JP2023170995A - Turn control device for hoisted load - Google Patents

Abstract

To provide a turn control device for a hoisted load, which can be made compact and which can suppress power consumption and perform stable control.SOLUTION: The attitude of a hoisted load 3 which has been suspended is turn-controlled through a gyro effect generated by tilting the rotary axis of a rotating flywheel 4. A plurality of flywheels 4 is provided. These flywheels 4 are integrally tilted about one tilting axis (Y axis). Accordingly, as an output is acquired through the gyro effect at each flywheel 4, turn control performance can be enhanced while reducing the size of a turn control device 1. The turn control performance can be adjusted to be suitable for the hoisted load 3 by adjusting the number of rotary-driven flywheels 4. Thus, power consumption can be suppressed. The number of tilting control systems can be one, and stable control can be performed.SELECTED DRAWING: Figure 1

Description

The present invention relates to a swing control device for a suspended load, which controls the attitude of a suspended load suspended by a crane or the like using a gyroscopic effect produced by forcibly tilting the rotating shaft of a flywheel rotating at high speed.

Conventionally, a swing control device for a suspended load that controls the attitude of a suspended load by a crane, etc. utilizes the gyroscopic effect of a flywheel that rotates at high speed to rotate the suspended load, or to move the suspended load to its intended purpose. Cranes are known that aim to improve the efficiency of lifting operations using cranes, by allowing the load to stop accurately in position, and by resisting external disturbances such as wind to maintain a constant posture of the load.

Such hanging load swing control devices have been widely used that are configured with one flywheel, but in recent years, as shown in Patent Document 1 below, for example, devices equipped with multiple flywheels have been used. Things are also being developed.

In Patent Document 1, as an example of the attitude control device, as shown in FIGS. 4 and 5, an attitude control device 50 is fixed to a hanging load 51, and two gyros 52L are installed in this attitude control device 50. , 52R are shown (FIGS. 6 and 7 of Patent Document 1). In order to operate, the gyro 52L is rotated clockwise around the shaft 53L when viewed from the direction of arrow A, and at the same time, the gyro 52R is rotated around the shaft 53R clockwise when viewed from the direction of arrow B. In this state, when the gyro 52L is rotated clockwise around the shaft 54L when viewed from the direction of arrow C, and the gyro 52R is simultaneously rotated by a certain angle around the shaft 54R counterclockwise when viewed from the direction of arrow 2, the gyro 52L, 52R, torque is generated counterclockwise around the shafts 55L and 55R, respectively, when viewed from the directions of arrows H and F. This torque is transmitted to the suspended load 51 via the posture control device 50, and the suspended load 51 is rotated counterclockwise as viewed from the direction of arrow H around the shaft 56, thereby changing its posture. In this way, in Patent Document 1, the attitude of the suspended load is controlled by each of the plurality of gyros moving independently and differently.

Japanese Patent Application Publication No. 7-252087

The swing control ability of the suspended load swing control device is determined by the moment of inertia and rotational speed of the flywheel, and the moment of inertia of the flywheel is determined by the diameter and weight of the flywheel. Therefore, in order to improve the capacity of the device, it is necessary to increase the diameter of the flywheel and increase the rotation speed, but since there is an upper limit to the rotation speed due to safety and drive device capacity, improving the capacity of the device In this case, the diameter of the flywheel had to be increased, which resulted in an increase in the size of the device.

In addition, because the rotation speed of the flywheel needs to be held constant to avoid complicating control, it is not possible to adjust the equipment capacity according to the weight of the suspended load, which results in wasted power. There was a problem with consuming.

In the device described in Patent Document 1, the pair of gyros 52L and 52R are controlled to move independently and differently, so the output due to the gyro effect of each gyro 52L and 52R acts independently. do. Therefore, if the control of both is not precisely synchronized, that is, if there is even a slight difference in the timing or amount of the output of both, the suspended load will shake, the control will not be stable, and the output will vary due to the gyro effect. There was a problem with not being able to utilize their abilities.

Therefore, the main object of the present invention is to provide a swing control device for a suspended load that can be made compact, consume less power, and provide stable control and maximum performance.

In order to solve the above problem, the present invention according to claim 1 provides swing control of a suspended load, in which the attitude of a suspended load is controlled by a gyroscopic effect generated by tilting the rotation axis of a rotating flywheel. A device,
There is provided a swing control device for a suspended load, characterized in that a plurality of the flywheels are provided, and the plurality of flywheels are tilted together about one tilting axis.

In the invention as set forth in claim 1, the swing control device for a suspended load is provided with a plurality of flywheels that generate output due to a gyro effect by tilting the rotation axis, so the size of the swing control device can be suppressed. , the turning control ability can be improved.

In addition, if the swing control ability is too large for the weight of the suspended load, reduce the number of flywheels to be rotated, and use only the number of flywheels that provide the swing control ability commensurate with the weight of the suspended load. Power consumption can be reduced by rotating the flywheel and stopping the rotation of the remaining flywheels.

Furthermore, since these multiple flywheels tilt together on one tilting axis, only one tilting control system is required, eliminating control deviations and ensuring stable control and maximum performance. It becomes possible.

As the present invention according to claim 2, the two flywheels are provided, the two flywheels are arranged apart from each other in the direction of the rotating shaft, and the tilting shaft is located at the center of the distance between the flywheels. There is provided a swing control device for a suspended load according to claim 1, wherein a swing control device for a suspended load is provided.

The invention according to claim 2 defines a specific structure in the case where two flywheels are arranged, and the two flywheels are arranged apart from each other in the direction of the rotation axis, and there is a space between these two flywheels. The tilting shaft is arranged at the center of the separation width.

As a third aspect of the present invention, there is provided the swing control device for a suspended load according to the first aspect, wherein the plurality of flywheels are rotatable in the same direction and at the same rotational speed.

In the invention described in claim 3, in order to simplify control, the rotation direction and rotation speed of the plurality of flywheels are made the same.

The present invention according to claim 4 provides the swing control device for a suspended load according to claim 1, wherein the plurality of flywheels are each supported by a separate rotating shaft, and the respective rotating shafts are coaxially arranged in series. Ru.

In the invention according to claim 4, since the plurality of flywheels are each supported by a separate rotating shaft, only an arbitrary flywheel among the plurality of flywheels is rotationally driven, and the rotation of the remaining flywheels is stopped. can do.

A fifth aspect of the present invention provides the swing control device for a suspended load according to the first aspect, wherein the plurality of flywheels are supported by a continuous rotating shaft.

In the invention according to claim 5, since the plurality of flywheels are supported by the continuous rotating shaft, the rotational speeds of the plurality of flywheels completely match, the output of the gyro effect is the same, and the stability of control is improved. In addition, mechanical loss is reduced, and only one drive device is required to drive the rotary shaft, so energy consumption can be reduced.

As described in detail above, according to the present invention, it is possible to provide a swing control device for a suspended load that can be made compact, consume less power, and provide stable control and maximum performance.

FIG. 2 is a perspective view showing a state in which a suspended load 3 is lifted using the swing control device 1 according to the present invention. 3 is a plan view showing the arrangement of a flywheel 4 and a gimbal 6. FIG. FIG. 7 is a plan view showing the arrangement of a flywheel 4 and a gimbal 6 according to another embodiment. FIG. 3 is a perspective view showing a state in which a hanging load 51 is lifted using a conventional attitude control device 50. FIG. 2 is a schematic diagram showing a conventional attitude control device 50. FIG.

Embodiments of the present invention will be described in detail below with reference to the drawings.

As shown in FIG. 1, a hanging load swing control device 1 according to the present invention adjusts the attitude of a hanging load 3 suspended from a hook 2 of a lifting device such as a crane via a wire rope or the like in a horizontal plane. This is for turning control.

The swing control device 1 is disposed between a hook 2 and a suspended load 3, and each is suspended via a wire rope. The swing control device 1 may be installed in any form or position as long as the hanging load 3 can be controlled to swing.For example, the swing control device 1 may be fixed to a lifting jig, and the hanging jig may be hung via a wire rope. Alternatively, the swing control device 1 may be directly fixed to the suspended load 3.

The swing control device 1 controls the swing of the suspended load 3 in a horizontal plane using a gyroscopic effect produced by forcibly tilting the rotation axis of the rotating flywheel 4.

Specifically, as shown in FIGS. 2 and 2, the swing control device 1 includes a flywheel 4, a rotation drive device 5 that rotates the flywheel 4 around a rotation axis (X axis), and a rotation drive device 5 that rotates the flywheel 4 around a rotation axis (X axis). a gimbal 6 (hanging frame) that supports the wheel 4 in a manner that allows rotation around the X axis and tilting around the Y axis; a tilt drive device 7 that drives the gimbal 6 to tilt around the Y axis; It includes a battery (not shown) that supplies power to the driving device 5 and the tilting driving device 7. As the rotational drive device 5 and the tilting drive device 7, electric motors are usually used, and among these, as the tilting drive device 7, an electric motor with a reduction gear can be suitably used. The X-axis, which is the rotational axis of the flywheel 4, and the Y-axis, which is the tilting axis, are in a non-parallel state, and are usually perpendicular to each other. In the illustrated example, the rotating shaft of the tilting drive device 7 is directly connected to the gimbal 6, but the power of the tilting drive device 7 may be transmitted to the gimbal 6 by a power transmission element such as a belt or a chain.

In the swing control device 1, the rotation drive device 5 is operated to rotate the flywheel 4 around the X-axis, and the tilting drive device 7 is operated to tilt the flywheel 4 around the Y-axis. When driven, a gyro moment is generated around the Z axis due to the gyro effect, and the turning control device 1 turns around the Z axis. As the swing control device 1 turns, the suspended load 3 also turns around the Z-axis (FIG. 1). The direction of rotation of the suspended load 3 can be changed depending on the direction in which the flywheel 4 is tilted.

In the swing control device 1 according to the present invention, a plurality of the flywheels 4 are provided. The plurality of flywheels 4 are arranged in parallel at predetermined intervals in the axial direction of the rotating shaft (X-axis direction). A tilting axis (Y-axis) passes through the center of the section in the X-axis direction in which the plurality of flywheels 4 are arranged. The plurality of flywheels 4 are all formed to have the same dimensions and the same weight, and are arranged at the same interval.

The number of flywheels 4 to be installed may be any number greater than or equal to 2 and is not particularly limited, but is preferably from 2 to 10, particularly preferably from 2 to 5, and in the illustrated example is 2.

When the plurality of flywheels 4 are driven to rotate, they are controlled so that they can rotate in the same direction and at the same rotational speed. These plurality of flywheels 4 can rotate any flywheel 4 alone, can rotate a plurality of flywheels 4 at the same time, or can rotate all the flywheels 4 at the same time. ing. Except when all the flywheels 4 are rotated at the same time, the flywheels 4 other than the flywheel 4 to be rotationally driven can stop rotating.

These plurality of flywheels 4 are configured to tilt together about one tilting axis (Y-axis). That is, the plurality of flywheels 4 are pivotally supported by the gimbal 6 at least at both ends of the section in the X-axis direction in which they are arranged, and the gimbal 6 is tiltable around the Y-axis at the center in the X-axis direction. In this state, it is pivotally supported by the frame F of the swing control device 1.

As previously mentioned, in a swing control device equipped with one flywheel, in order to improve the swing control ability, it was necessary to increase the diameter of the flywheel, as described above, and the swing control device became larger. However, in the swing control device 1 according to the present invention, since a plurality of flywheels 4 are provided, it is possible to improve the swing control ability while suppressing the enlargement of the swing control device.

Furthermore, since the flywheel 4 can be made smaller, the manufacturing precision of the flywheel 4 can be improved, and it is possible to reduce noise when the flywheel rotates four times. Furthermore, since the resistance during four rotations of the flywheel is reduced, energy savings can also be achieved.

As the flywheel 4 is made smaller, the device itself can be made more compact, which reduces the loss of crane lifting height due to a reduction in the height of the device, making it possible to downsize the crane when selecting a crane. Furthermore, by reducing the weight of the device, it is possible to reduce the size of the crane when selecting it.

The plurality of flywheels 4 are configured to rotate one or more flywheels 4 and keep the remaining flywheels 4 in a stopped state depending on the weight of the suspended load 3 and the susceptibility to disturbances such as wind. is now possible. As a result, by rotating the flywheel 4 with the minimum power commensurate with the weight of the suspended load 3, etc., power consumption can be suppressed and energy saving can be realized.

In the conventional swing control device, the tilting of a plurality of flywheels is controlled separately, and it is necessary to precisely synchronize these tilting controls so that there is no deviation, but in the swing control device 1 according to the present invention, Since multiple flywheels 4 are tilted together on one tilting axis (Y-axis), only one tilting control system is required, eliminating control deviations, enabling stable control, and reducing the risk of failure of control equipment. can be reduced.

また、ジンバル６を傾動する傾動用駆動装置６が１つで済み、機械損失が減少するとともに、消費電力を抑えることができる。 Here, the turning force T caused by the gyro mechanism varies depending on the tilting angle and tilting speed of the gimbal 6, as shown in the following equation (1). Since the flywheels 4 are tilted together on one tilting axis, the tilting angles and speeds of all the flywheels 4 are equal, and the maximum turning force can be output.

Further, only one tilting drive device 6 is required for tilting the gimbal 6, which reduces mechanical loss and reduces power consumption.

The gimbal 6 is composed of a frame body that integrally surrounds a plurality of flywheels 4, and a bearing portion 10 that pivotally supports the rotation axis of the flywheel 4 is provided on each side portion 6a perpendicular to the X-axis, and a bearing portion 10 that pivotally supports the rotation axis of the flywheel 4 A shaft portion 11 that protrudes outward and serves as a center of tilting is provided at the center of each side portion 6b orthogonal to the side portions 6b. One shaft portion 11 is provided with a tilting drive device 6 . The shaft portion 11 is rotatably supported by a bearing portion provided on the frame F of the swing control device 1.

In the embodiment shown in FIG. 4, two flywheels 4 are provided, these two flywheels 4 are arranged apart from each other in the X-axis direction, and the center position of the separation width between these flywheels 4, 4 is provided. By arranging the shaft portion 11 at , a tilting axis (Y-axis) is provided.

As shown in FIG. 4, the plurality of flywheels 4 are each pivotally supported by a different rotating shaft 13, and the respective rotating shafts 13 are coaxially arranged in series, so that the flywheels 4 are rotated in the rotating shaft direction (X-axis direction). ) are arranged in parallel at intervals. That is, the rotary shafts 13 supporting each flywheel 4 are arranged to rotate independently.

An intermediate frame 6c is provided between adjacent flywheels 4, 4, and extends between sides 6b, 6b, which are orthogonal to the Y axis of the gimbal 6, and each rotation axis 13 is orthogonal to the X axis of the gimbal 6. It is pivotally supported by a bearing part 10 with respect to the side part 6a and the intermediate frame 6c.

Each rotation shaft 13 is individually equipped with a rotation drive device 5, and each rotation shaft 13 is independently rotationally driven by the rotation drive device 5. Thereby, the number of flywheels 4 to be rotationally driven can be arbitrarily adjusted depending on the weight of the suspended load 3 and the like.

[Other form examples]
(1) In the above embodiment, the plurality of flywheels 4 were each supported by separate rotating shafts, but as shown in FIG. 3, the plurality of flywheels 4 are supported by a continuous rotating shaft 14. You can also do this. In this embodiment, since the rotation axes 14 of the plurality of flywheels 4 are continuous, it is not possible to adjust the number of flywheels 4 to be rotationally driven according to the weight of the suspended load 3, etc.; Since the rotational speeds of the flywheels 4 completely match, the output of the gyro effect produced by tilting the rotational axis of each flywheel 4 becomes the same, increasing the stability of control. In addition, mechanical loss can be reduced compared to the case where multiple flywheels 4 are each supported by separate rotating shafts, and since only one rotational drive device 5 is required, the weight of the device can be reduced and energy consumption can be reduced. can. The rotating shaft 14 may be formed by continuously forming a plurality of flywheels 4, or may be formed by a single rotating shaft, or may be formed by connecting the rotating shafts that support each flywheel 4. It may also be used as a rotation axis.

DESCRIPTION OF SYMBOLS 1...Swivel control device, 2...Hook, 3...Hanging load, 4...Flywheel, 5...Rotation drive device, 6...Gimbal, 7...Tilt drive device, 10...Bearing section, 11...Shaft section, 13. 14...Rotation axis

Claims (5)

A swing control device for a suspended load that controls the swing of a suspended load using a gyroscopic effect generated by tilting the rotation axis of a rotating flywheel,
A swing control device for a suspended load, characterized in that a plurality of the flywheels are provided, and the plurality of flywheels are tilted together by one tilting shaft. 2. The tilting shaft according to claim 1, wherein two flywheels are provided, the two flywheels are arranged apart from each other in the direction of the rotating shaft, and the tilting shaft is arranged at a center position of a width of separation between the flywheels. Swivel control device for suspended loads. The hanging load swing control device according to claim 1, wherein the plurality of flywheels are rotatable in the same direction and at the same rotational speed. 2. The hanging load swing control device according to claim 1, wherein each of the plurality of flywheels is supported by a separate rotating shaft, and the rotating shafts are coaxially arranged in series. The hanging load swing control device according to claim 1, wherein the plurality of flywheels are supported by a continuous rotation shaft.

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