Load Carrying Assistance Device and Control Method Thereof

Abstract

To provide a cargo handling assistance device with improved operability and a control method of the cargo handling assistance device.SOLUTION: A cargo handling assistance device includes a locking part 5 locking a container 38 to be tilted, a lifting / lowering operation part 16 for lifting / lowering the locking part 5 through a sling, a motor part 11 driving the lifting / lowering operation part 16, a tilt angle detection part 60 transmitting a tilt angle value of the container 38, a weight detection part 12 transmitting a weight value applied on the lifting / lowering operation part 16, a position detection part 13 transmitting a position value of the rising / lowering, and an operation command part 20 transmitting an operation command. A control part 10 includes storage means 10a receiving and storing the weight value as a registration value when receiving a command of balance control, balance control means 10b calculating a control value for making the weight value from the lifting / lowering operation part 16 equal to the registration value and giving a command to the motor part 11, and speed adjustment means 10c calculating a lifting / lowering speed for keeping a vertical position of a specific portion of the container in accordance with the tilt angle of the container at a desired position from the tilt angle value, the position value, and the weight value so as to give a command to the motor part 11.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a cargo handling assistance device used for manufacturing assembly, transportation, etc. in the manufacturing field. For example, when lifting and lowering a cargo, it provides assistance by a motor and enables vertical movement with a slight operating force. The present invention also relates to a control method for the cargo handling assistance device.

Background Art

[0002] Conventionally, in factories for assembling industrial products, cargo handling devices are used to move tools, working equipment, products, semi-finished products, etc. having a large weight. Among these cargo handling devices, a part of the cargo handling assistance device that generates assistance so that a user can move up and down to an arbitrary height with a light operating force for a cargo having a large weight is used. Such a cargo handling assistance device provides assistance by a motor and can smoothly move the cargo by applying a small operating force to the cargo. Therefore, unlike simply performing the vertical movement with an electric motor by an operation button, the load of the cargo and the operating force applied thereto are detected by, for example, a load detector, and an AC servo motor connected to a rotation angle detector adjusts the acceleration based on the change in weight due to the application of an external force to perform fine control. By using such a cargo handling assistance device, if a container filled with liquid or powder is suspended in the air and its weight value is registered, assistance by the motor can be performed based on this weight value, and an operator can perform an operation of tilting the container and transferring it to an injection container or the like.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Patent Document 1 discloses a technology related to a cargo handling assistance device. Using such a cargo handling assistance device, a container filled with liquid or powder is suspended in the air and its weight value is registered. Based on this weight value, while the motor provides assistance, an operator can tilt the container and transfer it to an injection facility or the like. However, there was room for improvement because the height changed depending on the tilt angle of the container and the remaining amount of liquid or powder.

[0005] In view of such problems, an object of the present invention is to provide a cargo handling assistance device and a control method for the cargo handling assistance device that improve operability in cargo handling operations.

Means for Solving the Problems

[0006] A cargo handling assistance device according to an aspect of the present invention has, in order to achieve the above object, a locking part, a lifting and lowering operating part, a motor part, an inclination angle detection part, a weight detection part, a position detection part, an operation command part, and a control part, and is a cargo handling assistance device that provides assistance for lifting and lowering a cargo, the locking part locks a container that houses the cargo so that it can be tilted, the lifting and lowering operating part raises and lowers the locking part via a sling, the motor part drives the lifting and lowering operating part, the inclination angle detection part detects the inclination angle of the container and transmits the inclination angle value to the control part, the weight detection part detects the weight value applied to the lifting and lowering operating part and transmits it to the control part, the position detection part detects the lifting and lowering position value of the cargo and transmits it to the control part, the operation command part transmits an operation command to the control part, when the control part receives a balance control command from the operation command part, storage means for receiving a weight value from the weight detection part and storing it as a registered value, balance control means for calculating a control value that makes the weight value received from the weight detection part equal to the registered value and commanding the motor part, During the balance control by the balance control means, speed adjustment means calculates the lifting speed of the load handling object to keep the vertical position of a specific part of the container corresponding to the inclination angle of the container at a desired position from the inclination angle value, position value, and weight value received during the balance control, and commands the motor unit.

[0007] In order to achieve the above object, a load handling assist device according to an aspect of the present invention The control unit includes means for enabling an inclination flag when the inclination angle value exceeds a predetermined value, means for disabling the inclination flag when the inclination angle value becomes equal to or less than the predetermined value while the inclination flag is valid, means for storing the weight value applied to the lifting and lowering operation unit as an updated registered value, and means for calculating a control value that makes the weight value received from the weight detection unit equal to the updated registered value and commanding the motor unit.

[0008] In order to achieve the above object, a control method for a load handling assist device according to an aspect of the present invention A control method for a load handling assist device that has a locking unit, a lifting and lowering operation unit, a motor unit, an inclination angle detection unit, a weight detection unit, a position detection unit, an operation command unit, and a control unit, and assists in lifting and lowering a load handling object, The locking unit lockingly engages a container that houses a load handling object so as to be tiltable. The lifting and lowering operation unit raises and lowers the locking unit via a sling. The motor unit drives the lifting and lowering operation unit. The inclination angle detection unit detects the inclination angle of the container and transmits an inclination angle value to the control unit. The weight detection unit detects a weight value applied to the lifting and lowering operation unit and transmits it to the control unit. The position detection unit detects a position value of the lifting and lowering of the load handling object and transmits it to the control unit. The operation command unit transmits an operation command to the control unit. When the control unit receives a balance control command from the operation command unit, a storage step of receiving a weight value from the weight detection unit and storing it as a registered value, a balance control step of calculating a control value that makes the weight value received from the weight detection unit equal to the registered value and commanding the motor unit. During balance control by the balance control step, based on the tilt angle value, position value, and weight value received, a speed adjustment step of calculating the lifting speed of the load handling device to keep the vertical position of a specific part of the container according to the tilt angle of the container at a desired position and commanding the motor unit, and execute it.

[0009] A control method for a load handling assist device according to an aspect of the present invention, in order to achieve the above object, The control unit executes a step of enabling a tilt flag when the tilt angle value exceeds a predetermined value, a step of disabling the tilt flag when the tilt angle value becomes equal to or less than the predetermined value while the tilt flag is enabled, a step of storing the weight value applied to the lifting and lowering operation unit as an updated registered value, and a step of calculating a control value that makes the weight value received from the weight detection unit equal to the updated registered value and commanding the motor unit.

Effect of the Invention

[0010] According to the load handling assist device of the present invention, in an operation of moving a container containing a load such as liquid or powder and transferring the load to another container or the like, it is possible to provide a load handling assist device that maintains the working position and provides good operability.

Brief Description of the Drawings

[0011]

Figure 1

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Embodiments for Carrying Out the Invention

[0012] 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 configuration diagram of a cargo handling assistance device 1, a lifting tool 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 body device 2, a suspension hook 3, a link chain 4, a hook for the lifting tool 5, a lifting tool 30, and an operation command unit 20. The main body device 2 moves up and down a hook for the lifting tool 5, a lifting tool 30 locked to the hook for the lifting tool 5, and a container 38 supported by the lifting tool 30 via the link chain 4.

[0014] A suspension hook 3 is provided on the upper surface of the main body device 2. Therefore, the main body device 2 can be suspended and used on a beam of a building or a moving block 41 that can move horizontally along a rail 42 for horizontal movement represented from FIG. 8 onwards.

[0015] The hook for the lifting tool 5 is provided below the link chain 4 extending vertically downward from the main body device 2. The hook for the lifting tool 5 is a hook for suspending a cargo to be handled provided at one end of the link chain 4 and is a locking portion for locking the lifting tool 30. The lifting tool 30 supports the container 38. The container 38 is a bottomed cylindrical shape with a flange provided at the upper end of the cylindrical side surface. The container 38 is a shallow-barrel bottomed cylindrical shape in this embodiment, but is not limited thereto and may be a deep-barrel type. The lifting tool 30 includes an eye bolt 31, a suspension arm 32, a container holder 33, a container pressing plate 34, a rotating shaft 35, a rotating operation arm 36, and a handle 37.

[0016] The suspension arm 32 is a portal-shaped member, and an eye bolt 31 is attached to the center thereof. It is configured to be locked by the hook for the lifting tool 5 via the eye bolt 31 and can be suspended by the cargo handling assistance device 1. The head of the eye bolt 31 is ring-shaped.

[0017] The container holder 33 abuts against the lower surface portion of the flange of the container 38 and supports the container 38 from vertically below. On the other hand, the container pressing plate 34 is provided near the upper surface of the flange of the container 38 so as to sandwich the flange of the container 38 with the container holder 33. The container 38 is mounted by being inserted into the container holder 33 from the direction of arrow A. The rotation operation arm 36 is connected to the container holder 33 and the container pressing plate 34 via the rotation shaft 35, and the container holder 33 and the container pressing plate 34 are rotatable within a limited range with respect to the suspension arm 32. The handle 37 is attached to the end of the rotation operation arm 36. Therefore, the operator can tilt the container 38 by holding the handle 37 and operating the rotation operation arm 36 to rotate the container holder 33 and the container pressing plate 34 within a limited range. An area where the operation command unit 20 can be attached and detached is provided adjacent to the handle 37 of the rotation operation arm 36. Therefore, when the operation command unit 20 is attached to this area, the operator can press the switch of the operation command unit 20 with a finger while holding the handle 37 to operate the cargo handling assistance device 1.

[0018] FIG. 2 is an enlarged perspective configuration diagram in which a part of the main body device 2 of the cargo handling assistance device 1 according to the embodiment of the present invention is omitted.

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

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

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

[0022] This speed reducer reduces the rotational speed of the motor to a predetermined speed. The speed reducer is, for example, a harmonic gear speed reducer. The harmonic gear speed reducer has a wave generator, a flex spline, and a circular spline. The wave generator has a thin ball bearing fitted on the outer periphery of an elliptical cam and has an overall elliptical shape. The inner ring of the bearing is fixed to the elliptical cam, and the outer ring is elastically deformed via the balls. The flex spline is elastically deformable with a large number of external teeth formed on its outer periphery and fitted on the wave generator so that the position where it is deflected in the circumferential direction changes due to the rotation of the wave generator. The circular spline is provided on the outer peripheral side of the flex spline and has internal teeth that mesh with the external teeth of the flex spline. And the power is taken out and transmitted to the output shaft 15 that connects the flex spline as a rotational output. By using a speed reducer with a very small backlash such as a harmonic gear speed reducer in this motor unit 11, when the motor is frequently switched between forward and reverse rotations to perform vertical movement, the uncontrollable area during switching can be eliminated, and a smooth operating feeling can be realized. Note that the speed reducer is not limited to a harmonic gear speed reducer.

[0023] The output shaft 15 is a rotating shaft that reduces the rotational speed with a speed reducer and outputs an increased torque, and is connected to the lifting and lowering operation unit 16 to continuously rotate the lifting and lowering operation unit 16 forward and backward.

[0024] The link chain 4 is a sling in which oval rings each consisting of a semi-circular arc portion and a straight portion connected thereto intersect and are alternately connected. One end of the link chain 4 is connected to the hook 5 for a lifting tool, and the other end (the no-load side) is stored in the chain storage portion 17.

[0025] The lifting and lowering actuator 16 is configured to include a rotating member that rotates by the transmission of power from the motor unit 11 as the drive source. In the present embodiment, the rotating member of the lifting and lowering actuator 16 has a hollow cylindrical shape, is connected to the output shaft 15 at the hollow portion, winds the link chain 4 around the outer cylindrical surface, and winds up and pays out the link chain 4. The position where the link chain 4 is wound is approximately near the vertical below of the suspension hook 3 and is provided near the center of gravity position of the main body device 2. The link chain 4 is fitted into a pocket groove provided on the outer cylindrical surface of the lifting and lowering actuator 16 and is wound approximately 180 degrees. In the present embodiment, the link chain 4 is used for the one connected to the hook 5 for the lifting tool and wound around the lifting and lowering actuator 16, but it is not limited to this and a wire rope may be used. When a wire rope is used, the lifting and lowering actuator 16 has a drum shape and one end of the wire rope is fixed and wound around the rotating member.

[0026] The position detection unit 13 is connected to the anti-load side of the motor unit 11. The position detection unit 13 detects the rotational angular position of the motor. The position detection unit 13 is, for example, an absolute encoder, and optically detects the rotational angular position of the motor and outputs a position value. Therefore, this position detection unit 13 can detect the payout position of the link chain 4 of the hook 5 for the lifting tool, that is, the lifting and lowering position of the hook 5 for the lifting tool.

[0027] The weight detection unit 12 includes a strain generating body and a strain gauge attached to the strain generating body. The strain generating body has a shape that elastically deforms so as to be able to detect the force transmitted from the link chain 4 wound around the lifting and lowering actuator 16. The strain gauge is incorporated in 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 weight applied to the lifting and lowering actuator 16 and outputs a weight value.

[0028] And the control unit 10 of the main body device 2 is arranged in the vicinity of the lifting operation unit 16 in the main body device 2. The control unit 10 of the main body device 2 receives a position value from the position detection unit 13 and a weight value from the weight detection unit 12 respectively, performs calculations based on these, and controls the motor unit 11. The electrical equipment unit including the control unit 10 of the main body device 2 is arranged in the cover in order to enable the use of the main body device 2 in a place where powder particles or water droplets are present.

[0029] In this embodiment, the position detection unit 13 is arranged on the reaction load side of the motor unit 11, but it is not limited to this. It may be provided on the output shaft 15 which is the output of the speed reducer or the lifting operation unit 16, or may be provided on both. Furthermore, it is not limited to the optical type, and may be a magnetic type, a capacitance type, etc.

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

[0031] The main body device transceiver unit 14 is arranged side by side with the circuit board of the control unit 10 of the main body device 2. The main body device transceiver unit 14 has an electronic circuit for wireless communication with the operation command unit 20.

[0032] FIG. 3 is a perspective view of the hoisting tool 30 according to the embodiment of the present invention, as viewed from vertically above. First, the structure near the rotation operation arm 36 will be described. On the opposite surface of the surface of the rotation operation arm 36 to which the handle 37 is attached, a potentiometer 61 (variable passive element) and an inclination angle calculation unit 62 are attached via a bracket 66. The potentiometer 61 is fixed to the bracket 66, and a pulley 63 is attached to the shaft of the potentiometer 61. On the other hand, a pulley 64 is fixed to the suspension arm 32 side. The pulley 64 is coaxial with the bearing portion 67 that rotatably holds the rotation shaft 35 and does not rotate together with the rotation shaft 35. The pulleys 63 and 64 are transmitted by a belt 65 wound therearound. 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 may be various variable passive elements or other devices that detect the rotational position. Also, the potentiometer 61 may use a multi-rotation type depending on the diameter ratio of the pulleys 63 and 64. And the potentiometer 61 is not limited to the analog type, and may be a digital type using CMOS.

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

[0034] FIG. 4 is a block configuration diagram of the electric and electronic circuit of the load handling assistance device 1 according to the embodiment of the present invention. The load 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 body device 2 controls the entire main body device 2. The control unit 10 of the main body device 2 includes a drive circuit that drives the motor unit 11. And the control unit 10 of the main body device 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 with the main body device transmission and reception unit 14. The main body device transmission and reception unit 14 and the control unit 10 of the main body device 2 are connected by wire and transmit and receive signals at high speed at extremely short time intervals. In addition, the control unit 10 includes a storage means 10a, a balance control means 10b, and a speed adjustment means 10c.

[0036] The main body device transmission and reception unit 14 communicates wirelessly with the operation command transmission and reception unit 26 of the operation command unit 20. The main body device transmission and reception unit 14 and the operation command transmission and reception unit 26 are composed of electronic circuits that perform wireless communication, and in addition to having a transmitter and a receiver using radio waves, they may have a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc.

[0037] The operation command unit 20 is for remotely operating the main body device 2, and in this embodiment, it communicates by radio waves. The operation command unit 20 is powered by the battery unit 27. The operation command unit 20 has, for example, a balance button 22, a hold button 23, a raise button 24, and a lower button 25 as operation means. The details of the operation content will be described later. And the operation command unit 20 is provided with a connector for connecting a wire for supplying power to the tilt angle detection unit 60 and a signal line 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 an operation command by each operation means (operation button) and transmits an operation command signal to the operation command transmission and reception unit 26. And the operation command transmission and reception unit 26 wirelessly transmits the operation command received from the operation command control unit 21 to the main body device transmission and reception unit 14. The signal including this command is given the identification information of the operation command unit 20 that pairs the operation command unit 20 and the main body device 2.

[0039] Next, the roles of the respective operation buttons, which are operation means provided in the operation command unit 20, will be described. Each operation button is, for example, a momentary operation push switch, which is ON while being pressed and self-resets to 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 of the main body device 2 receives this and starts balance control. When the control unit 10 of the main body device 2 receives a balance command from the operation command unit 20, at this time, the weight detection unit 12 detects the weight value applied to the lifting and lowering operation unit 16 and stores the output weight value as a registered value in the storage means 10a. After that, the control unit 10 of the main body device 2 receives the weight value (load) applied to the lifting and lowering operation unit 16 by the link chain 4, and the balance control means 10b in the control unit 10 calculates the control value so that this becomes equal to the registered value stored in the storage means 10a, and controls the motor unit 11. In the present invention, this control is referred to as balance control, and during the period when the control unit 10 of the main body device 2 is performing balance control, the members below the hook 5 for the lifting tool (such as the lifting tool 30, the container 38, the injection 50, etc.) are said to be in a balanced state. In other words, the control unit 10 of the main body device 2 calculates so that the tension of the link chain 4 generated by the registered weight and the tension of the link chain 4 generated by the weight detected by the weight detection unit 12 become the same, controls the motor unit 11, and this control is balance control. When the operator applies a vertically downward external force to the lifting tool 30 during this balance control, since the weight applied to the lifting and lowering operation unit 16 increases, the control value is calculated so as to approach the registered weight, the motor unit 11 is controlled in the direction of paying out the link chain 4, and the part below the lifting tool 30 descends. On the other hand, when the operator applies a vertically upward external force to the lifting tool 30 during this balance control, since the weight applied to the lifting and lowering operation unit 16 decreases, the control value is calculated so as to approach the registered weight, the motor unit 11 is controlled in the direction of winding up the link chain 4, and the part below the lifting tool 30 ascends. When the operator stops applying the external force, since the weight detected by the weight detection unit 12 becomes equal to the registered weight, the part below the lifting tool 30 comes to a stationary state. This control value includes, for example, acceleration.

[0040] On the one hand, when the operator presses the holding button 23, the control unit 10 of the main body device 2 receives a holding command and controls the motor unit 11 to hold the lifting and lowering operation unit 16 at the current position, that is, to keep the lifting and lowering positions of the hook 5 for the lifting tool and the lifting tool 30.

[0041] When the operator presses the up button 24 or the down button 25, the control unit 10 of the main body device 2 receives this and controls the motor unit 11 to raise or lower the hook 5 for the lifting tool. By continuously pressing the up button 24 or the down button 25, the operator can continuously raise and lower the hook 5 for the lifting tool and the lifting tool 30 by the motor unit 11. Whether the main body device 2 is in the holding mode or the balance mode, when the operator presses the up button 24 or the down button 25, the lifting or lowering is performed, and when the hand is released from the pressed up button 24 or down button 25, it returns to the original state.

[0042] The inclination angle detection unit 60 includes a potentiometer 61 and an inclination angle calculation unit 62. The inclination angle calculation unit 62 obtains power from the battery unit 27 of the operation command unit 20. The potentiometer 61 detects the rotation angle of the rotation operation arm 36, that is, the rotation angle of the container 38, applies a constant voltage from the inclination angle calculation unit 62, outputs a voltage that varies according to the rotation angle, and transmits it to the inclination angle calculation unit 62. Then, the inclination angle calculation unit 62 calculates the inclination angle value of the rotation 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 in which a battery and a wireless transmission circuit are mounted in the inclination angle detection unit 60 and the inclination angle value is directly transmitted to the main body device transmission / reception unit 14 as a digital signal may also be used.

[0043] FIG. 5 is a front view of the lifting tool 30 according to an embodiment of the present invention. In FIG. 5, point O is the center of the rotation axis 35. With a line passing through the center point O of the rotation axis 35 of the lifting tool 30 and perpendicular to the vertical direction as the reference line RL, the angle formed between the extending direction of the arm of the rotation operation arm 36 and the reference line RL in the counterclockwise direction is defined as the inclination angle value θ. Therefore, FIG. 5 shows the state where the inclination angle value θ = 0°. Point P0 is the position of the pouring-out portion 38a on the spout side of the container 38. In this embodiment, the pouring-out portion 38a is defined as a specific location of the container 38. Dimension r is the radius dimension of the container 38. Dimension h0 is the vertical distance between point P0 and point O when the inclination angle value θ = 0°. Therefore, the distance R of the line segment OP0 becomes the rotation radius of the pouring-out portion 38a centered on the rotation axis 35. Therefore, this distance R can be geometrically obtained from the shapes of the lifting tool 30 and the container 38.

[0044] FIG. 6 is a front view of the lifting tool 30 at the inclination angle value θ. The rotation operation arm 36 is inclined by the inclination angle value θ counterclockwise around the rotation axis 35. At this time, the position of the pouring-out portion 38a changes to P and descends by a distance h = Rsinθ in the vertically downward direction. When the inclination angle value θ = 0°, there may be a case where a locking mechanism is provided so that the rotation operation arm 36 does not easily rotate with respect to the suspension arm 32 when the handle 37 is held. Also, it may be configured to have a clicking feeling during the rotation operation at several points depending on the inclination angle value θ, or it may have a mechanism that can be locked at an arbitrary inclination angle value θ.

[0045] FIG. 7 is a flowchart executed by the control unit 10 of the main body device 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 state of a series of working examples 1 in which an operator uses the cargo handling assistance device 1 according to an embodiment of the present invention to handle the lifting tool 30 and the container 38. Using FIGS. 7 to 14, the movement of the hook 5 for the lifting tool, the lifting tool 30, and the container 38, each step of the control method executed by the control unit 10 of the main body device 2 at that time, and the states of each part at that time will be described.

[0046] In FIG. 8, the rail 42 is a track rail horizontally provided on the ceiling or the like within the work area. The moving block 41 is a member movable substantially horizontally along the rail 42, and is connected to the suspension hook 3 to suspend the main body device 2. Therefore, the moving block 41 enables the portion below the suspension hook 3 to move horizontally. The injection container 43 is placed on the floor 40 via a table.

[0047] Here, a procedure for pouring the injection material 50 placed in the container 38 on the floor 40 into the injection container 43 will be described. First, when the operator turns on a power switch (not shown) of the main body device 2 with the power of the cargo handling assist device 1 turned off, the control unit 10 of the main body device 2 is activated, and the control unit 10 of the main body device 2 executes step S101 and proceeds to step S102. The control unit 10 of the main body device 2 holds the lifting and lowering operation unit 16 at the current position (holding mode) in step S101. In this state, the link chain 4 is locked, and the operator cannot pay out the link chain 4 even if pulling the link chain 4. Next, the operator presses the lowering button 25 of the operation command unit 20 to lower the hook 5 for the lifting tool, and lowers the hook 5 for the lifting tool to a vertical position where the lifting tool 30 can attach to the container 38. Therefore, the link chain 4 is in a slack state in the vertical direction, and the operator moves the lifting tool 30 horizontally to attach the container 38 to the lifting tool 30, resulting in the state of FIG. 8. The injection material 50 placed in the container 38 is, for example, a liquid, powder, a mixture of liquid and powder, or the like. As an operation, the injection material 50 may be placed in the container 38 in advance and then the container 38 is attached to the lifting tool 30, or an empty container 38 may be attached to the lifting tool 30 in advance, and the injection material 50 may be poured into the container 38 by various means when the container 38 is placed on the floor 40.

[0048] Next, the state where the operator presses the up button 24 of the operation command unit 20 to raise the hook 5 for the lifting tool, the lifting tool 30, and the container 38 is 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 body device 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 body device 2 operates the lifting and lowering operation unit 16 to raise the hook 5 for the lifting tool, the lifting tool 30, and the container 38, returns to step S101, and enters the holding mode at that position. When the operator continuously presses the up button 24 of the operation command unit 20, the control unit 10 of the main body device 2 continuously raises the hook 5 for the lifting tool, the lifting tool 30, and the container 38 in step S103.

[0049] When the hook 5 for the lifting tool is raised by the winding up of the link chain 4 by the lifting and lowering operation unit 16, and the lifting tool 30 and the container 38 are separated from the floor 40 and the lifting tool 30 and the container 38 are in a suspended state, when the operator stops pressing the up button 24, the control unit 10 of the main body device 2 enters the holding mode. Next, when the operator presses the balance button 22, the control unit 10 of the main body device 2 detects in step S104 that the balance button 22 has been pressed (Yes) and proceeds to step S105. If the operator does not press the balance button 22, the control unit 10 of the main body device 2 detects in step S104 that the balance button 22 has not been pressed (No) and returns to step S101 to maintain the holding mode.

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

[0051] The control unit 10 of the main body device 2 reads out the registered value stored in the storage means 10a in step S106 (balance control step), and executes balance control to keep the hook 5 for the lifting tool, the lifting tool 30, and the container 38 in a balanced state. In this state, when an external force is applied to any of the hook 5 for the lifting tool, the lifting tool 30, and the container 38 by the operator, the lifting tool 30 and the container 38 can be lifted and lowered. The operator holds the handle 37 of the lifting tool 30 and continuously applies an external force vertically upward to the lifting tool 30 and the container 38 to lift the lifting tool 30 and the container 38, and also moves the main body device 2 in the horizontal direction so that the pouring part 38a is located vertically above the center of the container 43 to be injected. At this time, the vertical height of the pouring part 38a from the floor 40 is, for example, H1. And the vertical distance from the bottom surface of the main body device 2 to the center of the rotating shaft 35 is taken as the payout length of the link chain 4, and this is L1.

[0052] In step S106, the control unit 10 of the main body device 2 proceeds to step S107 while executing balance control. This balance control compares the weight value registered in step S105 with the weight value detected by the weight detection unit 12 when an external force is applied to the suspension arm 32, the handle 37, the container 38, etc., and controls 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 body device 2 receives the inclination angle from the inclination angle detection unit 60 and proceeds to step S108. During the period from FIG. 8 to FIG. 10, the inclination angle value θ = 0°. In step S108, the control unit 10 of the main body device 2 determines whether the inclination flag is ON. The inclination flag is a flag for the control unit 10 of the main body device 2 to receive the inclination angle from the inclination angle detection unit 60 and determine whether the inclination angle of the container 38 exceeds a predetermined value. That is, the inclination flag is stored in the storage means 10a, and the control unit 10 of the main body device 2 reads it out as needed and uses it to determine the inclination state of the container 38. In this embodiment, the predetermined value of the inclination angle for turning on the inclination flag is zero, but it is not limited to this. That is, the inclination angle when the container 38 is tilted to such an extent that the injected material 50 placed in the container 38 does not spill may be set as the predetermined value, and an operator, a work manager, etc. can connect a terminal (not shown) to the control unit 10 of the main body device 2 and set it. In the initial state, the inclination flag is OFF. If the control unit 10 of the main body device 2 determines in step S108 that the inclination flag is not ON (No), it proceeds to step S109.

[0054] In step S109, if the control unit 10 of the main body device 2 receives the inclination angle from the inclination angle detection unit 60 and determines that the inclination angle of the container 38 is equal to or less than the predetermined value (Yes), it proceeds to step S115. That is, the control unit 10 of the main body device 2 continues the normal balance control. On the other hand, if the control unit 10 of the main body device 2 determines in step S109 that the inclination 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 body device 2 sets the inclination flag to ON and proceeds to step S113.

[0055] In step S113, the control unit 10 of the main body device 2 calculates the lifting and lowering speed according to the inclination angle value θ of the container 38, and proceeds to step S114. The calculation of the lifting and lowering adjustment speed according to this inclination angle value θ can be performed as follows. The height change dh = Rsindθ of the pouring part 38a that will occur when the inclination angle value θ of the container 38 changes by dθ in time dt is used as the correction value of the payout length of the link chain 4 for keeping the vertical position of the pouring part 38a at the desired vertical position, and dh / dt is obtained as the lifting and lowering adjustment speed. In step S114, the control unit 10 of the main body device 2 commands the motor unit 11 with the speed adjusted according to the lifting and lowering speed calculated in step S113, and proceeds to step S115. Steps S113 and S114 are the speed adjustment steps.

[0056] If, during the balance control, the operator presses the up button 24 or the down button 25, the control unit 10 of the main body device 2 determines in step S115 that the up button 24 or the down button 25 has been pressed (Yes), and proceeds to step S116. In step S116, the control unit 10 of the main body device 2 operates the lifting and lowering actuator 16 to raise or lower the hook 5 for the lifting tool, the lifting tool 30, and the container 38, returns to step S106, and starts the balance control at that position.

[0057] If the control unit 10 of the main body device 2 determines in step S115 that the up button 24 or the down button 25 has not been pressed (No), it proceeds to step S117. Then, if the control unit 10 of the main body device 2 determines in step S117 that the balance button 22 has not been pressed (No), it proceeds to step S118. On the other hand, if the control unit 10 of the main body device 2 determines in step S117 that the balance button 22 has been pressed (Yes), it proceeds to step S105, stores the weight value detected and output by the weight detection unit 12 for the weight applied to the lifting and lowering actuator 16 as a new registration value, proceeds to step S106, and executes the balance control.

[0058] Next, when the control unit 10 of the main body device 2 determines in step S118 that the holding button 23 has been pressed (Yes), it releases the balance control and proceeds to step S101. When the control unit 10 of the main body device 2 determines in step S111 that the holding button 23 has not been pressed (No), it returns to step S106 and continues the balance control.

[0059] When the control unit 10 of the main body device 2 determines in step S108 that the tilt flag is ON (Yes), it proceeds to step S110. In this case, since the tilt flag is already ON, it means that step S112 has been executed after passing through No in step S108 and No in step S109 once. When the control unit 10 of the main body device 2 determines in step S110 that the tilt angle is not zero (No), it proceeds to step S112. Since the tilt flag is already ON at this time, it may be overwritten. On the other hand, when the control unit 10 of the main body device 2 determines in step S110 that the tilt angle is less than or equal to a predetermined value (Yes), it proceeds to step S111. The control unit 10 of the main body device 2 turns off the tilt flag in step S111 and proceeds to step S105. That is, when the operator tilts the container 38 once to turn on the tilt flag and then returns the angle of the container 38 to less than or equal to the predetermined value, the control unit 10 of the main body device 2 turns off the tilt flag, obtains a new weight value from the weight detection unit 12, stores this weight value as an updated registered value in the storage means 10a, 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 less than or equal to the predetermined value, the control unit 10 of the main body device 2 uses this as a trigger to perform balance control based on the new updated registered value, so the labor of the operator pressing the balance button 22 each time can be saved.

[0060] Fig. 11 shows the state where, starting from the state of Fig. 10, the operator then operates the handle 37 to begin tilting the container 38. In the state of Fig. 11, the injectant 50 in the container 38 has not been discharged yet, 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 operation arm 36, and the tilt angle value is θ1. Therefore, the control unit 10 of the main body device 2 receives the tilt angle value θ1 from the tilt angle detection unit 60 at step S107 and proceeds to step S108. At this time, since the tilt flag is in the OFF state, the control unit 10 of the main body device 2 proceeds with No at step S108 and, since the tilt angle is not zero in step S109, sequentially executes steps S112 to S114. The control unit 10 of the main body device 2 calculates the lifting and lowering speed according to the tilt angle value θ1 at step S113 and proceeds to step S114. At this time, since the injectant 50 in the container 38 has not been discharged yet, the weight value from the weight detection unit 12 has not decreased and there is no weight change. Therefore, the control unit 10 of the main body device 2 calculates the vertical height of the discharge part 38a that descends by tilting the container 38, calculates the payout length L2 of the link chain 4 with the vertical height H1 from the floor 40 of the discharge part 38a as the target value, and calculates the moving speed to follow this. Actually, since the value of the tilt angle value θ changes continuously, calculations are performed in a feedback loop that follows the tilt angle value θ at a predetermined sampling time.

[0061] At step S114, the control unit 10 of the main body device 2 gives a command to the motor unit 11 according to the lifting and lowering speed calculated at step S113 and proceeds to step S115. If all of steps S115, S117, and S118 are No, the control unit 10 of the main body device 2 returns to step S106 to continue the balance control.

[0062] Next, from the state of FIG. 11, the operator operates the handle 37 to further tilt the container 38, and FIG. 12 shows the state where the injection material 50 is being poured into the container 43 to be injected. In FIG. 12, the operator operates the rotation operation arm 36, causing the container 38 to tilt, with the tilt angle value being θ2. Therefore, the control unit 10 of the main body device 2 receives the tilt angle value θ2 from the tilt angle detection unit 60 at step S107, and proceeds to step S113 via steps S108, S109, and S112.

[0063] At step S113, the control unit 10 of the main body device 2 calculates the lifting and lowering speed. In this case, since the injection material 50 in the container 38 is being poured into the container 43 to be injected, the weight value from the weight detection unit 12 decreases. In the balance control performed by the control unit 10 of the main body device 2, since this decrease in the weight value is equivalent to the operation of lifting the lower part of the lifting tool 30 by an external force, the lifting tool 30 moves in the upward direction. Therefore, the control unit 10 of the main body device 2 calculates the downward value of the vertical height of the pouring part 38a caused by tilting the container 38 at step S113, and at the same time, calculates the upward value of the vertical height of the pouring part 38a accompanying the decrease in the weight value from the weight detection unit 12, calculates the corrected value obtained by adding these, and finally obtains the speed for adjusting with the feeding length L3 of the link chain 4 that maintains the vertical height H1 of the pouring part 38a from the floor 40 as the target value, and issues a command to the motor unit 11.

[0064] The operator further operates the rotation operation arm 36 from the state of FIG. 12, causing the container 38 to tilt and injecting all of the injection material 50 into the container 43 to be injected (FIG. 13). At this time, the feeding length of the link chain 4 is L4. After the operator has injected all of the injection material 50 into the container 43 to be injected, the operator operates the rotation operation arm 36 to return to the position where the tilt angle becomes zero (FIG. 14). The control unit 10 of the main body device 2 calculates the upward value of the vertical height of the pouring part 38a caused by returning the tilt of the container 38, and finally performs control to adjust the speed with the initial feeding length L1 of the link chain 4 as the target value.

[0065] FIG. 15 is a time chart of Work Example 1 using the cargo handling assistance device 1 according to an embodiment of the present invention. FIG. 15 shows, from top to bottom, the pressing states of the respective buttons (balance button 22, ascending button 24, descending button 25, holding button 23), the control mode of the control unit 10 of the main body device 2, the inclination flag stored in the storage means 10a, the inclination angle value θ detected by the inclination angle detection unit 60, the registered value w registered and stored in the storage means 10a, the net weight applied to the lifting and lowering operation unit 16, the speed v of the suspended load (the upward speed is positive and the downward speed is negative), and the payout length L of the link chain 4. In the actual work performed by the operator, for example, it is not performed while keeping the speed constant, so there are cases where it is not represented by a straight line, and FIG. 15 is a schematic representation.

[0066] Following the Work Example 1 shown above, the state of the cargo handling assistance device 1 will be described with reference to FIG. 15. The control unit 10 of the main body device 2 starts from the holding mode when the power is turned on. In this example, the registered value remains the same as that at the previous power-off, and the registered weight value is W1. Here, W1 corresponds to the weight of the sling 30 and the container 38 locked to the sling hook 5 for the sling, and is the state when the injection 50 is not contained. Although the detected weight W is zero at the first point, actually, the weights of the link chain 4 and the sling hook 5 are detected, and this part is offset to zero. From the state shown in FIG. 8, when the operator presses the ascending button 24 (time t1), the speed of the suspended load reaches the speed Vm, and when the operator stops pressing the ascending button 24 (time t2), the speed of the suspended load becomes zero. During this period, the detected weight does not change when the initial link chain 4 is slack, but it increases simultaneously with the link chain 4 becoming taut, and when it finally reaches the weight W2, the suspended load is in a suspended state.

[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 body device 2 stores the weight W2 detected by the weight detection unit 12 at this time as the registered value in the storage means 10a, and controls to keep the suspended load in a balanced state based on this weight W2.

[0068] Next, when the operator raises the suspended load while holding the handle 37, the control unit 10 raises the suspended load with the maximum speed Vb. At this time, since an upward external force is applied to the suspended load by the operator, the net weight temporarily decreases. In the diagram of the detected weight, the broken line is a virtual line representing the net weight. Since the control unit 10 controls the detected weight to be the registered weight W2, the detected weight fluctuates microscopically but is maintained at approximately constant W2.

[0069] Next, the operator starts to rotate the container 38 by operating the handle 37 from the state shown in FIG. 10 (time t4). At this time, the payout length of the link chain 4 is L1, and the tilt flag becomes ON. As shown in FIG. 11, in the first period, since the injectant 50 is not discharged, the ascending speed of the link chain 4 is Va1. Eventually, when the injectant 50 is injected into the container 43 to be injected, the weight gradually decreases to the weight W1. When the container 38 is further rotated, the ascending speed becomes Va2. Even during this period, although the control unit 10 controls the detected weight to be the registered weight W2, since the speed is limited to Va2, this becomes dominant, and the detected weight changes substantially according to the remaining weight of the injectant 50.

[0070] When the operator finishes pouring the injectant 50 in the container 38, the payout length of the link chain 4 is L4. Then, when the operator returns the container 38 to the original position, that is, the tilt angle of 0° (time t5), the tilt flag becomes OFF. And the payout length of the link chain 4 returns to L1. Further, the control unit 10 of the main body device 2 stores and updates the weight W1 detected by the weight detection unit 12 at this time as a registered value in the storage means 10a, balances the lifting tool 30 and the container 38 based on this weight W1, and enters the balance mode (W1). A series of steps from this time t5 are steps S110, step S111, step S105, and step S106 in FIG. 7.

[0071] When the operator operates the handle 37 to lower the container 38, a vertically downward external force is applied, so the net weight (dashed line) temporarily increases. Since the control unit 10 controls the detected weight to be the registered weight W1, the detected weight fluctuates microscopically but is maintained at approximately constant W1. The descending speed of the link chain 4 at this time is limited to the speed Vc. When the operator lowers the container 38 near the floor 40, the operator presses the descending button 25 (at time t6) to further lower the container 38 at the speed Vn to land on the floor 40, and stops pressing the descending button 25 (at time t7) with the link chain 4 in a deflected state. After that, when the operator presses the holding button 23, the control unit 10 of the main body device 2 switches to the holding mode (at time t8).

[0072] FIG. 17 is a time chart of working example 2 using the cargo handling assist device 1 according to the embodiment of the present invention. Since working example 2 is the same from time t0 to time t4 and after time t5 in working example 1, the description from time t0 to time t4 and after time t5 is omitted. Working example 2 will be described with reference to FIGS. 12, 16, and 17. In the actual work performed by the operator, for example, it is not always performed while maintaining a constant speed, so there are cases where it is not represented by a straight line, and FIG. 17 is a schematic representation.

[0073] In working example 2, after the state shown in FIG. 12, the operator needs to separately inject the injectant 50 and stir the contents in the injection container 43 each time, and since the operator needs to release the hand from the handle 37 once to perform the work, this is the case where the container 38 is returned to the zero tilt angle. FIG. 16 shows the situation when the operator returns the tilt angle value θ of the container to zero degrees once from the state of FIG. 12 (at time t4a). At this time, since the amount of the injectant 50 in the container 38 is less than that at time t4, the net weight decreases from W3 to W4. At this time, the control unit 10 controls the detected weight to be the registered weight W3, but since the speed is limited to Va2 as in working example 1, this becomes dominant, and the detected weight changes substantially with the remaining weight of the injectant 50. The control unit 10 turns on the inclination flag at time t4 (step S112). Since the inclination angle becomes zero at time t4a, the inclination flag is turned off (step S111). Then, at step S105 (storage step) of the control unit 10 of the main body device 2, the weight value W4 detected and output by the weight detection unit 12 for the weight applied to the lifting and lowering operation unit 16 is updated and stored in the storage means 10a as a new registered value. Then, the control unit 10 of the main body device 2 performs balance control based on W4, which is the registered value updated and stored at step S106. Therefore, even if the operator does not press the balance button 22, by returning the inclination angle value θ of the container 38 to zero degrees, the registered weight can be updated based on the weight at that time, and the work can be performed in a balanced state.

[0074] After the operator finishes the stirring operation, the operator starts to tilt the container 38 again using the handle 37 (time t4b). In the initial period, since the injection material 50 is not discharged, the rising speed of the link chain 4 is Va1. Eventually, when the injection material 50 is injected into the injection target container 43, the net weight gradually decreases to the weight W1. When the container 38 is tilted further, the rising speed becomes Va2. At this time, the control unit 10 controls so that the detected weight becomes the registered value weight W4. However, since the speed is limited to Va2, this becomes dominant, and the detected weight changes substantially with the remaining weight of the injection material 50.

[0075] When the operator finishes pouring the injection material 50 in the container 38, the operator returns the container 38 to the original position, that is, the inclination angle 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. Further, the control unit 10 of the main body device 2 stores and updates the weight value W1 detected by the weight detection unit 12 at the current time as a registered value in the storage means 10a, and based on this, it becomes the balance mode (W1), and the sling 30 and the container 38 are brought into a balanced state.

[0076] FIG. 20 is a time chart of Work Example 3 using the cargo handling assistance device 1 according to the embodiment of the present invention. Since Work Example 3 is the same from time t0 to time t4 in Work Example 1 and after time t5, the description from time t0 to time t4 and after time t5 will be omitted. Next, Work Example 3 will be described with reference to FIGS. 18, 19, and 20. In the actual work performed by the operator, for example, it is not always performed at a constant speed, so there are cases where it is not represented by a straight line, and FIG. 20 is a schematic representation.

[0077] In Work Example 3, the registered weight is W5, and the operator wants to change the vertical height of the container 38 and the vertical height of the pouring portion 38a without changing the inclination angle value θ2 of the container 38 from the state of FIG. 12. FIG. 18 shows the state when the operator presses the lowering button 25 from the state of FIG. 12 (time t4c) and lowers the container 38 to a height H2 from the floor 40 (time t4d). During the period when the operator presses the lowering button 25, the speed is downward at Vn, and the payout length of the link chain 4 changes to L5. The operator starts to tilt the container 38 again using the handle 37 (time t4d). As the inclination angle value of the container 38 increases as shown in FIG. 19, the injection material 50 in the container 38 decreases, but the control unit 10 of the main body device 2 controls to keep the vertical height H2 of the pouring portion 38a.

[0078] After the operator finishes pouring the injection material 50 in the container 38 and returns the container 38 to its original position, that is, an inclination angle of 0° (time t5), the inclination flag becomes OFF. The payout length of the link chain 4 at this time may be the initial length L1 when the inclination flag becomes ON, or the length obtained by adding the vertical distance descended by the operator pressing the lowering button 25. The vertical distance can be easily detected by the position detection unit 13. As a variation, there may be a case where the operator presses the raising button 24 to reduce the payout length of the link chain 4, and in that case, a subtraction process is performed. Further, the control unit 10 of the main body device 2 stores and updates the weight W1 detected by the weight detection unit 12 at time t5 as a registered value in the storage means 10a, and balances the suspension tool 30 and the container 38 based on this weight W1 to enter the balance mode (W1).

[0079] As described above, according to the cargo handling assistance device of the present invention, in the operation of tilting a container containing a liquid or powder as a cargo to transfer the cargo, a cargo handling assistance device with good operability can be provided.

[0080] The present invention has been described based on preferred embodiments, but the present invention is not limited to the above-described embodiments, and various modifications are possible without departing from the gist thereof.

Industrial Applicability

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

Explanation of Signs

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

Claims

1. A cargo handling assistance device that has a locking part, a lifting and lowering operation part, a motor part, an inclination angle detection part, a weight detection part, a position detection part, an operation command part, and a control part, and provides assistance for lifting and lowering a cargo handling object, The locking part lockably holds a container that houses the cargo handling object in an inclinable manner, The lifting and lowering operation part raises and lowers the locking part via a sling, The motor part drives the lifting and lowering operation part, The inclination angle detection part detects the inclination angle of the container and transmits an inclination angle value to the control part, The weight detection part detects a weight value applied to the lifting and lowering operation part and transmits it to the control part, The position detection part detects a position value of the lifting and lowering of the cargo handling object and transmits it to the control part, The operation command part transmits an operation command to the control part, When the control part receives a balance control command from the operation command part, Storage means for receiving the weight value from the weight detection part and storing it as a registered value, Balance control means for calculating a control value that makes the weight value received from the weight detection part equal to the registered value and commanding the motor part, Speed adjustment means for calculating a lifting and lowering speed of the cargo handling object to keep a vertical direction position of a specific part of the container corresponding to the inclination angle of the container at a desired position from the inclination angle value, the position value, and the weight value received during the balance control by the balance control means, and commanding the motor part. A cargo handling assistance device including.

2. The control part includes means for enabling an inclination flag when the inclination angle value exceeds a predetermined value, means for disabling the inclination flag when the inclination angle value becomes less than or equal to the predetermined value while the inclination flag is valid, means for storing the weight value applied to the lifting and lowering operation part as an updated registered value, and means for calculating a control value that makes the weight value received from the weight detection part equal to the updated registered value and commanding the motor part. The cargo handling assistance device according to claim 1.

3. A control method for a cargo handling assistance device that has a locking part, a lifting and lowering operating part, a motor part, an inclination angle detection part, a weight detection part, a position detection part, an operation command part, and a control part, and that provides assistance for lifting and lowering a cargo handling object, comprising: The locking part lockingly holds a container that houses the cargo handling object in a tiltable manner. The lifting and lowering operating part raises and lowers the locking part via a sling. The motor part drives the lifting and lowering operating part. The inclination angle detection part detects the inclination angle of the container and transmits an inclination angle value to the control part. The weight detection part detects a weight value applied to the lifting and lowering operating part and transmits it to the control part. The position detection part detects a lifting and lowering position value of the cargo handling object and transmits it to the control part. The operation command part transmits an operation command to the control part. When the control part receives a balance control command from the operation command part, a storage step of receiving the weight value from the weight detection part and storing it as a registered value; a balance control step of calculating a control value that makes the weight value received from the weight detection part equal to the registered value and commanding the motor part; a speed adjustment step of calculating a lifting and lowering speed of the cargo handling object for maintaining a vertical direction position of a specific location of the container corresponding to the inclination angle of the container at a desired position from the inclination angle value, the position value, and the weight value received during the balance control in the balance control step and commanding the motor part; A control method for a cargo handling assistance device that executes the above steps.

4. The control part executes a step of enabling an inclination flag when the inclination angle value exceeds a predetermined value, a step of disabling the inclination flag when the inclination angle value becomes less than or equal to the predetermined value while the inclination flag is enabled, a step of storing the weight value applied to the lifting and lowering operating part as an updated registered value, and a step of calculating a control value that makes the weight value received from the weight detection part equal to the updated registered value and commanding the motor part. The control method for a cargo handling assistance device according to claim 3.

Images