JP2021088847A - Automatic concrete placing system - Google Patents

Abstract

To automate concrete production and concrete placement.SOLUTION: An automatic concrete placing system 1 includes: a concrete plant 10 that manufactures and supplies concrete by kneading concrete constituent materials according to the designed formulation; a concrete bucket 40 that accommodates the concrete supplied from the concrete plant; a cable crane 80 that moves the concrete bucket along the wire rope stretched above the concrete placing target; and a management unit 100 that controls the concrete plant to generate concrete based on management information for managing the concrete placement position and formulation of concrete according to the placement position, and controls the cable crane to move the concrete bucket accommodating the concrete to the placement position.SELECTED DRAWING: Figure 4

Description

The present invention relates to an automatic concrete placing system that automates the placing of concrete at a construction site such as a dam.

When constructing a concrete structure such as a concrete dam, a large amount of concrete is cast. In particular, in the construction of a concrete gravity dam, concrete placing work involves repeating the process of manufacturing, transporting, and placing concrete over several years, and may occupy about 50% of the construction period. Since it is necessary to allocate and manage personnel for each facility in a series of operations related to concrete placement, many facility management technicians have been required. In particular, when a track-type cable crane is used for transporting and placing concrete, skillful skills are required to operate the crane. However, in recent years, the labor shortage of skilled engineers has become serious.

In this regard, the applicant has already proposed a system for managing the construction related to the placement of concrete (for example, Patent Document 1). According to the technique described in Patent Document 1, it is possible to manage the placing of concrete at the position where the concrete is placed.

Japanese Unexamined Patent Publication No. 2009-83353

Patent Document 1 proposes to control the process related to concrete placing, but has not yet proposed to actually control the process of concrete production and placing. The inventors have been diligently researching the automation of concrete placement. It is expected that automating a series of concrete placing operations in dam construction and improving the efficiency of repetitive operations will solve the problem of the decrease in skilled engineers in the future.

The present invention has been made in view of the above problems, and an object of the present invention is to provide an automatic concrete placing system that automates the formation of concrete and the placing of concrete.

In order to achieve the above object, the present invention comprises a concrete plant for producing and supplying concrete by kneading concrete constituent materials according to a designed formulation, and a concrete bucket for accommodating concrete supplied by the concrete plant. Management information for managing a cable crane that moves the concrete bucket along a wire rope stretched above the concrete casting target, and a concrete casting position and a concrete composition according to the concrete casting position. Based on the above, the concrete plant is operated to generate concrete, and a management device for controlling the cable crane to move the concrete bucket containing the concrete to the placing position is provided. This is an automatic concrete placing system.

According to the present invention, the construction period can be significantly shortened by automatically producing concrete by a concrete plant by a management device and automatically transporting the produced concrete to a casting position by a cable crane.

Further, in the present invention, the concrete plant is moved by loading and moving a batcher plant for producing concrete by kneading concrete constituent materials and concrete mixed by the batcher plant, and the concrete is placed in the concrete bucket. It may be configured to include a transferer for unloading.

According to the present invention, the batcher plant can be automatically controlled by the management device.

Further, in the present invention, in the management device, when the transferer drops the concrete into the concrete bucket and returns the concrete to the batcher plant, the transferer is separated from the concrete bucket by a predetermined distance or more, and then the concrete is separated from the concrete bucket. It may be configured to initiate the movement of the bucket.

According to the present invention, the operation can be simplified by automating the determination of the start timing of the movement of the concrete bucket, which has been performed by a skilled worker, by the control by the management device.

Further, in the present invention, the cable crane is stretched in a direction intersecting the main cable stretched above the driving target, the first drive device moving along the main cable, and the main cable. It is configured to include a second drive device that moves one end of the traveling cable and one end of both ends of the main cable along the traveling cable, and a winch that adjusts the amount of wire that suspends the concrete bucket. It may have been done.

According to the present invention, the concrete bucket is automatically moved by a cable crane including two intersecting wire cables, so that the configuration and control can be simplified.

Further, in the present invention, even if the management device is configured to control the first drive device and the second drive device based on the management information to move the concrete bucket to the casting position. Good.

According to the present invention, the concrete bucket is moved to the casting position by controlling the two devices, the first drive device and the second drive device, so that the control can be simplified.

Further, in the present invention, the management device controls the cable crane to position the second drive device so that the main cable is above the next casting position during the return operation of the concrete bucket. It may be configured to adjust.

According to the present invention, by moving the main cable so as to be above the next casting position while the concrete bucket returns from the casting position, the next movement of the concrete bucket moves along the main cable. The work time for placing concrete can be shortened.

Further, in the present invention, the management device controls acceleration and deceleration of the first drive device and the second drive device based on the tension between the main cable and the traveling cable, and the main cable and the traveling device. It may be configured to suppress the swing that occurs in the cable.

According to the present invention, the swing generated in the cable crane can be automatically suppressed regardless of the skilled operator.

Further, in the present invention, the management device controls the first drive device, the second drive device, and the winch based on the tension of the main cable, the traveling cable, and the wire, and the concrete bucket. May be configured to suppress changes in the position of the concrete bucket due to the reaction when the concrete is discharged.

According to the present invention, changes in the position of the concrete bucket can be automatically suppressed regardless of a skilled operator.

According to the present invention, it is possible to automate the production of concrete and the placement of concrete.

It is a figure which shows the structure of the concrete automatic placing system which concerns on embodiment of this invention. It is a figure which shows the structure of a concrete plant. It is a figure which shows the structure of a cable crane. It is a block diagram which shows the structure of the concrete automatic placing system. It is a figure which shows the relationship between the concrete casting position and the composition. It is a figure which shows the content of management information. It is a figure which shows the usage of the cable crane.

Hereinafter, embodiments of the automatic concrete placing system according to the present invention will be described with reference to the drawings. The automatic concrete placing system is a system that manages the construction of concrete at the construction site of a concrete structure such as a dam and automatically manufactures and places concrete. The target dam constructed and managed by the automatic concrete placing system is, for example, a concrete gravity dam.

As shown in FIG. 1, the automatic concrete placing system 1 controls the concrete plant 10 for producing concrete, the concrete bucket 40 for accommodating concrete, the transport device 80 for transporting the concrete bucket 40, and the system in an integrated manner. The management device 100 is provided.

The concrete plant 10 is a plant that manufactures and supplies concrete C. The concrete plant 10 is provided on either the right bank or the left bank of the left and right banks at the construction site of the dam D.

As shown in FIG. 2, the concrete plant 10 produces concrete by kneading a storage unit 30 for storing concrete constituent materials, a supply device 50 for supplying concrete constituent materials from the storage unit 30, and concrete constituent materials. The batcher plant 11 is provided, and the transferer 20 for moving and unloading the generated concrete is provided.

The batcher plant 11 has a turn head 12 provided at the upper part, a plurality of top bins 13 provided below the turn head 12, and a measuring tank for measuring each concrete constituent material provided below the top bin 13. 14, a concrete mixer 15 provided below the measuring tank 14 for kneading the weighed concrete constituent materials, and a hopper 16 provided below the concrete mixer 15 as a supply port for the kneaded concrete. Be prepared. The batcher plant 11 manufactures and supplies concrete C by kneading each concrete constituent material supplied from the storage unit 30 so as to have a predetermined composition.

The storage unit 30 includes, for example, a plurality of storage containers provided according to the type of each concrete constituent material. Each concrete constituent material includes, for example, fine aggregate, coarse aggregate, cement, water, admixture and the like. The storage container is composed of a cement silo 31 for storing cement, an aggregate storage bottle 32 provided according to the type of aggregate, a water tank 33 for storing water, an admixture tank 34 for storing admixture, and the like. .. The aggregate storage bin 32 includes, for example, a fine aggregate storage bin 32A and a coarse aggregate storage bin 32B. Each concrete constituent material stored in the storage unit 30 is supplied to the batcher plant 11 by the supply device 50.

The supply device 50 includes devices such as an air pump 51, a belt conveyor 52, and a pump 53 provided between the storage unit 30 and the batcher plant 11. The air pump 51 air-pressure feeds cement from the cement silo 31 to the top bin 13. The belt conveyor 52 supplies the aggregate dropped from the aggregate storage bin 32 to the turnhead 12. The pump 53 includes a water pump 54 and an admixture pump 55. The water pump 54 supplies water from the water tank 33 to the water top bin 13. The admixture pump 55 supplies the admixture from the admixture tank 34 to the admixture top bottle 13.

The turn head 12 is a rotary sorting device. The turn head 12 supplies cement and concrete constituent materials of each aggregate to a plurality of top bins 13 according to the type. When each aggregate is transported from the storage container by the belt conveyor 52, the turn head 12 rotates so that the supply port matches the top bin 13 according to the type of aggregate, and the aggregate corresponding to the top bin 13 is rotated. Supply. For example, when the fine aggregate is transported by the belt conveyor 52, the turn head 12 rotates so that the supply port is aligned with the top bin 13 for the fine aggregate, and the fine aggregate is charged.

The top bin 13 is a storage container provided above the device of the batcher plant 11. The top bin 13 is provided according to the type of concrete constituent material. Each of the concrete constituent materials is supplied to the plurality of top bins 13 from above. The top bin 13 for the aggregate is arranged in a circular shape so that the aggregate is supplied from the turn head 12, for example. In the top bin 13, each aggregate is sorted by interlocking a sensor provided in the drawer portion of the storage container and a movable signal for driving the turn head 12.

The plurality of top bins 13 drop their respective concrete constituent materials into the measuring tank 14 from below. The plurality of top bins 13 include sensors that detect the capacity of the concrete constituent material. The capacity of concrete constituents is controlled by sensors. The capacity of the concrete constituent materials of the plurality of top bins 13 is automatically adjusted based on the detection result by the sensor.

When each material in the top bin 13 is consumed and falls below a certain quantity with the progress of placing the concrete C, a supply signal is transmitted from the sensor provided in the top bin 13. Based on the supply signal, each material is supplied from the storage unit 30 by the supply device 50, and is automatically supplied to the top bin 13 via the turn head 12. Concrete constituent materials are automatically supplied from the plurality of top bins 13 to the plurality of measuring tanks 14 below.

The measuring tank 14 is formed so that the concrete constituent material is charged from above and the concrete constituent material is dropped onto the concrete mixer 15 from below. When the concrete is kneaded into the measuring tank 14, the concrete constituent material is automatically charged from the top bin 13. The concrete constituent material is weighed based on the compounding design determined for each compounding type according to the casting position. The concrete constituent material weighed by the measuring tank 14 is dropped into the concrete mixer 15.

The measuring tank 14 for measuring the fine aggregate is further provided with a non-contact type moisture meter that automatically measures the surface water content of water adhering to the surface of the fine aggregate. The data on the surface water content of the fine aggregate measured by the moisture meter is fed back to the adjustment of the amount of water supplied to the concrete mixer 15, and the amount of concrete mixed water supplied from the top bin 13 for water is used. It is automatically adjusted.

The concrete constituent material weighed in the measuring tank 14 is dropped into the concrete mixer 15. The concrete mixer 15 kneads the concrete constituent materials dropped from the measuring tank 14 with a composition based on the composition design to produce concrete C. The composition of the concrete C is set according to the placement position of the dam D. The relationship between the casting position of concrete C and the composition will be described later.

The concrete mixer 15 kneads concrete constituent materials with a predetermined composition to produce concrete C. The concrete C produced by the concrete mixer 15 is dropped on the hopper 16. The hopper 16 is formed so that the lower opening is narrower than the upper opening. The hopper 16 drops the concrete C dropped from above onto the transferer 20 installed below.

The transfer car 20 is a moving body for loading the concrete C dropped from the hopper 16 and automatically transporting and transferring the concrete C to the concrete bucket 40. The transfer car 20 includes a carriage 21 running on rails and a container 22 for accommodating concrete. After accommodating the concrete C, the transferer 20 moves on the rail and moves to the vicinity of the concrete bucket 40. After that, the transferer 20 tilts the container 22 and drops the concrete C in the container 22 into the concrete bucket 40.

The concrete bucket 40 is a container for accommodating the concrete unloaded from the transferer 20 and placing the concrete C at a predetermined casting position. The concrete bucket 40 has an upper opening and houses the concrete C. The concrete bucket 40 is moved to a predetermined casting position by the transport device 80, the bottom is opened at the casting position, and the concrete C is placed.

After placing the concrete C, the concrete bucket 40 is returned to the position of the bucket cradle 41 (rolling stone) installed at the position where the concrete C is received. The bucket cradle 41 is formed in an inverted truncated cone shape so that the opening widens toward the upper side. The bucket cradle 41 has a notch (not shown) formed at a position where the concrete C is received from the transferer 20. The bucket cradle 41 always keeps the landing posture of the concrete bucket 40 constant.

As shown in FIG. 3, the transport device 80 is a cable crane device that adjusts the feeding amount of the wire rope to move the concrete bucket 40 three-dimensionally. The transport device 80 includes a main cable 81 stretched in a direction to be passed to both banks of the dam D (toward the left and right banks of the river) and a traveling cable 82 stretched in a direction intersecting the main cable 81 (direction upstream and downstream of the river). And a wire 83 (see FIG. 2) for suspending the concrete bucket 40. The transport device 80 includes a first drive device 84 that moves along the travel cable 82, a second drive device 85 that moves along the travel cable 82, and a winch 86 that adjusts the feeding amount of the wire 83 (see FIG. 2). And.

The main cable 81 and the traveling cable 82 are arranged in a clove shape. The main cable 81 is stretched above the dam D to which the concrete C is to be placed. One end 81A of the main cable 81 is supported by a support column provided on either the right bank or the left bank of the dam D. The other end 81B of the main cable 81 is supported by a traveling cable 82 provided on the other shore side via a second drive device 85. A concrete plant 10 is provided on one shore side where one end of the main cable 81 is supported.

Both ends of the traveling cable 82 are supported by columns on the other shore of the dam D in a direction intersecting with the main cable 81. A second drive device 85 is provided on the traveling cable 82 so as to be travelable. The second drive device 85 can move the other end 81B (one end of both ends) of the main cable 81 along the traveling cable 82.

A first driving device 84 is provided on the main cable 81 so as to be able to travel freely. The first drive device 84 is provided with a winch 86 and a concrete bucket 40. The first drive device 84 moves the concrete bucket 40 along the main cable 81. As a result, the concrete bucket 40 is configured to be movable along the main cable 81, and is also configured to be movable in the direction intersecting the main cable 81 by moving the other end 81B of the main cable 81. ..

The length of the wire 83 is adjusted by feeding out from the winch 86 and winding the wire 83. As a result, the vertical position of the concrete bucket 40 is adjusted. The horizontal position of the concrete bucket 40 is adjusted by the amount of movement of the concrete bucket 40 along the main cable 81 and the amount of movement of the other end of the main cable 81.

With the above configuration, the concrete bucket 40 can freely move in the triangular region R where the main cable 81 moves in a plan view, and by moving in the vertical direction in this region R, the concrete bucket 40 can be three-dimensionally moved to an arbitrary casting position. Can be moved.

The operation of the concrete plant 10 and the movement of the concrete bucket 40 by the transport device 80 are automatically performed by the management device 100.

As shown in FIG. 4, the management device 100 includes an acquisition unit 102 for acquiring data, a management unit 104 for managing the construction of the dam D, a concrete generation unit 106 for controlling the concrete plant 10, a concrete bucket 40, and the concrete bucket 40. It includes a transport control unit 108 that controls the transport device 80, a storage unit 110 that stores information about the construction of the dam D, and a display unit 112 that displays the construction status of the dam D.

The management device 100 is realized by a terminal device such as a personal computer, a tablet terminal, or a smartphone. The management device 100 manages and controls the concrete automatic placing system 1 by wire or wirelessly at the construction site of the dam D. The management device 100 may manage and control the concrete automatic placing system 1 at a remote location from the construction site of the dam D through a network.

The acquisition unit 102 acquires various data output from each sensor provided in the concrete plant 10, the concrete bucket 40, and the transport device 80. The acquisition unit 102 includes, for example, the storage unit 30, the operation of the supply device 50, the turn head 12, the top bin 13, the measuring tank 14, the concrete mixer 15, the hopper 16, the transferer 20, the concrete bucket 40, the first drive device 84, and the like. Data on the measurement and operation of the amount of each concrete constituent material detected by the sensors provided on the second drive device 85 and the winch 86, the on / off state of the device, the movement amount, the tension, and the like are acquired.

The management unit 104 manages the construction of the dam D such as the generation of the concrete C and the placement of the concrete C in real time based on the management information K stored in the storage unit 110. The management unit 104 manages the casting position of the concrete C and the composition of the concrete C in association with each other based on the management information K. The management unit 104 outputs information on the composition according to the casting position to the concrete generation unit 106 based on the management information K. The management unit 104 outputs information on the casting position to the transportation control unit 108 based on the management information K. The contents of the management information K will be described later.

The concrete generation unit 106 controls the concrete plant 10 to generate concrete C based on the information on the composition acquired from the management unit 104.

The transport control unit 108 controls the transport device 80 to move the concrete bucket 40 to the cast position based on the information on the casting position acquired from the management unit 104.

At least one of the components of the management unit 104, the concrete generation unit 106, and the transportation control unit 108 is realized by executing a program (software) by a processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit). Will be done. Part or all of these functional parts may be realized by hardware such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), or software. It may be realized by the cooperation of hardware.

The program may be stored in advance in a storage device such as an HDD (Hard Disk Drive) or a flash memory, or is stored in a removable storage medium such as a DVD or a CD-ROM, and the storage medium is stored in the drive device. It may be installed in the storage device by being attached.

The storage unit 110 is a storage medium in which the management information K is stored. The storage unit 110 is a storage device composed of a storage medium such as a flash memory or an HDD (Hard Disk Drive).

The display unit 112 displays the construction status of the dam D in real time as an image. The display unit 112 displays an image regarding the construction status of the dam D based on the information generated by the management unit 104. The display unit 112 is, for example, a display device such as an LCD (Liquid Crystal Display), an organic EL (Electro Luminescence) display, or an LED (Light Emitting Diode) display. The display unit 112 does not necessarily have to be provided in the management device 100, and may be realized by another terminal device such as a personal computer, a tablet terminal, or a smartphone that is wirelessly or wiredly connected to the management device 100.

Next, the management information K will be described.

As shown in FIG. 5, the three-dimensional coordinates of the casting position are determined based on the CAD diagram of the construction site designed in advance. The placing position is divided into meshes for each height of the placing area of the concrete C and numbered, and is set by the three-dimensional coordinates of the center position of each mesh. The composition of concrete C is set according to the casting position.

The formulations are classified into, for example, about 6 types. For example, in the portion of the dam D that comes into contact with the outside air, the amount of cement and the amount of aggregate are large, and the A composition having high strength is set. Inside the dam D, the amount of cement is less than that of A, and the strength of B is set to be low. In the water channel inside the dam D, the amount of cement is large for reinforced concrete, and the amount of aggregate is set to C, which is smaller than that of A.

As shown in FIG. 6, the management information K is set in association with the three-dimensional coordinates of the casting position of the concrete C, the composition, and the casting amount. In the figure, the M composition at the No. 1 casting position is, for example, a composition of mortar used at a joint with the ground surface. The management information K may be appropriately modified according to the situation at the site. For example, the casting amount of the concrete C of the management information K may be appropriately modified based on the three-dimensional measurement result of the casting position.

Next, the operation of the automatic concrete placing system 1 will be described. The concrete generation unit 106 supplies a predetermined amount of concrete constituent material from the storage unit 30 to the batcher plant 11 by the supply device 50 based on the management information K.

The concrete generation unit 106 measures the concrete constituent material in the batcher plant 11 based on the management information K, puts a predetermined amount of the concrete constituent material into the concrete mixer 15 according to the compounding design, and kneads the concrete to generate the concrete C. .. The concrete generation unit 106 drops the generated concrete C onto the hopper 16. The concrete generation unit 106 determines the position of the transferer 20. When the transferer 20 is located below the hopper 16, the concrete generation unit 106 causes the concrete C to be dropped from the hopper 16 onto the transferer 20.

Next, the concrete generation unit 106 causes the transferer 20 to travel to a position adjacent to the bucket cradle 41. The concrete generation unit 106 tilts the container 22 and drops the concrete C into the concrete bucket 40. The concrete generation unit 106 returns the transferer 20 from the bucket cradle 41 to the lower part of the hopper 16.

After the concrete C is dropped from the transferer 20 into the concrete bucket 40, the transport control unit 108 controls the winch 86 to move the concrete bucket 40 upward. At this time, the transport control unit 108 controls the winch 86 so that the transfer car 20 and the concrete bucket 40 do not come into contact with each other. The transport control unit 108 determines the distance between the transferer 20 and the bucket cradle 41 by a distance sensor installed in the transferer 20. As the distance sensor, a laser range finder, an encoder of a drive unit of the trolley 21, and the like are used.

When the transport control unit 108 determines that the transfer car 20 and the concrete bucket 40 are separated by a predetermined distance, the transport control unit 108 controls the winch 86 to start the upward movement of the concrete bucket 40. The predetermined distance is set to, for example, a distance corresponding to two widths of the concrete bucket 40. The transport control unit 108 controls the transport device 80 to three-dimensionally adjust the position of the concrete bucket 40 based on the information of the casting position acquired from the management unit 104, and moves the concrete bucket 40 to the casting position.

By performing such control, since the timing of starting the concrete bucket 40 does not depend on the experience of the operator, it is possible to suppress the occurrence of loss in the cycle time. In addition, even an unskilled operator can transport concrete in the same manner as a skilled operator. Then, the cycle time is improved by rationalizing the concrete transportation.

The transport control unit 108 acquires information on the driving position from the management unit 104, and uses the three-dimensional coordinates of the driving position as the moving amount of the first driving device 84, the moving amount of the second driving device 85, and the feeding amount of the winch 86. Convert to control information including. The transport control unit 108 moves the concrete bucket 40 to the casting position based on the control information. The transport control unit 108 adjusts the movement amount of the first drive device 84 and the second drive device 85, and moves the concrete bucket 40 to the casting position in a plan view.

The transport control unit 108 controls the winch 86 at the casting position to lower the concrete bucket 40 to a predetermined position (for example, 2 [m]) above the casting surface of the concrete C. The transport control unit 108 controls the concrete bucket 40 to place the concrete C at the placing position.

In this way, the transportation efficiency of concrete C can be optimized by automatically controlling the complicated three-dimensional operation in which the concrete bucket is wound up and moved in the left-right bank direction and further adjusted in the upstream-downstream direction. .. According to the concrete automatic placing system 1, even an inexperienced operator can surely control the automatic position of the concrete bucket 40 and surely move the concrete C to the placing position.

The step of placing concrete C from the concrete bucket 40 may be performed manually. Further, in other steps as well, automatic and manual may be switched as appropriate. Switching between manual and automatic control is performed by an operation input to the display unit 112 or an operation lever (not shown). As a result, in an emergency, the system can be instantly switched from automatic to manual, which can improve safety.

The transport control unit 108 feedback-controls the transport device 80 based on the information acquired from the acquisition unit 102. The transport control unit 108 is based on the tension of the main cable 81 and the traveling cable 82 in order to suppress the swing of the main cable 81 and the traveling cable 82 due to the acceleration and deceleration of the first driving device 84 and the second driving device 85. , The acceleration and deceleration of the first drive device 84 and the second drive device 85 are controlled, and the swing of the main cable 81 and the traveling cable 82 is suppressed so as to be minimized.

The transport control unit 108 has, for example, the first drive device 84 and the second drive device so that the tension in the direction canceling the change in tension generated in the main cable 81 and the travel cable 82 due to the swing of the main cable 81 and the travel cable 82 is generated. Control 85.

The transport control unit 108 uses the tensions of the main cable 81, the traveling cable 82, and the wire 83 to suppress the lifting of the concrete bucket 40 due to the reaction when the concrete C is released, and the first drive device 84 and the second It controls the drive device 85 and the winch 86. The transport control unit 108 controls the first drive device 84, the second drive device 85, and the winch 86 so that, for example, a tension is generated in a direction that cancels the change in tension that occurs in the wire 83 due to the lifting of the concrete bucket 40.

After placing the concrete C, the transport control unit 108 controls the transport device 80 to return the concrete bucket 40 to the bucket cradle 41. In this way, by automating the transport device 80, the number of crane operators involved in placing concrete C was two, but it can be reduced to one.

As shown in FIG. 7, the transport control unit 108 controls the second drive device 85, and the next driving position is started from the driving position G1 where the main cable 81 has finished driving during the return operation of the concrete bucket 40. The position of the second drive device 85 is adjusted so as to be above G2. As a result, the time required for adjusting the position of the concrete bucket 40 in the next casting can be shortened.

As described above, according to the concrete automatic placing system 1, the generation, transportation, and placing of concrete C can be automated, and the construction period of the dam construction can be shortened by about 10%. According to the automatic concrete placing system 1, it is possible to automate the operations related to the three-dimensional movement of the start and return of the concrete bucket, which required skill, to facilitate the construction and shorten the construction period. According to the concrete automatic placing system 1, the number of staff can be reduced to two-thirds by automating each facility.

Although one embodiment of the present invention has been described above, the present invention is not limited to the above-mentioned one embodiment, and can be appropriately modified without departing from the spirit of the present invention. For example, the automatic concrete placing system exemplifies an embodiment applied to a gravity dam, but is not limited to this, and may be applied to the construction of other concrete dams and other concrete structures.

1 ... Automatic concrete placing system, 10 ... Concrete plant, 11 ... Batcher plant, 12 ... Turnhead, 13 ... Top bin, 14 ... Weighing tank, 15 ... Concrete mixer, 16 ... Hopper, 20 ... Transferker, 21 ... Cart, 22 ... Container, 30 ... Storage, 31 ... Cement silo, 32 ... Aggregate storage bin, 32A ... Fine aggregate storage bin, 32B ... Coarse aggregate storage bin, 33 ... Water tank, 34 ... Admixture tank, 40 ... concrete bucket, 41 ... bucket cradle, 50 ... supply device, 51 ... air pump, 52 ... belt conveyor, 53, 54, 55 ... pump, 80 ... transport device (cable crane), 81 ... main cable, 82 ... running Cable, 83 ... wire, 84 ... first drive device, 85 ... second drive device, 86 ... winch, 100 ... management device, 102 ... acquisition unit, 104 ... management unit, 106 ... concrete generation unit, 108 ... transport control unit , 110 ... Storage unit, 112 ... Display unit

Claims (8)

A concrete plant that manufactures and supplies concrete by kneading concrete constituent materials with a designed formulation,
A concrete bucket that houses the concrete supplied by the concrete plant, and
A cable crane that moves the concrete bucket along a wire rope stretched above the concrete casting target, and
Based on the management information that manages the casting position of the concrete and the composition of the concrete according to the casting position, the concrete plant is operated to generate concrete, and the cable crane is controlled to control the concrete. It is characterized by comprising a management device for moving the housed concrete bucket to the casting position.
Automatic concrete placing system. The concrete plant
A batcher plant that manufactures concrete by kneading concrete constituent materials,
The concrete bucket is provided with a transferer for loading and moving the concrete compounded by the batcher plant and unloading the concrete into the concrete bucket.
The automatic concrete placing system according to claim 1. When the transferer drops the concrete into the concrete bucket and returns it to the batcher plant, the management device starts the movement of the concrete bucket after the transferer is separated from the concrete bucket by a predetermined distance or more. ,
The automatic concrete placing system according to claim 2. The cable crane
The main cable stretched above the casting target and
The first drive device that moves along the main cable and
A traveling cable stretched in a direction intersecting the main cable,
A second drive device that moves one end of both ends of the main cable along the traveling cable, and
A winch that adjusts the amount of wire that suspends the concrete bucket is provided.
The automatic concrete placing system according to any one of claims 1 to 3. The management device controls the first drive device and the second drive device based on the management information to move the concrete bucket to the casting position.
The automatic concrete placing system according to claim 4. The management device controls the cable crane and adjusts the position of the second drive device so that the main cable is above the next casting position during the return operation of the concrete bucket.
The automatic concrete placing system according to claim 5. The management device controls acceleration and deceleration of the first drive device and the second drive device based on the tension between the main cable and the traveling cable, and causes rocking that occurs in the main cable and the traveling cable. Suppress,
The automatic concrete placing system according to any one of claims 4 to 6. The management device controls the first drive device, the second drive device, and the winch based on the tension of the main cable, the traveling cable, and the wire, and the concrete bucket releases the concrete. Suppressing changes in the position of the concrete bucket due to the reaction
The automatic concrete placing system according to any one of claims 4 to 7.

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