JPH02169493A - Attitude controller for suspended load - Google Patents

Abstract

PURPOSE:To carry out two kinds of control, i.e., direction control and tilt control by one controller and obtain the small-sized controller by arranging the rotary shaft of a gyro onto a suspending jig so as to be positioned in a plane crossing at right angles with a shaft in the longitudinal direction of a suspending jig and permitting the gyro to be tilted in the plane. CONSTITUTION:In the direction control, a gyro 2 is tilted in a prescribed direction F by driving a control motor, strongly revolving the rotary shaft 3 of the gyro 2 in the nearly horizontally positioned state. Then, a revolution moment (precession effect) is generated, having the direction crossing at right angles with the the rotary shaft 3 and the output shaft of the gyro 2, i.e., the vertical direction as shaft, and then a suspending jig 1 and also a suspended load turn by a prescribed angle in the horizontal plane. In the tilt control, the control motor is operated, strongly revolving the gyro 2 in a prescribed direction G in the state where the rotary shaft 3 of the gyro 2 is nearly erected, and the gyro 2 is tilted H by a prescribed angle. Then, the suspending jig 1 and also the suspended load connected with the suspended jig 1 turn by a prescribed angle in the vertical plane by the precession effect.

Description

[Detailed description of the invention] (Industrial application field) The present invention relates to a device for controlling the direction and angle of a suspended load.

(Prior art) Conventionally, in order to control the azimuth of a suspended load rotatably suspended by a single wire lobe, etc., the reaction force of the moment for horizontally rotating the suspended load must be Since it is not possible to remove the rope in sections, the common method was to attach one end of the rope to the suspended load and manually pull the other end to change the azimuth. However, this method is extremely dangerous when working at heights.

On the other hand, as with recessed cranes, the fixed pulleys on the crane side are installed with sufficient spacing, and the movable pulleys on the suspended load side are installed with sufficient spacing, and the distance between the fixed pulley and the movable pulley is the same. There are attitude control devices that use motors only when the distance is sufficiently small, but there are many constraints and they are not common.

Therefore, in recent years, a hanging load attitude control device that utilizes the preset effect of a gyroscope has been proposed (Japanese Patent Application Laid-open No. 1695-1983). This preset effect means that when a torque is externally applied to the rotating shaft of the gyro, a force couple is generated on the rotating shaft in a direction (vector direction) perpendicular to the direction of the torque (vector direction). Accordingly, a gyro is integrally attached to the hanging jig so that the couple of the preset effect is generated around the hanging wire, thereby controlling the posture of the hanging jig and, in turn, the suspended load.

Specifically, when rotating a suspended load on a horizontal plane (direction control), as shown in FIG. The rotation axis of the gyro 2 is arranged such that the rotation axis of the gyro 2 can be tilted about a direction perpendicular to the rotation axis 3 of the gyro 2. At this time, the hanging jig is hung so that its longitudinal inclination is restricted. When the rotation axis 3 of the gyro 2 comes to substantially coincide with the longitudinal direction of the hanging jig 1, the preset effect causes horizontal rotation. That is, the gyro 2, which is rotationally driven in a predetermined direction (arrow A), is rotated in the direction perpendicular to the rotation axis 3 in a horizontal plane, and the gyro 2 is driven to rotate in a predetermined direction (arrow A).
tilt in the direction and apply the specified torque. Then, due to the horizontal component of the preset effect, the hanging jig 1 moves in the direction of arrow C.
It will turn in the direction.

On the other hand, when the hanging jig 1 is to be turned in a vertical plane, that is, to be tilted at a predetermined angle (tilt control), as shown in FIG. This can be done by hanging the gyro 2 so as not to restrict its inclination, and tilting the gyro 2 in the direction indicated by the arrow in a vertical plane, with the direction orthogonal to the rotation axis 3 as the axis.

(Problems to be Solved by the Invention) However, in the device using the gyro described above, the axis of tilting of the gyro 2 is different when performing azimuth control and when performing tilt control.

Therefore, it is necessary to prepare control devices (with different control motor mounting positions) that can perform different controls, and to use both as necessary, which is a complicated process.
The cost will be high.

Furthermore, if one control device were to control the orientation and inclination, two control motors would be required to be attached to the gyro 2, which would increase the size and weight of the device, making it impractical for practical use. Ta.

The present invention has been made in view of the above-mentioned problems, and its purpose is to be able to perform two types of control, azimuth control and tilt control, with one control device, and to reduce the size of the device. The purpose of the present invention is to provide an apparatus for controlling the posture of a suspended load.

(Means for Solving the Problems) In order to achieve the above-mentioned object, in the hanging load attitude control device according to the present invention, the lower end of the cable suspended in the vertical direction is connected via a horizontal hanging jig. In a suspended load attitude control device that rotates a suspended load within a three-dimensional plane, the gyro is mounted on the lifting jig so that the rotation axis of the gyro is located within a plane perpendicular to the longitudinal axis of the hanging jig. A control motor was connected to the gyro so that the gyro could be tilted within the plane.

(Function) When performing azimuth control, the gyro is tilted in a predetermined direction by driving the control motor while rotating strongly with the rotation axis of the gyro positioned approximately horizontally. As a result, a rotational moment is generated in a direction perpendicular to both the rotation axis and the output axis of the gyro, that is, approximately in the vertical direction (preset effect), which causes the lifting jig and ultimately the suspended load to move within a horizontal plane by a predetermined angle. rotate.

Furthermore, to perform tilt control, the gyro is strongly rotated in a predetermined direction with the rotation axis of the gyro generally upright, and the control motor is operated to tilt the gyro by a predetermined angle. Then, due to the preset effect, the hanging jig and the hanging load connected to the hanging jig are rotated by a predetermined angle within the vertical plane.

In addition, due to the related side H of the control motor and gyro motor,
Azimuth control and tilt control can also be performed simultaneously.

(Embodiments) Hereinafter, preferred embodiments of the suspended load attitude control device according to the present invention will be described in detail with reference to the accompanying drawings.

Note that the same reference numerals are given to members that are the same as or correspond to the conventional ones.

FIG. 1 is a schematic diagram showing an embodiment of the present invention.

As shown in the figure, gyros 2.2 are mounted near both ends of the hanging jig 1, which is placed in a horizontal state. The positions where the gyros 2, 2 are provided are set to be symmetrical with respect to the central part in the longitudinal direction of the hanging jig 1. The purpose of arranging the gyro 2 at two locations in this manner is to ensure the posture stability of the lifting jig 1 by canceling out the tilting component when the gyro turns and the turning component when tilting. , as in the conventional example and FIG. 3, one or more may be provided in the center of the hanging jig 1.

In addition, the rotation axis 3 of the gyro 2 is always located within a plane perpendicular to the longitudinal axis of the hanging jig. As shown in the figure (B), the couple due to the preset effect is used mainly when the rotating shaft 3 is oriented horizontally, and when tilt control is performed, it is mainly oriented vertically as shown in the same figure (B). Make use of the couple.

A control motor (not shown) for tilting the gyro 2 is arranged such that the output shaft of the control motor coincides with the longitudinal direction of the hanging jig 1. This control motor can be rotated in forward and reverse directions to correspond to the turning direction and the tilting direction, and the gyro 2 connected thereto can be tilted by a predetermined amount in a predetermined rotation direction.

At this time, the drive motor of gyro 2 (gyro motor)
It is preferable to be able to drive forward and reverse rotation. In other words, if the rotating shaft 3 rises during load direction control or becomes horizontal during load tilt control, the gyro motor is reversed to control the load direction or tilt control in the same direction. This is because it will be easier to continue.

Further, when an even number of gyros are used as shown in FIG. 1, azimuth control and tilt control can be clearly distinguished even when a conventional locking part of the hanging jig is used. In this case, the rotation directions of the control motors of the two gyros are reversed and the two gyros are rotated at the same angular velocity. Then, both 90'
The rotational axes of the gyro coincide with each other as it advances, and the positions where the gyro's rotation axes coincide are determined so that they coincide when the gyro axis becomes vertical and when it becomes horizontal. If the rotational direction of the gyro is reversed when it becomes vertical, the only force couple will be the tilting moment, and the azimuth control moments will cancel each other out. Conversely, if the gyro motor is controlled so that the rotation direction of the gyro is reversed when it is horizontal, the tilting moment will be canceled and the azimuth control moment will be doubled by adding the components of the two gyros. Vertical sway is eliminated.

On the other hand, the locking member for hanging the hanging jig may be a conventional one, but if there is an odd number of gyros and complicated control is to be avoided, azimuth control and tilt control should be performed separately. A switchable locking member is used as shown in FIG.

That is, a pair of ring-shaped first locking parts 5, 5 is provided on the upper surface of both ends in the longitudinal direction of the hanging jig 1, and a first wire is attached to the ring-shaped head of the first locking part 5. The lower ends of the ropes 6 are connected, and the upper ends of the first wire ropes 6 can be hung on a crane hook 8 via a ring 7. The hook portion 8a of the navigating lane hook 8 is rotatable and is configured not to give excessive twist to the first wire rope 6. Further, second locking portions 9 are provided on both side surfaces of the hanging jig 1 approximately in the center in the longitudinal direction, and the lower end of the second wire rope 1o is attached to the second locking portions 9. . The upper end of the second wire robe 10 can be hung on the crane hook 8 via a connecting rod 11 and a jack 12. By telescopically operating the jack 12, the load of the hanging jig 1 is applied to the first or second wire lobe 6.1o.

Next, the operation of the above-described embodiment will be described. The above-mentioned hanging jig 1 is integrally attached to a substantially central position above a hanging load (not shown). Therefore, the posture of the suspended load and the lifting jig 1
The posture of As shown in Fig. 2, a hanging load (solid line) located at an arbitrary position in a horizontal plane is placed at different angles (horizontal; angle θa,
In order to swing the vertical angle θb to a position (-dotted chain line), first extend the jack 12 so that the load of the hanging jig 1 is received by the first wire rope 6 (see Fig. 1 (A)). )). Then, the gyro 2 is rotated in a predetermined direction (arrow E) while the rotational speed is maximized when the rotation axis 3 of the gyro 2 is positioned horizontally, and the control motor is operated to tilt the gyro 2 by a predetermined angle. (arrow F
). As a result, a rotational moment is generated around a direction perpendicular to both the rotating shaft 3 and the output shaft of the control motor (preset effect), and as a result, the lifting jig 1 and the hanging load pivot in the horizontal plane by an angle θa. do.

Next, the jack 12 is contracted to reduce the load of the hanging jig 1 to the second
It is made to be received by the wire lobe 10 ((B) in the same figure).

Then, the gyro 2 is rotated in a predetermined direction (in the direction of arrow G) while controlling the rotating shaft 3 of the gyro 2 so that the rotational speed is maximized when the rotating shaft 3 is erected, and the control motor is operated to rotate the gyro 2 in a predetermined direction. Tilt the angle (arrow H). Then, due to the preset effect, the hanging jig 1 and thus the hanging load are rotated by an angle θb within the vertical plane. This allows the suspended load to be directed in a predetermined direction. However, in order to maintain the suspended load at an angle θb, it is necessary to cancel the moment due to the weight of the suspended load, etc.
It is necessary to continue applying a force of a predetermined magnitude to the suspended load at all times.

For this reason, as shown in FIG. 1(C), instead of the link chain 7a, this is engaged with a sprocket 7b with a brake 7C that is engaged with a hook 8. If the suspended load is tilted at a predetermined angle with the brake 7C released, and the brake 7C is operated in this state, the suspended load can be maintained at an inclination.

In this case, if the brake 7C is released, the slope of the suspended load will no longer be restrained, so the second locking portion is not required.

On the other hand, when turning horizontally, if the hanging load can be tilted at any angle due to its own weight, the first locking part becomes unnecessary and the jack 12 of the second locking part can also be omitted.

Orientation control and tilt control can also be performed using only the second locking portion. In this case, when the rotating shaft 3 approaches vertically during azimuth control, the rotation and rotation of the rotating shaft 3 and the output shaft 34 are simultaneously stopped and simultaneously rotated and rotated in opposite directions.

Next, an example of a more specific configuration of the above embodiment will be described. That is, if only one gyro is disposed at one location as described above, the controllable turning angle range is narrow, so the control angle is set to 360 degrees in the configuration shown below.

That is, as shown in FIGS. 3 to 5, the control motor 20,
The case 21 is mainly composed of three gyro motors 22 and a flywheel 23. Also, 3
The rotating shafts 3 of the two gyro motors 22 are arranged at equal intervals of a-120° from each other as shown in FIG. 3 is configured so that it does not always overlap the Z-axis, and as a result, by applying the torque of the control motor 20 to the remaining two rotating shafts 3, it is possible to always generate a couple around the Z-axis. There is.

In this embodiment, the gyro motor 22, the flywheel 23, and the rotating shaft 3 constitute the gyro 2.

On the other hand, the lifting jig 2 has a pair of left and right brackets 24 on the lower surface of both ends thereof, as shown in FIGS. It is now possible to connect with. on the other hand,
A pair of left and right support stands 30 and 31 are integrally erected on the upper surface of the hanging jig 2, a control motor 20 is arranged on one support stand 30, and a bearing 33 is arranged on the other support stand 31. ing.

Note that the output shaft 34 of the control motor 20 faces the X-axis direction. Further, a case 21 having a substantially triangular prism shape and having a hollow interior is disposed between the support stands 30 and 31.
The output shaft 34 of the control motor 20 is connected to one end wall 21a, and the shaft portion 2 protrudes from the other end wall 21b of the case 21.
1c is rotatably inserted into the bearing 33.

Furthermore, three gyro motors 22 are housed in the case 21 as shown in FIG. These gyro motors 22 are attached to the inner surfaces of the three side walls 21d to 21f of the case 21, and their rotating shafts 3 are perpendicular to the output shaft 34 or the shaft portion 21c of the control motor 20, and the rotating shafts 3 are mutually They are spaced at equal intervals of a-120'. On the other hand, three flywheels 23 are arranged outside the side walls 21d to 21f of the space 21, and the centers of these flywheels 23 are connected to a rotating shaft 3 protruding from a hole 35 in the side walls 21d to 21f. . The flywheel 23 is covered with a cylindrical cover 36 with a bottom.

The rotational direction of the gyro motor 22 is determined within a predetermined range before and after the rotation axis 3 overlaps the Z axis, as shown in FIG.
, c, the rotating shaft 3 is temporarily stopped and then reversed. Such switching of the rotation direction can be easily performed, for example, by combining the angle detection means of the output shaft 34 of the control motor 20 and the electric circuit of the gyro motor 22. When the output shaft 34 is rotated clockwise in FIG. 7, the brake is applied to the gyro motor 22 in ranges 1 and 2 to stop its rotation, and the rotation is stopped in range d.

At e, the gyro motor 22 is started in the opposite direction to reach a constant speed. Note that when the output shaft 34 is rotated counterclockwise in FIG. 7, the range is d.

The brake is applied to the gyro motor 22 at step e, and the gyro motor 22 is started in reverse at ranges s and c.

Further, in the range f1g, the gyro motor 22 rotates at high speed and constant in one direction. Furthermore, energy can be saved by using, for example, a power generating brake as a means for applying the brake.

Next, the operation of the above embodiment will be explained.

The hanging load attitude angle control device is constructed as described above, and when the H-shaped steel 26 is turned in the direction of the arrow 1 in FIG. 3, it is operated as follows. That is, assuming that FIG. 7 is a view seen from the direction of arrow H in FIG.
(shown as 3a to 3C in Fig. 7), the flywheel of the rotating shaft 3a is rotated clockwise when viewed from the inner end, and the flywheel of the rotating shaft 3c is rotated counterclockwise when viewed from the inner end. If so, rotate the output shaft 34 clockwise. Note that at the position shown in FIG. 7, the flywheel of the rotating shaft 3b has just stopped. At this time, control motor 2
0 and rotates the output shaft 34 by a predetermined angle, the flywheels 23 of the rotating shafts 3a and 3c connected to each gyro motor 22 try to rotate in the direction of the arrow 1 due to the characteristics of the gyroscope. torque(
preset effect). This generated torque is transmitted to the H-shaped steel 26 via the hanging jig 2, thereby
The mold n426 rotates by a predetermined angle in a predetermined direction.

Furthermore, if the rotation or rotation direction of either the rotating shafts 3a, 3c or the output shaft 34 is reversed, the H-shaped steel 26 will rotate in the direction of arrow J in FIG. This is direction control.

In addition, when tilt control is performed while the control motor is constantly rotating, the rotation of the flywheel is braked as the rotating shaft 3 approaches the horizontal position, and when the rotating shaft 3 is horizontal, the flywheel is stopped and reversely started.

In this way, it is possible to switch between azimuth control and inclination control by simply changing the flywheel rotation stop and reverse start positions, and furthermore, as explained below, combined control of these is also possible. . In other words, as shown in Fig. 8, a case will be explained in which the suspended load is directed from the current direction of OA to a predetermined direction OB, stopped, and controlled to maintain that attitude (azimuth control + tilt control). , rotates in a plane that includes a straight line connecting points A and B, stops at a predetermined position, and in a vertical plane that includes a perpendicular line passing through the center of rotation and point B, the moment due to its own weight about the suspension point and It is controlled by continuing to add enough moment to balance. A method of controlling in this manner will be explained based on FIG. 9.

In other words, the absolute coordinates XY with the center of the hanging point as the coordinate origin
Assume that Z is an imaginary coordinate axis, and a suspended load is suspended in a stable state parallel to the X axis of the coordinate axis.

Then, it is rotated counterclockwise with the Z axis as the rotation axis, so that it is parallel to the Y axis when viewed from the Z axis, that is, it coincides with the Y axis in a plane, and it is stopped at an angle of θ with the Y axis. When controlling, first, the tilt axis of the flywheel 23 is set as the X axis, the intersection of the tilt axis and the rotation axis of the flywheel 23 is the coordinate origin, and the coordinates xy2 are set in the direction perpendicular to the suspended load. further virtualize. Then, imagine a plane (A) that includes the y-axis and forms δ with the y-axis (of course, includes the origin of the xyz coordinates), and draw a perpendicular plane (B) that includes the y-axis to that plane (A). The vertical plane is assumed to be the position of a rotation control surface (b) that reverses the rotation direction of the flywheel 23, and the rotation direction of each flywheel 23 is determined by the rotation control surface (b). At the same time, the flywheel 23 is tilted so that the tilting vector of the flywheel 23, that is, the y-axis rotates along the plane (A) in a direction that coincides with the y-axis.

At this time, as the hanging load 26 rotates as shown in Fig. 10, a moment Mg about the hanging point generated by the weight of the hanging load 26 (acts in the direction in which the hanging load tries to return to its original stable posture). increases, so by tilting the rotation control surface (b) from its original position toward the (-) side of the y-axis to increase α, the flywheel tilting moment with respect to the y-axis can be reduced. Enlarge the ingredients. Furthermore, by increasing the tilt α (while also increasing the tilting moment N of the flywheel), the turning angular velocity of the suspended load 26 is prevented from becoming small while being balanced with the moment Mg.

The suspended load 26 is rotated without such control, and when it approaches the desired control attitude, the tilting moment N of the flywheel 23 is gradually reduced, and the inclination α of the rotation control surface (b) is adjusted. Tilt it to become even bigger. Then, when the suspended load 26 reaches the desired control posture, the rotation control surface (b) and the y-axis are made to coincide, and the moment Mg that causes the suspended load 26 to return to its original stable posture is made to match. Flywheel 2 with a tilting moment of size N
By continuing to tilt the flywheel 3, the moment component of the tilting moment of the flywheel 23 with respect to the y-axis is balanced, and the desired i; 11ga attitude can be maintained.

Incidentally, such complex control is not limited to this embodiment, and any control is possible as long as the rotation axis of the gyro is always located within a plane orthogonal to the longitudinal axis of the hanging jig.

(Effects of the Invention) As described above, in the suspended load attitude control device according to the present invention,
Not only azimuth control but also tilt control can be performed.

That is, the hanging load can be pivoted to any position in three-dimensional space and maintained in that state.

Furthermore, since this device basically consists of a gyro and one control motor disposed therein, the device can be made smaller and lighter.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing a schematic configuration of a suspended load attitude control device according to the present invention, FIG. 2 is a diagram explaining the operation, FIG. 3 is a perspective view showing an example of a specific configuration of the present invention, and FIG. The figure is a side view of the device, FIG. 5 is a vertical cross-sectional view of the device, FIG. 6 is a cross-sectional view of the device, and FIG. 7 explains the rotating direction of the gyro's rotation axis and the control motor's output shaft. Explanatory diagrams for doing so, Figures 8 to 10
The figure is a diagram explaining the operation, and FIG. 11 is a diagram showing a conventional example. 1... Hanging jig 3... Rotating shaft 9... Second locking part 22... Gyro motor

Claims (1)

[Claims] In a hanging load attitude control device that rotates a hanging load connected to the lower end of a vertically hanging cable via a horizontal lifting jig in a three-dimensional plane, the rotation axis of the gyro is connected to the hanging jig. The gyro is arranged so as to be located in a plane perpendicular to the longitudinal axis of the hanging jig, and a control motor is connected to the gyro so that the gyro can be tilted within the plane. A posture control device for suspended loads.