JP7353914B2 - Auxiliary equipment and method for controlling swinging of suspended loads - Google Patents

Description

The present invention relates to an auxiliary device for controlling the rotation of a suspended load, which has a means for assisting in returning a gyro to a reset position, and a method thereof. .

In lifting operations, it is necessary to rotate the hanging load, for example, in order to avoid obstacles that may interfere with the hanging load. The present inventors have developed a device that suppresses rotation of a suspended load due to twisting of a crane rope and automatically rotates the suspended load (Patent Document 1).
FIG. 11 is an explanatory diagram of the suspended load rotation control device. FIG. 12 is an explanatory diagram of the swing control means, in which (1) is a side view (high speed rotation motor side) and (2) is a front view. This suspended load swing control device 1 is intended for a sheave block (pulley) type crane hook 2, and is provided between a suspended load 3 and a lifting means (crane, etc.) for the suspended load 3, and a rotating means for rotating the suspended load 3. 4 and a turning control means 5. The suspended load 3 can be rotated to any position by the rotation means 4. At this time, the swing control means 5 cancels the reaction force applied to the device 1 itself during the swing, and furthermore suppresses the swing of the suspended load 3 caused by external disturbances such as wind.

A more specific configuration of the swing control means 5 is that a high-speed rotation motor 7 is attached to one side of the rotating shaft of the flywheel 6, and a counterweight 8 having the same mass as the motor 7 is attached to the other side. Both sides of the flywheel 6 have a gimbal 9 structure, and are supported on both sides by bearings (rotating shaft 9b) so that it can freely rotate around the x-axis. The basic position of the flywheel 6 is such that the rotating surface is parallel (in the vertical direction) to the plane formed by the z-axis and the x-axis. A stopper 9a is attached to the gimbal 9 so that the flywheel 6 rotates around the x-axis within a range of ±45° when the z-axis perpendicular to the x-axis is set to 0°.
This can prevent the flywheel 6 from tilting beyond the above range and reducing the gyroscopic effect, but the movable range of the flywheel 6 is limited and the flywheel 6 cannot be returned to the original reset position (0°; vertical). There was a problem in that it took a long time to return to the line (on the line).

On the other hand, the device disclosed in Patent Document 2 is equipped with a gyroscope and a rotational position detection sensor capable of detecting the rotational position of the rotation axis of the gimbal on a hanging jig suspended in a horizontal position by a wire, and the gyro This effect is used to obtain the horizontal turning force of the hanging jig. In addition, a technology has been disclosed in which the tilt of the flywheel is detected by a detection sensor on the gimbal rotation axis, and the gimbal rotation position is offset by the reaction caused by the air injection, but since it requires time to reset the flywheel, it is Technology that offsets time was desired.

Patent No. 5824206 Patent No. 3113209

In view of the problems of the prior art described above, the problem to be solved by the present invention is to provide a swing control system for a suspended load that can continuously perform a swing operation with good responsiveness to an external force applied to a swing control device equipped with a means for rotating a suspended load. An object of the present invention is to provide a control auxiliary device and a method thereof.

As a first means for solving the above problems, the present invention includes a turning means for turning a lifted load, and a turning control means for canceling the reaction force acting when the suspended load is turned by a gyro effect,
The turning control means has a flywheel that rotates at high speed and a gimbal that rotatably supports the flywheel, and allows the flywheel to tilt at a predetermined angle from a basic position where the flywheel is balanced, so that the flywheel can be tilted to the basic position by the gyro effect. It has a first auxiliary means that assists the force of returning to the basic position, and a second auxiliary means that assists the force of returning to the basic position by blowing air in the forward or reverse rotation direction around the rotation axis due to the gyroscopic effect. ,
The second auxiliary means is
a blower fan capable of blowing air by switching the rotation direction of the rotation control means in a forward or reverse rotation direction;
a tilt sensor that detects a tilt angle of the gimbal;
an angular velocity sensor that detects the angular velocity of the hanging load around an axis perpendicular to the ground;
The present invention is characterized by comprising a control unit that controls the blower fan to blow air in a direction to return the rotation of the suspended load when the flywheel is tilted at a predetermined angle based on the detected values of the tilt sensor and the angular velocity sensor. An object of the present invention is to provide an auxiliary device for controlling the swing of a suspended load.
According to the first means, even if an external force acts on the swing control device including means for swinging the hanging load, the gyroscopic effect that cancels out the swing reaction force can be quickly restored, and a swing operation with good responsiveness can be performed.
In addition, even if external factors such as wind continuously act on a swing control device equipped with a means for swinging a suspended load, the device can be easily moved around the swing axis in a direction that cancels out the reaction force based on the inclination angle of the flywheel. It can rotate and perform continuous turning movements with good responsiveness. In addition, the angular velocity sensor can detect the angular velocity of the suspended load around the axis perpendicular to the ground, detects the shaking of the suspended load that is integrated with the device, and controls the fan drive so that the angular velocity becomes 0. This makes it possible to stop the swinging of the suspended load.

The present invention provides a second means for solving the above problems, in which the first auxiliary means has one end connected to a gimbal support that rotatably supports the gimbal, and the other end connected to the gimbal support. a first tension coil spring connected above the rotation axis of the gimbal; and a second tension coil, one end connected to a gimbal support that rotatably supports the gimbal, and the other end connected below the rotation axis of the gimbal. An object of the present invention is to provide an auxiliary device for controlling the swing of a suspended load, which is characterized by being a spring.
According to the second means, when returning the flywheel to the basic position, the resetting of the flywheel can be assisted by the expansion and contraction force of the tension coil spring. Therefore, the gyro effect can be restored in a short time with good responsiveness.

The present invention provides, as a fifth means for solving the above problem, in any one of the first to fourth means, the turning means includes a double hook for hoisting the hanging load,
An object of the present invention is to provide an auxiliary device for controlling the swing of a suspended load, characterized in that the device has a locking pin that locks with the double hook at the center and a balance that extends in a straight line along a horizontal plane passing through the center. .
According to the fifth means, it is possible to increase the torsional rigidity under the hook of the turning means and synchronize the hook and the suspended load when turning. Furthermore, there is no load swinging when the swing stops, and it can be stopped at any position.

As a fourth means for solving the above problems, the present invention provides a step of rotating the lifted load using a rotating means,
a step of performing swing control to cancel the reaction force that acts when the suspended load swings using a gyro effect;
In the step of performing the turning control, the flywheel rotating at high speed is tilted at a predetermined angle from a balanced basic position to assist the force of returning to the basic position by the gyro effect ,
The assisting step includes expanding and contracting a tension coil spring, one end of which is connected to a gimbal that rotatably supports the flywheel, and the other end of which is connected to a gimbal support that rotatably supports the gimbal;
detecting the tilt angle of the gimbal with a tilt sensor;
detecting the angular velocity of the suspended load around an axis perpendicular to the ground using an angular velocity sensor;
When the flywheel is tilted at a predetermined angle based on the detected values of the tilt sensor and the angular velocity sensor, the air blowing fan is used to blow air in a forward or reverse rotation direction around the rotation axis in a direction to return the rotation of the suspended load. An object of the present invention is to provide an auxiliary method for controlling the swing of a suspended load.
According to the fourth means, the gyroscopic effect that cancels the reaction force even when an external force continuously acts on the swing control device equipped with the means for swinging the suspended load is restored, and continuous swing operation with good responsiveness is achieved. I can do it.
In addition, even if an external force continuously acts on a swing control device equipped with a means for swinging a suspended load, or an external factor such as wind acts continuously, the device can be easily moved around the swing axis in a direction that cancels out the reaction force. It can rotate and perform continuous turning movements.

According to the present invention, even if an external force acts on the lifted load, the suspended load can be continuously rotated with good response.

FIG. 2 is an explanatory diagram of the hanging load swing control auxiliary device of the present invention. It is an explanatory view of the first auxiliary means. It is an explanatory diagram of a balance. It is an explanatory view of a ventilation fan. It is an explanatory view of a ventilation fan of a modification. FIG. 3 is a process flow diagram of the auxiliary method for controlling the rotation of a suspended load according to the present invention. It is a graph which shows the relationship between the hanging load rotation speed around the axis|shaft which a hanging load makes perpendicular|vertical to the ground, and time. It is a graph showing the relationship between the tilt angle of the gimbal and time. It is a graph showing the relationship between the tilt angular velocity of the gimbal and time. It is a graph showing the relationship between the rotation axis angle and time. It is an explanatory view of a suspended load turning control device. It is an explanatory view of turning control means.

Embodiments of the suspended load swing control auxiliary device and method of the present invention will be described in detail below with reference to the drawings.
[Hanging load swing control auxiliary device 10]
FIG. 1 is a schematic diagram of the configuration of an auxiliary device for controlling the swing of a suspended load according to the present invention (the first auxiliary means 20 is omitted). FIG. 2 is an explanatory diagram of the first auxiliary means, in which (1) is a front view and (2) is a view taken along the line AA in (1). The suspended load swing control auxiliary device 10 of the present invention is attached to a swing control means 5 for a suspended load lifted by a sheave block (pulley) type crane hook 2 of a lifting means such as a crane, and assists swing control of a suspended load 3. It is something to do.
The swing control auxiliary device 10 has first and second auxiliary means 20 and 40. It also has a generator 12 that serves as a driving source for the device.

[First auxiliary means 20]
As shown in FIG. 2, the first auxiliary means 20 is a tension coil spring attached to the gimbal of the swing control means 5.
Here, the swing control device 5 has a base 30 whose main surface is arranged along a horizontal plane, and a gimbal support 32 extending vertically from the base 30, and a gimbal 9 that rotatably supports the flywheel 6. A rotating shaft 9b is pivotally supported by a pair of gimbal supports 32 on the base 30.

A more specific configuration of the first auxiliary means 20 is such that one end of the spring is connected to the gimbal support 32 (above the horizontal line y passing through the rotation axis 9b of the gimbal 9) that rotatably supports the gimbal 9, and the other end A first tension member extends in a direction perpendicular to the axis at a point protruding from the gimbal support 32 and connects to the upper side of the support plate 34 (above the rotation axis 9b) that can rotate around the axis integrally with the gimbal 9. One end of the coil spring 22 is connected to the gimbal support 32 that rotatably supports the gimbal 9 (below the horizontal line y passing through the rotation axis 9b of the gimbal 9), and the other end is connected to the bottom of the gimbal support 32 (below the horizontal line y passing through the rotation axis 9b of the gimbal 9). This is the second tension coil spring 24 connected to the lower side of the shaft 9b.
The first auxiliary means 20 having such a configuration is effective when the flywheel 6 rotating at high speed is at the basic position on the x-axis (coaxial with the axis of the rotation axis 9b of the gimbal 9) (perpendicular to the x-axis). surface) and in the neutral position (no tensile load applied).
When the flywheel 6 tilts in the -Y direction, the first auxiliary means 20 extends. Then, the pulling force of the first auxiliary means 20 in the direction of contraction acts to assist the force of the flywheel 6 to return to its basic position.
Further, when the flywheel 6 tilts in the +Y direction, the second auxiliary means 40 extends. Then, the pulling force of the second auxiliary means 40 in the direction of contraction acts to assist the force of the flywheel 6 to return to its basic position.

[Second auxiliary means 40]
As shown in FIG. 1, the second auxiliary means 40 includes a blower fan 42 and a duct 45 capable of blowing air by switching the rotation axis of the rotation control means 5 in a forward or reverse rotation direction, and a tilt sensor that detects the tilt angle of the gimbal 9. 41, an angular velocity sensor 44 that detects the angular velocity of the rotation axis, and a blower fan 42 that moves in a direction to cancel external forces such as wind when the flywheel 6 is tilted by a predetermined angle based on the detected values of the tilt sensor 41 and the angular velocity sensor 44. It has a control section 46 that controls the air blowing.
FIG. 4 is an explanatory diagram of the blower fan, in which (1) is a perspective view, and (2) and (3) are cross-sectional views of the top surface.
The blower fan 42 is attached at a predetermined distance from the rotation axis of the rotation control means 5, in this embodiment, as an example, at both ends of a frame 43 extending horizontally from the rotation axis.
The blower fan 42 is fixed to the frame 43 so as to be able to blow air in the diametrical direction on a horizontal plane perpendicular to the rotation axis. An exhaust port of the blower fan 42 is connected to a duct 45. The duct 45 is a pipe that is arranged at both ends of the frame 43 and can exhaust air in a tangential direction around the pivot axis. The duct 45 has a cylindrical shape, and is provided with an electrically driven partition plate 47 at the center thereof, so that exhaust can be switched to either end of the pipe. The blower fan 42 having such a configuration can be rotated clockwise by switching the partition plate 47 as shown in FIG. 4(2). Further, by switching the partition plate 47 in the opposite direction to that shown in FIG. 4(2), it is possible to rotate counterclockwise (see FIG. 4(3)).

FIG. 5 is an explanatory diagram of a modified example of a blower fan. As shown in the figure, the modified example of the blower fan has removable air nozzles 48 attached to both ends of a duct 45. The tip of the air nozzle 48 is formed into a tapered shape, and the axis of the nozzle intersects with the axis of the duct 45, so that the air is exhausted obliquely upward.
The tilt sensor 41 is a gyro sensor that can detect the tilt angle of the gimbal 9. The tilt sensor 41 of this embodiment is built in around the rotation axis 9b of the gimbal 9.
The angular velocity sensor 44 is a gyro sensor capable of detecting the angular velocity of the suspended load around an axis perpendicular to the ground. The gyro sensor of this embodiment is built around the rotation axis of the rotation means 4.
The control unit 46 is electrically connected to the blower fan 42, the tilt sensor 41, and the angular velocity sensor 44, and applies a reaction force when the flywheel 6 tilts by a predetermined angle based on the detected values of the tilt sensor 41 and the angular velocity sensor 44. Control is performed to blow air in the direction of cancellation using the blower fan 42.
The second auxiliary means 40 having such a configuration is particularly effective when external factors such as wind continue.

[Balance 50]
FIG. 3 is an explanatory diagram of the balance. The turning means 4 includes a double hook 52 for hoisting the hanging load 3. As shown in the figure, the balance 50 includes a locking pin 54 at the center that locks with the double hook 52, and extends in a straight line along a horizontal plane perpendicular to the pivot axis. The balance 50 is provided with hanging hooks 56 at both ends.
The balance 50 having such a configuration can pivot around the pivot shaft integrally and synchronously with the double hook 52 of the pivoting means 4 by means of the locking pin 54 that engages with the double hook 52 . Furthermore, by extending in the linear direction by a predetermined length around the pivot axis, the pivot axis and the hanging hook 56 are positioned apart from each other by a predetermined distance, which increases torsional rigidity during pivoting. Therefore, the hook and the suspended load can be synchronized when turning, and the load can be stopped at any position without swinging when the turning is stopped.

[Auxiliary method for swing control of suspended loads]
A swing control auxiliary method using the suspended load swing control auxiliary device 10 of the present invention having the above configuration will be described below.
FIG. 6 is a process flow diagram of the auxiliary method for controlling the swing of a suspended load according to the present invention. FIG. 6 shows an auxiliary method for controlling the swing of the suspended load 3 using the inclination sensor 41 (gyro sensor).
The hanging load lifted by the lifting means is rotated by the turning means 4 (step 1).
When the suspended load 3 turns, a reaction force is generated in a direction opposite to the direction in which the suspended load 3 turns. Turning control is performed in which the reaction force is canceled by the gyroscopic effect of the turning control means 5 (step 2). Furthermore, the first auxiliary means 20 can assist the flywheel 6 in returning to its basic position using the expansion and contraction force of the tension coil spring. Therefore, the gyro effect can be restored with good responsiveness.

It is determined whether the inclination angle of the gimbal 9 is a predetermined angle α (for example, 10°) (step 3). In this embodiment, the tilt angle of the gimbal 9 is detected by the tilt sensor 41, and it is determined whether the detected value is larger than a predetermined tilt angle α.
If the inclination angle of the gimbal 9 has not reached the predetermined angle α [deg] (NO), the air blowing fan 42 of the second auxiliary means 40 is kept in a stopped state (step 4).
The reaction force is suppressed by the gyro moment generated by the turning control means 5 and the force that assists the gyro moment generated by the first auxiliary means (step 5).
When the tilt angle of the gimbal 9 reaches the predetermined angle α (YES), it is recognized that the suspended load and the device are swinging together, and the swing control means 5 recognizes that the suspended load and the device are swinging together, and the rotation control means 5 If the air cannot be suppressed, the blower fan 42 of the second auxiliary means 40 is activated. (Step 6). In this way, the inclination sensor 41 of this embodiment serves as a trigger for starting the second auxiliary means 40.

Continuous disturbance is suppressed by a wind moment in the opposite direction to the disturbance (step 7).
It is determined whether the rotation axis angular velocity is within ±β (for example, 0.1) [deg/s] (step 8). In this embodiment, the angular velocity sensor 44 detects the angular velocity of the hanging load around an axis perpendicular to the ground, and determines whether the detected value is within the angular velocity ±β.
If the rotation axis angular velocity has not reached ±β [deg/s] (NO), the process returns to step 6 and the continuous disturbance is suppressed by the wind moment by the second auxiliary means 40.
When the rotation axis angular velocity reaches within ±β [deg/s] (YES), the blower fan 42 of the second auxiliary means 40 is stopped (step 9). This makes it possible to stop the hanging load from swinging. In this way, the angular velocity sensor 44 of this embodiment serves as a trigger for stopping the second auxiliary means 40.
After that, the turning operation ends.

[Experimental result]
(Stopping accuracy when the suspended load is rotated approximately 100 degrees)
Figure 7 is a graph showing the relationship between the hanging load turning speed around an axis perpendicular to the ground and time, where the vertical axis shows the hanging load turning angle (°) and the horizontal axis shows time (seconds). ing.
In the figure, a solid line A shows a device without a turning control means, a two-dot chain line B shows a device having a turning control means, and a one-dot chain line C shows a device having a turning control means and a first auxiliary means.
In the device without a swing control means (non-swing control) (solid line A), the turning reaction force is only the friction of the hook part of the crane, so the time it takes to reach 100° is shorter than that of the two-dot chain line B and the one-dot chain line C. Running late. The device equipped with a turning control means (double-dashed line B) can turn 100 degrees and stop. At this time, the inertial force after the suspended load is stopped can be canceled by the gyro, allowing highly accurate control. In addition, the device equipped with the swing control means and the first auxiliary means (dotted chain line C) can stop the suspended load with the same accuracy as the device equipped with the swing control means, and the device equipped with the first auxiliary means can stop the suspended load with the same accuracy as the device equipped with the swing control means. There is little time delay. In other words, there is no negative effect caused by restraining the gyro with a spring.

(Compare the tilt angle and tilt angular velocity of the gyro when the suspended load is rotated approximately 100 degrees)
FIG. 8 is a graph showing the relationship between the tilt angle of the gimbal (flywheel or gyro) and time, where the vertical axis shows the suspended load rotation angle (°) and the horizontal axis shows the time (seconds).
In the figure, a two-dot chain line B indicates a device having a turning control means, and a one-dot chain line C indicates a device having a turning control means and a first auxiliary means.
The device equipped with a swing control means (two-dot chain line B) vibrates when the tilt angle returns to 0° due to the gyroscopic effect after the suspended load has stopped (around 20 seconds) (20 seconds to 80 seconds).
In the device equipped with the swing control means and the first auxiliary means (dotted chain line C), after the inclination angle reaches 0°, the vibrations subside due to the elastic force of the spring of the first auxiliary means (25 seconds to 80 seconds). ).
FIG. 9 is a graph showing the relationship between gimbal tilt angular velocity and time, where the vertical axis indicates gimbal tilt angular velocity (deg/s) and the horizontal axis indicates time (seconds).
Regardless of the presence or absence of the first auxiliary means, the same gyro moment with almost no change in tilt angular velocity is generated, and no reduction in power due to the first auxiliary means is observed (less than 30 seconds).

(Performance to prevent the suspended load from swinging when pushed at a wind speed equivalent to 25 m/s)
FIG. 10 is a graph showing the relationship between the swing axis angle and time, where the vertical axis shows the hanging load swing angle (°), the horizontal axis shows the time (seconds), and the solid line D in the figure shows the second auxiliary means. The device without , and the dash-dotted line E indicate the device with the second auxiliary means, respectively.
In the device without the second auxiliary means (solid line D), the hanging load rotates more than 200 degrees around the axis perpendicular to the ground and stops after 90 seconds.
The device having the second auxiliary means (dotted chain line E) starts the second auxiliary means after the tilt sensor detects that the gyro is tilted at 45 degrees, and approximately 15 seconds later, the rotation axis angle reaches 20 degrees. It's stopped.

According to the auxiliary device and method for controlling the swinging of a suspended load according to the present invention, even if an external force is applied to the lifted load, the swinging operation of the suspended load can be performed continuously with good response.
The preferred embodiments of the present invention have been described above. However, the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the present invention.
Further, the present invention is not limited to the combinations shown in the embodiments, but can be implemented by various combinations.

1 Hanging load swing control device 2 Crane hook 3 Hanging load 4 Swing means 5 Swing control means 6 Flywheel 7 Motor 8 Counterweight 9 Gimbal 9a Stopper 9b Rotating shaft 10 Hanging load swing control auxiliary device 12 Generator 20 First auxiliary means 22 First tension coil spring 24 Second tension coil spring 30 Base 32 Gimbal support 34 Support plate 40 Second auxiliary means 41 Inclination sensor 42 Blow fan 43 Frame 44 Angular velocity sensor 45 Duct 46 Control part 47 Partition plate 48 Air nozzle 50 Balance 52 Double Hook 54 Locking pin 56 Hanging hook

Claims (4)

comprising a turning means for turning a lifted suspended load, and a turning control means for canceling a reaction force acting when the suspended load is turned by a gyro effect,
The turning control means has a flywheel that rotates at high speed and a gimbal that rotatably supports the flywheel, and allows the flywheel to tilt at a predetermined angle from a basic position where the flywheel is balanced, so that the flywheel can be tilted to the basic position by the gyro effect. It has a first auxiliary means that assists the force of returning to the basic position, and a second auxiliary means that assists the force of returning to the basic position by blowing air in the forward or reverse rotation direction around the rotation axis due to the gyroscopic effect. ,
The second auxiliary means is
a blower fan capable of blowing air by switching the rotation direction of the rotation control means in a forward or reverse rotation direction;
a tilt sensor that detects a tilt angle of the gimbal;
an angular velocity sensor that detects the angular velocity of the hanging load around an axis perpendicular to the ground;
The present invention is characterized by comprising a control unit that controls the blower fan to blow air in a direction to return the rotation of the suspended load when the flywheel is tilted at a predetermined angle based on the detected values of the tilt sensor and the angular velocity sensor. Auxiliary device for controlling the rotation of suspended loads. The hanging load swing control auxiliary device according to claim 1,
The first auxiliary means is
A first tension coil spring, one end of which is connected to a gimbal support that rotatably supports the gimbal, the other end of which is connected above the rotation axis of the gimbal, and one end of which is connected to a gimbal support that rotatably supports the gimbal. An auxiliary device for controlling rotation of a suspended load, characterized in that the other end is a second tension coil spring connected below the rotation axis of the gimbal. The hanging load swing control auxiliary device according to claim 1 or 2 ,
The turning means includes a double hook for hoisting the hanging load,
An auxiliary device for controlling rotation of a suspended load, comprising a locking pin that locks with the double hook at the center, and a balance that extends in a straight line along a horizontal plane passing through the center. A step of rotating the lifted load using a rotating means,
a step of performing swing control to cancel the reaction force that acts when the suspended load swings using a gyro effect;
In the step of performing the turning control, the flywheel rotating at high speed is tilted at a predetermined angle from a balanced basic position to assist the force of returning to the basic position by the gyro effect ,
The assisting step includes expanding and contracting a tension coil spring, one end of which is connected to a gimbal that rotatably supports the flywheel, and the other end of which is connected to a gimbal support that rotatably supports the gimbal;
detecting the tilt angle of the gimbal with a tilt sensor;
detecting the angular velocity of the suspended load around an axis perpendicular to the ground using an angular velocity sensor;
When the flywheel is tilted at a predetermined angle based on the detected values of the tilt sensor and the angular velocity sensor, the air blowing fan is used to blow air in a forward or reverse rotation direction around the rotation axis in a direction to return the rotation of the suspended load. Features an auxiliary method for controlling the rotation of suspended loads.

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