JP3262618B2 - Travel position detection method for cable crane - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for detecting a traveling position of a cable crane which transports concrete in, for example, dam construction.

[0002]

2. Description of the Related Art In the construction of a dam, as a method of transporting concrete, concrete kneaded in a concrete plant is transported by a transport vehicle, and then concrete is transferred to a bucket of a cable crane and transported to a predetermined position of the dam by a cable crane. Transport systems are commonly employed.

[0003] The applicant of the present invention relates to this system by
In a transport system comprising a transport track on which a transport vehicle travels and a cable crane having one end fixed and extending crossing the transport track and the other end being moved by a traveling cable or the like, We proposed a fixed position stop control method for a truck that automatically stops the truck at the optimal position for the bucket of the cable crane.

[0004] According to the proposal, a transport trajectory on which a transport vehicle travels and a cable crane having one end fixed and extending crossing the transport trajectory and the other end being moved by a traveling cable or the like. In the system, the deflection angle of the main cable of the cable crane is detected by the main cable angle detection device,
The detection signal is input to a microcomputer mounted on the transport vehicle to calculate the expected landing position of the cable crane bucket, and the travel distance of the transport vehicle is constantly detected by the travel distance detection device provided on the transport vehicle, and Input to the microcomputer, control the acceleration motor driving the transport vehicle by calculating the deceleration position and the stop position required for the traveling control of the transport vehicle by the microcomputer, based on the expected landing position of the cable crane bucket, and The stop position of the transport vehicle can be corrected by a reflector provided on the bucket and a photoelectric switch provided on the transport vehicle.

[0005]

The above proposal is effective, but has the following problems.

(1) When a cable crane is a loaned item from a company, an angle detector may not be attached to a fixed tower structurally depending on the manufacturer of the crane.

(2) As shown in FIG. 13, for example, as shown in FIG. 13, a cable crane main rope C for running a cable crane trolley B suspended a concrete bucket A is connected to both cable crane traveling rails D1, D.
In the case of a both-end traveling type suspended by both moving towers E1 and E2 traveling on the vehicle 2, an angle detector cannot be attached to both moving towers E1 and E2. In addition, the code | symbol F in a figure is a conveyance track, G
, H is a concrete plant, J is a bucket cradle, and K is a cable crane cab.

(3) As shown in FIG. 14, one end of a cable crane main rope C is stretched between a fixed tower E on which an angle detector is mounted and a movable tower E1 traveling on a cable crane traveling rail D. In the case of the formula, when the distance L between the transport trajectory F and the fixed tower E is large, for example, about 500 m, the target position of the transport vehicle G changes greatly with a slight change in the main rope angle θ.

(4) As shown in FIGS. 15 to 17, when the fixed tower E is supported by the side stays E3 and has a structure in which it is slightly moved in the direction of the arrow, an angle detector attached to the fixed tower E is used. It is difficult to detect the angle. In this example, for example, a main rope C that transports a bucket A of 6 m ³ and a main rope CA that transports a bucket AA of 3 m ³ , for example,
Are provided, the members on the main cable CA side are shown with a suffix A, and reference numeral C1 is a back wire.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and has as its object to provide a traveling position detection method for a cable crane that accurately detects the traveling position of a moving tower.

[0011]

According to the method of the present invention, a moving tower supporting one end of a main cable of a cable crane is moved on a traveling rail of the cable crane, and an ID provided on the moving tower is provided.
The position data of the data carrier arranged along the traveling rail of the cable crane is read by a sensor, the traveling position of the moving tower is detected from the read position data, and the traveling of the cable crane is moved by a proximity switch provided on the moving tower. The number of attachments attached to the rail fixing bolts from the data carrier is detected, and the position between the data carriers of the mobile tower is detected based on the detected number.

[0012]

According to the present invention, the position data of the data carrier is read by the ID sensor, and the approximate running position of the mobile tower is detected based on the read position data. at the same time,
The number of attachments from the data carrier is read by the proximity switch, and the running position between the data carriers of the mobile tower can be accurately detected based on the read number.

[0013]

Embodiments of the present invention will be described below with reference to the drawings.

1 to 6 show an apparatus for carrying out the present invention.

In FIG. 1, a moving tower 10 supporting one end of a main cable 16 of a cable crane has wheels 11 on an arc-shaped cable crane traveling rail generally designated by reference numeral 1.
It is provided movably via (4) and is run by means not shown.

2 to 4, the rail 1 is provided with a first rail 2, a second rail 3 and a third rail 4 from the outside in the radial direction. This second rail 3
The lower end both sides are fixed by a plurality of pairs of rail fixing bolts 20, and at a distance L1 (for example, 500 mm) through the base 5 inside the second rail 3 in the radial direction.
A plurality of data carriers 6 have a predetermined pitch P (for example, 500
0 mm). And data carrier 6
Stores position data.

On the other hand, in the moving tower 10, an ID sensor 13 is provided at a position facing the data carrier 6 via a bracket 12 with a predetermined distance L2 (eg, 70 to 80 mm). The ID sensor 13 is connected to the mobile tower 10
The detection device 14 is connected to a control panel (not shown) of the cable crane operation room K (FIG. 15) by an optical fiber cable 15.

5 to 9, one of a pair of rail fixing bolts 20 has an iron attachment 21 attached thereto.
Is installed.

On the other hand, the attachment 2
A predetermined distance L3 (for example, 100 mm) at a position facing 1
And a pair of proximity switches 17 are attached.

The head 20a of the rail fixing bolt 20
Is set in a recess 22 a of the adapter 22, and is fixed at a position around the axis of the adapter 22 by a set bolt 24. A screw hole 22b is formed in the upper part of the adapter 22, and the attachment 21 is screwed into the screw hole 22b by a screw portion 21b formed continuously with the head 21a. And set bolt 24
With this, the height of the head 21a is determined and fixed.

The moving tower 10 is provided with a bracket 18 which can be moved up and down. And the proximity switch 1
7 and 17 are fixed to the lower end of the bracket 18 by a double lock nut 19. The proximity switches 17, 17 are connected to the traveling position detecting device 14.

Next, the manner of detecting the traveling position of the mobile tower 10 will be described.

When the movable tower 10 travels on the cable crane traveling rail 1 while supporting one end of the cable crane main rope 16, the ID sensor 13 detects
Is read and transmitted to the traveling position detecting device 14. Then, the detecting device 14 detects the approximate traveling position of the moving tower 10.

The proximity switches 17 read the number of attachments 21 from the data carrier 6 in proximity. Then, the traveling position detecting device 14 accurately detects the traveling position of the moving tower 10 from the adjacent data carrier 6 based on signals from the proximity switches 17 and 17 and transmits the detected traveling position to the traveling position detecting device 14. The detection device 14 accurately detects the current position of the mobile tower 10 based on the input position data, and transmits the current position to the operation panel of the cable crane operation room K. The operation panel calculates the swing angle of the main cable 16 of the cable crane based on the input current position of the moving tower 10, determines the stop target position of the transport vehicle G (FIG. 15), and controls the stop of the transport vehicle G. .

As shown in FIG. 11, when the center of curvature of the cable crane traveling rail 1 does not coincide with the fixed tower E (FIG. 15), the length of the cable crane main rope 16 is changed to the position of the moving tower 10. To the lengths M1 and M2, but the length difference M2-M1 can be corrected.

In a double-end traveling type as shown in FIG. 12, when the movable towers 10A and 10B travel on the cable crane traveling rails 1A and 1B, respectively,
The travel position of each of 0A and 10B can be detected, and the virtual center position N can be obtained to correct the position.

[0027]

As described above, according to the present invention, I
The position data of the data carrier is read by the D sensor, and the number of attachments from the data carrier is detected by the proximity sensor, whereby the traveling position of the mobile tower can be accurately obtained.

Thus, the deflection angle of the main rope of the cable crane is obtained, and the target stop position of the transport vehicle is determined, so that the transport vehicle can be stopped at an accurate position with respect to the concrete bucket.

[Brief description of the drawings]

FIG. 1 is a plan view showing an example of an apparatus for implementing the present invention.

FIG. 2 is a plan view showing details of a cable crane traveling rail in FIG. 1;

FIG. 3 is a view taken in the direction of the arrow X in FIG. 1;

FIG. 4 is a top view of FIG. 3;

FIG. 5 is a side sectional view showing the adapter.

FIG. 6 is a view as seen in the direction of the arrow Y in FIG. 5;

FIG. 7 is a side view showing a proximity switch.

FIG. 8 is a front view of FIG. 7;

FIG. 9 is a top view of FIG. 8;

FIG. 10 is a circuit diagram showing a traveling position detection device.

FIG. 11 is a plan view for explaining length correction of a main cable of a cable crane according to the present invention.

FIG. 12 is a plan view illustrating position correction according to the present invention.

FIG. 13 is a perspective view illustrating a cable crane that is driven at both ends.

FIG. 14 is a plan view illustrating a fixed-end cable crane.

FIG. 15 is a perspective view illustrating another example of a cable crane fixed at one end.

FIG. 16 is a top view showing a side stay supporting fixed tower.

FIG. 17 is a side perspective view of FIG. 16;

[Explanation of symbols]

 A, AA: Concrete bucket B, BA: Cable crane trolley C, CA: Cable crane main rope C1: Back wire D, D1, D2: Cable crane traveling rail E, EA ... -Fixed tower E1, E2-Moving tower E3-Side stay F, FA-Transport path G, GA-Transport vehicle H-Concrete plant J-Bucket stand K, KA- ..Cable crane cab N ... Virtual center point 1, 1A, 1B ... Cable crane traveling rail 2 ... First rail 3 ... Second rail 4 ... Third rail 5 ... Base 6 Data carrier 10, 10A, 10B Moving tower 11 Wheel 12 Bracket 13 ID sensor 14 Travel position detector 15 Optical fiber cable Bull 16 Cable crane main cable 17 Proximity switch 18 Bracket 19 Lock nut 20 Rail fixing bolt 20a Head 21 Attachment 21a Screw Part 22 ... Adapter 22a ... Recess 22b ... Screw hole 23, 24 ... Set bolt

────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Sakae Mihata 1-2-7 Moto-Akasaka, Minato-ku, Tokyo Kashima Construction Co., Ltd. (72) Hiroshi Hiroyama 1-2-7 Moto-Akasaka, Minato-ku, Tokyo No. Kashima Construction Co., Ltd. (72) Inventor Yuji Hiramatsu 1-1-5 Moto-Akasaka, Minato-ku, Tokyo Kaji Mamechatro Engineering Co., Ltd. (56) References JP-A-58-100091 (JP, A) 51-12883 (JP, B1) (58) Fields investigated (Int. Cl. ⁷ , DB name) B66C 21/04 B66C 13/22

Claims (1)

(57) [Claims] 1. A moving tower supporting one end of a main cable of a cable crane runs on a traveling rail of a cable crane, and a position of a data carrier arranged along the traveling rail of the cable crane by an ID sensor provided on the moving tower. The data is read, the traveling position of the moving tower is detected from the read position data, and the number of attachments attached to the fixing bolts of the cable crane traveling rail from the data carrier is determined by a proximity switch provided on the moving tower. A method for detecting a traveling position of a cable crane, comprising detecting a position between data carriers of a mobile tower based on the detected number.