JP2024074237A - Suspended load assisting method - Google Patents

Abstract

To provide a suspended load assisting method and suspended load assisting device for inhibiting a suspended load from being rotated by a disturbance force.SOLUTION: A suspended load assisting method for inhibiting a suspended load W from being rotated by a disturbance force is provided. Suspended load assisting devices 100a and 100b are arranged to correspond to a first end Wa and a second end Wb of the suspended load W located on both sides across the center of rotation that occurs when a disturbance force acts on the suspended load W. A rope La extending from the suspended load assisting device 100a corresponding to the first end Wa is connected to the first end Wa; and a rope Lb of the suspended load assisting device 100b corresponding to the second end Wb is connected to the second end Wb. Application of an unreeling-resistance force to the rope La connected to the first end Wa and the rope Lb connected to the second end Wb spontaneously generates balanced tensile forces Ta and Tb in the respective ropes connected to the moving suspended load.SELECTED DRAWING: Figure 4

Description

The present invention relates to a method and device for suspending a suspended load that prevents the load from rotating due to disturbance forces.

2. Description of the Related Art As is well known, when constructing a large structure such as a bridge, construction materials are transported to the site by truck or the like, suspended by a crane, and transported to the installation position where they are assembled.
Conventionally, when lifting a load W with a crane C, it has been common to connect ropes to both ends of the load, as shown in FIG. 18, and have workers M hold each rope to perform load escort to prevent the load W from moving in an unintended manner (such as rotating).

In this type of load execution by worker M, if the worker always holds the rope, the load may move unintentionally and pull the worker through the rope, which is dangerous, and the worker also has to endure the physical burden of constantly pulling the rope and the heat from friction that is transmitted to the worker's hands. Therefore, the worker visually senses the load's behavior before grasping and operating the rope L. For example, the worker pulls on the end of the rope that he wants to pull back after the load starts to rotate.

However, even if a load suspended by a crane begins to rotate due to disturbances caused by swaying, wind, etc., it is not easy to visually detect the initial stage of the slow rotation, and the braking operation may be delayed or the load may be pulled with too much force, making the load unstable. As a result, it has been difficult to stably suppress the rotation when the load begins to rotate.
Furthermore, for the purpose of suppressing the rotational movement of a suspended load, a technique has been proposed, for example, as described in Patent Document 1.

The technology described in Patent Document 1 controls the rotation and stopping of a suspended load by controlling the tilt of the gimbal in a direction control device powered by a gyro mechanism that has a flywheel that rotates in a vertical plane inside the device body and a gimbal with a support axis perpendicular to the spindle of the flywheel. Since there is no need to stretch a beheading rope, it is suitable for lifting construction materials for high-rise buildings with a tower crane, for example.

Patent No. 6733321

However, these load direction control devices equipped with gyro mechanisms apply force near the center of rotation, so the braking torque that can be generated in the load is small. Gyro mechanism control devices are intended for relatively small and light loads suspended by tower cranes, and cannot suppress the rotation of heavy loads such as bridge girders that are long and have a large moment of inertia and are erected by mobile cranes (attempting to control them would result in an extremely large and heavy device).
Furthermore, the configuration becomes complicated, and the equipment and maintenance costs become high.
Furthermore, in order to lift a load to a certain height, the crane hook must be positioned as high as the height of the device body, which requires a crane with a boom that is as long as the height of the device body, and a large crane must be prepared to accommodate the weight of the device body.

The present invention was made in consideration of these circumstances, and aims to provide a method and device for suspending a suspended load that can stably prevent unintended rotational movement of a suspended load caused by disturbance forces using a simple configuration.

The inventors have conducted extensive research into a method and device for beheading a suspended load that can stably suppress, with a simple configuration, the occurrence of rotational movement of a suspended load due to disturbance forces.
Fig. 19 is a plan view conceptually explaining the rotation of a suspended load in the load escaping method. As shown in Fig. 19, when a disturbance force acts continuously on a suspended load, even if the disturbance force is constant, as time passes from t1 to t2 to t3 to t4, the rotation angles (amplitudes) θ1, θ2, θ3, and θ4 gradually increase. Considering that the rotational kinetic energy is proportional to the square of the angular velocity, this means that the longer the operation for the rotational motion of the suspended load is delayed, the more the rotational kinetic energy rapidly increases at an accelerated rate.

If an attempt is made to brake with a large force after the rotational kinetic energy has increased in this way, an impact force will act on the suspended load, causing it to swing. On the other hand, if an attempt is made to brake slowly with a small force after the rotational kinetic energy has increased, the rotational motion will not be stopped completely and will continue, potentially resulting in contact with a nearby object. In contrast, it has been discovered that in the relatively early stages when a disturbance force begins to act on the suspended load, the rotational motion is relatively small, and so it is easy to stop the rotational motion even when braking with a small force.

In addition, we found that when a worker grasps and pulls the rope, it is difficult to apply an accurate braking force to the rope, balance the tension of the rope connected to both ends, and resist large disturbance forces such as strong winds, due to individual differences in physical ability and force sense, making it impossible to stably suppress the rotational movement of the load.

Based on these findings, the inventors discovered that by creating a balanced tension in the ropes connected to both ends of the load when no disturbance is acting on the load (the start of the beheading stage), even if a disturbance is acting on the load, the disturbance is naturally offset by the change in tension, and the occurrence of rotational movement (swinging) due to the disturbance is suppressed. For this reason, they discovered that a load beheading device that can always create a stable tension in the rope is important.
In order to solve the above problems, the present invention proposes the following means.

(1) The invention of configuration 1 is a method for suppressing rotation of a suspended load caused by a disturbance force, and is characterized in that a load searing device is disposed corresponding to each of the first and second ends of the load, which are located on either side of the center of rotation that occurs when a disturbance force acts on the load, one end of a rope extending from the load searing device corresponding to the first end is connected to the first end, and one end of a rope of the load searing device corresponding to the second end is connected to the second end, and a payout resistance force is applied to the rope, so that when the load is moved, a balanced tension is naturally generated in the rope connected to the first end and the rope connected to the second end.

According to the load dismantling method of the present invention, a load dismantling device is positioned corresponding to each of the first and second ends of a load, and one end of the rope paid out from the load dismantling device corresponding to each of the first and second ends is connected. When the rope is paid out, a balanced tension is naturally generated in each rope, so that the load is prevented from swinging even if an external disturbance force acts on it.
As a result, there is no need to provide a power source for retracting the rope, and a simple configuration can stably suppress the occurrence of rotational motion of the load due to disturbance forces. Furthermore, according to the load interception method of the present invention, since force is applied to both ends of the load that are far from the rotation center, a large braking torque can be applied to the load even if the payout resistance generated by the device is small. In this way, according to the load interception method of the present invention, an accurate braking force can be stably applied, and the balance of the tension (left and right forces) of the rope connected to both ends can be maintained, allowing a mechanically strong braking force to be exerted.

Here, the center of rotation refers to the central point of the rotational motion that occurs in the suspended load, and is located approximately vertically below the suspension base point (e.g., a crane hook) located at the tip of the crane boom.
Furthermore, the load may be moved in at least one of the horizontal and vertical directions, or may be suspended in a stationary state by applying tension to the rope.

According to calculations assuming a long and heavy bridge girder as the load, the practical range for the tension generated in each of the ropes to suppress the rotational movement of the load is between 0.1% and 1.0% of the weight of the load.

If the tension generated in the rope is 1.0% or less of the weight of the suspended load, the reaction force acting on the crane moving the load is sufficiently small.

In addition, an operational test was conducted by connecting a rope (e.g., a fiber rope) with a spanning length of approximately 10 m to the end of a 40-ton load and adjusting the rope so that a tension of approximately 40 kg was generated. As a result, it was found that the fiber rope stretched by approximately 4 cm (elongation rate 0.4%), and when an external disturbance force was applied, the rope stretched and contracted appropriately to offset the disturbance force, so that the disturbance force no longer affected the load, and it was possible to stably suppress the rotation of the load.
Based on this knowledge, for example, if the maximum weight of a bridge girder to be suspended by a crane is approximately 60 tons and the maximum spanning length of the rope is approximately 30 m, the elongation of the rope when a tension of 60 kg (1.0% of the weight of the suspended load) is applied is estimated to be approximately 18 cm (the braking distance of the suspended load), which is sufficiently small compared to the general minimum separation distance (several meters) required between a suspended load and a nearby object, and is considered to be suitable for practical use.

(2) The invention of configuration 2 is characterized in that, in the load removal method of configuration 1, by adjusting at least one of the payout resistance of the rope connected to the first end and the payout resistance of the rope connected to the second end, a difference in tension between the ropes is generated when the load is moved, thereby changing the orientation of the load around the center of rotation.

According to the load suspending method of the present invention, at least one of the payout resistance of the rope connected to the first end and the payout resistance of the rope connected to the second end is adjusted to create a difference in tension between the rope connected to the first end and the rope connected to the second end.
As a result, the rope on the side of the first end or the second end to which a large payout resistance is applied is less likely to be paid out, and the rope on the side of the first end or the second end to which a small payout resistance is applied is more likely to be paid out. Furthermore, the side of the first end or the second end to which a large tension is applied is pulled in the opposite direction of the movement of the load relative to the side to which a small tension is applied.
As a result, the movement of the load can be used to change the orientation of the load around the pivot point without requiring power to retract the rope, and the change in orientation of the load can be stopped by equalizing the retraction resistance of the rope connected to the first end and the retraction resistance of the rope connected to the second end.

(3) The invention of configuration 3 is a load stun device used in the load stun method described in any one of configurations 1 to 2, characterized in that it comprises a drum that can rotate around an axis, a rope that is wound around the drum and can be reeled out from one end, a reel control unit that applies resistance to the rope against the reeling out of the rope until the tension generated in the rope based on the tensile force acting on one end of the rope reaches a predetermined value, and a base that is connected to the drum and the reel control unit and supports the side of the rope opposite the load.

According to the load removal device of the present invention, a drum and a payout control unit are connected to a base, a rope that can be paid out from one end is wound around the drum, and the payout control unit applies resistance to the payout of the rope until the tension generated in the rope based on the tensile force acting on one end of the rope reaches a predetermined value, so that a tension corresponding to a set value (tension according to the force applied to the load) can be stably generated in the rope. Furthermore, the tension of the rope can be maintained at a predetermined value when the load is moved.
As a result, it is possible to generate tension in the rope that corresponds to the set value without providing a power for retracting the rope. In this way, the load execution device according to the present invention can stably apply accurate control force, maintain the balance of the forces at both ends (left and right forces), and exert a strong mechanical resistance.

Here, the prime mover is subjected to a load caused by a forced operation in the opposite direction to the output (reverse input), and if the reverse input at the rated output is continued for a long period of time, there is a high possibility that the prime mover will be damaged. Therefore, a high-output prime mover becomes large in size.
The load removal device of the present invention is advantageous because it generates tension in the rope by using the rope to be reeled out, and therefore does not require a power source (prime mover) to reel in the rope, thereby avoiding the possibility of damage and the size of the device.

(4) The invention of configuration 4 is the load-settling device of configuration 3, characterized in that the payout control section includes a pair of clamping rolls that clamp the rope, and a braking force applying section connected to the pair of clamping rolls.

The load-searing device of this invention has a simple configuration for the payout control section, no tension acts directly on the drum 20D, and the rope can be stably paid out with a predetermined tension.

(5) The invention of configuration 5 is the load interception device of configuration 3, characterized in that the payout control unit includes a braking force applying unit connected to the drum.

According to the load interruption device of the present invention, since it is equipped with a braking force application unit connected to the drum, the configuration of the payout control unit can be simplified and the rope can be paid out stably with a predetermined tension.
In addition, the braking force application unit can be, for example, a brake (wheel brake, disc brake, etc.) or a clutch (electromagnetic clutch, fluid clutch, etc.), and the payout resistance force applied to the rope can be easily changed by adjusting the braking force.

(6) The invention of configuration 6 is a load-handling device of configuration 1, characterized in that it includes a trolley connected to the base and equipped with a drive unit, and a trolley control unit that controls the position of the trolley.

The load-interrupting device of this invention allows the position of the cart to be controlled by the cart control unit, so the load-interrupting device can be easily moved along with the cart, making it ideal for cases where the lifting position and installation position change over a wide range.

(7) The invention of configuration 7 is a method for suspending a load using the load suspending device described in configuration 6, characterized in that the position of the load suspending device is changed while tension is generated in the rope connected to the first end and the rope connected to the second end, thereby changing the orientation of the load around the center of rotation.

According to the load-handling method of the present invention, by changing the position of the load-handling device together with the cart using the cart control unit, it is possible to apply a rotational operating force to both ends of the load via the rope, so that even a stopped load can be rotated around the rotation center without operating the crane boom.

The load removal method and load removal device of the present invention allows the movement of the load to naturally generate tension in the rope, and the suspension load can be prevented from rotating due to disturbance forces in a stable manner with a simple structure.

1 is a perspective view illustrating an example of a schematic configuration of a load interception device according to a first embodiment of the present invention. FIG. FIG. 2 is a front view of a drum for explaining the general configuration of the load interception device according to the first embodiment. FIG. 2 is a side view of a drum for explaining the schematic configuration of the load interception device according to the first embodiment. FIG. 2 is a diagram illustrating the general configuration of the load interception device in the first embodiment, and is a front view of the rope clamping mechanism of the payout control unit as viewed from behind in the payout direction of the rope. FIG. 2 is a diagram illustrating the schematic configuration of the load interception device according to the first embodiment, and is a side view of the rope clamping mechanism of the payout control unit. FIG. 2 is a diagram illustrating the general configuration of the load interception device according to the first embodiment, and is a plan view of the rope clamping mechanism of the payout control unit. FIG. 2 is a perspective view illustrating an outline of an example of a load interception method according to the first embodiment. FIG. 2 is a diagram for explaining the operation of the method for suspending a suspended load according to the first embodiment, and is a conceptual diagram of the rope viewed from a perpendicular direction when no disturbance force is acting on the suspended load. FIG. 10 is a diagram for explaining the operation of the method for suspending a suspended load according to the first embodiment, and is a conceptual diagram showing the rope viewed from a perpendicular direction when a disturbance force opposite to the operating force is acting on the suspended load. FIG. 10 is a diagram for explaining the operation of the method for suspending a suspended load according to the first embodiment, and is a conceptual diagram of the rope viewed from a perpendicular direction when a disturbance force in the same direction as the operating force acts on the suspended load. 11 is a flowchart illustrating a modified example of a load interception method for changing the direction of a load using the load interception device according to the first embodiment. FIG. 11 is a perspective view illustrating a load interception method according to a modified example of the first embodiment. FIG. 5 is a perspective view illustrating a schematic configuration of a load interception device according to a second embodiment of the present invention. FIG. 13 is a front view illustrating the schematic configuration of a payout control unit of a suspended load interception device according to a third embodiment of the present invention. FIG. 13 is a side view illustrating the schematic configuration of a payout control unit of a suspended load interception device according to a third embodiment. FIG. 13 is a front view illustrating the schematic configuration of a payout control unit of a suspended load interception device according to a fourth embodiment of the present invention. FIG. 13 is a side view illustrating the schematic configuration of a payout control unit of a suspended load interception device according to a fourth embodiment. FIG. 13 is a side view of a drum illustrating the schematic configuration of a load interception device according to a fifth embodiment of the present invention. FIG. 13 is a perspective view illustrating an example of a schematic configuration of a load interception device according to a sixth embodiment of the present invention. FIG. 13 is a block diagram illustrating the schematic configuration of a load interception device according to a sixth embodiment. 13 is a flowchart conceptually illustrating an example of a load interception method for changing the orientation of a suspended load in a stopped state and during movement using a load interception device according to a sixth embodiment. FIG. 13 is a perspective view illustrating an example of a load interception method according to the sixth embodiment. 13 is a flowchart illustrating a method for suspending a load according to a modified example of the sixth embodiment. FIG. 13 is a perspective view illustrating a method for suspending a load according to a modified example of the sixth embodiment. FIG. 1 is a diagram illustrating an outline of a conventional method for suspending a load. FIG. 11 is a plan view conceptually illustrating the rotation operation of a suspended load in the load removal method.

First Embodiment
A first embodiment of the present invention will now be described with reference to FIGS. 1 to 5A and 5B.
1 to 3C are diagrams for explaining an example of the schematic configuration of a load interception device according to the first embodiment, and Fig. 4, Fig. 5A, and Fig. 5B are diagrams for explaining the schematic of a load interception method according to the first embodiment. In the diagrams, the reference numeral 100 denotes a load interception device, and the reference numeral T denotes tension.

As shown in FIG. 1, the load removal device 100 includes, for example, a weight base (base) 10, a drum 20 arranged on the top of the weight base 10, a rope L wound around the drum 20, and a payout control unit 30 that applies a payout resistance force to the rope L being paid out from the drum 20.

As shown in FIG. 1, the load interception device 100 is a rectangular parallelepiped block having a weight sufficient to prevent it from moving due to tension generated in the rope L when placed on the ground or a floor surface, for example.
The configuration of the weight base is not limited to a weight base with the drum and payout control unit fixed to the top, but can be set arbitrarily as long as unexpected movement does not occur. For example, it may be a configuration in which the drum and payout control unit are fixed to the side, a lightweight member with an anchor function to fix the drum and payout control unit to the ground, or a mounting member for stably attaching the drum and payout control unit to a truck, etc.

As shown in Figures 2A and 2B, the drum 20 includes, for example, a drum main body 21, a drum support 24 that rotatably supports the drum main body 21, and a reducer 25, and is positioned on the upper surface of the weight base 10 by the drum support 24.
The drum body 21 includes a cylindrical body portion 22 around which the rope L is wound, and flange portions 23 disposed on both ends of the cylindrical body portion 22, and is rotatable around an axis O1.
In addition, the reducer 25 is arranged at one end of the drum support body 24, and its input shaft (not shown) is connected to the cylindrical body portion 22 of the drum main body 21 20 so as to reduce the torque of the cylindrical body portion 22 and output it from the output shaft 25S.
A payout resistance force adjustment unit 40 is connected to the output shaft 25S.

The rope L is wound around a drum 20 and can be reeled out from one end L0, and the other end is connected (e.g., fixed) to a cylindrical body portion 22.
The rope L is, for example, a fiber rope.
The type of rope L is not limited to a fiber rope and can be set arbitrarily. For example, a wire rope may be used.

As shown in Figures 3A to 3C, the payout control unit 30 includes a payout control unit main body 31, a rope clamping mechanism 32 rotatably arranged on the payout control unit main body 31, a guide roller 38, a payout resistance adjustment unit 40 arranged on the drum 20, and a braking force application unit (not shown), and is configured to apply a payout resistance force to the rope L corresponding to the force applied to the suspended load, thereby generating a predetermined tension in the rope L.

The rope clamping mechanism 32 is equipped with a fixed roller 32A and a movable roller 32B, and is configured so that the rope L is clamped between the fixed roller 32A and the movable roller 32B, and the rope L can be stably unwound when the rope L is unwound by the tensile force acting on the rope L.

Furthermore, the rope clamping mechanism 32 is equipped with a clamping distance adjustment unit (not shown).
The type of clamping gap adjustment unit (not shown) can be set arbitrarily, and various well-known types can be applied, such as a feed screw (not shown) that is rotatably arranged in a fixed frame (not shown) and a slide block (not shown) that is movably arranged along the axis of the feed screw, and the slide block moves back and forth along the axial direction of the feed screw by rotating the feed screw.

The fixed roller 32A and the movable roller 32B are formed, for example, from a soft elastic resin, and have a generally barrel-shaped hollow cylinder shape with a central portion in the height direction bulging in the radial direction, and have streak-like protrusions arranged at intervals in the circumferential direction along the height direction on the outer circumferential surface. The fixed roller 32A and the movable roller 32B constitute a pair of clamping rolls.
With this configuration, the fixed roller (clamping roll) 32A and the movable roller (clamping roll) 32B are slightly concave in accordance with the outer shape of the rope L when clamping the rope L, and the striated protrusions generate appropriate frictional resistance, allowing the rope L to be stably clamped.
Further, the fixed roller 32A and the movable roller 32B have a rotation shaft 33 disposed at the center in a plan view, and are each rotatable about an axis O2.

The fixed roller 32A is disposed in the payout control unit main body 31 via a rotating shaft 33 .
In addition, in this embodiment, the movable roller 32B is arranged on a slide block (not shown) of the clamping distance adjustment section (not shown), for example via a rotating shaft 33, and a feed screw (not shown) is rotated to move the position of the movable roller 32B forward or backward in the direction of arrow T0 to move it closer to or away from the fixed roller 32A, thereby adjusting the distance between the fixed roller 32A and the movable roller 32B.
The clamping force on the rope L can be adjusted by adjusting the distance between the fixed roller 32A and the movable roller 32B.

The guide roller 38 includes a roller body 36 having a circumferentially formed concave portion that corresponds to the outer diameter of the rope L, and a support member 37. The roller body 36 is attached to the upper surface of the weight base 10 via the support member 37. The rope L that is unwound is clamped at a predetermined position (clamping portion) of the rope clamping mechanism 32 and unwound.

As shown in FIGS. 2A and 2B, the payout resistance adjustment unit 40 includes a powder clutch (electromagnetic clutch) 42 and an electromagnetic clutch operation unit 44, and is disposed on the drum 20.
The reducer 25 has an input side connected to a connecting shaft (not shown) of the drum 20 and an output side connected to a powder clutch (electromagnetic clutch) 42 .
As a result, when the rope L is pulled out due to the tension generated in the rope L, the torque transmitted to the powder clutch 42 is reduced.
The type of the reducer 25 can be set arbitrarily, and various well-known types may be applied.

The powder clutch (electromagnetic clutch, braking force applying portion) 42 has an input shaft (not shown) connected to the output shaft 25S of the reducer 25.
The output shaft 42S of the powder clutch 42 is connected to a rigid body (braking force applying part) (not shown) such as a stopper or bracket that does not move due to the payout resistance force. Note that instead of a rigid body (braking force applying part) such as a stopper or bracket, the output shaft 42S may be connected to a braking force applying part such as a brake that applies a braking force larger than the payout resistance force.
Further, the electromagnetic clutch operating unit 44 operates, for example, the supply of electricity to the powder clutch 42 .
It is preferable that the electromagnetic clutch operating unit 44 be able to adjust the current value to the powder clutch 42 .

The powder clutch 42 includes, for example, an input shaft, an output shaft, a gap formed between the input shaft and the output shaft, powder (magnetic powder) filled in the gap, and an excitation coil for magnetizing the powder, and when a current is passed through the excitation coil, the powder (magnetic powder) in the gap is magnetized and the input shaft and the output shaft are connected, and when the current is cut off, the powder is no longer magnetized and the connection between the input shaft and the output shaft is released. Also, the configuration is such that the transmittable torque can be adjusted by controlling the value of the current passed through the excitation coil.
The type of the powder clutch (electromagnetic clutch) 42 can be set arbitrarily, and various well-known types may be applied.

In addition to the powder clutch (electromagnetic clutch, braking force applying unit) 42, the payout control unit 30 may also include a braking force applying unit (not shown) (e.g., a brake connected to the rotating shaft 33) inside the control unit body 31 for applying a braking force to the rope clamping mechanism 32 (fixed roller 32A, movable roller 32B) to adjust the payout resistance.

The rotation axis Oc is a conceptual axis that passes vertically through the center of rotation that is formed when a disturbance force acts on the suspended load. Note that the center of rotation changes depending on the weight distribution of the suspended load and the state of the rope suspending the load, and does not need to be uniquely defined.

Next, an example of the load interception method according to the first embodiment will be described with reference to Figures 4, 5A, and 5B. In the figures, the symbol W denotes a load, the symbol T denotes tension, and the symbol Oc denotes a rotation axis.
First, an example of a load interception method according to the first embodiment will be outlined with reference to Fig. 4. Fig. 4 is a perspective view illustrating an example of a load interception method according to the first embodiment.

[Procedure for carrying out the hanging load execution method]
(1) First, the load interception devices 100 (100a, 100b) are positioned to correspond to the first end Wa and the second end Wb of the load W, respectively.
(2) The payout resistance adjustment unit 40 is operated to adjust the payout control unit 30 so that tensions Ta and Tb that balance each other are generated in the ropes La and Lb. Here, when the load W is to be moved without changing its orientation, the payout resistance is set so that the tensions Ta and Tb are approximately equal.
Furthermore, when movement of the load W is involved, it is more preferable to set the tensions Ta, Tb to be smaller than the operating force F0 applied to the load W and larger than the disturbance force Fd.
By setting the tensions Ta, Tb generated in the rope L to be greater than or equal to 0.1% and less than or equal to 1.0% of the weight of the load W, rotation can be stably suppressed.
(3) The rope La of the load execution device 100a is connected to the first end Wa, and the rope Lb of the load execution device 100b is connected to the second end Wb.

(4) Then, as shown in Fig. 4, the load W is moved in a direction (indicated by arrow S) away from the load interception device 100 (100a, 100b). Here, movement includes at least one of lifting the load W by the crane (moving the load vertically) and moving it horizontally, as long as tension can be generated in the rope.
(5) When the load W is moved, the ropes La, Lb are paid out by the payout control unit 30.
As a result, tensions Ta and Tb (T) that balance each other are naturally generated in the ropes La and Lb (L). If the load moves at most about 18 cm, the tension in the rope reaches a predetermined value, and even if the load W is stopped in a lifted state after that, the tensions Ta and Tb generated during the movement when lifting the load W can be maintained.
As a result, tensions Ta, Tb (T) that balance each other are always generated in the suspended load, so that the suspended load W is prevented from rotating due to the disturbance force Fd.

Next, the operation of the load interception method according to the first embodiment will be described with reference to FIGS. 5A, 5B, and 5C.
Figure 5A is a conceptual diagram illustrating the operation of the load interception method of the first embodiment, showing the rope viewed from an orthogonal direction when no external disturbance force is acting on the suspended load, and Figures 5B and 5C are conceptual diagrams illustrating the rope viewed from an orthogonal direction when an external disturbance force is acting on the suspended load.
In Figures 5A, 5B, and 5C, symbol F1 indicates the component of the operating force along the rope when a crane moves a suspended load when no external disturbance force is acting, symbols F2 and F3 indicate the component of the operating force along the rope when a crane moves a suspended load when an external disturbance force is acting, symbol Fd indicates the component of the disturbance force along the rope, symbol T indicates the tension when no external disturbance force is acting, and symbols T2 and T3 indicate the tension when an external disturbance force is acting.
The operating force F1 includes the force required to move the suspended load and the restoring force for returning the suspended load to directly below the starting point of suspension.

When no disturbance force is acting on the end of the load W, as shown in FIG. 5A, tension T is generated against the operating force F1 applied to one end of the load W (not limited to cases involving movement, including cases where movement is stopped after tension is generated). For example, when tension Ta and tension Tb are equal in FIG. 4, tension T (=F1) is an operating force F1 (=F0/2) acting on one end of the load W. In addition, an elongation deformation (longitudinal strain) corresponding to tension T is formed in the rope L.

For example, as shown in Fig. 5B, when a disturbance force Fd in the opposite direction to the operating force F1 (downward in Fig. 5B) acts on the load W, the operating force F1 that generated the tension T is offset by the disturbance force Fd, so that the elongation deformation of the rope L (in this case, the rope contracts and slackens) is reduced by an amount equivalent to the disturbance force Fd. Also, the tension T2 (<tension T) generated in the rope L is reduced according to (operating force F1 - disturbance force Fd), and one end of the load W is pulled downward in the figure by tension T2 that is smaller than tension T. In other words, the force pulling one end of the load W downward is reduced according to the disturbance force Fd. In this way, when a disturbance force acts, as the elongation of the rope L changes, the tension changes so as to cancel out the disturbance force Fd (tension T becomes tension T2).
As a result, the rotational displacement (swing) of the load W is reduced, and the occurrence of rotation of the load W can be suppressed.

On the other hand, as shown in Fig. 5C, when a disturbance force in the opposite direction to that in Fig. 5B acts on one end of the load W, the elongation deformation and tension of the rope L increase in accordance with the disturbance force until the corresponding payout resistance reaches a set value, so that the rope L becomes taut and the force pulling one end of the load W downward increases in accordance with the disturbance force. Even in this case, when a disturbance force Fd acts, as the elongation of the rope L changes, the tension changes so as to cancel out the disturbance force Fd.
As a result, the rotational displacement (swing) of the load W is reduced, and the occurrence of rotation of the load W can be suppressed.

According to the load interception method and load interception device 100 of the first embodiment, by connecting ropes La and Lb to the first end Wa and second end Wb of the load W, it is possible to stably generate balanced tensions Ta and Tb, respectively. Therefore, even if a disturbance force Fd smaller than the tension T acts on the load W, the tensions Ta and Tb and the operating force F1 can be changed to cancel out the disturbance force Fd, and rotational motion (swinging) of the load W can be suppressed.

In addition, according to the load removal method and load removal device 100 of the first embodiment, the rope L is paid out with a tension T corresponding to the payout resistance force, so the load W can be moved while generating a predetermined tension T in the rope L.

Furthermore, according to the load interception method and load interception device 100 of the first embodiment, the tension T generated in the rope L is set to be smaller than the operating force F1 when moving the load W, so that the load W can be moved easily.
Furthermore, since the tension T generated in the rope L is set to be greater than the disturbance force Fd, the occurrence of rotational movement of the load W due to the disturbance force Fd can be suppressed.
As a result, the load W can be moved easily and stably while preventing rotational motion from occurring.
In addition, by setting the tension T generated in the rope L to be greater than or equal to 0.1% and less than or equal to 1.0% of the weight of the load W, the swaying caused by the realistic disturbance force Fd is suppressed, and the increase in the reaction force when moving the load W can be suppressed.

In addition, according to the load removal device 100, the payout control unit 30 is equipped with a payout resistance adjustment unit 40, so the tension T generated in the rope L when the rope L is paid out can be easily adjusted by the payout resistance adjustment unit 40.

In addition, since the payout control section 30 is equipped with a powder clutch (electromagnetic clutch) 42, the payout resistance force against the rope L can be easily set.
In addition, by changing the current value of the powder clutch (electromagnetic clutch) 42, the transmission torque can be changed, and the payout resistance can be easily and efficiently adjusted.

Next, a modified example of the load interception method according to the first embodiment will be described with reference to Figs.
First, a load-handling method according to a modified example of the first embodiment will be described with reference to Fig. 6. Fig. 6 is a flow chart for explaining a modified example of the load-handling method according to the first embodiment. Fig. 7 is a perspective view for explaining the operation of a load in the load-handling method according to the modified example of the first embodiment.

(1) The arrangement of the load interception device 100 (100a, 100b), (2) the setting of the payout resistance force, and (3) the connection of the ropes La and Lb to the load W shown in the "Procedure for implementing the load interception method" relating to the first embodiment are the same, so their explanations will be omitted.
First, as shown in FIG. 6, in the rope L in which approximately equal tensions Ta and Tb (T) have been generated in the above (2), the tension T is increased by increasing the payout resistance force on at least the retarding side (the side located on the load interception device 100 relative to the rotation axis Oc of the load W) of the rope L (S101).

Next, as shown in FIG. 7, the tension Ta of the rope La is tentatively increased to move the load W in a direction (indicated by arrow S) away from the load interception device 100 (100a, 100b) (S102).
At this time, for example, the tension Ta of the rope La is greater than the tension Tb of the rope Lb, so that the payout of the rope La is delayed and the rope Lb is paid out more than the rope La.
As a result, the load W is rotated in the direction of arrow R as shown in FIG.
Then, when the load W is rotated to a predetermined orientation, the crane is stopped (S103).
Next, if necessary, the payout resistance is returned to the original set value (S104).

According to the load interception method and load interception device 100 according to the modified example of the first embodiment, by creating a difference between the tensions Ta and Tb generated in the ropes La and Lb, the rope L on the side with the relatively larger tension T is less likely to be unwound, and the rope L on the side with the smaller tension T is more likely to be unwound. As a result, by simply moving the load W, the side to which the larger tension is applied is pulled in the opposite direction of movement relative to the side to which the smaller tension is generated, and the load W can be rotated around the center of rotation to change the orientation of the load W.

Furthermore, according to the load removal device 100, the payout control unit 30 is equipped with a payout resistance adjustment unit 40 having a powder clutch (electromagnetic clutch) 42, so that the payout resistance force against the rope L can be easily set after the direction of the load W changes, and the tensions Ta and Tb can be easily and efficiently returned to equal values.
Furthermore, by changing the current value of the powder clutch (electromagnetic clutch) 42, the payout resistance force can be easily and efficiently changed, and the tensions Ta and Tb can be adjusted to the same set value.

Second Embodiment
A second embodiment of the present invention will now be described with reference to FIG.
FIG. 8 is a perspective view illustrating a schematic configuration of a load interception device according to the second embodiment.
In FIG. 8, reference numeral 100A denotes a reference numeral, and reference numeral 30A denotes a payout control portion.

As shown in Figure 8, the load interception device 100A of the second embodiment comprises, for example, a weight base (base) 10, a drum 20 arranged on the top of the weight base 10, a rope L wound around the drum 20, and a payout control unit 30A that applies a payout resistance force to the rope L paid out from the drum 20.
The load interception device 100A differs from the load interception device 100 according to the first embodiment in that it is equipped with a payout control unit 30A instead of the payout control unit 30. Other than that, it is similar to the load interception device 100, so the same reference numerals are used and the description will be omitted.

The payout control unit 30A includes a guide roller 38, a payout resistance adjustment unit 40 arranged on the drum 20, and a braking force application unit (not shown), and is configured to apply a payout resistance force to the rope L corresponding to the force applied to the suspended load, thereby generating a predetermined tension in the rope L.
In other words, the payout control unit 30A does not have the payout control unit main body 31 and rope clamping mechanism 32 of the payout control unit 30 of the first embodiment.

According to the second embodiment of the load interception device 100A, the configuration of the payout control unit 30A is simpler than that of the payout control unit 30, making maintenance easier and reducing costs.

Third Embodiment
A third embodiment of the present invention will now be described with reference to FIGS. 9A and 9B.
FIG. 9A is a front view for explaining the schematic configuration of a payout control unit of a load interception device according to a third embodiment, and FIG. 9B is a side view.
9A and 9B, reference numeral 30B denotes a payout control portion, reference numeral 40B denotes a payout resistance force adjustment portion, reference numeral 45 denotes a brake shoe (braking force application portion), and reference numeral 45A denotes a brake shoe operating lever (braking force adjustment portion).

In this embodiment, as shown in Figs. 9A and 9B, the payout resistance force adjustment section 40B includes, for example, a brake shoe 45 (braking force application section) and a brake shoe operating lever (payout resistance force adjustment section) 45A.
When viewed along the axis of the output shaft 25S of the reducer 25, the brake shoe 45 has a surface that is formed in an arc shape complementary to the outer peripheral surface of the output shaft 25S and can abut against the outer peripheral surface of the output shaft 25S, and is arranged on each surface of a pair of brake shoe operating levers 45A on the output shaft 25S side.

The brake shoe operating lever 45A is connected at one end by a pin, and when the other end is brought close to the brake shoe 45 and the output shaft 25S is clamped by the brake shoe 45, a braking force is generated and a payout resistance force is applied. The payout resistance force by the payout resistance force adjustment unit 40B can be adjusted by adjusting the spacing on the other end side of the brake shoe operating lever 45A to adjust the clamping force of the output shaft 25S by the brake shoe 45.

Then, the other end of the brake shoe operating lever 45A is brought closer, and the brake shoe 45 clamps the output shaft 25S in response to the payout resistance force, generating a predetermined tension in the rope L.

Fourth Embodiment
Hereinafter, a fourth embodiment of the present invention will be described with reference to FIGS. 10A and 10B.
FIG. 10A is a front view illustrating a schematic configuration of a payout control unit of a load interception device according to a fourth embodiment, and FIG. 10B is a side view.
10A and 10B, reference numeral 30C indicates a payout control unit, reference numeral 40C indicates a payout resistance force adjustment unit, reference numeral 46 indicates a brake disc (braking force application unit), reference numeral 47 indicates a brake pad (braking force application unit), and reference numeral 47A indicates a caliper (payout resistance force adjustment unit).

In this embodiment, as shown in Figures 10A and 10B, the payout resistance adjustment unit 40C includes, for example, a brake disc (braking force application unit) 46, a brake pad (braking force application unit) 47, and a caliper (payout resistance adjustment unit) 47A.

The brake disc 46 is formed, for example, in a circular flat plate shape, and is connected to the end of the output shaft 25S of the reducer 25 so that its surface is perpendicular to the axis of the output shaft 25S and is coaxially connected to the output shaft 25S.

The brake pads 47 are, for example, small flat pieces that can come into contact with the surface of the brake disc 46, and have a surface that can come into contact with the brake disc 46, and are arranged on each side of the caliper that faces the brake disc 46.

The caliper 47A has, for example, a piston that can advance and retreat relative to the brake disc 46 on the surface of the piston rod facing the brake disc 46, and a brake pad 47 is disposed on the tip of the piston rod.
When the piston rod advances, the brake pads 47 come into contact with the brake disc 46 to generate a braking force and apply a payout resistance force. Also, the piston rod retreats to release or adjust the contact force of the brake pads 47 against the brake disc 46, thereby adjusting the payout resistance force.

According to the payout control unit 40C of the load interception device of the fourth embodiment, the braking force application unit is composed of a brake disc 46 and a brake pad 47, so a large payout resistance force can be easily applied and the payout resistance force can be efficiently adjusted.

Fifth Embodiment
Hereinafter, a fifth embodiment of the present invention will be described with reference to FIGS. 3A to 3C and 11. FIG.
FIG. 11 is a perspective view illustrating a schematic configuration of a load interception device according to the fifth embodiment.
In FIG. 11, reference numeral 100D denotes a load interception device, and reference numeral 30D denotes a payout control unit.

As shown in Figure 11, the load interception device 100D of the fifth embodiment comprises, for example, a weight base (base) 10, a drum 20D arranged on the top of the weight base 10, a rope L wound around the drum 20D, and a payout control unit 30D that applies a payout resistance force to the rope L paid out from the drum 20D.
The load interception device 100D differs from the load interception device 100 according to the first embodiment in that the drum 20D does not include a reducer 25, and that it includes a payout control unit 30D instead of the payout control unit 30. Other than that, it is similar to the load interception device 100, so the same reference numerals are used and the description will be omitted.

As shown in Figure 11, the payout control unit 30D comprises a payout control unit main body 31, a rope clamping mechanism 32 rotatably arranged in the payout control unit main body 31, a guide roller 38, and a payout resistance force adjustment unit (braking force application unit) 40D, and is configured to apply a payout resistance force to the rope L in response to the force applied to the suspended load, thereby generating a predetermined tension in the rope L.
The payout control section 30D is configured by connecting a payout resistance force adjustment section 40D to the rope clamping mechanism 32 of the first embodiment.

The rope clamping mechanism 32 can be the same as that in the first embodiment, and includes a fixed roller 32A and a movable roller 32B. The fixed roller 32A and the movable roller 32B clamp the rope L so that the rope L can be stably unwound with a set tension. The fixed roller 32A and the movable roller 32B form a pair of clamping rolls.

Furthermore, the rope clamping mechanism 32 is equipped with a clamping distance adjustment unit (not shown).
The type of clamping gap adjustment unit (not shown) can be set arbitrarily, and various well-known types can be applied, such as one similar to that of the first embodiment in which a feed screw (not shown) rotatably arranged in a fixed frame (not shown) is rotated to move a slide block (not shown) arranged on the feed screw back and forth along the axial direction of the feed screw.

The fixed rollers 32A and movable rollers 32B can be, for example, similar to those in the first embodiment shown in Figures 3A to 3C. The fixed rollers 32A and movable rollers 32B clamp the rope L, and the fixed rollers 32A and movable rollers 32B rotate to stably pay out the rope L.

The fixed roller 32A is disposed in the payout control unit main body 31 via a rotating shaft 33 .
In addition, as in the first embodiment, the movable roller 32B is arranged on a slide block (not shown) of the clamping distance adjustment section (not shown) via a rotating shaft 33, and by rotating a feed screw (not shown) to move the position of the movable roller 32B forward or backward, moving it closer to or away from the fixed roller 32A, the clamping force on the rope L can be adjusted by adjusting the distance between the fixed roller 32A and the movable roller 32B.

The payout resistance adjustment unit (braking force application unit) 40D is disposed, for example, in the control unit main body 31, and is connected to the rope clamping mechanism 32 (for example, the fixed roller 32A and/or the movable roller 32B) to adjust the payout resistance. As the payout resistance adjustment unit (braking force application unit) 40D, for example, various known brakes such as a disk brake or a wheel brake connected to a rotating shaft 33 connected to the fixed roller 32A and the movable roller 32B may be applied, or a braking mechanism such as that described in JP 2019-165560 A may be applied.
In addition, as described in JP 2019-165560 A, connecting the fixed roller 32A and the movable roller 32B by a rotation transmission means (synchronization mechanism) such as a chain or a belt is preferable because it enables the rotation of the fixed roller 32A and the movable roller 32B to be synchronized, thereby enabling the rope L to be unwound stably.

In addition to the powder clutch (electromagnetic clutch, braking force applying unit) 42, the payout control unit 30 may also include a braking force applying unit (not shown) (e.g., a brake connected to the rotating shaft 33) inside the control unit body 31 for applying a braking force to the rope clamping mechanism 32 (fixed roller 32A, movable roller 32B) to adjust the payout resistance.

According to the load interception device 100D of the fifth embodiment, the configuration of the payout control unit 30D is simpler than that of the payout control unit 30, no tension acts directly on the drum 20D, and the rope L can be stably guided to the guide roller 38.
Furthermore, by rotating the fixed roller 32A and the movable roller 32B in synchronization with each other, the rope L can be unwound more stably.

Sixth Embodiment
A sixth embodiment of the present invention will now be described with reference to FIGS.
First, a load interception device according to a sixth embodiment will be described with reference to Figs.
Fig. 12 and Fig. 13 are diagrams for explaining an example of the schematic configuration of a suspended load interception device according to the sixth embodiment, Fig. 12 is a perspective view for explaining an example of the schematic configuration of a suspended load interception device according to the sixth embodiment of the present invention, and Fig. 13 is a block diagram for explaining the schematic configuration of a suspended load interception device. In the figures, reference numeral 200 denotes a suspended load interception device, and reference numeral 50 denotes a heavy-duty cart (cart).

As shown in Figure 12, the load removal device 200 includes, for example, a heavy-duty cart (cart) 50, a drum 20 arranged on the top of the heavy-duty cart (cart) 50, a rope L wound around the drum 20, a payout control unit 30 that applies a payout resistance force to the rope L paid out from the drum 20, a payout resistance force adjustment unit 40, and a control system 60.
The load interception device 200 differs from the load interception device 100 of the first embodiment in that it is equipped with a heavy-duty cart (cart) 50 instead of the heavy-duty base (base) 10; otherwise, it is similar to the first embodiment, so the same symbols are used and descriptions are omitted.

As shown in FIG. 12, the heavy duty cart (cart) 50 includes, for example, a weight base (base) 10 and a cart body 52 on which the weight base (base) 10 is mounted.
The weight base (base) 10 can be the same as that in the first embodiment.
In this embodiment, the carriage body 52 is provided with, for example, caterpillar tracks as a means of movement.
In addition, instead of the caterpillar tracks, a means of transportation using wheels may be provided.

As shown in FIG. 13, the control system 60 includes, for example, position sensors 62a, 62b (62), an operation unit 64, a control unit 66, and a drive unit (not shown) for the trolley body 52.

The position sensors 62a, 62b (62) receive, for example, a GPS signal and transmit to the control unit 66 a position information signal of the first suspended load end Wa and a position information signal of the second suspended load end Wb.
The operation unit 64 inputs the position and orientation (e.g., direction) of the load W after the orientation is changed, and the adjustment limit of the payout resistance force.
Here, the position of the load W may be set arbitrarily, and may be input using the positions of the first end Wa of the load, the second end Wb of the load, the position of the rotation center of the load W, or other parameters.

The trolley control unit 66 calculates the positions of the first load end Wa and the second load end Wb and the orientation (e.g., direction) of the load W based on the position information signals of the first load end Wa and the second load end Wb received from the position sensors 62a, 62b (62).
Furthermore, the cart control unit 66 compares the position and orientation of the load W after being rotated and changed, which are input from the operation unit 64, with the current positions of the load first end Wa and the load second end Wb and the orientation of the load W, and calculates the positions of the heavy duty carts 50a, 50b and the payout lengths of the ropes La, Lb after being rotated and changed. Then, it calculates the payout resistance of the payout control units 30a, 30b appropriate for setting the ropes La, Lb to that payout length.
Then, a carriage movement signal is sent to the driving sections of the heavy-duty carriages (carriages) 50a, 50b to move the heavy-duty carriages 50.
Also, a payout resistance setting signal is sent to the payout control units 30a and 30b to set the payout resistance.
The payout resistance force of the payout control units 30a and 30b may be input from the operation unit 64.

Next, an example of a load interception method according to the sixth embodiment will be described with reference to Figs.
FIG. 14 is a flowchart conceptually illustrating an example of a load interception method for changing the orientation of a load in the normal state and during movement in the sixth embodiment, and FIG. 15 is an oblique view illustrating an example of the load interception method.

First, a description will be given of a normal load-handling method in which the load-handling device 200 is stopped without moving the heavy truck (cart) 50.
When the load intercession device 200 is stopped and load intercession in the normal state is performed, the procedure is the same as that of the load intercession method according to the first embodiment and the modified example of the first embodiment, and therefore a description thereof will be omitted.
In addition, when preparing for the load beheading, the heavy duty trolley (cart) 50 may be driven to move the load beheading device, or when tension is generated in the rope at the start of the load beheading, the heavy duty trolley (cart) 50 may be moved in addition to or instead of moving the load W by the crane C.

Next, a case where the load interception device 200 is moved by driving the heavy duty cart (cart) 50 to intercept the load will be described.
In addition, (1) the placement of the load interception device, (2) setting of the payout resistance force, and (3) connection of the rope L to the load W shown in the "Procedure for implementing the load interception method" in the first embodiment are the same, so the explanation will be omitted.

(1) First, as shown in FIG. 14, the trolley control unit 66 calculates and monitors the positions of the first load end Wa and the second load end Wb and the orientation of the load W based on the position information signals of the first load end Wa and the second load end Wb of the position sensors 62a, 62b (62) (S201).

(2) Next, of the ropes L which have been subjected to roughly equal tensions Ta and Tb (T), the payout resistance of the load interception device 200 (200a, 200b) which moves at least to the side which is farther away from the load W is relatively increased. At this time, the payout resistance of one of the load interception devices 200 may be increased, or the payout resistance of both load interception devices 200 may be increased. Also, the payout resistance of the load interception device 200 (200a, 200b) which is relatively closer to the load W may be set to be smaller (S202).

(3) Next, the load W is moved in the direction of the arrow S by the crane C, and at least one of the heavy-duty carriages 50 of the load interception device 200 (200a, 200b) is driven to move it in the direction of the arrow V (S203).
At this time, the trolley control unit 66 also monitors the positions of the first end Wa and second end Wb of the load and the orientation of the load W, which have changed due to the movement of the crane and the load execution device 200 (200a, 200b).

As a result, as shown in Figure 15, for example, when the payout resistance of the load-splitting device 200a is relatively increased and the crane C is moved in the direction of the arrow S, the tension Ta of the rope La becomes greater than the tension Tb of the rope Lb, so that the payout of the rope La is delayed and the rope Lb is paid out more than the rope La. Then, when the load-splitting device 200a is moved in the direction of the arrow V, the end Wa of the load to which the rope La is connected is pulled in, causing the load W to change position and be moved (transported), and the load W is rotated in the direction of the arrow R, changing its orientation.

Next, when the carriage control unit 66 detects that the load W has changed to a predetermined position and orientation, it stops the movement of the crane C and the heavy carriage 50 of the load execution device 200a (S204).
Next, if necessary, the payout resistance is returned to the original set value (S205).

In addition, in S203, one of the load interception devices 200 (200a, 200b) may be moved in the direction of arrow V or in the direction opposite to arrow V, as long as the rope L does not slacken and the tension T is not lost.
In addition, one or both of the load interception devices 200 (200a, 200b) may be moved in the direction of arrow S, the same as the movement direction of the crane C, by moving them at a speed slower than the speed of the crane C.

According to the sixth embodiment of the load interception method and load interception device 200, the position of the load interception device 200 (200a, 200b) can be controlled by the control system 60, so that the position and orientation of the load W can be changed by moving at least one of the crane C and the load interception device 200 (200a, 200b).

Next, a load interception method according to a modified example of the sixth embodiment will be described with reference to Figs.
FIG. 16 is a flowchart showing an example of a load interception method for changing the direction of a suspended load during stoppage according to the sixth embodiment, and FIG. 17 is a perspective view for explaining a modified example of the load interception method.

In the load removal method according to the modified example of the sixth embodiment, the orientation of the load is changed while the load is stopped, so that the load W is not lifted or moved horizontally and the crane stops.
Then, the payout resistance of at least one of the load interception devices 200 (200a, 200b) that moves farther away from the load W is increased relatively to the payout resistance of the rope L, which has been subjected to approximately equal tensions Ta, Tb (T) by the payout resistance adjustment unit 40 (S301).

Next, as shown in FIG. 17, at least the heavy duty carriage (cart) 50 of the load interception device 200 on the side farther away from the load W is driven to move the load interception device 200 (S302).
FIG. 17 shows an example in which the payout resistance force of the load interception device 200a is increased to move the heavy duty cart (cart) 50 of the load interception device 200a in the direction of the arrow Va (V).
At this time, the first end Wa of the load connected to the moving load-striking device by the rope La is pulled in the direction of the arrow Va (V), and the second end Wb moves in the opposite direction to the arrow Va (V) while the connected rope Lb is being unwound. As a result, the load W is rotated in the direction of the arrow R as shown in Figure 17.
Next, when the load W is turned to a predetermined direction, the movement of the heavy duty cart (cart) 50 of the load execution device 200a is stopped (S303).
Next, the payout resistance is returned to the original set value (S304).
If necessary, the payout resistance may be set to a value greater than the original setting to apply the brakes.

According to the sixth embodiment of the load interception method and load interception device 200, the ropes La and Lb can be connected to the first end Wa and second end Wb of the load W, respectively, to stably generate balanced tensions Ta and Tb. Therefore, even if a disturbance force Fd smaller than the tension T acts on the load W, the tensions Ta and Tb can be changed to counteract the disturbance force Fd, and rotational motion (swinging) of the load W can be suppressed.

According to the load removal method relating to the modified sixth embodiment, a difference is created between the tensions Ta, Tb generated in the ropes La, Lb, and the tension T of one of the ropes is made relatively large to move at least one of the heavy-duty carts 50, thereby adjusting the amount of rope L that is let out, and the direction of the load W can be changed while the load W is stopped.

The present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the invention.
For example, in the above embodiment, the rope L is a fiber rope, but the rope is not limited to a fiber rope, and for example, a wire rope or other types of rope may be applied.

In the above-mentioned first, second, fifth and sixth embodiments, the case where the load interception device 100, 100A is provided with the payout resistance force adjustment unit 40 has been described, but the provision of the payout resistance force adjustment unit 40 may be set arbitrarily. Also, the configuration of the payout resistance force adjustment unit 40 may be set arbitrarily.
For example, although the case has been described in which the payout control unit 30 is equipped with a powder clutch (electromagnetic clutch) 42, another type of electromagnetic clutch may be applied instead of the powder clutch 42, or a configuration may be adopted in which a fluid clutch is provided instead of the electromagnetic clutch.

In addition, in the second and sixth embodiments, whether or not to apply the resistance force adjustment unit 40 may be set arbitrarily. For example, instead of the payout resistance force adjustment unit 40, the payout resistance force adjustment unit 40B and the payout resistance force adjustment unit 40C may be applied.

In the above embodiment, the payout control unit 30 adjusts and applies the payout resistance using a braking force applying unit (not shown) arranged in the payout resistance adjustment unit 40. However, in addition to or instead of the braking force applying unit (not shown) arranged in the payout resistance adjustment unit 40, the payout resistance may be adjusted by applying a braking force to the rope clamping mechanism 32 (fixed roller 32A, movable roller 32B) using a braking force applying unit (not shown) arranged in the control unit main body 31, etc., and the configuration of the payout control unit 30 may be set arbitrarily.

In the above embodiment, the tension T generated in the rope L is set to 0.1% to 1.0% of the suspended load amount, but the tension T generated in each rope may be set arbitrarily. For example, it may be set to correspond to the force applied to the suspended load and to be greater than the disturbance force, or it may be set so that tension is always generated in the rope.

In the above embodiment, a case has been described in which separate load-handling devices are provided for both ends of the suspended load, but a single base or cart may be shared to handle both ends of the suspended load.

The load removal method and load removal device of the present invention can be used industrially because the movement of the load creates tension in the rope, and the simple structure can stably prevent the suspended load from rotating due to disturbance forces.

L, La, Lb Rope L0 (one end of rope) Oc Rotation axis O1 Drum axis T, Ta, Tb, T2, T3 Tension F0, F1, F2, F3 Component (component) of operating force along the rope
Fd: Component of disturbance force along the rope
W: Load Wa: First end of load Wb: Second end of load 100, 100A, 100D, 200: Load removal device 10: Weight base (base)
20, 20D Drum 25 Speed reducer 30, 30A, 30B, 30C, 30D Payout control section 32 Rope clamping mechanism 32A Fixed roller (clamping roll)
32B Movable roller (clamping roll)
33 Rotating shaft 38 Guide roller 40, 40B, 40C, 40D Payout resistance force adjustment unit 42 Powder clutch (electromagnetic clutch) (braking force applying unit, payout resistance force adjustment unit)
42S: Output shaft 44: Payout resistance force operating unit 45: Brake shoe (braking force applying unit)
45A Brake shoe operating lever (adjustment of resistance to pulling)
46 Brake disc (braking force applying part)
47 Brake pad (braking force applying part)
47A Caliper (feed resistance adjustment part)
50 Heavy Duty Cart (Cart)
52 Heavy-duty cart body 60 Control system 62, 62a, 62b Position sensor 64 Operation unit 66 Carriage control unit

Claims (1)

A load suppression method for suppressing rotation of a suspended load due to a disturbance force,
A load escaping device is arranged corresponding to each of the first end and the second end of the load located on both sides of a rotation center that occurs when an external disturbance force is applied to the load,
One end of a rope extending from a load-splitting device corresponding to the first end is connected to the first end, and one end of a rope of a load-splitting device corresponding to the second end is connected to the second end,
By providing the rope with a payout resistance,
A method for suspending a load, characterized in that, when the load is moved, tension is naturally generated in the rope connected to the first end and the rope connected to the second end, which tension is balanced.

Images