JP6317950B2 - Ready-mixed concrete measuring device, placing device and work ship for ship placement - Google Patents

Description

  The present invention relates to a ready-mixed concrete measuring device, a placing device, and a work ship for placing on a ship, and more particularly, to a ready-mixed concrete measuring device, a placing device, and a work ship for placing a ship that can improve work efficiency. Is.

  When constructing a concrete structure at sea, for example, the weight of materials such as cement, water, and aggregate is measured on a concrete mixer ship, and these materials are kneaded at a predetermined ratio to produce ready-mixed concrete. And this ready-mixed concrete is used for construction. By the way, since the measuring instrument mounted on the ship is affected by the swing of the ship, in order to measure the material with high accuracy, it is necessary to perform the measurement when the ship does not swing or is small. Therefore, the time during which the measuring instrument can be used is limited, and this is one factor that hinders the improvement of work efficiency.

  In addition, when placing ready-mixed concrete at a predetermined position using a concrete distributor placed on the ship, the boom constituting the concrete distributor swings as the ship swings. It becomes difficult to drive. Therefore, it is necessary to perform driving when the ship does not swing or is small, and this also contributes to hindering work efficiency.

  For example, in a ready-mixed concrete plant installed on a ship, a method and an apparatus for manufacturing ready-mixed concrete with a small measurement error even under an environment in which the ship swings have been proposed (see Patent Document 1). In this proposal, the measurement target value of the second batch is corrected based on the deviation between the standard measurement target value and the actual measurement value for a specific raw material, and the raw materials weighed in the first and second batch are mixed and stirred. 1 lot of ready-mixed concrete is produced. In the proposed method, the weighing error in the first batch is offset by the weighing in the second batch. That is, it is assumed that the measured value of the specific raw material in the second batch is correct, but in order to make the measured value in the second batch correct, it is necessary to perform when the ship does not swing or is small. Therefore, the time in which the measuring instrument can still be used is limited, and there is room for improvement in order to improve work efficiency.

Japanese Patent Laid-Open No. 2001-47428

  An object of the present invention is to provide a ship-mounting concrete measuring apparatus, a placing apparatus, and a work ship that can improve work efficiency.

In order to achieve the above object, a raw concrete weighing apparatus for placing a ship according to the present invention includes a 6-DOF motion base installed in a ship, a top plate supported by the 6-DOF motion base, a metering device for measuring the weight of the metering tank and raw concrete material contained in the measuring tank is mounted on the upper surface, a sensor for sequentially detecting the rocking of the ship, swing data detected by the sensor Are sequentially controlled so that the top plate is maintained horizontally by the control unit based on the swing data .

The ready-mixed concrete placing apparatus for placing a ship according to the present invention is placed on a top surface of the top board, a 6-DOF motion base installed on the ship, a top board supported by the 6-DOF motion base. A concrete distributor for feeding ready-mixed concrete , a sensor for sequentially detecting the swing of the ship, and a controller for sequentially inputting the swing data detected by the sensor, and based on the swing data, The control unit is configured to be sequentially controlled so as to keep the top plate horizontal .

  The work ship of the present invention is characterized by mounting the above-mentioned ready-mixed concrete measuring device and the above-mentioned ready-mixed concrete placing device.

  According to the ready-mixed concrete measuring apparatus of the present invention, the measuring tank and the measuring instrument are placed on the top surface of the top plate supported by the 6-DOF motion base installed in the ship, and the measuring instrument is accommodated in the measuring tank. Because the weight of the concrete material is measured, even when the ship is oscillating, the 6-DOF motion-based attitude control of the measuring tank and the measuring instrument suppresses the measuring tank and measuring instrument from swinging, resulting in high-precision measurement. Is possible. Along with this, there is no restriction on the weight measurement possible time due to the swinging of the ship, so that the work efficiency can be improved.

  According to the ready-mixed concrete placing apparatus of the present invention, the concrete distributor is placed on the top surface of the top plate supported by the 6-degree-of-freedom motion base installed in the ship, and the concrete distributor is placed in the raw tank accommodated in the storage tank. Since the pipe for compressing concrete is held, even if the ship swings, the swing of the concrete distributor is suppressed by the attitude control of the concrete distributor by the 6-DOF motion base, and the ready-mixed concrete is stably put in place. It becomes possible to cast. Along with this, there is no restriction on the time for placing ready-mixed concrete due to the swinging of the ship, so that work efficiency can be improved.

  According to the work boat of the present invention, the above-described effects can be obtained by the ready-mixed concrete measuring device and the placing device. It can be performed efficiently without being affected.

It is a front view which illustrates the work ship carrying the ready-mixed concrete measuring device and placing device of the present invention. It is explanatory drawing which illustrates the outline | summary of the ready-mixed concrete measuring apparatus of FIG. It is explanatory drawing which illustrates the outline | summary of another embodiment of the ready-mixed concrete measuring apparatus of FIG. It is explanatory drawing which illustrates the motion of 6 degree-of-freedom motion base of FIG. It is explanatory drawing which illustrates the outline | summary of the ready-mixed concrete placement apparatus of FIG.

  DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a ready-mixed concrete measuring device, a placing device, and a work ship for mounting a ship according to the present invention will be described based on the embodiments shown in the drawings.

  A working ship 1 according to the embodiment illustrated in FIG. 1 includes a ship-mounted ready-mixed concrete measuring device 2 (hereinafter referred to as a measuring device 2) and a ship-mounted ready-mixed concrete placing device 12 according to the present invention. (Hereinafter referred to as a placement device 12) is mounted. The work ship 1 is further equipped with material tanks 17a, 17b, 17c in which the material M (M1, M2, M3) of the ready-mixed concrete C is stocked, a mixing tank 3d, and a storage tank 13. Examples of the material M include cement M1, aggregate M2, and water M3. Necessary equipment is mounted on the work boat 1 as appropriate.

  As illustrated in FIG. 2, the weighing device 2 is mounted on the 6-DOF motion base 5 installed on the work boat 1, the top plate 10 a supported by the 6-DOF motion base 5, and the top surface of the top plate 10 a. Metering tanks 3a, 3b, 3c and metering devices 4a, 4b, 4c. A supply line is extended from the lower part of each material tank 17a, 17b, 17c toward the measuring tanks 3a, 3b, 3c. Each supply line is provided with on-off valves 13a, 13b, 13c. By opening and closing the on-off valves 13a, 13b, and 13c, the necessary amounts of the respective materials M1, M2, and M3 are supplied to the respective measuring tanks 3a, 3b, and 3c. Each measuring device 4a, 4b, 4c measures the weight of each material M1, M2, M3 accommodated in the measuring tanks 3a, 3b, 3c.

  The mixing tank 3d is placed on the deck of the work boat 1, and a stirrer 11 is provided inside. A supply line extending from the lower part of each of the measuring tanks 3a, 3b, 3c is extended to the mixing tank 3d. Further, a sensor 9 such as a motion sensor that sequentially detects the swing of the work boat 1 is also provided.

  As shown in the embodiment illustrated in FIG. 3, the weighing device 2 includes one weighing tank 3 and one weighing device 4 mounted on the top surface of the top plate 10 a supported by the motion base 5 with freedom. It can also be. In this embodiment, a stirrer 11 is provided in the measuring tank 3, and unlike the embodiment illustrated in FIG. 2, the measuring tank 3 is also functioned as a mixing tank.

  As illustrated in FIG. 4, the six-degree-of-freedom motion base 5 installed between the top plate 10 a and the substrate 10 b includes six actuators 6 a to 6 f and driving units 7 a to 7 that extend and contract the respective actuators 6 a to 6 f. 7f and a control unit 8 for controlling the operation of the actuators 6a to 6f (drive units 7a to 7f). As the actuators 6a to 6f, hydraulic cylinders that can obtain a high output may be used. Each of the actuators 6a to 6f has an upper end portion rotatably connected to the top plate 10a via a rotation link, and a lower end portion rotatably connected to the substrate 10b via a rotation link, and each actuator is controlled independently. It can be expanded and contracted.

  The swing data detected by the sensor 9 is sequentially input to the control unit 8. The expansion / contraction (expansion / contraction amount) of each of the actuators 6a to 6f is sequentially controlled by the control unit 8 based on the input swing data.

  Even when the work boat 1 is swung by wave motion, the top plate 10a supported by the 6-degree-of-freedom motion base 5 can be kept horizontal by controlling the expansion and contraction of the actuators 6a to 6f. . In other words, the surge (forward / backward), sway (left / right), heave (up / down), roll (side), pitch (long) and yaw (head) are canceled out. The top plate 10a can be kept horizontal by extending and contracting the actuators 6a to 6f. That is, regardless of the swinging of the work boat 1, the measuring tank 3 (3a, 3b, 3c) and the measuring instrument 4 (4a, 4b, 4c) can be maintained in a state of being placed on a horizontal plane.

As illustrated in FIG. 5, the placing device 12 is mounted on the 6-degree-of-freedom motion base 5 installed on the work boat 1, the top board 10a supported by the 6-degree-of-freedom motion base 5, and the top surface of the top board 10a. And a concrete distributor 14 to be placed. The concrete distributor 14 has a plurality of booms 14a, 14b, and 14c that are erected on a base 14d. Each boom 14a, 14b, 14c is connected rotatably. Since the base 14d is placed so as to be able to turn with respect to the top plate 10a, the connected booms 14a, 14b, and 14c are structured to turn integrally by turning the base 14d . .

  A storage tank 13 is placed on the deck of the work boat 1. A pressure pump 16 is disposed below the storage tank 13. A pipe 15 is connected to the pressure pump 16, and the pipe 15 extends to the concrete distributor 14. The pipe 15 is held by booms 14 a, 14 b, and 14 c in the concrete distributor 14. The upper end portion of the pipe 15 protrudes from the upper end of the uppermost boom 14c. By rotating the base 14d, the direction of the upper end opening 15a of the pipe 15 turns, and by rotating the booms 14a, 14b, 14c at the connecting portion, the vertical position of the upper end opening 15a of the pipe 15 changes.

  The 6-DOF motion base 5 is as shown in FIG. Therefore, the swing data detected by the sensor 9 is sequentially input to the control unit 8. Expansion / contraction (expansion / contraction amount) of each of the actuators 6a to 6f is sequentially controlled by the control unit 8 based on the input swing data. Thereby, even if the work boat 1 is swung by a wave, the top plate 10a supported by the 6-degree-of-freedom motion base 5 can be kept horizontal by controlling the expansion and contraction of the actuators 6a to 6f. It becomes possible. That is, the concrete distributor 14 can be maintained in a state of being placed on a horizontal plane regardless of the swinging of the work boat 1.

  Next, a construction method for constructing a concrete structure at sea using the work boat 1 will be described.

  First, the weight of each material M1, M2, M3 for one batch to be mixed is measured using the weighing device 2 illustrated in FIG. Therefore, a predetermined amount of the material M1 is supplied from the material tank 17a stocked with the material M1 to the measuring tank 3a. Thereafter, the weight is measured by the measuring instrument 4a. If the measurement result is insufficient, the on-off valve 13a is opened again to supply the shortage amount to the measuring tank 3a. It can be confirmed that a predetermined amount of the material M1 has been supplied to the measuring tank 3a by the measurement by the measuring instrument 4a. In a similar procedure, a predetermined amount of materials M2 and M3 set in advance are respectively supplied to the measuring tanks 3b and 3c.

  In this way, the respective materials M1, M2, and M3 are supplied to the measuring tanks 3a, 3b, and 3c by a predetermined amount set in advance. Subsequently, these predetermined amounts of materials M1, M2, and M3 are transferred to the mixing tank 3d. As a result, the materials M1, M2, and M3 are blended at a predetermined ratio set in advance, and the materials M1, M2, and M3 are stirred and mixed using the stirrer 11 in the mixing tank 3d to produce ready-mixed concrete C. To do.

  When the embodiment illustrated in FIG. 3 is used as the weighing device 2, a predetermined amount of the material M1 set in advance is supplied from the material tank 17a stocked with the material M1 to the weighing tank 3. Thereafter, the weight is measured by the measuring instrument 4. If the measurement result is insufficient, the on-off valve 13a is opened again to supply the shortage amount to the measuring tank 3. It can be confirmed that a predetermined amount of the material M1 has been supplied to the measuring tank 3 by the measurement by the measuring instrument 4. A predetermined amount of materials M2 and M3 set in advance are supplied to the measuring tank 3 sequentially in the same procedure. The weight of the material M2 supplied to the measuring tank 3 can be grasped by subtracting the weight of the material M1 previously measured from the weight measured after supplying the material M2 to the measuring tank 3. The weight of the material M3 supplied to the measuring tank 3 can be grasped similarly.

  In this way, the respective materials M1, M2, and M3 are supplied to the measuring tank 3 by a predetermined amount set in advance. That is, the materials M1, M2, and M3 are blended at a predetermined ratio set in advance, and the materials M1, M2, and M3 are stirred and mixed by the stirrer 11 to produce ready-mixed concrete C.

  Here, the work boat 1 is swung by the wave motion of the sea area. However, in the measuring device 2 of the present invention, the measuring tank 3 (3a, 3b, 3c) and the measuring device 4 (4a, 4b, 4c) due to the wave are based on the swing data of the work ship 1 detected by the sensor 9. The postures of the measuring tanks 3 (3a, 3b, 3c) and the measuring devices 4 (4a, 4b, 4c) are controlled by controlling the expansion and contraction of the respective actuators 6a to 6f so as to cancel out the swinging of the measuring devices. Thereby, swinging of the measuring tank 3 (3a, 3b, 3c) and the measuring instrument 4 (4a, 4b, 4c) is suppressed.

  Therefore, even when the work boat 1 swings, the weight of the material M stored in the measuring tank 3 (3a, 3b, 3c) is measured with high accuracy by the measuring instrument 4 (4a, 4b, 4c). be able to. Along with this, there is no restriction on the time in which the weight can be measured due to the swinging of the work boat 1, so that the work efficiency can be improved. Further, since the measuring tank 3 (3a, 3b, 3c) does not swing greatly in the heavy state in which the material M is accommodated, the load (impact) on the measuring instrument 4 (4a, 4b, 4c) is reduced. . Along with this, problems such as failure of the measuring instrument 4 (4a, 4b, 4c) and poor measurement accuracy can be avoided.

  Since it takes some time for the actuators 6a to 6f to actually expand and contract after the sensor 9 detects the swing of the work boat 1, a so-called follow-up delay occurs. Therefore, it is preferable to create an autoregressive model using the swing data of the work ship 1 detected by the sensor 9 and feed forward the result of predicting the swing of the work ship 1 using this model. By performing such feedforward control or the like on the actuators 6a to 6f, the follow-up delay is improved, so that the measuring tank 3 (3a, 3b, 3c) and the measuring instrument 4 (4a, 4b, 4c) are shaken. The movement can be further suppressed. That is, by using the 6-degree-of-freedom motion base 5, it is possible to suppress the swinging of the measuring tank 3 (3a, 3b, 3c) and the measuring instrument 4 (4a, 4b, 4c) against a wave that can be expected to some extent. .

  The produced ready-mixed concrete C is transferred from the mixing tank 3d (the measuring tank 3 in the case of the measuring device 2 in FIG. 3) to the storage tank 13 and stored. The ready-mixed concrete C accommodated in the storage tank 13 is discharged from the upper end opening 15 a through the pipe 15 by operating the pumping pump 16. The upper end opening 15a is moved to a desired arbitrary position by turning the base 14a constituting the concrete distributor 14 and rotating the booms 14a, 14b, 14c. And after positioning, the fresh concrete C is discharged and it places in a predetermined position.

  Here, the work ship 1 is swung by the wave of the sea area. However, in the placing device 12 of the present invention, the concrete distributor 14 is swung by the wave based on the rocking data of the work ship 1 detected by the sensor 9. The posture of the concrete distributor 14 is controlled by controlling the expansion and contraction of the actuators 6a to 6f so as to cancel the movement, and the swing of the concrete distributor 14 is suppressed.

  Even if the swinging of the work boat 1 is small, the booms 14a, 14b, 14c that are erected long usually swing largely. However, in the placing device 12 of the present invention, the work boat 1 swings. However, the swinging of the concrete distributor 14 is suppressed. Therefore, it becomes possible to place the ready-mixed concrete C stably at a predetermined position. Along with this, there is no restriction on the time during which the ready-mixed concrete C can be placed due to the swinging of the work boat 1, so that the work efficiency can be improved.

  When the work ship 1 is used, the above-described effects of the weighing device 2 and the placing device 12 can be obtained. Therefore, a series of operations from the measurement of the materials M1, M2, and M3 of the ready-mixed concrete C to the placement are performed on the work vessel 1. It will not be affected by swinging. Therefore, it becomes possible to work very efficiently.

  The six-degree-of-freedom motion base 5 used in the present invention is not limited to the one exemplified in the embodiment, and can provide all the movements of six degrees of freedom to keep the top board 10a always in a horizontal stationary state. I just need it.

DESCRIPTION OF SYMBOLS 1 Work ship 2 Weighing device 3, 3a, 3b, 3c Weighing tank 3d Mixing tank 4, 4a, 4b, 4c Weighing device 5 6-degree-of-freedom motion base 6a-6f Actuator 7a-7f Drive part 8 Control part 9 Sensor 10a Top plate 10b Substrate 11 Stirrer 12 Placing device 13 Storage tanks 13a, 13b, 13c On-off valve 14 Concrete distributors 14a, 14b, 14c Boom 14d Base 15 Pipe 15a Upper end opening 16 Pressure pumps 17a, 17b, 17c Material tank C Ready-mixed M, M1, M2, M3 materials

Claims (4)

6-degree-of-freedom motion base installed on the ship, a top board supported by the 6-degree-of-freedom motion base, a measuring tank placed on the top surface of the top board, and a raw concrete material accommodated in the measuring tank A weighing instrument for measuring the weight of the ship, a sensor for sequentially detecting the swing of the ship, and a controller for sequentially inputting the swing data detected by the sensor, and the control based on the swing data A fresh concrete weighing apparatus for placing on a ship, characterized in that it is sequentially controlled so as to keep the top plate horizontal by a section .   The ready-mixed concrete measuring apparatus for ship placement according to claim 1, wherein an agitator is installed in the measuring tank. 6-degree-of-freedom motion base installed on the ship, a top plate supported by the 6-degree-of-freedom motion base, a concrete distributor for feeding raw concrete placed on the top surface of the top board, and swinging of the ship And a control unit to which the rocking data detected by the sensor is sequentially input, and based on the rocking data, the control unit sequentially controls the top plate to be maintained horizontally. A ready-mixed concrete placing device for placing on a ship, characterized in that it is configured as described above .   A work ship equipped with the ready-mixed concrete measuring device according to claim 1 and the ready-mixed concrete placing device according to claim 3.

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