Title:
BALANCER CONTROL DEVICE
Document Type and Number:
Japanese Patent JP2018173141
Kind Code:
A
Abstract:
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
Inventors:
ERICK FERNANDO MOYA ARIMIE
TADAKUMA RIICHIRO
ARAKI KEIZO
MIZUNO AKIRA
TADAKUMA RIICHIRO
ARAKI KEIZO
MIZUNO AKIRA
Application Number:
JP2017072360A
Publication Date:
November 08, 2018
Filing Date:
March 31, 2017
Export Citation:
Assignee:
UNIV YAMAGATA
EQUOS RES CO LTD
EQUOS RES CO LTD
International Classes:
F16M13/00; B62D33/02; B66C13/08
Attorney, Agent or Firm:
Teiji Tanaka
Takashi Koyama
Ryukichi Abe
Akira Yonezawa
Takehiko Katayose
Takashi Koyama
Ryukichi Abe
Akira Yonezawa
Takehiko Katayose