JPH11209072A - Cable crane - Google Patents

Abstract

PROBLEM TO BE SOLVED: To conduct automatic operation in various works by operating a cable crane in a hopper mode to carry concrete to a hopper, a block mode to carry the concrete to a plurality of placing blocks and a miscellaneous mode to carry equipment and materials for the works. SOLUTION: A cable crane 3 arranged at a dam construction site carries concrete to a hopper 7 by receiving the concrete from a transfer car 5 in a bunker area 4 existing on the left shore 1 side. Here, the cable crane 3 is controlled on operation in an automatic operation mode such as a block mode and a miscellaneous mode besides a hopper mode. These automatic operation is performed by a control device provided in a cable crane monitoring room 28, and a changeover switch is combined with this control device. Therefore, in the automatic operation, an indoor operator can respectively switch the hopper mode, the block mode and the miscellaneous mode in a single operation.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cable crane used for placing concrete in dam construction work or the like.

[0002]

2. Description of the Related Art In general, concrete casting, particularly hopper casting, during dam construction is performed as follows. As shown in FIGS. 5 to 7, a cable crane 3 is installed so as to bridge the left bank 1 and the right bank 2, and the cable crane 3 transfers concrete (mixed concrete) from the transfer car 5 in a bunker area 4 on the left bank 1 side. Upon receiving the concrete, the concrete is transferred to a hopper 7 installed in the embankment 6. The concrete delivered to the hopper 7 is transported by the dump truck 8 to a concrete placing position.

In the bunker area 4, a transfer car 5 has a batcher plant (concrete manufacturing facility) 9.
Concrete is transported from When the bucket 10 suspended by the cable crane 3 reaches the bunker area 4, the concrete is transferred to the bucket 10. Therefore, the cable crane 3 conveys the concrete from the bunker area 4 at a high place to the hopper 7 within the bank at a low place.

[0004] The casting of concrete is performed for each of the plurality of divided casting blocks 11. As shown in FIG. 9, the casting block 11 is often divided into a plurality of parts in the left and right directions and the front and rear directions (upstream and downstream directions) in the riverbed. However, the upper part is in a single row as shown in FIG. The concrete transport by the dump truck 8 is performed to each of the placing blocks 11.

As shown in FIG. 8, in a cable crane 3, a main tower 12 and a sub-tower 1 are provided at the top of a left bank 1 and a right bank 2.
3 are provided on the main tower 12 and the sub tower 13.
4 has been bridged. A trolley 15 is provided movably along the main rope 14. The trolley 15 is provided with a plurality of main pulleys 16.
The trolley 15 can be moved, that is, traverse along the main rope 14 by being placed on the 4. A traversing drum 17 for traversing the trolley 15 is installed on the left bank 1, and the traversing drum 17 transmits a driving force to the trolley 15 via a traversing cable 18. That is, the traverse cable 18 is attached to the main tower 12 and the sub tower 13.
Is provided with a traversing pulley 19 for winding the
The trolley 15 is traversed in conjunction with the rotation of the traverse drum 17 by being wound around the traverse drum 17, the traverse pulley 19, and the trolley 15 so as to make one round. Both free ends of the transverse cable 18 are fixed to the trolley 15.

On the other hand, the hoisting cable 20 is hung down from the trolley 15. The hoisting cable 20 is hung from between hoisting pulleys 21 provided on the trolley 15. One end of the hoisting cable 20 extends toward the sub-tower 13 and is fixed thereto.
The other end of the hoisting cable 20 extends toward the main tower 12, is wound around a pulley 22 of the main tower 12, and is then wound around a hoisting drum 22 installed on the left bank 1. A moving pulley 23 is wound around the lower end of the hoisting cable 20 hanging down from the trolley 15, a hook 24 is hung from the moving pulley 23, and the bucket 10 is hung therefrom. As a result, the hanging amount of the hoisting cable 20 changes in conjunction with the rotation of the hoisting drum 22, and the hook 24 and the bucket 10 move up and down. The traversing position and the height position of the bucket 10 are grasped by detecting the rotational phase of the traversing drum 17 and the hoisting drum 22 by phase sensors 25 and 26 such as encoders. Since the hanging amount of the hoisting cable 20 does not change even if the trolley 15 traverses, the bucket 10 can be traversed and raised and lowered independently.

As shown in FIGS. 5 and 7, the main tower 12 and the auxiliary tower 13 can move, that is, can travel along the rail 27 in the front-rear direction (the thickness direction in FIGS. 6 and 8). . Thereby, the bucket 10 can also move in the traveling direction.

By the way, the present applicant has previously filed Japanese Patent Application No. 6-2173.
In No. 90, the configuration which can automatically operate the cable crane suitably was shown. In this case, by performing two-stage acceleration / deceleration at the time of traverse acceleration / deceleration of the trolley, and performing predictive control in consideration of the lifting time of the bucket, the height position, etc.,
The feature is that the transport path of the bucket can be set so as to reach the target position from the current position in the shortest time while preventing the bucket from swaying and colliding with an obstacle.

Generally, in a cable crane, when the trolley is accelerated in a traversing direction, the bucket swings due to the action of a pendulum. This pendulum motion continues even after the bucket arrives, making it difficult to move the contents into and out of the bucket, which can be dangerous. Therefore, the trolley is accelerated once and then accelerated again after a half period τ of the pendulum has elapsed.
Then, the swing of the bucket caused by the first acceleration is canceled by the acceleration of the second stage, and the swing stops. The same applies to deceleration.

When the bucket containing concrete is moved from a high place to a low place, for example, when the bucket starts to descend at the same time as the traverse, the bucket descends first and traverses at a low position, causing obstacles. (Putted blocks,
(E.g., mechanical equipment). Therefore, in consideration of the position of the destination, the traversing speed of the bucket, the ascending / descending speed, the time required for two-stage acceleration / deceleration, and the like, prediction control is performed so that the bucket arrives at the destination almost at the same time as or after the end of the traversing.
In this case, the collision can be prevented by setting the transport path of the bucket upward. At this time, the control is performed based on the bottom height of the bucket.

[0011]

The above-mentioned cable crane can be automatically operated only in the case of so-called hopper driving, in which concrete is repeatedly supplied to the hopper. For this reason, it was not possible to cope with a change in the casting method or the like, and in many cases, it had to rely on manual operation, which was inconvenient. As a casting method, there is a so-called block driving method in which concrete is repeatedly and directly supplied to one casting block, in addition to the hopper driving method. Empirically, of the cable crane's total operating time, about 60% of the time is used for transporting concrete, and the remaining about 40% is used for other lifting work such as transporting work equipment (chores). Used for

[0012]

SUMMARY OF THE INVENTION The present invention relates to a cable crane for transporting concrete or work materials to a predetermined position when placing concrete, and a hopper for transporting concrete to a hopper installed at a predetermined location. Mode, a block mode for selectively transporting concrete to a plurality of divided casting blocks, and a chore mode for selectively transporting work materials and equipment to a plurality of destination locations registered in advance. It has an automatic operation mode.

Here, the block mode or the chore mode may include a temporarily switched manual operation or a wireless remote control operation. Further, the position of the bucket at the end of the manual operation or the wireless remote control operation in the block mode may be set as the next transport destination. Further, a teaching function for teaching an intrusion prohibition region by manual operation may be further provided.

[0014]

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

The structure of the cable crane according to the present embodiment is the same as that shown in FIGS. However, the cable crane 3 here has new automatic operation modes such as the above-mentioned hopper mode for hopper driving, a block mode for block driving, and a chore mode for chore operation.

These automatic operations are executed by a control device provided in the cable crane monitoring room 28 shown in FIG. The control device is combined with a changeover switch (for example, a touch key of a CRT) so that a worker in the room can easily switch between manual operation and automatic operation, and in the case of automatic operation, the hopper mode, the block mode, and the chore mode each with one touch. It has become. The cable crane monitoring room 28 is also provided with an operation panel for manually operating the cable crane 3, and the operator can operate the operation panel while watching the actual transfer situation to manually operate the cable crane 3.

In the block mode and the chore mode, a concrete bucket or a suspended load can be remotely controlled using the remote control wireless operation device 100.

The control device executes operation control according to the control flow shown in FIG. First, at step 31, it is determined whether the currently selected operation mode is automatic or manual. In the case of the automatic operation, it is determined in step 32 whether or not the operation is continued. If the vehicle is in operation, the current operation mode is continued in step 33. If the vehicle is stopped, control of the currently selected automatic operation mode is started in step 34.

In the hopper mode, first, at step 35, it is determined whether or not an automatic operation start condition is satisfied. Specifically, it is confirmed whether or not each mechanical facility such as a motor is abnormal and whether or not the teaching described later is performed. Note that the automatic operation start conditions are different in each mode. If this is the case, step 36
Determines that automatic operation in the hopper mode is possible. Next, it is determined in step 37 whether automatic operation has started, specifically, whether the start switch has been pressed. If so, automatic operation in hopper mode is executed in step 38. After step 33, the process proceeds to step 37, and after the start of automatic operation is determined, the automatic operation is executed.

If the automatic operation is stopped in step 37, the automatic operation is stopped in step 40. Step 40
After that, the process returns to the first step 31, and the above flow is repeated.

Here, the control within the dashed box shown in FIG. 1 is equal. That is, in the block mode and the chore mode, steps 35 to 38 follow the same procedure. However, their detailed control contents are different as described later. Hereinafter, the control contents of each mode will be described in detail.

FIG. 2 shows a control flow in the hopper mode. The control content here is mainly divided into an automatic operation management task and a steadying control task. In particular, the latter is a control for transporting the bucket 10 to the destination in the shortest time while preventing the above-described swing of the bucket 10 and preventing collision with an obstacle. The contents include two-step acceleration / deceleration control and prediction control. As a premise,
The bucket 10 is suspended from the hook 24 so that concrete can be transported. Since the position of the hopper 7 is basically constant, the hopper 7 does not move in the traveling direction. The hopper 7 is located immediately below the main rope 14, and the supply (input) of the concrete to the bucket 10 is performed by the main rope 14 in the bunker area 4.
It is performed right below. Here, the bucket arrival position immediately above the hopper 7 is referred to as a “discharge position”, and the concrete supply position to the bucket 10 on the bunker area 4 is referred to as a “supply position”.

If automatic operation starts in the hopper mode in step 41, a landing signal is output in step 42. This also serves as a command to start charging the concrete into the bucket 10. From the trolley traverse position, the hoisting cable length, and the bucket load, the controller completes the landing, that is, the bucket 1
It knows that 0 is in the supply position and allows the concrete to be injected. The detection of the bucket load is performed by detecting the tension of the hoisting rope 20 with a load meter. Step 43
Then, concrete input from the transfer car 5 is started. Upon receiving a loading completion signal from the transfer car 5 and completing loading in step 44, an automatic going command is issued in step 45. Thereby, the bucket 10 can be started toward the discharge position.

On the other hand, when the automatic operation is started in step 41, reference is made (confirmed) to the coordinates of the discharge position and the safe height data in step 46. Here, the control device has a map of the entire concrete placing area or dam shape data as CAD data, and also has height position data of the placed blocks in the current placing situation. Therefore, based on the data, the coordinates of the discharge position and the safety height at which the bucket 10 does not collide with the obstacle are confirmed.
Naturally, the coordinates of the supply position are also confirmed here.

The CAD data is used here because it is more convenient and accurate to use the CAD data at the time of dam design. However, the shape data of each casting block 11 may be manually input. The coordinates of the release position are input to the control device as follows. Before starting the hopper mode, the worker manually moves the bucket 10 to a position immediately above the hopper, and then presses a teaching start button (here, a touch key on a personal computer screen) on the operation panel. At this moment, the position of the bucket 10 is
That is, it is specified and input as the release position. In the hopper mode, this position is the first and subsequent destinations. In the block mode described in detail later, only at the first time, the position when the teaching start button is pressed is the transfer destination. A check as to whether the transfer destination is in the block is performed using the dam shape data. As will be described later in detail, if the worker pushes the teaching start button and moves the bucket 10 along a predetermined route by manual operation, the route becomes the minimum safe height, and the area below the route is an intrusion prohibited area. Specified as

Now, after step 46, the process proceeds to step 47, where the driving route of the bucket 10 is calculated, and
Perform numerical calculation for steadying control. If the calculation is completed in step 48 and the automatic going command is transmitted in the previous step 45, the starting of the groundbreaking in step 49,
That is, the raising (leaving) of the bucket 10 at the supply position is started.

In step 50, it is confirmed that the bucket 10 is separated from the bunker line at the supply position, that is, based on the following method for determining the leaving of bed. That is, the load value of the bucket 10 is measured by a sensor provided on the hoisting rope, but the load value gradually increases with the winding of the hoisting rope. Therefore, when the increase in the load value is stopped, it is determined that the leaving of the bucket 10 has ended. Note that the bucket 10 is provided with a telescopic hydraulic cylinder, and its height varies depending on the amount of concrete and the like. Therefore, the bucket height is calculated using this leaving-bed determination method. Specifically, the trolley height at the time of leaving the bed and the hoisting length of the hoisting cable 20 are measured, and (trolley height) −
Let (the length of the hoisting rope)-(the height of the floor exit surface) be the bucket height length. By doing so, the height of the bucket height, and thus the height position of the bottom surface of the bucket 10, can be accurately known, which can greatly contribute to preventing collision with an obstacle, accurate positioning of the bucket 10, and the like.

When the bucket 10 leaves the floor in this way, the position of the bottom surface of the bucket 10 is confirmed at step 51 based on the winding amount of the hoisting cable 20, and at step 52 the bucket 10 is started toward the discharge position. While the bucket 10 is being transported, anti-sway control and prediction control as described in Japanese Patent Application No. 6-217390 are performed to prevent the bucket 10 from swinging due to acceleration and deceleration, and to optimally determine the transport path of the bucket 10. . On the other hand, after confirming the land separation in step 50, the time for confirming the land separation in step 53
Record (log) load data.

When the bucket 10 arrives at the discharge position at step 54, an "arrival position arrival" signal is output from the bucket detection sensor mounted on the hopper 7 at step 55. At the same time, the arrival time and the coordinates of the bucket 10 at this time are recorded in step 56. Thereafter, step 57
The concrete is discharged from the bucket 10 to the hopper 7 at step 58, and after a predetermined time, the discharge is completed at step 58. During the discharge, the load on the bucket 10 decreases, and there is a risk that the bucket 10 jumps up due to a rapid decrease in the sag amount of the main ropes 14. Therefore, in step 59, the change in the load of the bucket 10 is monitored, and the jumping-up prevention control is executed. . Specifically, the hoisting cable 20 is sequentially fed out until the concrete is completely discharged, and after the concrete is released, the hoisting rope 20 is wound up so as to cancel the vertical swing.
The release time is monitored, and if it is abnormally long, an alarm is issued, and the prevention of bouncing is performed.

Thereafter, the release completion time is recorded at step 60, and a return command is transmitted at step 61. When this happens, the automatic return operation of the bucket 10 is started in step 62. The start time at this time is recorded. Further, since the load and the maximum hoisting speed are different on the transport route at this time, a route different from “go” is calculated. After a predetermined time, if the bucket 10 has landed at the supply position in step 64 through the automatic landing control in step 63, the landing time at this time is recorded in step 65, and one cycle of control is completed. Thereafter, the flow returns to step 42 to repeat the flow, or the mode is ended as necessary. The above is the contents of the automatic operation in the hopper mode.

Next, the control contents of the block mode will be described with reference to FIG. The same contents as those in the hopper mode are denoted by the same reference numerals in the drawings with the suffix "a", and the description is omitted. It should be noted that the destination is not fixed because the block is hit here. That is, the destination is the casting block 11 at the position designated by the worker. In particular, even in the same casting block, the height of the concrete discharge position changes according to the construction progress. In this mode, the concrete discharge position can be changed one after another in one block. The point that the bucket 10 is hung on the hook 24 is the same as described above. Here, the arrival position of the bucket 10 is referred to as a “drive position”.

In this mode, after the landing signal is output in step 42a, the coordinates of the driving position and the safety height data are referenced (confirmed) in step 71. Note that the initial driving position is the position at the start of teaching as in the hopper mode. Then, in step 72, the "going" driving route of the bucket 10 is calculated. This is because, as will be described later, the arrival position of “going” of the bucket 10 is different from the starting position of “return”. After that, the calculation is completed in step 48a, and ground cutting is started in step 49a, as described above.

When the bucket 10 arrives at the driving position in step 54a, the arrival time and the coordinates of the bucket 10 are recorded in step 56a, and in step 73, the operation signal of the remote controller 100 (see FIG. 5) is received. Will be allowed. That is, at this point, the operation is temporarily switched to the manual operation or the wireless remote control operation, and the cable crane 3 can be operated by the manual operation or the remote control wireless operation device 100.

In the example of FIGS.
1, the operator at the site can operate the cable crane 3 freely by operating the remote controller 100. Then, the driving operation is started in step 74, and is completed in step 75. At this time, since the worker operates the cable crane 3 by wireless remote control so that the bucket 10 does not jump, the jump control by automatic operation is not performed. Thereafter, the bucket 10 is moved to the next driving position in step 76, and the "return" operation, that is, the "return" push switch of the operating device 100 is pressed in step 77.

At this moment, the destination or arrival position (implant position) of the next bucket 10 is determined. Conversely,
If the bucket 10 is moved in advance to the position where the next bucket 10 wants to arrive and the “return” operation is performed,
Next time, the bucket 10 arrives there. Specifically, in step 78, the current bucket position coordinates are automatically input as the next driving position. At the same time, in step 79, the permission to accept the operation signal of the remote controller 100 is released. As a result, the cable crane 3 is again operated in the automatic mode.

Here, the order of the driving and the movement can be freely selected by a worker at the site. In other words, it is possible to select whether the worker moves while stopping the run-out when the suspended load is heavy or moves while stopping the run-out when the suspended load is light. In general, the steady state is easier in a heavy state.

After the return command in step 61a, the operation route of "return" of the bucket 10 is calculated in step 80. At this time, calculation for steadying control is also performed at the same time.
When the calculation is completed in step 81, automatic return control is performed in step 62a. The control start time at this time is recorded.

As described above, in the block mode, after the bucket arrives, the bucket 1 is operated by manual operation or wireless remote control operation.
It is characterized in that the position of 0 can be finely and freely adjusted and concrete can be driven in while avoiding a work scaffold, a formwork, etc., and the next arrival position of the bucket can be specified on site. If the block is sufficiently large and it is not necessary to consider an obstacle such as a work platform, the system can automatically specify the arrival position of the next concrete bucket. This enables automatic driving that is optimal for block driving.

Next, the control contents of the chore mode will be described with reference to FIG. The same contents as those in the hopper mode and the block mode are denoted by the same reference numerals in the drawings with the suffix “b”, and the description is omitted. In this mode, control for automatically transporting the work materials or the empty hook 24 to a predetermined “destination position” is performed. The working materials and equipment include all materials and equipment such as formwork materials, scaffolding materials, vibrators, small cranes, and the like used when placing concrete. By utilizing the shape data of each casting block 11, it is also possible to carry directly from the current destination position to the next destination position. The working materials may be directly hung from the hook 24 via a rope, or may be put in a vessel such as a vessel.

When the work equipment is directly suspended from the hooks 24, the size and shape of the work equipment may vary, and the transport route may be set to the bucket 10 so as to avoid collision with obstacles. Is more difficult than Therefore, in this case, representative ones of the working materials are picked up in advance, and their sizes, shapes, packing styles, and the like are registered in the control device and numbered for each. By inputting the registered numbers of the working materials and equipment, the type, size, shape, packing style and the like are naturally specified, and the calculation of the transport route becomes extremely easy.

As a method for further simplifying the work, the operation is started from a state where the work equipment is lifted to a predetermined height, and the height of the work equipment is set to (trolley height)-(winding cable length). )-(Ground level)-(lift amount). In this manner, it is not necessary to set the height of the suspended object. This is because, as will be described later, in the case of the casting block 11, the center position is the transport destination position, and a sufficiently large area can be secured on the block. And that the safety height can be secured. If a special block shape has a small upper area, the above-described method of initially registering the shape itself is also effective.

The transport destination position is also registered in the control device in advance. This is because the loading place and the transport destination of the work equipment are determined to some extent and can be grasped in advance. As typical transporting positions, the casting block 11, the bunker area 4, the sub tower 13, the bottom portion upstream or downstream from the casting block 11, etc. are raised. When the destination position is the casting block 11, since the control device has the shape data of each block and the concrete casting surface height data, the block number (for example, 0 to 1) is used.
By simply inputting 9), the center position of the block placing surface automatically becomes the transport destination position. When a location other than the casting block 11 is registered as the transport destination, the cable crane 3
If the hook 24 is moved to the target position by manual operation in advance, coordinate data is displayed on the personal computer screen. Then, the position is coded, and for example, bunker area 4 has 20
~ 29.

If the registration number of the destination position is designated in the From To format before the transfer, the work material or the empty hook 24 can be automatically transferred between the destination positions. Thus, the designation of the transport destination position is extremely easy. The registration number and the destination position can be changed or added freely.

When the chore mode is started in the first step 41b, an automatic going command is immediately issued in a step 45b. Then, in step 82, the coordinates of the transport destination position,
Reference (confirmation) the packing style and safety height data of work equipment. In the next step 83, calculation of the "going" driving route and steady rest control is performed, and if the calculation is completed in step 48b, the terrain is started in step 49b, and the work is performed by each motion of running, traversing, and winding up and down. Start transporting equipment and materials.

When the work equipment arrives at the transport destination position in step 54b, acceptance of the operation signal of the remote controller 100 is permitted in step 73b. That is, at this point, the operation is switched to the manual operation or the wireless remote control operation as in the block mode. In the example of FIGS. 4 and 5, a worker at the site operates the remote control wireless operating device 100 to manually operate the cable crane 3 at the transport destination. That is, the operation of suspending / unloading the load is started in step 84, and the operation is completed in step 85. Thereafter, a "return" operation is performed in step 77b. Then step 79
At b, the permission to accept the operation signal of the remote controller 100 is released, and the operation returns to the automatic mode. Here, the position when the “return” operation is performed is not the next arrival position. This is because, in the case of the chore operation, the use is usually completed by one transfer. However, if necessary, it is also possible to perform control of repetitive conveyance similarly to the block mode.

After returning to the automatic mode, it is confirmed at step 86 whether or not there is a next destination setting. If there is a setting, the process returns to step 45b to move the work material or the empty hook 24 toward the next destination. If there is no setting, the process proceeds to step 87, and a hoisting command for raising the hook 24 to a safe height is issued. Then, at step 88, the hoisting cable 20 is wound up, and at step 89, the hook 24 is raised to a safe height, and winding up is completed. Then, in step 90, the end time of the chore operation is recorded, and the automatic operation in the chore mode is completed.

By adding the above-described chore mode, the chore operation can be automatically performed, and the cable crane can be automatically operated almost 100% by adding the above-mentioned block mode. Generally, in the case of a cable crane, the load tends to fluctuate, so that manual operation requires skill in the operation. However, since such a cable crane can usually be operated automatically, the necessity of such a skilled operation is greatly reduced, and the worker can be released from the troublesome work due to a long-time tension work. Furthermore, since the modes for hopper hitting, block hitting, and chore are separately provided, automatic operation optimal for each work can be performed.

In the hopper mode and the block mode, the destination of the bucket 10 is set in advance at a predetermined designated point on the CAD map. That is, the point at the start of teaching is the designated point in both the hopper mode and the block mode. That is, in this case, only these points can be selected as the destination of the movement of the bucket 10. However, actually, the destination of the bucket 10 is frequently changed in accordance with a process change at the site. In the case of hopper striking, the position of the hopper 7 may be changed, or in the case of block striking, it may be desired to change the destination other than the designated point. In such a case, unless the specification is changed, automatic conveyance cannot be performed, and in many cases, manual operation is often used, which is inconvenient.

Therefore, here, the following two teaching modes are combined with the above two modes. That is, as described briefly above, this involves transporting the bucket 10 from the desired target position once to the bunker area 4 by manual operation, thereby setting the target position, the minimum safety height, and the intrusion prohibited area. And the next time, the bucket 10 is repeatedly and automatically transported between the bunker area 4 and the target position by following the upper route including the transport route. By doing so, the labor for manual operation every time can be saved, and the worker can be released from the troublesome work due to the long-time tension work. It can also flexibly respond to the situation at the site.

More specifically, the cable crane monitoring room 28
The user selects the teaching mode by pressing a touch key on the CRT screen within the CRT screen, and moves the bucket 10 from a desired arrival point (for example, an arbitrary driving position) to a starting point (for example, the “supply position” in the hopper mode or the block mode). Operate manually until). This can be used in combination with the operation panel in the monitoring room 28 and the remote controller 100 at the work site. Because it is a manual operation, you can easily select a safe height and route that will avoid collision with obstacles. After the arrival, when the teaching mode is ended, the transport path from the start to the end of the mode is automatically stored in the control device as three-dimensional data in consideration of each block coordinate data. The route stored here is for avoiding collision with obstacles, so it does not need to be the shortest route,
It is not necessary to consider the steady rest. The control device calculates an optimum route under the condition that no bucket goes below the stored route. This ends the teaching, bucket 1
0 is allowed to reciprocate within a safe height area above the path. Note that the teaching can be performed on either the outward route or the return route. However, since the steadying control is performed before arrival, it is desirable that the arrival point be accurately specified. The teaching is performed on the return path in which the robot is completely stopped once and teaching is started from that state.

On the other hand, in the same manner as described above, the position of the bucket 10 when the remote controller 100 is operated "return" at the site can be set as the next arrival point. Further, it is possible to store in advance the safety height of the bucket 10, the concrete discharge height, and the like in the control device, and to perform control so that the bucket 10 is not positioned above or below the height. As an example, in the block mode, the safety height is 2.5 m or more in consideration of the height of the formwork, and in the hopper mode, the discharge height is 1.5 m to prevent dispersion when concrete is discharged.
The following is assumed.

On the other hand, the following pause (pause) function is added to the hopper mode and the block mode. This is because in hopper mode bucket 1
When 0 arrives at the position directly above the hopper or the bunker area 4, or when the bucket 10 arrives at the bunker area 4 in the block mode, the state of the automatic operation is temporarily stopped, and the resumption is waited. This is convenient when it is necessary to temporarily stop for some reason during a series of automatic driving. When the worker in the cable crane monitoring room 28 presses the pause button on the personal computer screen, the system enters a pause state, and when the operator presses the button again, the pause state is released.

Next, the necessity of the above-mentioned mode switching function will be additionally described.

Whether to select the block mode or the hopper mode is determined by the dam type, the concrete placing method, and the cable crane model. is there.

For example, in the construction of a gravity type concrete dam, for example, when a fixed cable crane is employed by the RCD method and hopper driving is performed, usually, concrete is repeatedly placed on a semi-fixed hopper. It is transported and driven using a dump truck, but it must be driven directly into the location where the hopper was.

In addition, when the construction progresses and the concrete placing height is close to the top of the dam, the width of the dam becomes narrow, so that the dump truck cannot be used and the hopper cannot be placed. In that case, it becomes necessary to cast the dike directly with a fixed cable crane.

Further, in the columnar block placing method,
It is necessary to repeatedly transport concrete to a fixed point around a structure or in the case of placing a depressing groove.

When it is necessary to switch the automatic operation mode initially set as described above, the present system is prepared so that the switching operation can be easily performed.

On the other hand, during the operation time of the cable crane,
Transportation time for other chores other than concrete casting time is dominant. For this reason, this system provides a chore mode,
Construction materials and equipment can also be transported automatically.

When the slewing and ground cutting are performed using the remote controller wireless operation device 100 and the "return" switch provided on the stake is depressed, automatic transportation between the positions registered in advance is performed. Reciprocating transport between two points or multiple transports, and transport between multiple locations is also possible by setting.

As described above, it is very effective that the operation mode can be switched as required.

Although the preferred embodiments of the present invention have been described above, the present invention can adopt various other embodiments.

[0063]

The present invention exhibits the following excellent effects.

(1) It is possible to cope with a change in the casting method and the like, and the cable crane can be automatically operated by about 100%.

(2) Automatic operation optimal for hopper driving, block driving, and chores can be performed.

(3) Automatic operation can be performed flexibly in response to process changes at the site.

[Brief description of the drawings]

FIG. 1 is a control flow in an automatic operation mode provided in a cable crane according to the present embodiment.

FIG. 2 is a control flow in a hopper mode.

FIG. 3 is a control flow in a block mode.

FIG. 4 is a control flow of a chore mode.

FIG. 5 is a perspective view showing a cable crane at a dam construction site.

FIG. 6 is a front view of the same.

FIG. 7 is a plan view of the same.

FIG. 8 is a front view showing the configuration of the cable crane in detail.

FIG. 9 is a plan view showing a casting block.

[Explanation of symbols]

 3 Cable crane 7 Hopper 10 Bucket 11 Casting block

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Shigeki Murayama 3-1-1-15 Toyosu, Koto-ku, Tokyo Ishikawajima-Harima Heavy Industries Co., Ltd.Higashiji Technical Center (72) Inventor Shuntaro Suzuki Toyosu 3-chome, Koto-ku, Tokyo No. 1-115 Ishikawajima Harima Heavy Industries, Ltd. Toji Technical Center (72) Inventor Hidetoshi Takimoto 3-1-1, Toyosu, Koto-ku, Tokyo Ishikawajima Harima Heavy Industries, Ltd. Toji Technical Center (72) Inventor Ono Kazuya Ichikawajima Harima Heavy Industries, Ltd., Koto, Tokyo, Japan (72) Inventor Mitsugu Kishi Kashima Building, 1-2-7 Moto-Akasaka, Minato-ku, Tokyo (72) Inventor Katsumi Tsukamoto Kashima Construction, 1-2-7 Moto-Akasaka, Minato-ku, Tokyo Inside (72) Kenichi Takemura Kashima Construction, 1-2-7 Moto-Akasaka, Minato-ku, Tokyo Inside the corporation

Claims (4)

[Claims] 1. A cable crane for transporting concrete or work materials to a predetermined position when placing concrete, a hopper mode for transporting concrete to a hopper installed at a predetermined location, and dividing concrete into a plurality of parts. Block mode for selectively transporting to a set casting block, and a chore mode for selectively transporting work materials and equipment to a plurality of pre-registered destination positions. Characterized cable crane. 2. The method according to claim 1, wherein the block mode or the chore mode is:
2. The cable crane according to claim 1, wherein the cable crane includes a temporarily switched manual operation or a wireless remote control operation. 3. The cable crane according to claim 2, wherein the position of the bucket at the end of the manual operation or the wireless remote control operation in the block mode is set as the next transport destination. 4. The cable crane according to claim 1, further comprising a teaching function of teaching an intrusion prohibited area by manual operation.