JP2577126B2 - Bucket receiver for cable crane - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION << Industrial application field >> The present invention relates to a cable crane for supplying concrete to a construction site of a dam, for example, in which a bucket is accurately laid and seated at a position where concrete is supplied. The improvement of bucket receivers for

<< Prior Art >> As is well known, a cable crane is used as a means for transporting concrete from a manufacturing site to a casting site at a dam construction site.

Conventionally, as shown in FIG.
A main rope 2 having both ends locked on both upper and lower mountain sides of a dam 1 constructed between mountains, and extending along the longitudinal direction of the dam 1;
A trolley 3 suspended from the main rope 2 and capable of traveling along the main rope 2
A towing line 4 for towing a trolley, a concrete bucket 6 suspended below a trolley 3 via a hanging line 5, and a transfer start position where the towing line 4 is pulled to provide the trolley 3 on a mountain side. A horizontal winch 7 for reciprocating movement between A (concrete supply position) and a transfer end position B (concrete discharge position) on the dam 1 side; While monitoring the winch 8, the position of the trolley 3 and the position of the bucket 6,
A remote control room 9 in which a device for controlling the driving of each of the winches 7, 8 is provided.

The transfer start position A is formed by cutting the ground into an L-shape, and in a direction perpendicular to the paper surface on the upper side thereof, a concrete transfer cart 10 for transferring concrete made by a concrete plant (not shown). A hopper 11 for receiving the concrete discharged from the bucket 6 is arranged at a transfer end position B on the dam 1 side, and the trolley 3 is laterally moved based on a control signal from the control room 9. The bucket 6 is moved up and down while being moved, and the bucket 6 is positioned and seated at each of the start position A and the hopper 11 to supply and discharge the concrete.

<< Problems to be Solved by the Invention >> In the cable crane having the above configuration, the coordinates of the horizontal axis are obtained according to the amount of bending due to the tension of the main rope 2, the lateral position of the trolley 3, the load, and the like. The coordinate of the vertical axis is obtained by the amount plus the amount of deflection of the main rope 2.

Therefore, for the rough control, it is sufficient to set the target coordinates and perform control to calculate the current coordinates so as to approach the target coordinates.
Automatic conveyance can be performed up to the vicinity of 11.

However, the transfer start position A is not a simple flat surface, but a side wall is formed on the side of the seating surface of the bucket 6. Therefore, the abrupt operation starts when the bucket 6 reaches the vicinity of the transfer start position A. There is a risk of collision with the side wall if seated.

Conversely, if the user sits at a position away from the side wall, it becomes an obstacle when the concrete in the carriage 10 is put into the bucket 6.

For this reason, conventionally, the transfer start position A is surrounded by a bucket receiver composed of a pair of frames, and when the bucket 6 approaches the vicinity of the bucket receiver, the control is switched from automatic control to manual control. And the operators arranged in the control room 9 communicate with each other wirelessly, and gradually approach the transport start position A while communicating the position correction by the manual control operation of the operator based on the instruction of the monitor,
Eventually, they were seated inside the bucket receiver and laid sideways.

However, this means requires that a skilled supervisor be deployed, and that the time delay from the transmission of information to the actual correction operation is large, and that the control direction and control amount tend to be ambiguous. The bucket 6 is not always seated at an accurate position within a short time, and the evacuation time of the worker also becomes long, so that the work efficiency is poor.

SUMMARY OF THE INVENTION The present invention solves the above-mentioned problems, and achieves a fully automatic seating and traversing operation at the time of final arrival at a bucket receiver, thereby enabling quick and accurate positioning of a bucket position detection device in a cable crane. The purpose is to provide.

<< Means for Solving the Problems >> In order to achieve the above object, the present invention provides a trolley traveling along a main rope stretched between two points, and a trolley suspended under a lower portion of the trolley via a rope. A lowered bucket, a horizontal wind winch for towing the trolley for towing the trolley to reciprocate the bucket between a concrete supply position and a concrete discharge position, and A vertically wound winch that lowers and raises and lowers a bucket, and a cable crane including a control device that drives and controls each of the winches, a bucket receiver for positioning and bottoming the bucket at the concrete supply position, The supply position of the concrete is formed into an L-shaped cross section including a bottom portion and a side wall portion by cutting the ground, and the bucket receiver is A seating plate provided on the bottom surface portion for seating a bucket, a side plate provided on the side surface portion standing upright from the bottom surface portion provided with the seating plate, and an interposition between the side plate and the side wall portion Touch switch, and a pair of frames provided in parallel in a direction intersecting with the side wall portion so as to sandwich the bucket seated on the seating plate, and a plurality of rows and columns provided in opposition to each frame. The bucket comprises a light emitting / receiving element, and the bucket is positioned and bottomed, and the bucket receives concrete from a transport trolley running on the upper side of the side wall.

<Operation> According to the above configuration, in the final stage of seating and laying the bucket inside the bucket receiver, each winch can be drive-controlled with a correction amount according to the combination of the ON / OFF state of each light receiving element. By touch switch operation, it can be confirmed that the side plate is attached to the side plate.

<< Embodiment >> Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

In the embodiment, the same or corresponding portions as those in FIG. 4 will be described using the same reference numerals, and different portions or newly added portions will be denoted by new reference numerals.

In FIG. 1, an arithmetic control unit 26 is provided in the remote control room 9.

The arithmetic control unit 26 includes encoders 7a, 8a provided on the winches 7, 8, an inclinometer 28 for detecting an inclination angle θ of the main rope 2,
Receiving a detection signal from the lightwave distance measuring device 30 for confirming the current position of the trolley 3, the current position coordinates of the trolley 3 and the bucket 6 are calculated and compared with target coordinate values initialized by the keyboard 32 in advance. The horizontal winch 7 from the transfer start position A of the bucket 6 to the vicinity of the hopper 11,
Drive control devices 34, 36 provided for each of the vertical winding winches 8
Is executed in a predetermined drive mode.

A video camera 40 is arranged near the transfer start position A. The video camera 40 is connected to a monitor TV 42 provided on the control room 9 side, and the bucket 6 is placed in an imaging area 40a of the video camera 40. When the vehicle enters, the image information is displayed on the monitor television 42, and the operator side is confirmed as approaching visual information.

The monitor TV 42 is provided with a tablet and a light pen, and by tracing the screen in the vertical and horizontal directions with the light pen, the monitor television 42 is superimposed on the position as viewed on the screen and the vertical and horizontal deceleration coordinates (lx1, ly1). , Stop position coordinates (lx2, ly2) are initially set, and these set values are input in advance to the arithmetic and control unit 26, and when the bucket 6 enters the deceleration coordinates (lx1, ly1), the deceleration sideways, When the deceleration lowering control is executed and the winch 7, 8 stops at the stop coordinates (lx2, ly2).

As shown in FIGS. 2 and 3, a bottom A-1 and a side wall A-2, each of which is formed by cutting the ground into an L shape, are provided at the transfer start position A. With both ends fixed to A-2, a pair of L-shaped frames 44, 46 provided in parallel in a direction orthogonal to the side wall A-2 are installed facing each other.

Further, a seating plate 48 and a side plate 50 are provided along the inside of the bottom surface A-1 and the side wall A-2, and the pair of frames 44, 46 and the seating plate 48 and the side plate 50 The bucket 6 constitutes a bucket receiver for receiving concrete supply.

And each frame 44, 46 of this bucket receiver is a horizontal piece 44
a, 46a, and vertical pieces 44b, 46b, and the inside surrounded by the frames 44, 46 is the seating position of the bucket 6.

A plurality of light emitting elements K1 to K5 for detecting a horizontal position for emitting light in a direction orthogonal to the main rope 2 are provided on a horizontal piece 44a of one frame 44.
Are arranged in a horizontal line, and the vertical piece 44b also has a light emitting element for vertical position detection for emitting light in a direction orthogonal to the main rope 2.
K6 to K10 are arranged in a vertical line.

On the horizontal piece 46a of the other frame 46, the light emitting elements K1 to K5
The horizontal position detecting light receiving elements aK1 to aK5 that receive the light emitted from each of the light emitting elements aK1 to aK5 are arranged in a horizontal row, and the vertical piece 46b includes a plurality of light receiving elements aK6 that receive the light emitted from the light emitting elements K6 to K10. To aK10 are arranged in a vertical line.

Further, a touch switch for detecting whether the bucket 6 is seated or placed sideways is provided on the back of the seating plate and the side plates 48, 50.
T1 and T2 are arranged.

In the above configuration, the bucket 6 that has entered the deceleration position coordinates (lx1, ly1) gradually approaches the stop position coordinates (lx2, ly2) due to deceleration lowering and deceleration traverse, and stops at this position. .

During this time, the bucket 6 enters the inside of the frame 44, 46, and as a result, enters the detection range of each of the light emitting and receiving elements K1 to K10, aK1 to aK10, and according to its position, each of the light emitting elements, K1 ~
Light from K10 is sequentially blocked, and light receiving elements aK1 to aK10 are framed 46.
Turn off sequentially from the outside and top side of.

The ON / OFF state and the moving state of the bucket 6 are shown in the following table.

Therefore, the arithmetic control unit 26 determines that each of the above light receiving elements
The horizontal winch 7 and the vertical winch 8 are driven at a very low speed toward the stop position while confirming that they are in the OFF state.

The stop position coordinates (l x2, ly
When it is confirmed that the bucket 6 coincides with 2) and that the final vertical and horizontal light receiving elements aK10 and aK5 are both OFF, the vertical winch 8 and the horizontal winch 7 stop.

In this state, the bucket 6 is seated on the seating plate 48 by inertia and laid sideways on the side plate 50.

Finally, the load and the side pressure of the bucket 6 are applied to the seating plates and the side plates 48 and 50, the switches T1 and T2 are turned on, and it is confirmed that the seats are completely seated.
Concrete can be supplied to

<< Effects of the Invention >> As described in detail in the above embodiment, in the bucket receiver for the cable crane according to the present invention, the bucket is automatically and accurately landed at the supply position having the L-shaped cross section, and the side plate and By operating the touch switch interposed between the side wall and the side, it is possible to confirm that the bucket has been correctly laid on the side plate, which facilitates the work of putting concrete into the bucket. , It is possible to carry out the concrete transfer work quickly by automation.

Further, the work including the waiting time and the evacuation time of the worker can be reduced, and the safety can be improved.

[Brief description of the drawings]

1 is an overall explanatory view of a cable crane using a bucket receiver according to the present invention, FIG. 2 is a plan view of the bucket receiver, FIG. 3 is a side view of the bucket receiver, and FIG. It is explanatory drawing which shows a general structure. 2 ... Main rope 3 ... Trolley 4 ... Tow rope 5 ... Hanging rope 6 ... Concrete bucket 7 ... Horizontal winch 8 ... Vertical winch 11 ... Hopper 26 ... Operation control unit K1 ~ K5 ... … Light-emitting element (for horizontal position detection) aK1 to aK5 …… Light-receiving element (for horizontal position detection) K6 to K10 …… Light-emitting element (for vertical position detection) aK6 to aK10 …… Light-receiving element (for vertical position detection) 44,46… Frame 48 …… Seat plate 50 …… Side plate

Claims (1)

(57) [Claims] 1. A trolley running along a main rope stretched between two points, a bucket suspended from a lower portion of the trolley via a suspension cable, and a tractor for towing the trolley is towed. A horizontal winch for reciprocating the bucket between a concrete supply position and a concrete discharge position, a vertical winch for winding and unwinding the suspension cable and raising and lowering the bucket, and each of the winches In a cable crane provided with a control device that drives and controls the bucket, a bucket receiver for positioning and bottoming the bucket at the concrete supply position, wherein the concrete supply position is formed by cutting a ground and a bottom portion. A seat plate provided on the bottom surface portion for seating the bucket, the seat plate being formed in an L-shaped cross section including a side wall portion; A side plate provided on the side surface portion standing upright from a bottom surface portion provided with a seat plate, a touch switch interposed between the side plate and the side wall portion, and the bucket seated on the seating plate are sandwiched. Thus, a pair of frames provided in parallel in the direction intersecting with the side wall portion, and a plurality of vertical and horizontal rows of light emitting and receiving elements provided to face each frame, the bucket is positioned and bottomed, A bucket receiver for a cable crane, wherein concrete is received by the bucket from a carrier truck running on the upper side of the side wall.