JP3019673B2 - Attitude control device for suspended load - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for appropriately rotating a suspended load suspended by a wire rope or the like in a substantially horizontal plane to control its attitude, and more particularly to a jet propulsion means mounted on a suspension jig. The present invention relates to a suspended load attitude control device configured to make it turn.

[0002]

2. Description of the Related Art For example, at a construction site of a high-rise building, various materials are lifted and lowered by a crane, and are conveyed. As means for controlling, the following technique is disclosed in Japanese Patent Application Laid-Open No. 5-43184.

[0003] As a basic form, a hanging jig is hung on a wire rope connected to a crane or the like in a horizontal posture, and a load is attached by various means under the hanging jig. The posture (azimuth) of the luggage attached thereto is integrally changed by appropriately turning the hanging jig in a substantially horizontal plane. As a turning drive means for that,
At least two sets of fluid generating units are mounted on the suspension jig.

[0004] Specifically, a rotating blade such as a large axial fan is used as a fluid generating unit, and an air flow generated by the rotating blade is ejected in a horizontal direction through an appropriate nozzle. The direction of installation of the pair of fluid generating units is determined so that the reaction force of the jet of the air flow becomes the turning moment of the hanging jig.

Further, the following control system is configured. The azimuth of the hanging jig is detected by a sensor attached thereto, and the operation of the fluid generating unit is controlled according to the deviation between the target azimuth and the actual azimuth, and the hanging jig is moved in a direction in which the deviation becomes zero. To turn. Specifically, by changing the rotation speed of the rotating blades of the fluid generating unit or changing the pitch angle of the rotating blades, the strength of the air flow ejected from the nozzles is adjusted to adjust the rotation of the suspension jig. Feedback control is performed so that the force is appropriately adjusted and the azimuth of the suspension jig approaches the target value.

[0006]

In the above-mentioned prior art, the swirling force of the hanging jig is obtained by ejecting an air flow generated by a rotor such as an axial fan from a nozzle, and the rotational speed of the rotor is obtained. Control of the airflow by controlling the airflow or controlling the pitch angle of the rotor blades to control the swiveling force of the lifting jig. It has been difficult to realize a control system with high performance. In other words, the rotation speed control and pitch angle control of the rotor blades cannot instantaneously change the intensity of the airflow ejected from the nozzles, and quickly re-establish the posture of the suspended load disturbed by disturbances such as gusts. It was difficult.

Although it is possible to generate a considerably strong airflow by using a very large axial flow fan or the like, mounting a very large and heavy rotating wing on the suspension jig is difficult for the suspension jig. Inappropriate for role. Therefore, in practice, it is not possible to mount a rotor that is so large, and thus the airflow generated by the rotor is not very strong, and the turning speed of the lifting jig cannot be increased sufficiently, and the control responsiveness is reduced. Could not be higher.

The present invention has been made in view of the above-mentioned conventional problems, and has as its object to provide a high responsiveness due to a strong jet propulsion force without using a large-scale equipment to be mounted on a hanging jig. It is an object of the present invention to provide a device capable of controlling the posture of a suspended load with the device.

[0009]

SUMMARY OF THE INVENTION Accordingly, the present invention is characterized by the following claims.
In the suspended load attitude control device according to the first aspect, the compressed air tank is mounted on a suspended jig suspended in a substantially horizontal posture by a wire rope or the like, and jet nozzles are disposed at at least two places of the suspended jig. by injecting the compressed air in the tank from the jet nozzle via an on-off valve, constitute the suspended jig by the jet propulsion to pivot in substantially a horizontal plane, said Jettonozu
Are attached to each end of the hanging jig.
And multiple jets depending on the required propulsion
Selectively open some or all of the nozzle open / close valve
The propulsion force was adjusted. Also, in claim 2
In such a suspended load attitude control device, a wire rope
Compressed air tank on a hanging jig suspended in a horizontal position
And at least two places on the hanging jig
A jet nozzle is installed to open the compressed air in the tank.
Injecting from the jet nozzle through a closed valve
Then, the hanging jig is almost level by the jet propulsion.
The jet nozzle is configured to rotate in a plane, and the jet nozzle is
The jet nozzle is installed rotatably in the vertical direction, and the jet nozzle is tilted.
This allows fine adjustment of the turning force. Ma
In the hanging load attitude control apparatus according to claim 3,
For hanging jigs that can be hung in a substantially horizontal position with ropes, etc.
While installing a compressed air tank,
At least two jet nozzles are installed in the tank
Compressed air through the open / close valve to the jet nozzle
From the jet propulsion force,
The jig is configured to rotate in a substantially horizontal plane.
The opening and closing valve of the jet nozzle is intermittently driven by pulse
Open and fine-tune the propulsion by adjusting the duty ratio
It was configured to adjust.

[0010]

[Action] In the first aspect of the suspended load of the posture control device, the HirakiHiraki valve by opening the compressed air stored in the tank is injected instantaneously from the jet nozzle, also the opening and closing valve Hirakuji in Rukoto, the jet injection instantly stops in performing attitude control, as appropriate to the row have a jet injection of a suitable number of nozzles opening and closing control of the opening and closing valve
By firing, the magnitude of the propulsion force can be adjusted , and the turning operation of the hanging jig by the jet propulsion force can be finely controlled with high responsiveness. The suspended load attitude control device according to claim 2.
When performing the attitude control, the jet nozzle
By appropriately tilting the vertical angle, the jet
Reduce the component of the advance that contributes to the rotation of the hanging jig,
Highly responsive swing jig turning by jet propulsion
It can be finely controlled. The appearance of the suspended load according to claim 3.
When performing the attitude control, the
Duty control of valve operation intermittently
To reduce energy loss.
While maintaining high economic efficiency, while being suspended by jet propulsion
The jig's turning movement can be finely controlled with high responsiveness.
Wear.

[0011]

1 to 3 show a schematic configuration of a suspended load attitude control apparatus according to an embodiment of the present invention. A hanging jig 1 made of an elongated steel material is hung by a wire rope 2 and is kept substantially horizontal. The hanging load 3 is attached to the hanging jig 1 by an appropriate means.

An air compressor 4 and its power supply are mounted in the center of the upper part of the hanging jig 1. On both sides of the compressor 4, fixed hollow shafts 5 for discharging compressed air are protrudingly provided. Rotary hollow shafts 6 are respectively connected to the distal ends of the fixed hollow shafts 5. The rotating hollow shaft 6 is rotatably supported by a bearing portion 7, and the two rotating hollow shafts 6 project to both ends of the hanging jig 1, respectively. A pneumatic actuator type rotation drive unit 11 is provided between the two bearing units 7 supporting one rotary hollow shaft 6, and the rotary hollow shaft 6 is moved by the drive unit 11 within a predetermined range. Can be rotated.

A four-stage compressed air tank 8 is attached to the tip of the rotary hollow shaft 6. Each tank 8 communicates with the discharge port of the compressor 4 via the rotary hollow shaft 6 and the fixed hollow shaft 5, and high-pressure compressed air generated by the compressor 4 is stored in each tank 8.

The tank 8 is elongated and has jet nozzles 9 integrally at both ends thereof.
An electromagnetic valve 10 for opening and closing the discharge port is provided between the discharge port and the jet nozzle 9. This electromagnetic valve 1
When 0 is opened, the compressed air stored in the tank 8 is jetted from the jet nozzle 9 in the tank longitudinal direction.

The elongated tank 8 is also mounted orthogonally to the elongated hanging jig 1,
By but is rotated about the axis 6 together with the rotating hollow shaft 6, the neutral position is a position where the tank 8 becomes horizontal. As shown in FIG. 3, the tank 8 rotates left and right around the horizontal neutral position within a range of 180 ° , and
Incline and descend vertically . Unless otherwise specified, the tank 8 is assumed to be in a horizontal neutral position.

In the center of the lower part of the hanging jig 1, a control unit 12 is provided.
Is mounted, and the control unit 12 controls the compressor 4,
The rotation drive unit 11 and the electromagnetic valve 10 are controlled. The control unit 12 includes a sensor for detecting the azimuth angle of the hanging jig 1, and controls the turning operation of the hanging jig 1 as follows according to, for example, a deviation between a target azimuth angle and an actual azimuth angle transmitted wirelessly.

In FIG. 2 which is a plan view, the electromagnetic valve 10 on one side of the four-sided tank 8 on the left side of the hanging jig 1 is opened to eject an air jet from the jet nozzle 9 in the direction of arrow A, and The electromagnetic valve 10 on one side of the quadruple tank 8 on the right side is opened to jet an air jet from the jet nozzle 9 in the direction of arrow B. Then, a force for turning the hanging jig 1 in the direction of arrow C is applied by the reaction force of the jet injection, and the hanging jig 1 and the suspended load 3 are turned integrally. Of course, by reversing the direction of jet injection, it turns in the opposite direction. Further, the strength of the turning force of the suspended load 3 by the jet injection can be controlled as follows.

Four jet nozzles 9 of a four-tank 8
, The number of injections is appropriately adjusted in the range of 1 to 4. The tank 8 is not inclined at the horizontal neutral position, but is appropriately inclined by the rotation drive unit 11. Then, the component of the jet propulsion that contributes to turning of the suspension jig 1 is reduced. The electromagnetic valve 10 is not opened continuously, but is opened intermittently by pulse driving, and the duty ratio of the driving pulse is appropriately adjusted.

The control unit 12 performs the above-mentioned controls appropriately in accordance with the situation, and performs feedback control so that the azimuth of the hanging jig 1 approaches the target value as much as possible. For example, when no external force such as wind acts on the hanging jig 1, the attitude control is performed by intermittent jetting of the jet. In other words, the jet is jetted for a short time, and the jet is jetted again while confirming the azimuth angle of the hanging jig by the azimuth sensor to approach the target azimuth angle. This is economical with little energy loss.

When an external force such as wind acts on the hanging jig 1 and the suspended load 3, a constant reaction force is always required. When the suspension jig 1 is turned from a stationary state, a large jet propulsion force is required. Therefore, jets are jetted from a plurality of nozzles. A jet is constantly jetted from several nozzles to stabilize the attitude. The delicate control of the attitude is achieved by rotating the jetting direction in the vertical
It can be performed appropriately by inclining vertically and changing the inclination angle .

The turning operation of the hanging jig 1 and the suspended load 3 by the jet injection can be analyzed as follows.

The reaction force F of the fluid is expressed by Equation 1 when the rotation speed U of the suspension jig is sufficiently smaller than the speed V of the jet ejected from the nozzle.

[0023]

(Equation 1) Here, ρ indicates the density of air, and A indicates the minimum sectional area of the nozzle.

When the shape of the nozzle is tapered, the mass flow rate Q and the nozzle outlet flow rate V ₂ are

(Equation 2)

(Equation 3)

(Equation 4) Where P ₀ and P ₂ are the pressure in the tank and the nozzle outlet,
ρ ₀ is the density of the air in the tank, k is the specific heat ratio (k = 1.
4) is shown.

By the way, when P ₂ / P ₀ <0.528, the nozzle outlet pressure becomes the limit pressure, and P ₂ becomes constant. At this time, V reaches the speed of sound (M = 1).

In this case, Equations 2 to 4 are represented by the following Equations 5 to 7. Here, R is a gas constant of air.

[0027]

(Equation 5)

(Equation 6) Here, R is the gas constant of air.

[0028]

(Equation 7) Assuming that the case where the pressure P ₂ / P ₀ <0.528 used in this embodiment is mainly handled, the flow velocity at the nozzle outlet of the jet is close to the speed of sound.

The torque T acting on the rotating body is represented by the distance r from the center axis to the nozzle, as r.

(Equation 8) Becomes

Assuming that the moment of inertia of the suspension base is I, the angular momentum of the suspension jig and the torque due to the jet reaction force are equal, so the following equation is established.

[0031]

(Equation 9) Here, N represents the number of nozzles that jet once.

The moment of inertia I can be calculated from the weight and shape of the suspended load. By estimating the rotational angular velocity ω, the required pressure P ₀ in the tank, the nozzle outlet diameter d ₂ and the number of nozzles N Can be determined.

It is not always necessary to mount a compressor for producing compressed air on a hanging jig, and the tank for compressed air may be replaced at any time. Further, the tank and the jet nozzle may not be of the integral type as in the embodiment, but may be those which are separately connected by a high pressure hose or the like. Furthermore, the mechanism for changing the jet ejection direction can be implemented in various forms, and this mechanism may be omitted.

[0034]

As it has been described [of the effect the invention described above in detail, in the present invention
Such a suspended load attitude control device has the following excellent effects.
Conduct. (1) In the posture control device for a suspended load according to claim 1, the opening / closing cover
By opening the lube, the compressed air stored in the tank is
Inject instantly from the jet nozzle and open and close
The jet injection is stopped instantly by closing the valve
When performing attitude control by opening and closing
Control as appropriate and jet from a suitable number of nozzles
The propulsion force can be adjusted by
Control of the swinging motion of the hanging jig with high responsiveness
Can be. (2) In the posture control device for a suspended load according to claim 2, the posture control
Control the vertical angle of the jet nozzle
Of the jet propulsion force by appropriately tilting
Reduces the component that contributes to the turning of the jig and increases the jet propulsion
Control of the swinging jig of the lifting jig with high responsiveness
be able to. (3) In the posture control apparatus for a suspended load according to the third aspect, the figure
When controlling the power, the operation of the open / close valve is intermittent
The duty is controlled and the jet is intermittently injected.
And keep energy efficiency low by reducing energy loss.
In addition, the swinging motion of the hanging jig by the jet propulsion
It can be finely controlled by the response.

[Brief description of the drawings]

FIG. 1 is a front view of a suspended load attitude control device according to an embodiment of the present invention.

FIG. 2 is a plan view of the apparatus of the embodiment.

FIG. 3 is a side view of the apparatus of the embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Hanging jig 2 Wire rope 3 Hanging load 4 Compressor 5 Fixed hollow shaft 6 Rotating hollow shaft 7 Bearing part 8 Compressed air tank 9 Jet nozzle 10 Electromagnetic valve 11 Rotation drive part 12 Control part

──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Atsuhiro Doyama 4-640 Shimoseito, Kiyose-shi, Tokyo Obayashi Corporation Technical Research Institute (56) References JP-A-4-256686 (JP, A) JP-A-2 −209393 (JP, A) (58) Field surveyed (Int. Cl. ⁷ , DB name) B66C 13/00-15/06

Claims (3)

(57) [Claims] 1. A compressed air tank is mounted on a suspending jig suspended in a substantially horizontal position by a wire rope or the like, and a jet nozzle is disposed at at least two positions of the suspending jig. By injecting air from the jet nozzle through an opening / closing valve, the suspending jig is configured to rotate substantially in a horizontal plane by the jet propulsive force, and the jet nozzle is provided at both ends of the suspending jig. On the edge
At the same time, and depending on the required propulsion,
Some or all of the opening and closing valves of multiple jet nozzles
Wherein the propulsion force is adjusted by selectively opening the vehicle. 2. In a substantially horizontal position with a wire rope or the like.
When installing a compressed air tank on a suspended jig
In addition, at least two jet nozzles are provided on the hanging jig.
The compressed air in the tank is opened and closed via an on-off valve.
Jet from the jet nozzle
The lifting jig is turned substantially in a horizontal plane by the propulsion force.
The jet nozzle is provided rotatably in the vertical direction.
By tilting the jet nozzle, fine adjustment of the turning force can be performed.
An apparatus for controlling a posture of a suspended load, wherein the apparatus is configured to be capable of being operated. 3. A substantially horizontal posture with a wire rope or the like.
When installing a compressed air tank on a suspended jig
In addition, at least two jet nozzles are provided on the hanging jig.
The compressed air in the tank is opened and closed via an on-off valve.
Jet from the jet nozzle
The lifting jig is turned substantially in a horizontal plane by the propulsion force.
During configured to so that, the opening and closing valve of the jet nozzle by pulse driving
Opening intermittently and adjusting the duty ratio to drive thrust
A posture control device for a suspended load, characterized in that it is configured to make fine adjustments .