WO2013114737A1 - 機器の表示装置および表示装置を設けた機器 - Google Patents
機器の表示装置および表示装置を設けた機器 Download PDFInfo
- Publication number
- WO2013114737A1 WO2013114737A1 PCT/JP2012/082086 JP2012082086W WO2013114737A1 WO 2013114737 A1 WO2013114737 A1 WO 2013114737A1 JP 2012082086 W JP2012082086 W JP 2012082086W WO 2013114737 A1 WO2013114737 A1 WO 2013114737A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- display
- movement
- display device
- movable part
- switch
- Prior art date
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
- B66C15/065—Arrangements or use of warning devices electrical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/34—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction
Definitions
- the present invention relates to a crane apparatus including an overhead crane, a vehicle-mounted crane, a jib crane, a transfer robot having a transfer arm for gripping or mounting an article, an aerial work vehicle (including a self-propelled aerial work vehicle). ), It depends on the display device provided in various work devices such as autonomous robots that change the direction and speed of travel, and devices such as self-propelled devices (substantially the same category as “industrial equipment”), In particular, the present invention relates to a display device for displaying a moving direction of a crane arm or a robot working arm, a traveling direction of the device itself, and the like.
- the “operation device” is not limited to one that is attached to the operation target device and controls the operation of the device, but is located away from the device and performs remote operation, remote control, and the like.
- an operation device having the meaning of a remote controller hereinafter also referred to as “operation device”.
- operation device an operation device having the meaning of a remote controller
- the difference in signal transmission methods such as wireless and wired does not affect the definition or interpretation of the “operation device” unless otherwise described.
- the “moving body” is also expressed as “movable part” below, and is two-dimensional (on the X and Y virtual plane) or three-dimensional (on the X, Y, and Z coordinate axes).
- a component or member relatively moved in a two-dimensional or three-dimensional direction by a moving moving device for example, having a gripping mechanism, a hanging hook, etc., and traveling along a rail
- a moving moving device for example, having a gripping mechanism, a hanging hook, etc., and traveling along a rail
- the body itself that moves autonomously is a “moving body”.
- the “moving mechanism” is a mechanism that moves the moving body, and includes a prime mover of an elevator.
- the X-axis motor, the Y-axis motor, and the Z-axis motor that enable the movement correspond to “moving mechanism” or “part of the moving mechanism”.
- an overhead crane installed on a ceiling of a factory or the like, for example, runs on wheels on a traveling rail laid in parallel in the vicinity of the ceiling of a building as disclosed in Patent Document 1.
- a girder equipped with a hoisting machine is traversed between a pair of saddles.
- the operation device is a wired type or a wireless type, particularly in the case of an overhead crane used in a painting factory or the like, it is suspended from a traveling body that is a moving body that moves a traveling rail. There was a danger that the transported material that was held collided with workers other than the operator, resulting in a major accident.
- This type of accident is not limited to overhead cranes, but is not limited to self-propelled cranes and self-supporting cranes. Even if a device that does not carry a transported object, such as an autonomous robot without an operator, is moving autonomously in a factory or indoor, there is a danger that this may collide with a person. .
- an indicator that displays the current traveling direction of the traveling body traveling on the traveling rail is installed at a location that can be seen from the work site.
- a display device for a device that allows a person other than the operator to know the movement of the device related to movement / conveyance safely and avoids danger.
- An apparatus including a display device includes a display device, and is at least (a movable part that autonomously moves, turns, or travels, or a movable part that moves, turns, or travels under operation control, or Based on an instruction from the operating device, an operating device for instructing the operation of any one of the mechanisms, a mechanism that combines any one of them, or a combination of two or more of them And a drive control unit for instructing the display device to perform necessary display, and the display device is instructed at least for the movement, turning, or running operation.
- the moving part is configured to display information on the movement before the movement starts along the movement direction determined autonomously or the movement direction determined autonomously.
- a mechanism comprising: an operating device for operating movement of the movable portion; a moving mechanism for moving the movable portion; a display device for performing display relating to movement of the movable portion; and an operation by the operating device,
- a drive control device that controls the operation of the moving mechanism and the display of the display device, and the display device performs display related to the movement of the movable portion before the movement of the movable portion is started. It is configured.
- the “movable part that autonomously moves, turns, or travels” here refers to, for example, a traveling body that moves and travels along an XY rail in an overhead crane or the like, and an upright column that is used at a construction site. It refers to various movable parts such as a hoisting machine as an elevator provided in the machine, and a structure crusher that crushes an object with the shear stress of a cutting machine at the end of an arm.
- the “movable part” includes the traveling body (such as an overhead crane or a self-supporting crane) and the arm (turning with the upper structure of the crane) as well as an elevator attached to the arm.
- a programmed transfer robot that carries assembly parts in the factory, travels autonomously, and transports them is also included.
- the robot may change the destination while traveling in the work environment. For example, by providing a display device that displays the direction of the course change before the change, It is possible to improve the safety of workers who work on the machine.
- the devices on which they operate are the same in that they are overhead cranes, self-propelled cranes, etc., as described above.
- the driver gets on the driver's seat and operates the manual operating device, it operates by remote control such as wireless (including optical communication) maneuvering from the remote location via the operating device.
- remote control such as wireless (including optical communication) maneuvering from the remote location via the operating device.
- the display device first displays information related to the operation.
- the information related to the operation means that the information includes a direction in which the movable part is operated and information other than the information related to the operation direction.
- the display device is arranged so as to occupy a size and a position that at least a person other than the operator can visually recognize from the outside, and the drive control unit is configured such that the display device moves the movable unit. It may be configured to instruct the moving mechanism to start the movement of the movable part after confirming that the display is performed.
- the display device displays the operation direction, confirms it, and then enters the operation, thereby ensuring more safety.
- the “display device” needs to be visible to “at least a person other than the operator”, but may be visible to the operator himself. Rather, it is preferable that the operator himself can see the display device simultaneously with other workers.
- the display device displays a display regarding the operation direction for a predetermined time by using a function such as a timer or the like electrically or mechanically, it is It is also possible to prevent the movement operation.
- an operation element such as a switch, a lever, a knob, or a handle is attached, and the movable range of the operation element is an instruction stage for moving the movable part.
- a plurality of movable stages are provided, and the display device displays at least the direction of the movement before the operation element enters the movement start instruction stage of the movable part. It may be configured.
- the direction in which the movable part is going to move is surely determined by the display device prior to the instruction to start the movement. Will be shown.
- the switching means means by contact of an electrical contact, a mechanical type, a touch sensor, a pressure sensor, or the like can be used.
- the display device may be fixed to the movable part or the mechanism.
- the display device may be configured such that the display form changes according to the content of the operation by.
- the display form changes according to the content of the operation by.
- the display device for example, when a push button is selected as an example of the configuration of the operation unit of the operation device, the type of symbol shown on the display device is changed depending on the amount of pressing of the button. Can help you understand.
- the display device displays the content of the operation by the operation device by an arrow, and the size or the color of the arrow changes according to the moving speed of the movable part in accordance with the operation by the operation device. It may be configured to look like this.
- the display device displays the content of the movement of the movable part instructed according to the operation by the operation device by an arrow, and the arrow seems to move along the direction of the movement of the movable part. It may be configured.
- the moving direction of the said movable part etc. can be grasped
- the display device displays the content of the operation by the operation device with an arrow, and displays not only the direction of movement of the movable portion, but also the direction of the up-and-down movement of the movable portion or an article conveyed by the movable portion. It may be configured to.
- the display device may display an operation content of the operation device by an arrow, and the arrow may be configured to appear to change in length along the moving direction of the movable part. .
- the display device includes at least a movable part that autonomously moves, turns, or travels, a movable part that moves, turns, or travels under operation control, or is autonomous or operated.
- the control unit controls the operation of any one of the above-described mechanisms, or a combination of two or more of them, and the operation of any one of the mechanisms.
- a display device provided in a device including an operation device and a drive control unit that instructs a drive circuit to perform any one of the operations based on an instruction from the operation device, wherein the drive control unit includes the operation device
- the drive control unit includes the operation device
- the operation direction is displayed before the operation starts, in summary, a mechanism including a movable part, an operating device for operating the movement of the movable part, and a moving mechanism for moving the movable part.
- a display device provided in a device including a drive control device that controls the operation of the moving mechanism in response to an operation by the operating device, and before the movement of the movable portion starts, It is comprised so that the display regarding a movement may be performed.
- Such a display device can be realized, for example, by configuring the drive control device so as to control the display of the display device in accordance with an operation by the operation device.
- a display device for a device that allows a person other than the operator to know in advance the movement of the device related to movement, transportation, etc., and can avoid danger.
- FIG. 1 is a schematic perspective view of an overhead crane as an example of an embodiment of the present invention.
- FIG. 4 is a block diagram showing in detail a configuration example of a part of the electrical configuration in FIG. 3.
- Explanatory drawing of schematic structure of the switch as embodiment of the operation element linked with the display apparatus.
- the flowchart which shows the relationship between a switch and a display at the time of applying a display apparatus to an XY crane.
- FIG. 3 is a block diagram showing an electrical configuration of an operation device and a display device for a device that moves up, down, north, south, and east.
- Schematic which shows the structure which fixed the display apparatus as embodiment of this invention to the jib (swivel arm) of the jib crane.
- the block diagram which shows the electric constitution of the jib crane of FIG.
- the figure which shows the example of a display of the display apparatus fixed to the jib crane of FIG.
- Schematic shows the structure which fixed the display apparatus as embodiment of this invention to the boom of the construction large crane which is an apparatus.
- the flowchart which shows the relationship between a switch and a display at the time of providing a display apparatus in the apparatus which carries out the operation
- the schematic perspective view which shows the structural example at the time of comprising the display apparatus of an apparatus in three dimensions.
- Explanatory drawing which shows the example which combined the (operation
- Explanatory drawing which shows the example of 1 structure of the operation element of the apparatus of FIG.
- the figure which shows the example of a display of the display apparatus of the apparatus of FIG.
- Explanatory drawing which shows the example which provides a display apparatus in the drive shaft (motion axis
- Explanatory drawing which shows the example of the operation element linked with the display of the display apparatus of an apparatus.
- Explanatory drawing which shows the example of the operation element linked with the display of the display apparatus of an apparatus.
- Explanatory drawing which shows the example of the operation element linked with the display of the display apparatus of an apparatus.
- the block diagram which shows the electric constitution of the operating device provided with the switch of an operation panel and a touch sensor system.
- FIG. 1 is a perspective view showing an overall configuration of an overhead crane as a three-dimensional movement apparatus according to an embodiment of the present invention.
- the overhead crane which is a three-dimensional device, is described as an example of the “equipment” of the present invention.
- the “equipment” of the present invention has various modes, but is particularly convenient when applied to an overhead crane (including those used outdoors).
- the “ceiling type crane” includes a crane of a type in which a traveling rail is installed in the vicinity of the ceiling on an indoor ceiling, and a traveling rail is arranged in the horizontal and vertical directions in the same manner outdoors.
- FIG. 2 is a diagram showing a structure of a hoisting machine as an elevator of an overhead crane as an embodiment of the apparatus of the present invention
- FIG. 3 is a block diagram showing an example of an electrical configuration of the overhead crane of FIG.
- FIG. 4 is a block diagram showing in detail a configuration example of a part of the electrical configuration of FIG.
- the overhead crane 1 is such that the crane girder 4 is horizontally mounted substantially orthogonal to the traveling rails 2A and 2B.
- the traveling body 5 which is a part of moving body which has the hook 7 at the front-end
- a three-dimensional movement mechanism is configured by including a Z-axis motor that moves the hook 7 as a part of the moving body in the vertical direction, and an X-axis motor and a Y-axis motor that move in a horizontal plane.
- the remote controller 10 includes a first housing 20 and a second housing 30.
- the second casing 30 is a casing that is not rotationally displaced with respect to the communication cable 8
- the first casing 20 is a casing that can rotate with respect to the second casing 30.
- the communication cable 8 which is bent but not twisted is electrically connected to the remote controller 10 with a communication line built in a cable tube which is bent but not twisted.
- Specific examples of the “flexible but not twisted cable tube” include a metal flexible conduit and a resin-coated flexible conduit defined in JIS-C8309. A brand name plica tube or a waterproof plica tube can be used.
- the traveling body 5 has a pair of wheels 14 provided with the crane girder 4 sandwiched therebetween, and these wheels 14 are driven by a transverse motor (Y-axis motor) 27.
- the traveling body 5 traverses along the crane girder 4 by rotating.
- a hoisting machine main body 17 is suspended and supported by these traversing units by a support member 15, and a hoisting motor (Z-axis motor) for hoisting or extending the support wire rope 6 on the hoisting machine main body 17. 29 is attached.
- the display device 50, 50a is fixed to the traveling body 5 which is a part of the movable part. Specifically, the display device 50 (50a) is connected to the hoisting machine main body 17 via a connecting member 52.
- the display device 50 and the display device 50a have the same configuration, and any one of them may be provided. In this example, two are provided in order to eliminate the blind spot of the display device and improve the visibility, but two or more may be provided.
- the display devices 50 and 50a are spread on a side surface of the traveling body 5 in as large an area as possible so that the movement does not interfere with other parts, and can be clearly seen from the widest possible range of the work area. Yes.
- the display devices 50 and 50a may be in another form described later, but in the example of FIG.
- the display devices 50 and 50a can be constituted by, for example, a liquid crystal display plate, an EL (electroluminescence) display plate, an LED display device, an electric light display plate, a segmentable phototube.
- the direction of “east, west, south, and north” is written on a square liquid crystal display panel, and the direction in which the traveling body 5 moves is indicated by the change of the direction of the arrow with reference to these directions. Yes.
- a notification unit 51 that performs “notification” that includes sounds such as buzzers and sirens, optical display, and voice guidance.
- a button-type operation switch 11 is provided on one surface of the first housing 20 of the operation device 10 of FIG. 1 as an operation element having a plurality of levels, for example, three levels of pushing depth. Is not fixed when pressed lightly, but returns by the force of a built-in biasing member, for example, a “spring”, when the switch is released. That is, when the switch 11 is pressed hard, the switch 11 issues an operation command according to the position at a position corresponding to the amount of pressing, and when the finger is released from the switch 11, the switch 11 returns with a spring force. .
- the operation switch 1 can be provided with arbitrary stages such as three stages and four stages.
- a housing direction discriminating mechanism 39-1 for detecting the relative rotational displacement of the rotated or rotated first housing 20 is accommodated in the second housing 30 that does not rotate. That is, the slip ring 32 and the rotation detection device are housed in the second housing 30 as the housing direction discriminating mechanism 39-1 (see FIG. 3).
- the rotation detection device an optical rotary encoder 35, an absolute rotary encoder, a gyro device, or the like can be used.
- the housing direction discrimination mechanism discriminates the direction in which the first housing 20 that is a housing that rotates relative to the communication cable 8 or the central axis that is coaxial or integral with the communication cable 8 is oriented.
- the direction detected by the discrimination result means the moving part that is a moving body, that is, the direction in which the traveling body 5 moves.
- the communication cable 8 is connected to the encoder in the second housing 30, and its extended end extends into the first housing 20.
- a plurality of signals (not shown) are provided in the first housing 20 at positions equidistant from the axis of the rotary shaft extending from the rotary encoder 35 at positions on the circumference around the rotary shaft.
- a detection mechanism is provided. This signal detection mechanism can use a photo sensor (interrupter type photo sensor). Switching is performed by inserting an interlocking member that is interlocked with the pressing of the switch 11 of the first housing 20 into the optical path of the photosensor.
- the first casing 20 rotates relative to the second casing 30, so that the direction in which the casing is facing, that is, the traveling body. 5 can be detected.
- the entire operation device 10 may be constituted by a single casing.
- a second casing that is rotatable or rotatable relative to the first casing and that is fixed to the communication cable is stored inside the first casing in a liquid-tight manner. Also good.
- the case determination mechanism is housed in the first case 20 as indicated by reference numeral 39-2, and the case direction determination mechanism 39-1 of the second case 30 is It may be omitted.
- the case determination direction detection mechanism 39-2 for example, a piezoelectric gyro formed from a piezoelectric material, an acceleration sensor, a semiconductor acceleration sensor, or the like can be used.
- the casing discriminating mechanism 39-2 as a signal generating unit that generates a signal that always discriminates the direction in which the first housing 20 is facing, apart from a switch for driving the traveling unit 5 that is a movable unit. Can function. As a result, even when the crane is not commanded to drive, if the apparatus is energized, the direction in which the first housing is facing, that is, the traveling body that is the movable part will move from now on. The direction can be displayed on the display devices 50 and 50a.
- the hoisting machine integrated with the traveling body 5 has a pair of wheels 14 provided with the crane girder 4 sandwiched therebetween, and these wheels 14 are used for the transverse motor (Y).
- the traveling body 5 traverses along the crane girder 4 by being driven by the shaft motor 27 and rotating.
- a hoisting machine main body 17 is suspended and supported by these traversing units by a support member 15.
- a hoisting motor (Z-axis motor) 29 for winding or extending the support wire rope 6 is attached to the hoisting machine body 17, and the hoisting motor 29 is a part of the moving body. It is designed to move up and down.
- the saddles 3A and 3B that travel on the traveling rails 2A and 2B with the crane girder 4 shown in FIG. 1 supported at both ends are provided with a traveling wheel and a traveling motor (X-axis motor) (not shown), respectively. It has been. Further, the hoisting machine main body 17 shown in FIG. 2 has a built-in motor drive control circuit for driving these X-axis motor, Y-axis motor 27 and Z-axis motor 29 in accordance with the operation of the operation device 9. Has been.
- the operation device 10 has an operation switch 11.
- the operation switch 11 is formed, for example, as an up switch 21, a down switch 23, a start switch 22, an emergency stop switch 24, or the like in FIG.
- the first housing 30 incorporates a rotary encoder (optical rotary encoder) 35 as a housing direction discriminating mechanism.
- the motor drive control circuit 18 built in the hoisting machine body 17 is constituted by a microcomputer (hereinafter abbreviated as “microcomputer”) 25-1 and inverters (or contactors) 26, 26a, 26b, and 26c. Has been.
- the microcomputer 25-1 includes a CPU (central processing unit), a memory device such as a ROM / RAM, and an input / output (I / O) device.
- the electric signal transmitted through the communication line is received and necessary arithmetic processing is performed, and the processing result is output to the inverter (or contactor) 26 as an electric signal.
- the microcomputer 25-1 may be a so-called one-chip microcomputer, or may be composed of a plurality of chips or elements / parts. In the case of FIG. 4, an example using a large number of microcomputers is shown.
- a microcomputer 25-1 is mounted on the operating device 20, and the communication driver 25d-1 is connected to each of the microcomputers 25a-2, 25b-2, and 25c-2 mounted on a board connected to each motor and display device.
- the communication drivers 25a-1, 25b-1, and 25c-1 are connected so that signals can be exchanged by wire or wirelessly. That is, the communication cable 8 in FIG. 1 does not have to be wired, and may be configured with a wireless communication line.
- the optical rotary encoder 35 is accommodated in the second casing 30 as described above.
- the second casing 20 of the controller device 10 is rotated around the communication cable 8 around a line extending in the direction of the cable or a line parallel to the cable, the second case 20 is rotated from the original position to either side.
- the measured value is transmitted as an electric signal to the microcomputer 25 through the communication line in the communication cable 8.
- the optical rotary encoder 35 is an example of the angle detection mechanism 35 in FIG.
- a microcomputer 25 on the operating device side.
- a microcomputer 25a-2 is provided for the motors 27 and 29 for each of the Y and Z axes
- a microcomputer 25b-2 is provided for the X axis motor 28
- control boards 25a and 25b are provided for the respective communication drivers 25a- 1 and 25b-1
- the display devices 50 and 50a are also provided with a control board 25c, and are equipped with a microcomputer 25c-2, a communication driver 25c-1 and a display circuit 25c-3 for display drive control. .
- the switch detection mechanism 31 provided in association with the operation switch 11 as an operator in the hand controller unit 25d may have various configurations as will be described later.
- the detection result of the switch detection mechanism 31 is sent to the display drive unit 32 connected thereto.
- the display driver 32 determines a necessary display mode based on the detection result by the switch detection mechanism 31 and sends it to the microcomputer 25-1.
- the microcomputer 25c-2 on the board 25c receives a specific display mode, and the display circuit 25c-3 issues a display command suitable for the display device 50 (50a) type and structure.
- FIG. 3 when the operation switch 11 is pressed, a predetermined electric signal is transmitted to the microcomputer 25 through a communication line or a wireless line in the communication cable 8, and the microcomputer 25 sends a control signal to the inverter (or contactor) 26. Then, the inverter (or contactor) 26 supplies driving current to the X-axis motor 28 and / or Y-axis motor 27 according to the control signal, and drives the X-axis motor 28 and / or Y-axis motor 27 to move.
- the traveling body 5 is driven in order to move the hook 7 as a body in the direction in which the operating device 10 faces.
- the inverter 21 when the inverter 21 is used, the magnitude of the drive current supplied to the X-axis motor 28 and the Y-axis motor 27 can be controlled steplessly. For this reason, the traveling body 5 can be linearly moved in the direction in which the operating device 10 is facing.
- the contactor 21 when the contactor 21 is used, the magnitude of the drive current supplied to the X-axis motor 28 and the Y-axis motor 27 is always a constant value, so that the moving direction of the hook 7 of the traveling body 5 is the traveling rails 2A and 2B. It can be moved only in a total of eight directions: a parallel direction, a direction parallel to the crane girder 4, and an intermediate direction therebetween. Therefore, the hook 7 of the traveling body 5 travels in a zigzag manner when viewed in detail, and moves in the direction in which the operating device 10 is facing.
- buttons corresponding to the up switch 21 and the down switch 23 as the up / down switches provided in the operating device 10 are pressed, a predetermined electrical signal is transmitted through the communication line or the wireless line in the communication cable 8 to the motor. Similar to the drive control circuit 18, it is transmitted to a contactor built in the hoisting machine main body 17.
- a drive current is supplied from the contactor to the Z-axis motor 29 and the lift switch 21 is pressed, the Z-axis motor 29 operates to wind up the support cable 6 and lift the hook 7.
- the lowering switch 23 is pressed, the Z-axis motor 29 operates to extend the support cable 6 and lower the hook 7.
- the operator who operates the overhead crane 1 shown in FIG. 1 first presses the lowering switch 23 of the operating device 10 to operate the Z-axis motor 29 to lower the hook 7 and is placed on the floor surface.
- the hook 7 is hung on the conveyed product.
- the lift switch 21 is pressed to operate the Z-axis motor 29, and the support wire rope 6 is wound up to lift the conveyed product to a height that does not hinder horizontal movement.
- the operating device 10 is directed in the direction in which the conveyed product is to be moved, the operation switch 11 is lightly pressed, and the direction of the operating device 10 is finely adjusted while observing the moving direction of the conveyed product that is hung on the hook 7. . Thereby, the conveyed product can be translated in a desired direction.
- the operation device 20 may not be provided with the emergency stop button 24.
- the emergency stop switch in FIG. 3 only sends a signal for urgently stopping the driving of the moving mechanism 41 to the drive control device 40, the illustration is omitted in FIG.
- the display devices 50 and 50a are preferably always displaying, and the display device 50 is always displayed even when no operation instruction is given to the traveling body 5 as described later.
- 50a is a configuration in which the orientation of the housing is performed by, for example, an arrow display.
- FIG. 5 shows a display method of the display device when the present invention is applied to a general operating device as an embodiment. If it demonstrates as an example applied to the apparatus of FIG. 1, if the overhead crane 1 is started, the display apparatuses 50 and 50a will also be started simultaneously (ST1).
- the display device is preferably activated simultaneously with the activation of the equipment. Therefore, the display of an arrow or the like for displaying the moving direction of the traveling body or arm as the movable part is configured to be displayed simultaneously with the activation of the device.
- a movement command relating to the arm or traveling body which is a movable part is issued (ST2).
- the command is given to each moving mechanism 45 by the operating device 10 via the drive control device 40.
- the movable part is the traveling body 5 in the case of the overhead crane 1 of FIG. 1, but depending on the type of equipment, it is an arm that turns or a hook that moves up and down.
- These moving parts have a direction of movement depending on the type of moving parts of such equipment, which can be moved vertically and horizontally in each direction, up and down in each direction, It is a movement in the clockwise and counterclockwise turning directions.
- switches and the like to be described later of the operation device 10 of the overhead crane 1, but various other forms of operation elements are conceivable. The configuration of the switch will be described in detail later.
- a siren sound or an announcement sound is generated from the notification unit 51 in FIG. 3 so that a warning is also given to the worker's hearing and the like.
- the microcomputer 25 in FIG. 3 displays the direction in which the display devices 50 and 50a will move before moving.
- the microcomputer 25 receives the signal indicating that the display devices 50 and 50a have displayed the moving direction prior to the movement, confirms the signal (ST4), and then starts the actual movement to the moving mechanism 45. (ST5).
- a timer may be provided in advance in the microcomputer 25 of FIG. 3 so that a display for the display devices 50 and 50a to inform about the moving direction may be displayed for a predetermined time.
- the drive control circuit 40 may be configured not to issue a command to execute the movement to the movement mechanism 45 side unless the movement direction display is performed for a predetermined time, for example, about 2 seconds.
- the display devices 50 and 50a are arranged so that at least a person other than the operator of the overhead crane 1 occupies a size and a position that can be visually recognized from the outside.
- the display device first displays the direction of operation of the traveling body 5 and confirms it, and then enters the operation to ensure the evacuation from the operation area. Can be urged to ensure safety at the work site.
- FIGS. 6A to 6E are diagrams for explaining a configuration example of a push button switch as an example of an operator suitably applied to the operation device of the apparatus of the present invention including the operation device 10 of FIG.
- FIG. 6A shows a configuration example of a mechanical four-stage switch.
- the square shown in the figure indicates the button body 110 or the head portion of the switch, and the switch can be pushed in to four levels of depths D1 to D4 to select the depth. That is, locking means is arranged at each stage, and is temporarily locked at each depth, and the locked depth is detected by a measurement mechanism such as an interrupter-type photosensor. .
- a tact portion in which step portions (not shown) are formed at equal intervals in the length direction is provided at the tip on the back side of the switch 110, and the tact portion is on the main body side (the main body side that is the housing side of the operating device). It is configured to be elastically locked to the locking piece, and the measurement mechanism can detect the penetration depth of the tact portion.
- the speed of the movable part further increases and the middle speed stage is reached, and the arrow display of the display device is further enlarged accordingly.
- the movable part further increases in speed, and at a high speed stage, the arrow display of the display device becomes the maximum size.
- FIG. 6B shows a configuration example of a mechanical three-stage switch.
- the only difference from the case of FIG. 6A is that the four-stage control is a three-stage control.
- the principle is the same.
- FIGS. 7A-7C an example in which the switch shown in FIG. 6B is incorporated in the operation device 10 of FIG. 1 will be described with reference to FIGS. 7A-7C.
- 7A to 7C can be applied to the overhead crane of FIG. 1 and can be applied to other devices.
- the display device can be devised as described later.
- the movable part As shown in the first diagram from the left in FIG. 7A, in the free state where the switch 120 is not pushed in, the movable part is not instructed to move, and is shown in the leftmost diagram in FIG. 7C. As described above, nothing is displayed on the display device 50. In the display device 50, directions of “east (E)”, west (W) south (S) north (N) ”are described.
- the switch 120 is pushed in one step, and the depth of D1 is buried. Then, as shown in the second diagram from the left in FIG. 7B, only the switch S1 of the circuit 1 is turned on. Therefore, as shown in the second diagram from the left in FIG. In this case, a small arrow pointing to “north” is displayed as the moving direction. What is important here is that the displayed small arrow indicates the direction in which the movable part etc. moves before the movement starts, and the "movement operation" has not started. That is.
- workers and the like around the device can know in advance in which direction the movable part and the like are moving by visually recognizing the second display from the left in FIG. 7C. These workers evacuate from the path, so that they do not suffer accidents or injuries due to collisions.
- the operator's attention can be further attracted and the display device 50 can be visually recognized. It can be urged to be performed reliably, and can contribute to the improvement of safety.
- a buzzer or siren with a specific sound an arrangement is made in advance to confirm the display contents by looking at a specific display device, and this is set as a common action rule among workers. For example, notification of evacuation behavior in an emergency, call of a specific person, etc., can be made known to multiple workers in a shorter time (including multiple workers working simultaneously in different workplaces). Since it is possible to squeeze, it is more effective.
- the switch 120 is pushed down to the second stage to bury the depth of D2. Then, as shown in the third diagram from the left in FIG. 7C, the switches S1 and S2 of the circuit 1 are turned on. Therefore, as shown in the third diagram from the left in FIG. It starts to advance at a low speed as a predetermined speed toward the direction (north) in which it is supported.
- the display device 50 starts to advance at a high speed as a predetermined speed in the direction (north) in which the movable part or the like is supported.
- the size of the arrow display is maximized, so that an operator who sees it can easily recognize that the movable part or the like has started to move north at a high speed.
- the arrow display on the display device rotates or rotates to indicate the corrected moving direction.
- the switch 120 of FIG. 6B is configured to switch the switch by being pushed in and deeply buried in stages as described with reference to FIG. 7A.
- the switch 130 shown in FIG. 6C is not a switch that moves in the depth direction, but a touch sensor built in the switch, that is, a pressure sensor made of a semiconductor or the like.
- the switch is switched in proportion to the pressure as described with reference to FIGS. 7A to 7C, and the display change of the display device 50 is changed. Is to occur.
- the switch 130 when the operator touches the key top portion of the switch 13 with a finger or the like, the leftmost free state in FIG. 7A is obtained.
- a touch sensor type switch for example, a resistance film type switch can be used.
- the film resistance method utilizes the fact that the metal thin film constituting the transparent electrode has resistance.
- a voltage corresponding to the operated position is generated in another resistance film. By detecting this voltage, the place operated as an analog quantity can be detected.
- the former can be avoided by applying a matrix switch structure and detecting a plurality of areas independently, and the latter is based on the essential structure of the resistive film type, and there is no solution other than devising the material. You don't have to press your finger.
- a surface acoustic wave method can be used for the switch as the operation element.
- the surface acoustic wave method was developed to solve the low transparency, which is a drawback of the resistive film method.
- Piezoelectric elements are attached to a plurality of corners of a substrate such as highly rigid glass to generate vibration waves. When touching the board, it becomes a fixed point, and the vibration wave is absorbed there and part of it rebounds. The rebound is detected by the generation of the voltage of the piezoelectric element. Each contact time can be measured and the place where a finger etc. touched can be detected. Also called ultrasonic method.
- the surface acoustic wave method is more visible than the resistive film method, and is robust in structure and can have a long life.
- the resistive film system what is pressed is not necessarily a finger, but there are some restrictions. In this system, when a touch panel is mounted on the display surface, it is important whether the visibility of the display in the back is good (for example, “smartphone”). However, in the case of the switch of the operating device, the switch does not require so much transparency and can be used sufficiently.
- the resistive film method does not necessarily need to be a finger, but the surface acoustic wave method is slightly more preferable than the resistive film method, so it is somewhat preferable to adopt the resistive film method.
- a method using infrared rays can be adopted as a touch panel method used for a switch as an operator.
- the infrared LED is mainly used as the light source.
- the transmissive type the position is detected by blocking the infrared light, but the depression of the switch cannot be sensed only by the infrared light.
- the reflection type a casing for arranging the infrared LED and its sensor with a thickness around the operation surface is required. This must be taken into account in the vicinity of sunlight and in the vicinity, as there is a risk of malfunction due to stray light.
- an electromagnetic induction method can be used as a touch panel method used for a switch as an operation element.
- This electromagnetic induction method requires a dedicated pen called an electronic pen.
- This method is a position input method with a pen tablet that originally does not consider screen display. However, by disposing the sensor unit under the liquid crystal screen, it can be realized as a touch panel without sacrificing the original high reading accuracy.
- what was equipped with both the electrostatic capacitance system and the electromagnetic induction system is also considered. In this case, an operation can be performed with a pen or a fingertip, and if an electronic pen is used, a writing pressure, a side switch, and the like can be detected. By this method, the visibility of the electrostatic touch is not sacrificed, and a high-definition electromagnetic induction pen can be used on the electrostatic touch that normally cannot perform pen input.
- a touch panel type that uses electrostatic capacity can be considered.
- capacitive touch panels There are two types of capacitive touch panels: surface type and projection type. Both methods detect the position by capturing the change in capacitance between the fingertip and the conductive film. Since electrostatic coupling occurs only when the finger approaches the sensor surface, it is possible to display a cursor before contact. What is held down needs to be a finger or an electrostatic conductive material equivalent to the finger.
- the switch 140 shown in FIG. 6D uses a pressure sensor made of a semiconductor, a piezoelectric material, or the like built in the switch, not the switch moved in the depth direction, like the switch 130 described in FIG. 6C.
- the switch 130 shown in FIG. 6C can be switched stepwise by the pressure pressed by the operator, but the switch 140 shown in FIG. 6D corresponds to the pressure applied to the key top, for example, proportional to the pressure. In this way, an instruction to increase or decrease the speed to the movable part or the like is given steplessly.
- the relationship between the pressure and the speed can be stored in advance in the memory of the microcomputer as a corresponding table value or as a correlated function.
- the switch 150 shown in FIG. 6E can basically have the same structure as the switch shown in FIGS. 6C and 6D. The difference from the other switches is that this switch 150 is provided with a small switch 151 protruding from the center of the key top.
- the small switch 151 is a special switch provided with high sensitivity so as to be switched by applying a slight force. That is, the first-stage operation is executed with a much weaker force than the force that pushes the entire switch 150.
- the first stage of switching can be performed only by lightly touching the small switch 151 and can be easily used by an operator wearing gloves such as gloves or leather gloves.
- FIG. 8 shows an operation example when the switch 22 in FIG. 3 is configured by the switch 120 or 130 in FIG. 6B or 6C with respect to the overhead crane operating device 10 in FIG. That is, the start switch 22 is configured to switch the switch by being pushed in and deeply buried in stages.
- the overhead crane 1 as one embodiment of the device of the present invention is activated and activated so that the start switch 22 is operable (ST10).
- the angle of the first casing 20 of the operating device 10 is detected as it is, and the slip ring 32 and the rotary encoder 35 as the casing direction discriminating mechanism act on the traveling body 5 as the movable portion.
- the direction of the first casing 20 that determines the moving direction is detected (ST11).
- the traveling direction of the traveling body 5 as the movable portion is always detected without operating the start switch 22.
- the display device 50 displays the direction in which the vehicle is always going to travel, for example, as a small arrow (ST12).
- the display device 50, 50a informs the direction in which the traveling body 5 that is a movable part will always move, so that the operator can always advance the traveling body 5. It is possible to know in advance the direction that will be, and is extremely effective in preventing accidents.
- the traveling body 5 moves in the direction of the arrow at a low speed, and at this time, the display devices 50 and 50a have a medium size slightly larger than that during the stop corresponding to the speed. It is displayed (ST13).
- the traveling body 5 advances at a medium speed faster in the direction of the arrow.
- the display devices 50 and 50a are displayed in a size of “large” slightly larger than that during the stop corresponding to the increased speed (ST14).
- the traveling body 5 moves faster and faster in the direction of the arrow.
- the display devices 50 and 50a are displayed in the largest “maximum” size corresponding to the increased speed (ST15).
- FIG. 9 is a flowchart in the case where a device having a movable part includes a mechanism that moves up and down like the hook 7 in the overhead crane 1 of FIG. That is, FIG. 9 is a flowchart for explaining a display mode in the display device in the case of performing control accompanied by a speed change particularly when moving up and down.
- the device described here includes a device in which a movable part or the like does not move from east to west, north and south. However, FIG. 9 will be described with respect to the operation including the function of moving up and down in the vertical direction.
- FIG. 9 display by the display device is performed in substantially the same manner as shown in FIGS. 7A-7C, except that the moving direction is the up and down direction.
- the operator when the detection of the switch of the operating device that operates the device to be operated is started (ST20), the operator next presses the ascent switch, for example, the button 21 shown in FIG. When pushed in (ST21), the arrow indicates the “UP direction”, that is, the “up” direction, and is displayed small.
- the movable part does not actually move, and the display device 50 or the like merely indicates the upward direction, which is the direction in which the movement is planned, with an arrow.
- the movable part or the like starts moving at a low speed in the ascending direction.
- the arrow is larger and indicates the ascending direction. Displayed.
- the movable part and the like start moving at a high speed in the upward direction.
- the arrow is enlarged more greatly according to the speed increase, and is displayed in the ascending direction.
- the operator depresses one of the switches, for example, a lowering switch, for example, a button 23 shown in FIG.
- the arrow of the display device 50 indicates the “DOWN direction”, that is, the “down” direction, and is displayed in a small size.
- the display device 50 or the like simply indicates the downward direction, which is the direction in which the movement is planned, with an arrow.
- the movable part and the like start moving at a low speed in the downward direction, and the arrow is larger in the display device 50 and indicates the downward direction. Displayed.
- the movable part and the like start moving at a high speed in the upward and downward direction.
- the arrow is enlarged more greatly according to the speed increase, and is displayed indicating the descending direction.
- FIG. 10 is a block diagram showing an electrical configuration necessary for the operation as described above. Comparing FIG. 10 with FIG. 4, basically the same is obtained by adding switches in each direction of “east, west, south, and north” in the local controller unit 20-1. In order to avoid complications, a part of the detailed configuration shown in FIG. 4 is omitted, but the structure for communicating each switch of the operating device and the drive system has basically the same configuration. .
- FIG. 11 is a perspective view showing a schematic configuration of a “jib crane” according to an embodiment of the apparatus of the present invention
- FIG. 12 is a block diagram showing its main electrical configuration
- FIGS. 13A to 13F are views of the jib crane shown in FIG. It is a figure which shows an example of the display mode of the display apparatus attached.
- the jib crane to which the present invention is applied may be “self-propelled” or “fixed”.
- a jib crane 200 includes a main body portion 201 standing on a pole, and a jib that is an arm 202 that pivots around the virtual central axis of the pole of the main body portion 201 at the upper end of the main body portion. Yes.
- FIG. 12 is a block diagram showing the electrical structure of the jib crane of FIG. 11. Compared with FIG. 4, “moving right”, “turning left”, “extension” as the movable part is replaced with a turning arm.
- the switches 22-4, 22-3, 222-2-1 in each direction of “shrinkage” are simply added and are basically the same. In order to avoid complications, a part of the detailed configuration shown in FIG. 4 is omitted, but the structure for communicating each switch of the operating device and the drive system has basically the same configuration. .
- the operating device 20-2 is connected to each inverter or contactor 26a-1, 26b-1, 26c-1 via the microcomputer 25, and the motors 28-1, 27 serving as driving means in the respective directions. -1, 29-1 connected.
- the microcomputer 25 is connected to the display devices 50 and 50a.
- each switch of the operation device 20-2 may be a mechanical push-in system or a touch sensor system.
- the display device 50 is fixed to the swivel arm itself, which is a “jib” as a movable part, at a position where it can be easily seen by workers including those around it. The side is facing down.
- the display device 50 performs display as shown in FIGS. 13A-13F. That is, when the turning arm 202 turns counterclockwise or clockwise, for example, as shown in FIGS. 13A and 13B, a curved arrow is shown in accordance with the turning direction. Further, when the swing arm 202 moves in the horizontal direction, that is, in the horizontal direction, for example, arrows are displayed as shown in FIGS. 13C and 13D. Further, when the swing arm 202 is lowered or raised, for example, as shown in FIGS. 13E and 13F, it is easy to understand if the characters “DOWN” and “UP” are displayed without using the arrows. . In this case, an arrow display may be used together.
- FIG. 14 is a schematic view showing an example of an embodiment in which the device of the present invention is applied to a stationary large crane.
- An operator can enter the main body 211.
- a steering device or an operation device is accommodated in the main body, and an operation element described later is provided.
- a long crane boom 212 extends from the main body 211.
- the hook 7 is attached to the tip of the crane boom 212 so as to be movable up and down.
- the crane boom 212 can change the upward angle with one end fixed to the main body 211 and can turn along the horizontal direction.
- the display device 50-1 is displayed on the lower surface near the tip of the crane boom 212. It is fixed with the surface facing. The display by the display device 50-1 can be the same as the example described in FIGS. 13A-13F.
- the display device 50-1 is preferably attached to the side of the boom of the crane boom 212. If the display device 50-1 is attached in the vicinity of the tip of the crane boom 212, the position is not stable, so that it is difficult for people around to see the display on the display device. Further, when the display device 50-1 is attached in the vicinity of the main body 211 side of the crane boom 212, the position may be stabilized, but it is not easy to see for surrounding people. On the other hand, if the display device 50-1 is mounted on the side of the boom of the crane boom 212, the rear surface of the display device 50-1 and the boom side face each other. It becomes easy and stable, and the display is easy to see for the people around.
- FIG. 15 shows a case where, for example, a traveling body such as a movable portion traverses (horizontal movement) when the device having a movable portion is a device such as the overhead crane 1 of FIG. It is a flow figure explaining the display mode in a display device in the case of performing control with a speed change when it is divided into direction elements and moves.
- FIGS. 6B, 6C, and 6D can be used as the operators provided in the operating device, but in the following, description will be given taking the one shown in FIG. 6B as an example.
- detection of the switch of the operating device that operates the device to be operated is started (ST30).
- the operator selects the “east” switch having the same configuration as that of the switch 120 (see FIG. 6B) (ST31) and pushes it in one step
- the arrow indicates the “east direction”.
- the pushing-in stage is the first stage.
- the movable part does not actually move, but in the display device 50 or the like, the east direction, which is the direction in which the movement is planned, is indicated by a small arrow (ST31-1).
- the movable part and the like start moving at a low speed in the east direction, and in the display device 50, the arrow is larger, indicating the east direction. It is displayed (ST31-2).
- the movable part and the like start moving at high speed in the east direction, and in the display device 50, the arrow becomes larger according to the speed increase.
- the image is enlarged and displayed to point in the east direction (ST31-3).
- the arrow points to “west”.
- the pushing-in stage is the first stage.
- the movable part does not actually move, but in the display device 50 or the like, only the west direction in which movement is planned is indicated by a small arrow (ST32-1).
- the movable part and the like start moving at high speed in the west direction, and in the display device 50, the arrow becomes larger according to the speed increase.
- the image is enlarged and displayed to point in the west direction (ST32-3).
- the arrow points to “South”.
- the pushing-in stage is the first stage.
- the movable part does not actually move, and in the display device 50 or the like, only the south direction, which is the direction in which the movement is expected, is indicated by a small arrow (ST33-1).
- the movable part and the like start moving at a low speed in the south direction.
- the arrow is larger, indicating the south direction. It is displayed (ST33-2).
- the movable part and the like start moving at a high speed in the south direction.
- the arrow becomes larger according to the speed increase.
- the image is enlarged and displayed so as to point in the south direction (ST33-3).
- the arrow points to “north direction”.
- the pushing-in stage is the first stage.
- the movable part does not actually move, but in the display device 50 or the like, only the north direction, which is the direction in which the movement is scheduled, is indicated by a small arrow (ST34-1).
- the movable part and the like start moving at a low speed in the north direction.
- the arrow is larger, indicating the north direction. It is displayed (ST34-2).
- the movable part or the like starts moving at a high speed in the north direction, and the display device 50 has a larger arrow as the speed increases. It is enlarged and displayed to point in the north direction (ST34-3).
- the arrow points to the “north + east” direction (northeast direction).
- the pushing-in stage is the first stage.
- the movable part does not actually move, but in the display device 50 or the like, only the northeast direction, which is the direction in which the movement is expected, is indicated by a small arrow (ST35-1).
- the movable part and the like start moving at a high speed in the northeast direction.
- the image is further enlarged and displayed so as to point in the northeast direction (ST35-3).
- the arrow points to the “South + East direction” (South-east direction).
- the pushing-in stage is the first stage.
- the movable part does not actually move, and in the display device 50 or the like, only the south-east direction, which is the direction in which the movement is planned, is indicated by a small arrow (ST36-1).
- the movable part and the like start moving at a high speed in the southeast direction.
- the image is further enlarged and displayed so as to point in the southeast direction (ST36-3).
- the arrow points to “South + West” (southwest).
- the pushing-in stage is the first stage.
- the movable part does not actually move, and in the display device 50 or the like, only the southwest direction in which movement is planned is indicated by a small arrow (ST37-1).
- the movable part and the like start moving at a low speed in the southwest direction.
- the arrow is larger and indicates the southwest direction. Is displayed (ST37-2).
- the movable part and the like start moving at a high speed in the southwest direction.
- the image is further enlarged and displayed so as to point to the southwest direction (ST37-3).
- the arrow points to “north + west” (northwest).
- the pushing-in stage is the first stage.
- the movable part does not actually move, and in the display device 50 or the like, only the northwest direction in which movement is planned is indicated by a small arrow (ST38-1).
- the movable portion and the like start moving at high speed in the northwest direction.
- the image is further enlarged and displayed to point in the northwest south direction (ST38-3).
- FIG. 16A-16D show display examples of the display device as described above. That is, FIG. 16A is a display example in which the movable part and the like are moving at high speed in the north direction.
- FIG. 16B is a display example in which the movable part and the like are moving in the north-northeast direction at a slightly high speed.
- FIG. 16C is a display example in which the movable part and the like are moving in the northeast direction at medium speed.
- FIG. 16D is a display example in which the movable part and the like are moving at low speed toward east and northeast. It is preferable that only the graduation point indicated by these arrows (for example, the graduation point in the north in FIG. 16A) has a color different from the other graduations, or “light emission point”.
- FIG. 17A is a display example in which only the characters “UP” and “DOWN” are shown without using an arrow on the display device so that the forecast of the upward and downward movements can be understood more easily.
- the size may be changed, and the color may be changed according to the difference in direction.
- FIG. 17B is a display example in which arrows are further added to those in FIG. 17A to display east, west, south, and north together.
- FIG. 18 shows an example in which the display device is three-dimensionally formed, and the illustrated one has a quadrangular frustum shape gradually reduced in size downward. In this example, the horizontal sectional area decreases downward. In this way, the arrow display is three-dimensional and easy to understand.
- the stereoscopic display device is not limited to this shape, and may be another polygonal pyramid, and any geometric shape such as an octagonal pyramid, a cone, or a cylinder can be used. In the case of a display device having a three-dimensional shape, an operator looking up from below is easy to visually recognize the shape of a quadrangular pyramid that is gradually reduced in size as shown in the figure.
- each direction of “east (E), west (W), south (S), north (N)” can be shown on the outer surface.
- E east
- W west
- S south
- N north
- FIG. 19A-19F illustrate various display modes of the display device 50.
- FIG. FIG. 19A shows a dot matrix display panel in which the arrow pointing north (movable part etc. has moved to “north”) gradually decreases from the left end figure toward the right. Is shown in In these drawings, for example, in any one of the switches 110, 120, 130, and 140 described with reference to FIGS. 6A to 6E, the magnitude of the arrow may be displayed depending on the depth or strength of the push-in amount. It is shown.
- FIG. 19B is basically the same as FIG. 19A, but the tip of the displayed arrow always occupies the same position.
- FIG. 19C is the same as FIG. 19A in that the size of the displayed arrow is changed according to the amount of pressing (speed) of the switch, not just the dot matrix.
- FIG. 19D is a north arrow of the same size. Although illustration is difficult, even if the size of the arrow is the same, the difference in speed may be indicated by changing the color.
- FIG. 19E in addition to the arrow display similar to FIG. 19A, whether the load is lifted or lowered with respect to the lifting / lowering of the suspended load suspended on the hook 7 in FIG. It is an example displayed together with the characters “”. The color of the character part may be changed or blinked to attract the operator's attention more strongly.
- the display content changes from right to left. Specifically, for example, the “arrow” itself moves toward “north (N)” which is the moving direction of the movable part. That is, the display by the display device 50 is referred to as “animation” display. Thereby, it may be made easy to see the operator with a display with movement.
- 20A-20B are schematic views showing an example of an embodiment in which the device of the present invention is applied to a “track with UNIC”.
- the apparatus of the present invention can be applied to all vehicles having a movable part or a moving arm, such as a “mobile self-propelled crane”, “excavator”, and “fire ladder car”.
- a truck 220 is provided with a loading platform 222 in the chassis 221, and a long main body 223 extending vertically from the chassis 221 or the loading platform, and gradually rises obliquely rearward from the upper end of the main body 223.
- An inclined arm 224 that extends while extending.
- the tilt arm 224 can vary the tilt angle.
- the tip of the inclined arm 224 is provided with an elevating mechanism and a hook 7 provided at the lower end of the elevating mechanism.
- the inclined arm 224 and the lifting mechanism constitute a lifting device.
- the two display devices 50 and 50 are fixed so as to coincide with the tilt, with the tilt arm 224 being sandwiched.
- a horizontally fixed display device 50 a is provided at the upper end of the inclined arm 224.
- the display device 50 fixed to the tilt arm 224 displays the turning direction of the tilt arm 224
- the display device 50a fixed to the upper end of the tilt arm 224 displays the lifting / lowering of the hook 7.
- both the display devices 50 and 50a may simultaneously display the turning of the inclined arm 224 and the raising and lowering of the hook 7.
- FIG. 21 shows an operation lever provided in the vicinity of the driver's cab in the vehicle (not shown) of the truck 220, and is an aspect of the “operator”.
- the operation lever 225 is formed of a cantilevered elastic bar or the like having a certain “play” region that can swing substantially “without torque” in the operation direction.
- the operator starts crane operation and activates the tilt arm 224, the operator operates the operation lever 225 within the range of this “play width”. Is moved, the turning direction of the inclined arm 224 is quickly displayed on the display device 50 as shown in FIGS. 22A-22B. At this stage, the tilt arm 224 does not pivot.
- the turning operation of the tilt arm 224 can be started for the first time after the display of the turning direction is confirmed in a circuit.
- the worker near the track 220 can visually recognize the turning direction of the inclined arm 224 prior to the operation by the display means 50, and can perform necessary retreating, so that work safety is achieved. I can do it.
- FIG. 23A-23B are schematic views showing an arm robot 250 such as an industrial robot as an example of the device of the present invention.
- the arm robot 250 is a four-axis rotation type robot.
- the arm robot 250 includes a base 251, a support column 252 that stands vertically from the support 251, and a first arm unit that is rotatably attached to the support column 252 at the upper end. 253 and a second arm portion 254 rotatably attached to the distal end side of the first arm portion 253.
- This arm robot 250 is operated by an operating device (remote controller) 260.
- an operating device remote controller
- the support column 252 has a first rotation shaft 255 that is rotated around a virtual vertical central axis.
- a first display device 50-1 that is the same as the display device described in other embodiments is provided to be exposed on the outer surface.
- the first display device 50-1 can display the turning direction and the turning speed when turning by the turning shaft 255.
- a second rotating shaft 256 is provided at the upper end of the support column 252.
- the rotation shaft 256 can rotate the first arm portion 253 as indicated by an arrow.
- a second display device 50-2 is provided near the upper end of the support column 252. The second display device 50-2 can display the turning direction and turning speed of the first arm portion 253.
- a third rotating shaft 257 is provided at a location where the second arm portion 254 is connected to the first arm portion 253.
- the third rotation shaft 257 rotates the second arm portion 254 in the arrow direction.
- a third display device 50-3 is provided in the vicinity of the third rotation shaft 257.
- the third display device 50-3 can display the turning direction and the turning speed of the second arm portion 254.
- a fourth rotation shaft 258 is provided on the distal end side of the second arm portion 254.
- the fourth rotation shaft 258 is, for example, a rod-shaped gripping arm that extends substantially parallel to each other in FIG. 23A.
- the hand portion 259 including 259-1 and 259-2 can be rotated in the direction of the arrow.
- a fourth display device 50-4 is provided in the vicinity of the fourth rotation shaft 258.
- the fourth display device 50-4 can display a turning direction and a turning speed when the hand unit 259 rotates around the virtual central axis of the second arm unit 254. .
- the gripping arms 259-1 and 259-2 of the hand part can approach and separate from each other as indicated by the arrows so as to grip the object.
- the teaching work of an industrial robot such as the arm robot 250 is performed using an actual work.
- This teaching work is usually performed using a considerably narrow space, and is often close to other devices, jigs, and robots.
- the first to fourth display devices 50-1, 50-2, 50-3, 50-4 display the turning direction prior to each turning operation, thereby indicating the direction in which the first to fourth display devices 50-1, 50-2, 50-3, 50-4 operate before the operation. It can be seen quickly and can prevent such accidents.
- the display device is provided integrally with an arm 254 as a movable part.
- FIG. 24 shows another example of the operation element, and shows a schematic configuration of a so-called “torque” type lever-type operation element 2600.
- the lever-type operation element 2600 has a vertical shaft 263 extending downward from the grip portion 261 and can move up and down in the direction of the arrow in the slit 268.
- a guide portion 267 having side walls sandwiching the slit 268 is formed.
- the side wall of the guide portion 267 is provided with a plurality of other contacts that form a closed circuit in contact with a terminal plate 269 such as a leaf spring made of an elastic conductor provided on a vertical axis on the gripping portion 261 side. Yes.
- Other contacts are, for example, a first contact 263, a second contact 264, a third contact 265, and a fourth contact 266.
- a small arrow is displayed on the display device, for example, as described in other embodiments, as soon as the terminal plate 269 is separated from the first contact 263.
- a movable part (not shown) connected to the lever type operation element 2600 does not move.
- the terminal plate 269 comes into contact with the second contact 264, the movable portion or the like starts moving, and the arrow display of the display device is enlarged.
- the terminal plate 269 contacts the third contact 265 and the fourth contact 266 as the grip 261 is lowered, the moving speed of the movable part connected thereto increases. Can be enlarged.
- the second contact 264, the third contact 265, and the fourth contact 266 may be used as switches for changing the moving direction instead of a switch for issuing an instruction to gradually increase the speed.
- a member that mechanically becomes a stopper in response to a command from a circuit (not shown). May enter into the slit 268 to prevent further lowering operation of the grip portion 261 for a predetermined time. It is preferable that the working time of the stopper can be arbitrarily changed and set in advance, for example, “2 seconds”.
- FIG. 25 shows another example of the operation element, and shows a rotary switch type operation element 270 having a so-called “pick portion 271”.
- contacts A, B, C, and D that perform switch switching at equidistant positions on a concentric circle around a substantially circular knob 271 that can be rotated (rotated clockwise and counterclockwise).
- E, F are arranged. Therefore, it is possible to change the moving direction of the movable part simply by grasping the knob part 271 in each direction and rotating it. At the same time, the display operation of the display device connected thereto can be instructed.
- the contacts B and F are contacts that instruct the display device to indicate only the direction of movement with arrows, and the movable portion or the like does not move if the knob 271 is rotated to these positions. Do not start.
- the knob portion 271 is further rotated, the movement is started, the moving speed is determined at each contact position according to the rotation angle, and the size of the arrow can be sequentially displayed on the display device.
- FIG. 26 shows a handle type operation element 280.
- the operator holds the handle portion 281 and rotates it in the direction of arrow A. For this reason, the pole 282 extending from the handle portion 281 rotates in the direction of the arrow B, and the same effect as that of FIG. 25 can be obtained by combining substantially the same contact structure as described in FIG.
- each embodiment may omit a part, and may combine the partial structures of each embodiment.
- the display device may display other information in addition to the above-described arrows, characters, colors, and the like.
- the display device 50-1 shown in FIG. 14 is desirably installed on the boom side surface of the crane boom 212 as described above. However, since the display device 50-1 can be arranged at a higher position as it is closer to the vicinity of the boom tip, the display device 50-1 is installed on the side of the boom closer to the vicinity of the boom tip. Is more desirable.
- An operation device in which a touch panel is mounted as an operation panel and a touch sensor type switch is used as an operation element may be used.
- FIG. 27 is a block diagram showing the electrical configuration of such an operating device.
- the operation device 300 includes an operation panel unit 310, an image forming unit 320, a control unit 330, a storage unit 340, an attachment unit 350, a signal transmission / reception unit 360, and a bus unit 370.
- At least the operation panel unit 310, the image forming unit 320, the control unit 330, the storage unit 340, and the signal transmission / reception unit 360 are configured to exchange bidirectional signals via the bus unit 370.
- the exchange of information between the attachment unit 350 and the bus unit 370 one-way communication from the bus unit 37 to the attachment unit 350 is sufficient.
- the operation panel unit 310 detects an operation signal from the touch sensor type switch unit 311 and the switch unit 311, and sends a signal corresponding to the operation signal to the bus unit 370 and receives a signal from the bus unit 370.
- a display unit 313 is provided for displaying an image corresponding to the signal and other information.
- the display unit 313 is formed with a touch panel.
- the image forming unit 320 includes a signal processing unit 321 that processes image information using a signal received from the bus unit 370 and a correction unit 322 that corrects the image information, and includes an image memory 323 as necessary. ing.
- the image memory 323 generates the image information, the information received from the recording unit 340 via the bus unit 370, information necessary for processing the image information and correction processing, and / or the image processing unit 321 to generate the image information. It has a function of storing other information necessary for the storage temporarily or for a long time.
- the control unit 330 includes an operation control unit 331 that controls the overall operation of the operation apparatus 300, a display control unit 332 that controls display of images and other information on the display unit 313, and an operation control unit 331 and a display control unit 332.
- a data storage unit 333 is provided for storing information necessary for the control in a temporary or long-term.
- the attachment unit 350 is a speaker that emits sound that appeals to hearing, a light-emitting device that emits light that appeals to vision, or the like.
- the storage unit 340 stores information necessary for each unit constituting the controller device 300.
- the signal transmission / reception unit 360 exchanges signals bidirectionally with the drive control device 40 outside the operation device 300.
- the drive control device 40 constitutes a device according to the present invention (other devices constituting the device according to the present invention are omitted in FIG. 27).
- an operation signal is sent to the operation detection unit 312 from the switch unit 311 that has detected the operation.
- the operation detection unit 312 that has received the operation signal transmits a signal corresponding to the operation signal to the bus unit 370, and transmits the signal to the operation control unit 331 via the bus unit 370.
- the operation control unit 331 After receiving the signal corresponding to the operation signal, the operation control unit 331 sends a signal corresponding to the control signal for the device according to the present invention to the bus unit 370 and sends it to the drive control device 40 via the signal transmission / reception unit 360. It is done.
- the display unit 313 displays part or all of the attachment unit 350 or an image of an article conveyed by the attachment unit 350.
- This image image corresponds to the image information formed in the image forming unit 320.
- the display control unit 332 mainly controls the image to rotate, expand, contract, etc. in accordance with the operation. Be controlled.
- an operation signal is sent to the operation detection unit 312 from the switch unit 311 that has detected an operation corresponding to rotation, expansion and contraction of an image performed by the operator using the touch panel of the display unit 313, and the operation signal is received.
- a signal corresponding to the operation signal is sent from the operation detection unit 312 to the bus unit 370, and is sent to the operation control unit 331 via the bus unit 370.
- a signal for sending from the operation control unit 331 to the drive control device 40 is sent to the bus unit 370 and sent to the drive control device 40 via the signal transmission / reception unit 360, and finally
- the movable part corresponding to the rotation or expansion / contraction of the image performed by the operator using the touch panel of the display unit 313 or the movement of the article conveyed by the movable part (rotation, expansion / contraction, etc.) ) Is realized.
- the image information formed in the image forming unit 320 is controlled by the control unit 330 and can be sent to the drive control device 40 via the bus unit 370 and the signal receiving / transmitting unit 360, and the apparatus according to the present invention is provided. It can also be displayed on a display device.
- the image displayed on the display device is the same as or almost the same as the image image of the article conveyed by the accessory part or all or the accessory part displayed on the display part 313 when the operator operates the switch. Is. Therefore, the operator can intuitively operate the movement of the movable portion and the conveyance of the article by the movable portion while looking at the display device without looking at the display portion 313 attached to the operation device 300. , Operability is improved. In addition, since the person around the operator can directly understand the operation performed by the operator by looking at the display device, the safety of the work site and its surroundings is generally higher.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
- Selective Calling Equipment (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
Description
(1)「操作装置」とは、操作対象機器に取付けられて、当該機器の動作を操作制御するためのものに限らず、機器から離れて存在していて、遠隔操作、遠隔制御等を行うためのリモートコントローラ(以下、「操作装置」ともいう。)の意味を有する操作装置をも含むものである。なお、操作装置機器の操作装置では、無線、有線といった信号伝送方式の違いは、別段の説明を行う場合を除き、「操作装置」の定義又は解釈を左右しない。
(2)「移動体」とは、以下に、「可動部」とも表現されるものであり、二次元(X及びYの仮想平面上)または三次元(X、Y、Zの座標軸上)で移動する移動装置により二次元または三次元方向へ相対的に移動させられる部品もしくは部材であり、例えば、把持機構や吊下げ用のフック等を有しているものであり、レールに沿って走行するものや、旋回するアーム状のものを指す。
(3)「移動機構」とは、移動体を移動させる機構であり、昇降機の原動機を含む。移動体が三次元方向に移動する場合、その移動を可能にするX軸モータ、Y軸モータ及びZ軸モータは「移動機構」に、または「移動機構の一部」に該当する。
ここいう「自律的に移動や旋回または走行する可動部」とは、例えば、天井型クレーン等におけるXYレールに沿って移動、走行する走行体や、工事現場等で使用する傾斜して起立した支柱に設けた昇降機としての巻上機、アーム先端の裁断機の剪断応力で対象を破砕する構築物破砕機等の種々の可動部を指すものである。これらは、操作装置を介して、操作の指令がされると、予め組み込まれた動作プログラムやシーケンス回路等により各工程についての指示を人がしなくても作業を継続し、自律的に動く場合もある。「可動部」としては、前記(天井型クレーン等や自立クレーン等の)走行体や、前記(クレーンの上部構造で旋回する)アームのほか、該アームに取付けた昇降機等が含まれる。その他、工場内で組立部品を搭載して自律式に走行してこれらを搬送するプログラムされた搬送ロボット等も含まれる。該ロボットも例えば作業環境内で、走行中に行き先を変更したりする場合があるので、その変更前に進路変更の方向を予め表示する表示装置を備えるようにすることで、作業環境内で一緒に仕事をする作業者の安全を図ることができる。
さらに、表示装置が、タイマー等の働きで、電気的に、あるいは機械的なストッパーなどの機能を利用して、動作方向に関する表示を予め決まった時間だけ表示してから、でなければ、実際の移動動作に移れないようにすることもできる。
好ましくは、前記表示装置が、前記可動部又は前記機構に固定されていてもよい。
上記構成によれば、例えば、操作装置の操作子の構成一例として押しボタンを選択した場合には、該ボタンの押し込み量により、表示装置に示す記号の種類等を変えることで、視覚的な直観的理解を助けることができる。
好ましくは、前記表示装置は、前記操作装置による操作に従って指示された前記可動部の移動の内容を矢印により表示し、前記矢印は、前記可動部の移動の方向に沿って移動するように見えるように構成されていてもよい。
好ましくは、前記表示装置は、操作装置による操作の内容を矢印により表示し、前記可動部の移動の方向だけでなく、前記可動部又は前記可動部により搬送される物品の昇降移動の方向を表示するように構成されていてもよい。
好ましくは、前記表示装置は、操作装置による操作の内容を矢印により表示し、前記矢印は、前記可動部の移動の方向に沿って長さが変化するように見えるように構成されていてもよい。
また、本発明の別の局面の表示装置は、少なくとも(自律的に移動や旋回または走行する可動部か、もしくは操作制御を受けて移動や旋回または走行する可動部か、もしくは自立的にあるいは操作制御を受けて本体がそれ自体が移動や旋回または走行させる部分)のうちのいずれかひとつの、あるいはこれらのうちの2以上のものを組み合わせた機構と、前記いずれかの機構の動作を指示する操作装置と、操作装置からの指示に基づいて、前記いずれかの動作を駆動回路に指示する駆動制御部とを備えた機器に設けられる表示装置であって、前記駆動制御部が、前記操作装置により、前記いずれかの動作の指示があった際に、前記移動や旋回または走行動作について、少なくとも指示された動作方向もしくは自律的に決定した動作方向に沿って動作開始する以前に前記動作方向を表示する構成としたこと、要約すれば、可動部を備える機構と、前記可動部の移動を操作するための操作装置と、前記可動部を移動させる移動機構と、前記操作装置による操作に応じて、前記移動機構の動作を制御する駆動制御装置とを備える機器に設けられた表示装置であって、前記可動部の移動が開始する以前に、前記可動部の移動に関する表示を行うように構成されている。
なお、以下に示す実施形態は本発明を適用した好ましい実施形態の単なる一例であって、以下で特に記載のない限り、本発明の範囲が実施形態に記載に限定されることはない。
ここで、三次元装置である天井型クレーンは本発明の「機器」の一例として説明するものである。本発明の「機器」には後述するように、さまざまな態様があるが、天井型クレーン(屋外使用のものも含む)に適用すると特に便利である。本明細書で「天井型クレーン」とは、屋内の天井に天井付近に走行レールを設置するものの他、屋外において、同様に縦横にほぼ水平方向に走行レールを配置するタイプのクレーンを含むものである。
つまり、表示装置50,50aは、後述する別の形態とする場合もあるが、図1の例では、水平に広がるできるだけ厚みのない平たい形態とすることができる。具体的には、表示装置50,50aは、例えば液晶表示板や、EL(エレクトロルミネッセンス)表示板、LED表示装置、電光表示板、セグメント表示可能な光電管などで構成することができる。図1の例では、正方形の液晶表示板に「東西南北」の方位を記入してあり、これらを方位を基準として、矢印の向きの変化により走行体5の移動する方向を示すようになっている。
回転しない第2の筐体30の内部には、回転もしくは回動された第1の筐体20の相対的な回転変位を検出するための筐体方向判別機構39-1が収容されている。すなわち、第2の筐体30の内部には、筐体方向判別機構39-1としてスリップリング32と回転検出装置が収容されている(図3参照)。具体的には回転検出装置としては光学式ロータリエンコーダ35、あるいは、アブソリュートロータリエンコーダ、ジャイロ装置等を用いることができる。
筐体判別方向検出機構39-2としては、例えば圧電材料で形成された圧電ジャヤイロや加速度センサ、半導体による加速度センサ等を利用することができる。
操作装置10には操作スイッチ11を有している。操作スイッチ11は、具体的には、例えば、例えば、図3における上昇スイッチ21、下降スイッチ23、スタートスイッチ22、非常停止スイッチ24等として形成されている。
図3の構成では、操作装置側にもマイコン25がある。さらに、Y、Zの各軸のモータ27、29に関してマイコン25a-2を設け,X軸のモータ28に関してマイコン25b-2を設けるとともに、それぞれ制御基板25a,25bを設けて、各通信ドライバ25a-1,25b-1に制御させるとともに、表示装置50,50aにも制御基板25cを設け、マイコン25c-2と通信ドライバ25c-1および表示駆動制御のための表示回路25c-3を搭載している。
図1の機器に適用した例として説明すると、天井型クレーン1を起動すると、その表示装置50,50aも同時に起動される(ST1)。
図1の天井クレーン1では、操作装置10により駆動制御装置40を介して、各移動機構45に当該命令がなされる。ここで、可動部となるものは、図1の天井クレーン1であれば、走行体5であるが、機器の種類によっては、それが旋回するアームであったり、昇降するフック等である。これらの可動部には、そのような機器の可動部の種類に応じた移動の方向性があり、それは、縦や横への各方向への動き、上や下への各方向への動き、右回り、左回りの旋回の方向に関する動きである。このような「移動」もしくは「動き」を開始させるための手段には、天井クレーン1の操作装置10の後述するスイッチ等があるが、それ以外にもさまざまな操作子の形態が考えられる。スイッチの構成については詳しく後で述べる。
図3のマイコン25は、表示装置50,50aが移動に先立って、これから移動する方向の表示をするのである。好ましくはマイコン25はこの表示装置50,50aが移動に先立つ移動方向の表示を行った旨の信号を受け取り、その確認をし(ST4)、その後で移動機構45に対して、実際の移動を開始させる(ST5)。
このように、本実施形態においては、少なくとも天井クレーン1の操作者以外の者が、外部から視認することができる大きさと位置を占めるように表示装置50,50a配置されることで、操作者以外の人の視認を確実なものとし、しかも、この表示装置が、先ず、走行体5の動作方向に関する表示を行い、それを確認したあとで動作に入ることで、その動作領域からの確実な退避を促すことができ、作業現場における安全性を確実に担保できる。
続いて、図7Aの一番右の図に示すように、スイッチ120を三段階目まで階押し込んで、D3の深さを埋没させる。すると、図7Cの一番右の図に示すように、回路1のスイッチS1、S2,S3の全てが導通される。このため、図7Cの一番右に示すように表示装置50は、可動部等が支持された方向(北)に向かって、予め定めた速度としての高速で進み始める。
勿論この過程で、操作装置から可動部等の移動方向に付き変更の指示があれば、表示装置の矢印表示は、回転もしくは回動して、修正された移動方向を指すことになる。
このようなタッチセンサ方式のスイッチとしては、例えば、抵抗膜方式によるものが利用できる。膜抵抗方式は、透明電極を構成する金属薄膜は抵抗を持っていることを利用する。対向する二枚の抵抗膜のうち一枚に対して電圧をかけておくと、操作した位置に応じた電圧が別の抵抗膜に発生する。この電圧を検知する事によりアナログ量として操作した場所を検知することができる。
表面弾性波方式は抵抗膜方式の欠点である透明度の低さを解決するために開発されたものである。剛性の高いガラスなどの基板の複数の隅に圧電素子を取り付けて振動波を発生させる。板に触れていると固定点となり、振動波はそこで吸収され一部は跳ね返る。跳ね返りを圧電素子の電圧の発生によって検出する。各々の反射時間を計測して指などの接触した場所を検知することができる。超音波方式とも呼ばれる。
この方式では、ディスプレイ表面にタッチパネルを実装した場合、奥にあるディスプレイの視認性が良好であるか否かが重要である(例えば「スマートフォン」のように)。しかし、操作装置のスイッチの場合、スイッチはそれほど透明度が要求されないので、十分使用できる。抵抗膜方式は、押さえるものは必ずしも指でなくとも良いが、表面弾性波方式は抵抗膜方式よりはやや制約があることから、抵抗膜方式を採用する方がやや好ましい。
図6Eに示すスイッチ150は、基本的には、図6C、図6Dに示すスイッチとほぼ同じ構造のものを利用できる。他のスイッチと相違する点としては、このスイッチ150が、キートップの中心部分に小スイッチ151を突出させて設けている点である。この小スイッチ151は、僅かな力を加えただけでスイッチングするように感度良く設けた特別のスイッチである。つまり、スイッチ150全体を押し込む力に対して、はるかに弱い力で第1段階の動作が実行されるものである。小スイッチ151に軽く触れただけで第1段階のスイッチングがなされるようになっており、軍手や革手袋等の手袋をはめた作業者等により容易に使用できるようにしたものである。
図8は、図1の天井クレーンの操作装置10に関して、図3のスイッチ22を図6Bや図6Cのスイッチ120または130により構成した場合の操作例を示すものである。すなわち、スタートスイッチ22は、押し込んで、段階的に深く埋没することで、スイッチの切り替えを行う構成である。
天井クレーン1を起動すると、そのまま操作装置10の第1の筐体20の角度検出して、筐体方向判別機構としてのスリップリング32およびロータリエンコーダ35の働きにより、可動部としての走行体5に対する移動方向(すなわち、筐体の向いている方向)を決める第1の筐体20の向きの検出を行う(ST11)。このことにより、スタートスイッチ22を操作することなく、可動部としての走行体5が進行する方向を常時検出している。しかも、表示装置50に、例えば小さな矢印として、常時当該進行しようとする方向を表示する(ST12)。
図9において、操作対象となる機器を操作する操作装置のスイッチの検出が開始される(ST20)と、次に、操作者がスイッチのうち上昇スイッチ、例えば図3の符号の21のボタンを一段押し込む(ST21)と、矢印が「UP方向」すなわち、「上」方向を指して、小さく表示される。スイッチの一段目では、可動部は実際に移動することなく、表示装置50等において、移動が予定される方向である上方向を矢印で示すだけである。
図9において、操作者がスイッチのうち下降スイッチ、例えば図3の符号の23のボタンを一段押し込む(ST22)。これにより、表示装置50の矢印が「DOWN方向」すなわち、「下」方向を指して、小さく表示される。スイッチの一段目では、可動部は実際に移動することなく、表示装置50等において、移動が予定される方向である下方向を矢印で示すだけである。
図12は、図11のジブクレーンの電気的構造を示すブロック図であり、図4と比べると、可動部が旋回アームに置き換えられていることに伴い、「右旋回」「左旋回」「伸長」「収縮」の各方向へのスイッチ22-4、22-3、22-22-1を増設しているだけで、基本的には同じである。煩雑をさけるため、図4で示した細かい構成の一部は図示を省略しているが、操作装置の各スイッチと、駆動系統とを連絡する構造としては、基本的に同じ構成を備えている。
表示装置50は、図11に示されているように、周辺の者も含めて、作業者から容易に視認できる位置で、可動部としての「ジブ」である旋回アーム自体に固定され、その表示面を下に向けている。
すなわち、旋回アーム202が反時計方向に、あるいは時計方向に旋回する場合には、例えば、図13A、図13Bに示すように旋回で曲がる方向に合わせて曲線的にした矢印が示される。また、旋回アーム202が横方向、すなわち、水平な方向に移動する場合には、例えば、図13C、図13Dに示すように矢印が表示される。さらに、旋回アーム202が下降し、あるいは上昇する場合には、例えば、図13E、図13Fに示すように矢印を用いないで、「DOWN」や「UP」の文字表示を行うようにすると分かり易い。この場合、矢印表示を併用してもよい。
クレーンブーム212は本体211に一端が固定された状態で上向きの角度が変更できるとともに、水平方向に沿って旋回することができる、クレーンブーム212の先端付近には表示装置50-1が下面に表示面を向けて固定されている。この表示装置50-1による表示は、図13A-13Fで説明した例と同じものとすることができる。
図15において、操作対象となる機器を操作する操作装置のスイッチの検出が開始される(ST30)。続いて、操作者がスイッチ120(図6B参照)と同じ構成の「東」スイッチを選択し(ST31)これを一段押し込むと、矢印が「東方向」を指す。この場合、押し込み段階が一段目である。スイッチの一段目では、可動部は実際に移動することなく、表示装置50等において、移動が予定される方向である東方向を小さな矢印で示すだけである(ST31-1)。
すなわち、図16Aは、可動部等が北方向に高速で移動している表示例である。図16Bは、可動部等が北北東方向にやや高速で移動している表示例である。図16Cは可動部等が北東方向に中速で移動している表示例である。図16Dは、可動部等が東北東に向けて低速で移動している表示例である。これらの矢印が指す目盛りの箇所(例えば、図16Aでは北の箇所の目盛り)だけ、他の目盛りと異なる色、あるいは、「発光箇所」等とすると好ましい。
図17Aは、表示装置に矢印を用いないで、「UP」と「DOWN」の文字だけ示し、上昇と下降の動きの予報がより分かり易くなるようにした表示例であり、速度に応じて文字の大きさを変え、方向の相違に応じて色を変えても良い。
図18は表示装置を立体的に形成した例を示した例であり、図示のものは、下方に向かって徐々に縮寸した四角錐台の形状である。この例では、下方に向かって、水平断面積が減少する構成である。このようにすると、矢印表示が立体的となり分かり易い。立体的表示装置はこの形状に限るものではなく、他の多角錐でもよく、8角錐、円錐、円柱等、あらゆる幾何学形状を利用できる。立体的形状の表示装置の場合、図示のように下方に向かって徐々に縮寸した四角錐台の形状であると、下から見上げる作業者が視認し易い。
図19Aはドットマトリクス状の表示パネルで北向きを示す矢印(可動部等が「北」へ移動している)が、左端部の図から、右へ行くに従って、徐々に小さくなる態様が段階的に示されている。これらの図は、例えば図6A-6Eに関して説明したいずれかのスイッチ110,120、130、140等において、押し込み量が深さもしくは強さに応じて、異なる矢印の大きさが表示されることが示されている。
図19Cは、ドットマトリクスでないだけで、スイッチの押し込み量(速度)に応じて、表示される矢印の大きさを変えている点は、図19Aとおなじである。
図19Eは、図19Aと同様な矢印表示に加えて、図2のフック7に吊った吊り荷の昇降に関して、上昇しているのか、下降しているのかを、例えば、「UP」や「DOWN」の文字で併せて表示した例である。文字部分の色を変えたり、点滅させたりして、作業者の注意をより強く引きつけるようにしてもよい。
ここで、傾斜アーム224に固定した表示装置50は、該傾斜アーム224の旋回方向を表示し、傾斜アーム224の上端に固定した表示装置50aにはフック7の昇降に関して表示するようにして、役割を分けても良いし、表示装置50、50aは共に傾斜アーム224の旋回とフック7の昇降を同時に表示するようにしてもよい。
図21は、トラック220の図示しない車内で、運転台に近接して設けられた操作レバーであり、「操作子」の一態様である。
この場合、操作レバー225は、図示するように操作方向に、略「トルク無く」振れるような一定の「遊び」領域のある片持ちばり式の弾性棒材等で形成されている。この「遊び幅」を利用して、作業者がクレーン操作を開始して、傾斜アーム224の起動をした際に、作業者が操作レバー225をレバー操作して、この「遊び幅」の範囲内を動く際には、いち早く傾斜アーム224の旋回方向を図22A-22Bで示す様に表示装置50により表示する。この段階では傾斜アーム224は旋回しない。そして、好ましくは、旋回方向の表示を回路的に確認した後で、初めて傾斜アーム224の旋回動作が開始されるようにすることができる。
アームロボット250は、4軸回動型のロボットである。アームロボット250は、図23Aに示されているように、基台251と、基台251から垂直に起立する支柱部252と、支柱部252に上端に回動自在に取付けられた第1アーム部253と、この第1アーム部253の先端側に回動自在に取付けられた第2アーム部254とを有している。このアームロボット250は、操作装置(リモコン)260で操作されるようになっている。
さらに、ティーチング作業中は、エリアセンサなどの安全装置を解除してなされることがあり、誤った軸の駆動や、意図しない方向への旋回は、通常の作業時よりも一層危険である。
そこで、第1ないし第4の表示装置50-1,50-2,50-3,50-4が、各旋回動作に先行して、旋回方向を表示することで、動作前に動作する方向をいち早く視認でき、このような事故を未然に防ぐことができる。表示装置は、可動部としてのアーム254に一体に設けられている。
レバー型操作子2600は、把持部261から垂直な軸263が下方へ延びており、スリット268内を矢印方向に昇降できる。この操作子では、スリット268を挟む側壁を有する案内部267が形成されている。案内部267の側壁には把持部261側の垂直な軸に設けた弾性を有する導体でできた板バネのような端子板269と接触して閉回路を作る他の接点が複数個設けられている。
把持部261を操作者が掴んで、倒していくと、第1接点263から端子板269が離れた途端に、例えば、他の実施形態で説明したのと同様、表示装置に小さな矢印が表示されるが、この時点では、レバー型操作子2600と接続された図示しない可動部等は移動しない。
把持部261を下降させて行くにつれて、これと接続された可動部等の移動速度が増加して第3接点265、第4接点266に、順次端子板269が接触する毎に、表示装置の矢印を拡大表示することができる。なお、第2接点264,第3接点265、第4接点266は、速度を次第に増加させる指示を出すためのスイッチ用ではなく、移動方向の変更用のスイッチに用いても良い。
図示の例では、回動可能(時計方向と反時計方向に回転可能)とされたほぼ円形の摘み部271の周囲に同心円上の等間隔位置にスイッチ切り換えを行う接点A、B、C、D、E、Fを配置している。したがって、それぞれの方向に摘み部271を掴んで回動操作するだけで、可動部の移動方向を変更できる。また、同時にこれに接続された表示装置の表示動作を指示できる。
操作者がハンドル部281を把持して、矢印A方向に回動させる。このため、ハンドル部281から延びるポール282は、矢印B方向に回動し、図25で説明したのとほぼ同様な接点構造を組み合わせることで、図25と同様な作用効果を得ることが出来る。
(1) たとえば、表示装置には、既述の矢印、文字、色等に加えてその他の情報を表示させてもよい。
(2) 作業者のみならず、一般人にも知らしめることが必要又は有益な情報を表示装置に表示させてもよい。たとえば、震災その他の災害の発生、震度、風速、天候やその変化、避難すべきか否か、最寄りの避難場所等に関する情報を表示させれば、作業者のみならず一般人に安心感を与えることができ、また、被災リスクを低減することができる。道路の渋滞情報、電車の遅延情報などの交通情報を表示装置に表示させれば、交通トラブルに巻き込まれるおそれを低減することができる。
(3) タッチパネルを操作パネルとして実装し、タッチセンサ方式のスイッチを操作子とした操作装置であってもよい。図27は、そのような操作装置の電気的構成を示すブロック図である。
Claims (11)
- 表示装置を備える機器であって、
可動部を備える機構と、
前記可動部の移動を操作するための操作装置と、
前記可動部を移動させる移動機構と、
前記可動部の移動に関する表示を行う表示装置と、
前記操作装置による操作に応じて、前記移動機構の動作と前記表示装置の表示を制御する駆動制御装置と、
を備えており、
前記表示装置は、前記可動部の移動が開始する以前に、前記可動部の移動に関する表示を行うように構成されている、機器。 - 前記表示装置は、少なくとも操作者以外の者が、外部から視認することができる大きさと位置を占めるように配置されており、前記駆動制御部は、前記表示装置が前記可動部の移動に関する表示を行ったことを確認してから、前記可動部の移動の開始を前記移動機構に指示するように構成されている請求項1に記載の機器。
- 前記操作装置は、スイッチ、レバー、摘み部またはハンドル等の操作子が取り付けられており、前記操作子の可動範囲には、前記可動部の移動の指示段階に対応して、複数の可動段階が設けられており、
前記表示装置は、前記操作子が前記可動部の移動の開始の指示段階に入る前段において、少なくともその移動の方向に関する表示を行うように構成されている請求項1または2に記載の機器。 - 前記表示装置は、前記可動部又は前記機構に固定されている請求項1ないし3のいずれか1項に記載の機器。
- 前記表示装置は、前記操作装置による操作の内容に応じて、表示形態が変化するように構成されている請求項1ないし4のいずれか1項に記載の機器。
- 前記表示装置は、前記操作装置による操作の内容を矢印により表示し、前記操作装置による操作に従って指示された前記可動部の移動のスピードに応じて、前記矢印の大きさまたは色が変化するように見えるように構成されている請求項5に記載の機器。
- 前記表示装置は、前記操作装置による操作に従って指示された前記可動部の移動の内容を矢印により表示し、前記矢印は、前記可動部の移動の方向に沿って移動するように見えるように構成されている請求項5に記載の機器。
- 前記表示装置は、前記操作装置による操作の内容を矢印により表示し、前記可動部の移動の方向だけでなく、前記可動部又は前記可動部により搬送される物品の昇降移動の方向を表示するように構成されている請求項6または7に記載の機器。
- 前記表示装置は、前記操作装置による操作の内容を矢印により表示し、前記矢印は、前記可動部の移動の方向に沿って長さが変化するように見えるように構成されている請求項6ないし8のいずれか1項に記載の機器。
- 可動部を備える機構と、前記可動部の移動を操作するための操作装置と、前記可動部を移動させる移動機構と、前記操作装置による操作に応じて、前記移動機構の動作を制御する駆動制御装置とを備える機器に設けられた表示装置であって、
前記可動部の移動が開始する以前に、前記可動部の移動に関する表示を行うように構成されている、表示装置。 - 前記駆動制御装置は、前記操作装置による操作に応じて、前記表示装置の表示を制御するように構成されている請求項10に記載の表示装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US13/805,588 US10221047B2 (en) | 2012-01-31 | 2012-12-11 | Display device of equipment and equipment provided with display device |
CN201280001755.2A CN103459298B (zh) | 2012-01-31 | 2012-12-11 | 设备的显示装置以及设置了显示装置的设备 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012-018669 | 2012-01-31 | ||
JP2012018669 | 2012-01-31 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2013114737A1 true WO2013114737A1 (ja) | 2013-08-08 |
Family
ID=48904796
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2012/082086 WO2013114737A1 (ja) | 2012-01-31 | 2012-12-11 | 機器の表示装置および表示装置を設けた機器 |
Country Status (4)
Country | Link |
---|---|
US (1) | US10221047B2 (ja) |
JP (1) | JPWO2013114737A1 (ja) |
CN (1) | CN103459298B (ja) |
WO (1) | WO2013114737A1 (ja) |
Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2016117143A1 (ja) * | 2015-01-23 | 2016-07-28 | 株式会社五合 | 報知装置及び移動システム |
JP2016166086A (ja) * | 2015-03-10 | 2016-09-15 | 株式会社タダノ | 画像表示装置 |
JP2016166087A (ja) * | 2015-03-10 | 2016-09-15 | 株式会社タダノ | 画像表示装置 |
WO2016208431A1 (ja) * | 2015-06-22 | 2016-12-29 | ライフロボティクス株式会社 | ロボット装置 |
JP2018076131A (ja) * | 2016-11-07 | 2018-05-17 | 株式会社タダノ | 画像表示装置 |
JP2018139799A (ja) * | 2017-02-28 | 2018-09-13 | 株式会社メディカロイド | ロボット手術台およびロボット手術台用操作装置 |
WO2019172407A1 (ja) * | 2018-03-09 | 2019-09-12 | 株式会社タダノ | 遠隔操作端末および遠隔操作端末を備える作業車両 |
JP2019193875A (ja) * | 2019-07-19 | 2019-11-07 | 株式会社メディカロイド | ロボット手術台、ハイブリッド手術室システムおよびロボット手術台用操作装置 |
JP2020204900A (ja) * | 2019-06-17 | 2020-12-24 | シャープ株式会社 | 操作端末、移動システム、及び表示方法 |
JP2021074827A (ja) * | 2019-11-11 | 2021-05-20 | 株式会社日立製作所 | ロボットシステム |
WO2022210412A1 (ja) * | 2021-03-31 | 2022-10-06 | ファナック株式会社 | 表示部を有するロボットを備えるロボットシステム |
WO2023181764A1 (ja) * | 2022-03-22 | 2023-09-28 | 株式会社五合 | 遠隔操作システム |
WO2023228871A1 (ja) * | 2022-05-26 | 2023-11-30 | キヤノン株式会社 | 医用撮影システム |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105084214B (zh) * | 2010-07-02 | 2017-07-28 | 株式会社五合 | 操作装置以及具备该操作装置的移动装置 |
CN105156858A (zh) * | 2015-08-24 | 2015-12-16 | 宁波市协新机电科技有限公司 | 一种带导向杆且用于led显示装置的散热型安装组件 |
WO2017053462A1 (en) * | 2015-09-23 | 2017-03-30 | Integenx Inc. | Systems and methods for live help |
CN105366601B (zh) * | 2015-12-03 | 2018-02-23 | 徐州海伦哲专用车辆股份有限公司 | 车载式高空作业平台的安全监控及警示*** |
BE1024129B1 (fr) | 2016-04-21 | 2017-11-20 | Safran Aero Boosters S.A. | Système de manutention |
FR3056203B1 (fr) * | 2016-09-21 | 2020-10-09 | Haulotte Group | Assistance visuelle au deplacement au sol d'une nacelle elevatrice |
ES2773051T3 (es) * | 2017-06-16 | 2020-07-09 | Abb Schweiz Ag | Flujo de video modificado para soportar el control remoto de una grúa de contenedores |
DE102017124278A1 (de) * | 2017-10-18 | 2019-04-18 | Konecranes Global Corporation | System zum Bedienen eines Lasthandling-Krans sowie Lasthandling-Kran und Verfahren zu dessen Bedienung |
CN112698062B (zh) * | 2021-01-08 | 2022-01-07 | 江苏云舜能源科技有限公司 | 一种用于断路器电气试验的接线杆 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS4626735Y1 (ja) * | 1966-05-17 | 1971-09-14 | ||
JPH01303279A (ja) * | 1988-05-31 | 1989-12-07 | Toshiba Corp | エレベータのかご内表示装置 |
JPH0948586A (ja) * | 1995-08-04 | 1997-02-18 | Toshio Fukuda | クレーンの吊り荷振れ止め支援装置 |
JP2010095361A (ja) * | 2008-10-17 | 2010-04-30 | Toshiba Elevator Co Ltd | 乗客コンベアの欄干装置及びこれを用いた乗客コンベア |
JP2010254417A (ja) * | 2009-04-23 | 2010-11-11 | Gogo:Kk | 方向表示装置、移動体操作システムおよび移動体の操作方法 |
Family Cites Families (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3631619A (en) * | 1967-06-29 | 1972-01-04 | Samuel Scrivener Jr | Overhead traffic informational or directional sign |
US4516117A (en) * | 1982-04-05 | 1985-05-07 | Raymond Couture | Range controller for continuously monitoring the position of the boom of heavy machinery |
US4928101A (en) * | 1989-08-15 | 1990-05-22 | Favors Alexander L | Anti-collision sensor |
US5019798A (en) * | 1990-01-26 | 1991-05-28 | Pherigo Jr Wayne H | Overhead warning device |
US6894621B2 (en) * | 1997-02-27 | 2005-05-17 | Jack B. Shaw | Crane safety devices and methods |
US6744372B1 (en) * | 1997-02-27 | 2004-06-01 | Jack B. Shaw | Crane safety devices and methods |
JPH10279207A (ja) * | 1997-04-01 | 1998-10-20 | Mitsubishi Electric Corp | 情報表示制御装置 |
US6102373A (en) * | 1998-02-05 | 2000-08-15 | Amsinger; Gary James | Crane swing warning system |
US6405114B1 (en) * | 1999-02-04 | 2002-06-11 | Snorkel International, Inc. | Aerial work platform boom having ground and platform controls linked by a controller area network |
US6208260B1 (en) * | 1999-11-02 | 2001-03-27 | Jill West | Personal warning method and apparatus for traveling loads |
KR20030003015A (ko) * | 2001-06-28 | 2003-01-09 | 가부시키가이샤 고마쓰 세이사쿠쇼 | 크레인작업겸용 유압셔블 |
DE10207880C1 (de) * | 2002-02-21 | 2003-07-31 | Demag Cranes & Components Gmbh | Steuereinrichtung zum Steuern eines Hebezeugs |
DE20207722U1 (de) * | 2002-05-16 | 2003-09-18 | Liebherr Werk Ehingen | Bedienvorrichtung |
JP3862634B2 (ja) | 2002-08-19 | 2006-12-27 | 菱栄工機株式会社 | 天井クレーン |
US7167082B2 (en) * | 2003-08-26 | 2007-01-23 | Rf Monolithics, Inc. | System, method, and receiver module for alerting users of warning signals |
US7194358B2 (en) * | 2004-02-25 | 2007-03-20 | The Boeing Company | Lift collision avoidance system |
JP4906490B2 (ja) * | 2006-12-13 | 2012-03-28 | 株式会社日立製作所 | エレベーター情報表示装置 |
JP5020328B2 (ja) * | 2007-08-28 | 2012-09-05 | 三菱電機株式会社 | エレベータの表示装置 |
US8618949B2 (en) * | 2010-02-01 | 2013-12-31 | Trimble Navigation Limited | Lifting device efficient load delivery, load monitoring, collision avoidance, and load hazard avoidance |
EP2450304B1 (en) * | 2010-07-02 | 2016-08-31 | Gogou Co., Ltd. | Controller and transfer assembly equipped with same |
CN105084214B (zh) * | 2010-07-02 | 2017-07-28 | 株式会社五合 | 操作装置以及具备该操作装置的移动装置 |
US8707595B2 (en) * | 2012-09-14 | 2014-04-29 | Beau Steven Beemsterboer | Retractor safety device |
-
2012
- 2012-12-11 WO PCT/JP2012/082086 patent/WO2013114737A1/ja active Application Filing
- 2012-12-11 JP JP2012557344A patent/JPWO2013114737A1/ja active Pending
- 2012-12-11 CN CN201280001755.2A patent/CN103459298B/zh active Active
- 2012-12-11 US US13/805,588 patent/US10221047B2/en active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS4626735Y1 (ja) * | 1966-05-17 | 1971-09-14 | ||
JPH01303279A (ja) * | 1988-05-31 | 1989-12-07 | Toshiba Corp | エレベータのかご内表示装置 |
JPH0948586A (ja) * | 1995-08-04 | 1997-02-18 | Toshio Fukuda | クレーンの吊り荷振れ止め支援装置 |
JP2010095361A (ja) * | 2008-10-17 | 2010-04-30 | Toshiba Elevator Co Ltd | 乗客コンベアの欄干装置及びこれを用いた乗客コンベア |
JP2010254417A (ja) * | 2009-04-23 | 2010-11-11 | Gogo:Kk | 方向表示装置、移動体操作システムおよび移動体の操作方法 |
Cited By (23)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2016117143A1 (ja) * | 2015-01-23 | 2016-07-28 | 株式会社五合 | 報知装置及び移動システム |
JP2016135699A (ja) * | 2015-01-23 | 2016-07-28 | 株式会社五合 | 報知装置及び移動システム |
US9663332B2 (en) | 2015-01-23 | 2017-05-30 | Gogoh Co., Ltd. | Notification device and movement system |
JP2016166086A (ja) * | 2015-03-10 | 2016-09-15 | 株式会社タダノ | 画像表示装置 |
JP2016166087A (ja) * | 2015-03-10 | 2016-09-15 | 株式会社タダノ | 画像表示装置 |
WO2016208431A1 (ja) * | 2015-06-22 | 2016-12-29 | ライフロボティクス株式会社 | ロボット装置 |
JP2017007034A (ja) * | 2015-06-22 | 2017-01-12 | ライフロボティクス株式会社 | ロボット装置 |
JP2018076131A (ja) * | 2016-11-07 | 2018-05-17 | 株式会社タダノ | 画像表示装置 |
JP2018139799A (ja) * | 2017-02-28 | 2018-09-13 | 株式会社メディカロイド | ロボット手術台およびロボット手術台用操作装置 |
US11006906B2 (en) | 2017-02-28 | 2021-05-18 | Medicaroid Corporation | Robotic operating table, and robotic operating table operation device |
JP2019156528A (ja) * | 2018-03-09 | 2019-09-19 | 株式会社タダノ | 遠隔操作端末および遠隔操作端末を備える作業車両 |
WO2019172407A1 (ja) * | 2018-03-09 | 2019-09-12 | 株式会社タダノ | 遠隔操作端末および遠隔操作端末を備える作業車両 |
JP7091729B2 (ja) | 2018-03-09 | 2022-06-28 | 株式会社タダノ | 遠隔操作端末および遠隔操作端末を備える作業車両 |
JP2020204900A (ja) * | 2019-06-17 | 2020-12-24 | シャープ株式会社 | 操作端末、移動システム、及び表示方法 |
JP7267850B2 (ja) | 2019-06-17 | 2023-05-02 | シャープ株式会社 | 操作端末、移動システム、及び表示方法 |
JP2019193875A (ja) * | 2019-07-19 | 2019-11-07 | 株式会社メディカロイド | ロボット手術台、ハイブリッド手術室システムおよびロボット手術台用操作装置 |
JP2021074827A (ja) * | 2019-11-11 | 2021-05-20 | 株式会社日立製作所 | ロボットシステム |
WO2021095316A1 (ja) * | 2019-11-11 | 2021-05-20 | 株式会社日立製作所 | ロボットシステム |
JP7282016B2 (ja) | 2019-11-11 | 2023-05-26 | 株式会社日立製作所 | ロボットシステム |
WO2022210412A1 (ja) * | 2021-03-31 | 2022-10-06 | ファナック株式会社 | 表示部を有するロボットを備えるロボットシステム |
WO2023181764A1 (ja) * | 2022-03-22 | 2023-09-28 | 株式会社五合 | 遠隔操作システム |
WO2023181096A1 (ja) * | 2022-03-22 | 2023-09-28 | 株式会社五合 | 遠隔操作システム |
WO2023228871A1 (ja) * | 2022-05-26 | 2023-11-30 | キヤノン株式会社 | 医用撮影システム |
Also Published As
Publication number | Publication date |
---|---|
US10221047B2 (en) | 2019-03-05 |
JPWO2013114737A1 (ja) | 2015-05-11 |
US20140054254A1 (en) | 2014-02-27 |
CN103459298A (zh) | 2013-12-18 |
CN103459298B (zh) | 2018-05-18 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2013114737A1 (ja) | 機器の表示装置および表示装置を設けた機器 | |
RU2534934C2 (ru) | Дистанционное радиоуправление с сенсорикой положения | |
EP2386387B1 (en) | Engineering vehicle arm support controller control system engineering vehicle and control method | |
CN108025896B (zh) | 起重装置的控制 | |
JP4898962B2 (ja) | 操作装置及びその操作装置を備える移動装置 | |
US20190210854A1 (en) | System comprising a control station and a controlled device with improved operating safety | |
JP6743676B2 (ja) | 遠隔操作端末 | |
JP4347313B2 (ja) | ロボット教示操作盤 | |
JP6008612B2 (ja) | 無線操作式車両の遠隔操作システム | |
JP5247200B2 (ja) | 地図表示システム、地図表示方法およびプログラム | |
US11339035B2 (en) | Controlling of lifting device | |
JP5821895B2 (ja) | 地図表示制御装置 | |
JP2022043664A (ja) | 制御システム、移動装置、及びコントローラ | |
JP2019059593A (ja) | クレーン操縦支援装置 | |
JP5596321B2 (ja) | 高所作業車 | |
JP2010254417A (ja) | 方向表示装置、移動体操作システムおよび移動体の操作方法 | |
JP6770665B1 (ja) | 旅客搭乗橋 | |
JP5791444B2 (ja) | 操作装置及びその操作装置を備える移動装置 | |
JP5912917B2 (ja) | 無線操作式車両の遠隔操作システムおよび該システムにおける無線操作式車両の復旧方法 | |
JP6940118B2 (ja) | クレーンの運転支援システム | |
JP6122051B2 (ja) | 操作装置及びその操作装置を備える移動装置 | |
CN217333004U (zh) | 一种工况信息的显示装置以及工程机械 | |
WO2023181096A1 (ja) | 遠隔操作システム | |
JP5964554B2 (ja) | 操作装置及びその操作装置を備える移動装置 | |
JP2021070470A (ja) | 旅客搭乗橋 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 13805588 Country of ref document: US |
|
ENP | Entry into the national phase |
Ref document number: 2012557344 Country of ref document: JP Kind code of ref document: A |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 12867682 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 12867682 Country of ref document: EP Kind code of ref document: A1 |