JP3325837B2 - Control method of dam 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 control method of a dam crane for transporting a bucket suspended by a wire.

[0002]

2. Description of the Related Art Conventionally, a track-type cable crane has been used as a concrete transportation means for dam construction. This cable crane has two fixed on one shore
A gauge cable stretched between the two gauge posts, a traveling trolley moving on the gauge track, a main rope stretched between the traveling trolley and the main rope post fixed to the opposite shore, The trolley includes a trolley that moves on the main rope, and a bucket that is suspended from the trolley via a suspension cable. In the cable crane, the ready-mixed concrete kneaded in the batcher plant is transported by a transfer car running on a bunker line, and the ready-mixed concrete is transferred from the transfer car to a bucket near the bunker line.

In the above cable crane, the moving speed of the traveling trolley, the moving speed of the traverse trolley, and the hoisting / unwinding speed of the hoisting line are determined according to an operation pattern determined for each elapsed time, from the transport start position near the bunker line to the dam bank. Transport the bucket to the concrete placement position on the body. In this case, the traveling trolley is moved to a predetermined position by traveling on the track, and then, the traveling trolley is moved on the main rope from the transportation start position, and is moved to the concrete placing position. At this time, hoisting / unwinding of the hanging cable hanging the bucket is performed in accordance with the movement of the transverse trolley.

[0004]

By the way, in the cable crane described above, for safety, the trolley is driven so that the bucket does not swing as much as possible, and the bucket suspended by the hanging cable at the target position does not swing. In addition, it is necessary to speed up the traveling of the trolley in terms of the construction period and cost. For this reason, there is a problem in that the traveling trolley and the operation of hoisting / unwinding the hoisting line require skill.

[0005] Further, the above-described concrete casting requires not only the operator of the cable crane but also the operators (the concrete kneading plant side and the target position side) that are dependent on the movement of the cable crane. The length of the cable crane cycle time, which is determined by the level of skill of the operator, greatly affects the construction period and cost. Especially in the above-mentioned dam construction, a large amount of ready-mixed concrete is poured a day, so the cycle time must be shortened. Is important.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a method of controlling a dam crane that can safely and promptly transport a suspended load as little as possible without requiring a skilled operator.

[0007]

To achieve the above object, according to an aspect of the control method of the dam crane of claim 1, dam construction
To control dam cranes as concrete transportation means
Method, transport the bucket while hanging it with wires.
When transporting from the starting position to the destination,
Start traversing the fulcrum and hoisting the wire.
Acceleration, constant velocity, deceleration over the section from the position to the target position
A method of controlling a dam crane, which is performed in order of speed,
A step of assuming a constant winding speed of the wire;
Based on the hoisting speed and total hoisting length of the wire
The wire winding speed is determined for each elapsed time.
Determine the wire winding speed pattern and
Obtaining a time from the start position to the destination position;
Based on the winding speed pattern of the wire, the wire
Suspension length of the above wire at the start of acceleration of traverse of the upper fulcrum
Of the pendulum motion of the bucket and the wire based on
The suspension length of the above wire at the end of the traverse acceleration of the upper fulcrum
Of the average value with the period of the pendulum movement of the bucket based on
Move the upper fulcrum of the above wire so that the time becomes an integral multiple
And the winding speed of the wire.
Based on the turn, decelerate and open the traverse of the upper fulcrum of the wire.
The swing of the bucket based on the hanging length of the wire at the beginning
End of deceleration of the traverse of the wire movement and the upper fulcrum of the wire
Swing of the bucket based on the suspended length of the wire at the time
So that the time is approximately an integral multiple of the average value with the period of the child movement
And determining a deceleration time for traversing the upper fulcrum of the wire.
And the time to reach the destination position from the transport start position,
Acceleration time and deceleration time for traversing the upper fulcrum of the above wire
Of the wire from the transport start position to the destination position
Based on the total traversing distance of the upper fulcrum,
Calculate the traveling speed of the traverse at the constant speed, and
The above-mentioned wire that defines the traversing speed of the upper fulcrum for each elapsed time
The step of obtaining the traversing speed pattern of the upper fulcrum
Using the above four steps, at a constant speed of the wire
Winding speed and above wire
A moving speed of the wire winding means and the wire;
Maximum within the limits of the ability of the means of transport traversing the upper fulcrum
The winding speed pattern of the wire and the wire
Determine the traveling speed pattern of the upper fulcrum of the ear
The determined winding speed pattern of the wire and the
Based on the traversing speed pattern of the upper fulcrum of the wire,
It is characterized by operating a lane.

[0008] According to the control method of the dam crane of the Claim 1, it can carry quickly and safely bucket from luck transportable start position to the target position. In the acceleration section,
When the upper fulcrum of the wire and the bucket are at rest,
Moving while heating Hayashi fulcrum on the tire in the horizontal direction,
Bucket pendulum with a period based on the suspended length of the wire
Start exercising. In this acceleration section, wind up the wire
Doing so changes the suspension length of the wire and swings the bucket.
The period of child movement changes. However, the start of the acceleration section
The period of the pendulum motion based on the wire
Pendulum motion based on wire suspension length at end of speed section
Of the wire for a period that is approximately an integer multiple of the average
The point is moved while accelerating, and after the end of acceleration, it moves at a constant speed.
At the end of the acceleration interval, the bucket
At the lowest point, the upper fulcrum of the wire and
The ket moves at the same speed in the same direction. Therefore, on
After moving the upper fulcrum of the wire while accelerating,
Because the upper fulcrum and the bucket move at a constant speed,
The bucket does not swing and is cheap without skilled operators.
Can carry all buckets. In the acceleration section,
If the suspension length is shortened by winding up
Obstacles can be avoided and the suspension length is constant
The average value of the period of the pendulum movement of the bucket is
Shorter time when moving while accelerating
it can. In addition, the upper fulcrum and the bucket
From the state where the robot is moving at a constant speed,
Move the upper fulcrum of the ear in a substantially horizontal direction while decelerating
And the bucket vibrates at a cycle based on the suspended length of the wire.
Begin Riko exercise. In this deceleration section, winding of the wire
Lashing changes the suspended length of the wire,
The period of the pendulum movement changes. However, in the above deceleration section
Period of pendulum motion based on the hanging length of the wire at the start
And the swing based on the suspended wire length at the end of the deceleration section
The wire is moved for approximately an integral multiple of the average
If you move the upper fulcrum of the bucket while decelerating,
The upper fulcrum of the wire and the bucket
And stop. Therefore, the bucket may shake.
Make sure that the bucket is still at the target position.
Can be.

[0009]A method for controlling a dam crane according to claim 2
The law covers dam concrete, a means of transporting concrete for dam construction.
In the lane control method, the bucket is suspended by wire.
When transporting from the transport start position to the destination position while
Traversing the upper fulcrum of the wire and unwinding the wire
Over the section from the transportation start position to the destination position.
Of the crane for the dam that performs acceleration, constant velocity, and deceleration in this order.
A control method, the unwinding speed of the wire at a constant speed
And the unwinding speed of the wire at constant speed
And the unwinding speed of the wire based on the total unwinding length
The unwinding speed pattern of the wire with the degree determined for each elapsed time
From the transport start position to the destination position.
The process of determining the time to reach and the unwinding speed of the wire
Based on the degree pattern,
The bucket based on the suspension length of the wire at the start of speed
Of the pendulum motion and the transverse acceleration of the upper fulcrum of the wire
Of the bucket based on the suspension length of the wire at the end
The time is almost an integer multiple of the average value of the period of the pendulum movement.
Thus, if the acceleration time of the traverse of the upper fulcrum of the wire is determined,
Both, based on the wire unwinding speed pattern,
At the start of the transverse deceleration of the upper fulcrum of the wire,
Period and the period of pendulum movement of the bucket based on the suspension length
Suspension of the above wire at the end of traverse of the upper fulcrum of the wire
Of the period of the pendulum movement of the bucket based on the
Support the above wire so that the time is approximately an integral multiple of the average value.
The step of determining the deceleration time of the traverse of the point, and the above-mentioned transport start position
Time to reach the target position from
Acceleration and deceleration times for traversing, and
From the upper fulcrum of the above wire to the target position.
The traveling speed of the above-mentioned wire at the constant speed
Along with the traversing speed of the upper fulcrum of the wire.
Movement of the upper fulcrum of the above wire, which is determined for each elapsed time
Determining a speed pattern.
Using the unwinding speed of the wire at a constant speed and the above
The moving speed of the upper fulcrum of the wire at the
Traverse movement of the upper fulcrum of the wire
So that the maximum is within the limits of the capacity of the moving means.
Of the unwinding speed pattern and the upper fulcrum of the above wire
The moving speed pattern of the line is determined, and the determined
The unwinding speed pattern of the ear and the upper fulcrum of the above wire
Operating the crane based on the traversing speed pattern
It is characterized by having

A method for controlling a dam crane according to claim 2 above.
According to the quick and safe from the transport start position to the destination position
The bucket can be transported. In the acceleration section,
When the upper fulcrum of the wire and the bucket are at rest,
Moving while heating Hayashi fulcrum on the tire in the horizontal direction,
Bucket pendulum with a period based on the suspended length of the wire
Start exercising. In this acceleration section, unwind the wire
When this is done, the suspension length of the wire changes,
The period of the child movement changes. However, the acceleration section
The period of the pendulum movement based on the initial wire suspension length,
Pendulum operation based on the wire suspension length at the end of the acceleration section
Over the wire for a period that is approximately an integral multiple of the
Move the fulcrum while accelerating, and move at a constant speed after acceleration
This will cause the bucket to
Approximately the lowest point, the upper fulcrum of the wire in the above constant velocity section
The bucket and the bucket move at the same speed in the same direction. Therefore,
After moving the upper fulcrum of the wire while accelerating,
The upper fulcrum and the bucket move at a constant speed.
No swing between buckets and no skilled operator
The bucket can be transported safely. In addition, the constant velocity section
Whether the upper fulcrum of the ear and the bucket are moving at a constant speed
The upper fulcrum of the wire in the above deceleration section in a substantially horizontal direction.
While moving the bucket, the bucket is
Initiate a pendulum movement with a cycle based on the pendulum. This deceleration section
When the wire is unwound, the suspended length of the wire
Changes, and the cycle of the pendulum motion of the bucket changes.
However, based on the length of wire suspension at the start of the deceleration section,
The frequency of the pendulum motion
Approximate integer of the average value with the period of the pendulum motion based on the suspension length
Move the upper fulcrum of the wire while decelerating for twice the time.
When the bucket's pendulum motion is approximately
The upper fulcrum of the ear and the bucket stop. Therefore, on
The bucket is moved to the above-mentioned target position without swinging.
Can be reliably stopped.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A control method of a crane for a dam according to the present invention will be described below in detail with reference to an embodiment shown in the drawings.

[0012] Figure 1 is an overall schematic diagram of an embodiment of a cable crane and dam construction site controlling method of dam click <br/> lanes used in accordance with the present invention. As shown in FIG. 1, the cable crane includes a track 3 extended between track posts 1 and 2 fixed to the left bank, a traveling trolley 4 moving on the track 3, and a traveling trolley. A main rope 6 stretched between the main rope 4 and a main rope post 5 fixed to the right bank; a traverse trolley 7 as an upper fulcrum of a wire moving on the main rope 6; And a bucket 9 suspended via the suspension cable 8. The transfer car 12 for transporting the ready-mixed concrete kneaded in the batcher plant 13 runs on the bunker line 11.

FIG. 2 is a side view of a transport route of a bucket of the cable crane, and shows a bunker line 11.
The bucket 9 is transported from the upper transport start position P1 to a destination position (concrete placement position) P2.

The cable crane controls the moving speed of the traveling trolley 4, the moving speed of the traversing trolley 7, and the hoisting / unwinding speed of the hoisting line 8 shown in FIG. Then, the bucket 9 for transporting the ready-mixed concrete is placed in the vicinity of the bunker line 11 in FIG.
Is transported from the transport start position P1 to the destination position P2, and after the concrete is cast, the bucket 9 is returned to the next transport start position. When the driving position changes greatly in the next transportation, the traveling trolley 3 is moved along the track 3 so that the main rope 6 is on the next driving position, and then the transportation near the bunker line 11 is started. After the bucket 9 is transported from the position to the next placement position and the concrete is placed, the bucket 9 is returned to the next transportation start position. In this way,
By repeatedly transporting the bucket 9 from the transport start position to the destination position, a large amount of concrete is poured into the concrete placing area on the embankment body 10.

FIG. 3A is a diagram showing the speed of the traversing trolley 7 during the carrying operation of the cable crane, and FIG. 3B is a diagram showing the speed of unwinding the hoisting line 8. FIG.
(A) and (B) show the case where the bucket 9 is transported from the transport start position to the destination position without hitting the obstacle 20 (shown in FIG. 2). After the running trolley 3 is moved to a predetermined position, as shown in FIG. 3 (A), acceleration section T _A
In preparative constant velocity interval T _B and the deceleration interval T _C controls the hoisting / winding unloading of cars and slings 8 transverse trolley 7. Originally, means for moving the trolley 7 and hoisting /
If the capacity of the unwinding means is infinite, the required time is shorter if the operation is performed only in the acceleration and deceleration sections without providing the constant velocity section. However, there is a limit to the performance of each moving means (motor and the like), so that a speed pattern having such a constant velocity section is inevitable.

First, in the acceleration section T _A , the ready-mixed concrete in the transfer car 12 transported along the bunker line 11 from the batcher plant 13 shown in FIG. Cutting height
(Several meters). Then, from the state where the bucket 9 is stopped at the transport start position, the traversing trolley 7 is caused to travel while accelerating at a substantially constant acceleration, and the motor (not shown) is used to gradually raise and lower the unwinding speed of the hanging rope 8. down wind the slings 8, down winding the slings 8 substantially constant winding down speed in the middle of the acceleration section T _a.

Next, in the constant velocity section T _B , the acceleration section T _A
The trolley 7 and the bucket 9 are moved at a constant speed at the speed at the end of the process.

Then, in the next deceleration section T _C , the traversing trolley 7 is caused to travel while decelerating at a substantially constant acceleration from the speed of the constant velocity section T _B , and in this section, a sling line 8 is driven by a motor (not shown). Is unloaded at the same unwinding speed as in the constant velocity section T _B, and the suspension line 8 is unrolled and stopped while gradually reducing the speed in the middle of the deceleration section T _C.

[0019] In the cable crane, when moving the constant speed section T _B from acceleration interval T _A, it is moved in the same direction the bucket 9 is rampant trolley 7 and the bucket 9 and the constant velocity in approximately the lowest point of the pendulum motion , So that the bucket 9 does not swing.

[0020] Hereinafter, will be described in detail the principle of the bucket 9 is not shake at constant speed section T _B.

The period T of the pendulum movement of the bucket 9 is as follows: T = 2π (L / g) ^1/2 (Equation 1) L: Suspension length from the traversing trolley 7 to the bucket 9 g: Expressed as gravitational acceleration. The angular velocity ω of the pendulum motion is represented by ω = (g / L) ^1/2 (Expression 2), and the velocity v of the trolley 7 and the absolute value of the pendulum motion of the bucket 9 The speed (the speed component in the traveling direction of the traversing trolley 7) V is as follows: v = αt (Equation 3) V = αt−δωsinωt (Equation 4) t : time alpha: acceleration omega: angular velocity [delta]: represented by α / ω ^2. From the above equations (3) and (4), the condition that the speed v of the traversing trolley 7 and the absolute velocity V in the running direction of the pendulum motion of the bucket 9 are equal to sinωt = 0 (Equation 5) It is.

The relative displacement y with respect to the trolley 7 is as follows: y = ∫vdt−∫Vdt = ∫ (αt−αt + δωsinωt) dt = −δcosωt + C (Equation 6), and the time t = 0 Since the relative displacement y = 0 when
C = 1. Therefore, (Equation 6) is represented by y = −δcosωt + 1 (Equation 7).

Therefore, from the above equations (5) and (7), the time when the velocity v of the traverse trolley 7 is equal to the absolute velocity V of the pendulum movement of the bucket 9 and the relative displacement y between the traverse trolley 7 and the bucket 9 becomes zero. t is an integral multiple of the period of the pendulum movement of the bucket 9. That is, by controlling the speed of the traverse trolley 7 so that the speed of the traverse trolley 7 becomes constant after n cycles (n = 1, 2,...) Of the pendulum motion of the bucket 9 from the start of the acceleration section T _A , Trolley 7
Is accelerated so that the absolute speed V of the pendulum movement of the bucket 9 becomes equal to the speed v of the bucket 9, the bucket 9 does not swing relative to the traversing trolley 7. In this case, during one cycle of the pendulum movement of the bucket 9, the trolley 7 is caused to travel while accelerating, and the speed of the trolley 7 at the end of the acceleration section T _A is set to the maximum speed, so that the cycle time is the most. Be shorter.

When the bucket 9 stops at the target position after moving from the constant velocity section T _B to the deceleration section T _C ,
If you want to do swing, the reverse operation when moving to constant speed section T _B from acceleration interval T _A above.

Next, a method for determining the moving speed pattern of the traverse trolley 7 and the unwinding speed pattern of the hanging rope 8 will be described below.

FIG. 4 is a diagram for explaining the moving speed pattern of the traversing trolley and the hoisting line unwinding speed pattern. The coordinate system is such that hoisting (positive) and hoisting down are performed.
(Negative), traveling to the right side of the trolley (positive), traveling to the left side of the trolley (negative).

Equation 8 shows the time required for the unwinding (winding) speed to reach the maximum speed (the acceleration is constant). _{T V = (V R / V} RMAX) T ENV ......... ( Equation 8) T _V: winding down (winding) the time to reach the speed V _R: winding down (winding) speeds V _RMAX: Maximum winding down (winding) rate T _ENV : Time to reach the maximum unwinding (winding) speed

Further, since the length of the pendulum changes during the acceleration / deceleration time of the traverse trolley, the acceleration time T _ACC and the deceleration time T _DEC are defined by Expressions 9 and 10. T _ACC = (2π (L _BANK / g) ^1/2 + 2π ((L _BANK −L _BA ) / g) ^1/2 ) / 2... (Equation 9) T _DEC = ( 2π (L _CONC / g) ^1/2 + 2π ((L _CONC + L _CD ) / g) ^1/2 ) / 2 (Equation 10) L _BANK : Pendulum length on the bunker line _Length L _CONK : Length of pendulum on concrete placing point L _BA : Length of hoisting / _{unwinding of} acceleration time L _CD : Length of hoisting / _{unwinding of} deceleration time

From the conditions of the above-mentioned operation pattern, the traversing / unwinding (winding) speed is obtained as follows. First, acceleration
Equations 11 and 12 show the lengths of the hoisting lines for unwinding (hoisting) during the deceleration time. _{L BA = (T V V R} ) / 2 + (T ACC -T V) V R = T ACC V R - (T V V R) / 2 ............................................. ( formula _{11) L CD = (T V} V R) / 2 + (T DEC -T V) V R = T DEC V R - (T V V R) / 2 ....................................... …… (Equation 12) L _BA : Length of suspension cable to be unwound during acceleration time L _CD : Length of suspension cable to be unwound during deceleration time

Further, the total traversing distance L _OH and the total unwinding length L _DO are shown in Expressions 13 and 14. L _OH = (T _ACC V _H ) / 2 + (T _DEC V _H ) / 2 + (T _T −T _ACC −T _DEC ) V _H = T _T V _H − (T _ACC V _H ) / 2− (T _DEC V _H ) _H) / 2 ............... (formula _{13) L DO = T V V} R + (T T -2T V) V R = T T V R -T V V R .............................. …… (Equation 14) T _T : Time to reach the destination

When the time to reach the target place is obtained by modifying the above equation (14), the equation (15) is obtained. This is substituted into Expression 13 to obtain the relationship between the traversing speed V _H and the unwinding (hoisting) speed V _R , and Expression 16 is obtained. _{T T = (L DO + T} V V R) / V R ....................................... ( Equation _{15) V H = L OH /} ((L DO + T V V R) / V R - T _ACC / 2-T _DEC / 2) ............ (Equation 16)

From the above equation (9), T _ACC = (2π (L _BANK / g) ^1/2 + 2π ((L _BANK −L _BA ) / g) ^1/2 ) / 2 = π (L _BANK / g) ^1/2 + π ((L _BANK −L _BA ) / g) ^1/2 T _ACC ² = π ² (L _BANK / g−2 (L _BANK / g) ^1/2 ((L _BANK −L _BA ) / g ) ^1/2 + (L _BANK −L _BA ) / g) = −π ² (L _BA / g) + 2π (L _BANK / g) ^1/2 (π (L _BANK / g) ^1/2 + π ((L ^{_{BANK -L BA) / g) 1/2}} ) = -π 2 (L BA / g) + 2π (L BANK / g) 1/2 T ACC ∴ T ACC 2 -2πT ACC (L BANK / g) 1/2 + [pi ² when (L _BA / g) = 0 substituting equation 11 into the ^{_{equation, T ACC 2 - (2π (}} L BANK / g) 1/2 - (π 2 / g) V R) T ACC + (π 2 _{/ g) T V V R /} 2 = 0 T ACC = (2π (L BANK / g) 1/2 - (π 2 / g) V R) / 2 + ((2π (L BANK / g) 1/2 − (Π ² / g) V _R ) ² +2 (π ² / g) T _V V _R ) ^1/2 / 2 (Equation 17) Therefore, L _BANK , T _V , and V _{R are} determined. Then, T _ACC is obtained.

From the above equation (10), T _DEC ² −2πT _DEC (L _CONC / g) ^1/2 − (π ² / g) L _CD = 0 T _DEC ² − (2π (L _CONC / g) ^{1 / 2 + (π 2 / g)} V R) T DEC + (π 2 / g) T V V R / 2 = 0 T DEC = (2π (L CONC / g) 1/2 - (π 2 / g) V _{R) / 2 + ((2π} (L CONC / g) 1/2 - (π 2 / g) V R) 2 +2 (π 2 / g) T V V R) 1/2 / 2 ............... (Equation 18) Accordingly, if L _CONC , T _V , and V _R are determined, T _DEC is determined.

Therefore, the acceleration / deceleration time is determined by
It is a function of (winding) speed. Assuming the unwinding (hoisting) speed, the traversing speed is obtained from Expression 16, and when these maximum values are obtained, the optimum traversing / unwinding (hoisting) speed is obtained.

Further, if the middle transportation of the bucket 9 is obstructed, FIG. 5 (A), the (B), the acceleration period T _A and constant speed section T _B and decelerating interval T _C in the transverse trolley 7 and control of hoisting / unwinding of the hoisting line 8. That performs a winding until the middle of the acceleration interval T _A and constant speed section T _B shown in FIG. 5 (A), from the end of the winding in the constant velocity interval T _B shown in FIG. 5 (A) After a predetermined time, deceleration section T _C
Unwinding is performed during.

[0036] Thus, while such a bucket 9 is not shake in the constant velocity interval T _B, winding or winding down acceleration section T _A The operation of the slings 8, constant speed section T _B and decelerating interval T _C by performing over at least two sections including a constant speed section T _B of, while avoiding and various obstacles conveying path of the bucket 9 and transports quickly and safely bucket 9 to the target position from the delivery start position be able to.

In the acceleration section T _A , the period of the pendulum motion based on the suspension length of the suspension rope 8 at the start of acceleration is:
After moving the traverse trolley 7 while accelerating it for approximately an integral multiple of the average value of the period of the pendulum motion based on the suspension length of the suspension cable 8 at the end of the acceleration, the traverse trolley 7 and the bucket 9 are moved. since moving with constant velocity, the bucket 9 at a constant speed period T _B
The bucket 9 can be transported safely without swinging. In addition, hoisting rope 8 is hoisted in the acceleration section T _A ,
Hanging case of shorter length, it is possible to avoid the constant speed section T during the obstacle is moved in _B, and hanging length than that of the constant, the average period of the pendulum movement of the bucket 9 Since the value is shortened, it is possible to shorten the time when moving while accelerating.

In the acceleration section T _A , the traversing trolley 7 is driven while accelerating at a substantially constant acceleration.
The speed of the acceleration and constant speed section T _B of acceleration interval T _A transverse trolley 7 can be easily determined in accordance with the carrying capacity of the cable crane.

In the deceleration section T _C , the period of the pendulum motion based on the suspension length of the suspension rope 8 at the start of deceleration,
When the transverse trolley 7 is moved while decelerating for a time that is substantially an integral multiple of the average value of the period of the pendulum motion based on the suspension length of the suspension cable 8 at the end of the deceleration, the pendulum motion of the suspended load becomes substantially the lowest. Since the trolley 7 and the suspended load stop at the point, the bucket 9 can be reliably stopped at the target position without the bucket 9 swinging.

In the deceleration section T _C , the traversing trolley 7 travels while decelerating at a substantially constant acceleration.
The acceleration in the acceleration section T _A of the traversing trolley 7 and the speed in the deceleration section T _C can be easily determined according to the carrying capacity of the cable crane, and the bucket 9 can be reliably stopped at the target position.

[0041] In addition, rampant trolley 7 in the constant velocity interval T _B
And the bucket 9 are moved at substantially constant speed in a substantially horizontal direction.
By moving at the maximum speed of the crane, the cycle time can be further reduced.

[0042] In the above embodiment has been described a method for controlling the cable crane as concrete delivery means in dam construction, the present invention may be applied to the motor work lane like. When the present invention is applied to a tower crane, an acceleration section, a constant velocity section, and a deceleration section are provided in the circumferential direction in which the suspended load moves with the rotation of the boom of the tower crane.

In the above embodiment, the acceleration section T _A
In preparative constant velocity interval T _B and the deceleration interval T _C were subjected to the control of the winding / windings unloading of slings 8, depending on the transportation route and the like of the crane form and suspended load, two of the acceleration section and constant speed section Sections,
May be performed the operation of down winding or windings of wire in two sections with constant speed section deceleration zone T _C, only constant speed section may perform the operation of unloading winding or windings of wire.

[0044]

As is clear from the above, the dam of the present invention
According to the control method of use crane can be transported quickly and safely bucket from luck transportable start position to the target position.

[Brief description of the drawings]

FIG. 1 is an overall schematic diagram of an embodiment of a cable crane and dam construction site control method is used in the dam crane <br/> over emissions of the present invention.

FIG. 2 is a side view showing a transport route of a bucket of the cable crane.

FIG. 3 (A) is a diagram showing the speed of a traversing trolley during the carrying operation of the cable crane, and FIG. 3 (B) is a diagram showing the speed of unwinding a hoisting line.

FIG. 4 is a view for explaining a moving speed pattern of the traversing trolley and a hoisting line unwinding speed pattern.

FIG. 5 (A) is a diagram showing the speed of the traversing trolley during the carrying operation of the cable crane when there is an obstacle, and FIG. 5 (B) shows the speed of hoisting / unwinding the hoisting line. FIG.

[Explanation of symbols]

1,2 ... Track post, 3 ... Track, 4 ... Traveling trolley, 5
… Main rope post, 6… main rope, 7… traversing trolley, 8… suspension rope, 9… bucket, 10… bank body, 11… bunker line, 1
2 ... Transfer car, 13 ... Batcher plant.

Continuation of the front page (72) Inventor Toshiyuki Ishii 2-2-2 Matsuzaki-cho, Abeno-ku, Osaka-shi, Osaka, Japan Okumura Gumi Co., Ltd. (56) References JP-A-9-278359 (JP, A) JP-A-2-2 129707 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B66C 13/22 B66C 21/00

Claims (2)

(57) [Claims] (1) It is a concrete transportation means for dam construction
In the control method of the dam crane, the bucket
From the transport start position to the destination position while hanging
Sometimes the upper fulcrum of the wire traverses and the wire
Lifting is performed in the section from the transport start position to the destination position.
Over time, acceleration, constant velocity, deceleration in order of dam
Control method, Assuming a constant winding speed of the wire, Based on the winding speed of the above wire at constant speed and the total winding length
And the wire winding speed is determined for each elapsed time.
In addition to obtaining the wire winding speed pattern,
The process of finding the time to reach the destination position from the transport start position
When, Based on the winding speed pattern of the wire, the wire
Suspension length of the above wire at the start of acceleration of traverse of the upper fulcrum
Of the pendulum motion of the bucket and the wire based on
The suspension length of the above wire at the end of the traverse acceleration of the upper fulcrum
Of the average value with the period of the pendulum movement of the bucket based on
Move the upper fulcrum of the above wire so that the time becomes an integral multiple
And the winding speed of the wire.
Based on the turn, decelerate and open the traverse of the upper fulcrum of the wire.
The swing of the bucket based on the hanging length of the wire at the beginning
End of deceleration of the traverse of the wire movement and the upper fulcrum of the wire
Swing of the bucket based on the suspended length of the wire at the time
So that the time is approximately an integral multiple of the average value with the period of the child movement
And determining a deceleration time for traversing the upper fulcrum of the wire.
When, The time required to reach the destination position from the transport start position
The acceleration and deceleration times of the traverse of the upper fulcrum of the wire
Upper fulcrum of the above wire from the transport start position to the destination position
Based on the total traverse distance of
Obtain the moving speed at the constant speed and the upper fulcrum of the above wire.
Above the wire, where the traversing speed of
Obtaining a moving speed pattern of a traverse of the fulcrum, Winding the wire at the same speed using the above four processes
Speed and travel speed of the wire above the fulcrum at the constant speed
The wire winding means and the wire Ya's superior
To be maximal within the limits of the ability of the means of traveling across points
The winding speed pattern of the wire and the wire
Determine the traversing speed pattern of the upper fulcrum of The determined winding speed pattern of the wire and
Based on the traversing speed pattern of the upper fulcrum of the above wire
For dams characterized by operating a crane
Control method. (2) It is a concrete transportation means for dam construction
In the control method of the dam crane, the bucket
From the transport start position to the destination position while hanging
Sometimes the upper fulcrum of the wire traverses and the wire
Unloading and unrolling, the section from the transport start position to the destination position
For the dam, which is performed in the order of acceleration, constant velocity, and deceleration.
Control method of the A step of assuming the unwinding speed of the wire at a constant speed; The unwinding speed and the unwinding length of the above wire at constant speed
Based on this, the unwinding speed of the wire is determined for each elapsed time.
And the unwinding speed pattern of the wire
The time required to reach the destination position from the transport start position
The process of Based on the wire unwinding speed pattern,
Suspension length of the above wire at the start of traverse acceleration of the upper fulcrum of the ear
Of the pendulum movement of the bucket based on the
Suspension length of the above wire at the end of traverse acceleration of the upper fulcrum
Of the average value with the period of the pendulum movement of the bucket based on
Next to the upper fulcrum of the above wire so that the time is approximately an integer multiple
Determine the line acceleration time and unwind speed of the wire.
The traverse of the upper fulcrum of the above wire is reduced based on the degree pattern.
The bucket based on the suspension length of the wire at the start of speed
Of the pendulum motion and the lateral deceleration of the upper fulcrum of the wire
Of the bucket based on the suspension length of the wire at the end
The time is almost an integer multiple of the average value of the period of the pendulum movement.
In this way, the process for determining the traverse deceleration time of the upper fulcrum of the wire
About The time required to reach the destination position from the transport start position
The acceleration and deceleration times of the traverse of the upper fulcrum of the wire
Upper fulcrum of the above wire from the transport start position to the destination position
Based on the total traverse distance of
Obtain the moving speed at the constant speed and the upper fulcrum of the above wire.
Traverse speed is determined for each elapsed time Above the wire
Obtaining a moving speed pattern of a traverse of the fulcrum, Using the above four steps, unwind the wire at the same speed
Of the upper fulcrum of the wire at the same speed
The speed is determined by the means for unwinding the wire and the wire.
It will be the maximum within the limit of the ability of the means of transportation traversing the upper fulcrum
As described above, the unwinding speed pattern of the wire and the wire
Determine the traveling speed pattern of the upper fulcrum of the ear, The determined wire unwinding speed pattern and
And the traversing speed pattern of the upper fulcrum of the above wire.
Crane for operating a crane
How to control the