Gripping device and method for transporting a long object

Abstract

To provide a gripping device capable of quickly and smoothly conveying a long object and a conveying method for a long object.SOLUTION: A conveying device has a gripping device 20 for gripping a mast member and lifting the same by means of a hoisting device. The gripping device 20 comprises a claw member 35 having a hook part 35b for engaging with the mast member, a main body 21 movably connected to the hook part 35b, and an actuator 46 for relatively moving the main body 21 with respect to the hook part 35b. The gripping device 20 causes the hook part 35b to move relative to the main body 21 by means of the actuator 46, thereby hooking the hook part 35b to the mast member so that the mast member is horizontal in the longitudinal direction.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a gripping device for lifting and transporting a long object such as a mast member constituting a mast of a tower crane, and a method for transporting a long object.

Background Art

[0002] Various construction machinery and equipment used at a construction site may be stored together and transported as needed. For example, a mast (column) constituting a tower crane is disassembled into a plurality of parts when not in use and stored together as mast members. Then, when needed, the mast members at the storage location are lifted and transported to the construction site by a truck or the like.

[0003] Since such mast members are long objects with complex shapes, a rope or the like is wound around a part such as the upper part of the mast member, and this rope or the like is lifted and transported. Here, in order to lift and transport the mast member, a suspended load slewing device is also used (see, for example, Patent Document 1). The suspended load slewing device described in this document includes a flywheel, a rotation motor, and a tilting motor, and utilizes the gyro effect generated when the flywheel rotated by the rotation motor is tilted by the tilting motor to slew a suspended load suspended by a suspension member.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Normally, when hoisting heavy objects, the operator performs the operations of hanging weights and seppuku. In this case, considering the balance of the mast member, it was necessary to perform the operations of hanging weights and seppuku on the mast member at a high place. For this reason, it was difficult to convey quickly and smoothly.

Means for Solving the Problem

[0006] The gripping device for solving the above problems is a gripping device for gripping a long object and lifting it by a hoisting device, and includes an engaging portion to be engaged with the long object, a main body portion to be connected to the hoisting device, and a moving mechanism portion for relatively moving the main body portion with respect to the engaging portion.

[0007] Also, the conveying method of a long object for solving the above problems is a conveying method of a long object for gripping a long object and moving the long object using a gripping device for lifting it by a hoisting device, wherein the gripping device includes an engaging portion to be engaged with the long object, a main body portion to be connected to the hoisting device, and a moving mechanism portion capable of changing the relative position between the main body portion and the engaging portion, and the engaging portion is hooked on the long object so that the long object assumes a target posture by relatively moving the engaging portion with respect to the main body portion by the moving mechanism portion.

Effect of the Invention

[0008] According to the present invention, a long object can be conveyed quickly and smoothly.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Mode for Carrying Out the Invention

[0010] Hereinafter, an embodiment in which a gripping device and a method for transporting a long object are embodied will be described with reference to FIGS. 1 to 9. Here, the gripping device of the present embodiment grips a mast member that constitutes a mast (column) of a tower crane.

[0011] First, the mast member 60 gripped by the gripping device will be described with reference to FIG. 6. The mast member 60 has a substantially rectangular parallelepiped shape as a whole and includes four main members 61 and a plurality of reinforcing plates 62. The main members 61 extend in the longitudinal direction of the mast member 60, have a rectangular parallelepiped shape, and are arranged at the four corners of a plane orthogonal to the longitudinal direction. The reinforcing plates 62 are plate-like members that connect and reinforce the main members 61 and other reinforcing plates 62 on the same surface. Therefore, gaps are appropriately formed between the main members 61 and the reinforcing plates 62. In the mast member 60 of the present embodiment, the main members 61 and the reinforcing plates 62 on the four side surfaces are configured in the same arrangement.

[0012] As shown in FIG. 1, the gripping device 20 is suspended from the transport device 10. The transport device 10 is a gantry (bridge) crane and is placed on a pair of spaced traveling rails R1. These traveling rails R1 are provided on both sides of an accumulation area MB1 where a plurality of mast members 60 are stacked. In this accumulation area MB1, the mast members 60, which are long objects, are arranged side by side in the front-rear and left-right directions in a lying state and stacked in multiple layers.

[0013] The conveying device 10 includes legs 11, 13, a girder 15, and a club trolley 16. On the lower surfaces of the legs 11, 13, a plurality of wheels 12, 14 that rotate and travel on the traveling rail R1 are provided. The wheels 12, 14 are driven by traveling devices provided on the legs 11, 13 respectively.

[0014] The girder 15 is arranged so as to span over the upper parts of the legs 11, 13. On the girder 15, the club trolley 16 is provided so as to be movable in the extending direction of the girder 15 by the drive of a traversing device. The club trolley 16 incorporates a hoisting device (not shown) as a weight lifting device. The hoisting device winds up or pays out a rope W1 to raise and lower a gripping device 20 suspended via the rope W1.

[0015] As shown in FIG. 2, the rope W1 of the hoisting device is wound around a movable pulley fixed to a hook F1. The hook F1 is hooked on a protrusion of a suspension member 18 fixed to the upper end of the main body 21 of the gripping device 20 to lift the gripping device 20.

[0016] As shown in FIG. 3, the gripping device 20 includes a main body 21 and a frame member provided below the main body 21. In this embodiment, the main body 21 incorporates a turning control device as an angle adjustment device for controlling the turning angle of a suspended load such as a Skyjack (registered trademark).

[0017] As shown in FIG. 4, the frame member has a configuration that is line-symmetric about a center line C1 extending in the longitudinal direction. The frame member has base members 23, 24, two fixing members 25, and reinforcing members 26, 27. The base members 23, 24 are orthogonal to the center line C1 and are slightly shorter than the width of the mast member 60 to be conveyed. The base members 23, 24 are cylindrical members with a substantially square cross-section. The two fixing members 25 are arranged parallel to the center line C1. Each fixing member 25 connects the ends of the base members 23, 24. The arrangement of the base members 23, 24 and the fixing members 25 is reinforced by the reinforcing members 26, 27. Note that the main body 21 is placed and fixed on the reinforcing member 26 via a placement member 22.

[0018] At each end of each base member 23(24), a connecting member 28(29) is fitted. Each connecting member 28, 29 protrudes from the openings of the base members 23, 24 respectively. Further, the two connecting members 28(29) are arranged side by side with a gap inside the base member 23(24) and are slidable inside the base members 23, 24 by at least the movable length of the latching portion 35b described later.

[0019] The upper surfaces of the tips of the connecting members 28, 29 are fixed to the lower surfaces of both ends of the base members 31, 32 respectively. The base members 31, 32 are cylindrical members arranged parallel to the center line C1 and having a substantially square cross section. Mounting members 33, 34 penetrate through each of the base members 31, 32. The mounting members 33, 34 are fitted into the base members 31, 32 and are arranged slidably with respect to the base members 31, 32. Claw members 35 are provided at both ends of each of the mounting members 33, 34.

[0020] As shown in FIG. 2, each claw member 35 has a support portion 35a which is a cylindrical rod member and a latching portion 35b provided at the lower end of the support portion 35a. The upper end of the support portion 35a is fixed to the end of the mounting member 33, 34. The latching portion 35b is an engaging portion inserted between the mast members 60 to be gripped.

[0021] As shown in FIG. 4, each latching portion 35b has a placement portion extending from the support portion 35a by a length D1 on the center line C1 side. The length D1 is larger than the thickness of the reinforcing plate 62 of the mast member 60. Further, a load cell (not shown) is provided on the upper surface portion of each latching portion 35b. Each load cell measures the load applied to the latching portion 35b when a part of the mast member 60 is placed on the latching portion 35b.

[0022] Furthermore, actuators 41 and 42 are fixed to the reinforcing member 27. Each of the actuators 41 and 42 is disposed at the center of the frame member such that the rods 41a and 42a are parallel to the base members 23 and 24. The tips of the rods 41a and 42a of each of the actuators 41 and 42 are fixed to the central portions of the base members 31 and 32, respectively. Then, each of the actuators 41 and 42 expands and contracts the rods 41a and 42a by an electric motor. By the expansion and contraction of the rods 41a and 42a, the distance between the base members 31 and 32 and the center line C1 is changed.

[0023] Furthermore, on the upper surfaces of the base members 31 and 32, actuators 46 and 47 as moving mechanism parts are fixed via mounting plates 45 along the base members 31 and 32. Each of the actuators 46 and 47 is disposed slightly closer to the base member 23 side than the central portion of the frame member, and expands and contracts the rods 46a and 47a by an electric motor.

[0024] The tips of the rods 46a and 47a are fixed to the mounting members 33 and 34, respectively, in the vicinity of the claw members 35 on the base member 24 side. When the rods 46a and 47a of each of the actuators 46 and 47 expand and contract, the claw members 35 fixed to the mounting members 33 and 34 move relative to the base members 31 and 32 in the extending direction of the center line C1.

[0025] (Control unit of the conveying device) Next, with reference to FIG. 5, the configuration of the control unit 50 of the conveying device 10 having the above-described configuration will be described.

[0026] The control unit 50 of the conveying device 10 is connected to a traveling device provided on the legs 11 and 13 of the conveying device 10, a traversing device provided on the gantry 15, and a winding device built in the club trolley 16. Further, the control unit 50 is connected to the actuators 41, 42, 46, and 47 of the gripping device 20, load cells provided on the respective latching portions 35b, and a turning control device of the main body 21. The control unit 50 acquires data values of the load of the mast member 60 applied to the load cell.

[0027] The control unit 50 is wirelessly connected to the remote operation unit RC1 that acquires instructions from the operator. The control unit 50 includes a movement control unit 51, a lifting control unit 52, a latching control unit 53, a center-of-gravity control unit 54, and a turning control unit 55.

[0028] The movement control unit 51 moves the gripping device 20 by moving the legs 11, 13 and the girders 15. The lifting control unit 52 drives the club trolley 16 to control the lifting of the gripping device 20. The latching control unit 53 drives the actuators 41, 42 to insert the latching portion 35b into the mast member 60.

[0029] The center-of-gravity control unit 54 relatively moves the main body 21 with respect to the latching portion 35b. In this case, when the gripping device 20 is lifted, the center of gravity C2 of the gripping device 20 is moved with respect to the position (gripping position) where the latching portion 35b is hooked on the mast member 60 so that the mast member 60 is lifted in a substantially horizontal posture (target posture). The center-of-gravity control unit 54 stores the position of the center of gravity C2 of the gripping device 20 and the position of the center of gravity C6 of the mast member 60 in order to adjust the relative position between the mast member 60 and the gripping device 20. The position of the center of gravity C2 of the gripping device 20 and the position of the center of gravity C6 of the mast member 60 are relative distances from the reference points (ends or centers) of the main body 21 of the gripping device 20 and the mast member 60, respectively. Further, the center-of-gravity control unit 54 adjusts the position of the gripping device 20 using the loads acquired from the load cells of the respective latching portions 35b so that the loads of the load cells become substantially the same. The turning control unit 55 changes the horizontal orientation of the mast member 60 in order to place the mast member 60 on the loading platform of the truck T1, which is the conveyance destination of the mast member.

[0030] (Method for transporting the mast member 60) Next, a method for transporting the mast member 60 using the transport device 10 will be described. In the integrated area MB1 shown in FIG. 1, a plurality of mast members 60 are arranged at intervals that allow the claw members 35 of the gripping device 20 to be inserted, in a state where the extending direction of the main material 61 is horizontal, adjacent to each other in the horizontal direction.

[0031] Here, the operator gives an operation instruction to the control unit 50 of the transfer device 10 via the remote operation unit RC1. First, in response to the operation instruction, the movement control unit 51 moves the gripping device 20 to a position corresponding to the mast member 60 to be transferred by moving the leg portions 11, 13. In this case, the movement control unit 51 moves the gripping device 20 so that the mast member 60 to be transferred is positioned between the base members 31, 32 of the gripping device 20.

[0032] Next, in response to the operation instruction, the movement control unit 51 moves the gripping device 20 to a position directly above the mast member 60 to be transferred by moving the club trolley 16 along the girder 15. In this case, the turning control unit 55 drives the turning control device of the main body 21 to turn the gripping device 20 so that the direction of the center line C1 coincides with the longitudinal direction of the mast member 60.

[0033] Then, in response to the operation instruction, the lifting control unit 52 drives the winding device of the club trolley 16 to feed out the rope W1 and gradually lower the gripping device 20. Here, as shown in FIG. 6, the winding device lowers the gripping device 20 until the latching portion 35b of the gripping device 20 is positioned below the main material 61 located at the upper end of the mast member 60. Specifically, the operator lowers the gripping device 20 to a position where the latching portion 35b of the gripping device 20 can be inserted in the gap between the main material 61 and the reinforcing plate 62 of the mast member 60.

[0034] In this case, as shown in FIG. 7, the rods 41a, 42a of the actuators 41, 42 are extended, and the latching portion 35b is located outside the outer peripheral surface of the mast member 60. Then, in response to the operation instruction, the latching control unit 53 drives the actuators 41, 42 to contract the rods 41a, 42a.

[0035] In this case, as shown in FIG. 8, since the connecting members 28(29) are close to each other, the inner end portion of the engaging portion 35b of the claw member 35 is located inside the reinforcing plate 62 on the side surface portion of the mast member 60.

[0035] Next, as shown in FIG. 9, the actuator 46, 47 is driven to extend the rods 46a, 47a so that the center of gravity C2 is located directly above the center of gravity C6 position of the mast member 60 by the center of gravity control unit 54.

[0036] In this state, in response to an operation instruction, the lifting control unit 52 drives the club trolley 16 to raise the gripping device 20. In this case, when the reinforcing plate 62 of the mast member 60 is placed on the engaging portion 35b of the claw member 35, the center of gravity control unit 54 acquires load data from the load cell of the engaging portion 35b. Here, when there is a difference in the load of the load cell in the engaging portion 35b arranged in the longitudinal direction of the mast member 60 that is equal to or greater than the allowable range, the hoisting device is stopped. Then, the center of gravity control unit 54 drives the actuators 46, 47 to move the main body portion 21 to the side of the engaging portion 35b where the load cell that measures a lighter load is located, and adjusts the weight balance of the engaging portion 35b on which the mast member 60 is placed.

[0037] When the load difference of the load cell of the engaging portion 35b in the longitudinal direction of the mast member 60 is within the allowable range, the lifting control unit 52 further drives the hoisting device to raise the gripping device 20 and the mast member 60.

[0038] Then, as shown in FIG. 1, in response to an operation instruction, the movement control unit 51 moves the legs 11, 13 along the traveling rail R1 to a position corresponding to the truck T1 on which the mast member 60 is loaded.

[0039] Next, in response to the operation instruction, the movement control unit 51 moves the club trolley 16 to move the gripping device 20 upward along the guard 15 to above the track T1. Then, in response to the operation instruction, the turning control unit 55 drives the turning control device of the main body unit 21 to turn the gripping device 20 so that the longitudinal direction of the mast member 60 coincides with the direction of the loading platform of the track T1. Thereafter, in response to the operation instruction, the lifting control unit 52 drives the hoisting device to lower the gripping device 20 to place the mast member 60 on the loading platform of the track T1.

[0040] When the mast member 60 is placed on the loading platform of the track T1, in response to the operation instruction, the lifting control unit 52 stops the hoisting device, and then the latching control unit 53 drives the actuators 41 and 42 of the gripping device 20 to extend the rods 41a and 42a. As a result, the connecting members 28 (29) are separated from each other, so that the latching portion 35b of the claw member 35 is located outside the reinforcing plate 62 of the mast member 60. Then, in response to the operation instruction, the lifting control unit 52 drives the hoisting device to raise and lower the gripping device 20. Thereafter, the track T1 with the mast member 60 placed on the loading platform away from the gripping device 20 transports the mast member 60 to another location.

[0041] (Function) In this embodiment, the position of the center of gravity C2 of the gripping device 20 is relatively moved with respect to the latching portion 35b of the gripping device 20. Thereby, even if the position where the mast member 60 can be latched is limited, the mast member 60 assumes the target posture according to the positional relationship between the center of gravity C6 of the mast member 60 and the center of gravity C2 of the gripping device 20.

[0042] According to this embodiment, the following effects can be obtained. (1) In this embodiment, after inserting the latching portion 35b of the claw member 35 into the mast member 60, the main body portion 21 of the gripping device 20 is relatively moved with respect to the latching portion 35b so that the position of the center of gravity C2 of the gripping device 20 coincides with the position of the center of gravity C6 of the mast member 60. As a result, when the gripping device 20 is lifted, it can be stably lifted in a posture with the longitudinal direction of the mast member 60 horizontal, so that the mast member 60 can be quickly transported.

[0043] (2) In this embodiment, the control unit 50 acquires the load of the load cell of the latching portion 35b when lifted, and adjusts the center of gravity position using these loads. As a result, the mast member 60 can be lifted more stably.

[0044] (3) In the gripping device 20 of this embodiment, the tips of the rods 41a and 42a of the actuators 41 and 42 are fixed to the central portions of the base members 31 and 32. As a result, the claw members 35 provided at both ends of the mounting members 33 and 34 passing through the base members 31 and 32 can be smoothly moved.

[0045] (4) The gripping device 20 of this embodiment includes a claw member 35 sized to be insertable into the gap between adjacent mast members 60. As a result, even when the mast members 60 are densely arranged in the accumulation region MB1, the gripping device 20 can grip the mast members 60 from both sides.

[0046] This embodiment can be implemented with the following modifications. This embodiment and the following modification examples can be implemented in combination with each other within a technically non - conflicting range. · In the gripping device 20 of the above embodiment, the latching portion 35b is moved closer to or away from the center line C1 side by the actuators 41 and 42, and the main body portion 21 is relatively moved with respect to the latching portion 35b by the actuators 46 and 47. The insertion mechanism portion for inserting the latching portion 35b into the mast member 60 and the movement mechanism portion for adjusting the balance of the gripping device 20 by moving the latching portion 35b to the main body portion 21 are not limited to the configuration using actuators. For example, a mechanism using a worm gear or the like may be used.

[0047] ·In the above embodiment, after inserting the latching portion 35b of the gripping device 20 into the mast member 60, the main body portion 21 of the gripping device 20 is relatively moved with respect to the latching portion 35b. The timing of the movement of the center of gravity C2 of the gripping device 20 and the latching of the mast member 60 by the latching portion 35b may be reversed. For example, the position of the center of gravity C2 of the gripping device 20 is arranged above the position of the center of gravity C6 of the mast member 60. Thereafter, the actuators 46 and 47 are driven to relatively move the latching portion 35b with respect to the main body portion 21 and arrange it at the gripping position, and then the actuators 41 and 42 are driven to insert the latching portion 35b into the mast member 60. Also in this case, the center of gravity control unit 54 acquires load data from the load cell of the latching portion 35b. Then, the center of gravity control unit 54 drives the actuators 46 and 47 as necessary to move the main body portion 21 to adjust the weight balance. Further, the weight balance may be adjusted using data other than the load data of the load cell, for example, using the center of a figure in a photographed image.

[0048] ·In the above embodiment, in response to an operation instruction from an operator, the control unit 50 of the transfer device 10 controls the position, elevation, etc. of the gripping device 20. Instead of this, the control unit 50 may specify the position and shape of the mast member 60 and control the position, elevation, etc. of the gripping device 20. For example, a camera is provided on the lower surface of the gripping device 20. Then, the control unit 50 specifies the arrangement of the designated gripping target mast member 60 from the photographed image by the camera. Next, the control unit 50 uses the photographed image by the camera to specify the position where the latching portion 35b can be engaged from the shape of the mast member 60. Then, the control unit 50 determines the horizontal position and the descending height of the gripping device 20 according to the engagable position specified by the photographed image. Then, the control unit 50 controls the position and elevation of the gripping device 20 so as to be at the determined position and height.

[0049] ·In the above embodiment, the gripping device 20 has a target posture in which the longitudinal direction of the mast member 60 is horizontal. The target posture is not limited to the posture in which the longitudinal direction of the long object is horizontal, and any posture in which the object to be lifted is stable is acceptable. For example, depending on the shape of the long object, an inclined posture may be used. In this case, after moving the center of gravity position of the gripping device relative to the center of gravity position of the long object so as to achieve this posture, the object is lifted.

[0050] ·In the above embodiment, the claw member 35 includes a support portion 35a and a latching portion 35b, which are cylindrical rod members. The configuration of the claw member 35 is not limited to this. For example, the support portion 35a may have a shape that can be expanded and contracted. In this case, by adjusting the length of the support portion 35a, the latching portion 35b attached to the same base members 31, 32 can be hooked at different heights of the mast member 60.

[0051] ·In the above embodiment, the gripping device 20 lifted the mast member 60 as a long object. The long object as the object to be lifted by the gripping device 20 is not limited to the mast member 60. It can be applied to long objects with restrictions on the position where the latching portion 35b can be engaged.

[0052] Next, the technical ideas that can be grasped from the above embodiment and alternative examples are added below. (a) The main body portion includes an angle adjustment device for adjusting the turning angle of the long object. The method for transporting a long object according to claim 2, characterized in that after lifting the long object, the long object is turned using the angle adjustment device. (b) After engaging the engaging portion with the long object at a gripping position where the engaging portion can be engaged with the long object, the main body portion is relatively moved with respect to the engaging portion to obtain the target posture. The method for transporting a long object according to claim 2 or (a) above.

[0053] (c) The method for transporting a long object according to claim 2, (a) or (b) above, characterized in that the long object is a mast member constituting the mast of a tower crane. (d) A conveying device comprising a gripping device for gripping and lifting a long object and a hoisting device for lifting the gripping device, and for suspending and moving the long object, wherein the gripping device comprises an engaging portion for engaging with the long object, a main body portion connected to the hoisting device, and a moving mechanism portion for relatively moving the main body portion with respect to the engaging portion.

Explanation of reference numerals

[0054] C1…Center line, C2, C6…Center of gravity, D1…Length, F1…Hook, MB1…Integration area, R1…Running rail, RC1…Remote operation unit, T1…Truck, W1…Rope, 10…Conveying device, 11, 13…Legs, 12, 14…Wheels, 15…Girder, 16…Club trolley, 18…Suspension member, 20…Gripping device, 21…Main body portion, 22…Mounting member, 23, 24, 31, 32…Base members, 25…Fixing member, 26, 27…Reinforcing members, 28, 29…Connecting members, …Base members, 33, 34…Mounting members, 35…Claw member, 35a…Support portion, 35b…Latching portion, 41, 42, 46, 47…Actuators, 41a, 42a, 46a, 47a…Rods, 45…Mounting plate, 50…Control unit, 51…Movement control unit, 52…Lifting control unit, 53…Latching control unit, 54…Center of gravity control unit, 55…Swing control unit, 60…Mast member, 61…Main material, 62…Reinforcing portion.

Claims

1. A gripping device for gripping a long object and lifting it by a hoisting device, comprising: an engaging portion that engages with the long object; a main body portion that is connected to the hoisting device and incorporates an angle adjusting device for controlling the turning angle; a frame member provided below the main body portion on which the main body portion is placed; and a moving mechanism portion that relatively moves the main body portion with respect to the engaging portion. The gripping device is characterized by comprising these components.

2. The frame member includes two spaced-apart first base members used for a first mechanism portion that brings the engaging portion closer to or away from the long object; and two fixing members that connect the ends of the first base members to each other. The first mechanism portion further includes a driving portion that pushes out and pulls a connecting member slidably accommodated in the first base member from the first base member. A hollow second base member that is arranged orthogonally to the first base member and has the tip of the connecting member fixed thereto; a mounting member slidably accommodated in the second base member; and a claw member provided at a portion of the mounting member that protrudes from the second base member and having the engaging portion. The gripping device according to claim 1 is characterized by further comprising these components.

3. A conveying method for a long object that uses a gripping device for gripping a long object and lifting it by a hoisting device to move the long object, wherein the gripping device includes an engaging portion that engages with the long object; a main body portion that is connected to the hoisting device and incorporates an angle adjusting device for controlling the turning angle; a frame member provided below the main body portion on which the main body portion is placed; and a moving mechanism portion capable of changing the relative position between the main body portion and the engaging portion. The angle adjusting device is driven to turn the gripping device so that the arrangement direction of the members constituting the frame member coincides with the longitudinal direction of the long object to be conveyed, and after moving the gripping device to the position of the object to be conveyed, the engaging portion is engaged with the long object. Thereafter, the relative position of the engaging portion with respect to the main body portion is changed by the moving mechanism portion to adjust the positional relationship between the center of gravity position of the object to be conveyed and the center of gravity of the gripping device, so that the long object assumes a target posture when lifted. The conveying method for a long object is characterized by this.

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