JPH0639314B2 - Suspended object horizontal orientation control device - Google Patents

Description

The present invention relates to a device for fixing and controlling the horizontal orientation of an object suspended by rolling steel ropes or ropes.

In a crane or jib / crane, a hook is attached to the lower end of a steel rope to be hung, or a steel rope secured to an object is hung to hang the object, and the object is hoisted and unwound. On this occasion,
The horizontal orientation of the suspended object is difficult to determine in a specific orientation due to the influence of the wind and the skill level of the crane operator, and when descending the object to a fixed position, the operator must swivel and set it in the prescribed orientation position. I have to. When assembling a structure at a high place, it is very dangerous for an operator to place a suspended structural member in a predetermined direction and place.

An object of the present invention is to obtain a device for freely swinging and controlling the horizontal direction of a suspended object from a remote place when the object is suspended and moved in the air by a steel rope or the like which is twisted.

To explain the structure of the present invention, a spin coma and a slaving coil with a spin motor are provided in an internal upper chamber of a box frame bound to the lower end of a steel rope suspended in the air.
Assemble the gyroscope constructed with gimbal, leveling gimbal, gyro frame, slaving torque motor, and at the top of the gyro frame, rotary position transmitter of leveling gimbal, torque transmitter,
An electric circuit slip ring is attached, and the lower part of the gyro frame straddles the intermediate plate of the box frame to brake the turning of the leveling gimbal and to transfer the turning force to the box frame. A brake / clutch mechanism consisting of sesame, an electromagnetic coil, and a spring is incorporated, a sling arm having hooks at both ends is fixed to the lower part of the inner lower chamber, and a passive gear is mounted on the upper part, supported by thrust bearings and ball bearings. Of the suspension load supporting mechanism with the vertical spindle, the vertical spindle, the electric motor for rotating the sling arm and the rotation transmission mechanism with the transmission gear assembled, and the suspension steel rope. It is necessary to set and control the orientation of the sling arm under the frame box device in the operator's cab where the hoisting operation is performed. And electrical system operation switch panel assembled with the magnetic circuit switch, the direction of the leveling gimbal,
A direction and direction indicator that displays the direction of the sling arm,
Assemble the torque indicator that indicates the rotating torque of the leveling gimbal and the electric system connecting device incorporating the electric circuit parts necessary for connecting the electric system of this device, and connect the electric system connecting device to the frame / box device and the electric system. The operation switch panel, the direction and direction indicator, and the torque indicator are connected to each other by an electric wire cable to configure them.

The following is a description of an embodiment in which the present invention is mounted on a known jib crane, with reference to the drawings.

In FIG. 1, FIG. 2 and FIG.
The upper and lower chambers are separated by
Fishing fittings 46 for binding the lower ends of steel ropes hung from jib etc.
In the upper chamber of the box frame 3 having the
Place the rotating shaft 12 so that it is horizontal, and on the outside,
The slaving gimbal shaft 15 and the spin-coma rotary shaft bearing 16 are attached so that their center lines are orthogonal to each other, and the slaving gimbal shaft bearing 19 and the leveling gimbal are mounted on the outer side thereof. Assembling the leveling gimbal 17 in which the upper and lower shafts 18 and 20 are attached so that their center lines are orthogonal to each other, and further, the lower shaft 18.20 is attached to the leveling gimbals above and below the gyro frame 21. On the gimbal,
The rotor portion 31 of the slaving torque motor 24 is fixed to the end of the slaving gimbal shaft 15 by incorporating it into the lower shaft bearings 22 and 23, and the stator portion 32 thereof is fixed.
Is fixed to the leveling gimbal 17, and the leveling gimbal torque transmitter 25, the rotational position transmitter 26, and the electric circuit slip ring 39 are attached across the leveling gimbal upper shaft 18 and its bearing 22 part. The gyroscope is fixed to the upper surface of the intermediate board 10, and a brake / clutch mechanism composed of the disk 27, the electromagnetic sesame 28, the electromagnetic coil 29, and the spring 30 is mounted across the lower leveling gimbal shaft 20 and the intermediate board 10. . The lower chamber is a sling with hooks 9 attached to both ends.
The vertical main shaft 2 for fixedly supporting the arm 8 downward is attached to the box.
Upper race 4 installed on the bottom panel 58 of the frame 3
1, the lower race 42, the roller 43, and the cage 44 are inserted into the inner diameter holes of the thrust bearing 34 and the ball bearing 35, and the passive gear 37 is fixed above the vertical main shaft 2 by the nut 38.
The passive gear 37 meshes with the drive gear 36 attached to the rotary shaft 57 of the electric motor 33 fixed to the box frame 3, and the sling arm azimuth transmitter 40 is provided on the top of the vertical spindle 2 and the lower surface of the intermediate plate 10. Attach by straddling,
The assembled frame and box device 1, the system power switch 47, the spin motor switch 48, and the slaving switch of the device of the present invention installed in the crane cab.
An electric system operation switch board 5 incorporating a torque / motor control switch 49, an electric motor control switch 50, a brake / clutch control switch 51, a torque indicator 7 for instructing a turning torque value of the leveling / gimbal 17,
Direction of leveling gimbal 17 sling arm 8
The direction and direction indicator 6 for displaying the azimuth of the present invention, and the electric system connecting device 4 having the electric equipment and circuit terminals incorporated with the electric equipment and circuit terminals necessary for connecting the electric system circuit of the device of the present invention. Connection device 4 and frame / box device 1
The electric circuit up to the electric circuit connector 45 is connected by the hanging multi-core electric wire cable 52 that is hung in parallel with the steel rope that is hung from the jib crane, and the internal wiring of the frame / box device 1 is an electric circuit connector. 45 and spin motor 1
3, slaving torque motor 24, leveling
An electric circuit slip ring 39 is interposed between the gimbal torque transmitter 25 and the rotational position transmitter 26, and an electric circuit connector 45, an electromagnetic coil 29, and an electric moder 3 are provided.
3. Wires are directly connected to the sling arm azimuth transmitter 40 to connect them, and the electric system connection device 4, the direction and direction indicator 6, the torque indicator 7, the electric system operation switch board 5 are connected. The electric wires and cables 53, 54, and 55 are electrically connected to and from each other to configure the device of the present invention.

The operation of this control device will be described. With the control device configured as described above, the frame box device 1 bound to the lower end of the steel rope suspended from the slane jib or the like, and the hooks 9 assembled to both ends of the lower sling arm 8
When the system power switch 47 of the electric system operation switch panel 5 attached to the crane cab is turned on in order to orient the object suspended by a steel rope or the like in the designated direction, All electric systems will be ready to start, and the power will be cut off in an emergency. When the spin motor switch 48 is turned on, the spin motor 13
Is started, and the spin coma 11 is the spin coma rotation axis 12
According to the gyroscope's finger north action, the direction of the axis is kept almost horizontal and continues to rotate at high speed while pointing in a fixed direction. Even when the frame box device 1 is suspended, even if the jib crane is rotated 360 degrees around the spin box 11, the spin coma 11 always has a constant rotation axis direction based on the finger north action of the gyroscope. Rotate while pointing in the horizontal direction.

When the slaving torque / motor control switch 49 is turned ON in accordance with the designated azimuth in order to turn the azimuth of the object suspended on the hooks 9 at both ends of the sling arm 8 to a predetermined azimuth, the slaving torque / Motor 24
Voltage is gradually applied to the slaving gimbal axis 1
An attempt is made to rotate and tilt the slaving gimbal 14 in the designated direction with the axis 5 as the rotation axis. At this time, the spin coma 11 that is rotating unless it is directed in a fixed direction with a large inertial force causes the precession action of the gyroscope to cause the spin coma rotating shaft 12 to move in the axial direction of the spin coma rotating shaft 12 above and below the leveling gimbal. The axis 18, 20 has the characteristic of being aligned with the direction of the rotation axis vector of 18.20.
It rotates about the axis of. By further applying a voltage to the slaving torque motor 24, the precession effect becomes even greater.

With the jib / crane stopped at a position in a certain circumferential direction, set the suspended object in any direction to the specified direction,
When only the electric motor control switch 50 is turned on in accordance with the designated direction and the rotation adjustment operation is performed, the electric motor 3
3 is driven at a set rotation speed, and its rotating shaft 57 and drive gear 3
6, the passive gear 37 and the vertical main shaft 2 are interlocked with each other, the sling arm 8 turns, and the suspended object starts to rotate in the designated direction, but since it is suspended at the lower end of the twisted steel rope, Due to the inertial force of the suspended object due to the weight of the suspended object and the torsional rigidity of the steel rope, the frame box device 1 is slung
Circumferential direction in which the arm 8 is to be turned (hereinafter referred to as “forward direction”).
Say. ) And the opposite direction (hereinafter referred to as "reverse direction").
In addition, a torque (hereinafter referred to as "reverse torque") is received depending on the weight of the suspended object and the magnitude of the turning speed of the sling arm 8. This reverse torque is an inertial force of the spinning top 1 that continues to rotate. However, the frame box device 1 still receives the reverse torque action and turns in the opposite direction. In order to block this reverse torque, the slaving torque motor control switch 49 is turned ON in accordance with the designated direction, the slaving torque motor 24 is operated, and the torque for inclining the slaving gimbal 14 is applied to the coaxial shaft 15. The top 11 also receives a force that the rotation shaft 12 inclines, and the precession action of the gyroscope causes the leveling gimbal 17 to rotate in the positive direction with the lower shafts 18 and 20 as rotation shafts.
The inertial force of the spin coma 11 works strongly in the positive direction, and the reverse torque due to the driving of the electric motor 33 is reduced.

When the object suspended on the sling arm 8 is lightweight and the swing speed of the sling arm 8 is small, the electric motor 3 alone operates or the slaving torque
By using the operation of the motor 24 together,
Although the arm 8 can be positioned in a predetermined direction, when the weight of the suspended object is large and the turning speed of the sling arm 8 is increased, and when the influence of external force such as wind exerts a large effect on the suspended object. When the vertical main shaft 2 and the sling arm 8 are rotated by driving the electric motor 33, the frame box device 1 swings in the opposite direction due to the static inertia force due to the weight of the suspended object and the torsional rigidity of the steel rope. Receive torque. In order to reduce this, the slaving torque motor 24 is operated, and the leveling gimbal 17 is moved upward by the precession action of the gyroscope.
Rotate in the positive direction with 8 and 20 as rotation axes. This is because the spin axis of the spin top 11 rotating at high speed and the inertial force are deflected in the positive direction, and
The turning torque in the positive direction of is strongly applied. Since the leveling gimbal 17 freely rotates about the coaxial shafts 18 and 20, the spin coma 1 by the precession action
In order to effectively apply the turning torque of 1 in the positive direction, the brake / clutch control switch 51 is turned on to excite the electromagnetic coil 29, and the electromagnetic sesame 28 is attached to the disk 27 fixed to the lower leveling gimbal shaft 20. The torque that applies the braking action and turns the leveling gimbal 17
The turning torque of the frame box device 1 itself, which uses the vertical center axis of the box frame 3 as a rotation axis, is transmitted.
By thus driving the electric motor 33, operating the slaving torque motor 24, and operating the brake clutch, the inertia force of the gyroscope and the precession action cause the frame box device 1 to operate. The working reverse torque can be sealed and the sling arm 8 can be easily placed in a predetermined orientation.

In the above control operation, the relative azimuth of the box frame 3 with respect to the ground is the rotational position transmitter 26 of the leveling gimbal 14 based on the azimuth of the spin / coma rotation axis 12.
From the sling arm azimuth transmitter 40 based on the direction of the box frame 3, and the azimuth of the sling arm 8 is displayed on the azimuth indicator 6. Further, the rotation torque of the leveling gimbal 17 due to the precession action is instructed to the torque indicator 7 by the signal of the leveling gimbal torque transmitter 25. Necessary for turning the suspended object in the designated direction while confirming the table indicated values of the direction indicator 6 and the torque indicator 7 or directly confirming the situation of the suspended object at the work site directly by visual inspection. To obtain the angle and speed, the electric motor control switch 5 of the electrical system operation switch panel 5
0, slaving torque motor control switch 49,
By controlling the brake / clutch control switch 51 appropriately and repeating it appropriately to rotate the vertical spindle 2 and the sling arm 8 so that the object to be hung on the hook 9 is positioned in a designated direction. You can

The electric motor 33, the slaving torque motor 24, the brake clutch and the electromagnetic sesame 28 are mainly used as inputs from the signals from the leveling gimbal torque transmitter 25, the rotational position transmitter 26, and the sling arm direction transmitter 40. By adding a calculation device for controlling the operation timing, the operation time, and the operation voltage / current, the automatic control device relating to this device can be performed under optimum conditions.

As described above, by using the device of the present invention, an object in a state of being suspended by a steel rope or the like that is easy to roll and twist,
There is an effect that it can be easily controlled and placed in a designated direction from a remote place.

In addition, there is also an effect that it is possible to safely lift up and down while avoiding contact with obstacles by changing the orientation of the suspended object in the space passage of the suspended object that is bent in a narrow space with lifting obstacles. .

[Brief description of drawings]

FIG. 1 shows an embodiment of the present invention. FIG. 1 is a vertical cross-sectional view of a frame / box device, FIG. 2 is a partially cutaway perspective view of the frame / box device, and FIG. It is a system outline figure of main electric equipment. 1 ... Frame / box device, 2 ... Vertical spindle, 3 ...
A box / frame having an intermediate board 10, a fishing tackle portion 46, and a bottom board 58, an electric system connecting device, 5 an electric system operation switch panel, 6 a direction and direction indicator, 7 a torque indicator, 8 ... sling arm, 9 ... hook, 1
1 ... Spin coma consisting of spin-coma rotating shaft 12 and spin motor 13, 14 ... slaving gimbal, 17 ... leveling gimbal, 21 ... gyro frame, 24 ... slaving torque motor ,
25 ... Leveling gimbal torque transmitter, 26 ...
… Rotation position transmitter, 27 …… Disk, 28 …… Electromagnetic sesame, 29 …… Electromagnetic coil, 33 …… Electric motor, 34…
… Thrust bearing, 35 …… Ball bearing, 36 …… Drive gear,
37 ... passive gear, 38 ... nut, 39 ... electric circuit slip ring, 40 ... sling arm direction transmitter, 45 ... electric circuit connector, 47 ... system power switch, 48 ... spin motor・ Switch, 49 ...
… Slaving torque motor control switch, 50…
… Electric motor control switch, 51 …… Brake / clutch control switch, 52 …… Hanging multi-core electric wire cable, 5
3, 54, 55 ... Electric wire cable, 56 ... Power cable

Claims (2)

[Claims] 1. A box frame (3) is attached to the lower end of a steel rope or rope which is easily twisted to suspend the box frame (3), and a gyroscope is fixed to the upper inner chamber of the box frame (3), and hooks ( The vertical main shaft (2) with the sling arm (8) having 9) mounted on the lower side and a mechanism for rotating the vertical main shaft (2) with the electric motor (33) are provided in the inner lower chamber, and the electric motor (33) is used. The vertical spindle (2) is moved by the turning force, the inertial force of the spin coma (11) of the gyroscope, and the acting force based on the physical characteristics of the precession action by the operation of the slaving torque motor (24). An apparatus having a feature of rotating and controlling the horizontal orientation of an object moving in a suspended manner in the air. 2. The turning force of the leveling gimbal (17) due to the precession action generated by the torque applied to the slaving gimbal shaft (15) of the directional gyroscope is applied to the gyroscope and the sling arm (8). Frame / box device (1) that incorporates the assembled vertical spindle (2)
The brake / clutch mechanism that converts to the turning force of the leveling gimbal lower shaft (20) and box frame (3)
The suspended object orientation control device according to claim 1, wherein the suspended object orientation control device is provided so as to straddle the intermediate plate (10).