JP2000026072A - Method for controlling crane - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method of controlling a crane with which even unskilled operators can conduct conveyance safely and promptly so as not to swing a cargo to be hung as much as possible. SOLUTION: This method of controlling crane involves traveling a traverse trolley while accelerating it in a roughly horizontal direction from just above a conveyance starting point in an acceleration zone TA, traveling the traverse trolley and a bucket at an even speed in a roughly horizontal direction so as not to swing the bucket in a fixed speed zone TB after the end of the acceleration zone TA, traveling the traverse trolley while decelerating it in a roughly horizontal direction in a deceleration zone TC after the end of the fixed speed zone TB, and stopping just above a target position. A winding or unwinding operation of a slinger is conducted in at least two zones including the fixed speed zone TB of the three zones TA, TB, TC.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for controlling a crane that transports a suspended load suspended by a wire.

[0002]

2. Description of the Related Art Conventionally, a track-type cable crane has been used as a concrete transportation means for dam construction. This cable crane has two fixed on one shore
A gauge cable stretched between the two gauge posts, a traveling trolley moving on the gauge track, a main rope stretched between the traveling trolley and the main rope post fixed to the opposite shore, The trolley includes a trolley that moves on the main rope, and a bucket that is suspended from the trolley via a suspension cable. In the cable crane, the ready-mixed concrete kneaded in the batcher plant is transported by a transfer car running on a bunker line, and the ready-mixed concrete is transferred from the transfer car to a bucket near the bunker line.

In the above cable crane, the moving speed of the traveling trolley, the moving speed of the traverse trolley, and the hoisting / unwinding speed of the hoisting line are determined according to an operation pattern determined for each elapsed time, from the transport start position near the bunker line to the dam bank. Transport the bucket to the concrete placement position on the body. In this case, the traveling trolley is moved to a predetermined position by traveling on the track, and then, the traveling trolley is moved on the main rope from the transportation start position, and is moved to the concrete placing position. At this time, hoisting / unwinding of the hanging cable hanging the bucket is performed in accordance with the movement of the transverse trolley.

[0004]

By the way, in the cable crane described above, for safety, the trolley is driven so that the bucket does not swing as much as possible, and the bucket suspended by the hanging cable at the target position does not swing. In addition, it is necessary to speed up the traveling of the trolley in terms of the construction period and cost. For this reason, there is a problem in that the traveling trolley and the operation of hoisting / unwinding the hoisting line require skill.

[0005] Further, the above-described concrete casting requires not only the operator of the cable crane but also the operators (the concrete kneading plant side and the target position side) that are dependent on the movement of the cable crane. The length of the cable crane cycle time, which is determined by the level of skill of the operator, greatly affects the construction period and cost. Especially in the above-mentioned dam construction, a large amount of ready-mixed concrete is poured a day, so the cycle time must be shortened. Is important.

SUMMARY OF THE INVENTION An object of the present invention is to provide a method of controlling a crane that can safely and promptly transport a suspended load so as not to swing as much as possible without requiring a skilled operator.

[0007]

According to a first aspect of the present invention, there is provided a crane control method for transporting a suspended load from a transport start position to a target position while suspending the load with a wire. An acceleration section in which the upper fulcrum of the wire is moved while being accelerated in a substantially horizontal direction from immediately above the transport start position, and an upper fulcrum and the hanging load of the wire are moved so that the suspended load does not swing after the end of the acceleration section. There is a constant speed section in which the wire is moved at a substantially constant speed in a substantially horizontal direction, and a deceleration section in which the upper fulcrum of the wire is moved while being decelerated in a substantially horizontal direction and stopped immediately above the target position after the end of the constant speed section. In addition, the operation of hoisting or unwinding the wire is performed over at least two sections including the constant velocity section among the acceleration section, the constant velocity section, and the deceleration section.

According to the crane control method of the first aspect, the suspended load is prevented from swinging in the constant velocity section, and the operation of hoisting or unwinding the wire is performed in the acceleration section, the constant velocity section, and the constant velocity section. By performing over at least two sections including the constant velocity section of the deceleration section, the load can be quickly and safely transferred from the transport start position to the destination position while avoiding various obstacles in the transport path of the load. Can be transported.

[0009] The method for controlling a crane according to a second aspect of the present invention includes:
2. The crane control method according to claim 1, wherein the wire is hoisted or unwound in the acceleration section, a period of a pendulum motion of the suspended load based on a suspension length of the wire at the start of the acceleration section, and the acceleration section. During a time that is approximately an integral multiple of the average value of the period of the pendulum movement of the suspended load based on the suspended length of the wire at the end of the wire, the upper fulcrum of the wire is moved while being accelerated in a substantially horizontal direction, In the next constant velocity section, the upper fulcrum of the wire and the suspended load are moved at a constant velocity in a substantially horizontal direction at the speed at the end of the acceleration section.

According to the crane control method of the second aspect, in the acceleration section, the upper fulcrum of the wire and the suspended load are moved while the upper fulcrum of the wire is horizontally accelerated. Then, the suspended load starts a pendulum motion in a cycle based on the suspended length of the wire. When the wire is wound up or down in this acceleration section, the suspended length of the wire changes, and the period of the pendulum motion of the suspended load changes. However, the period of the pendulum motion based on the suspension length of the wire at the start of the acceleration section and the period of the pendulum movement based on the suspension length of the wire at the end of the acceleration section are substantially integer times as long as an average value. In the meantime, if the upper fulcrum of the wire is moved while accelerating and moved at a constant speed after the end of the acceleration, the suspended load becomes substantially the lowest point of the pendulum motion at the end of the acceleration section. The upper fulcrum and the suspended load move at the same speed in the same direction. Therefore, after moving the upper fulcrum of the wire while accelerating, the upper fulcrum of the wire and the suspended load move at a constant speed, so that the suspended load does not swing in the constant velocity section and is safe without a skilled operator. To carry suspended loads. In addition, when the suspension length is shortened by winding the wire in the acceleration section, it is possible to avoid obstacles in the middle of movement and to reduce the period of the pendulum movement of the suspended load as compared with the case where the suspension length is constant. Can be shortened, so that the time required to move while accelerating can be reduced.

[0011] Further, a method for controlling a crane according to claim 3 is as follows.
The crane control method according to claim 2, wherein the upper fulcrum of the wire is accelerated at a substantially constant acceleration in the acceleration section.

According to the control method for a crane of the third aspect, the upper fulcrum of the wire is accelerated at a substantially constant acceleration in the acceleration section. The speed at which the upper fulcrum and the suspended load move at a constant speed can be easily obtained. Therefore, the acceleration in the acceleration section of the upper fulcrum of the wire and the speed in the constant velocity section can be easily determined based on the carrying capacity of the crane, that is, the maximum acceleration and the maximum speed.

[0013] The method for controlling a crane according to a fourth aspect of the present invention includes:
2. The crane control method according to claim 1, wherein the wire is hoisted or unwound in the deceleration section, and a period of the pendulum motion of the suspended load based on a hanging length of the wire at the start of the deceleration section and the deceleration section. During a time that is substantially an integral multiple of the average value of the period of the pendulum movement of the suspended load based on the suspended length of the wire at the end of the wire, the upper fulcrum of the wire is moved while being decelerated in a substantially horizontal direction, At the end of the deceleration section, the upper fulcrum of the wire is stopped and the suspended load is stopped at the target position.

According to the crane control method of the fourth aspect, the upper fulcrum of the wire in the deceleration section is substantially changed from the state in which the upper fulcrum and the suspended load of the wire in the constant velocity section are moving at a constant speed. When the load is moved while decelerating in the horizontal direction, the suspended load starts a pendulum motion in a cycle based on the suspended length of the wire. If the wire is wound up or down in this deceleration section, the suspended length of the wire changes, and the period of the pendulum motion of the suspended load changes. However, the period of the pendulum movement based on the suspended length of the wire at the start of the deceleration section and the period of the pendulum movement based on the suspended length of the wire at the end of the deceleration section are substantially integral multiples of the average value. Meanwhile, if the upper fulcrum of the wire is moved while decelerating, the upper fulcrum of the wire and the suspended load stop when the pendulum motion of the suspended load is substantially the lowest point. Therefore, the suspended load can be reliably stopped at the target position without swinging of the suspended load.

[0015] The method for controlling a crane according to claim 5 is as follows.
The crane control method according to claim 4, wherein the upper fulcrum of the wire is decelerated at a substantially constant acceleration in the deceleration section.

According to the crane control method of the fifth aspect, the upper fulcrum of the wire is moved and stopped while being decelerated at a substantially constant acceleration, so that the upper fulcrum of the wire and the suspended load are moved at a constant speed. By determining the speed when moving, the suspended load is moved while decelerating for a time substantially equal to an integral multiple of the period of the pendulum motion, and the speed at the end of the deceleration section is made zero. Can be easily obtained. Therefore, the speed in the constant velocity section of the upper fulcrum of the wire and the acceleration in the deceleration section are determined based on the crane's carrying capacity, that is, the maximum acceleration and the maximum speed, so that the suspended load can be reliably stopped at the target position.

[0017] The method for controlling a crane according to claim 6 is as follows.
In a crane control method for transporting a suspended load from a transport start position to a target position while suspending the load by a wire, an acceleration section in which an upper fulcrum of the wire is moved while being accelerated in a substantially horizontal direction from directly above the transport start position, A constant velocity section in which the upper fulcrum and the suspended load of the wire are moved at a constant speed in a substantially horizontal direction so that the suspended load does not swing after the end of the acceleration section,
A deceleration section in which the upper fulcrum of the wire is moved while being decelerated in a substantially horizontal direction after the end of the constant velocity section to stop immediately above the target position, and the operation of hoisting or unwinding the wire is performed as described above. While performing only in the speed section, in the acceleration section, the upper fulcrum of the wire is accelerated in a substantially horizontal direction for a time substantially equal to an integral multiple of the period of the pendulum movement of the load based on the hanging length of the wire. Then, in the next constant velocity section, the upper fulcrum of the wire and the suspended load are moved at substantially the same speed in the horizontal direction at the speed at the end of the acceleration section.

According to the control method of the crane of the sixth aspect, in the acceleration section, the upper fulcrum of the wire and the suspended load are moved while the upper fulcrum of the wire is accelerated in a substantially horizontal direction. Then, the suspended load starts pendulum movement in a cycle based on the suspended length of the wire. Then, during a period of substantially an integral multiple of the period of the pendulum motion based on the suspension length of the wire in the acceleration section, the upper fulcrum of the wire is moved while being accelerated, and after the acceleration section is moved at a constant speed, At the end of the acceleration section, the suspended load becomes the substantially lowest point of the pendulum motion, and in the constant velocity section, the upper fulcrum of the wire and the suspended load move at the same speed in the same direction. Therefore, after moving the upper fulcrum of the wire while accelerating, the upper fulcrum of the wire and the suspended load move at a constant speed, so that the suspended load does not swing in the constant velocity section and is safe without a skilled operator. To carry suspended loads. Further, when the suspension length is shortened by winding the wire in the constant velocity section, an obstacle in the middle of the movement can be easily avoided. Moreover, since the suspension length of the suspension cable in the acceleration section does not change, the calculation of the cycle becomes easy, and the swing can be reliably stopped.

Further, the method for controlling a crane according to claim 7 is as follows.
In a crane control method for transporting a suspended load from a transport start position to a target position while suspending the load by a wire, an acceleration section in which an upper fulcrum of the wire is moved while being accelerated in a substantially horizontal direction from directly above the transport start position, A constant velocity section in which the upper fulcrum and the suspended load of the wire are moved at a constant speed in a substantially horizontal direction so that the suspended load does not swing after the end of the acceleration section,
A deceleration section in which the upper fulcrum of the wire is moved while being decelerated in a substantially horizontal direction after the end of the constant velocity section to stop immediately above the target position, and the operation of hoisting or unwinding the wire is performed as described above. While performing only in the speed section, in the deceleration section, the upper fulcrum of the wire is decelerated in a substantially horizontal direction for a time substantially equal to an integral multiple of the period of the pendulum movement of the load based on the hanging length of the wire. By moving, at the end of the deceleration section, the upper fulcrum of the wire is stopped, and the suspended load is stopped at the target position.

According to the crane control method of the present invention, the upper fulcrum of the wire and the suspended load are moving at a constant speed in the constant velocity section, and the upper fulcrum of the wire in the deceleration section. Is moved while decelerating in a substantially horizontal direction, the suspended load starts a pendulum motion in a cycle based on the suspended length of the wire. Then, when the upper fulcrum of the wire is moved while being decelerated for a time substantially equal to an integral multiple of the period of the pendulum motion based on the hanging length of the wire in the deceleration section, the pendulum motion of the suspended load is substantially the lowest point. Sometimes the upper fulcrum of the wire and the suspended load stop. Therefore, the suspended load can be reliably stopped at the target position without swinging, and the suspended load can be transported safely without a skilled operator. Moreover, since the suspension length of the suspension cable in the deceleration section does not change, the calculation of the cycle becomes easy, and the swing can be reliably stopped.

[0021] The method for controlling a crane according to claim 8 is as follows.
The method for controlling a crane according to any one of claims 1 to 7, wherein the upper fulcrum of the wire and the suspended load are moved at substantially the same speed in the horizontal direction at the maximum speed of the crane in the constant speed section. I have.

According to the crane control method of the eighth aspect, when the upper fulcrum of the suspended load and the wire is moved at substantially constant speed in the horizontal direction in the constant velocity section, the upper fulcrum of the wire is moved at the maximum speed of the crane. By moving, the cycle time can be further reduced.

[0023]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a crane control method according to the present invention will be described in detail with reference to the illustrated embodiments.

FIG. 1 is an overall schematic diagram of a cable crane and a dam construction site in which a crane control method according to an embodiment of the present invention is used. This cable crane
As shown in Fig. 1, track posts 1 and 2 fixed to the left bank
A track 3 stretched between them, a traveling trolley 4 moving on the track 3, a main rope 6 stretched between the traveling trolley 4 and a main rope post 5 fixed to the right bank. , The main rope 6
Traversing trolley 7 as the upper fulcrum of the wire moving up
And a bucket 9 suspended from the transverse trolley 7 via a suspension cord 8 as a wire. The transfer car 12 for transporting the ready-mixed concrete kneaded in the batcher plant 13 runs on the bunker line 11.

FIG. 2 is a side view of the transport route of the bucket of the cable crane, and shows the bunker line 11.
The bucket 9 is transported from the upper transport start position P1 to a destination position (concrete placement position) P2.

The cable crane controls the moving speed of the traveling trolley 4, the moving speed of the transverse trolley 7, and the hoisting / unwinding speed of the hoisting line 8 shown in FIG. Then, the bucket 9 for transporting the ready-mixed concrete is placed in the vicinity of the bunker line 11 in FIG.
Is transported from the transport start position P1 to the destination position P2, and after the concrete is cast, the bucket 9 is returned to the next transport start position. When the driving position changes greatly in the next transportation, the traveling trolley 3 is moved along the track 3 so that the main rope 6 is on the next driving position, and then the transportation near the bunker line 11 is started. After the bucket 9 is transported from the position to the next placement position and the concrete is placed, the bucket 9 is returned to the next transportation start position. In this way,
By repeatedly transporting the bucket 9 from the transport start position to the destination position, a large amount of concrete is poured into the concrete placing area on the embankment body 10.

FIG. 3A is a diagram showing the speed of the traversing trolley 7 during the carrying operation of the cable crane, and FIG. 3B is a diagram showing the speed of unwinding the hoisting line 8. FIG.
(A) and (B) show the case where the bucket 9 is transported from the transport start position to the destination position without hitting the obstacle 20 (shown in FIG. 2). After the running trolley 3 is moved to a predetermined position, as shown in FIG. 3 (A), acceleration section T _A
In preparative constant velocity interval T _B and the deceleration interval T _C controls the hoisting / winding unloading of cars and slings 8 transverse trolley 7. Originally, means for moving the trolley 7 and hoisting /
If the capacity of the unwinding means is infinite, the required time is shorter if the operation is performed only in the acceleration and deceleration sections without providing the constant velocity section. However, there is a limit to the performance of each moving means (motor and the like), so that a speed pattern having such a constant velocity section is inevitable.

[0028] First, in the acceleration interval T _A, after was transferred to fresh concrete transfer car 12 that has been conveyed along a bunker line 11 from the batcher plant 13 shown in FIG. 1 in a bucket 9, earth bucket 9 Cutting height
(Several meters). Then, from the state where the bucket 9 is stopped at the transport start position, the traversing trolley 7 is caused to travel while accelerating at a substantially constant acceleration, and the motor (not shown) is used to gradually raise and lower the unwinding speed of the hanging rope 8. down wind the slings 8, down winding the slings 8 substantially constant winding down speed in the middle of the acceleration section T _a.

Next, in the constant velocity section T _B , the acceleration section T _A
The trolley 7 and the bucket 9 are moved at a constant speed at the speed at the end of the process.

Then, in the next deceleration section T _C , the traversing trolley 7 is caused to travel while decelerating at a substantially constant acceleration from the speed of the constant velocity section T _B , and in this section, a sling line 8 is driven by a motor (not shown). Is unloaded at the same unwinding speed as in the constant velocity section T _B, and the suspension line 8 is unrolled and stopped while gradually reducing the speed in the middle of the deceleration section T _C.

[0031] In the cable crane, when moving the constant speed section T _B from acceleration interval T _A, it is moved in the same direction the bucket 9 is rampant trolley 7 and the bucket 9 and the constant velocity in approximately the lowest point of the pendulum motion , So that the bucket 9 does not swing.

[0032] Hereinafter, will be described in detail the principle of the bucket 9 is not shake at constant speed section T _B.

The period T of the pendulum movement of the bucket 9 is as follows: T = 2π (L / g) ^1/2 (Equation 1) L: Suspension length from the traversing trolley 7 to the bucket 9 g: Expressed as gravitational acceleration. The angular velocity ω of the pendulum motion is represented by ω = (g / L) ^1/2 (Expression 2), and the velocity v of the trolley 7 and the absolute value of the pendulum motion of the bucket 9 The speed (the speed component in the traveling direction of the traversing trolley 7) V is as follows: v = αt (Equation 3) V = αt−δωsinωt (Equation 4) t : time alpha: acceleration omega: angular velocity [delta]: represented by α / ω ^2. From the above equations (3) and (4), the condition that the speed v of the traversing trolley 7 and the absolute velocity V in the running direction of the pendulum motion of the bucket 9 are equal to sinωt = 0 (Equation 5) It is.

The relative displacement y with respect to the trolley 7 is as follows: y = ∫vdt−∫Vdt = ∫ (αt−αt + δωsinωt) dt = −δcosωt + C (Equation 6), and the time t = 0 Since the relative displacement y = 0 when
C = 1. Therefore, (Equation 6) is represented by y = −δcosωt + 1 (Equation 7).

Therefore, from the above equations (5) and (7), the time when the velocity v of the traverse trolley 7 is equal to the absolute velocity V of the pendulum movement of the bucket 9 and the relative displacement y between the traverse trolley 7 and the bucket 9 becomes zero. t is an integral multiple of the period of the pendulum movement of the bucket 9. That is, by controlling the speed of the traverse trolley 7 so that the speed of the traverse trolley 7 becomes constant after n cycles (n = 1, 2,...) Of the pendulum motion of the bucket 9 from the start of the acceleration section T _A , Trolley 7
Is accelerated so that the absolute speed V of the pendulum movement of the bucket 9 becomes equal to the speed v of the bucket 9, the bucket 9 does not swing relative to the traversing trolley 7. In this case, during one cycle of the pendulum movement of the bucket 9, the trolley 7 is caused to travel while accelerating, and the speed of the trolley 7 at the end of the acceleration section T _A is set to the maximum speed, so that the cycle time is the most. Be shorter.

When the bucket 9 moves from the constant velocity section T _B to the deceleration section T _C and stops at the target position,
If you want to do swing, the reverse operation when moving to constant speed section T _B from acceleration interval T _A above.

Next, a method for determining the moving speed pattern of the traverse trolley 7 and the unwinding speed pattern of the hanging rope 8 will be described below.

FIG. 4 is a diagram for explaining the moving speed pattern of the traversing trolley and the hoisting line unwinding speed pattern. The coordinate system is such that the hoisting (positive) and the hoisting down are performed.
(Negative), traveling to the right side of the trolley (positive), traveling to the left side of the trolley (negative). Unwinding (winding)
Equation 8 shows the time when the speed reaches the maximum speed (acceleration is constant). _{T V = (V R / V} RMAX) T ENV ......... ( Equation 8) T _V: winding down (winding) the time to reach the speed V _R: winding down (winding) speeds V _RMAX: Maximum winding down (winding) rate T _ENV : Time to reach the maximum unwinding (winding) speed

Since the length of the pendulum changes during the acceleration / deceleration time of the traverse trolley, the acceleration time T _ACC and the deceleration time T _DEC are defined by Expressions 9 and 10. T _ACC = (2π (L _BANK / g) ^1/2 + 2π ((L _BANK −L _BA ) / g) ^1/2 ) / 2... (Equation 9) T _DEC = ( 2π (L _CONC / g) ^1/2 + 2π ((L _CONC + L _CD ) / g) ^1/2 ) / 2 (Equation 10) L _BANK : Pendulum length on the bunker line _Length L _CONK : Length of pendulum on concrete placing point L _BA : Length of hoisting / _{unwinding of} acceleration time L _CD : Length of hoisting / _{unwinding of} deceleration time

Based on the conditions of the above-mentioned operation pattern, the traversing / unwinding (winding) speed is obtained as follows. First, acceleration
Equations 11 and 12 show the lengths of the hoisting lines for unwinding (hoisting) during the deceleration time. _{L BA = (T V V R} ) / 2 + (T ACC -T V) V R = T ACC V R - (T V V R) / 2 ............................................. ( formula _{11) L CD = (T V} V R) / 2 + (T DEC -T V) V R = T DEC V R - (T V V R) / 2 ....................................... …… (Equation 12) L _BA : Length of suspension cable to be unwound during acceleration time L _CD : Length of suspension cable to be unwound during deceleration time

Further, the total traversing distance L _OH and the total unwinding length L _DO are shown in Expressions 13 and 14. L _OH = (T _ACC V _H ) / 2 + (T _DEC V _H ) / 2 + (T _T −T _ACC −T _DEC ) V _H = T _T V _H − (T _ACC V _H ) / 2− (T _DEC V _H ) _H) / 2 ............... (formula _{13) L DO = T V V} R + (T T -2T V) V R = T T V R -T V V R .............................. …… (Equation 14) T _T : Time to reach the destination

When the time to reach the target place is obtained by modifying the above equation (14), the equation (15) is obtained. This is substituted into Expression 13 to obtain the relationship between the traversing speed V _H and the unwinding (hoisting) speed V _R , and Expression 16 is obtained. _{T T = (L DO + T} V V R) / V R ....................................... ( Equation _{15) V H = L OH /} ((L DO + T V V R) / V R - T _ACC / 2-T _DEC / 2) ............ (Equation 16)

From equation (9), T _ACC = (2π (L _BANK / g) ^1/2 + 2π ((L _BANK −L _BA ) / g) ^1/2 ) / 2 = π (L _BANK / g) ^1/2 + π ((L _BANK −L _BA ) / g) ^1/2 T _ACC ² = π ² (L _BANK / g−2 (L _BANK / g) ^1/2 ((L _BANK −L _BA ) / g ) ^1/2 + (L _BANK −L _BA ) / g) = −π ² (L _BA / g) + 2π (L _BANK / g) ^1/2 (π (L _BANK / g) ^1/2 + π ((L ^{_{BANK -L BA) / g) 1/2}} ) = -π 2 (L BA / g) + 2π (L BANK / g) 1/2 T ACC ∴ T ACC 2 -2πT ACC (L BANK / g) 1/2 + [pi ² when (L _BA / g) = 0 substituting equation 11 into the ^{_{equation, T ACC 2 - (2π (}} L BANK / g) 1/2 - (π 2 / g) V R) T ACC + (π 2 _{/ g) T V V R /} 2 = 0 T ACC = (2π (L BANK / g) 1/2 - (π 2 / g) V R) / 2 + ((2π (L BANK / g) 1/2 − (Π ² / g) V _R ) ² +2 (π ² / g) T _V V _R ) ^1/2 / 2 (Equation 17) Therefore, L _BANK , T _V , and V _{R are} determined. Then, T _ACC is obtained.

From equation (10), T _DEC ² -2πT _DEC (L _CONC / g) ¹ /2-(π ² / g) L _CD = 0 T _DEC ^2- (2π (L _CONC / g) ^{1 / 2 + (π 2 / g)} V R) T DEC + (π 2 / g) T V V R / 2 = 0 T DEC = (2π (L CONC / g) 1/2 - (π 2 / g) V _{R) / 2 + ((2π} (L CONC / g) 1/2 - (π 2 / g) V R) 2 +2 (π 2 / g) T V V R) 1/2 / 2 ............... (Equation 1
8) Therefore, if L _CONC , T _V , and V _R are determined, T _DEC
Is found.

Therefore, the acceleration / deceleration time is determined by
It is a function of (winding) speed. Assuming the unwinding (hoisting) speed, the traversing speed is obtained from Expression 16, and when these maximum values are obtained, the optimum traversing / unwinding (hoisting) speed is obtained.

[0046] Also, when the middle transportation of the bucket 9 is obstructed, FIG. 5 (A), the (B), the acceleration period T _A and constant speed section T _B and decelerating interval T _C in the transverse trolley 7 and control of hoisting / unwinding of the hoisting line 8. That performs a winding until the middle of the acceleration interval T _A and constant speed section T _B shown in FIG. 5 (A), from the end of the winding in the constant velocity interval T _B shown in FIG. 5 (A) After a predetermined time, deceleration section T _C
Unwinding is performed during.

[0047] Thus, while such a bucket 9 is not shake in the constant velocity interval T _B, winding or winding down acceleration section T _A The operation of the slings 8, constant speed section T _B and decelerating interval T _C by performing over at least two sections including a constant speed section T _B of, while avoiding and various obstacles conveying path of the bucket 9 and transports quickly and safely bucket 9 to the target position from the delivery start position be able to.

Further, in the acceleration section T _A , the period of the pendulum motion based on the suspension length of the suspension rope 8 at the start of acceleration;
After moving the traverse trolley 7 while accelerating it for approximately an integral multiple of the average value of the period of the pendulum motion based on the suspension length of the suspension cable 8 at the end of the acceleration, the traverse trolley 7 and the bucket 9 are moved. since moving with constant velocity, the bucket 9 at a constant speed period T _B
The bucket 9 can be transported safely without swinging. In addition, hoisting rope 8 is hoisted in the acceleration section T _A ,
Hanging case of shorter length, it is possible to avoid the constant speed section T during the obstacle is moved in _B, and hanging length than that of the constant, the average period of the pendulum movement of the bucket 9 Since the value is shortened, it is possible to shorten the time when moving while accelerating.

In the acceleration section T _A , the traversing trolley 7 is driven while accelerating at a substantially constant acceleration.
The speed of the acceleration and constant speed section T _B of acceleration interval T _A transverse trolley 7 can be easily determined in accordance with the carrying capacity of the cable crane.

In the deceleration section T _C , the period of the pendulum motion based on the suspension length of the suspension rope 8 at the start of deceleration,
When the transverse trolley 7 is moved while decelerating for a time that is substantially an integral multiple of the average value of the period of the pendulum motion based on the suspension length of the suspension cable 8 at the end of the deceleration, the pendulum motion of the suspended load becomes substantially the lowest. Since the trolley 7 and the suspended load stop at the point, the bucket 9 can be reliably stopped at the target position without the bucket 9 swinging.

In the deceleration section T _C , the trolley 7 travels while decelerating at a substantially constant acceleration.
The acceleration in the acceleration section T _A of the traversing trolley 7 and the speed in the deceleration section T _C can be easily determined according to the carrying capacity of the cable crane, and the bucket 9 can be reliably stopped at the target position.

[0052] In addition, rampant trolley 7 in the constant velocity interval T _B
And the bucket 9 are moved at substantially constant speed in a substantially horizontal direction.
By moving at the maximum speed of the crane, the cycle time can be further reduced.

In the above embodiment, a method of controlling a cable crane as a concrete transportation means in dam construction has been described. However, the present invention is not limited to a concrete transportation means, but may be applied to a cable crane or a tower crane used for other transportation means. The invention may be applied. When the present invention is applied to a tower crane, an acceleration section, a constant velocity section, and a deceleration section are provided in the circumferential direction in which the suspended load moves with the rotation of the tower crane boom.

In the above embodiment, the acceleration section T _A
In preparative constant velocity interval T _B and the deceleration interval T _C were subjected to the control of the winding / windings unloading of slings 8, depending on the transportation route and the like of the crane form and suspended load, two of the acceleration section and constant speed section Sections,
May be performed the operation of down winding or windings of wire in two sections with constant speed section deceleration zone T _C, only constant speed section may perform the operation of unloading winding or windings of wire.

[0055]

As is apparent from the above description, according to the crane control method of the present invention, it is possible to prevent the suspended load from swinging in the constant velocity section and to perform the operation of lifting or lowering the wire in the acceleration section. By performing over at least two sections including the constant-speed section of the speed section and the deceleration section, while avoiding various obstacles on the transport route of the suspended load,
The suspended load can be quickly and safely transported from the transport start position to the destination position.

[Brief description of the drawings]

FIG. 1 is an overall schematic view of a cable crane and a dam construction site using a crane control method according to an embodiment of the present invention.

FIG. 2 is a side view showing a transport route of a bucket of the cable crane.

FIG. 3 (A) is a diagram showing the speed of a traversing trolley during the carrying operation of the cable crane, and FIG. 3 (B) is a diagram showing the speed of unwinding a hoisting line.

FIG. 4 is a view for explaining a moving speed pattern of the traversing trolley and a hoisting line unwinding speed pattern.

FIG. 5 (A) is a diagram showing the speed of the traversing trolley during the carrying operation of the cable crane when there is an obstacle, and FIG. 5 (B) shows the speed of hoisting / unwinding the hoisting line. FIG.

[Explanation of symbols]

1,2 ... Track post, 3 ... Track, 4 ... Traveling trolley, 5
… Main rope post, 6… main rope, 7… traversing trolley, 8… suspension rope, 9… bucket, 10… bank body, 11… bunker line, 1
2 ... Transfer car, 13 ... Batcher plant.

 ──────────────────────────────────────────────────続 き Continuation of the front page (72) Inaba Kinsei 2-2-2 Matsuzaki-cho, Abeno-ku, Osaka-shi, Osaka Prefecture Inside Okumura Gumi Co., Ltd. (72) Inventor Toshiyuki Ishii 2-2-2 Matsuzaki-cho, Abeno-ku, Osaka-shi, Osaka No. 2 Okumura Gumi Co., Ltd. F-term (reference) 3F204 AA05 BA01 CA01 CA03 DA04 DA08 DB06 DB09 DD02 DD09 DD19 EA02 EA06 EA11 EA13 EB08

Claims (8)

[Claims] 1. A method of controlling a crane for transporting a suspended load from a transport start position to a destination position while suspending the load by a wire, wherein the upper fulcrum of the wire is moved while being accelerated in a substantially horizontal direction from immediately above the transport start position. An acceleration section, a constant velocity section in which the upper fulcrum of the wire and the suspended load are moved at substantially constant speed in the horizontal direction so that the suspended load does not swing after the completion of the acceleration section, and after the termination of the constant velocity section. A deceleration section in which the upper fulcrum of the wire is moved while being decelerated in a substantially horizontal direction and stopped immediately above the target position, and the operation of hoisting or unwinding the wire is performed in the acceleration section, the constant velocity section, and the deceleration. A method for controlling a crane, wherein the method is performed over at least two sections including the constant velocity section among the sections. 2. The crane control method according to claim 1, wherein the wire is hoisted or unwound in the acceleration section, and the pendulum of the suspended load is based on a hanging length of the wire at the start of the acceleration section. The upper fulcrum of the wire is moved in a substantially horizontal direction for a period substantially equal to an integral multiple of the period of the movement and the period of the pendulum movement of the suspended load based on the suspended length of the wire at the end of the acceleration section. A crane which moves while accelerating, and moves the upper fulcrum of the wire and the suspended load at substantially the same speed in the next constant velocity section at a speed at the end of the acceleration section in a substantially horizontal direction. Control method. 3. The crane control method according to claim 2, wherein the upper fulcrum of the wire is accelerated at a substantially constant acceleration in the acceleration section. 4. The crane control method according to claim 1, wherein the wire is hoisted or unwound in the deceleration section, and the pendulum of the suspended load based on a hanging length of the wire at the start of the deceleration section. The upper fulcrum of the wire is moved in a substantially horizontal direction during a period of substantially an integral multiple of the period of the motion and the period of the pendulum motion of the suspended load based on the suspended length of the wire at the end of the deceleration section. A crane control method, wherein the crane is moved while decelerating to stop the upper fulcrum of the wire at the end of the deceleration section and stop the suspended load at the target position. 5. The crane control method according to claim 4, wherein the upper fulcrum of the wire is decelerated at a substantially constant acceleration in the deceleration section. 6. A control method of a crane for transporting a suspended load from a transport start position to a destination position while suspending the load by a wire, wherein the upper fulcrum of the wire is moved while being accelerated in a substantially horizontal direction from immediately above the transport start position. An acceleration section, a constant velocity section in which the upper fulcrum of the wire and the suspended load are moved at substantially constant speed in the horizontal direction so that the suspended load does not swing after the completion of the acceleration section, and after the termination of the constant velocity section. A deceleration section in which the upper fulcrum of the wire is moved while being decelerated in a substantially horizontal direction and stopped immediately above the target position, and the operation of hoisting or unwinding the wire is performed only in the constant velocity section, In the acceleration section, the upper fulcrum of the wire is moved while being accelerated in a substantially horizontal direction for a time substantially equal to an integral multiple of the period of the pendulum movement of the suspended load based on the hanging length of the wire,
A crane control method comprising: moving the upper fulcrum of the wire and the suspended load at substantially the same speed in a substantially horizontal direction at the speed at the end of the acceleration section in the next constant velocity section. 7. A method of controlling a crane that transports a suspended load from a transport start position to a destination position while suspending the load by a wire, wherein the upper fulcrum of the wire is moved while being accelerated in a substantially horizontal direction from immediately above the transport start position. An acceleration section, a constant velocity section in which the upper fulcrum of the wire and the suspended load are moved at substantially constant speed in the horizontal direction so that the suspended load does not swing after the completion of the acceleration section, and after the termination of the constant velocity section. A deceleration section in which the upper fulcrum of the wire is moved while being decelerated in a substantially horizontal direction and stopped immediately above the target position, and the operation of hoisting or unwinding the wire is performed only in the constant velocity section, In the deceleration section, during a period of substantially an integral multiple of the period of the pendulum motion of the suspended load based on the suspended length of the wire, the upper fulcrum of the wire is moved while being decelerated in a substantially horizontal direction,
A crane control method comprising: stopping the upper fulcrum of the wire at the end of the deceleration section and stopping the suspended load at the target position. 8. The crane control method according to claim 1, wherein the upper fulcrum of the wire and the suspended load are moved substantially horizontally at a maximum speed of the crane in the constant velocity section. A method for controlling a crane, wherein the crane is moved at a high speed.