JPH0543184A - Orientation control device for suspended material - Google Patents
Orientation control device for suspended materialInfo
- Publication number
- JPH0543184A JPH0543184A JP20181191A JP20181191A JPH0543184A JP H0543184 A JPH0543184 A JP H0543184A JP 20181191 A JP20181191 A JP 20181191A JP 20181191 A JP20181191 A JP 20181191A JP H0543184 A JPH0543184 A JP H0543184A
- Authority
- JP
- Japan
- Prior art keywords
- azimuth
- unit
- control
- suspended object
- control device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- Conveying And Assembling Of Building Elements In Situ (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、建築用部材等を懸垂し
て昇降時に使用する装置に関し、特に懸垂物の方位を制
御する懸垂物の方位制御装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for suspending a building member or the like and used when ascending and descending, and more particularly to a device for controlling the orientation of a suspended object for controlling the orientation of the suspended object.
【０００２】[0002]
【従来の技術】従来、超高層ビル等の建築物の構築の
際、建築用部材を建築物の頂部に設置したクレーン等に
より、昇降させていた。図５は従来の建築用部材の昇降
状態を概略的に示したものである。建築物の頂部に配置
されたクレーン等の巻上桟１６よりリール１５を介し
て、ワイヤ等の懸垂線１４を垂下させ、建築用部材とし
て、幅（Ａ）や重量の大きな金属板等の平板条の懸垂物
１３を係着する。巻上桟１６を操作して、懸垂線１４に
係着された懸垂物１３を所定位置まで昇降させ、建築物
の構築を行うようにしている。2. Description of the Related Art Conventionally, when building a building such as a skyscraper, building members have been moved up and down by a crane or the like installed on the top of the building. FIG. 5 schematically shows a conventional building member in an up-and-down state. A suspension wire 14 such as a wire is hung from a hoisting bar 16 such as a crane arranged at the top of a building through a reel 15 to form a flat plate such as a metal plate having a large width (A) and a large weight as a building member. Fasten the article suspension 13. The hoisting bar 16 is operated to move the suspended object 13 attached to the catenary line 14 up and down to a predetermined position to construct a building.
【０００３】[0003]
【発明が解決しようとする課題】上述した従来の懸垂物
１３の昇降においては、巻上桟１６で昇降作業中、懸垂
物１３に風力が作用し、懸垂物１３が揺動すると共に、
懸垂線１４を中心として偶力が発生し、偶力のモーメン
ト、即ち回転モーメントにより、回転運動を行う。懸垂
物１３は幅が大きいと発生する偶力のモーメントも大き
くなり、風力の増加と共に回転運動が顕著になる。この
ため、幅及び重量ともに大きな懸垂物１３が回転する
と、建築物に衝突して大きな衝撃を与え、建築物を損傷
したりあるいは倒壊させる危険性があり、人命に係わる
重大な事故の原因となる。更に、作業時に風力が増加す
ると、上述した危険性を回避するため、作業を一時的に
中断しなければならず、作業効率の低下を招くという問
題があった。本発明は、上記課題を解決するためになさ
れたもので、その目的は、建築部材等の懸垂物の昇降作
業時に、風力による懸垂物の回転を抑制しうる懸垂物の
方位制御装置を提供することにある。In the conventional lifting and lowering of the suspended object 13, the wind force acts on the suspended object 13 during the lifting operation of the hoisting bar 16, and the suspended object 13 swings.
A couple is generated around the catenary line 14, and the moment of the couple, that is, the rotation moment causes a rotational movement. If the width of the suspended object 13 is large, the moment of the couple generated is also increased, and the rotational movement becomes remarkable as the wind force increases. For this reason, when the suspended object 13 having a large width and a large weight rotates, there is a risk of colliding with the building and giving a large impact, damaging or collapsing the building, which causes a serious accident involving human life. .. Further, when the wind power increases during work, the work must be temporarily interrupted in order to avoid the above-mentioned danger, which causes a problem that work efficiency is reduced. The present invention has been made to solve the above problems, and an object thereof is to provide a azimuth control device for a suspended object that can suppress the rotation of the suspended object due to wind force during the lifting work of the suspended object such as a building member. Especially.
【０００４】[0004]
【課題を解決するための手段】例えば、図１及び図２に
示す如く、懸垂物１３に係着されると共に、この懸垂物
１３を保持する保持具１２を有する架台１０と、この架
台１０の方位を設定する方位設定部２と、架台１０の方
位を検出する方位検出部９と、方位設定部２及び方位検
出部９からの出力信号を入力して偏差信号を出力する比
較部３と、この比較部３よりの偏差信号に基づき、制御
を行う制御部６と、この制御部６の出力信号により駆動
され、流体を噴出させる流体発生部７，８とを具える。
上述した方位検出部９は、例えばコンパスまたは角速度
検出器で構成される。また、上記制御部６は、調節部４
及び操作部５を有し、調節部４は例えばオン−オフ制御
方式あるいはＰＩＤ制御方式のいずれの方式で構成して
も良い。更に、上記方位検出部９を角速度検出器で構成
した場合、出力側に、例えばハイパスフィルタを設け、
角速度検出器のもつ固定誤差を除去することもできる。
また更に、制御部６は、比較部３からの偏差信号の大き
さに基づいて、流体発生部７，８の作動台数指令信号を
出力し、所要の流体発生部７，８を選択することができ
る。For example, as shown in FIGS. 1 and 2, a pedestal 10 that is attached to a suspension 13 and has a holder 12 that holds the suspension 13, and a pedestal 10 of the pedestal 10. An azimuth setting unit 2 that sets the azimuth, an azimuth detection unit 9 that detects the azimuth of the gantry 10, and a comparison unit 3 that inputs the output signals from the azimuth setting unit 2 and the azimuth detection unit 9 and outputs a deviation signal. The control unit 6 includes a control unit 6 that performs control based on the deviation signal from the comparison unit 3, and fluid generation units 7 and 8 that are driven by an output signal of the control unit 6 and eject a fluid.
The azimuth detecting unit 9 described above is configured by, for example, a compass or an angular velocity detector. Further, the control unit 6 includes the adjusting unit 4
Also, the adjusting unit 4 having the operation unit 5 may be configured by either an on-off control system or a PID control system. Further, when the azimuth detector 9 is composed of an angular velocity detector, a high-pass filter is provided on the output side,
It is also possible to eliminate the fixed error of the angular velocity detector.
Furthermore, the control unit 6 can output a command signal of the number of operating fluid generation units 7 and 8 based on the magnitude of the deviation signal from the comparison unit 3 to select a required fluid generation unit 7 or 8. it can.
【０００５】[0005]
【作用】上述した構成により、方位設定部からの設定方
位信号と方位検出部からの懸垂物の実際の方位信号とが
比較部で比較され、両信号の差を偏差信号として制御部
へ送出する。制御部はこの偏差信号に基づき、この信号
の極性ならびに大きさに応じた制御信号を出力すると共
に、偏差信号の偏差値及び予め設定したしきい値との照
合を行い、流体発生部としてのアクチュエータの所要数
の作動指令信号を出力し、操作部を介してアクチュエー
タへ供給する。偏差信号の偏差値が予め設定したしきい
値以下の場合は、一方のアクチュエータのみが作動さ
れ、偏差値がしきい値を超えた場合は両方のアクチュエ
ータが同時に作動される。このようにしてアクチュエー
タが駆動されると、アクチュエータのノズルより流体が
噴出し、懸垂物の方位が設定方位に対し偏位していれ
ば、これを修正するように制御され、懸垂物は常に設定
方位に一致させることができる。従って、懸垂物の風力
作用による回転が阻止され、建築物との衝突による損傷
あるいは倒壊等の人命に係わる重大事故が防止でき、作
業の安全性が向上すると共に、風力状態に係わらず昇降
作業を中断することなく継続できるので作業効率も向上
する。With the above-described structure, the set azimuth signal from the azimuth setting unit and the actual azimuth signal of the suspended object from the azimuth detection unit are compared in the comparison unit, and the difference between the two signals is sent to the control unit as a deviation signal. . Based on this deviation signal, the control unit outputs a control signal according to the polarity and magnitude of this signal, and also collates with the deviation value of the deviation signal and a preset threshold value, and the actuator as a fluid generation unit. The required number of operation command signals are output and supplied to the actuator via the operation unit. When the deviation value of the deviation signal is less than or equal to a preset threshold value, only one actuator is activated, and when the deviation value exceeds the threshold value, both actuators are activated simultaneously. When the actuator is driven in this way, fluid is ejected from the nozzle of the actuator, and if the orientation of the suspended object deviates from the set orientation, it is controlled to correct this, and the suspended object is always set. You can match the orientation. Therefore, the rotation of the suspended object due to the wind action can be prevented, serious accidents related to human life such as damage or collapse due to collision with the building can be prevented, work safety is improved, and lifting work can be performed regardless of wind conditions. Work efficiency is improved because it can be continued without interruption.
【０００６】[0006]
【実施例】本発明の懸垂物の方位制御装置の実施例を図
１乃至図４を参照して詳細に説明する。図５に示した従
来例に対応する部分には同一符号を付して重複説明を省
略する。図１において、１は方位制御装置（破線内）を
示し、２は懸垂物１３の方位を設定する、例えばポテン
ショメータ等の可変抵抗器、シンクロ電機或はエンコー
ダ等より成る方位設定部である。方位の設定は手動によ
り行われる。３は方位設定部２により設定された、方位
に対応した設定方位信号と、後述する方位検出部９によ
り検出された、懸垂物１３の実際の方位に対応した方位
信号との比較を行い、偏差信号を出力する比較部であ
る。４は、例えばオン−オフ制御構成或はＰＩＤ制御構
成とした調節部で、後述の第１及び第２の流体発生部７
及び８の制御信号を出力する。５は調節部４の制御信号
を増幅して上述の２つの流体発生部７及び８に供給する
操作部である。上述した調節部４及び操作部５は、制御
部６として構成されるが通常は比較部３を内蔵した制御
装置６1 （一点鎖線内）として構成される。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a suspension orientation control apparatus according to the present invention will be described in detail with reference to FIGS. The parts corresponding to those in the conventional example shown in FIG. In FIG. 1, reference numeral 1 denotes an azimuth control device (inside a broken line), and 2 denotes an azimuth setting unit configured to set the azimuth of the suspended object 13, which is composed of a variable resistor such as a potentiometer, a synchro electric machine or an encoder. The azimuth is set manually. Reference numeral 3 compares the set azimuth signal corresponding to the azimuth set by the azimuth setting unit 2 with the azimuth signal corresponding to the actual azimuth of the suspended object 13 detected by the azimuth detecting unit 9 to be described later to obtain a deviation. It is a comparison unit that outputs a signal. Reference numeral 4 denotes an adjusting unit having, for example, an on-off control configuration or a PID control configuration, which is a first and second fluid generating unit 7 described later.
And 8 control signals are output. An operation unit 5 amplifies the control signal of the adjusting unit 4 and supplies it to the above-described two fluid generating units 7 and 8. The adjusting unit 4 and the operating unit 5 described above are configured as the control unit 6, but are usually configured as a control device 6 1 (indicated by a one-dot chain line) including the comparison unit 3.
【０００７】図３において調節部４をオン−オフ制御構
成とした場合の動作例を示す。懸垂物１３は慣性が大き
いため微小な風力の変化には応答しないが、風力は一様
ではなく、絶えず不規則に変動しているので、懸垂物１
３も不規則に時計方向あるいは反時計方向に回転する。
このため、懸垂物の所定範囲の偏差値に対しては、制御
部４が応答しないように不感帯Ｎを設定する。この不感
帯Ｎの幅は、風力状態等により加減できるようにしてい
る。この場合、偏差値が不感帯Ｎ以上になると大きな制
御トルクを発生し、急速な制御が行われる。更に、設定
方位と懸垂物の実際の方位との偏差値εに対し、予め定
めたしきい値Ｄとの照合を行い、風力の状態により、 ε＜Ｄの場合は、第１の流体発生部７（後述）のみを作
動 ε＞Ｄの場合は、第１及び第２の流体発生部７及び８
（後述）を同時に作動 するように流体発生部の作動数指令信号を出力する。ε
＞Ｄの場合、第１流体発生部の制御トルクＦ1 に第２の
流体発生部の制御トルクＦ2 が加えられる。FIG. 3 shows an operation example when the adjusting section 4 has an on-off control configuration. The suspended object 13 does not respond to minute changes in wind force due to its large inertia, but since the wind force is not uniform and constantly fluctuates, the suspended object 1
3 also rotates irregularly clockwise or counterclockwise.
Therefore, the dead zone N is set so that the control unit 4 does not respond to the deviation value of the suspended object within the predetermined range. The width of the dead zone N can be adjusted depending on the wind conditions. In this case, when the deviation value becomes equal to or more than the dead zone N, a large control torque is generated and rapid control is performed. Further, the deviation value ε between the set azimuth and the actual azimuth of the suspended object is collated with a predetermined threshold value D, and if ε <D depending on the state of the wind force, the first fluid generation unit Only 7 (described later) is operated. If ε> D, the first and second fluid generating sections 7 and 8
A command signal for the number of operations of the fluid generating part is output so that (described later) are simultaneously operated. ε
> If and D, the control torque F 2 of the second fluid generating unit is applied to the control torque F 1 of the first fluid generating unit.
【０００８】図４は上述した調節部４をＰＩＤ制御構成
とした場合の動作例を示す。この場合も、上述したオン
−オフ制御構成と同様に、風力状態等により、懸垂物１
３の所定範囲の偏差に対して制御部６が対応しない様
に、偏差値εの小さい零付近に不感帯Ｎを設け、加減で
きるようにしている。この場合、不感帯Ｎ以外の領域で
は、偏差値εと、偏差値εとの積分値及びその微分値に
比例した制御トルクを出力する。また、設定方位と懸垂
物１３の実際の方位との偏差値εに対し予め定めたしき
い値Ｄとの照合も、オン−オフ制御と同様に設定してい
る。即ち、 ε＜Ｄの場合は第１流体発生部７のみ作動 ε＞Ｄの場合は第１及び第２流体発生部７及び８を同時
に作動 させる作動数指令信号を出力する。ε＞Ｄの場合、図３
に示したオン−オフ制御構成と同様に、第１の流体発生
部の制御トルクＦ1 に第２の流体発生部の制御トルクＦ
2 が加えられる。図１に戻り、７は制御部４により制御
される、例えば回転翼により空気等の流体を噴出するア
クチュエータ等の第１の流体発生部、８は流体発生部７
と同様の第２の流体発生部である。流体発生部７及び８
は、後述する架台１０の両端あるいは架台１０の一端に
並列して配置され、流体を噴出するノズル７1 及び８1
が夫々設けられている。またこれらノズル７1 及び８1
の流体噴射は懸垂物１３の回転方向とは反対方向になさ
れる。これら第１及び第２流体発生部７及び８の制御ト
ルク、即ち噴出される流体の流量による推力は、回転数
の制御あるいは回転翼のピッチ角制御により行われるよ
うになっている。前述した方位検出部９は、例えば小型
の電子磁気コンパス、或は角速度検出器等で構成され
る。角速度検出器を用いる場合は、その出力側に、例え
ば積分器及びハイパスフィルタを設け、角速度を積分し
て方位角を求めると共に、固定誤差を除去する。方位制
御装置１は以上説明したように、懸垂物１３の方位をフ
ィードバックして制御を行うように構成されている。図
２において、１０は方位制御装置１を搭載すると共に、
懸垂物１３を保持する保持具１２を具えた架台で、この
架台１０上には方位制御装置１に電力を供給する例え
ば、発電機等の電源１１も搭載されている。次に上述し
た実施例の動作について説明する。懸垂物１３の方位
は、建築物の配置状態、形状、構造等を考慮して決定
し、方位設定器２で手動により設定され、設定方位に対
応した設定方位信号が出力されて、比較部３へ送られ
る。比較部３は、この設定方位信号と、方位検出部９に
より検出された架台１０、即ち懸垂物１３の実際の方位
に対応した方位信号とを比較し、両信号の差を偏差信号
として出力し、制御部６へ送る。制御部６の調節部４
は、入力される偏差信号の極性ならびに大きさに対応し
た制御信号を出力すると共に、偏差値εとしきい値Ｄと
の照合を行い、第１流体発生部７及び／または第２流体
発生部８の所要数の作動指令信号を、操作部５を介して
第１流体発生部７及び／または８へ送出する。第１流体
発生部７及び／または第２流体発生部８は、いずれかま
たは両者が選択されて駆動され、ノズル７1 及び／また
はノズル８1 から流体が噴射される。第１流体発生部７
及び／または第２流体発生部８からの流体の噴射は、懸
垂物１３の回転方向と反対方向に行われるので、懸垂物
１３は架台１０と共に、設定方位、即ち所定の方位に一
致するように制御されることになる。上述した様に懸垂
物１３に風力、負荷変動あるいは他の原因による外乱が
作用して偶力による設定方位からの偏位が生じても、方
位検出部９が直ちにこの偏位を検出し、これを修正する
ように第１流体発生部７及び／または第２流体発生部８
が作動して方位制御がなされる。また、通常は、第１流
体発生部７または第２流体発生部８のいずれか一方のみ
を使用するが、懸垂物１３が幅及び重量がより大きい場
合には、大きな制御トルク、即ち推力が要求される。こ
のような場合には、制御部６から、第１流体発生部７及
び第２流体発生部８の同時作動指令信号が出力されて作
動され、大きな制御トルクが得られるようにする。従っ
て、慣性の大きな懸垂物１３の方位制御の遅れが改善さ
れ、ハンティング等の発生が抑制され、安定な制御が行
える。更に、方位制御装置１はフィードバック制御係で
形成されているため、懸垂物１３の偏位に対し応答が速
く、常に適切な方位制御が可能となる。上述した説明の
如く、高層建築物等の構築において、方位制御装置１を
搭載した架台１０に懸垂物１３を保持して昇降作業を行
う際、懸垂物１３に風力等が作用し、偶力により回転が
発生しても、方位制御装置により懸垂物１３の回転運動
が抑制され、所定の方位が保持される。FIG. 4 shows an operation example in the case where the adjusting unit 4 described above has a PID control configuration. Also in this case, the suspended object 1 may be changed depending on the wind power condition or the like as in the above-described on-off control configuration.
In order to prevent the control unit 6 from responding to the deviation in the predetermined range of 3, the dead zone N is provided near zero where the deviation value ε is small so that the dead zone N can be adjusted. In this case, in a region other than the dead zone N, the control torque proportional to the deviation value ε and the integral value of the deviation value ε and the derivative value thereof is output. In addition, the matching of the deviation value ε between the set azimuth and the actual azimuth of the suspended object 13 with a predetermined threshold value D is set similarly to the on-off control. That is, when ε <D, only the first fluid generating section 7 is operated. When ε> D, the operation number command signal for simultaneously operating the first and second fluid generating sections 7 and 8 is output. When ε> D, FIG.
Similar to the on-off control configuration shown in FIG. 1, the control torque F 1 of the first fluid generating portion is controlled by the control torque F 1 of the second fluid generating portion.
2 is added. Returning to FIG. 1, reference numeral 7 denotes a first fluid generating portion, such as an actuator, which is controlled by the control portion 4, such as an actuator for ejecting a fluid such as air by a rotor, and 8 denotes a fluid generating portion 7.
It is a second fluid generation unit similar to. Fluid generators 7 and 8
Are arranged in parallel at both ends of the gantry 10 or one end of the gantry 10 which will be described later, and eject nozzles 7 1 and 8 1
Are provided respectively. Also, these nozzles 7 1 and 8 1
Is ejected in the direction opposite to the rotating direction of the suspended object 13. The control torque of the first and second fluid generating units 7 and 8, that is, the thrust force by the flow rate of the ejected fluid is controlled by controlling the rotational speed or the pitch angle of the rotary blades. The above-described azimuth detecting unit 9 is composed of, for example, a small electronic magnetic compass, an angular velocity detector, or the like. When the angular velocity detector is used, for example, an integrator and a high-pass filter are provided on the output side thereof, the angular velocity is integrated to obtain the azimuth angle, and the fixed error is removed. As described above, the orientation control device 1 is configured to feed back the orientation of the suspended object 13 to perform control. In FIG. 2, 10 is equipped with the azimuth control device 1 and
A pedestal provided with a holder 12 for holding a suspended object 13, and a power source 11 such as a generator for supplying electric power to the azimuth control device 1 is also mounted on the pedestal 10. Next, the operation of the above-described embodiment will be described. The azimuth of the suspended object 13 is determined in consideration of the arrangement state, shape, structure, etc. of the building, is manually set by the azimuth setting device 2, and the set azimuth signal corresponding to the set azimuth is output, and the comparison unit 3 Sent to. The comparison unit 3 compares this set azimuth signal with the azimuth signal corresponding to the actual azimuth of the gantry 10 detected by the azimuth detection unit 9, that is, the suspended object 13, and outputs the difference between the two signals as a deviation signal. , To the control unit 6. Adjustment unit 4 of control unit 6
Outputs a control signal corresponding to the polarity and magnitude of the input deviation signal, compares the deviation value ε with the threshold value D, and outputs the first fluid generation unit 7 and / or the second fluid generation unit 8 The required number of operation command signals are sent to the first fluid generation unit 7 and / or 8 via the operation unit 5. Either or both of the first fluid generation unit 7 and / or the second fluid generation unit 8 are selected and driven, and the fluid is ejected from the nozzle 7 1 and / or the nozzle 8 1 . First fluid generation unit 7
And / or the injection of the fluid from the second fluid generation unit 8 is performed in the direction opposite to the rotation direction of the suspended object 13, so that the suspended object 13 is aligned with the pedestal 10 in a set orientation, that is, a predetermined orientation. Will be controlled. As described above, even if the suspended object 13 is subjected to a disturbance due to wind force, load fluctuations, or other causes to cause a deviation from the set azimuth due to a couple, the azimuth detection unit 9 immediately detects this deviation, and The first fluid generation part 7 and / or the second fluid generation part 8 so as to correct the
Is operated to control the direction. Further, normally, only one of the first fluid generating section 7 and the second fluid generating section 8 is used, but when the suspended object 13 has a larger width and weight, a large control torque, that is, a thrust force is required. To be done. In such a case, the control unit 6 outputs a simultaneous operation command signal for the first fluid generation unit 7 and the second fluid generation unit 8 to operate them, so that a large control torque is obtained. Therefore, the delay in the orientation control of the suspended object 13 having a large inertia is improved, the occurrence of hunting and the like is suppressed, and stable control can be performed. Further, since the azimuth control device 1 is formed by the feedback control section, the azimuth control device 1 has a quick response to the deviation of the suspended object 13 and can always perform appropriate azimuth control. As described above, in the construction of a high-rise building or the like, when the suspended object 13 is held on the pedestal 10 on which the azimuth control device 1 is mounted and the lifting work is performed, wind force or the like acts on the suspended object 13 to generate a couple of forces. Even if rotation occurs, the azimuth control device suppresses the rotational movement of the suspended object 13 and maintains a predetermined azimuth.
【０００９】[0009]
【発明の効果】以上説明したように、本発明によれば、
高層建築物等の構築の際、架台に方位制御装置を搭載す
ることにより、懸垂物の方位を設定した方位に一致する
ように制御することができるので、懸垂物の回転に伴う
衝突による建築物の損傷あるいは倒壊等の人命に係わる
重大事故が防止でき、作業の安全性が向上する。更に、
従来は風力状態によっては、懸垂物の昇降作業を一時中
断したが、本発明によれば、中断することなく作業が継
続できるので作業効率が大幅に向上するという利点があ
る。As described above, according to the present invention,
When building a high-rise building, etc., by mounting an azimuth control device on the gantry, it is possible to control the azimuth of the suspended object to match the set azimuth. It is possible to prevent serious accidents related to human life, such as damage or collapse, and improve work safety. Furthermore,
Conventionally, depending on the wind power condition, the work of raising and lowering a suspended object is temporarily interrupted, but the present invention has the advantage that work efficiency can be greatly improved because work can be continued without interruption.
【図１】本発明の方位制御装置の実施例の構成を示すブ
ロック図である。FIG. 1 is a block diagram showing a configuration of an embodiment of an azimuth control device of the present invention.
【図２】図１に示した実施例の概略構成を示す外観斜視
図である。FIG. 2 is an external perspective view showing a schematic configuration of the embodiment shown in FIG.
【図３】調節部をオン−オフ制御構成とした動作例を示
す説明図である。FIG. 3 is an explanatory diagram illustrating an operation example in which an adjusting unit has an on-off control configuration.
【図４】調節部をＰＩＤ制御構成とした動作例を示す説
明図である。FIG. 4 is an explanatory diagram showing an operation example in which the adjusting unit has a PID control configuration.
【図５】従来例の概略構成を示す外観斜視図である。FIG. 5 is an external perspective view showing a schematic configuration of a conventional example.
１ 方位制御装置 ２ 方位設定部 ３ 比較部 ４ 調節部 ６ 制御部 ７，８ 第１及び第２流体発生部 ７1 ，８1 ノズル ９ 方位検出部 １０ 架台1 azimuth control device 2 azimuth setting unit 3 comparison unit 4 adjustment unit 6 control unit 7,8 first and second fluid generation units 7 1 , 8 1 nozzle 9 azimuth detection unit 10 gantry
───────────────────────────────────────────────────── フロントページの続き (72)発明者 北条 武 東京都大田区南蒲田２丁目16番46号 株式 会社トキメツク内 (72)発明者 山下 重之 東京都大田区南蒲田２丁目16番46号 株式 会社トキメツク内 ─────────────────────────────────────────────────── ─── Continued Front Page (72) Inventor Takeshi Hojo 2-16-46 Minami-Kamata, Ota-ku, Tokyo Within Tokimetsu Co., Ltd. (72) Inventor Shigeyuki Yamashita 2--16-46 Minami Kamata, Ota-ku, Tokyo Stock company Tokimetuku
Claims (7)
持する保持具を有する架台と、 上記架台の方位を設定する方位設定部と、 上記架台の方位を検出する方位検出部と、 上記方位設定部及び上記方位検出部からの各々の出力信
号を入力して偏差信号を出力する比較部と、 上記比較部よりの上記偏差信号に基づき、制御を行う制
御部と、 上記制御部の出力信号により駆動され、流体を噴出させ
る流体発生部と、 を具えたことを特徴とする懸垂物の方位制御装置。1. A gantry that is attached to a catenary and that has a holder that holds a suspended object, an azimuth setting unit that sets the azimuth of the gantry, and an azimuth detection unit that detects the azimuth of the gantry. A comparison unit that inputs the output signals from the azimuth setting unit and the azimuth detection unit and outputs a deviation signal; a control unit that performs control based on the deviation signal from the comparison unit; An azimuth control device for a suspended object, comprising: a fluid generation section that is driven by an output signal and ejects a fluid.
特徴とする請求項１記載の懸垂物の方位制御装置。2. The azimuth control device for a suspended object according to claim 1, wherein the azimuth detecting section is constituted by a compass.
とを特徴とする請求項１記載の懸垂物の方位制御装置。3. The azimuth control device for a suspended object according to claim 1, wherein the azimuth detecting section is composed of an angular velocity detector.
れ、該調節部をオン−オフ制御構成としたことを特徴と
する請求項１記載の懸垂物の方位制御装置。4. The suspension orientation control apparatus according to claim 1, wherein the control unit includes an adjusting unit and an operating unit, and the adjusting unit has an on-off control configuration.
ことを特徴とする請求項１記載の懸垂物の方位制御装
置。5. The suspension object orientation control device according to claim 1, wherein the adjusting portion of the control portion has a PID control configuration.
タを設置したことを特徴とする請求項３記載の懸垂物の
方位制御装置。6. The azimuth control apparatus for a suspended object according to claim 3, wherein a high-pass filter is installed on the output side of the angular velocity detector.
さに基づいて、流体発生部の作動台数指令信号を出力す
ることを特徴とする請求項１記載の懸垂物の方位制御装
置。7. The suspension object azimuth control device according to claim 1, wherein the control unit outputs a command signal for operating the number of fluid generating units based on the magnitude of the deviation signal from the comparison unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20181191A JPH0543184A (en) | 1991-08-12 | 1991-08-12 | Orientation control device for suspended material |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20181191A JPH0543184A (en) | 1991-08-12 | 1991-08-12 | Orientation control device for suspended material |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0543184A true JPH0543184A (en) | 1993-02-23 |
Family
ID=16447307
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP20181191A Pending JPH0543184A (en) | 1991-08-12 | 1991-08-12 | Orientation control device for suspended material |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0543184A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8979307B2 (en) | 2011-10-31 | 2015-03-17 | Atex Co., Ltd. | LED mounting circuit board, belt-like flexible LED light and LED illuminating device using the same |
| JP2016033064A (en) * | 2014-07-31 | 2016-03-10 | あおみ建設株式会社 | Underwater work device and underwater work method |
| JP2020063121A (en) * | 2018-10-16 | 2020-04-23 | 光司商会株式会社 | Rotation suppression device and crane operation system |
| EP3999463A4 (en) * | 2019-07-21 | 2023-08-30 | Vita Inclinata IP Holdings LLC | Hoist and deployable equipment apparatus, system, and method |
| US11834305B1 (en) | 2019-04-12 | 2023-12-05 | Vita Inclinata Ip Holdings Llc | Apparatus, system, and method to control torque or lateral thrust applied to a load suspended on a suspension cable |
| US11932402B2 (en) | 2019-04-12 | 2024-03-19 | Vita Inclinata Ip Holdings Llc | State information and telemetry for suspended load control equipment apparatus, system, and method |
| US11945697B2 (en) | 2018-02-08 | 2024-04-02 | Vita Inclinata Ip Holdings Llc | Multiple remote control for suspended load control equipment apparatus, system, and method |
| KR102653513B1 (en) * | 2023-11-28 | 2024-04-03 | 김성주 | Lifting apparatus for dismantling of bridge structure |
| US11992444B1 (en) | 2023-12-04 | 2024-05-28 | Vita Inclinata Ip Holdings Llc | Apparatus, system, and method to control torque or lateral thrust applied to a load suspended on a suspension cable |
-
1991
- 1991-08-12 JP JP20181191A patent/JPH0543184A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8979307B2 (en) | 2011-10-31 | 2015-03-17 | Atex Co., Ltd. | LED mounting circuit board, belt-like flexible LED light and LED illuminating device using the same |
| JP2016033064A (en) * | 2014-07-31 | 2016-03-10 | あおみ建設株式会社 | Underwater work device and underwater work method |
| US11945697B2 (en) | 2018-02-08 | 2024-04-02 | Vita Inclinata Ip Holdings Llc | Multiple remote control for suspended load control equipment apparatus, system, and method |
| JP2020063121A (en) * | 2018-10-16 | 2020-04-23 | 光司商会株式会社 | Rotation suppression device and crane operation system |
| US11834305B1 (en) | 2019-04-12 | 2023-12-05 | Vita Inclinata Ip Holdings Llc | Apparatus, system, and method to control torque or lateral thrust applied to a load suspended on a suspension cable |
| US11932402B2 (en) | 2019-04-12 | 2024-03-19 | Vita Inclinata Ip Holdings Llc | State information and telemetry for suspended load control equipment apparatus, system, and method |
| EP3999463A4 (en) * | 2019-07-21 | 2023-08-30 | Vita Inclinata IP Holdings LLC | Hoist and deployable equipment apparatus, system, and method |
| KR102653513B1 (en) * | 2023-11-28 | 2024-04-03 | 김성주 | Lifting apparatus for dismantling of bridge structure |
| US11992444B1 (en) | 2023-12-04 | 2024-05-28 | Vita Inclinata Ip Holdings Llc | Apparatus, system, and method to control torque or lateral thrust applied to a load suspended on a suspension cable |
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