JP2022163996A - Gripping device, and conveying method for long object - Google Patents

Abstract

To provide a gripping device capable of quickly and smoothly conveying a long object and a conveying method for a long object.SOLUTION: A conveying device has a gripping device 20 for gripping a mast member and lifting the same by means of a hoisting device. The gripping device 20 comprises a claw member 35 having a hook part 35b for engaging with the mast member, a main body 21 movably connected to the hook part 35b, and an actuator 46 for relatively moving the main body 21 with respect to the hook part 35b. The gripping device 20 causes the hook part 35b to move relative to the main body 21 by means of the actuator 46, thereby hooking the hook part 35b to the mast member so that the mast member is horizontal in the longitudinal direction.SELECTED DRAWING: Figure 2

Description

The present invention relates to a gripping device for lifting and transporting a long object such as a mast member that constitutes a mast of a tower crane, and a method for transporting the long object.

Various materials and equipment used at the construction site are stored collectively and may be transported as necessary. For example, when not in use, a mast (post) that constitutes a tower crane is disassembled into a plurality of pieces and collectively stored as mast members. Then, when necessary, the mast member in the storage place is lifted and transported to the construction site by a truck or the like.

Since such a mast member is a long object with a complicated shape, a rope or the like is wrapped around a part of the mast member such as an upper portion thereof, and the rope or the like is lifted and conveyed. Here, in order to lift and convey the mast member, a suspended load turning device is also used (see, for example, Patent Document 1). The suspended load slewing device described in this document includes a flywheel, a rotating motor, and a tilting motor, and utilizes a gyro effect generated by tilting the flywheel rotated by the rotating motor by the tilting motor. to turn the load suspended by the suspension material.

JP 2014-131940 A

Normally, during lifting, workers perform slinging work and assistance work. In this case, in consideration of the balance of the mast member, it is necessary to carry out slinging work on the mast member or work with assistance from a high place. For this reason, it was difficult to convey quickly and smoothly.

A gripping device that solves the above problems is a gripping device for gripping a long object and lifting it by a lifting device, wherein an engaging portion that engages with the long object is connected to the lifting device. A body portion and a moving mechanism portion that relatively moves the body portion with respect to the engaging portion are provided.

Further, a long object conveying method for solving the above problems is a long object conveying method in which the long object is moved by using a gripping device for gripping the long object and lifting it with a lifting device. The gripping device includes an engaging portion that engages with the elongated object, a body portion that connects to the lifting device, and a moving mechanism capable of changing relative positions between the body portion and the engaging portion. and a portion for hooking the engaging portion to the elongated object so that the elongated object assumes a target posture by relatively moving the engaging portion with respect to the main body portion by the moving mechanism. .

EFFECTS OF THE INVENTION According to the present invention, a long object can be conveyed quickly and smoothly.

The perspective view of the conveying apparatus in embodiment. The front view of the holding|gripping apparatus with which the conveying apparatus in embodiment is provided. 1 is a perspective view of a gripping device according to an embodiment; FIG. FIG. 2 is a plan view of the gripping device according to the embodiment, excluding the main body. FIG. 2 is a block diagram for explaining the configuration of a controller of the conveying device according to the embodiment; The front view which has arrange|positioned the latching part of the holding|gripping apparatus in embodiment to the holding|gripping position of a mast member. The right side view before inserting the latching|locking part of a holding|gripping apparatus in an embodiment in a mast member. The right side view after inserting the latch part of the holding|gripping apparatus in an embodiment in a mast member. FIG. 4 is a front view of the embodiment in which the hooking portion of the gripping device is hooked to the mast member to move the center of gravity;

An embodiment of a gripping device and a method for conveying a long object will be described below with reference to FIGS. 1 to 9. FIG. Here, the gripping device of the present embodiment grips a mast member that constitutes a mast (post) of a tower crane.

First, the mast member 60 gripped by the gripping device will be described with reference to FIG.
The mast member 60 has a substantially rectangular parallelepiped shape as a whole and has four main members 61 and a plurality of reinforcing plates 62 . The main member 61 extends in the longitudinal direction of the mast member 60, has a rectangular parallelepiped shape, and is arranged at four corners of a plane perpendicular to the longitudinal direction. The reinforcing plate 62 is a plate-like member that connects and reinforces the main member 61 and other reinforcing plates 62 on the same surface. Therefore, a gap is appropriately formed between the main member 61 and the reinforcing plate 62 . The mast member 60 of this embodiment is configured such that the main members 61 and the reinforcing plates 62 on the four side surfaces are arranged in the same manner.

As shown in FIG. 1, the gripping device 20 is suspended from the carrier device 10 .
The transport device 10 is a gate-type (bridge-type) crane and is placed on a pair of spaced-apart travel rails R1. The running rails R1 are provided on both sides of an accumulation area MB1 in which a plurality of mast members 60 are stacked. In the stacking area MB1, long mast members 60 are laid down and arranged in front, back, left, and right, and stacked in a plurality of stages.

The transport device 10 comprises legs 11 , 13 , a girder 15 and a crab trolley 16 . A plurality of wheels 12 and 14 that rotate and travel on the travel rail R1 are provided on the lower surfaces of the legs 11 and 13 . Wheels 12 and 14 are driven by traveling devices provided on legs 11 and 13, respectively.

The girder 15 is arranged to extend over the legs 11 and 13 . A crab trolley 16 is provided on the girder 15 so as to be movable in the extending direction of the girder 15 by driving the traversing device. The club trolley 16 incorporates a hoisting device (not shown) as a lifting device. The hoisting device winds up or feeds out the rope W1 to raise and lower the gripping device 20 suspended via the rope W1.

As shown in FIG. 2, the rope W1 of the hoisting device is wound around a movable pulley fixed to the hook F1. The hook F<b>1 is hooked on the protrusion of the suspension member 18 fixed to the upper end of the main body 21 of the gripping device 20 to lift the gripping device 20 .

As shown in FIG. 3 , the gripping device 20 includes a body portion 21 and a frame member provided below the body portion 21 . In this embodiment, the main body 21 incorporates a turning control device as an angle adjusting device for controlling the turning angle of a suspended load such as Skyjuster (registered trademark).

As shown in FIG. 4, the frame members have a symmetrical configuration about a longitudinally extending centerline C1. The frame member has base members 23,24, two fixing members 25 and reinforcing members 26,27. The base members 23, 24 are perpendicular to the center line C1 and slightly shorter than the width of the mast member 60 to be conveyed. The base members 23 and 24 are tubular members having a substantially square cross section. The two fixing members 25 are arranged parallel to the center line C1. Each fixing member 25 connects the ends of the base members 23 and 24 . The arrangement of the base members 23, 24 and the fixing member 25 is reinforced by reinforcing members 26, 27. As shown in FIG. The body portion 21 is mounted and fixed on the reinforcing member 26 via the mounting member 22 .

Connecting members 28 (29) are fitted to both ends of each base member 23 (24). Each connecting member 28, 29 protrudes from openings of the base members 23, 24, respectively. Furthermore, the two connecting members 28 (29) are arranged side by side with a gap inside the base member 23 (24), and the base members 23 and 24 are separated by at least the movable length of the hooking portion 35b described later. is slidable inside the

The upper surfaces of the tips of the connecting members 28 and 29 are fixed to the lower surfaces of the ends of the base members 31 and 32, respectively. The base members 31 and 32 are cylindrical members arranged parallel to the center line C1 and having a substantially square cross section. Mounting members 33 and 34 penetrate through the base members 31 and 32, respectively. The mounting members 33 and 34 are fitted to the base members 31 and 32 and arranged slidably with respect to the base members 31 and 32 . Claw members 35 are provided at both ends of each of the mounting members 33 and 34 .

As shown in FIG. 2, each claw member 35 has a support portion 35a, which is a cylindrical rod member, and a hook portion 35b provided at the lower end of the support portion 35a. The support portion 35 a has its upper end portion fixed to the end portions of the mounting members 33 and 34 . The hooking portion 35b is an engaging portion that is inserted between the mast members 60 to be gripped.

As shown in FIG. 4, each hooking portion 35b has a mounting portion extending from the supporting portion 35a by a length D1 on the center line C1 side. Length D1 is greater than the thickness of reinforcing plate 62 of mast member 60 . A load cell (not shown) is provided on the upper surface of each hook 35b. Each load cell measures the load applied to the hooking portion 35b when part of the mast member 60 is placed on the hooking portion 35b.

Furthermore, actuators 41 and 42 are fixed to the reinforcing member 27 . Each actuator 41,42 is positioned centrally in the frame member such that the rods 41a,42a are parallel to the base members 23,24. The ends of the rods 41a and 42a of the actuators 41 and 42 are fixed to the central portions of the base members 31 and 32, respectively. Each of the actuators 41 and 42 expands and contracts the rods 41a and 42a by electric motors. The expansion and contraction of the rods 41a and 42a change the distance between the base members 31 and 32 and the center line C1.

Further, actuators 46 and 47 as movement mechanisms are fixed to the upper surfaces of the base members 31 and 32 via mounting plates 45 along the base members 31 and 32 . Each actuator 46, 47 is arranged slightly closer to the base member 23 side than the central portion of the frame member, and expands and contracts rods 46a, 47a by an electric motor.

The ends of the rods 46a and 47a are fixed to the mounting members 33 and 34, respectively, in the vicinity of the claw member 35 on the base member 24 side. When the rods 46a and 47a of the actuators 46 and 47 extend and contract, the claw members 35 fixed to the mounting members 33 and 34 move relative to the base members 31 and 32 in the extending direction of the center line C1.

(Control part of conveying device)
Next, the configuration of the control unit 50 of the conveying device 10 having the configuration described above will be described with reference to FIG.

The control unit 50 of the conveying device 10 is connected to the traveling device provided on the legs 11 and 13 of the conveying device 10 , the traversing device provided on the girder 15 , and the hoisting device incorporated in the crab trolley 16 . Further, the control unit 50 is connected to the actuators 41 , 42 , 46 , 47 of the gripping device 20 , the load cells provided on the respective hooks 35 b, and the turning control device of the main body 21 . The control unit 50 acquires the data value of the load of the mast member 60 applied to the load cell.

Further, the control unit 50 is wirelessly connected to a remote control unit RC1 that acquires instructions from the operator.
The control unit 50 includes a movement control unit 51 , an elevation control unit 52 , a hook control unit 53 , a center-of-gravity control unit 54 and a turning control unit 55 .

The movement control unit 51 moves the gripping device 20 by moving the legs 11 and 13 and the girder 15 .
The elevation control section 52 drives the club trolley 16 to control elevation of the gripping device 20 .
The hook control section 53 drives the actuators 41 and 42 to insert the hook section 35 b into the mast member 60 .

The center-of-gravity control unit 54 moves the main body 21 relative to the hook portion 35b. In this case, when the gripping device 20 is lifted, the gripping portion 35b is held at a location (gripping position) where the hooking portion 35b is hooked on the mast member 60 so that the mast member 60 is lifted in a substantially horizontal posture (target posture). The center of gravity C2 of the device 20 is moved. The center-of-gravity control unit 54 stores the position of the center of gravity C2 of the gripping device 20 and the position of the center of gravity C6 of the mast member 60 in order to adjust the relative positions of the mast member 60 and the gripping device 20 . The position of the center of gravity C2 of the gripping device 20 and the position of the center of gravity C6 of the mast member 60 are relative distances from the reference points (ends and centers) of the main body 21 and the mast member 60 of the gripping device 20, respectively. Furthermore, the center-of-gravity control unit 54 uses the loads acquired from the load cells of the respective hooking portions 35b to adjust the position of the gripping device 20 so that the loads of the load cells are substantially the same.
The turning control unit 55 changes the horizontal orientation of the mast member 60 in order to place the mast member 60 on the platform of the truck T1 to which the mast member is to be conveyed.

(Conveyance method of mast member 60)
Next, a method of transporting the mast member 60 using the transport device 10 will be described.
In the stacking area MB1 shown in FIG. 1, the mast members 60 adjacent in the horizontal direction and the claw members 35 of the gripping device 20 are arranged with the extending direction of the main member 61 horizontal. They are placed at intervals that allow insertion.

Here, the operator gives an operation instruction to the controller 50 of the conveying device 10 via the remote controller RC1.
First, according to an operation instruction, the movement control section 51 moves the leg sections 11 and 13 to move the gripping device 20 to a position corresponding to the mast member 60 to be transported. In this case, the movement control unit 51 moves the mast member 60 to be transported so that it is positioned between the base members 31 and 32 of the gripping device 20 .

Next, according to the operation instruction, the movement control section 51 moves the club trolley 16 along the girder 15 to move the grasping device 20 to a position directly above the mast member 60 to be conveyed. In this case, the turning control section 55 drives the turning control device of the main body section 21 to turn the gripping device 20 so that the direction of the center line C1 matches the longitudinal direction of the mast member 60 .

Then, according to the operation instruction, the elevation control unit 52 drives the hoisting device of the club trolley 16 to send out the rope W1 and gradually lower the gripping device 20 .
Here, as shown in FIG. 6, the hoisting device lowers the gripping device 20 to a position where the hooking portion 35b of the gripping device 20 is below the main member 61 positioned at the upper end portion of the mast member 60. Let Specifically, the operator lowers the gripping device 20 to a position where the hooking portion 35b of the gripping device 20 can be inserted in the gap between the main member 61 and the reinforcing plate 62 of the mast member 60 .

In this case, as shown in FIG. 7, the rods 41a and 42a of the actuators 41 and 42 are extended, and the hooking portion 35b is located outside the outer peripheral surface of the mast member 60. As shown in FIG.
Then, in accordance with the operation instruction, the hook control section 53 drives the actuators 41 and 42 to contract the rods 41a and 42a.

In this case, as shown in FIG. 8, since the connecting members 28 (29) are close to each other, the inner end of the hooking portion 35b of the pawl member 35 is located inside the reinforcing plate 62 of the side surface of the mast member 60. do.
Next, as shown in FIG. 9, the center of gravity control unit 54 drives the actuators 46 and 47 to extend the rods 46a and 47a so that the center of gravity C2 is positioned directly above the position of the center of gravity C6 of the mast member 60. .

In this state, the elevation control section 52 drives the club trolley 16 to raise the gripping device 20 according to the operation instruction. In this case, when the reinforcing plate 62 of the mast member 60 is placed on the hooking portion 35b of the claw member 35, the center-of-gravity control section 54 acquires load data from the load cell of the hooking portion 35b. Here, the center-of-gravity control unit 54 stops the hoisting device when the difference in the load of the load cell at the hooking portion 35b arranged in the longitudinal direction of the mast member 60 exceeds the allowable range. Then, the center-of-gravity control unit 54 drives the actuators 46 and 47 to move the main body 21 toward the hooking portion 35b having the load cell measuring the light load, thereby moving the hooking portion on which the mast member 60 is placed. Adjust the weight balance of 35b.

When the load difference of the load cells of the hooking portion 35b in the longitudinal direction of the mast member 60 falls within the allowable range, the elevation control section 52 further drives the hoisting device to lift the gripping device 20 and the mast member 60. raise.

Then, as shown in FIG. 1, the movement control unit 51 moves the legs 11 and 13 along the travel rail R1 to positions corresponding to the truck T1 on which the mast member 60 is loaded, in response to the operation instruction.

Next, according to the operation instruction, the movement control section 51 moves the gripping device 20 along the girder 15 to above the track T1 by moving the club trolley 16 . In response to the operation instruction, the turning control unit 55 drives the turning control device of the main body 21 to turn the gripping device 20 so that the longitudinal direction of the mast member 60 matches the direction of the loading platform of the truck T1. Let Thereafter, in response to the operation instruction, the elevation control unit 52 drives the hoisting device to lower the gripping device 20, thereby placing the mast member 60 on the bed of the truck T1.

When the mast member 60 is placed on the bed of the truck T1, the lift control unit 52 stops the hoisting device in response to the operation instruction, and then the hook control unit 53 causes the actuators 41 and 41 of the gripping device 20 to 42 is driven to extend the rods 41a and 42a. As a result, the connecting members 28 ( 29 ) are separated from each other, so that the hooking portion 35 b of the claw member 35 is positioned outside the reinforcing plate 62 of the mast member 60 . Then, according to the operation instruction, the elevation control unit 52 drives the hoisting device to raise and lower the gripping device 20 . Thereafter, the truck T1 with the mast member 60 separated from the gripping device 20 placed on the loading platform carries the mast member 60 to another location.

(Action)
In this embodiment, the position of the center of gravity C<b>2 of the gripping device 20 is moved relative to the hooking portion 35 b of the gripping device 20 . As a result, the mast member 60 assumes the target posture according to the positional relationship between the center of gravity C<b>6 of the mast member 60 and the center of gravity C<b>2 of the gripping device 20 even if the mast member 60 has a limited number of places where it can be hooked.

According to this embodiment, the following effects can be obtained.
(1) In the present embodiment, after the hooking portion 35b of the claw member 35 is inserted into the mast member 60, the center of gravity C2 of the gripping device 20 matches the position of the center of gravity C6 of the mast member 60. , the body portion 21 of the gripping device 20 is moved relative to the hook portion 35b. As a result, when the gripping device 20 is lifted, the mast member 60 can be stably lifted in a posture in which the longitudinal direction of the mast member 60 is horizontal, so that the mast member 60 can be quickly transported.

(2) In the present embodiment, the control unit 50 acquires the load of the load cell of the hooking portion 35b when lifted, and uses these loads to adjust the position of the center of gravity. Thereby, the mast member 60 can be lifted more stably.

(3) In the gripping device 20 of the present embodiment, the ends of the rods 41a and 42a of the actuators 41 and 42 are fixed to the central portions of the base members 31 and 32, respectively. As a result, the claw members 35 provided at both ends of the mounting members 33 and 34 passing through the base members 31 and 32 can be smoothly moved.

(4) The gripping device 20 of the present embodiment includes the claw member 35 having a size that can be inserted into the gap between the adjacent mast members 60 . Thereby, even if the mast members 60 are densely arranged in the stacking area MB1, the gripping device 20 can grip the mast members 60 from both sides.

This embodiment can be implemented with the following modifications. This embodiment and the following modified examples can be implemented in combination with each other within a technically consistent range.
In the gripping device 20 of the above-described embodiment, the actuators 41 and 42 move the hooking portion 35b toward or away from the center line C1 side, and the actuators 46 and 47 move the body portion 21 relative to the hooking portion 35b. let me The insertion mechanism for inserting the hooking portion 35b into the mast member 60 and the moving mechanism for moving the hooking portion 35b to the body portion 21 to adjust the balance of the gripping device 20 are limited to configurations using actuators. do not have. For example, it may be a mechanism using a worm gear.

- In the above-described embodiment, after the hooking portion 35b of the gripping device 20 is inserted into the mast member 60, the body portion 21 of the gripping device 20 is relatively moved with respect to the hooking portion 35b. The timing of the movement of the center of gravity C2 of the gripping device 20 and the engagement of the mast member 60 by the engagement portion 35b may be reversed. For example, the position of the center of gravity C<b>2 of the gripping device 20 is arranged above the position of the center of gravity C<b>6 of the mast member 60 . After that, the actuators 46 and 47 are driven to move the hooking portion 35b relative to the main body portion 21 and arrange it at the gripping position. 60 may be inserted. In this case as well, the center-of-gravity control unit 54 acquires load data from the load cell of the hook portion 35b. Then, the center-of-gravity control unit 54 adjusts the weight balance by driving the actuators 46 and 47 to move the body unit 21 as necessary. Further, the weight balance may be adjusted using data other than the load data of the load cell, for example, using the center of the figure in the photographed image.

- In the above-described embodiment, the control unit 50 of the conveying device 10 controls the position, elevation, and the like of the gripping device 20 according to the operator's operation instruction. Alternatively, the control unit 50 may specify the position and shape of the mast member 60 and control the position, elevation, etc. of the gripping device 20 . For example, a camera is provided on the bottom surface of the gripping device 20 . Then, the control unit 50 specifies the arrangement of the designated mast member 60 to be gripped from the image captured by the camera. Next, the control section 50 identifies positions where the hooking section 35b can be engaged from the shape of the mast member 60 using an image captured by the camera. Then, the control unit 50 determines the horizontal position and the descending height of the gripping device 20 according to the engageable position specified by the captured image. Then, the control unit 50 controls the position and elevation of the gripping device 20 so as to achieve the determined position and height.

- In the above-described embodiment, the target posture of the gripping device 20 is a posture in which the longitudinal direction of the mast member 60 is horizontal. The target posture is not limited to a posture in which the longitudinal direction of the long object is horizontal, and may be any posture in which the object to be lifted is stable. For example, an inclined posture may be used depending on the shape of the elongated object. In this case, the position of the center of gravity of the gripping device is moved with respect to the position of the center of gravity of the elongated object so as to achieve this posture, and then the object is lifted.

- In the above-described embodiment, the claw member 35 includes the support portion 35a and the hook portion 35b, which are cylindrical rod members. The configuration of the claw member 35 is not limited to this, and for example, the supporting portion 35a may have an extendable shape. In this case, the hooking portions 35b attached to the same base members 31 and 32 can be hooked at different heights of the mast member 60 by adjusting the length of the supporting portion 35a.

- In the above embodiment, the gripping device 20 lifts the mast member 60 as a long object. A long object to be lifted by the gripping device 20 is not limited to the mast member 60 . It can be applied to a long object with restrictions on the position where the hooking portion 35b can be engaged.

Next, technical ideas that can be grasped from the above embodiment and another example will be added below.
(a) the main body includes an angle adjusting device for adjusting a turning angle of the elongated object;
3. The method for conveying a long object according to claim 2, wherein after the long object is lifted, the long object is turned using the angle adjusting device.
(b) moving the main body relative to the engaging portion after engaging the engaging portion with the elongated object at a gripping position where the engaging portion can engage with the elongated object; 3. The method for conveying a long object according to claim 2 or (a), wherein the target posture is obtained by

(c) The method for transporting a long object according to claim 2, (a) or (b), wherein the long object is a mast member constituting a mast of a tower crane.
(d) A conveying device for suspending and moving the long object, comprising a gripping device for gripping and lifting a long object and a lifting device for lifting the gripping device, wherein the gripping device comprises: A conveying device comprising: an engaging portion that engages a long object; a body portion that is connected to the lifting device; and a moving mechanism portion that moves the body portion relative to the engaging portion. .

C1...Center line, C2, C6...Center of gravity, D1...Length, F1...Hook, MB1...Stacking area, R1...Running rail, RC1...Remote control unit, T1...Track, W1...Rope, 10...Conveyor, 11 , 13... Legs 12, 14... Wheels 15... Girder 16... Crab trolley 18... Suspension member 20... Grasping device 21... Body part 22... Placement member 23, 24, 31, 32... Base member 25 Fixing member 26, 27 Reinforcing member 28, 29 Connecting member Base member 33, 34 Mounting member 35 Claw member 35a Supporting portion 35b Hooking portion 41 , 42, 46, 47... Actuator 41a, 42a, 46a, 47a... Rod 45... Mounting plate 50... Control section 51... Movement control section 52... Elevation control section 53... Hook control section 54... Center-of-gravity control unit 55 Turning control unit 60 Mast member 61 Main member 62 Reinforcement unit.

Claims (2)

A gripping device for gripping a long object and lifting it with a lifting device,
an engaging portion that engages with the elongated object;
a main body connected to the lifting device;
A gripping device, comprising: a movement mechanism section for relatively moving the main body section with respect to the engaging section. A method for transporting a long object by using a gripping device for gripping a long object and lifting it with a lifting device to move the long object,
The gripping device is
an engaging portion that engages with the elongated object;
a main body connected to the lifting device;
a moving mechanism capable of changing the relative position between the main body and the engaging portion;
By relatively moving the engaging portion with respect to the main body portion by the moving mechanism, the engaging portion is hooked on the elongated object so that the elongated object assumes a target posture. A method of transporting long objects.

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