JP7683293B2 - Gripping device and method for transporting long objects - Google Patents

Description

The present invention relates to a gripping device that lifts and transports long objects, such as mast members that make up the mast of a tower crane, and a method for transporting long objects.

Various materials and equipment used at construction sites are stored together and transported as needed. For example, the mast (support) that makes up a tower crane is disassembled into multiple pieces when not in use and stored together as mast components. Then, when needed, the mast components are lifted from the storage location and transported to the construction site by truck or other vehicle.

Since such mast members are long and complex in shape, ropes or the like are wound around a portion of the upper part of the mast member, and these ropes are then hoisted and transported. A load rotation device is also used to hoist and transport the mast members (see, for example, Patent Document 1). The load rotation device described in this document is equipped with a flywheel, a rotation motor, and a tilt motor, and utilizes the gyro effect that occurs when the flywheel, which is rotated by the rotation motor, is tilted by the tilt motor to rotate the load suspended by the hoisting member.

JP 2014-131940 A

Normally, when lifting, workers perform rigging and escorting work. In this case, it was necessary to consider the balance of the mast components and perform rigging and escorting work on the mast components at a high altitude. This made it difficult to transport quickly and smoothly.

The gripping device that solves the above problem is a gripping device for gripping a long object and lifting it with a lifting device, and includes an engagement part that engages with the long object, a main body part that connects to the lifting device, and a movement mechanism part that moves the main body part relative to the engagement part.

A method for transporting long objects that solves the above problem is a method for transporting long objects that uses a gripping device to grip the long object and lift it with a lifting device, and moves the long object, the gripping device having an engagement part that engages with the long object, a main body part that connects to the lifting device, and a movement mechanism that can change the relative position of the main body part and the engagement part, and the engagement part is hooked onto the long object by moving the engagement part relative to the main body part using the movement mechanism, so that the long object assumes a target posture.

The present invention allows long objects to be transported quickly and smoothly.

FIG. FIG. 4 is a front view of a gripping device included in the transport device according to the embodiment. FIG. FIG. 2 is a plan view of the gripping device in the embodiment, with the main body portion removed. FIG. 4 is a block diagram illustrating a configuration of a control unit of the transport device according to the embodiment. FIG. 13 is a front view of the gripping device according to the embodiment, in which the hook portion is disposed at the gripping position of the mast member. FIG. 4 is a right side view of the gripping device before the hook portion is inserted into the mast member in the embodiment. FIG. 13 is a right side view of the gripping device after the hook portion is inserted into the mast member in the embodiment. FIG. 13 is a front view of the gripping device in the embodiment, in which the hook portion is hooked to the mast member to move the center of gravity.

Below, an embodiment of a gripping device and a method for transporting long objects will be described with reference to Figures 1 to 9. Here, the gripping device of this embodiment grips a mast member that constitutes the mast (support) of a tower crane.

First, the mast member 60 gripped by the gripping device will be described with reference to FIG.
The mast member 60 has a generally rectangular parallelepiped shape overall, and includes four main members 61 and a plurality of reinforcing plates 62. The main members 61 extend in the longitudinal direction of the mast member 60, have a rectangular parallelepiped shape, and are arranged at the four corners of a plane perpendicular to the longitudinal direction. The reinforcing plates 62 are plate-like members that connect and reinforce the main members 61 and other reinforcing plates 62 on the same surface. For this reason, appropriate gaps are formed between the main members 61 and the reinforcing plates 62. In the mast member 60 of this embodiment, the main members 61 and the reinforcing plates 62 are arranged in the same manner on the four side surfaces.

As shown in FIG. 1 , the gripping device 20 is suspended from the transport device 10 .
The transport device 10 is a gantry (bridge) crane that is placed on a pair of spaced apart traveling rails R1. The traveling rails R1 are provided on both sides of an accumulation area MB1 in which a plurality of mast members 60 are piled up. In the accumulation area MB1, the mast members 60, which are long objects, are laid down and arranged front to back and left to right, stacked in multiple stages.

The transport device 10 includes legs 11, 13, a girder 15, and a club trolley 16. A plurality of wheels 12, 14 that rotate and run on the running rail R1 are provided on the undersides of the legs 11, 13. The wheels 12, 14 are driven by running devices provided on the legs 11, 13, respectively.

The girder 15 is arranged to span the upper parts of the legs 11 and 13. A club trolley 16 is provided on the girder 15 so that it can move in the extension direction of the girder 15 by driving the traverse device. The club trolley 16 has a built-in hoisting device (not shown) as a lifting device. The hoisting device winds up or sends out the rope W1 to raise and lower the gripping device 20 suspended via the rope W1.

As shown in FIG. 2, the rope W1 of the hoisting device is wound around a movable pulley fixed to a hook F1. The hook F1 is hooked onto a protrusion of a hanging member 18 fixed to the upper end of the main body 21 of the gripping device 20, and lifts the gripping device 20.

As shown in FIG. 3, the gripping device 20 includes a main body 21 and a frame member disposed below the main body 21. In this embodiment, the main body 21 incorporates a rotation control device that serves as an angle adjustment device for controlling the rotation angle of a suspended load such as a Skyjuster (registered trademark).

As shown in FIG. 4, the frame member has a configuration that is symmetrical with respect to a center line C1 extending in the longitudinal direction. The frame member has base members 23, 24, two fixing members 25, and reinforcing members 26, 27. The base members 23, 24 are perpendicular to the center line C1 and slightly shorter than the width of the mast member 60 to be transported. The base members 23, 24 are cylindrical members with a substantially square cross section. The two fixing members 25 are arranged parallel to the center line C1. Each fixing member 25 connects the ends of the base members 23, 24 to each other. The arrangement of the base members 23, 24 and the fixing members 25 is reinforced by the reinforcing members 26, 27. The main body 21 is placed and fixed on the reinforcing member 26 via the mounting member 22.

A connecting member 28 (29) is fitted to each end of each base member 23 (24). Each connecting member 28, 29 protrudes from an opening of the base member 23, 24. Furthermore, the two connecting members 28 (29) are arranged side by side with a gap between them inside the base member 23 (24), and can slide inside the base member 23, 24 at least by the movable length of the hook portion 35b described below.

The upper surfaces of the tips of the connecting members 28, 29 are fixed to the lower surfaces of both ends of the base members 31, 32, respectively. The base members 31, 32 are arranged parallel to the center line C1 and are tubular members with a substantially square cross section. The mounting members 33, 34 penetrate each of the base members 31, 32, respectively. The mounting members 33, 34 fit into the base members 31, 32 and are arranged so as to be slidable relative to the base members 31, 32. Claw members 35 are provided on both ends of each mounting member 33, 34.

As shown in FIG. 2, each claw member 35 has a support portion 35a, which is a cylindrical rod member, and a hook portion 35b provided at the lower end of the support portion 35a. The upper end of the support portion 35a is fixed to the end of the mounting members 33, 34. The hook portion 35b is an engagement portion that is inserted between the mast members 60 to be grasped.

As shown in FIG. 4, each hook portion 35b has a mounting portion on the center line C1 side that extends from the support portion 35a by a length D1. The length D1 is greater than the thickness of the reinforcing plate 62 of the mast member 60. A load cell (not shown) is provided on the upper surface of each hook portion 35b. Each load cell measures the load applied to the hook portion 35b when a part of the mast member 60 is placed on the hook portion 35b.

Furthermore, actuators 41, 42 are fixed to the reinforcing member 27. Each actuator 41, 42 is disposed in the center of the frame member such that the rods 41a, 42a are parallel to the base members 23, 24. The tips of the rods 41a, 42a of each actuator 41, 42 are fixed to the center of the base members 31, 32, respectively. Each actuator 41, 42 extends and retracts the rods 41a, 42a by an electric motor. The extension and contraction of the rods 41a, 42a changes the distance between the base members 31, 32 and the center line C1.

In addition, actuators 46, 47 as movement mechanisms are fixed to the upper surface of each of the base members 31, 32 via mounting plates 45 so as to be aligned with the base members 31, 32. Each actuator 46, 47 is positioned slightly closer to the base member 23 side than the center of the frame member, and rods 46a, 47a are extended and retracted by an electric motor.

The tips of the rods 46a and 47a are fixed to the mounting members 33 and 34, respectively, near the claw member 35 on the base member 24 side. When the rods 46a and 47a of each actuator 46 and 47 extend and retract, the claw member 35 fixed to the mounting members 33 and 34 moves relative to the base members 31 and 32 in the extension direction of the center line C1.

(Control unit of conveying device)
Next, the configuration of the control unit 50 of the conveying device 10 having the above-described configuration will be described with reference to FIG.

The control unit 50 of the transport device 10 is connected to the traveling device provided on the legs 11 and 13 of the transport device 10, the traverse device provided on the girder 15, and the hoisting device built into the club trolley 16. Furthermore, the control unit 50 is connected to the actuators 41, 42, 46, and 47 of the gripping device 20, the load cells provided on each hook portion 35b, and the rotation control device of the main body 21. The control unit 50 acquires the data value of the load of the mast member 60 applied to the load cell.

The control unit 50 is also connected, for example wirelessly, to a remote control unit RC1 that receives instructions from an operator.
The control unit 50 includes a movement control unit 51 , a lift control unit 52 , a hook control unit 53 , a center of gravity control unit 54 , and a rotation control unit 55 .

The movement control unit 51 moves the gripping device 20 by moving the legs 11, 13 and the girder 15.
The lifting control unit 52 drives the club trolley 16 to control the lifting and lowering of the gripping device 20 .
The hook control unit 53 drives the actuators 41 and 42 to insert the hook portion 35 b into the mast member 60 .

The center of gravity control unit 54 moves the main body 21 relative to the hooking unit 35b. In this case, the center of gravity C2 of the gripping device 20 is moved relative to the point (gripping position) where the hooking unit 35b is hooked onto the mast member 60 so that the mast member 60 is lifted in a substantially horizontal position (target position) when the gripping device 20 is lifted. The center of gravity control unit 54 stores the position of the center of gravity C2 of the gripping device 20 and the position of the center of gravity C6 of the mast member 60 in order to adjust the relative positions of the mast member 60 and the gripping device 20. The position of the center of gravity C2 of the gripping device 20 and the position of the center of gravity C6 of the mast member 60 are relative distances from the reference points (ends and centers) of the main body 21 of the gripping device 20 and the mast member 60, respectively. Furthermore, the center of gravity control unit 54 adjusts the position of the gripping device 20 using the loads acquired from the load cells of the respective hooking units 35b so that the loads of the load cells are substantially the same.
The slewing control unit 55 changes the horizontal orientation of the mast member 60 so that the mast member 60 can be placed on the bed of the truck T1, which is the destination of the mast member.

(Method of transporting the mast member 60)
Next, a method for transporting the mast member 60 using the transport device 10 will be described.
In the accumulation area MB1 shown in Figure 1, multiple mast members 60 are arranged with the extension direction of the main material 61 horizontal, and with a distance between adjacent mast members 60 in the horizontal direction that allows the claw members 35 of the gripping device 20 to be inserted.

Here, an operator issues operational instructions to the control unit 50 of the transport device 10 via the remote control unit RC1.
First, in response to an operation instruction, the movement control unit 51 moves the legs 11, 13 to move the gripping device 20 to a position corresponding to the mast member 60 to be transported. In this case, the movement control unit 51 moves the gripping device 20 so that the mast member 60 to be transported is located between the base members 31, 32 of the gripping device 20.

Next, in response to the operation instruction, the movement control unit 51 moves the club trolley 16 along the girder 15 to move the gripping device 20 to a position directly above the mast member 60 to be transported. In this case, the rotation control unit 55 drives the rotation control device of the main body unit 21 to rotate the gripping device 20 so that the direction of the center line C1 coincides with the longitudinal direction of the mast member 60.

Then, in response to an operation instruction, the lifting control unit 52 drives the hoisting device of the club trolley 16 to let out the rope W1 and gradually lower the gripping device 20.
6, the hoisting device lowers the gripping device 20 to a position where the hook portion 35b of the gripping device 20 is lower than the main material 61 located at the upper end of the mast member 60. Specifically, the worker lowers the gripping device 20 to a position in the gap between the main material 61 and the reinforcing plate 62 of the mast member 60 where the hook portion 35b of the gripping device 20 can be inserted.

In this case, as shown in FIG. 7, the rods 41 a , 42 a of the actuators 41 , 42 are extended, and the hook portions 35 b are positioned outside the outer circumferential surface of the mast member 60 .
Then, in response to an operational instruction, the latch control section 53 drives the actuators 41 and 42 to contract the rods 41a and 42a.

In this case, as shown in FIG. 8, the connecting members 28 (29) are close to each other, so that the inner ends of the hooking portions 35b of the claw members 35 are positioned inside the reinforcing plates 62 on the side surfaces of the mast members 60.
Next, as shown in FIG. 9, the center of gravity control unit 54 drives the actuators 46, 47 to extend the rods 46a, 47a so that the center of gravity C2 is located directly above the center of gravity C6 of the mast member 60.

In this state, in response to an operation instruction, the lifting control unit 52 drives the club trolley 16 to raise the gripping device 20. In this case, when the reinforcing plate 62 of the mast member 60 is placed on the hanging portion 35b of the claw member 35, the center of gravity control unit 54 acquires load data from the load cell of the hanging portion 35b. Here, the center of gravity control unit 54 stops the hoisting device when the load of the load cell in the hanging portion 35b arranged in the longitudinal direction of the mast member 60 is greater than the allowable range. Then, the center of gravity control unit 54 drives the actuators 46 and 47 to move the main body unit 21 to the side of the hanging portion 35b where the load cell measuring the lighter load is located, thereby adjusting the weight balance of the hanging portion 35b on which the mast member 60 is placed.

When the load difference of the load cell of the hook 35b in the longitudinal direction of the mast member 60 falls within the allowable range, the lifting control unit 52 further drives the hoisting device to raise the gripping device 20 and the mast member 60.

Then, as shown in FIG. 1, in response to an operation instruction, the movement control unit 51 moves the legs 11, 13 along the traveling rail R1 to a position corresponding to the truck T1 carrying the mast member 60.

Next, in response to the operation instruction, the movement control unit 51 moves the club trolley 16 to move the gripping device 20 along the girder 15 to above the truck T1. Then, in response to the operation instruction, the rotation control unit 55 drives the rotation control device of the main body unit 21 to rotate the gripping device 20 so that the longitudinal direction of the mast member 60 matches the orientation of the bed of the truck T1. Then, in response to the operation instruction, the lifting control unit 52 drives the hoisting device to lower the gripping device 20, thereby placing the mast member 60 on the bed of the truck T1.

When the mast member 60 is placed on the bed of the truck T1, the lifting control unit 52 stops the hoisting device in response to an operation instruction, and then the hook control unit 53 drives the actuators 41, 42 of the gripping device 20 to extend the rods 41a, 42a. This separates the connecting members 28 (29) from each other, so that the hook portion 35b of the claw member 35 is positioned outside the reinforcing plate 62 of the mast member 60. Then, in response to an operation instruction, the lifting control unit 52 drives the hoisting device to raise and lower the gripping device 20. After that, the truck T1, with the mast member 60 removed from the gripping device 20 and placed on its bed, transports the mast member 60 to another location.

(effect)
In this embodiment, the position of the center of gravity C2 of the gripping device 20 is moved relative to the hooking portion 35b of the gripping device 20. As a result, even if the number of hookable points on the mast member 60 is limited, the mast member 60 can be brought into the target posture according to the positional relationship between the center of gravity C6 of the mast member 60 and the center of gravity C2 of the gripping device 20.

According to this embodiment, the following effects can be obtained.
(1) In this embodiment, after the hook portions 35b of the claw members 35 of the gripping device 20 are inserted into the mast member 60, the main body 21 of the gripping device 20 is moved relative to the hook portions 35b so that the position of the center of gravity C2 of the gripping device 20 coincides with the position of the center of gravity C6 of the mast member 60. As a result, when the gripping device 20 is lifted, the mast member 60 can be stably lifted with its longitudinal direction kept horizontal, and therefore the mast member 60 can be transported quickly.

(2) In this embodiment, the control unit 50 obtains the loads of the load cells of the hooks 35b when lifting the mast member 60 and adjusts the center of gravity position using these loads. This allows the mast member 60 to be lifted more stably.

(3) In the gripping device 20 of this embodiment, the tips of the rods 41a, 42a of the actuators 41, 42 are fixed to the center of the base members 31, 32. This allows the claw members 35 provided at both ends of the mounting members 33, 34 that penetrate the base members 31, 32 to be moved smoothly.

(4) The gripping device 20 of this embodiment is equipped with a claw member 35 that is large enough to be inserted into the gap between adjacent mast members 60. This allows the gripping device 20 to grip the mast members 60 from both sides even if the mast members 60 are densely packed and arranged in the accumulation area MB1.

This embodiment can be modified as follows: This embodiment and the following modifications can be combined with each other to the extent that there is no technical contradiction.
In the gripping device 20 of the above embodiment, the actuators 41, 42 move the hook portion 35b toward or away from the center line C1, and the actuators 46, 47 move the main body 21 relative to the hook portion 35b. The insertion mechanism for inserting the hook portion 35b into the mast member 60 and the movement mechanism for moving the hook portion 35b to the main body 21 to adjust the balance of the gripping device 20 are not limited to configurations using actuators. For example, mechanisms using worm gears may be used.

- In the above embodiment, after the hook portion 35b of the gripping device 20 is inserted into the mast member 60, the main body portion 21 of the gripping device 20 is moved relative to the hook portion 35b. The timing of the movement of the center of gravity C2 of the gripping device 20 and the hooking of the mast member 60 by the hook portion 35b may be reversed. For example, the position of the center of gravity C2 of the gripping device 20 is located above the position of the center of gravity C6 of the mast member 60. After that, the actuators 46 and 47 are driven to move the hook portion 35b relative to the main body portion 21 to the gripping position, and then the actuators 41 and 42 may be driven to insert the hook portion 35b into the mast member 60. In this case, the center of gravity control unit 54 also acquires load data from the load cell of the hook portion 35b. Then, the center of gravity control unit 54 drives the actuators 46 and 47 to move the main body portion 21 as necessary to adjust the weight balance. Additionally, weight balance may be adjusted using data other than the load cell load data, for example, using the center of a figure in a captured image.

- In the above embodiment, the control unit 50 of the transport device 10 controlled the position, elevation, etc. of the gripping device 20 in response to the operator's operation instructions. Alternatively, the control unit 50 may identify the position and shape of the mast member 60 and control the position, elevation, etc. of the gripping device 20. For example, a camera is provided on the underside of the gripping device 20. The control unit 50 then identifies the arrangement of the designated gripping target mast member 60 from an image captured by the camera. Next, the control unit 50 uses the image captured by the camera to identify a position at which the hook portion 35b can engage from the shape of the mast member 60. The control unit 50 then determines the horizontal position and lowering height of the gripping device 20 according to the engageable position identified by the captured image. The control unit 50 then controls the position and elevation of the gripping device 20 so that the gripping device 20 is at the determined position and height.

- In the above embodiment, the target posture of the gripping device 20 is a posture in which the longitudinal direction of the mast member 60 is horizontal. The target posture is not limited to a posture in which the longitudinal direction of the long object is horizontal, as long as the object to be lifted is in a stable posture. For example, an inclined posture may be used depending on the shape of the long object. In this case, the center of gravity of the gripping device is moved relative to the center of gravity of the long object so that the object is in this posture, and then the object is lifted.

- In the above embodiment, the claw member 35 includes a support portion 35a and a hook portion 35b, which are cylindrical rod members. The configuration of the claw member 35 is not limited to this, and for example, the support portion 35a may be of an extendable shape. In this case, by adjusting the length of the support portion 35a, the hook portion 35b attached to the same base members 31, 32 can be hooked to different heights of the mast member 60.

- In the above embodiment, the gripping device 20 lifts the mast member 60 as a long object. The long object that the gripping device 20 can lift is not limited to the mast member 60. It can be applied to any long object that has restrictions on the position at which the hook portion 35b can be engaged.

Next, the technical ideas that can be understood from the above embodiment and other examples will be described below.
(a) the main body portion includes an angle adjustment device that adjusts a rotation angle of the elongated object,
3. The method for transporting a long object according to claim 2, further comprising the step of: after the long object is lifted, rotating the long object using the angle adjustment device.
(b) A method for transporting a long object as described in claim 2 or (a), characterized in that after the engaging portion is engaged with the long object at a gripping position where the engaging portion can engage with the long object, the main body portion is moved relative to the engaging portion to achieve the target posture.

(c) A method for transporting long objects as described in (a) or (b) in claim 2, characterized in that the long object is a mast component constituting the mast of a tower crane.
(d) A conveying device comprising a gripping device for gripping and lifting a long object, and a lifting device for lifting the gripping device, and for suspending and moving the long object, wherein the gripping device comprises an engagement portion for engaging with the long object, a main body portion for connecting to the lifting device, and a moving mechanism portion for moving the main body portion relative to the engagement portion.

C1...center line, C2, C6...center of gravity, D1...length, F1...hook, MB1...accumulation area, R1...running rail, RC1...remote control unit, T1...track, W1...rope, 10...transport device, 11, 13...legs, 12, 14...wheels, 15...girder, 16...club trolley, 18...suspension member, 20...gripping device, 21...main body, 22...mounting member, 23, 24, 31, 32...foundation member, 25...fixing member, 26, 27... Reinforcing member, 28, 29...connecting member, ...foundation member, 33, 34...mounting member, 35...claw member, 35a...supporting portion, 35b...hooking portion, 41, 42, 46, 47...actuator, 41a, 42a, 46a, 47a...rod, 45...mounting plate, 50...controller, 51...movement control unit, 52...lifting control unit, 53...hooking control unit, 54...center of gravity control unit, 55...rotation control unit, 60...mast member, 61...main material, 62...reinforcing portion.

Claims (3)

A gripping device for gripping a long object and lifting it with a lifting device,
An engagement portion for engaging with the elongated object;
A main body portion connected to the lifting device and having an angle adjustment device for controlling a rotation angle built therein ;
a frame member provided below the main body portion and on which the main body portion is placed;
A gripping device comprising: a movement mechanism that moves the main body portion relative to the engagement portion. The frame member includes:
Two spaced apart first base members used in a first mechanism for moving the engagement portion closer to or away from the elongated object;
and two fixing members connecting the ends of the first base member to each other,
The first mechanism further includes a drive unit that pushes and pulls a connecting member slidably housed in the first base member from the first base member,
a hollow second base member disposed perpendicular to the first base member and to which the tip of the connecting member is fixed;
a mounting member slidably received within the second base member;
The gripping device according to claim 1 , further comprising: a claw member provided on a portion of the mounting member that protrudes from the second base member, the claw member having the engagement portion. A method for transporting a long object, comprising: moving the long object using a gripping device for gripping the long object and lifting the long object with a lifting device, the method comprising:
The gripping device includes:
An engagement portion for engaging with the elongated object;
A main body portion connected to the lifting device and having an angle adjustment device for controlling a rotation angle built therein ;
a frame member provided below the main body portion and on which the main body portion is placed;
a moving mechanism capable of changing a relative position between the main body and the engagement portion ,
The angle adjustment device is driven to rotate the frame member so that the arrangement direction of the members constituting the frame member coincides with the longitudinal direction of the elongated object to be transported, and the gripping device is moved to the position of the elongated object to be transported, and then the engagement portion is engaged with the elongated object;
The method for transporting long objects is characterized in that the engaging portion is then moved relative to the main body portion by the moving mechanism portion, thereby adjusting the positional relationship between the center of gravity of the transport object and the center of gravity of the gripping device, so that the long object is in a target posture when lifted .