JP2004067355A - Auxiliary device for hanging work, inclination angle sensor tool and auxiliary method for hanging work - Google Patents

Auxiliary device for hanging work, inclination angle sensor tool and auxiliary method for hanging work Download PDF

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Publication number
JP2004067355A
JP2004067355A JP2002232233A JP2002232233A JP2004067355A JP 2004067355 A JP2004067355 A JP 2004067355A JP 2002232233 A JP2002232233 A JP 2002232233A JP 2002232233 A JP2002232233 A JP 2002232233A JP 2004067355 A JP2004067355 A JP 2004067355A
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Japan
Prior art keywords
inclination angle
side structure
angle sensor
assembly surface
tilt angle
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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.)
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JP2002232233A
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Japanese (ja)
Inventor
Takao Obara
小原　隆雄
Seiji Takagi
高木　誠司
Keiji Takeuchi
武内　景冶
Takahide Watanabe
渡邊　高英
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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Priority to JP2002232233A priority Critical patent/JP2004067355A/en
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Abstract

<P>PROBLEM TO BE SOLVED: To achieve an auxiliary device for hanging work capable of easily assembling a structure based on an assembly surface. <P>SOLUTION: This auxiliary device for hanging work consists of an inclination angle sensor tool 2 and a controller 7. The inclination angle sensor tool 2 is equipped with an inclination angle sensor, a transmitting means which transmits the inclination angle measured by the inclination angle sensor and a fixing means which is capable of being detachably fixed on a structure on the ground side 1a or a structure on the hung load side 1b. The controller 7 is equipped with a plurality of slings which are engaged with the structure on the hung load side 1b, actuators 4a, 4b which are attached onto each sling and moves the slings in accordance with control signals, a storage/calculation means of calculating sling movement amount of the actuators on the basis of the inclination angle transmitted from the inclination angle sensor tool 2 and a transmitting means of transmitting the control signals to the actuators. <P>COPYRIGHT: (C)2004,JPO

Description

【０００１】
【発明の属する技術分野】
本発明は、構造物をクレーンによる吊り上げ作業で組み付ける場合に用いる吊り作業補助装置、吊り作業補助方法、並びに吊り作業補助装置に組立面の姿勢移動量を提供し、構造物の組立面に簡便に取り付けることができる傾斜角センサー冶具に関するものである。
【０００２】
【従来の技術】
従来、プラントの組立や据付作業時における吊り作業を補助する際に使われる吊り作業補助装置は、傾斜角センサーを用いて、接地時の構造物の傾斜角度によって、吊り上げ前後の構造物の傾斜角度を調整しているのみであった。図８は、例えば特開２００１−１９３５１号公報に示された従来の構造物の姿勢を維持して吊り上げる吊り作業補助装置の一例である。図中、１０１は吊り上げられた構造物（吊荷側構造物）、１０３はフック、１０８は傾斜角センサー、１０９はアクチュエータである油圧シリンダー、１１０は制御装置、をそれぞれ示す。
【０００３】
以下、従来の吊り作業補助装置の動作を説明する。吊り下げられる構造物１０１が接地面に置かれた状態における構造物の傾斜角を、傾斜角センサー１０８により姿勢初期値として取り込む。フック１０３を介してクレーン等によって構造物１０１を吊り上げた後、制御手段１１０によってアクチュエータである油圧シリンダー１０９を制御することで姿勢初期値の傾斜角度になるよう構造物１０１の位置を調整、保持している。
【０００４】
【発明が解決しようとする課題】
上述した従来の吊り作業補助装置および吊り作業補助方法では、吊り作業によって組立てられる構造物１０１の組立面に対する傾斜角度の情報を何ら取得していなかった。よって、図９（ａ）のように、吊荷側構造物１０１ｂの接地面が接地された構造物１０１ａに対して元々傾斜している状態で、両者の組立面１５１ａ、ｂを平行に保持するには吊荷側構造物１０１ｂを傾斜させねばならない場合や、図９（ｂ）のような一方の接地面側構造物１０１ａが傾斜している接地面に置かれている場合の組立作業では、従来の吊り作業補助装置および吊り作業補助方法を、両者の構造物の組立面間を接続する組み付け作業に適用するのは極めて困難であった。また、傾斜角センサー１０８を構造物１０１に取り付ける場合、構造物の組立面の機構に対応した専用の取り付けネジや、孔を全ての構造物毎に準備する必要があり、作業性が悪かった。
【０００５】
さらに、構造物１０１ａ，ｂ間の取り付け精度を向上させようとすると、傾斜角センサー１０８が固有に有するオフセット値が無視できなくなり、傾斜角センサー冶具のオフセット補正を行うための冶具を新たに準備し、吊り作業毎にオフセット補正をする必要があり、作業効率が良くなかった。
【０００６】
本発明は、上記のような問題点を解決するために、構造物の組立面に専用の取り付けネジや孔を準備する必要のない簡便に取り付けられる傾斜角センサー冶具および冶具を取り付けた状態でオフセット補正ができ、クレーンによる吊り作業で構造物を組立面基準で組立てることができる吊り作業補助装置および傾斜角センサー治具並びにかかる吊り作業補助装置を用いた作業性に優れた吊り作業補助方法を提供することを目的としている。
【０００７】
【課題を解決するための手段】
本発明に係る吊り作業補助装置は、吊り上げられた吊荷側構造物を接地面上の接地面側構造物に組み付ける作業に使用する吊り作業補助装置であって、傾斜角センサー、上記傾斜角センサーによって測定された傾斜角度を送信する送信手段、および上記接地面側構造物あるいは上記吊荷側構造物に着脱自在に固定可能な固定手段を具備した傾斜角センサー治具と、上記吊荷側構造物に係合される複数の吊索と、上記各吊索に取り付けられ制御信号に従い上記吊索を移動せしめるアクチュエータと、上記傾斜角センサー治具から送信された傾斜角度に基づき上記アクチュエータにおける吊索移動量を算出する記憶・演算手段、および上記アクチュエータに上記制御信号を送信する送信手段を具備した制御装置と、を備えたものである。
【０００８】
また、本発明に係る吊り作業補助装置は、上記制御装置が上記傾斜角センサー治具から送信された傾斜角度の取り込みから上記アクチュエータによる吊索移動までの一連の動作を繰り返すことにより上記角度偏差量が所定値以下になるまで上記吊荷側構造物の姿勢を自動的に調整する調整手段を有するものである。
【０００９】
また、本発明に係る吊り作業補助装置は、上記アクチュエータの上部側に取付けられたフレームを備え、上記制御装置が上記フレームに固定されていることとした。
【００１０】
また、本発明に係る吊り作業補助装置は、上記制御装置がリモートコントローラによる指令によって遠隔動作されることとした。
【００１１】
本発明に係る傾斜角センサー治具は、略円形状の第１の固定用孔およびスライド取付用の第２の固定用孔が形成された板状部材と、上記第１および第２の固定用孔と測定対象である構造物の組立面上に設けられ上記各固定用孔に相対した部位に位置する孔あるいはネジとを介して上記板状部材と上記構造物とを上記第２の固定用孔の範囲内で自在に固定可能な固定手段と、上記板状部材に固定され、傾斜角センサーと送信手段を具備した傾斜角測定部と、を備えた。
【００１２】
また、本発明に係る傾斜角センサー治具は、上記板状部材を上記構造物の組立面に固定するためのテーパー構造のナットを具備したネジ棒を備え、上記組立面上における任意の孔径の孔と上記ナットのテーパー部分で上記孔径と一致する部分を当接させて、上記構造物と上記板状部材とを固定せしめた。
【００１３】
また、本発明に係る傾斜角センサー治具は、略円形状の第１の固定用孔およびスライド取付用の第２の固定用孔がそれぞれ穿たれた第１の取付面、上記第１の取付面に一片同士が結合されかつ第１の取付面と略９０度の方向に延在する連結用の面、上記連結用の面で上記一片に相対するもう一片側に結合され上記第１の取付面と略平行でかつ対向しない側に位置し第１の取付面と略同一の固定用孔を具備する第２の取付面、以上少なくとも３つの面からなる板状部材で構成された本体部と、上記第１および第２の固定用孔と測定対象である構造物の組立面上に設けられ上記各固定用孔に相対した部位に位置する孔あるいはネジとを介して上記本体部と上記構造物とを上記第２の固定用孔の範囲内で自在に固定可能な固定手段と、傾斜角センサーおよび送信手段を具備し上記第１または第２の取付面にネジを介して着脱自在に固定可能な傾斜角測定部と、を備えた。
【００１４】
また、本発明に係る傾斜角センサー治具は、上記第１または第２の取付面を測定対象である構造物の組立面に固定するためのテーパー構造のナットを具備したネジ棒をさらに備え、上記組立面上における任意の孔径の孔と上記ナットのテーパー部分で上記孔径と一致する部分を当接させて、上記構造物と上記本体部とを固定せしめたものである。
【００１５】
本発明に係る吊り作業補助方法は、吊り上げられた吊荷側構造物を接地面上の接地面側構造物に組み付けるための吊り作業補助方法であって、傾斜角センサー治具を接地面側構造物の組立面に取付け、上記組立面の傾斜角度を測定して、制御装置へ傾斜角度を送信するステップと、上記傾斜角センサーを上記接地面側構造物の組立面から取り外すステップと、上記傾斜角センサーを吊荷側構造物の組立面に取付けるステップと、上記傾斜角センサーによって吊り上げ作業時における上記吊荷側構造物の組立面の傾斜角度を測定し、上記制御装置へ傾斜角度を送信するステップと、上記送信された傾斜角度から各組立面間が平行になるように上記吊荷側構造物の姿勢を調整すべく、上記接地面側構造物と吊荷側構造物との組立面間の角度偏差量を計算し、さらに上記角度偏差量に基づいて上記アクチュエータにおける吊索移動量を算出するステップと、上記アクチュエータに上記吊索移動量に基づく制御信号を送信するステップと、上記制御信号に従い上記アクチュエータによって上記吊索を移動させるステップと、上記吊索の移動後に上記傾斜角センサーによって再度上記吊荷側構造物の組立面の傾斜角度を測定し、上記制御装置へ傾斜角度を送信するステップと、を含んでなり、上記接地面側構造物と吊荷側構造物との組立面間の傾斜角度が所定値以下になるまで、上記吊荷側構造物の組立面の傾斜角度の測定のステップと上記吊索の移動のステップを繰り返すこととした。
【００１６】
また、本発明に係る吊り作業補助方法は、上記吊荷側構造物の組立面の傾斜角度の測定のステップと上記吊索の移動のステップの繰り返しが、上記制御装置の調整手段によって自動的に行われることとした。
【００１７】
【発明の実施の形態】
実施の形態１．
本発明の実施の形態１に係る吊り作業補助装置および吊り作業補助方法を、図１、図２に基づき説明する。なお、図１は、本実施の形態に係る吊り作業補助装置を使用して構造物を吊り上げた状態を示す斜視図であり、図２は、無線部（送信手段）、記憶・演算部と画面表示部を有する制御装置の使用例を示した図である。図１、２中、１ａは接地面上に置かれている構造物（接地面側構造物）、１ｂは吊り上げ作業で組立を行う構造物（吊荷側構造物）、２は傾斜角センサー冶具、３はフック、４ａ、４ｂは第１および第２の電動チェーンブロック（アクチュエータ）、５は制御装置、５１ａは接地面側構造物１ａの組立面、５１ｂは吊荷側構造物１ｂの組立面、をそれぞれ示す。
【００１８】
傾斜角センサー冶具２は、吊荷側構造物１ｂの組立面５１ｂに取り付けられており、接地面側構造物１ａの組立面５１ａの傾斜角度は、吊荷側構造物１ｂを吊り上げる前に同一の傾斜角センサー冶具２で測定し、吊荷側構造物１ｂの組立面５１ｂの傾斜角度との差、つまり角度偏差量から第１および第２の電動チェーンブロック４ａ、４ｂにおけるチェーン（吊索）移動量を算出する。
【００１９】
以下に、実施の形態１に係る吊り作業補助装置の動作および吊り作業補助方法について説明する。まず、クレーンによって吊荷側構造物１ｂを吊り上げる前に、接地面側構造物１ａの組立面５１ａに傾斜角センサー冶具２を取り付けて、組立面５１ａの傾斜角度を検出する。次に、接地面側構造物１ａから傾斜角センサー冶具２を取り外して、吊荷側構造物１ｂの組立面５１ｂに傾斜角センサー冶具２に取り付ける。傾斜角センサー治具２が取り付けられた吊荷側構造物１ｂを、クレーン等によりフック３を介してチェーン（吊索）に係合された吊荷側構造物１ｂを接地面から吊り上げる。
【００２０】
傾斜角センサー冶具２内には測定した傾斜角度を送信する送信装置（送信手段）が設置されており、図２に示すように、かかる送信装置によって傾斜角度のデータをクレーンから離れた位置で遠隔操作可能な制御装置５に送信し、制御装置５内の記憶・演算部に記憶する。制御装置５内の記憶・演算部では、両者の傾斜角度の差から角度偏差量を算出する。
【００２１】
電動チェーンブロック４ａ、４ｂのチェーン長さを定量分移動させ、吊荷側構造物１ｂの組立面５１ｂの傾斜角度を傾斜角センサー冶具２によって検出して、かかる傾斜角度のデータを電動チェーンブロック４ａ、４ｂ内に設けられた送信装置を用いて制御装置５側の受信装置に向けて送信する。制御装置５の記憶・演算部では、吊荷側構造物１ｂの組立面５１ｂの傾斜角度の変化量から第１および第２の電動チェーンブロック４ａ、４ｂにおけるチェーン移動量（吊索移動量）を逆算する。かかるチェーン移動量は制御装置５のディスプレイ面上に表示されるので、作業者は表示されたチェーン移動量を見ながら、電動チェーンブロック４ａ、４ｂを操作する制御信号を送信してチェーン長さを変えることにより、吊り上げられた吊荷側構造物１ｂの組立面５１ｂの傾斜角度を調整できる。一旦傾斜角を調整した後、再度傾斜角センサー治具２から送信される組立面５１ｂの傾斜角度に基づき、制御装置５において演算を繰り返してさらに必要な移動量を作業者に呈示する。以上の作業を繰返して、吊荷側構造物１ｂの組立面５１ｂの傾斜角度と接地面側構造物１ａの組立面５１ａの傾斜角度の角度偏差量が零に漸近し、予め設定された許容範囲内、例えば傾斜角センサー冶具２内部に設けられた傾斜角センサーの検出角度分解能以下に収まった時点で、接地面側構造物１ａに対する吊荷側構造物１ｂの組み付けを開始する。
【００２２】
以上、実施の形態１に係る吊り作業補助装置および吊り作業補助方法によると、吊り上げ作業で組立を行う吊荷側構造物の組立面に傾斜角センサー冶具を取り付けるため、クレーン等で吊荷側構造物を吊り上げた時に、吊荷側構造物の組立面の角度情報をリアルタイムに把握することができる。また、組立を行う各構造物の組立面間の角度偏差量により、クレーンと吊荷側構造物の間にある複数台の電動チェーンブロック等のようなアクチュエータの移動量を知ることができるので、作業者は吊荷側構造物の姿勢を相手側の接地面側構造物の組立面に対して平行になるよう容易に調整することができる。
【００２３】
実施の形態２．
本発明の実施の形態２に係る吊り作業補助装置および吊り作業補助方法を、図３に基づき説明する。なお、図３は、本実施の形態に係わる吊り作業補助装置を使用して吊荷側構造物を吊り上げた状態を示す斜視図である。図３中、６はフレーム、７は制御装置であり、図１と同一の符号を付したものは、同一またはこれに相当するものである。
【００２４】
本発明の実施の形態２に係る吊り作業補助装置は、実施の形態１で示した吊り作業補助装置に、さらに、電動チェーンブロック（アクチュエータ）４ａ，ｂの上部にフレーム６およびフレーム６上に固定された制御装置７を設けたものである。制御装置７は実施の形態１に係る吊り作業補助装置における制御装置５に相当するものである。つまり、傾斜角センサー冶具２で検出した傾斜角度を記憶し、吊荷側構造物１ｂの組立面５１ｂと接地面側構造物１ａの組立面５１ａの傾斜角度を平行にするための角度偏差量を演算し、予め設定された許容範囲内であると判断する記憶・演算部と、角度偏差量に従い、第１および第２の電動チェーンブロック４ａ、４ｂのチェーン長さを自動的に調整する調整部（調整手段）を有する。なお、傾斜角センサー冶具２からの傾斜角度のデータは有線で記憶・演算部に送ることは可能であるが、作業上の観点からは無線であることが望ましい。また、かかる制御装置７は、吊り作業をより簡便かつ安全なものにするため、リモートコントローラ（図示せず）からの指令によって遠隔操作される。
【００２５】
以下に、実施の形態２に係る吊り作業補助装置の動作および吊り作業補助方法について説明する。まず、クレーンによって吊荷側構造物１ｂを吊り上げる前に、接地面側構造物１ａの組立面５１ａに傾斜角センサー冶具２を取り付けて、組立面５１ａの傾斜角度を検出する。次に、接地面側構造物１ａから傾斜角センサー冶具２をはずして、吊り上げ作業で組立を行う吊荷側構造物１ｂの組立面５１ｂに傾斜角センサー冶具２に取り付けて、組立面５１ｂの傾斜角度を測定する。傾斜角センサー冶具２内には測定した傾斜角度を送信する送信装置（送信手段）が設置されており、図３に示すように、かかる送信装置から各傾斜角度のデータをフレーム６上部に設置された制御装置７内の受信装置（受信手段）で受信し、さらに記憶・演算部で記憶し、両者の傾斜角度の差から角度偏差量を算出する。
【００２６】
傾斜角センサー治具２が取り付けられた吊荷側構造物１ｂを、クレーン等によってフック３を介して吊り上げる。第１および第２の電動チェーンブロック４ａ、４ｂのチェーン長さを定量分移動させ、吊荷側構造物１ｂの組立面５１ｂの傾斜角度を傾斜角センサー冶具２により検出して、かかる傾斜角度を制御装置７の受信装置（受信手段）に向けて送信する。制御装置７の記憶・演算部では、吊荷側構造物１ｂの組立面５１ｂの傾斜角度の変化量から第１および第２の電動チェーンブロック４ａ、４ｂのチェーン（吊索）移動量を算出する。かかるチェーン移動量に基づく制御信号を制御装置７内の送信装置（送信手段）によって第１および第２の電動チェーンブロック４ａ、４ｂに送信して、チェーン移動量の制御信号に従い第１および第２の電動チェーンブロック４ａ、４ｂのチェーン長さを移動させた後、吊荷側構造物１ｂの組立面５１ｂの傾斜角度を傾斜角センサー冶具２により再度検出し、接地面側構造物１ａの組立面５１ａの傾斜角度と比較して、両者の角度偏差量を算出する。以上の作業を繰返して、吊荷側構造物１ｂの組立面５１ｂの傾斜角度と接地面側構造物１ａの組立面５１ａの傾斜角度の角度偏差量が零に漸近し、予め設定された許容範囲内、例えば傾斜角センサー冶具２内部に設けられた傾斜角センサーの検出角度分解能以下に収まった時点で、接地面側構造物１ａに対する吊荷側構造物１ｂの組み付けを開始する。
【００２７】
制御装置７に設けられた調整部によって、上述の傾斜角センサー治具２から送信された傾斜角度のデータ取り込みから電動チェーンブロック４ａ、４ｂ（アクチュエータ）によるチェーン（吊索）移動までの一連の動作を繰り返すことにより、作業者をわずらわせることなく、角度偏差量が所定値以下になるまで吊荷側構造物１ｂの姿勢を自動的に調整することが可能となる。
【００２８】
以上、実施の形態２に係る吊り作業補助装置および吊り作業補助方法によると、吊り上げ作業で組立を行う吊荷側構造物の組立面に傾斜角センサー冶具を取り付けるため、クレーン等で吊荷側構造物を吊り上げた時に、吊荷側構造物の組立面の角度情報をリアルタイムに把握することができる。また、各構造物の組立面間の角度偏差量により、クレーンと吊荷側構造物の間にある複数台のチェーンブロック等のようなアクチュエータの移動量を知ることができるので、吊り上げた吊荷側構造物の姿勢を相手側の接地面側構造物の組立面に対して、容易に平行に調整することができる。さらに、クレーンと吊荷側構造物の間に複数台の電動チェーンブロック等を設け、傾斜角センサー冶具から得られた偏差角度量に基づき、電動チェーンブロックのチェーン変化量を演算し、調整する制御装置を加えることで、吊り上げた吊荷側構造物の姿勢を相手側の接地面側構造物の組立面に対して自動的に平行に調整することができる。
【００２９】
実施の形態３．
本発明の実施の形態３に係る傾斜角センサー冶具を、図４、５、６に基づき説明する。ここで、図４、５、６は、傾斜角センサー冶具の正面図、側面図、平面図、をそれぞれ示す。図中、８は傾斜角センサー、９は送信用アンテナ、１０は傾斜角測定部、１１は本体部、１２は基準孔（第１の固定用孔）、１３はスライド取付用の孔（第２の固定用孔）、１４、１４ａ、１４ｂ、１４ｃ、１４ｄはネジ棒、１５は段付き棒、１６はテーパー構造のナット、１７はフランジ部、１８ａ、１８ｂは取付面、をそれぞれ示す。
【００３０】
図４、図５に示すように、傾斜角度を検出する傾斜角センサー８は、傾斜角測定部１０内に検出した傾斜角度値を制御装置７の記憶・演算部に伝送する送信用アンテナ９、送信装置（送信手段）、駆動電源及びスイッチ等の電装機器（アンテナ９以外は図示せず）とともに収納されている。傾斜角センサー冶具２は、図６の平面図に示すように、構造物の組立面に相対する２つの平行な取付面１８ａ、１８ｂ（第１および第２の取付面）を有し、両者はもう一つの面（連結用の面）で結合している。なお、取付面１８ａ、１８ｂは、互いに対向しない側に位置している。
【００３１】
各取付面には円形状の基準孔１２とスライド取付用の孔１３が設けられ、いずれか一方の取付面に傾斜角測定部１０が取り付けられている。かかる傾斜角測定部１０は本体部１１にネジで固定されているため着脱自在であって、必要に応じて一方の取付面から外して、他方の取付面に容易に取付けられるようになっている。ここでスライド取付用の孔１３は、図５に示すように、取付面の長辺に平行な長方形状で上下端部のみ半円の形状を呈している孔で、構造物の組立面に対して、固定用のネジ等を自由にスライドさせて孔内の任意の位置で固定可能な構造となっている。
【００３２】
構造物１の組立面上に存する機構がネジ形状か孔形状かによって、傾斜角センサー冶具２の取付け手段を選択する。すなわち、組立面上の機構の種類によって、傾斜角センサー冶具２の本体部１１に設けられた基準孔１２とスライド取付用の孔１３にネジ棒１４であってそれぞれ径の異なる種類１４ａ、１４ｂ、１４ｃ、１４ｄのもの、あるいは段付き棒１５を挿入する。
【００３３】
構造物１の組立面上の機構がネジ形状の場合、そのネジ形状に適合するネジ棒１４を締め込むことで組立面上に精度良く傾斜角センサー冶具２を固定できる。つまり、それぞれ径の異なるネジ棒１４ａ、１４ｂ、１４ｃ、１４ｄの中で、構造物１の組立面上のネジ形状に対して最適な径のものを選択して取り付ける。ネジ棒の径の一例として、ネジ棒１４ａ（Ｍ１６）、ネジ棒１４ｂ（Ｍ２０）、ネジ棒１４ｃ（Ｍ２４）、ネジ棒１４ｄ（Ｍ３０）等が挙げられる。
【００３４】
一方、組立面上の機構が孔状の場合、構造物１の組立面のフランジ部１７裏側から、孔径の変化に対応するためテーパー構造のナット１６と段付き棒１５を組み合わせてフランジ部１７を挟み込みこむことで、傾斜角センサー冶具２を組立面上に精度良く固定できる。すなわち、段付き棒１５を組立面上の孔に挿入し、段付き棒１５に螺着したテーパー構造のナット１６を締めていくことによって、組立面の孔の径と一致するテーパー径部分が当接させることにより、両者を固定できるからである。
【００３５】
構造物１の組立面上のネジまたは孔のピッチ間距離は、スライド取付用の孔１３内においてネジ棒１４、もしくは段付き棒１５をスライドすることで可変に対応することが可能であり、もう一方の基準孔１２にネジ棒１４、もしくは段付き棒１５を挿入しているため、この部分で構造物１と傾斜角センサー冶具２は充分に固定されているので、傾斜角センサー８の位置精度を低下せしめることは無い。
【００３６】
以上、実施の形態３に係る傾斜角センサー冶具では、上記基準孔（第１の固定用孔）およびスライド取付用の孔（第２の固定用孔）と測定対象である構造物の組立面上に設けられ上記各固定用孔に相対した部位に位置する孔あるいはネジとを介して上記板状部材と上記構造物とをスライド取付用の孔の範囲内で自在に固定可能な固定手段を具備するので、簡便に構造物の組立面に取り付けることができる。
【００３７】
実施の形態４．
本発明の実施の形態４に係る傾斜角センサー冶具およびかかる傾斜角センサー冶具を用いた吊り作業補助方法を、図７に基づき説明する。ここで、図７は傾斜角センサー冶具のオフセット補正を示した図である。
【００３８】
一般に傾斜角センサー８の検出する角度は固有のオフセット値を含み組立精度の誤差要因となるため、オフセット値の補正を行う必要がある。実施の形態４に係る傾斜角センサー冶具２は、図６，７に示すように、構造物の組立面に相対する２つの平行な取付面１８ａ、１８ｂを有する。まず、接地面側構造物１ａの組立面５１ａと傾斜角センサー冶具２の取付面１８ａとを上述の段付き棒１５およびテーパー構造のナット１６等の固定手段によって取り付け、接地面側構造物１ａの組立面５１ａの傾斜角度Ａを検出する。次に、吊り上げた吊荷側構造物１ｂの組立面５１ｂに対して、傾斜角センサー冶具２の方向を反転させること無く取付面１８ｂに取り付けて、吊荷側構造物１ｂの組立面５１ｂの傾斜角度Ｂを検出する。
【００３９】
上記傾斜角度Ａは、
Ａ＝（Ａ０＋β）　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　（１）
で表される。（１）式中、Ａ０は傾斜角度の真値、βは傾斜角センサー固有のオフセット値である。一方、上記傾斜角度Ｂは、
Ｂ＝（Ｂ０＋β＋α）　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　（２）
で表される。（２）式中、Ｂ０は傾斜角度の真値、αは傾斜角センサー冶具２の取付面間の平行度である。したがって、両者の角度偏差量Ｃは、ＢからＡを差し引けば求められる。つまり、角度偏差量Ｃは、
Ｃ＝Ｂ０−Ａ０＋α　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　（３）
で表される。（３）式から判るように、（１）式および（２）式に含まれていたオフセット値βは互いに打ち消し合って、角度偏差量Ｃはオフセット値に依存しない。よって、傾斜角センサー冶具２の取付面１８ａ、１８ｂ間の平行度αを測定すれば、傾斜角センサー８のオフセット値に影響されない角度偏差量Ｃを算出することができ、組立面間の平行度を極めて高い精度で保持可能となり、吊り作業の精度が著しく向上する。
【００４０】
以上、実施の形態４に係る傾斜角センサー冶具およびかかる傾斜角センサー冶具を用いた吊り作業補助方法を適用すれば、傾斜角センサーがもつ固有のオフセットに対して、オフセット補正用の冶具を準備する必要無く、構造物の組立面に取り付けた状態でオフセット補正が可能となる。
【００４１】
【発明の効果】
本発明に係る吊り作業補助装置では、吊り上げられた吊荷側構造物を接地面上の接地面側構造物に組み付ける作業に使用する吊り作業補助装置であって、傾斜角センサー、上記傾斜角センサーによって測定された傾斜角度を送信する送信手段、および上記接地面側構造物あるいは上記吊荷側構造物に着脱自在に固定可能な固定手段を具備した傾斜角センサー治具と、上記吊荷側構造物に係合される複数の吊索と、上記各吊索に取り付けられ制御信号に従い上記吊索を移動せしめるアクチュエータと、上記傾斜角センサー治具から送信された上記傾斜角度に基づき上記アクチュエータにおける吊索移動量を算出する記憶・演算手段、および上記アクチュエータに上記制御信号を送信する送信手段を具備した制御装置と、を備えたので、作業者は吊荷側構造物の姿勢を相手側の接地面側構造物の組立面に対して平行になるよう容易に調整することができる。
【００４２】
また、本発明に係る吊り作業補助装置では、上記制御装置が上記傾斜角センサー治具から送信された傾斜角度の取り込みから上記アクチュエータによる吊索移動までの一連の動作を繰り返すことにより上記角度偏差量が所定値以下になるまで上記吊荷側構造物の姿勢を自動的に調整する調整手段を有するので、吊荷側構造物の姿勢を相手側の接地面側構造物の組立面に対して平行になるよう自動的に調整することができる。
【００４３】
また、本発明に係る吊り作業補助装置では、上記アクチュエータの上部側に取付けられたフレームを備え、上記制御装置が上記フレームに固定されているので、リモートコントローラが簡易なもので済む。
【００４４】
また、本発明に係る吊り作業補助装置では、上記制御装置がリモートコントローラによる指令によって遠隔動作されるので、吊り作業がより簡便かつ安全になる。
【００４５】
本発明に係る傾斜角センサー治具では、略円形状の第１の固定用孔およびスライド取付用の第２の固定用孔が形成された板状部材と、上記第１および第２の固定用孔と測定対象である構造物の組立面上に設けられ上記各固定用孔に相対した部位に位置する孔あるいはネジとを介して上記板状部材と上記構造物とを上記第２の固定用孔の範囲内で自在に固定可能な固定手段と、上記板状部材に固定され、傾斜角センサーと送信手段を具備した傾斜角測定部と、を備えたので、簡便に構造物の組立面に取り付けることができる。
【００４６】
また、本発明に係る傾斜角センサー治具では、上記板状部材を上記構造物の組立面に固定するためのテーパー構造のナットを具備したネジ棒を備え、上記組立面上における任意の孔径の孔と上記ナットのテーパー部分で上記孔径と一致する部分を当接させて、上記構造物と上記板状部材とを固定せしめたので、任意の孔径の孔を具備する構造物の組立面に対しても容易に取り付けることができる。
【００４７】
また、本発明に係る傾斜角センサー治具では、略円形状の第１の固定用孔およびスライド取付用の第２の固定用孔がそれぞれ穿たれた第１の取付面、上記第１の取付面に一片同士が結合されかつ第１の取付面と略９０度の方向に延在する連結用の面、上記連結用の面で上記一片に相対するもう一片側に結合され上記第１の取付面と略平行でかつ対向しない側に位置し第１の取付面と略同一の固定用孔を具備する第２の取付面、以上少なくとも３つの面からなる板状部材で構成された本体部と、上記第１および第２の固定用孔と測定対象である構造物の組立面上に設けられ上記各固定用孔に相対した部位に位置する孔あるいはネジとを介して上記本体部と上記構造物とを上記第２の固定用孔の範囲内で自在に固定可能な固定手段と、傾斜角センサーおよび送信手段を具備し上記第１または第２の取付面にネジを介して着脱自在に固定可能な傾斜角測定部と、を備えたので、傾斜角センサーがもつ固有のオフセットに対して、オフセット補正用の冶具を準備する必要無く、構造物の組立面に取り付けた状態でオフセット補正が可能となる。
【００４８】
また、本発明に係る傾斜角センサー治具では、上記第１または第２の取付面を測定対象である構造物の組立面に固定するためのテーパー構造のナットを具備したネジ棒をさらに備え、上記組立面上における任意の孔径の孔と上記ナットのテーパー部分で上記孔径と一致する部分を当接させて、上記構造物と上記本体部とを固定せしめたので、任意の孔径の孔を具備する構造物の組立面に対しても容易に取り付けることができ、かつ傾斜角センサーがもつ固有のオフセットに対して、オフセット補正用の冶具を準備する必要無く、構造物の組立面に取り付けた状態でオフセット補正が可能となる。
【００４９】
本発明に係る吊り作業補助方法では、吊り上げられた吊荷側構造物を接地面上の接地面側構造物に組み付けるための吊り作業補助方法であって、傾斜角センサー治具を接地面側構造物の組立面に取付け、上記組立面の傾斜角度を測定して、制御装置へ傾斜角度を送信するステップと、上記傾斜角センサーを上記接地面側構造物の組立面から取り外すステップと、上記傾斜角センサーを吊荷側構造物の組立面に取付けるステップと、上記傾斜角センサーによって吊り上げ作業時における上記吊荷側構造物の組立面の傾斜角度を測定し、上記制御装置へ傾斜角度を送信するステップと、上記送信された傾斜角度から各組立面間が平行になるように上記吊荷側構造物の姿勢を調整すべく、上記接地面側構造物と吊荷側構造物との組立面間の角度偏差量を計算し、さらに上記角度偏差量に基づいて上記アクチュエータにおける吊索移動量を算出するステップと、上記アクチュエータに上記吊索移動量に基づく制御信号を送信するステップと、上記制御信号に従い上記アクチュエータによって上記吊索を移動させるステップと、上記吊索の移動後に上記傾斜角センサーによって再度上記吊荷側構造物の組立面の傾斜角度を測定し、上記制御装置へ傾斜角度を送信するステップと、を含んでなり、上記接地面側構造物と吊荷側構造物との組立面間の傾斜角度が所定値以下になるまで、上記吊荷側構造物の組立面の傾斜角度の測定のステップと上記吊索の移動のステップを繰り返すこととしたので、吊り上げた構造物の姿勢を相手側の構造物の組立面に対して平行に調整することができる。
【００５０】
また、本発明に係る吊り作業補助方法は、上記吊荷側構造物の組立面の傾斜角度の測定のステップと上記吊索の移動のステップの繰り返しが、上記制御装置の調整手段によって自動的に行われることとしたので、吊り上げた構造物の姿勢を相手側の構造物の組立面に対して自動的に平行に調整することが可能なため、吊り作業を一層簡便に実施できる。
【図面の簡単な説明】
【図１】実施の形態１に係る吊り作業補助装置を使用して吊荷側構造物を吊り上げた状態を示す斜視図である。
【図２】実施の形態１に係る吊り作業補助装置の一部である制御装置の使用例を示した図である。
【図３】実施の形態２に係る吊り作業補助装置を使用して吊荷側構造物を吊り上げた状態を示す斜視図である。
【図４】実施の形態３に係る吊り傾斜角センサー冶具の正面図である。
【図５】本実施の形態３に係る吊り傾斜角センサー冶具の側面図である。
【図６】本実施の形態３に係る吊り傾斜角センサー冶具の平面図である。
【図７】本実施の形態４に係る傾斜角センサー冶具の使用方法を示した図である。
【図８】従来の吊り作業装置である。
【図９】従来の吊り作業装置の問題点を表す図である。
【符号の説明】
１　構造物、　１ａ　吊荷側構造物、　１ｂ　接地面側構造物、　２　傾斜角センサー冶具、　３　クレーンフック、　４ａ　第１の電動チェーンブロック（アクチュエータ）、　４ｂ　第２の電動チェーンブロック（アクチュエータ）、５　制御装置、　６　フレーム、　７　制御装置、　８　傾斜角センサー、　９　送信用アンテナ、　１０　傾斜角測定部、　１１　本体部、　１２　基準孔（第１の固定用孔）、　１３　スライド取付用の孔（第２の固定用孔）、　１４ａ　Ｍ１６ネジ棒、　１４ｂ　Ｍ２０ネジ棒、　１４ｃ　Ｍ２４ネジ棒、　１４ｄ　Ｍ３０ネジ棒、　１５　段付き棒、　１６　テーパー構造のナット、　１７フランジ部、　１８ａ、１８ｂ　傾斜角センサー冶具の取付面、　１９　表示装置、　５１ａ、１５１ａ　接地面側構造物の組立面、　５１ｂ、１５１ｂ　吊荷側構造物の組立面、　１０１　吊荷側構造物、　１０３　フック、　１０８　傾斜角センサー、　１０９　油圧シリンダー、　１１０　制御装置。[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention provides a lifting operation assisting device, a lifting operation assisting method, and a lifting operation assisting device used when assembling a structure in a lifting operation using a crane, and a posture movement amount of an assembly surface to the lifting operation assisting device, so that the structure can be easily attached to the assembly surface. The present invention relates to a tilt angle sensor jig that can be attached.
[0002]
[Prior art]
Conventionally, a lifting work assist device used to assist lifting work during plant assembly or installation work uses a tilt angle sensor, depending on the tilt angle of the structure at the time of grounding, the tilt angle of the structure before and after lifting Was only being adjusted. FIG. 8 shows an example of a conventional suspending work assisting device disclosed in Japanese Patent Application Laid-Open No. 2001-19351, which lifts a structure while maintaining the posture of the structure. In the figure, 101 denotes a suspended structure (a structure on the side of a load), 103 denotes a hook, 108 denotes an inclination angle sensor, 109 denotes a hydraulic cylinder as an actuator, and 110 denotes a control device.
[0003]
Hereinafter, the operation of the conventional lifting work assisting device will be described. The inclination angle of the structure in a state where the suspended structure 101 is placed on the ground surface is captured by the inclination angle sensor 108 as an initial posture value. After the structure 101 is lifted by a crane or the like via the hook 103, the position of the structure 101 is adjusted and held so that the inclination angle of the posture initial value is controlled by controlling the hydraulic cylinder 109 as an actuator by the control means 110. ing.
[0004]
[Problems to be solved by the invention]
In the above-described conventional suspending work assisting device and suspending work assisting method, no information on the inclination angle of the structure 101 assembled by the suspending work with respect to the assembly surface has been obtained. Therefore, as shown in FIG. 9A, the assembly surfaces 151a and 151b of the hanging-side structure 101b are held in parallel with the ground surface of the hanging-side structure 101b originally inclined with respect to the grounded structure 101a. In the case of assembling work in the case where the hanging-side structure 101b must be inclined, or in the case where one of the ground-side structures 101a is placed on the inclined ground surface as shown in FIG. It has been extremely difficult to apply the conventional suspending work assisting device and the suspending work assisting method to an assembling work for connecting the assembly surfaces of both structures. In addition, when attaching the tilt angle sensor 108 to the structure 101, it is necessary to prepare dedicated mounting screws and holes corresponding to the mechanism of the assembly surface of the structure for each of the structures, resulting in poor workability.
[0005]
Further, in order to improve the mounting accuracy between the structures 101a and 101b, the offset value inherent in the tilt angle sensor 108 cannot be ignored, and a new jig for offset correction of the tilt angle sensor jig is newly prepared. In addition, it is necessary to perform offset correction for each lifting operation, and the working efficiency is not good.
[0006]
In order to solve the above-mentioned problems, the present invention provides a tilt angle sensor jig and an offset in a state where the jig and the jig are easily attached without the need to prepare a dedicated mounting screw or hole on the assembly surface of the structure. Provided are a hanging work assisting device, a tilt angle sensor jig, and a hanging work assisting method excellent in workability using such a hanging work assisting device, which can correct and can assemble a structure based on an assembly surface by a crane hanging work. It is intended to be.
[0007]
[Means for Solving the Problems]
A hanging work assisting device according to the present invention is a hanging work assisting device used for assembling a lifted suspended load-side structure to a grounding surface side structure on a grounding surface, wherein the tilting angle sensor and the tilting angle sensor are provided. Transmission means for transmitting the inclination angle measured by the above, and an inclination angle sensor jig provided with fixing means detachably fixed to the ground-side structure or the load-side structure, and the load-side structure A plurality of suspension lines to be engaged with an object, an actuator attached to each of the suspension lines to move the suspension line according to a control signal, and a suspension line in the actuator based on the inclination angle transmitted from the inclination angle sensor jig. The control device includes a storage / arithmetic unit for calculating a movement amount and a transmission unit for transmitting the control signal to the actuator.
[0008]
Further, the hanging work assisting device according to the present invention is characterized in that the control device repeats a series of operations from the capture of the tilt angle transmitted from the tilt angle sensor jig to the movement of the hanging cable by the actuator, whereby the angle deviation amount is reduced. And an adjusting means for automatically adjusting the posture of the suspended-load-side structure until is smaller than a predetermined value.
[0009]
Further, the hanging work assisting device according to the present invention includes a frame mounted on an upper side of the actuator, and the control device is fixed to the frame.
[0010]
Further, in the hanging work assisting device according to the present invention, the control device is remotely operated by a command from a remote controller.
[0011]
The tilt angle sensor jig according to the present invention includes a plate-like member having a substantially circular first fixing hole and a second fixing hole for slide attachment, and the first and second fixing holes. The plate-shaped member and the structure are fixed to the second fixing member through holes and screws or holes provided on the assembly surface of the structure to be measured and located at positions corresponding to the fixing holes. There are provided a fixing means which can be freely fixed within the range of the hole, and a tilt angle measuring section fixed to the plate-like member and provided with a tilt angle sensor and a transmitting means.
[0012]
Further, the tilt angle sensor jig according to the present invention includes a screw rod having a tapered nut for fixing the plate-shaped member to the assembly surface of the structure, and has an arbitrary hole diameter on the assembly surface. The hole and a portion corresponding to the hole diameter in the tapered portion of the nut were brought into contact with each other to fix the structure and the plate member.
[0013]
The tilt angle sensor jig according to the present invention may further include a first mounting surface formed with a substantially circular first fixing hole and a second fixing hole for slide mounting, and A first connecting surface which is joined to the first mounting surface and which is connected to the other side of the connecting surface extending in a direction substantially 90 degrees from the first mounting surface; A second mounting surface having a fixing hole substantially parallel to the surface but not facing the second mounting surface and having the same fixing hole as the first mounting surface; a main body portion formed of a plate-like member having at least three surfaces; The main body portion and the structure via the first and second fixing holes and holes or screws provided on the assembly surface of the structure to be measured and located at positions opposed to the fixing holes. Fixing means for freely fixing an object within the range of the second fixing hole, and an inclination angle sensor And comprising a transmission means with a, and freely fixable inclination angle measuring unit detachably via a screw to the first or second mounting surface.
[0014]
Further, the inclination angle sensor jig according to the present invention further includes a screw rod having a tapered nut for fixing the first or second mounting surface to an assembly surface of a structure to be measured. A hole having an arbitrary diameter on the assembly surface is brought into contact with a portion corresponding to the hole diameter in the tapered portion of the nut, thereby fixing the structure and the main body.
[0015]
A lifting work assisting method according to the present invention is a hanging work assisting method for assembling a lifted suspended load-side structure to a grounded surface side structure on a grounded surface, wherein the tilt angle sensor jig is connected to the grounded surface side structure. Attaching to the assembly surface of the object, measuring the inclination angle of the assembly surface, and transmitting the inclination angle to the control device; removing the inclination angle sensor from the assembly surface of the ground-side structure; Attaching the angle sensor to the assembly surface of the load-side structure, measuring the inclination angle of the assembly surface of the load-side structure during the lifting operation by the tilt angle sensor, and transmitting the tilt angle to the control device. And adjusting the attitude of the load-side structure so that the assembly planes are parallel to each other from the transmitted inclination angle, between the assembly planes of the ground-side structure and the load-side structure. Angle deviation of Calculating, further calculating the amount of sling movement in the actuator based on the amount of angle deviation; transmitting a control signal based on the amount of sling movement to the actuator; and Moving the suspension line, and after the movement of the suspension line, measuring the inclination angle of the assembly surface of the suspension-side structure again by the inclination angle sensor, and transmitting the inclination angle to the control device. Measuring the inclination angle of the assembly surface of the lifting-side structure and the lifting step until the inclination angle between the assembly surface of the ground-side structure and the lifting-side structure becomes a predetermined value or less. We decided to repeat the steps of moving the rope.
[0016]
Further, in the lifting work assisting method according to the present invention, the step of measuring the inclination angle of the assembly surface of the hanging-side structure and the step of moving the hanging cable are automatically repeated by the adjusting means of the control device. It was decided to be done.
[0017]
BEST MODE FOR CARRYING OUT THE INVENTION
Embodiment 1 FIG.
A hanging work assisting device and a hanging work assisting method according to a first embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a perspective view showing a state in which a structure is lifted using the lifting work assisting device according to the present embodiment, and FIG. 2 is a wireless unit (transmitting means), a storage / calculation unit, and a screen. It is a figure showing the example of use of the control device which has a display. 1 and 2, 1a is a structure placed on the ground plane (ground-side structure), 1b is a structure assembled by lifting work (hanging-side structure), and 2 is a tilt angle sensor jig. Numeral 3 is a hook, 4a and 4b are first and second electric chain blocks (actuators), 5 is a control device, 51a is an assembly surface of the ground-side structure 1a, and 51b is an assembly surface of the load-side structure 1b. , Respectively.
[0018]
The tilt angle sensor jig 2 is attached to the assembly surface 51b of the load-side structure 1b. The tilt angle of the assembly surface 51a of the ground-side structure 1a is the same before lifting the load-side structure 1b. The chain (hanging line) movement in the first and second electric chain blocks 4a and 4b is measured by the inclination sensor jig 2 and based on the difference from the inclination angle of the assembly surface 51b of the load-side structure 1b, that is, the amount of angle deviation. Calculate the amount.
[0019]
Hereinafter, the operation of the suspending work assisting device according to the first embodiment and the suspending work assisting method will be described. First, before the lifting-side structure 1b is lifted by the crane, the inclination angle sensor jig 2 is attached to the assembly surface 51a of the ground-side structure 1a to detect the inclination angle of the assembly surface 51a. Next, the inclination angle sensor jig 2 is removed from the ground-side structure 1a, and attached to the assembly surface 51b of the hanging-side structure 1b. The load-side structure 1b to which the inclination angle sensor jig 2 is attached is lifted from the ground surface by a crane or the like, and the load-side structure 1b engaged with the chain (hanging line) via the hook 3 is lifted from the ground surface.
[0020]
A transmitting device (transmitting means) for transmitting the measured tilt angle is installed in the tilt angle sensor jig 2, and as shown in FIG. 2, the transmitting device remotely transmits the data of the tilt angle at a position remote from the crane. The information is transmitted to the operable control device 5 and stored in the storage / calculation unit in the control device 5. The storage / arithmetic unit in the control device 5 calculates the angle deviation amount from the difference between the two inclination angles.
[0021]
The chain length of the electric chain blocks 4a and 4b is moved by a fixed amount, the inclination angle of the assembly surface 51b of the hanging-side structure 1b is detected by the inclination angle sensor jig 2, and the data of the inclination angle is converted to the electric chain block 4a. , 4b to the receiving device on the control device 5 side using the transmitting device provided in 4b. The storage / arithmetic unit of the control device 5 calculates the chain movement amount (hook line movement amount) in the first and second electric chain blocks 4a and 4b from the change amount of the inclination angle of the assembly surface 51b of the load-side structure 1b. Back calculation. Since the chain movement amount is displayed on the display surface of the control device 5, the operator sends a control signal for operating the electric chain block 4a, 4b while watching the displayed chain movement amount, and adjusts the chain length. By changing, the inclination angle of the assembly surface 51b of the suspended load-side structure 1b can be adjusted. After the tilt angle is once adjusted, the control unit 5 repeats the calculation based on the tilt angle of the assembly surface 51b transmitted from the tilt angle sensor jig 2 again, and presents a further necessary movement amount to the operator. By repeating the above operation, the angle deviation between the inclination angle of the assembly surface 51b of the hanging-load-side structure 1b and the inclination angle of the assembly surface 51a of the tread-side structure 1a gradually approaches zero, and a preset allowable range. At this point, for example, when the angle falls below the detection angle resolution of the inclination angle sensor provided inside the inclination angle sensor jig 2, the assembling of the hanging-side structure 1b to the ground-contact side structure 1a is started.
[0022]
As described above, according to the lifting work assisting apparatus and the lifting work assisting method according to the first embodiment, a crane or the like is used to attach the inclination angle sensor jig to the assembly surface of the lifting-side structure to be assembled in the lifting work. When an object is lifted, the angle information of the assembly surface of the load-side structure can be grasped in real time. In addition, the amount of movement of the actuator such as a plurality of electric chain blocks between the crane and the load-side structure can be known from the angle deviation between the assembly surfaces of the structures to be assembled. An operator can easily adjust the posture of the suspended-load-side structure so as to be parallel to the assembly surface of the counterpart ground-side structure.
[0023]
Embodiment 2 FIG.
A hanging work assisting device and a hanging work assisting method according to a second embodiment of the present invention will be described with reference to FIG. FIG. 3 is a perspective view showing a state in which the lifting-side structure is lifted using the lifting work assisting device according to the present embodiment. In FIG. 3, reference numeral 6 denotes a frame, 7 denotes a control device, and the components denoted by the same reference numerals as those in FIG. 1 are the same or equivalent.
[0024]
The suspending work assisting device according to the second embodiment of the present invention is the same as the suspending work assisting device described in the first embodiment, but further fixed to the upper part of the electric chain block (actuator) 4a, b on the frame 6 and on the frame 6. The control device 7 is provided. The control device 7 corresponds to the control device 5 in the hanging work assisting device according to the first embodiment. That is, the inclination angle detected by the inclination angle sensor jig 2 is stored, and the angle deviation amount for making the inclination angle of the assembly surface 51b of the hanging-side structure 1b and the assembly surface 51a of the ground-side structure 1a parallel is calculated. A storage / arithmetic unit that calculates and determines that it is within a preset allowable range, and an adjusting unit that automatically adjusts the chain length of the first and second electric chain blocks 4a and 4b according to the angle deviation amount. (Adjustment means). The data of the tilt angle from the tilt angle sensor jig 2 can be sent to the storage / calculation unit via a wire, but it is desirable that the data be wireless from the viewpoint of work. Further, the control device 7 is remotely operated by a command from a remote controller (not shown) in order to make the hanging operation easier and safer.
[0025]
Hereinafter, the operation of the suspending work assisting device according to the second embodiment and the suspending work assisting method will be described. First, before the lifting-side structure 1b is lifted by the crane, the inclination angle sensor jig 2 is attached to the assembly surface 51a of the ground-side structure 1a to detect the inclination angle of the assembly surface 51a. Next, the inclination angle sensor jig 2 is removed from the ground-side structure 1a, and the inclination angle sensor jig 2 is attached to the assembly surface 51b of the load-side structure 1b to be assembled by lifting work. Measure the angle. A transmitting device (transmitting means) for transmitting the measured tilt angle is installed in the tilt angle sensor jig 2. As shown in FIG. The data is received by the receiving device (receiving means) in the control device 7 and further stored in the storage / calculation unit, and the amount of angle deviation is calculated from the difference between the two inclination angles.
[0026]
The load-side structure 1b to which the tilt angle sensor jig 2 is attached is lifted up via a hook 3 by a crane or the like. The chain length of the first and second electric chain blocks 4a and 4b is moved by a fixed amount, and the inclination angle of the assembly surface 51b of the hanging-side structure 1b is detected by the inclination sensor jig 2 to determine the inclination angle. The data is transmitted to the receiving device (receiving means) of the control device 7. The storage / arithmetic unit of the control device 7 calculates the movement amount of the chain (hanging line) of the first and second electric chain blocks 4a and 4b from the change amount of the inclination angle of the assembly surface 51b of the hanging-side structure 1b. . A control signal based on the chain movement amount is transmitted to the first and second electric chain blocks 4a and 4b by a transmission device (transmission means) in the control device 7, and the first and second electric chain blocks are controlled according to the chain movement amount control signal. After moving the chain lengths of the electric chain blocks 4a and 4b, the inclination angle of the assembly surface 51b of the hanging-side structure 1b is detected again by the inclination angle sensor jig 2, and the assembly surface of the ground-side structure 1a is detected. The angle deviation amount between the two is calculated by comparing with the inclination angle of 51a. By repeating the above operation, the angle deviation between the inclination angle of the assembly surface 51b of the hanging-load-side structure 1b and the inclination angle of the assembly surface 51a of the tread-side structure 1a gradually approaches zero, and a preset allowable range. At this point, for example, when the angle falls below the detection angle resolution of the inclination angle sensor provided inside the inclination angle sensor jig 2, the assembling of the hanging-side structure 1b to the ground-contact side structure 1a is started.
[0027]
A series of operations from the capturing of the tilt angle data transmitted from the above-described tilt angle sensor jig 2 to the movement of the chains (hanging lines) by the electric chain blocks 4a and 4b (actuators) by the adjustment unit provided in the control device 7. By repeating the above, it is possible to automatically adjust the posture of the load-side structure 1b until the angle deviation becomes equal to or less than the predetermined value without disturbing the operator.
[0028]
As described above, according to the lifting work assisting apparatus and the lifting work assisting method according to the second embodiment, a crane or the like is used to attach the inclination angle sensor jig to the assembly surface of the lifting-side structure to be assembled in the lifting work. When an object is lifted, the angle information of the assembly surface of the load-side structure can be grasped in real time. Also, the amount of movement of the actuators, such as a plurality of chain blocks, between the crane and the load-side structure can be known from the angle deviation between the assembly surfaces of the structures. The posture of the side structure can be easily adjusted to be parallel to the assembly surface of the counterpart ground plane side structure. Furthermore, a control is provided in which a plurality of electric chain blocks are provided between the crane and the load-side structure, and the chain change amount of the electric chain block is calculated and adjusted based on the deviation angle obtained from the inclination angle sensor jig. By adding the device, the posture of the suspended load-side structure can be automatically adjusted to be parallel to the assembly surface of the counterpart ground-side structure.
[0029]
Embodiment 3 FIG.
Third Embodiment A tilt angle sensor jig according to a third embodiment of the present invention will be described with reference to FIGS. Here, FIGS. 4, 5, and 6 show a front view, a side view, and a plan view of the tilt angle sensor jig, respectively. In the figure, 8 is an inclination sensor, 9 is a transmitting antenna, 10 is an inclination measuring section, 11 is a main body, 12 is a reference hole (first fixing hole), and 13 is a slide mounting hole (second fixing hole). , 14, 14 a, 14 b, 14 c, and 14 d are threaded rods, 15 is a stepped rod, 16 is a tapered nut, 17 is a flange, and 18 a and 18 b are mounting surfaces, respectively.
[0030]
As shown in FIGS. 4 and 5, a tilt angle sensor 8 for detecting a tilt angle includes a transmitting antenna 9 for transmitting a tilt angle value detected in a tilt angle measuring unit 10 to a storage / arithmetic unit of the control device 7. It is housed together with transmission equipment (transmission means), a drive power supply, and electrical equipment such as a switch (other than the antenna 9 is not shown). As shown in the plan view of FIG. 6, the inclination angle sensor jig 2 has two parallel mounting surfaces 18a and 18b (first and second mounting surfaces) opposed to the assembly surface of the structure. It is joined by another surface (connection surface). Note that the mounting surfaces 18a and 18b are located on sides that do not face each other.
[0031]
A circular reference hole 12 and a slide mounting hole 13 are provided on each mounting surface, and the inclination angle measuring unit 10 is mounted on one of the mounting surfaces. Since the inclination angle measuring section 10 is fixed to the main body section 11 with a screw, it is detachable, so that it can be detached from one of the mounting surfaces as needed and easily mounted on the other mounting surface. . Here, the slide mounting hole 13 is a rectangular hole parallel to the long side of the mounting surface and has a semicircular shape only at the upper and lower ends, as shown in FIG. Thus, a fixing screw or the like can be freely slid and fixed at an arbitrary position in the hole.
[0032]
The attachment means of the inclination sensor jig 2 is selected depending on whether the mechanism existing on the assembly surface of the structure 1 is a screw shape or a hole shape. That is, depending on the type of the mechanism on the assembly surface, the reference hole 12 provided in the main body 11 of the inclination angle sensor jig 2 and the hole 13 for slide attachment are screw rods 14 having different diameters 14a, 14b, respectively. 14c and 14d or the stepped rod 15 is inserted.
[0033]
When the mechanism on the assembly surface of the structure 1 has a screw shape, the inclination angle sensor jig 2 can be accurately fixed on the assembly surface by tightening the screw rod 14 that matches the screw shape. That is, a screw rod having an optimum diameter for the screw shape on the assembly surface of the structure 1 is selected from the screw rods 14a, 14b, 14c, and 14d having different diameters. Examples of the diameter of the screw rod include a screw rod 14a (M16), a screw rod 14b (M20), a screw rod 14c (M24), and a screw rod 14d (M30).
[0034]
On the other hand, when the mechanism on the assembly surface is a hole, the flange portion 17 is combined with a tapered nut 16 and a stepped rod 15 from the back side of the flange portion 17 on the assembly surface of the structure 1 in order to cope with a change in the hole diameter. By sandwiching, the tilt angle sensor jig 2 can be accurately fixed on the assembly surface. That is, by inserting the stepped rod 15 into the hole on the assembly surface and tightening the tapered nut 16 screwed to the stepped rod 15, the tapered portion corresponding to the diameter of the hole on the assembly surface is applied. This is because both can be fixed by being in contact with each other.
[0035]
The distance between the pitches of the screws or holes on the assembly surface of the structure 1 can be variably adjusted by sliding the screw rod 14 or the stepped rod 15 in the slide mounting hole 13. Since the screw rod 14 or the stepped rod 15 is inserted into one of the reference holes 12, the structure 1 and the inclination angle sensor jig 2 are sufficiently fixed at this portion. Is not reduced.
[0036]
As described above, in the inclination angle sensor jig according to the third embodiment, the reference hole (first fixing hole) and the slide mounting hole (second fixing hole) and the assembly surface of the structure to be measured are formed. And fixing means for freely fixing the plate-shaped member and the structure within the range of the hole for slide mounting via a hole or a screw located at a portion facing each of the fixing holes provided in the device. Therefore, it can be easily attached to the assembly surface of the structure.
[0037]
Embodiment 4 FIG.
A tilt angle sensor jig according to Embodiment 4 of the present invention and a hanging work assisting method using the tilt angle sensor jig will be described with reference to FIG. Here, FIG. 7 is a diagram showing offset correction of the inclination angle sensor jig.
[0038]
In general, the angle detected by the tilt angle sensor 8 includes an inherent offset value and causes an error in assembly accuracy. Therefore, it is necessary to correct the offset value. The tilt angle sensor jig 2 according to the fourth embodiment has two parallel mounting surfaces 18a and 18b facing the assembly surface of the structure, as shown in FIGS. First, the assembling surface 51a of the ground-side structure 1a and the mounting surface 18a of the inclination angle sensor jig 2 are mounted by fixing means such as the above-described stepped bar 15 and the tapered nut 16 to fix the ground-side structure 1a. The inclination angle A of the assembly surface 51a is detected. Next, the assembly surface 51b of the suspended load-side structure 1b is attached to the attachment surface 18b without reversing the direction of the tilt angle sensor jig 2 with respect to the assembly surface 51b of the lifted load-side structure 1b. The angle B is detected.
[0039]
The inclination angle A is
A = (A0 + β) (1)
Is represented by In the equation (1), A0 is a true value of the tilt angle, and β is an offset value unique to the tilt angle sensor. On the other hand, the inclination angle B is
B = (B0 + β + α) (2)
Is represented by In the equation (2), B0 is the true value of the inclination angle, and α is the parallelism between the mounting surfaces of the inclination angle sensor jig 2. Therefore, the angle deviation C between the two can be obtained by subtracting A from B. That is, the angle deviation amount C is
C = B0−A0 + α (3)
Is represented by As can be seen from Expression (3), the offset values β included in Expressions (1) and (2) cancel each other out, and the angle deviation C does not depend on the offset value. Therefore, by measuring the parallelism α between the mounting surfaces 18a and 18b of the tilt angle sensor jig 2, it is possible to calculate the amount of angle deviation C that is not affected by the offset value of the tilt angle sensor 8, and the parallelism between the assembly surfaces is calculated. Can be held with extremely high accuracy, and the accuracy of the lifting operation is significantly improved.
[0040]
As described above, if the tilt angle sensor jig according to the fourth embodiment and the hanging work assisting method using the tilt angle sensor jig are applied, a jig for offset correction is prepared for a unique offset of the tilt angle sensor. It is not necessary, and the offset can be corrected in a state of being attached to the assembly surface of the structure.
[0041]
【The invention's effect】
The hanging work assisting device according to the present invention is a hanging work assisting device used for assembling the lifted hanging load side structure to the grounding surface side structure on the grounding surface, the tilt angle sensor, the tilt angle sensor Transmission means for transmitting the inclination angle measured by the above, and an inclination angle sensor jig provided with fixing means detachably fixed to the ground-side structure or the load-side structure, and the load-side structure A plurality of suspension lines to be engaged with an object, an actuator attached to each of the suspension lines to move the suspension line in accordance with a control signal, and a suspension in the actuator based on the inclination angle transmitted from the inclination angle sensor jig. Since the storage / calculation means for calculating the amount of cable movement and the control device having a transmission means for transmitting the control signal to the actuator are provided, The orientation of the load-side structures can be easily adjusted so as to be parallel to the assembly plane of the mating of the ground surface structure.
[0042]
Further, in the hanging work assisting device according to the present invention, the control device repeats a series of operations from capturing of the inclination angle transmitted from the inclination angle sensor jig to movement of the hanging rope by the actuator, thereby obtaining the angle deviation amount. Has an adjusting means for automatically adjusting the attitude of the suspended load-side structure until the attitude of the suspended load-side structure becomes equal to or less than a predetermined value. Can be automatically adjusted to
[0043]
Further, the hanging work assisting device according to the present invention includes the frame mounted on the upper side of the actuator, and the control device is fixed to the frame, so that the remote controller can be simplified.
[0044]
Further, in the hanging work assisting device according to the present invention, the control device is remotely operated by a command from the remote controller, so that the hanging work is more simple and safe.
[0045]
In the tilt angle sensor jig according to the present invention, a plate-like member having a substantially circular first fixing hole and a second fixing hole for slide mounting is formed, and the first and second fixing holes are formed. The plate-shaped member and the structure are fixed to the second fixing member through holes and screws or holes provided on the assembly surface of the structure to be measured and located at positions corresponding to the fixing holes. Since it has a fixing means which can be fixed freely within the range of the hole, and a tilt angle measuring section fixed to the plate-like member and provided with a tilt angle sensor and a transmitting means, it can be easily mounted on the assembly surface of the structure. Can be attached.
[0046]
Further, the inclination angle sensor jig according to the present invention includes a screw rod having a nut having a tapered structure for fixing the plate-shaped member to an assembly surface of the structure, and having a hole having an arbitrary hole diameter on the assembly surface. The hole and the portion corresponding to the hole diameter in the tapered portion of the nut were brought into contact with each other, and the structure and the plate-shaped member were fixed, so that the assembly surface of a structure having a hole with an arbitrary hole diameter was fixed. Can be easily installed.
[0047]
Further, in the inclination angle sensor jig according to the present invention, the first mounting surface in which the substantially circular first fixing hole and the second fixing hole for slide mounting are respectively formed; A first connecting surface which is joined to the first mounting surface and which is connected to the other side of the connecting surface extending in a direction substantially 90 degrees from the first mounting surface; A second mounting surface having a fixing hole substantially parallel to the surface but not facing the second mounting surface and having the same fixing hole as the first mounting surface; a main body portion formed of a plate-like member having at least three surfaces; The main body portion and the structure via the first and second fixing holes and holes or screws provided on the assembly surface of the structure to be measured and located at positions opposed to the fixing holes. Fixing means for freely fixing an object within the range of the second fixing hole; And a transmission means, and a tilt angle measurement unit that can be detachably fixed to the first or second mounting surface via a screw, so that a unique offset of the tilt angle sensor is provided. The offset correction can be performed in a state where the jig is mounted on the assembly surface of the structure without the necessity of preparing an offset correction jig.
[0048]
The tilt angle sensor jig according to the present invention further includes a threaded rod having a tapered nut for fixing the first or second mounting surface to an assembly surface of a structure to be measured. A hole having an arbitrary hole diameter on the assembly surface was brought into contact with a portion corresponding to the hole diameter in the tapered portion of the nut to fix the structure and the main body. It can be easily attached to the assembly surface of the structure to be mounted, and it is attached to the assembly surface of the structure without the need to prepare a jig for offset correction for the inherent offset of the tilt angle sensor Allows offset correction.
[0049]
The lifting work assisting method according to the present invention is a lifting work assisting method for assembling the lifted suspended load-side structure to the grounding surface side structure on the grounding surface, wherein the tilt angle sensor jig is connected to the grounding surface side structure. Attaching to the assembly surface of the object, measuring the inclination angle of the assembly surface, and transmitting the inclination angle to the control device; removing the inclination angle sensor from the assembly surface of the ground-side structure; Attaching the angle sensor to the assembly surface of the load-side structure, measuring the inclination angle of the assembly surface of the load-side structure during the lifting operation by the tilt angle sensor, and transmitting the tilt angle to the control device. And adjusting the attitude of the load-side structure so that the assembly planes are parallel to each other from the transmitted inclination angle, between the assembly planes of the ground-side structure and the load-side structure. Angle deviation of Calculating the sling movement amount in the actuator based on the angle deviation amount; transmitting a control signal based on the sling movement amount to the actuator; and Moving the suspension line, and measuring the inclination angle of the assembly surface of the suspension-side structure again by the inclination angle sensor after the movement of the suspension line, and transmitting the inclination angle to the control device. Measuring the inclination angle of the assembly surface of the load-side structure until the inclination angle between the assembly surface of the ground-side structure and the load-side structure becomes equal to or less than a predetermined value. Since the step of moving the suspension cable is repeated, the posture of the suspended structure can be adjusted in parallel to the assembly surface of the structure on the other side.
[0050]
Further, in the lifting work assisting method according to the present invention, the step of measuring the inclination angle of the assembly surface of the hanging-side structure and the step of moving the hanging cable are automatically repeated by the adjusting means of the control device. Since the operation is performed, the posture of the lifted structure can be automatically adjusted to be parallel to the assembly surface of the counterpart structure, so that the lifting operation can be performed more easily.
[Brief description of the drawings]
FIG. 1 is a perspective view showing a state in which a load-side structure is lifted using a lifting work assisting device according to a first embodiment.
FIG. 2 is a diagram illustrating an example of use of a control device that is a part of the lifting work assisting device according to the first embodiment.
FIG. 3 is a perspective view showing a state in which a load-side structure is lifted using a lifting work assisting device according to a second embodiment.
FIG. 4 is a front view of a suspension inclination angle sensor jig according to a third embodiment.
FIG. 5 is a side view of a suspension inclination angle sensor jig according to the third embodiment.
FIG. 6 is a plan view of a hanging tilt angle sensor jig according to a third embodiment.
FIG. 7 is a diagram showing a method of using a tilt angle sensor jig according to a fourth embodiment.
FIG. 8 is a conventional hanging work device.
FIG. 9 is a diagram showing a problem of a conventional lifting work device.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 structure, 1a suspended load side structure, 1b ground surface side structure, 2 inclination angle sensor jig, 3 crane hook, 4a 1st electric chain block (actuator), 4b 2nd electric chain block (actuator), Reference Signs List 5 control device, 6 frame, 7 control device, 8 tilt angle sensor, 9 transmitting antenna, 10 tilt angle measuring section, 11 main body, 12 reference hole (first fixing hole), 13 slide mounting hole ( 2nd fixing hole), 14a M16 screw rod, 14b M20 screw rod, 14c M24 screw rod, 14d M30 screw rod, 15 stepped rod, 16 tapered nut, 17 flange part, 18a, 18b tilt angle sensor jig 19 display device, 51a, 151a Assembly surface of the ground-side structure, 51b, 151b Assembly surface of the hanging-side structure, 101 Suspension side structure, 103 Hook, 108 Tilt angle sensor, 109 Hydraulic cylinder, 110 Control device.

Claims (10)

吊り上げられた吊荷側構造物を接地面上の接地面側構造物に組み付ける作業に使用する吊り作業補助装置であって、
傾斜角センサー、前記傾斜角センサーによって測定された傾斜角度を送信する送信手段、および前記接地面側構造物あるいは前記吊荷側構造物に着脱自在に固定可能な固定手段を具備した傾斜角センサー治具と、
前記吊荷側構造物に係合される複数の吊索と、
前記各吊索に取り付けられ制御信号に従い前記吊索を移動せしめるアクチュエータと、
前記傾斜角センサー治具から送信された前記傾斜角度に基づき前記アクチュエータにおける吊索移動量を算出する記憶・演算手段、および前記アクチュエータに前記制御信号を送信する送信手段を具備した制御装置と、
を備えたことを特徴とする吊り作業補助装置。A lifting work assisting device used for assembling the lifted lifting load-side structure to the grounding surface side structure on the grounding surface,
An inclination angle sensor jig provided with an inclination angle sensor, transmitting means for transmitting the inclination angle measured by the inclination angle sensor, and fixing means detachably fixed to the ground-side structure or the hanging-side structure. Utensils,
A plurality of suspension cables engaged with the suspension-side structure;
An actuator attached to each of the suspension lines to move the suspension line according to a control signal;
A control device comprising: storage / calculating means for calculating the amount of sling movement in the actuator based on the tilt angle transmitted from the tilt angle sensor jig; and a transmitting means for transmitting the control signal to the actuator,
A hanging work assisting device comprising: 前記制御装置が、前記傾斜角センサー治具から送信された傾斜角度の取り込みから前記アクチュエータによる吊索移動までの一連の動作を繰り返すことにより前記角度偏差量が所定値以下になるまで前記吊荷側構造物の姿勢を自動的に調整する調整手段を有することを特徴とする請求項１記載の吊り作業補助装置。The control device repeats a series of operations from the capture of the tilt angle transmitted from the tilt angle sensor jig to the movement of the hanging rope by the actuator, so that the angle deviation amount is equal to or less than a predetermined value. 2. The suspension work assisting device according to claim 1, further comprising an adjusting means for automatically adjusting a posture of the structure. 前記アクチュエータの上部側に取付けられたフレームを備え、前記制御装置が前記フレームに固定されていることを特徴とする請求項２記載の吊り作業補助装置。The suspension work assisting device according to claim 2, further comprising a frame attached to an upper portion of the actuator, wherein the control device is fixed to the frame. 前記制御装置が、リモートコントローラによる指令によって遠隔動作されることを特徴とする請求項３記載の吊り作業補助装置。4. The suspension work assisting device according to claim 3, wherein the control device is remotely operated by a command from a remote controller. 略円形状の第１の固定用孔およびスライド取付用の第２の固定用孔が形成された板状部材と、
前記第１および第２の固定用孔と測定対象である構造物の組立面上に設けられ前記各固定用孔に相対した部位に位置する孔あるいはネジとを介して前記板状部材と前記構造物とを前記第２の固定用孔の範囲内で自在に固定可能な固定手段と、前記板状部材に固定され、傾斜角センサーと送信手段を具備した傾斜角測定部と、を備えたことを特徴とする傾斜角センサー治具。A plate-like member having a substantially circular first fixing hole and a second fixing hole for slide mounting,
The plate-like member and the structure are connected via the first and second fixing holes and holes or screws provided on an assembly surface of a structure to be measured and located at positions corresponding to the fixing holes. Fixing means capable of freely fixing an object within the range of the second fixing hole, and an inclination measuring section fixed to the plate-like member and having an inclination sensor and a transmitting means. A tilt angle sensor jig characterized by the following. 前記板状部材を前記構造物の組立面に固定するためのテーパー構造のナットを具備したネジ棒を備え、
前記組立面上における任意の孔径の孔と前記ナットのテーパー部分で前記孔径と一致する部分を当接させて、前記構造物と前記板状部材とを固定せしめることを特徴とする請求項５記載の傾斜角センサー治具。A screw rod having a nut having a tapered structure for fixing the plate member to an assembly surface of the structure,
6. The structure and the plate-shaped member are fixed by contacting a hole having an arbitrary diameter on the assembly surface with a portion corresponding to the hole diameter in a tapered portion of the nut. Jig for tilt angle sensor. 略円形状の第１の固定用孔およびスライド取付用の第２の固定用孔がそれぞれ穿たれた第１の取付面、前記第１の取付面に一片同士が結合されかつ第１の取付面と略９０度の方向に延在する連結用の面、前記連結用の面で前記一片に相対するもう一片側に結合され前記第１の取付面と略平行でかつ対向しない側に位置し第１の取付面と略同一の固定用孔を具備する第２の取付面、以上少なくとも３つの面からなる板状部材で構成された本体部と、
前記第１および第２の固定用孔と測定対象である構造物の組立面上に設けられ前記各固定用孔に相対した部位に位置する孔あるいはネジとを介して前記本体部と前記構造物とを前記第２の固定用孔の範囲内で自在に固定可能な固定手段と、
傾斜角センサーおよび送信手段を具備し前記第１または第２の取付面にネジを介して着脱自在に固定可能な傾斜角測定部と、を備えたことを特徴とする傾斜角センサー治具。A first mounting surface in which a substantially circular first fixing hole and a second fixing hole for slide mounting are respectively formed, and a first mounting surface in which pieces are coupled to the first mounting surface. A connecting surface extending in a direction substantially 90 degrees from the first mounting surface, the connecting surface being coupled to the other side opposite to the one piece and positioned on a side substantially parallel to and not facing the first mounting surface; A second mounting surface having substantially the same fixing holes as the first mounting surface, a main body formed of a plate-like member having at least three surfaces,
The main body and the structure via the first and second fixing holes and holes or screws provided on an assembly surface of the structure to be measured and located at positions corresponding to the fixing holes. Fixing means for freely fixing the second fixing hole within the range of the second fixing hole,
A tilt angle measuring unit comprising a tilt angle sensor and a transmission means, the tilt angle measuring unit being detachably fixed to the first or second mounting surface via a screw; 前記第１または第２の取付面を測定対象である構造物の組立面に固定するためのテーパー構造のナットを具備したネジ棒をさらに備え、
前記組立面上における任意の孔径の孔と前記ナットのテーパー部分で前記孔径と一致する部分を当接させて、前記構造物と前記本体部とを固定せしめることを特徴とする請求項７記載の傾斜角センサー治具。A screw rod having a nut having a tapered structure for fixing the first or second mounting surface to an assembly surface of a structure to be measured;
8. The structure according to claim 7, wherein a hole having an arbitrary diameter on the assembly surface is brought into contact with a portion corresponding to the hole diameter in a tapered portion of the nut to fix the structure and the main body. Inclination angle sensor jig. 吊り上げられた吊荷側構造物を接地面上の接地面側構造物に組み付けるための吊り作業補助方法であって、
傾斜角センサー治具を前記接地面側構造物の組立面に取付け、前記組立面の傾斜角度を測定して、制御装置へ前記傾斜角度を送信するステップと、
前記傾斜角センサーを前記接地面側構造物の組立面から取り外すステップと、
前記傾斜角センサーを前記吊荷側構造物の組立面に取付けるステップと、
前記傾斜角センサーによって吊り上げ作業時における前記吊荷側構造物の組立面の傾斜角度を測定し、前記制御装置へ前記傾斜角度を送信するステップと、
前記送信された傾斜角度から各組立面間が平行になるように前記吊荷側構造物の姿勢を調整すべく、前記接地面側構造物と吊荷側構造物との組立面間の角度偏差量を計算し、さらに前記角度偏差量に基づいて前記アクチュエータにおける吊索移動量を算出するステップと、
前記アクチュエータに前記吊索移動量に基づく制御信号を送信するステップと、
前記制御信号に従い前記アクチュエータによって前記吊索を移動させるステップと、
前記吊索の移動後に前記傾斜角センサーによって再度前記吊荷側構造物の組立面の傾斜角度を測定し、前記制御装置へ前記傾斜角度を送信するステップと、
を含んでなり、
前記接地面側構造物と前記吊荷側構造物との組立面間の傾斜角度が所定値以下になるまで、前記吊荷側構造物の組立面の傾斜角度の測定のステップと前記吊索の移動のステップを繰り返すことを特徴とする吊り作業補助方法。A lifting work assisting method for assembling the lifted load-side structure to the ground-side structure on the ground-plane,
Attaching a tilt angle sensor jig to the assembly surface of the ground-side structure, measuring the tilt angle of the assembly surface, and transmitting the tilt angle to a control device;
Removing the tilt angle sensor from the assembly surface of the ground-side structure;
Attaching the tilt angle sensor to the assembly surface of the load-side structure;
Measuring the inclination angle of the assembly surface of the load-side structure during the lifting operation by the inclination angle sensor, and transmitting the inclination angle to the control device;
In order to adjust the attitude of the load-side structure so that the assembly planes are parallel to each other from the transmitted inclination angle, an angle deviation between the assembly planes of the ground-side structure and the load-side structure is adjusted. Calculating the amount, further calculating the amount of sling movement in the actuator based on the angle deviation amount,
Transmitting a control signal based on the amount of sling movement to the actuator;
Moving the suspension cable by the actuator according to the control signal;
Measuring the inclination angle of the assembly surface of the load-side structure again by the inclination angle sensor after the movement of the hanging cable, and transmitting the inclination angle to the control device;
Comprising
Until the angle of inclination between the assembly surface of the ground-side structure and the load-side structure becomes equal to or less than a predetermined value, the step of measuring the angle of inclination of the assembly surface of the load-side structure and the step of A suspending work assisting method, comprising repeating a moving step. 前記吊荷側構造物の組立面の傾斜角度の測定のステップと前記吊索の移動のステップの繰り返しが、前記制御装置の調整手段によって自動的に行われることを特徴とする請求項９記載の吊り作業補助方法。10. The repetition of the step of measuring the inclination angle of the assembly surface of the load-side structure and the step of moving the sling line is automatically performed by an adjusting unit of the control device. Suspension work assistance method.
JP2002232233A 2002-08-09 2002-08-09 Auxiliary device for hanging work, inclination angle sensor tool and auxiliary method for hanging work Pending JP2004067355A (en)

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WO2006041180A1 (en) * 2004-10-15 2006-04-20 Intellectual Property Bank Corp. Structure assembling method employing electronic tag with posture sensor and structure assembling apparatus, and data storage for maintaining structure
JP2007254135A (en) * 2006-03-24 2007-10-04 Chugoku Electric Power Co Inc:The Hanging implement for attaching/detaching and moving heavy load, and method of using the hanging implement
CN102515023A (en) * 2011-12-31 2012-06-27 广东启光钢结构有限公司 Inclined steel structure butting method
JP2013057230A (en) * 2011-09-09 2013-03-28 Raito Kenchiku Jimusho:Kk Torii-gateway-shaped construction system frame
US9027975B2 (en) 2010-10-04 2015-05-12 Wobben Properties Gmbh Method for replacing a transformer in a wind energy installation
WO2015165463A1 (en) * 2014-04-28 2015-11-05 Liftra Ip Aps Method and device for automatic control of the position of a burden suspended in a main wire on a crane
CN116513940A (en) * 2023-02-01 2023-08-01 中铁三局集团有限公司 Anti-offset mechanism for crane hoisting construction and hoisting method thereof

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006041180A1 (en) * 2004-10-15 2006-04-20 Intellectual Property Bank Corp. Structure assembling method employing electronic tag with posture sensor and structure assembling apparatus, and data storage for maintaining structure
JP2007254135A (en) * 2006-03-24 2007-10-04 Chugoku Electric Power Co Inc:The Hanging implement for attaching/detaching and moving heavy load, and method of using the hanging implement
US9027975B2 (en) 2010-10-04 2015-05-12 Wobben Properties Gmbh Method for replacing a transformer in a wind energy installation
KR101526777B1 (en) * 2010-10-04 2015-06-05 보벤 프로퍼티즈 게엠베하 Method for replacing a transformer in a wind energy installation
JP2013057230A (en) * 2011-09-09 2013-03-28 Raito Kenchiku Jimusho:Kk Torii-gateway-shaped construction system frame
CN102515023A (en) * 2011-12-31 2012-06-27 广东启光钢结构有限公司 Inclined steel structure butting method
WO2015165463A1 (en) * 2014-04-28 2015-11-05 Liftra Ip Aps Method and device for automatic control of the position of a burden suspended in a main wire on a crane
US10611608B2 (en) 2014-04-28 2020-04-07 Liftra Ip Aps Method and device for automatic control of the position of a burden suspended in a main wire on a crane
CN116513940A (en) * 2023-02-01 2023-08-01 中铁三局集团有限公司 Anti-offset mechanism for crane hoisting construction and hoisting method thereof
CN116513940B (en) * 2023-02-01 2023-08-29 中铁三局集团有限公司 Anti-offset mechanism for crane hoisting construction and hoisting method thereof

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