JPH09278383A - Suspension rod attaching/detaching device and suspension rod connecting method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To automatically perform work of separating and connecting a rod single body constituting a suspension rod. SOLUTION: A rod single body 52S1 is rotated in a direction of screw connection by an attaching/detaching chuck 140, rotated by a rotating motor 14, so as to ascend gradually. A control device obtains the rotating speed and ascending speed of the attaching/detaching chuck 140 from an output signal of a rotation sensor for detecting a detection hole provided in a rotation detecting plate 178 and drives an elevating motor to make a rotating unit 138 ascend in conformity to the ascending speed of the attaching/detaching chuck 140. The control device also controls the elevating motor on the basis of a signal outputted from a spring expansion sensor provided at a spring holder 162 so as to detect the position of a distance detecting plate 180 so that the ascending speed of the rotating unit 138 is not discrepant in large degree from the ascending speed of the attaching/detaching chuck 140. The ascending speed difference between the attaching/detaching chuck and the rotating unit is absorbed by a compression spring 160, and rotational run-out of a rotary shaft is absorbed by a spring coupling 170.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a suspension rod attaching / detaching device and a suspension rod connecting method, and attaches / detaches a suspension rod used for lifting and lowering a boiler module of a large-scale power plant in accordance with lifting using a jack. The present invention relates to a suspension rod attaching / detaching device and a suspension rod raising / lowering method suitable for the above.

[0002]

2. Description of the Related Art FIG. 33 shows a conventional hanging rod used for lifting a heavy object, for example, when installing a power generation facility. The suspension rod 10 has a long length by axially screwing a plurality of rod units 10S together,
It is used to suspend a steel module from a beam at a high position and gradually raise the boiler module on which the piping equipment and the like are assembled on the ground according to the assembly situation, or lower it as necessary. A single rod 10S, which is an element constituting such a hanging rod 10, has a shape in which a plurality of frame-shaped support portions 12 are continuously arranged in the axial direction,
A male screw portion 14 is formed at one end, and a female screw portion 16 that is screwed with a male screw portion of another rod is provided at the other end. The suspension rod 10 configured as described above has a unit length of about 5 m in consideration of a storage location problem, convenience for transportation between work sites, handleability, workability in lifting heavy objects, and the like. It is formed to the length of. When the hanging rod 10 is used, a plurality of rod units 10S are axially connected to each other by screwing, and a heavy object is hung in a lower portion and can be lifted by a jack.

That is, as shown in FIG. 34, a steel frame column 22 is installed around the heavy structure 20.
A temporary beam 24 is projectingly provided on the upper part of the above, a center hole type jack 26 is arranged on the beam 24, and a hanging rod 10 having a structure 20 such as a boiler module attached to a lower end thereof is supported. The suspension rod 10 is configured by connecting the suspension rod single bodies 10S shown in FIG. 33 corresponding to the lifting height of the structure 20. The center hole type jack 26 is
As shown in FIG. 35, the support portion 12 provided on the rod 10
The hanging rod 10 is pushed up via the to lift the structure 20.

That is, the center hole type jack 26
As shown in FIG. 35, a cylindrical ram 32 driven by hydraulic pressure is disposed inside the cylinder 30, and the axis of the suspension rod 10 is connected to the upper part of the ram 32 and the lower part of the cylinder 30. An upper chuck 34 and a lower chuck 36, which slide in orthogonal directions, are provided. The chucks 34, 36 support the lifting rod 10 and push it upward to lift the structure 20.

In the lifting procedure, as shown in FIG. 35 (1), first, the suspension rod 10 on which the structure 20 is suspended is supported by the upper chuck 34, and the load of the structure 20 is received by the upper chuck 34. , Lower chuck 36 is opened. Then, in this state, the ram 32 is operated to push up the suspension rod 10 by one frame (one support portion 12), and the structure 20 is suspended via the suspension rod 10.
Next, when the suspension rod 10 rises by one frame, the lower chuck 36 is closed, the ram 32 is lowered, and the lower chuck 36 receives a lifting load (suspension load) via the support portion 12. Once the lower chuck 36 has supported the suspension rod 10, the upper chuck 34 is opened and the ram 32 is lowered further. Then, when the upper chuck 34 comes under the supporting portion which is one lower than the supporting portion that has been supporting until now, the upper chuck 34 is closed again, the suspension rod 10 is supported by the upper chuck 34, and the lower chuck 36 is fixed. Open and repeat the above operation. In this way, rod 1
When the mutual connecting positions of 0 are raised to the upper part of the center hole type jack 26, the lifting work is temporarily stopped and the rod unit 10S on the upper part is removed.

In order to remove the hanging rod 10, the rod unit 10S is first removed by a device such as a crane so that the rod unit 10S to be removed does not fall or drop.
After holding S, the upper rod unit 10S that is screwed and connected is manually rotated in the uncoupling direction using a tool such as a chain wrench, and the upper rod unit 10S is removed from the lower rod unit 10S. Then, the removed rod unit 10S is temporarily stored on the temporary beam 24 on which the center hole type jack 26 is installed by a device such as a crane, or is dropped on the ground and stored.

[0007]

Generally, such a hydraulically actuated center hole type jack 26 and suspension rod 10 are used.
The lifting work using and is used for lifting large heavy goods. Therefore, the connecting force connecting the rods 10 is extremely large, and a great amount of labor is required to rotate the suspension rod 10 to release the connection. Since it is necessary to balance and lift the structure 20 so as not to tilt, a plurality of center hole type jacks 26 are used at the same time, and an operator is arranged in each center hole type jack 26. , Requires a lot of manpower. Moreover, since the work is performed at a high place on the high temporary beam 24, there is a problem in safety management of the worker.

Further, when the structure 20 is hoisted, the structure 20 is hoisted so as not to be tilted, so that it is necessary to operate the plurality of center hole type jacks 26 synchronously and evenly. When removing the hanging rod 10, it is necessary to stop the operation of all the center hole type jacks 26 without fail. However, the number of cranes used to remove the rod unit 10S is limited, and a plurality of cranes can be used to remove a plurality of rod units.
Since the 0S is sequentially removed, the structure 20
The total working time including the lifting of the rod and the removal of the single rod 10S becomes longer, which not only reduces the working efficiency but also
Since the work is prolonged, there is a problem in safety management of workers. Then, the removed rod unit 10 is attached to the temporary beam 24.
In order to unload it on the ground or on the ground, equipment such as a crane is required, and the number of equipment is also the number corresponding to the center hole type jack 26. Also increased, staffing,
There is a problem that process management becomes complicated.

The present invention has been made in order to solve the above-mentioned drawbacks of the prior art, and is a suspension rod attaching / detaching device capable of automatically performing the work of separating or connecting the rods constituting the suspension rod. It is an object of the present invention to provide a suspension rod connecting method.

[0010]

In order to achieve the above object, a suspension rod attaching / detaching device according to the present invention forms a lifting suspension rod by screwing and connecting a single rod in the axial direction. A device that attaches / detaches the rod to / from the suspension rod when the upper end is lifted by a jack.
The rod unit has a chucking means for gripping the head portion, the chucking means is connected to a shaft which is rotationally driven by a rotary motor, and the deviation absorbing means is provided in a connecting path from the output shaft of the rotary motor to the chucking means. And a lifting unit that raises and lowers the rotation unit according to the screw pitch of the rod unit, a rotation sensor that detects the rotation of the chuck unit, and a lifting unit that raises and lowers the chuck unit based on the output signal of the rotation sensor. A control means for determining the amount and raising / lowering the rotary unit via the raising / lowering means in accordance with the amount of raising / lowering is provided. It is desirable that the deviation absorbing means provided in the connection path from the output shaft of the rotary motor to the chuck means is composed of an axial deviation absorbing means and a rotational shaft deflection deviation absorbing means.

Further, the suspension rod connecting method according to the present invention is a method of connecting the rod alone to the tip of a lifting rod for lifting, which is formed by screwing the rod together in the axial direction. While holding the rod, the threaded portion of the rod itself is butted against the threaded portion of the tip rod of the connecting suspension rod, and the rod is rotated at a low speed at the butted position to detect a preset axial displacement of the chuck means and then rotate at high speed. At the same time, the rotary unit that drives the chuck means to rotate is lowered in accordance with the screw pitch of the rod unit, and the rod unit is connected by screw tightening. The set amount of the axial displacement of the chuck means can be set to a value corresponding to one pitch of the rod connecting screw.

Further, another suspension rod connecting method according to the present invention is a method of connecting a rod unit to a tip of a lifting rod for lifting, which is formed by screwing and connecting the rod unit in an axial direction. While holding the rod alone in a suspended state and maintaining the centering of the tip of the connecting suspension rod with the threaded portion of the rod, the rotary chuck means is rotated at a low speed, and the rotary chuck is lowered to screw the threaded portion of the rod alone. The backlash of the screw surface is used to engage the screw by low-speed rotation, the preset axial displacement of the chuck means is detected, and then the spindle is rotated at high speed. The rod is lowered according to the screw pitch of the single unit, and the rod is connected by tightening the screw.

[0013]

According to the above construction, when the rod is separated and removed, the head gripping chuck means of the rod is lowered to the upper end of the suspension rod lifted by the jack and the head is gripped by the chuck means. The chuck means is rotated in the direction for releasing the screwed connection, and the rotary unit is raised in accordance with the upward movement of the chuck means. At this time, the deviation between the ascending speed of the chuck means and the ascending speed of the rotating unit is absorbed by the deviation absorbing means, and the increase of the torque due to the speed error is avoided to remove the rod unit automatically, smoothly and quickly. You can

In the case of connecting the rods alone, the head of the rods to be connected is gripped by the chuck means, and the chuck means is rotated in the direction in which the rods are screwed together to screw the threaded portions of the rods together. Let Then, the rod unit can be automatically connected by lowering the rotary unit in accordance with the lowering of the chuck means due to the screwing of the rod unit due to the screwing of the screw portion.
At this time, the error between the lowering speed of the chuck means and the lowering speed of the rotary unit is absorbed by the displacement absorbing means as described above. In addition, since the rotational shaft runout due to the axial misalignment when the rods are screwed together is absorbed by the shaft runout deviation absorbing means, the rods can be easily and smoothly screwed together.

When the threaded portion of the rod alone is screwed, if the rod alone is rotated at a low speed via the chuck means, the screwing can be easily performed. Further, when the threaded portion is screwed and the rod alone is advanced, the chuck means is displaced in the axial direction. Therefore, the axial displacement of the chuck means is detected to easily detect the engagement of the rod alone. be able to. Further, after the screwing of the rods alone is detected, the rods can be connected quickly by rotating the chuck means at a high speed. When the threaded portion of the rod alone is screwed, the chuck means may be lowered and screwed using the backlash of the screw surface.

[0016]

BEST MODE FOR CARRYING OUT THE INVENTION Specific embodiments of a hanging rod attaching / detaching device and a hanging rod connecting method according to the present invention will be described below in detail with reference to the drawings.

FIG. 2 is a schematic view showing an entire boiler jack system to which the hanging rod attaching / detaching device of the present invention is applied. In FIG. 2, a boiler steel frame 4 that constitutes a boiler chamber
A work floor 42 is formed on the upper part of 0, and a control panel 44 and a hydraulic unit 46 for driving a boiler jack described later are installed on the work floor 42 and operated by an operator 48. An operation panel 50 is provided. In addition, the work floor 42 is provided with a rod storage box 54 for storing a single rod 52S that constitutes the hanging rod 52. Further, a boiler side steel frame 58 for raising and lowering the boiler module 56 which is a lift is installed adjacent to the boiler steel frame 40.

The boiler module 56 is supported and lifted by a boiler jack 60, which is a center-hole type hydraulic jack whose details will be described later, via a hanging rod 52 in which a plurality of rod units 52S are screwed and connected in the axial direction. It has become. That is, the boiler side steel frame 5
An upper frame 64 is provided at the upper end of the column 62 of 8, and the boiler jack 60 is installed on the upper frame 64. By alternately operating the chucks provided above and below the boiler jack 60, The boiler module 56 can be supported via the suspension rod 52 and can be moved up and down.

An automatic rod attaching / detaching device 68, which will be described in detail later, is provided above the boiler jack 60 via a frame 66, and the uppermost (tip) rod unit 52S1 located above the boiler jack 60 is provided. The rod 52S2 can be removed from the lower rod 52S2, or the rod 52S1 can be connected to the rod 52S2. Also,
Below the automatic jack attachment / detachment device 68 on the side opposite to the boiler jack 60 side, the rod unit 52S removed by the attachment / detachment device 68 is conveyed to the rod storage box 54 provided on the work floor 42,
A rod transfer device 70 is provided for storing or for delivering the rod single body 52S stored in the rod storage box 54 to the automatic rod attaching / detaching device 68.

As shown in FIG. 3, the boiler jack 60 includes a cylinder 74 as a fixed outer cylinder member that is erected on the upper surface of a box container-shaped ram chair 72 that is installed on an erection beam, and a cylinder 74 inside the cylinder 74. And a ram 76 to be inserted. The cylinder 74 has a double-walled structure and accommodates the ram 76 from an upper opening of a hydraulic chamber formed inside the wall body so that the ram 76 can be moved up and down. The hydraulic chamber is composed of a pushing oil chamber 78 formed on the insertion lower end face side of the ram 76, and a return oil chamber 80 formed on the side wall face portion of the ram 76 which is partitioned by the ram lower end portion above this. The hydraulic oil is supplied to the oil chamber 78 to raise the ram 76, and
The ram 76 can be lowered by opening 8 and supplying hydraulic oil to the return oil chamber 80.

A center hole 82 is formed in the center of the boiler jack 60, and the suspension rod 52 is passed through the hole 82, and the neck portion formed on the suspension rod 52 is held for connection. While supporting the boiler module 56, the boiler module 56 is moved up and down as the ram 76 is driven. An upper chuck unit 84 is provided at the ram top end of the jack 60 to support the rod neck portion, and a lower chuck unit 86 is provided inside the ram chair 72 below the cylinder 74. Details of this are shown in FIGS.

FIG. 4 is a view on arrow A in FIG. 3, and FIG. 5 is C- in FIG.
6 is a sectional view taken along the line C, and FIG.
It is a side view in the state which removed (refer). As shown in the figure, the upper chuck unit 84 has a rectangular chuck base 88 having an opening formed in the center thereof and is fixed to the top end surface of the ram 76. A pair of halved chucks 90 are mounted on the upper surface of the chuck base 88 so as to be capable of surface sliding. The chuck 90 is opened and closed in half, and in order to regulate the opening / closing direction, an inverted L-shaped slide guide 92 is attached along a pair of opposing edges of the chuck base 88, and each of the guides 92 is attached to the slide guide 92. Both edges of the chuck 90 are engaged.
A bracket 94 is provided at the rear edge of each chuck 90.
Is fixed, and hydraulic cylinders 96 for opening and closing the pair of left and right chucks 90 are connected to both ends of the bracket 94. The hydraulic cylinder 96 is located on the upper surface of the slide guide 92, and is expanded and contracted along the guide direction by the expansion and contraction action thereof to open and close the chuck 90.

The upper chuck unit 84 also includes a semi-circular ring-shaped top plate 98 that engages with the neck portion of the suspension rod 52 when the chuck 90 is closed. That is, the chuck 90 is formed with a semicircular cutout having a diameter slightly larger than the neck diameter of the suspension rod 52 in the half-divided portion, and a circular opening substantially matching the neck diameter is formed on the upper surface when the chuck is closed. The top plate 98 having a semicircular cutout formed therein is fixed.

On the other hand, an inverted L-shaped sensor bracket 100 is fixed to the outer surface of each slide guide 92. The sensor bracket 100 has a tip portion bent downward in an L shape to be lower than the upper surface of the top plate 98, and an open sensor 102 for detecting that the chuck 90 is opened on the lower step portion. , And a closing sensor 104 for detecting that the chuck 90 is closed. The lower chuck unit 86 is also configured similarly to the upper chuck unit 84, but the unit 86 is installed inside the ramchair 72, and the cylinder 7
The suspension rod 52 can be chucked at the lower part of 4.

Here, the boiler jack 60 according to the embodiment.
Is set such that the length of the single rod 52S that constitutes the hanging rod 52 is the unit of the lifting stroke,
For this reason, it is configured to have an elevating stroke that is greater than or equal to the length of the single rod 52S. First, the hanging rod 5
As shown in FIGS. 3 and 6, 2 is configured to be long by connecting a plurality of rod single bodies 52S in the axial direction. Each rod single body 52S has a large diameter head at the upper end of the rod portion 52A. Part 52
B is formed, and a male screw portion 52C is provided at the lower end portion of the rod portion 52A. A female screw portion 52D is provided at the center of the end surface of the head portion 52B. Then, the female screw portion 52D is screwed with the male screw portion 52C of the other rod unit so that the plurality of rod unit 52S can be screwed and coupled in the axial direction. Further, the rod 52S has a drop prevention groove 52E formed near the upper end of the head portion 52B for engaging with a protrusion provided on the gripping claw of the hanging rod attaching / detaching device 68.

The suspension rod 52 as described above can support a load by being chucked by the chuck unit. However, the boiler jack 60 has the upper chuck unit 84.
And the lower chuck unit 86, the upper rod unit 5
2S and a plurality of rods 52S lower than the 2S can be chucked at the same time, and the load support can be transferred from the load supporting state by the upper chuck unit 84 to the lower chuck unit 86.
Of course, when the ram 76 changes from the lowered position to the raised position,
The load supporting state by the lower chuck unit 86 can be changed to the load supporting state by the upper chuck unit 84. This can be achieved by setting the lifting stroke of the ram 76 to be slightly larger than the length of the rod 52S.

By the way, when the lower chuck unit 86 shifts to the load-supporting state of the suspension rod 52, the upper chuck unit 84 is opened to allow the ram 76 to move up and down, and the rod unit 52S at the uppermost end of the suspension rod 52. It can be attached and detached. However, a plurality of rods 52S are connected between the position supported by the lower chuck unit 86 and the uppermost end of the rod, and in particular, when the screw connection of the tip rod 52S is to be released and separated, Center hole 8 located below it
There is a possibility that loosening of the screw connection portion in 2 will occur. Therefore, in the case of the rising mode in which the boiler module 56 is lifted and the rod 52S is removed, the rod 52S2 is raised by the ram 76 and the rod 52S3 that is projected from the upper part of the cylinder 74 and is raised next (see FIG. 3). ) Is provided with a rotation stop mechanism for braking the rotation between.

First, around the boiler jack 60, a frame 66 having a ramen structure constructed to stably support the jack 60 in an upright state is arranged (see FIG. 3), and the jack 60 is appropriately arranged. Frame 66
Is held by In such a frame 66, the rod unit 52S that the upper chuck unit 84 tries to chuck at the upper end of the lowered ram 76.
The large-diameter head 5 of the rod unit 52S2 is attached so that the rod unit 52S2 connected directly above the
The horizontal beam portion 106 provided at the height position of 2B is equipped with a rotation stop mechanism 110 (see FIG. 4).

As shown in FIG. 7, the anti-rotation mechanism 110 has a pair of revolving arms 112, and a hydraulic cylinder 114 for connecting the arms is used to open and close the tip portion. The pressure block 116 provided
Thus, the large-diameter head 52B of the rod unit 52S2 is pressed and held. The revolving arm 112 is attached via a revolving shaft 120 to a mounting beam 118 that is arranged in parallel with the cross beam portion 106 so that the pressure block 116 can be opened and closed at the axial center position of the boiler jack 60. The end portion on the cylinder 114 side is slid in the lateral beam portion 106 so that the end portion on the side of the cylinder 114 can be horizontally swung. As a result, the pair of revolving arms 112 are guided by the mounting beam 118 and the lateral beam portion 106 so as to be horizontally revolvable, while the driving force of the hydraulic cylinder 114 clamps the rod large-diameter head portion 52B to realize rotation prevention. There is.

A pair of beams 122, 1 on both sides of the swivel arm 112, to which the mounting beam 118 passes, of the lateral beam portion 106.
An attachment / detachment sensor 124 is provided on the position 23 corresponding to the pressure block 116. The attachment / detachment sensor 124 is composed of four pairs of optical sensors 124A to 124D which are arranged to face each other, and can detect the separation and connection of the rod single bodies 52S constituting the suspension rod 52. That is, as shown in FIG. 8, the attachment / detachment sensor 124 is disposed at substantially the same position as the tip surface of the head 52B of the rod 52S held by the rotation stopping mechanism 110 by the sensors 124A to 124C. And sensor 1
24B is located at the center of the rod single body 52S in the diametrical direction, and the sensors 124A and C are on both sides of the rod single body 52S.
It is arranged at a position where the male screw portion 52C of S can be detected, and the light emitting portion and the light receiving portion of these sensors 124A to 124C are shielded from light to turn off, thereby detecting that the rod single body 52S is coupled. You can do it. Further, the sensor 124D is located directly above the sensor 124B, and when the rod single body 152S is removed, the light receiving unit receives light from the light emitting unit and is turned on, and detects that the rod single body 52S is completely separated. I can do it.

A sensor beam 126 is arranged in parallel with the mounting beam 118 on the rear end side of the rotating arm 112 of the mounting beam 118. 9 is a cross-sectional view taken along the line FF of FIG. 7 in which the sensor beam 126 is formed of an angle.
As shown in (1), the sensor beam 126 is located below the swivel arm 112, and the sensor beam 126 is shown in FIG. 9 (2) which is a sectional view taken along the line GG in FIG. Four inverted L-shaped brackets 128 are fixed. The pressure block 116 is provided on the upper surface of the bracket 128.
A braking detection sensor 132 that detects that the rod 52S has been clamped and a braking release sensor 130 that detects that the pressing block 116 has released the clamp are attached.

Further, by providing the above-mentioned rotation stopping mechanism 110, the most advanced rod single body 52S1 can be automatically attached and detached. An example of this configuration is shown in FIG. As shown in the figure, a traverse drive shaft 134 consisting of a screw shaft is installed above the two boiler jack devices, and a rod automatic attachment / detachment that can be guided to and moved to a position above any of the adjacent boiler jack devices. A device 68 is provided. The attachment / detachment device 68 is configured such that an attachment / detachment chuck (chuck means) 140 provided at a lower end of a rotation unit 138, which will be described in detail later, can be rotated by a rotation motor 142 constituted by a servo motor, and a servo motor which is a lifting means. By the lifting motor 144 consisting of
8 can be raised and lowered. After stopping the attachment / detachment device 68 from moving directly above one boiler jack device,
The rod alone 52S that is moved downward to be braked
Large diameter head 5 of the tip rod unit 52S1 located directly above
The rod simple substance 52S1 at the tip can be removed by gripping 2B and rotationally driving so as to release the screw connection. On the contrary, when the rod 52S is connected to the suspension rod 52 in the descending mode, the automatic rod attaching / detaching device 68 is used.
The rod single body 52S1 to be connected is carried in, and the rod single body 52S2 to which the brake is applied is rotationally driven so as to be screwed toward the rod single body 52S2, whereby the connection is performed.

As shown in FIG. 1, the rotary unit 138 has a guide shaft 150 fixed to the output shaft 146 of the rotary motor 142 via a coupling 148. In addition, a coupling 148 is provided below the rotary motor 142.
A casing 152 covering the periphery of the guide shaft 150 is fixed via a bearing 154.
Is rotatably supported. A bottomed cylindrical slide shaft 156, which constitutes an axial displacement absorbing means, is fitted to the lower end of the guide shaft 150 so as to be movable in the axial direction. The direction deviation can be absorbed. Also, the guide shaft 1
A slide key 158 is provided on the shaft 50 to prevent the slide shaft 156 from rotating with respect to the guide shaft 150. A compression spring 16 is provided around the upper portion of the slide shaft 156.
0 is arranged to urge the slide shaft 156 upward to support it in a floating manner.

That is, around the compression spring 160, the spring holder 16 fixed to the lower end of the casing 152.
2 is provided, and a spring bearing seat 164 is provided at the lower end of the spring holder 162, which penetrates a slide shaft 156 having an inverted L-shaped cross section, and a flange-shaped spring bearing 166 formed at the upper end of the slide shaft 156. A compression spring 160 is interposed between In addition, the spring holder 162
A bearing 168 is arranged around the spring receiving seat 164 at the lower end of the spring receiving seat 164.
The slide shaft 156 is rotatably supported via 64.

A detachable chuck 140 is attached to the lower end of the slide shaft 156 via a spring coupling 170 which is a rotational shaft deflection deviation absorbing means. Detachable chuck 14
Reference numeral 0 is an air chuck having a rod 52S at its lower end.
Three grip claws 172 for gripping the head portion 52B of the
An air drive unit 174 for opening and closing these gripping claws 172.
It has. Then, on the inner surface of each grip claw 172, the projection 1 that engages with the groove 52E formed in the head 52B of the rod 52S and prevents the gripped rod 52S from falling.
76 is formed. Further, at the upper end of the air driving unit 174, a rotation detection plate 1 for detecting a rotation of the attachment / detachment chuck 140, which will be described later in detail, for raising / lowering the rotation unit 138 in synchronization with the rotation of the attachment / detachment chuck 140.
78 is provided.

Above the spring coupling 170, a distance detecting plate 180 for detecting the amount of bending of the compression spring 160.
Is fixed to the slide shaft 156. Then, the ring support 18 is attached to the outer peripheral surface of the lower portion of the spring holder 162.
2 is fixed (see FIG. 11), and four spring expansion / contraction sensors 184, 186, 18 are attached to this ring support 182.
8 and 190 are attached so as to face the distance detection plate 180. These spring expansion / contraction sensors 184-190 are composed of limit switches, actuating transformers, linear encoders, optical sensors, etc., and are mounted by shifting their positions in the axial direction of the slide shaft 156, each up to the distance detection plate 180. Is detected and a detection signal is input to a control device (not shown). Each of the spring expansion / contraction sensors 184-190 is turned on when the distance to the distance detection plate 180 is equal to or less than a predetermined value, and is turned off when the distance exceeds the value.

The spring expansion / contraction sensor 184 is a compression spring 160.
The distance between the distance detection plate 180 and
The distance is preset_MIN Operates when
It turns on. As a result, the control device causes the detachable chuck 14
The rotation of 0 is stopped and an alarm is issued.
You. In addition, the attachment / detachment chuck 140 suspends the rod 52S.
If not lowered, the spring expansion / contraction sensor 186 and distance detection
The distance from the board 180 is d It's set to 0,
The distance between the spring compression sensor 186 and the distance detection plate 180 is
d₀ It turns on when it becomes the following. And
The spring extension / contraction sensor 188 has one detachable chuck 140.
Grasping and suspending the rod 52S by its weight
The compression spring 160 extends and the distance from the distance detection plate 180 is preset.
Set d₁ Position further down, eg d₁ +
It will turn off when it becomes 5 mm or more, which will be described later.
As described above, the control device, when removing the rod 52S,
When the spring extension sensor 188 turns off, the rotation unit 138
Decrease the rising speed of
The lowering speed of the rotating unit 138 is increased.
ing. Furthermore, the spring expansion / contraction sensor 190 uses the compression spring 1
It detects the elongation limit of 60 and
The distance is set d_MAX When it is over, it turns off and controls
The device stops rotation of the detachable chuck 140 and issues an alarm.
I am trying to do it.

The rotation detecting plate 178 is formed as shown in FIG. 12, and a plurality of (six in the embodiment) rotation detecting holes 192 are formed in the peripheral portion at intervals of 60 degrees with respect to the center. These detection holes 192 are arc-shaped elongated holes along the periphery of the rotation detection plate 178. Further, the rotation detection plate 178 is provided with a plurality (three in the case of the embodiment) of reference holes 194 for origin. These reference holes 194 are provided at intervals of 120 degrees with respect to the center of the rotation detection plate 178, are formed closer to the center of the rotation detection plate 178 than the rotation detection hole 192, and are aligned with the center of the rotation detection hole 192 in the longitudinal direction. It is formed at the corresponding position. Then, below the rotation detecting plate 178, there are arranged a rotation detecting sensor 196, which is an optical sensor for detecting the rotation detecting hole 192 and a reference hole 194, and an origin detecting sensor 198 (see FIG. 11). . Also,
The length of the detection hole 192 along the circumferential direction of the rotation detection plate 178 is equal to the length of the rotation detection plate 178 between the detection holes 192 along the circumferential direction, and the rotation detection plate 178 has a constant speed. The duty ratio of the ON (“H”) and OFF (“L”) signals output from the rotation detection sensor 196 is set to 50% when rotated at.

As shown in FIG. 11, a rotation detecting sensor 196 and an origin detecting sensor 198 are arranged on the side of the air driving portion 174 of the attachment / detachment chuck 140 located below the rotation detecting plate 178. These sensors 196, 19
As shown in FIG. 13, 8 is attached to a mounting bracket 200 provided on the upper surface of the steady plate 199.
The steady plate 199 is formed in an arc shape shorter than a semicircle and is fixed to the upper surface of the flange portion 202 of the air driving portion 174. The steady plate 204 fixed to the flange portion 202 on the opposite side. In cooperation with the above, the shake due to the rotation of the detachable chuck 140 is prevented.

That is, at the outer edge portions of the steady rests 199 and 204, the mounting plates 206 are erected on both sides in the diametrical direction of the attachment / detachment chuck 140, and the steady rest guides 208 are mounted outwardly on the mounting plate 206. The steady rest guides 208 are fitted in the guide grooves formed in the rectangular tube-shaped guide supports 210 located on both sides of the removable chuck 140 to prevent the removable chuck 140 from shaking. At the same time, the attachment / detachment chuck 140 is guided to move vertically along the guide support 210. Then, the pair of guide supports 210
As shown in FIG. 11, the upper end is fixed and supported by the side of the casing 152 via the fixing bracket 212.

A sensor mounting ring 214 is fixed to the lower ends of the pair of steady rest guides 208. Two pairs of support plates 216 and 218 are fixed to the upper end of the sensor mounting ring 214 so as to project inside the sensor mounting ring 214. Then, as shown in FIG. 14, the pair of support plates 216 include a grip sensor 220 including a light emitting unit and a light receiving unit that detects that the grip claw 172 of the attachment / detachment chuck 140 is closed and grips the rod 52S. Are attached facing each other, and the grip claw 17
When the rod 2 grips the rod 52S, it is turned on so that the grip can be detected. On the other hand, a grip release sensor 222 including a light emitting portion and a light receiving portion is attached to the other pair of support plates 218 so as to face each other, and is turned off when the grip claw 172 retracts between the light emitting portion and the light receiving portion. Thus, it is possible to detect that the grip of the rod 52S by the attachment / detachment chuck 140 is released.

A pair of notches 224 are formed at the lower end of the sensor mounting ring 214, and a bracket 226 fixed to the steady rest guide 208 is projected into the sensor mounting ring 214 through the notches 224. I am allowed. At the tip of the bracket 226, the head 52B of the rod 52S is attached to the grip claw 1 of the attachment / detachment chuck 140.
Head detection sensor 227 that detects the entry between 72
Are provided facing each other. This head detecting sensor 227 is
It is composed of a light emitting portion and a light receiving portion, and is arranged on one side of the center of the attachment / detachment chuck 140 in plan view. Further, above the sensor mounting ring 214, contact sensors 230 fixed to the pair of steady rest guides 208 via brackets 228 are arranged facing each other (see FIG. 14). The contact sensor 230 is composed of a light emitting portion and a light receiving portion, and is provided in parallel with the head detecting sensor 226 at a position symmetrical to the head detecting sensor 226 with respect to the center of the attachment / detachment chuck 140 in plan view. At the same time, it is possible to detect that the upper end of the gripping claw 172 of the attachment / detachment chuck 140, that is, the sliding surface of the gripping claw 172 is in contact with the upper end surface of the head 52B of the rod 52S.
When the contact between the slide surface of 72 and the head portion 52B is detected, the lowering of the attachment / detachment shack 140 is completed, and the closing operation of the grip claw 172 is permitted.

As shown in FIG. 15, the rotation unit 138 includes a screw shaft 232 which is rotated by a lifting motor 144.
It is attached to a nut 234 that is screwed into the. That is, as shown in FIGS.
An elevating frame 240 having a U-shaped cross section including a pair of side plates 236 and a back plate 238 is attached, and the rear side of the casing 152 of the rotating unit 138 is fixed to the elevating frame 240. Then, the lifting frame 240 is
The guide frame 242 having a U-shaped cross section can be raised and lowered.

The guide frame 242 has a pair of side plates 24.
4 and a connecting plate 246 that connects these side plates 244, and guide rails 248 are provided in the vertical direction on the inner surfaces of the side plates 244 facing each other. A guide bearing 250 attached to the upper and lower outer surfaces of both side plates 236 of the elevating frame 240 is fitted to the guide rail 248, and the guide bearing 250 is guided by the guide rail 248, so that the elevating frame A rotary unit 138 is vertically movable along a guide frame 242 via 240.

The guide frame 242 has a motor mounting plate 252 at its upper end, and the lifting motor 144 is fixed to the motor mounting plate 252. Also, the motor mounting plate 2
A support plate 254 is disposed below 52, and a support unit 256 is attached to the support plate 254 to rotatably support the upper end of the screw shaft 232 through which the support unit 256 passes. There is. The lower end of the screw shaft 232 is rotatably supported by a bearing unit 260, which is mounted on a bearing bracket 258 provided on the connecting plate 246 of the guide frame 242 and includes a thrust bearing and a radial bearing. Further, the screw shaft 232 has a lower end penetrating the bearing bracket 258, and the screw shaft 232 is attached to the lower end.
Rotary encoder 262 for detecting the rotational speed of the
Is attached. The output signal of the rotary encoder 262 is fed back to the control device (not shown).

As shown in FIG. 15, the guide frame 242 is supported by a transverse frame 264 having a U-shaped cross section so as to be movable in the horizontal direction. And the transverse frame 264
Is fixed to the main frame 266 as shown in FIG. The transverse frame 264 rotatably supports the transverse drive shaft 134, which is a screw shaft, via a bracket. A traverse drive motor 268 is connected to one end of the traverse drive shaft 134, and the traverse drive shaft 134 is rotated by rotationally driving the motor 268 to horizontally traverse the automatic rod attaching / detaching device 68. I am able to do it. That is, the transverse drive shaft 134 is screwed with the transverse nut 270 fixed to the back surface of the guide frame 242 of the rod attaching / detaching device 68, and the nut 270 moves in the axial direction as the transverse drive shaft 134 rotates. The automatic rod attaching / detaching device 68 is horizontally traversed. Further, guide rails 272 and 274 parallel to the traverse drive shaft 134 are provided on the upper and lower portions on the front surface side of the traverse frame 264, and the upper bracket 276 and the lower bracket 278 are attached to these guide rails 272 and 274. Guide bearings 280, 28 provided on the back surface of the guide frame 242 through
2 are fitted together, and these guide bearings 280, 282
The load of the attachment / detachment device 68 is thereby supported and the attachment / detachment device 68 can be smoothly moved laterally.

One side of the guide frame 242 is shown in FIG.
As shown in FIG. 8 (1), an elevation position sensor 284 for detecting the elevation position of the rotary unit 138 is provided. The elevation position sensor 284 is composed of a pair of photocouplers 286 and 288 arranged vertically as shown in FIG. 18 (2). These photocouplers 286 and 288 are fixed to the outer surface of the side plate 244 of the guide frame 242 via the sensor bracket 290. The photocouplers 286 and 288 are operated by a tracker 294 fixed to the outer surface of the side plate 236 forming the elevating frame 240 via a mounting bracket 292. Mounting bracket 292
Has a concave cross section and is located on the outer side wall portion 2
A striker 294 is attached to the inner surface of 96. As shown in FIG. 19, the striker 294 has an inverted L shape, and its tip is inserted between the light emitting portion and the light receiving portion of the photocouplers 286 and 288. The tip width of the striker 294 is substantially equal to the width between the centers of the pair of photocouplers 286 and 288 arranged above and below,
When the striker 294 comes out above the photocoupler 286 or comes out below the photocoupler 288, the control unit stops the lifting and lowering of the rotary unit 138 and issues an alarm.

The operation of the embodiment thus configured is as follows.

<< Hoisting of Lifting Rod / Removal of Single Rod >> A case of the lifting mode for lifting the boiler module 56 will be described with reference to the schematic diagrams of FIGS. 20 to 22 and the flowcharts of FIGS. 23 and 24. The initial state is shown in FIG.
As shown in (1), the lower chuck unit 86 of the boiler jack 60 is in the closed state, and the lower chuck unit 86 supports the suspension rod 52 that suspends the boiler module 56 that is the lifting body. In order to raise the boiler module 56, first, the upper chuck unit 84 is closed and the lower chuck unit 86 is opened to remove the neck portion of the rod single body 52S2 below the uppermost rod single body 52S1 to be removed. To support.

That is, the control device (not shown) actuates a pair of hydraulic cylinders 96 of the upper chuck unit 84 shown in FIG. As a result, the chuck 90 and the top plate 98 that have been opened are moved to the slide guide 9
The top plate 98 moves in the direction in which the top plate 98 and the top plate 98 enter the lower part of the head portion 52B of the rod 52S2 and the closing of the chuck 90 is detected by the closing sensor 10.
It is detected by turning on 4. When the chuck 90 of the upper chuck unit 84 is closed, the controller raises the ram 76 until the upper surface of the top plate 98 contacts the head 52B. Then, the lower chuck unit 86 is operated to extend the cylinder rod of the hydraulic cylinder 96, move the chuck 90 and the top plate 98 in a direction in which they are separated from each other, open the chuck 90 of the lower chuck unit 86, and suspend the rod 52. Load the upper chuck unit 8
4 (see FIG. 6). Then, the opening of the chuck 90 of the lower chuck unit 86 is detected by turning off the opening sensor 102.

Then, as shown in FIG. 20 (2), after the load of the suspension rod 52 is transferred to the upper chuck unit 84, the ram 76 is continuously driven to move upward until the ram 76 reaches the rising end. Upper chuck unit 8
The large diameter head portion 52B of the rod 52S2 chucked by 4 is pushed up to the operating position of the rotation stopping mechanism 110 ((3) in the same figure). Then, after the ram 76 reaches the rising end, the lower chuck unit 86 is closed and the ram 76 is closed.
By lowering, the load of the suspension rod 52 is transferred to the lower chuck unit 86 side. This can be confirmed by detecting that the ram 76 descends by about 10 mm. Due to this load transfer, the rotation stopping mechanism 110
Is actuated, and as shown in FIG. 20 (4), the rod 52S2 second from the most distal end is braked.

That is, when the head 52B of the rod unit 52S2 reaches the operating position of the rotation stopping mechanism 110, the control device (not shown) operates the hydraulic cylinder 114 shown in FIG. Swivel the tip ends of the swivel arms so that they approach each other.
The pressure block 116 provided at the tip of the head 52
By grasping B, the rod 52S2 is prevented from rotating (braking). Then, the pressing block 116 gripping the head 52B of the rod alone is detected by the rear side of the swing arm 112 moving above the gripping sensor 132 and the gripping sensor 132 being turned on. As a result, even if there is a plurality of rod connecting portions between the lower chuck unit 86, which is a load bearing portion, and the rod single body 52S2 being braked, the rotation of the rods at this portion is prevented.

Therefore, as shown in FIG. 20 (4), the most advanced rod unit 52S1 higher than the braked rod unit 52S2 is removed, and at the same time, the ram 76 is removed.
Turns to the descending movement and returns to the next ascending drive start position. Although the rod releasing operation can be performed manually, as shown in FIG. 21 (1), the rod automatic detaching device 68 causes the rod unit 52S1 to be lifted while being rotationally driven in the screw releasing direction so that the rod releasing unit 52S1 can be detached, and the carry-out device It may be conveyed to the rod storage box 54 by 70 and stored therein.

That is, the control device is the boiler jack 6
23, the traverse motor 268 is driven, and the attachment / detachment chuck 140 of the automatic rod attachment / detachment device 68 is moved above the rod unit 52S1 to be detached, as shown in step 300 of FIG. When the rod 52S2 is braked by the rotation stopping mechanism 110, the lifting motor 144 of the automatic attachment / detachment device 68 is driven to lower the rotating unit 138. At this time, the control device drives the rotary motor 142 so that one reference hole is located directly above the origin detection sensor 196. The rotation unit 138 descends in the guide frame 242 along the guide rail 248 by driving the elevating motor 144. Further, the head detecting sensor 227 attached to the sensor attachment ring 214 provided at the lower end of the steady rest guide 208 fixed to the attachment / detachment chuck 140 descends as the attachment / detachment chuck 140 descends as the rotating unit 138 descends. When the head 52B enters between the claws 172, the head 52B is turned off and a head detection signal is input to the control device. When the control device receives the detection signal of the head detection sensor 227, the attachment / detachment chuck 14
By lowering the descending speed of 0 and turning off the contact sensor 230, the attachment / detachment chuck 140 causes the rod unit 52S1.
It is detected that the rotating unit 1
Stop descending 38 (steps 302, 30 in FIG. 23).
4). After that, the controller operates the air driving unit 174 of the attachment / detachment chuck 140 to close the three gripping claws 172 and grip the head 52B (step 306). Completion of this gripping is detected by turning on the gripping sensor 220 provided on the upper part of the sensor mounting ring 214. At this time,
The protrusion 176 provided on the grip claw 172 is provided with the groove 52 of the head 52B.
The rod unit 5 is engaged with E and is attached / detached by the detachable chuck 140.
When the 2S is separated and lifted, the rod single body 52S1 is prevented from falling (see FIG. 1).

Single rod 52 by detachable chuck 140
When the gripping of S1 is completed, the routine proceeds to step 308, where the rotation motor 142 is driven, and as shown by the arrow 340 in FIG. 21 (1), the rod unit 52S2 gripped by the whirl-stop mechanism 110 and the most advanced rod. The attachment / detachment chuck 140 is rotated in a direction to release the screw connection with the single body 52S1, and the lifting motor 144 is reversely rotated, so that the rod single body 52S1 is removed in synchronization with the rotation of the attachment / detachment chuck 140, as will be described later in detail. The rotation unit 138 is raised according to the speed (step 310). Then, in step 312, the control device sets the rod unit 5
It is determined whether the 2S1 is separated from the single rod 52S2 below the 2S1.

That is, the control device has the detent mechanism 11
The output signal of the attachment / detachment sensor 124 provided on the side of 0 is taken in to monitor whether or not the attachment / detachment sensor 124 is turned on, and it is determined whether or not the single rod 52S1 is separated from the lower single rod 52S2. When the attachment / detachment sensor 124 is not turned on, it is determined that the single rod 52S1 is not separated, and the process returns to step 308, and the processes of steps 308 and 310 are repeated. Further, when the sensors 124A to 124C are turned on and the sensor 124D is turned on, it is determined that the rod single body 52S1 is completely separated from the rod single body 52S2, and the detachable chuck 1 as shown in FIG.
40 is raised to the transfer position (step 314), and the rod simple substance 52S1 removed in step 316 is transferred to the rod transport device 70 (see FIGS. 21 (3) and 21 (4)).

The rod 52S1 is the rod 52S2
21B, the hydraulic cylinder 114 of the rotation stopping mechanism 110 is actuated, the cylinder rod is retracted, and the swing arm 112 rotates in the braking release direction. As shown in FIG. Gripping and braking are released. The fact that this braking is released means that the swing arm 11
The rear part side of 2 is pivotally moved above the brake release sensor 130 to be detected by the brake release sensor 130. Further, the closing operation of the upper chuck unit 84 is performed in parallel with the release of the braking by the rotation stopping mechanism 110, and the upper chuck unit 84 is also operated in the same manner as described above.
The load of the suspension rod 52 is transferred to and the ram 76 of the boiler jack 60 supports the suspension rod 52 via the upper chuck unit 84.

Thereafter, the ram 76 pushes up the suspension rod 52 to raise the head 52B of the rod 52S2 to the operating position of the rotation stopping mechanism 110 (FIG. 21 (4)).
Then, when the ram 76 reaches the rising end, the control device closes the lower chuck unit 86, as described above,
The ram 76 is lowered slightly to transfer the load of the suspension rod 52 to the lower chuck unit 86 side (see FIG. 22).
(1)). Then, when the load of the suspension rod 52 is supported by the lower chuck unit 86, the upper chuck unit 84 is opened and the whirl-stop mechanism 110 is operated to grip the head 52B3 of the rod 52S and the rod 52S3. Is braked (FIG. 22 (2)).

On the other hand, the automatic rod attaching / detaching device 68 completes the delivery of the rod single body 52S1 to the rod transfer device 70, and as shown in FIG. 22 (1), the rod single body 52S2 for removing the next rod single body 52S2. Be moved above. Further, the rod transfer device 70 transfers the rod single body 51S1 received from the automatic rod attachment / detachment device 68 to the rod storage box 54 side and stores it in the rod storage box 54 as shown in FIG. Then, the attachment / detachment device 68 is
In the same manner as described above, the rotation unit 138 is lowered, and the attachment / detachment chuck 140 grips the head 52 of the rod 52S2 (FIG. 22 (3)). After that, the operation of FIG. 21 (1) and thereafter is repeated.

The rotation unit in step 310 of FIG.
The rising control speed of the switch 138 is set as shown in FIG.
It is. The controller determines the time, as shown in step 320.
The output signal of the roll detection sensor 196 is captured and the detachable chuck
The rotational speed of the gear 140 is calculated (step 32
0), thread pitch of thread formed on rod 52S
The rising speed of the detachable chuck 140 is calculated from (step
322). Then, the obtained detachable chuck 140
When the lifting motor 144 is driven based on the rising speed,
And receive the detection signal of the rotary encoder 262 and move up and down.
The rotation speed of the motor 144 is controlled to attach and detach the chuck 140.
The entire rotation unit 138 at a speed equal to the rising speed of
It is raised (step 344). At this time, the rod alone
52S1 rotates to come out of rod 52S2 alone.
Speed of the attachment / detachment chuck 140 and the lifting motor 14
The deviation from the rising speed of the rotary unit 138 due to
Expansion and contraction of the compression spring 160 that constitutes the direction deviation absorbing means
Is absorbed by And the control device is
The output signal of the sensor 186 is read and the sensor 186 turns on.
It is determined whether or not (step 326). Spring expansion and contraction
When the sensor 186 is on, the detachable chuck 140
The rising speed of is higher than that of the rotating unit 138
Therefore, the compression spring 160 is excessively compressed, and the distance detection plate 18
The distance between 0 and the spring expansion / contraction sensor 186 is d Fell below 0
It is determined that the rotation speed of the lifting motor 144 is a predetermined amount.
To increase the speed of rotation unit 138.
Then (step 328), the process proceeds to step 330. on the other hand,
If the spring extension sensor 186 is not on, step
From 326 to step 330.

In step 330, the controller reads the output signal of the spring expansion / contraction sensor 188 and checks whether this sensor 188 is off. When the spring expansion / contraction sensor 188 is off, the rising speed of the attachment / detachment chuck 140 is too lower than the rising speed of the rotating unit 138, the compression spring 160 is expanded, and the distance detection plate 180 is separated from the spring expansion / contraction sensor 188 by a distance d ₁ +5 mm or more. It is determined that they are separated, and the rotation unit 1
The ascending speed of 38 is reduced by a predetermined amount, and the speed control process ends. If the spring expansion / contraction sensor 188 is not turned off in step 330, the rotation unit 13
Assuming that the ascending speed of 8 is within the proper range, the speed control process is ended, and the process proceeds to step 312 of FIG.

<< Connection of Single Rod / Hanging of Suspending Rod >> When suspending the hanging rod 52 while connecting the single rod 52S to the upper end of the hanging rod 52, it is carried out as follows. First, the initial state when connecting the rods 52S is as shown in FIG. 25A, and the attachment / detachment chuck 140 of the rod automatic attachment / detachment device 68 stands by at the rod transfer position of the rod transfer device 70. ing. The upper chuck unit 84 is open and the lower chuck unit 86 is closed to support the load of the suspension rod 52. The rod 52S2 at the uppermost end of the hanging rod 52 holds and brakes the head 52B by the pressure block 116 of the rotation stopping mechanism 110.

In this state, the rod unit 52S1 to be connected to the rod unit 52S2 is transferred from the rod storage box 54 to the rod transfer device 70 and transferred below the attachment / detachment chuck 140 (FIGS. 25 (2) and (3)). )). On the other hand, the controller raises the ram 76 of the boiler jack 60 to move the upper chuck unit 84 to the neck portion of the rod unit 52S2 and closes the upper chuck unit 84 to prepare to receive the load of the suspension rod 52. . And
The control device causes the attachment / detachment chuck 140 of the transfer device 68 to grip the head portion 52B of the rod 52S1 (FIG. 25 (4)), and then drives the traverse motor 268 to drive the traverse motor 268.
As shown in (1), the suspension rod 52 is transferred above the suspension rod 52 (step 350 in FIG. 28).

After that, the control device drives the lifting motor 144 and the detachable chuck 14 via the rotation unit 138.
0 is slowly lowered (step 352). As shown in FIG. 26B, the detachment of the attachment / detachment chuck 140 is performed by the rod unit 52S1 held by the chuck 140.
The tip (lower end) of the male screw portion 52C of is the rod unit 52S2.
This is carried out until the rod single body 52S1 is abutted on the female threaded portion 52D and the rod single body 52S1 rides on the rod single body 52S2. That is, the control device monitors the output signal of the attachment / detachment sensor 124C, and when the output of the sensor 124C is turned off, the male screw portion 52C of the rod single body 52S1 and the female screw portion 52D of the rod single body 52S2 are butted to each other, The rod unit 52S1 descends to the connecting position and the rod unit 52S2
It is detected that the vehicle is on the vehicle, and the lowering operation of the rotating unit 138 is stopped (step 354).

Next, in the state where the lowering of the rotary unit 138 is stopped, the control device rotates the rotary motor 142 in the direction in which the rods 52S1 and 52S2 are screwed together as shown by the arrow 342 in FIG. 26 (3). Slow rotation (for example,
When the screw pitch is 12 mm, the speed is 50 rpm), and the attachment / detachment chuck 140 is rotated once (step 356). Then, the control device obtains the load torque of the rotary motor 142 from the drive current of the rotary motor 142, monitors the output signal of the spring expansion / contraction sensor 188, and detects both rods 52S.
It is determined whether or not the screw portions of 1, 52S2 are engaged (step 358).

That is, the rod single body 52S1 is screwed downward when the threaded portion of the rod single body 52S2 is engaged. Therefore, the attachment / detachment chuck 140 is pulled by the rod 52S1 to be displaced in the axial direction, and descends while extending the compression spring 160 via the slide shaft 156. Therefore, when the distance detection plate 180 attached to the slide shaft 156 descends integrally with the slide shaft 156 and the distance between the spring expansion / contraction sensor 188 and the distance detection plate 180 becomes d ₁ +5 mm or more, the output of the spring expansion / contraction sensor 188 is turned off. , The control device turns off the extension / contraction sensor 188, so that
It is determined that the screw portions of S1 and 52S2 are engaged (screwed). Then, since the rod single body 52S1 and the rod single body 52S2 descend while the rod single body 52S1 is pulled upward by the compression spring 160, the screw portions of both are screwed together by utilizing the backlash of the screw surface.

If the control device determines in step 358 that the threaded portions of both rods are not in mesh,
In step 360, it is determined whether the load torque of the rotary motor 142 obtained is less than or equal to a preset value.
If the torque is less than or equal to the set value, step 356
Then, the detachable chuck 140 continues to rotate at a low speed. When the load torque of the rotary motor 142 is larger than the set value in step 360, the rods 52S1, 52S1,
Assuming that the screw portion of 52S2 does not mesh with each other to cause galling, the drive of the rotary motor 142 is stopped, and an alarm is generated to notify the operator that an abnormality has occurred (step 362).

The rod 52S1 is the rod 5
Even if the axial center is slightly displaced with respect to 2S2, the attachment / detachment chuck 140 is supported by the spring coupling 170 so as to be swingable.
The deviation of the rotation axis is absorbed by the two rods 52S
The screw parts of 1, 52S2 can be easily engaged with each other. Further, when the rods 52S1 ride on the rod 52S2 and the axes of the rods are misaligned, the rods 52S1 (detachment chuck 140) are slowly rotated to easily align the axes of the rods 52S1. You can That is, the screws are usually
The ends are tapered. Therefore, the attachment / detachment chuck 140 gripping the rod single body 52S1 is swingably supported by the spring coupling 170, and when the attachment / detachment chuck 140 is rotated at a low speed, the male screw portion lower end taper portion of the rod single body 52S1 is changed to the rod. Single unit 52S
It falls into the taper part of the upper end of the female screw part of 2, and the axis is naturally aligned.

In step 358, both rods 52 are separated.
When it is confirmed that the screw portions of S1 and 52S2 are meshed with each other, the control device rotates the attachment / detachment chuck 140 at a high speed in a direction in which the screw coupling is performed at a predetermined rotation speed (step 3).
64), and the rod unit 52S, as will be described later in detail.
1 is driven downward and the elevating motor 144 is driven according to the lowering speed of the attachment / detachment chuck 140 to control the lowering speed of the rotary unit 138 (step 3
66), it is determined whether the rods 52S1 and 52S2 are completely connected (step 368).

The rotation speed of the detachable chuck 140 is
For example, when the screw pitch is 12 mm, the lowering speed of the attachment / detachment chuck 140 is about 600 mm / min. Further, the determination as to whether or not both rods have been connected is made by detecting that the attachment / detachment sensors 124A and 124C are turned off and that the load torque of the rotary motor 142 is equal to or greater than the set value. Further, in the embodiment, since the connection state is detected by the two sensors 124A and 124C, even if one of the sensors is turned off due to vibration or shake, it is not determined that the connection is completed, The reliability of the device is improved.

In step 368, both rod units 52
If the connection of S1 and 52S2 is not completed, the process returns to step 364 to control the rotation / lowering of the attachment / detachment chuck 140. When the connection is completed, the process proceeds to step 370 to rotate the attachment / detachment chuck 140 and the rotation unit 138.
And stop descending. After that, the control device is shown in FIG.
As shown in (4), the attachment / detachment chuck 140 is opened and raised to the transport position of the rod unit 52S (step 37
2), the connection control of the single rod 52S is completed.

The lowering speed control of the rotary unit 138 at the time of connecting the rods alone in step 366 is performed as shown in FIG. First, the control device calculates the rotation speed of the attachment / detachment chuck 140 from the output signal of the rotation detection sensor 196, and also calculates the descending speed of the attachment / detachment chuck 140 (steps 380 and 382). Then, the control device drives the lift motor 144 to drive the attachment / detachment chuck 14
The rotating unit 138 is lowered at a speed commensurate with the descending speed of zero. At this time, the controller controls the spring expansion / contraction sensor 18
8 and the output signals of the spring expansion / contraction sensor 186 are monitored so that the lowering speed of the rotating unit 138 does not deviate from the lowering speed of the attachment / detachment chuck 140.

That is, the control device checks, as shown in step 386, whether or not the spring expansion / contraction sensor 188 is turned off. When the spring expansion / contraction sensor 188 is off, the lowering speed of the rotation unit 138 is slower than the lowering speed of the attachment / detachment chuck 140, and the compression spring 16
It is determined that 0 has been stretched, the rotation speed of the lift motor 144 is increased by a predetermined amount, and the descending speed of the rotation unit 138 is increased as in step 388 to increase the rotation speed in step 39.
Go to 0. On the other hand, if it is determined in step 386 that the spring expansion / contraction sensor 188 is not turned off, the process proceeds directly to step 390 to determine whether or not the spring expansion / contraction sensor 186 is turned on. When the spring expansion / contraction sensor 186 is on, it is determined that the descending speed of the rotating unit 138 is higher than the descending speed of the attachment / detachment chuck 140, and the descending speed of the rotating unit 138 is reduced by a predetermined amount (step 392). ), The process of this descending speed control is completed. If the spring expansion / contraction sensor 186 is not turned on in step 390, the rotation unit 1
Assuming that the descending speed of 38 is proper, this processing is ended as it is.

When the detachable chuck 140 is opened and moved up to a predetermined position after the rod 52S1 is connected, the control device closes the upper chuck unit 84 and lower chuck unit as shown in FIG. 26 (4). 86
Is opened to transfer the load of the suspension rod 52 to the upper chuck unit 84. After that, the control device operates the hydraulic cylinder 114 of the rotation stopping mechanism 110 to operate the rod unit 52.
The braking of S2 is released, and the ram 76 of the boiler jack 60 is lowered to suspend the suspension rod 52. The head 52B of the single rod 52S1 is attached to the rotation stopping mechanism 1
When the suspension rod 52 is hung near the braking position by 10, the lower chuck unit 86 is closed and the load of the suspension rod 52 is transferred to the lower chuck unit 86 side.
After the load of the suspension rod 52 is transferred, the ram 76 is raised again (FIGS. 27 (1) to 27 (3)).

On the other hand, the automatic rod attaching / detaching device 68 is moved above the rod conveying device 70 to receive the rod 52S to be connected next (FIG. 27 (1)). Also,
The rod carrier device 70 is supplied with the rod unit 52S to be connected next from the rod storage box 54, and the rod unit 52S is connected.
The S is conveyed below the automatic rod attaching / detaching device 68. This single rod 52S is transferred above the connected hanging rod 52 held by the attaching / detaching device 68 (FIG. 27).
(4)). During this time, the upper chuck unit 84
Is raised by the ram 76 to the support position of the rod unit 52S1 and closed. After that, the operation after (2) in FIG. 26 is repeated.

Incidentally, the control device is the spring expansion sensor 18
The outputs of 4 and 190 are monitored to perform upper limit position control and lower limit position control of the detachable chuck 140. 30 is a flowchart of the upper limit position control of the chuck when the rod 52S is connected, and FIG. 31 is the rod 52S.
5 is a flowchart of the lower limit position control of the chuck when the is connected.

The control device detects the compression limit of the compression spring 160 at a predetermined cycle, as shown in step 400 of FIG. 30, while the rotation of the attachment / detachment chuck 140 and the lowering control of the rotation unit 138 are being performed. The output signal of the spring expansion / contraction sensor 184 is taken in and it is checked whether or not this sensor 184 is turned on. Then, the control device proceeds to step 402 when the spring expansion / contraction sensor 184 is not turned on and is in an off state, and determines whether or not the spring expansion / contraction sensor 186 is turned on. If the spring expansion / contraction sensor 186 is not turned on, this processing is ended as it is, and if the spring expansion / contraction sensor 186 is turned on, the lowering speed of the attachment / detachment chuck 140 is smaller than the lowering speed of the rotating unit 138. As a result, the descending speed of the rotating unit 138 is reduced by a predetermined amount, and the process is ended.

On the other hand, when it is detected in step 400 that the spring expansion / contraction sensor 184 is turned on, the detachable chuck 1
Since the descending speed of 40 is too slow as compared with the descending speed of the rotating unit 138 and mechanical damage may occur, the process proceeds to step 406 and the descending of the rotating unit 138 is stopped while continuing the rotation of the attachment / detachment chuck 140. . afterwards,
The control device checks whether or not the rotation of the attachment / detachment chuck 140 is normal (step 408), and if the rotation of the attachment / detachment chuck 140 is abnormal, the control device proceeds to step 416 and the chuck 1
The rotation of 40 is stopped, an alarm is generated, and this processing ends.

Whether or not the rotation of the attachment / detachment chuck 140 is normal is judged as shown in FIG. When a current or voltage is supplied to the rotary motor 142 and the rotary motor 142 is rotationally driven, the motor drive determination device (not shown) outputs a rotation output signal of "H" as shown in FIG. 32 (1). . Further, the rotation sensor 196 is turned off when the detection hole 192 of the rotation detection plate 178 is located above, and is turned on by detecting the reflected light from the rotation detection plate 178 when the part of the rotation detection plate 178 is located above. Therefore, when the rotary motor 142 is driven and there is a rotation output of the motor, and the attachment / detachment chuck 140 is normally rotating, as shown in FIG. Then, when the detachable chuck 140 is rotating normally, the detachable chuck rotation determination device (not shown) uses the rotation output signal of the rotation motor 142 and the pulse of the constant cycle output from the rotation detection sensor 196 as a graph. 32 (3) outputs "H" indicating that the rotation is normal, but when the rotation output signal is "H" but the rotation detection sensor 196 does not output a pulse, the detachable chuck The controller 140 outputs "L" indicating that the 140 is not rotating normally.
In step 408 of FIG. 30, the output signal of the attachment / detachment chuck rotation determination device is fetched, and it is determined from the output signal whether or not the attachment / detachment chuck 140 is rotating normally.

When the rotation of the attachment / detachment chuck 140 is normal, the controller proceeds to step 410 and checks whether the spring expansion / contraction sensor 186 is off. This sensor 186
Is OFF, it is determined that the attachment / detachment chuck 140 is lowered to the normal position, the descent control of the rotary unit 138 is restarted, and this control is finished (step 412).

On the other hand, when the spring expansion / contraction sensor 186 is turned on, the control device proceeds from step 410 to step 41.
Then, it is checked whether or not a predetermined time has passed since the rotation unit 138 was stopped from descending in Step 4. Rotating unit 138
If the predetermined time has not elapsed since the descent of the rotation unit 138 was stopped, the process returns to step 406 and the descent stop state of the rotary unit 138 is maintained. Then, in step 414, when the predetermined time has elapsed after stopping the lowering of the rotation unit 138 in step 414, the rotation of the attachment / detachment chuck 140 is not transmitted to the rod unit 52S due to the loosening of the chuck or the like. Detachable chuck 140 as
The rotation is stopped, an alarm is generated and an abnormality is notified (step 416), and the process ends.

The chuck lower limit position control when the rod 52S is connected is performed as follows. The control device is
When the attachment / detachment chuck is being rotated and the rotating unit 138 is being lowered, as in step 420 of FIG.
Compression spring 160 Spring expansion / contraction sensor 19 for detecting extension limit
The output signal of 0 is taken in at a predetermined cycle, and this sensor 19
Determine if 0 is off. Spring extension sensor 190
If is not turned off, the rotation of the attachment / detachment chuck 140 and the lowering control of the rotation unit 138 are continued as they are (step 422), and the process is ended. However, the spring extension sensor 1
When 90 is off, the control device determines that the detachable chuck 1
Since the descending speed of the rotating unit 138 is too high than the descending speed of the entire rotating unit 138 and mechanical damage may occur, the descending speed of the rotating unit 138 is increased by a predetermined amount (step 424). After that, the control device controls the rotation unit 1
It is determined whether or not the descending speed of the rotary unit 138 is at the limit (step 426), and if the descending speed of the rotary unit 138 has not reached the upper limit, this process is terminated as it is,
If the descending speed of the rotating unit 138 has reached the upper limit, the rotating speed of the attachment / detachment shack 140 is decreased by a predetermined amount to slow the screwing speed of the rod 52S, and the process ends, as in step 428. . The upper limit position control and the lower limit position control of the chuck are also performed when the boiler module 56 is lifted.

[0083]

As described above, according to the present invention, when the rod unit is separated and detached, the chuck unit for gripping the head unit of the rod unit is lowered to the upper end of the hanging rod lifted by the jack. Hold the head part by the chuck means, rotate the chuck means in the direction to release the screwed connection, and raise the rotary unit in accordance with the upward movement of the chuck means, thereby raising the speed and rotation of the chuck means. The deviation from the ascending speed of the unit is absorbed by the deviation absorbing means, the increase of the torque due to the speed error is avoided, and the rod alone can be removed automatically, smoothly and quickly.

Further, when connecting the rods alone, the head of the rods to be connected is gripped by the chuck means, and the chuck means is rotated in the direction in which the rods are screwed together to screw the threaded portions of the rods together. Then, the rod unit can be automatically connected by lowering the rotary unit in accordance with the lowering of the chuck means by screwing of the rod unit by screwing the screw portion. At this time, the error between the lowering speed of the chuck means and the lowering speed of the rotary unit is absorbed by the displacement absorbing means as described above. In addition, since the rotational shaft runout due to the axial misalignment when the rods are screwed together is absorbed by the shaft runout deviation absorbing means, the rods can be easily and smoothly screwed together.

When the threaded portion of the rod alone is screwed, if the rod alone is rotated at a low speed via the chuck means, the screwing can be easily performed. Further, when the threaded portion is screwed and the rod alone is advanced, the chuck means is displaced in the axial direction. Therefore, the axial displacement of the chuck means can be detected to easily detect that the rod is screwed. It is possible to rapidly connect the rods by rotating the chuck means at a high speed after the screwing of the rods is detected. When the threaded portion of the rod alone is screwed, the chuck means may be lowered and screwed using the backlash of the screw surface.

[Brief description of drawings]

FIG. 1 is a sectional view of a rotary unit according to an embodiment of the present invention.

FIG. 2 is an overall schematic view of a boiler jack system to which the suspension rod attaching / detaching device according to the present invention is applied.

FIG. 3 is a partial cross-sectional side view of the boiler jack device according to the embodiment.

FIG. 4 is a view taken in the direction of arrow A in FIG. 3, and is a plan view of the upper chuck unit according to the embodiment.

5 is a cross-sectional view taken along the line CC of FIG.

FIG. 6 is a side view of the upper chuck unit according to the embodiment with the sensor bracket removed.

FIG. 7 is a view taken in the direction of arrow B in FIG. 3, and is a plan view of the rotation stop mechanism.

FIG. 8 is a view taken along line DD of FIG.

9 is a cross-sectional view taken along the line FF and the line GG in FIG. 7.

FIG. 10 is an assembly configuration diagram of the boiler jack device and the automatic rod attaching / detaching device according to the embodiment.

FIG. 11 is a front view of a rotation unit of the automatic rod attaching / detaching device according to the embodiment.

12 is a cross-sectional view taken along the line HH of FIG.

13 is a cross-sectional view taken along the line I-I of FIG.

14 is a cross-sectional view taken along the line JJ of FIG.

FIG. 15 is a vertical cross-sectional view of the automatic rod attaching / detaching device according to the embodiment.

FIG. 16 is a front view of the automatic rod attaching / detaching device according to the embodiment with the rotating unit removed.

FIG. 17 is a sectional view taken along the line KK of FIG.

FIG. 18 is a plan view showing a mounting state of a sensor that detects the vertical position of the rotary unit of the automatic rod attaching / detaching device according to the embodiment, and a cross-sectional view taken along line LL in FIG. 18 (1).

FIG. 19 is a view taken along the line MM of FIG.

FIG. 20 is a schematic diagram illustrating a part of a rod detaching process according to the embodiment.

FIG. 21 is a schematic diagram illustrating a part of the rod removing process following the process of FIG. 20.

22 is a schematic diagram illustrating a part of the rod detaching step that follows the step of FIG. 21. FIG.

FIG. 23 is a flowchart illustrating a rod detaching operation by the automatic rod attaching / detaching device according to the embodiment.

FIG. 24 is a flowchart for explaining raising control of the rotary unit by the automatic rod attaching / detaching device according to the embodiment.

FIG. 25 is a schematic diagram for explaining a part of the process of connecting the rods alone by the automatic rod attaching / detaching device according to the embodiment.

FIG. 26 is a schematic view for explaining a part of the process of connecting the rod bodies, which is subsequent to the process of FIG. 25.

27 is a schematic diagram illustrating a part of the step of connecting rods that is subsequent to the step of FIG. 26. FIG.

FIG. 28 is a flowchart for explaining a rod connecting operation by the automatic rod attaching / detaching device according to the embodiment.

FIG. 29 is a flowchart for explaining lowering control of the rotary unit by the automatic rod attaching / detaching device according to the embodiment.

FIG. 30 is a flowchart for explaining chuck upper limit position control when the rod is connected alone in the automatic rod attaching / detaching device according to the embodiment.

FIG. 31 is a flowchart for explaining chuck lower limit position control when the rod is connected alone in the automatic rod attaching / detaching device according to the embodiment.

FIG. 32 is an explanatory diagram of a method for detecting an abnormality in rotation of the attachment / detachment chuck of the automatic rod attachment / detachment device according to the embodiment.

FIG. 33 is a plan view and a front view of a rod alone according to a conventional example.

FIG. 34 is an explanatory diagram of a hoisting state of the boiler module by the hanging rod.

FIG. 35 is an explanatory diagram of a conventional lifting method using a hanging rod.

[Explanation of symbols]

52 Hanging Rod 52C Male Threaded Part 52D Female Threaded Part 52S Rod Single Unit 54 Rod Storage Box 56 Boiler Module 60 Boiler Jack 68 Rod Automatic Attachment / Detachment Device 70 Rod Conveying Device 84 Upper Chuck Unit 86 Lower Chuck Unit 110 Rotation Stopper 138 Rotation Unit 140 Detachable Chuck 142 Rotation motor 144 Elevation motors 156, 160 Axial direction deviation absorption means (slide shaft, compression spring) 170 Rotation axis deflection deviation absorption means (spring coupling) 172 Grip claw 178 Rotation detection plate 180 Distance detection plate 194 Rotation detection sensor 196 Origin detection sensor 184, 186, 188, 190 Spring expansion sensor

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Hideo Koide 1-1-14 Kanda, Chiyoda-ku, Tokyo Inside Hirit Plant Construction Co., Ltd.

Claims (5)

[Claims] 1. A device for attaching and detaching a rod unit to and from a suspension rod end when a lifting rod for lifting is formed by axially screw-connecting the rod unit and lifting and lowering an upper end portion of the rod by a jack. A single head-holding chuck means is provided, the chuck means is connected to a shaft that is rotationally driven by a rotary motor, and deviation absorbing means is provided in a connection path from the output shaft of the rotary motor to the chuck means. A rotating unit, an elevating means for elevating and lowering the rotating unit according to a screw pitch of a single rod, and a rotation sensor for detecting rotation of the chuck means.
A suspension rod, comprising: a control unit that obtains an ascending / descending amount of the chuck means based on an output signal of the rotation sensor, and that ascends / descends the rotating unit via the ascending / descending device according to the ascending / descending amount. Detachable device. 2. The deviation absorbing means provided in a connection path from the output shaft of the rotary motor to the chuck means is composed of an axial deviation absorbing means and a rotary shaft deflection deviation absorbing means. The hanging rod attaching / detaching device according to claim 1. 3. A method of connecting a rod unit to a tip of a lifting rod for lifting formed by axially screwing and connecting the rod unit to a rod unit, while gripping the rod unit by a rotation chuck means. Is abutted against the threaded portion of the tip rod of the connecting suspension rod, and is rotated at a low speed at the abutting position to detect a preset axial displacement of the chuck means and then rotate at a high speed, and the chuck means is rotationally driven. A method of connecting a hanging rod, characterized in that the rotating unit is lowered according to the screw pitch of the rod unit to perform connection by tightening the screw of the rod unit. 4. The suspension rod connecting method according to claim 3, wherein the set amount of the axial displacement of the chuck means is a value corresponding to one pitch of the rod connecting screw. 5. A method of connecting a rod unit to the tip of a lifting rod for lifting formed by axially screwing and connecting the rod unit, wherein the rod unit is held in a suspended state by a rotating chuck means and the connecting suspension rod is connected. While maintaining centering with the thread part of the tip rod of the rod, the rotary chuck means is rotated at a low speed, and the screw part of the rod is screwed by lowering the rotary chuck to rotate at a low speed by utilizing the backlash of the screw surface. After the axial displacement of the chuck means which has been set is detected, the rotation unit is rotated at a high speed, and the rotary unit for rotationally driving the chuck means is lowered in accordance with the screw pitch of the rod single body. A method for connecting suspension rods, characterized in that the connection is made by tightening screws.