入力部があっても、操作者は各入力部を操作することにより、駆動装置2の動作を指示することができる。このことは、一定数の入力部が必要な操作装置であっても、リング型検知部の数は少なくて済むこと、或いは、リング型検知部の数を増やさなくても入力部の数を増やすことができることを意味しており、操作装置の内部構造の簡素化、操作装置の部品点数の低減、組立ての容易化、価格低減のために役立つ。また、入力部の増減に柔軟に対応できるので、設計面でも有益である。
(1)図11及び図12は、それぞれ、リング型検知部322及びその他のリング型検知部321,323,324・・・(以下、まとめて又は個別に「32U」の符号で表記し、その入力部を「P32U」の符号で表記する)の基本構成の断面を示す図である。図11及び図12に示されるように、リング型検知部32(322、32U)は、筐体31の胴回りの一部又は全部の範囲に配列して構成される。ここで、「胴回りの一部」とは、範囲W以外の胴回りの範囲をいい、このような範囲での複数個の検知部の配列が、開いた環状又は円弧状に配置されている場合に相当する。範囲Wの大小は、操作装置3の設計次第であり、範囲Wがない場合が「胴回りの全部」に該当し、これが閉じた環状に配置されている場合に相当する。
検知部は、操作装置を用いる操作者からの操作入力を検知する機構や手段を広く含み、基準部材Jの接近又は接触は、操作装置を用いる操作者による操作入力に相当するので、基準部材Jは、入力部と考えることができる。
(2)リング型検知部322について
リング型検知部322は、外套部材Dに取り付けられた基準部材Jの接近又は接触を検知する。なお、筐体31を内部筐体31iと位置付けるならば、外套部材Dは、外部筐体31oに相当する。
リング型検知部32Uを構成する個々の検知部は、リング型検知部322の場合と異なり、物体の移動方向に対応付けられていない。その代わり、リング型検知部32Uは、入力部P32Uからの操作入力を検知して、その操作入力に対応する信号を発生する。(その信号はマイクロコンピュータ33に伝達される。)
また、リング型検知部32Uの検知方式は、非接触方式であっても(図12(a)参照)、接触方式であってもよい(図12(b)参照)。因みに、図12(a)に示されるリング型検知部32U及び入力部P32Uの例は、磁性体の接近を検知する磁気センサ及び、当該磁気センサに対して弾性的に接近と離隔の移動ができるように外套部材Dに取り付けられた、磁性体を含む押しボタンであり、図12(b)に示される例は、感圧センサ及び、当該感圧センサに向けて押せるように外套部材Dに取り付けられた、車輪付き突起部材を備える押しボタンである。
(3)操作スイッチについて
リング型検知部32と、基準部材J又は入力部P32との組み合わせを操作スイッチTとすると、例えば、図7に示される複数個のリング型検知部のうち、リング型検知部322は基準部材Jとの組み合わせにより操作スイッチT322を構成し、その他のリング型検知部321、323、324、325は、それぞれ、入力部P321、P323、P324、P325との組み合わせにより操作スイッチT321、T323、T324、T325を構成する。
一方、図12に示されている例では、任意の検知部322x、32Uxがそれぞれ入力部P322x、P32Uxと一体的に組み合わされて単一の操作スイッチを既に構成している。なお、この例では、基準部材Jや入力部P32Uは、それぞれ、入力部P322x、P32Uxと直接接触することにより操作入力を当該入力部に伝達し、当該入力部からの入力を検知部322x、32Uxが検知している。それ故、基準部材Jや入力部P32Uは、任意の検知部322x、32Uxの入力部P322x、P32Uxの入力部として機能すると同時に、リング型検知部322、32Uの入力部P322、P32Uxとしても機能する。
図15の操作装置は、第8の実施形態の具体例である。図15に示されているとおり、外部部材31oにおいて、入力部326bの先端を配線などにより検知部321aのV1の位置まで延伸させる。同様に、入力部P321bを検知部321aのV2の位置まで延伸させ、入力部P325W、P325N、P325Sを、それぞれ、検知部325EのV3、V4、V5の位置まで延伸させる。すると、検知部326bを検知部326aに、検知部321bを検知部321aに、検知部325W、325N、325Sを検知部325Eに、それぞれ集約させることができ、五個のリング型検知部を削減することができる。従って、図15の操作装置は、図10のそれに比べて、明らかに内部構造が簡素になり、部品点数も減り、組立てや設計が容易になり、低価格になる。
表示部100は、比較的大きく方向を表示できるものであれば、特定の技術手段に限定されるものではないが、好ましくは、液晶表示装置、LED(発光ダイオード)を用いて矢印表示等により光学的に方向を示す表示装置、EL、光電管などによるセグメントを利用したものなど種々適用することができる。
例えば、操作装置30からの信号が、マイクロコンピュータ53を介して入力されると、例えば図17の表示部100-2では、方向が選択された段階の表示色(例えば青色)と、走行体9の移動(巻上げ機の駆動を含む)が実行されている場合の表示色(例えば赤色)とを変えて表示する。これにより、周囲に実際の移動タイミングを知らせて、段階的な注意喚起をすることができる。
また、例えば、操作装置3からの指令により走行体9の移動等が指示された場合には、矢印を点滅表示し、移動が実行に移されると矢印を点灯状態に変更表示するようにしてもよい。
これにより、操作者の操作装置3の操作における操作者自身の認識と、表示部100を参照した操作者の周囲の人間が、走行体9の移動等の情報とが完全に一致し、操作者と周囲の人間の認識の相違による現場の事故等が有効に防止される。
特に、現場において、クレーンが大きな荷物等の搬送物を運んでいる場合などでは、現場の低い位置においては、操作者の周囲の人間の視界が遮られることがあり、荷物の移動方向が予測できずに危険な状態となる場合がある。
また、特に図16の場合は、表示部の表示面が平面ではなく、下方に向かってドーム状の突出湾曲面で構成されている。これにより、天井クレーンが設備された空間内のより広い範囲において視認することを可能としている。
さらに、図1に符号100-3で示すように、Y方向レール4の長さ方向の中間付近に表示部を設けてもよい。
これにより、作業エリアの最も広い範囲から操作者及びその周囲の人間が表示部100-3を視認することができ、安全性を向上し得る。
無線方式による実施形態においては、図18(a)に示す基準位置調整部70を備えている。
例えば、図1の構成において、モータ駆動制御装置5が、天井側にあり、通信ケーブル8を用いずにランダムに位置を変える操作装置3との相対位置に関する基準を求めるためには、基準位置調整部70が必要になる。相対位置における位置ずれを常に補正する必要があるからである。
無線方式を採用する場合、操作信号は、各種バント体の無線電波以外にも、赤外線光通信など種々の遠隔通信手段を利用することができる。
また、好ましくは、例えば、Bluetooth(ブルートゥース)等の近距離無線通信技術を利用して、操作装置3が、天井クレーンが設備された部屋に持ち込まれ、受信部143に近接した時に、該近距離無線通信が起動し、それにより互いのプロトコルを確立後に操作装置10-1による操作が可能となるようになっている。
これにより、専用プロトコルを用いて操作装置3による操作を実行するようにすれば、無線ノイズなどによる誤動作を確実に防止することができる。
ここで、上記Bluetooth(ブルートゥース)等の近距離無線通信手段は、発信装置74と受信部143に組み込まれている。
あるいは、操作装置3に指示ボタン75を設けて、この指示ボタン75に、基準位置の調整、即ちキャリブレーションを開始させるボタンを設けて、上記のように自動的に基準位置設定をするのではなく、操作者が使用開始時に、当該基準位置設定のボタンを操作することにより、後述する基準位置設定が行われるようにしてもよい。
そこで、この実施形態では。モータ駆動制御装置5側からの指示により、参照信号を出す参照信号生成部71を設けている。この参照信号生成部からの参照信号は操作装置3内の参照信号受信部72で受信するようになっている。参照信号受信部72で受けた信号は、マイクロコンピュータ73を介して基準位置設定部76に入力され、操作装置3の方向・向き等、上記した圧電ジャイロ91及び地磁気センサ95で求めた位置情報誤差が補正されて、基準位置が求められ、当該基準位置設定後に操作装置3は、走行体9やフック7への駆動指示を出すようになっている。
図において、参照信号生成部71は、例えば後述するように所定の直線偏光生成手段である。決められた向きで偏波面を持つ直線偏光を参照信号として生成する参照信号の生成部71と、この参照信号の生成部71からの参照信号を受ける参照信号の受信部72と、受信部72が取り入れた光信号を受けて信号を生成する受光部82と、受光部82からの信号を受け取り処理するためのマイクロコンピュータ73を備えている。マイクロコンピュータ73からの指令を受けて、図18(a)の基準位置設定部76はLED(発光半導体)ランプ等で構成することができる。このLEDは、操作装置3が基準位置に配置されたことを確認して点灯する。これにより、その位置で、操作装置3による走行指示の操作を開始可能とするものである。
操作装置3の外面には、Y方向の直線偏光だけを透過するフィルタ72を配置しておき、透過した光は、受光素子82に入射すると、光電変換作用により電気信号を生成し、当該電気信号をマイクロコンピュータ73に伝える。
この過程は、図20に示す通りで、装置側では、天井付近の参照信号生成手段71から直線偏光を出し、操作装置3には、直線偏光だけを通すフィルタと、透過光を受ける受光素子を設ける。操作者は、クレーンの下で操作装置の向きを変えながら、上記した基準位置設定部としての例えばLEDの点灯を待つ。
操作者は、操作装置3をY方向(図20参照)に沿って水平に回転させると、参照光の偏波面と合った向きの時に基準位置の設定ができる。この場合、受光部は180度回転ごとに信号強度のピークを迎えるが、予め内蔵ジャイロ91等により南北方向などの判別は容易に行うことができる。
なお、操作装置3のマイクロコンピュータ73は、計時手段(タイマ)を内蔵していて、一定時間ごとにキャリブレーション、即ち基準位置の設定がない時は、操作者に操作装置3の移動をLEDランプ76の点滅などで知らせることで、常に操作装置3による操作指示を正確なものとすることができる。
Claims (9)
- 物体の移動を駆動する駆動装置の動作の指示に関する入力を検知する検知部と、筐体とを備える操作装置であって、
複数個の前記検知部を、物体の移動方向に対応して、前記筐体の胴回りの一部又は全部の範囲に配列してなる、
ことを特徴とする操作装置。 - 前記検知部を覆う外套部材を備える、ことを特徴とする請求項1に記載の操作装置。
- 前記外套部材は、少なくとも前記検知部が配列している範囲で、前記筐体の胴回りに回動可能である、ことを特徴とする請求項1又は2に記載の操作装置。
- 前記入力を行うための入力部を前記外套部材に備える、ことを特徴とする請求項1乃至3のいずれかに記載の操作装置。
- 物体の移動方向を修正するための指示に関する入力を検知する微調整入力検知部を備える、ことを特徴とする請求項1乃至4のいずれかに記載の操作装置。
- 前記筐体が、表面に前記検知部を設けた内部筐体と、該内部筐体を収容し、その外側で該内部筐体に対して、相対的に回動自在に形成され、前記内部筐体の検知部に対してオン手段となる基準部材を内面に設けた外部筐体とを有していることを特徴とする請求項1乃至5のいずれかに記載の操作装置
- 前記筐体の外部に露出する箇所であって、操作者と反対の側に相当する面に、駆動装置が移動させる走行体の走行の方向を知らせる報知部として光スポットを形成する照明装置が配置されていることを特徴とする請求項1乃至6のいずれかに記載の操作装置
- 少なくとも前記筐体の外面を除く領域に、前記駆動装置が移動させる物体の向きが変更された場合の変位量に関する情報又は該物体の進行方向に関する情報を視覚的に把握可能なように表示する表示部が、前記物体とともに移動する走行体に固定されていることを特徴とする請求項1乃至7のいずれかに記載の操作装置
- 物体の移動に利用される駆動装置と、該駆動装置の動作を操作する操作装置とを備える移動装置であって、
前記操作装置は、請求項1乃至8のいずれかに記載の操作装置であることを特徴とする移動装置。
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CN105084214B (zh) | 2010-07-02 | 2017-07-28 | 株式会社五合 | 操作装置以及具备该操作装置的移动装置 |
FR2981922B1 (fr) * | 2011-10-27 | 2013-11-29 | Eurocopter France | Moyen de controle d'un dispositif elevateur, appareil de levage et aeronef |
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- 2011-07-01 US US13/389,393 patent/US8950734B2/en active Active
- 2011-07-01 CN CN201180032702.2A patent/CN103097277B/zh not_active Expired - Fee Related
- 2011-07-01 JP JP2012522479A patent/JP5854992B2/ja active Active
- 2011-07-01 KR KR1020127033850A patent/KR101850492B1/ko active IP Right Grant
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2014
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CN104518617B (zh) * | 2013-09-27 | 2017-06-16 | 住友重机械工业株式会社 | 搭载有控制设备的马达 |
Also Published As
Publication number | Publication date |
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KR101850492B1 (ko) | 2018-04-19 |
JP5854992B2 (ja) | 2016-02-09 |
US9403664B2 (en) | 2016-08-02 |
JPWO2012001994A1 (ja) | 2013-08-22 |
JP2016052949A (ja) | 2016-04-14 |
CN103097277A (zh) | 2013-05-08 |
CN105084214B (zh) | 2017-07-28 |
CN105084214A (zh) | 2015-11-25 |
US20150175390A1 (en) | 2015-06-25 |
JP6089184B2 (ja) | 2017-03-08 |
US8950734B2 (en) | 2015-02-10 |
KR20130124174A (ko) | 2013-11-13 |
CN103097277B (zh) | 2015-08-12 |
US20120132605A1 (en) | 2012-05-31 |
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