Method and system for controlling attitude of lifting load utilizing gyro effect

A lifting load attitude control system utilizing a gyro effect, said lifting load attitude control system comprising:

• a lifting jig for supporting a load, said lifting jig being disposed in a horizontal attitude;
• a gyro frame fixed to said lifting jig;
• a gimbal frame supported in said gyro frame;
• a gimbal supported in said gimbal frame by a horizontal rotation shaft having a central longitudinal axis;
• a flywheel capable of spinning, with respect to said gimbal, about a spinning shaft oriented perpendicular to a surface including said central longitudinal axis of said rotation shaft;
• a rotational driving portion mounted on said gimbal frame for driving said gimbal in a forward direction and in a reverse direction;
• a spinning driving portion, mounted on said gimbal, for spinning said flywheel;
• a rotational position detecting sensor for detecting a rotational position of said gimbal, said rotational driving portion controlling rotation of said gimbal from a rotational position toward an initial position on the basis of an output of said rotational position detecting sensor;
• and
• braking means for stopping said rotational driving portion when the rotational position of said gimbal substantially coincides with the initial position.

A lifting load attitude control system utilizing a gyro effect, said lifting load attitude control system comprising:

• a lifting jig for supporting a load, said lifting jig being disposed in a horizontal attitude;
• a gyro frame fixed to said lifting jig;
• a gimbal frame supported in said gyro frame;
• a gimbal supported in said gimbal frame by a horizontal rotation shaft having a central longitudinal axis;
• a flywheel capable of spinning, with respect to said gimbal, about a spinning shaft oriented perpendicular to a surface including said central longitudinal axis of said rotation shaft;
• a rotational driving portion, mounted on said gimbal frame, for driving said gimbal in a forward direction and in a reverse direction;
• a spinning driving portion, mounted on said gimbal, for spinning said flywheel;
• a rotational position detecting sensor for detecting a rotational position of said gimbal;
• air ejecting means for generating a moment about a rotation shaft on said lifting jig for rotating said lifting jig from a rotational position of said gimbal to an initial position by reaction forces provided by air ejection from said air ejecting means on the basis of an output of said rotational position detecting sensor;
• and
• braking means for stopping said rotational driving portion when the rotational position of said gimbal substantially coincides with the initial position of said gimbal.

A lifting load attitude control system utilizing a gyro effect, said lifting load attitude control system comprising:

• a lifting jig for supporting a load, said lifting jig being disposed in a horizontal attitude;
• a gyro frame fixed to said lifting jig;
• a gimbal frame supported in said gyro frame;
• a gimbal supported in said gimbal frame by a horizontal rotation shaft having a central longitudinal axis;
• a flywheel capable of spinning, with respect to said gimbal, about a spinning shaft oriented perpendicular to a surface which includes said central longitudinal axis of said rotation shaft;
• a rotational driving portion, mounted on said gimbal frame, for driving said gimbal in a forward direction and in a reverse direction;
• and
• a spinning driving portion, mounted on said gimbal, for spinning said flywheel,
• wherein said rotation shaft of said gimbal is located above a gravity center of said gimbal including said flywheel.

A lifting load attitude control system utilizing a gyro effect, said lifting load attitude control system comprising:

• a lifting jig for supporting a load, said lifting jig being disposed in a horizontal attitude;
• a gyro frame fixed to said lifting jig;
• a gimbal frame supported in said gyro frame;
• a gimbal supported in said gimbal frame by a horizontal rotation shaft having a central longitudinal axis;
• a flywheel capable of spinning, with respect to said gimbal, about a spinning shaft oriented perpendicular to a surface which includes the central longitudinal axis of said rotation shaft;
• a rotational driving portion, mounted on said gimbal frame, for driving said gimbal in a forward direction and in a reverse direction;
• a spinning driving portion, mounted on said gimbal, for spinning said flywheel;
• and
• stoppers for restricting rotation of said gimbal to within, a predetermined angular range of the spinning axis of said flywheel from a horizontal axis in a vertical plane taking said rotation shaft as a zero coordinate.

A control method employing a lifting load attitude control system utilizing a gyro effect, said control system including:

• a lifting jig for suspending a load, said lifting jig being disposed in a horizontal attitude;
• a gyro frame fixed to said lifting jig;
• a gimbal frame supported in said gyro frame;
• a gimbal supported in said gimbal frame by a horizontal rotation shaft having a central longitudinal axis;
• a flywheel capable of spinning, with respect to said gimbal, about a spinning shaft oriented perpendicular to a surface which includes said central longitudinal axis of said rotation shaft;
• a rotational driving portion, mounted on said gimbal frame, for driving said gimbal in a forward direction and in a reverse direction;
• a spinning driving portion, mounted on said gimbal, for spinning said flywheel;
• a braking mechanism, connected between said gyro frame and said gimbal frame, for effecting braking of rotation of said gimbal;
• and
• control means for pivoting the load suspended from said lifting jig by controlling driving of said rotation driving portion, said spinning driving portion and said braking mechanism,
• wherein said control method comprises stopping rotation of said gimbal by said braking mechanism or locking said gimbal during high speed rotation of said flywheel by driving said spinning driving portion.