JPS61206791A - Automatic operation method of cable crane - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a method of operating a cable crane, and in particular to automatic operation of a cable crane.

<Prior Art> Concrete is generally poured at a construction site such as a dam by transporting the concrete in a packet to the pouring point using a cable crane or the like, and opening the concrete discharge port of the packet.

An example of a method for automatically operating such a cable crane is disclosed in Japanese Patent Application Laid-open No. 119587/1987.

This is to receive the operation command pattern and operate the cable crane according to the above operation command pattern, but also to memorize the previous operation command pattern, and for the current operation, perform the current operation based on the contents memorized last time. It is designed to update stored information that sometimes needs to be changed.

<Problems to be Solved by the Invention> However, such an operating mechanism is controlled separately from the operating panel in the driver's cab, and has no linkage with the operating panel. Therefore, once the crane is put into automatic operation mode, it is difficult to know from the operating panel what kind of operation control is being performed on the crane, and it is impossible to manually operate the crane from the middle. Therefore, if the operator wishes to operate the crane manually, it is necessary to switch from automatic to manual after confirming that the automatic operation mode has ended or that all operation signals for remote control have been turned off. There is.

Another problem is that when switching to manual operation from the operating panel during automatic operation or remote control, the crane is forced into an emergency stop state, which can be dangerous for people working near the crane, depending on the operating conditions. There is.

The present invention has been made in view of the above-mentioned problems, and its purpose is to enable a crane to be operated in both automatic and manual operation, while also allowing automatic and manual operation systems to work together in both directions. To provide an automatic operation method for a cable crane that can smoothly switch operation from automatic operation to manual operation at any timing.

Means for Solving the Problems> In order to achieve the above object, the present invention performs an operation in which the operation of the crane is controlled by manual operation, and an operation in which the operation of the crane is controlled based on operation information input in advance. In addition, the above-mentioned input operation information can be corrected, and the crane operation can be switched to manual operation without stopping the operation of the crane during automatic operation.

<Operation> Automatic operation of the crane is performed by converting information obtained from the means for detecting the moving speed and amount of the cable and the amount of elevation of the sheave into operating signals by the central control member.

An operating frame for one manual operation is also directly connected to the central processing member, and when the central control member outputs an operating signal, the winch is actuated by the signal and the operating frame is also operated by a corresponding amount. Therefore, even if the crane is switched to manual operation at any timing during automatic operation, the operating frame remains in the corresponding position at the time of switching, and manual operation can be continued.

<Embodiment> FIG. 1 is a diagram showing an embodiment of an operation control device for carrying out the crane operation method of the present invention.

FIG. 2 is a flowchart showing the operation status of the crane control device. Further, FIG. 3 is a diagram showing the automatic and manual operation mechanism of the crane in the above embodiment.

In this embodiment, the operation panel 50 includes a hoisting operation frame 31
, a traversing operation frame 32, and the like are attached to enable the crane to be operated manually. In addition to the operation frame, the operation panel 50 is provided with an automatic operation button 46 for switching the operation of the crane to automatic mode and a manual operation button 47 for switching to 1 manual mode. In addition, the lower position of the operation panel 5o has a manual
A pedal 59 is provided for automatic switching. The crane control device according to this embodiment includes the operation panel 5.
0, a control circuit 35 into which signals from the operation panel 50 are input, a traverse winch operating mechanism 51 that starts and stops the traverse winch 7, a winding winch operating mechanism 52 that starts and stops the winding winch 8, and an operation The central processing unit IS7 connected to the panel 50 and information for automatic operation are input in advance,
It has a memory 58 in which it is stored. The traverse winch actuation mechanism 51 includes a drive motor 39 . In addition to the reducer 38 and the eddy current brake 40, a rotation detector 53 is provided to detect the number of rotations of the traversing winch 7 during operation. Further, the hoisting winch operating mechanism 52 includes a drive motor 42, a speed reducer 41, an eddy current brake 43, and a rotation detector 54 that detects the number of rotations of the single hoist winch 8 during operation.

The rotational speeds of the transverse winch 7 and winding winch 8 detected by the one-rotation detectors 53 and 54 are sent to the central processing unit 57 through signal lines 55 and 56 shown by dotted lines in FIG. .

These data are written to or read from a predetermined address in the memory 58.

The automatic/manual operation and switching mechanism in the operation control device of this crane has a configuration as shown in FIG. In this example, a portion for performing a traversing operation of the crane is shown, but the other operation portions have a similar configuration.

Of these, the automatic driving mechanism includes a gear motor 68 with a brake that receives power from a power source 67 and rotates upon receiving commands from the central processing unit 57, and a bevel gear 66 that is operatively connected to an output shaft 72 of the gear motor 68. and an electromagnetic clutch 69 mounted between the gear motor 68 and the bevel gear 66. The electromagnetic clutch 69 is operated by receiving power from the electric power source 71, and between the power source 71 and the electromagnetic clutch 69 is a switch that closes the power source 71 circuit when the automatic operation button 46 is turned on. 73, and an operating switch 7 that turns off the power supply circuit during automatic operation.
o is provided. and.

In order to turn off the activation switch 70, the operation panel 50 is provided with a manual switching pedal 59. Also,
A switch 74 is provided between the power source 67 and the gear motor 68, which closes the power source 67 circuit when the automatic operation button 46 is turned on.

On the other hand, the first manual operation mechanism includes a traverse operation rod 32 with a handle portion protruding from the upper surface of the operation panel 50, and a bevel gear 60 connected to the traverse operation rod 32. The bevel gears 60 and 66 are both meshed with the driven bevel gear 61, and the amount of traversing operation of the crane is transmitted to the control circuit 35 via the shaft 62 of the bevel gear 61. Note that the shaft 62 has a first notch 63, a second notch 64,
A third notch 65 is provided so that a predetermined signal can be extracted depending on the amount of rotation of the shaft 62.

The operation of the crane operation control device having such a configuration will be explained. FIG. 2 is a flowchart showing the operation of the control device.

First, an operation preparation operation is performed in the first operation step ST1, and an operation mode is selected by operating the operation panel 50 in the next step ST2.

In this embodiment, the operating mode is manual operating mode M
1. Each mode can be selected: automatic operation mode M2, data correction mode M3, and all work completion mode M4.

First, the operation when manual operation mode M1 is selected will be explained. First, in step ST3, the manual operation button is turned on to set a start, and in the following step ST4, manual operation is started. Next, when the driving operation in this manual driving mode M1 is completed, the sequence returns to step ST2, and mode selection is performed.

Next, the operation when automatic driving mode M2 is selected will be explained. Start settings are made by turning on the automatic operation button in step ST6.

In step ST7, the central processing unit 57 reads out the driving information from the memory 58 and performs data' processing.

The result is transmitted to the control circuit 35 via the operation panel 50, and a corresponding operating speed signal is output from the control circuit, the drive motors 39 and 42 are operated, and materials, etc. are transported. During the automatic operation of this crane, it is checked in step ST8 whether or not there is a manual interruption, and if there is an interruption, the manual operation is switched to manual operation without stopping the automatic operation by using the manual switching pedal 59 provided on the operation panel. The switching is performed, and the operation mode changes from the automatic operation mode M2 to the manual operation mode Ml, and from then on, the work flow proceeds in the manual operation mode. If there is no interruption, the automatic operation ends in step ST9, and the sequence returns to step ST2 to select a mode.

Next, the operation when data modification mode M3 is selected in step ST2 will be explained. First step 5TI
Start setting is made at O, and various operating information stored in the memory 58 is read out by the central processing unit 57. Then, when the data is corrected in step 5T11, the central processing unit 57 stores the corrected data in the memory 58 as new driving information. and step STI
At step ST2, a data correction end flag is set, and the sequence returns to step ST2.

In addition, when finishing all crane work, step 5
All work completion mode M4 is selected in TIO, the crane system is turned off in step 5T11, and the crane operation is ended in step 5T12.

<Effects of the Invention> As explained above, according to the present invention, automatic operation and manual operation of the crane can be performed selectively, while
In addition to being able to operate while modifying data for automatic driving, the mechanism that controls automatic driving and the mechanism that controls manual driving are linked to each other, and the system can always switch to manual operation at any time during automatic driving operation. This makes it possible to avoid any obstacles or problems during automatic operation of the crane.
Effects such as being able to take immediate action even if a dangerous situation occurs can be obtained.

[Brief explanation of drawings]

FIG. 1 is a diagram showing an embodiment of a crane operation control device for carrying out the cable crane operation method of the present invention;
FIG. 2 is a flowchart showing the operation of the above embodiment, and FIG. 3 is a diagram showing the automatic operation control and manual operation control mechanism of the above embodiment. 7. Traverse winch, 8. Hoisting winch, 35.
Control circuit, 50... Operation panel, 51... Traversing winch operating mechanism, 52... Hoisting winch operating mechanism, 53... Traversing winch rotation detector, 54... Hoisting winch rotation detector, 57... Central processing unit, 58...Memory, 59...
Manual switching pedal, 60.61,66...Bevel gear, 68
...Gear motor, 69..Electromagnetic clutch, 70..Switch.

Claims (1)

[Claims] In manual operation, in which the operation of the crane for transferring loads is controlled by manual operation of the operation stick, and in automatic operation, in which the operation of the crane is controlled based on operation information input in advance, when the above-mentioned automatic operation of the crane is in a certain operation cycle, It is possible to correct the information that needs to be changed among the operating information inputted above, and to automatically operate the crane based on this corrected information. An automatic operation method for cable cranes that enables continuous switching from automatic operation to manual operation.