Output interference type aerial moving apparatus

Abstract

To efficiently move and control an object by suspending the object by a linear body through guides arranged in two places of a wall surface upper part.SOLUTION: When the object 40 is located at the position of the object 40a, the load torque T3 is 0. 9Nm, and the load torque T4 is 0. 1Nm, the torque T1 is 0. 5Nm, and the torque T2 is 0. 4Nm. When the object 40 is located at the position of the object 40b, the load torque T3 is 0. 1Nm, and the load torque T4 is 0. 9Nm, the torque T1 is 0. 5Nm, and the torque T2 is - 0. 4Nm. -0. 4Nm indicates a torque of 0. 4Nm in the negative rotation direction of the motor. In the conventional aerial moving apparatus, substantially the same load is applied to the winch 11 and the winch 12, but in the output interference type aerial moving apparatus, the load applied to the second motor 132 is about half the load applied to the first motor 131.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an output interference type aerial moving device that suspends a camera, inspection device, cleaning device, etc. (hereinafter simply referred to as "object") with a wire rope, belt, chain, etc. (hereinafter simply referred to as "linear body") via pulleys or support brackets, etc. (hereinafter simply referred to as "guides") provided at two locations on the upper part of a wall, and controls the movement of the object. [Background technology]

[0002] A known technology is to install winches (which use actuator output to operate a drum around which a linear object is wound and control the length of the linear object unwound from the drum) on both ends of the upper part of a wall, and to control the length of the linear object to move the object. For example, Patent Document 1 discloses a technology to control the position of a gondola by winding and unwinding a wire using indexing devices attached to two locations on the roof of a building. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 11-350718 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the technology disclosed in Patent Document 1 results in the same state as a hanging crane directly below the winch, and the winch on the opposite side does not contribute to the movement of the object. As such, with the conventional technology, when the object is located directly below the winch, one winch had to support the entire mass, which meant that two winches were required, one on each side, to support the entire mass, which was inefficient.

[0005] The present invention has been made to solve the problems (issues) of the above-mentioned conventional technology, and aims to provide an output interference type aerial moving device that can suspend an object from a linear body via guides provided at two locations on the upper part of a wall surface and efficiently control the movement of the object. [Means for solving the problem]

[0006] In order to solve the above problems, the present invention provides an output interference type aerial moving device that suspends an object with a linear body via two guides provided at two locations on the upper part of a wall and controls the winding of the linear body, and is characterized by comprising a first motor, a second motor, and an output interference mechanism that aggregates the power of the first motor and the second motor and drives two winding means.

[0007] Furthermore, in the above invention, the present invention is characterized in that the output interference mechanism includes a first winding means that drives the winding of a first linear body hung on a first guide, a second winding means that drives the winding of a second linear body hung on a second guide, a first wire driving body that aggregates the rotational forces of the first motor and the second motor and rotationally drives the first winding means, and a second wire driving body that aggregates the rotational forces of the first motor and the second motor via a first gear and a second gear, respectively, and rotationally drives the second winding means.

[0008] Furthermore, in the above invention, the present invention is characterized in that, when the torque of the first winding means is T3 and the torque of the second winding means is T4, the torque of the first motor is expressed as T1 = 1 / 2 (T3 + T4) and the torque of the second motor is expressed as T2 = 1 / 2 (T3 - T4).

[0009] Furthermore, in the above invention, the present invention is characterized in that, when the rotational angular velocity of the first motor is ω1 and the rotational angular velocity of the second motor is ω2, the first winding means is rotationally controlled at ω3=1 / 2(ω1+ω2) and the second winding means is rotationally controlled at ω4=1 / 2(ω1-ω2).

[0010] Furthermore, the present invention is characterized in that, in the above invention, the device further comprises a control terminal that controls the rotation of the first motor and the second motor.

[0011] In addition, in the above invention, the present invention is characterized in that the control terminal includes a movement operation receiving unit that receives a movement operation of the object, a wire length calculation unit that calculates the wire length required to wind the first linear body and the second linear body, and a wire length transmission unit that transmits the wire length. [Effects of the Invention]

[0012] According to the present invention, an object can be suspended by a linear object via guides provided at two locations on the upper wall surface, and the movement of the object can be controlled efficiently. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 1 is a diagram showing an overview of a conventional airborne mobile device. [Figure 2] FIG. 2 is a diagram showing an outline of an output interference type aerial moving device. [Figure 3] FIG. 3 is a diagram showing coordinate axes representing the position of an object. [Figure 4] FIG. 4 is a diagram showing the load torque in a conventional aerial moving device depending on the position of an object. [Figure 5] FIG. 5 is a diagram showing the load torque in an output interference type aerial moving device depending on the position of the object. [Figure 6] FIG. 6 is a diagram showing the external configuration of the output interference mechanism, the first motor, and the second motor. [Figure 7] FIG. 7 is a functional block diagram showing the configuration of the control device. [Figure 8] FIG. 8 is a functional block diagram showing the configuration of the control terminal. [Figure 9] FIG. 9 is a diagram illustrating an example of the wire length data illustrated in FIG. [Figure 10]FIG. 10 is a diagram illustrating an example of control over the first motor and the second motor. [Figure 11] FIG. 11 is a flowchart showing a processing procedure for wire length control in the control terminal. DETAILED DESCRIPTION OF THE INVENTION

[0014] An embodiment of an output interference type aerial moving device according to the present invention will be described in detail below with reference to the drawings. In the following embodiment, a wire rope is used as the linear body and a pulley is used as the guide, but the present invention is not limited to this. The linear body can be a wire, chain, belt, rope, or any other material that can suspend an object, and the guide can be a pulley, support rod, or any other material that can support the linear body.

[0015] <Outline of the power interference type airborne moving device> First, we will explain the outline of the power interference type aerial moving device. Figure 1 is a diagram showing the outline of a conventional aerial moving device, and Figure 2 is a diagram showing the outline of an power interference type aerial moving device. The power interference type aerial moving device is a device in which an power interference mechanism is added to a conventional aerial moving device.

[0016] As shown in Fig. 1, a conventional aerial moving device has a winch 11 and pulley 21, and a winch 12 and pulley 22 installed near both ends of a building rooftop, etc. The position of an object 40 is controlled by winding up a first wire rope 31 with winch 11 and a second wire rope 32 with winch 12.

[0017] 2, the power interference type aerial moving device has a power interference mechanism 140 installed near the center of a building rooftop or the like, and controls the position of the target object 40 by winding up the first wire rope 31 with a first drum 151 (an example of the first winding means of the present invention) and the second wire rope 32 with a second drum 152 (an example of the second winding means of the present invention). The winding up operations of the first drum 151 and the second drum 152 are performed by an output obtained by combining the outputs of the first motor 131 and the second motor 132 by the power interference mechanism 140.

[0018] In the conventional aerial moving device shown in Figure 1, when the object 40 is located close to directly below the pulley 21, the load torque T3 applied to the winch 11 is at its maximum value, and the load torque T4 applied to the winch 12 is at its minimum value.

[0019] For example, when the target 40 is at the position of the target 40a, the load torque T3 of the winch 11 becomes a maximum value (for example, 0.9 Nm), and the load torque T4 of the winch 12 becomes a minimum value (for example, 0.1 Nm).

[0020] Furthermore, when the target object 40 is at the position of the target object 40b, the load torque T3 of the winch 11 becomes a minimum value (for example, 0.1 Nm), and the load torque T4 of the winch 12 becomes a maximum value (for example, 0.9 Nm).

[0021] Note that tension is applied to the wire ropes by the object 40. If the tension applied to the first wire rope 31 is F3 (N), the tension applied to the second wire rope 32 is F4 (N), the radius of the winch 11 is r3 (m), and the radius of the winch 12 is r4 (m), then the load torque T3 (Nm) of the winch 11 is expressed as r3F3, and the load torque T4 (Nm) of the winch 12 is expressed as r4F4.

[0022] In contrast to this, in the output interference type aerial moving device shown in FIG. 2, the output interference mechanism 140 combines the outputs of the first motor 131 and the second motor 132 and outputs the combined output to the first drum 151 and the second drum 152.

[0023] In this case, if the load torque of the first drum 151 is T3 and the load torque of the second drum 152 is T4, the torque T1 (Nm) required for the first motor 131 is expressed as 1 / 2(T3+T4), and the torque T2 (Nm) required for the second motor 132 is expressed as 1 / 2(T3-T4).

[0024] For example, when the object 40 is at the position of the object 40a, the load torque T3 is 0.9 Nm, and the load torque T4 is 0.1 Nm, the torque T1 is 0.5 Nm and the torque T2 is 0.4 Nm.

[0025] Furthermore, when the object 40 is at the position of the object 40b, the load torque T3 is 0.1 Nm, and the load torque T4 is 0.9 Nm, the torque T1 is 0.5 Nm and the torque T2 is −0.4 Nm. −0.4 Nm indicates a load torque of 0.4 Nm in the negative rotation direction of the motor.

[0026] In this way, in conventional aerial moving devices, the winches 11 and 12 are subjected to the same amount of load, but in the output interference type aerial moving device, the load applied to the second motor 132 is about half the load applied to the first motor 131.

[0027] In the output interference type aerial movement device, the outputs of two motors are combined using an output interference mechanism, and this combined output is output to two drums that wind up the wire rope, thereby controlling the movement of the object and reducing the torque on the two motors.This means that the object can be suspended by a wire rope via pulleys located at two points on the top of the wall, and the object's movement can be efficiently controlled.

[0028] <Torque required for two motors> Next, we will explain the torque required for the two motors of the output interference type aerial moving device. Since the torque required for the two motors differs depending on the position of the object 40, we will explain the coordinate axes that represent the position of the object 40. Figure 3 is a diagram showing the coordinate axes that represent the position of the object 40.

[0029] As shown in Fig. 3, the center of the horizontal line connecting the upper ends of pulleys 21 and 22 is set as the origin, and the x-axis and y-axis are set. For ease of explanation, the distance between pulleys 21 and 22 is set to 1 m, and the lowest position of the upper end of object 40 is set to 1 m from the x-axis. For example, the position of object 40 shown in Fig. 3 can be expressed as (x, y) = (0.4, -1.0).

[0030] Here, we will explain the torque T1 required for the winch 11 and the torque T2 required for the winch 12 in the conventional aerial moving device. Figure 4 is a diagram showing the absolute value of the torque required for the conventional aerial moving device depending on the position of the object 40.

[0031] 4(a) shows the torque T1 required for the winch 11 using shades of color ranging from 0.01 Nm to approximately 1 Nm. The white area where y is -0.3 or greater is excluded from the display of torque T1 because the load on the winch would be too great to suspend the object 40 with two wire ropes (hereinafter referred to as the "exclusion area") and is therefore excluded from the display of torque T1.

[0032] The torque T1 increases as x approaches −0.5 (directly below pulley 21) or the exclusion zone, and decreases as x approaches 0.5 (directly below pulley 22). For example, when x is near −0.5, the torque T1 reaches a maximum value of approximately 1.0 Nm, and when x is near 0.5, the torque T1 reaches a minimum value of approximately 0.01 Nm.

[0033] 4(b) shows the torque T2 required for the winch 12. The torque T2 increases as x approaches 0.5 (directly below the pulley 22) or the exclusion zone, and decreases as x approaches −0.5 (directly below the pulley 21). For example, when x is near 0.5, the torque T1 reaches a maximum value of approximately 1.0 Nm, and when x is near −0.5, the torque T1 reaches a minimum value of approximately 0.01 Nm.

[0034] In this way, in the conventional aerial moving device, when the object 40 is located directly below the winch 11, the winch 11 bears almost all of the load for suspending the object 40.

[0035] On the other hand, when the object 40 is located directly below the winch 12, the winch 12 bears almost all of the load for suspending the object 40.

[0036] Next, we will explain the torque T1 required for the first motor 131 and the torque T2 required for the second motor 132 in the output interference type aerial moving device. Figure 5 is a diagram showing the absolute value of the torque in the output interference type aerial moving device depending on the position of the target object 40.

[0037] FIG. 5(a) shows the torque T1 required for the first motor 131 by varying the shade of color from 0.5 Nm to approximately 1 Nm.

[0038] The torque T1 increases as the position of the object 40 approaches the exclusion zone, and decreases as the position of the object 40 moves away from the exclusion zone. For example, the torque T1 reaches a maximum value of approximately 1.0 Nm near the exclusion zone, and a minimum value of approximately 0.5 Nm when y is near -1.0.

[0039] 5(b) shows the torque T2 required for the second motor 132. The torque T2 increases as the object approaches directly below pulley 21 or 22 and as x approaches 0.5 or -0.5, and decreases as x approaches 0. For example, when x is near 0.5, torque T1 reaches a maximum value of approximately 0.5 Nm, and when x is near 0, it reaches a minimum value of approximately 0.0 Nm.

[0040] Thus, in the output interference type aerial moving device, the torque T1 required for the first motor 131 and the torque T2 required for the second motor 132 change according to the position of the target object 40, but the ranges over which they change are different. Specifically, the torque T1 is 0.5 Nm to 1.0 Nm, and the torque T2 is 0.0 Nm to 0.5 Nm.

[0041] From the above, in a conventional aerial moving device, the torque required to stop an object is 0.0 Nm to 1.0 Nm for both winch 11 and winch 12, excluding the exclusion area, so the output of both must be equivalent. On the other hand, in a power interference type aerial moving device, while the output of one motor is a maximum of 1.0 Nm, the output of the other motor need only be about half this (approximately 0.5 Nm).

[0042] <External Configuration of Output Interference Mechanism 140, First Motor 131, and Second Motor 132> Next, a description will be given of the external configuration of the output interference mechanism 140, the first motor 131, and the second motor 132. FIG.

[0043] 6, the rotating shaft of the first motor 131 is connected to the inside of the output interference mechanism 140, and a bevel gear 143a is attached to the tip of this rotating shaft. The rotating shaft of the second motor 132 is connected to the inside of the output interference mechanism 140, and a bevel gear 143b is attached to the tip of this rotating shaft.

[0044] The first drum 151 and the bevel gear frame 145 are fixedly connected, and the bevel gear frame 145 provides a bearing for the bevel gears 143a, 143b, 143c, and 143d. The bevel gears 143a to 143d and the bevel gear frame 145 correspond to a first wire driving body in the claims, and the first drum 151 corresponds to a first winding means in the claims.

[0045] The rotation of the first motor 131 causes the bevel gear 143a to rotate in the same manner, and the rotation of the second motor 132 causes the bevel gear 143b to rotate in the same manner. The bevel gears 143a and 143b are both meshed with the bevel gears 143c and 143d, and due to the difference in rotation speed between the bevel gears 143a and 143b, the bevel gears 143c and 143d operate as planetary gears.

[0046] The operation of the bevel gear 143c and the bevel gear 143d as planetary gears rotates the bevel gear frame 145 and the first drum 151. This rotation of the first drum 151 results in the winding operation of the first wire rope 31.

[0047] When the angular velocity of rotation of the first motor 131 is ω1 and the angular velocity of rotation of the second motor 132 is ω2, the angular velocity of rotation ω3 of the first drum 151 is expressed as follows: ω3=1 / 2(ω1+ω2) (Equation 1)

[0048] Furthermore, gear 141a is fixedly connected to the rotation shaft of first motor 131. Gear 141a meshes with gear 141b, and gear 141b meshes with gear 141c. This causes gear 141c to rotate in the same direction as the rotation of the rotation shaft of first motor 131. The angular velocity of rotation of gear 141c is represented by ω1. Gears 141a to 141c correspond to the first gear in the claims.

[0049] Gear 142a is fixedly connected to the rotary shaft of second motor 132. Gear 142a is meshed with gear 142b, causing gear 142b to rotate in the opposite direction to the rotation of the rotary shaft of second motor 132. The angular velocity of rotation of gear 142b is expressed as -ω2. Gears 142a and 142b correspond to the second gear recited in the claims.

[0050] A bevel gear 144a is attached to the tip of the rotation shaft of the gear 141c, and a bevel gear 144b is attached to the tip of the rotation shaft of the gear 142b.

[0051] The second drum 152 and the bevel gear frame 146 are fixedly connected, and the bevel gear frame 146 provides a bearing for the bevel gears 144a, 144b, 144c, and 144d. The bevel gears 144a to 144d and the bevel gear frame 146 correspond to the first wire driving body in the claims, and the second drum 152 corresponds to the second winding means in the claims.

[0052] The rotation of gear 141c causes bevel gear 144a to rotate in the same manner, and the rotation of gear 142b causes bevel gear 144b to rotate in the same manner. Bevel gears 144a and 144b are both meshed with bevel gears 144c and 144d, and due to the difference in rotation speed between bevel gears 144a and 144b, bevel gears 144c and 144d operate as planetary gears.

[0053] The operation of the bevel gears 144c and 144d as planetary gears rotates the bevel gear frame 146 and the second drum 152. This rotation of the second drum 152 results in the winding operation of the second wire rope 32, and its angular velocity ω4 is expressed as follows: ω4=1 / 2(ω1-ω2) (Equation 2)

[0054] <Configuration of the control device 100> Next, the configuration of the control device 100 in the output interference type aerial moving device will be described. Fig. 7 is a functional block diagram showing the configuration of the control device 100. As shown in Fig. 7, the control device 100 has a control unit 110, a communication unit 120, a first motor 131, a second motor 132, an output interference mechanism 140, a first drum 151, and a second drum 152.

[0055] The control unit 110 is a processing unit that controls the operations of the first motor 131 and the second motor 132. When the control unit 110 receives wire control length information from the control terminal 200, it calculates the operation parameters of the first motor 131 and the second motor 132 required to reel out and reel in the wire rope using the first drum 151 and the second drum 152 at the first wire control length and the second wire control length included in the wire control length information. Then, the control unit 110 notifies the first motor 131 and the second motor 132 of the calculated operation parameters.

[0056] The communication unit 120 is an interface unit for communicating data with the control terminal 200 by short-range wireless communication such as Wi-Fi (registered trademark). The first motor 131 and the second motor 132 are devices for supplying power to the output interference mechanism 140.

[0057] The output interference mechanism 140 is a device that combines the outputs of the first motor 131 and the second motor 132 and outputs the combined output to the first drum 151 and the second drum 152. The first drum 151 and the second drum 152 are devices that perform the operations of unwinding and winding the first wire rope 31 and the second wire rope 32, respectively.

[0058] <Configuration of control terminal 200> Next, the configuration of the control terminal 200 in the output interference type aerial moving device will be described. Fig. 8 is a functional block diagram showing the configuration of the control terminal 200. As shown in Fig. 8, the control terminal 200 has a display operation unit 210, a communication unit 220, a storage unit 230, and a control unit 240.

[0059] The display operation unit 210 is an input / output device such as a touch panel display, etc. The communication unit 220 is an interface unit for communicating data with the control device 100 by short-range wireless communication such as Wi-Fi (registered trademark).

[0060] The storage unit 230 is a storage device such as a hard disk drive or nonvolatile memory, and stores wire length data 231. The wire length data 231 is data indicating the first wire length and the second wire length at the current position of the object 40. The first wire length indicates the length of the first wire rope 31 from the pulley 21 to the object 40, and the second wire length indicates the length of the second wire rope 32 from the pulley 22 to the object 40.

[0061] The control unit 240 is a control unit that performs overall control of the control terminal 200, and includes a movement operation reception unit 241, a wire length calculation unit 242, and a wire length transmission unit 243. In practice, these programs are loaded into a CPU (Central Processing Unit) and executed, causing the movement operation reception unit 241, the wire length calculation unit 242, and the wire length transmission unit 243 to execute their respective corresponding processes.

[0062] The movement action receiving unit 241 is a processing unit that receives the position of the movement destination of the object 40. The movement action receiving unit 241 receives the movement position of the object 40 from the display operation unit 210. The reception method may be to tap the movement position on the wall image displayed on the display operation unit 210, or to input the coordinates of the movement position as numerical values.

[0063] The wire length calculation unit 242 is a processing unit that calculates the controlled wire length. The wire length calculation unit 242 calculates the first wire length and the second wire length at the movement position received by the movement operation receiving unit 241. Then, the wire length calculation unit 242 subtracts the first wire length and the second wire length stored in the wire length data 231 from the calculated first wire length and the second wire length, respectively, to calculate the controlled first wire length and the controlled second wire length.

[0064] The wire length transmission unit 243 is a processing unit that notifies the control wire length information. When the first control wire length and the second control wire length are calculated by the wire length calculation unit 242, the wire length transmission unit 243 notifies the control device 100 of the first control wire length and the second control wire length as control wire length information.

[0065] Next, an example of data stored in the storage unit 230 of the control terminal 200 shown in Fig. 8 will be described. Fig. 9 is a diagram showing an example of the wire length data 231 shown in Fig. 8. The wire length data 231 shown in Fig. 8 indicates a state in which the first wire length is "10.30" m and the second wire length is "7.50" m.

[0066] <Example of Control of First Motor 131 and Second Motor 132> Next, a description will be given of an example of control over the first motor 131 and the second motor 132. Fig. 10 is a diagram showing an example of control over the first motor 131 and the second motor 132.

[0067] When the current position of the object 40 is as shown in FIG. 10(a), the first wire length is 6 m and the second wire length is 11 m.

[0068] If the target object 40 is moved to the position shown in Figure 10(b), the first wire length is 9m and the second wire length is 7m, so the first wire control length is 3m and the second wire control length is -4m.

[0069] Here, if the length of the wire rope unwound by the drum is L (m), the radius of the drum is r (m), the angular velocity of the drum is ω (rad / sec), and the time the drum operates is t (sec), L can be expressed as follows: L=rωt (Equation 3)

[0070] If the radii of the first drum 151 and the second drum 152 are both 0.1 m and the operating time is 10 seconds, the lengths L1 and L2 of the wire ropes unwound by the first drum 151 and the second drum 152 are expressed as follows: L1=ω3 (formula 4) L2=ω4 (formula 5) It should be noted that ω3 is the angular velocity of the first drum 151, and ω4 is the angular velocity of the second drum 152.

[0071] Furthermore, in the output interference mechanism 140, the relationships of (Equation 1) and (Equation 2) exist, and from these equations, ω1 and ω2 can be expressed as follows: ω1=ω3+ω4(Equation 6) ω2=ω3-ω4(Equation 7)

[0072] 10, the first wire control length is 3 m and the second wire control length is −4 m, so L1 = 3 and L2 = −4. From (Equation 4) and (Equation 5), ω3 = 3 and ω4 = −4, and from (Equation 6) and (Equation 7), ω1 = −1 and ω2 = 7.

[0073] That is, by operating the first motor 131 at -1 rad / sec and the second motor 132 at 7 rad / sec for 10 seconds, the target object 40 can be moved from the position shown in Figure 10(a) to the position shown in Figure 10(b).

[0074] <Processing Procedure for Wire Length Control in Control Terminal 200> Next, a description will be given of a processing procedure relating to wire length control in the control terminal 200. Fig. 11 is a flowchart showing a processing procedure relating to wire length control in the control terminal 200.

[0075] 11, if the control terminal 200 receives the movement position of the object 40 (step S101; Yes), it calculates the first wire length and the second wire length at the received movement position (step S102). If the movement position of the object 40 has not been received (step S101; No), it returns to step S101.

[0076] The first wire length and the second wire length stored in the wire length data 231 are subtracted from the calculated first wire length and second wire length, respectively, to calculate the first controlled wire length and the second controlled wire length (step S103).

[0077] The calculated first wire control length and second wire control length are notified to the control device 100 as wire control length information (step S104), and the process ends. The control device 100 controls the first motor 131 and the second motor 132 based on the received wire control length information to move the target object 40.

[0078] As described above, in the output interference type aerial movement device, the outputs of two motors are combined by an output interference mechanism, and this combined output is output to two drums that wind up the wire rope, thereby controlling the movement of the object and reducing the torque on the two motors.As a result, the object can be suspended by a wire rope via pulleys located at two points on the top of the wall, and the object's movement can be efficiently controlled.

[0079] In the above embodiment, the differential mechanism is described as using bevel gears in the output interference mechanism, but the present invention is not limited to this. It may also be configured using a strain wave gear mechanism, a planetary gear mechanism, a paradox planetary gear, a cycloid gear, or the like.

[0080] Furthermore, in the above embodiment, a configuration using a single output interference mechanism has been described, but the present invention is not limited to this. A redundant configuration using multiple output interference mechanisms may also be used.

[0081] Furthermore, in the case of a wire rope suspension mechanism, a singular point occurs at the upper center, requiring excessive output. It may be possible to combine this with another mechanism that solves this problem.

[0082] Furthermore, the components illustrated in the above embodiments are merely functional schematics and are not necessarily physically configured as shown. In other words, the distribution and integration of each device is not limited to that illustrated, and all or part of the devices can be functionally or physically distributed and integrated in any unit depending on various loads, usage conditions, etc. [Industrial Applicability]

[0083] The output interference type aerial moving device according to the present invention is suitable for cases where an object is suspended by a linear body via guides provided at two locations on the upper part of a wall, and the movement of the object is efficiently controlled. [Explanation of symbols]

[0084] 11, 12 Winch 21, 22 Pulleys 31 First Wire Rope 32 Second Wire Rope 40, 40a, 40b Object 100 control device 110 control section 120 Communications Department 131 First Motor 132 Second motor 140 Output interference mechanism 141a, 141b, 141c gears 142a, 142b gears 143a, 143b, 143c, 143d bevel gears 144a, 144b, 144c, 144d Bevel gears 145, 146 Bevel gear frame 151 First Drum 152 Second Drum 200 Control Terminal 210 Display operation section 220 Communications Department 230 Storage section 231 Wire Length Data 240 Control Unit 241 Movement operation reception unit 242 Wire length calculation unit 243 Wire length transmitter

Claims

1. An output interference type aerial moving device that suspends an object with a linear body via two guides provided at two locations on the upper part of a wall surface and controls the winding of the linear body, a first motor; a second motor; an output interference mechanism that aggregates the power of the first motor and the second motor to drive two winding means; An output interference type aerial moving device comprising:

2. The output interference mechanism includes: a first winding means for driving the winding of the first linear body hung on the first guide; a second winding means for driving the winding of the second linear body hung on the second guide; a first wire driving body that combines the rotational forces of the first motor and the second motor and rotationally drives the first winding means; a second wire driving body that collects the rotational forces of the first motor and the second motor via a first gear and a second gear, respectively, and rotationally drives the second winding means; 2. The output interference type aerial moving device according to claim 1, further comprising:

3. The torque of the first winding means is T ３ and the torque of the second winding means is T ４ When the torque of the first motor is T １ = 1 / 2(T ３ +T ４ ) and the torque of the second motor is T ２ = 1 / 2(T ３ -T ４ 3. The output interference type aerial moving device according to claim 2, characterized in that:

4. The rotational angular velocity of the first motor is ω １ and the rotational angular velocity of the second motor is ω ２ In this case, the first winding means is ３ = 1 / 2(ω １ +ω ２ ) and the second winding means is rotated by ω ４ = 1 / 2(ω １ -ω ２ 3. The output interference type aerial moving device according to claim 2, wherein the rotation is controlled by a power control means.

5. 3. The output interference type aerial moving device according to claim 2, further comprising a control terminal for controlling the rotation of said first motor and said second motor.

6. The control terminal a movement operation receiving unit that receives a movement operation of the object; a wire length calculation unit that calculates a wire length required for winding the first linear body and the second linear body; a wire length transmitting unit that transmits the wire length; 6. The output interference type aerial moving device according to claim 5, further comprising:

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