JP2688332B2 - Attitude control method and device for suspended loads - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a suspended load suspended by a lifting machine or the like (a suspended load and a suspending jig located directly above it). BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a posture control method for a suspended load and the like, and a device for controlling the posture (horizontal and vertical angles) to change using couples generated by the precession action of a gyro. Recently, in construction work, various construction machines have been automated for the purpose of improving the work environment, eliminating dangerous work, and improving work efficiency. A means for preventing whirling of a suspended load and the like in a lifting machine and a means for controlling the posture of the suspended load to a desired posture remain as problems to be solved. [0003] Since a suspended load or the like normally moves by being suspended from a hook of a crane via a wire rope or the like, a place where a device for controlling the posture of the suspended load or the like should be fixed. Was almost impossible to set. However, as a special case, although a crane or the like having a rigid arm is made and used in some cases, it has a drawback that its own weight is too large for its lifting capacity. The present invention has been made by paying attention to the above-mentioned problems of the prior art, and utilizes the angular momentum of the gyro to maintain the posture of a suspended load or the like without supporting the reaction force on other structures or the like. The purpose is to control automatically by a simple and convenient method . A posture control method for a suspended load or the like according to the present invention is such that the posture of the suspended load or the like suspended by a lifting machine is suspended integrally with the suspended load. A posture detector that is installed on a hanging jig and directly detects the direction of the suspended load with respect to the ground (generally known absolute azimuth gyro compass, or detects the amount of deviation from the reference direction) Corresponding to the difference between the detected value and the set value for setting the desired posture of the suspended load, etc., and hold it integrally with the suspended load etc. with a primary degree of freedom. One flywheel that is constantly rotated at a constant speed
Inclining the rotary shaft of the flywheel of the gyro equipped with a gyro, transmitting the couple force generated in the gyro to the suspended load through the suspension jig, and controlling the posture of the suspended load or the like to a desired posture. Is characterized by. In addition, "primary freedom"
"Degree" is about the axis orthogonal to the axis of rotation of the flywheel
Rotational freedom. Further, the attitude control device for a suspended load or the like used directly for carrying out the invention of the above method has a primary degree of freedom for a jig that moves integrally with a suspended load or the like suspended by a lifting machine. is rotatably supported directly transmitted to couple based attitude such as the suspended load to precession effect of the gyro to Tutsi instrument, one full controlled by telling its power further suspended load
A gyro equipped with a flywheel , a flywheel rotation motor for rotating the flywheel, and a flywheel.
A tilt motor for tilting Lumpur, a posture detector for outputting a signal corresponding to the position to detect the posture against the ground, such as the suspended load, corresponding to the set the desired orientation, such as the suspended load A posture setting device that outputs a signal, and the flywheel based on each output signal of the posture detector and the posture setting device.
The rotation of the wheel rotation motor is always kept at a constant speed.
The rotation of the tilting motor is suspended on the rotary shaft of the flywheel.
And a control device for controlling so as to give a tilt angle corresponding to a desired posture such as . The posture detector detects a posture of a suspended load or the like and outputs a signal corresponding to the posture, and the posture setting device outputs a signal corresponding to a preset desired posture of the suspended load or the like. Then, in the control device, the flywheel rotating motor and the tilting motor are operated based on the both signals, and the flywheel rotating motor always rotates the flywheel at a constant speed ,
The tilting motor of the suspended load, such as a rotary shaft of the flywheel
Tilt to the angle corresponding to the desired posture . Such fly ho
Due to the rotation and tilting of the ear, a couple force against the tilting is generated in the gyro. Therefore since the forming movement integral with hanging jig and the suspended load that the gyro is supported, such as the suspended load until this couple is zero it is changed its posture by couple based on precession effect of the gyro It Direction posture of such a suspended load is changed, the gyro is in some cases more is determined by the relative position in the rotational direction and the tilt direction and the gyro rotation axis of the flywheel, also gyro singular, i.e. one of the flywheel And one fly hoi
In the case of the roll rotation motor and one tilting motor, it is determined by the rotation direction and tilting direction of the rotation shaft. The present invention will be described below with reference to the drawings.
1 to 7 show an embodiment of the present invention. Regarding the posture of the suspended load, etc. , depending on how the suspended load is hung, control of the posture of the suspended load in the horizontal plane (control around the vertical axis of the suspended load) and control in the vertical plane (around the horizontal axis of the suspended load) Control) and each of them will be described below. [Case of Controlling Posture in Horizontal Plane] FIG. 1 is an overall view of an example of an embodiment in which a main part is cut away, and includes two sets of gyros (consisting of the following components 9 to 20). Device. The same figure (a) is the front view and the same figure.
FIG. 6B is a sectional view taken along line I-I in FIG. 1 set
Each gyro is equipped with one flywheel 10
I have. First, the structure will be described.
A short wire rope 2 is suspended by a suspension jig 4 via a shackle 3 integrally with the suspension jig 4. The hanging jig 4 is hung by a wire rope 6 via a shackle 5 on a hook 7 of a lifting machine. The hook 7 usually has a structure that is rotatable about a vertical axis. The hanging jig 4 includes a posture detector 8 using a posture detecting gyroscope for detecting the direction of the suspended load 1 with respect to the ground, and a setting device 8a for setting a desired posture of the suspended load 1 (Fig. 3 (a)). And a controller 45 for controlling the rotation of a flywheel rotating motor 15 and a tilting motor 19 described later based on signals from the attitude detector 8 and the setting device 8a, and the flywheel 10 as main constituent elements. The attitude control unit 9 is configured. A known gyroscope or gyro compass is used as the attitude detector 8 to detect the orientation of the hanging jig 4 with respect to the ground around the vertical axis, but any device that can detect the orientation of the hanging jig 4 may be used. However, other instruments can be used. FIG. 2 is a perspective view in which the attitude control unit 9 is partially cut away. 10 is secured to the rotary shaft 10b and a flywheel with sufficient weight momentum wheel 1 0a in exactly the center of gravity position, the rotary shaft 10b is a is supported on rotatable bearing 11 configured at its opposite ends made by Ru had <br/>. 1 2 is a fixed disc as to clamping the bearing 11, that the same shape has two opposed, on one of the disc 12 an annular rack 13 is attached along its circumference There is. Further, the disc 12 is rotatably attached to the hanging jig 4 via a bearing 14 at its center axis. That is, the flywheel 10 has its own axis of rotation 1.
With the exception of 0b, the bearing 14 is connected to the hanging jig 4 only with the primary degree of freedom. Reference numeral 15 denotes a flywheel rotating motor for rotating the flywheel 10, which is attached to the disc 12. Reference numeral 16 is a sprocket on the flywheel rotating motor 15 side, 17 is a sprocket fixed to the rotary shaft 10b of the flywheel , and 18 is a chain wound around both sprockets to transmit the rotation of the motor 15. A tilting motor 19 is attached to the hanging jig 4, and a pinion 20 that meshes with the annular rack 13 is attached to the rotation shaft of the tilting motor 19. As shown in FIG. 1, the attitude control unit 9 having the above-described structure forms a pair of right and left in both ends of the hanging jig 4 symmetrically with respect to the central axis 24 of the hanging jig 4, and the weight and moment are balanced. It is provided as follows. An example of the control device 45 is shown in FIG. That is, the controller 45, setting of the comparators 45a and the detected value and the orientation setter 8a of the posture detector 8 on the basis of a comparison result of the comparator 45a for comparing the signals from the attitude detector 8 and setter 8a A determination circuit 45b for determining whether each rotation of the both motors 15 and 19 and the rotation direction are made so that the values coincide with each other, and a determination circuit 4
The output circuit 45c outputs a command signal to both the motors 15 and 19 based on the determination result of 5b.
Both motors 15 and 19 rotate based on the output signal from c to perform the operation described later. A control procedure when the control device 45 described above is configured by a microcomputer is as shown in FIG. 3B, for example. Here, the step corresponds to the comparator 45a, and the step corresponds to the judgment circuit 45b. As means for setting a desired posture of the suspended load on the setting device 8a, a device for directly operating the operation dial or the like of the setting device 8a in advance or a signal by wire or wireless during the cargo handling work. There is a means for sending the data to the setting device 8a and performing remote control. It will now be described <br/> operation of gyro consisting components of the 9-10. 1 and 2, the flywheel 10 is rotated by a motor 15 around the shaft 23 so as to maintain a constant speed in the clockwise direction when viewed from the direction of arrow a. In this state, the entire posture control section 9 shown in FIG.
When through the rack 13 as viewed about the shaft 22 in the arrow B direction to tilt by an angle corresponding to the desired position of the suspended load 1 clockwise, Purese gyro is included in the gyroscope
A torque (couple force) is generated around the shaft 21 to rotate counterclockwise when viewed from the direction of arrow C. Then, this torque is transmitted through the bearing 11 to the disk 12
And further from the disk 12 to the hanging jig 4 via the bearing 14. The direction in which this torque is generated is
If the rotation direction of the flywheel 10 is reversed with respect to the above rotation direction, the flywheel 10 will be in the opposite direction, and the rotation around the shaft 22 may be reversed. Furthermore, the magnitude of the torque can be arbitrarily selected by the tilt angle of about rotational speed and the shaft 22 around the mass and the axis 23 of the momentum wheel 10a to an appropriate value. In the present embodiment, the hanging jig (attitude control device) provided with the two attitude control units 9 having the above-described configuration is shown, but the number is not limited to two, and the number corresponding to the required torque may be used. Just put it on. FIG. 4 shows the directions of rotation of the respective rotary shafts and the direction of the torque generated by the suspension jig 4 as a whole, that is, the direction in which the suspension jig 4 integrated with the suspended load is controlled (direction to be rotated).
The relationship between each flywheel 10 and the direction of tilting its axis is shown. FIG. 4 is a simplified version of FIG.
L and 10R each indicate the attitude control unit 9 having the same flywheel 10, and one side of the hanging jig 4 is indicated as L and the other side is indicated as R for distinction on the display. In FIG. 4, the flywheel 10L is fixed around the shaft 23L in a clockwise direction when viewed in the direction of arrow a.
Rotates at a speed, gyro 10R when rotating at a constant speed look around the shaft 23R in the arrow D direction clockwise, the suspended load clockwise looking at the flywheel 10L about the axis 22L in the arrow B direction Tilt by the angle corresponding to the desired posture, and at the same time, flywheel 10R to axis 2.
As viewed from the arrow E direction around 2R 1 0L counterclockwise
Tilt the same angle as. That is, by the tilting about the tilting and axial 22R around the axis 22L in the same amount and opposite, axial flywheel 10L, the 10R 22
The reaction moments when tilting around L and 22R cancel each other out as a whole of the hanging jig 4. And the flywheels 10L and 10 tilted in this way
R tries to save its angular momentum by the axes 21L, 21
A torque is generated around R so as to rotate counterclockwise when viewed from the directions of arrows c and f. This torque is disk 1
It is transmitted to the hanging jig 4 through the two bearings 14, and the hanging jig 4 rotates around the shaft 24 in the counterclockwise direction as seen from the arrow direction. Then, by the tilting motor 19, the flywheel is
When the tilting of the rotary shaft of the tool 10 is stopped, the torque generated in the hanging jig 4 disappears, the rotation of the hanging jig 4 and the hanging load stops, and the hanging load is directed in the desired direction. You can Further, in order to reverse the rotation of the hanging jig 4 around the shaft 24, the fly hoist around the shafts 23L and 23R can be used.
Lumpur 1 0L, 10R direction of rotation or in the opposite, or axis 22L, may be a tilt direction around the 22R reversed. “When controlling the posture in the vertical plane” In FIG. 5, the suspended load 1 suspended from the hook 7 through the suspension jig 4
An example of a posture control device by vertical rotation with respect to is shown. First, the structure will be described. 4a is a support frame for supporting the hanging jig 4b, which is hung from the hook 7. Hanging jig 4b
Are mounted on both sides of the suspended load 1 so as to suspend the suspended load 1 at its center of gravity. The attitude control unit 9 shown in FIG. 2 is incorporated in the hanging jig 4b, and this is indicated by 9L and 9R on both sides of the hanging load 1. Also in this case, the attitude control units 9L and 9R are arranged so as to be symmetrical with respect to the plane including the axes 25 and 26 so as to obtain the balance between the overall weight and moment. The support frame 4a and the hanging jig 4b are bearings 27
Connected by means of which they are free to rotate about axis 28 relative to each other. Also, the hanging jig 4b is an ordinary attachment means (a sling wire, a clamp, a bolt, etc.).
It is assumed to be fixed to the suspended load 1 by. Next, the operation will be described. In FIG. 5, Hula
The a-wheel 10L rotates around the axis 29L at a constant speed in the clockwise direction when viewed from the direction of the arrow a, and the fly-wheel 1
The 0R is the flywheel 1 when rotating around the axis 29R counterclockwise at a constant speed when viewed from the direction of arrow B.
The 0L is tilted clockwise around the shaft 30L as viewed from the direction of arrow C by an angle corresponding to the desired posture of the suspended load 1, and at the same time the flywheel 10R is rotated counterclockwise around the shaft 30R when viewed from the direction of arrow D. Tilt by the same angle.
That is, the flywheels 10L and 1L are rotated by reversing the tilting directions of the axes 30L and 30R.
Each reaction moment when tilting 0R
The supporting frame 4a integrated with b is canceled as a whole. And the fly hoi rotated in this way
In order to preserve the angular momentum of each of the rollers 10L and 10R, a torque is generated around the shaft 28, which tends to rotate clockwise when viewed in the direction of arrow E. This torque is applied to the hanging jig 4b through the bearing 14 (see FIG. 2) of the disk 12.
And to the support frame 4a, and as a result, the suspended load 1 tends to rotate clockwise around the shaft 28 when viewed from the direction of arrow E. Then, fly by the tilting motor 19.
If you stop tilting the rotation axis of the wheel ,
The torque generated in b is no longer generated, and the hanging jig 4b
Moreover, the rotation of the suspended load is stopped, and the suspended load can be directed in a desired direction. In order to reverse the direction of the torque generated in the entire support frame 4a and the suspension jig 4b integrated with the support frame 4a, the flywheel 1 around the shafts 29L and 29R can be made to have the opposite direction.
Reverse the rotation direction of 0L and 10R, or use the shaft 30
The tilt directions around L and 30R may be reversed. As described above, the fly control is performed in the hanging jig during attitude control both in the horizontal plane and in the vertical plane.
Attach the wheel and rotate it,
By tilting the axis (Y axis) orthogonal to the (axis), torque is generated around (Z axis) orthogonal to these two axes (X.Y axis), and this torque is applied to the hanging load via the hanging jig. It is possible to change the posture of the suspended load by operating it. FIG. 6 shows another embodiment. This is not to store the attitude control unit and the like inside the hanging jig as in the above embodiment, but unitize it into a box or frame body, and hold this box or frame body by the hook. By mounting it on a suspended load, the posture of the suspended load is controlled. FIG.
In the above, the suspended load 31 is suspended by the wire rope 32 on the hook 33.
Since the load 31 is rotatable around 4, the hanging load 31 rotates around the shaft 34 even if a slight external force is applied, and the posture becomes unstable. Then, the unitized attitude control device 35 is fixed to the suspended load 31 by a normal attachment means (rope, wire rope, bolt, etc.). Then, the rotation direction of each part of the posture control device 35 is determined according to the direction in which the posture is changed. Now, a case where the suspended load 31 is rotated counterclockwise around the shaft 34 as viewed from the direction of the arrow will be described. FIG. 7 shows a simplified configuration of the attitude control device 35 shown in FIG. 6. Flywheels 10L, 10R are shown in FIG.
Are all incorporated in the attitude control unit 9 shown in FIG. In addition, although this posture control unit is shown to be configured with two units in the drawing, it is similar to the above-described embodiment.
It is not limited to individuals. The operation will be described below with reference to FIG.
First, the flywheel 10L is rotated around the shaft 36L clockwise at a constant speed when viewed from the arrow A direction, and at the same time, the flywheel 10R is rotated around the shaft 36R clockwise at a constant speed when viewed from the arrow B direction. . In this state, the flywheel 10L is rotated clockwise around the shaft 37L when viewed in the direction of arrow C, and the flywheel 10R is rotated counterclockwise when viewed from the direction of arrow D around the shaft 37R, which simultaneously corresponds to the desired posture of the suspended load. If you tilt it by an angle ,
The flywheel 10L, 10R has a shaft 38L,
Torque is generated around 38R counterclockwise when viewed from the directions of arrow E and F. Then, this torque is transmitted to the suspended load 31 via the box or frame of the attitude control device 35 as in the above-described embodiment, and is rotated counterclockwise as viewed from the arrow direction to change the attitude. It should be noted that the attitude control device 35 of FIG. 7 is attached to the hook 33 of the lifting machine to generate torque in the hook 33 in the same manner as in the above embodiment, and this torque is applied to the hanging load 31 via the wire rope 32 to hang it. Load 3
It is also possible to control the attitude of 1. As described above, according to the present invention, the posture of a suspended load or the like that is freely swung can be automatically controlled without manpower or mechanical equipment in place of manpower.
It is possible to easily control the operation, and it is possible to obtain an effect that the safety and work efficiency of the work of transferring a load by a crane or the like can be significantly improved.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a front view (a) and a sectional view taken along the line I-I (b) of an embodiment in which a part of the suspended load for controlling the posture in a horizontal plane is cut away.
It is. FIG. 2 is a partially enlarged perspective view of FIG. 1a. FIG. 3 is a block diagram (a) including a control device and a flowchart (b) showing an example of a control procedure by the control device. FIG. 4 is an explanatory view of the operation of the embodiment shown in FIG. FIG. 5 is an overall perspective view of an embodiment for controlling a posture of a suspended load in a vertical plane. FIG. 6 is a schematic view of another embodiment. FIG. 7 is an explanatory view of the operation of the embodiment shown in FIG. [Description of Reference Numerals] 1, 31 suspended load 4,4a Tsuchigu 8 position detector 8a posture setter 10,10L, 10R flywheel 10a flywheel 10b rotary shaft 15 flywheel rotating motor 19 tilting motor 45 controller

Claims (1)

(57) [Claims] The posture of the suspended load suspended by the hoisting machine and the suspension jig (hereinafter referred to as "suspended load") located directly above it
A posture detector that directly detects the orientation of the suspended load or the like with respect to the ground suspended integrally with the suspended load, and the detected value and a set value for setting the desired posture of the suspended load or the like. corresponding to the difference value of the suspended load and the like and one flag which is rotating at a constant fixed speed are integrally held with the primary degrees of freedom
The rotation axis of the flywheel of the gyro equipped with the a-wheel is tilted, and the couple generated in the gyro is passed through the hanging jig.
Transmitted to the suspended load Te, posture control method such suspended load, characterized by controlling the attitude to the desired attitude, such as the suspended load. 2. It is rotatably supported with a primary degree of freedom by a jig that moves integrally with a suspended load suspended by a hoisting machine, and the posture of the suspended load is suspended by a couple based on the precession action of the gyro. Gyro equipped with one flywheel which is controlled by directly transmitting the force to a tool and further transmitting the force to a suspended load, and a flywheel for rotating the flywheel.
A rotation motor, a tilting motor that tilts the rotation axis of the flywheel, and a posture detector that detects a posture of the suspended load or the like with respect to the ground and outputs a signal corresponding to the posture,
A posture setter for outputting a signal corresponding thereto to set the desired position, such as the suspended load, the flywheel rotating motor based on the output signal of the posture detector, and the posture setter
The rotation of the motor is always kept at a constant speed,
Rotation should be carried out on the rotation axis of the flywheel in accordance with the desired posture such as hanging load.
An attitude control device for a suspended load or the like, comprising: a control device that controls so as to provide a tilt angle that corresponds to the tilt angle .