JPH0543185A - Orientation control device for suspended material - Google Patents
Orientation control device for suspended materialInfo
- Publication number
- JPH0543185A JPH0543185A JP20192291A JP20192291A JPH0543185A JP H0543185 A JPH0543185 A JP H0543185A JP 20192291 A JP20192291 A JP 20192291A JP 20192291 A JP20192291 A JP 20192291A JP H0543185 A JPH0543185 A JP H0543185A
- Authority
- JP
- Japan
- Prior art keywords
- azimuth
- unit
- control
- orientation
- suspended object
- 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.)
- Granted
Links
Landscapes
- Conveying And Assembling Of Building Elements In Situ (AREA)
- Load-Engaging Elements For Cranes (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６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２４よりリール２３を介し
て、ワイヤ等の懸垂線２２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
２１を係着する。巻上桟２４を操作して、懸垂線２２に
係着された懸垂物２１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. 6 schematically shows a conventional building member in an up and down state. A suspension wire 22 such as a wire is hung from a hoisting bar 24 such as a crane arranged at the top of a building through a reel 23, and a flat plate such as a metal plate having a large width (A) and a large weight is used as a building member. Fasten the article suspension 21. By operating the hoisting bar 24, the suspended object 21 attached to the catenary line 22 is moved 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
２１の昇降においては、巻上桟２４で昇降作業中、懸垂
物２１に風力が作用し、懸垂物２１が揺動すると共に、
懸垂線２２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２１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２１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。In the above-described conventional lifting and lowering of the suspended object 21, wind force acts on the suspended object 21 during the hoisting work of the hoisting bar 24, and the suspended object 21 swings.
A couple is generated around the catenary line 22, and the moment of the couple, that is, the rotation moment causes a rotational motion. If the width of the suspended object 21 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 21 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. ..
【０００４】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。Further, when the wind power increases during the work, the work must be temporarily interrupted in order to avoid the above-mentioned danger, resulting in a decrease in work efficiency.
【０００５】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。The present invention has been made to solve the above problems, and an object thereof is a azimuth control device for a suspended object which can suppress the rotation of the suspended object due to the wind force when the suspended object such as a building member is lifted and lowered. To provide.
【０００６】[0006]
【課題を解決するための手段】例えば、図１及び図３に
示す如く、懸垂物２１に係着されると共に、この懸垂物
２１を保持する保持具１９を有する架台２０と、この架
台２０の方位を設定する方位設定部２と、架台２０の方
位を検出する方位検出部９と、懸垂物の方位を修正する
修正方位信号を、無線により送信する修正方位送信部１
７と、修正方位信号を受信して、方位検出部９の検出誤
差を補正する補正信号を出力する修正方位受信部１３
と、方位設定部２及び修正方位受信部１７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。For example, as shown in FIG. 1 and FIG. 3, a pedestal 20 that is attached to a suspended object 21 and has a holder 19 for holding the suspended object 21, and a pedestal 20 of the pedestal 20. Azimuth setting unit 2 for setting the azimuth, a azimuth detecting unit 9 for detecting the azimuth of the gantry 20, and a corrected azimuth transmitting unit 1 for wirelessly transmitting a corrected azimuth signal for correcting the azimuth of the suspended object.
7 and the corrected azimuth signal, and outputs a correction signal for correcting the detection error of the azimuth detection unit 9 and the corrected azimuth reception unit 13
And a comparison unit 3 that receives the output signals from the azimuth setting unit 2 and the corrected azimuth receiving unit 17 and outputs a deviation signal, and a control unit 6 that performs control based on the deviation signal from the comparison unit 3.
The fluid generators 7 and 8 are driven by the output signal of the controller 6 to eject the fluid.
【０００７】上述した方位検出部９は、例えば、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、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。The azimuth detecting section 9 described above is composed of, for example, 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, 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. ..
【０００８】[0008]
【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を
修正方位部で修正した補正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。With the above configuration, the comparison unit compares the set azimuth signal from the azimuth setting unit and the correction signal obtained by correcting the actual azimuth signal of the suspended object from the azimuth detection unit by the correction azimuth unit,
The difference between the two signals is sent to the controller 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.
【０００９】また、方位検出部の検出誤差は、無線によ
り、遠隔地から修正方位信号を送信し、方位制御装置側
で受信することにより補正される。The detection error of the azimuth detecting section is corrected by wirelessly transmitting a corrected azimuth signal from a remote location and receiving the corrected azimuth signal on the azimuth control device side.
【００１０】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。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 controlled. Can always match the set bearing. 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.
【００１１】[0011]
【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５を参照して詳細に説明する。図６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２１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、シンクロ電機或いはエンコ
ーダ等により成る方位設定部である。方位の設定は手動
または無線により行われる。無線により方位を設定する
場合は、テレメータ、或いは後述する修正方位受信部１
３及び修正方位送信部１７を利用しても良い。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
２１の実際の方位に対応した方位信号の誤差を、修正方
位受信部１３（後述）で修正した補正信号との比較を行
い、偏差信号を出力する比較部である。４は、例えばオ
ン−オフ制御構成或いは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後述
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 suspended object orientation control apparatus according to the present invention will be described in detail with reference to FIGS. The parts corresponding to those of the conventional example shown in FIG. In FIG. 1, reference numeral 1 denotes an azimuth control device (inside of a broken line), and 2 denotes an azimuth setting unit configured to set the azimuth of the suspended object 21, for example, a variable resistor such as a potentiometer, a synchro electric machine or an encoder. The azimuth is set manually or wirelessly. When setting the azimuth wirelessly, a telemeter or a corrected azimuth receiving unit 1 described later.
3 and the corrected azimuth transmitting unit 17 may be used. Reference numeral 3 is a corrected azimuth reception of the error of the azimuth signal set by the azimuth setting unit 2 corresponding to the azimuth and the azimuth signal corresponding to the actual azimuth of the suspended object 21 detected by the azimuth detecting unit 9 described later. This is a comparison unit that compares the correction signal corrected by the unit 13 (described later) and outputs a deviation signal. Reference numeral 4 denotes an adjustment unit having, for example, an on-off control configuration or a PID control configuration, which outputs control signals of first and second fluid generation units 7 and 8 described later. An operation unit 5 amplifies the control signal of the adjusting unit 4 and supplies it to two fluid generating units 7 and 8 which will be described later.
The adjusting unit 4 and the operating unit 5 described above are configured as a control unit 6, but are usually configured as a control device 6 1 (indicated by a chain line) that includes the comparison unit 3.
【００１２】図４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
２１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６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の流体発生部７の制御トルクＦ1 に第
２の流体発生部８の制御トルクＦ2 が加算される。FIG. 4 shows an operation example when the adjusting section 4 has an on-off control configuration. Although the suspended object 13 has a large inertia and does not respond to a minute change in the wind force, the suspended force 21 is also irregularly clockwise or counterclockwise because the wind force is not uniform and constantly fluctuates. Rotate. Therefore, for the deviation value of the suspended object in the predetermined range,
The dead zone N is set so that the control unit 6 does not respond. The width of the dead zone N can be adjusted depending on the wind conditions. In this case, when the deviation value is equal to or more than the dead zone N, a large control torque is generated and rapid control is performed. Furthermore,
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 generating unit 7 ( Only) will be operated. If ε> D, the first and second fluid generating parts 7 and 8
Outputs an operation number command signal for the fluid generation part so that (described later) are activated simultaneously. ε
> If and D, the control torque F 2 of the second fluid generating unit 8 is added to the control torque F 1 of the first fluid generating unit 7.
【００１３】図５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２
１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
２１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４
に示したオン−オフ制御構成と同様に、第１の流体発生
部７の制御トルクＦ1 に第２の流体発生部８の制御トル
クＦ2 が加えられる。FIG. 5 shows an operation example in the case where the adjusting unit 4 described above has a PID control configuration. Also in this case, as in the above-described on-off control configuration, depending on the wind power condition or the like, the suspended object 2
A dead zone N is provided near zero where the deviation value ε is small so that the control section 6 does not respond to a deviation in a predetermined range of 1. In this case, in a region other than the dead zone N, a control torque proportional to the integrated value of the deviation value ε and 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 21 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.
On shown in - like the off control configuration, the control torque F 2 of the second fluid generator 8 is applied to the control torque F 1 of the first fluid generating unit 7.
【００１４】図１に戻り、７は制御部６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２０の両端あるいは架台２０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２１の回転方向とは反対方向になされ
る。Returning to FIG. 1, 7 is a first fluid generating section controlled by the control section 6, such as an actuator for ejecting a fluid such as air by a rotor, and 8 is a second fluid generating section similar to the fluid generating section 7. Is a fluid generating part. The fluid generators 7 and 8 are
Nozzles 7 1 and 8 1, which are arranged in parallel at both ends of a pedestal 20 or one end of the pedestal 20 which will be described later, and which eject a fluid are provided, respectively. Further, the fluid ejection from these nozzles 7 1 and 8 1 is performed in the direction opposite to the rotation direction of the suspended object 21.
【００１５】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。The control torque of these first and second fluid generating portions 7 and 8, that is, the thrust force due to the flow rate of the ejected fluid, is
The rotation speed is controlled or the pitch angle of the rotary blade is controlled.
【００１６】前述した方位検出部９は、例えば角速度検
出器と積分器で構成し、角速度を積分して方位角を求
め、懸垂物２１の偏位に対応した方位信号を出力する。The azimuth detecting section 9 is composed of, for example, an angular velocity detector and an integrator, integrates the angular velocities to obtain an azimuth angle, and outputs an azimuth signal corresponding to the displacement of the suspended object 21.
【００１７】１０は、方位検出部９の検出誤差を補正す
る修正方位部で、１１は後述する修正方位送信部１７よ
り、無線等で送信される修正方位信号をアンテナ１２を
介して受信する修正方位受信器である。これら修正方位
部１０及び修正方位受信器１１は修正方位受信部１３と
して構成される。Reference numeral 10 is a correction azimuth section for correcting the detection error of the azimuth detecting section 9, and 11 is a correction for receiving a correction azimuth signal transmitted by radio or the like from a correction azimuth transmitting section 17, which will be described later, through the antenna 12. It is an azimuth receiver. The corrected azimuth section 10 and the corrected azimuth receiver 11 are configured as a corrected azimuth reception section 13.
【００１８】方位制御装置１は以上説明したように、懸
垂物２１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。As described above, the azimuth control device 1 is configured to feed back the azimuth of the suspended object 21 to perform control.
【００１９】図２において、１４は、修正方位設定部１
５により、方位検出部９の検出誤差による懸垂物２１の
偏位を、所定の方向に修正するために修正方位信号を送
信する、修正方位送信器である。１６は送信アンテナで
ある。１７はかかる修正方位送信器１４及び修正方位設
定部１５を一体とした修正方位送信部で、この修正方位
送信部１７は、方位制御装置１の遠隔位置から操作者に
よって、操作できるようになっている。In FIG. 2, reference numeral 14 is a corrected azimuth setting unit 1.
5, the correction azimuth transmitter transmits a correction azimuth signal in order to correct the deviation of the suspended object 21 due to the detection error of the azimuth detection unit 9 in a predetermined direction. Reference numeral 16 is a transmitting antenna. Reference numeral 17 denotes a corrected azimuth transmitting unit that integrates the corrected azimuth transmitter 14 and the corrected azimuth setting unit 15, and the corrected azimuth transmitting unit 17 can be operated by an operator from a remote position of the azimuth control device 1. There is.
【００２０】図３において、１０は方位制御装置１を搭
載すると共に、懸垂物２１を保持する保持具１９を具え
た架台で、この架台２０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１８も搭載されてい
る。In FIG. 3, reference numeral 10 denotes a pedestal equipped with the azimuth control device 1 and a holder 19 for holding a suspended object 21. Power is supplied to the azimuth control device 1 on the pedestal 20, for example, A power source 18 such as a generator is also mounted.
【００２１】次に上述した実施例の動作について説明す
る。懸垂物２１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で手動または無線
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からの方位信号を修正方位部
１０で誤差を修正して、架台２０即ち懸垂物２１の実際
の方位に対応した方位の補正信号とを比較し、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２１の回転方向と反対方向に行われ
るので、懸垂物２１は架台２０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。Next, the operation of the above embodiment will be described. The azimuth of the suspended object 21 is determined in consideration of the arrangement state, shape, structure, etc. of the building, and is manually or wirelessly set by the azimuth setter 2, and the set azimuth signal corresponding to the set azimuth is output and compared. Sent to department 3. The comparing unit 3 corrects the error of the set azimuth signal and the azimuth signal from the azimuth detecting unit 9 by the correction azimuth unit 10 and outputs the azimuth correction signal corresponding to the actual azimuth of the gantry 20 or the suspended object 21. After comparison, the difference between the two signals is output as a deviation signal and sent to the control unit 6. Control unit 6
The adjusting section 4 of the above outputs a control signal corresponding to the polarity and the magnitude of the input deviation signal, collates the deviation value ε with the threshold value D, and the first fluid generating section 7 and / or the second fluid generating section 7 A required number of operation command signals for the fluid generation unit 8 are sent to the first fluid generation units 7 and / or 8 via the operation unit 5. First fluid generating section 7 and / or second fluid generating section 8
One or both of them are selected and driven, and the fluid is ejected from the nozzle 7 1 and / or the nozzle 8 1 . Since the fluid is ejected from the first fluid generation unit 7 and / or the second fluid generation unit 8 in the direction opposite to the rotation direction of the suspended object 21, the suspended object 21 together with the pedestal 20 has a set orientation, that is, a predetermined direction. It will be controlled to match the azimuth.
【００２２】上述した様に懸垂物２１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。As described above, even if the suspended object 21 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 detecting unit 9 immediately detects this deviation. The first fluid generation unit 7
And / or the second fluid generation unit 8 operates to control the direction.
【００２３】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２１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。Usually, 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, Thrust is required. In such cases,
From the control unit 6, the first fluid generation unit 7 and the second fluid generation unit 8
The simultaneous operation command signal is output and operated, and a large control torque is obtained. Therefore, the delay of the orientation control of the suspended object 21 having a large inertia is improved, the occurrence of hunting and the like is suppressed, and stable control can be performed.
【００２４】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２１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。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 21, and the azimuth control can always be appropriately performed.
【００２５】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２０に懸垂物
２１を保持して昇降作業を行う際、懸垂物２１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２１の回転運動が抑制され、所定の方位が
保持される。As described above, in constructing a high-rise building or the like, when the suspended object 21 is held on the pedestal 20 on which the azimuth control device 1 is mounted and the lifting work is performed, wind force acts on the suspended object 21, Even if rotation occurs due to a couple, the azimuth control device suppresses the rotational movement of the suspended object 21 and maintains a predetermined azimuth.
【００２６】[0026]
【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。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.
【００２７】また、無線により、方位検出部の検出誤差
を修正できるようにしたので、精度の高い懸垂物の制御
が可能となると共に、角速度検出器として安価な振動ジ
ャイロやガスレートジャイロを使用することができる。Further, since the detection error of the azimuth detecting section can be corrected wirelessly, the suspended object can be controlled with high accuracy, and an inexpensive vibration gyro or gas rate gyro is used as the angular velocity detector. be able to.
【００２８】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。Further, conventionally, the lifting work of the suspended object is temporarily suspended depending on the wind power condition. However, according to the present invention, there is an advantage that the working efficiency can be greatly improved because the 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の実施例に修正方位信号を送る送信部のブ
ロック図である。FIG. 2 is a block diagram of a transmission unit that sends a corrected azimuth signal to the embodiment of FIG.
【図３】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. 3 is an external perspective view showing the schematic configuration of the embodiment shown in FIG.
【図４】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. 4 is an explanatory diagram showing an operation example in which an adjustment unit has an on-off control configuration.
【図５】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. 5 is an explanatory diagram showing an operation example in which the adjusting unit has a PID control configuration.
【図６】従来例の概略構成を示す外観斜視図である。FIG. 6 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 修正方位部 １１ 修正方位受信器 １３ 修正方位受信部 １４ 修正方位送信器 １５ 修正方位設定部 １７ 修正方位送信部 ２０ 架台 ２１ 懸垂物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 corrected azimuth unit 11 corrected azimuth receiver 13 corrected azimuth Receiver 14 Corrected azimuth transmitter 15 Corrected azimuth setting 17 Modified azimuth transmitter 20 Stand 21 Suspended object
Claims (5)
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、 上記懸垂物の方位を修正する修正方位信号を、無線によ
り送信する修正方位送信部と、 上記修正方位信号を受信して、上記方位検出部の検出誤
差を修正して補正信号を出力する修正方位受信部と、 上記方位設定部及び上記方位受信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 corrected azimuth transmitting unit that wirelessly transmits a corrected azimuth signal that corrects the azimuth of the suspended object, and a corrected azimuth that receives the corrected azimuth signal and corrects the detection error of the azimuth detection unit to output a correction signal. A receiving unit, a comparing unit that inputs a respective output signal from the azimuth setting unit and the azimuth receiving unit and outputs a deviation signal, and a control unit that performs control based on the deviation signal from the comparing unit, A azimuth control device for a suspended object, comprising: a fluid generation unit that is driven by an output signal of the control unit to eject a fluid.
とを特徴とする請求項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 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。3. The azimuth 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。4. The azimuth control apparatus for a suspended object according to claim 1, wherein the adjusting section of the control section has a PID control configuration.
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。5. The azimuth control apparatus for a suspended object according to claim 1, wherein the control unit outputs a command signal for operating the number of the fluid generation unit based on the magnitude of the deviation signal from the comparison unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20192291A JP2893223B2 (en) | 1991-08-12 | 1991-08-12 | Orientation control device for suspended objects |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20192291A JP2893223B2 (en) | 1991-08-12 | 1991-08-12 | Orientation control device for suspended objects |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0543185A true JPH0543185A (en) | 1993-02-23 |
| JP2893223B2 JP2893223B2 (en) | 1999-05-17 |
Family
ID=16449021
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP20192291A Expired - Lifetime JP2893223B2 (en) | 1991-08-12 | 1991-08-12 | Orientation control device for suspended objects |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2893223B2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100822368B1 (en) * | 2006-12-20 | 2008-04-17 | 부산대학교 산학협력단 | Spreader controller and method for controlling spreader using the dual compass |
| JP2018140860A (en) * | 2017-02-28 | 2018-09-13 | エアロファシリティー株式会社 | Lifted object attitude stabilizing device |
-
1991
- 1991-08-12 JP JP20192291A patent/JP2893223B2/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100822368B1 (en) * | 2006-12-20 | 2008-04-17 | 부산대학교 산학협력단 | Spreader controller and method for controlling spreader using the dual compass |
| JP2018140860A (en) * | 2017-02-28 | 2018-09-13 | エアロファシリティー株式会社 | Lifted object attitude stabilizing device |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2893223B2 (en) | 1999-05-17 |
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