JP2015067375A - Climbing device and crane system using the slinging device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To safely conduct slinging work.SOLUTION: A slinging device 1 includes a frame assembly 20 which is connected with a lower end of a wire 120 suspended from a crane through a connection member 10. A pin 40 connected with a suspending piece 210 is supported on the frame assembly 20 so as to move in a horizontal direction. The slinging device 1 further includes a pin driving mechanism 30 which drives the pin 40. The pin driving mechanism 30 includes: a motor 32; a lead screw mechanism 35 which converts rotation of the motor 32 into linear motion; a piston 34 which is moved forward and rearward by the lead screw mechanism 35; and an arm 36 which connects the piston 34 with the pin 40.

Description

  The present invention relates to a sling apparatus used when lifting or suspending a structure in installation work of various structures by a large crane, and a crane system using the sling apparatus.

  Hoist to install large structures such as installation of breakwaters and quay caissons and jackets, installation of gantry cranes for bay handling facilities, installation of bridge structures, and installation of offshore wind power generation facilities on the sea and in the bay. A ship is used.

  The hoist ship is equipped with a hoist at the bow, and the crane-side suspension connected to the crane wire of the hoist is connected to the structure-side suspension that is fixed to the structure to be installed. Can be hung and moved. When the structure is a large structure such as a caisson, the crane-side suspension is not directly connected to the crane wire, but a suspension frame connected to the crane wire is used to stably suspend the structure. Connected through. Usually, 24 to 40 wires are suspended from the suspension frame, and crane-side suspensions are fixed to the lower ends of the wires.

  Here, a conventional crane-side hanger will be described with reference to FIGS. The crane-side hanger 1000 includes a wire fixing portion 1100 that is fixed to the lower end of the wire 1120 and a pair of hanging arms 1110 that extend downward from the wire fixing portion 1100 at a predetermined interval. The hanging arm 1110 is formed with through holes 1110a arranged coaxially, and a pin 1140 can be inserted into the through holes 1110a. On the other hand, the structure-side suspension tool 1200 can be configured as a horseshoe-shaped suspension piece 1210 in which legs are embedded in the structure 1300.

  In general, when the structure 1300 is lifted using the crane-side lifting tool 1000 as described above, a slinging operation for connecting the crane-side lifting tool 1000 and the structure-side lifting tool 1200, and suspension after the structure 1300 is installed. The sling release work, which is the work of removing the tools, is performed manually.

  Specifically, in the slinging operation, first, as shown in FIG. 7, the crane-side suspension tool 1000 is guided above the structure-side suspension tool 1200. Next, as shown in FIG. 8, the structure-side suspension tool 1200 is moved between the pair of hanging arms 1110 while lowering the crane-side suspension tool 1000. In this state, the two suspension tools are supported by human power so as not to move, the pin 1140 is inserted into the through hole 1110a of the crane-side suspension tool 1000, and the inserted pin 1140 is tightened with a nut 1150 so as not to come off. The hanger 1000 and the structure-side hanger 1200 can be connected. The sling release work is the reverse of the sling work, that is, the nut 1150 is removed, the pin 1140 is removed from the crane-side suspension 1000 using a hammer or the like, and the crane-side suspension 1000 from which the pin 1140 has been removed is removed by a hoist. Roll up. Of these series of operations, all operations except the lowering and hoisting of the crane-side lifting tool 1000 are performed manually.

  A crane-side suspension used for installing a large structure such as a caisson usually has a weight of 50 to 180 kg, and it is difficult to support it with the power of one worker. Also, the pins are heavy and it is difficult to insert or remove the pins with the lifting force by one person. Therefore, normally, the slinging work and the slinging release work are composed of a plurality of teams composed of 2 to 3 workers, and work is performed in units of teams.

  In these installation operations by the hoist ship, sea conditions such as wind, waves, wave heights, and tidal current speed have a great influence on the safety and the work efficiency. When the sea conditions are severe, the crane-side lifting equipment, which is heavy in weight, is greatly shaken due to the shaking of the hoist ship, and the danger increases. In particular, when releasing the sling, a large pulling force may act on the crane-side hanger, so that there is a risk that it is difficult to remove or the crane-side hanger is swung immediately after removal. In particular, in the case of a structure installed under the sea surface, the installation work is performed by a diver. Work under the sea is more dangerous and harsh because it is difficult to work with a hoist and the visibility is unclear.

  Therefore, in order to enable a slinging operation and a slinging release operation to be performed safely even if the hoist ship is shaken, Patent Document 1 discloses that a sloshing damper is installed on the hanging frame to suppress the swinging of the hanging frame. Is disclosed.

JP 2001-31363 A

  However, although the technique described in Patent Document 1 suppresses the swing of the crane-side suspension by suppressing the swing of the suspension frame, the staking operation and the staking release operation still rely on human power. Therefore, as long as heavy objects are handled manually, there is more or less danger. For this reason, since there is the highest danger during staking work and staking release work with less danger, especially when handling the pins, it is desired to improve the safety in inserting and removing the pins with respect to the lifting implement. Furthermore, there is a demand for further suppressing the shaking of the wire itself.

  Then, an object of this invention is to provide the sling apparatus which can perform the insertion / extraction of the pin with respect to a hanging tool more safely. Another object of the present invention is to provide a crane system capable of performing safer staking work and staking release work by combining the staking apparatus with the above staking apparatus by suppressing the shaking of the wire.

The slinging device of the present invention is a slinging device that connects a wire suspended from a crane and a hanging tool fixed to a structure that is an object to be lifted by the crane,
A frame portion connected to the lower end of the wire;
A pin slidably supported on the frame,
A pin drive mechanism that slides so as to engage and release the pin with the lifting device by remote operation;
Have

  In the sling apparatus according to the present invention, the pin driving mechanism can include a motor driven by a remote operation, and a motion transmission mechanism that converts the rotation of the motor into a linear motion to move the pin forward and backward. In this case, the motion transmission mechanism may include a piston coupled to the motor via a lead screw mechanism, and an arm that pivotally supports the frame and couples the piston and the pin.

The crane system of the present invention
A crane,
Connected to the lower end of the wire suspended from the crane, the sling device of the present invention,
A suspension frame fixed to the wire between the tip of the crane and the slinging device;
A vibration control device that is fixed to the hanging frame and suppresses the swinging of the hanging frame;
Have

  In the crane system according to the present invention, the vibration control device responds to the vibration control weight supported so as to be capable of reciprocating linear movement in a direction parallel to the upper surface of the suspension frame, the motor that drives the vibration suppression weight, and the vibration of the suspension frame. An arithmetic control unit that controls the operation of the motor so as to generate an inertial reaction force by the movement of the damping weight can be provided. The motor is preferably a linear motor.

  According to the present invention, the pinning operation can be performed more safely by enabling the pin operation to be performed by remote control. Furthermore, according to the crane system of the present invention, it is possible to perform the slinging operation more safely by suppressing the swing of the suspension frame by the vibration control device.

It is a side view of the sling apparatus by one Embodiment of this invention. It is a front view of the sling apparatus shown in FIG. It is a front view of a slinging device which shows a state before a pin is inserted. It is a front view of the slinging device in a stage where the slinging device is guided above the suspension piece for the slinging operation. It is a side view of the crane system by one Embodiment of this invention. It is a front view of the crane system shown in FIG. FIG. 4 is a perspective view of the vibration damping device shown in FIG. 3 with a cover removed. FIG. 4 is a block diagram of a vibration damping device showing a signal flow in the crane system shown in FIG. 3. It is a figure explaining the conventional hanging tool. It is a figure explaining mounting | wearing of the pin to the hanging tool lowered | hung in the slinging operation using the conventional hanging tool.

  Referring to FIG. 1 and FIG. 2, the lower end portion of the wire 120 suspended from the crane is connected to the suspension tool (suspending piece 210) fixed to the structure 200 to be lifted by the crane. A front view and a side view of the slinging device 1 according to the embodiment of the present invention are shown.

  The sling apparatus 1 includes a connecting member 10 fixed to the lower end of a wire 120 of a crane (not shown here), a frame assembly 20 swingably connected to the connecting member 10 via a connecting shaft 15, and a pin 40. And a pin driving mechanism 30 that is supported by the frame frame assembly 20 and drives the pins 40. The pin 40 removably connects the hanging piece 210 fixed to the structure 200 that is an object to be lifted by the crane and the slinging device 1.

  The pin drive mechanism 30 includes a motor 32, a piston 34 that is moved forward and backward by the motor 32, and an arm 36 that is coupled to the piston 34, and an oscillating shaft that extends vertically and horizontally in the direction in which the piston 34 moves forward and backward. 22 is supported by the frame assembly 20 in a swingable manner. The piston 34 is disposed through an opening 20a (see FIG. 1) formed in the frame assembly 20 so that the tip and the end of the piston 34 are located opposite to each other with the frame 20 in between. ing. The output shaft of the motor 32 is connected to the end portion of the piston 34 via a reduction gear mechanism 33 and a lead screw mechanism 35 that converts rotational motion into linear motion.

  The motor 32 and the lead screw mechanism 35 are arranged one above the other by utilizing the reduction gear mechanism 33 arranged therebetween. Thereby, the dimension of the pin drive mechanism 30 in the moving direction of the piston 34 can be reduced, and the pin drive mechanism 30 can be configured compactly. The motor 32 can be driven and stopped by remote control.

  A first end of an arm 36 is slidably connected to the tip of the piston 34. An intermediate portion of the arm 36 is swingably connected to an arm support portion 24 provided integrally with the frame assembly 20. The end of the pin 40 is pivotably connected to the second end of the arm 36. A connecting shaft that connects the tip of the piston 34 and the first end of the arm 36, a connecting shaft that connects the intermediate portion of the arm 36 and the arm support portion 24, and a second end of the arm 36 and the end of the pin 40 The connecting shafts connecting the two are arranged in parallel to each other.

  The pin 40 is arranged so that its axial direction is parallel to the axial direction of the connecting shaft 15, and the pin 40 arranged in such a manner penetrates the frame assembly 20 so that it can move in the axial direction. A through hole is formed in the. In other words, the pin 40 is supported by the frame assembly 20 so as to be movable in the horizontal direction.

  The hanging tool fixed to the structure 200 is configured as a hanging piece 210 in this embodiment. The suspension piece 210 used in this embodiment is configured as a rod-like body in which the leg portion 210a is embedded and fixed in the upper surface of the structure 200 and extends upward. Has a ring-shaped portion 210b that can be inserted from the horizontal direction. However, the hanging piece 210 as a hanging tool on the structure side is not limited to that used in this embodiment, and any hanging piece such as a horseshoe-shaped hanging piece that is generally used as this type of hanging piece. Can be used. Examples of the structure 200 include a breakwater, a quay caisson and a jacket, a gantry crane structure, a bridge structure, an offshore wind power generation facility structure, and the like.

  A recess 26 for receiving the suspension piece 210 from below is formed in the lower part of the frame assembly 20 so as to extend upward from the lower end of the frame assembly 20. The recess 26 is formed to a depth that allows the suspension piece 210 to be received until the ring-shaped portion 210b of the suspension piece 210 is positioned coaxially with the pin through hole formed in the frame assembly 20.

  As shown in FIG. 2A, the piston 34, the arm 36, and the pin 40 are not moved into the recess 26 when the piston 34 is in the most retracted position. By advancing, the pin 40 is advanced in the direction opposite to the moving direction of the piston 34 by the action of the arm 36. When the piston 34 is at the most advanced position as shown in FIG. Each dimension, amount of movement, and the like are designed so as to pass through the 20 recesses 26 and preferably advance to a position protruding from the frame 20.

  Next, staking work and staking release work using the above-described staking apparatus 1 will be described.

  The sling apparatus 1 is attached to the lower end of the wire 120 of the crane. In the slinging operation, the pin 40 is in a retracted position where the tip does not enter the recess 26 of the frame 20. In this state, for example, two slinging workers guide the slinging device 1 to above the suspension piece 210 of the structure 200 as shown in FIG. 2B. After guiding the sling apparatus 1, the crane operator lowers the wire 120. During this time, the slinging worker matches the position and direction of the recess 26 of the frame 20 in the horizontal direction with the suspension piece 210, and the slinging device 1 so that the suspension piece 210 enters the recess 26 as the wire 120 descends. Support.

  When the suspension piece 210 is accommodated in the recess 26 of the frame 20, the motor 32 is driven by a remote operation from the bridge of the hoist ship or the structure 200 to advance the pin 40. As the pin 40 moves forward, it passes through the suspension piece 210 in the recess 26, whereby the structure 200 is connected to the crane wire 120 via the slinging device 1.

  When the structure 200 is connected, the structure 200 is lifted by winding the wire and moved to a desired position by the crane. Since the pin 40 is maintained at the forward movement position by the motor 32, the pin 40 does not come off from the suspension piece 210 even if the pin 40 is not fixed by a fastening member as in the prior art.

  The structure 200 moved to a desired position is subjected to a sling releasing operation for releasing the connection between the suspension piece 210 and the wire 120. The sling release operation can be performed by rotating the motor 32 in the direction opposite to that during the sling operation by remote operation of the motor 32. That is, when the motor 32 is rotated in the direction in which the piston 34 is retracted, the pin 40 is retracted and pulled out from the suspension piece 210, thereby releasing the connection between the suspension piece 210 and the wire 120.

  As described above, by using the sling apparatus 1 according to the present embodiment, the actuator 30 can automatically perform the insertion / extraction of the pin 40 to / from the suspension piece 210, so that the number of workers involved in the insertion / extraction of the pin 40 can be reduced. In addition, it is possible to prevent accidents such as the dropping of the pin 40 due to carelessness of the worker and the fall of the worker holding the pin 40. Furthermore, in the sling release work, the motor 32 is driven by remote control, so that the worker can be placed at a position away from the sling apparatus 1 to perform the sling release work. As a result, even if the slinging device 1 is swung by the pulling force of the wire 120 immediately after the pin 40 is pulled out, the risk that the swung slinging device 1 hits an operator can be reduced. As described above, by using the slinging device 1, it is possible to perform the slinging operation and the sling releasing work more safely while reducing the number of workers.

  In particular, if the remote operation of the motor 32 is performed from, for example, a bridge of a hoist ship, the sling can be released without placing a worker on the structure 200 during the sling canceling operation. An accident in which the slinging device 1 hits an operator can be prevented, and the safety of the work is further improved. In addition, since the sling release work can be performed without placing a worker on the structure 200, a plurality of sling apparatuses, for example, all the sling apparatuses 1 can be operated simultaneously, and the sling release work can be efficiently performed. it can.

  When the connection between the suspension piece 210 and the wire 120 is released, the operator of the crane winds up the wire 120. At this time, if a worker is arranged on the structure 200, the operator of the crane can determine that the connection is released by a signal from the worker on the structure 200. On the other hand, when the operation of the motor 32 is controlled by remote operation from the hoist ship and no worker is arranged on the structure 200, for example, the operation status of the motor 32 on the control panel for remote operation of the sling apparatus 1 Can be appropriately displayed by an indicator or blinking / lighting of a lamp, etc., and the crane operator can determine the release of the connection by the display.

  The structure 200 may be installed not only on land but also in the sea. The sling apparatus 1 according to this embodiment can also be used for slinging and slinging work on the structure 200 installed in the sea. The staking work and the staking release work in the sea using the staking apparatus 1 described above are substantially the same as those described above, except that the worker is a diver and performs the work in the sea. .

  The sling apparatus 1 of the present embodiment contributes to safer slinging work and slack releasing work, but as long as the crane is provided in the hoist ship, the swing of the wire due to the swinging of the crane itself is inevitable. . Therefore, in order to perform safer staking work and staking release work, it is preferable to suppress the swaying of the wire due to the shaking of the crane.

  Hereinafter, a crane system in which the above-described staking apparatus 1 is combined with a system that suppresses swaying of the wire due to the swaying of the crane, and the staking operation and the staking release operation can be performed more safely will be described.

  3 and 4 show a side view and a front view of a crane system according to an embodiment of the present invention.

  The crane system of this embodiment includes a hoist ship 100 having a jib (crane) 110, a sling apparatus 1 attached to the lower end of a wire 120 suspended from the jib 110, and a front end of the jib 110 to the sling apparatus 1. The suspension frame 130 is fixed to the suspension frame 130, the vibration control device 150 is fixed to the suspension frame 130, and the arithmetic control unit 105 that controls the operation of the vibration control device 150.

  As described above, the slinging device 1 is configured to automatically insert and remove pins. The suspension frame 130 is a steel member, on which the main structure of the vibration damping device 150 that causes the vibration damping action is installed. The wires 120 may be separated above and below the suspension frame 130, or may be connected to the suspension frame 130 and fixed to the suspension frame 130 with an appropriate fixing device.

  The vibration damping device 150 uses the inertial reaction force to reduce the swing of the suspension frame 130. As shown in FIG. 5, the base 152 for installation on the suspension frame and the linear attached to the base 152 are provided. It has a motor 154 and a damping body (weight) 156 that is supported so as to be reciprocally linearly movable in a direction parallel to the upper surface of the suspension frame 130 and is driven by the linear motor 154. The linear motor 154 includes a magnet part 154a extending in the movement direction (arrow direction) of the vibration damping body 156, a movable part 154b that moves along the magnet part 154a, and a linear guide 158 that guides the movement of the movable part 154b. Have. The damping body 156 is fixed on the movable portion 155. Moreover, it is preferable that the vibration damping device 150 includes a buffer (not shown) that absorbs the shock of the vibration damping body 156 when the linear motor 154 runs away. In addition, it is preferable that the structure shown in FIG. 5 is entirely covered with a cover (not shown) for protection from seawater or rain.

  Referring to FIGS. 3 and 4 again, when the hoist ship 100 is shaken by a wave, the hoist ship 100 is shaken more in the left-right direction than in the front-rear direction of the hoist ship 100. As for the swing of the suspension frame 120, the influence of the shaking of the hoist ship 100 is larger than the influence of the wind. Therefore, the swing of the suspension frame 120 to be suppressed is the swing of the hoist ship 100 in the left-right direction. The vibration damping device 150 suppresses the shaking of the suspension frame 130 by moving the damping body 154 in the direction opposite to the direction in which the suspension frame 130 shakes. Therefore, the vibration damping device 150 is installed on the suspension frame 130 so that the moving direction of the vibration damping body 156 is parallel to the horizontal direction of the hoist ship 100.

  The vibration control body 154 is moved by detecting the swing of the hoist ship 100 and the swing of the suspension frame 130 by various sensors and controlling the linear motor 154 based on the detection result. FIG. 6 shows a signal flow for controlling the linear motor 154 by a block diagram of the vibration damping device.

  As shown in FIG. 6, the vibration damping device 150 includes an acceleration sensor 162 and an angular velocity sensor 164 in addition to the linear motor 154 and the like described above. The acceleration sensor 162 is installed on the suspension frame 130 and detects acceleration due to the swing of the suspension frame 130 in the left-right direction of the hoist ship 100. The angular velocity sensor 164 is installed on the bridge 101 of the hoist ship 100 and detects the angular velocity on the bridge 101.

  The detection result from the acceleration sensor 162 and the detection result from the angular velocity sensor 164 are transmitted to the arithmetic control unit 105, respectively. When the acceleration sensor 162 installed on the suspension frame 130 detects the swing of the suspension frame 130, the arithmetic control unit 105 detects the swing of the hoist ship 100 at the jib tip of the hoist ship 100 based on the detection result from the angular velocity sensor 164. Calculate the acceleration in the left-right direction. The arithmetic control unit 105 further determines the acceleration of the suspension frame 130 based on the calculated acceleration of the jib tip, the acceleration of the suspension frame 130 obtained from the acceleration sensor 162 on the suspension frame 130, the weight of the vibration damping body 156, and the like. The moving conditions such as the moving direction, moving speed, and moving amount of the damping body 156 that give the reverse acceleration are determined, and the linear motor 154 is driven in accordance with the determined moving conditions.

  As the control of the vibration damping device 150 by the arithmetic control unit 105, for example, the acceleration of the jib tip and the acceleration of the suspension frame 130 are obtained at regular time intervals, and the next fluctuation of the suspension frame 130 is predicted from the results, Feed forward control that operates the damping body 156 so as to suppress fluctuations can be preferably used.

  Thereby, the swing of the hanging frame 130 is suppressed, and as a result, the swing of the slinging device 1 connected to the lower end of the wire 120 is also suppressed. By suppressing the swing of the slinging device 1, the safety of the slinging operation and slinging release operation described above is further improved.

  In this embodiment, the linear motor 154 is used to drive the vibration damping body 156. However, the drive source of the vibration damping body 156 is not limited to the linear motor 154, and is a rotary electric motor having a rotor and a stator. It may be a motor. In that case, the vibration damping device further includes an appropriate motion conversion mechanism that converts the rotational motion of the rotary electric motor into a linear motion. From the viewpoint of excellent response characteristics, it is preferable to use a linear motor 154 as a drive source of the vibration damping body 156.

DESCRIPTION OF SYMBOLS 1 Climbing apparatus 10 Connecting member 20 Frame assembly 22 Oscillating shaft 24 Arm connecting part 30 Pin drive mechanism 32 Motor 34 Piston 36 Arm 40 Pin 100 Hoist ship 105 Control unit 110 Jib (crane)
DESCRIPTION OF SYMBOLS 120 Wire 130 Hanging frame 150 Damping device 152 Base 154 Linear motor 156 Damping body 200 Structure 210 Hanging piece

In slinging device of the present invention, the pin drive mechanism, possess a motor driven by remote control, the rotation of the motor is converted into linear motion and motion transmission mechanism for the forward and backward movement of the pin, a movement transmission mechanism, that has a piston connected via a lead screw mechanism in the motor, connecting the piston and the pin, an arm that is swingably supported on the frame portion.

Claims (6)

A slinging device for connecting a wire suspended from a crane and a hanging tool fixed to a structure that is an object to be lifted by the crane,
A frame portion connected to the lower end of the wire;
A pin slidably supported on the frame part;
A pin driving mechanism for sliding the pin so as to engage and release the lifting tool by remote operation;
A slinging device having:   2. The sling apparatus according to claim 1, wherein the pin driving mechanism includes a motor driven by a remote operation, and a motion transmission mechanism that converts the rotation of the motor into a linear motion to move the pin forward and backward. .   The said movement transmission mechanism has the piston connected with the said motor via the lead screw mechanism, and the arm supported so that rocking | fluctuation to the said frame which connects the said piston and the said pin was possible. Slinging device. A crane,
The sling apparatus according to any one of claims 1 to 3, wherein the sling apparatus is connected to a lower end of a wire suspended from the crane.
A suspension frame fixed to the wire between the tip of the crane and the slinging device;
A vibration damping device that is fixed to the suspension frame and suppresses the swinging of the suspension frame;
With crane system.   The vibration control device includes a vibration control weight supported so as to be capable of reciprocating linear movement in a direction parallel to the upper surface of the suspension frame, a motor for driving the vibration control weight, and the vibration control according to the vibration of the suspension frame. The crane system according to claim 4, further comprising: an arithmetic control unit that controls the operation of the motor so that an inertial reaction force is generated by the movement of the weight.   The crane system according to claim 5, wherein the motor is a linear motor.

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