JP2022034790A - Hanging tool - Google Patents

Abstract

To provide a hanging tool capable of suppressing rotation of a suspended load around a centerline along the height direction of the hanging tool while reducing the tilt of the suspended load.SOLUTION: A hanging tool 40 comprises a crane connecting member 50 connected to a crane 20, a holding tool 10 to hold a suspended load 18, a tilt adjusting device 60, and a joint member, where the tilt adjusting device movably supports the holding tool 10, also moves the holding tool 10 with respect to the crane connecting member 50, so as to reduce tilt of the suspended load 18 held by the holding tool 10, and the joint member has a first rotating shaft 120 and a second rotating shaft 130 along mutually intersecting directions in a view from a height direction, enables rotation of the tilt adjusting device 60 around each of the first rotating shaft 120 and the second rotating shaft 130 with respect to the crane connecting member 50, and suppresses the rotation of the tilt adjusting device 60 around a centerline Z1 along the height direction.SELECTED DRAWING: Figure 7B

Description

The present invention relates to a sling.

There is a sling that includes a beam-shaped main sling to which a crane wire rope is connected and a pair of beam-shaped sub slings that are suspended from both ends of the main sling to hold a suspended load (for example, Patent Document 1). reference). This sling tool is provided with an tilt adjusting device (adjusting means) for reducing the tilt of the upper surface of the suspended load in a state where the suspended load is lifted.

Japanese Unexamined Patent Publication No. 7-25583

In the sling tool disclosed in Patent Document 1, the tilt of the suspended load can be reduced by the tilt adjusting device.

However, in the sling tool disclosed in Patent Document 1, there is a possibility that a pair of sub sling tools rotate with respect to the main sling tool in the height direction (vertical direction) of the sling tool as a rotation axis. Therefore, it is difficult to unload the suspended load at a predetermined position, and it may take time and effort to unload the suspended load.

In consideration of the above facts, an object of the present invention is to suppress the rotation of the suspended load around the center line along the height direction of the sling while reducing the inclination of the suspended load.

The sling according to the first aspect includes a crane connecting member connected to a crane, a holding tool for holding a suspended load, and the holding tool that movably supports the holding tool and moves the holding tool with respect to the crane connecting member. It has an inclination adjusting device for reducing the inclination of the suspended load held by the holder, and a pair of rotating shafts along the directions intersecting each other when viewed from the height direction, and has the crane connecting member and the inclination. While connecting to the adjusting device, the tilt adjusting device can be rotated around each of the pair of rotating shafts with respect to the crane connecting member, and the center line along the height direction is the center. It is provided with a joint member for suppressing the rotation of the tilt adjusting device.

According to the sling according to the first aspect, the crane is connected to the crane connecting member. An inclination adjusting device is connected to the crane connecting member by a joint member. The tilt adjuster movably supports the retainer that holds the suspended load.

Here, when the suspended load lifted by the lifting tool is tilted, the holding tool is moved with respect to the crane connecting member by the tilt adjusting device. This reduces the tilt of the suspended load. Therefore, it becomes easy to lower the suspended load lifted by the sling tool into a predetermined position.

Further, the joint member makes it impossible for the crane connecting member to rotate the inclination adjusting device around the center line along the height direction of the sling. Therefore, it becomes easier to further lower the suspended load lifted by the fishing tool to a predetermined position.

As described above, in this embodiment, it is possible to suppress the rotation of the suspended load around the center line along the height direction of the sling while reducing the inclination of the suspended load.

Further, the joint member has a pair of rotation axes along the directions intersecting each other in a plan view, and the tilt adjusting device can rotate about each of the pair of rotation axes with respect to the crane connecting member. To.

As a result, when the suspended load lifted by the sling is tilted, the tilt adjusting device rotates about at least one of the pair of rotating shafts with respect to the crane connecting member. The rotation of this tilt adjusting device absorbs the shaking of the suspended load. Therefore, the swing of the suspended load is suppressed from being transmitted to the crane via the tilt adjusting device and the crane connecting member. As a result, for example, it is suppressed that the suspended load is greatly shaken together with the wire rope of the crane. Therefore, it becomes easier to further lower the suspended load lifted by the sling tool into the predetermined position.

The sling according to the second aspect is the sling according to the first aspect, in which the tilt adjusting device movably supports the holding tool with respect to the crane connecting member in the axial direction of the pair of rotating shafts.

According to the sling according to the second aspect, the tilt adjusting device movably supports the holder with respect to the crane connecting member in the axial direction of the pair of rotating shafts. Then, when the suspended load lifted by the sling is tilted, for example, the tilt adjusting device moves the holder in the axial direction of the pair of rotating shafts with respect to the crane connecting member. This reduces the tilt of the suspended load. Therefore, it becomes easy to lower the suspended load lifted by the sling tool into a predetermined position.

Here, when the holder is moved by the tilt adjusting device, if the tilt adjusting device rotates about a pair of rotation axes, the center of gravity of the suspended load moves, so that it becomes difficult to reduce the tilt of the suspended load.

On the other hand, as described above, the tilt adjusting device of the present embodiment movably supports the holder with respect to the crane connecting member in the axial direction of the pair of rotating shafts of the joint member. As a result, for example, when the holder is moved in the axial direction of one of the rotation shafts by the tilt adjustment device, the rotation of the tilt adjustment device around the rotation shaft is suppressed. Therefore, since the movement of the center of gravity of the suspended load is suppressed, the inclination of the suspended load can be easily reduced by the tilt adjusting device.

The crane according to the third aspect includes a detector for detecting the inclination of the suspended load held by the holder in the crane according to the first aspect or the second aspect, and the inclination adjusting device detects by the detector. The holder is moved with respect to the crane connecting member according to the tilt of the suspended load, and the tilt of the suspended load is reduced.

According to the sling according to the third aspect, a detector for detecting the inclination of the suspended load held by the holder is provided. Then, the tilt adjusting device moves the holder with respect to the crane connecting member according to the tilt of the suspended load detected by the detector, and reduces the tilt of the suspended load. Therefore, the inclination of the suspended load can be efficiently reduced.

The sling according to the fourth aspect is the sling according to any one of the first to the third aspects, and the tilt adjusting device includes an upper base, an intermediate base arranged under the upper base, and the above. It has a lower base arranged on the lower side of the intermediate base and a first screw shaft, connects the upper base and the intermediate base, and attaches the intermediate base to the upper base with the first screw shaft. It has a first feed screw mechanism that moves along the first feed screw mechanism and a second screw shaft that intersects with the first screw shaft, connects the intermediate base and the lower base, and has the lower base with respect to the intermediate base. It has a second feed screw mechanism that moves the side base along the second screw shaft.

According to the sling according to the fourth aspect, the tilt adjusting device has an upper base, an intermediate base, and a lower base. An intermediate base is placed below the upper base. Further, a lower base is arranged below the intermediate base.

Further, the tilt adjusting device has a first feed screw mechanism and a second feed screw mechanism. The first feed screw mechanism has a first screw shaft. This first feed screw mechanism connects the upper base and the intermediate base, and moves the intermediate base with respect to the upper base along the first screw axis.

On the other hand, the second feed screw mechanism has a second screw shaft that intersects with the first screw shaft. This second feed screw mechanism connects the intermediate base and the lower base, and moves the lower base along the second screw axis with respect to the intermediate base.

Thus, in this embodiment, the holder is moved along the first screw shaft and the second screw shaft with respect to the crane connecting member by the first feed screw mechanism and the second feed screw mechanism. As a result, the inclination of the suspended load can be reduced.

As described above, according to the sling tool according to the present invention, it is possible to suppress the rotation of the sling load around the center line along the height direction of the sling load while reducing the inclination of the suspended load.

It is a front view which shows the crane, the slinging tool, and the holding tool which concerns on one Embodiment. It is a front view which disassembled the crane, the slinging tool, and the holding tool shown in FIG. FIG. 3 is a plan view of the first feed screw mechanism shown in FIG. 1 as viewed from above in the height direction of the sling. FIG. 3 is a sectional view taken along line 4-4 of FIG. FIG. 3 is a plan view of the second feed screw mechanism shown in FIG. 1 as viewed from above in the height direction of the sling. FIG. 6 is a sectional view taken along line 6-6 of FIG. It is a front view which shows the state before lifting a suspended load by a crane, a sling tool, and a holding tool shown in FIG. 1. It is a front view which shows the state after hoisting a suspended load by a crane, a sling tool, and a holding tool shown in FIG. 1.

Hereinafter, the sling tool according to the embodiment will be described with reference to the drawings.

(Fishing tool)
1 and 2 show a sling tool 40 according to the present embodiment connected to a crane 20. The sling tool 40 includes a holder 10, a crane connecting member 50, an inclination adjusting device 60, a joint member 110, a first detector 142, and a second detector 144.

The arrow Z appropriately shown in each figure indicates the height direction (vertical direction) of the sling tool 40. Further, the arrows X and Y indicate the first direction and the second direction orthogonal to each other and orthogonal to the height direction of the sling tool 40, respectively.

(Holder)
The holder 10 is a tong. The holder 10 has a main body frame 12 and a pair of movable arms 16. The main body frame 12 has a mounting portion 12A, and is detachably attached to the tilt adjusting device 60 via a plurality of mounting chains 14 connected to the mounting portion 12A.

The mounting chain 14 supports the mounting portion 12A of the main body frame 12 at three or more points, for example. In the present embodiment, the mounting chain 14 is composed of three, one end of each mounting chain 14 is connected to different positions of the adjusting device 60, and the other end of each mounting chain 14 is mounted on the main body frame 12. It is connected to different positions of the portion 12A. As a result, the main body frame 12 is hardly rotated and connected to the tilt adjusting device 60. That is, the rotation of the sling tool 40 about the center line Z1 along the height direction (arrow Z direction) of the sling tool 40 is suppressed with respect to the tilt adjusting device 60. The mounting chain 14 may be composed of three or more, and is not limited to this.

A pair of movable arms 16 are attached to the lower end of the main body frame 12. The pair of movable arms 16 are movable with respect to the main body frame 12 to hold the suspended load 18.

The holder 10 is not limited to the tongs, and may be, for example, a lifter, a lifting magnet, a clamp, or the like.

(crane)
The crane 20 has a connecting base 22, a plurality of wire ropes 24, a move (not shown), and the like. The connecting base 22 is formed in a plate shape. The connecting base 22 is suspended in a horizontal position by a plurality of wire ropes 24.

The plurality of wire ropes 24 are respectively hung on the plurality of pulleys 26 provided on the upper surface of the connecting base 22. These wire ropes 24 support the connecting base 22 at three or more points. As a result, the connecting base 22 is non-rotatably supported by the move (not shown). That is, it is suppressed that the slinger 40 rotates about the center line Z1 along the height direction (arrow Z direction) with respect to the move.

The connecting base 22 is provided with a plurality of connecting mechanisms 30 to which the slinging tool 40 is connected. Each connecting mechanism 30 has a pair of brackets 32 and a slide pin 34. The pair of brackets 32 are arranged so as to face each other. A slide pin 34 is slidably inserted into a through hole formed in each of the pair of brackets 32.

(Crane connecting member)
The crane connecting member 50 is formed in a plate shape. The crane connecting member 50 is arranged below the connecting base 22 of the crane 20 and is detachably connected to the connecting base 22. Further, the crane connecting member 50 is provided with a plurality of flanges 52. The plurality of flanges 52 project upward from the upper surface of the connecting base 22.

A through hole is formed in each flange 52. Further, each flange 52 is inserted between the pair of brackets 32 of the crane 20 described above. In this state, by inserting the slide pin 34 into the through hole of the flange 52 and the bracket 32, the crane connecting member 50 is connected to the connecting base 22 of the crane 20 in a horizontal posture and integrally.

Further, the crane connecting member 50 is non-rotatably connected to the connecting base 22 of the crane 20. That is, the rotation of the crane connecting member 50 about the center line Z1 along the height direction of the sling tool 40 is suppressed with respect to the connecting base 22 of the crane 20.

The connecting structure between the crane 20 and the sling tool 40 can be changed as appropriate.

(Tilt adjustment device)
The inclination adjusting device 60 is connected to the crane connecting member 50 via a joint member 110 described later. The tilt adjusting device 60 moves the holder 10 in the first direction and the second direction (arrow X direction and arrow Y direction) with respect to the crane connecting member 50, and tilts the suspended load 18 held by the holder 10. It is said to be a device to reduce.

The tilt adjusting device 60 includes an upper base 62, an intermediate base 64, a lower base 66, a first feed screw mechanism 70, a second feed screw mechanism 90, and a control device 140.

The upper base 62, the intermediate base 64, and the lower base 66 are formed in a plate shape. A joint member 110, which will be described later, is provided on the upper surface of the upper base 62. An intermediate base 64 is arranged below the upper base 62.

The intermediate base 64 and the upper base 62 face each other in the height direction of the sling tool 40. A lower base 66 is arranged below the intermediate base 64. The lower base 66 and the intermediate base 64 face each other in the height direction of the sling tool 40. The holder 10 is detachably attached to the lower base 66 via the plurality of attachment chains 14 (see FIG. 1) described above.

(First lead screw mechanism)
The first feed screw mechanism 70 movably connects the intermediate base 64 to the upper base 62 in the first direction (arrow X direction), and moves the intermediate base 64 to the upper base 62 in the first direction. ..

As shown in FIG. 3, the first feed screw mechanism 70 includes a pair of first guide rails 72, a plurality of first sliders 74, a first screw shaft 80, a first nut member 82, and a first screw. It has bearing members 76, 83 that support the shaft 80, a first motor 84, and a coupling 86 that connects the motor rotation shaft of the first motor 84 and the first screw shaft 80 and transmits rotational motion. .. The pair of first guide rails 72 are parallel to each other and are arranged along the first direction (arrow X direction). The pair of first guide rails 72 are fixed to the upper surface of the intermediate base 64.

The plurality of first sliders 74 are fixed to the lower surface of the upper base 62 (see FIG. 4). Each first slider 74 is slidably connected to any of a pair of first guide rails 72. As a result, the intermediate base 64 is movably connected to the upper base 62 in the first direction (arrow X direction) along the pair of first guide rails 72.

The first screw shaft 80 is arranged along the first direction. Further, the first screw shaft 80 is fixed to the upper surface of the intermediate base 64 via the bearing member 76. A first nut member 82 is attached to the first screw shaft 80.

The first nut member 82 constitutes a ball screw together with the first screw shaft 80, the bearing members 76 and 83, and the coupling 86. The first nut member 82 moves along the first screw shaft 80 as the first screw shaft 80 rotates.

Further, as shown in FIG. 4, the first nut member 82 is fixed to the lower surface of the upper base 62. As a result, when the first screw shaft 80 rotates, the intermediate base 64 moves in the first direction with respect to the upper base 62.

The first motor 84 is, for example, a servo motor or a stepping motor capable of reversing the rotation direction. The first screw shaft 80 is rotated forward or reverse by the first motor 84. A control device 140, which will be described later, is electrically connected to the first motor 84.

(Second feed screw mechanism)
As shown in FIG. 4, the second feed screw mechanism 90 movably connects the lower base 66 to the intermediate base 64 in the second direction (arrow Y direction), and lowers the lower base 66 to the intermediate base 64. The side base 66 is moved in the second direction.

As shown in FIG. 5, the second feed screw mechanism 90 includes a pair of second guide rails 92, a plurality of second sliders 94, a second screw shaft 100, a second nut member 102, and a second screw. It has bearing members 96 and 103 that support the shaft 100, a second motor 104, and a coupling 106 that connects the motor rotation shaft of the second motor 104 and the second screw shaft 100 and transmits rotational motion. .. The basic configuration of the second feed screw mechanism 90 is the same as the configuration of the first feed screw mechanism 70.

The pair of second guide rails 92 are parallel to each other and are arranged along the second direction (arrow Y direction). The pair of second guide rails 92 are fixed to the upper surface of the lower base 66.

The plurality of second sliders 94 are fixed to the lower surface of the intermediate base 64 (see FIG. 4). Each second slider 94 is slidably connected to any of the pair of second guide rails 92. As a result, the lower base 66 is movably connected to the intermediate base 64 in the second direction (arrow Y direction) along the pair of second guide rails 92.

The second screw shaft 100 is arranged along the second direction. Further, the second screw shaft 100 is fixed to the upper surface of the lower base 66 via the bearing member 96. A second nut member 102 is attached to the second screw shaft 100.

The second nut member 102 constitutes a ball screw together with the second screw shaft 100, the bearing members 96 and 103, and the coupling 106. The second nut member 102 moves along the second screw shaft 100 as the second screw shaft 100 rotates. Further, the second nut member 102 is fixed to the lower surface of the intermediate base 64 (see FIG. 4). As a result, when the second screw shaft 100 rotates, the lower base 66 moves in the second direction with respect to the intermediate base 64.

The second motor 104 is, for example, a servo motor or a stepping motor capable of reversing the rotation direction. The second screw shaft 100 is rotated forward or reverse by the second motor 104. A control device 140, which will be described later, is electrically connected to the second motor 104.

(Joint member)
As shown in FIG. 6, the joint member 110 is a universal joint such as a cross pin having two rotation shafts. The joint member 110 has a joint main body 112, a first rotation shaft 120, a pair of first bearing members 122, a second rotation shaft 130, and a pair of second bearing members 132. The first rotation shaft 120 and the second rotation shaft 130 are examples of a pair of rotation shafts.

The joint body 112 is formed in a box shape. The joint body 112 is provided with a first rotation shaft 120 and a second rotation shaft 130. The first rotation shaft 120 and the second rotation shaft 130 are arranged along the directions orthogonal to each other when viewed from the height direction of the sling tool 40. More specifically, the first rotation shaft 120 is arranged along the first direction. On the other hand, the second rotation shaft 130 is arranged along the second direction. Further, the first rotation shaft 120 and the second rotation shaft 130 are arranged at the same position in the height direction of the sling tool 40.

The first rotation shaft 120 and the second rotation shaft 130 do not necessarily have to be orthogonal to each other, and may intersect with each other.

The first rotating shaft 120 has a pair of shaft portions 120A arranged coaxially. The pair of shaft portions 120A project from both sides of the joint body 112 in the first direction. The pair of shaft portions 120A are rotatably supported by the pair of first bearing members 122. The pair of first bearing members 122 are arranged on both sides of the joint body 112 in the first direction. Further, the pair of first bearing members 122 are fixed to the upper surface of the upper base 62.

The second rotating shaft 130 has a pair of shaft portions 130A arranged coaxially. The pair of shaft portions 130A project from both sides of the joint body 112 in the second direction. The pair of shaft portions 130A are rotatably supported by the pair of second bearing members 132. The pair of second bearing members 132 are arranged on both sides of the joint body 112 in the second direction. Further, the pair of second bearing members 132 are fixed to the lower surface of the crane connecting member 50 (see FIG. 2).

As shown in FIG. 1, the joint member 110 is arranged directly below the center of gravity of the crane connecting member 50 connected to the connecting base 22 of the crane 20 in a horizontal posture. Here, the connecting base 22 of the crane 20 and the crane connecting member 50 are integrally connected as described above. Therefore, the joint member 110 can be regarded as a support point (support center) when the inclination adjusting device 60 is supported by the crane 20 at one point. The inclination adjusting device 60 is rotatably connected to the crane connecting member 50 by the joint member 110 around each of the first rotating shaft 120 and the second rotating shaft 130.

Further, one end of the joint member 110 is fixed to the lower surface of the crane connecting member 50 by bolts, and the other end of the joint member 110 is fixed to the upper surface of the upper base 62 by bolts. Therefore, the joint member 110 does not have a rotation axis along the height direction of the sling tool 40. Therefore, the tilt adjusting device 60 does not rotate about the center line Z1 along the height direction of the sling with respect to the crane connecting member 50. That is, the joint member 110 makes it impossible for the crane connecting member 50 to rotate the inclination adjusting device 60 about the center line Z1 along the height direction of the sling tool 40.

(Control device)
As shown in FIGS. 3 and 5, the control device 140 is composed of, for example, a computer including a CPU (Central Processing Unit), a memory, and a recording device. Further, the control device 140 is provided on, for example, the upper base 62 of the tilt adjusting device 60. A first detector 142 and a second detector 144 (see FIG. 1) are electrically connected to the control device 140.

The first detector 142 and the second detector 144 are sensors that detect the inclination of the suspended load 18 held by the holder 10. As the first detector 142 and the second detector 144, for example, an inclination sensor (angle sensor) that detects an inclination angle by contact between a liquid surface such as mercury and an electrode is used. These first detector 142 and second detector 144 are installed in the holder 10.

The first detector 142 and the second detector 144 are arranged at different positions when viewed from the height direction of the sling, for example. Further, the first detector 142 and the second detector 144 are examples of detectors.

As shown in FIG. 7B, the first detector 142 detects the inclination angle θ of the holder 10 with respect to the horizontal plane when viewed from the axial direction of the second rotation shaft 130 of the joint member 110. Further, the first detector 142 outputs the detected tilt angle of the holder 10 to the control device 140.

On the other hand, the second detector 144 detects the inclination angle of the holder 10 with respect to the horizontal plane when viewed from the axial direction of the first rotation shaft 120 of the joint member 110. Further, the second detector 144 outputs the detected tilt angle of the holder 10 to the control device 140.

The control device 140 controls the operation of the first motor 84 and the second motor 104 based on the tilt angle of the holder 10 output from the first detector 142 and the second detector 144, and controls the operation of the first motor 84 and the second motor 104 with respect to the crane connecting member 50. The retainer 10 is moved in the first direction and the second direction, respectively. As a result, the inclination of the holder 10 and the suspended load 18 held by the holder 10 is reduced. The specific operation of the control device 140 will be described later.

(Action)
Next, the operation of this embodiment will be described.

FIG. 7A shows the initial state of the sling tool 40 before hoisting the sling load 18. In this initial state, the height direction of the sling tool 40 coincides with the vertical direction. Further, in FIG. 7A, the suspended load 18 is installed on the installation surface 42 such as the ground or the floor. The suspended load 18 is held by the holder 10. In this state, the center of gravity G1 of the sling tool 40 is arranged on the center line Z1 of the sling tool 40, but the center of gravity G2 of the sling load 18 is arranged at a position deviated from the center line Z1 passing through the center position of the sling tool 40. ..

When the suspended load 18 is lifted by the crane 20 from this state, the tilt adjusting device 60 rotates about the second rotating shaft 130 with respect to the crane connecting member 50 as shown in FIG. 7B. As a result, the holder 10 and the suspension load 18 are tilted, and the combined center of gravity G3 of the suspension load 18 and the suspension tool 40 is arranged directly below the joint member 110.

Here, the tilt of the holder 10 is detected by the first detector 142 and the second detector 144. In the first detector 142, the inclination angle θ of the holder 10 with respect to the horizontal plane is detected when viewed from the axial direction of the second rotation shaft 130. The tilt angle θ of the holder 10 issued by the first detector 142 is output to the control device 140 (see FIGS. 3 and 5).

As shown in FIG. 3, the control device 140 has a first feed screw so that the tilt angle θ of the holder 10 becomes zero based on the tilt angle θ of the holder 10 output from the first detector 142. The rotation direction and rotation amount of the first motor 84 of the mechanism 70 are controlled. Specifically, the control device 140 rotates the first motor 84 in a predetermined direction (forward rotation or reverse rotation) so that the intermediate base 64 moves in the direction of arrow a (see FIG. 7B) with respect to the upper base 62. Let me.

Further, the control device 140 determines the rotation speed of the first motor 84 according to the magnitude of the inclination angle θ of the holder 10 output from the first detector 142. More specifically, the control device 140 increases the rotation speed of the first motor 84 as the inclination angle θ of the holder 10 increases, and increases the amount of movement of the intermediate base 64 with respect to the upper base 62. On the other hand, the control device 140 reduces the rotation speed of the first motor 84 as the inclination angle θ of the holder 10 decreases, and reduces the amount of movement of the intermediate base 64 with respect to the upper base 62. As a result, the inclination angle θ of the holder 10 and the suspended load 18 is reduced when viewed from the axial direction of the second rotating shaft 130.

Further, when the tilt angle θ of the holder 10 and the suspended load 18 fluctuates, the tilt angle θ after the fluctuation is output from the first detector 142 to the control device 140. Based on the tilt angle of the holder 10 output from the first detector 142, the control device 140 rotates the first motor 84 of the first feed screw mechanism 70 so that the tilt angle θ of the holder 10 becomes zero. Control the direction and rotation speed again. That is, the control device 140 feedback-controls the inclination angle θ of the holder 10 and the suspended load 18.

By repeating the above control, the control device 140 sets the inclination angle θ of the holder 10 and the suspended load 18 with respect to the horizontal plane to zero when viewed from the axial direction of the second rotating shaft 130.

Further, although not shown, the second detector 144 detects the inclination angle of the holder 10 with respect to the horizontal plane when viewed from the axial direction of the first rotation shaft 120. The tilt angle of the holder 10 detected by the first detector 142 is output to the control device 140 (see FIG. 5).

As shown in FIG. 5, the control device 140 controls the rotation direction and the rotation speed of the second motor 104 of the second feed screw mechanism 90 based on the inclination angle of the holder 10 output from the second detector 144. do. As a result, the control device 140 sets the inclination angle of the holder 10 and the suspended load 18 with respect to the horizontal plane to zero when viewed from the axial direction of the first rotation shaft 120.

The control method of the second feed screw mechanism 90 by the control device 140 is the same as the control method of the first feed screw mechanism 70. Further, the control method of the control device 140 can be appropriately changed.

(effect)
Next, the effect of this embodiment will be described.

According to the sling tool 40 according to the present embodiment, when the sling load 18 lifted by the sling tool 40 is tilted, the tilt adjusting device 60 reduces the tilt of the sling load 18. Therefore, the suspended load 18 lifted by the fishing tool 40 can be easily lowered to a predetermined position.

Further, the joint member 110 makes it impossible to rotate the inclination adjusting device 60 about the center line Z1 along the height direction of the sling tool 40. In other words, the joint member 110 does not allow the tilt adjusting device 60 to rotate about the center line Z1 along the height direction of the sling. Therefore, it becomes easier to further lower the suspended load 18 lifted by the suspending tool 40 to a predetermined position.

As described above, in the present embodiment, it is possible to suppress the rotation of the suspended load 18 about the center line Z1 along the height direction of the sling tool 40 while reducing the inclination of the suspended load 18.

Further, the joint member 110 is arranged along a direction orthogonal to each other, and has a first rotation shaft 120 and a second rotation shaft 130 orthogonal to the height direction of the sling tool 40. The joint member 110 enables the tilt adjusting device 60 to rotate around each of the first rotating shaft 120 and the second rotating shaft 130 with respect to the crane connecting member 50.

As a result, when the suspended load 18 lifted by the sling tool 40 is tilted, the tilt adjusting device 60 rotates around at least one of the first rotating shaft 120 and the second rotating shaft 130. The rotation of the tilt adjusting device 60 absorbs the shaking of the suspended load 18. Therefore, the shaking of the suspended load 18 is suppressed from being transmitted to the crane 20 via the tilt adjusting device 60 and the crane connecting member 50. As a result, for example, it is suppressed that the suspended load 18 is greatly shaken together with the wire rope 24 of the crane 20. Therefore, it is possible to prevent the suspended load 18 from interfering with the operator. In addition, the suspended load 18 lifted by the suspending tool 40 can be further easily lowered to a predetermined position.

Further, the axial direction of the first screw shaft 80 of the first feed screw mechanism 70 coincides with the axial direction of the first rotating shaft 120 of the joint member 110. Further, the axial direction of the second screw shaft 100 of the second feed screw mechanism 90 coincides with the axial direction of the second rotating shaft 130 of the joint member 110. That is, the tilt adjusting device 60 movably supports the holder 10 with respect to the crane connecting member 50 in the axial direction of the first rotating shaft 120 and the second rotating shaft 130 of the joint member 110, respectively.

Here, when the holder 10 is moved with respect to the crane connecting member 50 by the tilt adjusting device 60, when the tilt adjusting device 60 rotates around the first rotating shaft 120 and the second rotating shaft 130, the crane is suspended. Since the center of gravity G2 of the load 18 moves, it becomes difficult to reduce the inclination of the suspended load 18.

On the other hand, in the tilt adjusting device 60 of the present embodiment, as described above, the holder 10 is attached to the crane connecting member 50, and the shafts of the first rotating shaft 120 and the second rotating shaft 130 of the joint member 110. It is supported so that it can move in each direction.

Thereby, for example, when the holder 10 is moved in the axial direction of the first rotation shaft 120 by the inclination adjustment device 60 (first feed screw mechanism 70), the inclination is adjusted around the first rotation shaft 120. The rotation of the device 60 is suppressed. As a result, the movement of the center of gravity G2 of the suspended load 18 is suppressed. Therefore, the tilt adjusting device 60 (first feed screw mechanism 70) makes it easy to reduce the tilt of the suspended load 18.

Similarly to this, for example, when the holder 10 is moved in the axial direction of the second rotation shaft 130 by the tilt adjusting device 60 (second feed screw mechanism 90), the second rotation shaft 130 is used as the center. The rotation of the tilt adjusting device 60 is suppressed. As a result, the movement of the center of gravity G2 of the suspended load 18 is suppressed. Therefore, the second feed screw mechanism 90 makes it easy to reduce the inclination of the suspended load 18.

Further, the tilt adjusting device 60 moves the holder 10 with respect to the crane connecting member 50 according to the tilt of the suspended load 18 detected by the first detector 142 and the second detector 144, and the tilt adjusting device 60 of the suspended load 18. Reduce the tilt. Therefore, the inclination of the suspended load 18 can be efficiently reduced.

Further, the first rotation shaft 120 and the second rotation shaft 130 of the joint member 110 intersect (orthogonally). Thereby, in the present embodiment, the joint member 110 is made compact as compared with the case where the first rotating shaft 120 and the second rotating shaft 130 are arranged at intervals in the height direction of the sling tool 40. be able to.

(Modification example)
Next, a modified example of the above embodiment will be described.

In the above embodiment, the first rotation shaft 120 and the second rotation shaft 130 of the joint member 110 are arranged at the same position in the height direction of the sling tool 40. However, the first rotation shaft 120 and the second rotation shaft 130 of the joint member 110 may be arranged at intervals in the height direction of the sling tool 40.

Further, in the above embodiment, the first detector 142 and the second detector 144 are installed on the holder 10. However, the first detector 142 and the second detector 144 may be installed in the tilt adjusting device 60 or may be installed in the suspended load 18. It is also possible to detect the inclination of the suspended load 18 by one detector having the same function as the first detector 142 and the second detector 144.

Further, the first detector 142 and the second detector 144 may be omitted. In this case, for example, the operator visually checks the tilted state of the suspended load 18 and adjusts the rotation direction and the rotation speed of the first motor 84 and the second motor 104 of the tilt adjusting device 60 by using an operation button or the like.

Further, in the above embodiment, the axial directions of the first rotating shaft 120 and the second rotating shaft 130 of the joint member 110 and the axial directions of the first screw shaft 80 and the second screw shaft 100 are coincident with each other. .. However, the axial directions of the first rotating shaft 120 and the second rotating shaft 130 of the joint member 110 and the axial directions of the first screw shaft 80 and the second screw shaft 100 do not have to be the same.

Further, the tilt adjusting device 60 of the above embodiment moves the holder 10 with respect to the crane connecting member 50 by the first feed screw mechanism 70 and the second feed screw mechanism 90. However, the tilt adjusting device may be configured to move the holder 10 with respect to the crane connecting member 50 by another moving mechanism.

Further, in the above embodiment, the holder 10 is attached to and detached from the sling tool 40. However, the sling tool 40 and the holding tool 10 may be integrated.

Although one embodiment of the present invention has been described above, the present invention is not limited to such an embodiment, and one embodiment and various modifications may be used in combination as appropriate. Of course, it can be carried out in various embodiments as long as it does not deviate.

10 Holder 12 Main body frame 12A Mounting part 14 Mounting chain 16 Movable arm 18 Suspended load 20 Crane 22 Coupling base 24 Wire rope 26 Pulley 30 Coupling mechanism 32 Bracket 34 Slide pin 40 Suspension tool 42 Installation surface 50 Crane connecting member 52 Flange 60 Tilt adjustment Device 62 Upper base 64 Intermediate base 66 Lower base 70 First screw mechanism 72 First guide rail 74 First slider 76 Bearing member 80 First screw shaft 82 First nut member 83 Bearing member 84 First motor 86 Coupling 90 No. Two-screw mechanism 92 Second guide rail 94 Second slider 96 Bearing member 100 Second screw shaft 102 Second nut member 103 Bearing member 104 Second motor 106 Coupling 110 Joint member 112 Joint body 120 First rotation shaft (a pair) One of the rotating shafts)
120A Shaft 122 First bearing member 130 Second rotation shaft (the other of the pair of rotation shafts)
130A Shaft 132 Second bearing member 140 Control device 142 First detector (detector)
144 Second detector (detector)
G1 Center of gravity of the sling tool G2 Center of gravity of the sling load G3 Synthetic center of gravity of the sling tool and the sling load Z Height direction of the sling tool Z1 Center line θ Tilt angle

Claims (4)

Crane connecting members connected to the crane and
A holder that holds the suspended load and
An inclination adjusting device that movably supports the holder and moves the holder with respect to the crane connecting member to reduce the inclination of the suspended load held by the holder.
It has a pair of rotating shafts along directions that intersect each other when viewed from the height direction, connects the crane connecting member and the tilt adjusting device, and has the pair of rotating shafts with respect to the crane connecting member. A joint member that enables the rotation of the tilt adjusting device around each of the above and suppresses the rotation of the tilt adjusting device around the center line along the height direction.
A fishing tackle equipped with. The tilt adjusting device movably supports the holder with respect to the crane connecting member in the axial direction of the pair of rotating shafts.
The slinging tool according to claim 1. A detector for detecting the inclination of the suspended load held by the holder is provided.
The tilt adjusting device moves the holder with respect to the crane connecting member according to the tilt of the suspended load detected by the detector, and reduces the tilt of the suspended load.
The sling according to claim 1 or 2. The tilt adjusting device is
With the upper base,
An intermediate base arranged under the upper base and
The lower base arranged under the intermediate base and the lower base
A first feed screw mechanism having a first screw shaft, connecting the upper base and the intermediate base, and moving the intermediate base along the first screw shaft with respect to the upper base.
It has a second screw shaft that intersects the first screw shaft, connects the intermediate base and the lower base, and moves the lower base along the second screw shaft with respect to the intermediate base. The second feed screw mechanism to make it
Have,
The slinging tool according to any one of claims 1 to 3.

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