EP0802150A1 - Verfahren und Anlage zur Lageregelung einer gehobenen Last mittels eines Gyroskops - Google Patents

Verfahren und Anlage zur Lageregelung einer gehobenen Last mittels eines Gyroskops Download PDF

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Publication number
EP0802150A1
EP0802150A1 EP96302779A EP96302779A EP0802150A1 EP 0802150 A1 EP0802150 A1 EP 0802150A1 EP 96302779 A EP96302779 A EP 96302779A EP 96302779 A EP96302779 A EP 96302779A EP 0802150 A1 EP0802150 A1 EP 0802150A1
Authority
EP
European Patent Office
Prior art keywords
gimbal
frame
lifting load
lifting
driving portion
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP96302779A
Other languages
English (en)
French (fr)
Other versions
EP0802150B1 (de
Inventor
Hiroshi Kanki
Akira Wakabayashi
Yoshitoku Nekomoto
Tatsuya Wakisaka
Yasukuni Kamimura
Atsuhiro Doyama
Shuji Oyagi
Kazunari Fukuda
Yuichi Ikeda
Fumihiro Inoue
Koji Watanabe
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Obayashi Corp
Mitsubishi Heavy Industries Ltd
Original Assignee
Obayashi Corp
Mitsubishi Heavy Industries Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Obayashi Corp, Mitsubishi Heavy Industries Ltd filed Critical Obayashi Corp
Priority to DE69630439T priority Critical patent/DE69630439T2/de
Priority to EP19960302779 priority patent/EP0802150B1/de
Publication of EP0802150A1 publication Critical patent/EP0802150A1/de
Application granted granted Critical
Publication of EP0802150B1 publication Critical patent/EP0802150B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions

Definitions

  • the present invention relates to a method and a system for controlling attitude of a lifting load for appropriately pivoting a lifting load lifted by means of a wire rope or so forth. More specifically, the invention relates to a system which carries a gyro on a lifting jig for lifting the lifting load in horizontal attitude by means of the wire rope or so forth and obtaining a horizontal rotating force of the lifting jig in the horizontal direction utilizing a gyro effect.
  • the rotating attitude controlling system for the lifting load disclosed in the above-identified publication is formed with a lifting jig which is hanged in horizontal attitude on a wire rope and mounting a lifting load at the lower portion thereof, a frame fixed on the lifting jig, and a case rotatable about a rotation axis parallel to an extending direction relative to the frame, and a flywheel capable of spinning shaft perpendicular to a surface including a rotation axis of the case.
  • the case and the flywheel form a gimbal structure to form pseudo gyro scope together with the frame.
  • the lifting load is pivoted in the opposite direction in a magnitude corresponding to the natural rotation by driving the gymbal by a motor, while the natural rotation anagle is relatively small, for constantly maintaining predetermined azimuth angle.
  • the offset position is the rotational position of the gimbal when the driving motor of the gimbal is not actuated and the gimbal is not locked.
  • initial position a initial position
  • rotation in the direction of external disturbance is accelerated. While such pre-session force is convenient if pivots the lifting load in the same direction to the rotating direction by the external disturbance, when a rotational force in opposite direction is to be applied, it becomes necessary to return to the initial position by tilting the gimbal to exert the pivoting force on the lifting load in the same direction to the rotating direction by the external disturbance.
  • the present invention is worked out in view of the problems in the prior art. Therefore, it is an object of the present invention to provide a method and system for controlling a lifting load which can easily return a gimbal which is rotated by external disturbance, to a initial position utilizing a gyro effect without influencing pivoting motion of the lifting load.
  • a lifting load attitude control system utilizing a gyro effect comprises:
  • the lifting load pivoting clutch is placed in engaged or connected position.
  • the gimbal When external disturbance, such as wind or so forth is exerted on the lifting load for causing pivoting motion about the pivoting axis, the gimbal is rotated to place the spinning shaft of the flywheel at the orientation close to vertical depending upon the magnitude of the externally applied disturbing force. Thereafter, when the gimbal is returned to the initial position, the lifting load pivoting clutch is placed in disengaged condition and the rotational driving portion is driven in reverse direction. Then, the gimbal rotates obliquely. At this time, since the flywheel is held rotating, gyro effect is caused to rotation of the gimbal frame in the same direction.
  • the gimbal frame and the gyro frame are spaced away from each other, the gimbal may solely rotated without influencing to the gyro frame. Accordingly, the gimbal may be returned to the initial position without exerting pivoting force to the lifting load in the same direction.
  • the lifting load attitude control system may further comprise:
  • the resetting obliquely rotating clutch In the normal rotating operation, in addition to maintaining of the lifting load pivoting clutch in the engaged condition, the resetting obliquely rotating clutch is placed in the disengaged position. Upon oblique rotation for returning the gimbal to the initial position, the resetting obliquely rotating clutch is placed in engaged position and the lifting load pivoting clutch is placed in disengaged position.
  • the resetting oblique rotation driving portion is driven at this position, similarly to the first aspect of the invention, the gimbal may be rotated without exerting pivoting force for the lifting load.
  • the lifting load attitude control system may further comprise a variable constant torque transmitting device provided between the gyro frame and the gimbal frame.
  • the gimbal frame Upon obliquely rotating the gimbal to return to the initial position, the gimbal frame is rotated by gyro effect. Then, only relatively small torque set by the variable constant torque transmission device is transmitted to the gyro frame. The gimbal can be quickly returned to the initial position with little influence for gyro frame and thus the lifting jig (lifting load). At this time, As a reaction field of the inertia moment of the lifting load, small transmission torque between the gyro frame and the gimbal frame serves as a force for braking rotation of the gimbal frame.
  • a method for controlling pivoting motion of a lifting load hanged by a lifting jig employing a lifting load attitude control system as set forth above comprises the steps of:
  • a lifting load attitude control system utilizing a gyro effect comprises:
  • a method for controlling pivoting motion of a lifting load hanged on a lifting jig employing a lifting load attitude control system utilizing a gyro effect as set forth above comprises the steps of:
  • the gimbal is forcedly rotated by the rotational driving portion to cause the gyro effect to rotate the lifting jig (lifting load) in the direction not being obstructed by the weight component of the lifting load.
  • the lifting jig or the lifting load is placed at the fixing portion, such as the construction, ground or so forth, or fixed by other means so as not to pivot irrespective of rotation of the gimbal.
  • the fixing portion such as the construction, ground or so forth, or fixed by other means so as not to pivot irrespective of rotation of the gimbal.
  • the gimbal is rotated in the direction requiring smaller rotational magnitude to reach the initial position.
  • the gimbal is locked.
  • the gimbal may be reset at the initial position with releasing the gyro effect, lifting operation for the lifting load requiring pivoting of the lifting load can be continuously performed.
  • a lifting load attitude control system utilizing a gyro effect comprising:
  • Figs. 1 and 2 show a lifting load attitude controlling system utilizing a gyro effect according to the present invention.
  • the shown lifting load attitude controlling system includes a box shaped gyro frame 1 hanged by a crane (not shown), a lifting jig 4 formed with wide flange beam or H steel for hanging down a lifting load 3 (wide flange beam in the shown case) with hanging ropes 2, 2 fixedly integrated in the horizontal condition on the bottom portion of the gyro frame 1, a gimbal frame 6 rotatable about a vertical rotation axis 5 within the gyro frame 1, a gimbal 8 rotatable about a rotation shaft 7 with respect to the gimbal frame 6, and a flywheel 10 which can spin about a spinning shaft 9 with respect to the gimbal 8.
  • the gimbal 8 is rotatable at appropriate speed in forward and reverse directions about the rotation axis 7 (axis parallel to the lifting jig 4) perpendicular to a surface including a rotation axis 5 of the gimbal frame 6 by means of a gimbal driving motor 11 (rotary driving portion) mounted on the gimbal frame 6.
  • the flywheel 10 can spin at high speed about the spinning shaft 9 perpendicular to the surface including the rotation shaft 7 of the gimbal 8 by a not shown spinning motor (spin driving portion) mounted on the gimbal.
  • the gimbal driving motor 11 and the spinning motor are electromagnetic motors driving for rotation and spinning of the rotation shaft 7 and the spinning shaft 9 in non-contact state, respectively.
  • a driven pulley 12 is connected to one end of the rotation shaft 7 of the gimbal 8.
  • a driving pulley 14 is connected to one end of a rotary driving shaft 13 arranged in parallel to the rotation shaft 7. Between both pulleys 12 and 14, a timing belt 15 is wound around.
  • a rotational driving force of the gimbal driving motor 11 is transmitted to the rotary driving shaft 13 via a helical gear box 16.
  • the other end of the rotary driving shaft 13 is releasably connected to a resetting obliquely rotating motor 19 (resetting obliquely rotating driving portion) via a resetting obliquely rotating clutch 17 (electromagnetic clutch) and a speed reduction mechanism 18.
  • the gimbal driving motor 11 can drive to rotate the rotary driving shaft 13 in forward and reverse directions in non-contact condition.
  • a warm gear mechanism 18 has non-reversible characteristics for permitting transmission of a driving force from the setting obliquely rotating motor 19 to the rotary driving shaft 13 but prohibiting transmission of driving force from the rotary driving shaft 13 to the resetting oblique rotating motor 19.
  • the resetting obliquely rotating clutch 17 is placed in released condition, the rotational driving force of the gimbal driving motor 11 is transmitted to the rotating driving shaft 13 and then transmitted to the rotation shaft 7 of the gimbal 8 via the driving pulley 14, the timing belt 15 and driven pulley 12 in order.
  • the resetting obliquely rotating clutch 17 is placed in engaged condition, obliquely rotating driving force of the resetting obliquely rotating motor 19 is transmitted to the rotary driving shaft 13 and then transmitted to the rotation shaft 7 of the gimbal 8. Accordingly, the gimbal driving motor 11 drives the gimbal 8 in forward and reverse directions, whereas the resetting obliquely rotating motor 19 is adapted to drive the gimbal obliquely upon returning to the initial position.
  • the resetting obliquely rotating clutch may be directly connected to the gimbal via the driven pulley 12 instead of connecting to the resetting obliquely rotating motor 19.
  • a lifting road rotating clutch 20 for contacting and releasing the surfaces.
  • the lifting load pivoting clutch 20 is placed in connecting condition, the gimbal frame 6 rotates integrally with the gyro frame 1, namely the lifting jig 4 (lifting load 3).
  • the lifting load pivoting clutch 20 is released, even when rotation of the gimbal 8 is transmitted to the gimbal frame 6, the transmitted rotation force will never influence to the lifting jig 4 (lifting load).
  • variable constant torque transmitting device 21 is provided between the lower surface of a ceiling portion of the gyro frame 1 and the upper surface of the ceiling portion of the gimbal frame 6.
  • the variable constant torque transmitting device 21 is adapted to transmit only torque preliminarily set to be smaller among rotating forces of the gimbal frame 6.
  • the gimbal frame 6, the gimbal 8, the flywheel 10 and so forth form a gyro.
  • a n oblique rotation detector 22 for detecting obliquely rotating condition of the gimbal, is provided.
  • a control unit 23 and so forth controlling the gyro, the oblique rotation detector 22 and so forth control rotational driving of the gimbal driving motor 11, the spinning motor and the resetting obliquely rotating motor 19, and controlling rotational driving of the resetting oblique rotation clutch 17, the lifting load pivoting clutch 20 for contacting and releasing.
  • the lifting load pivoting clutch 20 Upon normal rotating operation, the lifting load pivoting clutch 20 is placed in connected condition and the resetting obliquely rotating clutch 17 is placed in disconnected or released condition. At this condition, the spinning driving motor and the gimbal driving motor 11 are driven to rotatingly drive the gimbal for generating gyro effect to cause rotation of the lifting load 3 via the gimbal frame 6, the gyro frame 1 and the lifting jig 4.
  • rotational driving of the gimbal 8 when rotational driving of the gimbal 8 is stopped, the gimbal 8 is driven to rotate by rotational force of the lifting load 3. By the gyro effect thus generated, the pivoting force of the lifting load 3 can be canceled to stop pivoting motion of the lifting load 3.
  • the gimbal 8 When external disturbance, such as wind and so forth is exerted on the lifting load 3, the gimbal 8 is rotated to orient spinning shaft 9 of the flywheel 10 at an angle close to vertical depending upon the force of external disturbance. Subsequently, upon obliquely driving the gimbal to return to the initial position, the resetting obliquely rotating clutch 17 is placed in the connected condition and the lifting load pivoting clutch 20 is placed in released condition. At this condition, when the resetting obliquely rotating motor 19 is driven, the gimbal 8 is obliquely rotated via the warm gear mechanism 18 and the rotatingly driving shaft 13.
  • the gimbal frame 6 When the gimbal frame 6 is driven to obliquely rotate in the resetting direction, the gimbal frame 6 is rotated in the same direction to the external disturbance by the gyro effect. At this time, since the gyro frame 6 (lifting jig 4) and the gimbal frame 6 are placed in released condition, the rotational force of the gimbal 6 by gyro effect is not transmitted to the gyro frame 1. Accordingly, the rotational force is not transmitted to the lifting jig 4.
  • the resetting obliquely rotating motor 19 is connected to the warm gear mechanism having non-reversible characteristics, anti-gyro moment due to inertia moment of the gimbal frame 6 can be dumped. Accordingly, by applying large torque at low rotation speed for the gimbal, the gimbal frame 6 is rotated by the gyro moment.
  • the rotational force to be transmitted to the gyro frame 1 acts on the variable constant torque transmitting device 21 to be only smaller rotational torque. Thus, the transmitted rotation force may give little influence to the gyro frame 1.
  • acceleration and deceleration control such as speed control for accelerating zone, constant speed zone and decelerating zone or so forth
  • operations of the variable constant torque transmission device 21 and the warm gear mechanism 18 may be caused depending upon oblique rotation speed and torge of the gimbal and pivoting speed of the gimbal frame 6, in chained manner so as to position of the gimbal at the predetermined position without significantly influencing for pivoting motion of the lifting load 3, and to control braking for the gimbal frame 6.
  • the gyro frame 1 is fixed on the lower portion of the lifting jig 4 in depending condition.
  • the spinning shaft 9 of the flywheel 10 is located at lower side of the rotation shaft 7 of the gimbal 8.
  • a stopper 30 is provided at inner side portion of the gyro frame 1 for restricting range of rotation of the gimbal 8.
  • the rotational position detecting sensor 31 is provided on the outer side of the gyro frame 1.
  • rotational position detecting sensor 31 various sensors, such as those combined with an encoder, a potentiometer or limit switch, those combined with a photosensor or so forth may be employed.
  • a rotational position detecting sensor 31 is essential in the shown embodiment, it is not essential to fixedly secure the gyro frame 1 in dependent manner, to provide the stopper 30, and to position the spinning shaft 9 at lower side of the rotation shaft 7.
  • the lifting jig 4 or lifting load 3 is placed on the ground or stationary portion of the construction to make impossible to pivot the lifting load irrespective of rotation of the gimbal 8.
  • the gimbal driving motor 11 is driven in the direction requiring smaller rotational magnitude to the initial position.
  • a radio apparatus for transmitting and receiving an operation signal from remote position is provided.
  • the operator performs ratio operation through an operating radio apparatus in hand with visually operating rotational attitude of the lifting load 3.
  • the operator can be plural and the operating position can be a plurality of separated positions. When a plurality of operating radio apparatus are employed, it is desirable to set preference of operation for assuring security.
  • the reference numeral 33 denotes a power source unit, in which a power source battery and a battery charger are provided.
  • a power source converter may be provided.
  • Fig. 5 shows a further embodiment of the method and system for controlling attitude of the lifting load according to the present invention.
  • a plurality of rotation control systems are employed for one lifting load 3.
  • any one of the radio apparatus is taken as a master.
  • a cable connector 34 is provide for making the signal thereof in common to other radio apparatus.
  • respective rotation control apparatus can be synchronized with each other.
  • the gyro frame 1 is fixed on the lifting jig so that the weight of the lifting load 3 and the lifting weight of the lifting equipment will not be exerted directly on the gyro frame 1.
  • FIG. 6 shows the still further embodiment of the lifting load attitude control system employing a gyro effect, according to the present invention.
  • an air ejection means 40 are provided at both ends of a lifting jig 4.
  • the gimbal 8 displaced from the offset position is returned to the initial position.
  • Each of air ejection means 40 is provided with an electromagnetic opening and closing valve 45 is connected to the second flexible hose 44.
  • an air ejection nozzle 46 extending in horizontal direction perpendicular to longitudinal direction of the lifting jig 4
  • an air ejection nozzle 47 extending in horizontally outside long the longitudinal direction of the lifting jig 4 are connected. Then, by controlling opening and closing the electromagnetic opening and closing valve 45, the compressed air is selectively ejected from respective nozzles 46 and 47.
  • the nozzle 46 ejects air foward tangent direction of a horizontal circle having a diameter of the lifting jig 4.
  • the lifting jig 4 is rotated in the direction opposite to the air ejecting direction, or in the alternative, is shifted in parallel in the direction perpendicular to the longitudinal direction of the lifting jig.
  • the lifting jig 4 can be shifted in the direction toward which a composite propelling force by reaction of air ejection is directed.
  • the air ejection means 40 is arranged at the same distance from the rotational axis in the lifting jig, in order to cause the foregoing effect.
  • the electromagnetic opening and closing valve 45 is desirable to intermittently eject air from the nozzles 46 and 47 by opening and closing the valve in quire short cycle. This is because influence of the pressure loss at the intermediate position of the pressurized air supply path (particularly to the second flexible hose 44) is little and thus high pressure and high speed air ejection can be obtained.
  • the rotational position detecting sensor 30 for detecting rotational position of the gimbal is provided similarly to the second embodiment.
  • a brake device 48 for braking rotation of the rotation shaft 7 of the gimbal is provided outside of the gyro frame 1, and a free rotation control device 48 for electrically controlling free rotation of the rotation shaft 7 are provided.
  • the free rotation control device 49 is a known device for preventing the rotation shaft 7 from rotation in the forward or reverse direction or for preventing the rotation shaft 7 from rotating in any of the forward and reverse directions for disabling free rotation.
  • the gimbal When the lifting load 3 is subject external disturbance, such as wind or so forth, during lifting operation, and thus the gimbal is significantly displaced from the offset position in the extent corresponding to the magnitude of absorbed external disturbance, or upon restrating, the gimbal is returned to the initial position in the following manner.
  • external disturbance such as wind or so forth

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Load-Engaging Elements For Cranes (AREA)
EP19960302779 1996-04-19 1996-04-19 Verfahren und Anlage zur Lageregelung einer gehobenen Last mittels eines Gyroskops Expired - Lifetime EP0802150B1 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE69630439T DE69630439T2 (de) 1996-04-19 1996-04-19 Verfahren und Anlage zur Lageregelung einer gehobenen Last mittels eines Gyroskops
EP19960302779 EP0802150B1 (de) 1996-04-19 1996-04-19 Verfahren und Anlage zur Lageregelung einer gehobenen Last mittels eines Gyroskops

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP19960302779 EP0802150B1 (de) 1996-04-19 1996-04-19 Verfahren und Anlage zur Lageregelung einer gehobenen Last mittels eines Gyroskops

Publications (2)

Publication Number Publication Date
EP0802150A1 true EP0802150A1 (de) 1997-10-22
EP0802150B1 EP0802150B1 (de) 2003-10-22

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EP19960302779 Expired - Lifetime EP0802150B1 (de) 1996-04-19 1996-04-19 Verfahren und Anlage zur Lageregelung einer gehobenen Last mittels eines Gyroskops

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EP (1) EP0802150B1 (de)
DE (1) DE69630439T2 (de)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002048482A1 (en) * 2000-12-15 2002-06-20 Vimatek S.R.L. Apparatus for demolition at great height with means for controlling the rotation in a horizontal plane
JP2013035651A (ja) * 2011-08-08 2013-02-21 Hitachi Plant Technologies Ltd 回転治具及び吊荷旋回装置
JP2017214213A (ja) * 2016-06-02 2017-12-07 株式会社大林組 吊荷方向制御装置及び吊荷方向制御装置の制御方法
US9896311B2 (en) 2013-12-02 2018-02-20 Savant Tech As Method and system for controlling a load
CN108791751A (zh) * 2017-05-05 2018-11-13 北京京冶轴承股份有限公司 一种索吊止旋转向器及直升机
JP2019078046A (ja) * 2017-10-24 2019-05-23 ライト工業株式会社 法面への吹付材料の吹付装置

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1940375A1 (de) * 1969-01-03 1970-07-23 Skagit Corp Vorrichtung zur Einstellung einer frei drehbar abgestuetzten Last in eine bestimmte Drehstellung
DE2009847A1 (de) * 1970-03-03 1971-09-16 Blohm Voss Ag Vorrichtung zum Drehen einer hangenden Last um ihre vertikale Achse
DE2035367A1 (de) * 1970-07-16 1972-01-20 Tax H Kreiselsystem zur Orientierung hangender Lasten
DE2356504A1 (de) * 1973-11-13 1975-05-15 Krupp Gmbh Lastaufnahmemittel eines hebezeuges, insbesondere eines container-kranes

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1940375A1 (de) * 1969-01-03 1970-07-23 Skagit Corp Vorrichtung zur Einstellung einer frei drehbar abgestuetzten Last in eine bestimmte Drehstellung
DE2009847A1 (de) * 1970-03-03 1971-09-16 Blohm Voss Ag Vorrichtung zum Drehen einer hangenden Last um ihre vertikale Achse
DE2035367A1 (de) * 1970-07-16 1972-01-20 Tax H Kreiselsystem zur Orientierung hangender Lasten
DE2356504A1 (de) * 1973-11-13 1975-05-15 Krupp Gmbh Lastaufnahmemittel eines hebezeuges, insbesondere eines container-kranes

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002048482A1 (en) * 2000-12-15 2002-06-20 Vimatek S.R.L. Apparatus for demolition at great height with means for controlling the rotation in a horizontal plane
JP2013035651A (ja) * 2011-08-08 2013-02-21 Hitachi Plant Technologies Ltd 回転治具及び吊荷旋回装置
US9896311B2 (en) 2013-12-02 2018-02-20 Savant Tech As Method and system for controlling a load
JP2017214213A (ja) * 2016-06-02 2017-12-07 株式会社大林組 吊荷方向制御装置及び吊荷方向制御装置の制御方法
CN108791751A (zh) * 2017-05-05 2018-11-13 北京京冶轴承股份有限公司 一种索吊止旋转向器及直升机
JP2019078046A (ja) * 2017-10-24 2019-05-23 ライト工業株式会社 法面への吹付材料の吹付装置

Also Published As

Publication number Publication date
DE69630439D1 (de) 2003-11-27
DE69630439T2 (de) 2004-07-29
EP0802150B1 (de) 2003-10-22

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