Cargo handling assistance device

Abstract

To provide a cargo handling assistance device which improves cargo handling work.SOLUTION: A cargo handling assistance device 1 includes an engagement part 5a, a suspension rope part 4, a weight detection part 12, a position detection part 13, a control part 10, a raising / lowering operation part 18, a motor part 11, and an operation command part 20, wherein the engagement part 5a engages a cargo, the raising / lowering operation part 18 winds or delivers the suspension rope part 4, the motor part 11 drives the mechanically connected raising / lowering operation part 18, the position detection part 13 detects and transmits a deliver value of the suspension rope part 4, the weight detection part 12 is fixed to a member for fixing the motor part 11, suspends and supports the engagement part 5a, detects a weight value applied to the engagement part 5a, and transmits the weight value, a suspension member 3 which can be mounted on a structure is provided on one end of the suspension rope part 4, and the control part 10 controls the motor part 11 so as to balance the cargo on the basis of the weight value and the delivery value by a command from the operation command part 20.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] This application is a domestic priority claim application based on an application filed on June 23, 2021. The present invention relates to a cargo handling assist device that can also be used at construction sites, theaters, and other temporary installation sites for lighting and audio equipment. For example, when lifting and lowering cargo, it balances the weight with the assistance of a motor and moves up and down with a slight operating force.

Background Art

[0002] Conventionally, factories that assemble industrial products use cargo handling devices to lift and lower tools, work equipment, products, semi-finished products, etc. that have a large weight. On the other hand, in some cases, a reverse suspension type in which the cargo handling device body supports the cargo and moves up and down together is used at temporary installation sites for lighting and audio equipment at construction sites, theaters, etc.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, such a reverse suspension type cargo handling device is not suitable for cargo handling operations involving precise positioning because the lifting and lowering is manual or simply performed by an electric motor as disclosed in Patent Document 1, and there is room for improvement. [[ID=**************************]]

[0005] In view of such problems, an object of the present invention is to provide a cargo handling assist device that improves cargo handling operations.

Means for Solving the Problems

[0006] In order to achieve the above object, a cargo handling assist device according to an aspect of the present invention A cargo handling assistance device comprising a locking section, a suspension cable section, a weight detection section, a position detection section, a control section, a lifting / lowering operation section, a motor section, and an operation command section, The locking part locks the cargo, The lifting mechanism winds up or unwinds the suspension cable. The motor unit drives the mechanically connected lifting mechanism. The position detection unit detects and transmits the payout value of the suspension cable. The weight detection unit is fixed to a member that secures the motor unit, suspends and supports the locking part, detects the weight value applied to the locking part, and transmits it. A suspension member that can be attached to a structure is connected to one end of the suspension cable. The control unit is configured to control the motor unit to balance the load based on the weight value and the payout value, according to commands from the operation command unit.

[0007] Furthermore, it also includes a battery unit, The control unit has a charging unit that uses the regenerative energy generated in the motor unit to charge the battery unit when the suspension cable is extended.

[0008] It also features wheels that allow it to move freely on the floor.

[0009] Furthermore, the motor section includes an electromagnetic brake.

[0010] Furthermore, the control unit has an electromagnetic brake holding unit that holds the lifting and lowering mechanism using an electromagnetic brake when it receives the same payout value from the position detection unit for a predetermined period of time.

[0011] Furthermore, it is equipped with a ground detection unit that detects whether it is placed on the floor. [Effects of the Invention]

[0012] The cargo handling assistance device of the present invention makes it possible to provide a cargo handling assistance device that improves cargo handling operations. [Brief explanation of the drawing]

[0013] [Figure 1] These are the front schematic view and the left side schematic view of the cargo handling assist device according to an embodiment of the present invention. [Figure 2] This is the control configuration diagram of the cargo handling assist device according to an embodiment of the present invention. [Figure 3] This is a schematic view showing the configuration during charging of the cargo handling assist device according to an embodiment of the present invention. [Figure 4] This is a schematic view showing the cargo and the lifting tool according to an embodiment of the present invention. [Figure 5] This is a schematic view showing the cargo handling operation performed using the cargo handling assist device according to an embodiment of the present invention. [Figure 6] This is a schematic view showing the cargo handling operation performed using the cargo handling assist device according to an embodiment of the present invention. [Figure 7] This is a schematic view showing the cargo handling operation performed using the cargo handling assist device according to an embodiment of the present invention. [Figure 8] This is a schematic view showing the cargo handling operation performed using the cargo handling assist device according to an embodiment of the present invention. [Figure 9] This is a schematic view showing the cargo handling operation performed using the cargo handling assist device according to an embodiment of the present invention. [Figure 10] This is a schematic view showing the cargo handling operation performed using the cargo handling assist device according to an embodiment of the present invention.

Embodiments for Carrying Out the Invention

[0014] Hereinafter, the cargo handling assist device according to an embodiment of the present invention will be described in detail based on the drawings. FIG. 1(a) is a left side schematic view of a cargo handling assist device 1 which is an example of an embodiment of the present invention, and FIG. 1(b) is a front schematic view. Both FIG. 1(a) and FIG. 1(b) are represented by schematic views in which the cover 2 is cut so that the internal structure can be understood.

[0015] The load assisting device 1 includes a main body portion 9 and an operation command portion 20. Inside the main body portion 9, there is a base member 19a, and on its upper surface, a motor portion 11, a position detection portion 13, and a lifting operation portion 18 are arranged via a bracket 19b. The base member 19a is a metal plate with high rigidity, and on its upper surface, a control portion 10, a battery portion 15, and a secondary side transformer 16 are placed. On the other hand, on the lower surface of the base member 19a, a cover 2 and a locking shaft holder 5b are fixed via a weight detection portion 12. Also, below the base member 19a, wheels 31a are attached via a support member 31b.

[0016] The bracket 19b is a metal member fixed to the upper surface of the base member 19a with bolts or the like not shown in the figure, and fixes the motor portion 11 with bolts. Also, the bracket 19b may have a portion for guiding and restricting the passing position of the link chain 4.

[0017] The motor portion 11 includes, for example, a speed reducer, a motor, and an electromagnetic brake. This motor is, for example, an AC servo motor, but is not limited to this. In this motor portion 1, a speed reducer is provided on the load side.

[0018] This gearbox reduces the rotational speed of the motor to a predetermined speed. The gearbox is, for example, a harmonic drive gearbox. A harmonic drive gearbox has a wave generator, a flexspline, and a circular spline. The wave generator has an elliptical shape, with thin-walled ball bearings fitted around the outer circumference of an elliptical cam. The inner ring of the bearing is fixed to the elliptical cam, and the outer ring is elastically deformable via the balls. The flexspline has numerous external teeth formed on its outer circumference and is fitted onto the wave generator, making it elastically deformable so that the position in which it is deflected in the circumferential direction changes with the rotation of the wave generator. The circular spline is on the outer circumference side of the flexspline and has internal teeth that engage with the external teeth of the flexspline. Power is taken from the wave generator connected to the motor and transmitted as a rotational output to an output shaft connected to the flexspline. By using a gearbox with minimal backlash, such as a harmonic drive gearbox, in the motor section 11, it is possible to eliminate the uncontrollable region during the switching between forward and reverse rotation of the motor when performing lifting and lowering operations, thereby achieving smooth operation. Note that the gearbox is not limited to a harmonic drive gearbox.

[0019] An electromagnetic brake is used to stop and hold the rotation of a motor, and it is preferable that it is of the non-excitation type, for example, that the brake is applied when the power supply is cut off.

[0020] The position detection unit 13 is connected to the non-load side of the motor unit 11. The position detection unit 13 detects the rotational angle position of the motor. The position detection unit 13 is, for example, an absolute encoder, which optically detects the rotational angle position of the motor and transmits the position value to the control unit 10 of the main unit 9. Therefore, this position detection unit 13 can detect the amount of the suspension hook 3 extended from the main unit 9. In this embodiment, the position detection unit 13 is located on the non-load side of the motor unit 11, but it is not limited to this, and may be provided on the output shaft which is the output of the reduction gear, or on the lifting and lowering operating unit 18, or on both. Furthermore, the position detection unit 13 is not limited to optical type, but may be magnetic type, capacitive type, etc.

[0021] The lifting mechanism 18 includes a rotating member that rotates due to power transmission from the motor unit 11, which is the drive source. In this embodiment, the rotating member of the lifting mechanism 18 is in the shape of a hollow cylinder, connected to the output shaft in the hollow portion, winds around the link chain 4, and winds up and unwinds the link chain 4. The link chain 4 is fitted into a pocket groove provided on the outer cylindrical surface of the lifting mechanism 18 and wound around it for approximately 180 degrees. In this embodiment, the suspension rope is connected to the suspension hook 3 and wound around the lifting mechanism 18, and a link chain 4 is used, but it is not limited to this and a wire rope may also be used. When a wire rope is used, the lifting mechanism 18 is drum-shaped, and one end of the wire rope is fixed to the lifting mechanism 18 and wound around it.

[0022] The link chain 4 is a suspension cable section, consisting of oval rings, each made up of a semi-circular section and a straight section connected to it, which intersect and are connected alternately. One end of the link chain 4 is connected to the suspension hook 3, which is a suspension member, and the other end (unloaded side) is stored in the chain storage section 17.

[0023] The suspension hook 3 of the suspension member is connected to one end of the link chain 4 and, in this embodiment, is a member that lifts the main body 9 and is a hook with a versatile shape. The suspension hook 3 is used to suspend, for example, a beam at a high place inside a building or a movable block 41 that runs on rails 42 provided on a structure in Figure 5.

[0024] The grip 6 is a hollow cylindrical member fixed to cover the connection point between the suspension hook 3 and the link chain 4. The operator can grip the grip 6 to extend the link chain 4 from the main body 9.

[0025] The chain storage section 17 is a box-shaped member that houses the unloaded end of the link chain 4, and has an opening on its upper surface for the link chain 4 to pass through. The guide roller 30 is, for example, a sprocket-shaped member that wraps around and guides the link chain 4 in order to facilitate the feeding of the link chain 4 into the lifting mechanism 18 and the chain storage section 17.

[0026] The battery unit 15 is a secondary battery that supplies power to the control unit 10, and via the control unit 10, to the motor unit 11, position detection unit 13, weight detection unit 12, etc.

[0027] The control unit 10 includes a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), other storage devices, and input / output devices, and controls the entire main unit 9. Details of the control unit 10 will be described later.

[0028] The ground detection unit 32 is, for example, a photoelectric distance detection sensor, which is installed on the lower surface of the base member 19a and detects whether the main body 9 is grounded to the floor 43 and transmits a detection signal to the control unit 10. The ground detection unit 32 is not limited to this; it is sufficient if it can detect whether the wheels 31a are touching or lifting off the floor 43.

[0029] The secondary transformer 16 receives power from the power transmission device 61 via the primary transformer 60 (see Figure 2). The power received by the secondary transformer 16 is supplied to each electronic component via a rectifier circuit in the control unit 10 and is also used to charge the battery unit 15. In this embodiment, the secondary transformer 16 is a plate-shaped member fixed to the upper surface of the base member 19a with its plate surface perpendicular to the base member 19a. However, it is not limited to this configuration; it may also be placed on the lower surface of the base member 19a with its plate surface parallel to the base member 19a, and receive power from the primary transformer 60 and power transmission device 61 installed on the top surface of the floor 43.

[0030] The weight detection unit 12 is a so-called load cell and is equipped with a strain generating body and strain gauges attached to the strain generating body. The upper part of the weight detection unit 12 is fixed to the lower surface of the base member 19a, and the lower part of the weight detection unit 12 is fixed to the locking shaft holder 5b and the cover 2. The strain generating body has a shape that elastically deforms so as to be able to detect the vertical force and weight applied to the locking shaft holder 5b and the cover 2. The strain gauges are incorporated into a Wheatstone bridge circuit that converts the strain generated in the strain generating body according to the weight into an electrical signal, and the weight detection unit 12 detects the vertical weight (force) applied to the locking shaft holder 5b and the cover 2 and transmits the weight value to the control unit 10. Note that the weight detection unit 12 is not limited to the strain gauge type, but may also be a capacitive type or a magnetostrictive type.

[0031] The locking portion comprises a locking member 5a and a locking shaft holder 5b, and is a component for locking cargo. In this embodiment, the locking member 5a is shaft-shaped and is inserted and fixed into the U-shaped locking shaft holder 5b, both of which are made of metal. The locking portion is not limited to this and may be composed of a hook such as a suspension hook 3 and a chain, etc.

[0032] Cover 2 protects the internal components of the main body 9 and is fixed to the weight detection unit 12. Cover 2 is not fixed to the base member 19a, but rather to the side where the locking shaft holder 5b of the weight detection unit 12 is fixed. Therefore, cover 2 maintains a gap so as not to interfere with the components fixed to the base member 19a. Cover 2 may be provided with handles 8a and 8b to facilitate operation by the operator. These are not the only operating handles that can be attached to any location on cover 2.

[0033] The control unit 20 is for remotely operating the cargo handling assistance device 1, and in this embodiment, it communicates by radio waves. The control unit 20 is powered by a battery housed within it. The control unit 20 has, for example, a balance button 22, a holding button 23, a winding button 24, and a payout button 25 as operating means. Details of the operation will be described later.

[0034] Figure 2 is a block diagram of the electronic circuit of a cargo handling assistance device 1 according to an embodiment of the present invention. The cargo handling assistance device 1 is composed of a main body 9 and an operation command unit 20.

[0035] The control unit 10 of the main unit 9 controls the entire main unit 9. The control unit 10 has a CPU (Central Processing Unit) as an arithmetic unit 10b, and ROM (Read Only Memory) and RAM (Random Access Memory) as storage units 10a. The control unit 10 includes a drive circuit that drives the motor unit 11. The control unit 10 receives the weight value applied to the weight detection unit 12 from the weight detection unit 12, the position value of the rotation angle of the motor unit 11 from the position detection unit 13, the grounding status signal of the main unit 9 from the grounding detection unit 32, and transmits and receives signals with the main unit transmitting / receiving unit 14. The control unit 10 has a charging unit 10d that receives power from the battery unit 15 and also supplies power to the battery unit 15 to charge it. The control unit 10 includes a regeneration unit 10c that extracts regenerative energy from the motor unit 11. The surplus energy recovered by the regeneration unit 10c is converted into electricity and used by the charging unit 10d to charge the battery unit 15. The main unit transceiver 14 and the control unit 10 of the main unit 9 are connected by a wire, and signals are transmitted and received at high speed with extremely short time intervals. The control unit 10 also has a circuit that receives power from the power transmission device 61 and the primary transformer 60 non-contact via the secondary transformer 16 provided in the main unit 9. The control unit 10 includes an electromagnetic brake holding unit 10e that stops and holds the rotation of the motor unit 11 using the electromagnetic brake of the motor unit 11.

[0036] The main unit transceiver 14 communicates wirelessly with the operation command transceiver 26 of the operation command unit 20. The main unit transceiver 14 and the operation command transceiver 26 are composed of electronic circuits that perform wireless communication and have a radio wave transmitter and receiver, as well as possibly having a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), etc.

[0037] The operation command control unit 21 controls the entire operation command unit 20. The operation command control unit 21 receives operation commands from each operation means (operation buttons) and transmits the operation command signal to the operation command transmission / reception unit 26. The operation command transmission / reception unit 26 then wirelessly transmits the operation command received from the operation command control unit 21 to the main unit transmission / reception unit 14. This signal containing the command is accompanied by identification information of the operation command unit 20, which is used to pair the operation command unit 20 with the main unit 9.

[0038] Next, the roles of each operation button, which is an operating means provided in the operation command unit 20, will be explained. Each operation button is, for example, a momentary push switch, which turns ON while pressed and self-returns OFF when released. When the operator presses the balance button 22, a balance command is transmitted from the operation command unit 20, and the control unit 10 receives this and starts to transition the main unit 9 to the balanced state. That is, the control unit 10 stores the weight value detected and output by the weight detection unit 12 to the lifting operation unit 18 as a registered weight in the storage unit 10a, and the calculation unit 10b calculates a control value that makes the difference between the registered weight and the weight applied to the lifting operation unit 18 zero, and controls the motor unit 11. In this invention, this control is called balance control, and the state of the main unit 9 and the cargo 44 during this balance control is called the balanced state. In other words, balance control is the process by which the control unit 10 of the main unit 9 calculates control values ​​so that the tension of the link chain 4 caused by the registered weight is the same as the tension of the link chain 4 caused by the weight detected by the weight detection unit 12, and controls the motor unit 11 accordingly. When an operator applies a vertically downward external force to the cargo 44 during this balance control, the weight applied to the lifting and lowering unit 18 increases. Therefore, the control unit 10 of the main unit 9 calculates control values ​​to bring this closer to the registered weight and controls the motor unit 11 in the direction of unwinding the link chain 4, causing the main unit 9 and the cargo 44 to descend. On the other hand, when an operator applies a vertically upward external force to the cargo 44 during this balance control, the weight applied to the lifting and lowering unit 18 decreases. Therefore, the control unit 10 of the main unit 9 calculates control values ​​to bring this closer to the registered weight and controls the motor unit 11 in the direction of winding up the link chain 4, causing the main unit 9 and the cargo 44 to rise. When the operator stops applying external force, the weight detected by the weight detection unit 12 becomes equal to the registered weight, and the main unit 9 and the cargo 44 become stationary. This control value includes, for example, acceleration.

[0039] On the other hand, when the operator presses the holding button 23, the control unit 10 receives a holding command and controls the motor unit 11 to hold the lifting mechanism 18 in its current position, that is, to maintain the lifting position of the main body 9. The holding method can be either by the control unit 10 commanding the motor unit 11 to maintain torque, or by using an electromagnetic brake. If an electromagnetic brake is used, and the electromagnetic brake is of the non-excitation type, the rotation of the lifting mechanism 18 connected to the motor unit 11 is locked by cutting the excitation of the electromagnetic brake, and the extension of the link chain 4 is stopped.

[0040] When an operator presses the winding button 24 or the unwinding button 25, the control unit 10 receives this and controls the motor unit 11 to rotate the lifting mechanism 18. By continuously pressing the winding button 24 or the unwinding button 25, the operator can continuously rotate the lifting mechanism 18 using the motor unit 11. Regardless of whether the main body 9 is in the holding state or the balanced state, when an operator presses the winding button 24 or the unwinding button 25, the link chain 4 is wound up or unwound, and when the operator releases the pressed winding button 24 or unwinding button 25, it returns to the holding state.

[0041] Figure 3 is a schematic diagram of the configuration when charging the battery unit 15 of the main body 9 of the cargo handling assistance device 1 according to an embodiment of the invention. The worker pushes the handle 8a provided on the main body 9 to move the main body 9 so that the primary side transformer 60 attached to the power transmission device 61 and the secondary side transformer 16 inside the main body 9 face each other and are at a predetermined distance. Then, a detector provided on the power transmission device 61 detects the presence of the main body 9 and transmits power to the main body 9. The non-contact power transmission may be any of the following methods: electromagnetic induction method, magnetic field resonance method, etc. A part of the cover 2 is cut out so that the primary side transformer 60 and the secondary side transformer 16 face each other, and resin is fitted into this cutout. Alternatively, the power transmission device 61 and the primary side transformer 60 may be embedded in the floor surface, and the secondary side transformer 16 may be provided on the lower surface of the base member 19a for power transmission. It is also possible to transmit power directly from the power transmission device 61 to the control unit 10 via a cable.

[0042] Figure 4 is a schematic diagram showing a cargo handling object and a lifting device according to an embodiment of the present invention. Figure 4(b) is a right side view of Figure 4(a). The cargo handling object 44 is, for example, a cylindrical rod-shaped member and is placed on the floor 43. The lifting device 45 consists of a hook 45a and a cargo handling object holder 45b. The cargo handling object holder 45b is a hollow member with a rectangular cross-section and a part of one side that is open to hold the cargo handling object 44. The hook 45a is attached to the side of the cargo handling object holder 45b that is opposite to the opening. The hook 45a is attached to the cargo handling object holder 45b and is shaped to be able to be locked to a locking member 5a. The lifting device 45 allows the worker to insert the cargo handling object 44 into the cargo handling object holder 45b by moving the lifting device 45 in the cylindrical axis direction relative to the cargo handling object 44, and to hold the cargo handling object 44 by lifting the hook 45a located at the top of the lifting device 45.

[0043] Figures 5 to 10 are schematic diagrams illustrating a series of work states in which an operator handles cargo 44 using the cargo handling assistance device 1 according to an embodiment of the present invention. Figure 5 is a schematic diagram showing the main body 9 moving relative to the cargo 44. The rail 42 is a track rail installed horizontally on the ceiling or the like within the work area. The movable block 41 is a member that can move substantially horizontally along the rail 42 and can be used by engaging the suspension hook 3.

[0044] The operator operates the handle 8a to move the main body 9 on the floor 43 surface until the locking member 5a engages with the hook 45a. This results in the state shown in Figure 6, where the cargo 44 is positioned below the main body 9 and the hook 45a is in contact with the locking member 5a. In this state, if the power to the cargo handling assist device 1 is not on, the electromagnetic brake of the motor unit 11 holds the lifting and lowering mechanism 18. When the operator turns on the power switch (not shown) of the main body 9, the control unit 10 starts up.

[0045] Next, the worker presses the freely extending button 7 located on the top surface of the main body 9. The control unit 10 then detects that the freely extending button 7 has been pressed and releases the electromagnetic brake of the motor unit 11, controlling it so that the worker can freely pull up the suspension hook 3 by holding the grip 6. Because the motor unit 11 has a reduction gear and the link chain 4 is made of metal and has considerable weight, it is difficult for the worker to pull up the suspension hook 3 by rotating the lifting mechanism 18 with the grip 6 if the control unit 10 simply releases the electromagnetic brake of the motor unit 11. The control unit 10 may hold the position if the worker stops pulling up the link chain 4, or it may constantly generate a small force in the lifting mechanism 18 to rewind the link chain 4. However, the control unit 10 only activates the freely extending button 7 when the grounding detection unit 32 detects that the main body 9 is grounded to the floor 43. Alternatively, the worker may continuously press the release button 25 while holding the grip 6 and pulling the extending link chain 4, but this requires the use of both hands.

[0046] Figure 7 shows the state when the operator holds the grip 6 and pulls up the suspension hook 3, locking the suspension hook 3 to the moving block 41. The operator then continues to press the winding button 24 on the operation command unit 20. Gradually, the main body 9 rises away from the floor 43, the locking member 5a locks the hook 45a vertically, the cargo 44 leaves the floor 43, and the main body 9 and cargo 44 are suspended in mid-air (Figure 8). When the operator stops pressing the winding button 24 on the operation command unit 20, the control unit 10 holds the main body 9, i.e., the lifting and lowering operating unit 18, in that position. Next, when the operator presses the balance button 22 on the operation command unit 20, the control unit 10 receives the weight signal applied to the locking member 5a from the weight detection unit 12, stores the weight value in the storage unit 10a, and starts balance control based on this weight value. When the main unit 9 is in a balanced state, if the operator applies an external force in either the vertical up or down direction to the cover 2, handle 8a, handle 8b, or cargo 44, the weight detection unit 12 detects this external force, and the control unit 10 controls the raising and lowering of the main unit 9 and cargo 44 based on the difference between the stored weight value and the weight due to this external force. In other words, when the operator releases their hands from the cover 2, handle 8a, handle 8b, or cargo 44 and stops applying external force, the main unit 9 and cargo 44 will stop immediately. When the operator applies an external force in either the vertical up or down direction to the cover 2, handle 8a, handle 8b, or cargo 44, the main unit 9 and cargo 44 will rise or fall in accordance with this external force.

[0047] If the main unit 9 remains in the balanced state and stays in the same position for a predetermined period of time or longer, the control unit 10 releases the balanced state and transitions to a holding state. Furthermore, if the main unit 9 remains in the holding state for a certain period of time or longer, the electromagnetic brake in the motor unit 11 holds the lifting and lowering mechanism 18 in place. These measures are taken to reduce power consumption, as the main unit 9 is powered by the battery unit 15.

[0048] The operator then presses the holding button 23 to hold the main body 9, pushes the cargo 44 horizontally, releases it from the cargo holder 45b, and moves it to the designated location (Figure 9). The lifting device 45 remains locked to the locking member 5a. Therefore, when the operator presses the balance button 22 of the operation command unit 20, the memory unit 10a stores the weight of the lifting device 45 without the cargo 44, and the control unit 10 controls the main body 9 in the new balance state. Thus, the operator can lower the main body 9 by operating the handle 8b, etc. The operator lowers the main body 9 to near the point where it will touch the floor 43 (Figure 10), and then continues to press the payout button 25 to lower the lifting device 45 and the main body 9 until they touch the floor 43. Once the main body 9 touches the floor 43, the lifting device 45 can be detached from the main body 9.

[0049] If the work continues with the suspension hook 3 still attached to the movable block 41, the main body 9 is moved, the lifting device 45 is attached to a new load 44, the lifting device 45 is attached to the locking member 5a, and the same work is performed. If the work is to be performed in a different location, the worker presses the swivel release button 7 to make the suspension hook 3 movable and detaches it from the movable block 41, and then presses the winding button 24 repeatedly to wind up the link chain 4. The worker then operates the handle 8a or the like to move the main body 9 to the next work location.

[0050] As described above, the cargo handling assistance device of the present invention eliminates the need to pre-install the relatively heavy cargo handling assistance device body at a high location, thereby providing a cargo handling assistance device that improves cargo handling operations.

[0051] Although the present invention has been described based on preferred embodiments, the present invention is not limited to the embodiments described above, and various modifications are possible without departing from the spirit of the invention. [Industrial applicability]

[0052] One example of the application of this invention is its use in material handling machinery that assists in the movement of cargo. [Explanation of symbols]

[0053] 1: Cargo handling assistance device 2: Cover 3: Hanging hook (hanging component) 4: Link chain (suspension rope section) 5a: Locking member 5b: Locking shaft holder 6: Grip 7: Retractable button 8a, 8b: Handle 9: Main body 10: Control Unit 10a: Storage section 10b: Arithmetic section 10c: Regeneration section 10d: Live part 10e: Electromagnetic brake holding part 11: Motor section 12: Weight detection unit 13: Position detection unit 14: Main unit transceiver 15: Battery section 16: Secondary transformer 17: Chain storage compartment 18: Lifting mechanism 19a: Base member 19b: Bracket 20: Operation command section 21: Operation Command Control Unit 22: Balance Button 23: Hold button 24: Retractable button 25: Retractable button 26: Operation command transmission / reception unit 30: Guide roller 31a: Wheel 31b: Support member 32: Ground detection unit 41: Moving Block 42: Rail 43: Floor 44: Cargo handling equipment 45: Hanging tool 45a: Hook 45b: Cargo handling holder 60: Primary transformer 61: Power transmission equipment

Claims

Claim 1: A load handling assist device comprising a motor unit, a lifting and lowering actuating unit, a sling unit, a locking unit, a weight detection unit, and a control unit, wherein the motor unit is mechanically connected so as to be a power source for driving the lifting and lowering actuating unit, the lifting and lowering actuating unit is driven based on the power from the motor unit, and by performing a winding or unwinding operation on the sling unit having a predetermined length, enables lifting and lowering of a load carried by the locking unit, the weight detection unit is configured to detect a weight value based on the weight of the load applied to the lifting and lowering actuating unit by operating the sling unit, the control unit is a load handling assist device that, based on control of the motor unit for lifting and lowering the load, balances the load based on the weight value related to the load, the control unit has an arithmetic means that can perform an arithmetic operation for achieving the balanced state based on storing the weight value detected by the weight detection unit as a registered value, the arithmetic means performs the arithmetic operation of obtaining a control value that can make zero the difference between a predetermined weight value that increases due to the external force and the registered value when a vertically downward external force is applied to the sling unit based on a predetermined operation related to the work, the lifting and lowering actuating unit is driven to bring the predetermined weight value closer to the registered value when controlling the motor unit by calculating the control value, and is configured to achieve the balanced state based on the unwinding of the sling unit, the motor unit is of a non-excitation operation type in which excitation is cut off when power is cut off, and has an electromagnetic brake means that locks the mechanically connected lifting and lowering actuating unit based on the excitation being cut off during driving related to the balanced state, thereby making the sling unit inoperable, The load handling assist device according to claim 1, characterized in that. Claim 2: The load handling assist device according to claim 1, characterized in that the control unit cuts off the excitation when receiving a holding command by communication from a predetermined operation means during driving related to the balanced state, or when the unwinding of the sling unit can be stopped for a predetermined time or longer. Claim 3: A disposition structure in which a plurality of components including the motor unit, the lifting and lowering actuating unit, the weight detection unit, and the control unit are attached, and a main body unit that enables connection of one end of the sling unit to a structure provided above by unwinding the one end of the sling unit upward from the lifting and lowering actuating unit. wherein the main body unit is provided with a main body unit that can unwind one end of the sling unit upward from the lifting and lowering actuating unit and connect the one end to a structure provided above, the main body unit ​ When the sling part is wound based on the control of the motor part, a base member is provided that enables upward movement toward one end related to the sling part connected to the structure according to the winding, and the plurality of components are arranged based on the base member. The load handling assist device according to claim 1 or claim 2, characterized in that it has an attachment structure.

Images