PROBLEM TO BE SOLVED: To provide a balancer control device.SOLUTION: A balancer control device has a control portion 100 which outputs control signals to a tray; a roll angle sensor 101 which detects a rotary angle of a first gimbal shaft of a gimbal mechanism; a pitch angle sensor 103 which detects a rotary angle of a second gimbal shaft of the gimbal mechanism; an elevating mechanism drive portion 150 in which a detection value of a load sensor 110, a detection value of the roll angle sensor 101, and a detection value of the pitch angle sensor 103 are inputted, and drives the elevating mechanism; and an omnidirectional gear mechanism drive portion 170 which drives a movable mechanism in a horizontal surface. The control portion 100 computes a static angle which an angle at which a base is estimated to be static, from the detection value of the roll angle sensor 101 and the detection value of the pitch angle sensor 103, computes the weight and a gravity center position of an object placed on the tray, from the detection value of the load sensor 110 and the static angle, and outputs the control signals to the elevating mechanism drive portion 150 and the omnidirectional gear mechanism drive portion 170, according to the computed weight and the gravity center position of the object.SELECTED DRAWING: Figure 2

    【課題】バランサー制御装置を提供する。【解決手段】トレーと、ジンバル機構の第1ジンバル軸の回動角を検出するロール角センサ101と、ジンバル機構の第2ジンバル軸の回動角を検出するピッチ角センサ103と、荷重センサ110の検出値と、ロール角センサ101の検出値と、ピッチ角センサ103の検出値とが入力され、昇降機構を駆動する昇降機構駆動部150と、水平面内可動機構を駆動する全方向歯車機構駆動部170と、に対して制御信号を出力する制御部100と、を有し、制御部100が、ロール角センサ101の検出値と、ピッチ角センサ103の検出値とから基台が静止すると予測される角度である静止角度を演算し、荷重センサ110の検出値と、静止角度とから、トレー上に載置された物体の重さと重心位置を演算し、演算された物体の重さと重心位置に応じて、昇降機構駆動部150と全方向歯車機構駆動部170と、に対して制御信号を出力する。【選択図】図2


    Access

    Download


    Export, share and cite



    Title :

    BALANCER CONTROL DEVICE


    Additional title:

    バランサー制御装置


    Contributors:

    Publication date :

    2018-11-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    F16M Rahmen, Gehäuse oder Grundplatten von Kraftmaschinen oder anderen Maschinen oder von Apparaten, nicht auf eine besondere Art von Maschine oder Apparat eingeschränkt, die anderweitig vorgesehen ist , FRAMES, CASINGS, OR BEDS, OF ENGINES OR OTHER MACHINES OR APPARATUS, NOT SPECIFIC TO AN ENGINE, MACHINE, OR APPARATUS PROVIDED FOR ELSEWHERE / B62D MOTOR VEHICLES , Motorfahrzeuge / B66C Krane , CRANES



    BALANCER AND BALANCER SYSTEM

    KOMIYA MINORU / TANEDA HIROYUKI / TAMI KENICHIRO et al. | European Patent Office | 2024

    Free access

    BALANCER AND BALANCER SYSTEM

    KOMIYA MINORU / TANEDA HIROYUKI / TAMI KENICHIRO et al. | European Patent Office | 2021

    Free access

    BALANCER AND BALANCER SYSTEM

    KOMIYA MINORU / TANEDA HIROYUKI / TAMI KENICHIRO et al. | European Patent Office | 2024

    Free access

    BALANCER AND BALANCER SYSTEM

    KOMIYA MINORU / TANEDA HIROYUKI / TAMI KENICHIRO et al. | European Patent Office | 2021

    Free access

    BALANCER

    KOMIYA MINORU / TANEDA HIROYUKI / TAMI KENICHIRO et al. | European Patent Office | 2024

    Free access