JPH07267577A - Method and device for control of hung object attitude using gyroscope - Google Patents

Abstract

PURPOSE:To provide a hung object attitude control device and its controlling method using a gyroscope which can stop a hung object while the operational rotation in the same direction is continued without stopping the spin of a flywheel. CONSTITUTION:A hung object attitude control device is equipped with a horizontal hanging jig 4, gyro-frame 6, gimbal frame 8 rotatable round a rotary shaft 7 within the gyro-frame, and a flywheel 10 capable of spinning round a spin shaft 9 within the gimbal frame, wherein a brake to apply brakes to the gimbal frame in rotation by means of braking the rotary shaft is installed rigidly on a motor 11. When a hung object 18 is grasped and placed, the grasp and stop are made while the rotary shaft of the gimbal frame is in the free condition, and then the rotation of the gimbal frame is locked. Thereby quick revolution stop can be made by disenging the gyroscopic effect, and if the gimbal frame rotating is put free in the condition that the gimbal frame is in forced rotation, the revolutions of the hung object due to inertia or turbulence are stopped gradually.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a suspended load posture control device for appropriately swinging a suspended load suspended by a wire rope or the like in a horizontal plane, and in particular, a suspended load suspended by a wire rope or the like in a horizontal posture. The present invention relates to a system in which a gyroscope is mounted on a jig and the gyro effect is used to obtain a horizontal turning force of a hanging jig.

[0002]

2. Description of the Related Art A crane having a rigid arm and a turning device using a twist of a rope as a reaction force have been proposed for the purpose of automating the turning work of a suspended load in lifting work. Since the weight of the above is excessive with respect to the lifting capacity, and the latter has unstable swinging behavior of the suspended load, a swinging posture control device for the suspended load using a gyroscope has been developed in place of these devices ( For example, Japanese Patent Publication 4-178
No. 73).

The swinging posture control device for a suspended load described in this publication rotates a wire rope suspended from a crane in a horizontal posture and rotates horizontally with respect to a suspension jig on which the suspended load is attached. The gimbal includes a gimbal rotatable about an axis, and a flywheel rotatable about a spin axis orthogonal to a plane including the rotation axis of the gimbal with respect to the gimbal.

When the gimbal is forcibly rotated in an appropriate direction at an appropriate speed while the flywheel is spun at a high speed in a predetermined direction, a gyroscopic effect of the gyroscope on the rotation causes a turning force about the vertical axis. Due to the turning force, the suspended load turns in a horizontal plane centering on the vertical axis via the hanging jig.

[0005]

By the way, in a conventional attitude control device for a suspended load using a gyroscope, when the suspended load being lifted is affected by a disturbance such as wind, its attitude is changed. In contrast to the control to keep it constant, in reality, when slinging, removing the sling, building, etc. of the suspended load, the worker can freely rotate the suspended load and make fine adjustments. It is necessary to eliminate the gyro effect so that Further, when the suspended load is about to collide with a building or the like during the swing control, it is necessary to stop the swing of the suspended load rapidly in order to avoid the collision.

However, in order to rapidly stop the turning of the suspended load, it is necessary to suddenly stop the flywheel having a large mass that is spinning at high speed, or spin drive in the opposite direction to rapidly increase the rotation speed. The device configuration (brake system and spin motor system) for that purpose is complicated and large, and the loss of inertia energy of the flywheel is large, resulting in a very inefficient device. In addition, high-speed spin in the forward direction → spin stop → reverse It is difficult to perform a series of operations of high-speed spin in a direction at a sufficiently high speed.

The present invention has been made in view of the above-mentioned conventional problems, and an object thereof is to stop the spin of a flywheel in a posture control device for a suspended load using a gyroscope, although it has a simple structure. It is an object of the present invention to provide a hanging posture control device using a gyroscope and a control method therefor, capable of stopping a hanging load while continuing the operation rotation in a fixed direction.

[0008]

In order to achieve the above object, the invention according to claim 1 is capable of rotating around a horizontal jig and a hanging jig that is hung in a horizontal posture by a wire rope or the like. A gimbal, a flywheel capable of spinning with respect to the gimbal about a spin axis orthogonal to a plane including the rotation axis of the gimbal, a rotation driving unit that rotates the gimbal, and a spin driving unit that spins the flywheel. Controlling the drive of the rotation drive unit, the spin drive unit, and the braking unit for braking the rotation of the gimbal, and swinging the suspended load suspended by the suspension jig, or stopping the swing. And a control means.

Further, the invention according to claim 2 is such that a hanging jig suspended in a horizontal posture by a wire rope or the like, a gimbal rotatable about a horizontal rotation axis, and a rotation of the gimbal with respect to the gimbal. A flywheel capable of spinning around a spin axis orthogonal to a plane including an axis, a rotation driving unit that rotates the gimbal, a spin driving unit that spins the flywheel, and a braking unit that brakes the rotation of the gimbal. A control method for stopping the turning of a suspended load suspended in the suspension jig by using a suspended posture control device using a gyroscope, wherein the flywheel is rotated at a high speed by driving the spin drive section, The gyro effect is released by stopping or locking the rotation of the gimbal by the braking unit.

Further, the invention according to claim 3 is a control method for stopping the turning of the suspended load suspended by the suspending jig by using the suspended load attitude control device, wherein the spin drive section is driven. When the flywheel rotates at a high speed, the rotation of the gimbal is set to a free state to stop the swing of the suspended load due to inertia of the suspended load and disturbance.

[0011]

In the above structure, when a person places a hand on the suspended load to build the suspended load in a predetermined position, if the rotation of the gimbal is locked and the rotation of the gimbal is locked, the gyro effect is released. Since the turning stop force does not act, rapid turning stop is possible, and free turning work and turning stop work thereafter are possible. In addition, if the gimbal is forcibly rotating and the gimbal is free to rotate,
The suspended load tries to continue turning due to inertia, but the inertial force of the flywheel that tries to prevent the turning acts and the turning gradually stops.

[0012]

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

FIG. 1 shows a gyroscopic hanging posture control device according to the present invention. In FIG. 1, a crane swivel 1 hung by a crane is swivelable to a crane hook 2 which is horizontal via a wire rope 3. The hanging jig 4 made of H-shaped steel suspended in various postures, the gyro frame 6 fixed to the central bottom of the hanging jig 4 with bolts 5, and the rotary shaft 7 in the gyro frame 6 There is provided a gimbal frame (gimbal) 8 which is rotatable and a flywheel 10 which is located inside the gimbal frame 8 and can be rotated about a spin axis 9. Since the gyro frame 6 is located almost at the center of the entire suspended load and at the bottom of the suspension jig 4, the suspension work can be performed in a well-balanced manner. Further, by covering the periphery of the flywheel 10 that spins at a high speed with the gimbal frame 8 and further covering the periphery of the gimbal frame 8 with the gyro frame 6, safety is ensured.

The gimbal frame 8 is a gyro frame 6
A rotation motor 11 (rotational drive unit) provided in the shaft can rotate in an appropriate direction at an appropriate speed around an axis parallel to the hanging jig 4. In addition, the flywheel 10
A pair of spin motors 1 provided on the gimbal frame 8
2 (spin driver) enables high-speed spin around a spin axis 9 orthogonal to a plane including the rotation axis 7 of the gimbal frame 8. The rotary motor 11 and the spin motor 12 are electromagnetic motors that rotate and drive the rotary shaft 7 and the spin shaft 9 in a non-contact state. Therefore, the rotating shaft 7 and the spin shaft 9 can be brought into a freely rotating state (free state) by cutting off the power supply to the motors 11 and 12. It should be noted that as the rotary motor 7, an ordinary stepping motor or the like may be adopted without adopting an electromagnetic motor. Provide a clutch between 7 and.

The hanging jig 4, gimbal frame 8 and flywheel 10 constitute a gyroscope.
A feature of the present invention is that the rotary motor 11 is integrally provided with a brake (braking portion) that brakes the rotation of the rotary shaft 7 to brake the rotation of the gimbal frame 8. The brake may not be provided integrally with the rotary motor 11, but may be a separate body.

In the gyro frame 6, in addition to the gyroscope, a rotary motor 11 and a spin motor 12 are provided.
Control controller 14 for controlling the rotational drive of the vehicle, and wireless antenna 1 for remotely operating the controller 14.
5, a power supply battery 16 and its charger 17 are provided. The worker carries a portable wireless transmitter / receiver for performing wireless operation with the wireless transmitter / receiver in the gyro frame 6, and visually observes the posture of the suspended load while observing the controller 1
Operate 4 wirelessly. Here, the wireless transceiver operated by the worker does not have to be portable, and can be operated from either the delivery side or the receiving side or by setting the operation priority order from both sides. . Further, the power may be supplied from the outside.

The suspended load 18 is suspended from both ends of the suspension jig 4 by suspension wires 19 and 19.

The suspended load posture control device using the gyroscope having the above structure operates as follows. First, the spin motor 12 spins the flywheel 10 in a predetermined direction at high speed.

(1) In the case where the suspended load is held in a predetermined position while keeping the posture, the rotating shaft 7 of the gimbal frame 8 is set in a free state during lifting. In this state, when a force for turning the suspended load is applied due to a disturbance such as wind, the turning force is transmitted to the flywheel 10 via the hanging jig 4 and the gimbal frame 8, and as a result, the flywheel 10 moves. The gimbal frame 8 is rotated by the gyro effect, and the reaction force of the inertia of the flywheel 10 generated at this time acts a resistance force to prevent the suspended load 18 from swinging. Hold the hanging posture.

At the time of installation When the suspended load 18 reaches a predetermined position where it can be manually handled by a crane, if the suspended load 18 is forcibly gripped and stopped manually, the turning stop force is applied to stop the turning. The same is true and can be stopped earlier than in the case of wind. Further, when manually turning forcibly to finely adjust the built-in position, in order to prevent the turning stop force from acting, the rotation of the rotary shaft 7 is braked and restrained by the brake of the rotary motor 11. Lock).
Then, the gyro effect is canceled and the turning stop force does not act, so that free turning work and turning stop work are possible.
In this case, since the turning is stopped when the suspended load 18 is manually grasped, it is possible to stop the swivel of the suspended load 18 rapidly due to the inertia.

(2) When the posture of the suspended load is positively changed and the suspended load is built in a predetermined position. At the time of suspension When the flywheel 10 is spun at high speed, the gimbal frame 8 is forcedly rotated by the rotary motor 11 in an appropriate direction at an appropriate speed. By doing so, a gyro effect of the gyroscope on the rotation thereof causes a swivel force around the vertical axis, and this swivel force causes the hanging load 1 to pass through the hanging jig 4.
8 can be swiveled in a horizontal plane about the vertical axis.

At the time of installation a. Stop turning motion Gimbal frame 8 is forced to rotate gimbal frame 8
Of the flywheel 1 that tries to prevent the turning, although the suspended load 18 tries to continue turning due to inertia when the rotation of the vehicle is set to a free state (disconnecting power supply and disengaging the clutch).
The inertial force of 0 acts and cancels the swing of the suspended load 18, whereby the swing gradually stops.

B. When the rotation of the rotary shaft 7 is braked by the brake of the rotary motor 11 during forced rotation and locked as it is, the gyro effect does not work, but in this case, since the suspended load 18 is turning, the turning continues due to inertia. , Will stop soon.

The gimbal frame 8 is preferably rotated when the spin shaft 9 of the flywheel 10 is substantially horizontal (preferably within 45 degrees to the left and right). For that purpose, the gimbal frame 8 is rotated. Can be configured to maintain a horizontal state by its own weight by providing a stopper that restricts the rotation so as to rotate within the range or by setting the rotating shaft 7 eccentrically above the spin shaft 9. .

The present invention is not limited to the above-mentioned embodiment, and it is not necessary to position the gyro frame 6 at the center of the entire suspended load or the bottom of the suspending jig 4, and the suspending jig 4 is not necessary. It may be installed at the top of the or at the end. When installed at the end of the hanging jig 4,
For example, it can be utilized as an auxiliary device of a suspended load posture control device using a fan. When stopping the swing of the suspended load using the attitude control device with a fan, it is possible to reverse the rotation of the fan to make the propulsive force in the opposite direction, but just as when stopping the spin of the flywheel, It is difficult to perform a series of operations of high-speed rotation in the direction → rotation stop → high-speed rotation in the reverse direction at a sufficiently high speed. Therefore, by utilizing the control device of the present invention as an auxiliary, it is possible to quickly stop the turning. Become. Further, one suspension jig 4 may be provided with a plurality of gyro frames 6, and the gyro effect can be doubled or tripled depending on the number.

[0026]

As described above with reference to the embodiments, according to the present invention, even though the rotation braking portion for braking the rotation of the gimbal is simply provided, a person puts a hand on the suspended load to suspend the suspended load. When loading a load at a predetermined position, by locking the gimbal rotation while it is free to rotate, the gyro effect can be released and a quick turning stop can be performed, and the gimbal can be forcibly rotated. In this state, if the rotation of the gimbal is set to the free state, the turning due to the inertia of the suspended load and the disturbance can be gradually stopped.
After that, free turning work and turning stop work are possible, and fine adjustments can be made when building.

[Brief description of drawings]

FIG. 1 is a perspective view showing the overall configuration of an embodiment of a suspended posture control device using a gyroscope according to the present invention.

[Explanation of symbols]

 4 Suspension jig 6 Gyro frame 7 Rotation axis 8 Gimbal frame (gimbal) 9 Spin axis 10 Flywheel 11 Rotation motor (rotation drive part, braking part) 12 Spin motor (spin drive part) 14 Controller 18 Suspended load

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Tatsuya Wakisaka 4-640 Shimo-Seido, Kiyose-shi, Tokyo Inside Obayashi Technical Research Institute, Inc. (72) Fumihiro Inoue 4-640 Shimo-Seido, Kiyose-shi, Tokyo Obayashi Technical Research Co., Ltd. (72) Inventor Atsuhiro Doyama 4-640 Shimoseido, Kiyose-shi, Tokyo Inside Obayashi Technical Research Institute Co., Ltd. (72) Inventor Koji Watanabe 4-640 Shimoseido, Kiyose-shi Tokyo Metropolitan Institute for Technical Research (72) Inventor Shuji Oyagi 4-640 Shimoseido, Kiyose-shi, Tokyo Inside the Obayashi Institute of Technology Co., Ltd. (72) Inventor Issei Fukuda 4-640, Shimoseido, Kiyose-shi, Tokyo Inside the Obayashi Institute of Technology (72) Inventor Taikuni Uemura Tokyo 2-3 Kandajimachi, Chiyoda-ku Obayashi Tokyo Head Office

Claims (3)

[Claims] 1. A suspending jig for suspending a wire rope or the like in a horizontal posture, a gimbal rotatable about a horizontal rotation axis, and a spin orthogonal to a plane including the rotation axis of the gimbal with respect to the gimbal. A flywheel that can be spun about an axis, a rotation drive unit that rotates the gimbal, a spin drive unit that spins the flywheel, a braking unit that brakes the rotation of the gimbal, the rotation drive unit, and a spin drive. And a braking unit for controlling the drive of the suspension unit and the braking unit to swing the suspended load suspended on the suspending jig, or control means for stopping the swing, and a suspended attitude control device using a gyroscope. . 2. A suspending jig which is suspended in a horizontal posture by a wire rope, a gimbal rotatable around a horizontal axis of rotation, and a spin which is orthogonal to the plane including the axis of rotation of the gimbal with respect to the gimbal. A gyroscopic suspended load including a flywheel that can be spun about an axis, a rotation drive unit that rotates the gimbal, a spin drive unit that spins the flywheel, and a braking unit that brakes the rotation of the gimbal. A control method for stopping the turning of a suspended load suspended by the suspension jig by using an attitude control device, wherein when the flywheel rotates at a high speed by the drive of the spin drive unit, the gimbal is rotated by the braking unit. A control method characterized in that the gyro effect is released by stopping or locking. 3. A control method for stopping the turning of a suspended load suspended by the suspension jig using the suspended load attitude control device, comprising: The control method according to claim 1, wherein the rotation of the gimbal is set to a free state to stop the swing of the suspended load due to the inertia and the disturbance of the suspended load.