JPH0656383A - Attitude control method of lifting load and device thereof - Google Patents

Abstract

PURPOSE:To provide a method for controlling the attitude of a lifting load at the time of material handling operation by means of a crane or the like and a lifting jig equipped with the device. CONSTITUTION:A top 11 is set up on a lifting beam 1 being horizontally suspended by a crane or the like. When this top 11 is rotated (adjustable speed), a reaction moment is produced there, and thereby a reverse moment against a direction of rotation of the top 11 acts on the lifting beam 1 so that this moment is utilized, turning this lifting beam 1, thus the position of a lifting load is rotatively controlled.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for controlling the posture of a suspended load during cargo handling work by a crane or the like, and a suspension jig equipped with the apparatus.

[0002]

2. Description of the Related Art When a suspended load is twisted by a suspending wire, swung due to the influence of wind, or shakes, the suspended load is difficult to be efficiently and safely suspended at a predetermined position.
Therefore, as a means for eliminating such inconvenience, a hanging jig in which a device for controlling the posture of a hanging load is assembled has been developed and proposed.

For example, a blower, mainly a fan, is installed at each end of a suspension beam that is suspended horizontally by a crane, and the swinging torque is applied to the suspension beam by utilizing the thrust force of the horizontal discharge airflow from this fan. And the turning of the suspension beam by this turning torque causes
This is to control the posture of a suspended load slung on a suspended beam.

[0004]

By the way, the method of controlling the posture of the suspended load by applying the turning torque to the suspension beam by utilizing the thrust of the discharge air flow by the blower is particularly problematic when the work site is in a windless state. There is no. However, when the wind is strong, the thrust is affected, which makes it difficult to control the posture efficiently. An object of the present invention is to provide a suspended load posture control method and a device therefor, in which such drawbacks are eliminated.

[0005]

As means for achieving the above-mentioned object, the present invention is capable of controlling the attitude of a suspended load by utilizing the moment of inertia (inertial performance rate) instead of utilizing the thrust of the discharge air flow by a conventional blower. I have decided to do it. Specifically, the top is installed with the rotation axis in the vertical direction on a suspension beam that is horizontally suspended by a crane or the like. When this top is rotated and accelerated, a reaction moment opposite to the acceleration direction is generated, and a moment opposite to the acceleration direction of the top acts on the suspension beam. Therefore, the suspension beam is swung by the opposite moment. That is, since the turning torque acts on the suspension beam, the posture of the suspended load is controlled by utilizing this turning torque.

The apparatus for carrying out the control method is configured as follows. First, a top was installed on a suspension beam that was suspended horizontally by a crane.
Then, a rotation transmission mechanism linked to the motor and a braking mechanism are attached to the rotary shaft of the top. In addition, the operation of the motor and the braking mechanism is configured to be remotely controllable.

Further, as a second embodiment of the device,
Install the tops on both left and right ends of the hanging beam,
The left and right tops are appropriately and selectively rotated to pivot the suspension beam to control the posture of the suspended load.

[0008]

The method and apparatus for controlling the posture of a suspended load according to the present invention, in which a top is installed on the suspension beam as described above, and the suspension beam is generated by the reaction moment generated by the rotation (acceleration / deceleration) of the top. Since the posture of the suspended load is controlled by the fact that the turning torque acts on the motor, it is possible to appropriately select and control the rotational speed or the rotational direction of the top that generates the reaction moment, that is, the motor and the braking. By operating and controlling the mechanism, the posture of the suspended load suspended by the crane can be adjusted accordingly.
That is, the direction can be changed.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, the construction and operation of the present invention will be specifically described based on the embodiments shown in the drawings. FIG. 1 is a perspective view schematically showing the configuration of an attitude control device 10 for carrying out the method of the present invention. As shown in the figure, first, a suspension beam 1 suspended horizontally by a crane or the like is constructed by using a beam material made of shaped steel or the like, and a suspended load is slid on its lower surface via wires 2 and 2. , Configured as a so-called hanging jig. Although the hanging jig shown in FIG. 1 is simplified and shown as having a flat plate member, it is actually made of shaped steel beam material so as to withstand a hanging load. Then, the attitude control device 10 has a configuration in which the top 11 is installed on the suspension beam 1 which is the suspension jig. Specifically, a bearing 13 for supporting the lower end 12a of the rotary shaft 12 of the top 11 is provided at the center position of the suspension beam 1. On the other hand, the upper end portion 12b of the rotary shaft 12 is provided with a gate-shaped support frame 14 on the suspension beam 1 and is supported by the support frame 14 via bearings 15 to support the top 11 itself on the suspension beam 1 in the vertical direction. The structure is such that it can be rotated on the axis.

Next, as a means for rotating the top 11, as shown in FIG.
The motor 16 and the rotary shaft 1 of the top 11 are installed on the top.
2 and 2 were linked via a belt transmission mechanism 17. Further, the rotating shaft 12 of the top 11 is equipped with a brake device 18. The motor 16 and the brake device 18
Although details are not shown in the drawings for the configuration of, a variable speed hydraulic motor and a hydraulically operated friction brake were used. The motor 16 and the brake device 18 are both configured to be remotely operated from the ground by a wireless system and their operations can be controlled.

Therefore, as shown in FIG. 1, a suspended load is slid on a suspended beam 1 suspended horizontally by a crane or the like, and the motor 16 is rotated in a suspended state, that is, in a suspended state. Then, for example, when the top 11 is accelerated in the direction of arrow A (counterclockwise), the top 11
The acceleration causes a moment of inertia. The magnitude of the moment of inertia is related to the mass and diameter of the top 11, the rotational speed, etc., but due to the occurrence of the moment of inertia, the suspension beam 1 in the suspended state has a direction opposite to the acceleration direction of the top 11. That is, the reaction moment in the direction of the arrow B in FIG. 1 acts. As a result, the suspension beam 1 is swung in the direction of the arrow B, and the hanging load slung on the suspension beam 1 changes its direction according to the swivel angle.

FIG. 2 is a plan view schematically showing the configuration of the attitude control device 10 in which the tops 11 are installed at the left and right ends of the suspension beam 1 in the same manner as in the case of FIG. For example, in this case, if the suspension beam 1 is to be oriented in the direction of the arrow B ', the line of sight of the suspension beam 1, in other words, if the posture of the suspended load slung on the suspension beam 1 is to be directed in the clockwise direction, first, the right top 11a
In this case, the brake 18a is used to prevent the rotation. On the other hand, the left top 11b is accelerated and rotated. That is, the reaction moment due to the deceleration of the top 11a is obtained from the right top 11a, and the reaction moment due to the acceleration of the top 11b is obtained from the left top 11b to turn the suspension beam 1 in the clockwise direction (B ', arrow direction). Apply torque. On the contrary, when the hanging beam 1 is turned in the direction of the arrow B ″ to change the direction of the suspended load counterclockwise, the left top 11b
It is advisable to use the brake 18b to accelerate the right side top 11a.

The method and apparatus for controlling the attitude of a suspended load according to the present invention controls the attitude by utilizing the reaction moment generated by the rotation (acceleration / deceleration) of the top as described in the embodiments. Therefore, as compared with the conventional method and apparatus for controlling the attitude of the suspended load, the following unique effects can be exhibited.

[0014]

【The invention's effect】

(1) Since the attitude of the suspended load is controlled by the moment of inertia caused by the rotation of the top, it is not affected by the wind. That is, it is possible to suspend building materials and members without being controlled by the weather. As a result, in construction of a structure such as a super high-rise building structure that is easily affected by wind, it can greatly contribute to shortening the construction period. (2) Since operation control can be performed by remote operation from the ground such as control of rotation or rotation speed of the top, manpower can be reduced and work efficiency can be improved. (3) In the conventional attitude control method, for example, in the case of using a fan, a reaction force is applied to the outside of the hanging jig and the hanging load.
Since this invention utilizes the moment of inertia,
There is no need to take reaction. Therefore, it can be applied to attitude control in the sea, space, and the like.

[Brief description of drawings]

FIG. 1 is a perspective view schematically showing the configuration of a suspended load posture control device according to the present invention.

FIG. 2 is a plan view schematically showing a second embodiment of the attitude control device shown in FIG.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Suspended beam 2 Sliding wire 10 Attitude control device 11 Frame 12 Rotating shaft 13,15 Shaft receiving 14 Support frame 16 Motor 17 Belt transmission mechanism 18 Brake device

Claims (3)

[Claims] Claim: What is claimed is: 1. A top is installed on a suspension beam horizontally suspended by a crane or the like, and a reaction moment generated by rotating the top by accelerating / decelerating the top causes acceleration / deceleration of the top to / from the suspension beam. A posture control method for a suspended load, wherein the suspension beam is swung by utilizing a moment acting in a direction opposite to the direction to control the posture of the suspended load. 2. A top is installed on a suspension beam that is horizontally suspended by a crane, and a rotation transmission mechanism linked to a motor and a braking mechanism are remotely controllable on a rotation shaft of the top. An attitude control device for suspended loads, characterized by being installed as a set. 3. The attitude control device for a suspended load according to claim 2, wherein the tops are installed at both left and right ends of the suspension beam.