Loading assistance device

Abstract

To provide a loading assistance device with improved operability.SOLUTION: In a loading assistance device, an engagement part engages a container to be tiltable, a lifting operation part lifts and lowers the engagement part via a sling, a motor part 11 drives the lifting operation part, a weight detection part 12 transmits a weight value applied to the lifting operation part, a position detection part 13 transmits a lift position value, an operation command part 20 transmits an operation command, a control part 10 include a storage means 10a for receiving the weight value and storing the same as a registration value when receiving a command of balance control, and a balance control means 10b for calculating a control value including acceleration that makes the weight value from the lifting operation part equal to the registration value and issuing a command to the motor part 11.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a loading assistance device used in manufacturing, assembly, transportation, etc. in the manufacturing field, and relates to a loading assistance device that uses a motor to assist in lifting and lowering cargo, for example, and moves the cargo up and down with a small operating force, as well as a method for controlling the loading assistance device. [Background technology]

[0002] Factories that assemble industrial products have traditionally used loading and unloading devices to move heavy tools, work equipment, finished products, semi-finished products, and the like. Some of these loading and unloading devices generate a assisted force, allowing users to lift and lower heavy loads to any height with a light operating force. Such assisted loading and unloading devices use a motor to provide assistance, applying a small operating force to the load, allowing for smooth movement. Therefore, unlike devices that simply use an electric motor to operate a button to move the load up and down, these devices detect the load and the operating force applied to the load using, for example, a load detector, and then adjust acceleration based on weight changes caused by the application of an external force using an AC servo motor or the like connected to a rotation angle detector, providing precise control. By using such a loading and unloading device to suspend a container containing liquid or powder and register its weight, a worker can tilt the container and transfer the contents to a receiving container or the like, using the motor's assistance based on the weight value. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-52007 Summary of the Invention [Problem to be solved by the invention]

[0004] Patent Document 1 discloses technology related to a loading assistance device. Using this loading assistance device, a container filled with liquid or powder is suspended in mid-air and its weight value is registered, and a worker can tilt the container and transfer it to a receiving facility while providing assistance using a motor based on this weight value. However, there is room for improvement because the height changes depending on the tilt angle of the container and the remaining amount of liquid or powder.

[0005] In view of such problems, the present invention provides a cargo handling assistance device that improves operability in cargo handling operations. or The object is to provide a method for controlling a loading and unloading assistance device. [Means for solving the problem]

[0006] In order to achieve the above object, a cargo handling assistance device according to one aspect of the present invention comprises: a sling having a locking portion at one end thereof that can lock a sling having a cargo; a lifting / lowering operating unit that enables the operation of winding up or unwinding the sling on the other end side, thereby lifting and lowering the cargo together with the engaging unit; a position detection unit that outputs a position value when the cargo is raised or lowered; a motor unit as a power source for driving the lifting operation unit, the motor unit being capable of driving the lifting operation unit to a payout length of the sling according to the position value; a weight detection unit that detects the weight applied to the lifting operation unit via the sling during lifting and outputs a weight value based on the detection; a control unit that stores the weight value of the cargo suspended in mid-air based on the operation of the sling as a registered value, and determines a control value related to a command from the motor unit to enable drive control of the lifting operation unit; a receiving unit that enables reception of at least a balance command as an output command from a predetermined operation command means that is remotely connected to the control unit; A loading and unloading assistance device comprising: The control unit a balance control means for, when receiving a balance command, calculating a control value that can make the weight value output by the weight detection unit equal to the registered value, and bringing the load into a balanced state that provides assistance while determining the speed at which the load is raised or lowered based on the drive control; The balance control means When an operation related to work applying a vertically downward external force to the sling is performed, the calculation is performed to obtain a control value that brings a predetermined weight value that increases due to the external force closer to a registered value, and the drive control is performed to pay out the sling with an acceleration corresponding to the downward direction. When an operation involving applying a vertically upward external force to the sling is performed, a calculation is performed to determine a control value that brings a predetermined weight value, which becomes smaller due to the external force, closer to a registered value, and the drive control is configured to wind up the sling with an acceleration corresponding to the upward direction.

[0007] In order to achieve the above object, a cargo handling assistance device according to one aspect of the present invention comprises: The balance control means The drive control is configured to stop the operation of applying external force during the balanced state, and to bring the cargo to a standstill with the sling extended length corresponding to the position value when the weight value becomes equal to the registered value.

[0008] In order to achieve the above object, a control method for a cargo handling assistance device according to one aspect of the present invention includes: The balance control means When a predetermined weight value output after receiving a balance command from the operation command means is not equal to the registered value, The system is configured to enable calculations to determine a control value including acceleration information in order to make the tension in the sling generated by the weight corresponding to the registered value equal to the tension in the sling generated by the weight corresponding to the specified weight value. [Effects of the Invention]

[0009] According to the cargo handling assistance device of the present invention, it is possible to provide a cargo handling assistance device that has improved operability in cargo handling work that involves assisting the movement of cargo.

[0010] Also According to the loading assistance device of the present invention, a loading assistance device can be provided that maintains the working position and provides good operability when moving a container containing liquid or powder cargo and transferring the cargo to another container, etc. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a perspective view of a cargo handling assistance device, a sling, and a container according to an embodiment of the present invention. FIG. [Figure 2] 1 is an enlarged perspective view of a main body device of a cargo handling assistance device according to an embodiment of the present invention, with a portion thereof omitted; [Figure 3] FIG. 2 is a perspective view of a portion of a sling according to an embodiment of the present invention. [Figure 4] 1 is a block diagram of an electric and electronic circuit of a cargo handling assistance device according to an embodiment of the present invention. [Figure 5] FIG. 1 is a front view of a suspension device according to an embodiment of the present invention. [Figure 6] FIG. 2 is a front view of the sling according to the embodiment of the present invention when tilted. [Figure 7] 3 is a flowchart executed by a control unit of the cargo handling assistance device according to the embodiment of the present invention. [Figure 8] 1 is a schematic diagram showing a first example of work using a cargo handling assistance device according to an embodiment of the present invention. [Figure 9] 1 is a schematic diagram illustrating a first example of work using a cargo handling assistance device according to an embodiment of the present invention. [Figure 10] 1 is a schematic diagram showing a first example of work using a cargo handling assistance device according to an embodiment of the present invention. [Figure 11] 1 is a schematic diagram showing a first example of work using a cargo handling assistance device according to an embodiment of the present invention. [Figure 12] 1 is a schematic diagram showing a first example of work using a cargo handling assistance device according to an embodiment of the present invention. [Figure 13]1 is a schematic diagram showing a first example of work using a cargo handling assistance device according to an embodiment of the present invention. [Figure 14] 1 is a schematic diagram showing a first example of work using a cargo handling assistance device according to an embodiment of the present invention. [Figure 15] 1 is a time chart of a first example of work using the cargo handling assistance device according to the embodiment of the present invention. [Figure 16] FIG. 10 is a schematic diagram showing a second example of work using the cargo handling assistance device according to the embodiment of the present invention. [Figure 17] 10 is a time chart of a second example of work using the cargo handling assistance device according to the embodiment of the present invention. [Figure 18] FIG. 10 is a schematic diagram showing a third example of work using the cargo handling assistance device according to the embodiment of the present invention. [Figure 19] FIG. 10 is a schematic diagram showing a third example of work using the cargo handling assistance device according to the embodiment of the present invention. [Figure 20] 10 is a time chart of a third example of work using the cargo handling assistance device according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0012]

[0023] Hereinafter, a cargo handling assistance device according to an embodiment of the present invention will be described in detail with reference to the drawings. Fig. 1 is a perspective view of a cargo handling assistance device 1, a sling 30, and a container 38, which is an example of an embodiment of the present invention.

[0013] The cargo handling assistance device 1 includes a main device 2, a hoisting hook 3, a link chain 4, a hoisting equipment hook 5, a hoisting equipment 30, and an operation command unit 20. The main device 2 raises and lowers the hoisting equipment hook 5, the hoisting equipment 30 engaged with the hoisting equipment hook 5, and a container 38 supported by the hoisting equipment 30 via the link chain 4.

[0014] A hanging hook 3 is provided on the top surface of the main unit 2. Therefore, the main unit 2 can be used by hanging it from a beam of a building or a moving block 41 that is movable horizontally along rails 42 for horizontal movement shown in Figures 8 and subsequent figures.

[0015] The hoisting hook 5 is provided below the link chain 4 extending vertically downward from the main device 2. The hoisting hook 5 is a hook for suspending cargo provided at one end of the link chain 4, and is a locking portion for locking the hoisting device 30. The hoisting device 30 supports a container 38. The container 38 is a cylindrical container with a bottom and a flange provided at the upper end of the cylindrical side. In this embodiment, the container 38 is a shallow cylindrical container with a bottom, but is not limited to this and may be a deep cylindrical container. The hoisting device 30 includes an eyebolt 31, a hoisting arm 32, a container holder 33, a container holding plate 34, a rotation shaft 35, a rotation operation arm 36, and a handle 37.

[0016] The lifting arm 32 is a gate-shaped member with an eyebolt 31 attached to its center, and is configured to be hooked by the lifting hook 5 via the eyebolt 31, so that it can be suspended from the cargo handling assistance device 1. The eyebolt 31 has a ring-shaped bolt head.

[0017] The container holder 33 abuts against the underside of the flange of the container 38 and supports the container 38 from vertically below. The container pressure plate 34 is located near the upper surface of the flange of the container 38, sandwiching the flange between the container holder 33 and the container pressure plate 34. The container 38 is attached by inserting it into the container holder 33 in the direction of arrow A. The rotation operation arm 36 is connected to the container holder 33 and the container pressure plate 34 via a rotation shaft 35, allowing the container holder 33 and the container pressure plate 34 to rotate within a limited range relative to the hanging arm 32. A handle 37 is attached to the end of the rotation operation arm 36. Therefore, by gripping the handle 37 and operating the rotation operation arm 36, an operator can rotate the container holder 33 and the container pressure plate 34 within a limited range and tilt the container 38. Next to the handle 37 of the rotation operation arm 36, an area is provided where the operation command unit 20 can be attached and detached. Therefore, when the operation command unit 20 is attached to this area, the worker can operate the cargo handling assistance device 1 by pressing the switch of the operation command unit 20 with his / her finger while holding the handle 37 .

[0018] FIG. 2 is an enlarged perspective view of the main body device 2 of the cargo handling assistance device 1 according to the embodiment of the present invention, with a portion thereof omitted.

[0019] The main body device 2 has a cover, and inside it are housed a control unit 10, a motor unit 11, a lifting operation unit 16, a weight detection unit 12, a position detection unit 13, and the like.

[0020] The control unit 10 of the main unit 2 includes a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), other storage units, and input / output devices, and drives the motor unit 11 to operate the lifting operation unit 16 to wind up or pay out the link chain 4, and controls the vertical movement of the lifting device 30 below the lifting device hook 5 and the container 38. The control unit 10 also includes a circuit that supplies electricity to the electric and electronic components that make up the main unit 2.

[0021] Motor unit 11 is a drive source for operating lifting operation unit 16 to move lifting device hook 5 up and down via link chain 4. A reducer is attached to the load side of the motor of motor unit 11. This motor is, for example, an AC servo motor.

[0022] This reducer reduces the rotational speed of the motor to a predetermined speed. The reducer is, for example, a wave gear reducer. The wave gear reducer includes a wave generator, a flexspline, and a circular spline. The wave generator has an elliptical shape with a thin-walled ball bearing fitted around the outer periphery of an elliptical cam. The inner ring of the bearing is fixed to the elliptical cam, and the outer ring elastically deforms via the balls. The flexspline has many external teeth on its outer periphery and is fitted around the wave generator. It is elastically deformable, with its position flexed circumferentially by the rotation of the wave generator changing. The circular spline is located on the outer periphery of the flexspline and has internal teeth that engage with the external teeth of the flexspline. Power is then extracted and transmitted to an output shaft 15 connected to the flexspline as a rotational output. By using a reducer with minimal backlash, such as a strain wave gear reducer, for the reducer of this motor unit 11, it is possible to eliminate uncontrollable areas during switching when the motor frequently switches between forward and reverse rotation to perform up and down movement, thereby achieving a smooth operational feel. Note that the reducer is not limited to a strain wave gear reducer.

[0023] The output shaft 15 is a rotating shaft that reduces the rotational speed using a reducer and outputs increased torque. It is connected to the lifting / lowering operating unit 16 and rotates the lifting / lowering operating unit 16 continuously in both forward and reverse directions.

[0024] The link chain 4 is a sling in which oval rings, each consisting of a semicircular arc section and a straight section connected to it, are crossed and connected alternately. One end of the link chain 4 is connected to the sling hook 5, and the other end (the unloaded side) is stored in the chain storage section 17.

[0025] The lifting operation unit 16 includes a rotating member that rotates when power is transmitted from the motor unit 11, which is the drive source. In this embodiment, the rotating member of the lifting operation unit 16 is a hollow cylinder connected to the output shaft 15 at the hollow portion. The link chain 4 is wound around the outer cylindrical surface, winding and unwinding the link chain 4. The link chain 4 is wound approximately vertically below the hanging hook 3, near the center of gravity of the main device 2. The link chain 4 is fitted into a pocket groove on the outer cylindrical surface of the lifting operation unit 16 and wound approximately 180 degrees. In this embodiment, a link chain 4 is used to connect to the lifting hook 5 and wind around the lifting operation unit 16. However, this is not limiting; a wire rope may also be used. When a wire rope is used, the lifting operation unit 16 is drum-shaped, and one end of the wire rope is fixed and wound around the rotating member.

[0026] Position detection unit 13 is connected to the anti-load side of motor unit 11. Position detection unit 13 detects the rotational angle position of the motor. Position detection unit 13 is, for example, an absolute encoder, which optically detects the rotational angle position of the motor and outputs a position value. Therefore, this position detection unit 13 can detect the payout position of hoisting equipment hook 5 by link chain 4, i.e., the raised and lowered position of hoisting equipment hook 5.

[0027] The weight detection unit 12 is equipped with a strain element and a strain gauge attached to the strain element. The strain element has a shape that allows it to elastically deform so that it can detect the force transmitted from the link chain 4 wound around the lifting operation unit 16. The strain gauge is incorporated into a Wheatstone bridge circuit that converts the strain generated in the strain element according to the weight into an electrical signal, and the weight detection unit 12 detects the weight applied to the lifting operation unit 16 and outputs a weight value.

[0028] The control unit 10 of the main unit 2 is disposed near the lifting operation unit 16 inside the main unit 2. The control unit 10 of the main unit 2 receives position values from the position detection unit 13 and weight values from the weight detection unit 12, performs calculations based on these values, and controls the motor unit 11. The electrical components including the control unit 10 of the main unit 2 are disposed inside a cover so that the main unit 2 can be used in places where it is exposed to powder particles or water droplets.

[0029] In this embodiment, the position detector 13 is disposed on the anti-load side of the motor unit 11, but this is not limitative and the position detector 13 may be disposed on the output shaft 15, which is the output of the reducer, or on the lifting operation unit 16, or may be disposed on both. Furthermore, the position detector 13 is not limited to an optical type, and may be a magnetic type, a capacitance type, or the like.

[0030] Furthermore, the weight detection unit 12 only needs to be able to detect the weight applied to the lifting operation unit 16, and may be of a rotary type structure that detects torque from the twist of a rotating shaft provided between the reducer and the lifting operation unit 16, or of a flange or hourglass type structure that detects the reaction force received by the motor unit 11. Furthermore, the weight detection unit 12 is not limited to the strain gauge type, and may be of a magnetostrictive type, a capacitance type, or the like.

[0031] The main unit transmitting / receiving unit 14 is arranged alongside the circuit board of the control unit 10 of the main unit 2. The main unit transmitting / receiving unit 14 has an electronic circuit for communicating with the operation command unit 20 wirelessly.

[0032] FIG. 3 is a perspective view of a hoisting device 30 according to an embodiment of the present invention, viewed from above. First, the structure in the vicinity of the rotary operation arm 36 will be described. A potentiometer 61 (variable passive element) and a tilt angle calculation unit 62 are attached via a bracket 66 to the surface of the rotary operation arm 36 opposite the surface to which the handle 37 is attached. The potentiometer 61 is fixed to the bracket 66, and a pulley 63 is attached to the shaft of the potentiometer 61. Meanwhile, a pulley 64 is fixed to the hoisting arm 32. The pulley 64 is coaxial with a bearing unit 67 that rotatably holds the rotary shaft 35, but does not rotate together with the rotary shaft 35. A belt 65 is wound around the pulleys 63 and 64 to transmit power. The pulleys 63 and 64 are, for example, toothed pulleys, and in this case, the belt 65 is a toothed belt. The potentiometer 61 is not limited to this, and various variable passive elements or other devices for detecting rotational position may also be used. Also, the potentiometer 61 may be a multi-turn type depending on the ratio of the diameters of the pulleys 63 and 64. The potentiometer 61 is not limited to an analog type, but may be a digital type using a CMOS.

[0033] With the above configuration, when an operator operates the handle 37 to rotate the rotary operation arm 36 around the rotation axis 35, the pulley 63 rotates while revolving around the pulley 64. This causes the shaft of the potentiometer 61 connected to the pulley 63 to rotate, and the potentiometer 61 outputs the rotation position of the rotary operation arm 36. The output of the potentiometer 61 is sent to the tilt angle calculation unit 62, which is protected by a bracket 66, and the tilt angle calculation unit 62 calculates and transmits the tilt angle value to the operation command unit 20. The tilt angle calculation unit 62 and the operation command unit 20 are connected by a cable not shown in the figure.

[0034] 4 is a block diagram of the electrical and electronic circuits of the cargo handling assistance device 1 according to the embodiment of the present invention. The cargo handling assistance device 1 includes a main body device 2, an operation command unit 20, and an inclination angle detection unit 60.

[0035] The control unit 10 of the main unit 2 controls the entire main unit 2. The control unit 10 of the main unit 2 includes a drive circuit that drives the motor unit 11. The control unit 10 of the main unit 2 receives the weight value applied to the lifting operation unit 16 from the weight detection unit 12, receives the position value of the rotation angle of the motor unit 11 from the position detection unit 13, and transmits and receives signals to and from the main unit transceiver unit 14. The main unit transceiver unit 14 and the control unit 10 of the main unit 2 are connected by wire, and transmit and receive signals at high speeds and at extremely short time intervals. The control unit 10 includes a memory means 10a, a balance control means 10b, and a speed adjustment means 10c.

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

[0037] The operation command unit 20 is used to remotely operate the main unit 2, and in this embodiment, communicates via radio waves. Power is supplied to the operation command unit 20 by a battery unit 27. The operation command unit 20 has, as operation means, for example, a balance button 22, a hold button 23, an up button 24, and a down button 25. Details of the operations will be described later. The operation command unit 20 is also provided with a connector for connecting an electric wire that supplies power to the tilt angle detection unit 60 and a signal wire from the tilt angle calculation unit 62.

[0038] 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 button) and transmits an 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. The signal containing this command is assigned with identification information of the operation command unit 20, which performs pairing between the operation command unit 20 and the main unit 2.

[0039] Next, the role of each operation button, which is an operation means provided in the operation command unit 20, will be explained. Each operation button is, for example, a momentary push switch that is ON while pressed and automatically resets to OFF when released. When the operator presses the balance button 22, a balance command is sent from the operation command unit 20, which is received by the control unit 10 of the main unit 2 and starts balance control. When the control unit 10 of the main unit 2 receives the balance command from the operation command unit 20, the weight detection unit 12 detects the weight value applied to the lifting / lowering actuator 16 at that time and stores the output weight value in the storage means 10a as a registered value. Thereafter, the control unit 10 of the main unit 2 receives the weight value (load) applied to the lifting / lowering actuator 16 via the link chain 4, and the balance control means 10b in the control unit 10 calculates a control value so that this value equals the registered value stored in the storage means 10a, thereby controlling the motor unit 11. In the present invention, this control is referred to as balance control, and while the control unit 10 of the main unit 2 is performing balance control, the components below the sling hook 5 (such as the sling 30, container 38, and pouring material 50) are said to be in a balanced state. In other words, the control unit 10 of the main unit 2 calculates and controls the motor unit 11 so that the tension in the link chain 4 generated by the registered weight is equal to the tension in the link chain 4 generated by the weight detected by the weight detection unit 12; this control is balance control. If the worker applies a vertically downward external force to the sling 30 during this balance control, the weight applied to the lifting operating unit 16 will increase, so the control value is calculated to bring this weight closer to the registered weight, and the motor unit 11 is controlled in the direction to pay out the link chain 4, causing the sling 30 and below to descend. On the other hand, if the worker applies a vertically upward external force to the sling 30 during this balance control, the weight applied to the lifting operating unit 16 will decrease, and the control value will be calculated to bring this weight closer to the registered weight, and the motor unit 11 will be controlled in the direction of winding up the link chain 4, causing the sling 30 and below to rise. Then, when the worker stops applying the external force, the weight detected by the weight detection unit 12 will become equal to the registered weight, and the sling 30 and below will come to a standstill. This control value includes, for example, acceleration, etc.

[0040] On the other hand, when the worker presses the hold button 23, the control unit 10 of the main unit 2 receives a hold command and controls the motor unit 11 to hold the lifting operating unit 16 at its current position, i.e., to maintain the lifted and lowered positions of the lifting device hook 5 and the lifting device 30.

[0041] When the worker presses up button 24 or down button 25, control unit 10 of main unit 2 receives this and controls motor unit 11 to raise or lower sling hook 5. By repeatedly pressing up button 24 or down button 25, the worker can continuously raise or lower sling hook 5 and sling device 30 using motor unit 11. Whether main unit 2 is in the holding mode or the balance mode, when the worker presses up button 24 or down button 25, the device will rise or fall, and when the worker releases the up button 24 or down button 25, the device will return to its original state.

[0042] The tilt angle detection unit 60 includes a potentiometer 61 and a tilt angle calculation unit 62. The tilt angle calculation unit 62 receives power from the battery unit 27 of the operation command unit 20. The potentiometer 61 detects the rotation angle of the rotary operation arm 36, i.e., the container 38, and the tilt angle calculation unit 62 applies a constant voltage to the potentiometer 61, outputting a voltage that varies depending on the rotation angle and transmitting it to the tilt angle calculation unit 62. The tilt angle calculation unit 62 then calculates the tilt angle value of the rotary operation arm 36 based on the voltage output from the potentiometer 61, converts it into a digital signal, and transmits it to the operation command transmission / reception unit 26. Of course, a modified configuration may also be used in which a battery and a wireless transmission circuit are installed within the tilt angle detection unit 60 and the tilt angle value is directly transmitted as a digital signal to the main device transmission / reception unit 14.

[0043] FIG. 5 is a front view of a suspender 30 according to an embodiment of the present invention. In FIG. 5, point O is the center of rotation axis 35. A line passing through center point O of rotation axis 35 of suspender 30 and perpendicular to the vertical direction is defined as reference line RL. The angle between the counterclockwise extension direction of rotation operating arm 36 and reference line RL is defined as inclination angle θ. Therefore, FIG. 5 shows a state where inclination angle θ = 0°. Point P0 is the position of spout 38a on the spout side of container 38. In this embodiment, spout 38a is defined as a specific location on container 38. Dimension r is the radius of container 38. Dimension h0 is the vertical distance between point P0 and point O when inclination angle θ = 0°. Therefore, distance R of line segment OP0 is the radius of rotation of spout 38a centered on rotation axis 35. Therefore, this distance R can be geometrically determined from the shapes of suspender 30 and container 38.

[0044] FIG. 6 is a front view of the suspending device 30 at an inclination angle θ. The rotation operation arm 36 is inclined counterclockwise around the rotation axis 35 by an inclination angle θ. At this time, the position of the spout 38a changes to P, and it descends vertically downward by a distance h = R sin θ. Note that at an inclination angle θ = 0°, a locking mechanism may be provided to prevent the rotation operation arm 36 from easily rotating relative to the suspension arm 32 when the handle 37 is held. Furthermore, the rotation operation may be configured to have a clicking sensation at several points depending on the inclination angle θ, or a mechanism may be provided that can lock at any inclination angle θ.

[0045] Fig. 7 is a flowchart executed by the control unit 10 of the main body 2 of the cargo handling assistance device 1 according to an embodiment of the present invention. Figs. 8 to 14 are schematic diagrams showing a series of states in Example 1 of Work in which an operator uses the cargo handling assistance device 1 according to an embodiment of the present invention to handle the sling 30 and the container 38. Using Figs. 7 to 14, the movements of the sling hook 5, the sling 30, and the container 38, each step of the control method executed by the control unit 10 of the main body 2 at that time, and the state of each part at that time will be described.

[0046] In Figure 8, rail 42 is a track rail installed horizontally on the ceiling or the like of the work premises. Movable block 41 is a member that can move approximately horizontally along rail 42, and is connected to hanging hook 3 to suspend main device 2. Therefore, movable block 41 allows hanging hook 3 and below to move freely horizontally. A container 43 to be poured is placed on floor 40 via a platform.

[0047] Here, the procedure for pouring the material 50 contained in a container 38 placed on the floor 40 into a receiving container 43 will be described. First, when the load handling assistance device 1 is powered off, the worker turns on the power switch (not shown) of the main unit 2, which starts up the control unit 10 of the main unit 2. The control unit 10 of the main unit 2 executes step S101 and proceeds to step S102. In step S101, the control unit 10 of the main unit 2 holds the lifting actuator 16 in its current position (holding mode). In this state, the link chain 4 is locked, and the link chain 4 cannot be reeled out even if the worker pulls on it. Next, the worker presses the down button 25 of the operation command unit 20 to lower the hoisting equipment hook 5, and lowers the hoisting equipment hook 5 to a vertical position where the hoisting equipment 30 can attach the container 38. Therefore, the link chain 4 is in a vertically slack state, and the worker moves the hoisting device 30 horizontally to attach the container 38 to the hoisting device 30, resulting in the state shown in Figure 8. The pouring material 50 placed in the container 38 is, for example, a liquid, a powder, or a mixture of liquid and powder. In some cases, the pouring material 50 is placed in the container 38 beforehand, and the container 38 is then attached to the hoisting device 30. In other cases, the empty container 38 is attached to the hoisting device 30 beforehand, and the pouring material 50 is poured into the container 38 by various means when the container 38 is placed on the floor 40.

[0048] Next, the operator presses the up button 24 of the operation command unit 20 to raise the sling hook 5, the sling 30, and the container 38, as shown in FIG. 9. When the operator presses the up button 24 of the operation command unit 20, the control unit 10 of the main unit 2 determines in step S102 that the up button 24 has been pressed and executes step S103. In step S103, the control unit 10 of the main unit 2 activates the lifting actuator 16 to raise the sling hook 5, the sling 30, and the container 38, and then returns to step S101, entering a hold mode at that position. If the operator continues to press the up button 24 of the operation command unit 20, the control unit 10 of the main unit 2 continues step S103 to raise the sling hook 5, the sling 30, and the container 38.

[0049] When the lifting device hook 5 is raised by the lifting actuator 16 winding up the link chain 4, the lifting device 30 and container 38 are lifted off the floor 40, and the lifting device 30 and container 38 are suspended in mid-air, the operator stops pressing the lift button 24, and the control unit 10 of the main unit 2 enters the hold mode. Next, when the operator presses the balance button 22, the control unit 10 of the main unit 2 detects in step S104 that the balance button 22 has been pressed (Yes) and proceeds to step S105. If the operator has not pressed the balance button 22, the control unit 10 of the main unit 2 detects in step S104 that the balance button 22 has not been pressed (No), and returns to step S101 to maintain the hold mode.

[0050] In step S105 (storage step), the control unit 10 of the main body device 2 stores the weight value detected and output by the weight detection unit 12, which is the weight applied to the lifting operation unit 16, in the storage means 10a as a registered value, and then proceeds to step S106.

[0051] In step S106 (balance control step), the control unit 10 of the main unit 2 reads the registered values stored in the memory means 10a and performs balance control to keep the hoisting hook 5, the hoisting device 30, and the container 38 in a balanced state. In this state, an operator can raise or lower the hoisting device 30 and the container 38 by applying an external force to either the hoisting hook 5, the hoisting device 30, or the container 38. The operator grasps the handle 37 of the hoisting device 30 and continues to apply a vertically upward external force to the hoisting device 30 and the container 38, thereby raising the hoisting device 30 and the container 38 and also moving the main unit 2 horizontally so that the dispensing portion 38a is positioned vertically above the center of the receiving container 43. At this time, the vertical height of the dispensing portion 38a from the floor 40 is, for example, H1. The vertical distance from the bottom of the main unit 2 to the center of the rotation shaft 35 is the payout length of the link chain 4, which is L1.

[0052] In step S106, the control unit 10 of the main unit 2 executes balance control while proceeding to step S107. This balance control is performed when an external force is applied to the hanging arm 32, the handle 37, the container 38, etc., by comparing the weight value registered in step S105 with the weight value detected by the weight detection unit 12, and controlling the motor unit 11 so that the weight value detected by the weight detection unit 12 reaches the registered weight value.

[0053] In step S107, the control unit 10 of the main device 2 receives the tilt angle from the tilt angle detection unit 60 and proceeds to step S108. The tilt angle value θ is 0° during the period from FIG. 8 to FIG. 10. In step S108, the control unit 10 of the main device 2 determines whether the tilt flag is ON. The tilt flag is a flag that the control unit 10 of the main device 2 receives from the tilt angle detection unit 60 and determines whether the tilt angle of the container 38 exceeds a predetermined value. That is, the tilt flag is stored in the storage unit 10a, and the control unit 10 of the main device 2 reads it as needed and uses it to determine the tilt state of the container 38. In this embodiment, the predetermined value for the tilt angle that turns the tilt flag ON is zero, but this is not limited thereto. That is, the predetermined value may be the tilt angle when the container 38 is tilted to such an extent that the injection material 50 placed in the container 38 does not spill. This can be set by an operator, a work manager, or the like, by connecting a terminal (not shown) to the control unit 10 of the main device 2. Note that the tilt flag is OFF in the initial state. If the control unit 10 of the main body device 2 determines in step S108 that the tilt flag is not ON (No), the process proceeds to step S109.

[0054] In step S109, the control unit 10 of the main unit 2 receives the tilt angle from the tilt angle detection unit 60, and if it determines that the tilt angle of the container 38 is equal to or smaller than a predetermined value (Yes), it proceeds to step S115. That is, the control unit 10 of the main unit 2 continues normal balance control. On the other hand, if the control unit 10 of the main unit 2 determines in step S109 that the tilt angle of the container 38 is greater than the predetermined value (No), it proceeds to step S112. In step S112, the control unit 10 of the main unit 2 sets the tilt flag ON, and proceeds to step S113.

[0055] In step S113, the control unit 10 of the main unit 2 calculates the lifting speed corresponding to the tilt angle θ of the container 38, and then proceeds to step S114. The calculation of the lifting adjustment speed corresponding to the tilt angle θ can be performed as follows. The height change dh = Rsindθ of the spout 38a, which occurs when the tilt angle θ of the container 38 changes by dθ over time dt, is used as a correction value for the payout length of the link chain 4 to maintain the vertical position of the spout 38a at the desired vertical position, and dh / dt is obtained as the lifting adjustment speed. In step S114, the control unit 10 of the main unit 2 commands the motor unit 11 to a speed adjusted in accordance with the lifting speed calculated in step S113, and then proceeds to step S115. Steps S113 and S114 are speed adjustment steps.

[0056] If the worker presses up button 24 or down button 25 during balance control, control unit 10 of main unit 2 determines in step S115 that up button 24 or down button 25 has been pressed (Yes), and proceeds to step S116. In step S116, control unit 10 of main unit 2 activates lifting / lowering operating unit 16 to raise or lower hoisting equipment hook 5, hoisting equipment 30, and container 38, and then returns to step S106 to start balance control at that position.

[0057] If the control unit 10 of the main unit 2 determines in step S115 that the up button 24 or the down button 25 has not been pressed (No), the process proceeds to step S117. Next, if the control unit 10 of the main unit 2 determines in step S117 that the balance button 22 has not been pressed (No), the process proceeds to step S118. On the other hand, if the control unit 10 of the main unit 2 determines in step S117 that the balance button 22 has been pressed (Yes), the process proceeds to step S105, where the weight detection unit 12 detects the weight applied to the lifting / lowering operation unit 16 and stores the output weight value as a new registered value, and the process proceeds to step S106 to perform balance control.

[0058] Next, in step S118, if the control unit 10 of the main unit 2 determines that the hold button 23 has been pressed (Yes), the balance control is released and the process proceeds to step S101. In step S111, if the control unit 10 of the main unit 2 determines that the hold button 23 has not been pressed (No), the process returns to step S106 and the balance control continues.

[0059] If the control unit 10 of the main unit 2 determines in step S108 that the tilt flag is ON (Yes), the process proceeds to step S110. In this case, since the tilt flag is already ON, the process proceeds to step S112 after first answering No in step S108 and No in step S109. If the control unit 10 of the main unit 2 determines in step S110 that the tilt angle is not zero (No), the process proceeds to step S112. Since the tilt flag is already ON at this time, it may be overwritten. On the other hand, if the control unit 10 of the main unit 2 determines in step S110 that the tilt angle is equal to or less than a predetermined value (Yes), the process proceeds to step S111. In step S111, the control unit 10 of the main unit 2 sets the tilt flag OFF and the process proceeds to step S105. That is, when the operator tilts the container 38 once and turns the tilt flag ON, and then returns the angle of the container 38 to a predetermined value or less, the control unit 10 of the main unit 2 turns the tilt flag OFF, obtains a new weight value from the weight detection unit 12, stores this weight value in the storage means 10a as an updated registered value, and starts balance control based on this. Therefore, when the operator tilts the container 38 once and then returns the angle of the container 38 to a predetermined value or less, the control unit 10 of the main unit 2 uses this as a trigger to perform balance control based on the new updated registered value, thereby saving the operator the trouble of pressing the balance button 22 each time.

[0060] FIG. 11 shows the state in which the operator begins tilting the container 38 by operating the handle 37, following the state shown in FIG. 10. In the state shown in FIG. 11, the injection material 50 in the container 38 has not yet been dispensed, but the container 38 is tilted, and the tilt angle is increasing from zero. In FIG. 11, the container 38 is tilted by operating the rotation arm 36, and the tilt angle value is θ1. Therefore, in step S107, the control unit 10 of the main unit 2 receives the tilt angle value θ1 from the tilt angle detection unit 60 and proceeds to step S108. At this time, the tilt flag is OFF, so the control unit 10 of the main unit 2 proceeds with a "No" result in step S108. In step S109, the tilt angle is not zero, so steps S112 to S114 are executed sequentially. In step S113, the control unit 10 of the main unit 2 calculates the lifting speed corresponding to the tilt angle value θ1 and proceeds to step S114. At this time, because the pouring material 50 in the container 38 has not yet been dispensed, the weight value from the weight detection unit 12 has not decreased, and there is no change in weight. Therefore, the control unit 10 of the main device 2 calculates the vertical height of the pouring unit 38a, which descends by tilting the container 38, calculates the payout length L2 of the link chain 4 with the vertical height H1 of the pouring unit 38a from the floor 40 as the target value, and calculates the movement speed that follows this. In reality, the value of the tilt angle value θ changes continuously, so the calculation is performed using a feedback loop that follows the tilt angle value θ at a predetermined sampling time.

[0061] In step S114, the control unit 10 of the main body device 2 issues a command to the motor unit 11 in accordance with the lifting speed calculated in step S113, and the process proceeds to step S115. If the results in steps S115, S117, and S118 are all No, the control unit 10 of the main body device 2 returns to step S106 and continues the balance control.

[0062] Next, from the state shown in Figure 11, the operator operates the handle 37 to further tilt the container 38, thereby pouring the injection material 50 into the receiving container 43, as shown in Figure 12. In Figure 12, the operator operates the rotation operation arm 36, causing the container 38 to tilt, and the tilt angle value becomes θ2. Therefore, in step S107, the control unit 10 of the main unit 2 receives the tilt angle value θ2 from the tilt angle detection unit 60, and proceeds to step S113 via step S108, step S109, and step S112.

[0063] In step S113, the control unit 10 of the main unit 2 calculates the lifting speed. In this case, because the pouring material 50 in the container 38 is being poured into the receiving container 43, the weight value from the weight detection unit 12 decreases. In the balance control performed by the control unit 10 of the main unit 2, this weight value decrease is equivalent to an operation in which the hoisting device 30 and the lower parts are lifted by an external force, so the hoisting device 30 moves in the direction of raising. Therefore, in step S113, the control unit 10 of the main unit 2 calculates the decrease in the vertical height of the pouring unit 38a caused by tilting the container 38, and at the same time, calculates the increase in the vertical height of the pouring unit 38a caused by the decrease in the weight value from the weight detection unit 12. The control unit 10 then calculates a correction value by adding these two values together, and finally obtains a speed for adjusting the payout length L3 of the link chain 4 to a target value that maintains the vertical height H1 of the pouring unit 38a from the floor 40, and issues a command to the motor unit 11.

[0064] The operator further operates the rotary operating arm 36 from the state shown in Figure 12, tilting the container 38 and pouring all of the material 50 into the receiving container 43 (Figure 13). At this time, the payout length of the link chain 4 is L4. After the operator has poured all of the material 50 into the receiving container 43, he operates the rotary operating arm 36 to return it to a position where the tilt angle is zero (Figure 14). The control unit 10 of the main unit 2 calculates the increase in the vertical height of the pouring section 38a that occurs when the tilt of the container 38 is returned, and ultimately controls the speed to be adjusted with the initial payout length L1 of the link chain 4 as the target value.

[0065] Fig. 15 is a time chart of a first work example using the cargo handling assistance device 1 according to an embodiment of the present invention. From the top, Fig. 15 shows the pressed states of the buttons (balance button 22, up button 24, down button 25, and hold button 23), the control mode of the control unit 10 of the main unit 2, the tilt flag stored in the storage means 10a, the tilt angle value θ detected by the tilt angle detection unit 60, the registered value w registered and stored in the storage means 10a, the net weight applied to the lifting operation unit 16, the speed v of the suspended load (upward speed is positive and downward speed is negative), and the payout length L of the link chain 4. Note that in actual work performed by a worker, for example, the speed is not kept constant, and some movements are not represented by straight lines, and Fig. 15 is a schematic representation.

[0066] The state of the loading assistance device 1 will be explained using Figure 15 in accordance with the previously shown Work Example 1. The control unit 10 of the main device 2 starts in hold mode when the power is turned on. In this example, the registered values from the previous power-off remain, and the registered weight value is W1. W1 corresponds to the weight of the sling 30 and container 38 engaged with the sling hook 5, and is the weight when no injection material 50 is contained. Note that although the detected weight W is zero at the initial point, the weight of the link chain 4 and the sling hook 5 is actually detected, and this weight is offset to set it at zero. From the state shown in Figure 8, when the worker presses the up button 24 (time t1), the speed of the suspended load reaches speed Vm, and when the worker stops pressing the up button 24 (time t2), the speed of the suspended load becomes zero. During this period, the detected weight does not change while the link chain 4 is initially slack, but as the link chain 4 becomes taut, it rises, and when it eventually reaches weight W2, the load is suspended in mid-air.

[0067] Next, when the operator presses the balance button 22 (time t3), the control unit 10 transitions to the balance mode (W2). Therefore, the control unit 10 of the main unit 2 stores the weight W2 detected by the weight detection unit 12 at this time in the storage means 10a as a registered value, and controls the suspended load to be kept in a balanced state based on this weight W2.

[0068] Next, the worker holds the handle 37 and raises the suspended load, and the control unit 10 raises the suspended load at maximum speed Vb. At this time, the worker applies an upward external force to the suspended load, causing the net weight to temporarily decrease. Note that in the detected weight diagram, the dashed line is an imaginary line representing the net weight. The control unit 10 controls the detected weight so that it becomes the registered weight W2, so although the detected weight fluctuates microscopically, it is maintained at a nearly constant W2.

[0069] Next, the operator operates the handle 37 from the state shown in Figure 10 to begin rotating the container 38 (time t4). At this time, the payout length of the link chain 4 is L1, and the tilt flag is ON. As shown in Figure 11, in the initial period, the injection material 50 is not dispensed, so the ascending speed of the link chain 4 is Va1. As the injection material 50 is eventually injected into the receiving container 43, the weight gradually decreases to weight W1, and as the container 38 is further rotated, the ascending speed becomes Va2. Even during this period, the control unit 10 controls the detected weight so that it becomes the registered value weight W2, but since the speed is limited to Va2, this becomes dominant, and the detected weight fluctuates approximately at the remaining weight of the injection material 50.

[0070] When the operator finishes pouring the material 50 from the container 38, the payout length of the link chain 4 is L4. Then, when the operator returns the container 38 to its original position, i.e., the tilt angle of 0° (time t5), the tilt flag turns OFF. The payout length of the link chain 4 returns to L1. Furthermore, the control unit 10 of the main device 2 stores and updates the weight W1 currently detected by the weight detection unit 12 in the storage means 10a as a registered value, balances the sling 30 and the container 38 based on this weight W1, and enters balance mode (W1). The series of steps from time t5 are steps S110, S111, S105, and S106 in FIG. 7.

[0071] When the worker operates handle 37 to lower container 38, a vertically downward external force is applied, temporarily increasing the net weight (dashed line). Control unit 10 controls the detected weight so that it matches registered weight W1, so the detected weight fluctuates microscopically but is maintained at a nearly constant W1. The descent speed of link chain 4 at this time is limited to speed Vc. When the worker lowers container 38 to near floor 40, he presses down button 25 (time t6), further lowering container 38 at speed Vn until it lands on floor 40. With link chain 4 bent, he stops pressing down button 25 (time t7). The worker then presses hold button 23, causing control unit 10 of main unit 2 to switch to hold mode (time t8).

[0072] Fig. 17 is a time chart of Work Example 2 using the cargo handling assistance device 1 according to the embodiment of the present invention. Work Example 2 is the same as Work Example 1 from time t0 to time t4 and from time t5 onwards, so a description of the period from time t0 to time t4 and from time t5 onwards will be omitted. Work Example 2 will be described with reference to Figs. 12, 16 and 17. Note that in actual work performed by workers, for example, the speed is not kept constant, and some movements are not represented by straight lines, and Fig. 17 is a schematic representation.

[0073] In Operation Example 2, after the state shown in Figure 12, the operator needs to divide and inject the injection material 50 and stir the contents of the injection container 43 each time, so he releases his hands from the handle 37 and returns the container 38 to a tilt angle of zero to perform the work. Figure 16 shows the state when the operator returns the container tilt angle value θ to zero degrees from the state shown in Figure 12 (time t4a). At this time, the amount of injection material 50 in the container 38 has decreased compared to time t4, so the net weight has decreased from W3 to W4. At this time, the control unit 10 controls the detected weight so that it becomes the registered weight W3, but as in Operation Example 1, the speed is limited to Va2, so this becomes dominant, and the detected weight fluctuates approximately at the remaining weight of the injection material 50. The control unit 10 turns the tilt flag ON at time t4 (step S112), and because the tilt angle has become zero at time t4a, turns the tilt flag OFF (step S111). Then, in step S105 (storage step), the control unit 10 of the main unit 2 updates and stores the weight value W4, which is detected and output by the weight detection unit 12 as the weight applied to the lifting / lowering actuator 16, in the storage means 10a as a new registered value. Then, in step S106, the control unit 10 of the main unit 2 performs balance control based on the updated and stored registered value W4. Therefore, the operator can update the registered weight based on the weight at that time by returning the tilt angle value θ of the container 38 to zero degrees without pressing the balance button 22, and perform work in a balanced state.

[0074] The worker finishes the mixing operation and begins tilting the container 38 again using the handle 37 (time t4b). In the initial period, the material 50 is not dispensed, so the ascending speed of the link chain 4 is Va1. As the material 50 is eventually poured into the receiving container 43, the net weight gradually decreases to weight W1, and as the container 38 is further tilted, the ascending speed becomes Va2. At this time, the control unit 10 controls the detected weight so that it becomes the registered weight W4, but because the speed is limited to Va2, this becomes dominant, and the detected weight remains approximately the remaining weight of the material 50.

[0075] When the operator has finished pouring the content 50 from the container 38, he returns the container 38 to its original position, i.e., to an inclination angle of 0° (time t5). At this time, the inclination flag is turned OFF. At this time, the payout length of the link chain 4 returns to L1. Furthermore, the control unit 10 of the main device 2 stores and updates the weight value W1 currently detected by the weight detection unit 12 in the memory means 10a as a registered value, and based on this, enters balance mode (W1), bringing the sling 30 and the container 38 into a balanced state.

[0076] Figure 20 is a time chart of Work Example 3 using the cargo handling assistance device 1 according to the embodiment of the present invention. Work Example 3 is the same as Work Example 1 from time t0 to time t4 and from time t5 onwards, so a description of the period from time t0 to time t4 and from time t5 onwards will be omitted. Next, Work Example 3 will be described with reference to Figures 18, 19 and 20. Note that in actual work performed by workers, for example, the speed is not kept constant, and some movements are not represented by straight lines, and therefore Figure 20 is a schematic representation.

[0077] In operation example 3, the registered weight is W5, and the operator wants to change the vertical height of the dispensing portion 38a by changing the vertical height of the container 38 without changing the tilt angle value θ2 of the container 38 from the state shown in FIG. 12. FIG. 18 shows the state when the operator presses the lowering button 25 from the state shown in FIG. 12 (time t4c) and lowers the container 38 to a height H2 from the floor 40 (time t4d). While the operator is pressing the lowering button 25, the downward speed is Vn, and the payout length of the link chain 4 changes to L5. The operator again begins to tilt the container 38 using the handle 37 (time t4d). As the tilt angle value of the container 38 increases as shown in FIG. 19, the amount of the poured material 50 in the container 38 decreases, but the control unit 10 of the main unit 2 controls the vertical height H2 of the dispensing portion 38a to be maintained.

[0078] After the operator finishes pouring the contents 50 from the container 38, he returns the container 38 to its original position, i.e., the tilt angle of 0° (time t5), and the tilt flag turns OFF. The payout length of the link chain 4 at this time may be the initial length L1 when the tilt flag was turned ON, or it may be the length added with the vertical distance lowered by the operator pressing the down button 25. The vertical distance can be easily detected by the position detection unit 13. Alternatively, the operator may press the up button 24 to reduce the payout length of the link chain 4, in which case a subtraction process is performed. Furthermore, the control unit 10 of the main unit 2 stores and updates the weight W1 detected by the weight detection unit 12 at time t5 in the memory means 10a as a registered value. Based on this weight W1, the sling 30 and the container 38 are balanced, and the balance mode (W1) is entered.

[0079] As described above, the cargo handling assistance device of the present invention can provide a cargo handling assistance device that has good operability when tilting containers containing liquids or powders as cargo items to transfer the cargo items.

[0080] Although the present invention has been described based on the preferred embodiment, the present invention is not limited to the above-described embodiment, and various modifications are possible without departing from the spirit of the present invention. [Industrial Applicability]

[0081] As an example of utilization of the present invention, it can be applied to a cargo handling machine that assists in the movement of cargo. [Explanation of symbols]

[0082] 1: Loading assistance device 2: Main unit 3: Hanging hook 4: Link chain (sling) 5: Hook for hanging device (locking part) 10: Control section 10a: Storage means 10b: Balance control means 10c: Speed adjustment means 11: Motor section 12: Weight detection unit 13: Position detection unit 14: Main unit transceiver 15: Output shaft 16: Lifting operation part 17: Chain storage compartment 20: Operation command section 21: Operation command control unit 22: Balance button 23: Retention button 24: Up button 25: Down button 26: Operation command transmitter / receiver 27: Battery section 30: Lifting equipment 31: Eye bolt 32: Hanging arm 33: Container holder 34: Container holding plate 35: Rotation axis 36: Rotating operation arm 37: Handle 38: Container 38a: Outlet (specific location) 40:Floor 41: Moving block 42: Rail 43: Container to be injected 50: Injectable 60: Tilt angle detection unit 61: Potentiometer (variable passive element) 62: Inclination angle calculation section 63: Pulley 64: Pulley 65: Belt 66: Bracket 67: Bearing part

Claims

1. A sling having a locking portion at one end that can lock a sling carrying a cargo; a lifting / lowering operating unit that enables the operation of winding up or unwinding the sling on the other end side, thereby lifting and lowering the cargo together with the engaging unit; a position detection unit that outputs a position value when the cargo is raised or lowered; a motor unit as a power source for driving the lifting operation unit, the motor unit being capable of driving the lifting operation unit to a payout length of the sling according to the position value; a weight detection unit that detects a weight applied to the lifting operation unit via the sling during the lifting and lowering operation and outputs a weight value based on the detection; a control unit that stores the weight value when the cargo is suspended in mid-air based on the operation of the sling as a registered value, and determines a control value related to a command from the motor unit to enable drive control of the lifting operation unit; a receiving unit that enables receiving at least a balance command as an output command from a predetermined operation command means that is remotely connected to the control unit; A loading and unloading assistance device comprising: The control unit a balance control means for, when receiving the balance command, calculating the control value that can make the weight value output by the weight detection unit equal to the registered value, and bringing the load into a balanced state that provides assistance while determining the speed at which the load is raised or lowered based on the drive control; The balance control means When an operation related to work of applying a vertically downward external force to the sling is performed, the calculation is capable of determining the control value that brings the predetermined weight value, which increases due to the external force, closer to the registered value, and the drive control is configured to pay out the sling with an acceleration corresponding to the downward direction, When an operation related to applying a vertically upward external force to the sling is performed, the calculation is configured to obtain the control value that causes the predetermined weight value, which becomes smaller due to the external force, to approach the registered value, and the drive control is configured to hoist the sling with an acceleration corresponding to the upward direction. A loading and unloading assistance device characterized by the above.

2. The balance control means The operation of applying the external force is stopped during the balanced state, and the drive control is performed to bring the cargo into a state where it is stationary with the length of the sling extended that corresponds to the position value when the weight value becomes equal to the registered value.

2. The cargo handling assistance device according to claim 1.

3. The balance control means When the predetermined weight value output after receiving the balance command from the operation command means is not equal to the registered value, The control value includes information on the acceleration so as to equalize the tension of the sling generated by the weight corresponding to the registered value with the tension of the sling generated by the weight corresponding to the predetermined weight value.

2. The cargo handling assistance device according to claim 1.

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