JPH1193145A - Automatic operation method for crawler crane - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic operation method wherein a work to transfer a large amount of suspension cargoes from a loading position to a specified unloading position in a given range as reciprocation operation is repeated a number of times is efficiently effected by using a crawler crane without applying a work burden on an operator. SOLUTION: In this automatic operation method, as reciprocation operation is repeated a number of times, a large amount of suspension cargoes are transferred from a loading position A to a specified unloading position B in a given range. In this case, a winding up and down direction and timing for a suspension cargo, the slewing and rise and fall directions of a boom 11 and the timing thereof are decided such that based on the loading position A and the unloading position B, a time required for transfer of the suspension cargoes from the loading position A to the unloading position B and a time required for a return from the unloading position B to the loading position A after unloading are shortmost.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for automatically operating a crawler crane, and more particularly to a method for constructing a concrete dam, in which a large number of suspended loads are moved within a predetermined range from a loading position while repeating reciprocating operations many times. The present invention relates to a method for automatically operating a crawler crane in a case where the work of transferring to a specific unloading position is performed using the crawler crane.

[0002]

2. Description of the Related Art Conventionally, when a suspended load is transferred from a loading position to an unloading position using a crawler crane, an installation position of the crawler crane itself, that is, a reference position is changed every time the crawler crane is moved. For this reason, generally, a method of operating the vehicle by a manual operation of an operator has been adopted.

[0003] In recent years, as crawler cranes have become larger and more diversified, the scope of work in which the crawler cranes are used has been expanded, and, for example, they have been applied to concrete dam construction and the like.

[0004]

However, as in the construction of a concrete dam, a large amount of suspended load is transferred from a loading position to a specific unloading position within a predetermined range while repeating reciprocating operations many times. In the case of using a crawler crane for work and adopting a method of operating by manual operation of the operator, the work efficiency is most affected,
The time required to transfer the suspended load from the loading position to the unloading position, and the time required to return from the unloading position to the loading position after unloading, depends on the operator's driving technique. In the case where an operator who is skilled in the work cannot be secured, the work efficiency is remarkably reduced, and a heavy work load is imposed on the operator.

The present invention has been made in view of the above-described problems of the conventional method of operating a crawler crane by a manual operation of an operator, and as in the construction of a concrete dam, a large number of suspended loads are repeatedly carried out repeatedly. Using a crawler crane to efficiently transfer work from the loading position to a specific unloading position within a predetermined range, and
An object of the present invention is to provide a method of automatically operating a crawler crane that can be performed without imposing a large work load on an operator.

[0006]

In order to achieve the above object, a method of automatically operating a crawler crane according to the present invention uses a crawler crane to repeat a large number of reciprocating operations while transferring a large amount of suspended load from a loading position. In the method of automatically operating a crawler crane configured to transfer to a specific unloading position within a predetermined range, a suspended load is transferred from a loading position to an unloading position based on the loading position and the unloading position. Direction and timing of the lifting and lowering of the suspended load, its timing, speed, boom swiveling, and so on, so that the time required for return to the loading position from the unloading position after loading and unloading is minimized. It is characterized in that the direction of the undulation and its timing and speed are determined.

The automatic operation method of this crawler crane is as follows.
The time required to transfer the suspended load from the loading position to the unloading position based on the loading position and the unloading position, and the time required to return from the unloading position to the loading position after unloading is the shortest. So that the direction of hoisting and lowering the suspended load and its timing and speed,
Since the direction of boom rotation and undulation and the timing and speed of the boom are determined, a large amount of suspended load can be moved within a specified range from the loading position while repeating reciprocating operations many times as in the construction of concrete dams. Transfer to a specific unloading position can be performed efficiently using a crawler crane and without imposing a large work load on the operator.

In this case, when the boom is driven in the starting direction, the timing of the start can be made to coincide with the timing of the start of the swing drive of the boom.

[0009] Accordingly, by starting the boom earlier when the boom is driven in the starting direction, the passing area of the suspended load can be reduced as much as possible, and the safety of the worker under the working range can be ensured. It is possible to reliably prevent the suspended load from contacting an obstacle.

When the boom is driven in the downward direction, the start timing can be determined so that the end timing coincides with the end of the suspended load transfer.

[0011] Thus, by lowering the boom by delaying the start timing when the boom is driven in the downward direction, the passing area of the suspended load is reduced as much as possible, and the safety of the worker under the working range is ensured. It is possible to reliably prevent the suspended load from contacting an obstacle.

Further, data of a loading position, a predetermined range for unloading and a height of a transfer route of a suspended load are previously stored in the storage means by teaching by manual operation, and the data is stored in the storage means. Automatic operation can be performed based on the stored data.

By moving the crawler crane, even if the reference position is changed, data such as a loading position required for automatically operating the crawler crane and a predetermined range for unloading can be easily obtained. Can be set.

Also, the speed of hoisting and lowering the suspended load and the turning and raising and lowering of the boom can be controlled by a fuzzy controller.

[0015] Thus, the speed of lifting and lowering the suspended load and the speed of turning and raising and lowering the boom can be finely adjusted to cope with load fluctuations and disturbances, and the set speed can be accurately realized. Accuracy can be improved.

Further, data of the unloading position at which the last load was unloaded is stored in the storage means, and the load at which the last load was unloaded is stored based on the data stored in the storage means from the loading position. After being transferred to the unloading position by automatic operation,
From this position, it can be transferred by manual operation to the current unloading position, the unloading of the suspended load can be performed, and the current unloading position can be stored in the storage means. Here, the "data of the unloading position where the last suspended load was unloaded" stored in the storage means refers to a position at which the crawler crane starts automatic operation in order to return from the unloading position to the loading position.

Thus, the setting of the unloading position of the suspended load and the transfer of the suspended load from the loading position to the unloading position can be performed quickly and accurately.

[0018]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, an embodiment of an automatic operation method of a crawler crane according to the present invention will be described based on an example in which the automatic operation method of the crawler crane is applied to concrete dam construction work.

FIGS. 1 and 2 show an example of a concrete dam construction facility used for carrying out the automatic operation method of a crawler crane according to the present invention, and an example of an arrangement thereof.

[0020] This concrete dam construction equipment includes:
Dam embankment D constructed by casting concrete
A concrete transportation for transporting concrete produced in the batcher plant 2 to an appropriate position where the concrete produced in the batcher plant 2 is transferred to a concrete bucket 12 suspended on a boom 11 of the crawler crane 1 while the traveling path R1 of the crawler crane 1 is provided substantially in parallel with the crawler crane 1. The road R2 is provided.

A traveling path R provided substantially parallel to the dam body D
1, the crawler crane 1 is, for example, 180
Use a large crawler crane suspended in tons. The crawler crane 1 is configured to adjust the number of revolutions of the engine according to the load. As shown in FIGS. 3 and 4, the operation panel 13, the man / machine CPU, and the trajectory calculation C
PU, machine control CPU and other various CPUs, and a fuzzy controller for fuzzy control of suspended loads, that is, hoisting and lowering of the concrete bucket 12 and turning and raising and lowering of the boom 11 are provided. An automatic operation control panel 14 for inputting measurement values of measuring instruments such as a detection encoder 16a, a turning angle detection encoder 16b, a turning speed detection encoder 16c, an up / down angle detection encoder 16d, and an up / down speed detection encoder 16e; The electromagnetic proportional pressure-reducing valves 18a and 18b and the manual and manual control are performed on the basis of control instructions such as the direction and timing and speed of lifting and lowering the suspended load from the board 14, and the direction and timing and speed of turning and raising and lowering the boom 11. Various valves such as the automatic switching valve 18c So that comprise the crawler crane control panel 15 for controlling the movement.

A concrete transport path R2 provided for transporting concrete produced in the batcher plant 2 to an appropriate position for transferring the concrete to a concrete bucket 12 suspended on a boom 11 of the crawler crane 1.
The concrete transporting device provided in the automatic transporting device 3 includes a bucket receiving truck 31 and a transfer car 32 which are proposed by the present applicant and run on rails laid on the concrete transporting route R2.
(See Japanese Patent Publication No. Hei 7-116701).

The automatic concrete transporter 3 transfers the concrete produced in the batcher plant 2 to a transfer car 32 which reciprocates on a rail laid on a concrete transport path R2, and transfers the transfer car 32 to a crawler. The concrete bucket 12 is moved to a movable bucket receiving car 31 installed at a loading position of the concrete bucket 12 suspended on the boom 11 of the crane 1, and concrete is moved to the concrete bucket 12 supported by being lowered into the bucket receiving car 31. It is configured to be transferred.

In this case, a travel restricting means (not shown) for the transfer car 32 is provided on the bucket receiving car 31 so that when the transfer car 32 approaches the bucket receiving car 31 by this driving restricting means.
The transfer car 32 is decelerated and the bucket receiving car 3
1 and temporarily stop at a predetermined position close to 1, and the concrete bucket 12 descends into the bucket receiving car 31 to support the concrete bucket 12. It is configured to be able to stop while maintaining the relative positional relationship of. And crawler crane 1
Is issued an operation command to move the bucket receiving cart 31 to the loading position of the concrete bucket 12 suspended on the boom 11 of the crawler crane 1 and a re-run command of the transfer car 32 from the temporary stop position. For this purpose, the crawler crane 1 is provided with a wireless communication device, an operation switch, and an antenna, and a receiving device for receiving a wireless signal from the wireless communication device is disposed on the bucket receiving car 31 and the transfer car 32. A traveling command from the batcher plant 2 to the transfer car 32 is normally issued from the batcher plant 2 side.

As described above, the concrete transportation apparatus 3 is installed, and the concrete transportation method by the automatic transportation apparatus 3 and the automatic operation method of the crawler crane 1 of the present invention described later are combined, whereby the concrete driving is performed. The installation work can be made more efficient.

Next, steps of concrete placing work performed using the above-described concrete dam construction equipment including the crawler crane 1 will be described with reference to FIGS. 1 to 2 and FIGS.

The crawler crane 1 is used to unload one of the plurality of dam embankments D into one section D0,
That is, when concrete is poured, first, FIG.
As shown in the figure, a predetermined range in which the loading position A and the unloading position B where the bucket receiving trucks 31 are arranged, that is, the data of the height of the section D0 and the transfer path of the suspended load is previously transferred to the crawler crane 1. By teaching by manual operation, it is stored in the man / machine CPU of the automatic operation control panel 14 as storage means, and based on the data stored in this storage means, the automatic operation of the crawler crane 1 is performed. To do. In the present embodiment, more specifically, data shown in the following Table 1 is obtained as the data.

[0028]

[Table 1]

In this embodiment, the crawler crane 1
Automatically moves the concrete bucket 12 suspended on the boom 11 of the crawler crane 1 into the loading position A where the bucket receiving truck 31 is arranged and one section D0 of the dam embankment body D divided into plural sections. Concrete is poured while repeating reciprocating operations a number of times with a specific unloading position B inside the vehicle. In this case, the concrete is stored in the man / machine CPU of the automatic operation control panel 14. The time required to transfer the suspended load from the loading position A to the unloading position B based on data such as the loading position A and the unloading position B, and the loading from the unloading position B after unloading. In order to minimize the time required to return to the position A, the direction of hoisting and lowering the suspended load and its timing and speed, the direction of turning and raising and lowering the boom 11 and The timing and speed are determined, and the automatic operation control panel 14 and the crawler crane control panel 1
By the control signal from 5, the three operations of lifting and lowering the suspended load, turning and raising and lowering the boom 11 are performed in combination. Thus, the crawler crane 1
Can automatically perform three operations of raising and lowering the suspended load, turning and raising and lowering the boom 11, which were difficult with the conventional method of manually operating the operator. Thus, using a crawler crane to transfer a large amount of suspended load from a loading position to a specific unloading position within a predetermined range while repeating reciprocating operations many times as in concrete dam construction work. Thus, it can be performed efficiently and without imposing a large work load on the operator. In this case, by performing a simulation before the crawler crane 1 is automatically operated, the suspended load and the boom 11 of the crawler crane 1 can be an obstacle such as a dam embankment D (hereinafter simply referred to as an “obstacle”). ) Can be confirmed that there is no contact with the load or that the load is not hoisted up too much. Adjust the start timing.

In this case, the loading position A and the unloading position B, in particular, the unloading position B do not always have to be set at one place. For example, FIG. 1 and FIG.
As shown in the figure, the data of the last load, ie, the unloading position B where the concrete was unloaded, is stored in the man / machine CPU of the automatic operation control panel 14 as a storage means, and the suspended load is stored in the loading position A. From the data stored in the storage means to the unloading position B where the last unloading was performed, and then automatically transferred from this position B to the current unloading position B ', and then unloaded. Thereafter, the unloading position B 'is returned to the loading position A by automatic operation, and this unloading position B' is stored in the man / machine CPU of the automatic operation control panel 14 as storage means. This can be repeated. Here, the "data of the unloading position B where the last suspended load was unloaded" stored in the storage means refers to a position at which the crawler crane starts automatic operation in order to return from the unloading position to the loading position. Accordingly, the setting of the unloading position B 'of the suspended load and the transfer of the suspended load from the loading position A to the unloading position B' can be performed quickly and accurately, and the suspended load is transferred to the dam embankment D. It can be freely lowered to any position in one of the sections D0,
It is possible to efficiently perform the work of laying and compacting the concrete that has been cast by using the method.

By the way, the lifting and lowering of the suspended load and the control of the turning and undulating speeds of the boom 11 are usually carried out.
Although the control is performed by the PID control, the PID control is affected by disturbances such as wind, inertia force of the boom 11 of the crawler crane 1, load change of the suspended load, and stability of the contact surface of the crawler crane 1. As a result, the set hoisting and lowering speeds of the suspended load and the turning and hoisting speeds of the boom 11 cannot be accurately realized, and the accuracy of the automatic operation is reduced. In order to cope with this, the speed of hoisting and lowering the hoisting load and the speed of hoisting and lowering the hoisting load and the speed of turning and boom 11 of the boom 11 are configured by controlling the speed of hoisting and lowering the hoisting load and the turning and raising and lowering of the boom 11 by a fuzzy controller. The influence of disturbance or the like is eliminated by adjusting the undulating speed, the set speed can be accurately realized, and the accuracy of automatic operation can be improved. In the present embodiment, a fuzzy controller based on fuzzy inference of algebraic product-addition-centroid method is used, and this is combined with PID control to adjust the speed. In this embodiment, more specifically, the lifting and lowering speeds of the suspended load and the boom 1
The speed deviation (difference between the set speed SV and the actual speed PV (SV-PV)), the derivative of the actual speed (PVdif = dPV / dt), and the derivative of the set speed (SV)
dif = dSV / dt) as input values to obtain output values of a correction value for the speed deviation, a correction value for the set value, and a correction value for the change amount of the speed deviation, and the set value is corrected by the output value to obtain an electromagnetic wave. The proportional pressure reducing valve is configured to be controlled.

As shown in FIG. 7, when the boom 11 of the crawler crane 1 is driven in the starting direction, the start timing is determined by the lifting of the suspended load.
It is preferable to match the timing of the start of the turning drive of the motor 1. 7, the horizontal axis represents time t, and the vertical axis represents the direction and speed of hoisting and lowering the suspended load, and the direction and speed of turning and raising and lowering the boom 11. Thus, by raising the boom 11 at an earlier time when the boom 11 is driven in the starting direction, the passing area of the suspended load can be reduced as much as possible, and the safety of the worker under the working range can be ensured. It is possible to reliably prevent the suspended load from contacting the obstacle.

As shown in FIG. 8, when the boom 11 of the crawler crane 1 is driven in the downward direction, the end timing thereof coincides with the end of the suspended load transfer.
It is preferable to determine the timing of the start. FIG.
, The horizontal axis represents time t, and the vertical axis represents the direction and speed of hoisting and lowering the suspended load, and the direction and speed of turning and raising and lowering the boom 11. Thus, by delaying the start timing when the boom 11 is driven in the downward direction and lowering the boom 11, the passing area of the suspended load can be reduced as much as possible, and the safety of the worker under the working range can be secured. It is possible to reliably prevent the suspended load from contacting the obstacle.

As shown in FIG. 9, when the boom 11 of the crawler crane 1 is driven to turn, the turning acceleration / deceleration speed in the initial section and the end section is set lower than the turning acceleration / deceleration speed in the intermediate section. It is preferable to change the speed in a three-fold manner so as to accurately move the suspended load to the designated position while preventing the swing of the suspended load. In FIG. 9, the horizontal axis represents time t, and the vertical axis represents the direction and speed (angular velocity) V of the turning of the boom 11, and the turning speed of the three-fold bent boom 11 satisfies the following relationship. V3 = Tθi / 2 × ai + Tθi / 2 × 2ai + Tθi / 2 × ai Tθi = 2π (Li / g) ^1/2 Tθd = 2π (Ld / g) ^1/2 V1 = 1 / 4.V3 V2 = 3/4. V3: V1: Turning speed at the end point of the initial acceleration section V2: Turning speed at the end point of the mid-acceleration section V3: Turning speed at the end point of the final acceleration section Tθi: Cycle of suspended load during turning acceleration Tθd: Turning deceleration Period of suspended load ai: acceleration during turning acceleration ad: deceleration during turning deceleration Li: distance from tip of boom 11 during turning acceleration to position of center of gravity of suspended load Ld: suspension from end of boom 11 during turning deceleration This is the distance to the center of gravity of the load. Thus, the boom 11 of the crawler crane 1
In the case of turning the vehicle, the original acceleration / deceleration method is adopted, and the speed is changed in a three-folded manner, whereby the swing of the suspended load can be reliably prevented.

In the above embodiment, an example in which the automatic operation method of the crawler crane of the present invention is applied to the construction work of a concrete dam has been described. However, the application object of the present invention is not limited to this. The crane automatic operation method is used when transferring a large amount of suspended load from a loading position to a specific unloading position within a predetermined range while repeating a reciprocating operation many times using a hydraulic crane. Can be widely adopted.

[0036]

According to the method for automatically operating a crawler crane of the present invention, based on the loading position and the unloading position,
Hoisting and winding the suspended load so that the time required to transfer the suspended load from the loading position to the unloading position and the time required to return from the unloading position to the loading position after unloading are minimized. Since the direction of lowering and its timing and speed, the direction of boom turning and undulating and its timing and speed are determined, a large amount of suspended Transfer from the loading position to a specific unloading position within a predetermined range using a crawler crane can be performed efficiently and without imposing a large work load on an operator. ,
Thereby, an accident such as a suspended load contacting an obstacle can be reliably prevented.

In this case, when the boom is driven in the starting direction, the start timing thereof is made coincident with the start timing of the turning drive of the boom, so that the starting timing of driving the boom in the starting direction is advanced. By raising the boom, the passing area of the suspended load can be reduced as much as possible, and the safety of the worker under the working range can be secured, and the suspended load can be reliably prevented from contacting the obstacle. .

In the case where the boom is driven in the prone direction, the start timing is determined so that the end timing thereof coincides with the end of the transfer of the suspended load. By delaying the start time and lowering the boom, the passing area of the suspended load can be made as small as possible, ensuring the safety of workers under the work range and ensuring that the suspended load contacts obstacles. Can be prevented.

Further, data of the loading position, a predetermined range for unloading and the height of the transfer route of the suspended load are previously stored in the storage means by teaching by manual operation, and the storage means is used. By performing the automatic operation based on the stored data, by moving the crawler crane, even if the reference position is changed, the loading position and the unloading required for the automatic operation of the crawler crane are performed. Data in a predetermined range or the like can be easily set.

Further, the speed of lifting and lowering the suspended load and the speed of turning and raising and lowering the boom are controlled by a fuzzy controller, so that the speed of lifting and lowering the suspended load and the speed of rotating and raising and lowering the boom are controlled. Can be finely adjusted to cope with load fluctuations and disturbances, the set speed can be accurately realized, and the accuracy of automatic operation can be improved.

The data of the unloading position where the last load was unloaded is stored in the storage means, and the load which was previously unloaded is stored based on the data stored in the storage means from the load position. After being transferred to the unloading position by automatic operation,
From this position, it is transferred to the current unloading position by manual operation, the unloading of the suspended load is performed, and the current unloading position is stored in the storage means, so that the setting of the unloading position of the suspended load and the lifting of the suspended load are performed. The transfer from the loading position to the unloading position can be performed quickly and accurately.

[Brief description of the drawings]

FIG. 1 is a schematic perspective view of a concrete dam construction work facility used for implementing an automatic operation method of a crawler crane of the present invention.

2A is a front view, and FIG. 2B is a side view.

FIG. 3 is an explanatory view showing the structure of a crawler crane.

FIG. 4 is a block diagram showing a structure of a crawler crane.

FIG. 5 is a flowchart showing the operation of the automatic operation method of the crawler crane.

FIGS. 6A and 6B are explanatory diagrams for setting data necessary for automatic operation of the crawler crane, and FIG.
(B) is a front view.

FIG. 7 is an explanatory diagram in a case where a boom of a crawler crane is driven in a starting direction.

FIG. 8 is an explanatory diagram in the case where the boom of the crawler crane is driven in the down direction.

FIG. 9 is an explanatory diagram when a boom of a crawler crane is driven to rotate.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Crawler crane 11 Boom 12 Concrete bucket 2 Batcher plant 3 Automatic concrete transportation device 31 Bucket receiving car 32 Transfer car D Dam embankment R1 Crawler crane's traveling path R2 Concrete transportation path

Claims (6)

[Claims] 1. An automatic operation of a crawler crane that transfers a large amount of suspended load from a loading position to a specific unloading position within a predetermined range while repeating a reciprocating operation many times using the crawler crane. The time required to transfer the suspended load from the loading position to the unloading position based on the loading position and the unloading position, and to return from the unloading position to the loading position after unloading. A method of automatically operating a crawler crane, characterized by determining the direction and timing and speed of hoisting and lowering the suspended load, the direction of turning and raising and lowering the boom, and the timing and speed thereof, so that the time required is the shortest. . 2. The automatic crawler crane operating method according to claim 1, wherein when the boom is driven in the starting direction, the start timing thereof is matched with the start timing of turning the boom. 3. When the boom is driven in the downward direction, the end timing thereof is coincident with the end of the suspended load transfer.
2. The automatic operation method of a crawler crane according to claim 1, wherein the start timing is determined. 4. A storage means in which data of a loading position, a predetermined range for unloading and a height of a transfer route of a suspended load are previously stored in a storage means by teaching by manual operation, and the storage means is provided with the data. 4. The automatic operation method for a crawler crane according to claim 1, wherein the automatic operation is performed based on the stored data. 5. The fuzzy controller according to claim 1, wherein the hoisting and lowering of the suspended load and the speed of turning and raising and lowering the boom are controlled by a fuzzy controller.
Or the automatic operation method of the crawler crane according to 4. 6. The data of the unloading position at which the previously suspended load was unloaded is stored in the storage means, and the load at which the previously unloaded load was unloaded is stored based on the data stored in the storage means from the loading position. After being transferred to the unloading position by automatic operation, it is transferred from the position to the current unloading position by manual operation to unload the suspended load, and the current unloading position is stored in the storage means. Claims 1, 2,
6. The method for automatically operating a crawler crane according to 3, 4, or 5.