JPH04365800A - Control method for load balancer - Google Patents
Control method for load balancerInfo
- Publication number
- JPH04365800A JPH04365800A JP14288591A JP14288591A JPH04365800A JP H04365800 A JPH04365800 A JP H04365800A JP 14288591 A JP14288591 A JP 14288591A JP 14288591 A JP14288591 A JP 14288591A JP H04365800 A JPH04365800 A JP H04365800A
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- Prior art keywords
- load
- weight
- mode
- lifting
- command
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 238000000034 method Methods 0.000 title claims description 8
- 230000007246 mechanism Effects 0.000 claims abstract description 67
- 238000001514 detection method Methods 0.000 claims description 21
- 230000001174 ascending effect Effects 0.000 claims description 10
- 230000003028 elevating effect Effects 0.000 description 14
- 238000010586 diagram Methods 0.000 description 6
- 230000035939 shock Effects 0.000 description 4
- 230000007423 decrease Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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Abstract
Description
［発明の目的］ [Purpose of the invention]
【０００１】0001
【産業上の利用分野】本発明は、巻き上げ式あるいは平
行四辺形リンク式などの負荷平衡装置に関したもので、
任意の重量の負荷に対してその重量に見あった力を、電
動機等のアクチュエータにより発生させる事で負荷を平
衡状態に保ち、作業者が負荷に直接手を触れ、軽い力で
負荷を昇降させる負荷平衡装置の制御方法に関する。[Field of Industrial Application] The present invention relates to a load balancing device such as a winding type or a parallelogram link type.
By generating a force commensurate with the weight of a given load using an actuator such as an electric motor, the load is kept in a balanced state, and the worker can lift or lower the load with a light force by directly touching the load. The present invention relates to a method of controlling a load balancing device.
【０００２】0002
【従来の技術】この種の負荷平衡装置の制御方法として
は、例えば特開平１−１３３９００（平衡荷役装置の制
御方法）がある。この従来装置は速度指令手段にて動作
するレバーモードと、負荷の重量を記憶する為の位置モ
ードと、平衡状態を実現する為のバランスモードの３つ
のモードがあり、レバー操作中は速度指令信号を目標と
して動作するレバーモードで動作し、前記速度指令信号
が微小になった瞬間には昇降手段の現在の位置を目標値
として位置制御を実施し負荷の重量を記憶する位置モー
ドと、負荷の重量が記憶されると記憶重量を目標として
動作するバランスモードに移行し動作するようになって
いる。2. Description of the Related Art A method for controlling this type of load balancing device is disclosed in, for example, Japanese Patent Application Laid-open No. 1-133900 (Method for controlling a load balancing device). This conventional device has three modes: a lever mode operated by speed command means, a position mode to memorize the weight of the load, and a balance mode to achieve an equilibrium state. The lever mode operates with the target value as the speed command signal, and the moment the speed command signal becomes small, the position control is performed using the current position of the lifting means as the target value and the weight of the load is memorized. When the weight is memorized, the device shifts to a balance mode in which it operates with the memorized weight as a target.
【０００３】0003
【発明が解決しようとする課題】従来の技術においては
、昇降手段の位置が制御ループに入っているのは、負荷
の重量を記憶する為の位置モードだけであり、他の２つ
のモードにおいては昇降手段の位置は制御にフィードバ
ックされておらず、昇降手段が昇降限に達した時にもそ
の時の速度は、昇降限に達する前の速度のままであり、
かなり速い速度で昇降限に達し、負荷を持上げた状態の
まま昇降手段自身の機械的動作限または周囲の構造物や
機械等に衝突することとなり、昇降手段はもちろん持上
げている負荷に対しても相当の衝撃を与えることとなる
。この為、昇降手段や持上げている負荷にも損傷を与え
る事が考えられ、場合によっては作業に危険が伴う事す
ら生じる事がある。In the prior art, the position of the lifting means is included in the control loop only in the position mode for memorizing the weight of the load, and in the other two modes. The position of the lifting means is not fed back to the control, and even when the lifting means reaches the lifting limit, the speed at that time remains the same as the speed before reaching the lifting limit.
The lifting limit is reached at a fairly high speed, and while the load is still being lifted, the lifting means collides with its own mechanical operating limit or with surrounding structures and machinery, causing damage to not only the lifting means but also the load being lifted. It will give you quite a shock. For this reason, it is possible that the lifting means and the load being lifted may be damaged, and in some cases, the work may even be dangerous.
【０００４】本発明はかかる問題点を解決する為になさ
れたもので、昇降手段の上昇限及び下降限の位置を記憶
しておき、全ての動作状態において昇降手段の位置をフ
ィードバックする事で、昇降手段が上昇限及び下降限に
達する前に昇降手段の速度を制御する事で、昇降手段が
昇降手段自身の機械的動作限または周囲の構造物や機械
等に衝突するといった事を避け、負荷及び昇降機構の双
方に衝撃を与える事無く、速やかに停止させる事でより
安全な負荷平衡装置を提供する。
［発明の構成］The present invention was made to solve this problem, and by storing the positions of the ascent and descent limits of the elevating means and feeding back the position of the elevating means in all operating states, By controlling the speed of the elevating means before it reaches its ascent and descent limits, it is possible to avoid the elevating means from colliding with its own mechanical operating limit or with surrounding structures or machines, and to reduce the load. To provide a safer load balancing device by quickly stopping both the lifting mechanism and the lifting mechanism without impacting them. [Structure of the invention]
【０００５】[0005]
【課題を解決するための手段】前記、目的を達成する為
に本発明による負荷平衡装置は、負荷を昇降する負荷昇
降機構と、この昇降機構を駆動する駆動機構と、負荷の
重量を検出する荷重検出器と、負荷昇降機構の位置を検
出する位置検出器と、昇降機構の上昇限及び下降限を検
出する検出器と、作業者が昇降機構の位置を指令する位
置指令器と、負荷の重量を記憶する重量記憶部と、これ
らの各出力信号を演算する位置演算部で、負荷昇降機構
の位置と昇降方向により位置の変化速度を指令演算し、
昇降機構の動作領域のすべてにおいて、移動方向と位置
により昇降機構の位置の変化速度を制御する。[Means for Solving the Problems] In order to achieve the above object, the load balancing device according to the present invention includes a load lifting mechanism that lifts and lowers a load, a drive mechanism that drives this lifting mechanism, and detects the weight of the load. A load detector, a position detector that detects the position of the load lifting mechanism, a detector that detects the upper and lower limits of the lifting mechanism, a position command device that allows the operator to command the position of the lifting mechanism, and a position detector that detects the position of the lifting mechanism. A weight storage unit that stores the weight and a position calculation unit that calculates each of these output signals command and calculate the speed of change in position based on the position and lifting direction of the load lifting mechanism.
In all operating areas of the lifting mechanism, the speed of change in the position of the lifting mechanism is controlled by the moving direction and position.
【０００６】[0006]
【作用】位置指令器からの位置指令信号を目標値として
、昇降機構の位置を作業者による操作レバーの操作量の
変化に追従して連続的になめらかに変化させる位置モー
ドと、上記位置指令器からの指令信号と位置の変化が微
小になった時の負荷の重量を記憶し、この記憶された負
荷重量を目標値として、荷重検出器からの荷重検出信号
との偏差を位置の移動速度の指令とする負荷平衡モード
の２つのモードにて制御し、位置モード時には昇降機構
を作業者が操作レバーにより自由に昇降させることがで
き、また、負荷平衡モード時には吊られた負荷の重量に
関係なく、負荷に軽い力を加えるだけで自由に昇降移動
させることが可能となる。また、昇降機構が上昇時には
上昇限付近での、下降時には下降限付近での昇降機構の
移動速度を制限し減速制御することで、昇降機構が昇降
限に衝突して急激に停止しないようにすることができる
。[Operation] A position mode that uses the position command signal from the position command device as a target value to continuously and smoothly change the position of the lifting mechanism in accordance with changes in the amount of operation of the operating lever by the operator; The command signal from the load detector and the weight of the load when the change in position becomes minute are memorized, and using this stored load weight as a target value, the deviation from the load detection signal from the load detector is calculated as the moving speed of the position. It is controlled in two modes: load balance mode, which uses commands; in position mode, the lifting mechanism can be raised and lowered by the operator using the operating lever, and in load balance mode, the lifting mechanism can be moved up and down freely regardless of the weight of the suspended load. , it becomes possible to freely move the load up and down just by applying a light force to it. In addition, the movement speed of the lifting mechanism is limited and decelerated near the lifting limit when the lifting mechanism is ascending, and near the lowering limit when descending to prevent the lifting mechanism from colliding with the lifting limit and stopping suddenly. be able to.
【０００７】[0007]
【実施例】本発明を図１乃至図６に示す一実施例を用い
て説明する。平行リンク式の昇降機構１は昇降駆動用の
モータ２と歯車機構３により昇降駆動され、昇降機構１
の先端には負荷４を吊る吊り具５が設けられ、負荷４が
吊られている。さらに昇降機構１の昇降位置を指令する
位置指令器６の操作レバー７が設けられており、位置指
令器６からの位置指令信号ＳはＡ／Ｄ変換器８によりデ
ジタル変換され位置演算部９と判断部１０に入力されて
いる。負荷４を吊る吊り具５は負荷４の重量Ｗを検出す
る荷重検出器１１に取付けられており、荷重検出器１１
からの荷重信号ＷＡは位置指令信号Ｓと同様にＡ／Ｄ変
換部１２でデジタル変換され重量記憶部１３と偏差検出
部１４に入力されている。前記、昇降駆動用のモータ２
には昇降機構１の位置を検出する為に位置検出器１５が
設けられ、位置検出信号Ｘは位置演算部９に入力される
。Embodiment The present invention will be explained using an embodiment shown in FIGS. 1 to 6. A parallel link type lifting mechanism 1 is driven up and down by a motor 2 for lifting and lowering and a gear mechanism 3.
A hanger 5 for hanging the load 4 is provided at the tip of the load 4, and the load 4 is suspended therefrom. Furthermore, an operating lever 7 of a position command device 6 that commands the vertical position of the lifting mechanism 1 is provided, and a position command signal S from the position command device 6 is digitally converted by an A/D converter 8 and sent to a position calculation section 9. It is input to the determination unit 10. A hanging device 5 for hanging the load 4 is attached to a load detector 11 that detects the weight W of the load 4.
Similarly to the position command signal S, the load signal WA is digitally converted by the A/D converter 12 and input to the weight storage 13 and the deviation detector 14. The motor 2 for driving the lift
A position detector 15 is provided in order to detect the position of the lifting mechanism 1, and a position detection signal X is input to the position calculation section 9.
【０００８】また、前記昇降機構１に吊られた負荷４の
重量Ｗは荷重検出器１１にて検出され、デジタル変換さ
れて荷重信号ＷＢとなり偏差検出部１４に現在の重量と
して入力される。また、この荷重信号ＷＢは、位置指令
器６からの位置指令Ｓと位置演算部９からの位置変化信
号ＳＨの大きさを判断する判断部１０の指令に基づき、
記憶重量ＷＫとして重量記憶部１３に記憶され偏差検出
部１４に入力される。偏差検出部１４は荷重検出器１１
からの荷重信号ＷＢと重量記憶部１３に記憶された記憶
重量信号ＷＣとの偏差をとり位置演算部９に偏差信号Ｗ
Ｒとして入力される。Further, the weight W of the load 4 suspended on the lifting mechanism 1 is detected by the load detector 11, and is digitally converted into a load signal WB which is inputted to the deviation detector 14 as the current weight. Further, this load signal WB is based on a command from a determination unit 10 that determines the magnitude of a position command S from a position command unit 6 and a position change signal SH from a position calculation unit 9.
It is stored in the weight storage unit 13 as a stored weight WK and inputted to the deviation detection unit 14. The deviation detection section 14 is the load detector 11
The deviation between the load signal WB and the stored weight signal WC stored in the weight storage section 13 is calculated and the deviation signal W is sent to the position calculation section 9.
Entered as R.
【０００９】また前記昇降機構１には上昇限１６と下降
限１７の検出器が設けられており、この検出信号 １６
Ｓ・１７Ｓ は位置演算部９に入力され、位置演算部９
では昇降機構１の上昇限位置と下降限位置が記憶されて
、演算部１８で昇降速度が演算され、上昇時には上昇限
付近で上昇速度が下降限付近では下降速度がそれぞれ制
限されるように働く。The lifting mechanism 1 is also provided with a rise limit 16 and a fall limit 17 detector, and this detection signal 16
S.17S is input to the position calculation unit 9, and the position calculation unit 9
In this case, the ascending and descending limit positions of the lifting mechanism 1 are memorized, and the ascending and descending speed is calculated in the calculating section 18, and when ascending, the ascending speed is limited near the ascending limit, and the descending speed is limited near the descending limit. .
【００１０】ここで、判断部１０よりの信号により、重
量記憶部１３の内容が消去されいる場合は負荷重量Ｗの
記憶はされていない為、位置指令器６からの位置指令信
号ＳＡが優先的に位置演算部９に入力され、昇降機構１
を駆動する駆動モータ２の駆動装置１９にＤ／Ａ変換部
２０にてアナログ変換をして昇降指令Ｘ０として出力さ
れ、昇降機構は操作レバー７の動きに合わせて昇降を行
う位置モードの動作を行う。[0010]Here, if the contents of the weight storage unit 13 are erased by the signal from the determination unit 10, the load weight W is not stored, so the position command signal SA from the position command unit 6 is prioritized. is input to the position calculation unit 9, and the elevating mechanism 1
The D/A converter 20 performs analog conversion to the drive device 19 of the drive motor 2 that drives the drive motor 2 and outputs it as a lift command conduct.
【００１１】また、重量記憶部１３に負荷重量Ｗの記憶
がされている時は、重量記憶部１３に記憶されている記
憶重量ＷＫと、荷重検出手段１１からの負荷荷重信号Ｗ
Ｆとの偏差が偏差検出部１４にてとられ、この偏差信号
ＷＲを指令として位置演算部９は昇降機構１に昇降指令
Ｘ０を出力する負荷平衡モードにて動作する。次に、本
発明による平衡負荷装置の動作について２つのモード（
位置モードと負荷平衡モード）の働きを中心に説明する
。Further, when the loaded weight W is stored in the weight storage section 13, the stored weight WK stored in the weight storage section 13 and the applied load signal W from the load detection means 11 are
The deviation from F is detected by the deviation detection unit 14, and the position calculation unit 9 operates in a load balance mode in which the deviation signal WR is used as a command to output a lifting command X0 to the lifting mechanism 1. Next, there are two modes of operation of the balanced load device according to the present invention (
This section focuses on the functions of position mode and load balance mode.
【００１２】負荷重量Ｗが重量記憶部１３に記憶される
までは、位置モードとして動作し、位置モードにおいて
は、モード選択部２３が位置モード側に選択され、作業
者が操作レバー７を操作することにより位置指令器６か
らの位置指令信号ＳＡが位置演算部９に入力されると、
位置演算部９では作業者による操作レバー７の操作量の
大きさにしたがって出力される位置指令信号ＳＡに基づ
き、昇降機構１の位置を連続的になめらかに変化させる
ような昇降指令信号Ｘ０が出力され、昇降機構１は負荷
４を吊った状態で操作レバー７の操作量にしたがってな
めらかに昇降動作を実施し、吊られた負荷４には衝撃等
の急激な力は加わらない。Until the load weight W is stored in the weight storage section 13, the operation is in the position mode, and in the position mode, the mode selection section 23 is selected to the position mode side, and the operator operates the operating lever 7. Therefore, when the position command signal SA from the position command device 6 is input to the position calculation section 9,
The position calculation unit 9 outputs a lift command signal X0 that continuously and smoothly changes the position of the lift mechanism 1 based on the position command signal SA output according to the amount of operation of the operating lever 7 by the operator. The lifting mechanism 1 smoothly performs lifting and lowering operations according to the amount of operation of the operating lever 7 while the load 4 is suspended, and sudden forces such as shocks are not applied to the suspended load 4.
【００１３】この時、位置演算部９では位置指令器６か
らの位置指令信号ＳＡの大きさに伴って目標カウンタ２
１の値を連続的に変化させ、昇降機構１の目標位置を連
続的に変化させる。この目標カウンタ２１の値と位置検
出器１５からの信号Ｘをカウントし、昇降機構１の現在
位置を与える現在位置カウンタ２２との値を常時比較す
ることで昇降機構１の目標位置と現在位置の偏差が得ら
れ、この偏差をＤ／Ａ変換部２２でアナログ変換し、駆
動モータ２の駆動装置１９に対して昇降指令信号Ｘ０と
して出力する。At this time, the position calculation section 9 calculates the target counter 2 according to the magnitude of the position command signal SA from the position command device 6.
1 is continuously changed, and the target position of the lifting mechanism 1 is continuously changed. By counting the value of this target counter 21 and the signal X from the position detector 15 and constantly comparing the value with the current position counter 22 which gives the current position of the lifting mechanism 1, A deviation is obtained, and this deviation is converted into analog by the D/A converter 22 and outputted to the drive device 19 of the drive motor 2 as a lift command signal X0.
【００１４】この、昇降指令信Ｘ０は昇降機構１を昇降
駆動する駆動モータ２の駆動装置１９に駆動信号として
入力され、駆動モータ２の回転により昇降機構１が昇降
駆動され、吊り具５に吊られた負荷４は操作レバー７の
操作量にしたがって昇降動作を実施する。この時、昇降
機構１に設けられた上昇限１６及び下降限１７がそれぞ
れ動作すると、位置演算部９において昇降機構１の上昇
限１６の位置と下降限１７の位置が記憶される。This elevating command signal X0 is input as a drive signal to the drive device 19 of the drive motor 2 that drives the elevating mechanism 1 up and down, and the rotation of the drive motor 2 drives the elevating mechanism 1 up and down, and the lifting device 5 is suspended. The loaded load 4 moves up and down according to the amount of operation of the operating lever 7. At this time, when the ascending limit 16 and descending limit 17 provided in the elevating mechanism 1 operate, the position of the ascending limit 16 and the descending limit 17 of the elevating mechanism 1 are stored in the position calculation section 9.
【００１５】さらに、荷重検出器１１からの荷重検出信
号ＷＡをＡ／Ｄ変換した荷重検出値ＷＢは、重量記憶部
１３と偏差検出部１４に入力される。そこで位置指令器
６からの位置指令信号ＳＡと、位置演算部９からの位置
の変化信号ＳＨが判断部１０に入力され、位置指令信号
ＳＡと位置の変化信号ＳＨが共に微小になったことを判
断部１０にて判断し、この判断指令Ｈに基づき、荷重検
出器１１からの荷重検出信号ＷＡが記憶重量ＷＫとして
重量記憶部１３に記憶される。Further, a load detection value WB obtained by A/D converting the load detection signal WA from the load detector 11 is input to the weight storage section 13 and the deviation detection section 14. Therefore, the position command signal SA from the position command device 6 and the position change signal SH from the position calculation section 9 are input to the judgment section 10, and it is determined that both the position command signal SA and the position change signal SH have become small. The judgment unit 10 makes a judgment, and based on this judgment command H, the load detection signal WA from the load detector 11 is stored in the weight storage unit 13 as the stored weight WK.
【００１６】この時、判断部１０では、まず位置指令器
６からの位置指令信号ＳＡの変化が微小領域 ＳＡ０に
なったことを判断した後、位置演算部９からの位置の変
化信号ＳＨの変化が微小領域 ＳＨ０になったことを判
断するように動作している。At this time, the determining section 10 first determines that the change in the position command signal SA from the position command device 6 has reached the minute area SA0, and then determines the change in the position change signal SH from the position calculating section 9. It operates to determine that has become the minute region SH0.
【００１７】重量記憶部１３が負荷重量Ｗを記憶すると
、動作モードは位置モードから負荷平衡モードに移行し
、モード選択部２３は負荷平衡モード側に切替わり、重
量記憶部１３に記憶された記憶重量ＷＫを目標として、
荷重検出器１１からの負荷重量ＷＦと記憶された記憶重
量ＷＫの偏差が偏差検出部１４にてとられ、昇降機構１
の位置指令Ｘ０として出力する信号として偏差信号ＷＲ
が位置演算部９に入力される。When the weight storage unit 13 stores the load weight W, the operation mode shifts from the position mode to the load balance mode, the mode selection unit 23 switches to the load balance mode, and the memory stored in the weight storage unit 13 changes. Aiming for weight WK,
The deviation between the load weight WF from the load detector 11 and the stored stored weight WK is detected by the deviation detection unit 14, and the deviation is detected by the deviation detection unit 14.
The deviation signal WR is output as the position command X0 of
is input to the position calculation section 9.
【００１８】位置演算部９に入力された偏差信号ＷＲは
負荷重量ＷＦと記憶重量ＷＫの差であり、これは作業者
が負荷４に対して加えた力Ｆそのものである。位置演算
部９では偏差信号ＷＲの信号の大きさにしたがって、目
標カウンタ２１の値を
負荷重量 ＷＦ ＞ 記憶重量
ＷＫ ・・・ 減少（下降指令）
負荷重量 ＷＦ ＜ 記憶重量 ＷＫ
・・・ 増加（上昇指令）となるように連続的に変化
させることで昇降機構１の目標位置を連続的に変化させ
る。この結果、位置モードと同様に昇降機構１の昇降駆
動部１９に対して昇降指令信号Ｘ０が連続的に出力され
る。The deviation signal WR input to the position calculating section 9 is the difference between the load weight WF and the stored weight WK, and this is the force F itself applied to the load 4 by the operator. The position calculation unit 9 changes the value of the target counter 21 according to the magnitude of the deviation signal WR so that load weight WF > memorized weight
WK... Decrease (downward command)
Load weight WF < Memory weight WK
... The target position of the elevating mechanism 1 is continuously changed by continuously changing it so as to increase (ascent command). As a result, the elevating command signal X0 is continuously outputted to the elevating drive unit 19 of the elevating mechanism 1, similarly to the position mode.
【００１９】このように制御される為、吊り具５に吊ら
れた負荷４に対して作業者が上昇または下降方向に力Ｆ
を加えると、荷重検出器１１からの荷重検出信号ＷＡが
増加または減少し、記憶重量ＷＫと負荷重量ＷＦとの間
に作業者が加えた力Ｆに相当する偏差が生じ、位置演算
部９では偏差の大きさに従って目標位置を連続的に変化
させ昇降機構１の昇降駆動部１９に対して昇降指令信号
Ｘ０が出力され、昇降機構１は作業者が力Ｆを加えた方
向に移動するようになる。この移動する位置の変化の速
さは作業者が加えた力Ｆを基本にし、
（記憶重量ＷＫ）−（負荷重量ＷＦ）＝（作業者が加え
た力Ｆ）Because of this control, the operator applies force F in the upward or downward direction to the load 4 suspended on the hanging device 5.
, the load detection signal WA from the load detector 11 increases or decreases, a deviation corresponding to the force F applied by the operator occurs between the stored weight WK and the loaded weight WF, and the position calculation unit 9 The target position is continuously changed according to the magnitude of the deviation, and a lift command signal X0 is outputted to the lift drive unit 19 of the lift mechanism 1, so that the lift mechanism 1 moves in the direction in which the force F is applied by the operator. Become. The speed of change in the moving position is based on the force F applied by the worker, (memory weight WK) - (loaded weight WF) = (force F applied by the worker)
【００２０】この作業者が加えた力Ｆに演算部１８で位
置の変化に相当する演算を実施し、一定のゲイン定数を
掛ける事で昇降機構１の位置の移動の速さは作業者が加
えた力Ｆの大きさに比例するような動きとなり、作業者
は吊られた負荷４の重量Ｗにあまり関係なく小さな力Ｆ
で負荷４を昇降させることができるようになる。The force F applied by the worker is subjected to a calculation corresponding to the change in position in the calculation section 18, and is multiplied by a certain gain constant, so that the speed of movement of the position of the lifting mechanism 1 is determined by the force F applied by the worker. The movement is proportional to the magnitude of the force F exerted by the worker, and the worker applies a small force F regardless of the weight W of the suspended load 4.
Now the load 4 can be raised and lowered.
【００２１】この負荷平衡モードで動作させている時に
モード選択部２３は位置指令器６から位置指令信号Ｓが
入力されると、作業者が操作レバー７を操作し昇降機構
１を動作させようとしたと判断し、負荷平衡モードでの
動作を一旦中断し自動的に位置モードに変化する。When the mode selection unit 23 receives the position command signal S from the position command device 6 while operating in this load balance mode, the operator operates the operating lever 7 to operate the lifting mechanism 1. The system determines that the load balance mode has occurred, temporarily suspends operation in the load balance mode, and automatically changes to the position mode.
【００２２】また、位置指令器６からの位置指令信号Ｓ
がなくなった時点で再度負荷４の重量を記憶しなおすこ
とで、負荷平衡モードに復帰することもできるようにも
なっている。これは負荷平衡モードに移行する際に記憶
する負荷４の重量を間違って記憶した場合、例えば負荷
４に作業者が手を添えた状態で重量を記憶させるといっ
た事がよくあり、負荷４の重量を間違って記憶すると昇
降機構１は作業者が負荷４に全く触れない状態でも記憶
重量ＷＫと負荷重量ＷＦとの偏差により自動的に動き始
める、その場合操作レバー７を少し操作する事で正しい
重量を再記憶させる事が可能となり、また負荷平衡モー
ドでの操作中に間違って操作レバーに触ってしまった時
などの状況で非常に有効となる。Furthermore, the position command signal S from the position command device 6
By re-memorizing the weight of the load 4 when it is no longer present, it is also possible to return to the load balancing mode. This is because if the weight of load 4 is incorrectly memorized when transitioning to load balancing mode, for example, the weight is often memorized with the worker's hand on load 4, and the weight of load 4 is If it is stored incorrectly, the lifting mechanism 1 will automatically start moving due to the deviation between the stored weight WK and the load weight WF even if the operator does not touch the load 4 at all. It is possible to rememorize the information, and it is also very effective in situations such as when you accidentally touch the control lever while operating in load balance mode.
【００２３】なお、位置モードでの動作時および負荷平
衡モードでの動作時共、位置演算部９からの昇降指令信
号Ｘ０は位置演算部９において、上昇限位置と下降限位
置がそれぞれ記憶されている為、位置演算部９昇降機構
１の全領域にわたって、移動方向と位置に対する昇降機
構１の位置変化速度が演算され、図６に示すように、上
昇時と下降時のそれぞれに位置と速度の特性が設定する
ことで、上昇時には上昇限付近での位置変化が、下降時
には下降限付近での位置変化速度が制限されるようには
たらく。It should be noted that during operation in the position mode and during operation in the load balance mode, the elevation command signal X0 from the position calculation unit 9 is stored in the position calculation unit 9 as the upper limit position and the lower limit position, respectively. Therefore, the position calculation unit 9 calculates the position change speed of the lifting mechanism 1 with respect to the moving direction and position over the entire area of the lifting mechanism 1, and as shown in FIG. By setting the characteristics, the speed of position change near the upper limit when ascending is limited, and the speed of position change near the lower limit during descending is limited.
【００２４】この結果、昇降機構１は上昇限１６および
下降限１７まで全領域にわたって動作させることができ
ると共に、上昇限１６および下降限１７において急激に
停止することも無く、吊られた負荷４と昇降機構１の両
方共、急激な停止における衝撃が加わることが無くなる
。As a result, the lifting mechanism 1 can be operated over the entire range up to the ascent limit 16 and the descent limit 17, and does not suddenly stop at the ascent limit 16 and the descent limit 17. Both of the lifting and lowering mechanisms 1 are prevented from being subjected to shocks due to sudden stops.
【００２５】以上説明したように本発明を実施すること
で、昇降機構は位置モード・負荷平衡モード共に昇降機
構の全領域にわたって位置制御されている為、上昇限お
よび下降限で急激に停止することが無く、極めて安全に
使用することが可能となる。As explained above, by carrying out the present invention, the position of the lifting mechanism is controlled over the entire area of the lifting mechanism in both the position mode and the load balance mode, so that the lifting mechanism can suddenly stop at the upper and lower limits. It is extremely safe to use.
【００２６】[0026]
【発明の効果】以上説明したように、本発明を実施する
ことで、負荷平衡装置は位置モード・負荷平衡モード共
に位置制御されている為、上昇限および下降限で急激に
停止することが無く、全領域にわたって極めて安全に使
用することが可能となり、衝撃に弱い負荷の搬送にも作
業者が神経を使わずに使用できる。[Effects of the Invention] As explained above, by implementing the present invention, the load balancing device is position-controlled in both the position mode and the load balancing mode, so it does not suddenly stop at the upper limit and lower limit. , it can be used extremely safely in all areas, and workers can use it without worrying about transporting loads that are susceptible to shocks.
【図１】本発明の一実施例の機構構成図、FIG. 1 is a mechanical configuration diagram of an embodiment of the present invention;
【図２】その
制御ブロック図[Figure 2] Control block diagram
【図３】本発明の位置モードにおける動作説明の制御ブ
ロック図[Fig. 3] Control block diagram illustrating operation in position mode of the present invention
【図４】本発明のモード選択部の動作説明図FIG. 4 is an explanatory diagram of the operation of the mode selection section of the present invention.
【図５】本
発明の負荷平衡モードにおける動作説明の制御ブロック
図[Fig. 5] Control block diagram illustrating operation in load balancing mode of the present invention
【図６】（ａ），（ｂ）は本発明の上昇限・下降限付近
における制御特性図[Figure 6] (a) and (b) are control characteristic diagrams near the upper limit and lower limit of the present invention.
１・・昇降機構
２・・昇降駆動用モータ1. Lifting mechanism
2. Lifting drive motor
Claims (4)
駆動するモータと、モータの回転位置を検出する手段と
モータの位置制御手段からなる駆動手段と、荷の重量を
検出する為に荷の近傍に取付けた荷重検出手段と、荷の
昇降機構の位置を演算する位置演算手段と、作業者が荷
を昇降する機構の位置の変化を指令する位置指令手段と
、荷の重量を記憶する重量記憶手段を持った負荷平衡装
置において、位置指令手段からの指令信号を目標として
連続的に位置を移動させる位置モードと、前記位置の変
化が微小になった時に荷の重量を記憶しこの荷の記憶値
を目標値として荷重検出手段からの信号との偏差を位置
の移動速度の指令とする負荷平衡モードの２つのモード
にて制御することを特徴とした負荷平衡装置の制御方法
。Claim 1: A mechanism for lifting and lowering a load, a motor for driving the lifting and lowering mechanism, a driving means consisting of a means for detecting the rotational position of the motor, a means for controlling the position of the motor, and a motor for driving the load for detecting the weight of the load. a load detection means installed near the load detection means, a position calculation means for calculating the position of the load lifting mechanism, a position command means for instructing a change in the position of the mechanism for lifting and lowering the load by an operator, and a load detection means for storing the weight of the load. In a load balancing device having a weight storage means, there are two modes: a position mode in which the position is continuously moved using a command signal from the position command means as a target, and a position mode in which the weight of the load is memorized when the change in position becomes minute. A method for controlling a load balancing device, comprising controlling in two modes including a load balancing mode in which a stored value of is used as a target value and a deviation from a signal from a load detecting means is used as a position movement speed command.
駆動するモータと、モータの回転位置を検出する手段と
モータの位置制御手段からなる駆動手段と、荷の重量を
検出する為に荷の近傍に取付けた荷重検出手段と、荷の
昇降機構の位置を演算する位置演算手段と、作業者が荷
を昇降する機構の位置の変化を指令する位置指令手段と
、荷の重量を記憶する重量記憶手段を持った負荷平衡装
置において、位置指令手段からの指令信号を目標として
連続的に位置を移動させる位置モードと、前記位置の変
化が微小になった時に荷の重量を記憶しこの荷の記憶値
を目標値として荷重検出手段からの信号との偏差を位置
の移動速度の指令とする負荷平衡モードの２つのモード
にて制御し、昇降機構の上昇限及び下降限を検出する検
出器と、昇降機構が前記検出器を動作させた位置を記憶
する位置記憶部を設け、上昇時には上昇限付近で昇降機
構の速度を減速させ、下降時には下降限付近で昇降機構
の速度を減速させることを特徴とした負荷平衡装置の制
御方法。2. A mechanism for lifting and lowering a load, a motor for driving the lifting and lowering mechanism, a drive means consisting of a means for detecting the rotational position of the motor, a means for controlling the position of the motor, and a motor for driving the load for detecting the weight of the load. a load detection means installed near the load detection means, a position calculation means for calculating the position of the load lifting mechanism, a position command means for instructing a change in the position of the mechanism for lifting and lowering the load by an operator, and a load detection means for storing the weight of the load. In a load balancing device having a weight storage means, there are two modes: a position mode in which the position is continuously moved using a command signal from the position command means as a target, and a position mode in which the weight of the load is memorized when the change in position becomes minute. A detector that detects the upper limit and lower limit of the lifting mechanism by controlling in two modes: a load balance mode in which the stored value is used as a target value and the deviation from the signal from the load detection means is used as a position movement speed command. and a position storage unit for storing the position at which the detector is operated by the lifting mechanism, and the speed of the lifting mechanism is reduced near the upper limit when ascending, and the speed of the lifting mechanism is reduced near the lower limit when descending. A method of controlling a load balancing device characterized by:
れた場合は、優先的に位置モードにする請求項１及び請
求項２記載の負荷平衡装置の制御方法。3. The method of controlling a load balancing device according to claim 1, wherein when a command signal from the position command means is input, the position mode is set preferentially.
指令信号が入力された場合は、一旦中断され位置の変化
が微小になった時に再び荷の重量を記憶し、負荷平衡モ
ードに戻る請求項１及び請求項２記載の負荷平衡装置の
制御方法。4. The load balancing mode is temporarily interrupted when a command signal from the position command means is input, and when the change in position becomes minute, the weight of the load is memorized again and the load balancing mode is returned to. 3. A method for controlling a load balancing device according to claim 1 and claim 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14288591A JPH04365800A (en) | 1991-06-14 | 1991-06-14 | Control method for load balancer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14288591A JPH04365800A (en) | 1991-06-14 | 1991-06-14 | Control method for load balancer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH04365800A true JPH04365800A (en) | 1992-12-17 |
Family
ID=15325860
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP14288591A Pending JPH04365800A (en) | 1991-06-14 | 1991-06-14 | Control method for load balancer |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH04365800A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020043850A1 (en) * | 2018-08-30 | 2020-03-05 | Commissariat A L`Energie Atomique Et Aux Energies Alternatives | Device for controlling and handling a load of unknown weight |
-
1991
- 1991-06-14 JP JP14288591A patent/JPH04365800A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020043850A1 (en) * | 2018-08-30 | 2020-03-05 | Commissariat A L`Energie Atomique Et Aux Energies Alternatives | Device for controlling and handling a load of unknown weight |
| FR3085368A1 (en) * | 2018-08-30 | 2020-03-06 | Commissariat A L`Energie Atomique Et Aux Energies Alternatives | DEVICE FOR CONTROLLING AND HANDLING AN UNKNOWN MASS LOAD |
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