JP2516272B2 - Mobile crane operation plan creation support device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to: The present invention relates to a device for supporting the operation planning of a mobile crane.

[Conventional technology]

Mobile cranes are used to transport materials and equipment at construction sites such as buildings and large-scale facilities, but when operating them, make sure that the objects to be transported and the members of the crane do not collide with existing equipment. It is necessary to drive safely and efficiently. For this purpose, operation plans are created in advance such as the loading position of the crane, the transportation route and clearance of the object (distance between the transported object and the obstacle), and the time required for the transportation work. In the past, this was mainly done manually. In addition, JP-A-62-114063
In the method described in No. 6, when performing some design, the presence or absence of interference with the inspection body that may interfere with the design object is checked by computer simulation and displayed.
It can be used to check for collisions while the crane is operating.

[Problems to be Solved by the Invention]

Since most of the above-described conventional techniques are manual work, there is a problem that it takes a huge amount of time to create an operation plan and the workability is poor.

An object of the present invention is to provide an operation plan creation support device that can efficiently create an operation plan for a mobile crane.

[Means for solving the problem]

The above-mentioned purpose is a database that stores data on the performance and standards of cranes used, data on the working environment and working conditions of buildings, etc., and data on the equipment to be transported, actual working conditions / environment, and cranes used. And means for creating a screen showing the work status by referring to these databases when the equipment to be transported is specified, and means for determining the equipment loading procedure from information such as the loading position of the equipment to be transported and the order of assembly. , Means for checking for interference between the crane boom and the building, means for calculating the ground pressure of the crane,
Achieved by providing crane traveling locus calculation means, means for calculating the hoisting work time and workable radius of the crane, hoisting operation optimization means for the crane, and means for displaying the processing results by these means. To be done.

[Action]

Information on various types of cranes that may be used, information on the working environment of the building and equipment and the cranes that change over time as they are constructed and assembled, and equipment and parts that may be transported by the crane. , And input it to the database in advance, and referring to these data as needed, carry out procedure determination, interference confirmation, ground pressure, running locus, working time, calculation and display of possible working radius, etc., Also, since the optimization of the operation plan is calculated by a computer, it is possible to efficiently create an operation plan that allows the crane work to be performed efficiently and safely.

〔Example〕

Hereinafter, the present invention will be described with reference to examples. In the following, an operation plan creation support device for a large mobile crawler crane (a crane traveling on a caterpillar) is taken as an example, and one embodiment thereof is shown in FIG. The arithmetic processing unit 5 includes input data from the input unit 4, a large mobile crane data storage unit 7,
Processing is performed by referring to the carry-in plan data storage device 6 and the standard equipment pattern data storage device 8, and the created image data is sent to the image data storage device 3. The image data is displayed on the display device 1 via the image display control device 2.

FIG. 3 shows a display example of the display device 1 when the large mobile crane operation plan is created by the device of FIG. 2, and shows the relationship between the projectile rising process of the reactor building, turbine building, etc. and the yard building. It is an image when obtaining the operating area and working radius of the crane from. Hereinafter, such an operation plan creating operation will be described with reference to FIGS. 1 and 4 to 14. These processing programs are executed by the arithmetic processing unit 5
It is assumed that it is stored in the internal memory.

FIG. 1 is an example of the overall processing flow of the operation plan creation procedure. First, in process 100, data regarding the crane used and layout data such as buildings and facilities in the crane use environment are retrieved from the storage devices 7 and 6, and the display device 1
To be displayed. The details are shown in FIG. 4, and in step 101, from the input device 4, as shown in FIG. 5, the model number of the crane to be used (CC10, TW20, TW30 in the example of FIG. 5).
And the condition data of the layout data to be displayed (plant name K4, building code T, R, H, S, yard slope YD03, etc. in the example of FIG. 5). Next, in step 102, the layout data is read from the storage device 6 and the crane data is read from the storage device 7 according to the condition data of the layout data input in step 101, and the data regarding the shape is displayed on the display device 1. Here, in addition to the shape and size of the crane, the crane data also includes performance data such as crane operation, hoisting, and turning speed, which are used for subsequent processing.

In process 110 of FIG. 1, various condition data for carrying in equipment using a large mobile crane are input and set from an input device 4 such as a keyboard and a mouse. FIG. 6 shows a concrete example thereof. In step 111, the yard slope shape for carrying out the equipment carry-in plan and the approach road data which is the road during the construction period are input from the input device 4 and the setting conditions are set. The data is written and stored in the memory in the arithmetic processing unit 5.
In step 112, enter the code number of the carried-in equipment data, in the next step 113, enter the entry route data and the data of the pickup position of the equipment transported to the plant premises, and in step 114, place the equipment in the building Enter the position. Here, the carry-in position and the equipment arrangement position are the same when the equipment is directly carried to the equipment arrangement position by the crane, but are not the same when the equipment is brought in by the crane. Step
At 115, the operation area data of the large mobile crane, which is scheduled around the building, is input.

The process 120 of FIG. 1 is to search the carried-in equipment data, and a specific example thereof is shown in FIG. First, in step 121, the shape pattern of the device is read from the storage device 8 from the carry-in device code number input in step 112 of FIG. 6, the divided shape and the number of members of the device at the time of carry-in are set in step 122, and the carry-in is carried out in step 123. The device weight at that time is calculated, and finally, in step 124, the hanging jig is set and its plan is performed.

The process 130 of FIG. 1 defines a carry-in procedure based on the device division shape and the number of devices, and executes the simulation. Fig. 8 shows a specific example. For example, the condenser of the turbine building has A, B, C3 series in the case of turbine 1100 MW output, and each condenser has a lower body, an upper body, and a water chamber. Divide.
It is necessary to determine the loading procedure based on the loading weight, crane lifting capacity, and working radius. So step 13
In 1), first plan the hoisting procedure based on the number of materials to be loaded, and in step 132, do not affect the equipment that is difficult to install or the next process (it is far from the large crane).
Plan to suspend the equipment so that it will be loaded first. Further, in step 133, a procedure for changing the weight product of the counterweight of the rear crawler is planned by changing the number of hanging members of the device and the working radius, and in step 134, a simulation of a series of hanging procedures is executed.

The process 140 of FIG. 1 is to check the interference between the boom of the large mobile crane and the rising part of the outdoor wall under construction,
Check whether the working radius of the crane reaches the equipment setting position. FIG. 9 shows a specific example thereof, and in step 141, the building rising shape according to the construction period is displayed. In step 142, the position of the front crawler of the large mobile crane is set, and the boom angle that does not interfere with the building when the boom is laid down is set and displayed. Confirm that the working angle required for loading the equipment is secured at the boom angle set in step 143. This is because a 100m long boom can be hung at a distance of 50m horizontally when tilted 30 degrees from the vertical and 86m away when tilted 60 degrees, so check whether this is the required distance. That is. In step 144, a state in which the robot is operated at the boom angle obtained above is simulated and the confirmation is performed on the screen.

The process 150 in Fig. 1 is to calculate the crane ground pressure, and in the case of a large mobile crawler crane, the total weight is 3000.
It will be about t and the calculation of this ground pressure will be necessary for the ground plan. FIG. 10 shows a concrete example thereof, and step 151
Calculate the moment from the suspended load amount and working radius in step 152, plan the counterweight required for the rear crawler in step 152, and lift the suspended load in steps 153 and 154, and calculate the ground pressure of the front and rear crawlers when suspended. To do. This ground contact pressure may reach the maximum load of 80t / m ² on the mat part of a skyscraper, and the load condition of the ground plan corresponding to this can be given. In step 155, the distribution of those loads within the operating area is displayed.

The process 160 of FIG. 1 is to obtain and draw the trajectory of the large mobile crane during traveling, and FIG. 11 is a flowchart showing a specific example thereof. First, in step 161, the position of the large mobile crane at the time of unloading is set, and in step 162
At the rear crawler pivot turn, at step 163 the rear crawler swivel, at step 164 the front crawler pivot turn and the large mobile crane advance, and at step 165 the rear crawler pivot turn and swivel operation is performed. Determine to move to a predetermined position. Then, in the final step 166, a trajectory map of the crawler from the unloading position to the unloading is drawn and displayed. FIG. 12 shows an example of the above operation, and the operations of steps 162, 163, 164, and 165 in FIG. 11 correspond to a, b, c and d, and e and f in FIG. 12, respectively.

The process 170 of FIG. 1 is for predicting and displaying the working time of the crane from the start of hoisting of the large mobile crane to the completion of hoisting setting. FIG. 13 shows a specific example thereof. First, in step 171, the time for tilting the boom from the predetermined position of the crane to the unloading position is calculated. This will bring the hook directly above the device, so next step 172
In step 173, the time for lowering and lowering the hook is calculated, and in step 173, the working time for slinging the equipment to be carried into the hook is calculated.
Below, in step 174, the hook hoisting time for lifting the equipment is calculated, in step 175 the time for hoisting the boom to stabilize the center of gravity of the large mobile crane is calculated, and in step 176 the crane travels to suspend the load. Calculate the time required to move to the position where
At 178, calculate the time to lay down the boom and lower the hook. Further, in step 179, the time for unloading and fine adjustment is calculated to calculate the total time from hanging load to unloading.

The process 180 of FIG. 1 is to find and display the working radius of the large mobile crane that can be hung and displayed.
Shown in Figure 14. First, in step 181, the position of the front crawler of the large mobile crane is set, and in step 182, the building rise dimension is calculated according to the construction period.
In step 184, the possible tilt angle of the boom is calculated from the crane position and the building rise dimension, and in step 184 the working radius is calculated and displayed.

The process 190 in FIG. 1 is to perform an optimized operation simulation in the operation plan of the large mobile crane, and a specific example thereof is shown in FIG. First, in step 191, correction is made to minimize the crane hoisting time. This is done by calculating the minimum working time by changing the combination of hook hoisting and hoisting speed and boom hoisting speed. In step 192, the operation method of the crane is readjusted to make a correction to minimize the operation area. In step 193, the traveling distance, turning, number of turns, etc. of the crane are corrected to be the minimum by adjusting the hoisting timing of other equipment. Finally, in step 194, an optimized operation simulation of one crane and a plurality of cranes is performed, and an optimized operation simulation of the plant as a whole is performed.

〔The invention's effect〕

According to the present invention, a crane operation plan is created by preparing in advance a database of data regarding the performance of the crane to be used, data regarding the working environment of a building, etc., and data regarding the objects to be transported by the crane. It is easy to do, and at the same time, the work efficiency and safety can be secured, and the ground curing construction cost can be reduced, and since the loading operation by the crane can be shown to the operator in advance by a simulation. There is also an effect that the operator can perform the operation during the actual crane operation more reliably and safely by seeing this.

[Brief description of drawings]

FIG. 1 is a flow chart showing an embodiment of a large-sized mobile crawler crane operation plan support creation process by the device of the present invention, and FIGS. 2 and 3 are block diagrams and display devices showing an example of the configuration of the device of the present invention. FIG. 4 is a diagram showing an example of the display screen of FIG. 1 ... Display device, 4 ... Input device, 5 ... Arithmetic processing device, 6 ... Carry-in plan data storage device, 7 ... Large mobile crane data storage device, 8 ... Standard equipment pattern data storage device.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Toshiaki Yoshinaga 3-1-1, Saiwaicho, Hitachi, Ibaraki Hitachi Ltd. Hitachi factory (72) Inventor Sumio Iwashima 3-chome, Saiwaicho, Hitachi, Ibaraki No. 1 Inside Hitachi factory, Hitachi, Ltd. (56) References JP 61-145099 (JP, A) Jitsuko Sho 60-20123 (JP, Y2)

Claims (7)

(57) [Claims] 1. A database that stores information about mobile cranes, a building or equipment that works using the mobile cranes, and information about equipment transported by the mobile cranes, a crane to be used, and the cranes to be used. When the designation input including the building or equipment to be used for the work, the equipment transported by the crane, the temporary storage position and the use position of the equipment is given, the designation input is made by referring to the information in the database. Created a work status screen showing the layout of the building or equipment, the crane, and the equipment, and displaying the created screen on the display means, and the crane under the above work status. And a simulation means for simulating and displaying the operation of the crane when the vehicle is operating. Operation plan creation support apparatus of formula crane. 2. The simulation means has a function of displaying the clearance distance between the boom of the crane and the building or equipment and the presence or absence of interference when the operating method of the crane is specified under the working condition. The operation plan creation support device for a mobile crane according to claim 1, characterized in that. 3. The simulation means has a function of obtaining and displaying a time required for work when the operating speed of the crane is specified under the work situation. 1. The mobile crane operation plan creation support device described in 1. 4. The movement according to claim 1, wherein the simulation means has a function of obtaining a ground pressure applied to a lower portion of the crane from information on the weights of the designated crane and a conveyed object and displaying the ground pressure. Support system for operation planning of mobile cranes. 5. The simulation means has a function of, when a method of operating a crane is specified under the working condition, obtaining a trajectory of a crane operating under the operation and displaying the trajectory. The operation plan creation support device for a mobile crane according to claim 1. 6. The simulation means has a function of obtaining an operable work radius of the crane from the load of the equipment to be transported under the working condition and information about the crane and displaying the radius. The operation plan creation support device for a mobile crane according to claim 1. 7. The simulation means defines an operating method for minimizing the number of times the crane is hoisted, the operating area of the crane, the traveling distance of the crane, and the number of turns or turns under the working conditions. The operation planning preparation support device for a mobile crane according to claim 1, further comprising a function of simulating an operation based on the operating method.