JPH08333085A - Grane - Google Patents

Abstract

PURPOSE: To provide a crane capable of mounting a gripping device of the terminal end of a cable to a conveyed object without using any special auxiliary device. CONSTITUTION: There are provided a gripping device 6 to grip removably a conveyed object 5, a cable 7 to suspended the gripping device 6 and a suspending device to move vertically the gripping device 6 through the cable 7. Also, the gripping device 6 is provided with thrust mechanisms 14, 15 to give a thrust for displacing the gripping device to a stationary position in which the thrust balances with the stability of the cable 7. Thus, since the gripping device 6 stands still with the stable posture, it is easy to mount the gripping device to an object to the conveyed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hoist equipped with a gripping device for detachably gripping an object to be conveyed, a rope for suspending the gripping device, and a suspending device for lifting and lowering the rope and the like from an arbitrary position.

[0002]

2. Description of the Related Art If the rope on which the gripping device is suspended is long, it is difficult to remotely attach the gripping device at the end of the rope to the object to be conveyed. For example, when the object in the reactor pressure vessel is the object to be conveyed, the rope and the gripping device at the end of the filament are hung from the hanging device arranged on the reactor, and the number 1
Although the gripping device is attached to the object to be conveyed which is located 0 m below, such attachment by remote control is difficult.

Generally, an operating rope previously connected to the gripping device is also used, and the position and posture of the gripping device are remotely controlled by pulling the rope from the furnace. Alternatively, a long operating rod is operated from above the furnace to adjust the position and posture of the gripping device. On the other hand, JP-A-62-168
No. 096 or Japanese Patent Laid-Open No. 63-58294 proposes a manipulator that can be operated in a furnace. This manipulator is hung down and installed in the furnace, and the work such as inspection and decontamination in the furnace is advanced by this manipulator.

[0004]

The conventional method of operating the operating rope or the operating rod requires a high degree of skill. In addition, it is conceivable that the manipulator may perform such work on behalf, but the following problems still remain. In the case of the manipulator method, it is necessary to install or remove the manipulator at a required place. further,
Both hoist and manipulator must be steered. An object of the present invention is to attach the gripping device of the cord end directly to the object to be conveyed without using auxiliary means such as an operating rope or a manipulator.

[0005]

SUMMARY OF THE INVENTION The present invention is a gripping device for detachably gripping an object to be conveyed, a cord for suspending the gripping device,
An improvement of a hoist equipped with a suspending device that raises and lowers a gripping device from an arbitrary suspension position via a rope, and provides the gripping device with a thrust that displaces the gripping device to a stationary position that balances the restoring force of the rope. Provide a thrust mechanism. The origin position of the gripping device is directly below the hanging device, but it shifts from there and settles in the rest position. Under this circumstance, the horizontal component of the thrust balances with the restoring force (horizontal component of tension depending on the filament) due to the filament.

Further, the present invention comprises a thrust control means for adjusting the magnitude of the thrust and the direction of the thrust. This thrust control means is for controlling the stationary position of the gripping device.
Further, the gripping device of the present invention includes a base and a gripping part. A rope is connected to the foundation and a thrust mechanism is provided. The gripper is capable of detachably gripping an object to be conveyed.
An attitude control mechanism that changes the attitude of the gripping device with respect to the base is provided between the base and the grip.

Further, the present invention is characterized in that between the gripping device and the cord,
A rotary type degree of freedom mechanism for changing the direction of the rope is provided. An example of this degree of freedom mechanism is a spherical bearing. Further, in the present invention, the center of rotation of the grip portion by the attitude control mechanism is matched with the center of gravity of the grip portion. Further, in the present invention, a plane that is orthogonal to the line connecting the center of rotation of the gripping device and the center of gravity of the gripping device and includes the center of rotation is defined as the reference plane. Place the point of action of thrust on this reference plane. The thrust vector is parallel to the reference plane.

Further, in the present invention, a component for gripping an object to be conveyed is detachably mounted on the gripping device. Further, in the present invention, a monitoring means for monitoring the relative position and relative attitude between the gripping part and the object to be conveyed is provided in the base part. Further, a display means for displaying the monitoring result is provided. Further, in the present invention, the TV camera is used as the monitoring means for monitoring the relative position and relative attitude between the gripping portion and the object to be conveyed. This TV camera is placed in a direction through which the outside can be captured in the visual field through the inner space of the grip portion. Further, in the present invention, a plurality of thrust mechanisms that generate thrusts parallel to each other are provided. Further, a thrust control means for controlling the magnitude of each thrust is provided.

Further, the present invention comprises a thrust mechanism for generating a jet flow in an arbitrary direction. Further, a thrust control means for controlling the strength and direction of the jet flow is provided. Further, the present invention includes three or more thrust mechanisms that generate thrusts having different directions.
Further, the magnitude and direction of the thrust force of each thrust mechanism is determined from the magnitude and direction of the target thrust force of the gripping device and the magnitude and direction of the target rotational drive moment of the gripping device. A thrust control means for independently operating the position and the posture of the is provided.

Further, the present invention comprises three or more thrust mechanisms for generating thrusts having mutually different directions. Further, the magnitude of the target thrust of the gripping device, the direction of the target thrust of the gripping device based on the unique coordinate system set in the gripping device, and the magnitude of the target rotational driving moment of the gripping device. And thrust directions of thrust of each thrust mechanism. Furthermore, a posture detection sensor that detects the posture of a unique coordinate system based on a specific reference coordinate system in the work space around the gripping device is installed in the gripping device, and the reference coordinate system is set as a reference based on the output of the posture detecting sensor. Attitude feedback control means is provided to control the rotational driving moment so as to maintain the attitude of the proper coordinate system at a given target value.

Furthermore, a target value indicating the direction of the inference based on the reference coordinate system and a posture of the proper coordinate system based on the reference coordinate system detected by the posture detection sensor or the reference coordinate system are used as the reference. Control means is provided for determining a control target value in the direction of thrust based on the unique coordinate system, based on a difference between the control target value and the control target value in the unique coordinate system.

The present invention further includes an angular velocity sensor installed in the gripping device for detecting the angular velocity related to the turning motion of the gripping device. Then, the detected angular velocity is negatively fed back to the minor loop of the posture feedback control means that operates the rotational driving moment. Furthermore, the invention comprises means for differentiating the output of the posture detection sensor relating to the turning movement of the gripping device and calculating and outputting the angular velocity relating to the turning movement of the gripping device. Then, the calculated and output angular velocity is negatively fed back to the minor loop of the posture feedback control means for operating the rotational driving moment. Further, the present invention is a display for displaying a vector representing the direction of the thrust acting on the gripping device with reference to the unique coordinate system set in the gripping device, on the image of the gripping mechanism and the conveyed object captured by the monitoring means. Means are provided.

Further, according to the present invention, a gripping device for removably gripping an object to be transported in reactor water in a nuclear reactor, a cord for suspending the gripping device, a cord, etc., at an arbitrary suspending position on the reactor. It is assumed that a hoist for working inside the reactor is equipped with a suspension device that moves up and down. Then, the gripping device is provided with an underwater thrust mechanism that gives thrust to displace the gripping device to a stationary position that balances the restoring force of the rope. Further, a thrust control means is provided for controlling the stationary position by adjusting the magnitude of the thrust and the direction of the thrust about the vertical axis. Furthermore, the present invention is premised on a hoist equipped with a gripping device for detachably gripping an object to be transported in water, a rope for suspending the gripping device, and a suspending device for lifting and lowering the gripping device from a ship floating above water via the rope. And Then, the gripping device is provided with an underwater thrust mechanism that gives a thrust that displaces the gripping device to a stationary position that balances the restoring force of the rope. Further, a thrust control means is provided for controlling the stationary position by adjusting the magnitude of the thrust and the direction of the thrust about the vertical axis.

Furthermore, the present invention is a gripping device for detachably gripping an object to be conveyed in the atmosphere, a cord for suspending the gripping device,
A hoist equipped with a suspension device including a crane arm that raises and lowers the gripping device from an arbitrary position via the rope is assumed. Further, the gripping device is provided with a thrust mechanism of an atmospheric propelling type which gives a thrust for displacing the gripping device to a stationary position which balances the restoring force of the cord. Further, a thrust control means is provided for controlling the stationary position by adjusting the magnitude of the thrust and the direction of the thrust about the vertical axis.

[0015]

The present invention utilizes the thrust force exerted on the gripping device. This thrust causes the gripping device to move in a substantially horizontal direction. More precisely, it goes in the direction of rocking allowed by the rope. Along with this, the cord that holds the gripping device is tilted, and the direction of the tension depending on the cord is tilted. Horizontal component force is generated when the direction of tension is inclined. This horizontal component force acts as a restoring force for pulling back the gripping device. The gripper is still advanced,
It stands still where the horizontal component of thrust and the restoring force of the rope balance.

The posture of the gripping device is unstable when it is simply hung by the rope, and it is easy to rotate about the vertical axis.
When a thrust including a horizontal component acts on it, this rotation is restricted and stabilized. Since it is pulled laterally, the rotation that shakes off the force is limited. This point resembles that the free rotation around the horizontal axis is restricted by gravity.

Further, in the present invention, the position where the gripping device stands still is controlled. The position of the gripping device when the horizontal component of the thrust is zero is defined as the origin position, the position where it balances and rests under the given thrust is defined as the stationary position, and the distance between them is defined as the displacement distance. Then, the displacement distance becomes a function of the horizontal component force. The origin position corresponds to the suspension position by the suspension device. The selection of the origin position corresponds to the rough positioning of the gripping device. The origin position is appropriately corrected by using the thrust control means and the thrust mechanism, and positioned at the object to be conveyed. The direction of the stationary position with respect to the origin position depends on the direction of the thrust about the vertical axis.

Further, in the present invention, thrust is applied to the foundation. This stabilizes the posture of the foundation. If the base part is stable, the attitude of the gripping part connected via the attitude control mechanism is also stable. Further, the degree of freedom mechanism of the present invention allows for the inclining of the cord. In addition, it absorbs the rotational torque associated with the inclination of the cord and reduces the influence on the posture of the gripping device. The gripping device maintains a posture in which the line connecting the center of rotation of the degree-of-freedom mechanism and the center of gravity of the gripping device is vertical regardless of the inclination of the rope.

Further, in the present invention, since the center of rotation coincides with the center of gravity, the recoil of the base portion due to the rotation of the grip portion is small. Further, according to the present invention, the posture of the gripping device does not change and the posture of the gripping device is stationary with the line connecting the center of rotation of the gripping device and the center of gravity of the gripping device being vertical regardless of the presence or absence of thrust or the magnitude of thrust. . Further, in the present invention, a component suitable for gripping a target object to be conveyed can be appropriately replaced with a component which is not suitable. Further, in the present invention, the operator of the hoist can proceed with the operation while confirming the relative position and relative attitude between the gripping portion and the object to be conveyed by looking at the display means.

Further, the TV camera of the present invention approaches the object to be conveyed together with the grasping device and observes the grasping part and the object to be conveyed through the space inside the grasping part of the grasping device. Further, the present invention is
Use multiple thrusts. If the thrust of one is small and the thrust of the other is large, the gripping device does not move to the neutral position but changes its direction. Further, the present invention creates a jet to obtain thrust. The jet is a strong flow of water or air, and the gripping device moves in the opposite direction to the flow. The thrust strength and direction correspond to the jet strength and direction.

Further, the gripping device of the present invention receives a force obtained by combining three or more thrusts. It includes thrust and rotational drive moment. The hoist operator inputs the target magnitude and direction of the thrust of the gripping device and the target magnitude and direction of the rotational driving moment of the gripping device. The thrust control means determines the magnitude and direction of the thrust of each thrust mechanism based on the input information. Thereby, the position and the posture of the gripping device can be operated independently.

Further, the present invention utilizes three or more thrust mechanisms. In addition, an intrinsic coordinate system that is firmly connected to the gripping device and a reference coordinate system that is firmly connected to the nuclear reactor on the side of the object to be transported are used for the control. The hoist operator inputs the target direction by using the unique coordinate system. Although the gripping device moves in that direction, the posture viewed from the standard coordinate system of the proper coordinate system is kept constant on the way. This is because the attitude feedback control means works. Next, the posture of the gripping device after the gripping device has settled at the target stationary position will be described. It is necessary to rotate the gripping device so that the relative posture between the gripping device and the object to be conveyed is suitable for gripping, but the stationary posture is maintained unchanged during this rotation. Thus, although the coordinate system used by the operator of the hoist is a proper coordinate system in which the influence of the attitude change occurs, the operator of the hoist can control the position and the attitude separately.

Further, in the present invention, the angular velocity associated with the rotation of the gripping device is detected and is negatively fed back to the minor loop of the attitude feedback control means, so that the rotational movement of the gripping device is settled quickly. Further, in the present invention, since the angular velocity obtained by differentiating the output of the attitude detection sensor is negatively fed back to the minor loop of the attitude feedback control means,
The settling of the pivoting movement of the gripping device is accelerated. Further, in the present invention, the vector indicating the direction of thrust and the gripping mechanism and the conveyance target captured by the monitoring means are displayed in an overlapping manner on the image using the same unique coordinate system, so that the operator of the hoist can easily understand the situation. Become.

Further, the present invention is a hoist for working in a nuclear reactor, wherein the gripping device is provided with an underwater thrust mechanism for giving a thrust for displacing the gripping device to a stationary position that balances the restoring force of the rope. Therefore, the gripping device can be accurately attached to the object to be transported in the nuclear reactor. Further, the same applies to a hoist using a ship or a hoist for working in the atmosphere.

[0025]

EXAMPLES Examples of FIGS. 1 to 4 according to the present invention will be described. FIG. 1 is an overall configuration diagram of the hoist 4. FIG.
The hoist 4 has a role of gripping the conveyance target 5 existing in the reactor water 2 in the reactor pressure vessel 1 by remote control and discharging it to another place in the reactor or outside the reactor. A gripping device 6 detachably grips the object to be conveyed 5. Reference numeral 7 is a cord (wire) for suspending the grip device 6. Reference numeral 8 is a winch for winding the rope 7 installed on the operation floor 3. Reference numeral 9 denotes a moving mechanism that moves the winch 8 in the X and Y directions as appropriate. The winch 8 and the moving mechanism 9 are
A suspending device that raises and lowers the gripping device 6 from an arbitrary suspending position via the rope 7 is configured.

Reference numeral 10 is a control device for remotely controlling the gripping device 6, the moving mechanism 9 and the like. Reference numeral 11 denotes an operation pendant operated by the hoist operator 12. Control device 10 and gripping device 6
Are connected by a remote cable 701. With the above configuration, the operator 12 operates the operation pendant 11, moves the moving mechanism 9, brings the gripping device 6 closer to the object to be conveyed 5, and further grips the object to be conveyed 5 by opening and closing the gripping device 6, for example. The moving mechanism 9 is moved to move the object to be transported 5 to another place in the reactor pressure vessel 1 or to raise it onto the operation floor 3.

Next, the gripping device 6 will be described in detail with reference to FIG. FIG. 2 corresponds to a grasping device system diagram in which a control device 10 and an operation pendant 11 are added in addition to the grasping device 6. The gripping device 6 includes a foundation portion 22 that is coupled to the cord 7 via a degree-of-freedom mechanism having at least two rotational degrees of freedom having mutually different rotational axis directions, for example, a spherical joint type universal joint 13, and a foundation portion. The first thrust mechanism 14 and the second thrust mechanism 15 which are each a thrust mechanism of an underwater propulsion type such as a screw, which is installed in the second rotor 22, a grip portion 26 which grips the object 5 to be conveyed, and rotary bearings 20 and 21. Through the foundation part 2
2 to the base portion 22 via a swivel portion 19 which is connected to the grip portion 26 by a bolt 25 and has a swivel degree of freedom, and a pinion gear 17 installed on the base portion 22 and a spur gear 18 provided on the swivel portion 19. On the other hand, the turning part 19
A swivel actuator 16 that is driven by, for example, an electric motor, and a TV camera 23 built in the base portion 22.
And a light source 24.

The thrust vectors of the first thrust mechanism 14 and the second thrust mechanism 15 in FIG. 2 are parallel to each other, and the thrust forces of the first thrust mechanism 14 and the second thrust mechanism 15 act on the gripping device 6. The points are located on the reference plane 603, and the thrust vectors of the first thrust mechanism 14 and the second thrust mechanism 15 are set to be parallel to the reference plane 603. The reference plane 603 is the rotation center point 13 of the universal joint 13.
01 and a center of gravity 601 of the gripping device 6 are orthogonal to a reference line 602, and a rotation center point 1301 is included in the plane.

Further, the grip portion 26 is provided with claws 28 and 27, and the tip ends of the claws 28 and 27 are provided with linear actuators 29 and 30 for opening and closing the opposing pads 31 and 32, which are, for example, hydraulic cylinders. There is. Further, the light receiving surface of the TV camera 23 and the lower end of the base portion 22 on which the light source 24 is arranged penetrates the grip portion 26, and the center of the line of sight of the TV camera 23 is set on the reference line 602. It is set so as to catch the tips of the claws 28 and 27 within the visual field of 23. Furthermore, T
In the lateral direction of the image receiving surface of the V camera 23, the first thrust mechanism 14
It is set so as to coincide with the direction connecting the centers of the second thrust mechanism 15.

The operation pendant 11 shown in FIG. 2 is a display 33 for outputting an image obtained by the TV camera 23, a first joytic 34 for instructing the forward or backward thrust of the first thrust mechanism 14, and a second joystick 34. Second joytic 35 for instructing the thrust mechanism 15 to generate forward or backward thrust, a first switch 36 for instructing the grip portion 26 to rotate to the right, to the left, or to stop turning, and the pad 31.
And a second switch 37 for instructing the opening and closing of 32, and a third switch 38 for instructing the moving mechanism 9 to move up and down, move back and forth, and to start and stop.

The first joytic 35 shown in FIG. 2 has a value of 0 at the neutral position, a positive value proportional to the amount of tilting when tilted in the forward direction, and a proportional value when tilted in the backward direction. The negative value is transmitted to the control device 10. Similarly, the second
The joystick 34 of the remote control remotely controls a value of 0 in the neutral position, a positive value proportional to the amount of tilting in the forward direction, and a negative value in proportion to the amount of tilting in the backward direction. To the device 10. Further, the first switch 36 is
Turning is stopped at the neutral position, and when tilted in the CW direction, the grip portion 26 is turned clockwise on the display 33 to
When tilted in the W direction, the grip 26 on the display 33
An instruction to turn the counterclockwise is transmitted to the control device 10.

The control device 10 of FIG. 2 includes various control means. Thrust control means for controlling the first and second thrust mechanisms 14 and 15 are also included. The main items will be described. Based on the control value generated by the first joytic 34, when the control value is 0, the first thrust mechanism 14 is stopped,
When the control value is positive, the first thrust mechanism 14 is driven in the forward direction to generate thrust corresponding to the absolute value of the control value, and when the control value is negative, the first thrust mechanism 14 is driven in the backward direction. Produces thrust corresponding to the absolute value of the control value.

Further, based on the control value generated by the second joytic 35, when the control value is 0, the second thrust mechanism 15 is stopped, and when the control value is positive, the second thrust mechanism 1
5 is driven in the forward direction to generate thrust corresponding to the absolute value of the control value. When the control value is negative, the second thrust mechanism 15 is driven in the backward direction to generate thrust corresponding to the absolute value of the control value. Let Further, the turning actuator 16 is stopped or turned clockwise or counterclockwise based on an instruction from the first switch 36. Further, based on the instruction of the second switch 37, the linear actuators 29 and 30 are driven to open and close the pads 31 and 32. Further, based on an instruction from the third switch 38, the moving mechanism 9 is controlled to start or stop, move up and down, and move back and forth and left and right.

Next, the operation of the embodiment shown in FIGS. 1 and 2 will be described. The gripping device 6 has a universal joint 13 at the end of the cord 7.
Suspended through the first thrust mechanism 14 and the second thrust mechanism 14.
When the thrust mechanism 15 is stopped, it remains stationary in the reactor water 2 immediately below the winch 8 with the reference line 602 of the gripping device 6 kept parallel to the vertical direction. This corresponds to the origin position when there is no thrust. The environment directly under the gripping device 6 and the claws 28 and 27 of the gripping part 26 taken by the TV camera 23.
Is displayed on the display 33. The operator 12
The movement mechanism 9 is operated by operating the third switch 38,
The moving device 6 is roughly positioned so as to capture the object to be conveyed 5 at the center of the display 33.

Here, the first thrust mechanism 14 is constituted by the first joytic 34 and the second joytic 35.
When the magnitude and balance of each thrust of the second thrust mechanism 15 is operated, the gripping device 6 performs a straight movement and a turning motion by the thrust in the horizontal direction, and the horizontal position of the gripping device 6 is set by the winch 8. It can be moved to any position from directly below the hanging position. At this time, the point of action of the thrust of the first thrust mechanism 14 and the second thrust mechanism 15 with respect to the gripping device 6 is located on the reference plane 603 orthogonal to the reference line 602 and including the rotation center point 1301 of the universal joint 13. Moreover, since the thrust vector is set to be parallel to the reference plane 603, the generation of the thrust does not generate a rotational moment about the axis parallel to the reference plane 603 with respect to the gripping device 6, and the gripping device 6 is not generated. It is possible to move while maintaining the direction of the reference line 602 of 1 to be substantially parallel to the vertical direction.

Furthermore, by setting the thrusts of the first thrust mechanism 14 and the second thrust mechanism 15 to be equal,
The gripping device 6 is located at an arbitrary radial position around the origin position immediately below the hanging position by the winch 8 in which gravity and thrust applied to the whole of the gripping device 6 and tension applied to the gripping device 6 by the cord 7 are balanced. To stand still. At this time, the direction of the reference line 602 of the gripping device 6 is kept parallel to the vertical direction, and the turning direction of the gripping device 6 around the reference line 602 is the thrust of the first thrust mechanism 14 and the second thrust mechanism 15. The vector and the radial direction centered on the horizontal position immediately below the winch 8 are kept parallel to each other.

Through the above operation procedure, the operator 12 positions the gripping device 6 in detail, and finally the display 3
The moving device 6 is moved and operated so as to capture the object to be conveyed 5 at the center of 3. After the positioning of the moving device 6 is completed, the operator 12 monitors the display 33 and drives the turning actuator 16 by operating the first switch 36 until the object 5 to be conveyed reaches a posture in which it can be grasped. Gripping part 2
Correct the turning posture of 6. After the correction of the turning posture of the grip portion 26 is completed, the operator 12 operates the third switch 38 to lower the moving device 6 until the conveyance target 5 reaches a height at which it can be gripped. After the moving device 6 has finished descending,
The operator 12 operates the second switch 37 to operate the grip portion 2
The object to be conveyed 5 is gripped by 6. After gripping the transport target 5 is completed, the operator 12 operates the third switch 38 to move the moving device 6 gripping the transport target 5 to the outside of the reactor pressure vessel 1.

The description will be supplemented with reference to FIGS. 3 and 4. Figure 2
The gripping part 26 of the swivel part 19 is removed by removing the bolt 25.
It has a more removable structure. It is possible to select an appropriate grip portion according to the form of the object to be transported 5 and replace and mount it. A modified example of the grip portion will be described with reference to FIGS. 3 and 4.
The same component numbers as those in FIG. 2 are used for the same components. The grip portion 39 shown in FIG. 3 is composed of claws 40 and 41, pads 42 and 43, and linear motion actuators 44 and 45 that open and pull back the pads 42 and 43 toward the outside. With FIG. 3, the pipe-shaped object 46 to be conveyed can be gripped from the inner surface. The grip portion 47 shown in FIG.
9 is equipped. In this case, for example, the plate-shaped transfer target object 50 having no sandwiched portion can be suctioned and gripped.

In the embodiment shown in FIGS. 1 to 4, the positioning of the global gripping device 6 by the moving device 9 on the furnace is followed by the displacement of the relative position and posture of the gripping part 26 and the object 5 to be conveyed. Since the position and orientation of the single gripping device 6 can be precisely corrected in the vicinity of the object to be conveyed 5 while directly confirming it on the display 33 on the operation pendant 11, the accurate setting of the gripping position for the object to be conveyed 5 can be performed remotely. Easy and quick to implement. Further, since the gripping portion 26 of the gripping device 6 can be exchanged and mounted, an appropriate gripping portion can be selected according to the form of the object to be conveyed 5, and work reliability is high and swift remote transfer work can be performed. Further, since the thrust vectors of the thrust mechanisms 14 and 15 are orthogonal to the reference line 602, the thrusts of the thrust mechanisms 14 and 15 can be efficiently used for the horizontal movement of the gripping device 6.

Various modifications of the embodiment shown in FIGS. 1 to 4 will be described. Although the modified examples shown in FIGS. 3 and 4 are disclosed as the grip portion, for example, a grip portion that uses adsorption by an electromagnet as an alternative to gripping by a suction cup, a hook that hooks into a hole provided in an object to be transported, and the like are mainly used. Gripping part, etc.
Even if the grip portion is configured by other means that can be attached to and detached from the object to be conveyed, the same effect can be obtained. Further, the bolt 25 structure has a grip portion 26.
Is configured to be attachable / detachable to / from the swivel unit 19, but, for example, a method of screwing a gripping unit having a male thread formed on the coupling end with a swivel unit having a female thread formed on the coupling end,
Same effect.

On the other hand, the cord 7 and the foundation 22 are connected to the universal joint 13
The rope 7 and the foundation 2 are connected to each other through the rope.
2 may be connected in a chain structure or the structure in which the cord 7 and the base portion 22 are directly connected, the chain structure or the cord 7
Since it has the same degree of freedom of rotation as the universal joint 13, the flexibility is almost the same. Furthermore, although the TV camera 23 is built in the base portion 22, at least one TV that maintains a visual field capable of simultaneously monitoring the grip portion 26 and the object to be conveyed 5.
The same effect can be obtained by installing the camera on the outer surface of the base portion 22.

Next, another embodiment shown in FIG. 5 will be described. The part numbers of the embodiments of FIGS. 1 to 4 are used as they are as they are, and a part of the overlapping description will be omitted.
Further, since the range of FIG. 1 is the same, this will be referred to as appropriate. FIG. 5 shows the range of the gripping device 51, the remote control device 59 and the operating pendant 58. A swivel part 53 is rotatably supported on the base part 52 of the gripping device 51 of FIG. 5 via rotary bearings 20 and 21, and the swivel part 53 is rotated by the swivel actuator 16 via the pinion gear 17 and the spur gear 18 with respect to the base part 52. Is driven to rotate. The swing unit 54 is coupled to the swivel unit 53 with a rotational degree of freedom,
The swinging drive actuator 55 including, for example, an electric motor installed in the swinging portion 53 can tilt the swinging portion 54 in the axial direction with respect to the swinging portion 53.
A rotation angle sensor 57 for detecting the inclination of No. 4 is provided. A grip portion 26 is coupled to the swinging portion 54 with a bolt 25.

Further, the TV camera 23 and the light source 24 are built in the swinging portion 54, and the lower end of the swinging portion 54 on which the light receiving surface of the TV camera 23 and the light source 24 are arranged is the grip portion 26.
And is set so as to catch the tips of the claws 28 and 27 in the field of view of the TV camera 23. further,
The lateral direction of the image receiving surface of the TV camera 23 has nails 28 and 27.
It is set to be orthogonal to the opening / closing direction of. further,
A balance weight 6 is provided at an end portion of the swing portion 54 opposite to the end portion to which the grip portion 26 is coupled. The shape and weight of the balance weight 56 are the same as those of the swing portion 54 and the grip portion 2.
6, balance weight 56, bolt 25, TV camera 2
3 and the total center of gravity of the light source 24 are the swivel unit 53 and the swing unit 5.
It is set so as to be located on the axis of rotational freedom between 4 and 4.

The operation pendant 58 shown in FIG. 5 is provided with an indicator 61 for displaying the tilt of the swinging portion 54 based on the detection results of the fourth switch 60 and the rotation angle sensor 57, and the fourth switch 60 is neutral. When it is in the position, the swinging motion is stopped, when it is tilted in the CW direction, for example, it swings clockwise in the clockwise direction as viewed from the paper surface direction in FIG. 5, and when it is tilted in the CCW direction, it is viewed from the paper surface direction in FIG. 5, for example. An instruction to swing the counterclockwise grip portion 26 is transmitted to the control device 59. The control device 59 shown in FIG. 5 includes various control means similar to those of the remote control device 10 shown in FIG. 2, and further drives the swing drive actuator 55 based on an instruction from the fourth switch 60, and the grip portion 26. It also controls to swivel clockwise or counterclockwise.

The operation of the embodiment shown in FIG. 5 will be described. In the operation of positioning the gripping device 51 close to the object to be transported 5,
The fourth switch 60 is operated in advance to set the inclination of the grip portion 26 on the indicator 61 to zero. By this operation, the grip portion 2
6 is oriented vertically, and in the display 33, the gripping device 5
You can monitor the situation immediately below. In the process of approaching and positioning the gripping device 51 with respect to the conveyed object 5, the operator 12 monitors the inclination of the grasped portion 26 and the relative posture between the conveyed object 5 and the grasped portion 26 with the display 33 and the indicator 61. The fourth switch 60 is operated to appropriately operate the relative postures of the object to be conveyed 5 and the grip portion 26. At this time, since the center of gravity of the entire gripping device 51 does not move with the tilting movement of the gripping portion 26, the position of the gripping device 51 is held.

According to the embodiment shown in FIG. 5, when it is difficult to bring the gripping portion 26 closer to the gripping target portion of the object to be conveyed 5 from the vertical direction, the inclination of the gripping portion 26 is appropriately changed. It is possible to perform a gripping operation by positioning a target gripping point of the object to be conveyed 5 between the claw 28 and the claw 27 of the grip portion 26. Furthermore, since the position of the gripping device 51 can be kept constant even if the gripping portion 26 is tilted,
Accurate and quick translation operation of gripping device 51 and gripping part 2
6 tilting operation is possible.

In the present embodiment shown in FIG. 5, the tilting operation of the oscillating portion 54 is performed by operating the fourth switch 60 while monitoring the tilting with the indicator 61. The switch 60 may be replaced with a joytic that directly indicates the tilt angle of the swinging part 54, and the tilting angle of the swinging part 54 may be proportionally controlled with respect to the tilt angle target value generated by the joytic. is there.

Next, another embodiment shown in FIG. 6 will be described. This is a modified embodiment close to that of FIG. FIG. 6 is a configuration diagram showing the range of the gripping device 62, the control device 69, and the operation pendant 58. The already-explained part numbers, especially the part numbers shown in FIG. 5 are used as they are, and a part of the overlapping description will be omitted. The gripping device 6 of FIG.
The swivel part 53 and the swinging part 54 of the second shaft are freely instructed in the rotational direction by the joint shaft 63, and the variable buoyant floats 64 and 68 of the same structure are installed in the swinging part 54 with the joint shaft 63 interposed therebetween. ing. The variable buoyancy float 64 is composed of a case 65 having a drainage hole 67 and a float 66 made of a bag-like flexible body whose end is connected to the case 65.
The float 66 expands or contracts its volume by the supply or suction of gas from the control device 69, and thus the case 6
It is possible to control the buoyancy transmitted to the oscillating portion 54 via

The controller 69 controls the first joytics 3
4, the second joytic 35, the first switch 36,
Regarding the control relating to the second switch 37 and the third switch 38, the same function as that of the remote control device 59 is provided,
If the instruction of the fourth switch 60 indicates a clockwise tilt, the buoyancy of the variable buoyancy float 64 is made larger than that of the variable buoyancy float 68, and the instruction of the fourth switch 60 is set counterclockwise. If the instruction is to incline, the buoyancy of the variable buoyancy float 68 is changed to the variable buoyancy float 6
The buoyancy is controlled to be greater than 4.

According to the embodiment shown in FIG. 6, similarly to the embodiment shown in FIG.
When it is difficult to grip the gripping target portion of the gripping portion 26, the gripping portion 26 is appropriately changed by changing the inclination of the gripping portion 26.
It is possible to carry out the gripping work by arranging the gripping target portion of the conveyance target object 5 between the claw 28 and the claw 27. further,
Since the position of the gripping device 51 can be maintained constant even when the gripping portion 26 is tilted, the gripping device 51 is accurate and quick.
It is possible to perform the translational movement operation and the tilting movement operation of the grip portion 26.

In the embodiment shown in FIG. 5, the swinging portion 5
4 is realized by the rotational torque generated by the swing drive actuator 55. In the embodiment of FIG. 6, the tilting movement of the swinging portion 54 is caused by the rotational moment generated by the difference in buoyancy between the variable buoyancy floats 64 and 68. However, other means for applying a rotation moment to the swinging portion 54 has the same effect.

Another embodiment shown in FIG. 7 will be described. FIG. 7 is a configuration diagram showing the range of the grip device 70, the control device 77, and the operation pendant 76. The part numbers up to FIG. 6 are used as they are. In the gripping device 70 of FIG. 7, the cord 7 and the foundation 72 are connected by a universal joint 71. The universal joint 71 sandwiches the upper portion of the base portion 2
Further, the fork 7101, the first hinge 7102 installed on the upper part of the fork 7101 and connected to the rope 7, the second hinge 7103 installed at the lower tip of the fork 7101 to rotatably support the base 72 and the second hinge 7103. Three hinges 71
Have 04. Here, the first hinge 7102 has a degree of freedom of rotation around the axial direction of the cord 7, and the second hinge 7103
And the axis of rotation of the third hinge 7104 is coaxial,
The direction connecting the second hinge 7103 and the third hinge 7104 is orthogonal to the rotation axis direction of the first hinge 7102.

A thrust mechanism 73 composed of an underwater thrust mechanism such as a screw is installed on the base portion 72, and the thrust vector of the thrust mechanism 73 exceeds the rotation center point 703 and the second hinge 7102 and the second hinge 7102. It is set so as to be orthogonal to both the straight line connecting the three hinges 7103 and the reference line 702. Here, the rotation center point 703 corresponds to the second hinge 71.
03 and the third hinge 7104 are in a position where the rotation axis direction of the first hinge 7102 is orthogonal to the straight line connecting the third hinge 7104, and the reference line 702 is a straight line connecting the rotation center point 703 and the center of gravity 701 of the entire gripping device 70. Is. Further, the base portion 72 is provided with a rudder 74 for changing the direction of the jet flow generated by the thrust mechanism 73 in a plane orthogonal to the reference line 702 and a steering actuator 75 for driving the rudder 74.

The operation pendant 76 shown in FIG. 7 has a first joytic 78 for instructing the thrust of the grasping device 70 to move forward or backward and a second joytic for instructing the grasping device 70 to turn right or left. Equipped with 79. The first joytic 78 transmits the control target value of the speed proportional to the tilted amount to the control device 77, and the second joytic 79 the control target value of the steering angle of the rudder 74 proportional to the tilted amount. Is transmitted to the control device 77. The first joytic 78 stops in the neutral position, the second joytic 7
When 9 is in the neutral position, straight travel is transmitted to the control device 77.

The control device 77 of FIG. 7 has the first switch 3
6, control of the second switch 37 and the third switch 38 has the same function as the control device 10,
The thrust of the thrust mechanism 73 is controlled based on the control target value generated by the first joytic 78, and the steering actuator 75 is driven to steer the rudder 74 with respect to the control target value generated by the second joytic 79. Control the angle proportionally.

Next, the operation of the embodiment shown in FIG. 7 will be described. When the surface of the rudder 74 is operated in parallel with the thrust vector of the thrust mechanism 73, the horizontal component force of the tension applied from the rope 7 to the grip device 70 and the thrust of the thrust mechanism 73 are balanced, The device 70 is stationary. Therefore, the rest position of the gripping device 70 in the radial direction centered on the horizontal position immediately below the winch 8 can be operated by changing the thrust of the thrust mechanism 73. Further, when the rudder 74 is tilted rightward or leftward from the straight-ahead position, a rotational moment around the reference line 702 is generated in the gripping device 70 by the reaction force that changes the direction of the jet flow of the thrust mechanism 73, and the rudder 74 is gripped in the direction of turning. Device 7
0 turns and moves. By this operation, from a certain stationary position in the circumferential direction centered on the horizontal position immediately below the winch 8,
The gripping device 70 can be moved.

According to the embodiment of FIG. 7, the operator 12 has the first joytic 78 and the second joytic 7
Since the gripping device 70 is positioned by operating 9, and the relative positional deviation between the gripping portion 26 and the conveyance target 5 can be precisely corrected, the accurate setting of the gripping position for the conveyance target 5 can be performed by remote control. Easy and quick to implement. Further, since the gripping device 70 has a configuration in which the single thrust mechanism 73 is arranged in the center of the base portion 72,
The cross-sectional shape can be made smaller than that of the embodiment shown in FIG. 1, which is advantageous for approaching the object to be conveyed 5 through a narrow environment.

Next, the structure of another embodiment shown in FIGS. 8 to 11 will be described. The previous part numbers up to FIG. 7 are appropriately diverted, and a part of the overlapping description is omitted. FIG.
FIG. 8 is a configuration diagram showing configurations of a gripping device 80, a control device 87, and an operation pendant 85. The base portion 81 of the gripping device 80 shown in FIG. 8 is provided with a cord (wire) 7 via the universal joint 13.
And is fastened to the gripping mechanism 26 by bolts 25. The base portion 81 includes a first thrust mechanism 82, a second thrust mechanism 83, and a third thrust mechanism, each of which is a thrust mechanism of a water-propelled type such as a screw, which is arranged on the circumference surrounding the universal joint 13. 84 are provided, and the thrust vectors of the first thrust mechanism 82, the second thrust mechanism 83 and the third thrust mechanism 84 are set parallel to the tangential direction of the circumference surrounding the universal joint 13 respectively. is there. Further, the points of action of the thrust of the first thrust mechanism 82, the second thrust mechanism 83, and the third thrust mechanism 84 are located on the reference plane 803, and their thrust vectors are set parallel to the reference plane 803. There is.

Here, the reference plane 803 is the universal joint 13
Center of rotation 1301 and center of gravity 801 of the entire gripping device 80
Is orthogonal to the reference line 802 connecting the
Is a plane including in the plane. The base 81 has a built-in TV camera 23 and a light source 24.
The horizontal direction of the image receiving surface of is aligned with the opening / closing direction of the pads 31 and 32. Further, the base 81 has a gripping device 80.
A gyro sensor 91 that detects an absolute direction around the reference line 802 and an angular velocity sensor 92 that detects an angular velocity around the reference line 802 of the grip device 80 are installed.

The operation pendant 85 shown in FIG. 8 is provided with a display 86 for displaying an image taken by the TV camera 23, the gripping mechanism 26 is displayed at a fixed position on the display 86, and the first thrust mechanism 82 is further provided. , A pointer 8601 indicating the direction δ of the combined thrust F of the second thrust mechanism 83 and the third thrust mechanism 84 with reference to the X axis is displayed.

Here, the X-axis is defined as the opening / closing direction of the pads 31 and 32, the Z-axis is the direction of the reference line 802, and the Y-axis is the direction orthogonal to the X-axis and the Z-axis. Further, the operation pendant 85 indicates the direction Φ of the combined thrust F around the reference line 802 based on the absolute coordinate axis Xo held by the gyro sensor 91 and the first joytic 88 that indicates the magnitude of the combined thrust F. The first dial 89 is provided with a second dial 90 for indicating the direction ψ of the X axis around the reference line 802 with the absolute coordinate axis Xo as a reference. The first joytic 88 transmits the control target value of the magnitude of the synthetic thrust F proportional to the amount of tilt to the control device 87, and further
The dial 89 and the second dial 90 transmit the adjusted directional angle of the scale to the control device 87 as a control target value.

The control device 87 of FIG. 8 has the second switch 3
7 and the third switch 38 have the same functions as those of the control device 10 of FIG. 2, and control target values generated by the first joytic 88, the first dial 89 and the second dial 90, and , The thrusts to be generated by the first thrust mechanism 82, the second thrust mechanism 83, and the third thrust mechanism 84 are calculated based on the outputs of the gyro sensor 91 and the angular velocity sensor 92, and the first thrust mechanism 8
2, driving the second thrust mechanism 83 and the third thrust mechanism 84.

Next, the configuration and operation of the control device 87 of FIG. 8 will be described with reference to FIGS. FIG. 9 is a plan view of a main part of the gripping device 80, showing thrusts of the first thrust mechanism 82, the second thrust mechanism 83, and the third thrust mechanism 84, and the propulsive force and the rotational moment acting on the gripping device 80. It is explanatory drawing showing a relationship. FIG. 10 is an explanatory diagram showing an operating state of the gripping device 80. FIG. 11 is a control explanatory view mainly showing the range of the thrust control means of the control device 87.

As shown in FIG. 9, the first thrust mechanism 82,
Thrust F of the second thrust mechanism 83 and the third thrust mechanism 84
The action points of 1, F2 and F3 exist on the circumference of the radius R centering on the XY coordinate origin, and the thrust vectors coincide with the tangential direction of the circumference. Furthermore, thrust F1, F2
The action points of F3 and F3 are arranged at angles of θ1, θ2, and θ3 with respect to the X axis with the XY coordinate origin as the center. The thrusts F1, F2, and F3 are combined to obtain a combined thrust F, and the vector of the combined thrust F is oriented in the direction δ with reference to the X-axis direction. Here, when the values of F, δ, and Mz are specified, the values of F1, F2, and F3 are (Equation 1)
It is obtained by the conversion calculation shown in.

[Equation 1]

FIG. 10 shows a force balance between the gripping device 80 and the gripping device 8 in a horizontal plane orthogonal to the vertical direction.
It shows the change in position and posture of 0. Figure 10
In the figure, only the position and orientation of the gripping mechanism 26 is shown as a representative component of the gripping device 80. The gripping device 80 is constrained to the winch 8 by the cord 7, and receives the horizontal component force (restoring force) Fp due to the tension of the cord 7. Horizontal force Fp
Increases as the position of the gripping device 80 moves away from the winch 8. The grip device 80 has a horizontal component force Fp and a combined thrust force F.
Is accelerated and moved in the direction of the resultant force, and stops at a position where the horizontal component force Fp and the resultant thrust force F are balanced. The coordinate axis Xo indicates an absolute direction held by the gyro sensor 91, and serves as a reference for grasping the Z-axis rotation direction of the grip device 80 and the direction of the combined thrust F. As mentioned above, Xo
The X-axis direction with respect to the axial direction is represented by ψ, and the synthetic thrust F direction is represented by φ. As shown in FIG. 10, the direction δ of the combined thrust F with respect to the X axis is a value obtained by subtracting the direction ψ from the direction φ.

Based on the above premise, the detailed configuration and operation of the control device 87 will be described with reference to FIG. As shown in FIG. 10, the control device 87 calculates the direction δ from the difference between the control target value φ output from the first dial 89 and the actual direction ψd detected by the gyro sensor 91. And an adder 8702 that calculates the deviation between the control target value ψ output from the second dial 90 and the actual direction ψd detected by the gyro sensor 91, the output of the adder 8702 and the angular velocity sensor 92. An adding unit 8703 for calculating a deviation from the angular velocity ω about the Z axis,
The amplifier 8704 is provided with an amplifier 8704 that outputs the control target value Mz of the rotational moment by multiplying the output of the adder 8703 by a gain and further performing phase compensation as necessary.
Control target value F output from the joytic 88 of
The direction δ output from the adder 8701 and the amplifier 870
4 from the control target value Mz output from
Based on the calculation result of the force conversion unit 8705, the force conversion unit 8705 calculates the thrust values F1, F2, and F3, and F1 is applied to the first thrust mechanism 82, the second thrust mechanism 83, and the third thrust mechanism 84 based on the calculation result of the force conversion unit 8705. , F2 and F3, drive units 8706, 8707 and 8708 are provided. Further, the direction δ calculated by the adder 8701
Is output to the display 86 of the operation pendant 35 and displayed to the operator 12.

With the configuration shown in FIG. 11, a control target value that generates a synthetic thrust F having a magnitude designated by the first joytic 88 in the direction δ with respect to the X axis and that is output from the amplifier 8704. Rotational moment Mz designated by
To the gripping device 80, the first thrust mechanism 82,
The thrusts of the second thrust mechanism 83 and the third thrust mechanism 84 can be interlocked and controlled. Further, the gripping device 8 for the Xo axis
The rotational moment Mz is applied to the gripping device 80 so that the actual direction ψd of the X axis on 0 coincides with the control target value ψ, and the gripping device 80 with the direction ψd coincides with the control target value ψ. The turning motion of is settled. At this time, the angular velocity ω around the Z-axis is subtracted from the deviation between the control target value ψ and the direction ψd, and a velocity feedback loop is formed in the turning position control loop of the gripping device 80. The settling time can be shortened, and swiveling and positioning operation of the gripping device 80 can be performed quickly. Further, the control target value φ and the gyro sensor 91
Since the control target value δ in the direction in which the thrust F is generated is calculated from the difference from the actual direction ψd detected by, the Z of the gripping device 80 is operated by operating the second dial 90.
Even if the direction ψ around the axis is changed, the thrust F based on the Xo axis
The generation direction φ of is maintained in the direction designated by the first dial 89.

Next, the operation of the embodiment shown in FIGS. 8 to 11 will be described with reference to FIG. FIG. 10 continuously shows a state in which the gripping device 80 stationary at a certain position is moved toward the transport target 5 and the posture of the gripping device 80 is corrected to grip the transport target 5. First, at the start of movement, the operator 12 operates the first dial 89 to
The direction δ of the thrust F is adjusted on the display 86 so as to be directed toward the conveyance target 5. At this time, the second dial 90 is left fixed. By this operation, the direction of generation of thrust F φ
Is oriented toward the conveyance target 5, and the gripping device 80 starts moving in the direction of the resultant force of the thrust F and the tension Fp. In this process, the direction ψ is kept constant. During the movement of the gripping device 80, the operator 12 makes the first movement until the gripping device 80 stands still.
By operating the dial 89, the adjustment is continued so that the direction δ of the thrust F is directed to the conveyance target 5 on the display 86.

By this operation, the direction of the thrust F asymptotically approaches the direction connecting the object to be conveyed 5 and the winch 8, and the gripping is performed at a position where the magnitudes of the thrust F and the tension Fp are balanced while the directions are completely matched. The device 80 is stationary. Next, the magnitude of the thrust F is adjusted by the first joytic 88, the gripping device 80 is moved toward the transporting target 5 on the line connecting the transporting target 5 and the winch 8, and the positioning of the gripping device 80 is completed. To do. Next, by operating the second dial 90, the gripping mechanism 26 takes an appropriate posture with respect to the conveyance target 5,
The Z-axis direction ψ of the gripping device 80 is adjusted. At this time, even if the gripping device 80 turns, the direction δ with respect to the X axis is sequentially corrected, and the direction φ of the thrust F is maintained at the value designated by the first dial 89. With this function, the gripping device 8
The position of the gripping device 80 is kept constant while the 0 is performing a pivoting movement.

According to the embodiments of FIGS. 8 to 11, the gripping device 80 is moved to an arbitrary position by the operation of the first joytic 88, the second dial 89 and the third dial 90, and the object to be conveyed is conveyed. Therefore, the posture of the gripping mechanism 26 can be adjusted appropriately. Further, the gripping mechanism 26 is directly attached to the base portion 81.
2 is attached, the mechanical strength can be made higher than that of the embodiment shown in FIG. 2 in which the turning mechanism is provided between the base part and the gripping mechanism, and the heavier the object 5 to be conveyed is conveyed. be able to.

In the embodiment of FIGS. 8 to 11, the angular velocity sensor 92 is used in order to improve the turning operability of the gripping device 80.
Although the angular velocity detected by is fed back, the positioning control related to the turning operation of the gripping device 80 can be performed without applying the feedback of the angular velocity. Further, in this embodiment, the angular velocity is detected by the angular velocity sensor 92, but the same effect can be obtained by differentiating the value of the direction detected by the gyro sensor 91 to obtain the angular velocity. Furthermore, three thrust mechanisms 82-8
4 is used to control the position and posture of the gripping device 80, but four or more thrust mechanisms are used to determine the magnitude of the synthetic thrust to be controlled, the direction of the synthetic thrust, and the rotational moment for each thrust. The same effect can be obtained even if the structure is converted into the thrust generation target value of the mechanism.

Next, another embodiment shown in FIG. 12 will be described. The same numbers are used for the same component elements as those in FIG. 2 in FIG. The hoist 98 of this embodiment is
A gripping device 95 for transporting a transport target 94 existing in water is provided. It is similar to the gripping device 8 of FIG. Further, a crane arm 97 for moving the gripping device 95 via the rope 96 and a ship 93 for mounting the crane arm 97 and moving on the water are provided. The boat 93 is moved on the water and the crane arm 97 is used to move the rope 96 to globally position the gripping device 95 with respect to the transfer target 94, and by using the thrust function of the gripping device 95, the gripping device with respect to the transfer target 94 is remotely operated. Since detailed positioning of 95 can be performed, the object to be transported 94 can be transported quickly and reliably.
Can be grasped and pulled up. In this embodiment, the gripping device 95 may be replaced with any one of the gripping devices shown in FIGS.

Next, another embodiment shown in FIG. 13 will be described. FIG. 13 is an explanatory diagram showing the configurations of the gripping device and the moving mechanism. The same reference numerals as those in FIG. 2 in FIG. 13 are used for the same components. The hoist 99 is intended to grip and convey a conveyance target 100 that is located on a building and exists in the atmosphere, for example. A gripping device 1 using a gripping device 8 similar to that in FIG. 2 and including thrust mechanisms 102 and 103 of propellant type propelled in the atmosphere, for example, as a thrust mechanism.
No. 01 is used, and a crane vehicle 105 is provided as a moving mechanism that moves the gripping device 101 via the rope 104.

According to the present invention, the object to be transferred 10 is moved by the ground movement by the crane vehicle 105 and the movement of the rope 104.
Since the gripping device 101 is globally positioned with respect to 0, and further, the propulsion function of the gripping device 101 is used to perform detailed positioning of the gripping device 101 with respect to the transport target 100 by remote control, so that the transport target 100 is quickly and reliably gripped. And can be raised. The gripping device 101 may be any of the gripping devices shown in FIGS. 5 to 8.
In this embodiment, the mobile mechanism is provided with the crane vehicle 105. However, if the configuration is such that the gripping device 101 is moved via the rope 104, a ground-fixed crane that does not move on the ground is used. However, the effect is the same.

Next, another embodiment shown in FIG. 14 will be described. FIG. 14 is an explanatory diagram showing the configurations of the gripping device and the moving mechanism. The same parts as those in FIG. 13 are designated by the same reference numerals. This embodiment is a hoist 106 for disaster rescue. It is, for example, a building 1 where a fire broke out.
The purpose is to transport the victim 108 left behind on 07. The gripping device 109 is basically substantially the same as 8 in FIG. As thrust mechanisms, thrust mechanisms 102 and 103 of atmospheric propelling type such as a propeller are provided. The gripping device 109 includes a gripping mechanism 110 having a harness 111 that holds the victim 108. As a moving mechanism for moving the gripping device 109 via the rope 112, a crane truck 113
Is provided.

According to the present embodiment, by moving the crane truck 113 on the ground and moving the rope 112, the victim 10
8, the gripping device 109 is globally positioned, and the propulsion function of the gripping device 109 is used to perform detailed positioning of the gripping device 109 with respect to the victim 108 by remote control. Therefore, quick and reliable rescue of the victim 108 is possible. Is possible. The thrust mechanism of the gripping device 109 of this embodiment is 1
02 and 103 are the underwater propulsion type thrust mechanisms 14 and 15 of FIG.
Is replaced with an atmospherically propelled thrust mechanism, the same effect can be obtained by replacing any of the thrust mechanisms in FIGS. 5 to 8 with an atmospherically propelled mechanism.

[0077]

According to the present invention, since the gripping device is provided with the thrust mechanism for applying the thrust force for displacing the gripping device to the stationary position in which the restoring force by the rope is balanced, the gripping device is held still in a stable posture. . Therefore, even if the cord is long, the gripping device can be attached to the object to be conveyed without using special auxiliary means. Further, in the present invention, since the thrust control means for controlling the stationary position by adjusting the magnitude of the thrust and the direction of the thrust about the vertical axis is provided, the stationary position of the gripping device can be adjusted. Therefore, it becomes easy to attach the gripping device to the object to be conveyed.

Further, in the present invention, the gripping device is constituted so as to include a base part connected to the rope and a gripping part for detachably gripping the object to be conveyed, and a thrust mechanism is provided in the base part, and the gripping device is provided for the base part. Since the posture control mechanism for changing the posture of the grip portion is provided, the grip portion can be held in a stable orientation suitable for the object to be conveyed, so that the grip portion can be easily attached to the object to be conveyed.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram showing an embodiment of a hoist according to the present invention.

FIG. 2 is a configuration diagram showing a gripping device and the like of the same embodiment.

FIG. 3 is a sectional view showing a grip portion of the embodiment.

FIG. 4 is a configuration diagram showing a configuration of a gripping device and the like according to another embodiment.

FIG. 5 is a configuration diagram showing a configuration of a gripping device and the like according to still another embodiment.

FIG. 6 is a configuration diagram showing a configuration of a gripping device and the like according to still another embodiment.

FIG. 7 is a configuration diagram showing a configuration of a gripping device and the like according to still another embodiment.

FIG. 8 is a configuration diagram showing a configuration of a gripping device and the like according to still another embodiment.

FIG. 9 is an explanatory diagram showing a thrusting operation of the gripping device of the embodiment of FIG.

FIG. 10 is an explanatory view showing the movement of the gripping device of the embodiment of FIG.

11 is a block diagram showing a thrust control means of the embodiment of FIG.

FIG. 12 is a diagram illustrating the overall configuration of a hoist according to yet another embodiment.

FIG. 13 is a diagram illustrating the overall configuration of a hoist according to yet another embodiment.

FIG. 14 is a diagram illustrating the overall configuration of a hoist according to yet another embodiment.

[Explanation of symbols]

1 Reactor Pressure Vessel 2 Reactor Water 3 Operation Floor 4 Hoist 5, 46, 50, 94, 100 Objects to be Conveyed 6, 39, 47, 51, 62, 70, 80, 95, 10
1, 109 Gripping device 7, 96 Rope 8 Winch 9 Moving device 10, 59, 69, 77, 87 Control device 11, 58, 76, 85 Operation pendant 12 Hoist operator 13, 71 Universal joint 14, 15, 82, 83 thrust mechanism 16 turning actuator 17 pinion gear 18 spur gear 19, 53 turning part 20, 21 rotary bearing 22, 52, 72, 81 foundation part 23 TV camera 24 light source 25 bolt 26, 39, 47, 110 gripping mechanism 27, 28, 40, 41 Claws 31, 32, 42, 43 Pads 29, 30, 44, 45 Linear actuators 33, 86 Displays 34, 78, 88 First joytics 35, 79 Second joytics 36 First switches 37 Second switch 38 Third switch 48, 49 Sucker 54 Swing portion 55 Swing drive actuator 56 Balance weight 57 Rotation angle sensor 60 Fourth switch 61 Indicator 63 Joint shaft 65 Case 64, 68 Variable buoyancy float 66 Float 67 Drain hole 73 Thrust mechanism 74 Rudder 75 Steering actuator 84 Third thrust mechanism 89 89th 2nd dial 90 3rd dial 91 Gyro sensor 92 Angular velocity sensor 93 Ship-mounted hoist 97 Crane arm 98 Ships 102, 103 Atmospheric propulsion thrust mechanism 105, 113 Crane vehicle 106 Disaster rescue hoist 107 Building 108 Victim 111 Harness 701 remote cable

Claims (19)

[Claims] 1. A hoist having a gripping device for detachably gripping an object to be conveyed, a rope for suspending the gripping device, and a suspending device for raising and lowering the gripping device from an arbitrary suspension position via the rope. A hoist, wherein the gripping device is provided with a thrust mechanism that applies a thrust to displace the gripping device to a stationary position that balances the restoring force of the rope. 2. The hoist according to claim 1, further comprising thrust control means for controlling the stationary position by adjusting the magnitude of the thrust and the direction of the thrust about the vertical axis. 3. The gripping device includes a base part connected to a cord and a gripping part for detachably gripping an object to be conveyed, a thrust mechanism is provided on the base part, and a posture of the gripping part with respect to the base part is set. A posture control mechanism for changing the posture is provided.
Hoist described. 4. A rotary type degree-of-freedom mechanism for varying the direction of the cord is interposed between the gripping device and the cord.
The hoist described in any one of 3 to 3. 5. The hoist according to claim 3, wherein the center of rotation of the grip portion by the attitude control mechanism is aligned with the center of gravity of the grip portion. 6. A point of action of thrust is located on a reference plane that is orthogonal to a line connecting a rotation center point of the gripping device and a center of gravity of the gripping device by the rotation type degree-of-freedom mechanism and includes the rotation center point. The hoist according to claim 4, wherein the thrust mechanism is arranged such that the thrust vector is parallel to the reference plane. 7. The hoist according to claim 1, wherein a part for holding an object to be conveyed is detachably attached to the holding device. 8. The hoist according to claim 3, further comprising monitoring means for monitoring the relative position and relative attitude between the gripping portion and the object to be conveyed, the display means for displaying the monitoring result. 9. A TV camera is used as a monitoring means for monitoring the relative position and relative attitude between the grip and the object to be conveyed, and the TV camera is oriented so that the outside of the TV camera is caught in the visual field through the space inside the grip. The hoist according to claim 8, which is arranged. 10. The hoist according to claim 2, further comprising a plurality of thrust mechanisms that generate thrusts parallel to each other, and thrust control means for controlling the magnitude of each thrust. 11. The hoist according to claim 2, further comprising a thrust mechanism that generates a jet flow in an arbitrary direction, and a thrust control means that controls the strength and direction of the jet flow. 12. A thrust generator which generates thrusts having different directions from each other.
The thrust force of each thrust mechanism is determined from the magnitude and direction of the thrust force of the target gripping device and the magnitude and direction of the target rotational drive moment of the gripping device. The hoist according to claim 2, further comprising thrust control means for determining and independently operating the position and the attitude of the gripping device. 13. Producing thrusts having mutually different directions
A target thrust force of the gripping device and a target thrust direction of the gripping device based on the proper coordinate system set in the gripping device, and the target gripping force. A thrust control means for determining the magnitude and direction of the thrust of each thrust mechanism from the magnitude and direction of the rotational drive moment of the device; and a unique reference coordinate system in the work space around the gripping device as a reference. An attitude detection sensor for detecting the attitude of the coordinate system is installed in the gripping device, and based on the output of the attitude detection sensor, the attitude of the intrinsic coordinate system with the reference coordinate system as a reference is maintained at a given target value. Further, a posture feedback control means for controlling the rotation driving moment is provided, and a target value for instructing a direction of a translational driving force with reference to a reference coordinate system and a posture detection sensor. From the difference between the control target value of the specific coordinate system based on the posture or reference coordinate system specific coordinate system based on the detected reference coordinate system Ri,
3. The hoist according to claim 2, further comprising control means for determining a control target value in a thrust direction based on the proper coordinate system. 14. An angular velocity sensor installed in the gripping device for detecting an angular velocity related to the turning motion of the gripping device, wherein the detected angular velocity is negatively fed back to a minor loop of attitude feedback control means for operating the rotational driving moment. The hoist according to claim 13. 15. A posture feedback means for differentiating an output of a posture detection sensor relating to a turning motion of a gripping device to calculate and output an angular velocity relating to a turning motion of the gripping device, wherein the calculated angular velocity is used to manipulate a rotational driving moment. 14. The hoist according to claim 13, wherein negative feedback is provided to the minor loop of the control means. 16. A display for displaying a vector representing a direction of a thrust acting on the gripping device with reference to an inherent coordinate system set in the gripping device, on the image of the gripping mechanism and the conveyance target captured by the monitoring means. The hoist according to claim 12, further comprising means. 17. A gripping device for detachably gripping an object to be transported in reactor water in a nuclear reactor, a rope for suspending the gripping device, and the gripping device on the reactor of the reactor via the rope. In a hoist equipped with a suspending device that moves up and down from an arbitrary suspending position, the gripping device is provided with an underwater thrust mechanism that gives thrust to shift the gripping device to a stationary position that balances the restoring force by the rope, and A hoist for working in a reactor, comprising thrust control means for controlling the rest position by adjusting the magnitude of thrust and the direction of the thrust about a vertical axis. 18. A gripping device for detachably gripping an object to be transported in water, a rope for suspending the gripping device, and a suspending device for moving the gripping device up and down from a ship floating above water via the rope. In the hoist, the gripping device is provided with an underwater thrust mechanism that gives a thrust for displacing the gripping device to a stationary position that balances the restoring force by the rope, and the magnitude of the thrust and the direction around the vertical axis of the thrust. A hoist for underwater work, comprising a thrust control means for adjusting the position to control the stationary position. 19. A suspension including a gripping device that removably grips an object to be conveyed in the atmosphere, a rope that suspends the gripping device, and a crane arm that raises and lowers the gripping device from an arbitrary position via the rope. In a hoist equipped with a device, the gripping device is provided with a thrust mechanism of an atmospheric propulsion type that gives a thrust for displacing the gripping device to a stationary position in which the restoring force by the rope is balanced, and the magnitude of the thrust and the thrust. A hoist for working in the atmosphere, comprising thrust control means for controlling the stationary position by adjusting the direction around the vertical axis of.