JP2684938B2 - Control method of cable crane - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cable crane control system for supplying concrete to a dam construction site, etc., in which the transfer time is shortened by automatic operation by feedforward control.

[0002]

2. Description of the Related Art As is well known, a cable crane is used as one of means for transporting concrete from a manufacturing site to a casting site at a dam construction site.

As shown in FIG. 6, a conventional cable crane has a main rope 2 stretched on a dam 1 constructed in a mountain along its longitudinal direction and a main rope 2 suspended from the main rope 2. Trolley 3 that can be driven as a trolley, and checker 4 for towing the trolley
A concrete bucket 6 that is hung from the bottom of the trolley 3 via suspension lines 5, and a transport start position A where the trolley 3 is installed on the mountain side by pulling the check rope 4 and an arbitrary bottom position of the dam 1. The traverse winch 7 that reciprocates between the set transport end positions B, the vertical winch 8 that winds up and down the hanging rope 5 to move the bucket 6 up and down, the position of the trolley 3 and the position of the bucket 6 are set. An operation room 9 is provided for monitoring and for driving and controlling the winches 7 and 8.

Then, on the upper side of the transport start position A,
A transfer car 1 that conveys concrete made by a batcher plant (not shown) in a direction orthogonal to the paper surface.
0 travels, and a concrete hopper 11 is arranged at the transfer end position B. Based on a control signal from the operation room 9, the trolley 3 is moved laterally and the bucket 6 is moved up and down to the respective positions A and B. The bucket 6 is positioned to supply and discharge concrete.

Since a large amount of concrete is required for this type of structure, the bucket 6 is used in consideration of the cost of construction.
It is necessary to shorten the transfer time per time as much as possible, and a suitable control mode for this purpose is to transfer on an oblique trajectory as shown in the figure.

Further, in the cable crane, the reciprocating motion of the trolley from the transport start position A to the transport end position B and the vertical motion of the bucket 6 cause the main rope 2 depending on the feeding amount and load of each rope 4, 5. The position can be detected by the degree of flexure, etc., and the coordinates are automatically calculated according to this, and the drive control device for each winch 7, 8 can be instructed to perform normal / reverse rotation, deceleration, and stop based on this calculation result. Therefore, the bucket 6 can be automatically conveyed along the oblique trajectory.

[0007]

However, in actuality, a response delay occurs in the speed of the bucket 6 at the time of acceleration or deceleration, so that a pendulum phenomenon occurs and it is also necessary to control the shake.

However, in the above control method, since the present position is measured by various measuring elements and the optimal movement path is controlled on the basis of the present position, there is a time delay in the control, which causes the operator and the operator to lose control. It took longer than controlling by manual operation while keeping in touch.

Therefore, in the prior art, conveyance is performed by automatic control from the starting point until reaching the vicinity of each of the positions A and B, and from here, the operation is switched to the manual operation, and the monitoring staff arranged at each of the positions A and B, The operators arranged in the operation room 9 wirelessly communicate with each other, and the steady operation is performed by the operator's manual operation based on the instruction of the observer, and the horizontal adjustment by fine adjustment and the positioning work are performed.

However, with this method, a skilled observer must be provided at each of the positions A and B, and there is a large time delay from the transmission of information to the actual correction and fine adjustment operation.
Since the control amount also tends to be ambiguous, the work is not always completed in a short time, and depends on the skill of the worker.

Further, since it is dangerous that the bucket is swung over the worker's head, the waiting time and the evacuation time of the worker become long, resulting in poor work efficiency and a problem in profitability.

The present invention solves the above problems.
Main rope to the object reaches the point reached from the starting point, the trolley, and model the behavior of the bucket, the control method of a cable crane as concrete based on the modeled pattern can quickly and accurately auto-conveying < br />

[0013]

In order to achieve the above object, the present invention is directed to a main rope stretched between two points, a traverse trolley capable of traveling along the main rope, and a trolley for towing the trolley. Stretching, a bucket hung at the bottom of the trolley via a suspension line, and a traverse winch that winds the retraction line and rewinds the trolley to reciprocate along the main line.
In a cable crane equipped with a longitudinal winch for lifting and lowering a bucket by winding and unwinding the suspension line and a drive control device for each winch, it is used when moving the bucket from a transport start position to a transport end position. A method for controlling a cable crane, wherein the degree of deflection of the main measure, the length of the check rope, and the length of the suspension rope are calculated according to the transport start position and the transport end position.
Then, the behavior of the main measure, the trolley, and the bucket is analyzed in advance to model the operation pattern, and when the cable crane is operated, the modeled operation pattern is selected according to the setting conditions. The feature is that the cable crane is automatically controlled according to this operation pattern.

[0014]

According to the above construction, the bucket is modeled from the start coordinate to the target position coordinated acceleration-constant velocity-.
By controlling traveling and lifting according to the program contents by the foot pattern for deceleration and steady rest, shake is prevented and automatically conveyed to the target position.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below in detail with reference to the drawings. In the embodiments, the same reference numerals will be used for the same or corresponding parts as in the related art, and different parts or parts to be newly added will be described with new signs.

FIG. 1 is a schematic diagram showing the overall configuration of the present invention, and FIG. 2 is a block diagram showing the system configuration.

In the figure, this cable crane is basically similar to the conventional one, and a main rope 2 stretched along the longitudinal direction on the upper part of a dam 1 constructed in a mountain, and a main rope 2. A trolley 3 that can be suspended and run along it,
Checking rope 4 for towing the trolley and hanging rope 5 under the trolley 3.
Reciprocating between a concrete bucket 6 hung via a trolley, a transport start position A in which the trolley 3 is provided on the mountain side by pulling the check rope 4 and a transport end position B set at an arbitrary bottom portion of the dam 1. The traverse winch 7 to be moved and the hanging rope 5
A longitudinal winch 8 for winding and lowering the bucket 6 to raise and lower the bucket 6, and an operation chamber 9 for monitoring the position of the trolley 3 and the position of the bucket 6 and for driving and controlling the winches 7, 8. I have it.

At the carrying start position A, a transfer car 10 for carrying concrete made of a batcher plant (not shown) travels in a direction orthogonal to the paper surface, and at the carrying end position B, a concrete hopper 11 is arranged. There is.

[0019] Operation chamber 9, the operation for console 20 for each winch 7,8, the control unit 22 for commanding the various driving modes in each winch 7,8, optimum elevation of the optimal running pattern and the bucket 6 of the trolley 3 A calculation unit 24 and a wireless device 26 that calculate a pattern and give the pattern to the control unit 22 are provided.

A tilt angle detecting device 28 is provided at the root of the main rope 4, and a light wave range finder 30 is provided.

The inclination angle detecting device 28 detects the inclination degree of the main rope 4 at the stop position immediately above the transport start position A of the trolley 3, and the optical distance meter 30 detects the starting coordinate of the trolley 3. Each is connected to the control unit 22. In addition, the trolley 3 corresponding to the light wave range finder 30
Is provided with a vertically long reflection plate 30a that covers the irradiation range of the lightwave distance meter 30.

The transverse winch 7 and the longitudinal winch 8
Is intended to be placed in the machine room 32 in the vicinity of the main rope 2, as shown in FIG. 2, it is driven forward and reverse rotation and acceleration and deceleration by the drive control device 34, 36. These drive control devices 34, 3
Reference numeral 6 is connected to the control unit 22 and driven by a command from the control unit 22.

More specifically, each winch 7, 8 has a motor 7a, 8a, a brake 7b, 8b, and a speed reducer 7, respectively.
It has drums 7d and 8d which are rotatably interlocked with each other via c and 8c, and which wind and unwind the check rope 4 and the suspension rope 5. The traverse winch 7 is an endless type checker 4
The intermediate drum 7d-
Both ends of the check rope 4 are wound around and unwound around the drum 1 and the drum 7d.

Each motor 7a, 8a has a speed detector 7e,
8e is provided, and the detected values are detected by the drive controller 3
By feeding back to the control unit 4, 36,
It is controlled to an appropriate rotation direction and speed according to the traveling command from.

Further, encoders X and Z are provided on the drums 7d and 8d, respectively. Of these, the encoder X is for detecting the lateral travel amount of the trolley 3, and the encoder Z is for detecting the lowering amount of the bucket 6, and the respective data are input to the control unit 22. An error in the detected amount of traverse occurs due to slip of the rope 4 on the intermediate drum 7d-1, and is therefore corrected to the value measured by the lightwave distance meter 30 each time the trolley 30 arrives.

A bottom confirmation switch 42 is provided on the bunker line at the transport start position A, an area sensor 44 is arranged in the vicinity of the switch 42, and a control board 46 is arranged.

The bottom confirmation switch 42 is for detecting the bottom of the bucket 6, and the area sensor 44 is for the bucket 6.
It is a sensor for controlling the bottom of the sensor, and the sensor 44 can reach the bottom within the detection range. Control panel 4
Reference numeral 6 is for performing control when concrete is discharged from the transfer car 10 to the bucket 6.

Below the bucket 6, there are provided a gate and an open / close detection limit switch 48 which are opened and closed by a hydraulic cylinder (not shown), and an ultrasonic area sensor 50. In addition, the wireless device 5 is provided above the bucket 6.
2, a gyro-type deflection angle detector 54, a control panel 56, a battery 58 for driving these movable parts, and a solar-type charging device 60 are arranged. The detection values of these sensors are transmitted through the radios 52 and 26 to the operation room. It is transferred to the control unit 22 on the 9 side.

The hopper 11 is supported by a support base 62, and a gate and an open / close detection limit switch 64 which are opened and closed by a hydraulic cylinder (not shown) are provided below the hopper 11. In addition, a concrete discharging manual switch 68, a display device 70, and a control panel 72 are provided on the legs of the support base 62 at a position where the driver's seat of the dump truck 66 stopped below the hopper 11 can be easily seen and operated.
Etc. are arranged. In addition, a wireless device 74 and an ultrasonic area sensor 76 for detecting the stop position of the bucket 6 are arranged above the pedestal 62, and the detection values of the sensors are controlled by the wireless devices 74 and 26 on the operation room 9 side. Part 22
Is forwarded to

[0030] calculation unit 24, calculation explanation is omitted, according to the transport start position and the transport end position, the deflection degree of Omosaku 2, feeding a length of牽索4, the feeding length of the slings 5
As a constant element, the behavior of the main rope 4, the trolley 3 and the bucket 6 is analyzed in advance to model a driving pattern, and a program of the modeled driving pattern of the shortest time in consideration of steady rest is built in.

As shown in FIG. 3A, the contents of this program are such that the target area of the dam 1 is divided into several small blocks, and the operation speed of the trolley 3 in consideration of steady rest for each block, The operating speed V of the trolley is calculated by setting the lifting speed of the bucket 6 and calculating the operating pattern in the shortest time.
As shown in FIG. 3 (b), x is set to a driving pattern in which acceleration is performed stepwise from the start coordinate, then a constant speed is obtained, and then stepwise deceleration causes 0 at the target coordinate.

As for the ascending / descending speed Vz of the suspension rope 5 of the bucket 6, as shown in FIG. 3 (c), an operation pattern according to the operation pattern of the trolley 3 is set.

The step-like shape during acceleration / deceleration is because the bucket 6 swings in accordance with the acceleration due to acceleration / deceleration.
In order to offset this shake, a stepwise acceleration / deceleration is performed to completely stop the shake at the target position.

In this operation mode, the degree of deflection of the main rope 2 differs depending on the tension of the main rope 2 and the total load applied to the main rope 2. If the tension of the main rope 2 is constant at a known value, the operating time and operating pattern according to the program are determined by inputting the load as a variable. The loads on the main rope 2, trolley 3, and bucket 6 are also known values, and are determined according to the weight of concrete put into the bucket.

This concrete is mortar, medium-mixed concrete, or solid-mixed concrete depending on the place of casting and the type of work. When the capacity of the bucket 6 is constant, it varies depending on its specific gravity. The concrete manufactured in the batcher plant is carried on the bunker line by the carrier 10 and the product type information is also provided to the operation room 9 side and the bucket 6 side.

Therefore, the control unit 22 carries out the following control in order to operate the drive control devices 34 and 36 by the program contents stored in the arithmetic unit 24 after receiving the product type information.

FIG. 4 shows the processing procedure on the outward path. In the outward path, with the bucket 6 bottomed at the transport start position A, the concrete type is specified at the same time when the concrete is put into the bucket 6. When the total load applied to the main rope 4 is specified, and then the start coordinates and the arrival coordinates of the trolley 3 are determined according to the detection results of the lightwave range finder 30 and the tilt angle detection device 28, the trajectory of the deflection of the main rope 4 Is calculated (steps 101 to 103).

Next, the bucket 6 is ready for transportation,
When the operation OK signal is received from the control board 46 on the bunker line, the suspension rope 5 is slightly wound up, and the position of the trolley 3 in this state also shifts, so that the origin coordinates are set and the operation based on the setting mode is performed. After the pattern is selected, the operation of each winch 7, 8 is started (steps 104-1).
08).

During operation, the control unit 22 constantly controls the traverse amount of the trolley 3 and the feeding length and speed of the suspension line 5 by the encoder X,
If a pre-programmed speed change point is reached by monitoring with Z, the winch 7, 8 will be responded accordingly.
The operation of matching the control voltage with respect to the program content is repeated (steps 109 and 110), and when the reaching coordinates set in step 102 are matched (step 11).
The operation ends in 1).

In this operation completed state, the bucket 6 reaches directly above the hopper 11, and after that, after the automatic fine adjustment operation in the vertical and horizontal directions according to the detection values of the ultrasonic area sensors 50 and 76 provided in the bucket 6 and the hopper 11. The work is stopped at a predetermined position above the hopper 11, the gate is opened, the concrete is discharged, and all the work on the outward path is completed.

Also, on the return path, although it is almost the same as the outward path, as shown in FIG. 5, when a signal for preparation for start of operation is received through the radios 52 and 26, the start coordinates and the arrival target coordinates are set, After the operation pattern in the empty state is selected and the current position coordinates of the trolley 3 are measured, the operation is started (steps 201 to 20).
6).

After the operation is started, the control unit 22 keeps the trolley 3 at all times.
The amount of traverse and the length and speed of the suspension cable 5 are monitored by the encoders X and Z and the speed detectors 7e and 8e, and if a preprogrammed speed change point on the return path is reached, the speed change point can be responded accordingly. The operation of matching the control voltage for the winches 7 and 8 with the program content is repeated (steps 207 to 208), and the operation is terminated at the time when the arrival coordinates set in step 202 match (step 209).

In this operation completed state, the bucket 6 reaches directly above the bunker line, and thereafter, after the vertical and horizontal automatic fine adjustment work according to the detection values of the ultrasonic area sensors 50 and 44 provided on the bucket 6 and the bunker line. When it reaches the bottom of the bunker line and is confirmed by the switch 42, the concrete receiving standby state is resumed.

[0044]

As described above in detail with reference to the embodiments, in the cable crane control method according to the present invention, the bucket is modeled from start coordinates to target position coordinates: acceleration-constant speed-deceleration and deflection. By controlling the traveling and lifting according to the program content according to the stopping foot pattern, the shake is prevented and the robot is automatically conveyed to the target position, which enables rapid movement in a short time.

Further, this eliminates the need for a supervisor at the arrival position, makes it possible to fully automate concrete transportation and shorten the work including the evacuation time and waiting time of the worker at the pouring site, and the safety is also improved. Also improves.

[Brief description of the drawings]

FIG. 1 is an overall explanatory view of a cable crane according to the present invention.

FIG. 2 is a block diagram showing a system configuration.

3A, 3B, and 3C are schematic diagrams showing program contents.

FIG. 4 is a flowchart showing a processing procedure on the outward path of the bucket.

FIG. 5 is a flowchart showing a processing procedure on the return path of the bucket.

FIG. 6 is an explanatory diagram showing a general configuration of a conventional cable crane.

[Explanation of symbols]

 2 Main rope 3 Trolley 4 Stretching rope 5 Suspension rope 6 Concrete bucket 7 Traverse winch 8 Traverse winch 7e, 8e Speed detector 9 Operating room 10 Transfer car 11 Hopper 22 Control unit 24 Computing unit 34, 36 Drive control device 38, 40 Speed controller A Transport start position B Transport end position X, Z encoder

Front page continuation (72) Inventor Michio Nakao 2-3 Kandaji-cho, Chiyoda-ku, Tokyo Obayashi Corporation Tokyo head office (56) Reference JP 62-185695 (JP, A)

Claims (1)

(57) [Claims] 1. A main rope stretched between two points, a traverse trolley capable of traveling along the main rope, a check rope for towing the trolley, and a suspension rope suspended below the trolley. A lowered bucket, a traverse winch that winds and unwinds the check rope to reciprocate the trolley along the main rope, and a vertical movement that winds and unwinds the suspension rope to move the bucket up and down. In a cable crane including a winch and a drive control device for each winch, a method of controlling a cable crane used when moving the bucket from a transport start position to a transport end position, the transport start position and the transport end position According to the above, the degree of bending of the main rope, the payout length of the check rope, and the payout length of the suspension rope are used as calculation factors.
In advance , the behavior of the main rope, the trolley, and the bucket is analyzed to model an operation pattern, and when the cable crane is operated, the modeled operation pattern is selected according to setting conditions, A method for controlling a cable crane, which is characterized by automatically controlling the cable crane according to this operation pattern.