JP2006077403A - Bridge beam launching method and control system for launching bridge beam - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a bridge launching method and a control system for launching a bridge beam capable of reducing an installation time by continuously launching without stopping. <P>SOLUTION: When a plurality of launching carts comprise a plurality of vertical jacks and send out the bridge beam while supporting the bridge beam, the reactions of the vertical jacks are sent out and compared with each other for each cart, the vertical jack having the largest absolute value of a difference between the reaction and a design value set arbitrarily is selected. When the reaction of the selected vertical jack exceeds a prescribed control value, the stroke of the vertical jack is automatically adjusted. The load adjusting capacity of the vertical jack against the variation of a load applied to the vertical jack is determined (S26), and the running speed of the launching cart is switched (S31). <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a bridge girder delivery method adopted in the construction work of a bridge that crosses a river or a track and bridges the bridge girder, and the reaction force of the vertical jack on the delivery carriage that moves while supporting the bridge girder. In particular, the present invention relates to a bridge girder delivery method and a delivery control system for the bridge girder so that construction can be performed without stopping the delivery carriage in the middle of delivery.

Conventionally, in the construction of bridges, the sending-out method has been adopted as a construction method when the space under the girder cannot be used, such as when a railway or road passes under the bridge girder to be constructed, or when straddling rivers or lakes. Has been. FIG. 8 is a diagram showing a bridge girder delivery method performed at a site crossing the track.
In the bridge erection work shown in the figure, the bridge girder 101 and the like are suspended by a crane on pre-constructed piers 111 to 113, but cranes are not installed on the piers 114 and 115 that cross the track where the space under the girder cannot be used. Since it is impossible, the delivery method is adopted.

For example, as shown in the figure, the temporary equipment 120 is assembled to lay a horizontal traveling rail 130 and send out the bridge girder 102. The bridge girder 102 is sent out in the direction indicated by the arrow along the traveling rail 130 by the movement of the delivery carts 10 and 20.
The delivery carts 10 and 20 run on the three running rails 130 laid out, and are provided with three vertical jacks so that the load of the bridge girder 102 is shared as evenly as possible at each location. The stroke of is adjusted.

  Here, FIG. 9 and FIG. 10 are diagrams showing an example of the delivery carts 10 and 20, in particular FIG. 9 shows the side of the delivery cart, and FIG. 10 shows the front of the delivery cart. The delivery carts 10 and 20 have two wheels on the front and rear so as to run on the three running rails 130 (131, 132, 133), and can run by a driving device such as an electric motor 11 (11a, 11b, 11c), 21 (21a, 21b, 21c). Three vertical jacks 12 (12a, 12b, 12c) and 22 (22a, 22b, 22c) are provided at positions corresponding to the traveling units 11 and 21 via lower frames 13 and 23. The bridge girder 102 is mounted on the upper frames 14 and 24. That is, the delivery carts 10 and 20 support the bridge girder 102 at three locations where the vertical jacks 11 and 22 are arranged in the lateral direction.

In such delivery carts 10 and 20, a large deviation occurs in the load burden due to the difference in height of several millimeters generated between the three traveling rails 130, so a pressure sensor is conventionally provided for each vertical jack. The load adjustment accompanying the stroke is performed. In that case, until now, the monitor contacted the operator while checking the reaction force of the vertical jack obtained from the pressure sensor on the monitor, and the operator manually stopped, adjusted, inspected, Since sending was manually resumed after confirmation, there was a possibility of not only time loss but also human error such as confirmation mistake, contact mistake or adjustment mistake. Therefore, the present applicant has proposed a bridge girder delivery method disclosed in Patent Document 1 below, that is, a bridge girder delivery method for delivering the bridge girder while automatically adjusting the load applied to the vertical jack.
JP 2003-278114 A (page 3-5, FIGS. 1 to 5)

In the bridge girder delivery method described in Patent Document 1, stroke adjustment is performed by the vertical jacks 12 and 22 in order to balance the load burden generated between the three traveling rails 130. If the load change cannot be accommodated, the load of the bridge girder concentrated on one of the three traveling rails 130 may not exceed the predetermined value, and the traveling of the delivery carts 10 and 20 must be stopped for safety. There wasn't.
However, once the delivery is stopped in this way, the delivery of the bridge girder can only be resumed after performing an operation for adjusting the load balance and an inspection for safety confirmation. For this reason, with the conventional delivery method, there is a large time loss until the movement starts again. Such work time loss was particularly serious in places where construction time was limited, such as straddling the track shown in FIG.

  SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a bridge girder delivery method and a bridge girder delivery control system that can shorten the erection time without stopping delivery, in order to solve such problems.

The bridge girder delivery method according to the present invention is such that when a plurality of delivery carts each have a plurality of vertical jacks and the bridge girder is supported while supporting the bridge girder, the reaction force of the vertical jack is delivered and compared for each carriage. Select the vertical jack that has the largest absolute difference from the arbitrarily set design value, and automatically adjust the vertical jack stroke when the reaction force of the selected vertical jack exceeds the specified control value. According to the present invention, the load adjusting ability of the vertical jack with respect to a change in the load applied to the vertical jack is determined, and the traveling speed of the delivery carriage is switched.
Also, the bridge girder delivery method according to the present invention uses the reaction force of the vertical jack detected at a predetermined timing as a sampling value, and the sampling before and after the sampling value deviates from the design value by a predetermined amount. Comparing values, raising the value of a variable to be used as a counter when the reaction force deviates from the design value by the comparison, and if the value of the variable exceeds a preset upper limit value It is determined that the load adjustment capability of the vertical jack with respect to a change in load applied to the vertical jack is inferior, and the speed of the delivery carriage is reduced.

On the other hand, a delivery control system for a bridge girder according to the present invention includes a reaction force detection means for detecting each reaction force of a plurality of vertical jacks provided in each of a plurality of delivery carriages that support the bridge girder, and each delivery carriage. The control means for selecting the one having the largest absolute value of the difference between the reaction force of the plurality of vertical jacks and the arbitrarily set design value, and controlling the stroke in the direction in which the reaction force approaches the design value for the vertical jack And adjusting the load by adjusting the stroke of the vertical jack during delivery along the running rail of the delivery carriage, and the delivery carriage is provided with a driving device. It is self-propelled, and the control means determines the load adjustment capability of the vertical jack with respect to a change in the load applied to the vertical jack, and controls the driving device based on the result to send out the carriage. And characterized in that to vary the speed.
In the bridge girder delivery control system according to the present invention, the control means uses the reaction force of the vertical jack detected at a predetermined timing as a sampling value, and the sampling value deviates from the design value by a predetermined amount. Before and after the value of the variable used as a counter is incremented when the reaction force deviates from the design value, and when the value of the variable exceeds a preset upper limit value, the drive device is It is characterized by being controlled to reduce the speed of the delivery cart.

  Therefore, according to the bridge girder delivery method and the bridge girder delivery control system according to the present invention, the vertical jack of the vertical jack against the reaction force change applied to the vertical jack while the traveling speed of the delivery carriage is increased in the entire delivery range. Since the load adjustment capability is determined and the speed of the delivery carriage is changed, the bridge girder can be completed in a short time without stopping the delivery.

  Next, an embodiment of a bridge girder delivery method and a bridge girder delivery control system according to the present invention will be described below with reference to the drawings. Also in the delivery method of the present embodiment, the bridge girder delivery method performed at the site crossing the track shown in FIG. 8 will be described, and the delivery truck constituting the delivery control system of the present embodiment is shown in FIG. And what was shown in FIG. 10 is employ | adopted. FIG. 1 is a diagram showing a delivery control system for delivering bridge girders in the present embodiment.

  As described above, each of the delivery carts 10 and 20 is provided with three vertical jacks 12 (12a, 12b, 12c) and 22 (22a, 22b, 22c). In the control system, these vertical jacks 12 and 22 are grouped for each cart and are configured to perform reaction force management separately in the front and rear directions. This is because the distance between the delivery carts 10 and 20 is far enough not to be affected by the difference in the height of the jacks.

The vertical jacks 12 and 22 are connected to a drive pump 1 that supplies and discharges pressure oil. Further, pressure sensors 15 (15a, 15b, 15c) and 25 (25a, 25b, 25c) for measuring oil pressure are attached to the vertical jacks 12 and 22, respectively. Therefore, the load applied to each vertical jack 15, 25 is measured by the reaction force by the pressure sensors 15, 25.
Further, the vertical jacks 12 and 22 are provided with stroke detection sensors 16 (16a, 16b, 16c) and 26 (26a, 26b, 26c) for measuring respective strokes. / O boxes 17 (17a, 17b, 17c) and 27 (27a, 27b, 27c).

  The remote I / O boxes 17 and 27 are connected to the control computer 2 and the measurement data detected by the sensors 15, 16, 25, and 26 is a master for monitoring and control in a monitoring room built at the construction site. The computer 3 and the monitoring computer 4 are connected so as to be transmitted. On the other hand, the drive pump 1 is connected to the master computer 3 from the control computer 2 via the remote I / O box 37, and is connected so that the drive control of the drive pump 1 is performed according to the arithmetic processing of the master computer 3. ing.

  The control computer 2 is connected to electric motors 18 and 28 for driving the traveling units 11 and 21 of the delivery carts 10 and 20 shown in FIG. The electric motors 18 and 28 are driven in accordance with the control signal. In particular, in this embodiment, the traveling speed of the delivery carts 10 and 20 is controlled in two stages according to a speed control program to be described later, and the cart traveling control device 38 increases the rotational speed of the electric motors 18 and 28 by switching the frequency of the inverter. It can be switched between two types, low speed and low speed.

  Further, the delivery control system includes a laser beam distance sensor 41 that measures the delivery amount of the bridge girder 102, and Web cameras 42 and 43 that capture the situation of the delivery carriage 10 in front and the delivery situation of the entire bridge girder 102. Installed and connected to computers 3 and 4 via converters 45-48, respectively. Further, in this delivery control system, a person who is away from the construction site based on the reaction force information of the vertical jacks 12 and 22, the delivery state of the bridge girder 102, or the scene image from the Web cameras 42 and 43. In addition, it is connected to a remote computer via a telephone line so that the situation can be grasped.

Next, the bridge girder delivery method performed under such a delivery control system will be specifically described.
As shown in FIG. 8, the bridge girder 102 to be delivered is placed on the traveling rail 130 of the temporary equipment 120 via the delivery carriages 10 and 20, and the hand extender 140 is connected to the tip of the bridge girder 102. The self-propelled delivery carts 10 and 20 are moved forward by driving the electric motors 18 and 28 via the cart travel control device 38 in accordance with a drive signal sent from the control computer 2.

  At this time, the loads of the bridge girder 102 and the hand extender 140 supported by the delivery carts 10 and 20 are applied to the three traveling rails 131 to 133 via the traveling units 11 and 21. The vertical jacks 12a, 12b, 12c are arranged at positions corresponding to the traveling parts 11a, 11b, 11c, and the vertical jacks 22a, 22b, 22c are arranged at positions corresponding to the traveling parts 21a, 21b, 21c, respectively. The load values at the respective locations via the traveling units 11 and 21 can be confirmed from the reaction force values of the vertical jacks 12 and 22 corresponding to the respective values. Therefore, when the height is slightly different between the traveling rails 131 to 133, the load balance is lost due to a large load on the bridge girder 102 or the like where the height becomes high, but such load change is caused by the vertical jack 12. , 22 can be confirmed by checking the reaction force.

  In the delivery method of the present embodiment, the reaction force data of the vertical jacks 12 and 22 detected by the pressure sensors 15 and 25 is always read by the control computer 2 and sent to the computers 3 and 4 in the monitoring room. The reaction force data is graphed and displayed on the display of the master computer 3. In addition to the reaction force of the vertical jacks 12 and 22, the moving distance is measured by the laser beam distance sensor 41, and the strokes of the vertical jacks 12 and 22 can be confirmed by the stroke detection sensors 16 and 26. , 4 are displayed as appropriate.

  In the master computer 3, arithmetic processing for performing load adjustment based on the measurement data transmitted from the pressure sensors 15 and 25 is performed. Here, FIGS. 2 to 4 show a flow for executing the reaction force control program stored in the master computer 3. This reaction force control program balances the load by performing reaction force management on the vertical jacks 12a, 12b, 12c and the vertical jacks 22a, 22b, 22c grouped for the front and rear delivery carts 10, 20, respectively. It is what I did. FIG. 5 is a graph showing reaction force management conditions when this reaction force control program is executed.

  First, reaction force management conditions will be described. First, the ideal delivery state of the delivery carts 10 and 20 is a case where the loads applied to the running rails 131 to 133 are substantially equal when viewed from each delivery cart 10 and 20. Therefore, for the vertical jacks 12a, 12b, 12c and the vertical jacks 22a, 22b, 22c that are grouped, the reaction force of each vertical jack when the load is equal to each other is set as the design value P. The reference design value P differs for each vertical jack depending on various conditions such as the number and arrangement of the vertical jacks and the shape of the bridge girder 102. Therefore, the reaction force management condition shown in FIG. 5 needs to be set for each vertical jack. is there. However, in the delivery carts 10 and 20 of this time, the vertical jacks 12a and 12b when the load is applied evenly, such as the vertical jacks 12 and 22 are arranged corresponding to the positions of the traveling units 11 and 21. Each reaction force of 12c and each reaction force of the vertical jacks 22a, 22b, and 22c are under substantially equal conditions. Therefore, the design value P is equal between the vertical jacks of each group, and the reaction force management condition shown in FIG. 5 is common to the vertical jacks of each group.

  The reaction force management condition is that the reaction force of the vertical jacks 12 and 22 is such that the reaction force of the vertical jacks, that is, the load applied to each corresponding location does not exceed the proof strength M of the temporary equipment 120 or the like with reference to the design value P. The purpose is to control the reaction force by adjusting the stroke. For this reason, about 80 to 90% of the proof stress M is set as the upper limit stop value Q1, and between the lower limit stop value Q2 determined based on the design value P is set as the reaction force allowable range, and the vertical jack is set within the range. Sending out is executed while keeping the reaction force of. That is, the upper limit and lower limit stop values Q1 and Q2 are set as values for stopping sending when the reaction force exceeds either the upper or lower limit.

  Further, control start values V1, V2 and control end values W1, W2 for performing reaction force control are set so that the reaction force approaches the design value P within the stop values Q1, Q2. The control start values V1 and V2 are used to start the stroke control of the corresponding vertical jack when the reaction force exceeds the value, and the control end values W1 and W2 are set to the design value P due to the stroke control. Are set as values for stopping the stroke control of the corresponding vertical jack when approaching. The control start values V1 and V2 and the control end values W1 and W2 are set so that the load can be adjusted between the stop values Q1 and Q2 in consideration of the response of the hydraulic equipment constituting the delivery control system.

  Next, the sending of the bridge girder will be specifically described. The bridge girder 102 is supported by the delivery carts 10 and 20, and the strokes of the vertical jacks 12 and 22 are adjusted by the pressure oil from the drive of the drive pump 1, and loads are applied to the three traveling rails 131 to 133 in a well-balanced manner. ing. Therefore, a start signal is sent from the control computer 2 to the cart traveling control device 38, and the electric motors 18 and 28 are driven and controlled. Accordingly, the self-propelled delivery carts 10 and 20 move forward on the traveling rail 130 in the delivery direction as the wheels rotate. At the start of traveling, a low speed control signal is first sent from the cart traveling control device 38 to the electric motors 18 and 28, and the carts 10 and 20 travel at a low speed. When the vehicle travels a predetermined distance, the frequency of the inverter is switched. The sent high-speed control signal is sent and the delivery carts 10 and 20 run at high speed.

  When the bridge girder 102 is sent out by traveling of the delivery carts 10 and 20, the load applied to the vertical jacks 12 and 22 is sequentially detected by the pressure sensors 15 and 25 at a predetermined timing, and is controlled from the remote I / O boxes 17 and 27. It is transmitted to the master computer 3 via the computer 2. Based on the detected reaction force data, the master computer 3 first confirms whether the reaction force does not exceed the stop values Q1 and Q2 for all the vertical jacks 12 and 22 as shown in FIG. (S1, S2).

  And if there is even one exceeding (S1: NO or S2: NO), a stop signal is sent from the master computer 3 to the control computer 2, and further, by the bogie travel control device 38 receiving the stop signal. The electric motors 18 and 28 are controlled to stop. Thus, in this embodiment, the sending of the bridge girder 102 is automatically stopped (S7). Since the vertical jacks 12 and 22 causing the stop are displayed on the display of the master computer 3 as reaction forces, the workers immediately on the temporary facility 120 are immediately wirelessly contacted to investigate the cause. Then, after the solution, the sending of the bridge girder 102 is restarted.

  On the other hand, when the reaction force is within the allowable range not exceeding the stop values Q1 and Q2 (S1: YES and S2: YES), the design value P for the reaction force of the vertical jacks 12a, 12b, 12c of the delivery carriage 10 is used. The vertical jack 12x (x is one of a, b, and c) having the maximum absolute value of the difference is searched for (S3), and the control values V1, V2, W1, and W2 described above for the vertical jack 12x (see FIG. 5) The stroke control is performed according to (4). Similarly, for the vertical jacks 22a, 22b, and 22c of the delivery cart 20, the vertical jack 22x (x is one of a, b, and c) having the maximum absolute value of the difference from the design value P is searched for. (S5), and stroke control is performed for this (S6). That is, in any of the delivery carts 10 and 20, control is performed intensively on the vertical jacks 12x and 22x having the maximum reaction force.

The stroke control of S5 and S6 performed for the selected vertical jacks 12x and 22x is specifically performed according to the flow shown in FIG. 3 (see FIG. 5 as appropriate).
First, it is confirmed whether or not the reaction force of the selected vertical jacks 12x and 22x exceeds the upper limit control start value V1 (S11). The pressure oil is gradually discharged by repeatedly opening and closing the valve. As a result, the strokes of the vertical jacks 12x and 22x are shortened, and the height of the bridge girder 102 of the corresponding vertical jacks is gradually lowered while the other vertical jack support portions remain unchanged (S12).

  If the portions supported by the vertical jacks 12x and 22x are lowered in this way, the load burden of the supporting bridge girder 102 is transferred to another vertical jack, and the reaction force of the vertical jacks 12x and 22x gradually decreases. Therefore, it is next checked whether or not the upper limit control end value W1 has been exceeded (S13). If the reaction force is still larger (S13: NO), control is repeatedly performed in the direction of reducing the stroke (S12). Then, when the reaction force becomes smaller than the upper limit control end value W1 (S13: YES), the process returns to the main flow (FIG. 2), and it is confirmed again that the reaction force does not exceed the upper limit and lower limit stop values Q1 and Q2. Repeat from (S1, S2).

  Returning to the stroke control flow of FIG. 3, if the reaction force does not exceed the upper limit control start value V1 in S11 (S11: NO), it is confirmed whether the lower limit control start value V2 is not exceeded. (S14). If the reaction force of the vertical jacks 12x and 22x does not exceed the lower limit control start value V2 (S14: NO), the reaction force is within the allowable range and control is not performed. Then, returning to the main flow (FIG. 2), the process is repeated again from the confirmation (S1, S2) that the reaction force does not exceed the upper and lower limit stop values Q1, Q2.

  On the other hand, when the reaction force exceeds the lower limit control start value V2 (S14: YES), pressure oil is supplied from the drive pump 1 to the vertical jacks 12x and 22x based on the command signal of the master computer 3. Therefore, the strokes of the vertical jacks 12x and 22x are extended, and the supported part is gradually lifted (S15). If the portions supported by the vertical jacks 12x and 22x are lifted, the load on the bridge girder 102 that has been biased to other places will be borne, and the reaction force of the vertical jacks 12x and 22x will gradually increase. Accordingly, it is next confirmed whether or not the lower limit control end value W2 has been exceeded (S16). If the reaction force is still smaller (S16: NO), pressure oil is repeatedly supplied to the vertical jacks 12x and 22x, and the stroke Extension control is performed (S12). Then, when the reaction force of the vertical jacks 12x and 22x becomes larger than the lower limit control end value W2, the process returns to the main flow (FIG. 2), and the reaction force does not exceed the upper limit and lower limit stop values Q1 and Q2 again. It repeats from confirmation (S1, S2).

  The purpose of this control is to prevent the proof strength M of the temporary equipment 120 and the like from being exceeded, and to prevent the load on the running rails 131 to 133 from being biased. As a result, it is not necessary to control the small reaction force from S14 to S15 if only the vertical jacks 12x and 22x are viewed. However, as a result, the control is performed in consideration of the lower limit value. This is because the imbalance of the load is corrected and the overall balance is maintained.

  Thus, the reaction force control is continued so that the reaction force does not exceed the allowable range with respect to the vertical jacks 12a, 12b, 12c of the front delivery cart 10 and the vertical jacks 22a, 22b, 22c of the rear delivery cart 20. The bridge girder 102 is sent out. Therefore, as long as the reaction force does not exceed the stop values Q1 and Q2 up and down due to some trouble, the construction work can be performed while automatically adjusting the reaction force without stopping the feeding of the bridge girder 102.

Incidentally, FIG. 5 shows a case where the reaction force does not exceed the stop values Q1 and Q2. However, if the load adjustment capability by the vertical jacks 12 and 22 cannot cope with the load change, the load balance is appropriately adjusted as described above. Cannot be controlled, the reaction force exceeds the stop values Q1 and Q2, and the delivery of the bridge girder 102 is stopped.
By the way, when the bridge girder 102 is delivered, the delivery speed is increased if it is desired to perform in a short time. In such a case, when the delivery speed is increased, the load adjustment capability, that is, the vertical jack 12 per unit time is increased. , 22 cannot catch up with the load change amount, and the delivery of the bridge girder 102 must be stopped. Therefore, in the present embodiment, the following speed control program for the delivery carts 10 and 20 is executed in order to avoid stopping the delivery.

Here, FIG. 4 is a diagram showing a flow for executing the speed control control program of the delivery carts 10 and 20.
First, when sending is started, the master computer 3 sets the counter value C to the initial value 0 (S21). On the other hand, the reaction force of the load applied to the vertical jacks 12 and 22 is detected by the pressure sensors 15 and 25 as described above. Here, the reaction force data is sequentially fetched from the remote I / O boxes 17 and 27 into the master computer 3 via the control computer 2 as the sampling value Fn. In the master computer 3, determination and control are performed as follows based on the sampling value Fn obtained from the pressure sensors 15 and 25.

The sampling value Fn, which is the reaction force detected by the pressure sensors 15 and 25 while the bridge girder 102 is being sent out by the running of the sending carts 10 and 20, is the control start values V1 and V2 (see FIG. 5). They are compared (S22, S23). If the sampling value Fn is between the control start values V1 and V2 (S22: NO, S23: NO), then whether or not the sampling value Fn is between the control end values W1 and W2 is determined. Confirmed (S24).
If the sampling value Fn is between the control end values W1 and W2 (S24: YES), the count value C is left as it is and compared with the preset upper limit value Cmax (S26). If the value is outside the control end values W1 and W2 (S24: NO), the count value C is changed to the initial value 0 and compared with the upper limit value Cmax (S26).

Note that this count value C is a situation where there is no possibility of improving the reaction force when comparing the previous and subsequent sampling values Fn and Fn-1 as described later, that is, when the reaction force is in a direction deviating from the design value P. This is a variable to be added. The upper limit value Cmax is a determination value indicating that when the variable exceeds this value, the expansion / contraction amount of the vertical jacks 12 and 22 exceeds the load adjustment capability that cannot keep up with the load change amount. .
Therefore, even if the sampling value Fn is between the control start values V1 and V2, if the sampling value Fn is outside the value between the control end values W1 and W2, the reaction force is in a direction deviating from the design value P. There is a possibility that the count value C is not reset.

  Next, returning to S22, if the sampling value Fn exceeds the control start value V1 (S22: YES), a comparison with the immediately preceding sampling value Fn-1 is performed (S27). When the current sampling value Fn is smaller than the previous sampling value Fn-1 (S27: NO), the count value C is left as it is and compared with the upper limit value Cmax (S26). On the other hand, when the current sampling value Fn is larger than the previous sampling value Fn-1 (S27: YES), the reaction force is in a direction deviating from the design value P, and at this time, the count value C is incremented by 1 (S29). ). Then, a comparison with the upper limit value Cmax is performed (S26).

  Furthermore, when the sampling value Fn exceeds the control start value V2 in S23 (S23: YES), a comparison with the immediately preceding sampling value Fn-1 is performed (S28). When the current sampling value Fn is larger than the previous sampling value Fn-1 (S28: NO), the count value C is left as it is and compared with the upper limit value Cmax (S26). On the other hand, when the current sampling value Fn is smaller than the previous sampling value Fn-1 (S28: YES), the counter value is deviated from the design value P, so the count value C is incremented by 1 (S29), and the upper limit. Comparison with the value Cmax is performed (S26).

  Thus, the count value C is added when the sampling value Fn is out of the range of the control start values V1 and V2 and tends to further deviate from the previous sampling value Fn-1. If the added value does not exceed the upper limit value Cmax (S26: NO), it is confirmed whether or not the count value C is the initial value 0 (S30). The count value C becomes the initial value 0 when the sampling value Fn enters between the control end values W1 and W2 (S24: YES) and the count value is reset (S25). Accordingly, when the count value C reaches the initial value 0 (S30: NO), the next sampling value Fn is read (S33), and the speed control is repeated in the same manner.

  On the other hand, when the count value C exceeds the upper limit value Cmax (S26: YES), deceleration control is performed (S31). That is, a deceleration signal is sent from the microcomputer 3 to the cart traveling control device 38 via the control computer 2 to switch the frequency of the inverter. Thereby, the rotation speed of the electric motors 18 and 28 decreases, and the traveling speed of the self-propelled delivery carts 10 and 20 that move on the traveling rail 130 decreases. The reason why the traveling speed of the delivery carts 10 and 20 is reduced in this way is to apparently increase the load adjustment capability by the vertical jacks 12 and 22.

By the way, the bias of the load applied to the vertical jacks 12 and 22 is caused by the difference in the height of the running rails 131 to 133. At that time, the load change is caused by the running of the delivery carts 10 and 20. It becomes faster depending on the speed. At this time, if the stroke adjustment speed of the vertical jacks 12 and 22 cannot catch up with the load change, the delivery of the bridge girder 102 must be stopped.
Here, FIG. 6 is a graph showing the relationship between such load (reaction force of the vertical jack) change and load adjustment capability. For example, when the load adjustment is started at the point p1, if the straight line s1 is an adjustment amount of the reaction force due to the discharge force at the maximum output of the drive pump 1, the reaction force of the amount indicated by the broken line h1 is adjusted.

However, in this case, the variation amount of the reaction force indicated by the graph t1 is larger than the adjustment amount indicated by the broken line h1, and thus the load change cannot be suppressed. In the figure, the reaction force of the graph t1 is picked up and increases. However, in actuality, the transmission is stopped beyond the stop value Q2.
On the other hand, in order to draw a curve like the graph t1 shown in the figure, it is conceivable to use a driving pump 1 larger than the conventional one. However, this is not preferable in terms of securing the installation location and cost. On the other hand, in the construction site straddling on the track, it is extremely important to shorten the construction time until the bridge girder is erected, and the speed of the construction as a whole is increasing.

  Therefore, in the present embodiment, as described above, the speed is decreased and the load adjustment capability by the vertical jacks 12 and 22 is apparently increased. That is, returning to the flow shown in FIG. 4, the transmission is usually performed at a high speed. However, as shown in FIG. 6, when the reaction force fluctuation amount shown in the graph t1 exceeds the adjustment amount shown by the broken line h1, the sampling value Fn becomes gradually larger, so the count value C is continuously added. The upper limit value Cmax is exceeded (S26: YES). Therefore, since the reaction force exceeds the stop value Q2 and the delivery stops, the traveling speed of the delivery carts 10 and 20 is reduced (S31). Then, the stroke amount of the vertical jacks 12 and 22 with respect to the moving distance of the delivery carts 10 and 20 is increased, and the load adjustment capability of the vertical jacks 12 and 22 is apparently improved.

  After the traveling speed of the delivery carts 10 and 20 is reduced (S31), the next sampling value Fn is read (S33), and the speed control is repeated in the same manner. The count value C exceeds the upper limit value Cmax until the sampling value Fn enters between the control end values W1 and W2 (S24: YES) and the count value is reset (S25) (S26). : YES), the delivery carts 10 and 20 remain running at low speed (S31).

Here, the load adjustment when the delivery carts 10 and 20 are traveling at a low speed will be described. As shown in FIG. 7, it is assumed that load adjustment is started at the point p2 and the traveling speed of the delivery carts 10 and 20 is reduced. The straight line s2 is the reaction force adjustment amount due to the discharge force at the maximum output of the drive pump 1, and the broken line h2 is the reaction force adjustment amount by the vertical jacks 12 and 22.
When the traveling speed of the delivery carts 10 and 20 decreases, the delivery distance apparently increases during that time, and the inclination of the fluctuation amount of the reaction force shown by the graph t2 becomes gentle. Therefore, the variation amount of the reaction force indicated by the graph t2 is suppressed by the adjustment amount indicated by the broken line h2. Then, as shown in the figure, the reaction force of the graph t is picked up and rises, and can continue without stopping the delivery without exceeding the stop value Q2.

  Therefore, as a result of continuing deceleration and sending of the bridge girder, load adjustment of the vertical jacks 12 and 22 is executed, the sampling value Fn enters between the control end values W1 and W2 (S24: YES), and the count value C Is reset (S25). Therefore, since the count value C is below the upper limit value Cmax (S26: NO) and is the initial value 0 (S30: YES), the delivery carts 10 and 20 are switched to high speed travel. That is, an acceleration signal is sent from the microcomputer 3 to the cart traveling control device 38 via the control computer 2 to switch the frequency of the inverter. Thereby, the rotation speed of the electric motors 18 and 28 is increased, and the traveling speed at which the self-propelled delivery carts 10 and 20 move on the traveling rail 130 is increased. And then. Thereafter, the sampling value Fn is read (S33), and the speed control is repeated in the same manner.

Therefore, even in a site where time restrictions are severe, such as construction work straddling the track as shown in FIG. 8, according to the bridge girder delivery method and the bridge girder delivery control system according to the present embodiment, the delivery cart 10, Since the speed control is performed so as not to stop the feeding while increasing the traveling speed of 20, the bridge girder construction work can be completed in a short time. That is, there is no fear that the time limit will be exceeded during transmission.
Moreover, since the load adjustment and speed control of the vertical jacks 12 and 22 are automatically performed, the opportunity of wireless communication conventionally performed between the supervisor and the operator can be greatly reduced, and the occurrence of human error is almost eliminated. be able to.

The embodiment of the bridge girder delivery method and the bridge girder delivery control system according to the present invention has been described above, but the present invention is not limited to this, and various modifications can be made without departing from the scope of the present invention. is there.
For example, in the above embodiment, the traveling speed of the delivery carts 10 and 20 is controlled to be switched between high speed and low speed. However, the speed is further adjusted to a plurality of stages such as three stages of high speed, low speed and medium speed. It may be.
Further, for example, in the above-described embodiment, the reaction force control of the vertical jacks 12 and 22 grouped for the front and rear delivery carts 10 and 20 is performed, but even when the delivery carts further increase, It is possible to control reaction force by grouping vertical jacks. Further, the number of vertical jack groups of each delivery truck is not limited to three, and there is no problem even if there are four or more groups due to the construction of the delivery truck. Further, although the pressure sensor is used to measure the reaction force, a load cell may be used.

It is the figure which showed one Embodiment of the delivery control system of a bridge girder. It is the figure which showed the flow which performs a reaction force control program. It is the figure which showed the flow which performs a reaction force control program. It is the figure which showed the flow for performing the speed control control program of a delivery cart. The reaction force management conditions at the time of executing a reaction force control program are shown with the graph. It is the figure which showed the relationship between reaction force change and load adjustment capability in the graph. It is the figure which showed in a graph the relationship between the reaction force change at the time of speed adjustment, and load adjustment capability. It is the figure shown about the delivery method of a bridge girder. It is the side view which showed the delivery trolley | bogie. It is the front view which showed the delivery trolley | bogie.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Drive pump 2 Control computer 3 Master computer 10, 20 Delivery cart 11 (11a, 11b, 11c), 21 (21a, 21b, 21c) Traveling part 12 (12a, 12b, 12c), 22 (22a, 22b, 22c) Vertical jack
12x, 22x Vertical jack 13 Lower frame 14 Upper frame 15 (15a, 15b, 15c), 25 (25a, 25b, 25c) Pressure sensor 16 (16a, 16b, 16c), 26 (26a, 26b, 26c) Stroke detection sensor 18, 28 Electric motor 38 Bogie travel control device 102 Bridge girder 120 Temporary equipment 130 (131,132,133) Travel rail 140

Claims (4)

When a plurality of delivery carts each have a plurality of vertical jacks and support the bridge girder while delivering the bridge girder, the reaction force of the vertical jack is sent out and compared with each cart, the design value is set arbitrarily. In the bridge girder delivery method, the vertical jack with the largest absolute value of the difference is selected, and when the reaction force of the selected vertical jack exceeds the predetermined control value, the stroke of the vertical jack is automatically adjusted.
A bridge girder delivery method characterized by determining the load adjustment capability of the vertical jack with respect to a change in load applied to the vertical jack and switching the traveling speed of the delivery carriage. In the bridge girder delivery method according to claim 1,
Making the reaction force of the vertical jack detected at a predetermined timing a sampling value;
Comparing the sampled values before and after the sampled value deviates from the design value by a predetermined amount;
When the reaction force is out of the design value by the comparison, the value of the variable used as a counter is incremented,
When the value of the variable exceeds a preset upper limit value, it is determined that the load adjustment capability of the vertical jack with respect to a change in the load applied to the vertical jack is inferior, and the speed of the delivery carriage is reduced. A bridge girder delivery method characterized by having Reaction force detection means for detecting each reaction force of a plurality of vertical jacks provided on each of a plurality of delivery carts that support the bridge girder, and a reaction force of the plurality of vertical jacks are arbitrarily set for each delivery cart. A control means for controlling the stroke in a direction to bring the reaction force closer to the design value with respect to the vertical jack, and having the absolute value of the difference from the design value in line with the running rail of the delivery carriage In the bridge girder delivery control system that adjusts the load by adjusting the stroke of the vertical jack during delivery,
The delivery carriage is a self-propelled type provided with a drive device, and the control means determines a load adjustment capability of the vertical jack with respect to a change in load applied to the vertical jack, and based on the result, the drive device The bridge girder delivery control system is characterized in that the speed of the delivery carriage is changed by controlling the delivery. In the bridge girder delivery control system according to claim 3,
The control means uses the reaction force of the vertical jack detected at a predetermined timing as a sampling value, and compares the previous and next sampling values when the sampling value deviates from the design value by a predetermined amount. When the value deviates from the value, the value of a variable used as a counter is incremented, and when the value of the variable exceeds a preset upper limit value, the driving device is controlled to reduce the speed of the delivery carriage. This is a bridge girder delivery control system.

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