JPH04333490A - Control method for moving jib crane - Google Patents

Abstract

PURPOSE:To correctly detect the position of a jib crane and improve safety and efficiency of construction work by equipping a light wave distance measuring equipment outside the range of movement of a walking jib crane, and measuring the distance up to a target provided on one face of the jib crane. CONSTITUTION:An optical signal 12 is emitted with a light wave distance measuring equipment 11, and by reflection on the target 10 of a jib crane 1, the distance from the light wave distance measuring equipment 11 to the jib crane 1 is detected. At this time, the light wave distance measuring equipment 11 is fixed outside tracks, and hence the correct distance is obtained. When a transport carriage 5 is supplied with concrete, it is run on second tracks 3 and stopped at the position a little meter this side of an implanted bucket 8. An encoder to convert the rotating quantity of an axle to the running distance is provided inside the transport carriage 5, and its own position is confirmed. This position information is input to a microcomputer as the position information of the jib crane 1, and the jib crane 1 and the transport carriage 5 are controlled.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a technique that is effective when applied to the control of mobile jib cranes used for concrete pouring work in concrete dams.

0002

[Prior Art] For example, at a concrete dam construction site, concrete mixed in a batcher plant is transferred to a dump-type transport vehicle, and then this transport vehicle runs on a track set on the bunker line and is moved by a jib crane. It stops just in front of the bucket that has been suspended and landed on the floor, transfers the concrete on the transport trolley into the bucket, then lifts this bucket with a jib crane and moves it to a specified position, opens the bottom of the bucket, and moves the concrete to the specified position. The concrete was being poured.

0003

[Problem to be solved by the invention] By the way, when lifting and lowering a bucket using a jib crane and when transporting concrete from a transport vehicle to a bucket, it is necessary to accurately recognize the position of the jib crane. .

That is, unless the positional relationship between the jib crane and the transport vehicle is accurately recognized, it will be difficult to transfer concrete from the transport vehicle to the bucket.

[0005]However, the running of conventional jib cranes, etc. relied exclusively on the visual operation of workers (operators), which made it difficult to grasp the exact positions of the jib cranes and transport carts, resulting in poor work efficiency. It was not good.

[0006]Furthermore, there is a concern that jib cranes may come into contact with each other or collide with each other due to the operator's instinctive operation.

The present invention has been made in view of the above problems, and its purpose is to improve the safety and efficiency of construction work by accurately detecting the position of a jib crane.

[0008]

[Means for Solving the Problems] The present invention provides a mobile jib crane that runs on a track and is equipped with a self-propelled motor, in which a light wave distance measuring device is mounted outside the movement range of the mobile jib crane, and The position of the mobile jib crane is detected by measuring the distance to a target provided on one side of the mobile jib crane.

[0009]

[Operation] According to the above-mentioned means, since the accurate position on the trajectory of the mobile jib crane can be detected, the concrete can be accurately transferred from the transport truck to the landed bucket. . Further, even when two or more mobile jib cranes are working on the same track, contact and collision between the mobile jib cranes can be prevented.

0010

[Embodiment] As shown in FIG. 1, the jib crane 1 in this embodiment is capable of self-propelling on a first track 2
A second track 3 having a narrower track width is provided inside the track 2. That is, the jib crane 1 is movable along the first track 2 that straddles the second track 3. On the other hand, the transport trolley can pass under the jib crane 1 and run.

The jib crane 1 has a horizontally rotatable crane operator's cabin 6 on a truck 5 that supports wheels 4, and this crane operator's cabin 6 has a crane arm 7 extending diagonally upward. Vertical movement/rotation of and jib crane 1
Maneuver when driving.

A bucket 8 having a volume of about 3 cubic meters is suspended from the tip of the crane arm 7 and has a bottom opening/closing type.

A target 10 made of a light reflecting plate is attached to one side of the truck 5, and is adapted to receive an optical signal 12 from an optical distance measuring device 11 installed outside the orbit.

The transport truck 5 has a dump-type concrete storage section 13 with an open top placed on the truck 5 that supports the wheels 4.
When one end of the concrete storage section 13 rises, the concrete in the concrete storage section 13 can be transferred into the bucket 8 on which it has landed.

Next, a method of controlling the jib crane 1 according to this embodiment will be explained. First, the optical distance measuring device 11
An optical signal 12 of a predetermined wavelength is emitted from the jib crane 1 and reflected by the target 10 of the jib crane 1. Thereby, the distance from the light wave distance measuring device 11 to the jib crane 1 is detected. At this time, since the optical distance measuring device 11 is fixed outside the orbit, an accurate distance can always be obtained. In this state, the jib crane 1 places the empty bucket 8 on the floor and waits for the delivery vehicle 5 to arrive.

When the conveyance truck 5 is supplied with concrete from a batcher plant (not shown), it travels along the second track 3 and stops at a position several meters in front of the bucket 8 which is placed on the floor.

The transport vehicle 5 has an encoder inside thereof which converts the amount of rotation of the wheel axle into a travel distance, and the transport vehicle 5 recognizes its own position using this encoder. The position information of the transport vehicle 5 and the position information of the jib crane 1 are input into a microcomputer,
After this, the jib crane 1 and the transport truck 5 are controlled based on both pieces of information.

That is, after stopping a few meters in front of the bucket 8, the transport cart 5 switches to fine movement and approaches the bucket 8. Then, when it stops just before the bucket 8, one end of the concrete storage section 13 is lifted up,
The concrete in the concrete storage section 13 is poured into the bucket 8. This work completes the concrete transfer.

In this embodiment, at this time, the jib crane 1
Since the position of the concrete is accurately detected and the jib crane 1 and the transport trolley 5 are controlled based on this position information, concrete can be reliably transferred even when the transport trolley 5 is operated unmanned.

Furthermore, although the transport vehicle 5 has been described as one whose position is detected using an encoder, the position may be detected using a light wave distance measuring device 11 in the same way as the jib crane 1.

[0021] After the bucket 8 is filled with concrete in this manner, the transport vehicle 5 travels again on the second track 3 and returns to the batcher plant (not shown).

[0022] The jib crane 1 has the bucket 8
After hoisting the
Open the bottom of the bucket 8 at the desired position by moving the
Pour the concrete in bucket 8.

[0023]

[Effects of the Invention] According to the present invention, since the accurate position on the track of the mobile jib crane can be detected, it is possible to accurately transfer concrete from the transport truck to the bucket that has been placed on the ground. can.

Furthermore, even when two or more mobile jib cranes are working on the same track, contact and collision between the mobile jib cranes can be prevented, and work safety can be ensured.

[Brief explanation of drawings]

[Fig. 1] Mobile jib crane 1 which is an embodiment of the present invention
FIG.

FIG. 2 is a front view showing the jib crane 1 and the transport trolley 5 in the embodiment.

FIG. 3 is a block diagram showing an outline of control in the embodiment.

[Explanation of symbols]

1. Jib crane 2. 1st orbit 3. Second orbit 4. Wheels 5.Transportation trolley 6. Crane cockpit 7. Crane arm 8. Bucket 10...Target 11...Lightwave distance measuring device 12... Optical signal 13...Concrete storage section

Claims (1)

[Claims] Claim 1: In a mobile jib crane that runs on a track and is equipped with a self-propelled motor, a light wave distance measuring device is mounted outside the movement range of the mobile jib crane, and is installed on one side of the mobile jib crane. A method for controlling a mobile jib crane, characterized in that the position of the mobile jib crane is detected by measuring a distance to a target.