JP2626212B2 - Bucket steadying method for cable crane - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a steady rest method for a bucket in a cable crane for supplying concrete to, for example, a dam construction site.

<< 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, a horizontally wound winch 7 for reciprocating between a transfer end position B set at the center bottom of the dam 1, a vertically wound winch 8 for winding and rewinding the hoisting line 5 and elevating the bucket 6, and a trolley 3. And a remote control room 9 for monitoring the position of the bucket 6 and for driving and controlling the winches 7 and 8.

Then, at the transport start position A, the concrete transport trolley 10 that transports concrete made by a concrete plant (not shown) travels in a direction orthogonal to the paper surface,
A concrete hopper 11 is arranged at the transfer end position B. Based on a control signal from the control room 9, the trolley 3 is moved laterally and the bucket 6 is raised and lowered.
The bucket 6 is positioned at A and B so that the concrete is supplied and discharged.

<< Problems to be Solved by the Invention >> Since the transport start position A is the side surface on the mountain side, the bucket 6 is located relatively at the upper part, and the hanging rope 5 is wound up, but the transport end point position B is at the valley. Since it is a deep position, in order to transport concrete in the shortest time, it is necessary to sequentially pull out the hanging rope 5 and lower the bucket 6 from the transport start position A to the transport end point position B.

However, in such a transport mode, in particular, the trolley 3
In the vicinity of the transfer end point B, the inertia at the time of deceleration or stop works greatly, and the lifting load is heavy due to the concrete held in the bucket 6.

Therefore, when the trolley 3 stops, the bucket 6 swings largely in the traveling direction, the amplitude thereof is large, and the swing cycle is long according to the extension length of the hanging cable 5, and the hopper 11
Not only is it difficult to land on the ground, but also the bucket 6 containing heavy concrete is swung above the head of the casting site worker, which is dangerous.

Therefore, in the related art, at the transfer end position B, the lowering of the bucket 6 is stopped immediately above the hopper 11, and the observer arranged at the transfer end position B and the operator arranged at the control room 9 communicate wirelessly. The trolley 3 is moved in synchronism with the direction in which the bucket 6 swings by a manual control operation of an operator based on the instruction of the observer, and the work of canceling the swing is repeated, and the amplitude is sequentially attenuated. Was.

However, according to this method, a skilled observer must be provided at the casting site at the transfer end point B, and the time delay from the information transmission to the actual correction operation is large, and the control direction and control amount are also small. Due to the tendency to be ambiguous, the swing does not always stop within a short period of time, and the evacuation time of the worker also increases, resulting in poor work efficiency.

Also, although not as much as the transfer end point position B, the bucket 6 easily swings at the transfer start position A due to the inertia of the trolley, and it is necessary to arrange an observer here as well.

SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned problem, and to provide a method for fully steadying this kind of steady rest operation, and for providing a steady rest method for a bucket in a cable crane capable of quickly rest steadying. .

<< Means for Solving the Problems >> In order to achieve the above object, a steady rest method for a bucket in a cable crane according to the present invention includes a main rope stretched between two points, and a main rope capable of traveling along the main rope. A trolley, a tow for towing the trolley, a bucket suspended via a hanger below the trolley, and a tow of the trolley to reciprocate the trolley between a transport start position and a transport end position. A winch, a vertically wound winch for winding and unwinding the hoisting line to raise and lower a bucket, and a control device for monitoring the position of the trolley and the position of the bucket and controlling the driving of each winch. In the cable crane described above, an inclination sensor is provided in the bucket, and a steadying control program that is empirically determined in advance according to the inclination angle and the inclination direction detected by the inclination sensor. According to the ram, the trolley is controlled to move in the direction of the tilt angle, the amount of movement with respect to the tilt direction, and the direction.

<Operation> According to the above configuration, in the steady rest operation, the trolley is moved according to the steady rest control program previously determined empirically in accordance with the tilt angle and the tilt direction detected by the tilt sensor provided in the bucket. The control makes it possible to perform the steadying operation automatically and quickly without the need for a supervisor.

<< 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 inclinometer 20 is provided above the bucket 6, and data on the inclination angle θ1 and the inclination direction obtained by the inclinometer 20, that is, data on the swing angle θ1 and the swing direction of the bucket 6. Is a wireless transmitter
The signal is transmitted to the receiver 24 provided in the remote control room 9 through 22.

In the remote control room 9, the data received by the receiver 24 is input to the arithmetic and control unit 26 via the A / D converter 24a.

The arithmetic and control unit 26 includes decoders 7a and 8a provided on the winches 7 and 8, an inclinometer 28 for detecting an inclination angle θ2 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. A program for controlling the drive controllers 34 and 36 provided in the horizontal winch 7 and the vertical winch 8 from the transport start position A to the transport end point B of the bucket 6 in a predetermined drive mode is executed.

Further, at the transfer start position A, various control programs such as an operation of automatically supplying concrete from the transfer cart 10 to the bucket 6 and at a transfer end position B, automatic transfer of the concrete from the bucket 6 to the hopper 11 are executed.

Among the various control programs described above, the steady rest control program is started when the trolley 3 stops near the transport end point B on the outward route and the bucket 6 stops descending immediately above the hopper 11. You.

That is, as shown in FIG. 2, between the transfer start position A and the end point position B, a control mode for moving in the lateral direction from the transfer start position A, then decelerating and stopping is programmed. Start point coordinates (x0, y0), deceleration coordinates (x
1, y1), stop coordinates (x2, y2) and final position coordinates (x3, y3) immediately above the hopper 11 are predetermined as target coordinate values.

At the stage before the steadying control, the calculation control unit 26 calculates the current coordinates together with the measurement data obtained from each of the sensors, and compares the calculated coordinates with the respective target coordinates while starting coordinates (x
From (0, y0) to the stop coordinates (x2, y2), as shown in steps 111 to 115 of the flow chart of FIG. 3, the forward rotation, deceleration rotation, and stop of the horizontal winding winch 7 are commanded.

Similarly, the vertical winch 8 is also driven according to each target coordinate.

Next, from the stop coordinates (x2, y2), the final position coordinates (x
The steady rest control is performed until 3, y3).

As shown in FIG. 2, the behavior of the bucket 6 during the above-described movement control mode is deviated from the trolley 3 at the traveling start position, and from the time of deceleration, the inertia during traveling acts on the bucket 6. The bucket 6 is swung to the maximum advancing side when a predetermined time has elapsed from the stop time.

At this time, the cycle t0 is determined by the length 1 of the suspension cable 5.
Therefore, in the arithmetic control unit 26, the stop coordinates (x2, y2)
At the time when the bucket 6 stops, the timer is started, and at the time t0 when the bucket 6 swings back to the opposite side, the inclination angle θ1 of the inclinometer 20 is measured (steps 115 to 119).

The inclination angle θ1 of the inclinometer 20, the deflection angle θ1 detected by measuring the inclination direction, the reciprocating movement amount of the trolley 3 with respect to the deflection direction, the attenuation amount of the moving distance for each reciprocation, and the movement start timing are as follows.
The values are previously empirically determined in consideration of the swing cycle and mechanical time delay of the bucket 6 according to the length of the hanging cable 5, and these numerical values are incorporated in the steady rest control program.

Therefore, the arithmetic control unit 26 issues a drive command to the drive control device 34 in accordance with the steadying control program so that the movement amount corresponds to the maximum swing angle θ1 and the swing direction, and the horizontal winch is synchronized with the swing of the bucket 6. 7 is driven forward and reverse (step 120).

Further, since the deflection a of the main rope 2 changes due to the lateral movement, the vertical winch 8 is wound and wound via the drive control device 36 in order to cancel the vertical swing of the bucket 6 due to the change in the deflection. It is lowered (step 121).

As a result, the trolley 3 reciprocates while sequentially decreasing the moving amount in the swing direction of the bucket 6, and as a result, the swing of the bucket 6 is canceled out, the amplitude decreases, and finally the bucket 6 stops.

This stop state is determined by the fact that the detected angle 0 ° of the inclinometer 20 is maintained for the swing cycle or more (step 12).
2).

If the vibration has not stopped by one control operation, the control from step 8 is repeated again, that is,
If the change of the shake angle θ1 with time is measured and the winches 7 and 8 are driven and controlled by the vertical and horizontal movement amounts corresponding to the change, the shake angle θ1 finally becomes 0 °.

Also, the position coordinates at which the shake stopped are the final position coordinates (x3, y
3), the winches 7 and 8 are rotated at a low speed according to the amount of deviation, and the bucket 6 is moved to the final position coordinates (x
(3, y3) (steps 123, 124), thereby terminating the steady rest control program and proceeding to the next control program.

The steadying control when returning the bucket 6 to the transport start position A is also performed in the same processing procedure as in the above-described embodiment, depending on the extension length of the hanging cable 5 and the detection angle and direction of the inclinometer. It is.

<< Effects of the Invention >> As described in detail above, in the method for preventing the bucket from oscillating in the cable crane according to the present invention, the inclination angle and the inclination direction detected by the inclination sensor provided on the bucket are determined in advance by empirical experiments. It is configured by controlling the movement of the trolley in accordance with the tilt angle, the amount and direction of movement with respect to the tilt direction according to the steadying control program required in the above, so that there is no need for an observer, automatically and quickly, The steadying operation of the bucket suspended from the trolley can be performed.

[Brief description of the drawings]

FIG. 1 is a control block diagram showing a steady rest method for a bucket in a cable crane according to the present invention, FIG. 2 is an explanatory diagram showing coordinate values in movement and steady rest control of the bucket, and FIG. FIG. 4 is a flowchart showing a processing procedure, and FIG. 4 is an explanatory diagram showing a general configuration of a conventional cable crane. 2 ... main rope, 3 ... trolley 4 ... towing, 5 ... hanging rope 6 ... concrete bucket, 7 ... horizontal winch 8 ... vertical winch, 9 ... remote control room 10 ... truck , 11 hopper A ... transfer start position, B ... transfer end position 20 ... inclinometer, 26 ... calculation control unit 34, 36 ... drive control device

Claims (1)

(57) [Claims] 1. A main rope stretched between two points, a trolley operable along the main rope, a trolley for towing the trolley,
A bucket suspended from a lower portion of the trolley via a suspension line, a horizontal winch for retracting the trolley between a transportation start position and a transportation end position by retracting the traction line, and winding the suspension line A cable crane having a vertical winch for lowering and raising and lowering a bucket, and a control device for monitoring the position of the trolley and the position of the bucket, and for controlling and controlling each of the winches; According to the tilt angle and the tilt direction detected by the tilt sensor, the movement of the trolley is controlled in accordance with the tilt angle and the amount of movement with respect to the tilt direction in accordance with a steady-state control program empirically determined in advance. Method of preventing bucket steady in cable crane.