JPH09118492A - Automatic aligning hoisting accessory - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic aligning hoisting-accessory to instantaneously restore a hoisted cargo horizontal in the cargo hoisted condition. SOLUTION: The position of the center of gravity of a hoisted cargo 6 is detected by the inclination of the hoisted cargo 6 or a balance 4, and the length of wires 11xa -11yb is adjusted by wire driving devices 9xa -9ya provided with two systems for X-axis and Y-axis across each other on the horizontal plane and an angle of inclination detecting sensor 12 and a control device 13. When the hoisted cargo 6 is in the horizontal condition, the control device 13 automatically locks the driving devices 9xa -9ya , the information is communicated to a remote controller 14, and a worker can recognize either the automatic aligning condition or the condition in which the aligning action is completed. Even in a case of the hoisted cargo 6 whose structure and shape are complicated and the position of the center of gravity is difficult to identify, the cargo can be instantaneously restored in the horizontal condition, and the aligning work is greatly efficient and safe.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hoisting tool for hoisting structural components of a structure such as a boiler in manufacturing / constructing or repairing the structure.

[0002]

2. Description of the Related Art In manufacturing, constructing or repairing a structure such as a boiler, it is necessary to hang up components (loads) of the structure with a crane and mount them horizontally. When the structure / shape of the load is complicated and it is difficult to specify the position of the center of gravity of the load, the chain block is attached to the balance 4 by hooking the wire 3 on the hook 2 of the crane 1 as shown in FIG. Connect the suspended load 6 to 5 for the time being, and then the crane 1
When the suspended load 6 is lifted from the platform 7 on the ground (trial suspension) due to the displacement from the center of gravity as shown in FIG. 8 (b), the suspended load 6 is suspended as shown in FIG. 8 (c). The load 6 is again lowered onto the gantry, and the connection position (hanging point) between the chain block 5 and the suspended load 6 is moved as shown in FIG. By repeating this operation until the suspended suspended load 6 becomes horizontal, it was necessary to adjust the entire suspended load 6 horizontally as shown in FIG. 9B.

As described above, conventionally, the adjustment work for horizontally hoisting the suspended load 6 having a complicated structure and shape requires skill and a long time.

A device related to this kind of device for horizontally adjusting a suspended load is disclosed in, for example, Japanese Unexamined Patent Publication No. Hei 5-14788.
No. 3, JP-A-5-180977, and Japanese Utility Model Publication No. 6-
The invention disclosed in Japanese Patent No. 27868 may be mentioned.

[0005]

The prior art described above has the following problems. That is, as shown in FIG.
As in the example shown in FIG. 9, when the suspended load 6 whose center of gravity is not specified is hoisted, there is no idea which direction the slant will be tilted, and it is necessary to repeatedly carry out trial suspension and change the suspension point.

[0006] Further, for example, Japanese Patent Laid-Open Nos. 51-147883, 5-180977 and 6-278.
In the invention disclosed in Japanese Patent Publication No. 68, etc., no consideration is given to automatic centering of a suspended load, and therefore it is necessary for a worker to perform all the judgments and adjustments of the levelness, which is troublesome and takes a long time. It was a requirement.

An object of the present invention is to solve the problems of the prior art as described above, and it is an object of the present invention to provide a hanger capable of automatically aligning a suspended load. Another object of the present invention is to provide a device that instantly restores the suspended load horizontally in a suspended state.

[0008]

The above object of the present invention is achieved by the following constitution. That is, in a hoisting tool that has a plurality of hoisting lines for hoisting a suspended load and holds the suspended load in a horizontal position in a suspended state, the inclination of the suspended suspended load with respect to the horizontal direction depends on the position of the center of gravity. Based on the above, the length of the hanging rope is changed to provide a self-aligning hanger with a mechanism for holding the hanging load in a horizontal state, or a plurality of hanging ropes for hoisting the hanging load are provided to lift the hanging load. In the lifting equipment that holds the suspended load in the horizontal position in the closed state, the inclination angle detection means for detecting the inclination of the suspended suspended load with respect to the horizontal direction depending on the position of the center of gravity, and the individual hanging ropes depending on the gravity center position of the suspended suspended load. And a horizontal control means for controlling the length of the hanging rope of the hanging rope length changing means until the inclination angle detecting means detects the horizontal position of the suspended load. It is a self-aligning hanger provided with.

Further, in the self-centering hanger of the present invention, as the hanging rope length changing means, one having a so-called hoist-type hanging rope winding mechanism for each hanging rope can be used. Also,
An electric motor or a hydraulic motor, a speed reducer, an electromagnetic brake, a limit switch, and a power for preventing the suspended load from dropping due to the drive being lost when the power is lost are included in the drive of the suspension line winding mechanism. A source abnormality detection relay is incorporated.

Further, in the self-centering suspending tool of the present invention, the inclination angle detecting means may be attached to a balance provided between the hanging rope and the suspended load of the self-centering suspending tool. With this configuration, it is possible to reduce the work of attaching the inclination angle detecting means to the suspended load each time the suspended load changes.

Further, in the self-centering suspending device of the present invention, when the suspended load becomes horizontal in the horizontal control means, the suspending rope length changing means automatically shifts from a working state to a non-working state.
A function of fixing in that state can be provided.

Further, the horizontal control means of the present invention is a high speed if the deviation from the horizontal is large in accordance with the magnitude of the detected tilt angle, and changes the suspension length at a low speed as the deviation becomes smaller. It is possible to provide a control function for the changing means, and to reach the horizontal by changing the operating speed of the hanging rope length changing means and the restoring speed of the inclination angle detection value in the process of restoring the suspended load to the horizontal position. It is possible to provide a control function of predicting the position to be moved in advance and decelerating the operation speed of the hanging rope length changing means to restore it horizontally.

Further, in the self-centering suspending device of the present invention, the horizontal control means can select and switch the operating state and the inactive state of the hanging rope length changing means, and the remote wireless means. Alternatively, it may be configured to include a device for switching by wire. By using this configuration, by stopping the self-aligning function by remote control, useless correction operation due to fluctuations in the tilt angle due to swinging of the suspended load in the process of moving the suspended load to the target location is eliminated, Power is also saved and work efficiency is improved. Moreover, as soon as it is hung up, it can be moved to the intended place and can be restored horizontally there, and even if it is not necessary to make it perfectly horizontal, this hanger can be used.

The present invention is an apparatus for detecting the position of the center of gravity of a suspended load by the inclination of the suspended load or the balance, correcting the length of the suspension rope, and automatically restoring the suspended load to be horizontal.

When the direction and the amount of inclination of the suspended load or the balance with respect to the horizontal direction, which changes in accordance with the deviation of the center of gravity of the suspended load hung by the suspending rope of the self-aligning suspension, are detected, the horizontal control means detects the inclination. The drive device of the hanging rope length changing means is rotated normally or reversely according to the direction and amount, and the operation of the hanging rope length changing means is controlled until the horizontal position is detected to make the suspended load horizontal. In this way, even if the suspended load has a complicated structure / shape and it is difficult to specify the position of the center of gravity, the suspended load is instantly restored to the horizontal position, so that the centering work is significantly efficient and safe.

[0016]

Embodiments of the present invention will be described with reference to the drawings. First Embodiment Hereinafter, a first embodiment of the present invention will be described in detail with reference to FIGS.

In FIG. 1, a suspended load 6 having a complicated structure and shape and whose center of gravity position is difficult to specify is controlled by the self-centering suspender 8 (driving device 9, suspension line 11, inclination angle detection sensor 12 and the like) of this embodiment. Device 1
FIG. 3 is an external view showing the procedure of (a combination body with 3) and hoisting with the crane 1 in the order of (a), (b) and (c).

In this embodiment, as shown in FIG. 1 (a), the self-adjusting core suspender 8 and the inclination angle detecting sensor 12 according to the present invention are attached to the suspending wire 3 of the crane 1, and the tip of the suspending rope 11 of the suspender 8 is attached. A balance 4 and a chain block 5 are attached to the above to suspend a suspended load 6. The suspended load 6 is hoisted with this configuration. At this time, when the suspended load 6 tilts due to the relationship between the suspension point of the crane 1 and the position of the center of gravity of the suspended load 6, as shown in FIG. The center of gravity of the suspended load 6 moves directly below the
And the balance 4 is tilted and is in a balanced state. In this embodiment, the tilt angle detection sensor 12 attached to the balance 4
Detects the direction and amount of inclination, the information is transmitted to the control device 13, and the driving device 9 which is the suspension line length changing means is activated, so that the length of the suspension line 11 on the side of the lower height from the ground is increased. L (Fig. 1
(B)) is shortened to a length L1 where the balance 4 becomes horizontal as shown in FIG. 1 (c). At the same time, the length L (Fig. 1 (b)) of the hanging rope 11 on the side higher than the ground is the length L
It is extended to 2.

The length of each of these two suspension cords 11 is increased and decreased by an independent drive unit 9,
The control device 13 is configured to rotate one drive device 9 in the normal direction and rotate the other in the reverse direction, so that the lengths L1 and L2 of the two suspension ropes 11 can be simultaneously changed in the opposite directions with the same change amount. Therefore, the length of each suspension cord 11 can be adjusted at a restoration speed twice as high as in the case where the length of each suspension cord 11 is adjusted individually, and the balance 4 can be restored horizontally in a short time.

As described above, according to the present invention, the length of the suspension rope 11 is automatically corrected by the information on the inclination angle of the balance 4 in the state where the suspended load 6 is suspended, so that the suspended state can be maintained. The suspended load 6 is restored horizontally.

FIG. 2 is a perspective view showing a state in which a suspended load 6 is lifted by using the balance 4 and the self-adjusting core suspending tool 8 shown in FIG. 1, and a large suspended load 6 is suspended by four suspension lines 11. In this state, the balance 4 and the self-adjusting core suspender 8 are adjusted to be horizontal by the drive device 9, the suspension cord 11, the inclination angle detection sensor 12, and the control device 13. The controller 13 transmits the adjustment instruction and the adjustment result to the remote controller 14. FIG. 3 shows an enlarged perspective view of the self-adjusting core suspender 8 portion. Further, FIG. 4 shows a conceptual diagram of the control of the self-adjusting core hanger 8.

As shown in FIGS. 2 to 4, a drive device 9, a suspension line 11, and an inclination angle detection sensor 1 which constitute suspension line length changing means.
The control device 2 and the control device 13 are configured to include two systems, one for the X axis and one for the Y axis, which intersect on the horizontal plane.

Since the suspending rope length changing means for the X axis and the Y axis can be operated at the same time, even for the suspended load 6 which is three-dimensionally inclined, the suspending load 6 can be quickly moved with respect to the X axis and the Y axis (ie 360).
It can be restored horizontally (in all directions).

Even when the hanging load 6 (product) is a large one in plan view and a large number of hoisting lines 11 are used for hoisting, the number of driving devices 9 is increased to correspond to the hoisting lines 11. The invention can be applied.

When the suspended load 6 becomes horizontal, the control device 13 automatically locks the drive device 9, and the remote controller 1
The information is communicated to 4 and an operator (not shown) can recognize whether the automatic alignment is completed or the alignment operation is completed.

Further, the inclination angle of the suspended load 6 with respect to the horizontal is displayed on the remote controller 14 through the control device 13, and the operator can recognize this.

Further, from the remote controller 14 through the control device 13, the lock of the drive device 9 is released, the readjustment of the horizontal position is performed, the speed of the drive device 9 is forcibly accelerated or decelerated, and the drive device 9 is driven. It is possible to give an instruction to forcibly perform a minute repeat operation (inching) and to forcibly lock the drive device 9.

A sprocket 10 is connected to the drive unit 9 with a reduction mechanism shown in FIG. 3, and the sprocket 10 is rotated clockwise or counterclockwise depending on the direction of inclination. 11 is a mechanism in which one of the suspension lines 11 is wound or sent out by rotation of the sprocket 10.

Further, in the drive unit 9, the limit switch and the power source for preventing the electric or hydraulic motor, the speed reducer, the electromagnetic brake, and the suspension line 11 from moving beyond the range of a certain length are lost. A drive source abnormality detection relay for preventing the suspended load from falling due to its own weight due to the drive device sometimes spinning is incorporated.

Further, by using a chain as the suspending rope 11, slip generated between the sprocket 10 and the suspending rope 11 can be surely prevented.

In the present embodiment, the hanging rope length changing means is for the X axis and for the Y axis.
This is a configuration with two systems, one for the shaft. FIG. 4 shows an X-axis tilt angle detection sensor 12x and a Y-axis tilt angle detection sensor 12y.
A control device 13 for controlling rotation of the drive devices 9xa, 9xb, 9ya, 9yb of the self-aligning hanger 8 in the clockwise direction or the counterclockwise direction by the detection signals of the sensors 12x, 12y; A remote controller 14 for giving a command to the drive device, drive devices 9xa, 9xb, 9ya, 9yb driven by signals of the control device 13, and sprockets 10xa, 10xb connected to the drive device.
10 shows a relational diagram with 10ya, 10yb and the hanging ropes 11xa, 11xb, 11ya, 11yb hung on the sprocket 10.

When the X-axis tilt angle detection sensor 12x detects tilt in the X-axis direction, the direction and tilt value are transmitted to the control device 13, and the control device 13 is responsive to the direction and amount.
Are drive devices 9xa, 9xb, sprockets 10xa, 10xb and suspension lines 11xa, 11xb connected thereto.
The tilt angle detection sensor 12x is restored to a horizontal position, and the operation is locked and stopped in the horizontal state.

With respect to the Y-axis, when the Y-axis tilt angle detection sensor 12y detects the tilt in the Y-axis direction, the direction and tilt value are transmitted to the control device 13, and the control device is controlled according to the direction and amount. Reference numeral 13 interlocks the drive devices 9ya and 9yb with the sprockets 10ya and 10yb and the slings 1lya and 1lyb connected to the drive devices 9ya and 9yb, and the tilt angle detection sensor 12y performs a restoring operation to a position where the suspended load 6 (FIG. 2) becomes horizontal. , Lock and stop the operation in the horizontal state.

If the two directions of the X-axis and the Y-axis intersecting on the plan view are horizontal, the suspended load 6 can be placed horizontally in any direction of 360 degrees on the plan view. Second Embodiment FIG. 5 is a perspective view showing a second embodiment of the present invention. The present embodiment is a self-aligning suspending tool 8 provided with two hanging ropes 11, which can be hoisted by a hanging rope 11 provided with two slender hanging loads 6 to restore the hanging loads 6 horizontally. .

In this embodiment, the self-aligning hanger 8 is connected to the hook 2 shown in FIG. 5 which is attached to the lower end of the wire (see FIG. 1) of the crane (not shown). The self-aligning hanger 8 moves up and down.

The self-aligning hanger 8 according to the present invention is a control device for controlling the tilt angle detection sensor 12 mounted on the suspended load 6 and the drive devices 9xa and 9xb which are the means for changing the sling length based on the tilt angle information. 13 and sprocket 10xa, 10xb connected to the drive devices 9xa, 9xb, respectively, and hanging lines 11xa, 11xb and a control device 1 for hanging a suspended load 6 on the end of the sprocket 10xa, 10xb.
3 and a remote controller 14 that gives an instruction to the remote controller 3.

When the inclination angle detection sensor 12 detects the inclination of the suspended load 6, the direction and the inclination angle are determined by the control device 13.
To the drive device 9xa, 9xb and the sprocket 1 connected to the drive device 9xa, 9xb according to the direction and amount thereof.
Rotate 0xa and 10xb to suspend the rope 11xa or 11
One of xb is wound up and the other is sent out to suspend the rope 1.
The lengths L1 and L2 of 1xa and 11xb are respectively corrected, and the restoring operation is performed up to the position where the suspended load 6 becomes horizontal. Third Embodiment FIG. 6 is an external view showing a third embodiment of the present invention, which is a method of hoisting a suspended load using an overhead crane.

In the manufacturing / construction or repair work of the suspended load 6, the suspended load 6 may be hoisted using the overhead crane 15. In this embodiment, the self-centering suspending tool 8 is attached to the hook 2 at the lower end of the wire 3 suspended from the overhead crane 15. The self-aligning hanger 8 has a tilt angle detection sensor 12 attached to the suspended load 6 and a control device 13 and drive devices 9a and 9b for controlling two driving devices 9a and 9b, which are hanging rope length changing means, based on the information on the tilt angle. And the balance 4 which is connected to the end and suspends the balance 4 at the end and the balance 4
The cable block 17 connecting the chain block 5 that suspends the suspended load 6 from the control device 13, the remote controller 14 installed in the operation room of the overhead crane 15, and the cable reel 18 that winds the cable 17. There is.

The cable reel 18 is constructed so as to wind the cable 17 in conjunction with the lifting and lowering of the hook 2, and is mounted on the winding device for the wire 3 so that it will always move to the same position as the hook 2 in the horizontal direction. It has become.

The cable 17 is a control cable 17 for operating the control device 13 with the remote controller 14.
a and a power cable 17b for supplying power to the driving devices 9a and 9b are housed in parallel.

When the inclination angle detection sensor 12 detects the inclination of the suspended load 6, the direction and inclination angle of the detected load 6 are controlled by the control device 13.
The control device 13 drives the drive devices 9a and 9b in accordance with the direction and amount of the suspension device 11 to wind up one of the suspension lines 11a or 11b and send out the other, so that the length L of the suspension line is increased.
By correcting 1 and L2, the restoring operation is performed up to the position where the suspended load 6 becomes horizontal. Fourth Embodiment FIG. 7 is an external view showing a fourth embodiment of the present invention, which includes drive devices 9xa and 9xb that constitute the self-aligning hanger 8 and a control device 13 that controls the drive devices 9xa and 9xb. This is an example of mounting on the balance 4. In this embodiment, the hanging rope 11xa,
The tip of 11xb is connected to the hook 2 attached to the lower end of the wire 3 of a crane (see FIG. 1 or 6) not shown, and the hook 2 is operated by operating the crane 1.
Moves up and down.

The self-centering hanger 8 according to the present invention is a control device for controlling the tilt angle detection sensor 12 attached to the suspended load 6 and the drive devices 9xa and 9xb, which are the rope length changing means, based on the tilt angle information. 13 and the balance 4 on which the drive devices 9xa and 9xb are mounted to suspend the suspended load 6, and the pulley 20 which is connected to the drive devices 9xa and 9xb and is attached to the balance 4 at a distance. Hanging line 1 hung on the hook 2
It is composed of 1xa and 11xb and a remote controller 14 for giving an instruction to the control device 13. The suspended load 6 is suspended from the balance 4 by a chain block 5.

When the inclination of the load 6 is detected by the inclination angle detection sensor 12, the direction and inclination angle of the inclination are detected by the control device 13.
The control device 13 rotates the drive devices 9xa, 9xb and the sprocket (not shown) (see FIG. 3, FIG. 4 or FIG. 5) connected to the drive devices 9xa, 9xb according to the direction and the amount, and the suspension line 11xa or 11xb. The lengths L1 and L2 of the suspension rope are corrected by winding one of the two and feeding the other, and the restoring operation is performed to the position where the suspended load 6 is in the horizontal state.

The self-centering hanger 8 according to the present invention, even when the hanging load 6 is a large one in plan view and the number of hanging ropes is large, as shown in FIGS. 3 and 4, for example. It can be applied by increasing the number of slings.

As described above, according to the present invention, the deviation between the position of the hoisting gear and the position of the center of gravity of the hoisting load is detected by the inclination of the hoisting load, and the length of the hoisting rope of the hoisting device is automatically adjusted. Since it can be restored horizontally, it is not necessary to repeat the trial hanging for leveling the suspended load, which has been conventionally performed when hoisting, and to change the chain block and repeat the operation, which is simple and efficient, and Since the suspended load does not shake or tilt significantly, safety can be improved.

[Brief description of the drawings]

FIG. 1 is an external view of a self-centering hanger according to a first embodiment of the present invention.

FIG. 2 is a perspective view of the self-aligning hanger according to the first embodiment of the present invention.

FIG. 3 is a perspective view of a drive unit of the self-centering suspending tool according to the first embodiment of the present invention.

FIG. 4 is a conceptual diagram of control of the self-aligning hanger according to the first embodiment of the present invention.

FIG. 5 is a perspective view of a self-centering hanger according to a second embodiment of the present invention.

FIG. 6 is an external view of a self-centering hanger according to a third embodiment of the present invention.

FIG. 7 is an external view of a self-centering hanger according to a fourth embodiment of the present invention.

FIG. 8 is a diagram showing a conventional procedure for hoisting a suspended load horizontally.

FIG. 9 is a diagram showing a conventional procedure for hoisting a suspended load horizontally.

[Explanation of Codes] 1 Crane 2 Hook 3 Wire 4 Balance 5 Chain Block 6 Suspended Load 7 Stand 8 Self-aligning Suspension 9, 9xa, 9xb, 9ya, 9yb Drive Device 10, 10xa, 10xb, 10ya, 10yb Sprocket 11, 11xa, 11xb, 11ya, 11yb Suspension line 12, 12x, 12y Tilt angle detection sensor 13 Control device 14 Remote controller 15 Overhead crane 17, 17a, 17b Cable 18 Cable reel 20 Pulley

Claims (8)

[Claims] 1. A hoisting tool comprising a plurality of hoisting lines for hoisting a suspended load and holding the suspended load in a horizontal position in a suspended state, wherein a horizontal direction depending on a gravity center position of the suspended suspended load. A self-aligning hanger that is provided with a mechanism for changing the length of the hanging rope based on the inclination with respect to and holding the hanging load in a horizontal state. 2. A hoisting tool comprising a plurality of hoisting lines for hoisting a suspended load and holding the suspended load in a horizontal position in a suspended state, wherein a horizontal direction depending on a gravity center position of the suspended suspended load. The inclination angle detecting means for detecting the inclination with respect to, the hanging rope length changing means for changing the length of each hanging rope depending on the position of the center of gravity of the hoisted load, and the horizontal angle of the hoisted load hoisted by the inclination angle detecting means. A self-aligning suspending tool, comprising: horizontal control means for controlling the length of the suspending rope of the suspending rope length changing means until the position is detected. 3. The self-centering hanger according to claim 2, wherein the hanging rope length changing means has a function of independently adjusting the length of each hanging rope. 4. The self-aligning suspending device according to claim 2, wherein the inclination angle detecting means is attached to a balance provided between the hanging rope and the suspended load of the self-aligning suspending device. 5. The horizontal control means is provided with a function of automatically shifting from a state in which the hanging rope length changing means is activated to a state in which the suspended rope length changing means is not activated when the suspended load is horizontal, and fixing the suspended load in that state. The self-centering hanger according to claim 2. 6. The horizontal control means is a high speed if the deviation from the horizontal is large according to the magnitude of the detected tilt angle, and a low speed of the hanging rope changing means for changing the hanging length at a low speed as the deviation becomes smaller. A control function is provided, It is characterized by the above-mentioned.
Self-centering hanging device described. 7. The horizontal control means determines the position to reach the horizontal position by the change in the operating speed of the hanging rope length changing means and the restoring speed of the inclination angle detection value in the process of restoring the hoisted load to the horizontal position. 3. The self-aligning hanger according to claim 2, further comprising a control function of predicting in advance and decelerating the operation speed of the hanging rope length changing means to restore it horizontally. 8. The horizontal control means is capable of selectively switching between a state in which the rope length changing means is activated and a state in which it is not activated, and a device for switching the operating state by remote wireless or wired communication. The self-centering hanger according to claim 2, characterized in that it is provided.