JPH08277094A - Automatic aligning hoisting accessory - Google Patents
Automatic aligning hoisting accessoryInfo
- Publication number
- JPH08277094A JPH08277094A JP8025995A JP8025995A JPH08277094A JP H08277094 A JPH08277094 A JP H08277094A JP 8025995 A JP8025995 A JP 8025995A JP 8025995 A JP8025995 A JP 8025995A JP H08277094 A JPH08277094 A JP H08277094A
- Authority
- JP
- Japan
- Prior art keywords
- suspended load
- horizontal
- self
- length
- suspended
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Load-Engaging Elements For Cranes (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、ボイラなどの構造物の
製造・建設または補修作業における構造物構成部品の吊
り揚げ用の吊具に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hoisting tool for hoisting a structural component in the manufacturing, construction or repair work of a structure such as a boiler.
【０００２】[0002]
【従来の技術】ボイラなどの構造物の製造・建設または
補修作業においては、構造物の構成部品（荷）をクレー
ンで吊り揚げ、水平にして取り付ける必要がある。従来
吊荷の構造・形状が複雑であって、その重心位置の特定
が困難な場合には次のような手順で吊荷全体を水平に調
整していた。2. Description of the Related Art In manufacturing, constructing or repairing a structure such as a boiler, it is necessary to hang up components (loads) of the structure with a crane and mount them horizontally. Conventionally, when the structure and shape of a suspended load are complicated and it is difficult to specify the position of the center of gravity, the entire suspended load was adjusted horizontally by the following procedure.
【０００３】まず、図８（ａ）に示すようにクレーン１
のフック２へワイヤ３を掛け、ワイヤ３が接続している
天秤４の下部へ取り付けたチェーンブロック５へ予備的
に吊荷６を接続し、クレーン１により地面上の架台７か
ら吊荷６を吊り揚げる（これを試吊りという）。このと
き、チェーンブロック５と吊荷６との接続位置（吊点）
が吊荷６の重心位置とズレていると図８（ｂ）に示すよ
うに傾斜が生ずる。その場合には図８（ｃ）に示すよう
に吊荷６を再度架台７の上に降ろし、図８（ｄ）に示す
ようにチェーンブロック５による吊荷６の吊点を移動し
て再度吊り揚げる。この操作を水平になるまで繰り返す
ことにより図８（ｅ）に示すように吊荷６全体を水平に
調整する必要があった。First, as shown in FIG. 8 (a), the crane 1
The wire 3 is hung on the hook 2 of the above, and the suspended load 6 is preliminarily connected to the chain block 5 attached to the lower part of the balance 4 to which the wire 3 is connected, and the crane 6 removes the suspended load 6 from the pedestal 7 on the ground. Lift (this is called trial hanging). At this time, the connection position (hanging point) between the chain block 5 and the suspended load 6
Is shifted from the position of the center of gravity of the suspended load 6, an inclination occurs as shown in FIG. 8 (b). In that case, as shown in FIG. 8 (c), the suspended load 6 is again lowered onto the gantry 7, and as shown in FIG. 8 (d), the hanging point of the suspended load 6 by the chain block 5 is moved and suspended again. Fried. It was necessary to adjust the entire suspended load 6 horizontally as shown in FIG. 8E by repeating this operation until it became horizontal.
【０００４】このように、従来複雑な構造・形状の吊荷
６を水平に吊り揚げる調整作業は熟練と長時間を要する
ものであった。また、吊荷を水平に調整するこの種の装
置として関連するものには、例えば特開平５−１４７８
８３号公報、特開平５−１８０９７７号公報、実開平６
−２７８６８号公報などに開示されたものが挙げられ
る。As described above, conventionally, the adjustment work for horizontally hoisting the suspended load 6 having a complicated structure and shape requires skill and a long time. A device related to this type of device for horizontally adjusting a suspended load is disclosed in, for example, Japanese Patent Laid-Open No. 5-1478.
83, JP-A-5-180977, and Japanese Utility Model Publication No. 6
No. 27868, etc. are mentioned.
【０００５】[0005]
【発明が解決しようとする課題】以上述べた従来技術に
は次のような問題点があった。すなわち、従来の図８の
例のように重心が特定されていない吊荷６を吊り揚げた
時にどの方向へ傾くか見当がつかない。また何度も試吊
りを行い吊点を変える必要があった。また、例えば特開
平５−１４７８８３号公報、特開平５−１８０９７７号
公報、実開平６−２７８６８号公報記載の発明では自動
調芯の配慮がされていないため、水平度の判断や調整操
作は全て作業員が行う必要があり、手数が掛かると共に
長時間を要するものであった。The above-mentioned prior art has the following problems. That is, when the suspended load 6 whose center of gravity is not specified as in the conventional example of FIG. Also, it was necessary to repeat the test suspension many times to change the suspension point. Further, for example, in the inventions described in JP-A-5-147883, JP-A-5-180977, and Japanese Utility Model Laid-Open No. 6-27868, since no consideration is given to automatic alignment, all determinations of horizontality and adjustment operations are performed. It was necessary for the worker to do this, which was troublesome and required a long time.
【０００６】本発明の目的はこのような従来技術の課題
を解決するためのもので、吊荷の自動調芯ができる吊具
を提供することである。また、本発明の目的は吊荷の吊
り揚げた状態で瞬時に水平に復元させる装置を提供する
ことである。さらに、本発明の目的は、吊り揚げた吊荷
の水平方向に対する傾きを簡便、迅速、安全に水平に復
元させる装置を提供することである。An object of the present invention is to solve the above-mentioned problems of the prior art and to provide a hoisting tool capable of automatically aligning a suspended load. Another object of the present invention is to provide a device for instantly restoring the suspended load to a horizontal state. Further, it is an object of the present invention to provide a device that can easily, quickly and safely restore the tilt of a hoisted load to the horizontal direction.
【０００７】[0007]
【課題を解決するための手段】本発明の上記目的は次の
構成によって達成される。すなわち、吊荷を吊り揚げる
ための複数の吊索を備え、吊荷を吊り揚げた状態で吊荷
を水平位置に保持する吊具において、吊り揚げた吊荷の
重心位置による水平方向に対する傾きを検出する傾斜角
度検出手段と、吊り揚げた吊荷の重心位置により個々の
吊索の長さを変更する吊索長変更手段と、前記傾斜角度
検出手段が吊り揚げた吊荷の水平位置を検出するまで前
記吊索長変更手段の吊索の長さを制御する水平制御手段
とを設けた自動調芯吊具である。The above objects of the present invention can be achieved by the following constitutions. That is, in a lifting tool that includes a plurality of hoisting lines for lifting a suspended load and holds the suspended load in a horizontal position in a suspended state, the inclination of the suspended suspended load with respect to the horizontal direction depending on the position of the center of gravity. Inclination angle detecting means for detecting, hanging rope length changing means for changing the length of each hanging rope depending on the position of the center of gravity of the hoisted load, and the inclination angle detecting means for detecting the horizontal position of the hoisted load. Until then, it is a self-aligning suspending tool provided with horizontal control means for controlling the length of the suspension rope of the suspension rope length changing means.
【０００８】また、本発明の自動調芯吊具において、吊
荷を吊り揚げるための天秤が吊索に連結された構成とす
ることができる。また、本発明の自動調芯吊具におい
て、吊索長変更手段は、吊荷を水平位置に保つように吊
り揚げる少なくとも一対の吊索からなり、該一対の吊索
は互いに連結され、かつ一方の吊索の長さを短縮すれば
対向する他方の吊索の長さが同期して伸長し、また逆に
一方を伸長すれば他方が短縮する機構を備えた構成とす
ることができる。 このときの一対の吊索の一方の伸長
の長さと他方の短縮の長さは同一長さとする事が吊索長
変更手段を簡略化する上で望ましい。この機構を用いれ
ば、対向する吊索同士の張力がほぼ釣り合う状態となる
ため吊索の長さを調整する駆動装置の動力を極めて小さ
くすることがでるきと共に、復元速度を２倍にすること
ができる。Further, in the self-centering suspending tool of the present invention, a balance for lifting a suspended load may be connected to the suspension rope. Further, in the self-centering suspending tool of the present invention, the suspending rope length changing means is composed of at least a pair of suspending ropes for suspending a suspended load in a horizontal position, and the pair of suspending ropes are connected to each other, and one of If the length of the hanging rope is shortened, the length of the other hanging rope that opposes is extended synchronously, and conversely, if one is extended, the other can be shortened. At this time, it is desirable that the length of extension of one of the pair of suspension lines and the length of shortening of the other are the same length in order to simplify the suspension line length changing means. If this mechanism is used, the tensions of the opposing slings are almost balanced, so the power of the drive device for adjusting the length of the slings can be made extremely small, and the restoration speed can be doubled. You can
【０００９】また、本発明の駆動装置は電動モータまた
油圧モータと減速装置と電磁ブレーキとリミットスイッ
チおよび動力が衰失した時に駆動装置が空転して吊荷が
落下することを防止するための動力源異常探知リレーと
が組み込まれている。本発明の自動調芯吊具における吊
索長変更手段は、吊索ごとにいわゆるホイスト式の吊索
巻取り機構を備えたものとすることもできる。Further, the drive device of the present invention is an electric motor or a hydraulic motor, a speed reducer, an electromagnetic brake, a limit switch, and a power for preventing the drive from idling and dropping a suspended load when the power is lost. A source abnormality detection relay is incorporated. The hanging rope length changing means in the self-centering hanging device of the present invention may be provided with a so-called hoist-type hanging rope winding mechanism for each hanging rope.
【００１０】また、本発明の自動調芯吊具の傾斜角度検
出手段は天秤または吊荷上に設けられた構成とすること
ができる。傾斜角度検出手段を天秤に設ければ、傾斜角
度検出装置を吊荷が変わるごとに吊荷へその都度取り付
ける作業を削減することができる。Further, the inclination angle detecting means of the self-centering hanging device of the present invention may be provided on a balance or a suspended load. If the tilt angle detecting means is provided on the balance, the work of attaching the tilt angle detecting device to the suspended load each time the suspended load changes can be reduced.
【００１１】また、本発明の自動調芯吊具において、水
平制御手段には吊荷が水平になると自動的に前記吊索長
変更手段が作動する状態から作動しない状態へ移行し、
その状態で固定する機能を備えることができる。また、
本発明の水平制御手段には、傾斜角度検出値の大きさに
応じ、水平との偏差が大きければ高速であって偏差が小
さくなるに従い低速で復元する制御機能、および復元過
程における駆動装置の動作速度と傾斜角度検出値の復元
速度との変化により、水平に到達する位置をあらかじめ
予測して駆動装置を減速し、水平に復元する制御機能を
備えることができる。Further, in the self-centering suspending device of the present invention, when the suspended load becomes horizontal in the horizontal control means, the suspending rope length changing means automatically shifts from a working state to a non-working state.
A function of fixing in that state can be provided. Also,
The horizontal control means of the present invention has a control function of performing a high speed if the deviation from the horizontal is large and a low speed as the deviation becomes smaller according to the magnitude of the detected tilt angle, and the operation of the drive device in the restoration process. It is possible to provide a control function of predicting a horizontal position in advance and decelerating the driving device by changing the speed and the restoration speed of the detected value of the tilt angle to restore the horizontal position.
【００１２】また、本発明の自動調芯吊具において、水
平制御手段は前記吊索長変更手段が作動する状態と作動
しない状態とを選択して切替えることが可能になってい
て、遠隔の無線または有線で切替える装置を備えた構成
とするこができる。この構成を用いれば、遠隔操作によ
り自動調芯機能を停止させることにより、吊荷を目的の
場所へ移動する過程での吊荷の揺れによる傾斜角度の変
動に伴う無駄な修正動作が排除され、動力も節減されて
作動能率が向上する。また、吊り揚げたら直ちに目的の
場所へ移動し、そこで水平に復元することができると共
に、完全には水平にする必要のない場合でもこの吊具を
使うことができる。Further, in the self-centering hanging device of the present invention, the horizontal control means can selectively switch between a state in which the hanging rope length changing means is activated and a state in which the hanging rope length changing means is not activated, and the remote radio means is used. Alternatively, it may be configured to include a device for switching by wire. By using this configuration, by stopping the self-aligning function by remote control, useless correction operation due to fluctuations in the tilt angle due to swing of the suspended load in the process of moving the suspended load to the target location is eliminated, Power is also saved and operating efficiency is improved. In addition, the hoisting tool can be immediately moved to the intended place after being lifted and can be restored to a horizontal position there, and the hoisting tool can be used even when it is not necessary to make it completely horizontal.
【００１３】[0013]
【作用】本発明は吊荷の重心位置を吊荷または天秤の傾
斜で検出して、吊索の長さを修正し、吊荷を自動的に水
平に復元させる装置である。自動調芯吊具の吊索により
吊り揚げた吊荷の重心位置の偏差に応じて変化する吊荷
または天秤の水平方向に対する傾きの方向と大きさを検
出すると、水平制御手段が傾きの方向と大きさに応じて
吊索長変更手段の駆動装置を正または逆転させ水平位置
を検出するまでの吊索長変更手段の動作を制御して水平
にする。このようにして吊荷の構造・形状が複雑で重心
位置の特定が困難な吊荷でも瞬時に水平に復元させるの
で芯出し作業が大幅に能率的で安全になる。The present invention is an apparatus for detecting the position of the center of gravity of a suspended load by the inclination of the suspended load or the balance and correcting the length of the suspended rope to automatically restore the suspended load to the horizontal position. When the direction and size of the slant of the suspended load or balance that changes according to the deviation of the center of gravity of the suspended load lifted by the suspending rope of the self-aligning suspending tool is detected, the horizontal control means detects the direction of inclination. Depending on the size, the drive device of the suspension line length changing means is moved forward or backward to control the operation of the suspension line length changing means until the horizontal position is detected to make it horizontal. In this way, even if the suspended load has a complicated structure / shape and it is difficult to specify the position of the center of gravity, the suspended load is instantly restored horizontally, so that the centering work is significantly efficient and safe.
【００１４】[0014]
【実施例】本発明の実施例を図面とともに説明する。 実施例１ 以下、図１〜図４に本発明の第１の実施例について詳細
に説明する。図１は構造・形状が複雑で、重心位置の特
定が困難な吊荷６を本実施例の自動調芯吊具８（傾斜角
度検出センサ１２と制御装置１３と駆動装置９と吊索１
１と組み合せ体）で吊り、クレーン１で吊り揚げる要領
を図１（ａ）から図１（ｃ）のように手順を追って示す
外観図である。Embodiments of the present invention will be described with reference to the drawings. First Embodiment Hereinafter, a first embodiment of the present invention will be described in detail with reference to FIGS. In FIG. 1, a suspended load 6 having a complicated structure / shape and in which it is difficult to specify the position of the center of gravity is provided with a self-centering suspender 8 (inclination angle detection sensor 12, control device 13, drive device 9 and suspension cord 1).
FIG. 1 is an external view showing a procedure of hoisting with a crane 1) and hoisting with a crane 1 step by step as in FIGS. 1 (a) to 1 (c).
【００１５】本実施例は図１（ａ）に示すようにクレー
ン１の吊ワイヤ３へ自動調芯吊具８および傾斜角度検出
センサ１２を取付け、吊具８の吊索１１の先端には天秤
４および天秤４の下部にチェーンブロック５を取り付け
て架台７上の吊荷６を吊り揚げるものである。In this embodiment, as shown in FIG. 1 (a), a self-aligning suspending tool 8 and an inclination angle detecting sensor 12 are attached to a suspending wire 3 of a crane 1, and a balance is attached to a tip of a suspending rope 11 of the suspending tool 8. The chain block 5 is attached to the lower part of the balance 4 and the balance 4, and the suspended load 6 on the frame 7 is lifted.
【００１６】この構成で吊荷６をクレーン１で吊り揚げ
ると、チェーンブロック５と吊荷６との接続位置（吊
点）と吊荷６の重心がズレている時には、図１（ｂ）に
示すようにクレーン１による前記吊点の真下へ吊荷６の
重心が移動し、かつ吊荷６および天秤４が傾斜して釣り
合った状態となる。When the suspended load 6 is hoisted by the crane 1 in this configuration, when the connection point (suspension point) between the chain block 5 and the suspended load 6 and the center of gravity of the suspended load 6 are deviated from each other, as shown in FIG. As shown in the figure, the center of gravity of the suspended load 6 moves just below the suspension point of the crane 1, and the suspended load 6 and the balance 4 are inclined and balanced.
【００１７】本実施例では天秤４へ取付けられた傾斜角
度検出センサ１２が傾斜の方向と大きさを検出し、その
情報は制御装置１３へ伝えられ、吊索長変更手段である
駆動装置９が作動して、傾斜した天秤４および吊荷６の
高さが低くなっている側の吊索１１の長さＬを図１
（ｃ）に示すように長さＬ１まで短縮させて、天秤４お
よび吊荷６が水平になるように調整する。同時に傾斜し
た天秤４および吊荷６の高さが高い側の吊索１１の長さ
Ｌは天秤４および吊荷６が水平になる長さＬ２まで伸長
される。In this embodiment, the tilt angle detecting sensor 12 attached to the balance 4 detects the direction and size of the tilt, and the information is transmitted to the control device 13 so that the driving device 9 which is a hanging rope length changing means. The length L of the hanging rope 11 on the side where the height of the tilted balance 4 and the suspended load 6 is lowered by operation is shown in FIG.
As shown in (c), the length is shortened to L1 and the balance 4 and the suspended load 6 are adjusted to be horizontal. At the same time, the length L of the hanging rope 11 on the side where the balance 4 and the suspended load 6 are inclined is increased to a length L2 where the balance 4 and the suspended load 6 are horizontal.
【００１８】２本の吊索１１を吊具８の部分で連結され
たものとすることにより、両吊索１１の張力はほぼ吊り
合う状態であるため駆動装置９の動力を極めて小さくす
ることができると共に、吊索１１の長さＬ１とＬ２の変
化量が同等で変化の方向が反対であり、かつ同時に変化
するものにできるので、２倍の復元速度となり短時間で
復元できる。このように本実施例は吊荷６を吊り揚げた
状態での傾斜角度の情報で、吊索１１の長さを自動的に
修正することにより、吊荷６を吊り揚げた状態のままで
水平に復元するものである。By making the two suspension cords 11 connected by the portion of the suspension 8, the tension of both suspension cords 11 is in a state of substantially suspending, so that the power of the drive device 9 can be made extremely small. At the same time, the lengths L1 and L2 of the hanging ropes 11 are equal to each other, the directions of the changes are opposite to each other, and they can be changed at the same time. As described above, in this embodiment, the length of the hanging rope 11 is automatically corrected based on the information on the inclination angle when the suspended load 6 is lifted, so that the suspended load 6 can be horizontally suspended in the suspended state. Is to be restored to.
【００１９】図２は図１の吊荷６と自動調芯吊具８の斜
視図であり、幅が大きな吊荷６のほぼ四隅を天秤４のチ
ェーンブロック５と吊索１１でそれぞれ吊り揚げた場合
を示す。本実施例の吊索長変更手段である駆動装置９
ｘ、９ｙ・吊索１１ｘ、１１ｙと傾斜角度検出センサ１
２ｘ、１２ｙ（図４参照）および制御装置１３は、水平
面上で交差するＸ軸用とＹ軸用との２系統を備えた構成
である。Ｘ軸用とＹ軸用とは同時に作動することができ
るので、立体的に傾斜した吊荷６であっても短時間でＸ
軸およびＹ軸に関して（即ち３６０度全体方向に対し
て）水平に復元させることができる。FIG. 2 is a perspective view of the suspended load 6 and the self-aligning suspending tool 8 of FIG. 1, in which almost four corners of the suspended load 6 having a large width are respectively lifted by the chain block 5 and the suspension cord 11 of the balance 4. Indicate the case. Drive device 9 which is the hanging rope length changing means of the present embodiment
x, 9y / hanging ropes 11x, 11y and inclination angle detection sensor 1
The 2x, 12y (see FIG. 4) and the control device 13 are configured to have two systems, one for the X axis and one for the Y axis, which intersect on the horizontal plane. Since the X-axis and the Y-axis can be operated at the same time, even if the suspended load 6 is three-dimensionally inclined, the X-axis can be operated in a short time.
It can be restored horizontally with respect to the axes and the Y-axis (ie with respect to the overall 360 degree direction).
【００２０】また、吊荷６が水平面的に大きな物であっ
て、多数の吊索１１で吊り揚げる場合にも、自動調芯吊
具８は、その軸数を３軸・４軸・５軸・６軸のように増
やし、軸数の２倍の吊索１１を備えた構成または本実施
例のように２本の吊索１１を吊具８の部分で連絡した場
合は軸数分の吊索１１を備えた構成とすることができ
る。Also, when the suspended load 6 is large in the horizontal plane and is hoisted by a large number of hoisting lines 11, the self-aligning hoisting tool 8 has three, four, or five axes.・ A configuration including the number of suspension lines 11 that is twice as many as the number of six shafts, or when two suspension lines 11 are connected to each other by the suspender 8 as in the present embodiment, suspension is performed for the number of shafts. A structure including the rope 11 can be used.
【００２１】吊荷６が水平になったら制御装置１３は自
動的に停止すると共に駆動装置９内の図示していない電
磁ブレーキによりスプロケットの回転が機械的にロック
され、リモートコントローラ１４へその情報が通信さ
れ、自動調芯中または自動調芯動作完了のいずれである
かを図示されていない作業員が認知することができる。When the suspended load 6 becomes horizontal, the control device 13 automatically stops and the rotation of the sprocket is mechanically locked by an electromagnetic brake (not shown) in the drive device 9, and the information is sent to the remote controller 14. A worker (not shown) can be informed of the communication and can recognize whether the automatic alignment is completed or the automatic alignment operation is completed.
【００２２】また、リモートコントローラ１４には制御
装置１３を通じて、吊荷の水平に対する傾斜角度が表示
され、作業員がこれを認知することができる。また、リ
モートコントローラ１４からは制御装置１３を通じて、
駆動装置９のロックを解除し、水平の再調整を行うこ
と、駆動装置９の速度を強制的に加速または減速するこ
と、駆動装置９を強制的に微小繰返動作（インチング）
すること、および駆動装置９を強制的にロックすること
の指示を行うことができる。Further, the inclination angle of the suspended load with respect to the horizontal is displayed on the remote controller 14 through the control device 13, and the operator can recognize this. In addition, from the remote controller 14 through the control device 13,
Unlocking the driving device 9 to perform horizontal readjustment, forcibly accelerating or decelerating the speed of the driving device 9, and forcibly driving the driving device 9 for minute repeat operation (inching)
It is possible to give an instruction to do so and to forcibly lock the drive device 9.
【００２３】図３は図２の吊索長変更手段である駆動装
置９部分の斜視図であり、減速機構付きの駆動装置９に
はスプロケット１０が連結されていて、天秤４や吊荷６
の傾斜の方向によりスプロケット１０が時計方向または
反時計方向に回転する構成であり、スプロケット１０に
は吊索１１が噛み合っていてスプロケット１０の回転に
より吊索１１の一方を巻き上げ、他方へ送り出す機構で
ある。FIG. 3 is a perspective view of the drive device 9 portion which is the hanging rope length changing means of FIG. 2. A sprocket 10 is connected to the drive device 9 with a speed reduction mechanism, and the balance 4 and the suspended load 6 are connected.
The sprocket 10 is configured to rotate clockwise or counterclockwise depending on the direction of inclination of the sprocket 10. The sprocket 10 is engaged with the suspension cord 11, and the rotation of the sprocket 10 winds one of the suspension cords 11 and sends it to the other. is there.
【００２４】また、駆動装置９には図示しないが、電動
または油圧のモータと減速装置と電磁ブレーキと吊索１
１を一定の長さの範囲を超えては移動させないためのリ
ミットスイッチおよび動力源が衰失した時に駆動装置９
が空転して吊荷６が自重で落下することを防止するため
の動力源異常探知リレーとが組み込まれている。Although not shown in the drive unit 9, an electric or hydraulic motor, a speed reducer, an electromagnetic brake, and a suspension line 1 are provided.
Drive device 9 when the limit switch and the power source for preventing 1 from moving beyond a certain length range are lost.
Is incorporated with a power source abnormality detection relay for preventing the suspended load 6 from falling due to its own weight.
【００２５】また、吊索１１の全長またスプロケット１
０にかみ合う範囲にチェーンを用いることにより、スプ
ロケット１０と吊索１１との間で生ずるスリップを確実
に防止することができる。Further, the entire length of the hanging rope 11 and the sprocket 1
By using the chain in the range where it meshes with 0, it is possible to reliably prevent the slip that occurs between the sprocket 10 and the suspension rope 11.
【００２６】本実施例では吊索長変更手段をＸ軸用とＹ
軸用との２系統備えた構成である。図４にはＸ軸傾斜角
度検出センサ１２ｘ、Ｙ軸傾斜角度検出センサ１２ｙ
と、該センサ１２ｘ、１２ｙの検出信号によって自動調
芯吊具８の駆動装置９ｘ、９ｙを時計方向または反時計
方向へ回転することを制御する制御装置１３と、該制御
装置１３へ指令を与えるリモートコントローラ１４と、
該制御装置１３の信号により駆動する駆動装置９ｘ、９
ｙと、該駆動装置９ｘ、９ｙに接続されたスプロケット
１０ｘ、１０ｙ、および該スプロケット１０ｘ、１０ｙ
に掛けられた吊索１１ｘ、１１ｙとの関係図を示す。In this embodiment, the hanging rope length changing means is for the X axis and is for the Y axis.
This is a configuration with two systems, one for the shaft. FIG. 4 shows an X-axis tilt angle detection sensor 12x and a Y-axis tilt angle detection sensor 12y.
And a control device 13 for controlling rotation of the drive devices 9x, 9y of the self-aligning hanger 8 in the clockwise direction or the counterclockwise direction by the detection signals of the sensors 12x, 12y, and giving a command to the control device 13. The remote controller 14,
Drive devices 9x, 9 driven by signals of the control device 13
y, the sprockets 10x and 10y connected to the drive devices 9x and 9y, and the sprockets 10x and 10y.
The relationship diagram with the hanging ropes 11x and 11y which were hung on is shown.
【００２７】Ｘ軸傾斜角度検出センサ１２ｘによりＸ軸
方向の傾斜が検出されると、その方向と傾斜値が制御装
置１３へ伝達され、その方向と量に応じて制御装置１３
が駆動装置９ｘとそれに連結されたスプロケット１０ｘ
および吊索１１ｘを連動させ、傾斜角度検出センサ１２
ｘが水平状態になる位置まで復元動作を行い、水平状態
で動作ロックして停止する。When the X-axis tilt angle detection sensor 12x detects the tilt in the X-axis direction, the direction and tilt value are transmitted to the control device 13, and the control device 13 is responsive to the direction and amount.
Is a drive device 9x and a sprocket 10x connected thereto.
And the hanging rope 11x are interlocked, and the inclination angle detection sensor 12
The restoration operation is performed up to the position where x becomes the horizontal state, and the operation is locked and stopped in the horizontal state.
【００２８】Ｙ軸に関しても同様にＹ軸傾斜角度検出セ
ンサ１２ｙによりＹ軸方向の傾斜が検出されると、その
方向と傾斜値が制御装置１３へ伝達され、その方向と量
に応じて制御装置１３が駆動装置９ｙとそれに連結され
たプロケット１０ｙおよび吊索１１ｙを連動させ、傾斜
角度検出センサ１２ｙが水平状態になる位置まで復元動
作を行い、水平状態で動作をロックして停止する。この
ように平面図上で交差するＸ軸とＹ軸との２方向を水平
状態にする復元動作を行うことによって吊荷全体を水平
位置に復元することができる。With respect to the Y axis as well, when the Y axis tilt angle detection sensor 12y detects the tilt in the Y axis direction, the direction and the tilt value are transmitted to the control device 13, and the control device according to the direction and the amount. Reference numeral 13 interlocks the drive device 9y with the sprocket 10y and the suspension line 11y connected to the drive device 9y to perform a restoring operation to a position where the inclination angle detection sensor 12y is in the horizontal state, and locks the operation in the horizontal state and stops. In this way, the entire suspended load can be restored to the horizontal position by performing the restoring operation in which the two directions of the X axis and the Y axis intersecting on the plan view are made horizontal.
【００２９】実施例２ 図５は本発明の第２の実施例を示す斜視図である。細長
い形状の吊荷６は、２本の吊索１１（吊具８の部分で連
結し１本とすることもできる）を有する自動調芯吊具８
により吊り揚げて、これを水平に復元することができ
る。本実施例では自動調芯吊具８が、図示されていない
クレーンのワイヤ（図１参照）の下端に取り付けてある
フック２に接続されていて、クレーン１の操作により自
動調芯吊具８は上下方向へ移動する。Embodiment 2 FIG. 5 is a perspective view showing a second embodiment of the present invention. The slender load 6 has a self-aligning suspending tool 8 having two suspending ropes 11 (which can be connected to each other at the suspending tool 8 to be one).
It can be hung up and restored horizontally. In this embodiment, the self-aligning hanger 8 is connected to the hook 2 attached to the lower end of the wire (see FIG. 1) of a crane (not shown), and the self-centering hanger 8 is operated by operating the crane 1. Move up and down.
【００３０】本発明になる自動調芯吊具８は吊荷６に取
り付けた傾斜角度検出センサ１２と、傾斜角度の情報に
より吊索長変更手段である駆動装置９を制御する制御装
置１３と、駆動装置９に連結されているスプロケット１
０と、スプロケット１０に掛けられた端部には吊荷６を
吊下げている吊索１１と、制御装置１３へ指示を与える
リモートコントローラ１４とにより構成されている。The self-centering hanger 8 according to the present invention includes an inclination angle detection sensor 12 attached to a suspended load 6, a control device 13 for controlling a driving device 9 which is a hanging rope length changing means according to information on the inclination angle. Sprocket 1 connected to drive unit 9
0, a suspension line 11 for suspending the suspended load 6 at the end portion hung on the sprocket 10, and a remote controller 14 for giving an instruction to the control device 13.
【００３１】傾斜角度検出センサ１２により吊荷６の傾
斜が検出されると、その方向と傾斜角度が制御装置１３
へ伝達され、その方向と大きさに応じて制御装置１３が
駆動装置９とそれに連結されたスプロケット１０を回転
させ、吊索１１の一方を巻取り他方へ送り出すことによ
り吊索１１の長さＬ１とＬ２とを修正して、吊荷６が水
平状態になる位置まで復元動作を行うものである。When the inclination angle detection sensor 12 detects the inclination of the suspended load 6, the direction and inclination angle of the detected load 6 are controlled by the control device 13.
The control device 13 rotates the drive device 9 and the sprocket 10 connected to the drive device 9 according to the direction and size of the suspension device 11 and winds one of the suspending lines 11 to the other side to send the length L1 of the suspending lines 11. And L2 are corrected so that the suspended load 6 is restored to a horizontal position.
【００３２】実施例３ 図６は本発明の第３の実施例を示す外観図である。製品
の製造・建設または補修作業においては、天井クレーン
１５を用いて吊荷６を吊り揚げることがある。本実施例
では天井クレーン１５から吊り下げられたワイヤ３の下
端のフック２へ自動調芯吊具８が取り付けられている。
自動調芯吊具８は、吊荷６に取り付けた傾斜角度検出セ
ンサ１２と、傾斜角度の情報により吊索長変更手段であ
る駆動装置９を制御する制御装置１３と、駆動装置９に
連結されていて端部には天秤４を吊下げている吊索１１
と、天秤４から吊荷６を吊り下げているチェーンブロッ
ク５と、制御装置１３と天井クレーン１５の操作室に設
置されたリモートコントローラ１４とを結ぶケーブル１
７と、該ケーブル１７を巻き取るケーブルリール１８と
により構成されている。Embodiment 3 FIG. 6 is an external view showing a third embodiment of the present invention. In manufacturing / constructing or repairing a product, the overhead load 15 may be used to lift the suspended load 6. In this embodiment, the self-centering suspending tool 8 is attached to the hook 2 at the lower end of the wire 3 suspended from the overhead crane 15.
The self-aligning hanger 8 is connected to the drive device 9 and the tilt angle detection sensor 12 attached to the hanging load 6, the control device 13 that controls the drive device 9 that is the hanging rope length changing means based on the tilt angle information. Suspended rope 11 hanging the balance 4 at the end
A cable 1 that connects the chain block 5 that suspends the suspended load 6 from the balance 4 and the remote controller 14 installed in the operation room of the overhead crane 15 with the controller 13.
7 and a cable reel 18 for winding the cable 17.
【００３３】ケーブルリール１８はフック２の揚げ降ろ
しに連動してケーブル１７を巻き取る構成であり、ワイ
ヤ３の巻取装置（図示ぜす）に搭載されていて水平方向
には必ずフック２と同位置へ移動するようになってい
る。また、ケーブル１７は制装置１３をリモートコント
ローラ１４で操作するための制御ケーブル１７ａと駆動
装置９へ動力を供給するための動力ケーブル１７ｂとを
平行して収納した構成である。The cable reel 18 is constructed to wind the cable 17 in conjunction with the lifting and lowering of the hook 2. The cable reel 18 is mounted on a wire 3 winding device (shown in the drawing) and is always the same as the hook 2 in the horizontal direction. It is designed to move to a position. The cable 17 has a configuration in which a control cable 17 a for operating the control device 13 with the remote controller 14 and a power cable 17 b for supplying power to the drive device 9 are housed in parallel.
【００３４】傾斜角度検出センサ１２により吊荷６の傾
斜が検出されると、その方向と傾斜角度が制御装置１３
へ伝達され、その方向と量に応じて制御装置１３が駆動
装置９を駆動させ、吊索１１の一方を巻取り、他方へ送
り出すことにより吊索１１の長さＬ１とＬ２とを修正し
て、吊荷６が水平状態になる位置まで復元動作を行うも
のである。When the inclination of the suspended load 6 is detected by the inclination angle detection sensor 12, the direction and the inclination angle are determined by the control device 13.
The control device 13 drives the drive device 9 in accordance with the direction and amount of the suspension cord 11 to wind up one of the suspension lines 11 and send it out to the other to correct the lengths L1 and L2 of the suspension lines 11. The restoration operation is performed up to the position where the suspended load 6 becomes horizontal.
【００３５】実施例４ 図７は本発明の第４の実施例を示す外観図である。本実
施例では天秤４に連結される吊索１１の先端が、図示さ
れていないクレーン（図１または図６参照）の図７に図
示されたワイヤ３の下端に取付けてあるフック２に接続
されていて、クレーン１の操作によりフック２は上下方
向に移動する。Embodiment 4 FIG. 7 is an external view showing a fourth embodiment of the present invention. In this embodiment, the tip of the hanging rope 11 connected to the balance 4 is connected to the hook 2 attached to the lower end of the wire 3 shown in FIG. 7 of the crane (not shown) (see FIG. 1 or 6). By operating the crane 1, the hook 2 moves in the vertical direction.
【００３６】本実施例の自動調芯吊具８は、吊荷６に取
付けた傾斜角度検出センサ１２と、吊荷６を吊る天秤４
と、天秤４上に搭載された吊索長変更手段である駆動装
置９と、同じく天秤４上に搭載された傾斜角度の情報に
より駆動装置９を制御する制御装置１３と、吊荷６を吊
る天秤４と、駆動装置９に連結されていて、かつ天秤４
に距離を隔てて取付けてある複数の滑車２１を経て、か
つ両端部はフック２に掛けられている吊索１１と、制御
装置１３へ指示を与えるリモートコントローラ１４とに
より構成されている。なお、吊荷６はチェーンブロック
５により天秤４から吊り下げられている。The self-centering suspending tool 8 of this embodiment includes a tilt angle detecting sensor 12 mounted on the suspending load 6 and a balance 4 for suspending the suspending load 6.
A drive device 9 which is a hanging rope length changing means mounted on the balance 4, a control device 13 which also controls the drive device 9 on the basis of information on the tilt angle, which is also mounted on the balance 4, and suspends the suspended load 6. The balance 4 and the drive 9 are connected to each other, and the balance 4
A plurality of pulleys 21 are installed at a distance from each other, and both ends thereof are composed of a suspension line 11 hung on a hook 2 and a remote controller 14 for giving an instruction to a control device 13. The suspended load 6 is suspended from the balance 4 by the chain block 5.
【００３７】傾斜角度検出センサ１２により吊荷６の傾
斜が検出されると、その方向と傾斜角度が制御装置１３
へ伝達され、その方向と大きさに応じて制御装置１３が
駆動装置９とそれに連結された図示されていないスプロ
ケット（図３、図４または図５参照）を回転させ、吊索
１１の一方を巻取り他方へ送り出すことにより吊索１１
のフック２と滑車２１間の各々の長さＬ１とＬ２とを修
正して、吊荷６が水平状態になる位置まで復元動作を行
うものである。When the inclination angle detection sensor 12 detects the inclination of the suspended load 6, the direction and the inclination angle are determined by the control device 13.
The control device 13 rotates the drive device 9 and a sprocket (not shown) (see FIG. 3, FIG. 4 or FIG. 5) connected to the drive device 9 in accordance with the direction and size of the suspension device 11 so that one of the suspension cords 11 is moved. Suspend the rope 11 by sending it to the other side
The lengths L1 and L2 between the hook 2 and the pulley 21 are corrected to restore the suspended load 6 to a horizontal position.
【００３８】本実施例になる自動調芯吊具８は、吊荷６
が平面的に大きな物であって吊索１１の本数が多数にな
る場合であっても、例えば、図３、図４に示すように軸
数を吊索１１の数の半数に増やすことによって適用する
ことができる。The self-centering hanger 8 according to this embodiment is used for the suspended load 6
Is a large object in plan view and the number of suspension lines 11 is large, it is applied, for example, by increasing the number of axes to half of the number of suspension lines 11 as shown in FIGS. 3 and 4. can do.
【００３９】[0039]
【発明の効果】以上述べたように、本発明によれば、吊
具の位置と吊荷の重心位置との偏差を吊荷の傾斜で検出
し、吊具の吊索の長さを自動的に調整して水平に復元で
きるので、従来吊り揚げ時に行っていた吊荷を水平にす
るための試吊りの繰り返しや、チェーンブロックの掛け
替えおよび操作の繰り返しなどが不要となり、簡便で能
率良く、しかも吊荷が大きく揺れたり、傾斜したりしな
いので安全の向上が図れる。As described above, according to the present invention, the deviation between the position of the hoisting gear and the position of the center of gravity of the hoisting load is detected by the inclination of the hoisting load, and the length of the hoisting rope of the hoisting device is automatically detected. Since it can be restored to horizontal by adjusting to, it is not necessary to repeat the trial hanging for leveling the suspended load and the repeated chain block replacement and operation, which were conventionally performed when hoisting. Since the suspended load does not shake or tilt significantly, safety can be improved.
【図１】 本発明の実施例１の自動調芯吊具の外観図で
ある。FIG. 1 is an external view of a self-centering hanger according to a first embodiment of the present invention.
【図２】 本発明の実施例１の自動調芯吊具の斜視図で
ある。FIG. 2 is a perspective view of the self-aligning hanger according to the first embodiment of the present invention.
【図３】 本発明の実施例１の自動調芯吊具の駆動部の
斜視図である。FIG. 3 is a perspective view of a drive unit of the self-centering suspending tool according to the first embodiment of the present invention.
【図４】 本発明の実施例１の自動調芯吊具の制御の概
念図である。FIG. 4 is a conceptual diagram of control of the self-aligning hanger according to the first embodiment of the present invention.
【図５】 本発明の実施例２の自動調芯吊具の斜視図で
ある。FIG. 5 is a perspective view of a self-centering hanger according to a second embodiment of the present invention.
【図６】 本発明の実施例３の自動調芯吊具の外観図で
ある。FIG. 6 is an external view of a self-centering hanger according to a third embodiment of the present invention.
【図７】 本発明の実施例４の自動調芯吊具の外観図で
ある。FIG. 7 is an external view of a self-centering hanger according to a fourth embodiment of the present invention.
【図８】 吊荷を水平に吊揚げる従来の要領を示す図で
ある。FIG. 8 is a diagram showing a conventional procedure for hoisting a suspended load horizontally.
１…クレーン、２…フック、３…ワイヤ、４…天秤、５
…チェーンブロック、６…吊荷、７…架台、８…自動調
芯吊具、９、９ｘ、９ｙ…駆動装置、１０、１０ｘ、１
０ｙ…スプロケット、１１、１１ｘ、１１ｙ…吊索、１
２、１２ｘ、１２ｙ…傾斜角度検出センサ、１３…制御
装置、１４…リモートコントローラ、１５…天井クレー
ン、１７…ケーブル、１８…ケーブルリール、２１…滑
車1 ... Crane, 2 ... Hook, 3 ... Wire, 4 ... Balance, 5
... Chain block, 6 ... Suspended load, 7 ... Stand, 8 ... Self-aligning suspension, 9, 9x, 9y ... Drive device, 10, 10x, 1
0y ... sprocket, 11, 11x, 11y ... suspension line, 1
2, 12x, 12y ... Inclination angle detection sensor, 13 ... Control device, 14 ... Remote controller, 15 ... Overhead crane, 17 ... Cable, 18 ... Cable reel, 21 ... Pulley
───────────────────────────────────────────────────── フロントページの続き (72)発明者 永島 利治 広島県呉市宝町６番９号 バブコック日立 株式会社呉工場内 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Toshiharu Nagashima 6-9 Takaracho, Kure City, Hiroshima Prefecture Babcock Hitachi Ltd. Kure Factory
Claims (8)
え、吊荷を吊り揚げた状態で吊荷を水平位置に保持する
吊具において、 吊り揚げた吊荷の重心位置による水平方向に対する傾き
を検出する傾斜角度検出手段と、 吊り揚げた吊荷の重心位置により個々の吊索の長さを変
更する吊索長変更手段と、 前記傾斜角度検出手段が吊り揚げた吊荷の水平位置を検
出するまで前記吊索長変更手段の吊索の長さを制御する
水平制御手段とを設けたことを特徴とする自動調芯吊
具。1. A hoisting tool comprising a plurality of hoisting lines for hoisting a suspended load and holding the suspended load in a horizontal position in a suspended state, wherein a horizontal direction depending on a gravity center position of the suspended suspended load. The inclination angle detecting means for detecting the inclination with respect to, the hanging rope length changing means for changing the length of each hanging rope depending on the position of the center of gravity of the hoisted load, and the horizontal angle of the hoisted load hoisted by the inclination angle detecting means. A self-aligning suspending tool, comprising: horizontal control means for controlling the length of the hanging rope of the hanging rope length changing means until the position is detected.
結されていることを特徴とする請求項１記載の自動調芯
吊具。2. The self-centering suspending device according to claim 1, wherein a balance for lifting the suspended load is connected to the suspension rope.
つように吊り揚げる少なくとも一対の吊索からなり、該
一対の吊索は互いに連結され、かつ一方の吊索の長さを
短縮すれば対向する他方の吊索の長さが同期して伸長
し、また逆に一方を伸長すれば他方が短縮する機構を備
えていることを特徴とする請求項１または２記載の自動
調芯吊具。3. The hanging rope length changing means comprises at least a pair of hanging ropes for hoisting a suspended load in a horizontal position, the pair of hanging ropes are connected to each other, and the length of one hanging rope is adjusted. 3. The automatic adjustment system according to claim 1 or 2, further comprising a mechanism in which, when shortened, the length of the other opposing sling extends synchronously, and conversely, when one is extended, the other is shortened. Core suspension.
短縮の長さは同一長さとすることを特徴とする請求項１
ないし３のいずれかに記載の自動調芯吊具。4. A length of extension of one of the pair of suspension lines and a length of shortening of the other of the pair of suspension lines are the same.
The self-centering hanger according to any one of 1 to 3.
に設けられことを特徴とする請求項２ないし４のいずれ
かに記載の自動調芯吊具。5. The self-aligning hanger according to claim 2, wherein the inclination angle detecting means is provided on a balance or a suspended load.
動的に前記吊索長変更手段が作動する状態から作動しな
い状態へ移行し、その状態で固定する機能を備えている
ことを特徴とする請求項１ないし５のいずれかに記載の
自動調芯吊具。6. The horizontal control means has a function of automatically shifting from a state in which the hanging rope length changing means is activated to a state in which the suspended rope length changing means is not activated when the suspended load is horizontal, and fixing the state in that state. The self-centering hanger according to any one of claims 1 to 5, which is characterized in that.
さに応じ、水平との偏差が大きければ高速であって、偏
差が小さくなるに従い低速で復元する制御機能、および
復元過程における駆動装置の動作速度と傾斜角度検出値
の復元速度との変化により、水平に到達する位置をあら
かじめ予測して駆動装置を減速し、水平に復元する制御
機能を備えたことを特徴とする請求項１ないし６のいず
れかに記載の自動調芯吊具。7. The horizontal control means has a control function of performing a high speed if the deviation from the horizontal is large and a low speed as the deviation becomes smaller according to the magnitude of the detected value of the tilt angle, and a drive device in the restoring process. 2. A control function for preliminarily predicting a position to reach horizontally and decelerating the drive device to restore horizontally by predicting the position to reach horizontally according to the change of the operating speed of the above and the restoration speed of the detected value of the tilt angle. 6. The self-centering hanger according to any one of 6.
作動する状態と作動しない状態とを選択して切替えるこ
とが可能になっていて、遠隔の無線または有線操作によ
り該作動状態を切替える装置を備えたことを特徴とする
請求項１ないし７のいずれかに記載の自動調芯吊具。8. The horizontal control means is capable of selectively switching between a state in which the hanging rope length changing means is activated and a state in which it is not activated, and the operation state is switched by a remote wireless or wired operation. The self-centering hanger according to any one of claims 1 to 7, further comprising a device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8025995A JPH08277094A (en) | 1995-04-05 | 1995-04-05 | Automatic aligning hoisting accessory |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8025995A JPH08277094A (en) | 1995-04-05 | 1995-04-05 | Automatic aligning hoisting accessory |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH08277094A true JPH08277094A (en) | 1996-10-22 |
Family
ID=13713323
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP8025995A Pending JPH08277094A (en) | 1995-04-05 | 1995-04-05 | Automatic aligning hoisting accessory |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH08277094A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001089070A (en) * | 1999-09-24 | 2001-04-03 | Mitsubishi Electric Corp | Lifted cargo assembly supporting device |
| JP2009242109A (en) * | 2008-03-14 | 2009-10-22 | Mitsubishi Chemicals Corp | Suspension balance and moving method of guide vehicle of coke furnace thereby |
| CN107601279A (en) * | 2017-09-30 | 2018-01-19 | 上海建工五建集团有限公司 | Prefabricated components Adaptive Attitude levelling device storage rack and application method |
| CN107673205A (en) * | 2017-09-30 | 2018-02-09 | 上海建工五建集团有限公司 | The component gravity center posture automatic regulating apparatus and method of prefabricated part hanging |
| CN109626196A (en) * | 2018-12-26 | 2019-04-16 | 内蒙古北方重型汽车股份有限公司 | Balance-adjustable suspender and hanging method |
| CN109928303A (en) * | 2019-04-04 | 2019-06-25 | 苏交科集团股份有限公司 | More suspension centre lifting monitoring devices and monitoring method |
| CN110885006A (en) * | 2019-12-03 | 2020-03-17 | 深知智能科技(金华)有限公司 | Automatic adjustment control method and system for operation posture of crane working device |
| CN113511580A (en) * | 2021-07-20 | 2021-10-19 | 浙江运达风电股份有限公司 | Wind generating set becomes oar switch board installation hoist |
-
1995
- 1995-04-05 JP JP8025995A patent/JPH08277094A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001089070A (en) * | 1999-09-24 | 2001-04-03 | Mitsubishi Electric Corp | Lifted cargo assembly supporting device |
| JP2009242109A (en) * | 2008-03-14 | 2009-10-22 | Mitsubishi Chemicals Corp | Suspension balance and moving method of guide vehicle of coke furnace thereby |
| CN107601279A (en) * | 2017-09-30 | 2018-01-19 | 上海建工五建集团有限公司 | Prefabricated components Adaptive Attitude levelling device storage rack and application method |
| CN107673205A (en) * | 2017-09-30 | 2018-02-09 | 上海建工五建集团有限公司 | The component gravity center posture automatic regulating apparatus and method of prefabricated part hanging |
| CN109626196A (en) * | 2018-12-26 | 2019-04-16 | 内蒙古北方重型汽车股份有限公司 | Balance-adjustable suspender and hanging method |
| CN109928303A (en) * | 2019-04-04 | 2019-06-25 | 苏交科集团股份有限公司 | More suspension centre lifting monitoring devices and monitoring method |
| CN110885006A (en) * | 2019-12-03 | 2020-03-17 | 深知智能科技(金华)有限公司 | Automatic adjustment control method and system for operation posture of crane working device |
| CN113511580A (en) * | 2021-07-20 | 2021-10-19 | 浙江运达风电股份有限公司 | Wind generating set becomes oar switch board installation hoist |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 20040720 |