JP7300300B2 - CRANE HANGING HANGING ALIGNMENT METHOD AND CRANE SYSTEM - Google Patents

Description

The present invention relates to a crane sling alignment method and a crane system.

For example, Patent Document 1 discloses a jib crane that includes a running body that travels on rails, a tower body that is installed on the running body, a revolving body that is installed on the tower body, and a jib that is attached to the revolving body. disclosed. This jib crane can connect a load installed on the ground and a lifting tool to lift the load and move it to another position.

JP 2014-198630 A

In the crane system as described above, when a load is lifted, a horizontal deviation may occur between the hoisting tool and the suspension fulcrum that supports the hoisting tool via the hoisting member. If the suspended load is lifted while the deviation exists, it causes the suspended load to sway. Therefore, in order to suppress the occurrence of such swinging of the suspended load, it has been required to align the suspension fulcrum and the lifting tool before lifting.

SUMMARY OF THE INVENTION The present invention has been made to solve such problems, and provides a hoisting gear for a crane that enables accurate alignment between a hoisting fulcrum and a hoisting gear before lifting a load. It is an object of the present invention to provide an alignment method and a crane system.

A crane hoisting gear alignment method according to the present invention is a crane hoisting gear alignment method for aligning a crane hoisting gear with a suspension fulcrum that supports the hoisting gear via a hoisting member, wherein A connection step of connecting the sling to the load in a state in which a first positioning unit for positioning is provided on the suspension fulcrum side and a second positioning unit for positioning is provided on the sling side; By comparing the position based on the positioning part and the position based on the second positioning part, a positioning process for aligning the suspension fulcrum and the lifting tool, and after the positioning process is completed, the load is suspended by the lifting tool. and a lifting step for lifting the

In the method for aligning the hoisting gear of the crane according to the present invention, in the connection process, the first positioning part for positioning the position is provided on the suspension fulcrum side, and the second positioning part for positioning the position is provided on the hoisting gear side. Connect the sling to the load. As a result, it is possible to grasp the position of the suspension fulcrum by the first positioning unit and to grasp the position of the lifting device by the second positioning unit before the load is lifted by the lifting device. Further, in the alignment step, the position based on the first positioning unit and the position based on the second positioning unit are compared to perform alignment between the suspension fulcrum and the sling. In this alignment step, the position based on the first positioning unit and the position based on the second positioning unit are compared to accurately grasp the positional relationship between the suspension fulcrum and the sling, and the amount of deviation between the two can be adjusted. Alignment can be done to make it smaller. As a result, the amount of deviation between the suspension fulcrum and the sling can be accurately reduced. Since the load is lifted by the lifting tool in the lifting process in a state in which the amount of deviation between the lifting fulcrum and the lifting tool is reduced in this way, the occurrence of swinging of the suspended load can be suppressed. As described above, it is possible to accurately align the suspension fulcrum and the lifting tool before the load is lifted.

In the alignment step, the position based on the first positioning unit and the position based on the second positioning unit are displayed on the display unit together with information that visualizes the positional relationship with the reference position, and the position based on the second positioning unit is displayed. may be set as the reference position. In this case, by setting the sling whose absolute amount of movement is smaller than that of the fulcrum as the reference position, the operator can refer to the operation mode that is close to the actual movement of the fulcrum and the sling while referring to the It is possible to grasp the positional relationship.

In the alignment step, the position based on the first positioning unit and the position based on the second positioning unit are displayed on the display unit, and the display unit displays the position based on the first positioning unit and the position based on the second positioning unit A trajectory of movement within the display of at least one of the positions may be displayed. In this case, the operator can grasp the previous movement mode by referring to the locus of movement, and thus can easily determine in which direction the suspension fulcrum should be moved.

In the alignment step, the position based on the first positioning unit and the position based on the second positioning unit are displayed on the display unit, and the display unit displays the position based on the first positioning unit and the position based on the second positioning unit For at least one of the positions, a tolerance may be displayed within which registration is considered complete. By visually displaying the allowable range in this way, it is possible to easily determine whether or not the alignment has been completed.

A crane system according to the present invention is a crane system that includes a sling and a support that supports the sling through a sling member, and a suspension fulcrum that supports the sling through the sling member at the support. A first positioning unit provided on the side and measuring the position, a second positioning unit provided on the side of the hanging device and measuring the position, and a position based on the first positioning unit and the second positioning unit and a display for displaying the position.

A crane system according to the present invention includes a first positioning unit that is provided on the suspension fulcrum side that supports the sling via the sling member in the support unit and measures the position, and a first positioning unit that is provided on the sling and measures the position. and a second positioning unit. Also, the display unit can display the position based on the first positioning unit and the position based on the second positioning unit. As a result, it is possible to grasp the position of the suspension fulcrum by the first positioning unit and to grasp the position of the lifting device by the second positioning unit before the load is lifted by the lifting device. Further, when performing alignment, it is possible to perform alignment between the suspension fulcrum and the lifting tool by comparing the position based on the first positioning unit and the position based on the second positioning unit. Become. That is, by referring to the display on the display unit, it is possible to accurately grasp the positional relationship between the suspension fulcrum and the sling, and perform alignment so as to reduce the amount of deviation between the two. As a result, the amount of deviation between the suspension fulcrum and the sling can be accurately reduced. When the load is lifted by the lifting tool in a state in which the amount of deviation between the suspension fulcrum and the lifting tool is reduced in this way, the swinging of the suspended load can be suppressed. As described above, it is possible to accurately align the suspension fulcrum and the lifting tool before the load is lifted.

ADVANTAGE OF THE INVENTION According to the present invention, it is possible to provide a crane system and a method for aligning a hoisting gear of a crane that can accurately align the hoisting fulcrum and the hoisting gear before lifting a load. .

1 is a block diagram showing a crane system according to an embodiment of the invention; FIG. 2 is a schematic configuration diagram of the crane system shown in FIG. 1; FIG. It is an enlarged view of a suspension mechanism. An example of the image displayed on the display section is shown when the sling and the fulcrum are aligned. FIG. 5(a) is a conceptual diagram showing an allowable range that can be regarded as alignment completion, and FIG. 5(b) is a conceptual diagram for explaining a method of setting the allowable range. It is process drawing of the positioning method of the lifting gear of the crane which concerns on embodiment of this invention.

A preferred embodiment of a crane system according to the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a crane system according to this embodiment. FIG. 2 is a schematic configuration diagram of the crane system shown in FIG.

The crane system 100 according to the present embodiment includes, as a system configuration, various sensors and the like provided in the suspension mechanism 10 described later, a drive unit 20, a control device 40, an operation unit 51, and a display unit 52. .

As shown in FIG. 2, the crane 110 that constitutes the crane system 100 is a jib crane that can swing and travel. The crane 110 includes a traveling body 11 , a tower body 12 , a revolving body 13 , a jib 14 (supporting portion), a mast 15 , a lifting tool 16 and a lifting member 17 . The crane 110 can lift the suspended load 60 installed on the ground Y and move it to another place.

The traveling body 11 is provided on the lower end side of the structure of the crane 110, and is a mechanism that moves the entire crane 110 by traveling in a predetermined direction. The traveling body 11 includes wheels that are driven to travel on traveling rails (not shown). The traveling body 11 travels along the travel rail by the wheels traveling on the travel rail. The tower body 12 is a columnar structure erected on the traveling body 11 .

The revolving body 13 is provided at the upper end of the tower body 12 and is rotatable with respect to the tower body 12 around the vertical axis CL. The revolving body 13 includes an operator's cab 13a in its upper part. The jib 14 is pin-connected to one end portion 13 b of the revolving body 13 . The jib 14 extends from the one end portion 13b side of the revolving body 13 as a base end portion 14a. The mast 15 is erected on the revolving body 13 . The other end 13c of the revolving body 13, the mast top 15a which is the upper end of the mast 15, and the tip 14b of the jib 14 are supported by wire ropes W1.

As the wire rope W1 is wound up and unwound, the jib 14 moves up and down with its base end 14a as a fulcrum. Also, the wire rope W2 is connected to the hanger 16 . As the wire rope W2 is wound and unwound, the sling 16 moves vertically. A portion of the wire rope W2 extending downward from the tip portion 14b may be referred to as a "suspension member 17". A suspension fulcrum 25 is defined as a point of the distal end portion 14 b that supports the suspension tool 16 via the suspension member 17 , that is, a base end portion of the suspension member 17 extending downward.

The hoisting tool 16 is a device that enables the load 60 to be lifted by the crane 110 by being connected to the load 60 . The hanger 16 is provided at the lower end of the hanger member 17 . The sling 16 is connected to the load 60 via the rope 61 by being connected to the rope 61 attached to the load 60 . FIG. 2 shows a reference line SL1 passing through the suspension fulcrum 25 and extending vertically, and a reference line SL2 passing through the center point of the suspension tool 16 and extending vertically. In the stage prior to lifting the load 60 , there may be a horizontal deviation between the suspension fulcrum 25 and the lifting tool 16 connected to the load 60 . Such a deviation amount L1 is defined by the horizontal separation distance between the reference line SL1 and the reference line SL2.

A mechanism composed of the structure near the tip portion 14b of the jib 14, the hoisting tool 16, and the hoisting member 17 may be referred to as a "suspension mechanism 10". FIG. 3 is an enlarged view of the suspension mechanism 10. FIG.

As shown in FIGS. 1 and 3, the suspension mechanism 10 includes a camera 21, a support GPS 22A (first positioning section), and a lifting tool GPS 22B (second positioning section). Information acquired by each sensor is transmitted to the control device 40 . Further, each sensor switches between ON/OFF and the like based on a command signal from the control device 40 .

The camera 21 is provided on the suspension fulcrum 25 side, and is a device for photographing the state below the distal end portion 14b. The camera 21 is provided so as to face downward at a position near the suspension fulcrum 25 in the distal end portion 14b (see FIG. 3). However, the position of the camera 21 is not particularly limited, and may be provided at any position as long as it is a position where the surroundings of the hanging tool 16 and the suspended load 60 can be photographed.

The GPS 22A for the supporting part and the GPS 22B for the suspension are devices for measuring their own positions. The GPS 22A for the support and the GPS 22B for the suspension are configured by receivers of a global positioning system (Global Positioning System) for positioning in coordinates on the earth by receiving signals from satellites. 4G, 5G, or the like may be adopted as the communication method of the GPS 22A for the supporting part and the GPS 22B for the suspension.

As shown in FIG. 3, the supporting part GPS 22A is provided at a predetermined position on the suspension fulcrum 25 side. Since the support GPS 22A is for specifying the position of the suspension fulcrum 25, it is preferably provided in the vicinity of the suspension fulcrum 25, and preferably provided at any position of the distal end portion 14b. However, there may be a horizontal deviation between the suspension fulcrum 25 and the support GPS 22A. In this case, the control device 40 can correct the deviation by calculation.

As shown in FIG. 3, the hanger GPS 22B is provided at a predetermined position on the hanger 16 side. Since the GPS 22B for the hanger is for specifying the position of the hanger 16, it is preferably provided in the vicinity of the center position of the hanger 16, and preferably provided at any position on the hanger 16. . However, there may be a horizontal deviation between the center position of the sling 16 and the sling GPS 22B. In this case, the controller 40 can correct the deviation by calculation.

As shown in FIG. 1 , the drive unit 20 drives each drive mechanism of the crane system 100 by receiving command signals from the control device 40 . The driving unit 20 includes a motor for running the traveling body 11, a motor for turning the revolving body 13, a motor for raising and lowering the jib 14, a motor for vertically moving the sling 16, and the like. there is

The operation unit 51 is an interface through which a user performs an operation input to the control device 40 . As the operation unit 51, for example, an operation lever, a switch, a touch panel, or the like is adopted. The display unit 52 is an interface that visually outputs information from the control device 40 to the user. The operation unit 51 and the display unit 52 are installed inside the cockpit. Details of the information displayed on the display unit 52 will be described later. The operator can operate the operation section 51 based on the information displayed on the display section 52 . Thereby, the drive unit 20 can drive each drive mechanism based on the operation.

The control device 40 is a device that controls the entire crane system 100 . The control device 40 includes a processor, memory, storage, communication interface and user interface, and is configured as a general computer. The processor is a calculator such as a CPU (Central Processing Unit). The memory is a storage medium such as ROM (Read Only Memory) or RAM (Random Access Memory). The storage is a storage medium such as an HDD (Hard Disk Drive). A communication interface is a communication device that implements data communication. The processor integrates memory, storage, communication interface and user interface, and implements the functions described below. The control device 40 implements various functions by, for example, loading programs stored in the ROM into the RAM and executing the programs loaded into the RAM by the CPU. The control device 40 may be composed of a plurality of computers.

The control device 40 includes an information acquisition section 41 , a drive control section 42 , a calculation section 43 and a determination section 44 .

The information acquisition unit 41 acquires various types of information from the camera 21, the support GPS 22A, and the suspension GPS 22B. The drive control section 42 controls the drive section 20 based on the operation information input through the operation section 51 .

The calculation unit 43 performs various calculations executed by the control device 40 . In this embodiment, the calculation unit 43 creates an image to be displayed on the display unit 52 by calculation based on the information acquired by the information acquisition unit 41 .

The determination unit 44 determines whether or not the load 60 can be lifted. The determination unit 44 may determine that the load 60 can be lifted when the horizontal deviation L1 between the suspension fulcrum 25 and the lifting tool 16 is reduced to within a predetermined range. Details of the determination method of the determination unit 44 will be described later.

Next, the contents displayed on the display unit 52 will be described with reference to FIGS. 4 and 5. FIG. FIG. 4 shows an example of an image displayed on the display unit 52 when the sling 16 and the sling fulcrum 25 are aligned. FIG. 5(a) is a conceptual diagram showing an allowable range that can be regarded as alignment completion, and FIG. 5(b) is a conceptual diagram for explaining a method of setting the allowable range.

As shown in FIG. 4, the display unit 52 displays information visualizing the positional relationship with the reference position SP, as well as the suspension fulcrum position PA based on the support GPS 22A and the sling position PB based on the sling GPS 22B. .

The information that visualizes the positional relationship with the reference position SP is a visual representation of the direction and distance of each position in the image from the reference position SP when a predetermined position in the image is defined as the reference position SP. This information is intended to facilitate general understanding. In the example shown in FIG. 4, the information includes a plurality of circular demarcation lines EL1 set at a predetermined pitch in the radial direction from the reference position SP and a plurality of straight demarcation lines EL2 extending radially from the reference position SP. Is displayed. This allows the operator to visually understand how far the point in the image is from the reference position SP in what direction. However, the information that visualizes the positional relationship with the reference position SP is not limited to the lines shown in FIG. 4, and may be visually easier to understand using a grid, color coding, or the like.

The suspension fulcrum position PA based on the support GPS 22A is the position of the suspension fulcrum 25 obtained based on the position measured by the support GPS 22A. The position of the supporting part GPS 22A itself may be set as the suspension fulcrum position PA. Alternatively, when there is a slight deviation between the support GPS 22A and the suspension fulcrum 25, the position of the suspension fulcrum 25 estimated from the position of the support GPS 22A by the calculation unit 43 is set as the suspension fulcrum position PA. may be It should be noted that the suspension fulcrum position PA does not necessarily have to exactly match the position of the suspension fulcrum 25, and may be slightly deviated from the actual suspension fulcrum 25 as long as there is no problem in alignment. . Therefore, even if there is a slight deviation between the support GPS 22A and the suspension fulcrum 25, the position of the support GPS 22A itself may be set as the suspension fulcrum position PA. The sling position PB based on the sling GPS 22B is the position of the sling 16 acquired based on the position measured by the sling GPS 22B. The sling position PB may also be set to the same effect as the sling fulcrum position PA.

Note that the display unit 52 may display the image acquired by the camera 21 in a form in which the images of the division lines EL1 and EL2, the suspension fulcrum position PA, and the suspension tool position PB are combined. In this case, the display unit 52 displays the suspended load 60, the state of the ground, and the like. However, the display unit 52 may display only the images of the division lines EL1 and EL2, the suspension fulcrum position PA, and the suspension tool position PB.

What position is set as the reference position SP is not particularly limited, and can be changed as appropriate. For example, as shown in FIG. 4A, the display unit 52 may set the sling position PB to the reference position SP. In this case, in the image, the sling position PB is immovable with respect to the reference position SP, while the suspension fulcrum position PA is displayed so as to move with respect to the reference position SP. At this time, the display unit 52 may display the trajectory TRA of the movement of the suspension fulcrum position PA within the display unit 52 .

Further, as shown in FIG. 4B, the display unit 52 may set the suspension fulcrum position PA to the reference position SP. In this case, in the image, the suspension fulcrum position PA is immovable with respect to the reference position SP, while the sling position PB is displayed so as to move with respect to the reference position SP. At this time, the display unit 52 may display the trajectory TRB of the movement of the sling position PB within the display unit 52 .

Further, as shown in FIG. 4(c), the display unit 52 may set a position other than the suspension fulcrum position PA and the suspension tool position PB as the reference position SP. For example, the central position of the suspended load 60 may be set as the reference position SP. In this case, the fulcrum position PA and the sling position PB are displayed in the image so as to move with respect to the reference position SP. At this time, the display unit 52 may display the trajectory TRA of the movement of the suspension fulcrum position PA within the display unit 52 and the trajectory TRB of the movement of the sling position PB within the display unit 52 .

The display unit 52 may display an allowable range in which alignment can be regarded as completed with respect to at least one of the suspension fulcrum position PA and the sling position PB. In the example shown in FIG. 5(a), a permissible range ST is set for the sling position PB. The permissible range ST is set by a circle whose radius is the permissible deviation amount R1 that is permissible as the deviation amount.

The allowable deviation amount R1 is set by the maximum allowable amount of deviation between the lifting tool 16 and the suspension fulcrum 25 when the load 60 is lifted. The allowable standard can be appropriately changed depending on the type of the suspended load 60, the site, and the like. In the example shown in FIG. 5B, the allowable deviation amount R1 is set in consideration of the operation mode of the worker WP who works around the suspended load 60. In the example shown in FIG. As shown in FIG. 5(b), it is assumed that the worker WP is supporting the side surface 60a of the suspended load 60 before being lifted with his/her outstretched hand (the state indicated by the phantom line). It is assumed that when the suspended load 60 is lifted due to the deviation between the lifting tool 16 and the suspension fulcrum 25, the suspended load 60 moves toward the worker WP by the amount of deviation. At this time, if the worker WP can retreat from the movement by simply bending his/her arm, the amount of deviation is permissible. On the other hand, if the worker WP cannot retreat from the movement of the suspended load 60 by simply bending his arm and must move downward, the amount of deviation is unacceptable. Therefore, the allowable deviation amount R1 is set by the distance between the hand position of the worker WP when the arm is stretched straight and the hand position of the worker WP when the arm is bent to the maximum. It is possible. Such allowable deviation amount R1 is, for example, about 50 cm.

Note that the allowable range ST may be set with respect to the suspension fulcrum position PA. Alternatively, the allowable range ST may be set for both the suspension fulcrum position PA and the sling position PB.

The determination unit 44 may determine whether or not alignment is completed based on whether or not the suspension fulcrum position PA exists within the allowable range ST set for the sling position PB. That is, when the suspension fulcrum position PA exists outside the permissible range ST (PA indicated by the solid line), the determination unit 44 determines that alignment is not completed. When the suspension fulcrum position PA exists inside the permissible range ST (PA indicated by a dashed line), the determination unit 44 determines that alignment has been completed. When the determination unit 44 determines that the alignment has been completed, the determination unit 44 may notify the display unit 52 of the completion. Alternatively, the control device 40 may limit the operation so that the lifting operation of the suspended load 60 is not performed unless the determination unit 44 determines that the alignment is completed.

Next, with reference to FIG. 6, a method for aligning the positions of the sling 16 of the crane 110 according to this embodiment will be described. FIG. 6 is a process diagram of a method for aligning the sling 16 of the crane 110 according to this embodiment. The alignment method is a method of aligning the sling 16 of the crane 110 and the suspension fulcrum 25 that supports the sling 16 via the sling member 17 . As shown in FIG. 6, the alignment method includes a connecting step S10, an alignment step S15, and a lifting step S40.

In the connecting step S10, the support part GPS 22A for positioning the position is provided on the suspension fulcrum 25 side, and the lifting tool GPS 22B for positioning the position is provided on the lifting tool 16 side, and the lifting tool 16 is attached to the suspended load 60. This is the process of connecting. In the connecting step S10, the worker connects the lifting tool 16 to the rope 61 of the suspended load 60 installed on the ground Y. As shown in FIG.

The alignment step S15 is a step of aligning the suspension fulcrum 25 and the suspension tool 16 by comparing the suspension fulcrum position PA based on the support GPS 22A and the suspension tool position PB based on the suspension tool GPS 22B. be. In the alignment step S15, the suspension fulcrum position PA and the sling position PB are displayed on the display unit 52 together with information (partition lines EL1 and EL2) that visualizes the positional relationship with the reference position SP. Also, in the alignment step S15, the display unit 52 displays any of the images shown in FIGS. Further, in the alignment step S15, the display unit 52 displays the allowable range ST in which the alignment can be considered completed with respect to the sling position PB, as shown in FIG. 5(a). Also, the alignment step S15 includes a position confirmation step S20 and a position adjustment step S30.

The position confirmation step S<b>20 is a step of confirming the positional relationship between the suspension tool 16 and the suspension fulcrum 25 based on the image displayed on the display unit 52 . In the position confirmation step S20, the operator confirms the positions of the suspension fulcrum position PA and the sling position PB displayed on the display unit 52, thereby determining in which direction and by what amount the suspension fulcrum 25 should be moved. Check if it works. At this time, the operator can quickly grasp the positional relationship by referring to the division lines EL1 and EL2 and the trajectories TRA and TRB.

The position adjustment step S30 is a step of adjusting the position between the sling 16 and the suspension fulcrum 25 by operating the crane 110 based on the positional relationship confirmed in the position confirmation step S20. In the position adjustment step S<b>30 , the operator operates the operation section 51 based on the image displayed on the display section 52 so that the suspension fulcrum 25 approaches the suspension tool 16 . As a result, the drive unit 20 drives the crane 110, thereby reducing the amount of deviation L1 (see FIG. 1) between the lifting tool 16 and the suspension fulcrum 25. As shown in FIG. In the position adjustment step S30, it is determined whether or not the alignment is completed based on whether or not the suspension fulcrum position PA exists within the allowable range ST. The determination may be made by the determination unit 44 or by the operator himself/herself.

The lifting step S40 is a lifting step of lifting the load 60 with the lifting tool 16 after the alignment step S15 is completed. In the lifting step S40, the operator operates the operation unit 51 to wind up the lifting member 17, thereby lifting the load 60. As shown in FIG.

Next, a method for aligning the sling 16 of the crane 110 according to the present embodiment and the operation and effects of the crane system 100 will be described.

When hoisting the load 60 , a horizontal deviation may occur between the hoisting tool 16 and the fulcrum 25 that supports the hoisting tool 16 via the hoisting member 17 . If the suspended load 60 is lifted while the deviation exists, it causes the suspended load 60 to sway. However, in a high lift crane 110 such as a jib crane, the distance between the sling 16 and the sling fulcrum 25 becomes very large. Therefore, it is difficult to match the positions of the lifting tool 16 and the lifting fulcrum 25 when lifting the load 60 . Therefore, conventionally, the slinging work was carried out under the instruction of a skilled and experienced person. After the slinging, the worker visually confirmed the suspension fulcrum 25 (nearly 100 m above the ground) and gave a signal or radio instruction to the crane operator to align the suspension fulcrum 25 with the center position of the suspended load 60. . However, even with this method, it may be difficult to reduce the amount of deviation between the hoisting tool 16 and the fulcrum 25. In order to prevent the swaying of the hoisted load 60, a rope is connected to the hoisted load 60 so that the operator can There was a case of towing. However, such work has a problem that it takes time and effort.

On the other hand, in the method for aligning the hoisting gear 16 of the crane 110 according to the present embodiment, in the connection step S10, the support part GPS 22A for measuring the position is provided on the suspension fulcrum 25 side, and the GPS 22A for the hoisting gear for measuring the position is provided. The hoisting tool 16 is connected to the load 60 while the GPS is provided on the hoisting tool 16 side. As a result, before the load 60 is lifted by the hanger 16, the position of the suspension fulcrum 25 can be grasped by the GPS 22A for the support part, and the position of the hanger 16 can be grasped by the GPS 22B for the hanger. Further, in the alignment step S15, the suspension fulcrum 25 and the suspension tool 22 are aligned by comparing the suspension fulcrum position PA based on the support GPS 22A and the suspension tool position PB based on the suspension tool GPS 22B. . In this alignment step S15, by comparing the suspension fulcrum position PA and the hoisting tool position PB, the positional relationship between the hoisting fulcrum 25 and the hoisting tool 16 is accurately grasped, and the position is adjusted so that the amount of deviation between the two becomes small. Alignment can be done. As a result, the amount of deviation between the suspension fulcrum 25 and the suspension tool 16 can be accurately reduced. Since the load 60 is lifted by the lifting tool 16 in the lifting step S40 in a state in which the amount of deviation between the suspension fulcrum 25 and the lifting tool 16 is reduced in this way, the occurrence of swinging of the suspended load 60 can be suppressed. . In addition, since the above-described accurate alignment can be performed simply by referring to the suspension fulcrum position PA and the suspension tool position PB displayed on the display unit 52, the work can be simplified and the work can be performed in a short time. can be done with As described above, it is possible to accurately align the suspension fulcrum 25 and the lifting tool 16 before the load 60 is lifted.

In addition, according to the alignment method according to the present embodiment, it is possible to suppress the occurrence of swinging of the suspended load 60 itself. That is, it is different from using GPS to stop the swing after the suspended load 60 swings. In the alignment method according to the present embodiment, the occurrence of vibration itself can be suppressed, so that work safety can be enhanced.

In the alignment step S15, as shown in FIG. 4(a), the suspension fulcrum position PA and the sling position PB are displayed on the display unit 52 along with information that visualizes the positional relationship with the reference position SP. Set PB to the reference position SP. In this case, by setting the sling 16, which has a smaller absolute amount of movement than the suspension fulcrum 25, to the reference position SP, the operator can refer to an operation mode close to the actual movement of the suspension fulcrum 25 and the sling 16. While doing so, the positional relationship between the two can be grasped.

In the positioning step S15, the suspension fulcrum position PA and the sling position PB are displayed on the display unit 52, and the display unit 52 indicates the movement of at least one of the suspension fulcrum position PA and the sling position PB within the display unit 52. The trajectories TRA and TRB are displayed. In this case, the operator can grasp the immediately preceding movement mode by referring to the loci TRA and TRB of movement, and therefore can easily determine in which direction the suspension fulcrum 25 should be moved. be able to.

In the alignment step S15, the suspension fulcrum position PA and the hoisting hook position PB are displayed on the display unit 52, and the display unit 52 regards at least one of the hoisting fulcrum position PA and the hoisting hook position PB as having been aligned. Display the allowable range ST. By visually displaying the allowable range ST in this manner, it is possible to easily determine whether or not the alignment has been completed.

The crane system 100 according to the present embodiment is provided on the jib 14 on the suspension fulcrum 25 side that supports the suspension tool 16 via the suspension member 17, and is provided on the suspension tool 16 side with the support part GPS 22A that measures the position. , and a GPS 22B for a hanging device that measures the position. Further, the display unit 52 can display the suspension fulcrum position PA and the sling position PB. As a result, before the load 60 is lifted by the hanger 16, the position of the suspension fulcrum 25 can be grasped by the GPS 22A for the support part, and the position of the hanger 16 can be grasped by the GPS 22B for the hanger. Further, when performing alignment, it is possible to perform alignment between the suspension fulcrum 25 and the suspension tool 16 by comparing the suspension fulcrum position PA and the suspension tool position PB. That is, by referring to the display on the display unit 52, it is possible to accurately grasp the positional relationship between the suspension fulcrum 25 and the suspension tool 16, and perform alignment so that the amount of deviation between the two is reduced. As a result, the amount of deviation between the suspension fulcrum 25 and the suspension tool 16 can be accurately reduced. When the suspended load 60 is lifted by the suspension tool 16 in a state in which the amount of deviation between the suspension fulcrum 25 and the suspension tool 16 is reduced in this way, the occurrence of swinging of the suspension load 60 can be suppressed. As described above, it is possible to accurately align the suspension fulcrum 25 and the lifting tool 16 before the load 60 is lifted.

The invention is not limited to the embodiments described above.

For example, in the above-described embodiment, the configuration in which the GPS 22A, 22B are provided for the jib crane was exemplified, but the crane to which the present invention can be applied is not limited to the jib crane. For example, the present invention may be applied to cranes that use wire ropes, such as overhead cranes and bridge cranes.

Further, the display unit 52 only needs to display at least the suspension fulcrum position PA and the sling position PB. good.

14... Jib (supporting part), 16... Lifting tool, 17... Lifting member, 22A... GPS for supporting part (first positioning part), 22B... GPS for lifting tool (second positioning part), 25... Suspension fulcrum , 60... Suspended load, 100... Crane system, 110... Crane, PA... Suspension fulcrum position, PB... Lifting tool position, SP... Reference position, TRA, TRB... Trajectory, ST... Allowable range.

Claims (6)

A crane positioning method for aligning a hoisting gear of a crane and a suspension fulcrum that supports the hoisting gear via a hoisting member,
A connection step of connecting the sling to the load while a first positioning unit for measuring a position is provided on the side of the suspension fulcrum and a second positioning unit for measuring the position is provided on the side of the sling. and,
an alignment step of aligning the suspension fulcrum and the sling by comparing the position based on the first positioning unit and the position based on the second positioning unit;
a hoisting step of hoisting the load with the hoist after completing the alignment step ,
In the alignment step, the position based on the first positioning unit and the position based on the second positioning unit are displayed on a display unit;
The method for aligning a crane sling , wherein the display unit displays a locus of movement within the display unit of the position based on the first positioning unit . In the alignment step, the position based on the first positioning unit and the position based on the second positioning unit are displayed on a display unit together with information that visualizes the positional relationship with the reference position;
2. The method of aligning a sling for a crane according to claim 1, wherein a position based on said second positioning unit is set as said reference position. 3. The crane according to claim 2, wherein the display unit displays a plurality of circular demarcation lines set radially from the reference position at a predetermined pitch and a plurality of demarcation lines radially extending from the reference position. How to align the sling. The display unit displays an allowable range for at least one of the position based on the first positioning unit and the position based on the second positioning unit, in which alignment can be considered complete. 4. The method for aligning the slings of a crane according to any one of 3. The display unit displays a position based on the first positioning unit and a position based on the second positioning unit with respect to an image acquired by a camera provided on the suspension fulcrum side. 5. The method for aligning the slings of a crane according to any one of 4. A crane system comprising a hoisting gear and a support section that supports the hoisting gear via a hoisting member,
a first positioning unit that is provided on the suspension fulcrum side that supports the suspension tool via the suspension member in the support unit and measures a position;
a second positioning unit provided on the side of the hanger for measuring a position;
a display unit that displays a position based on the first positioning unit and a position based on the second positioning unit;
The display unit displays a position based on the first positioning unit and a position based on the second positioning unit, and displays a locus of movement of the position based on the first positioning unit within the display unit. crane system.

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