Cargo handling assistance device and control method for the cargo handling assistance device

Abstract

To provide a loading aid device which improves operability and a method of controlling the loading aid device.SOLUTION: A loading aid device comprises: a locking part 5 which locks a cargo; a lifting operating part 16 which elevates and lowers the locking part 5 via a sling 4; a motor part 11 which drives the lifting operating part 16; a weight detection part 12 which detects and transmits a weight value applied to the lifting operating part 16; a position detection part 13 which detects and transmits a position value of cargo lifting / lowering; and an operation command part 20 which transmits an operation command to a control part 10. The control part 10 includes: storage means for receiving the weight value from the weight detection part 12 on the basis of a balance command from the operation command part 20, and stores the same as a registered weight; balance control means for calculating a control value to make the weight value received from the weight detection part 12 equal to the registered weight, and issues a command to the motor part; and low speed balance control means for calculating a control value which restricts lifting speed to speed below predetermined speed and issues a command to the motor part in a period when a low speed balance command is received from the operation command part 20.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] This application is a national priority claim application based on an application filed on April 26, 2021. The present invention relates to a cargo handling assistance device used for manufacturing assembly, conveyance, etc. in the manufacturing field. For example, it relates to a cargo handling assistance device that can be moved up and down with a slight operating force by assistance from a motor when lifting and lowering a cargo, and a control method for the cargo handling assistance device.

Background Art

[0002] Conventionally, in factories that assemble industrial products, cargo handling devices for moving tools, work equipment, products, semi-finished products, etc. having a large weight are used. Among these cargo handling devices, a part of them uses a cargo handling assistance device that generates assistance (assist force) 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. Such a cargo handling assistance device that generates assistance performs assistance by a motor and smoothly moves by applying a small operating force to the cargo. Therefore, unlike a device that simply performs vertical movement with an electric motor, it is configured to detect the load of the cargo and the operating force applied thereto, for example, with a load detector, and perform control based on the change in weight due to the application of an external force with an AC servo motor or the like connected to a rotation angle detector.

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 technology relating to a cargo handling assistance device. Using such a cargo handling assistance device, a container filled with liquid or powder can be suspended in mid-air, its weight registered, and based on this weight, a motor provides assistance while the worker tilts the container to transfer the contents to the injection equipment. However, there was room for improvement because the height of the spout changes depending on the tilt angle of the container and the amount of liquid or powder remaining.

[0005] In view of these problems, the present invention aims 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 problem]

[0006] A cargo handling assistance device according to one aspect of the present invention aims to achieve the above objectives, A cargo handling assist device that assists in the lifting and lowering of cargo, comprising a locking unit, a lifting and lowering operating unit, a motor unit, a weight detection unit, a position detection unit, an operation command unit, and a control unit, The locking part locks the cargo, The lifting mechanism raises and lowers the locking part via a sling. The locking part is designed to suspend the cargo being handled, The motor unit drives the lifting mechanism, The weight detection unit detects the weight applied to the lifting mechanism and transmits it to the control unit. The position detection unit detects the position value of the lifting and lowering of the cargo and transmits it to the control unit. The operation command unit transmits operation commands to the control unit. The control unit is Based on the balance command from the operation command unit, the weight detection unit When it detects a suspended state weight of A storage means for storing the registered weight, It includes a balance control means that calculates a control value to make the weight value received from the weight detection unit equal to the registered weight and commands it to the motor unit, The balance control means is, When detecting a change in weight using the weight detection unit, the lifting speed is limited to a predetermined first speed. The above control unit, From the control unit During balance commandPeriod during which a low-speed balance command is received in teeth, The second speed is slower than the first speed. The system calculates a control value to limit the speed below a certain threshold and sends a command to the motor unit. death, The priority of maintaining the registered weight based on the weight value received from the weight detection unit is reduced. It is configured to have a low-speed balance control means.

[0007] Furthermore, the memory means is configured to receive the weight applied to the lifting mechanism from the weight detection unit at the end of the low-speed balance command reception period, and to store and update it as the registered weight.

[0008] Furthermore, the control unit is configured to hold the lifting mechanism in its current position when the reception period for the low-speed balance command ends.

[0009] A control method for a cargo handling assistance device according to one aspect of the present invention is a control method for a cargo handling assistance device that assists in the lifting and lowering of cargo, comprising a locking unit, a lifting and lowering operating unit, a motor unit, a weight detection unit, a position detection unit, an operation command unit, and a control unit, in order to achieve the above objective, The locking part locks the cargo, The lifting mechanism raises and lowers the locking part via a sling. The motor unit drives the lifting mechanism, The weight detection unit detects the weight applied to the lifting mechanism and transmits it to the control unit. The position detection unit detects the position value of the lifting and lowering of the cargo and transmits it to the control unit. The operation command unit transmits operation commands to the control unit. The control unit, based on the balance command from the operation command unit, A storage step that receives a weight value from the weight detection unit and stores it as the registered weight, The system includes a balance control step that calculates a control value to make the weight value received from the weight detection unit equal to the registered weight and commands the motor unit accordingly. During the period when the control unit receives a low-speed balance command from the operation command unit, It includes a low-speed balance control step of making the weight value received from the weight detection unit equal to the registered weight and calculating a control value for restricting the lifting / lowering speed to a predetermined speed or less, and then commanding the motor unit.

Advantages of the Invention

[0010] According to the cargo handling assisting device of the present invention, it is possible to provide a cargo handling assisting device having good operability even in the operation of moving a container containing a liquid or powder cargo and transferring the cargo to another container or the like.

Brief Description of the Drawings

[0011] [Figure 1] It is a perspective configuration diagram of a cargo handling assisting device, a lifting tool, and a container according to an embodiment of the present invention. [Figure 2] It is a perspective configuration diagram with a part of the main body device of the cargo handling assisting device according to an embodiment of the present invention omitted and a perspective view of an operation command unit. [Figure 3] It is a block configuration diagram of an electronic circuit of the cargo handling assisting device according to an embodiment of the present invention. [Figure 4] It is a schematic diagram showing an operation using the cargo handling assisting device according to an embodiment of the present invention. [Figure 5] It is a schematic diagram showing an operation using the cargo handling assisting device according to an embodiment of the present invention. [Figure 6] It is a schematic diagram showing an operation using the cargo handling assisting device according to an embodiment of the present invention. [Figure 7] It is a schematic diagram showing an operation using the cargo handling assisting device according to an embodiment of the present invention. [Figure 8] It is a schematic diagram showing an operation using the cargo handling assisting device according to an embodiment of the present invention. [Figure 9] It is a schematic diagram showing an operation using the cargo handling assisting device according to an embodiment of the present invention. [Figure 10] It is a schematic diagram showing an operation using the cargo handling assisting device according to an embodiment of the present invention. [Figure 11] It is a schematic diagram showing an operation using the cargo handling assisting device according to an embodiment of the present invention. [Figure 12]This is a schematic diagram illustrating work using a cargo handling assistance device according to an embodiment of the present invention. [Figure 13] This is a schematic diagram illustrating work using a cargo handling assistance device according to an embodiment of the present invention. [Figure 14] This is a flowchart of the operations performed by the control unit of the cargo handling assistance device according to the first embodiment of the present invention. [Figure 15] This is a time chart for a cargo handling assistance device according to the first embodiment of the present invention. [Figure 16] This is a flowchart of the operations performed by the control unit of the cargo handling assistance device according to the second embodiment of the present invention. [Modes for carrying out the invention]

[0012] The following is a detailed description of a cargo handling assistance device according to an embodiment of the present invention, based on the drawings. Figure 1 is a perspective view of a cargo handling assistance device 1, a lifting device 30, and a container 38, which is an example of an embodiment of the present invention.

[0013] The cargo handling assistance device 1 comprises a main body device 2, a suspension hook 3, a link chain 4, a lifting hook 5, and an operation command unit 20. The main body device 2 raises and lowers the lifting hook 5, the lifting device 30 which is locked to the lifting hook 5, and the container 38 which is fitted into the lifting device 30, via the link chain 4. The lifting hook 5 is located below the link chain 4 which extends vertically downward from the main body device 2. A suspension hook 3 is provided on the top surface of the main body device 2. Therefore, the main body device 2 can be used by suspending it from a building beam or a movable block 41 which can move horizontally along a rail 42 for horizontal movement shown in Figure 4 and later.

[0014] The lifting hook 5 is a hook for handling cargo provided at one end of the link chain 4, and is a locking part that locks the lifting device 30. In the present invention, the part that is locked to the lifting hook 5, specifically the part between the lifting device 30 and the container 38, is called the cargo. The lifting device 30 supports the container 38. The container 38 is a bottomed cylindrical type with a flange at the upper end of the cylindrical side surface. In this embodiment, the container 38 is a shallow bottomed cylindrical type, but it is not limited to this and may be a deep type. The lifting device 30 includes a lifting arm 32, a container holder 33, a container holding plate 34, a rotating shaft 35, a rotating operating arm 36, and a handle 37.

[0015] The lifting arm 32 is a gate-shaped member, with an eyebolt 31 attached to its center. It is secured by a lifting hook 5 via the eyebolt 31, and is configured to be suspended from the cargo handling assistance device 1. The eyebolt 31 has a ring-shaped head.

[0016] The container holder 33 abuts against the lower surface of the flange of the container 38 and supports the container 38 from vertically below. On the other hand, the container retaining 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 between the container holder 33 and the container retaining plate 34. The container 38 is installed by inserting it into the container holder 33 from the direction of arrow A. The rotation operating arm 36 is connected to the container holder 33 and the container retaining plate 34 via a rotation shaft 35, and the container holder 33 and the container retaining plate 34 are rotatable within a limited range relative to the suspension arm 32. The handle 37 is attached to the end of the rotation operating arm 36. Therefore, the operator can rotate the container holder 33 and the container retaining plate 34 within a limited range by gripping the handle 37 and operating the rotation operating arm 36. Next to the handle 37 of the rotation operating arm 36, there is a region from which the operation command unit 20 can be attached and detached. Therefore, when the control unit 20 is installed, the operator can operate the cargo handling assistance device 1 by pressing the switch on the control unit 20 while holding the handle 37.

[0017] Figure 2 is a perspective view of the cargo handling assistance device 1 of an embodiment of the present invention, with a portion of the main body device 2 omitted, and an enlarged perspective view of the operation command unit 20.

[0018] The main unit 2 is equipped with a cover, and inside it houses the control unit 10, motor unit 11, lifting / lowering operation unit 16, weight detection unit 12, position detection unit 13, and the like.

[0019] The control unit 10 of the main unit 2 is equipped with a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), other storage devices, and input / output devices, and controls the vertical movement of the lifting hook 5 via the link chain 4. The control unit 10 also includes a circuit that supplies electricity to the electrical and electronic components that make up the main unit 2.

[0020] The motor unit 11 is the drive source for operating the lifting mechanism 16 to move the lifting hook 5 up and down via the link chain 4. A reduction gear is attached to the load side of the motor in the motor unit 11. This motor is, for example, an AC servo motor.

[0021] This gearbox reduces the rotational speed of the motor to a predetermined speed. The gearbox is, for example, a harmonic drive gearbox. The harmonic drive gearbox has a wave generator, a flexspline, and a circular spline. The wave generator has an elliptical shape, with thin-walled ball bearings fitted around the outer circumference of an elliptical cam. The inner ring of the bearing is fixed to the elliptical cam, and the outer ring is elastically deformable via the balls. The flexspline has numerous external teeth formed on its outer circumference and is fitted onto the wave generator, allowing it to be elastically deformable so that the position in which it is deflected in the circumferential direction changes with the rotation of the wave generator. The circular spline is located on the outer circumference side of the flexspline and has internal teeth that engage with the external teeth of the flexspline. The power is then taken out and transmitted to an output shaft 15 connected to the flexspline as a rotational output. By using a gearbox with minimal backlash, such as a harmonic drive gearbox, in the motor section 11, when frequently switching between forward and reverse rotation of the motor to perform vertical movement, the uncontrollable region during switching can be eliminated, resulting in smooth operation. Note that the gearbox is not limited to a harmonic drive gearbox.

[0022] The output shaft 15 is a rotating shaft that reduces its rotational speed using a reduction gear and outputs increased torque. It is connected to the lifting mechanism 16 and rotates the lifting mechanism 16 continuously in both forward and reverse directions.

[0023] The link chain 4 is a sling, consisting of oval rings, each made up of a semi-circular section and a straight section connected to it, which intersect and are linked alternately. One end of the link chain 4 is connected to the lifting hook 5, and the other end (unloaded side) is stored in the chain storage section 17.

[0024] The lifting mechanism 16 includes a rotating member that rotates due to power transmission from the motor unit 11, which is the drive source. In this embodiment, the rotating member of the lifting mechanism 16 is in the shape of a hollow cylinder, connected to the output shaft 15 in the hollow portion, and winds the link chain 4 around its outer cylindrical surface, performing winding and unwinding of the link chain 4. The position where the link chain 4 is wound is approximately vertically below the suspension hook 3 and is located close to the center of gravity of the main device 2. The link chain 4 is fitted into a pocket groove provided on the outer cylindrical surface of the lifting mechanism 16 and wound around approximately 180 degrees. In this embodiment, a link chain 4 is used to connect to the suspension hook 5 and be wound around the lifting mechanism 16, but it is not limited to this and a wire rope may also be used. When a wire rope is used, the lifting mechanism 16 is drum-shaped and one end of the wire rope is fixed and wound around the rotating member.

[0025] The position detection unit 13 is connected to the non-load side of the motor unit 11. The position detection unit 13 detects the rotational angle position of the motor. The position detection unit 13 is, for example, an absolute encoder that optically detects the rotational angle position of the motor and outputs a position value. Therefore, this position detection unit 13 can detect the extension position of the lifting hook 5, that is, the raising and lowering position of the lifting hook 5.

[0026] The weight detection unit 12 includes a strain generating body and strain gauges attached to the strain generating body. The strain generating body has a shape that elastically deforms so that it can detect the force transmitted from the link chain 4 wrapped around the lifting and lowering mechanism 16. The strain gauges are incorporated into a Wheatstone bridge circuit that converts the strain generated in the strain generating body according to the weight into an electrical signal, and the weight detection unit 12 detects the weight applied to the lifting and lowering mechanism 16 and outputs a weight value.

[0027] The control unit 10 of the main unit 2 is located near the lifting and lowering mechanism 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 located inside a cover to enable the main unit 2 to be used in places where it may be exposed to powder or water droplets.

[0028] In this embodiment, the position detection unit 13 is located on the non-load side of the motor unit 11, but it is not limited to this, and may be provided on the output shaft 15, which is the output of the reduction gear, or on the lifting and lowering operating unit 16, or on both. Furthermore, it is not limited to optical type, but may also be magnetic type, capacitive type, etc.

[0029] Furthermore, the weight detection unit 12 only needs to be able to detect the weight applied to the lifting and lowering unit 16, and may be a rotary type structure that detects torque from the twist of a rotating shaft provided between the reduction gear and the lifting and lowering unit 16, or a flange type or drum type structure that detects the reaction force received by the motor unit 11. Moreover, it is not limited to strain gauge type, but may also be magnetostrictive type, capacitive type, etc.

[0030] The main unit's transmitting / receiving unit 14 is located next to the circuit board of the control unit 10 of the main unit 2. The main unit's transmitting / receiving unit 14 has an electronic circuit for wireless communication with the operation command unit 20.

[0031] The control unit 20 is for remotely operating the main unit 2, and in this embodiment, it communicates by radio waves. The control unit 20 is powered by a battery. The control unit 20 has, for example, a balance button 22, a holding button 23, an up button 24, and a down button 25 as operating means. Details of the operation will be described later.

[0032] Figure 3 is a block diagram of the electronic circuit of a cargo handling assistance device 1 according to an embodiment of the present invention. The cargo handling assistance device 1 is composed of a main unit 2 and an operation command unit 20.

[0033] 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 and 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 unit transmitting / receiving unit 14. The main unit transmitting / receiving unit 14 and the control unit 10 of the main unit 2 are connected by a wire, and transmit and receive signals at high speed with extremely short time intervals. The control unit 10 also includes a storage means 10a, a balance control means 10b, and a low-speed balance control means 10c.

[0034] The main unit's transceiver unit 14 communicates wirelessly with the operation command transceiver unit 26 of the operation command unit 20. The main unit's transceiver unit 14 and the operation command transceiver unit 26 are composed of electronic circuits that perform wireless communication and have a radio wave transmitter and receiver, as well as possibly having a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), etc.

[0035] The operation command control unit 21 controls the entire operation command unit 20. The operation command control unit 21 receives operation commands from each operation means (operation buttons) and transmits the operation command signal to the operation command transmission / reception unit 26. The operation command transmission / reception unit 26 then wirelessly transmits the operation command received from the operation command control unit 21 to the main unit transmission / reception unit 14. This signal containing the command is accompanied by identification information of the operation command unit 20, which is used to pair the operation command unit 20 with the main unit 2.

[0036] Next, the roles of each operation button, which is an operating means provided in the operation command unit 20, will be explained. Each operation button is, for example, a momentary push switch, which turns ON while pressed and self-resets to OFF when released. When an 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 unit 2 receives this 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 and lowering operating unit 16 and stores the output weight value as a registered value in the storage means 10a. After this, the balance control means 10b in the control unit 10 of the main unit 2 receives the weight value (load) applied to the lifting and lowering operating unit 16 from the weight detection unit 12, calculates the control value so that it is equal to the registered value stored in the storage means 10a, and controls the motor unit 11. In this invention, this control is called balance control, and during the period when the control unit 10 of the main unit 2 is performing balance control, the components below the lifting hook 5 (lifting device 30, container 38, injected material 50, etc.) are 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 of the link chain 4 caused by the registered weight and the tension of the link chain 4 caused by the weight detected by the weight detection unit 12 are the same, and this control is balance control. When an operator applies a vertically downward external force to the lifting device 30 during this balance control, the weight applied to the lifting operation unit 16 increases, so the control unit 10 of the main unit 2 calculates a control value to bring it closer to the registered weight, and further controls the motor unit 11 in the direction of extending the link chain 4, causing the lifting device 30 and below to descend. On the other hand, if the operator applies an upward vertical force to the lifting device 30 during this balance control, the weight applied to the lifting mechanism 16 decreases. The control unit 10 of the main unit 2 then calculates a control value to bring this value closer to the registered weight and further controls the motor unit 11 in the direction of winding up the link chain 4, causing the lifting device 30 and below to rise. When the operator stops applying the external force, the weight detected by the weight detection unit 12 becomes equal to the registered weight, and the lifting device 30 and below immediately come to a stationary state. This control value includes, for example, acceleration.

[0037] On the other hand, when the operator presses the holding button 23, the control unit 10 of the main unit 2 receives the holding command and controls the motor unit 11 to hold the lifting mechanism 16 in its current position, that is, to maintain the lifting position of the lifting hook 5 and the lifting device 30.

[0038] When an operator presses the up button 24 or down button 25, the control unit 10 of the main unit 2 receives this and controls the motor unit 11 to raise or lower the lifting hook 5. By continuously pressing the up button 24 or down button 25, the operator can continuously raise and lower the lifting hook 5 and the lifting device 30 using the motor unit 11. Regardless of whether the main unit 2 is in the holding state or the balancing state, when an operator presses the up button 24 or down button 25, it will raise or lower, and when the operator releases the pressed up button 24 or down button 25, it returns to the holding state.

[0039] Furthermore, if the balance button 22 is pressed continuously for a predetermined period of time or longer, the operation command transmission / reception unit 26 transmits a low-speed balance command, and the control unit 10 of the main unit 2 receives this command and performs low-speed balance control. Details regarding the low-speed balance command and low-speed balance control will be described later.

[0040] Figures 4 to 13 are schematic diagrams illustrating a series of work states in which an operator handles the lifting device 30 and container 38 using the cargo handling assistance device 1 according to an embodiment of the present invention. Figure 14 is a flowchart executed by the control unit 10 of the main unit 2 of the cargo handling assistance device 1 according to the first embodiment of the present invention. The movements of the lifting hook 5, the lifting device 30 and the container 38, and each step of the control method executed by the control unit 10 of the main unit 2 at that time will be explained using Figures 4 to 14.

[0041] In Figure 4, the rail 42 is a track rail installed horizontally on the ceiling or the like within the work area. The movable block 41 is a member that can move substantially horizontally along the rail 42 and is connected to the suspension hook 3 to suspend the main device 2. Therefore, the movable block 41 is able to move horizontally from the suspension hook 3 down. The injection equipment 43 is fixedly installed on the floor 40 and has an injection port 44 and an injection receiving section 45.

[0042] This section describes the procedure for pouring the substance 50, placed in a container 38 on the floor 40, into the inlet 44 of the injection equipment 43. In Figure 15, first, with the power to the cargo handling assistance device 1 turned off, the worker turns on the power switch (not shown) of the main unit 2. This activates the control unit 10 of the main unit 2, which then executes step S101 and proceeds to step S102. In step S101, the control unit 10 of the main unit 2 holds the lifting mechanism 16 in its current position (holding mode). Next, the worker presses the down button 25 of the operation command unit 20 to lower the lifting hook 5, lowering it to a vertical position where the lifting device 30 can attach the container 38. As a result, as shown in Figure 4, the link chain 4 is slack in the vertical direction. The worker then moves the lifting device 30 horizontally to attach the container 38 to the lifting device 30. The material to be injected 50 into the container 38 may be, for example, a liquid, a powder, or a mixture of liquid and powder. In some cases, the material to be injected 50 may be placed in the container 38 beforehand, and then the container 38 may be attached to the lifting device 30. In other cases, an empty container 38 may be attached to the lifting device 30 beforehand, and the material to be injected 50 may be poured into the container 38 when the container 38 is placed on the floor 40.

[0043] Next, Figure 5 shows the state in which the operator has pressed the rise button 24 on the operation command unit 20 to raise the lifting hook 5, the lifting device 30, and the container 38. In Figure 14, the control unit 10 of the main unit 2 determines in step S102 that the rise button 24 has been pressed and executes step S103. In step S103, the control unit 10 of the main unit 2 activates the lifting operation unit 16 to raise the lifting hook 5, the lifting device 30, and the container 38, and returns to step S101, where they are held in that position. If the operator continues to press the rise button 24 on the operation command unit 20, the control unit 10 of the main unit 2 continues step S103 to raise the lifting hook 5, the lifting device 30, and the container 38.

[0044] When the lifting hook 5 rises due to the winding of the link chain 4 by the lifting mechanism 16, the lifting device 30 and container 38 leave 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 a holding state. This state is shown in Figure 5. Next, when the operator releases their hand from the handle 37 and presses the balance button 22, the control unit 10 of the main unit 2 detects that the balance button 22 has been pressed in step S104 (Yes) and proceeds to step S105 to transition to balance control mode. If the operator has not pressed the balance button 22, the control unit 10 of the main unit 2 detects that the balance button 22 has not been pressed in step S104 (No) and returns to step S101 to maintain the holding mode.

[0045] In step S105 (storage step), the storage means 10a within the control unit 10 of the main unit 2 stores the weight value output by the weight detection unit 12, which detects the weight applied to the lifting and lowering operation unit 16, as a registered value.

[0046] In step S106, the control unit 10 of the main unit 2 performs balance control based on this registered value to maintain the lifting hook 5, lifting device 30, and container 38 in a balanced state. In this state, the operator can raise or lower the lifting device 30 and container 38 by applying an external force to any of the lifting hook 5, lifting device 30, or container 38. In this case, the lifting speed is limited, but it is possible to operate at a relatively fast speed v4, for example (Figure 15). The operator grips the handle 37 of the lifting device 30 and continues to apply a vertically upward external force to the lifting device 30 and container 38, thereby raising the lifting device 30 and container 38, and also moves the main unit 2 horizontally so that the flange end 38a of the container is located near the injection receiving section 45 (see Figure 6). Then, in step S106, the control unit 10 of the main unit 2 performs balance control and proceeds to step S107.

[0047] If, for example, the operator presses the up button 24 or down button 25 during balance control, the control unit 10 of the main unit 2 determines in step S107 that the up button 24 or down button 25 has been pressed (Yes), releases the balance control, and proceeds to step S103. Alternatively, the control unit 10 of the main unit 2 may determine in step S107 that the up button 24 or down button 25 has been pressed (Yes), simply execute the up / down operation in step S103, and return to the balance control in step S106. This control switching variation can also be performed by a separate changeover switch provided in the operation command unit 20.

[0048] If the control unit 10 of the main unit 2 determines in step S107 that the up button 24 or down button 25 has not been pressed (No), it proceeds to step S108. If the operator then presses the hold button 23, the control unit 10 of the main unit 2 determines in step S108 that the hold button 23 has been pressed (Yes), releases the balance control, and proceeds to step S101. If the control unit 10 of the main unit 2 determines in step S108 that the hold button 23 has not been pressed (No), it proceeds to step S109. If the control unit 10 of the main unit 2 determines in step S109 that the balance button 22 has not been pressed (No), it proceeds to step S106 and continues the balance control.

[0049] If the control unit 10 of the main unit 2 determines in step S109 that the balance button 22 is pressed (Yes), it proceeds to step S110. If the control unit 10 of the main unit 2 determines in step S110 that the balance button 22 has been pressed continuously for a predetermined time or longer (Yes), it proceeds to step S111. This continuous pressing of the balance button 22 of the operation command unit 20 for a predetermined time or longer (for example, 2 seconds or more) signifies a low-speed balance control command, and the control unit 10 of the main unit 2 receives this command and performs low-speed balance control in step S111 (low-speed balance control step), and proceeds to step S112. That is, in step S111, while maintaining balance control, if the control unit 10 of the main unit 2 detects that a weight change has occurred in the weight detection unit 12 due to an external force being applied to the lifting device 30 and the container 38, it performs balance control with a predetermined low speed v1 as the upper limit. This predetermined low speed v1 is determined in advance by the manager or operator. Furthermore, "low speed" refers to a speed that is relatively slow compared to the lifting speed used in normal operations, for example, a speed of about one-third or less.

[0050] In this state, the worker continues to press the balance button 22 while rotating the handle 37 counterclockwise, starting to tilt the container 38 (Figure 7). As the worker continues to press the balance button 22 and rotates the handle 37 counterclockwise to further tilt the container 38, the injected material 50 flows out from the flange end 38a of the container, travels down the injection receiving section 45 of the injection equipment 43, and is poured into the injection port 44 (Figures 8 to 11). As the injected material 50 flows out of the container 38, the weight detected by the weight detection unit 12 gradually decreases, and as shown in Figure 12, when the container 38 is empty, the final weight becomes the sum of the weights of the lifting device 30 and the container 38. During this weight reduction period, the weight that the control unit 10 refers to for balance control is the registered value stored in step S105, that is, the weight before the injected material 50 is poured out. Therefore, since the decrease in the amount of injected material 50 is equivalent to an upward vertical force being applied to the lifting device 30 and the container 38, the control unit 10 of the main unit 2 moves the lifting device 30 and the container 38 in the upward vertical direction. When the main unit 2 is in normal balance control mode, the control unit 10 allows the operator to move the suspended load at a relatively high speed to increase work efficiency. However, it is undesirable from the perspective of work efficiency for the vertical distance between the container flange end 38a and the injection receiving section 45 to increase rapidly during operation.

[0051] Therefore, in this invention, the control unit 10 of the main unit 2 limits the movement speed of the suspended load to a speed relatively lower than the normal operating speed while the balance button 22 is continuously pressed. That is, when the balance button 22 is continuously pressed for a predetermined time or longer, the control unit 10 of the main unit 2 determines that it has received a low-speed balance control command and executes low-speed balance control.

[0052] As shown in Figure 12, when the contents 50 in container 38 are empty, the operator stops pressing the balance button 22. Then, in step S112, the control unit 10 of the main unit 2 determines that the balance button 22 has not been continuously pressed for a predetermined time or longer, i.e., the reception period for the low-speed balance control command has ended (Yes), and proceeds to step S113. In step S113, the control unit 10 of the main unit 2 releases the low-speed restriction on the movement speed of the suspended load during balance control and proceeds to step S105. Here, the registered value stored in step S105 again is the weight of the lifting device 30 and the empty container 38, so the operator can grip the handle 37 and operate it to raise and lower the lifting device 30 and the empty container 38 in a balanced state (Figure 13). In other words, the moment the operator stops continuously pressing the balance button 22 and the moment the balance button 22 is briefly pressed and released in step S104 are considered equivalent in terms of operation.

[0053] If the operator stops continuously pressing the balance button 22 while the injection is not yet complete, for example in the state shown in Figure 10, the weight value including the remaining injected material 50 becomes a new registered value, and normal balance control starts based on this value. Therefore, by having the operator start continuously pressing the balance button 22 again, the work can be resumed in the low-speed balance control state.

[0054] Figure 15 is an example of a schematic chart showing the relationship between the control mode of the cargo handling assist device 1 and the transitions of the speed of the suspended load, the registered weight used for balancing, and the detected weight in the cargo handling assist device 1 according to the first embodiment of the present invention. From top to bottom, Figure 15 shows the pressed state of each button (balance button 22, up button 24, down button 25), the control mode of the control unit 10, the speed of the suspended load (upward speed is positive, downward speed is negative), the registered value stored in the storage means 10a, and the detected weight detected by the weight detection unit 12 and received by the control unit 10.

[0055] Following the procedure described earlier, the state of the cargo handling assistance device 1 will be explained using Figure 15. The control unit 10 of the cargo handling assistance device 1 starts in holding mode when the power is turned ON. At this time, the registered value is the registered weight W1, as it is the value from when the power was previously turned OFF. Registered weight W1 here corresponds to the weight of the lifting device 30 and container 38 that are attached to the lifting device hook 5. From the state shown in Figure 4, when the worker presses the lift button 24 (time t1), the speed of the suspended load immediately reaches speed v2, and when the worker stops pressing the lift button 24 (time t2), the speed of the suspended load becomes speed 0. During this period, the weight detected by the weight detection unit 12 does not change while the link chain 4 is initially slack, but as the link chain 4 tightens, it rises and reaches weight W3. When the weight detected by the weight detection unit 12 reaches weight W3, the suspended load is in a suspended state.

[0056] Next, when the operator presses the balance button 22 (time t3), the control unit 10 switches to balance control mode. Therefore, the control unit 10 stores the weight W3 detected by the weight detection unit 12 at this time as a registered value in the storage means 10a, and controls the suspended load to maintain a balanced state based on this weight W3.

[0057] Next, when the worker holds the handle 37 and raises the suspended load, the control unit 10 raises the load at its maximum speed v4. At this time, an upward external force is applied to the suspended load by the worker, so the net weight detected by the weight detection unit 12 decreases as shown by the dashed line. However, the control unit 10 performs balance control so that the weight detected by the weight detection unit 12 becomes W3. In other words, because the tension of the link chain 4 loosens due to the upward external force applied to the suspended load by the worker, the control unit 10 performs control to raise the suspended load in order to keep this tension constant.

[0058] Next, the operator starts continuously pressing the balance button 22 from the state shown in Figure 6 (time t4), and at the same time operates the handle 37 to rotate the container 38 around the rotation axis 35. As a result, the material 50 inside the container 38 is injected into the injection port 44 of the injection equipment 43, and the weight detected by the weight detection unit 12 gradually decreases to approximately weight W1. During this period, the control unit 10 enters low-speed balance control mode and limits the speed of the lifting unit to a low speed v1. Originally, the control unit 10 performs balance control so that the weight detected by the weight detection unit 12 is W3, but because the speed of the lifting unit is limited to a low speed v1, the priority of maintaining the detected weight at W3 decreases, and the weight detected by the weight detection unit 12 is close to the net weight.

[0059] When the worker finishes pouring the contents 50 into the container 38 and stops continuously pressing the balance button 22 (time t5), the control unit 10 stores and updates the weight W1 detected by the weight detection unit 12 at that time as a registered value in the storage means 10a. Based on this weight W1, the lifting device 30 and the container 38 are balanced, and the system enters balance control mode.

[0060] The operator operates the handle 37 to lower the container 38 until it reaches near the floor 40, then presses the lowering button 25 (at time t6) to lower the container 38 further and land it on the floor 40. When the operator presses the lowering button 25, the control unit 10 switches to holding mode.

[0061] The operator either puts the substance 50 into container 38 or replaces it with a container 38 containing the substance 50, and then presses the lift button 24 to raise container 38 (time t7). The subsequent steps are the same and will be omitted, but if the amount of substance 50 is different, the registered value stored at time t9 becomes the weight W2. Then, from time t10 to time t11, the control unit 10 is in low-speed balance control mode.

[0062] Figure 16 is a flowchart showing the operations performed by the control unit 10 of the main unit 2 of the cargo handling assistance device 1 according to the second embodiment of the present invention. The second embodiment is the same as the first embodiment up to step S113, but differs in that the control unit 10 returns to step S101 after completing step S113. That is, when the operator stops continuously pressing the balance button 22, the control unit 10 transitions from low-speed balance control mode to holding mode. The first and second embodiments can be appropriately selected depending on the operation of the work by setting in advance in the control unit 10 or by switching operations by the operation command unit 20.

[0063] As described above, the cargo handling assistance device of the present invention provides a cargo handling assistance device and a control method thereof that improves the operability of the worker even when the weight of the suspended load decreases during balancing.

[0064] Although the present invention has been described based on preferred embodiments, the present invention is not limited to the embodiments described above, and various modifications are possible without departing from the spirit of the invention. [Industrial applicability]

[0065] One example of the application of this invention is its use in material handling machinery that assists in the movement of cargo. [Explanation of symbols]

[0066] 1: Cargo handling assistance device 2: Main unit 3: Hanging hook 4: Link chain (sling) 5: Hook for lifting device (locking part) 10: Control Unit (Main Unit Control Unit) 10a: Storage means 10b: Balance control means 10c: Low-speed balance control means 11: Motor section 12: Weight detection unit 13: Position detection unit 14: Main unit transceiver 15: Output axis 16: Lifting mechanism 17: Chain storage compartment 20: Operation command section 21: Operation Command Control Unit 22: Balance Button 23: Hold button 24: Up button 25: Down button 26: Operation command transmission / reception unit 30: Lifting equipment 31: Eyebolt 32: Suspension arm 33: Container holder 34: Container retaining plate 35: Rotation axis 36: Rotating operating arm 37: Handle 38: Container 38a: Container flange end 40: Floor 41: Moving Block 42: Rail 43: Injected equipment 44: Inlet 45: Injection receiving section 50: Injectable

Claims

[Claim 1] A cargo handling assist device that assists in the lifting and lowering of cargo, comprising a locking unit, a lifting and lowering operating unit, a motor unit, a weight detection unit, a position detection unit, an operation command unit, and a control unit, The locking part locks the cargo, The lifting mechanism raises and lowers the locking mechanism via a sling, causing the cargo to be suspended in mid-air. The motor unit drives the lifting and lowering mechanism, The weight detection unit detects the weight value applied to the lifting mechanism and transmits it to the control unit. The position detection unit detects the position value of the lifting and lowering of the cargo and transmits it to the control unit. The operation command unit transmits an operation command to the control unit. The control unit, A storage means that stores the weight value detected by the weight detection unit during the suspended state as a registered weight based on the balance command from the operation command unit, The system includes a balance control means that calculates a control value to make the weight value received from the weight detection unit equal to the registered weight and commands the motor unit accordingly. The balance control means is When detecting a change in weight using the weight detection unit, the lifting speed is limited to a predetermined first speed. The control unit, During the period when the low-speed balance command is received from the operation command unit, A control value is calculated to limit the lifting speed to a second speed or lower, which is lower than the first speed, and this value is commanded to the motor unit. A cargo handling assistance device having a low-speed balance control means that prioritizes maintaining the registered weight based on the weight value received from the weight detection unit.

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