Slinging / unslinging remote operation device

Abstract

To provide a slinging / unslinging remote operation device capable of applying even to a narrow place especially by making the shape of a pin thinner and compacting an entire hook.SOLUTION: An slinging / unslinging remote operation device 10 of the present invention comprises: a frame body 20 connected to a wire hung down from a crane; a cradle body 44 extending downward from the frame body and having a cradle 40 magnetically attracted to an opening surface of a hanging metal tool at a bottom end of the cradle body; and a hook 50 to perform slinging or unsliging by making opening / closing movement toward an opening of the hanging metal tool which is attracted magnetically to the cradle and overlaps the opening. The hook comprises: a pin 52 having a smaller diameter than an opening of the cradle; a slider for supporting the pin; and a hook body connected to the slider at its lower end via an elastic body. It is characterized that the pin engaged in the opening of the cradle is forced toward the upper side of the opening of the cradle by the elastic body, and is subjected to a load in an opposite forced direction of the elastic body when hanging the hanging metal tool, and a tip side of the pin touches an opening bottom surface of the cradle.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a remote slinging and removal device for remotely performing lifting and transportation work in places that are difficult for people to access, such as high places, narrow spaces, and places with high radiation levels. [Background technology]

[0002] Conventionally, there is a technology disclosed in Patent Document 1 as a sling device used when lifting or lowering a structure during installation work of the structure using a large crane. This device is used to remove a sling belt that is wound around a tied long object, and is equipped with a swing arm having a hook that swings (rotates) to hook and engage with the sling belt. The hook has a locking mechanism that prevents the sling belt from coming off. However, the swinging swing arm itself does not have any locking mechanism, and there is a risk that the hook will open (release) due to a moment when a load is applied to the hook during lifting work, etc.

[0003] The device disclosed in Patent Document 2 adds a rotation function to the automatic slinging device, and is equipped with a compact rotation mechanism that can achieve an appropriate rotation speed. However, although the hook is configured to swing, it is not configured to actively swing and rotate using an actuator, so the swing range of the hook is limited, making slinging work difficult in the case of an inclined hoisting fixture. In addition, the devices disclosed in Patent Documents 1 and 2 are both limited to slings and wires as objects to be slinged, and therefore cannot be applied to the various types of slings (shackles, plate-type, round-type, etc.) that have a small gap between the hook and the sling.

[0004] The hook of the remote control device in Patent Document 3 has a pin (shaft) that fits into the opening of the receiving base, a hook body that detachably supports the pin, and an actuator that rotates the hook body, and can lift a wide variety of lifting hardware. However, because the hook has a cantilever structure, the pin is large in size in order to provide the rigidity required to withstand the lifting load. When applying the device to a narrow space, it is desirable to make the entire device, including the hook, compact. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 6228740 [Patent Document 2] Patent No. 6309471 [Patent Document 3] Patent No. 2022-180952 Summary of the Invention [Problem to be solved by the invention]

[0006] In view of the problems of the prior art described above, the problem that the present invention aims to solve is to provide a remote control slinging and removal device that can be used in narrow spaces by making the entire hook compact, particularly by making the pin shape thin. Another object of the present invention is to provide a remote control device for slinging and removing a sling which is applicable to many types of sling fittings and can sling even sling fittings attached in an inclined state. [Means for solving the problem]

[0007] As a first means for solving the above problems, the present invention provides a frame body connected to a wire suspended from a crane, A support body having a support base at a lower end, the support base extending downward from the frame body and being attracted to an opening surface of the hanging metal fitting by magnetic force; A hook is attached to the receiving base by magnetic force and moves to open and close toward the opening of the hanging fitting overlapped with the opening of the receiving base to hang or remove the hanging hook, The hook comprises a pin having a smaller diameter than the opening of the receiving base, a slider supporting the pin, and a hook body connected at its lower end to the slider via an elastic body, and the pin fitted into the opening of the receiving base is biased toward the upper side of the opening of the receiving base by the elastic body, and when the hoisting hardware is hoisted, a load is applied in the opposite direction to the bias of the elastic body, so that the tip side of the pin comes into contact with the underside of the opening of the receiving base. According to the first means, in the past, the pin diameter was thick due to the cantilever structure of the hook, making it difficult to slim it down and resulting in a large hook, but by using the elasticity of the elastic body to hold the pin on both sides with the base and the hook body, it is possible to slim down the pin. Also, the magnetic force of the base can guide the sling between the base and the hook, so even in places where people cannot easily approach, such as high places, narrow spaces, or high radiation levels, the sling can be easily removed by remote control without people entering the site.

[0008] As a second means for solving the above-mentioned problems, the present invention provides a remote control sling removal device for a sling, which is characterized in that, in the first means, a recess is formed on the underside of the tip of the pin, and a protrusion that fits into the recess is provided on the inner surface of the opening of the receiving base into which the pin fits, at a location facing the recess. According to the second means, the hook does not open due to the moment when a load is applied to the pin of the hook that opens and closes (rotates) due to the recessed and protruding fitting structure in the opening of the receiving base. Therefore, the hook can be maintained in a slinging state and the hook can be prevented from accidentally coming off the opening of the receiving base during the lifting operation.

[0009] As a third means for solving the above problems, the present invention provides a remote control sling and release device for the first or second means, characterized in that the support base body is supported on a rotating shaft whose axis is arranged horizontally on the underside of the frame body and hangs down freely rotatably. According to the third means described above, even if the hoisting fitting is attached at an angle to the structure, the receiving base can easily be tilted to follow the inclination of the hoisting fitting during slinging, making it possible to carry out the slinging operation.

[0010] As a fourth means for solving the above problems, the present invention provides a remote control sling and sling removal device as in the third means, characterized in that the receiving base body is in contact with the underside of the frame body with protrusions extending from both main surfaces and is limited to a predetermined movable angle from the suspension center of the frame body. According to the fourth means, the receiving base does not tip over (the inclination angle becomes steeper) than the inclined sling during slinging, and slinging work can be easily performed. In addition, because the position of the upper part of the device does not change, there is less risk of the lifting hook coming off the crane hook. By limiting the movable angle to a certain value, the device can be made more compact. Furthermore, by limiting the movable angle to a predetermined angle, the swing range of the receiving base body does not become large, and the occurrence of load swing can be suppressed.

[0011] The present invention provides, as a fifth means for solving the above-mentioned problems, a rotating unit having a first gear whose rotation axis coincides with the suspension center of the wire, a second gear which is smaller than the first gear and meshes with the first gear, and a rotating motor which rotates the second gear, in the third means; The turning motor is T m : motor rated torque, i: reduction ratio (N 2 / N 1 ), J L : dry moment of the device, θ: target rotation angular acceleration, T f : Friction moment, fraction N of first gear 2 , fraction N of second gear 1 When T m ×i>(1 / i 2 )J L ×θ+T f To provide a remote control device for slinging and removing a sling, which satisfies the above requirements. According to the fifth means, the hook can be rotated at a speed (low speed) suitable for slinging or unslinging work. Therefore, the slow rotation improves the operability of the device when remotely operated. In addition, the reaction force in the rotation direction generated when turning the load lifted by the device is lower than the friction force of the crane hook, and only the rotating part of the autohook rotates, improving the positioning accuracy.

[0012] As a sixth means for solving the above-mentioned problems, the present invention provides a remote control device for slinging and removing a sling, which is characterized in that in the second means, the convex portion has a semicircular portion that fits into the opening of the receiving base, and an attachment portion that is connected to the side of the semicircular portion and can be attached and detached on the main surface of the receiving base. According to the sixth aspect, the size of the convex portion of the opening of the receiving base can be easily changed in accordance with replacement of pins with different diameters. Effect of the Invention

[0013] According to the present invention, the pin can be slimmed down by using the elastic body to hold the pin on both sides of the base and the hook body. Also, the magnetic force of the base and the butt section can guide the sling between the base and the hook, so that the sling can be easily removed by remote control without people having to enter the site, even in places that are difficult for people to reach, such as high places, narrow spaces, or high radiation levels. Furthermore, even if the sling is attached at an angle to the structure, the receiving base will also be able to easily tilt in accordance with the inclined sling, making it easy to attach and remove the sling. [Brief description of the drawings]

[0014] [Figure 1] FIG. 2 is a perspective view of the remote control slinging and removal device (with casing) of the present invention, viewed from diagonally above (the suction surface side of the receiving base). [Diagram 2] FIG. 2 is a perspective view of the remote control slinging and removal device (with casing) of the present invention, viewed from diagonally below (the suction surface side of the receiving base). [Diagram 3] FIG. 2 is a perspective view of the remote control slinging and removal device of the present invention (without the casing) as viewed from diagonally above (the side opposite to the suction surface of the receiving base). [Figure 4] FIG. 2 is a block diagram of the remote slinging and releasing device of the present invention. [Diagram 5] 1A and 1B are explanatory diagrams of the remote control device for slinging and releasing of the present invention with the hook closed before hoisting (1) and after hoisting (2). [Figure 6] 1A and 1B are explanatory diagrams of the hook fixing pin of the remote slinging and releasing device of the present invention before (1) and after (2) operation. [Figure 7] FIG. 4 is an explanatory diagram of a hook detection sensor of the remote control device for slinging and releasing of the present invention. [Figure 8] FIG. 1 is a process flow diagram of slinging using the slinging and slinging release remote control device of the present invention. [Figure 9] FIG. 1 is a process flow diagram for removing slings using the remote control device for removing slings of the present invention. [Figure 10] FIG. 2 is a process diagram of the remote control device for slinging and removing the sling of the present invention. [Figure 11] FIG. 2 is a process diagram of the remote control device for slinging and removing the sling of the present invention. [Figure 12] FIG. 1 is an explanatory diagram showing how to use the remote control device for slinging and releasing a sling of the present invention to sling a slanted lifting fixture. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a remote slinging and releasing device according to the present invention will be described in detail below with reference to the drawings. The hanging hardware to be attached in the present invention is a metal or forged hanging hardware in an inverted U-shape, shackle, plate-type, or round shape, and is often attached so as to protrude upward from the top surface of a structure. In this case, in addition to the hanging hardware attached vertically at a specified height, the hanging hardware may be attached at an angle or with a hole in a position above or below the specified height of the standard.

[0016] [Remote control device for slinging and unslinging 10] Fig. 1 is a perspective view of the remote control device for sling removal (with casing) of the present invention, as viewed obliquely from above (the suction surface side of the receiving base). Fig. 2 is a perspective view of the remote control device for sling removal (with casing) of the present invention, as viewed obliquely from below (the suction surface side of the receiving base). Fig. 3 is a perspective view of the remote control device for sling removal (without casing) of the present invention, as viewed obliquely from above (the side opposite the suction surface of the receiving base). Fig. 4 is a block diagram of the remote control device for sling removal (without casing) of the present invention. The remote slinging and releasing device 10 of this embodiment is made up of two components: a frame body 20 (see Figs. 1-3) that is connected to a wire lowered from a crane at a work site, and a remote control unit 70 (see Fig. 4) that is located away from the work site. The frame body 20 and the remote control unit 70 are electrically connected via a wired or wireless communication line.

[0017] The remote control device 10 for slinging and releasing of the present invention comprises a frame main body 20 which is connected to a wire suspended from a crane, a receiving base main body 44 which extends downward from the underside of the frame main body 20, a stop portion 30 which is magnetically attracted to the top of the hanging hardware 12 on the receiving base main body 44, a receiving base 40 which is magnetically attracted to the opening face of the hanging hardware 12, and a hook 50 which is attached between the receiving base 40 and sandwiches the opening 13 of the hanging hardware 12, in other words, moves to open and close toward the opening of the hanging hardware 12 which overlaps the opening 42 of the receiving base 40 to sling or release the hanging hardware. The frame body 20 also includes a camera 60 that photographs the opening 42 of the receiving base 40, a display unit 72 that is electrically connected to the hook 50 and the camera 60 via a wired or wireless communication line and displays the image captured by the camera 60, and a remote control unit 70 (see Figure 4) that operates the crane and has a control unit 74 that controls the opening and closing of the hook 50 when the opening 42 of the receiving base 40 and the opening 13 of the hanging hardware 12 overlap.

[0018] (Frame body 20) The frame body 20 has a box-shaped frame shape, and has a hoisting hook 22 attached to the top surface to which a wire suspended from a crane is connected. The hoisting hook 22 is attached to the top surface of the frame body 20 so as to be rotatable around the axis of the shaft center of the vertically arranged hoisting bolt 22a. A swivel unit 25 is attached to the upper part of the frame body 20 (see FIG. 3). The swivel unit 25 has a first gear (large gear) 26 set on the same axis as the axis of the suspension bolt 22a of the suspension hook 22, which is connected to the frame body 20 and has an axis in the vertical direction, a second gear 27 that is smaller than the first gear 26 and meshes with the first gear 26, and a swivel motor 28 that rotates and drives the second gear 27. When the swivel motor 28 is driven, the swivel unit 25 configured in this way rotates the first gear 26 via the second gear 27, and the frame body 20 can be rotated around the axis of the suspension bolt 22a of the suspension hook 22. At this time, the rotation motor 28 of the rotation unit 25 is T m : motor rated torque, i: reduction ratio (N 2 / N 1 ), J L : dry moment of the device, θ: target rotation angular acceleration, T f : Friction moment, fraction N of first gear 2 , fraction N of second gear 1 When T m ×i>(1 / i 2 )J L ×θ+T f This satisfies the above requirements. As a result, the hoisting hook 22 can be rotated at a speed (low speed) suitable for slinging or unslinging work. Rotating at a slow speed improves the operability of this device when remotely operating it. In addition, the reaction force in the rotation direction generated when turning a load hoisted by this device is lower than the friction force of the crane hook, and only the rotating part of the autohook rotates, improving positioning accuracy. A load cell 24 is attached to the fixed portion of the frame body 20 and the lifting hook 22 below the rotating part 25. The load cell 24 can measure the weight of the structure to be lifted by the frame body 20, and is set in advance to exclude the weight of the frame body. This makes it possible to measure the weight of the structure to be lifted. The frame body 20 is equipped with a communication unit with the remote control unit 70, which will be described later. (cradle body 44) The receiving base main body 44 is a member extending downward from the underside of the frame main body 20, and is rotatably supported by a rotating shaft 44a installed on the underside of the frame main body 20. The axis of the rotating shaft 44a is arranged horizontally, and the upper end of the receiving base main body 44 is supported by the rotating shaft 44a, while the lower end hangs down downward. The lower end side of such a receiving base main body 44 can move in a pendulum state, with the rotating shaft 44a at the upper end as the center of swing, like a folding structure. This base body 44 has projections extending from both main surfaces that contact the underside of the frame body 20 and are limited to a predetermined movable angle from the suspension center (a vertical line passing through the lowest point) of the frame body 20. Specifically, the pendulum range is limited by the tapered portion 44b and handle 44c of the base body 44 (see Figure 2). This makes it easier to perform slinging work without the base tipping over (the angle of inclination becomes steeper) than the inclined slinging hardware. Also, because the position of the top of the device does not change, there is less risk of the slinging hook coming off the crane hook. By limiting the movable angle to a specified angle, the device can be made more compact. Furthermore, by limiting the movable angle to a specified angle, the swing range of the base body does not become large, suppressing the occurrence of load sway.

[0019] (Pedestal 40) The receiving base 40 is a component that is disposed at the bottom end of the receiving base main body 44 and comes into contact with the opening surface of the hanging hardware 12. The receiving base 40 has an opening 42 into which a pin 52 of a hook 50, which will be described later, fits. A magnet is disposed on the main surface of the receiving base 40 that comes into contact with the opening surface of the hanging hardware 12. The magnetic force of the receiving base 40 is adjusted to a strength that causes the hanging hardware 12 to come off from the main surface of the receiving base 40 when the frame main body 20 is pulled with more than a certain force.

[0020] (Abutment part 30) The abutment section 30 is composed of a concave member 32 attached to the suction surface side of the receiving base 40 of the receiving base main body 44 and contacting the top of the hanging hardware 12, a support rod arranged vertically between the concave member 32 and the frame main body 20, and a slide mechanism 34 having a spring that expands and contracts by wrapping around the outer periphery of the support rod. A magnet is arranged on the surface of the concave member 32 that contacts the top of the hanging hardware 12. The slide mechanism 34 supports the concave member 32 in an expanded state by the spring, and is adjusted to a spring force that is pushed by the hanging hardware 12 and contracts upward when the frame main body 20 is lowered. The magnetic force of the concave member 32 is adjusted to a strength that causes the hanging hardware 12 to come off the concave member 32 when the frame main body 20 is pulled with more than a certain force.

[0021] (Hook 50) The hook 50 has a pin 52 that is smaller in diameter than the opening 42 of the receiving base 40 and has a tapered tip, a slider 51 that supports the pin 52, a hook body 54 that is connected to the slider 51 at its lower end via an elastic body 53, and an actuator 56 that drives (rotates) the hook body 54. The slider 51 is disposed at the tip of the hook body 54, has a hole through which the pin 52 passes, and the tip of the pin 52 protrudes from one main surface (the surface facing the suction surface of the receiving base 40), and the base side of the pin 52 is fixed on the other main surface. It is preferable to prepare a plurality of different shaft diameters for the pins 52 in advance so that the pin 52 capable of withstanding the weight of the structure to be lifted can be selected arbitrarily. The slider 51 is separate from the hook body 54, and a plurality of elastic bodies 53 (springs are used in this embodiment as an example) are disposed on the side surfaces of the slider 51 and the hook body 54 to bias the slider 51 toward the hook body 54. The hook 50 of this embodiment has a rotating shaft attached to the receiving base body 44, and moves to open and close so that the axis of the pin 52 rotates from the vertical direction to the horizontal direction and fits into the opening 42 of the receiving base 40. Note that the opening and closing movement of the hook 50 is not limited to this, and it may be configured to move forward and backward in the horizontal direction.

[0022] FIG. 5 is an explanatory diagram of the remote control device for slinging and releasing of the present invention with the hook closed before hoisting (1) and after hoisting (2). As shown in Fig. 5(1), before lifting, the pin 52 of the hook 50 fitted in the opening 42 of the receiving base 40 is urged upward of the opening 42 of the receiving base 40 by the elastic body 53. Then, as shown in Fig. 5(2), during lifting, the load of the structure is applied via the lifting bracket 12 in the opposite direction to the urging direction of the elastic body 53, and the tip side of the pin 52 comes into contact with the bottom surface of the opening 42 of the receiving base 40 and the base side comes into contact with the slider 51 and the hook main body 54, creating a double-support structure in front and behind the pin 52, with the lifting bracket 12 sandwiched between them, the tip of the pin 52 comes into contact with the receiving base 40, and the rear end of the pin 52 is supported by the hook main body 54. Also, the pin 52 has a recess 55a formed on the underside of the tip. A protrusion 55b that fits into the recess 55a is provided on the inner circumferential surface of the opening 42 of the receiving base 40 into which the pin 52 fits, at a location facing the recess 55a. The protrusion 55b has a semicircular portion 55c that fits into the opening 42 of the receiving base 40, and an attachment portion 55d that is connected to the side surface of the semicircular portion 55c and can be attached and detached from the main surface of the receiving base 40. With this configuration, the size of the protrusion 55b of the opening 42 of the receiving base 40 can be easily changed in accordance with the replacement of a pin 52 with a different diameter. Before lifting, when pin 52 is inserted into opening 44 of receiving base 40, a gap is generated between concave portion 55a and convex portion 55b, but during lifting, concave portion 55a and convex portion 55b engage with each other to lock the hook 50 in place, and when a load is applied to pin 52 of hook 50, which opens and closes (rotates), the hook 50 does not open due to the moment. Therefore, the sling state of hook 50 can be maintained, and the hook 50 can be prevented from accidentally coming off opening 42 of receiving base 40 during the lifting operation. 6 is an explanatory diagram of the hook fixing pin of the remote sling release device of the present invention before (1) and after (2) operation. A fixing pin 80 is attached to the hook 50 to maintain the state in which the pin 52 is fitted in the opening 42 of the receiving base 40. In this embodiment, the hook 50 is configured with a pin hole 58 extending in a direction intersecting the rotation axis of the hook 50, and the fixing pin 80 that fits into the pin hole 58 at the position where the pin 52 is fitted into the opening 42 of the receiving base 40. The fixing pin 80 is equipped with an actuator 82 (see FIG. 3), which moves it toward and away from the pin hole 58. Note that the recessed portion 55a and the protruding portion 55b and the fixing pin 80 may have either one of these configurations.

[0023] (Fixed pin detection sensor 92) The fixed pin detection sensor 92 is a sensor that detects a state in which the fixed pin 80 is inserted into the pin hole 58 (see FIG. 6(2)) and a state in which the fixed pin 80 is removed from the pin hole 58 (see FIG. 6(1)). Specifically, the fixed pin detection sensor 92 is configured as a sensor that detects a fixed state in which the fixed pin 80 has advanced and been inserted into the pin hole 58, and a sensor that detects an open state in which the fixed pin 80 has retreated and been pulled out of the pin hole 58.

[0024] (Camera 60) One or more cameras 60 are attached to frame body 20 so as to capture images of opening 42 of receiving stand 40 (two cameras are used in this embodiment, one at the suction surface side of receiving stand 40 and the other at two locations on the underside of frame body 20 that can capture images of the opposite surface side) (see Figs. 1 and 2). More specifically, the cameras are attached so as to capture images of the process in which opening 13 of hanging bracket 12 is guided and aligned with opening 42 of receiving stand 40 by receiving stand 40 and abutment portion 30.

[0025] (Hook detection sensor 90) 7 is an explanatory diagram of the hook detection sensor of the remote control device for slinging and releasing of the present invention. The hook detection sensor 90 is a sensor that detects the closed state in which the pin 52 of the hook 50 is fitted into the opening of the receiving base 40, and the open state in which it is not fitted. The specific configuration of the hook detection sensor 90 is composed of a detection sensor that detects the hook body 54 when the hook 50 is in the open state, and a detection sensor that detects the pin 52 within the opening 42 of the receiving base 40 when the hook 50 is in the closed state.

[0026] (Remote control unit 70) The remote control unit 70 is configured by a general-purpose computer having an information processing device and a storage device, and performs various processes in the information processing device using programs and data stored in the storage device. The remote control unit 70 of this embodiment is configured to include a display unit 72, a control unit 74, and an operation input unit 76. The remote control unit 70 is electrically connected to the load cell 24 of the frame body 20, the camera 60, the rotation motor 28 of the rotation unit 25, the actuator 56 of the hook 50, the actuator 82 of the fixed pin 80, the hook detection sensor 90, and the fixed pin detection sensor 92 via communication lines.

[0027] The display unit 72 is a monitor that displays the image captured by the camera 60 and a control operation screen by the control unit 74 and the operation input unit 76. The control unit 74 operates the crane and controls the opening and closing of the hook 50 when the opening 42 of the receiving base 40 and the opening 13 of the sling 12 overlap, thereby performing the slinging or unslinging work. Specifically, the control unit 74 executes the process flows in Figs. 8 and 9 described later. The operation input unit 76 is a keyboard, touch panel, or the like for inputting operation commands for executing various programs and remotely operating the crane and the frame body 20.

[0028] [Effect] The remote sling removal operation using the remote sling removal device of the present invention will be described below. Fig. 8 is a process flow diagram of slinging using the remote sling removal device of the present invention. Fig. 9 is a process flow diagram of removal using the remote sling removal device of the present invention. Fig. 10 is a process diagram of the remote sling removal device of the present invention. Fig. 11 is a process diagram of the remote sling removal device of the present invention. Fig. 12 is an explanatory diagram of slinging on an inclined lifting hardware using the remote sling removal device of the present invention.

[0029] (Sling) Step 1 The frame body is moved to the vicinity (above) of the hoisting metal fitting 12 of the structure by operating the crane. Next, the crane is lowered. The cradle 40 is rotated by the rotating part to align the hoisting metal fitting 12 with the suction surface of the cradle 40 (see step 1 in FIG. 10). Step 2 The hanging operation is further continued so that the magnet of the receiving base 40 is attached to the opening face of the hanging hardware 12, and the magnet of the abutment portion 30 is attached to the top of the hanging hardware 12. The lowering operation is temporarily stopped, and the opening position of the hanging hardware 12 is confirmed using the image captured by the camera 60 (see step 2 in FIG. 10).

[0030] Step 3 After checking step 2, the crane is lowered again, and in conjunction with the lowering operation, the slide mechanism 34 contracts with the concave member 32 of the abutment portion 30 attached to the top of the hanging hardware 12, causing the opening surface of the hanging hardware 12, which is attached to the magnet of the receiving base 40, to also slide upward. At this time, the magnet of the receiving base 40 is adjusted to a magnetic force that allows the frame body 20 to slide easily when pulled with a certain force or more, so it can slide while attached to the main surface of the receiving base 40. The frame is moved until the opening 42 of the receiving base 40 and the opening 13 of the hanging hardware 12 are aligned concentrically in the image captured by the camera (see step 3 in FIG. 10). At this time, even if the hanging metal fitting 12 is attached at an angle or with a hole in a position that is offset above or below the specified height, the receiving base body 44 has a bent-in structure that rotatably hangs down from the frame body 20, so that the receiving base 40 will incline to follow the inclination of the hanging metal fitting 12 during the suspension, making it easy to align the hanging metal fitting 12 with the suction surface (see Figure 12).

[0031] Step 4 The hook 50 is closed by driving the actuator of the hook 50 by the control unit 74 of the remote control unit 70 to insert the pin 52 into the opening 42 of the receiving base 40 (see step 4 in FIG. 11).

[0032] Step 5 When the pin 52 is inserted into the opening 42 of the receiving base 40, the hook detection sensor 90 detects the closed state of the hook 50. At this time, the pin 52 in the opening 42 of the receiving base 40 is in a floating state (disposed above the opening) in the opening due to the upward bias of the elastic body 53, and a gap is generated between the recessed portion 55a and the protruding portion 55b. Next, the fixing operation of the fixing pin 80 is performed. The actuator 82 of the fixing pin 80 is driven by the control unit 74 of the remote control unit 70, and the fixing pin 80 is inserted and fixed into the pin hole 58 of the hook 50. When the fixing pin 80 is inserted, the fixing pin detection sensor 92 detects the fixed state of the fixing pin 80. When a structure is lifted, the recessed portion 55a and the protruding portion 55b engage with each other to lock the hook 50 in place, and when a load is applied to the pin 52 of the hook 50, which opens and closes (rotates), the hook 50 will not open due to the moment. Therefore, the hook 50 can be maintained in a slinging state by the fixed pin 80 and the recessed / protruding engagement structure (the protruding portion 55b and the recessed portion 55a), and the hook 50 can be prevented from accidentally coming off the opening 42 of the receiving base 40 during the lifting operation. This completes the slinging work of the hoisting fittings.

[0033] (Ball removal) Step 11 The fixing pin 80 is opened. The actuator 82 of the fixing pin 80 is driven by the control unit 74 of the remote control unit 70 to pull the fixing pin 80 out of the pin hole 58 of the hook 50. When the fixing pin 80 is pulled out of the pin hole 58, the fixing pin detection sensor 92 detects that the fixing pin 80 is in the open state. The load cell 24 is used to confirm that the weight of the structure, i.e., no load, is being applied to the hook. If no weight is detected, the structure is stably placed on the ground. On the other hand, if weight is detected, the structure is unstable, with part of it floating, and the structure is reset using a crane. When no load is being applied to the hook, the pin 52 in the opening 42 of the receiving base 40 is biased upward by the elastic body 53, causing it to float within the opening (positioned above the opening). A gap is generated between the recessed portion 55a and the protruding portion 55b, and therefore the uneven structure is unlocked.

[0034] Step 12 The hook 50 is opened by driving the actuator 56 of the hook 50 by the control unit 74 of the remote control unit 70 to pull out the pin 52 from the opening 42 of the receiving base 40.

[0035] Step 13 When the pin 52 is pulled out of the opening 42 of the receiving base 40, the hook detection sensor 90 detects that the hook 50 is in an open state. The hoisting operation of the crane releases the magnetic attraction between the receiving base 40 and the abutting member 30 and the hoisting fitting 12. This completes the ball removal operation of the hoisting fitting.

[0036] According to the present invention, the pin can be slimmed down by using the elastic body to hold the pin on both sides of the cradle and the hook body. Also, the magnetic force of the cradle and the butt section can guide the sling between the cradle and the hook, so that the sling can be easily removed by remote control without people having to enter the site, even in places that are difficult for people to reach, such as high places, narrow spaces, or high radiation levels. Furthermore, even if the sling is attached at an angle to the structure, the receiving base will also be able to easily tilt in accordance with the inclined sling, making it easy to attach and remove the sling. Although the preferred embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments and various modifications can be made without departing from the spirit and scope of the present invention. Furthermore, the present invention is not limited to the combinations shown in the embodiments, but can be implemented in various combinations. [Explanation of symbols]

[0037] 10. Remote control device for slinging and unslinging 12 Hanging hardware 13 Aperture 20 Frame body 22 Hanging hook 22a Hanging bolt 24 Load Cell 25 Swivel section 26 First Gear 27 2nd Gear 28 Swing motor 30 Stopping part 32 Concave member 34 Slide mechanism 40 Receiving stand 42 Aperture 44 cradle body 44a Rotation axis 44b Tapered section 44c Handle 50 Hook 51 Slider 52 pin 53 Elastic Body 54 Hook body 55a Recess 55b Convex part 55c Semicircular section 55d Mounting part 56 Actuator 58 Pin Hole 60 Cameras 70 Remote control unit 72 Display section 74 Control Unit 76 Operation input section 80 Fixing pin 82 Actuator 90 Hook detection sensor 92 Fixed pin detection sensor

Claims

1. A frame body connected to a wire lowered from a crane; A support body having a support base at a lower end, the support base extending downward from the frame body and being attracted to an opening surface of the hanging metal fitting by magnetic force; A hook is attached to the receiving base by magnetic force and moves to open and close toward the opening of the hanging fitting overlapping with the opening of the receiving base to hook or unhook the hanging fitting, The hook comprises a pin having a smaller diameter than the opening of the receiving base, a slider supporting the pin, and a hook body connected at its lower end to the slider via an elastic body, and the pin fitted into the opening of the receiving base is biased toward the upper side of the opening of the receiving base by the elastic body, and when the hoisting hardware is hoisted, a load is applied in the opposite direction to the bias of the elastic body, so that the tip side of the pin comes into contact with the underside of the opening of the receiving base.

2. The remote sling release device according to claim 1, A remote control device for removing a sling, characterized in that a recess is formed on the underside of the tip of the pin, and a protrusion that fits into the recess is provided on the inner surface of the opening of the receiving base into which the pin fits, at a location opposite the recess.

3. The remote control device for slinging and removing a sling according to claim 1 or 2, The receiving base body is supported on a rotating shaft whose axis is horizontally disposed on the underside of the frame body and hangs down freely rotatably.

4. The remote sling release device according to claim 3, A remote control device for slinging and removing slings, characterized in that the support base body has protrusions extending from both main surfaces and contacts the underside of the frame body, limiting its movable angle to a predetermined angle from the suspension center of the frame body.

5. The remote sling release device according to claim 3, the frame body includes a first gear having a rotation axis aligned with the suspension center, a second gear smaller than the first gear and meshing with the first gear, and a rotating unit having a rotation motor that rotates the second gear, The turning motor is T ｍ : motor rated torque, i: reduction ratio (N ２ / N １ ), J Ｌ : dry moment of the device, θ: target rotation angular acceleration, T ｆ :Friction moment, fraction N of first gear ２ , fraction N of the second gear １ When T ｍ ×i>(1 / i ２ )J Ｌ ×θ+T ｆ A remote control device for slinging and removing a sling, characterized in that:

6. The remote sling release device according to claim 2, A remote control device for slinging and removing a sling, characterized in that the convex portion has a semicircular portion that fits into the opening of the receiving base, and an attachment portion that is connected to the side of the semicircular portion and can be attached and detached to the main surface of the receiving base.

Images