JP2911761B2 - Hanging posture control device using gyro effect and its control method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a suspended load attitude control device and a control method for appropriately rotating a suspended load suspended by a wire rope or the like in a horizontal plane, and more particularly to a suspended attitude control method using a wire rope or the like. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a system in which a gyro is mounted on a suspended jig and a horizontal turning force of the 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 relative to the lifting capacity, and in the latter case, the swinging behavior of the suspended load is unstable. Therefore, instead of these devices, a rotating posture control device for the suspended load utilizing the gyro effect has been developed ( For example, Japanese Patent Publication No.4-1787
No. 3).

[0003] The swinging load posture control device described in this publication is a hanging jig in which a hanging rope is hung in a horizontal posture on a wire rope suspended from a crane, and a hanging load is attached below the hanging jig. A gimbal rotatable about a rotation axis parallel to the tool, and a flywheel capable of spinning about a spin axis orthogonal to a plane including the rotation axis of the gimbal with respect to the gimbal, and a suspended load due to disturbance. By detecting the angle of spontaneous turning and rotating the gimbal by the motor while the turning angle is relatively small, the suspended load is turned in reverse by the amount of turning so far,
A predetermined azimuth is always maintained.

[0004]

By the way, in such a suspended load turning attitude control device utilizing the gyro effect, when a disturbance such as wind is applied to the pivot axis of the suspended load (suspension jig), it becomes difficult to control the load. By rotating the gimbal so that the spin axis of the flywheel becomes an angle close to the vertical in response to the force of the disturbance, the gimbal opposes the disturbance, and as a result, the gimbal maintains a tilted state. Then, move the gimbal to the offset position where the spin axis is horizontal (hereinafter simply referred to as the “offset position”).
), The turning is accelerated in the direction of disturbance.

[0005] Such a precession force is convenient if the suspended load is turned in the turning direction due to disturbance at that time, but if the turning force is applied in the opposite direction, the gimbal is tilted to the offset position. In this case, there is a problem that a turning force in the same direction is applied to the suspended load.

Further, when the drive of the motor that rotates the gimbal is stopped at the offset position, the gimbal rotates and absorbs the component that has been accelerated and swirled. As a result, simply rotating the gimbal in the opposite direction results in the gimbal being rotated. It cannot be returned to the offset position.

SUMMARY OF THE INVENTION The present invention has been made in consideration of the above-described conventional problems, and has as its object to use a gyro effect to control a gimbal rotated by a disturbance without affecting the swing of a suspended load. It is an object of the present invention to provide a suspended load attitude control device that can return to an offset position.

[0008]

In order to achieve the above object, an apparatus according to the first aspect of the present invention includes a hanging jig suspended in a horizontal posture for suspending a suspended load, and a suspension jig. A fixed gyro frame, a gimbal frame that can rotate around a vertical axis perpendicular to the gyro frame, and a gimbal frame that can rotate about a rotation axis orthogonal to a plane including the axis of rotation of the gimbal frame. A gimbal, a flywheel capable of spinning around a spin axis orthogonal to a plane including the rotation axis with respect to the gimbal, a rotation drive unit mounted on the gimbal frame and rotating the gimbal in a normal / reverse direction, and A load attitude control device provided with a spin drive unit for spinning a flywheel mounted thereon, wherein the load swing rotation clamp allows the two to be separated and attached between the gyro frame and the gimbal frame. Provided with a pitch, characterized in that a mechanism for force out the reaction torque of the rotary drive unit from said gimbal frame.

According to a second aspect of the present invention, there is provided an offset tilt drive unit for tilting the gimbal when returning the gimbal to the offset position, a worm gear mechanism connected to the offset tilt drive unit, An offset tilting clutch that is provided between the worm gear mechanism and the gimbal or the rotation driving unit and that allows the two to be separated from each other; and drives the spin driving unit, the rotation driving unit, and the offset tilting driving unit; A control means is provided for controlling the turning of the suspended load turning clutch and the offset tilting clutch to control the turning of the suspended load suspended by the hanging jig.

[0010] According to a third aspect of the present invention, a variable constant torque transmitter is provided between the gyro frame and the gimbal frame.

According to a fourth aspect of the present invention, there is provided a method for controlling a swing of a suspended load suspended by the suspending jig using the suspended posture control device. While the load turning clutch is in the connected state, the offset tilt clutch is in the disconnected state, and the spin drive unit and the rotation drive unit are driven, while returning the gimbal to the offset position, the offset tilt clutch is used. In the connected state, and the hanging load turning clutch is set in the disconnected state, and the offset tilt drive unit is driven.

[0012]

In the above construction, during normal turning operation, the suspended load turning clutch is brought into the connected state. In this state, by rotating the spin drive unit and the rotation drive unit, the suspended load turns and stops turning.

When a disturbance such as wind is applied to the swing axis of the suspended load, the gimbal rotates so that the spin axis of the flywheel becomes a nearly vertical angle according to the force of the disturbance. Thereafter, when returning the gimbal to the offset position, the suspended load turning clutch is disengaged, and the rotation drive unit is rotated in the reverse direction. Then, the gimbal tilts, but at this time, since the flywheel is rotating, a gyro effect occurs, and the gimbal frame tries to turn in the same direction as before. However, since the gimbal frame and the gyro frame (suspension jig) are spaced apart, only the gimbal frame turns without affecting the gyro frame. Therefore, the gimbal can be returned to the offset position without applying a turning force in the same direction to the suspended load (claims 1 and 4).

When the rotary drive unit is switched off when returning to the offset position, the gimbal frame tries to continue turning due to inertia, so that a reverse gyro effect occurs, and the gimbal moves away from the offset position (returns to the original position). A force (torque) that tries to tilt in the direction acts on the rotation drive unit, but since a mechanism that blocks the reaction torque is provided,
This action allows the gimbal to remain at the offset position.

In the case of adopting the configuration of claim 2, during a normal turning operation, the suspended load turning clutch is set to the connected state, and further, the offset tilting clutch is set to the disconnected state. When tilting the gimbal to return to the offset position, the tilting clutch for offset is set to the connected state, and the clutch for swinging the suspended load is set to the disconnected state. In this state, when the tilting drive unit for offset is driven, claim 1
As in the case of (1), the gimbal can be rotated without applying a turning force to the suspended load. (Claims 2 and 4).

When the gimbal is tilted so as to return to the offset position, the gimbal frame is turned by the gyro effect, and the turning force is controlled by the variable constant torque transmitter. Since only the set relatively small torque is transmitted to the gyro frame, it hardly affects the gyro frame and, consequently, the hanging jig (suspended load). At this time, the small transmission torque between the gyro frame and the gimbal frame acts as a force for braking the turning of the gimbal frame, using the moment of inertia of the suspended load as a reaction force field.

[0017]

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

FIG. 1 and FIG. 2 show a suspended attitude control device utilizing the gyro effect according to the present invention. The suspended attitude control device is a box-shaped gyro frame 1 suspended by a crane (not shown). And a suspending jig 4 made of H-shaped steel fixed to the bottom of the gyro frame 1 in a horizontal state for suspending a suspended load 3 (H-shaped steel in FIG.
A gimbal frame 6 in the gyro frame 1 that can rotate about a vertical rotation axis 5, a gimbal 8 that can rotate about the rotation axis 7 with respect to the gimbal frame 6, and a spin with respect to the gimbal 8. A flywheel 10 capable of spinning about an axis 9.

The gimbal 8 is rotated by a gimbal rotation motor 11 (rotation drive unit) mounted on the gimbal frame 6. A rotation axis 7 (axis parallel to the hanging jig 4) perpendicular to a plane including the turning axis 5 of the gimbal frame 6. Can be rotated at appropriate speeds in the forward and reverse directions with respect to. Further, the flywheel 10 is capable of spinning at high speed about a spin axis 9 orthogonal to a plane including the rotation axis 7 of the gimbal 8 by a spin motor (spin driving unit) (not shown) mounted on the gimbal 8. As the gimbal rotation motor 11 and the spin motor, an electromagnetic motor that rotates or spin-drives the rotation shaft 7 and the spin shaft 9 in a non-contact state is adopted.

The rotation mechanism of the gimbal 8 will be described more specifically. That is, the driven pulley 12 is connected to one end of the rotating shaft 7 of the gimbal 8, and the driving pulley 14 is connected to one end of the rotating drive shaft 13 disposed in parallel with the rotating shaft 7. A timing belt 15 is wound around the rotary drive shaft 13, and a rotary drive shaft 1 is provided at an intermediate portion of the rotary drive shaft 13 via a helical gear box 16 (reduction gear).
The rotation driving force of the gimbal rotation motor 11 is transmitted to the motor 3. Further, the other end of the rotary drive shaft 13 is detachably connected to an offset tilt motor 19 (offset tilt drive unit) via an offset tilt clutch 17 (electromagnetic clutch) and a worm gear mechanism 18. I have. The gimbal rotation motor 11 can rotate the rotation drive shaft 13 forward and reverse in a non-contact state as described above, and the worm gear mechanism 18 applies the driving force from the offset tilt motor 19 to the rotation drive shaft 13 as is well known. Although it can transmit power, it has irreversible characteristics in which power from the rotary drive shaft 13 cannot be transmitted to the offset tilting motor 19 side.

When the offset tilting clutch 17 is disengaged, the rotational driving force of the gimbal rotary motor 11 is transmitted to the rotary driving shaft 13 and is sequentially transmitted through the driving pulley 14, the timing belt 15, and the driven pulley 12. It is transmitted to the rotation shaft 7 of the gimbal 8. On the other hand, when the offset tilting clutch 17 is in the connected state, the tilting driving force of the offset tilting motor 19 is transmitted to the rotary drive shaft 13 and transmitted to the rotary shaft 7 of the gimbal 8. Accordingly, the gimbal rotation motor 11 rotates the gimbal 8 in the forward and reverse directions, while the offset tilt motor 19 tilts the gimbal 8 when returning the gimbal 8 to the offset position.

It is to be noted that the offset tilting clutch is not connected to the offset tilting motor but is directly connected to the driven pulley 12.
May be connected to the gimbal.

Further, between the bottom surface of the gyro frame 1 and the top surface of the bottom portion of the gimbal frame 6, there is provided a lifting load turning clutch 20 which allows the two to be separated from and connected to each other. When the suspended load turning clutch 20 is in the connected state, the gimbal frame 6 and the gyro frame 1, that is, the hanging jig 4 (the suspended load 3) are turned integrally. Even if the rotation is transmitted to the gimbal frame 6, it does not affect the gyro frame 1, that is, the hanging jig 4 (the suspended load 3).

The lower surface of the ceiling of the gyro frame 1 and the gimbal frame 6
A variable constant torque transmitter 21 is provided between the upper and lower ceiling portions. The variable constant torque transmitter 21 transmits only the torque set in advance to a small value in the turning force of the gimbal frame 6 to the gyro frame 1 side.

The gimbal frame 6, gimbal 8, flywheel 10 and the like constitute a gyro. A tilt detector 22 for detecting the tilt state of the gimbal 8 is installed at the other end position of the rotating shaft 7 of the gimbal 8. In the gyro frame 1, in addition to the gyro and the tilt detector 22, Gimbal rotation motor 11, spin motor, tilting motor 1 for offset
9 is provided with a controller 23 for controlling the rotational drive of the drive unit 9 and controlling the detachment / contact drive of the offset tilting clutch 17 and the suspended load turning clutch 21.

Next, the operation will be described.

At the time of a normal turning operation, the suspended load turning clutch 21 is connected and the offset tilting clutch 17
In a disconnected state. In this state, if the gimbal 8 is rotated by driving the spin drive motor and the gimbal rotation motor 11, a gyro effect is generated, and the suspended load 3 is turned through the gimbal frame 6, the gyro frame 1, and the suspension jig 4. Can be. Also, if the rotation drive of the gimbal 8 is stopped,
The gimbal 8 is rotated by the turning force of the suspended load 3, and the gyro effect generated thereby cancels out the turning force of the suspended load 3, and the turning of the suspended load 3 is stopped.

When a disturbance such as wind is applied to the suspended load 3, the gimbal 8 rotates so that the spin axis 9 of the flywheel 10 becomes an almost vertical angle in accordance with the force of the disturbance. Thereafter, when the gimbal 8 is tilted to return to the offset position, the offset tilting clutch 17 is set to the connected state, and the suspended load turning clutch 20 is set to the disconnected state. In this state,
When the offset tilt motor 19 is driven, the gimbal 8 is tilted via the worm gear mechanism 18 and the rotary drive shaft 13. When the gimbal frame 6 is tilted in the offset direction, the gimbal frame 6 is turned in the same direction as the disturbance by the gyro effect. At this time, since the gyro frame 6 (the suspension jig 4) and the gimbal frame 6 are separated from each other, the turning force of the gimbal 6 due to the gyro effect is not transmitted to the gyro frame 1. Therefore, it is not transmitted to the hanging jig 4.

Since the offset tilt drive motor 19 is connected to the worm gear mechanism 18 having irreversible characteristics, the reaction gyro moment due to the inertia moment of the gimbal frame 6 can be sealed off. Therefore, if a large torque is applied to the gimbal frame 6 at a low rotation speed,
The gimbal frame 6 is turned by the gyro moment. However, since the turning force transmitted to the gyro frame 1 is only a small turning torque due to the action of the variable constant torque transmitter 21, the gyro frame 1 is hardly affected. .

Further, if acceleration / deceleration control (trapezoidal control of speed, etc.) is performed when the gimbal frame 6 is tilted, the action of the variable constant torque transmitting device 21 and the worm gear mechanism 18 will increase the tilt speed of the gimbal 8. In addition, the gimbal 8 is tilted to a predetermined position and the braking of the gimbal frame 6 can be controlled without significantly affecting the swiveling of the suspended load 3 because the gimbal frame 6 is generated in a chain according to the torque and the turning speed of the gimbal frame 6. .

In the above description, the case where the dedicated offset tilting motor 19 is used (Claim 2) has been described. However, the offset can be performed by the rotation drive unit 11 without using this (Claim 1). ).

In this case, as described above, a mechanism for sealing off the reaction torque is required. As this mechanism, as shown in FIG. 2, the rotation drive unit 11 is a motor 11A with a brake (FIG. 2A). An electromagnetic brake 24 is provided on a transmission shaft between the rotation drive unit 11 and the gimbal 8 (FIG. 2B). A ratchet mechanism 25 is provided on the transmission shaft between the rotation drive unit 11 and the gimbal 8, and the ratchet claw 25a can be replaced (FIG. 2C). And so on.

[0033]

According to the present invention, as described above, the gimbal can be easily returned to the offset position.

Further, when the configuration of the third aspect is adopted, it is possible to return to the offset position more quickly without substantially affecting the gyro frame, and eventually the hanging jig (suspended load).

[Brief description of the drawings]

FIG. 1 is a side sectional view showing an entire configuration of an embodiment of a suspended load attitude control device using a gyro effect according to the present invention.

FIG. 2 is an explanatory diagram of a mechanism for blocking a reaction torque.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Gyro frame 3 Suspended load 4 Hanging jig 6 Gimbal frame 8 Gimbal 10 Flywheel 11 Gimbal rotation motor 17 Offset tilting clutch 18 Worm gear mechanism 19 Offset tilting motor 20 Suspended load turning clutch 21 Variable constant torque transmitter

──────────────────────────────────────────────────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 Koji Watanabe 4-640 Shimoseito, Kiyose-shi, Tokyo, Japan Obayashi Gumi Technical Research Institute ( 72) Inventor Soji Oyagi 4-33 Kitahama-higashi, Chuo-ku, Osaka-shi, Osaka Inside the Obayashi-gumi head office (72) Inventor Kazunari Fukuda 4-33, Kitahama-higashi, Chuo-ku, Osaka-shi, Osaka In-store (72) Inventor Yasukuni Uemura 2-3-3 Kandaji-cho, Chiyoda-ku, Tokyo Obayashi Corporation Tokyo head office (58) Survey Field (Int.Cl. ⁶ , DB name) B66C 13/08

Claims (4)

(57) [Claims] 1. A suspending jig suspended in a horizontal position to suspend a suspended load, a gyro frame fixed to the suspending jig, and a pivot about a pivot axis perpendicular to the gyro frame. A possible gimbal frame, a gimbal rotatable about a rotation axis orthogonal to a plane including a rotation axis of the gimbal frame with respect to the gimbal frame, and a spin axis orthogonal to a plane including the rotation axis with respect to the gimbal. A lifting attitude control device including a flywheel that can be spun as a center, a rotation drive unit mounted on the gimbal frame to rotate the gimbal forward and backward, and a spin drive unit mounted on the gimbal to spin the flywheel. In addition to providing a lifting load turning clutch between the gyro frame and the gimbal frame so that the two can be separated from each other, the reaction torque from the gimbal frame to the rotation drive unit can be reduced. Suspended load attitude control system utilizing a gyro effect, characterized in that a mechanism for killing. 2. An apparatus according to claim 1, wherein the gimbal is tilted when the gimbal is returned to an offset position. A worm gear mechanism connected to the tilt drive unit for rotation; an offset tilt clutch provided between the worm gear mechanism and the gimbal or the rotary drive unit for separating the two; Control means for controlling the driving of the drive unit, the tilting drive unit for offsetting, and controlling the detachment / attachment of the clutch for swinging the suspended load and the tilting clutch for offsetting to control the swinging of the suspended load suspended by the suspending jig; A hanging posture control device using a gyro effect, comprising: 3. Between the gyro frame and the gimbal frame,
2. A variable constant torque transmission device is provided.
Or a hanging posture control device using the gyro effect described in 2. 4. A method for controlling the turning of a suspended load suspended by the suspending jig using the suspended posture control device according to claim 1. In operation, the hanging load turning clutch is set to the connected state, the offset tilting clutch is set to the disconnected state, and the spin drive unit and the rotation drive unit are driven. A method of controlling a load attitude using a gyro effect, wherein the tilt shift clutch for offset is connected, the clutch for turning load is disengaged, and the tilt tilt drive unit is driven.