Moving apparatus for a load

Claim 2

A moving apparatus for moving a load comprising lifting means including a motor for lifting a load, speed control means for controlling the moving speed of the load, force control means for controlling the force applied from said motor to said lifting means to correspond to the weight of the load, and first means for selectively stopping the operation of said speed control means.

Claim 3

A moving apparatus for moving a load according to claim 1, wherein the force control means includes memory means for storing a signal value equal to the force needEd for lifting the load.

Claim 4

A moving apparatus for moving a load according to claim 2, wherein said speed control means includes speed detecting means for detecting the speed of the motor, said force control means including force detecting means for detecting the force produced by said motor.

Claim 5

A moving apparatus for moving a load according to claim 3, wherein said speed detecting means is a generator.

Claim 6

A moving apparatus for moving a load according to claim 3, wherein said speed control means includes speed designating means for providing a signal designating the speed of movement for said load.

Claim 7

A moving apparatus for moving a load according to claim 3, further including means for compensating for the mechanical friction of said lifting means.

Claim 8

A moving apparatus for moving a load according to claim 6, wherein said compensating means includes second means for detecting the moving direction of the load to determine the acting direction of the mechanical friction of said lifting means and third means for detecting the moving direction of the load before said first means is operated.

Claim 9

A moving apparatus for moving a load according to claim 7, wherein said compensating means includes transistor switching circuit means for switching the output of the compensating means in response to the outputs of said second and third means.

Claim 10

A moving apparatus for moving a load according to claim 8, further including dynamic friction compensating means for generating a force tending to decrease the moving speed of the load when said first means is operated.

Claim 11

A moving apparatus for moving a load comprising: lifting means for lifting a load; motor means connected to said lifting means for providing a force thereto for lifting the load; speed detecting means for detecting the rotating speed of the motor; speed designating means for providing a signal designating a desired rotating speed for the motor; comparing means for comparing the output of the speed detecting means with the signal from the speed designating means; current supply means for supplying a current to said motor; current detecting means for detecting current applied to the motor by said current supply means; a current control means for controlling said current supply means to regulate the current applied to the motor in response to the outputs of said current detecting means and said comparing means; said speed designating means, said speed detecting means, and said comparing means comprising a speed control means for controlling the rotating speed of the motor in accordance with the signal generated by the speed designating means; and first means for selectively stopping the operation of said speed control means.

Claim 12

A moving apparatus for moving a load comprising: lifting means for lifting a load; motor means connected to said lifting means for providing a force thereto for lifting the load; speed detecting means for detecting the rotating speed of the motor; speed designating means for providing a signal designating a desired rotating speed for the motor; comparing means for comparing the output of the speed detecting means with the signal from the speed designating means; current supply means for supplying a current to said motor; current detecting means for detecting current applied to the motor by said current supply means; a current control means for controlling said current supply means to regulate the current applied to the motor in response to the outputs of said current detecting means and said comparing means; said speed designating means, said speed detecting means, and said comparing means comprising a speed control means for controlling the rotating speed of the motor in accordance with the signal generated by the speed designating means; and first means for selectively stopping the operation of said speed control means.

Claim 13

A moving apparatus for moving a load according to claim 10, wherein said comparing means comprises a summing point and a first operational amplifier, said signals from said speed designating means and said speed detecting means being applied to respective inputs of said summing point.

Claim 14

A moving apparatus for moving a load according to claim 11, wherein said first means includes cutoff means for electrically opening the electrical connection between said speed detecting means and said first operational amplifier, the operation of said speed control means being stopped by the operation of said cutoff means.

Claim 15

A moving apparatus for moving a load according to claim 12, wherein said first means further includes timer means operated in response to the operation of said cutoff means for stopping the operation of said cutoff means after a certain period.

Claim 16

A moving apparatus for moving a load according to claim 12, wherein said current control means comprises a second operational amplifier for providing a signal representing a current value to be applied to said motor, and a current converter for regulating the current applied to said motor in response to the signal from said second operational amplifier.

Claim 17

A movIng apparatus for moving a load according to claim 14, wherein said current control means further includes limiting means between said second operational amplifier and said current converter, said limiting means preventing an analog value of the output of said second operational amplifier from exceeding a certain range.

Claim 18

A moving apparatus for moving a load according to claim 14, wherein said second operational amplifier has at least two input terminals, one terminal being connected to the output of said first input terminal and another being connected to said current detecting means, and a first capacitor provided between the one input terminal and the output terminal of said second operational amplifier.

Claim 19

A moving apparatus for moving a load according to claim 16, wherein said lifting means includes four arms, one end of said first arm being adapted to receive a load to be hoisted, one end of said second arm being connected to another end of said first arm, another end of said second arm being mechanically connected to said motor and being moved by the motor force in the vertical direction, one end of said third arm being connected to a point between the one and other ends of said first arm and the other end of said third arm being connected to a base, one end of said fourth means being connected to a point between the one and other ends of said second arm, the other end of said fourth arm being connected to the base, said first and fourth arms being always arranged in parallel, said second and third arms being always arranged in parallel, and said motor being supported on said base for movement in the horizontal direction.