JPS63134495A - Method of controlling hung laod - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] (a). INDUSTRIAL APPLICATION FIELD OF THE INVENTION The present invention relates to a method for lifting construction members using a crane and installing them in a predetermined position.

(B). Conventional technology When a construction member is hung with a wire rope and hoisted by a crane and installed in a predetermined position, the suspended load is subject to pendulum movement or rotational movement around the vertical axis due to wind, horizontal movement for transportation, and stopping operations. It is easy to cause problems and become unstable.

To do this, the lifted parts are moved at low speeds without losing their stability, and human assistance is provided to maintain stability.Fine adjustments are made at predetermined positions while hand and voice signals are conveyed to the crane operator. The suspended load is lowered to the designated location with human assistance and position confirmation, and the wire rope is removed manually.

(c). Problems to be Solved by the Invention Manually restraining the swinging and rotation of a suspended load and making fine adjustments and confirmations at predetermined positions is dangerous work at high places or in dangerous places. Unmanned operation is desired to improve efficiency.

(d). Means to solve the problem: A grab hook that opens and closes by remote control, a rotor blade with a vertical axis of rotation similar to that used in helicopters, a directional propeller with a horizontal axis of rotation, and a television camera. A suspended load control machine equipped with a wire rope is used to suspend the suspended load, which is then lifted by a crane and transported to a predetermined position. It uses directional thrust to stop the swinging of the suspended load, controls the rotation of the directional control propeller to stop the rotation of the suspended load around its vertical axis, and receives images sent from the TV camera on the monitor TV. monitor the status of the suspended load at a predetermined location, finely adjust the position and direction of the suspended load by operating the crane and actuating the rotary blades and direction control propeller, lower the suspended load to the correct position, and remotely control the grasping hook. Open by operation to release the suspended load.

(E). Function The position and posture of the suspended load is monitored by a TV camera and a monitor TV, and the suspended load is controlled by remote control, and the suspended load is lowered to the correct position and the gripping hook is released, eliminating the need for manual assistance and safely and securely handling the suspended load. It can be transported accurately to a predetermined position.

(F). To describe the embodiment, FIG. 1 shows an embodiment of the present invention, in which a suspended load control machine 100 has a rotary blade 30, a direction control propeller 40, a television camera 5, a gripping hook 20, etc. attached to a frame 10. A suspended load 200 is grasped, a wire rope is hung, and the crane is hoisting it up.

In the figure, each one is placed at a symmetrical position from the center of gravity of the frame 10.
A total of two gripping hooks 20 are attached.

A rotor blade 30 similar to a helicopter rotor blade is installed in the center of the frame and is rotated by an engine motor or an electric motor, but its rotation axis is configured to be tilted in any direction and resist pendulum motion. Operate to generate thrust.

Two directional control propellers 40 are installed at symmetrical positions as shown in FIG. 1, and are operated so as to restrain rotation about the vertical axis of the suspended load controller.

One television camera 5 is attached to each end of the frame 10, so that the relationship and condition between both ends of the suspended load and the installation position can be monitored.

The frame 10 is configured in a sheath tube type nested type, and the entire length of the frame can be changed and adjusted, so that the position of the television camera 5 can be adjusted in accordance with the end of the suspended load.

Wire mesh ring guards 6 and 7 are provided around the rotary blades 30 and the direction control propeller 40, respectively, to prevent collisions between the rotary blades and the direction control propeller and other objects.

A wire rope 9 is hung on a hoisting hook 8 provided on a frame 10, and the load is hoisted up by a crane, and a hoisted load 200 is grasped by a grasping hook 20 and conveyed to a predetermined position.

If the suspended load undergoes pendulum movement or rotation during transportation, the rotor blades and direction control propellers are optimally operated to prevent the suspended load from swinging or rotating while conveying it to the specified position. The crane, rotor blades, and directional propellers are then controlled to stay exactly in place while being monitored by a television camera.

Equipped with a gyro sensor to control the direction of the suspended load, and using the signal from it to operate the direction control propeller,
■Construct so that the direction of the period is maintained.

The swinging state of the suspended load can be visually observed from the ground, and the rotor blades and direction control propeller can be operated using a manual remote control device that transmits radio waves. Equipped with sensors, swing direction sensors, speed sensors, acceleration sensors, gyro sensors, etc., and inputs information from each sensor into a computer to determine the optimal rotor blade and direction to control the swing and rotation of the suspended load. In some cases, the operating state of the control propeller is calculated, and the rotary blades and direction control propeller are operated in conjunction with the resulting output to automatically stop the suspended load.

They may also be equipped with air nozzles to assist the rotary blades and directional propellers.

FIG. 2 shows the state in which the gripping hooks 20 are attached to the frame 10 and the opening/closing mechanism, in which a pair of hooks 20 are crossed and connected with a pin 23, attached near the center of the connecting frame 11, and connected to an electric motor 21 and connected thereto. A configuration in which the opening and closing are performed by a gear device 22 is shown.

[Brief explanation of the drawing]

The figure shows an embodiment of the present invention, and FIG. 1 shows a suspended load controller 1.
00 is a perspective view showing a state in which a suspended load 200 is grasped, a wire rope 9 is hung thereon, and the load is hoisted by a crane. FIG.

Claims (1)

[Claims] 1. A method for controlling a suspended load using a suspended load control machine equipped with a propeller that controls the swing and rotation of the suspended load. 2. A method for controlling a suspended load using a suspended load controller equipped with a gripping hook that can be opened and closed by remote control. 3. A method for controlling a suspended load using the suspended load control machine according to the above items 1 and 2, which is equipped with a television camera. 4. Using the suspended load control machine described in Items 1, 2, and 3 above, grasp the suspended load with the gripping hook described in Item 2 above, and attach a string-like object such as a wire rope to the suspended load control machine. , the suspended load is hoisted by a crane and transported to a predetermined position, the propeller set forth in item 1 is operated during the transport and near the predetermined position to stop the swinging and rotation of the suspended load, and the television camera set forth in item 3 is This method of controlling a suspended load is characterized by operating a crane and a propeller while monitoring images sent from a monitor on a TV monitor, lowering the suspended load to a predetermined position accurately, and releasing a gripping hook.