JPH0665595B2 - Attitude control device for suspended loads - Google Patents

Description

TECHNICAL FIELD The present invention relates to a directional control device for a suspended load.

<Prior art> Conventionally, in order to control the azimuth angle of a suspended load that is rotatably suspended by one wire rope or the like, the reaction force of the moment for rotating the suspended load horizontally is suspended as it is. Since it cannot be picked up by the load, a method of changing the azimuth by attaching one end of the rope to be suspended to the suspended load and manually pulling the other end of the rope has been generally performed. However, this method is very dangerous when working in high places.

On the other hand, the fixed pulley on the crane side, such as a gantry crane, can be installed at a sufficient distance, and the moving pulley on the suspended side can also be installed at a sufficient distance, and the distance between the fixed pulley and the moving pulley is that distance. However, there are attitude control devices that use a motor only when it is sufficiently small, but there are many constraints and it is not general.

Therefore, in recent years, a posture control device for a suspended load using the precession effect of a gyroscope has been proposed (Japanese Patent Laid-Open No. Sho 61-135).
63-1695). This precession effect means that when torque is applied to the rotation axis of the gyro from the outside, the direction (vector direction) is perpendicular to the direction of the torque (vector direction).
Means that a couple of is generated on the rotation shaft. Therefore, the gyro is integrally attached to the hanging jig, and the couple of the precession effect is generated around the hanging wire to control the posture of the hanging jig and thus the hanging load.

Specifically, when the suspended load is turned on a horizontal plane (direction control), the gyro 2 is placed on the horizontal plane on the upper surface of the hanging jig 1 connected to the suspended load (not shown) as shown in FIG. 11 (A). The rotation axis of the gyro 2 is arranged so that the rotation axis of the gyro 2 can be tilted about a direction orthogonal to the rotation axis 3 of the gyro 2. At this time, the hanging jig is hung so as to restrain the inclination in the longitudinal direction. Then, the rotating shaft 3 of the gyro 2 is horizontally swung by the precession effect when the rotating shaft 3 of the gyro 2 is substantially aligned with the longitudinal direction of the hanging jig 1. That is, the gyro 2 which is rotationally driven in the predetermined direction (arrow A) is set to have a direction orthogonal to the rotation axis 3 in the horizontal plane as an axis, and the arrow B
It tilts in the direction and gives a predetermined torque. Then, the horizontal component of the precession effect causes the hanging jig 1 to move to the arrow C.
Will turn in the direction.

On the other hand, when the suspension jig 1 is swung in a vertical plane, that is, when the suspension jig 1 is inclined at a predetermined angle (inclination control), as shown in FIG. It can be performed by suspending the gyro 2 so as not to restrain the inclination of the direction and tilting the gyro 2 in the direction of the arrow D about the axis orthogonal to the rotation axis 3 in the vertical plane.

<< Problems to be Solved by the Invention >> However, in the device using the gyroscope described above, the axis of tilt of the gyro 2 is different between when the azimuth control is performed and when the tilt control is performed.

Therefore, it is necessary to prepare a control device (control motor mounting position is different) capable of performing different control, respectively, and to use both properly as necessary, which is complicated work.
High hist.

Further, if the azimuth / tilt control is performed by one control device, two control motors are required to be attached to the gyro 2, resulting in a problem that the device becomes large in size and its weight cannot be put to practical use. It was

The present invention has been made in view of the above problems, and an object of the present invention is to make it possible to perform two controls of azimuth control and tilt control with one control device and to reduce the size of the device. An object is to provide a posture control device for a suspended load.

<Means for Solving the Problem> In order to achieve the above-mentioned object, in the attitude control device for a suspended load according to the present invention, the lower end of the rope suspended in the vertical direction is connected via a horizontal suspension jig. In a posture control device for a suspended load for rotating a suspended load in a three-dimensional plane, the suspension jig has a gyro so that a rotation axis of the gyro is positioned in a plane orthogonal to a longitudinal axis of the suspension jig. And a control motor is connected to the gyro so that the gyro can be tilted within the plane.

<< Operation >> When the azimuth control is performed, the control motor is driven to tilt the gyro in a predetermined direction while strongly rotating with the rotation axis of the gyro positioned substantially horizontally. Then, a rotational moment is generated about the axis perpendicular to both the rotation axis and the output axis of the gyro, that is, approximately the vertical direction (precession effect). To turn.

Further, in order to perform the tilt control, the control motor is operated to tilt the gyro by a predetermined angle while strongly rotating the gyro in a predetermined direction with the rotation axis of the gyro being substantially upright. Then, due to the precession effect, the suspending jig and, in turn, the suspended load connected to the suspending jig swivel in the vertical plane by a predetermined angle.

By the related control of the control motor and the gyro motor,
The azimuth control and the tilt control can be performed simultaneously.

<Examples> Hereinafter, preferred examples of the attitude control device for a suspended load according to the present invention will be described in detail with reference to the accompanying drawings. It should be noted that the same or corresponding members as the conventional ones are designated by the same reference numerals.

FIG. 1 is a schematic configuration diagram showing an embodiment of the present invention.

As shown in the figure, the gyros 2, 2 are attached to the vicinity of both ends of the hanging jig 1 arranged horizontally. And
The positions where the gyros 2 and 2 are provided are set symmetrically with respect to the longitudinal center of the hanging jig 1. The reason why the gyros 2 are arranged at two places in this way is to ensure the posture stability of the hanging jig 1 by canceling out the tilt component during turning of the gyro and the turning component during tilt. Alternatively, one or several pieces may be provided in the central portion of the hanging jig 1 as in the conventional example and FIG.

Further, the rotary shaft 3 of the gyro 2 is always located in a plane orthogonal to the longitudinal axis of the hanging jig. Specifically, in the case of performing azimuth control, it is shown in FIG. As shown, mainly the couple force due to the precession effect when the rotary shaft 3 is oriented in the horizontal direction is used, and when tilt control is performed, it is oriented mainly in the vertical direction as shown in FIG. Try to use the couple of times.

A control motor (not shown) for tilting the gyro 2 is arranged such that the output shaft of the control motor is aligned with the longitudinal direction of the hanging jig 1. The control motor can be driven to rotate normally and reversely so as to correspond to the turning direction and the tilting direction, and the gyro 2 linked thereto can be tilted by a predetermined amount in a predetermined rotating direction.

At this time, the drive motor of the gyro 2 (gyro motor)
It is preferable to allow forward and reverse rotation. That is, when the rotating shaft 3 rises during the suspended load control or becomes horizontal during the suspended load control, the gyro motor reverses to control the suspended load direction and the suspended load control in the same direction. It is easy to continue.

Further, when an even number of gyros are used as shown in FIG. 1, the azimuth control and the tilt control can be clearly distinguished even when a conventional locking jig is used.
In this case, the control motors of the two gyros are rotated at the same angular velocity by reversing the rotation directions. Then both 90 °
The rotation axis of the gyro matches each time it advances, and the matching position is set to match when the axis of the gyro becomes vertical and when it becomes horizontal. If the gyro is rotated in the opposite direction when it becomes vertical, the couple has only a tilt moment, and the azimuth control moments cancel each other out. Conversely, if the gyro motor is controlled so that the gyro rotates in the opposite direction when it becomes horizontal, the tilt moment is canceled and the azimuth control moment is doubled by adding the two gyro components. Vertical shaking is eliminated.

On the other hand, the locking member that suspends the hanging jig may be the conventional one, but when trying to avoid complicated control with an odd number of gyros, in order to distinguish between azimuth control and tilt control, A switchable locking member is used as shown in FIG.
That is, a pair of ring-shaped first locking portions 5, 5 are arranged on the upper surfaces of both ends in the longitudinal direction of the hanging jig 1.
The lower ends of the first wire ropes 6 can be connected to the ring-shaped heads 5 and 5, and the upper ends of the first wire ropes 6 can be slung on the crane hooks 8 via the rings 7. The hook portion 8a of the crane hook 8 is rotatable and is configured not to give an excessive twist to the first wire rope 6. Further, a second locking portion 9 is provided on both side surfaces of a substantially central portion in the longitudinal direction of the hanging jig 1, and the lower end of the second wire rope 10 is attached to the second locking portion 9. . The upper end of the second wire rope 10 is connected to the crane hook 8 via the connecting rod 11 and the jack 12.
You can hang it on. Then, by extending and retracting the jack 12, the load of the hanging jig 1
Alternatively, it is adapted to be hung on the second wire ropes 6 and 10.

Next, the operation of the above-described embodiment will be described. The above-mentioned hanging jig 1 is integrally attached to a not-shown hanging load at a substantially central position above the hanging load. Therefore, the posture of the suspended load and the suspension jig 1
And the posture of. Then, as shown in FIG. 2, a suspended load (solid line) at an arbitrary position in the horizontal plane has different angles (horizontal; angle θa, vertical; angle θb) in the horizontal and vertical planes from that position. In order to turn to the position (chain line), first, the jack 12 is extended so that the load of the hanging jig 1 is received by the first wire rope 6 (FIG. 1 (A)). Then, when the rotation shaft 3 of the gyro 2 is horizontally positioned, the gyro 2 is rotated in a predetermined direction (arrow E) while the rotation speed is maximized, and the control motor is operated to tilt the gyro 2 by a predetermined angle. (Arrow F). Then, a rotation moment is generated about the direction orthogonal to both the rotation shaft 3 and the output shaft of the control motor (precession effect), which causes the hanging jig 1 and thus the hanging load to swivel within the horizontal plane by the angle θa. Moving.

Next, the jack 12 is contracted so that the load of the hanging jig 1 is received by the second wire rope 10 (FIG. 2B). Then, the gyro 2 is rotated in a predetermined direction (direction of arrow G) while controlling the rotation speed to be maximum when the rotary shaft 3 of the gyro 2 is erected, and the control motor is operated to set the gyro 2 to a predetermined direction. Angle tilt (arrow H).
Then, due to the precession effect, the hanging jig 1 and, in turn, the hanging load swivels in the vertical plane by the angle θb. This allows
The suspended load can be directed in a predetermined direction. However, in order to maintain the suspended load in a state of being inclined at the angle θb, it is necessary to cancel the moment associated with the weight of the suspended load or the like, and therefore it is necessary to constantly apply a force having a predetermined magnitude to the suspended load.

Therefore, as shown in FIG. 1 (C), the link chain
Instead of 7a, this is engaged with a sprocket 7b with a brake 7c locked to a hook 8. With the brake 7c released, tilt the suspended load at a specified angle, and then brake in that state.
By operating 7c, the slant of the suspended load can be maintained. In this case, if the brake 7c is released, the inclination of the suspended load is not restrained, so that the second locking portion is unnecessary.

On the other hand, at the time of horizontal turning, if the inclination of the suspended load does not have to be an arbitrary inclination due to its own weight, the first locking portion becomes unnecessary and the jack 12 of the second locking portion can be omitted.

The azimuth control and the tilt control can be performed only by the second locking portion. In this case, when the rotating shaft 3 approaches the vertical during the azimuth control, the rotating shaft 3 and the output shaft 34 are stopped from rotating and rotating at the same time, and at the same time, rotating and rotating in opposite directions.

Next, an example of a more specific configuration of the above-described embodiment will be described. That is, as described above, if only one gyro is arranged at one place, the controllable turning angle range is narrow, and therefore the control angle is set to 360 degrees in the configuration described below.

That is, as shown in FIG. 3 to FIG. 5, a control motor 20, a case 21, three gyro motors 22 and a flywheel.
It is mainly composed of 23. The rotary shafts 3 of the three gyro motors 22 have a = a as shown in FIG.
Even if one rotary shaft 3 is overlapped with the Z axis extending in the vertical direction, the remaining two rotary shafts 3 are not always overlapped with the Z axis.
By applying the torque of the control motor 20 to one of the rotating shafts 3, it is possible to always generate a couple about the Z axis.

Further, in this embodiment, the gyro 2 is constituted by the gyro motor 22, the flywheel 23 and the rotary shaft 3.

On the other hand, the hoisting jig 2 has a pair of left and right brackets 24 on the lower surfaces of both ends thereof, as shown in FIGS. You can connect with. On the other hand, a pair of left and right support bases 30 and 31 are integrally erected on the upper surface of the hanging jig 2,
The control motor 20 is provided on one support base 30, and the bearing 33 is provided on the other support base 31. The output shaft 34 of the control motor 20 is oriented in the X-axis direction. Further, a case 21 having a hollow substantially triangular prism shape is disposed between the support bases 30 and 31, and an output shaft 34 of the control motor 20 is connected to one end wall 21a of the case 21 to form a case 21. A shaft portion 21c protruding from the other end wall 21b is rotatably inserted into the bearing 33.

Further, as shown in FIG. 6, three gyro motors 22 are housed in the case 21. These gyro motors
Reference numeral 22 is attached to each inner surface of the three side walls 21d to 21f of the case 21, and its rotation shaft 3 is perpendicular to the output shaft 34 or the shaft portion 21c of the control motor 20 and the rotation shafts 3 are mutually a = 120. Evenly spaced at °. On the other hand, three flywheels 23 are arranged outside the side walls 21d to 21f of the case 21, and the centers of these flywheels 23 are connected to the rotary shaft 3 protruding from the holes 35 of the side walls 21d to 21f. The flywheel 23 is covered with a cylindrical cover 36 having a bottom.

Further, as shown in FIG. 7, the rotation direction of the gyro motor 22 is such that the rotation shaft 3 is once stopped within a predetermined range b, d, e, c before and after the rotation shaft 3 overlaps the Z axis, and then it is reversed. There is. Such rotation direction switching can be easily performed by, for example, combining the angle detection means of the output shaft 34 of the control motor 20 and the electric circuit of the gyro motor 22. When the output shaft 34 is rotated clockwise in FIG. 7, the range b,
In c, the gyro motor 22 is braked to stop its rotation, and in the ranges d and e, the gyro motor 22 is started in the reverse direction to reach a constant speed. When the output shaft 34 is rotated counterclockwise in FIG. 7, the gyro motor 22 is braked in the ranges d and e, and the gyro motor 22 is reversely started in the ranges b and c. Further, in the ranges f and g, the gyro motor 22 makes high-speed constant rotation in one direction. In addition, energy can be saved by using, for example, a power generation brake as a means for applying a brake.

Next, the operation of the above embodiment will be described.

The suspended load posture angle control device is configured as described above, and when the H-shaped steel 26 is turned in the direction of arrow I in FIG. 3, it is operated as follows. That is, assuming that FIG. 7 is a view as seen from the direction of the arrow H in FIG. 3, the rotary shaft 3 of the gyro motor 22
(Indicated by 3a to 3c in the figure), the flywheel of the rotary shaft 3a is rotated clockwise when viewed from the inner end side, and the flywheel of the rotary shaft 3c is rotated counterclockwise when viewed from the inner end side. Rotates the output shaft 34 in the clockwise direction. The seventh
At the position shown in the figure, the flywheel of the rotating shaft 3b has just stopped. At this time, when the control motor 20 is operated to rotate the output shaft 34 by a predetermined angle, the flywheels 23 of the rotary shafts 3a and 3c connected to the gyromotors 22 are respectively moved in the direction of arrow I due to the characteristics of the gyroscope. Generates torque (precession effect) to rotate. The generated torque is transmitted to the H-shaped steel 26 via the hanging jig 2, and thereby the H-shaped steel 26 turns in a predetermined direction by a predetermined angle.

Further, if either the rotating shafts 3a, 3c or the output shaft 34 is rotated or rotated in the opposite direction, the H-shaped steel 26 is swung in the direction of arrow J in FIG. This is azimuth control.

When the tilt control is performed while the control motor is constantly rotated, the rotation of the flywheel is braked as the rotary shaft 3 approaches the horizontal direction, and the flywheel is stopped when the rotary shaft 3 is horizontal, and the reverse start is performed.

In this way, it is possible to switch between azimuth control and tilt control simply by changing the position of stop and reverse start of flywheel rotation. Furthermore, as described below, combined control of these is also possible. . That is, as shown in FIG. 8, a case (direction control + tilt control) in which the suspended load is directed to the predetermined direction OB from the direction of the currently facing OA and stopped to control the attitude (direction control + tilt control) will be described. , Point A
And makes a stop in a predetermined position by turning in a plane including a straight line connecting the point B and the point B, and in a vertical plane including the point B and a perpendicular line passing through the turning center, only balances with the moment due to its own weight centering on the hanging point. Control by continuing to add the moment of. A method of controlling in this way will be described with reference to FIG.

That is, the absolute coordinates XYZ with the center of the hanging point as the coordinate origin
Is assumed to be imaginary, and the suspended load is suspended in a stable state parallel to the X axis of the coordinate axis. Then, it is rotated counterclockwise about the Z axis as a rotation axis so that it is parallel to the Y axis as viewed from the Z axis, that is, in a plane, and is controlled to stop at an angle of θ with the Y axis. In this case, first, the coordinate xyz with the tilt axis of the flywheel 23 as the x-axis, the intersection of the tilt axis and the rotation axis of the flywheel 23 as the coordinate origin, and the z-axis in the direction perpendicular to the suspended load is used. Further virtual. Then, a plane (a) including the x-axis and forming a δ with the y-axis (naturally including the origin of the xyz coordinates) is hypothesized, and a vertical plane (b) including the x-axis is hypothesized with respect to the plane (a). In addition, the vertical surface is set as the position of the rotation control surface (b) that reverses the rotation direction of the flywheel 23, and each flywheel 23
While changing the rotation direction of the flywheel 23 on the rotation control surface (b), the tilt vector of the flywheel 23, that is, the x-axis is rotated along the plane (a) in a direction coinciding with the Y-axis, Tilt the flywheel 23.

At this time, as can be seen from FIG. 10, as it turns, the moment Mg (acting in the direction in which the suspended load returns to its original stable posture) is generated with the suspended point generated by the own weight of the suspended load 26 as the center of rotation. Since it becomes larger, the rotation control surface (b) is tilted from the original position toward the (−) side of the y-axis so that the inclination α becomes larger, so that the moment component of the tilting moment of the flywheel with respect to the y-axis. To increase. Further, by increasing the tilting moment N of the flywheel while increasing the inclination α, the turning angular velocity of the suspended load 26 is prevented from becoming small while balancing with the moment Mg. When the suspended load 26 is swung while controlling as described above, and when the target control posture is approached, the tilting moment N of the flywheel 23 is gradually reduced and the inclination α of the rotation control surface (b) is further increased. Tilt to grow. Then, when the suspended load 26 reaches the target control posture, the rotation control surface (b) and the y-axis are made to coincide with each other, and the same as the moment Mg for the suspended load 26 to return to the original stable posture. By continuing to tilt the flywheel 23 with a large tilting moment N, the tilting moment of the flywheel 23 is balanced with the moment component with respect to the y-axis, and the desired control posture can be maintained.

It should be noted that such composite control is not limited to the present embodiment, and is possible as long as the rotation axis of the gyro is always located in the plane orthogonal to the longitudinal axis of the hanging jig.

<< Effects of the Invention >> As described above, in the suspended load posture control device according to the present invention,
Not only azimuth control but also tilt control can be performed.
That is, the suspended load can be rotated and moved to an arbitrary position in the three-dimensional space, and the state can be maintained.

In addition, since the present device is basically composed of the gyro and one control motor arranged therein, it is possible to reduce the size and weight of the device.

[Brief description of drawings]

FIG. 1 is a diagram showing a schematic configuration of a suspended load posture control device according to the present invention, FIG. 2 is a diagram for explaining the operation, FIG. 3 is a perspective view showing an example of a specific configuration of the present invention, and FIG. The figure is a side view of the same device, FIG. 5 is a vertical cross-sectional view of the same device, FIG. 6 is a horizontal cross-sectional view of the same device, and FIG. 7 is a rotational direction of a gyro rotary shaft and a control motor output shaft. FIGS. 8 to 10 are views for explaining the operation, and FIG. 11 is a view showing a conventional example. 1 ... Suspension jig, 2 ... Gyro 3 ... Rotating shaft, 5 ... First locking part 9 ... Second locking part, 20 ... Control motor 22 ... Gyro motor, 23 ... Flywheel

Claims (1)

[Claims] 1. A posture control device for a suspended load, in which a suspended load connected to a lower end of a rope suspended in the vertical direction through a horizontal suspending jig is swung in a three-dimensional plane. The gyro is arranged so that the rotation axis of the gyro is located in a plane orthogonal to the longitudinal axis of the hanging jig, and a control motor is connected to the gyro so that the gyro can be tilted in the plane. An attitude control device for a suspended load, characterized in that