JPS605518B2 - Cable crane main rope automatic adjustment method and device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method and apparatus for automatically adjusting a main rope of a cable crane.

A track-type cable crane is a cable crane that is mainly installed in terrain where it is difficult to create a running path.One end of the main element is fixed to a fixed anchor or a fixed tower, and the other end is attached to a traveling trolley via a main element adjustment device. Fixed to. The running trolley also runs on a track set on the opposite bank of the main fixed anchor or fixed tower. By the way, in this type of cable crane, the fixed end of the main element is separated by the movement of the traveling trolley. Since the distance between the trolley and the trolley changes, in order to keep the slackness of the main element constant, it is necessary to adjust the expansion and contraction of the main element at the same time as the trolley travels. Conventionally, this operation was carried out manually by the cable crane operator by visually checking the sag of the oxide, but this was problematic in terms of workability and safety. For this reason, in recent years, a method has been proposed and implemented in which the expansion and contraction of the main element is adjusted by detecting the running angle of the main rope and using this detected angle.

The present invention focuses on the fact that the adjustment amount in the main mill adjustment device is determined by the main element running angle, continuously detects the main millet running angle, and converts this into an electrical signal proportional to the main element adjustment amount. On the other hand, the winding amount of the main element adjusting element in the main element adjusting winch is continuously detected, and this is converted into an electric signal proportional to the winding amount and used as a feedback value signal. The two signals are combined and the deviation signal is amplified by a servo amplifier to command the main element adjustment winch motor to rotate forward, reverse, and stop, thereby automatically adjusting the main element.

This allows automatic adjustment of the main rope to be carried out simply and with great accuracy. Hereinafter, the implementation of the present invention will be explained by giving an example in which the present invention is implemented in a track type cable crane.

Fig. 1 shows a conventional track-type cable crane. In the figure, 1 is a track whose both ends are fixed to track fixing anchors 2, 2, and 3 is a running trolley with a running cable 4. The ends 4', 4' of are attached, and the running element 4 is stretched over each sheave 5a, 5b, 6a, 6b, 7 provided on the orbit fixing anchors 2, 2 and the running trolley 3,
The traveling trolley 3 is configured to travel and move in the left-right direction in the drawing by means of a winch 8.

When the traveling trolley 3 travels on the orbit 1, the trajectory is an elliptical orbit A indicated by a dotted line with the fixed orbit ends 2' and 2' as focal points (more precisely, the main element and the orbit , depending on the weight of the traveling trolley, etc., the plane containing the elliptical trajectory and focal point is 2
It does not become the next plane.

) Also, 9 is a main rope whose one end is fixed by the main rope fixing anchor 1 river rod 10' and the other end is fixed to the traveling trolley 3 via the main line adjustment device 11. By running, it moves left and right in the figure.

The locus of the principal element end 9' during travel draws an arc B shown by a dotted line centered on the principal element fixed end 10'. Also, C,,C shown by dotted lines
2 indicates the running limit of the main element 9. A traversing trolley 18 (FIG. 8) traverses over the main element 9, and appropriate materials such as concrete are transported to appropriate positions by buckets suspended from the traversing trolley 18. ．．
In this embodiment, the main element adjusting device 11 has many sheaves 12a.
12e to 12e and a main element adjustment rope 13 stretched over them, one end of the main element adjustment element 13 is fixed to one orbital fixing anchor 2, and the end is fixed to the other orbital fixing anchor 2. The main element adjustment winch 1 is connected via the sheave 5c
4, and winding and unwinding is performed by the main rope adjustment winch 14.

The main point of the present invention is the winding tuft of the main element adjusting element 13, and hence the main adjustment, and this point will be explained in detail below. Figure 2 shows the relationship between the movement of the running trolley 3 and the main rope 9, where the ○ point is the fixed end of the main rope, P
, Q is the orbital fixed field, and the angle POQ is the movable angle of principal element 9 (
range). TU is a part of an elliptical orbit with P and Q as focal points, and the traveling trolley 3 travels on this orbit.
Here, draw a circle circumscribing the TU with the circle as the center, and let Z be the point of contact. Also, the intersections of this circle and P○ and QO are R
,S. Now consider the case where the cable crane travels to an arbitrary point. The solid line in FIG. 2 indicates the principal element position when the cable crane travels by principal angle 8 with QO as a reference. Let the intersections of the solid line and R and TZU be x and Y, respectively. That is, the principal element adjustment amount is expressed as xY, where XY is a function of the principal element angle 8, and can be expressed as in the following equation.

Principal element adjustment amount XY=F(8) (0≦8≦angle POQ) Principal element adjustment range ○≦XY≦SU (When SU>RT) Figure 3 shows the main rope adjustment amount obtained from Figure 2. become that way.

Next, each device for controlling the main rope adjustment winch motor 19 (FIG. 8) that drives the main rope adjustment winch 14 shown in FIG. 1 will be described.

In this embodiment, a synchronized transmitter installed at the fixed end of the main element is used as the main element running angle detector for detecting the main rope running angle. That is, as shown in FIG. 4, the sink is placed on the extension line of the bottle koji 16 of the fixed part bracket 15 at the fixed end of the main element. Install the transmitter 20 and connect the wire socket 17 of the main element 9
The movement on the horizontal plane is transmitted to the rotor of the synchro transmitter 20 via the connecting rod 21. As a result, the rotor rotates in proportion to the change in the principal element running angle, and the moving angle is converted into an electrical signal and transmitted to the synchronized receiver of the main rope running angle to principal element adjustment amount converter, which will be explained next. It is converted into an electrical signal proportional to the principal element adjustment amount. The principal element running angle-main rope adjustment amount converter that converts the principal element running angle into an electrical signal proportional to the principal element adjustment amount determined in FIG. 3 may be any suitable one, but
For example, ① Method using a potentiometer The resistivity of the potentiometer is set so that a voltage output corresponding to the principal element adjustment amount is generated according to the rotation of the potentiometer shaft, and this is connected to the output shaft of the synchronized receiver.

(b', method using a cam mechanism As shown in FIG. 5, a cam plate 32 similar to the figure fox TZU shown in FIG. Convert to

This displacement is converted into voltage by a potentiometer or differential transformer 33. etc. can be taken.

In order to detect the winding amount of the main element adjusting millet 13, for example, the rotation of the drum of the main element adjusting winch 14 shown in FIG. 1 may be detected to detect the winding amount of the main element adjusting element 13. good.

An example of the main element adjustment winch take-up amount detector is shown in FIG. The main element adjustment winch take-up amount detector includes a rotation amount detection unit that connects a synchro transmitter 41 to the drum shaft of the main element adjustment winch 14 via a reducer 40, and a synchro receiver 4.
2 and a voltage conversion section connected to a potentiometer 43. Both are connected by a signal cable 44, and the winding amount of the main element adjusting element 13 is converted into voltage. As the main element adjustment winch motor 9, a servo motor, a variable remote motor, or a constant speed motor may be used. When a servo motor and a variable distance motor are used, the rope speed of the main element adjustment mill 13 can be varied in accordance with the deviation signal between the set value signal and the feedback value signal, so that control with excellent responsiveness can be performed. Further, by using a constant speed motor such as an induction motor, on/off control can be achieved at a low cost that does not cause any practical problems. FIG. 7 shows a block diagram of the automatic principal adjustment system.

That is, the running angle of the main element 9 is continuously detected by a main element running angle detector, and the detected angle is converted into an electrical signal proportional to the main element adjustment amount by a main element running angle-principal element adjustment amount converter. The rotation of the main element adjustment winch motor 9, that is, the drum rotation of the main element adjustment winch 14, is detected by the rotation amount detection section of the main element adjustment winch winding amount detector, and the main element adjustment winch winding amount detector is used as a set value signal. It is converted into an electric signal proportional to the raw adjustment raw winding amount to obtain a feedback value signal, these two signals are combined, and the deviation signal is amplified by a servo amplifier. Then, a control command is issued to the main element adjusting winch motor 19 in accordance with the polarity and magnitude of the signal amplified by the servo amplifier, and the main rope adjusting element 13 is adjusted, that is, the main rope is adjusted. Note that when a foot speed motor is used as the main element adjustment winch motor 19, a relay turbo amplifier is used that determines only the polarity of the deviation signal and issues a command for forward or reverse rotation. FIG. 8 shows an overall configuration diagram of a track type cable crane in which an induction motor is used as a main element adjusting winch motor.

In the figure, 19 is an induction motor as a motor for the principal element adjustment winch, 50 is a principal element traveling angle detector provided with the principal element fixing anchor 101, and 51 is a principal element traveling angle-principal element adjustment amount converter 52a. 52b is a voltage converter; 53 is a relay turbo amplifier;
54 is a reversible electromagnetic contactor. The operation is as described above, but in this case, the rope speed of the main adjustment element 13 is constant and on/off control of forward rotation, reverse rotation, and stop is performed. The effects of the above-mentioned cable crane automatic adjustment method and device are as follows.

○} Work efficiency and safety are improved because the main element position is continuously detected and the main element adjustment is automatically performed at the same time as driving. [21 By keeping the principal element slack constant, excessive tension is not applied to each fixed anchor, principal element, orbit, etc., making it safe.

'3} Even if there is a difference in altitude between the principal element and the orbit fixing anchor, the principal element sag can be kept constant by correctly setting the conversion pattern of the principal element running angle-principle adjustment amount converter.

■ In particular, the set value signal from the principal element traveling angle-principal element adjustment amount converter is compared with the feedback value signal from the principal element adjustment winch take-up amount detector, and the motor for the principal element adjustment winch is controlled by the deviation signal. Therefore, the expansion and contraction adjustment of the main element is performed continuously, thus achieving full automation and allowing smooth movement.

In addition, although the case where the present invention is applied to a track type cable crane has been described above, the present invention is of course applicable to a track type cable crane.

[Brief explanation of drawings]

Figure 1 is a plan view of a subordinate track-type cable crane, Figure 2
The figure is an explanatory diagram showing the movement of the main element and the traveling trolley. Figure 3 is a graph showing the amount of adjustment of the principal element. Figure 4 is a perspective view of the principal element traveling angle detector. Free running angle -
A perspective view of the main rope adjustment amount converter, FIG. 6 is a line diagram showing the main rope adjustment winch winding amount detector, FIG. 7 is a block diagram of the automatic main rope adjustment device, and FIG. 8 is an automatic main rope adjustment device according to the present invention. FIG. 1 is an overall view of a track-type cable crane equipped with a main element adjustment device. 1... Track line, 2... Track fixing anchor, 3...
...Traveling trolley, 4...Travel element, 8...Travel winch, 9...Main rope, 10...Main rope fixing anchor, 11...Main rope adjustment device "13...
Main rope adjustment rope, 14... Main rope adjustment winch "1
9... Main element adjustment winch motor, 20... Synchro transmitter, 30... Synchro receiver, 32
...Cam plate, 33...Linear potentiometer
Evening, 40...Decelerator, 41...Synchronized transmitter, 4
2... Synchro receiver, 43... Potentiometer, 44... Signal cable, 50... Principal running angle detector, 51... Main rope running angle. - Principal element adjustment amount converter, 52a...'・Rotation amount detection section of the principal element adjustment winch winding amount detector " 52b... Voltage conversion section, 5
3... Servo amplifier, 54... Reversible electromagnetic contactor. Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8

Claims (1)

[Claims] 1. One end of the main rope is fixed to a fixed anchor, etc., the other end is fixed to a running trolley via a main rope adjustment device, and the running trolley is stretched on the opposite shore of the main rope fixed anchor, etc. In an automatic main rope adjustment method for a cable crane running on a track or rails, the main rope running angle is continuously detected and the detected main rope running angle is converted into an electrical signal proportional to the amount of main rope adjustment. It converts it into a set value signal, and continuously detects the winding amount of the main rope adjustment winch, converts it into an electric signal proportional to the detected winding amount and creates a feedback value signal, and then sets the above-mentioned setting. A deviation signal between the value signal and the feedback value signal is obtained, the deviation signal is amplified, and the main rope adjustment winch motor is controlled by the amplified signal, thereby automatically adjusting the main rope. Cable crane main rope automatic adjustment method. 2 One end of the main rope is fixed to a fixed anchor, etc., the other end is fixed to a running trolley via a main rope adjustment device, and the running trolley runs on a track or rail stretched on the opposite shore of the main rope fixed anchor, etc. A main rope automatic adjustment device for a cable crane that is set to travel includes a main rope running angle detector that continuously detects the main rope running angle, and a main rope running angle detected by the detector that is proportional to the main rope adjustment amount. A main rope travel angle-main rope adjustment amount converter is installed to convert into an electrical signal, and the main rope adjustment winch's winding amount is continuously detected and converted into an electrical signal proportional to the winding amount. A main rope adjustment winch take-up amount detector is provided, and an electric signal from the main rope traveling angle-main rope adjustment amount converter is used as a set value signal, and an electric signal from the main rope adjustment winch take-up amount detector is provided. A servo amplifier is provided that uses the signal as a feedback value signal and amplifies the deviation signal.The main rope adjustment winch motor is automatically controlled by the signal from this servo amplifier, and the main rope is automatically adjusted. An automatic main rope adjustment device for a cable crane, which is characterized by: