Duct suspension work method and system

Abstract

To provide a duct suspension work method and system that enable simple and appropriate installation of a duct on a structure.SOLUTION: A duct suspension work system includes: a duct support part 30 configured to support a duct D suspended relative to a structure C; a lifting part 20 having a support frame 22 that vertically movably supports the duct support part 30; a control part 61 that controls raising and lowering of the support frame 22 by the lifting part 20; and an operation part 63 through which an operation for raising and lowering the support frame 22 is input to the control part 61, wherein the support frame 22 is configured to move vertically according to operation input into the operation part 63.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a method and system for suspending a duct used in an air conditioning system or the like from a structure such as a ceiling. [Background technology]

[0002] Ducts are often installed in buildings and other structures for purposes such as air conditioning, ventilation, and exhaust. Tubes known as flexible ducts (also known as flexible ducts, flexible pipes, and flexible tubes) are often used for these ducts. Flexible ducts, which are flexible and can be bent, are convenient because they are easy to layout and can easily accommodate the installation location and the required duct branching structure.

[0003] Flexible ducts are installed by suspending them from a structure such as a ceiling using a sling such as a wire. To install such a flexible duct, a worker climbs to a height near the ceiling using, for example, a lifting cart, a high-altitude work vehicle, or a stepladder, and lifts the duct, to which the sling is attached, up to that height. A plate for fixing to the ceiling is attached to the sling, and the worker places the plate at the desired position on the ceiling and drives fasteners (nails) from below using a tacker (also known as a nail gun or nail gun). In this way, the duct is installed by suspending it from the plate fixed to the ceiling via a sling such as a wire.

[0004] Prior art documents that disclose techniques related to this type of duct installation structure and work therefor include, for example, Patent Documents 1 and 2 listed below. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2006-29749 [Patent Document 2] Japanese Patent Application Laid-Open No. 2006-125504 Summary of the Invention [Problem to be solved by the invention]

[0006] The installation work of the above-mentioned duct is performed, for example, by one worker carrying the duct and ascending to a height near the ceiling on a lifting cart to support the duct at that height, while another worker ascends to a nearby position on the lifting cart and drives nails into the plate of the hanging device attached to the duct. This type of work requires the worker to ascend and descend for one or several locations where nails are to be driven, and each time, they must lift heavy objects such as the duct and a nailing machine, which is extremely cumbersome and labor-intensive. Therefore, there has been a need for the development of technology that makes duct installation easier.

[0007] In view of the above circumstances, the present invention aims to provide a duct suspension method and system that can easily and suitably install a duct on a structure. [Means for solving the problem]

[0008] The present invention relates to a method for hanging a duct, which uses a duct hanging device having a duct support part that supports a duct and a lifting part that has a support frame that supports the duct support part so that it can be raised and lowered relative to a base part, and which carries out the steps of: lifting the support frame with the duct supported on the duct support part; and attaching the duct supported on the duct support part to a structure with the support frame raised.

[0009] In the duct hanging method of the present invention, the hanging work device may further include a component holder that holds a fixture for hanging the duct from a structure, and a component feed unit that has a feed rope that is arranged across the support frame and the base and moves in the longitudinal direction so as to attach the component holder and feed the fixture held by the component holder to a desired position on the support frame, and when the support frame is raised with the fixture in the desired position, the movement of the feed rope relative to the support frame may be restricted.

[0010] In the duct hanging method of the present invention, the hanging work device may further include a component holder that holds a fixture for hanging the duct from a structure, and a component feed unit that can attach the component holder and has a feed rope that is routed across the support frame and base and moves in the longitudinal direction so as to feed the fixture held by the component holder to a desired position on the support frame, and the movement of the feed rope relative to the base may be restricted when the fixture is attached to the structure and then the support frame is lowered.

[0011] The present invention also relates to a duct hanging work system comprising a duct support section that supports a duct suspended from a structure, a lifting section having a support frame that supports the duct support section so that it can be raised and lowered relative to a base section, a control section that controls the lifting and lowering operation of the support frame by the lifting section, and an operation section that inputs the lifting and lowering operation of the support frame to the control section, and is configured so that the support frame is raised and lowered in accordance with the operation input to the operation section.

[0012] The duct hanging work system of the present invention may further include a component holder that holds a fixture for hanging the duct from a structure, a feed rope to which the component holder can be attached and that is routed across the support frame and the base and moves in the longitudinal direction so as to feed the fixture held by the component holder to a desired position on the support frame, and a locking mechanism that is provided on the support frame side and limits the movement of the feed rope relative to the support frame.

[0013] The duct hanging work system of the present invention may further include a component holder that holds a fixture for hanging the duct from a structure, a feed rope to which the component holder can be attached and that is routed across the support frame and the base and moves in the longitudinal direction so as to feed the fixture held by the component holder to a desired position on the support frame, and a locking mechanism that is provided on the base side and limits the movement of the feed rope relative to the base.

[0014] The duct hanging work system of the present invention may be configured so that the control unit controls the raising and lowering of the support frame in accordance with a target value for the height of the support frame, which is set based on a numerical value input to the operation unit. [Effects of the Invention]

[0015] The duct hanging method and system of the present invention can provide the excellent effect of easily and suitably installing a duct on a structure. [Brief explanation of the drawings]

[0016] [Figure 1] 1 is a schematic side view showing an example of a configuration of a duct hanging work system according to an embodiment of the present invention. [Figure 2] FIG. 1 is a perspective view showing an example of a structure for suspending a duct from a structure such as a ceiling. [Figure 3] FIG. 2 is a perspective view showing the configuration of the periphery of a duct support part of the hanging work device of FIG. 1. [Figure 4]FIG. 10 is a cross-sectional plan view showing an example of the configuration of the duct support portion. [Figure 5] FIG. 10 is a perspective view showing an example of a component holder attached to a feed rope and holding a mounting tool. [Figure 6] 6 is a perspective view showing the component holder of FIG. 5 in a state where it has been detached from the feed rope and the attachment has also been removed. FIG. [Figure 7] FIG. 7 is a plan view of the component holder of FIGS. 5 and 6. [Figure 8] FIG. 2 is a perspective view showing the configuration of the mounting fixture. [Figure 9] 1 is a flowchart showing an example of the procedure of a duct hanging method according to an embodiment of the present invention. [Figure 10] FIG. 1 is a schematic diagram showing a state of one stage in a duct hanging method. [Figure 11] FIG. 1 is a schematic diagram showing a state of one stage in a duct hanging method. [Figure 12] FIG. 10 is a schematic diagram showing another stage in the duct hanging method. [Figure 13] FIG. 10 is a schematic diagram showing yet another stage in the duct hanging method. [Figure 14] FIG. 10 is a schematic diagram showing yet another stage in the duct hanging method. [Figure 15] FIG. 4 is a diagram illustrating an example of a screen displayed on a display unit. [Figure 16] FIG. 10 is a diagram showing an example of another screen displayed on the display unit. [Figure 17] FIG. 10 is a diagram showing an example of yet another screen displayed on the display unit. [Figure 18] 10A and 10B are diagrams showing another example of the form of a hanger attached to a duct and the state in which the hanger is attached to the duct. [Figure 19] FIG. 10 is a perspective view showing an example of a form of a guide attached to a duct support portion. [Figure 20] 10A and 10B are plan views showing examples of the configuration of guides attached to the duct support portion. [Figure 21]FIG. 10 is a perspective view showing an example of the configuration of a rise sensor. DETAILED DESCRIPTION OF THE INVENTION

[0017] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.

[0018] Fig. 1 shows an example of a duct hanging work system according to the present invention and a hanging work device constituting the system, and Fig. 2 shows the configuration of a duct that is attached to a target structure (a ceiling is assumed here) using the hanging work device. For convenience of explanation, Fig. 1 shows the hanging work device and the main configuration of each part thereof in a schematic manner, with details omitted as necessary. The same applies to Figs. 3, 4, 10 to 14, etc., which will be described later.

[0019] Before describing the suspension work device, the duct mounting structure will be described. Duct D, which is a flexible duct (also called a flexible duct, flexible pipe, flexible tube, hose, etc., but hereinafter referred to simply as a "duct" in this specification), is a flexible pipe constructed by wrapping a heat insulating material or a covering material around a spiral framework, as shown in Fig. 2, for example. A flap extending in the longitudinal direction is provided at one circumferential position on the outer circumferential surface of duct D, and holes H are formed in the flap at regular intervals. By passing a wire suspender W through this hole H, the duct D can be supported or fixed to an appropriate object via the suspender W (note that although a wire is used as an example of a suspender here, the suspender can be any part that can appropriately support and fix the duct D. For example, the suspender can be constructed as a thin, plate-shaped metal component. Furthermore, when using a suspender to support and fix the duct D, it is not necessarily necessary to use hole H; for example, the duct D can be supported by wrapping the suspender around the outer periphery of the duct D).

[0020] The hoisting fixture W, which is a wire, has loops on both ends, one of which is passed through hole H and the other to which a mounting fixture P is attached. The mounting fixture P is, for example, a metal plate, which is pierced by a fastener S, such as a nail, and hammered into a structure C, such as a ceiling, that will support the duct D. In this way, the mounting fixture P is fixed to the structure C by the fastener S, and the duct D is suspended from the mounting fixture P by the hoisting fixture W, thereby supporting the duct D relative to the structure C.

[0021] The work of suspending such various parts from a duct D to a structure C can be performed using a suspension work device 100 shown in Fig. 1. The suspension work device 100 is configured to include a base unit 10, a lifting unit 20, a duct support unit 30, a part feed unit 40, and a fastener injection unit 50.

[0022] The base unit 10 is the main body of the lifting work device 100 to which all of these components are assembled and which is configured to be movable while supporting them. The base unit 10 is configured with a metal framework such as stainless steel, and has a moving unit 11 such as wheels at the bottom so that it can move on the ground or floor.

[0023] In addition, a moving handle 12 is attached to the base unit 10 for moving the entire suspension work apparatus 100 including the base unit 10. The moving handle 12 is a rod-shaped handle extending upward from a wheel serving as the moving unit 11 attached to the lower part of the front (left side in FIG. 1 ) of the base unit 10, and the base unit 10 can be moved on the floor by gripping the T-shaped handle at the end and moving it back and forth or left and right. In addition, the wheel at the bottom of the moving handle 12 rotates together with the moving handle 12, and when the moving handle 12 is rotated in a direction centered on its axis, the wheel also rotates together with the moving handle 12, thereby enabling the direction of movement of the base unit 10 by the moving unit 11 to be controlled. In addition, a display unit 62 and an operation unit 63, which will be described later, are attached near the top of the moving handle 12, so that the worker operating the suspension work apparatus 100 can refer to the display on the display unit 62 at a position where he or she can operate the moving handle 12, and can perform movement operations of the suspension work apparatus 100 using the moving handle 12 and input operations into the operation unit 63 at nearby locations.

[0024] The lifting unit 20 is a mechanism that supports the duct support unit 30 and the fastener injection unit 50 and raises and lowers them to a height where the duct D installation work is performed. The lifting unit 20 includes a column 21 provided vertically on the upper surface of the base unit 10 and a support frame 22 attached to the column 21. The column 21 is configured to be extendable and retractable by a mechanism such as a rack-and-pinion (not shown). As the column 21 extends and retracts, the support frame 22 attached to the column 21 rises and lowers vertically relative to the base unit 10. The support frame 22 supports the duct support unit 30, the fastener injection unit 50, and a portion of the part feed unit 40, which are raised and lowered together with the support frame 22. The lifting and lowering operation of the support frame 22 in the lifting unit 20 is controlled by a control unit 61 (described later), and the height of the support frame 22 is determined by the control unit 61 using an encoder (not shown). Furthermore, any mechanism for raising and lowering these components may be used as long as it can raise and lower them appropriately to the desired height, and for example, a mechanism using a winch and wire rope, or a hydraulic lifting device may be used.

[0025] Additionally, an ascent sensor 22a is provided on the upper surface of the support frame 22 to detect the support frame 22 approaching or contacting an object positioned above the support frame 22. Meanwhile, a descent sensor 22b is provided on the lower surface of the support frame 22 to detect the support frame 22 approaching an object positioned below the support frame 22. Various sensors and devices having a mechanism for detecting approach to or contact with an object (structure C) can be used as the ascent sensor 22a and the descent sensor 22b. For example, they may be physical contact limit switches or proximity sensors using light or sound waves. In this embodiment, the ascent sensor 22a is configured as a physical contact switch as described below, and the descent sensor 22b is configured as a laser proximity sensor. When the ascent sensor 22a or the descent sensor 22b detects approach to or contact with an object, the control unit 61 is notified of this by a detection signal input from the ascent sensor or the descent sensor 22b to the control unit 61. The functions of the rise sensor 22a and the fall sensor 22b and the corresponding control of each part by the control unit 61 will be explained later.

[0026] The duct support part 30 is the part that supports the duct D, and is attached to the support frame 22 of the lifting part 20. It supports the duct D, which is the object of the hanging work, and lifts it up as the support frame 22 rises.

[0027] 3 and 4, the duct support part 30 is configured by combining rod-shaped frameworks to form a roughly square prism shape overall, and is designed so that the duct D can be passed up and down through the center. The roughly square prism-shaped duct support part 30 is roughly rectangular in plan view, and one side of it (referred to as fixed part 31) is fixed to the support frame 22 of the lifting part 20.

[0028] Of the duct support part 30, two sides (referred to as expansion and contraction parts 32) adjacent to the fixed part 31 in plan view are configured so that their constituent members slide relative to each other, thereby expanding and contracting in a direction perpendicular to the fixed part 31. As a result, the part (referred to as movable part 33) forming the side facing the fixed part 31 in plan view is configured so that the distance from the fixed part 31 can be adjusted.

[0029] The mechanism of the telescopic unit 32 that adjusts the distance between the fixed unit 31 and the movable unit 33 is, for example, as follows. As shown in FIG. 3 , a feed screw 32a is attached to the fixed unit 31 so as to extend in a direction along the telescopic unit 32 (i.e., a direction in which the side of the fixed unit 31 and the movable unit 33 face each other, i.e., a direction perpendicular to these). The base and tip of the feed screw 32a are fixed to the fixed unit 31. A nut (not shown) is rotatably attached to the middle of the feed screw 32a as a member on the movable unit 33 side. A hand-operated telescopic handle 32b is attached to the tip of the feed screw 32a. The nut rotates in conjunction with the operation of the telescopic handle 32b. When the telescopic handle 32b is rotated, the position of the nut relative to the feed screw 32a moves along the axial direction of the feed screw 32a. At the same time, the movable unit 33 to which the nut is attached moves along the axial direction of the feed screw 32a. This allows the distance between the fixed unit 31 and the movable unit 33 to which the nut is attached. In this figure, the extension mechanism using the feed screw 32a and the extension handle 32b is omitted from the illustration.

[0030] Support rollers 34 are provided inside the substantially square pillar-shaped frame that constitutes the duct support portion 30, and come into contact with the duct D to support it while partially allowing its movement. In the present embodiment, a total of eight support rollers 34 are attached to the duct support portion 30, divided into two rows of four, one above the other, with two of the four support rollers 34 attached to the upper row on the fixed portion 31 side and two attached to the movable portion 33 side. Similarly, of the four support rollers 34 attached to the lower row on the fixed portion 31 side, and two attached to the movable portion 33 side. If a square pillar with a rectangular base is imagined inside the duct support portion 30, the support rollers 34 are located at a total of eight vertices.

[0031] Each support roller 34 is rotatably attached to the tip of a support member 34a that protrudes from the fixed part 31 or the movable part 33 toward the inside of the duct support part 30. Each support member 34a is Y-shaped in plan view, with its base fixed to the fixed part 31 or the movable part 33 and its bifurcated ends supporting one support roller 34. The rotation axis of each support roller 34 is set at an angle that follows the circumferential direction of the duct D that passes through the duct support part 30. Inside the duct support part 30, four support rollers 34 are provided in two rows, one above the other, and each surrounds the outer peripheral surface of the duct D and protrudes toward the duct D, with a portion of the outer peripheral surface of each support roller 34 coming into contact with the outer peripheral surface of the duct D (note that, in this specification, "following" does not only mean that the positions and angles of the two rollers are completely aligned, but also includes cases where the rollers extend in roughly the same direction or form roughly the same angle).

[0032] Each support roller 34 is configured to rotate in only one direction relative to the axis of the duct D supported inside the duct support portion 30. In this embodiment, as described above, the duct D is supported inside the duct support portion 30 so that its axis is aligned vertically. With respect to the duct D in this position, the support rollers 34 are attached to the duct support portion 30 at an angle such that their rotation axes are aligned horizontally and their rotation directions are aligned vertically. Each support roller 34 is configured to rotate only in a direction that causes the portion of its outer surface that contacts the outer surface of the duct D to move upward, and is prevented from rotating in the opposite direction (by an appropriate mechanism not shown). An example of such a mechanism that allows rotation in only one direction and restricts rotation in the other direction is a ratchet mechanism.

[0033] Furthermore, the portion of each support roller 34 that forms the rotation surface is made of a flexible material (e.g., soft urethane resin). The portion that contacts the duct D deforms, allowing the rotation surface of the support roller 34 to conform to the surface of the duct D, and the contact over a wide area maintains friction, allowing the duct D to be favorably supported. Flexible ducts used as ducts for air conditioning equipment, for example, have a structure in which insulation material is wrapped around a framework formed of a thin spiral metal, as described above. When viewed from the outside, the insulation material located between the framework is flexible, while the framework itself is hard. When such a flexible duct, duct D, is supported by support rollers 34, when the support rollers 34 contact the insulation material, the insulation material on the duct D side mainly deforms, allowing the two to fit together. When the support rollers 34 contact the framework, the flexible material on the support rollers 34 deforms, allowing the two to fit together. When the duct D moves in the axial direction while being supported by the support rollers 34, the material of the support rollers 34 deforms as necessary, allowing it to overcome hard parts of the duct D's framework and move smoothly. While typical urethane rollers often have a convex shape at the middle portion in the axial direction (the diameter is larger at the center than at both axial ends), the support rollers 34 in this embodiment are cylindrical with the same diameter at any position in the axial direction. This shape allows the flexible material to easily deform to fit the shape of the duct D. In addition to using such a flexible material, a similar effect (ability of the support rollers 34 to follow the duct D) can also be achieved by using a mechanism in which the support rollers 34 are biased toward the duct D from the support member 34a by an elastic body such as a helical spring.

[0034] As shown in FIGS. 1 and 4 , a duct D passes through the center of the duct support portion 30 in the vertical direction, and four support rollers 34 contact the duct D's outer peripheral surface to support the duct D. The support rollers 34 contact the duct D at a portion of their outer peripheral surface that protrudes toward the center of the duct support portion 30. The support rollers 34 rotate only in a direction that causes the portion of the support roller 34 that contacts the duct D to move upward. Therefore, when the support rollers 34 are in contact with the duct D as shown in the figures, the duct D is only permitted to move upward by the rotation of the support rollers 34, and downward movement is restricted by friction with the outer peripheral surface of the support rollers 34. As a result, when the duct D is passed inside the duct support portion 30 in the vertical direction, the duct D is supported by the duct support portion 30 without slipping downward due to its own weight. However, the duct D is permitted to move upward, and thus the duct D can be fed upward. Furthermore, when it is desired to set the duct D on the duct support part 30, by passing the end of the duct D through the duct support part 30 from bottom to top, the rotation of the support roller 34 allows the duct D to pass smoothly through the duct support part 30 and be supported as is.

[0035] Furthermore, as described above, the duct support unit 30 has an expandable / contractable section 32, which allows adjustment of the distance between the support rollers 34 attached to the fixed section 31 and the support rollers 34 attached to the movable section 33. When the distance between these support rollers 34 changes, the diameter of an imaginary cylinder determined by the points on the outer circumferential surface of each support roller 34 on the central side of the duct support unit 30 (the points of contact with the duct D) also changes. The diameter of this imaginary cylinder is, in other words, the outer diameter of the duct D that can be supported by a total of eight support rollers 34. With this mechanism, the duct support unit 30 can adjust the distance between the support rollers 34 to match the outer diameter of the duct D to be supported, thereby enabling support of ducts D of various diameters.

[0036] Although the example shown here is one in which only one set of duct support parts 30 is provided on the support frame 22 of the lifting unit 20, two or more sets of duct support parts 30 may be provided for one lifting work device 100. For example, although not shown, a total of two sets of duct support parts 30 may be provided, one set on the support frame 22 side of the lifting unit 20 and one set on the pillar material 21 side, to increase the support force of the duct D by the duct support parts 30 and suppress displacement of the duct D. Alternatively, it is also possible to change the orientation of the duct D in the duct support parts 30 (for example, by configuring the support rollers 34 and surrounding frame in a way that supports the duct D horizontally).

[0037] Furthermore, the configuration of the telescopic mechanism for adjusting the distance between the support rollers 34 in accordance with the diameter of the duct D is not limited to the example shown here. For example, instead of an telescopic mechanism using a feed screw 32a or the like, it is also possible to provide the telescopic unit 32 with a mechanism that biases the movable unit 33 against the fixed unit 31 with an appropriate force using an elastic body such as a helical spring. In that case, when supporting the duct D on the duct support unit 30, the movable unit 33 is temporarily separated from the fixed unit 31 against the biasing force, the distance between the support rollers 34 is increased, the duct D is passed between the support rollers 34, and then the resistance to the biasing force is released. The biasing force is then used to again reduce the distance between the fixed unit 31 and the movable unit 33, and the duct D is sandwiched between the support rollers 34.

[0038] The component feed unit 40 is a mechanism for feeding the fixture P attached to the duct D via the suspender W to a target position, and includes a feed rope 41 and a component holder 42 attached to the feed rope 41. In this embodiment, the "target position" to which the fixture P is fed is an appropriate position relative to the fastener ejection unit 50 (a position where, if the fastener S is ejected from the fastener ejection unit 50, the fixture P can be attached to the target object (structure C) by the fastener S; hereinafter referred to as the "ejection position").

[0039] The feed rope 41 is, for example, an endless chain made of metal, and is wound around pulleys 43 provided at various locations on the suspension work apparatus 100. The pulleys 43 are provided on the base unit 10 of the suspension work apparatus 100 and on the support frame 22 of the lifting unit 20, respectively; that is, the feed rope 41 wound around these pulleys 43 is routed so as to straddle the base unit 10 to the support frame 22 in the suspension work apparatus 100. In particular, on the support frame 22 side attached to the telescopic mechanism (the pillar 21 of the lifting unit 20), the feed rope 41 is routed so that the fixture P passes through an injection position on the support frame 22 side.

[0040] As the support frame 22 in the lifting section 20 moves up and down, the pulleys 43 provided on the lifting work device 100, the pulley 43 arranged on the support frame 22 side, move up and down relative to the pulley 43 arranged on the base section 10 side, and as a result, the feed rope 41 as a whole expands and contracts up and down (the part of the feed rope 41 wound around the pulley 43 on the support frame 22 side moves up and down relative to the part wound around the pulley 43 on the base section 10 side).

[0041] Here, the expression "expands and contracts" is used, but this does not mean that the overall length of the feed rope 41 itself changes, but rather that the routing state of the feed rope 41 changes due to changes in the positional relationship between the pulleys 43. The multiple pulleys 43 arranged on the base unit 10 side are provided with mechanisms that allow them to move relative to each other, and when the distance between the pulleys 43 on the base unit 10 side and the pulleys 43 on the support frame 22 side changes as the support frame 22 rises and falls, some of the pulleys 43 on the base unit 10 side are displaced accordingly, thereby absorbing the change in the distance between the pulleys 43 on the base unit 10 side and the pulleys 43 on the support frame 22 side.

[0042] Specifically, the routing adjustment mechanism for the feed rope 41 is, for example, as follows. As shown in FIG. 1 , the feed rope 41 is wound around a plurality of pulleys 43 arranged vertically on the base unit 10, and some of the pulleys 43 are movable relative to the other pulleys 43. In the example shown here, the upper pulley 43 is fixed to the base unit 10 (referred to as the "fixed pulley"), while the lower pulley 43 is configured to slide up and down (referred to as the "movable pulley"). Furthermore, the lower movable pulley 43 is urged downward by a weight 43a. When the support frame 22 rises, a portion of the feed rope 41 is pulled upward and lifted, and the tension of the feed rope 41 lifts the lower movable pulley 43 on the base unit 10 against the weight of the weight 43a attached to the movable pulley 43. As in the example shown in Figure 1, when the feed rope 41 is stretched vertically between the lower movable pulley 43 and the upper fixed pulley 43, and the number of lower movable pulleys 43 installed is n (in the example shown, n = 2), if the support frame 22 rises by x (m), each movable pulley 43 will rise by x / n (m) on average, and the stretch of the feed rope 41 caused by the rise of the support frame 22 will be absorbed.

[0043] In this way, the above-mentioned wiring adjustment mechanism not only maintains the tension of the feed rope 41, but also absorbs the expansion and contraction of the feed rope 41 in accordance with fluctuations in the wiring state of the feed rope 41 (fluctuations in the wiring position caused by the movement of the part (support frame 22) where a part of the feed rope 41 is wired relative to the other part (base part) where the feed rope 41 is wired).

[0044] In this way, an increase in the distance between the pulley 43 on the support frame 22 side and the pulley 43 on the base unit 10 side due to the lifting of the support frame 22 is absorbed by the upper and lower pulleys 43 on the base unit 10 coming closer to each other, and an appropriate routing state of a constant length of the feed rope 41 is maintained. When the support frame 22 descends, the distance between the pulley 43 on the support frame 22 side and the pulley 43 on the base unit 10 side decreases, but on the base unit 10 side, the lower pulley 43 on the base unit 10 decreases due to the biasing force of the weight 43a, and the increase in the distance between the upper and lower pulleys 43 on the base unit 10 side absorbs the decrease in the distance between the pulley 43 on the support frame 22 side and the pulley 43 on the base unit 10 side.

[0045] With this type of routing adjustment mechanism, the feed rope 41 is routed relative to the lifting unit 20, which is an extendable mechanism, so as to be able to follow the extension and contraction of the lifting unit 20. In other words, even if the routing state of the feed rope 41 in the suspension work device 100 changes as the support frame 22 extends or contracts, the length of the feed rope 41 does not change significantly, and an appropriate tension is maintained, so that the feed rope 41 does not become loose and deviate from the pulley 43. Note that the mechanism for allowing the routing state of the feed rope 41 to change as the support frame 22 extends or contracts is not limited to the example described here, and any appropriate mechanism can be used. For example, the pulley 43 may be biased by an elastic body such as a helical spring instead of the weight of the weight 43a, or a mechanism for adjusting the position of the pulley 43 by power such as a motor may also be considered. In addition to this mechanism, a portion of the pulley 43 is biased against the lifting device 100 by an elastic body (not shown) or the like, thereby functioning as a tensioner that applies an appropriate tension to the feed rope 41 wound around the pulley 43.

[0046] Some of the pulleys 43 are configured as driven pulleys equipped with a power mechanism using a motor and gears (not shown), and the rotation of these driven pulleys allows the endless feeding rope 41 to be fed along the longitudinal direction. At that time, the remaining pulleys 43 function as driven pulleys and are linked to the movement of the feeding rope 41.

[0047] With the above-described simple mechanism, the part feed unit 40 of this embodiment is capable of suitably feeding a specific part (fixture P) to a target position (injection position) on the support frame 22 in the suspension work device 100, which is equipped with a telescopic (lifting and lowering) mechanism. The feed rope 41 is also provided with a locking mechanism 44 that locks the feed operation of the feed rope 41. In this embodiment, the locking mechanism 44 includes an upper locking mechanism 44a that is provided on the support frame 22 side and limits the movement of the feed rope 41 relative to the support frame 22, and a lower locking mechanism 44b that is provided on the base unit 10 side and limits the movement of the feed rope 41 relative to the base unit 10. The upper locking mechanism 44a is located upstream of the injection position in the forward direction of the movement of the feed rope 41 due to the rotation of the pulley 43, and is configured to lock the feed rope 41 relative to the support frame 22. The lower locking mechanism 44b is located downstream of the support frame 22 in the forward direction of the movement of the feeding rope 41 caused by the rotation of the pulley 43, and locks the feeding rope 41 relative to the base portion 10 here.

[0048] The component holder 42 and the mounting fixture P will now be described. The mounting fixture P, which is a component for suspending the duct D from the structure C, may have any configuration as long as it can be fastened to the structure C, such as a ceiling, with fasteners S, such as rivets. In this embodiment, however, it is configured as a metal plate with an L-shaped cross section, as shown in FIGS. 5 to 8. Of the two surfaces of the mounting fixture P, one surface (referred to as driving portion P1) is adapted to be fastened to the structure C with fasteners S, and the other surface (referred to as hanging portion P2) has a hole P3 formed therethrough, penetrating the surface of the hanging portion P2, to which an end of the hanging tool W is attached. The position of hole P3 in hanging portion P2 is near the bend line that forms the boundary between driving portion P1 and hanging portion P2, and is positioned to one side of the direction in which the bend line extends (a position close to the edge of hanging portion P2). Furthermore, in addition to hole P3, hole P4 is provided at an appropriate position of hanging part P2 (a position corresponding to pressing part 42k of component holder 42, which will be described later) as an engaging part for engaging with pressing part 42k. The configurations and functions of hole P4 and pressing part 42k will be described again later.

[0049] Component holder 42 holds hanging part P2 of mounting fixture P having the above-described configuration, thereby holding mounting fixture P. Component holder 42 is configured with a substantially rectangular parallelepiped resin main body 42a, which is provided with holding part 42b for supporting mounting fixture P and mounting part 42c for attaching to feed rope 41.

[0050] The component holder 42 is attached to the feed rope 41 and moves with the feeding motion of the feed rope 41. Its posture changes depending on its position on the feed rope 41, but at least at the injection position near the injection port of the fastener injection unit 50 (described later), the component holder 42 is held by the feed rope 41 at an angle that raises the striking portion P1 of the fastener P upward. In this specification, the surfaces of the main body 42a are defined based on this state. That is, of the six surfaces of the rectangular parallelepiped main body 42a, the surface located at the upper end at the angle that raises the striking portion P1 of the fastener P upward is referred to as the upper surface 42d, and the surface located at the lower end is referred to as the lower surface 42e. Of the remaining four surfaces, the surface on which the holding portion 42b is provided is referred to as the front surface 42f, and the opposite side is referred to as the back surface 42g. The remaining surfaces are referred to as the first side surface 42h and the second side surface 42i.

[0051] The retaining portion 42b is provided on the front surface 42f of the main body portion 42a and supports a portion of the mounting fixture P (the hanging portion P2), which is a plate-shaped component, by sandwiching it. The sheath portion 42j constituting the retaining portion 42b is formed by bending a metal plate-shaped member into a C-shaped cross section and is provided to cover the first side surface 42h of the main body portion 42a from the front surface 42f to the second side surface 42i. Both ends of the sheath portion 42j are fixed to the first side surface 42h and the second side surface 42i, respectively, with fasteners 42n such as bolts, and the center portion is installed on the front surface 42f of the main body portion 42a with a distance slightly larger than the thickness of the hanging portion P2 of the mounting fixture P. In this embodiment, two fasteners 42n are provided, one above and one below, on the first side surface 42h and one on the second side surface 42i, and the sheath portion 42j is fixed to the main body portion 42a at these three points. The three fasteners 42n on the main body 42a are not aligned in a straight line, but form the vertices of an imaginary triangle. It is anticipated that external forces will be applied to the sheath 42j from various directions, such as from the mounting fixture P held by the holding portion 42b, and these external forces may cause the sheath 42j to be displaced relative to the main body 42a or to become detached from the main body 42a. Therefore, if the fasteners 42n that form the mounting portions of the sheath 42j on the main body 42a are arranged so as to form the vertices of a polygon, it becomes easier to maintain the fixed state of the sheath 42j to the main body 42a against such external forces.

[0052] In this way, sheath portion 42j is fixed to main body portion 42a, forming holding portion 42b between itself and front surface 42f of component holder 42. At the same time, sheath portion 42j, which is made of metal and is attached to main body portion 42a in a manner that surrounds three sides of main body portion 42, also serves to reinforce component holder 42a.

[0053] 7, a pressing portion 42k protrudes from the front surface 42f of the main body 42a toward the back surface of the sheath 42j. The pressing portion 42k is, for example, the tip of a ball plunger. A ball plunger is a component configured such that an elastic body housed inside an outer tube has a sphere at the tip thereof so as to be exposed from the end of the outer tube, and the sphere is biased toward the outside of the outer tube by the elastic body. The ball plunger is embedded in the main body 42a from the back surface 42g toward the front surface 42f so that the sphere at the tip is exposed on the front surface 42f, and the tip exposed on the front surface 42f forms the pressing portion 42k.

[0054] When mounting fixture P is supported on holding portion 42b of component holder 42, mounting fixture P has two surfaces, striking portion P1 and hanging portion P2, and has an L-shaped cross section. Hanging portion P2 is inserted between sheath portion 42j and front surface 42f of main body portion 42a. In this case, striking portion P1 is positioned on the upper surface 42d side of main body portion 42a, and is oriented so that hanging portion P2 protrudes away from main body portion 42a in a plan view.

[0055] A hole P3 is formed in the hanging part P2 near the edge near the boundary with the striking part P1, and a suspender W is attached to this hole. A notch 42l is formed in the sheath part 42j at a position corresponding to the hole P3 when the hanging part P2 is inserted between the sheath part 42j and the main part 42a. This notch 42l is provided to cut out the upper edge of the sheath part 42j (the edge close to the upper surface 42d of the main part 42a), thereby reducing the weight of the component holder 42 and preventing the suspender W attached to the hole P3 from interfering with the insertion of the hanging part P2 into and removal from the holding part 42b when the mounting fixture P is attached to or detached from the holding part 42b.

[0056] Meanwhile, main body 42a also has cutout 42m at a position corresponding to hole P3 when hanging part P2 is inserted between sheath part 42j and main body 42a. Cutout 42m is provided to cut out upper surface 42d of main body 42a, and the portion of cutout 42m closer to front surface 42f forms a slope that descends toward lower surface 42e the closer it gets to front surface 42f. This sloped portion prevents main body 42a from interfering with a suspender W attached to hanging part P2, and prevents the suspender W from contacting main body 42a and interfering with the attachment and detachment of hanging part P2 to and from holding part 42b.

[0057] Furthermore, hanging part P2 has holes P4 as engagement parts at two locations corresponding to the positions of pressing parts 42k when held by holding part 42b of component holder 42 (when inserted between main body part 42a and sheath part 42j). Pressing part 42k, which is the tip of the ball plunger, is exposed in the gap between main body part 42a and sheath part 42j, as described above. When hanging part P2 of mounting fixture P is inserted into this gap, the biasing force generated in pressing part 42k by the ball plunger mechanism presses hanging part P2 against the back surface of sheath part 42j, generating frictional force between hanging part P2 and sheath part 42j. Furthermore, pressing part 42k fits into hole P4 of hanging part P2, and hanging part P2 and pressing part 42k engage with each other. This allows the hanging part P2 to be held by the holding part 42b with an appropriate force (so that the mounting fixture P does not fall off from the holding part 42b even if the angle of the component holder 42 changes as the feed rope 41 moves, but the force is such that the mounting fixture P can be removed from the holding part 42b by sliding the hanging part P2 with a certain amount of force).

[0058] In the ball plunger constituting pressing portion 42k, at least a hemisphere of the sphere at the tip is housed within the outer cylinder, and only the remaining hemisphere and the remaining portion are exposed from the tip. Therefore, even if a force is applied from the side to the exposed portion of the sphere at the tip, the sphere is pushed into the outer cylinder. When suspending portion P2 is inserted into holding portion 42b, the edge of suspending portion P2 contacts the sphere in a direction perpendicular to the axis of the ball plunger constituting pressing portion 42k. At this time, pressing portion 42k does not interfere with the movement of suspending portion P2, and suspending portion P2, which contacts from the side, pushes the sphere toward main body portion 42a, allowing suspending portion P2 to be smoothly inserted between pressing portion 42k and sheath portion 42j. Furthermore, even after the pressing portion 42k fits into and engages with the hole P4, if the mounting fixture P is pulled in the direction of the hanging portion P2, the pressing portion 42k will be pushed into the outer tube and removed from the hole P4, allowing the mounting fixture P to be smoothly removed from the component holder 42.

[0059] As described above, the fasteners 42n attached to the first and second sides 42h and 42i of the main body 42a of the component holder 42 form the vertices of an imaginary triangle. The position of the pressing portion 42k, as viewed from the front surface 42f of the main body 42a, is preferably within the area of ​​the imaginary triangle surrounded by the fasteners 42n. Various external forces are expected to be applied to the sheath 42j due to factors such as the attachment P inserted between the sheath 42j and the main body 42a being pulled and twisted by the suspender W. In such cases, it is desirable for the sheath 42j to resist displacement relative to the main body 42a as much as possible against these external forces. This is because not only should component deformation and detachment be avoided, but displacement of the sheath 42j relative to the main body 42a could affect the holding state of the attachment P. In other words, the sheath 42j must maintain a proper orientation relative to the main body 42a and maintain an appropriate gap. From this perspective, the external force applied from the fixture P to the component holder 42 is generally centered at the position of the pressing portion 42k, so it is best to position the pressing portion 42k, which corresponds to the point of force, within the area of ​​the imaginary triangle surrounded by the fasteners 42n. If the pressing portion 42k is positioned within this area, the external force, with the position of the pressing portion 42k as the point of force, is appropriately shared among the multiple fasteners 42n that form the vertices of this area, but if the pressing portion 42k is positioned outside this area, the external force applied from the pressing portion 42k will be biased toward some of the fasteners 42n.

[0060] In the example shown here, a total of two fasteners 42n are attached to the top and bottom of the first side surface 42h, while one fastener 42n is attached to the second side surface 42i, and the position of the pressing portion 42k as viewed from the front surface 42f of the main body portion 42a is on a straight line connecting the fastener 42n on the bottom of the first side surface 42h and the fastener 42n on the second side surface 42i, and is located within the area of ​​an imaginary polygon (triangle) surrounded by the three fasteners 42n.

[0061] The pressing portion is not limited to a ball plunger, and any appropriate configuration can be used as long as it can suitably hold the mounting fixture P in the holding portion 42b. Furthermore, although hole P4 is exemplified here as the engaging portion provided on the mounting fixture P side to engage with the pressing portion 42k, the engaging portion is not limited to a hole, and may be provided as, for example, a recess into which the pressing portion 42k fits.

[0062] Any configuration may be employed for the mounting portion 42c as long as it can be suitably attached to the feed rope 41. In this embodiment, the mounting portion 42c is a hole provided on the top surface 42d of the main body 42a, near the back surface 42g. Meanwhile, a fixture 41a for securing the component holder 42 via the mounting portion 42c is attached to the feed rope 41. The fixture 41a is, for example, a bracket formed by bending a metal plate into an L-shape. It has a mounting surface along the extension direction of the feed rope 41. The component holder 42 can be secured by passing a fastener 41b, such as a bolt, through the mounting portion 41a and tightening it into the mounting portion (hole) 42c of the main body 42a. The fixtures 41a are provided on the feed rope 41 at equal intervals, for example, every few centimeters. By selecting a suitable fixture 41a and attaching the component holder 42 to it, the attachment fixture P can be supported at an appropriate position relative to the feed rope 41 via the component holder 42. Fixture 41a, which is a metal plate, is attached to cover part of upper surface 42d and rear surface 42g of main body 42, thereby also serving to reinforce component holder 42.

[0063] In this way, the component feed section 40 is able to suitably feed the fixture P held by the component holder 42 to the injection position by a simple mechanism using a feed rope 41 such as a chain.

[0064] The fastener ejection unit 50 is a device that ejects fasteners S, such as rivets, and drives mounting fixtures P into the structure C. For example, a commercially available nail gun (nail gun, nail gun) can be used as the fastener ejection unit 50. In this embodiment, the structure C to be riveted is assumed to be a ceiling or the like, and the fastener ejection unit 50, which is a rivet gun, is supported on the support frame 22 of the lifting unit 20 with the ejection port 50a facing upward.

[0065] An injection operating unit 51 is attached to fastener ejector 50 so that the ejection operation of fastener ejector 50 can be performed from a remote position (a position below fastener ejector 50 that has been lifted upward by lifting unit 20). Injection operating unit 51 has an operating lever that works in conjunction with a trigger at the end (the end opposite fastener ejector 50, or the lower end) of a rod that extends downward (rearward from fastener ejector 50, which is a nail setting tool) from fastener ejector 50, which is attached facing upward to support frame 22. Gripping this operating lever ejects fastener S from ejection port 50a of fastener ejector 50. Some nail drivers have a safety mechanism that allows them to fire fasteners only when the nozzle is pressed against the target object. If such a nail driver is used as the fastener ejector 50, the ejection operating part 51 can be held to press the ejection nozzle 50a of the fastener ejector 50 against the structure C, or the ejection nozzle 50a can be pressed against the structure C by raising the support frame 22, and the ejection operating part 51 can then be operated.

[0066] A portion of the feed rope 41 of the component feed unit 40 is positioned near the ejection port 50a of the fastener ejection unit 50, allowing the attachment P supported by the component holder 42 to be fed to an appropriate position (ejection position) relative to the ejection port 50a. At this time, the component holder 42 supports the attachment P at an appropriate angle relative to the ejection port 50a. The "appropriate position" and "appropriate angle" here refer to an appropriate position and angle for the attachment P to be ejected by the fastener ejection unit 50 and fixed to the target object (structure C). That is, the position and angle are such that the striking portion P1 of the attachment P is located forward as viewed from the ejection port 50a, and the plane of the striking portion P1 is perpendicular to the ejection direction of the fastener S from the ejection port 50a. In this embodiment, the ejection port 50a is installed facing upward so that the ejection direction is vertical. Therefore, the attachment P is supported so that the striking portion P1 forms a plane that is horizontal. Fixing device 41a of feeding rope 41 is attached to feeding rope 41 so as to support component holder 42 and fixture P in this orientation near injection port 50a.

[0067] An injection sensor 52 is provided near the injection port 50a to detect that the component holder 42 is in the injection position relative to the fastener injection unit 50. The injection sensor 52 is a proximity sensor (or object sensor, distance sensor, or range sensor) that detects the presence or absence of an object and the distance thereto by emitting, for example, ultrasonic waves or a laser. An alarm lamp 53 that is linked to detection by the injection sensor 52 is provided at an appropriate position on the hanging work device 100. The alarm lamp 53 is configured to light up when the injection sensor 52 detects that the component holder 42 is in the injection position.

[0068] Additionally, the suspension work device 100 is equipped with light emitting devices 60a-60c at various locations as alignment units for aligning the fixtures P when they are attached. Each of the light emitting devices 60a-60c is, for example, a laser device that emits laser light. Of these, the light emitting devices 60a and 60b are line laser devices that emit laser light in a fan-shaped plane, and are respectively installed facing upward at two locations on the side of the lifting unit 20. The laser light emitted by the light emitting device 60a and the laser light emitted by the light emitting device 60b are oriented in different directions, but the planes formed by the respective emitted lights each include the radiation ray from the emission port 50a of the fastener emission unit 50. This ensures that the intersection of the light emitted from the light emitting devices 60a and 60b coincides with the radiation ray from the emission port 50a. Meanwhile, the light emitting device 60c is attached facing downward to the underside of the base unit 10 and emits a cross-shaped line laser downward. The intersection line of the cross laser coincides with the extension line of the radiation from the injection port 50 a of the fastener injection part 50 .

[0069] The operation of each of the above-mentioned components is controlled by a control unit 61. The control unit 61 is a control device that controls the operation of each component of the suspension work apparatus 100 and monitors its operating status, and is configured to perform operations such as the lifting and lowering operation of the lifting unit 20, the operation of the pulley (drive pulley) 43 around which the feed rope 41 of the component feed unit 40 is wound, the operation of the locking mechanism 44, the on / off of the alarm lamp 53 linked to detection by the injection sensor 52 (the alarm lamp 53 is turned on when a detection signal is input from the injection sensor 52 and turned off otherwise), and the on / off of the light irradiators 60a to 60c. Note that at least some of these operations may be manually and directly performed by an operator. In addition to this, it is theoretically possible to configure the system so that, for example, the injection operation of the fastener injection unit 50 and the operation of the extension / contraction unit 32 of the duct support unit 30 are performed by input of an operation signal from the control unit 61.

[0070] The control unit 61 is further connected to a display unit 62 and an operation unit 63. The display unit 62 is, for example, a liquid crystal display, and visually displays the operating status of each of the above-mentioned units. The operation unit 63 is a controller that allows an operator to input operation commands for each of the above-mentioned units. Note that the display unit 62 may be configured as a touch panel display and integrated with the operation unit 63, for example.

[0071] The configuration of the suspension work apparatus 100 described herein is merely one example, and the overall shape, specifications of each component, operating principle, and the like can be modified as appropriate. For example, in this embodiment, the duct support unit 30 and the fastener injection unit 50 are supported on the same support frame 22 in the lifting unit 20. However, the duct support unit 30 and the fastener injection unit 50 can also be raised and lowered separately. Furthermore, the duct support unit 30 may not include the support rollers 34 described above, but may instead include a frame that clamps and holds the outer periphery of the duct D, and the clamping force of the frame may be loosened whenever the duct D needs to be moved relative to the frame. Alternatively, instead of support rollers that rotate in only one direction, a configuration in which the duct D is supported while being biased upward by an elastic body may be considered. Any other suitable configuration can be adopted as the suspension work apparatus as long as it is possible to perform the suspension work of the duct D in an appropriate manner.

[0072] Next, the procedure for hanging the duct D using the above-described hanging work device 100 will be described with reference to the flowchart of FIG.

[0073] First, the duct D to be hoisted is set up (step S1; see FIG. 10). A hoisting tool W with a mounting tool P attached is attached to the desired hole H among the holes H provided in the flap of the duct D. The hoisting tool W has an appropriate length corresponding to the height at which the duct D will be hoisted from the structure C.

[0074] The duct D is passed through and held in a duct support part 30 attached to the support frame 22 of the lifting part 20. The telescopic part 32 of the duct support part 30 is operated to adjust the distance between the support rollers 34 to match the outer diameter of the duct D, and then the duct D is inserted from below into the space between the support rollers 34. The support rollers 34 rotate only upward, allowing the duct D in contact with the support rollers 34 to move upward, while frictional force restricts downward movement. As a result, simply by inserting the duct D into the duct support part 30 from below, the duct D is held in place with a portion of the duct D (an area including the portion where the hoisting work using the hoisting tool W will be performed later) positioned above the duct support part 30.

[0075] The mounting fixture P of the suspender W attached to the duct D is held by the component holder 42. The component holder 42 is attached to the feed rope 41 constituting the component feed section 40 via the fixing device 41a, and the hanging portion P2 of the mounting fixture P is inserted into the holding portion 42b of the component holder 42 (the gap between the main body portion 42a and the sheath portion 42j). The position of the component holder 42 that holds the mounting fixture P on the feed rope 41 is on the upstream side of the support frame 22 in the forward direction of the feed operation of the feed rope 41. At this point, one or more appropriate number of mounting fixtures P and suspenders W have been attached to the duct D in appropriate positions.

[0076] While holding the duct D, one of the fixtures P attached to the duct D via the hoist W is sent to the position of the injection port 50a of the fastener injection unit 50 (the injection position). At this time, the locking mechanisms 44a and 44b are released. The fixture P is held by a component holder 42 fixed to a feed rope 41 of the component feed unit 40. When the pulley 43 around which the feed rope 41 is wound is rotated, the feed rope 41 is advanced in accordance with the rotation, and the component holder 42 moves together with the fixture P in the direction in which the feed rope 41 extends. As described above, a portion of the endless feed rope 41 passes near the injection position, and the fixture P supported by the component holder 42 is eventually sent to the injection position by the movement of the feed rope 41 (note that here, the operator may operate the feed rope 41 by directly pulling the feed rope 41 with his or her hand). When fixture P reaches the ejection position, this is detected by 52, and control unit 61 receives the detection signal and turns on notification lamp 53. When the operator of suspension work device 100 confirms that notification lamp 53 is lit, he or she stops the operation of pulley 43 and further places upper locking mechanism 44a in a locked state (lower locking mechanism 44b remains in an unlocked state). Alternatively, control unit 61 may automatically place upper locking mechanism 44a in a locked state upon receiving the detection signal.

[0077] The operator grasps the moving handle 12 and moves the lifting apparatus 100 on the floor to the vicinity of the intended position where the fixture P will be first fastened to the structure C. The lifting unit 20 is operated to move the support frame 22, to which the duct support unit 30 is attached, upward, and the duct D is raised to a height near the structure C that is the target of suspension (step S2; see FIG. 11 ). This operation also lifts the fastener injection unit 50, which is supported on the support frame 22 like the duct support unit 30, upward. Furthermore, the portion of the feed rope 41 that constitutes the part feed unit 40, wound around the pulley 43 on the support frame 22 side, also lifts upward together with the support frame 22. During this process, the upper locking mechanism 44a is in a locked state, and the portion of the feed rope 41 wound around the pulley 43 of the support frame 22 is locked to the support frame 22. In other words, since the movement of the feed rope 41 relative to the support frame 22 is limited, the feed rope 41 will not move unexpectedly relative to the support frame 22, causing the fixture P and the component holder 42 to deviate from the injection position.

[0078] With the support frame 22 raised, the position of the hanging work device 100 is aligned (step S3). At the site where the duct D is being hung, marks are often placed on at least one of the upper target positions (ceiling) or lower target positions (floor) where the fixture P is to be nailed. To align with the upper mark, the upward-facing light emitting devices 60a and 60b are turned on, and the intersection of the light emitted from these light emitting devices 60a and 60b is aligned with the position. The light emitted from the light emitting devices 60a and 60b appears as a cross on the surface of the target structure C, such as the ceiling, so the intersection of the cross is aligned with the mark on the structure C. As described above, the intersection of the light is set to coincide with the ray of light of the fastener S emitted from the fastener emitting unit 50. Therefore, if the fastener S is emitted with the intersection of the light aligned with the mark, the fastener S will be emitted toward the position of the mark. It should be noted that the movement and positioning of the hanging work apparatus 100 may be performed automatically by the hanging work apparatus 100 in combination with map data, for example, by providing the hanging work apparatus 100 with an autonomous travel function.

[0079] From this state, the lifting unit 20 is further operated to raise the support frame 22, and the fastener S is ejected from the fastener ejecting unit 50 in a state where the ejection port 50a of the fastener ejecting unit 50 supported by the support frame 22 is positioned immediately adjacent to (directly below in this example) the target structure C, and the striking portion P1 of the mounting fixture P is sandwiched between the ejection port 50a and the structure C (step S4). During the operation to raise the support frame 22, information regarding the position of the support frame 22 relative to the structure C is also obtained as a detection signal from the lifting sensor 22a.

[0080] The rise sensor 22a is a physical contact switch configured in a gate shape, for example, as shown in Figures 1 and 21. The rise sensor 22a is configured to include a pair of support posts 22c that protrude upward from the top of the support frame 22, and a contact portion 22d that is attached to bridge the upper ends of the support posts 22c. Each support post 22c is configured to be able to expand and contract vertically, and the contact portion 22d is biased upward by an elastic body such as a helical spring. When an object comes into contact with the contact portion 22d from above, the contact portion 22d is pressed downward relative to the support frame 22 against the biasing force of the elastic body, thereby enabling the object to be detected.

[0081] In this embodiment, each support 22c is provided with one limit switch (not shown). One limit switch (not shown) sends a contact signal to the control unit 61 when the contact portion 22d is pressed down very slightly, and the other limit switch (not shown) sends a contact signal to the control unit 61 when the contact portion 22d is pressed down a certain amount. This allows the control unit 61 to detect, as detection signals, the point at which an object (assumed to be structure C) contacts the contact portion 22d from above, and the point at which the contact portion 22d is further pressed down and the fastener ejection unit 50 reaches a position where it can drive the fastener P into the object (structure C). When the control unit 61 detects that an object has come into contact with the contact portion 22d, it notifies the worker by displaying an indication on the display unit 62, etc., and slows down the upward movement of the support frame 22.Furthermore, when the contact portion 22d is pressed down to a position corresponding to a state in which the fastener ejection unit 50 can drive the mounting fixture P, it similarly notifies the worker of this and stops the upward movement of the support frame 22.

[0082] 21, the contact portion 22d is a long member provided in a form that connects the tips of a pair of support columns 22c, and has a V-shaped notch in the middle portion thereof from one side edge to the center in the short direction in a plan view, which is configured to minimize blocking of the light emitted by the light irradiation device 60a, which is the alignment portion.

[0083] To function properly, the contact portion 22d of the lift sensor 22a, which is a physical contact sensor, must be positioned near the outlet 50a of the fastener ejector 50, which is a fastener driver. Meanwhile, light from the alignment light emitters 60a and 60b is directed from below toward the outlet 50a along the axis of light emission to align the fastener ejector 50 and its outlet 50a. Inevitably, a portion of the light path emitted from the lower light emitters 60a and 60b overlaps with the contact portion 22d (in the arrangement of this embodiment, the light path of the light emitted from the light emitter 60a partially overlaps with the contact portion 22d). The contact portion 22d casts a shadow on the light emitted for alignment. Depending on the position and size of this shadow, the light emission mark, which should be indicated as the light irradiation position on the structure C, may not be properly indicated. Therefore, a notch is provided in the contact portion 22d at a portion that overlaps with the light emitted from the light irradiation device 60a, thereby reducing the shadow cast by the contact portion 22d and preventing interference with the irradiation of light, which is the marker for emission.

[0084] Of course, the configuration of the rise sensor 22a is not limited to the example described here. For example, one of the limit switches for detecting contact may be a tape switch provided on the upper surface of the contact portion 22d. Alternatively, instead of the physical contact type limit switch described above, a laser type sensor, an ultrasonic type sensor, or the like may be used.

[0085] When the support frame 22 has risen to an appropriate height relative to the structure C and the fastener ejector 50, together with the mounting fixture P, has reached a position where it can drive the mounting fixture P into the structure C with the fastener S, the fastener S is ejected. By operating the ejection operating unit 51, the ejection operation can be performed at a position below the fastener ejector 50 supported by the support frame 22 of the lifting unit 20. Here, if the fastener ejector 50 is equipped with a safety mechanism that prevents the fastener S from being ejected unless the ejection port 50a is in contact with the target object, the ejection operation can be performed by lifting the fastener ejector 50 with the ejection operating unit 51, or by operating the lifting unit 20, and pressing the ejection port 50a against the structure C. When the fastener S is ejected, the fastener S penetrates the driving portion P1 of the mounting fixture P and is driven into the structure C, thereby fixing the mounting fixture P to the structure C.

[0086] Once mounting fixture P has been attached, lifting unit 20 is operated to lower support frame 22 (step S5 "primary lowering"; see FIG. 12). Mounting fixture P is supported by component holder 42 with hanging portion P2 inserted into holding portion 42b of component holder 42 from above, and striking portion P1, which is mounted to structure C, is positioned above hanging portion P2 and forms a plane perpendicular to hanging portion P2. Therefore, when component holder 42 is lowered together with feed rope 41 by the operation of lowering support frame 22, mounting fixture P, which is fixed to structure C, which is the ceiling, escapes from holding portion 42b of component holder 42. While the mounting fixture P is held by the component holder 42, it is held in the sheath portion 42j by the frictional force generated by the pressing portion 42k, which is a ball plunger, but this frictional force is obviously sufficiently weaker than the frictional force of the fastener S that secures the mounting fixture P to the structure C, and does not prevent the mounting fixture P from escaping. Depending on the position of the mounting fixture P when the fastener S is ejected, the mounting fixture P may escape from the component holder 42 due to the collision of the fastener S with the striking portion P1 in step S4 (when the fastener S is ejected), rather than in step S5 (when the support frame 22 is lowered).

[0087] When the support frame 22 is lowered to a height corresponding to the length of the suspension of the duct D from the structure C by the suspension device W, the suspension device W is stretched vertically by the weight of the duct D, and the duct D is suspended from the structure C via the suspension device W to the suspension part P2 of the mounting device P, as shown in Figure 12.

[0088] During the primary lowering operation of the support frame 22 in step S5, both the upper locking mechanism 44a and the lower locking mechanism 44b of the parts feed unit 40 are unlocked. As the support frame 22 is lowered, the feed rope 41 located near the support frame 22 side is lowered toward the base unit 10 and folded between the pulleys 43 provided on the base unit 10 side.

[0089] From this point, the support frame 22 is further lowered (step S6 "lowering"; see Figure 13). The duct D is supported on the support frame 22 via the duct support part 30, but the part of the duct D that is restrained to the structure C by the hanging tool W and the mounting tool P does not lower any further. Therefore, in step S6 (lowering process), the duct support part 30 moves downward relative to the duct D suspended from the structure C. From the perspective of the duct support part 30, the duct D is being pulled out upward. The rotation of the support rollers 34 allows the duct D to move relative to the duct support part 30.

[0090] Here, the control unit 61 monitors the distance to an object (assumed to be a floor) below using the descent sensor 22b to prevent the support frame 22 from descending too far. That is, the descent sensor 22b, which is a laser proximity sensor or the like attached facing downward, detects the distance to the object below, and prohibits the lowering operation of the support frame 22 if the distance is equal to or less than a certain threshold.

[0091] In step S6, from the state in which the hoisting tool W is taut and the duct D is suspended from the structure C ( FIG. 12 ), the support frame 22 is further lowered by an appropriate height ( FIG. 13 ). Here, the “appropriate height” is, for example, a height equivalent to the distance from the position where the fixture P was nailed to the structure C in the previous step S4 to the position where the next fixture P will be nailed to the structure C, or a height greater than that. As described above, in step S6, as the duct support part 30 is lowered, the duct D is pulled upward by that amount. The upper part of the duct D is restrained to the structure C by the hoisting tool W attached to the structure C via the fixture P, and the lifting work apparatus 100, which supports the duct D at the duct support part 30, can only move on the floor within a certain range relative to the position of the fixture P fixed to the structure C. Then, after fixing the fixture P to the structure C, the lifting work apparatus 100 needs to move to the position where the next fixture P is to be attached. The length of the duct D pulled out upward from the duct support part 30 in step S6 corresponds to the distance that the lifting work device 100 can move around the position of the fixture P fixed to the structure C. If the length of the duct D pulled out from the duct support part 30 in step S6, i.e., the lowering height of the duct support part 30, is set to be equal to or greater than the installation distance of the fixture P on the structure C, then the lifting work device 100 can be moved to the next installation position without any problems.

[0092] Alternatively, the height to which the support frame 22 is lowered in step S6 may be set to a height that is convenient for a worker at a height near the base portion 10 to perform some work on the duct D or the duct support portion 30 (such as attaching the hoisting device W to the duct D). In this way, in step S6, the support frame 22 is lowered to an extent that the length of the duct D pulled out from the duct support portion 30 is sufficient, or that the positions of the duct support portion 30 and the duct D are sufficiently low. Note that the work of pulling out the duct D from the duct support portion 30 can also be performed by moving the duct D from bottom to top, in addition to lowering the duct support portion 30.

[0093] During the lowering operation of the support frame 22 in step S6, if the hoisting tool W and mounting tool P for the next suspension work are attached to the duct D, as the duct D is pulled upward relative to the duct support part 30, the hoisting tool W and mounting tool P attached to the duct D are also pulled upward relative to the duct support part 30.

[0094] During the lowering operation of the support frame 22 in step S6, the locking mechanisms 44 of the part feed unit 40 keep the upper locking mechanism 44a in an unlocked state and the lower locking mechanism 44b in a locked state. From the end of step S5 (when the duct support unit 30 has been lowered to a height corresponding to the suspension length by the suspending tool W and the suspending tool W is stretched vertically by the weight of the duct D), until the duct support unit 30 is further lowered in step S6, the suspension position of the duct D by the suspending tool W is fixed (apart from some shaking) with respect to the structure (ceiling) C. In other words, during the descent in step S5, the duct D descends together with the support frame 22 and duct support unit 30, but during the descent in step S6, the support frame 22 and duct support unit 30 move relative to the duct D. In addition to the hoisting device W attached to the structure C in step S4, another hoisting device W may be attached to the duct D, and the attachment P of the hoisting device W may be held by the component holder 42 of the feed rope 41. If the support frame 22 moves relative to the duct D, the feed rope 41 and the component holder 42 attached thereto may be pulled via the hoisting device W, or the attachment P may become detached from the component holder 42. Therefore, if the lower locking mechanism 44b is locked during this time, the position of the feed rope 41 relative to the support frame 22 is fixed. In other words, the movement of the feed rope 41 relative to the base 10 is restricted, preventing the feed rope 41 from moving unexpectedly as the support frame 22 descends, thereby preventing the position of the component holder 42 from changing. After the support frame 22 has finished descending, the lower locking mechanism 44b is unlocked.

[0095] With the support frame 22 lowered in step S6, the duct D is set up for the next hanging operation, if necessary. If the mounting fixture P and hoisting fixture W to be used for the next hanging operation have not been attached to the duct D, they can be attached here. Also, a new duct D may be connected to the duct D supported by the duct support part 30. If necessary, the hoisting fixture W with the mounting fixture P is also attached to the new duct D in an appropriate position. The mounting fixture P is held by the component holder 42 located in an appropriate position on the feed rope 41.

[0096] The feeding rope 41 is operated to send the mounting fixture P for the next suspension operation to the injection position (step S7). The upper locking mechanism 44a is set to the locked state, and the support frame 22, to which the duct support unit 30 and the fastener injection unit 50 are attached, is again raised (step S8 "primary raising"; see FIG. 14). In the previous step S6, the support frame 22 was lowered to pull the duct D upward from the duct support unit 30, and in the subsequent step S8, the duct D pulled upward in the previous step S6 is lifted further upward by the lifting of the support frame 22. In this way, by the simple operation of raising and lowering the duct support unit 30 relative to the duct D, the excess length of the duct D necessary for movement to the next suspension operation is ensured.

[0097] In this step S8 (primary raising step), it is not necessary to raise the support frame 22 to a height (the height of the support frame 22 in step S4) at which the mounting fixture P can be hammered in by injecting the fastener S. The primary raising is an operation for pulling out the duct D to ensure the extra length required for movement, and it is sufficient to raise the frame to a level at which the required extra length of the duct D can be ensured.

[0098] The suspension work device 100 is moved below the position where the next suspension work will be performed, and alignment is performed at the new position (step S3). Thereafter, steps S3 to S8 are repeated the required number of times (step S9). Once the planned series of suspension work is completed, the support frame 22 is lowered, and the duct support part 30 is removed from the duct D (step S10). The duct D remains suspended at an appropriate position and height by the mounting fixture P and the suspension fixture W on the structure C. Depending on the length of the duct D, it is possible that the duct support part 30 will come off the duct D as it is lowered in steps S5 and S6, without the need to remove the duct support part 30 in step S10.

[0099] For convenience of explanation, steps S1 to S8 have been described in order here, but when carrying out the duct hanging method of the present invention, it is not necessary to perform each step in this exact order and content. For example, with regard to the order of steps S2 and S3, step S3 may be performed before step S2, or steps S2 and S3 may be performed simultaneously or alternately. Also, it is possible to perform the feeding operation of the mounting fixture P in step S7 or step S1 after raising the support frame 22 in step S8 or step S2, for example. Of course, in some cases, it is also possible to omit some steps or add other steps not described here.

[0100] In this system, the operations of the various parts of the lifting work device 100 involved in the above work can be controlled by inputting operation commands to the operation unit 63. The procedure for inputting operations at this time will be described below.

[0101] The operation unit 63 can be configured as a touch panel display integrated with the display unit 62. In this case, the display unit 62, which also serves as the operation unit 63, displays operation screens such as those shown in FIGS. 15 to 17. It is assumed here that the screens shown in FIGS. 15 to 17 are switched appropriately in response to operation inputs and the like and displayed on the display unit 62. In the example shown here, the screens in FIGS. 15 and 16 are setting screens, and can be switched between by pressing the directional button at the bottom right. The screen in FIG. 17 is an operation screen, and pressing the "Construction" button at the bottom left on the setting screens in FIGS. 15 and 16 switches to the operation screen in FIG. 17, and pressing the "Settings" button at the bottom left on FIG. 17 switches to the setting screens in FIGS. 15 and 16.

[0102] In the suspension work device 100 of this embodiment, the operations controlled via the system side (control unit 61) are mainly the lifting and lowering operation of the support frame 22, the feeding operation of the feed rope 41 by the rotation of the pulley 43, and the locking and unlocking of the feed rope 41 by the upper and lower locking mechanisms 44. Furthermore, the control unit 61 uses an encoder (not shown) to grasp the height of the support frame 22 (its vertical position relative to the initial position), and also inputs detection signals from the rise sensor 22a and the fall sensor 22b and the detection signal of the component holder 42 by the injection sensor 52 to the control unit 61, so that it can grasp that the support frame 22 has approached or come into contact with the structure C, or that the component holder 42 holding the fixture P is in the injection position.

[0103] At the start of the suspension work, first, various setting values ​​for the suspension work are input to the operation unit 63 on which the operation screen shown in Fig. 15 is displayed. In the example shown here, Installation height (mm) Hanging height (mm) Duct size (mm) Initial height (mm) Hanging pitch (mm) The workers are required to enter this information into the screen before construction begins.

[0104] The "construction height" is the height from the floor of the structure C (ceiling), which is the object to which the mounting fixture (plate) P is fastened with the fastener (rivet) S.

[0105] The "hanging height" is the height of the duct D when it is suspended from the structure C, for example, the height from the floor to the center of the duct D.

[0106] The "duct size" is the radial dimension of the duct, such as the diameter. The radius may be input instead of the diameter.

[0107] The "initial height" is a value indicating the extension / retraction state of the lifting section 20 at the start of work (the vertical position of the support frame 22), and is, for example, the total height of the suspension work apparatus 100, or the relative height of the support frame 22 with respect to the state in which the lifting section 20 is most retracted. Here, the total height of the suspension work apparatus 100 (the height of the uppermost end of the support frame 22 excluding the rise sensor 22a) is input.

[0108] The "hanging pitch" is the distance in a plan view between the installation positions of adjacent fasteners (rivets) S on a structure (ceiling) C, and corresponds to the distance that the hanging work device 100 is moved to the next installation position after installing a fastener S at a certain installation position.

[0109] Of the above five types of values, the construction height will be input by the worker each time, since the height of the ceiling, which is the target structure C, will vary depending on the site. For the other hanging height, duct size, initial height and hanging pitch, default values ​​may be displayed as the initial values ​​(for example, 500 mm, 200 mm, 2,440 mm and 1,000 mm respectively), and the worker may input the values ​​if changes are required.

[0110] In addition to the above values, the following values ​​may also be input (the screen displayed on the display unit 62 when these values ​​are input is as shown in FIG. 16, for example). Primary rise offset value (mm) -Installation height correction value (mm) Primary descent distance correction value (mm) - Correction value for descent distance (mm)

[0111] The "primary rise offset value" is a parameter for calculating the height to which the support frame 22 is raised in the above-mentioned primary rise process (step S8; see FIG. 9). In the primary rise process, the support frame 22 is raised to a position lower than the construction height, and the difference between the raised height of the support frame 22 in the primary rise process and the construction height is the primary rise offset value. The default value of the primary rise offset value is, for example, 200 mm.

[0112] The "construction height correction value" is a value that is entered to raise the support frame 22 by an additional amount if the support frame 22 is not high enough after the support frame 22 has been raised to actually install the mounting fixture P on-site (steps S2, S4), and the default value is 0 mm.

[0113] The "correction value for the primary lowering distance" is a value that is entered to lower the support frame 22 by an additional amount if the amount of lowering is insufficient after the primary lowering process (step S5) of the support frame 22 after the mounting fixture P is actually installed on site, and the default value is 0 mm.

[0114] The "descent distance correction value" is a value that is entered to lower the support frame 22 by an additional amount if the amount of lowering is insufficient after the lowering process (step S6) of the support frame 22 after the mounting fixture P is actually installed on site, and the default value is 0 mm.

[0115] These four values ​​should not be changed from their default values ​​unless there is a particular need.

[0116] The control unit 61 calculates the next value from the above values ​​input to the operation unit 63 or set as initial values, and displays it on the display unit 62 (see the right side of FIG. 15). Current height (mm) Displacement of the up / down mechanism (mm) Hanging length (mm) Primary rise height (mm) Primary drop height (mm)

[0117] The “current height” is, for example, the overall height of the lifting work device 100 and is calculated from the value of the “initial height” and the encoder of the lifting mechanism of the lifting unit 20 .

[0118] The "displacement of the up / down mechanism" is the amount of change from the default value of the "initial height" and is calculated as the difference between the "initial height" value entered on the above screen (see Figure 15) and the default value (e.g., 2,440 mm).

[0119] The "hanging length" is the distance from the height of structure C (construction height) to the height at which duct D is hung, i.e., it is the dimension corresponding to the length of the hoisting device (wire) W. It is calculated as the difference between the "construction height" and the "hanging height", and then subtract half of the "duct size" (diameter value of duct D).

[0120] The "primary rise height" is a target value for the height of the support frame 22 in the primary rise step (step S8) and is calculated as the value obtained by subtracting the "primary rise offset value" from the "construction height".

[0121] The "primary lowering height" is a target value for the height of the support frame in the above-mentioned primary lowering step (step S5), and is calculated as the value obtained by subtracting the "hanging length" from the "construction height."

[0122] When the input and calculation of each of the above values ​​is completed, a screen such as that shown in Fig. 17 is displayed on the display unit 62. On this screen, the following numerical values ​​are displayed on the left side based on the input and calculation of each of the above values. Installation height (mm) Primary rise height target value (mm) Current height (mm) Target height for first descent (mm) Target height for descent (mm)

[0123] On the right side, various operation buttons are displayed, and below them, a message column is provided for displaying operation instructions, warnings, etc. from the control unit 61.

[0124] 17, a status display column is provided in the center of the screen to display the status of each part of the device. The top two columns show the detection status by the rise sensor 22a, and when contact with the target object (structure C) is detected at the contact part 22d, the background color of the "proximity" column changes (for example, from white to red), and when the contact part 22d is further pushed down and the fastener ejection part 50 reaches a position where it can drive the fastener P into the structure C, the background color of "contact" also changes in the same way.

[0125] The status display column below that (third from the top) shows the detection status of the injection sensor 52, and when the injection sensor 52 detects that the fixture P is in the injection position, the word "Loaded" is displayed in this column and the background color changes (for example, from white to green).

[0126] The status display column below that (third from the bottom) shows the lock status of the upper locking mechanism 44a. When the upper locking mechanism 44a has released the lock on the feed rope 41, the word "released" is displayed on a white background, for example. When the upper locking mechanism 44a is activated and the feed rope 41 is locked, the background color changes from white to green, for example, and the text display changes to "locked."

[0127] The status display column below that (second from the bottom) shows the lock status of the lower locking mechanism 44b. When the lower locking mechanism 44b has released the lock on the feed rope 41, the word "released" is displayed on a white background, for example. When the lower locking mechanism 44b is activated and the feed rope 41 is locked, the background color changes from white to green, for example, and the text display changes to "locked."

[0128] The status display column at the bottom shows the detection status by the descent sensor 22b, and normally displays the word "released" on a white background, but when the distance between the object below detected by the descent sensor 22b is below a certain threshold, the background color changes, for example, from white to green, and the displayed word changes to "locked."

[0129] The screen in FIG. 17 displays the above-mentioned numerical values, operation buttons, message columns, and status display columns. The worker can input the lifting / lowering operation of the support frame 22 into the operation unit 63 using the operation buttons while referring to the displayed numerical values ​​and messages. The control unit 61 controls the lifting / lowering of the support frame 22 according to the operation command input into the operation unit 63 and the target height of the support frame 22, which is set based on various numerical values. For the worker, operation buttons such as "Raise to Construction Height" (corresponding to steps S2 and S4), "First Lowering" (corresponding to step S5), "Lowering" (corresponding to step S6), and "First Raising" (corresponding to step S8) are displayed in accordance with each step shown in the flowchart in FIG. 9. The next operation to be performed and any warning messages are also displayed in the message column. The worker presses the operation buttons in order according to the messages in the message column, causing the lifting unit 20 to raise or lower the support frame 22 to the appropriate height.

[0130] For example, to perform the lifting operation corresponding to steps S2 to S4 and the subsequent casting of fastener S, the "Lift to Construction Height" button on the right side of the screen in FIG. 17 is pressed, and the support frame 22 is raised until the "Current Height" displayed on the left side of the screen reaches the target "Construction Height." At this time, when the rise sensor 22a detects contact of an object with the contact portion 22d, the control unit 61 changes the "Ceiling Proximity" item in the status display field of the screen in FIG. 17 displayed on the display unit 62 from "Released" (white background) to "Proximity" (red background). This is to inform the worker that the ceiling is nearby. At the same time, the control unit 61 decelerates the lifting of the support frame 22 by the lifting unit 20 to prevent unexpected contact with the ceiling, i.e., the structure C.

[0131] Furthermore, the control unit 61 stops the lifting unit 20 when the contact portion 22d of the rise sensor 22a is pressed down a certain amount (the contact portion 22d is pressed down by an amount corresponding to the state where the support frame 22 is at a height where the fixture P can be nailed to the structure C), and changes the "ceiling contact" item in the operation screen of Fig. 17 displayed on the display unit 62 from "release" (background color is white) to "contact" (background color is red). This is to let the worker know that the support frame 22 has risen to a position where concrete can be poured.

[0132] The worker performs the lifting operation and, if necessary, performs alignment (step S3) using the alignment units (light irradiation devices) 60a to 60c.

[0133] Also, in this process, if both of the following conditions are not met, the message field will display: "Contact" state is detected by the rise sensor 22a (a state in which pressing down on the contact portion 22d detects that the fastener ejection portion 50 is in a position where the fixture P can be hammered into the structure C), and the ejection sensor 52 detects that the fixture P is in the ejection position.

[0134] For example, if the floor at the work site is not finished and the suspension work apparatus 100 sinks, even if the support frame 22 has reached the set construction height in the suspension work apparatus 100, the lift sensor 22a may not detect that the structure C has pushed it down by more than a certain amount, and the message described above may be displayed. In such a case, the display screen on the display unit 62 is switched to the setting screen in FIG. 16, and a correction value for the construction height ("Construction Height_Correction") is set to offset the construction height. This allows the support frame 22 to be raised to the height actually required for hammering in the fixture P, and at the same time, the lift sensor 22a can properly detect this lift.

[0135] Furthermore, if the position indicated by the alignment sections 60a to 60b deviates from the desired position due to factors such as an inclined floor surface, the alignment operation is repeated as necessary, along with temporary lowering and raising of the support frame 22, to align the casting position of the mounting fixture P with the desired position.

[0136] When the support frame 22 has risen sufficiently, the rise sensor 22a detects a "contact" state, and the injection sensor 52 detects that the fixture P is in the injection position, the message "Please pour concrete, and when complete, proceed to primary descent" is displayed in the message field.

[0137] In this process, if the injection sensor 52 does not detect that the fixture P is in the injection position, the control unit 61 releases the upper locking mechanism 44a and displays "Released" (with a white background) in the "Upper Chain" item in the central status display column of the operation screen shown in FIG. 17 displayed on the display unit 62. (Note that the operation of the locking mechanisms 44a and 44b may be performed automatically by the control unit 61 in response to an input operation by an operator or a detection status by sensors, or, for example, a prompt to operate the locking mechanisms may be displayed on the display unit 62 so that the operator can operate them manually. This also applies to the following processes.) In addition, the "Plate" item displays "None" (with a white background). If the injection sensor 52 detects that the fixture P is in the injection position, the control unit 61 releases the upper locking mechanism 44a and changes the "Upper Chain" item on the operation screen to "Locked" (with a green background), and further changes the "Plate" item to "Loaded" (with a green background). In addition, when the fixture P is in the injection position, the control unit 61 turns on the blue notification lamp 53. This allows the operator to recognize whether the fixture P is in an injection-ready state or not, thereby preventing blank injection.

[0138] After checking the display in the status display column and the lighting of the alarm lamp 53, the worker follows the message displayed in the message column and operates the fastener ejector 50 to cast the mounting fixture P using the fastener S (step S4), and then performs the primary lowering process (step S5). That is, the worker presses the "primary lowering" button and lowers the support frame 22 until the "current height" matches the "primary lowering height."

[0139] When the "primary lowering" button is operated, the control unit 61 releases the upper locking mechanism 44a (leaving the lower locking mechanism 44b in the released state), and changes the "upper chain" item in the status display column from "locked" (background color is green) to "released" (background color is white) on the operation screen of FIG. 17 displayed on the display unit 62. Furthermore, when the support frame 22 is lowered, the injection sensor 52 moves away from the fixture P hammered into the structure C, so the "plate" item changes from "loaded" (background color is green) to "none" (background color is white), and the notification lamp 53 goes out. Furthermore, the "contact" and "proximity" states of the rise sensor 22a are sequentially turned off, and simultaneously, the "ceiling contact" and "ceiling proximity" items on the operation screen of FIG. 17 are sequentially changed to "released" (background color is white). When the support frame 22 has descended the set "hanging length," the control unit 61 temporarily stops the descent of the support frame 22, and at this point, the "current height" theoretically matches the "primary descent height" (note that if the descent sensor 22b turns on before the "current height" reaches the "primary descent height" (if the descent sensor 22b detects that the distance to the object below is below a certain threshold), the descent will stop at that point).

[0140] When the primary descent is completed, a message such as "Please check that the duct is not twisted before proceeding." The worker confirms that the hoisting tool W, which is the wire suspending the duct D from the structure C, and the duct D located between the hoisting tool W and the duct support 30 are both taut. For example, depending on the length of the hoisting tool W and other conditions, the hoisting tool W or the duct D may be loose when the primary descent is completed. In this case, if the same process is subsequently repeated, the fixture P may not be cast at the set hoisting pitch. If slack is found in at least one of the hoisting tool W or the duct D upon completion of the primary descent, the operator switches the display 62 to the setting screen shown in FIG. 16 and sets a correction value for the primary descent ("Primary Descent Correction") to offset the hoisting length. This allows the descent amount during the primary descent to be adjusted until the hoisting tool W and the duct D are properly taut.

[0141] Following the primary lowering, a further lowering process (step S6) is carried out. The worker presses the "lowering" button in Fig. 17, and in response, the control unit 61 lowers the support frame 22 by the set "hoisting pitch." In addition, the control unit 61 locks the lower locking mechanism 44b in response to the operation of the "lowering" button, and on the operation screen of the display unit 62, the "lower chain" item changes from "released" (white background color) to "locked" (green background color).

[0142] During descent, depending on the detection status of the descent sensor 22b, a message such as the following is displayed in the message field, prompting the worker to attach the mounting fixture (plate) P, operate the feed rope (chain) 41 (step S7), start the next process (primary ascent; step S8), etc. If the descent sensor 22b is off: "Operate the chain to send the plate to the tip." If the descent sensor 22b is on: "Attach a new plate to the chain and ascend once."

[0143] In this lowering process, the control unit 61 lowers the support frame 22 by the set "hanging pitch" (i.e., stops the operation of the lifting unit 20 when the amount of descent of the support frame 22 reaches the set "hanging pitch" value), but also stops the operation of the lifting unit 20 when the support frame 22 reaches the lower limit height of the liftable range (when the descent sensor 22b turns on) (at this time, the "Downward End LS" field in the status display field of the operation screen in FIG. 17 changes from "Released" (background color is white) to "Approach" (background color is red)). Here, for example, in a work site with a low ceiling or when the hanging pitch is long, it is possible that the support frame 22 will reach the lower limit height before it has fully lowered by the set hanging pitch. In this case, the duct D can be manually pulled downward from the duct support portion 30 by the amount that the lowering amount of the support frame 22 during the lowering process is insufficient compared to the hanging pitch (if this operation is necessary, a message such as "Please pull out the duct" can be displayed instead of the above message).

[0144] When the lowering process is completed, the control unit 61 releases the lower locking mechanism 44b, and the "lower chain" item in the status display field displayed on the display unit 62 is set to "released" (background color is white).

[0145] After appropriately setting up the duct D (step S6; attaching the fixture P to the component holder 42, feeding the component holder 42 with the feed rope 41, etc.), and feeding the fixture P (step S7), the primary ascent (step S8) is performed. The worker presses the "primary ascent" button and raises the support frame 22 until the "current height" reaches the "primary ascent height." In response to the operation of the "primary ascent" button, the control unit 61 releases the lower lock mechanism 44b and locks the upper lock mechanism 44a, and also changes the display in the status display field on the operation screen. The message field displays a message such as "Please move to the next construction position."

[0146] In this way, when suspending the duct D from the structure C, the necessary support for the duct D is performed by the duct support unit 30, thereby reducing the need for a person to ascend and descend to the structure C to support the duct D near the structure C, thereby saving the effort involved in supporting the duct D. At that time, the support frame 22 can be raised and lowered to an appropriate height by a simple operation input to the operation unit 63, thereby smoothly carrying out the suspension work of the duct D in the above steps S1 to S10. In this series of steps, the raising and lowering of the support frame 22 is generally performed by an operator's operation input, but if the rise sensor 22a or the fall sensor 22b turns on during the process (if an object is detected within a distance of these sensors within a threshold value), a command to stop the operation of the support frame 22 is issued in response to the detection signal.

[0147] In the above series of operations, the worker performing the suspending work of the duct D does not need to ascend or descend to a height near the structure C to be suspended. When attempting to suspend the duct D from a structure C, such as a ceiling, using fasteners S, the worker must lift the fastener ejection unit 50, the duct D, and the mounting fixture P attached to it via the suspending device W to a height near the structure C and operate the fastener ejection unit 50 while maintaining them in an appropriate positional relationship with the structure C. In conventional suspension work, this is done manually, requiring approximately two workers to ascend or descend to a height near the ceiling using a lifting platform or the like, and then repeat this process for each location where riveting is to be performed, resulting in a great deal of time and effort. According to the suspension work device and method of this embodiment, the lifting and support of the fastener ejection unit 50 and the duct D are performed by the support frame 22 of the lifting unit 20 and the duct support unit 30. Furthermore, the duct D can be easily fed to the required length relative to the duct support portion 30 by a feeding mechanism using support rollers 34 that rotate in only one direction, and can be held there. When fasteners S are used to attach the mounting fixture P, the mounting fixture P must be held in an appropriate position relative to the fastener ejector 50. The mounting fixture P is fed to the ejection position by the part feed portion 40 relative to the fastener ejector 50, which is supported by the support frame 22. The ejection operation of the fastener S using the fastener ejector 50 can also be performed from a remote location below by the ejection operating portion 51. In other words, the worker can hold the fastener ejector 50 and the duct D at a height near the structure C, feed the duct D there, and operate the fastener ejector 50 while holding the mounting fixture P, all while remaining at a height near the base portion 10, without having to ascend or descend to a height near the structure C.

[0148] In the above embodiment, the duct D is suspended by passing a wire suspending tool W through a hole H in a flap, as shown in FIG. 2, with the duct D having the flap in mind. However, the duct and suspending tool are not limited to this configuration. As long as a mounting fixture is attached to the duct via some kind of suspending tool, the duct suspension work using the above-described suspension work device and method can be performed as appropriate. For example, as shown in FIG. 18, a duct D having no flap can also be suspended using the same suspension work device 100 as described above, in which a band-shaped suspending tool B is attached to tighten the outer periphery of the duct D, and a wire-shaped suspending tool W is attached to the portion of the suspending tool B that protrudes outward from the outer periphery of the duct D.

[0149] The suspender B shown here is, for example, a resin band. The band has multiple holes bored longitudinally in the center of its width. Two of these holes are selected at appropriate positions and fastened together with fasteners such as bolts to form a ring-shaped portion of the band of appropriate dimensions. This ring-shaped portion allows duct D to be suspended through the ring-shaped portion, as shown in Figure 18 . By tightly fastening the outer surface of duct D with the suspender B to prevent it from easily moving longitudinally relative to duct D and allowing a portion of the suspender B (the portion other than the ring-shaped portion that is not involved in fastening duct D) to protrude from the outer surface of duct D, the suspender B can be used as a component with the same function as the flap portion of duct D shown in Figure 2 . Specifically, a suspender W, which is a wire, can be attached to the portion of the suspender B protruding from the outer surface of duct D. A mounting fixture P (see Figure 2 ) is further attached to the suspender W, allowing duct D to be suspended from structure C.

[0150] In particular, when using a hoisting tool B of this shape, it is conceivable that the hoisting tool B may protrude significantly radially outward from the outer peripheral surface of the duct D, and therefore, in order to prevent unintended interference between the protrusion and each part of the suspension work device 100, it is advisable to provide a guide (protrusion guide) 35 on the duct support part 30, as shown in Figures 19 and 20, for example. In the example shown in Figures 19 and 20, devices (for example, a feeding rope 41 and a fastener launching part 50, although specific illustrations are omitted) are located in an area adjacent to the outside of the frame that constitutes the duct support part 30 (the right side in the plan view of Figure 20), and a plate-shaped protrusion guide 35 is provided to separate these devices from the duct D supported inside the duct support part 30. In the example shown here, the protrusion guide 35 is attached to the inside of the frame-shaped duct support part 30 in a plan view (Figure 20), with its upper end protruding upward from the duct support part 30 as shown in Figure 19, and its lower end being located within the space formed by the frame of the duct support part 30.

[0151] When performing the suspension work of duct D using the suspension work device 100 according to the procedure described above, it is preferable that the duct D be supported in the duct support part 30 in an orientation such that the hoisting tool B, hoisting tool W, and attachment tool P attached to the duct D are located on the same side as the feeding rope 41 and fastener launch part 50 when viewed from the duct D. However, in this case, if a portion of the hoisting tool B protrudes outward from the outer peripheral surface of the duct D as shown in FIG. 18, this may interfere with the above-mentioned equipment. Therefore, as shown in FIGS. 19 and 20, if a protrusion guide 35 is provided to separate the main body of the duct D from the above-mentioned equipment, the protrusion guide 35 prevents a portion of the hoisting tool B attached to the duct D from protruding outward beyond the protrusion guide 35, thereby preventing the hoisting tool B and the hoisting tool W attached thereto from interfering with the above-mentioned equipment.

[0152] The plate-like protrusion guide 35 is installed so as to form a surface along the vertical direction, and one end side in the horizontal direction (a portion corresponding to one of two sides extending along the up-down direction) is attached to the fixed part 31 that constitutes the duct support part 30. The lower end of the protrusion guide 35 is formed in a curved shape that convex downward so as to rise from the one end side in the horizontal direction (the base end attached to the fixed part 31) to the other end side (the tip end on the opposite side, assuming that the portion attached to the fixed part 31 is the base end).

[0153] 18 is fed from below relative to the duct support part 30, a part of the hanger B protruding from the outer peripheral surface of the duct D comes into contact with the lower edge of the diagonally curved protrusion guide 35 from below and then moves upward along the edge. As a result, the hanger B bypasses the devices (feeding rope 41 and fastener ejection part 50) located on the opposite side of the main body of the duct D across the protrusion guide 35, and passes upward without risk of interfering with them.

[0154] The duct support part 30 in Figures 19 and 20 also includes another guide (main body guide) 36. The duct support part 30 shown here includes a fixed part 31 and a movable part 33 that moves relative to the fixed part 31, each with four support rollers 34 facing each other. The main body guides 36 are two pairs of metal pipe-like members, totaling four, that extend above and below the installation positions of the four support rollers 34. Each member has a circular cross section perpendicular to the longitudinal direction. Note that for convenience of drawing, Figure 19 only shows the main body guide 36 on the fixed part 31 side.

[0155] The shapes of the components that make up the main body guide 36 will be described below. Here, the positional relationship between the duct D supported by the duct support part 30 and the support member 34a attached to the components (fixed part 31 and movable part 33) that surround the duct D is used as a reference, and the direction toward the duct D as seen from the support member 34a is referred to as the "front," and the direction toward the component to which the base end of the support member 34a is attached is referred to as the "rear." Additionally, the horizontal direction perpendicular to the front-to-rear direction is referred to as the left-to-right direction.

[0156] In the fixed part 31 and the movable part 33, two pairs of support rollers 34 are attached to the tips of Y-shaped support members 34a, and are provided at positions that form the vertices of an imaginary rectangle (see Figures 3 and 4). In each of the fixed part 31 and the movable part 33, support members 34a are provided at the top and bottom, and a pair of support rollers 34 is supported on each of these support members 34a. As shown in Figures 19 and 20, the pipe-shaped members that make up the main body guide 36 extend from the top to the bottom of the support members 34a provided at the top and bottom.

[0157] Of the support members 34a provided above and below the fixed portion 31, two pipe-shaped members that constitute the main body guide 36 extend forward from the member that constitutes the fixed portion 31 directly above the upper support member 34a. These members bend slightly rearward of the front ends of the support rollers 34 near the positions where the support rollers 34 are provided, and extend so as to branch out to the left and right. Furthermore, the pair of members bend at a position outward from the left and right support rollers 34 in the left-right direction and extend downward. The downward-extending members bend inward in the left-right direction at a position below the lower pair of support rollers 34 and meet below the lower support rollers 34. The pair of members that meet then bend backward and are reconnected to the fixed portion 31 below the lower support member 34a. In this way, a rectangular shape is formed by the main body guide 36 at a position slightly rearward of an imaginary plane formed by the front ends of the four support rollers 34. The rectangle formed by the main body guide 36 is one size larger than the imaginary rectangle whose vertices are the four support rollers 34.

[0158] A main body guide 36 is also provided around the support roller 34 provided on the movable portion 33 .

[0159] In this way, a total of four pairs of support rollers 34 are provided facing each of the fixed part 31 and the movable part 33, and main body guides 36 are arranged in a square behind each of them. These main body guides 36 guide the duct D relative to the support rollers 34, and also function to control the posture of the duct D so that the duct D does not deviate too much from the duct support part 30 even in the part away from the support rollers 34.

[0160] When the duct D is supported on the duct support part 30, the support rollers 34 are brought into contact with the outer peripheral surface of the duct D so that the diameter of an imaginary cylinder formed by the contact points of the support rollers 34 with the duct D is approximately equal to the outer diameter of the duct D. However, when the duct D is passed between the support rollers 34 positioned in this way, if the peripheral portion of the upper end of the duct D approaching from below is positioned outside the support rollers 34, the duct D may get caught on the support rollers 34 and be prevented from proceeding any further. The lower portion of the main body guide 36 (the portion forming the lower side of the rectangle) extends to the left and right below the support rollers 34 and slightly behind the front ends of the support rollers 34 (radially outward as viewed from the duct D). Therefore, when the duct D approaches from below while shifting radially outward relative to the support rollers 34, the upper end of the duct D contacts the lower side of the main body guide 36 before the support rollers 34. Since the components that make up the main guide 36 are pipe-shaped with a circular cross section, when the outer edge of the upper end of duct D comes into contact with the support roller 34, duct D is guided along the curved surface of the component surface of the main guide 36 and into the space surrounded by the support roller 34.

[0161] Furthermore, when the upper end of the flexible duct D slips upward from the duct support portion 30, the portion of the duct D above the duct support portion 30 tends to bend due to its own weight, etc. Depending on the degree and direction of bending, it may interfere with equipment or other objects installed around the duct support portion 30 or hinder the rotation of the upper support roller 34. The portion of the main body guide 36 located above the upper support roller 34 (the portion forming the upper side of the rectangle) extends left and right above the support roller 34 and slightly rearward (radially outward as viewed from the duct D) from the front end of the support roller 34. Therefore, when the duct D tries to bend at a position immediately above the support roller 34, the bending duct D is supported by the members of the main body guide 36, and the bending is gently suppressed. In this way, the duct D is appropriately guided and supported by the main body guide 36 above and below the support roller 34.

[0162] As described above, in the duct hanging work method of the above embodiment, a duct hanging work device 100 is used, which is equipped with a duct support part 30 that supports the duct D and a lifting part 20 that is equipped with a support frame 22 that supports the duct support part 30 so that it can be raised and lowered relative to the base part 10, and the following steps are carried out: a step of raising the support frame 22 while the duct D is supported on the duct support part 30 (steps S2, S4, S8), and a step of attaching the duct D supported by the duct support part 30 to the structure C while the support frame 22 is raised (step S4).

[0163] Furthermore, the duct hanging work system of the above embodiment comprises a duct support section 30 that supports the duct D suspended from the structure C, a lifting section 20 equipped with a support frame 22 that supports the duct support section 30 so that it can be raised and lowered relative to the base section 10, a control section 61 that controls the raising and lowering operation of the support frame 22 by the lifting section 20, and an operation section 63 that inputs the raising and lowering operation of the support frame 22 to the control section 61, and is configured so that the support frame 22 rises and falls in accordance with the operation input to the operation section 63.

[0164] In this way, when suspending the duct D from the structure C, the necessary support for the duct D can be performed by the duct support part 30 which can be raised and lowered, thereby reducing the effort required for supporting the duct D.

[0165] In the duct hanging work method of the above embodiment, the hanging work device 100 used further includes a component holder 42 that holds a fixture P for hanging the duct D from the structure C, and a component feed unit 40 to which the component holder 42 can be attached, the component feed unit 40 including a feed rope 41 that is arranged across the support frame 22 and the base unit 10 and moves in the longitudinal direction so as to feed the fixture P held by the component holder 42 to the desired position on the support frame 22, and when the support frame 22 is raised with the fixture P at the desired position, the movement of the feed rope 41 relative to the support frame 22 is restricted.

[0166] In addition, the duct hanging work system of the above embodiment further includes a component holder 42 that holds a fixture P for hanging the duct D from the structure C, a feed rope 41 that can be attached to the component holder 42 and that is arranged across the support frame 22 and the base portion 10 and moves in the longitudinal direction so as to feed the fixture P held by the component holder 42 to a desired position on the support frame 22, and a locking mechanism (upper locking mechanism) 44a that is provided on the support frame 22 side and limits the movement of the feed rope 41 relative to the support frame 22.

[0167] In this way, it is possible to prevent the feed rope 41 from unexpectedly moving relative to the support frame 22 while the support frame 22 is being raised, thereby preventing the fixture P and the component holder 42 from shifting positions.

[0168] In the duct hanging work method of the above embodiment, the hanging work device 100 used further includes a component holder 42 that holds a fixture for hanging the duct D from the structure C, and a component feed unit 40 to which the component holder 42 can be attached, the component feed unit 40 including a feed rope 41 that is arranged across the support frame 22 and the base unit 10 and moves in the longitudinal direction so as to feed the fixture P held by the component holder 42 to the desired position on the support frame 22, and the movement of the feed rope 41 relative to the base unit 10 is restricted when the fixture P is attached to the structure C and then the support frame 22 is lowered.

[0169] In addition, the duct hanging work system of the above embodiment further includes a component holder 42 that holds a fixture P for hanging the duct D from the structure C, a feed rope 41 that can be attached to the component holder 42 and that is arranged across the support frame 22 and the base portion 10 and moves in the longitudinal direction so as to feed the fixture P held by the component holder 42 to a desired position on the support frame 22, and a locking mechanism (lower locking mechanism) 44b that is provided on the base portion 10 side and limits the movement of the feed rope 41 relative to the base portion 10.

[0170] In this way, when the support frame 22 is lowered, the feed rope 41 is prevented from unexpectedly moving, which would cause the position of the component holder 42 to change.

[0171] Furthermore, the duct hanging work system of the above embodiment is configured so that the control unit 61 controls the elevation of the support frame 22 in accordance with the target value of the height of the support frame 22, which is set based on a numerical value input to the operation unit 63. In this way, the support frame 22 can be elevated or lowered to an appropriate height with a simple operation.

[0172] Therefore, according to the present embodiment, the duct can be easily and suitably installed in the structure.

[0173] It should be noted that the duct suspension method and system of the present invention are not limited to the above-described embodiment, and it goes without saying that various modifications can be made within the scope of the present invention without departing from the gist of the present invention. [Explanation of symbols]

[0174] 10 Base 20 Lifting section 22 Support frame 30 Duct support 40 Parts feeding section 41 Sling 42 Parts holder 44a Locking mechanism (upper locking mechanism) 44b Locking mechanism (lower locking mechanism) 61 Control Unit 63 Operation section 100 Lifting work device C structure D duct

Claims

1. a duct support portion that supports the duct; a lifting unit including a support frame that supports the duct support unit so that the duct support unit can be raised and lowered relative to a base unit; A duct suspension work device equipped with raising the support frame with the duct supported on the duct support portion; attaching the duct supported by the duct support portion to a structure in a state where the support frame is raised; A duct hanging work method characterized by carrying out the steps of:

2. The lifting work device includes: a component holder that holds a fixture for suspending the duct from a structure; a feed rope that is arranged across the support frame and the base portion and moves in the longitudinal direction so as to attach the component holder and feed the fixture held by the component holder to a target position on the support frame; A hanging work device further including a part feed unit including When the support frame is raised with the attachment in the target position, movement of the feed rope relative to the support frame is limited.

2. The duct hanging method according to claim 1, wherein:

3. The lifting work device includes: a component holder that holds a fixture for suspending the duct from a structure; a feed rope that is arranged across the support frame and the base portion and moves in the longitudinal direction so as to attach the component holder and feed the fixture held by the component holder to a target position on the support frame; A hanging work device further including a part feed unit including When the mounting fixture is attached to a structure and then the support frame is lowered, the movement of the feeding rope relative to the base portion is limited.

2. The duct hanging method according to claim 1, wherein:

4. a duct support portion that supports a duct suspended from the structure; a lifting unit including a support frame that supports the duct support unit so that the duct support unit can be raised and lowered relative to a base unit; a control unit that controls the lifting and lowering operation of the support frame by the lifting unit; an operation unit that inputs an operation of raising and lowering the support frame to the control unit, The support frame is configured to move up and down in response to an operation input to the operation unit. A duct suspension work system characterized by the above.

5. a component holder that holds a fixture for suspending the duct from a structure; a feed rope to which the component holder is attached, the feed rope being arranged across the support frame and the base portion and operating in a longitudinal direction so as to feed the fixture held by the component holder to a target position on the support frame; a locking mechanism provided on the support frame side to limit movement of the feeding rope relative to the support frame; The duct hanging work system according to claim 4, further comprising:

6. a component holder that holds a fixture for suspending the duct from a structure; a feed rope to which the component holder is attached, the feed rope being arranged across the support frame and the base portion and operating in a longitudinal direction so as to feed the fixture held by the component holder to a target position on the support frame; a locking mechanism provided on the base portion side to limit movement of the feeding rope relative to the base portion; The duct hanging work system according to claim 4, further comprising:

7. The control unit is configured to control the elevation of the support frame in accordance with a target value of the height of the support frame that is set based on a numerical value input to the operation unit. The duct hanging work system according to claim 4, characterized in that

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