JP2839178B2 - Hanging posture control device by gyroscope - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a suspension control apparatus for appropriately turning a suspended load suspended by a wire rope or the like in a horizontal plane, and more particularly to a suspension suspended in a horizontal posture by a wire rope or the like. The present invention relates to a system in which a gyroscope is mounted on a jig and a horizontal turning force of a hanging jig is obtained by using the gyro effect.

[0002]

2. Description of the Related Art For the purpose of automating a swinging operation of a suspended load in a lifting operation, a crane having a rigid arm and a turning device using a twist of a rope as a reaction force have been proposed. Is too large for the lifting capacity, and the latter has unstable swinging behavior of the suspended load. Therefore, instead of these devices, a suspended attitude control device of the suspended load using a gyroscope has been developed ( For example, Japanese Patent Publication 4-178
No. 73).

[0003] The suspended load turning attitude control device described in this publication has a horizontal rotation with respect to a suspending jig which is suspended in a horizontal posture on a wire rope suspended from a crane and to which a suspended load is attached below. The gimbal includes a gimbal rotatable about an axis, and a flywheel capable of spinning the gimbal about a spin axis orthogonal to the rotation axis of the gimbal.

When the gimbal is forcibly rotated in an appropriate direction at an appropriate speed while the flywheel is spinning at a high speed in a predetermined direction, a gyroscopic effect of the gyroscope with respect to the rotation generates a turning force about a vertical axis. Due to the turning force, the suspended load turns in a horizontal plane about the vertical axis via the hanging jig.

In a free state in which no rotational force is transmitted to the gimbal, if a force for turning the suspended load is applied due to disturbance such as wind, the turning force is transmitted to the flywheel via the hanging jig and the gimbal. As a result, the gimbal is rotated by the gyro effect of the flywheel, and the inertia of the flywheel generated at this time acts as a resisting force for preventing the swing of the suspended load, thereby suppressing the swing of the suspended load and receiving disturbance. Maintain the previous hanging posture.

[0006]

However, in such a conventional attitude control apparatus using a gyroscope, the spin axis of the flywheel, the rotation axis of the gimbal, and the vertical axis are mutually located at the center of gravity of the flywheel. When the gimbal stops driving, such as when the suspended load is not turning, or when the gimbal rotates after a disturbance, the spin axis of the flywheel is not horizontal. Is kept. For this reason, there is a problem that the gyro effect at the time of starting when the gimbal is forcibly rotated next in any direction and the suspended load is forcibly rotated is reduced, and the rotational force around the vertical axis, that is, the rotational force is deteriorated.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned conventional problems, and has as its object to stop the driving of the gimbal while the spin axis is not horizontal, and then forcibly rotate the gimbal to forcibly suspend the load. It is an object of the present invention to provide a suspended attitude control device using a gyroscope that can improve a turning force when turning.

[0008]

In order to achieve the above object, the invention according to claim 1 comprises a hanging jig suspended in a horizontal posture by a wire rope or the like, and a jig rotatable about a horizontal rotating shaft. A gimbal, a suspended load attitude control device including a flywheel capable of spinning about a spin axis orthogonal to an axis parallel or the same as or parallel to the rotation axis of the gimbal, wherein the rotation axis of the gimbal is The gimbal including the flywheel is set to be eccentric above the center of gravity.

[0009] The invention according to claim 2 is based on claim 1.
And a rotation axis of the gimbal is set to be eccentric above a spin axis of the flywheel.

[0010]

In the above construction, the rotation axis of the gimbal is set eccentrically above the center of gravity of the gimbal including the flywheel (or the spin axis when the center of gravity of the gimbal coincides with the spin axis). If the gimbal stops driving, such as during a turn stop, or if the gimbal rotates after a disturbance, the spin axis is horizontal due to its own weight because the center of gravity of the gimbal is located below the rotation axis. Restore to posture. Therefore, it is possible to improve the turning force when the suspended load is turned by forcibly rotating the gimbal next time.

Further, if the rotation of the gimbal is set to a free state while the gimbal is forcibly rotated to rotate the suspended load, the inertia force of the flywheel for preventing the continued rotation of the suspended load due to inertia. Acts, and the swing of the suspended load eventually stops. At this time, the gimbal rotates in the reverse direction due to the restoring force, and the time until the suspension of the suspended load slightly stops can be reduced.

[0012]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIGS. 1 to 3 show a suspended load control device using a gyroscope according to the present invention. In this drawing, a suspended jig 4 made of H-shaped steel suspended in a horizontal posture by a crane, and a suspended jig 4 are shown. A gyro frame 6 attached and fixed to a central bottom of the gyro by a bolt 5, a gimbal frame (gimbal) 8 inside the gyro frame 6 and rotatable around a rotation shaft 7, and a spin shaft 9 inside the gimbal frame 8 And a flywheel 10 capable of spinning around the center. The gyro frame 6 is located substantially at the center of the entire suspended load and at the bottom of the suspending jig 4, so that the suspending operation can be performed in a well-balanced manner.
The gimbal frame 8 covers the periphery of the flywheel 10 that spins at a high speed, and the gyro frame 6 covers the periphery of the gimbal frame 8 to ensure safety.

The gimbal frame 8 is a gyro frame 6
Is rotatable at an appropriate speed in an appropriate direction about an axis parallel to the suspension jig 4 via a timing belt 11a. Further, the flywheel 10 is capable of spinning at high speed about a spin axis 9 orthogonal to an axis which is the same as or parallel to the rotation axis 7 of the gimbal frame 8 by a pair of spin motors 12 provided on the gimbal frame 8. . The rotation motor 11 and the spin motor 12 employ electromagnetic motors that rotate the rotation shaft 7 and the spin shaft 9 in a non-contact state. Therefore, each motor 11, 1
By turning off the power supply of 2, the rotating shaft 7 and the spin shaft 9 can be brought into a free rotation state (free state).

The hanging jig 4, gimbal frame 8 and flywheel 10 constitute a gyroscope.
A feature of the present invention is that the rotation axis 7 of the gimbal frame 8 is aligned with the center of gravity of the entire gimbal including the flywheel 10 (in this embodiment, the center of gravity of the entire gimbal coincides with the spin axis 9 of the flywheel 10). So
The eccentricity is set higher than the spin axis 9) by a height h (amount of eccentricity).

In the gyro frame 6, in addition to the gyroscope, a rotary motor 11 and a spin motor 12
A turning control controller 13 for controlling the rotational drive of the vehicle, a wireless transceiver (not shown) for remotely controlling the controller 13, a power supply battery 14 and a charger (not shown) for the power supply are provided. The worker carries a portable wireless transceiver for wirelessly operating with the wireless transceiver in the gyro frame 6, and wirelessly operates the controller 13 while visually observing the posture of the suspended load. Here, the radio transceiver operated by the worker does not have to be portable, and can be operated from either the unloading side or the unloading side, or from both by setting the operation priority order. .
The power may be supplied from the outside.

Next, the operation will be described.

In the above configuration, first, the spin motor 12
This causes the flywheel 10 to spin at a high speed in a predetermined direction. When lifting the load with the flywheel 10 spinning at a high speed and forcibly changing the posture of the suspended load, the gyroscope is forcibly rotated in an appropriate direction and at an appropriate speed by the rotary motor 11 to rotate the gyroscope. The gyro effect generates a turning force around the vertical axis,
With this turning force, the suspended load can be turned through the hanging jig 4 in a horizontal plane about the vertical axis.

When the load is being lifted, the gimbal frame 8 can be set in a free state by cutting off the power supply to the rotary motor 11, and when a force for rotating the load is applied due to disturbance such as wind. The turning force is applied to the flywheel 1 via the hanging jig 4 and the gimbal frame 8.
As a result, the gimbal frame 8 is rotated by the gyro effect of the flywheel 10, and the inertial reaction of the flywheel 10 that occurs at this time causes a resisting force to prevent the swing of the suspended load. Suppress turning and maintain the suspended posture before receiving disturbance.

If the disturbance stops working in this state,
Alternatively, when the gimbal rotates due to a disturbance thereafter, the spin axis 9 of the flywheel 10 is not horizontal, but the rotation axis 7 of the gimbal frame 8 is biased upward from the spin axis 9 of the flywheel 10. Since the center of gravity is set, the center of gravity of the gimbal frame 8 is located below the rotation axis 7, so that the spin axis 9 is restored to the horizontal posture by its own weight. Therefore, it is possible to improve the turning force when the gimbal frame 8 is forcibly rotated next to turn the suspended load.

Further, if the rotation of the gimbal frame 8 is set to a free state while the gimbal frame 8 is forcibly rotated to rotate the suspended load, the fly for preventing the continued rotation of the suspended load due to inertia. The inertial force of the wheel 10 acts, and the swing of the suspended load eventually stops, but at this time, the gimbal frame 8 reversely rotates with the restoring force, and although a little, the time until the suspension of the suspended load stops can be reduced.

In the above embodiment, since the center of gravity of the entire gimbal coincides with the spin axis 9 of the flywheel 10, the rotation axis 7 of the gimbal frame 8 is eccentric upward by a height h from the spin axis 9. FIG. 4 shows an example in which the center of gravity of the entire gimbal and the spin axis 9 do not coincide with each other.

In (a), the upper half of the gimbal frame 8 is cut out, and the upper half of the flywheel 10 is exposed inside the gyro frame 6. In this example, the center of gravity of the entire gimbal including the flywheel 10 is
As a result, the rotation axis 7 of the gimbal frame 8 and the spin axis 9 can be matched. In (b), the upper half of the gimbal frame 8 is not cut out, but a weight 15 is provided at the lower part thereof, whereby the center of gravity of the entire gimbal is positioned below the spin axis 9 so that the rotation axis can be reduced. 7 is aligned with the spin axis 9. Further, in the example of (c), although the rotation axis 7 of the gimbal frame 8 is located below the spin axis 9, the weight 15 provided at the lower part of the gimbal frame 8 is used.
As a result, the center of gravity of the entire gimbal is located below the rotation shaft 7.

In any of the above examples, since the spin axis can be restored to the horizontal attitude by its own weight, the same operation and effect as in the above-described embodiment can be obtained.

The present invention is not limited to the above embodiment. For example, it is not necessary to position the gyro frame 6 at the center of the entire suspended load or at the bottom of the suspending jig 4. It may be installed on the upper part or at the end. When installed at the end of the hanging jig 4,
For example, it can be used as an auxiliary device of a hanging posture control device using a fan. Further, a plurality of gyro frames 6 may be provided in one hanging jig 4, and the gyro effect can be doubled or tripled according to the number thereof.

[0025]

As described above, according to the present invention,
Since the rotation axis of the gimbal is set to be eccentric above the spin axis of the flywheel, the drive of the gimbal is stopped in a state where the spin axis is not horizontal, or when the gimbal rotates after receiving a disturbance, the spin axis is rotated by its own weight. Is restored to the horizontal position, so that the rotating force around the vertical axis, that is, the turning force, when the gimbal is forcibly rotated next to forcibly turn the suspended load can be improved.

If the gimbal rotation is set to a free state while the gimbal is forcibly rotated to rotate the suspended load, the rotation of the gimbal is assisted by the restoring force of its own weight, and the rotation of the gimbal is stopped until the suspended rotation of the suspended load. Time can be shortened.

[Brief description of the drawings]

FIG. 1 is a side view of a hanging posture control device using a gyroscope according to the present invention.

FIG. 2 is a side view of FIG.

FIG. 3 is a plan view of FIG. 1;

FIG. 4 is a side view showing another embodiment.

[Explanation of symbols]

 Reference Signs List 4 hanging jig 6 gyro frame 7 rotation axis 8 gimbal frame (gimbal) 9 spin axis 10 flywheel 11 rotation motor 12 spin motor 15 weight h eccentric amount

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Tatsuya Wakisaka 4-640 Shimoseito, Kiyose-shi, Tokyo, Japan Inside the Obayashi Corporation Technical Research Institute (72) Inventor Fumihiro Inoue 4-640 Shimoseito, Kiyose-shi, Tokyo, Japan Obayashi Corporation Within the Technical Research Institute (72) Inventor Atsuhiro Doyama 4-640 Shimoseito, Kiyose-shi, Tokyo Inside the Obayashi Gumi Technical Research Institute, Inc. 72) Inventor Soji Oyagi 4-640 Shimoseito, Kiyose-shi, Tokyo, Japan Obayashi-gumi Technical Research Institute, Inc. (72) Inventor Kazunari Fukuda 4-640 Shimoseito, Kiyose-shi, Tokyo, Japan, in Obayashi Gumi Technical Research Institute (72) Inventor Yasunori Uemura 2-3-3 Kandaji-cho, Chiyoda-ku, Tokyo Obayashi Corporation Tokyo head office (56) References JP-A-6-80383 (JP, A) JP-A-7-19282 (JP, U) JP-B-4-17873 (JP, A) (58) Fields investigated (Int. Cl. ⁶⁾ , DB name) B66C 13/00-15/06

Claims (2)

(57) [Claims] 1. A hanging jig suspended by a wire rope or the like in a horizontal posture, a gimbal rotatable about a horizontal rotation axis, and an axis that is the same or parallel to the rotation axis of the gimbal with respect to the gimbal. A lifting attitude control device comprising a flywheel capable of spinning about an orthogonal spin axis, wherein the rotation axis of the gimbal is set to be eccentric above the center of gravity of the gimbal including the flywheel. A lifting attitude control device using a gyroscope. 2. A gyroscope, characterized in that I suspended load attitude control system der according gyroscope of claim 1, and set the rotation axis of the gimbal eccentrically above the spin axis of the flywheel The lifting posture control device.