JPH107377A - Lifted load attitude controller by gyroscope and control thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a lifted load attitude controller by means of a gyroscope and a control method thereof, which can return easily a gimbal to a reset position with a gyro effect made ineffective without making the gimbal rotated by a disturbance have an influence upon lifted load revolution. SOLUTION: A rotational position detecting sensor 15 which detects the rotational position of a gimbal frame 6 is provided. A rotating motor 10 controls its rotation with it directed from the offset position of the gimbal frame 6 toward the reset position based on the output of the rotational position detecting sensor 15. A brake 13 is provided for stopping the gimbal frame 6 when its rotational position is almost the reset position. By fixing a lifted load and a lifting jig 3 or a gyro frame 4 onto a fixing part, the gimbal is impossible to revolve even if it is forced to rotate, so that the gimbal is returned to the reset position by rotating it with the rotating motor 10.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a suspension control apparatus for appropriately rotating a suspended load suspended by a wire rope or the like in a horizontal plane, and more particularly to a suspension suspended in a horizontal posture by a wire rope or the like. The present invention relates to a system in which a gyroscope is mounted on a jig and a horizontal turning force of a hanging jig is obtained by the gyroscope.

[0002]

2. Description of the Related Art For the purpose of automating a swinging operation of a suspended load in a lifting operation, a crane having a rigid arm and a turning device using a twist of a rope as a reaction force have been proposed. Is too large for the lifting capacity, and the latter has unstable swinging behavior of the suspended load. Therefore, instead of these devices, a swinging posture control device of the suspended load using the gyro effect has been developed ( For example, Japanese Patent Publication No. 4-17873
Reference).

[0003] The swing load turning posture control device described in this publication is a suspension jig which is hung in a horizontal posture on a wire rope suspended from a crane and to which a suspended load is attached below, and a suspension jig. A frame fixed to the fixture, a case rotatable around a rotation axis parallel to the extension direction of the hanging jig with respect to the frame, and a spin axis orthogonal to a plane including the rotation axis of the case with respect to this case. And a flywheel that can be spun as a center. The case and the flywheel have a gimbal structure, and form a pseudo gyroscope including the frame. Then, the angle at which the suspended load naturally turns due to disturbances such as wind is detected, and while the turning angle is relatively small, the gimbal is rotated by the motor, whereby the suspended load is turned in the reverse direction by that amount. In this way, a predetermined azimuth is always maintained.

[0004]

By the way, in such a suspended load turning attitude control device utilizing the gyro effect, the rotational position of the gimbal at the time of re-use of the device is not constant, and the load of the suspended load is not fixed. When a disturbance such as wind is applied to the (hanging jig), the gimbal rotates so that the spin axis of the flywheel becomes a nearly vertical angle in accordance with the force of the disturbance, thereby suppressing the turning caused by the disturbance. Due to the rotation, the offset position is shifted and the inclined state is maintained.

[0005] Here, the offset position refers to the rotational position of the gimbal when the rotary motor of the gimbal is not activated and the gimbal is not locked (the same applies in the following description).

Thereafter, when the gimbal is rotated to a reset position (hereinafter, simply referred to as a “reset position”) in which the spin axis is in a horizontal posture, the turning is accelerated in the disturbance direction, and the gimbal is moved in the same direction as the suspended load. There is a problem that a turning force is applied.

In this case, if the driving of the motor for rotating the gimbal is stopped in the control at this time, the gimbal is reset to the reset position simply by rotating the gimbal in the opposite direction because the motor is accelerated and turned to absorb the opposition. There is no going back.

[0008] Returning the rotational position of the gimbal exhibiting such behavior to the reset position requires considerable skill, and the operator is often away from the apparatus, making reset work by itself more difficult. It is.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned conventional problems, and has as its object to easily seal a gyroscopic effect of a gimbal rotated by a disturbance without affecting the swing of a suspended load. It is an object of the present invention to provide a gyroscope-based hanging posture control device that can return a gimbal to a reset position while controlling the gimbal.

[0010]

In order to achieve the above object, the invention according to claim 1 is provided in a gyro frame fixed to a suspending jig for suspending a suspended load. A gimbal rotatable about a rotation axis, and a flywheel capable of spinning about a spin axis arranged such that the axes are orthogonal to the gimbal axis,
A lifting posture control comprising: a rotation drive unit mounted on the gimbal frame for rotating the gimbal forward and backward; a spin drive unit mounted on the gimbal to spin a flywheel; and a stopper for limiting the rotation range of the gimbal. A rotation position detection sensor for detecting a rotation position of the gimbal, wherein the rotation drive unit directs the gimbal from the rotation position to the reset position based on an output of the rotation position detection sensor. The rotation is controlled, and a braking means for stopping the gimbal when the rotation position of the gimbal substantially reaches the reset position is provided.

According to the invention, a series of controls for controlling the rotation of the gimbal and resetting the gimbal to the reset position can be automatically performed based on the rotation position signal from the rotation position detection sensor, so that experience and learning can be achieved. The gimbal can be reset by one operator without any need.

[0012] The invention according to claim 2 is based on claim 1.
A reset control of the gimbal by a load control device using a gyroscope according to the above, wherein the load,
By fixing the hanging jig or the gyro frame to the fixed portion, the gimbal can not be turned even if the gimbal is forcibly rotated, and then the gimbal is rotated by the rotation driving portion to return to the reset position. It is assumed that.

According to the method, the suspended load is first lifted in a state where the flywheel is spun at a high speed in a predetermined direction, and when the posture of the suspended load is forcibly changed, the gimbal is forcibly forced by the rotary drive unit. By rotating, the hanging jig (suspended load) can be turned in a direction not alienated by the gravity component of the suspended load due to the gyro effect generated by the rotation.

In order to stop the forced turning, the power supply to the rotary motor is cut off, the turning inertia force of the suspended load acts on the gimbal, and the gyro effect is applied to prevent the turning movement. A moment occurs and the turn stops.

When the gimbal is rotated by the disturbance due to wind or the like and the offset position is largely displaced, or when the gimbal is reset, the gyro frame, the hanging jig or the suspended load is attached to the structure or the ground. By placing the gimbal on a fixed part or fixing it via another anchor means so that the gimbal cannot be turned in any way, the rotation of the gimbal detected by the rotation position detection sensor Based on the position, the gimbal is rotated in a direction in which the amount of rotation to the vicinity of the reset position is small, and the gimbal is locked when it is detected that the rotational position of the gimbal has reached near the reset position. This allows you to reset the gimbal while sealing the gyro effect,
It is possible to newly continue the lifting work of the suspended load accompanied by the turning work.

[0016]

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

FIG. 1 shows a suspended load control device using a gyroscope according to the present invention. In FIG. 1, an H-shaped steel suspended in a horizontal position via a wire rope 2 suspended by a crane hook 1 is shown. , A gyro frame 4 attached and fixed to the center bottom of the hanging jig 3, and a rotation about a rotation axis 5 in the gyro frame 4 which is parallel to the longitudinal direction of the hanging jig 3. A gimbal frame 6 (gimbal) is provided, and a flywheel 8 is provided inside the gimbal frame 6 and can spin around a spin axis 7 perpendicular to the rotation axis 5. One end of a hanging wire 9 is connected to both ends of the hanging jig 3, and a load (not shown) is hung on the other end of the hanging wire 9. The hanging jig 3, gimbal frame 6, and flywheel 8 constitute a gyroscope.

Since the gyro frame 4 is located substantially at the center of the entire suspended load and at the bottom of the suspending jig 3, the suspending operation can be performed in a well-balanced manner. The gimbal frame 6 covers the periphery of the flywheel 8 that spins at a high speed, and the gyroscope frame 4 covers the periphery of the gimbal frame 6, thereby ensuring safety.

The gimbal frame 6 can be rotated at an appropriate speed in the forward and reverse directions via a speed reducer 11 by a rotary motor 10 provided at one end outside the gyro frame 4. The flywheel 8 can be spun at high speed by a spin motor 12 provided on the gimbal frame 6. These rotary motor 10 and spin motor 12
Employs an electromagnetic motor for rotating the rotation shaft 5 and the spin shaft 7 in a non-contact state. Therefore, the rotary shaft 5 can be brought into a free rotation state (free state) by cutting off the power supply to each motor 10. The rotary motor 10 may be a normal stepping motor or the like without using an electromagnetic motor. In this case, however, the gimbal frame 6 needs to be in a free state, so that the motor and the rotary shaft are required. And a clutch is provided therebetween.

A brake 13 for braking the rotation of the rotating shaft 5 to brake the rotation of the gimbal frame 6 is provided further outside the rotary motor 10.

Further, in this embodiment, the rotation axis 5 of the gimbal frame 6 corresponds to the center of gravity of the entire gimbal including the flywheel 8 (in this embodiment, the center of gravity of the entire gimbal coincides with the spin axis 7 of the flywheel 8). Therefore, it is eccentric upward with a predetermined amount of eccentricity from the spin axis 7).

As shown in the figure, a pair of stoppers 14 for regulating the rotation range of the gimbal frame 6 are fixed in the gyro frame 4. As shown in FIG. 2, the stopper 14 in this embodiment is arranged such that the spin axis 7 of the flywheel 8 is within a range of 45 degrees left and right from the horizontal axis in a vertical plane with the rotation axis 5 of the gimbal frame 6 as a zero coordinate. Only the rotation is allowed (rotation allowable angle is 90
Degrees). The tip of the stopper 14 is made of an elastic material such as rubber, for example, and reduces the impact when the gimbal frame 6 comes into contact.

A feature of the present invention is that a rotation position detection sensor 15 for detecting the rotation position of the gimbal rotation shaft 5 is provided at the other end on the outside of the gyro frame 4. As the rotational position detection sensor 15 according to the present invention, various types such as a combination of an encoder, a potentiometer, or a limit switch, a combination of a photosensor, and the like can be used. In the present invention, the rotational position detection sensor 15
Is required, but the gyro frame 4 is suspended and fixed,
It is not essential that the stopper 14 be provided and that the rotating shaft 5 be located above the center of gravity of the gimbal.

In the gyro frame 4, in addition to the gyroscope, a rotary motor 10 and a spin motor 12
A control unit 16 for controlling the rotational drive of the power supply, a power supply unit 17 and the like are provided. The power may be supplied from the outside. The control unit 16 is provided with a wireless device (not shown) for transmitting and receiving an operation signal from a remote place. The operator can visually observe the turning posture of the suspended load and operate the operating wireless device at hand. Operate wirelessly with. A plurality of operators may be used, and an operation place may be a plurality of separate places. When a plurality of operation wireless devices are used, it is desirable to secure safety by setting the priority of operation.

Next, the operation will be described.

In the above configuration, first, the spin motor 12
This causes the flywheel 8 to spin at a high speed in a predetermined direction. When forcibly changing the posture of the suspended load suspended on the suspension jig 3 via the suspension wire 9 while the flywheel 8 is spinning at a high speed, the gimbal is rotated by the rotary motor 10 in an appropriate direction at an appropriate speed. By forcibly rotating, the gyroscopic effect of the gyroscope on the rotation generates a turning force around the vertical axis, and the turning force causes the hanging jig 3 (hanging load) to turn in a horizontal plane about the vertical axis. Can be. In this case, the rotation axis 5 of the gimbal frame 6 (the spin axis 7 of the flywheel 8) is
Because of the existence of the gyro, it does not approach the vertical direction beyond 45 degrees, so that a sufficient gyro effect can always be obtained.

When the load is lifted and a force for turning the suspended load is applied due to a disturbance such as wind, if the power supply of the rotary motor 10 is cut off and the gimbal frame 6 is set in a free state, the disturbance caused by the disturbance is generated. As a result of the turning force being transmitted to the flywheel 8 via the suspension jig 3 and the gimbal frame 6, the gimbal frame 6 is rotated by the gyro effect of the flywheel 8. The resisting force acting to prevent the swing of the suspended load acts, and the swing of the suspended load is suppressed to maintain the suspended posture before receiving the disturbance.

As described above, the lifting of the suspended load is affected by disturbances such as winds. As a result, the offset position of the gimbal is largely displaced by an amount corresponding to the disturbance components, and the turning ability is extremely balanced depending on the turning direction. It is necessary to reset the offset position of the gimbal.

In the gimbal reset method according to the present invention, first, the gyro frame 4, the suspension jig 3 or the suspended load is fixed to a fixed portion (not shown) such as the ground or a structure, and how the gimbal is rotated. Even so, the suspended load (the suspending jig 3) cannot be turned. Next, based on the rotation position of the rotation shaft 5 detected by the rotation position detection sensor 15, the gimbal is rotated by driving the rotation motor 10 in a direction in which the rotation amount is small until the reset position where the spin shaft 7 is in the horizontal posture. Then, when the rotation position detection sensor 15 detects that the rotation position has reached the vicinity of the reset position, the drive of the motor 10 is stopped to stop the rotation of the gimbal. It is characterized by locking. As a result, the gimbal offset position can be corrected or reset while the gyro effect is sealed off.

As an example of fixing the suspended load, the hanging jig 3 or the gyro frame 4 to a fixed portion such as the ground or a structure, not only the suspended load is placed on the ground, but also the suspended load, the hanging jig 3 , The gyro frame 4 is restrained to the structure by an anchor means such as a rope.

Further, in this embodiment, when the spin axis 7 of the flywheel 8 at the offset position is not horizontal, the rotation axis 5 of the gimbal frame 6 is eccentric above the center of gravity of the entire gimbal, so that it is at the reset position. The power to restore it works. For this reason, the mechanical loss of the speed reducer 11, the rotary motor 10, and the brake 13 constituting the gimbal rotation drive unit can be canceled.

The present invention is not limited to the above embodiment. For example, it is not necessary to position the gyro frame 4 at the center of the entire suspended load or at the bottom of the suspending jig 3. It may be installed on the upper part or at the end.

FIG. 3 shows another embodiment in which a plurality of turning control devices are used for one suspended load. In this embodiment, the hanging jig 3 is formed of a frame arranged in a mountain shape, and both ends of a first horizontal piece 20 corresponding to a ridge portion are connected to a wire rope 2 and hung on a crane hook 1. At the ends of a pair of first inclined pieces 21 and 21 integrally formed from both ends of the first horizontal piece 20 and inclined downward in the same direction, suspending wires 9 for suspending the suspended load 22 are provided. Are combined.

A pair of second inclined pieces 23, 23 that are inclined downward in the same direction on the opposite side to the first inclined piece 21, are integrally formed from both ends of the first horizontal piece 20. Second
The lower ends of the inclined pieces 23, 23 are further connected to both ends of a second horizontal piece 24. The center bottom of the second horizontal piece 24 has the same configuration (turn control device) as that described in the above-described embodiment. Two gyro frames 4 and 4 are provided above and below.

The two gyro frames 4 and 4 each have a wireless device provided as a master and have a cable connector 25 for simultaneously sharing signals of the wireless device with another device. If a plurality of turning control devices are connected via the cable 26 via the cable connector 25, the turning control devices can be easily synchronized.

As shown in the figure, when a plurality of turning devices are arranged along the turning axis direction (vertical direction), the rotation vector axes for turning are located on the same axis or very close to each other. Since it can be placed, it is possible to efficiently obtain a turning force in which the gyro effect is doubled or tripled according to the number. When a plurality of turning devices are installed, for example, they can be arranged above and below the hanging jig 3.

[0037]

As described above, according to the first aspect of the present invention, a series of operations for controlling the rotation of the gimbal and resetting its position to the reset position based on the rotational position signal from the rotational position detection sensor. Since the control can be performed automatically, the gimbal can be reset by an operator alone without any experience or skill.

According to the second aspect of the present invention, when the gimbal is rotated by the disturbance due to the wind or the like and the gimbal is rotated and the offset position is largely displaced, or when the gimbal is reset, the suspended load, the gimbal is reset. Place a hanging jig or gyro frame on a fixed part such as a structure or the ground,
By fixing the gimbal to these members via another anchor means, the gimbal cannot be turned no matter how it is rotated, and based on the rotation position of the gimbal detected by the rotation position detection sensor, the position near the reset position is determined. The gimbal is rotated in the direction in which the rotation amount is small until the gimbal is locked when the rotation position of the gimbal reaches the vicinity of the reset position. As a result, the gimbal can be reset while sealing the gyro effect.
The lifting work of the suspended load accompanying the turning work can be continued.

[Brief description of the drawings]

FIG. 1 is a side view of a preferred embodiment according to the present invention, in which main parts are cut away.

FIG. 2 is a sectional view taken along line II-II of FIG.

FIG. 3 is a perspective view showing another embodiment.

[Explanation of symbols]

 Reference Signs List 3 hanging jig 4 gyro frame 5 rotation axis 6 gimbal frame 7 spin axis 8 flywheel 10 rotation motor (rotation drive section) 12 spin motor (spin drive section) 13 brake (braking means) 15 rotation position detection sensor

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Tatsuya Wakisaka 4-640 Shimoseito, Kiyose-shi, Tokyo Co., Ltd. Inside the Obayashi Corporation Technical Research Institute (72) Inventor Fumihiro Inoue 4-640 Shimoseito, Kiyose-shi, Tokyo Co., Ltd. In-house (72) Inventor Yuichi Ikeda 4-640 Shimoseito, Kiyose-shi, Tokyo Inside the Obayashi Gumi Technical Research Institute Co., Ltd. (72) Inventor Koji Watanabe 4-640 Shimoseito, Kiyose-shi, Tokyo Co., Ltd.

Claims (2)

[Claims] A gimbal rotatable around a rotation axis parallel to a turning surface of a suspended load in a gyro frame fixed to a suspending jig for suspending a suspended load, and the gimbal axes are connected to each other. A flywheel capable of spinning about a spin axis arranged so as to form an orthogonal direction, a rotation drive unit mounted on the gimbal frame to rotate the gimbal forward and reverse, and a spin mounted on the gimbal to spin the flywheel What is claimed is: 1. A hanging posture control device comprising: a driving unit; and a stopper for limiting a rotation range of a gimbal, wherein a rotation position detection sensor for detecting a rotation position of the gimbal is provided, and the rotation driving unit detects the rotation position. The rotation of the gimbal is controlled from the rotational position of the gimbal toward the reset position based on the output of the sensor. Suspended load attitude control system according to the gyroscope, characterized in that a braking means for stopping it when it becomes the position. 2. A method for performing gimbal reset control by the gyroscope-based load control device according to claim 1, wherein the load, the suspension jig, or the gyro frame is fixed to a fixed portion. A method for controlling a suspended posture by a gyroscope, wherein the gimbal is returned to a reset position by rotating the gimbal by the rotation drive unit after the gimbal is made to be unable to turn even when the gimbal is forcibly rotated.