JPH0417874B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Field of Application] The present invention relates to a remote-controlled crane handling method.

[Prior Art] Conventionally, cranes have been generally used to handle heavy objects, and most of them are suspended using wire ropes. However, in the wire hanging method using a crane, as shown in FIG.
hook 3 attached to the movable pulley 1
A predetermined lifting object 4 is lifted and lowered through the lifting object 4, and normally another wire rope (not shown) is attached to the lifting object 4.
There is a method of manually hooking this wire rope to the hook 3 of the pulley 1.

In addition, as shown in Fig. 2, the wire rope 2
There is also a method in which the lifting object 4 is suspended using two ropes.

Furthermore, as shown in FIG.
Wire drums 6 are installed at four locations, and the wire ropes 2 taken down from these wire drums 6 are attached to the same location at the center of the lifting jig 7, so that each of the wire ropes 2 forms an isosceles triangle. There is also a crane handling method that prevents the lifted object from rolling during handling.

[Problems to be Solved by the Invention] However, the method shown in FIG. This poses a problem that makes it unsuitable for handling by remote control.

In addition, the method shown in FIG.
are attached perpendicularly and parallel to each other, it is the same as having four fulcrums between the hoisted object 4 and the wire drum 6, and when the crane truck 5 travels, the hoisted object 4 moves in the direction of arrow a. There is a problem that causes shaking. Furthermore, in the method shown in FIG. 3, although the isosceles triangle formed by each wire rope 2 can prevent the lifting jig 7 from swinging in the directions of arrows a and b relative to the crane truck 5, the method shown in FIG. There are problems such as the inability to prevent rotation in the direction. The present invention has been made to solve the above-mentioned problems, and provides a remote-controlled crane handling method that allows the lifting jig to be controlled by remote control without causing any rolling or rotation.

[Means for Solving the Problems] In the remote-controlled crane handling method of the present invention, on parallel lines drawn equidistantly on both sides of the X-X axis passing through the center point of the crane truck, - Wire ropes dropped from each pair of wire drums, one pair on one parallel line and two pairs on both sides, are installed equidistant from the Y-Y axis perpendicular to the X axis. Parallel on one side, installed at a symmetrical point on the Y-Y axis passing through the center point of the tool, and installed at a position equidistant from the X-X axis on parallel lines drawn equidistantly on both sides of the Y-Y axis. One pair of wire ropes are lowered from each pair of wire drums installed on the line, and two pairs are installed on parallel lines on both sides, and the wire ropes are lifted up and passed through the center point of the jig to the symmetrical points on the X-X axis perpendicular to the Y-Y axis. The lifting jig is raised and lowered by hoisting and unwinding the wire ropes of all the drums, and the wire ropes of adjacent wire drums of the 4 to 8 wire drums are hoisted in opposite directions. The lifting jig is characterized in that by lowering the lifting jig, the lifting jig is rotated around a Z-Z axis which is a vertical axis.

[Function] The crane truck is equipped with four pairs of wire drums, and the wire ropes suspended from each pair of wire drums are attached to predetermined positions of a lifting jig placed below the crane truck, An isosceles triangle is formed by wire ropes suspended from each pair of wire drums.

Also, because the weight of the hanging jig always applies a downward tensile force to the wire rope,
The lifting jig does not roll in the direction of each pair of opposing wire drums on the crane truck. And, the present invention is a crane truck X-X
2 pairs parallel to the axial direction (on parallel lines drawn at equal distances on both sides of the X-X axis) 2 pairs of wire drums parallel to the Y-Y axis (on parallel lines drawn at equal distances on both sides of the Y-Y axis) This not only prevents horizontal shaking of the lifting jig in the X-X axis and Y-Y axis directions, but also ensures that the attachment point of the wire rope to the lifting jig passes through the center point of the lifting jig. Orthogonal Y
- By installing them at symmetrical points on the Y-axis and the X-X axis, the lifting jig does not rotate around the Z-Z axis, and the horizontal axis X-X
No rotation occurs around the axis, Y-Y axis.

Therefore, crane handling can be performed by remote control.

[Example] Hereinafter, an example of the present invention will be described in detail based on the accompanying drawings.

FIG. 4 shows an embodiment according to the present invention. In the figure, X-
A pair of wire drums 31, 32 and 33, 34 are installed on the left and right sides perpendicular to the X axis, and a pair of wire drums 31, 32 and 33, 34 are installed on the left and right sides perpendicular to the Y-Y axis passing through the center point 0 of the crane truck 30. Wire drums 35, 36 and 37, 38 are installed. The above wire drums 31, 32 and 3
Wire rope 39,3 lowered from 3,34
9, 40, and 40 are attached to axially symmetrical points 44 and 45, respectively, on the X-X axis passing through the center point 43a of the lifting jig 43 installed below, and the lifting jig 43 is mounted in the Y-Y axis direction. This prevents the robot from swinging, and also prevents it from swinging around the Y-Y axis, which is a horizontal axis.

In addition, the wire drums 35, 36 and 3
Wire rope 41,4 lowered from 7,38
1, 42, and 42 are attached to axially symmetrical points 46 and 47, respectively, on the Y-Y axis passing through the center point of the lifting jig 43 placed below, and the lifting jig 43 is mounted in the X-X axis direction. prevent shaking,
Furthermore, it also prevents shaking caused by rotation around this X-X axis, which is a horizontal axis.

Furthermore, wire drums 31, 32 and 33,
A jig 43 for lifting the apex of the triangle formed by 34
A symmetrical point 44 on the X-X axis passing through the center point 43a of
45, wire drum 35,
The apex of the triangle formed by 36, 37, and 38 passes through the center point 43a of the lifting jig 43, and the
Rotation of the lifting jig 43 around the Z-Z axis is prevented by attaching it to symmetrical points 46 and 47 on the Y-Y axis perpendicular to the axis.

For normal lifting and lowering, wire drums 31, 32, 33, 34, 35, 36,
37, 38 wire ropes 39, 40, 41,
42 is simultaneously hoisted up and unwound, the lifting jig 43 moves up and down vertically.

When handling by remote control when the lifted object 4 is placed in a wrong direction or twisted with respect to the Z-Z axis under the crane, the adjacent wire drum By winding up and unwinding the wire ropes in opposite directions, it is possible to rotate the lifting jig 43 in the direction of arrow c, correcting the misalignment with the object 4, and lifting it. That is, the wire ropes of the wire drums 31, 35, 34, 38 are wound up, and the wire ropes of the wire drums 32, 36, 33,
When the wire rope No. 37 is unwound, the isosceles triangle formed by the wire rope and the wire drum becomes a scalene triangle. This scalene triangle state results in a difference in the length of the wire rope, so the wire rope on the shorter side tries to move in the vertical direction, so the symmetry point 4
4 goes to 46, 46 goes to 45, 45 goes to 47,
Since the same 47 tries to move to 44, the lifting jig 43 rotates to the left when viewed from above around the Z-Z axis which is a vertical axis. Also, wire drum 3
When the wire ropes 2, 36, 33, and 37 are wound up and the wire ropes of the wire drums 31, 35, 34, and 38 are unwound, the lifting jig 43 rotates to the right around the Z-Z axis when viewed from above. .

[Effects of the Invention] According to the present invention described in detail above, the planar shape of the lifted object is not limited to a circle, but can be triangular, rectangular,
Even objects that have an equilateral triangle or other polygonal shape and require control of the directionality of their surfaces can be handled by remote control.
In addition, since the lifted object does not sway or twist, when the lifted object is lifted, it can be transported to a predetermined location in a stable posture and lowered accurately.

[Brief explanation of drawings]

1 to 3 are explanatory diagrams of a conventional crane handling device, and FIG. 4 is an explanatory diagram showing an embodiment of the present invention. 5, 30... Crane trolley, 6, 31, 32,
33, 34, 35, 36, 37, 38, ... wire drum, 2, 39, 40, 41, 42 ... wire rope. 7, 43...Lifting jig, 43
a...Center point, 44, 45, 46, 47...Symmetry point.

Claims (1)

[Claims] 1 One side installed at a position equidistant from the Y-Y axis passing through the center point and orthogonal to the X-X axis, on parallel lines drawn equidistantly on both sides of the X-X axis passing through the center point of the crane truck. One pair of wire ropes were installed on the parallel lines of Y, and two pairs of wire ropes were installed on the parallel lines on both sides. - unloaded from each pair of wire drums, one pair on one parallel line and two pairs on both sides, installed at positions equidistant from the X-X axis on parallel lines drawn equidistantly on both sides of the Y axis. Lift the wire rope through the center point of the jig and connect it to the Y-
It is attached to each symmetrical point on the X-X axis perpendicular to the Y axis, and the lifting jig is raised and lowered by hoisting and unwinding the wire ropes of all the drums, and . A crane handling method by remote control, characterized in that the lifting jig is rotated around a Z-Z axis which is a vertical axis by hoisting and unwinding wire ropes of adjacent wire drums in mutually opposite directions.