Control device for swinging suspended loads

Abstract

To provide a turn control device for a hoisted load, which can be made compact and which can suppress power consumption and perform stable control.SOLUTION: The attitude of a hoisted load 3 which has been suspended is turn-controlled through a gyro effect generated by tilting the rotary axis of a rotating flywheel 4. A plurality of flywheels 4 is provided. These flywheels 4 are integrally tilted about one tilting axis (Y axis). Accordingly, as an output is acquired through the gyro effect at each flywheel 4, turn control performance can be enhanced while reducing the size of a turn control device 1. The turn control performance can be adjusted to be suitable for the hoisted load 3 by adjusting the number of rotary-driven flywheels 4. Thus, power consumption can be suppressed. The number of tilting control systems can be one, and stable control can be performed.SELECTED DRAWING: Figure 1

Claims

1. A control device for controlling the rotation of a suspended load by the gyroscopic effect generated by tilting the rotation axis of a rotating flywheel, Multiple flywheels are provided, and these flywheels are arranged in parallel with a predetermined distance between them in the axial direction of the rotation axis (X-axis), and all of these flywheels are capable of rotating in the same direction at the same rotational speed. A swing control device for suspended loads, characterized in that these multiple flywheels are housed in a gimbal that encloses them as a single unit, and the swing control device is spun around the Z-axis by tilt control of this gimbal on a single tilt axis (Y-axis) perpendicular to the rotation axis (X-axis) of the flywheels.

2. The slewing control device for a suspended load according to claim 1, wherein two flywheels are provided, the two flywheels are spaced apart in the direction of the rotation axis, and the tilt axis is positioned at the center of the space between these flywheels.

3. The slewing control device for a suspended load according to claim 1, wherein each of the plurality of flywheels is supported by a separate rotating shaft, each rotating shaft is arranged in series on the same axis, and each rotating shaft supporting each flywheel is independently driven to rotate, and the number of flywheels to be driven to rotate can be arbitrarily adjusted.

4. The slewing control device for a suspended load according to claim 1, wherein the plurality of flywheels are supported by a single rotating shaft or by connecting the rotating shafts supporting each flywheel to support them by a continuous rotating shaft, and all of these plurality of flywheels are rotationally driven.

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