JPH03232004A - Driving control method for transport carriage - Google Patents

Abstract

PURPOSE:To perform automatic driving without operating a transport carriage by a driver on board by controlling the forward/backward travel of the carriage based on the rotational amount of a cable reel on which a power cable is wound. CONSTITUTION:Travel distance is measured by detecting the rotational amount of the cable reed 53 on which the power cable 54 is wound. Then, the carriage is stopped once at a position where forward travel distance goes to distance in which it arrives at a position subtracted by preset distance from the distance between a bucket lauduig point measured in the backward travel in preceding carrying and a concrete kneading manufacturing part, and it is stared to move forward by receiving a re-start signal. Also, when a continuous travel signal is received after starting, the carriage can be move forward without stopping transiently. In such a way, it is possible to perform the automatic driving of the transport carriage without driving by the operator on board.

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a method for controlling the operation of a transport vehicle, and is intended to enable efficient and automatic transport of concrete.

<Conventional Technology> Gravity-type dams that block rivers for water use are constructed by pouring concrete in many layers. To build such a dam, a tower crane or crawler crane is constructed near the concrete pouring site, while a batcher plant (a plant for mixing and manufacturing concrete) is installed at a location away from the concrete pouring site. build. Also,
A bunker line, which serves as a travel path for a transport vehicle that transports concrete, is formed by extending from the batcher plant to near the crane.

When performing pouring work, first the concrete mixed in the batcher plant is transferred to the hopper of the transport vehicle.

After the transfer to the hopper is completed, the transport vehicle is started from the batcher plant and driven along the bunker line.

At this time, the bucket is placed on the bunker line near the pouring site. When the transport vehicle reaches the bucket landing position, the hopper of the transport vehicle is tilted to transfer the concrete from the hopper to the bucket. Once the transfer to the bucket is complete, a crane lifts the bucket, turns it, and moves the bucket to the pouring site, where the concrete is discharged from the bucket. The empty bucket is returned to the bunker line by a crane. While the bucket is being hoisted by the crane, the transport truck returns to the batcher plant, loads the concrete, and travels close to the crane again. At this time, if the empty bucket has already returned to the bunker line and been placed on the bunker line, concrete is transferred in the same manner as last time. However, if the pouring work is time-consuming and the bucket is still suspended from the crane and has not landed on the floor, the transport cart should be temporarily stopped at a position in front of where the bucket is expected to land. After that, when the bucket lands on the floor, it travels to the bucket landing position and transfers the concrete.

Concrete placement work progresses by repeating the above-mentioned work. During this work, the concrete placement position gradually shifts, and accordingly, the landing position of the bucket on the bunker line also shifts.

In the conventional transport trolley used for the above-mentioned work, an operator rides on the transport trolley and manually commands running, stopping, and tilting of the hopper.

<Problems to be Solved by the Invention> By the way, when operating a conventional transport trolley, the operator must enter a narrow operator's cabin and repeat monotonous tasks for a long time. As a result, the operator is easily fatigued and there is a risk of accidents caused by simple operational errors, such as runaway, collision, or incorrect tilting of the hopper.

SUMMARY OF THE INVENTION In view of the above-mentioned prior art, an object of the present invention is to provide a method for controlling the operation of a transport vehicle, which allows the transport vehicle to be automatically operated without an operator getting on the vehicle.

Means for Solving the Problems> The configuration of the present invention to solve the above problems measures travel distance by detecting the amount of rotation of the cable reel, and the forward travel distance is determined by the backward travel distance during the previous transportation. When the distance is equal to the set distance subtracted from the distance measured during the run between the bucket landing point and the concrete mixing manufacturing department, the machine is stopped once, and when the machine receives a restart signal, it restarts and moves forward. . The vehicle is also characterized in that when a continuation signal is received after the start, the vehicle travels forward without stopping.

Embodiments Hereinafter, embodiments of the present invention will be described in detail based on the drawings.

First, a dam construction site constructed by applying the present invention will be described with reference to FIGS. 9 and 10.

As shown in Figures 9 and 10, a roughly linear gantry 1 is constructed across the rock on either side of the dam construction site, and a bunker line 2 is constructed on top of this gantry 1 or parallel to the gantry 1. . The gantry 1 is used as a running platform for the crawler crane 3, and the bunker line is used as a running path for the concrete transport truck 4.

The crawler crane 3 lifts a bucket 5 containing concrete and moves it to a predetermined pouring point. Further, the transport truck 4 reciprocates between the bucket 5 and the batcher plant 6 on the bunker line 2, and transports the concrete produced in the batcher plant 6 to the bucket 5.

Note that the bucket 5 has a cylindrical shape and is open at the top, while
At the bottom, there is a lid that opens and closes using air.

A concrete plant is installed at one end of the gantry 1 and the bunker line 2. That is, in order to manufacture concrete, the two ends of the bunker wire 2 are filled with cement, which is a constituent material thereof.

A batcher plant 6 is arranged to mix water, sand, gravel, etc. in a predetermined composition. A cement silo 7 is placed adjacent to the batcher plant 6.

Further, an aggregate storage facility 8 for storing aggregate is provided at a location away from the batcher plant 6, and this aggregate storage facility 8 and the batcher plant 6 are connected to a belt conveyor 9.
connected by. Also, batcher plant 6
A test chamber 10 is provided adjacent to the .

In addition, in FIGS. 9 and 10, 11 is a turbid water treatment pond, 12 is a turbid water plant, and 13 is a material storage area.

When pouring concrete at a dam construction site, aggregate is transported from aggregate storage equipment 8 by belt conveyor 9 and supplied to batcher plant 6, while cement material is transported from cement silo 7 to batcher plant 6. supply,
This is where the mixture is mixed to produce concrete.

The produced concrete is loaded onto a transport truck 4 located below the batcher plant 6. The transport truck 4 loaded with concrete travels to a bucket 5 placed on the bunker line 2 and transfers the concrete there.

Then, the empty transport cart 4 is moved to the batcher plant 6.
Return to the lower position. Note that the operation control of the transport vehicle 4 will be described later.

The bucket 5 containing concrete is lifted by a crawler crane 3 placed on the gantry 1, and the crawler crane 3 rotates to move the bucket 5 to the concrete placement point and open the lid of the bucket 5. This releases concrete. Thereafter, the crawler crane 3 moves the empty bucket 5 to the top of the bunker line 2 and places it in a predetermined position.

The dam embankment is constructed by repeating this series of operations.

At this time, the concrete placement point moves along the gantry 1. Therefore, along with this movement, the crawler crane 3 moves and follows by changing the landing position of the bucket 5 on the bunker line 2, and sequentially places concrete. Therefore, all the concrete placement points where the embankment 15 is to be constructed can be covered only by moving and turning the crawler crane 3.

Next, the mechanical configuration of the transport trolley 4 is shown in FIGS. 1 and 2.
This will be explained based on the diagram. Note that the configuration of the electrical system will be explained after the mechanical configuration.

As shown in FIGS. 1 and 2, in the transport truck 4,
The bogie main body 22 has a semicircular notch formed in the front part, a pair of front wheels 23 and a rear wheel 24 are attached to the lower surface, and runs on the rail 25 mounted on the bunker line 2 mentioned above. do. Further, a traveling drive motor 26 is mounted on the trolley main body 22, and the drive shaft of this drive motor 26 is connected to the front wheel 23, so that the transportation trolley 4 can move along the bunker line 2.
You can drive along.

A support stand 28 is attached to the trolley body 22 by a frame 27. The hopper 2 is placed on this support stand 28.
9 is supported so as to be freely tiltable, and protective side walls 30 are formed on both sides thereof.

The hopper 29 is box-shaped, and the rear side of the upper part (see Figs. 1 and 2)
A loading opening 31 is formed on the left side of the figure. Further, a discharge opening 32 is formed at the front end of the hopper 29 (on the right side in FIG. 1) facing diagonally upward, and an inclined portion 34 extending upward from the bottom 33 of the hopper 29 to the discharge opening 32 is formed. . Therefore, the discharge opening 32 of the hopper 29 is located at the bottom 33.
It will be set at a higher position.

The front end of the hopper 29 is pivotally supported by a support shaft 36 on a bracket 35 fixed on the support base 28. Further, hydraulic cylinders 37 are attached to positions on both sides of the hopper 290 on the support stand 28 , and the tip end of the piston rod 38 of each hydraulic cylinder 37 is connected to each side of the hopper 29 . Therefore, by operating the hydraulic cylinder 37, the hopper 29 is moved from the concrete loading position shown by the solid line in FIG.
It can be tilted approximately 90 degrees to the J-to discharge position.

Further, an inclined plate 41 is attached inside the hopper 29. That is, this inclined plate 41 has a rotating shaft 42 fixed to its rear part, and this rotating shaft 42 is pivotally supported on the side of the hopper 29, so that this inclined plate 41 can rotate inside the hopper 29 by its own weight. can do.

This inclined plate 41 is used to guide a large load, such as large gravel mixed in concrete, first to the discharge opening 32 side, and its front end is at the bottom of the hopper 29 at the concrete loading position of the hopper 29. 33, and is rotated to a substantially vertical position at the concrete discharge position of the hopper 29.

Furthermore, a hydraulic unit 5 is installed in the truck body 22 of the transportation truck 4.
1. A manual operation g152 is provided, and a cable reel 53 is rotatably attached. The cable reel 53 has six spokes 53a, and is led out from the batcher plant 6 and connected to the travel drive motor 2.
The power cable 54 that supplies power to the 6th etc. is wrapped around it. When the transport vehicle 4 moves forward and leaves the batcher plant 6, the power cable 54 is unwound from the cable reel 53 in accordance with the forward speed, and the transport vehicle 4
When the vehicle moves backward and approaches the batcher plant 6, the power cable 54 is wound onto the cable reel 53 in accordance with the backward movement speed. That is, the transport trolley 4
The cable reel 53 is rotated by a motor (not shown) according to the running speed so that when the power cable 54 moves forward or backward, no extra tension is applied to the power cable 54 or the power cable 54 is loosened.

Further, at the rear of the truck body 22, a truck control panel 55, a robot control panel 56, and a wireless device 57 are provided. on the other hand,
A pair of red patrol lights 58R are mounted on the top of the support stand 28.
Two pairs of blue patrol lights 58B and a pair of yellow patrol lights 58Y are provided.

Next, the configuration of the electrical system of the transport vehicle 4 will be explained based on FIGS. 3, 4, and 5. As shown in FIGS. 3 and 4, limit switches 101 and 102 are provided on the transport cart 4
, 103° 104, 105, 106, 107, 108, ultrasonic sensor 109, and proximity switch 201° 202
．． 203, 204, and 205 are attached. As shown in FIG. 5, a cart sequencer 301 is provided in the cart control panel 55, and a
Robot sequencer 302. A first arithmetic processing unit 303 and a second arithmetic processing unit 304 are provided. Further, the batcher plant 6 is equipped with a transmitter 305, and the operator of the crawler crane 3 uses the handy type transmitter 305.
I am carrying a 6. Note that 307 is an inverter.

The detection signals of the limit switches 101 to 108 and the detection signals of the ultrasonic sensor 109 are sent to the trolley sequencer 30.
1, the detection signal of the proximity switch 201 is sent to the first processing unit, the detection signal of the proximity switch 202 is sent to the second processing unit, and the detection signal of the proximity switch 203 and 204 is sent to the second processing unit.
, 205 are sent to the robot sequencer 302.

The cart sequencer 301 and the robot sequencer 302
．． First arithmetic processing device 303 and second arithmetic processing device 304
Required programs are set in the system, and these controls are organically combined to perform the operation control described below.

Here, a method of controlling the operation of the transport vehicle 4 will be explained with reference to FIGS. 3 to 5 and 6 to 8.

The operation control method when concrete is transported for the first time after starting pouring will be explained with reference to FIG. 6. At this time, the empty bucket 5 is first landed on the bunker I@2 near the crane by the crane 3 (Fig. 6(a)
).

Concrete is loaded into the hopper 29 of the transport vehicle 4 from the batcher plant 6. When the loading of concrete is completed, an operator at the batcher plant 6 causes the transmitter 305 provided in the batcher platform 6 to transmit a start signal. This start signal is received by the receiving device 57 (FIG. 5) of the transport vehicle 4, and is sent to the vehicle sequencer 301.
Under this control, electric power is supplied from the inverter 307 to the travel drive motor 26 to drive it, and the transport cart 4 starts from the batcher plant 6 and moves forward along the bunker line 2. While moving forward, the cable reel 53 rotates forward at a rotational speed proportional to the forward speed and lets out the power cable 54. Further, while the transport vehicle 4 is traveling (not only while moving forward but also while moving backward), the red patrol light 58R is turned on in response to a command from the robot sequencer 302.

When the top of the transport vehicle 4 approaches the bucket 5 (Fig. 6(b)
l) The ultrasonic sensor 109 detects the presence of the bucket 5, or the limit switch 101 touches the bucket 5 and detects the presence of the bucket 5. When at least one of the detection signal from the ultrasonic sensor 109 and the detection signal from the limit switch 101 is input to the bogie sequencer 301, the bogie sequencer 301 applies the brakes to decelerate the vehicle and lowers the rotational speed of the travel drive motor 26. Lower it.

Therefore, the transport vehicle 4 decelerates from a steady speed to a creeping speed and moves forward.

When the transport cart 4 completely holds the bucket 5 (FIG. 6 (C1), the limit switches 102 and 103 and the proximity switch 205 detect the bucket 5. The detection signals of the limit switches 102 and 103 are sent to the cart sequencer 301.
When input to , under the control of the trolley sequencer 301,
The travel drive motor 26 is stopped and the brake is applied.

Further, the robot sequencer 302 has the proximity switch 20
By receiving a detection signal from 5, it is known that the transport cart 4 has stopped holding the bucket 5.

When the transport cart 4 stops holding the bucket 5, the yellow patrol light 58Y turns on according to a command from the robot sequencer 302. When the driver of the crawler crane 3 visually confirms that the yellow patrol light 58Y is lit, he sends out a tilting signal from the transmitter 306 (FIG. 5) that he carries. The tilting signal B is received by the receiving device 57 of the transport vehicle 4 and sent to the robot sequencer 302, and under the control of the robot sequencer 302, the hydraulic unit 51 and the hydraulic cylinder 37 are operated and the hopper 29 is tilted.

Therefore, concrete is transferred from the hopper 29 to the pagette 5 (FIG. 6(d)). When the transfer to the bucket 5 is completed, the hopper 29 returns to its original state. In this case, when the hopper 29 is tilted from a horizontal state to an inverted state, the limit switches 104, 105°1
06 sequentially changes from the on state to the off state in this order. Conversely, when the hopper 29 returns from the inverted state to the horizontal state, the limit switches 106, 105, and 104 are sequentially turned from the off state to the on state in this order. Since the detection signals of these limit switches 104, 105, and 106 are sent to the cart sequencer 301, the cart sequencer 301
It is possible to judge to what extent the hopper 29 is level or whether it has returned to the horizontal state. Also hopper 2
9 returns to the horizontal state, this can be confirmed by switching the proximity switch 20.
4 is detected, the robot sequencer 302 can also know that the hopper 29 has returned to the horizontal state. When the hopper 29 returns from the inverted state to the horizontal state in this manner, the yellow patrol light 58Y is turned off in response to a command from the robot sequencer 302.

When the hopper 29 returns to the horizontal state, the cart sequencer 30
1, the traveling drive motor 26 is driven to rotate in the reverse direction, and the transport vehicle 4 moves backward toward the batcher plant 6 (FIG. 6(e)). During this backward movement, the cable reel 51 rotates in reverse at a rotational speed proportional to the backward movement speed to reel in the power cable 54. When moving backward, when the rear of the transport vehicle 4 enters the batcher plant 6, the limit switch 1 is activated.
08 is input, and under the control of the trolley sequencer 301,
The transport truck 4 decelerates from a steady speed to a slow speed and moves backward. When the transport vehicle 4 completely enters under the batcher plant 6 and returns to the starting point, the limit switch 107
is thrown in, and the transport cart 4 stops. When the transport vehicle 4 stops at the starting point, the proximity switch 203 detects that it is the starting point, and this detection signal is sent to the robot sequencer 302.

Figure 6 (e)
), proximity switches 201, 20-2 and arithmetic processing unit 3
03 and 304 (FIG. 5) work together to measure the distance lsL from the landing position of the bucket 5 to the batcher plant 6. In other words, the proximity switches 201 and 202 are
In order to generate a pulse signal each time the cable reel 53 rotates and the spoke material 53a approaches, the arithmetic processing unit 303,
304 calculates the distance by counting this pulse signal. Furthermore, from the time when the hopper 29 returns from the inverted state to the horizontal state and the detection signal is output from the proximity switches 204 and 205, the transport vehicle 4 returns to the starting point of the batcher plant 6 and the proximity switch 20
The distance is determined by counting the pulse signals output from the proximity switches 201' and 202 during the period from 3 to the time when the detection signal is output. In this embodiment, the first system includes the proximity switch 201 and the first processing unit 303, and the proximity switch 202 and the second processing unit 304.
Since the system is equipped with a second system, distance measurement can be performed reliably even if one system fails, and when both systems are normal, mutual monitoring is performed, resulting in high reliability.

On the other hand, while the transport truck 4 is moving backward, the bucket 5 containing concrete is moved by the crane 3 to the pouring site and the concrete is discharged. The empty bucket 5 is placed on the bunker line 2 again by the crane 3. Moreover, the current landing position is close to the previous landing position, and if the pouring work is done quickly, the concrete must be returned to the batcher plant 6 before the concrete-loaded transport cart 4 starts. , the empty bucket 5 lands on the bunker line 2. However, when there is a delay in the pouring work, the bucket 5 may still be suspended by the crane 3 even though the transport vehicle 4 has started from the batcher plant 6.

Next, FIG. 7 shows an operation control method in a situation where the bucket 5 has not yet landed on the floor when the transport cart 4 starts from the batcher plant 6 during the second and subsequent concrete transports. I will mainly explain.

Concrete is loaded again on the transport truck 4 which returned to the batcher plant 6 after the previous concrete transport. After loading is completed, when a start signal is sent from the transmitter 305 of the batcher plant 6, the transport vehicle 4 starts from the batcher plant 6 and moves forward (see Fig. 7(a)).
)).

While moving forward in this way, the proximity switch 201,
By counting the pulse signals sent from 202 in each arithmetic processing unit 303, 304, batcher
The forward distance traveled starting from plant 6 is calculated. The processing units 303 and 304 respectively store the distance measured when the bucket 5 moved backward from the landing position to the batcher plant 6 during the previous concrete transportation, and also store the preset distance l ( For example, 20 m) is stored.

When the transport vehicle 4 moves forward and the calculated forward distance reaches (L-1), the processing units 303 and 304 output a stop signal. The robot sequencer 302 sends a stop signal to the cart sequencer 301 to receive a stop signal from at least one of the processing units 303 and 304. Therefore, under the control of the truck sequencer 301, the traveling drive motor 26 is stopped and the brake is applied. Therefore, the transport vehicle 4 automatically stops at a point four distances before the point where the bucket 5 landed last time (FIG. 7(b)). When the robot stops automatically in this way, the blue patrol light 58
Turn on B.

The operator of the crane 3 places the empty bucket 5 on the bunker line 2. The landing position this time is
It's a little different from the previous landing position, but it's close.

After landing on the ground, the operator of crane 3 lights the blue patrol light 58.
By visually confirming that B is lit, the operator knows that the transport cart 4 is waiting at the front position.

Therefore, the operator of the crane 3 sends out a restart signal from the transmitter 306 that he carries. This restart signal is received by the receiving device 57 of the transport vehicle 4 and sent to the robot sequencer 302. When the robot sequencer 302 receives the restart signal, it sends a restart signal to the cart sequencer 301, and the traveling drive motor 26 is driven under the control of the cart sequencer 301, and the transport cart 4 restarts and moves forward at a steady speed. . When restarted, the blue patrol light 58B is activated by the command of the robot sequencer 302.
goes out.

When the transport vehicle 4 approaches the bucket 5, the limit switch 101 and the ultrasonic sensor 109 detect this, and the vehicle decelerates from steady speed to slow speed and moves forward.When the transport vehicle 4 picks up the bucket 5, this is detected. Limit switch '1
02, 103 and the proximity switch 205 detect this, and the transport vehicle 4 stops (FIG. 7(C)). When the vehicle stops holding the bucket 5, the yellow patrol light 58Y lights up.

When the operator of the crane 3 sees the yellow patrol light 58Y lit, he sends a tilting signal from the transmitter 306, and the hopper 29
is tilted, and the concrete is transferred to the bucket 5 (Fig. 7(d)).

After transferring the concrete to bucket 5, move to hopper 29.
returns to the horizontal position, and the carriage 4 moves backward toward the batcher plant 6. During this backward movement, the distance from the current landing position of the bucket 5 to the batcher plant 6 is measured (FIG. 7(e)). When you return to Batcher Plant 6, cancel the previous measurement distance and change the current measurement distance M.
Store L in the processing units 303 and 304 and prepare for the next run.

While reversing to the batcher plant 6, the bucket 5 containing the concrete is moved to the pouring site for the L/N 3 and discharges the concrete.

As mentioned above, when the transport vehicle 4 starts from the batcher plant 6, if the bucket 5 has not landed on the floor, the operations from ta+ to (el) in FIG. 7 are repeated. Even if the landing position of the bucket 5 shifts sequentially as the installation work progresses, the transport cart 4 will temporarily stop each time at a position 4 distances from the previous bucket landing position. The driver can place the bucket 5 on the floor while the transport cart 4 is waiting, and then send a restart signal.The driver can then restart the transport cart 4, move forward, and automatically restart the bucket 5 once it has picked up the bucket 5. Stop and allow concrete to be transferred.

Next, we will explain the operation control method in the situation where the bucket 5 has already landed on the floor when the transport cart 4 starts from the batcher plant 6 when carrying out the second and subsequent concrete transport. The explanation will focus on figures.

Concrete is again loaded onto the transport truck 4 which has returned to the batcher plant 6 after the previous concrete transport. After loading is completed, the transmitter 30 of batcher plant 6
5 sends a start signal, the transport vehicle 4 starts from the Barachi plant 6 and moves forward (Fig. 8(a)
).

While moving forward in this way, the proximity switch 201,
By counting the pulse signals sent from 202 in each arithmetic processing unit 303, 304, batcher
The forward distance traveled starting from plant 6 is calculated. The arithmetic processing units 303 and 304 each store the distance QL measured when moving backward from the bucket 5 to the batcher plant 6 during the previous concrete transportation, and also store a previously set distance Pa1 (for example, 20 m). is memorized.

At this time, the operator of the crane 3 has already placed the bucket 5 on the floor, so he can observe that the transport cart 4 is moving forward toward the bucket 5. If left as is, the forward distance will become (L-) as shown in Figure 7(b).
j), the transport cart 4 automatically stops. However, in this case, since the bucket 5 has already landed on the floor, there is no need to temporarily stop it. Therefore, the operator of the crane 3 sends a continuation signal from the transmitter 306 before the transport cart 4 moves forward by (L-1). This running continuation signal is received by the receiving device 57 of the transport vehicle 4 and sent to the robot sequencer 302.

Therefore, even if the forward distance becomes (L-J) and a stop signal is output from the processing units 303 and 304, the robot sequencer 302 will not send a stop signal to the cart sequencer 301 and the robot will continue traveling. (Figure 8(b))
.

When the transport vehicle 4 approaches the bucket 5, the limit switch 101 and the ultrasonic sensor 109 detect this, and the vehicle decelerates from steady speed to slow speed and moves forward.When the transport vehicle 4 picks up the bucket 5, this is detected. limit switch 10
2. 103 and the proximity switch 205 detect and transport cart 4
stops (Fig. 8(C)). When the vehicle stops holding the bucket 5, the yellow patrol light 58Y lights up.

When the operator of the crane 3 sees the yellow patrol light 58Y lit, he sends a tilting signal from the transmitter 305, and the hopper 29
is tilted, and the concrete is transferred to the bucket 5 (Fig. 8(d)).

After transferring the concrete to bucket 5, transport cart 4
is moving backward toward Batcher Plant 6. During this backward movement, the distance from the current landing position of the bucket 5 to the batcher plant 6 is measured (FIG. 8(e)). When returning to batcher plant 6, the previous measured distance is canceled and the current measured pressure gIL is calculated by the arithmetic processing unit 303.
, 304 in preparation for the next run.

While the batcher plant 6 is moving backwards, the bucket 5 containing concrete is moved by the crane 3 to the pouring site and the concrete is discharged.

As described above, when the transport vehicle 4 starts from the batcher plant 6, if the bucket 5 has already landed on the floor, the operations in FIGS. 8(al to dl) are repeated.

In this way, the transport truck 4 can move forward to the bucket 5 and transfer concrete without stopping once.

Even if the situation shown in Figure 7 (al) and the situation shown in Figure 8 (al) occur randomly, concrete can be transported efficiently by operating according to each situation. reactor.

As explained with reference to FIGS. 6 to 8, in this embodiment, when the bucket 5 has not landed on the floor, the transport cart 4 is automatically stopped before the landing position, so that the bucket 5 does not land on the floor. Remote control allows the vehicle to continue running when the vehicle is running. Note that the set distance l can be changed by changing the preset value. In principle, this transport trolley 4 is operated unmanned without a worker riding on it, but in special cases, a worker may ride on the transport trolley 4 and operate the manual operation panel 52 to operate the transport trolley 4. I have to.

<Effects of the Invention> As specifically explained above in conjunction with the embodiments, according to the present invention, the transport vehicle can be operated automatically without an operator riding on it, so that the number of personnel can be reduced. Moreover, since it is linked with a crane, workability is improved and concrete transportation efficiency is improved. In particular, since the transport cart automatically stops at the desired position even if the bucket has not landed on the floor, the transport cart moves forward immediately after the bucket lands on the floor and transfers the comfrey truck to the bucket, eliminating wasted time. Processing capacity improves dramatically. Furthermore, since the transport cart automatically stops when the bucket has not landed on the floor, there is no risk of it running out of control, increasing safety.

[Brief explanation of drawings]

Figures 1 and 3 are front views showing the carrier, Figures 2 and 4 are plan views showing the carrier, Figure 5 is a block diagram showing the electrical system of the carrier, and Figures 6 to 8. FIG. 9 is a plan view showing the dam construction site, and FIG. 10 is a perspective view showing the dam construction site. In the drawing, 2 is a bunker wire, 3 is a crawler crane, 4 is a transport truck, 5 is a bucket, 6 is a batcher plant, 53 is a cable reel, 54 is a power cable, 55 is a truck control panel, and 56 is a robot control panel. , 57 is a wireless device, 101 to 108 are limit switches, 109 is an ultrasonic sensor, 201 to 205 are proximity switches, 301 is a cart sequencer, 302 is a robot sequencer, 303 is a first processing unit, 304 is a second processing unit The device 305.306 is a transmitter. Patent Osamu Himatsuo Takeyo

Claims (2)

[Claims] (1) When concrete is transferred from the concrete mixing and manufacturing department, it starts from the concrete mixing and manufacturing department and travels forward along the bunker line, and during this forward movement, the power cable led out from the concrete mixing and manufacturing department corresponds to the forward traveling speed. When the crane reaches the bucket, which is transported by a crane and landed at a desired position on the bunker line, it stops and transfers the concrete to the bucket, and when the transfer is complete, it moves backward along the bunker line. This is a method of controlling the operation of the transport cart, which returns to the concrete mixing manufacturing department and winds the power cable onto the cable reel at a speed corresponding to the backward speed when traveling in reverse. By detecting this, the distance from the landing point of the bucket to the concrete mixing production section is measured, and when moving forward, the amount of rotation of the cable reel is detected to measure the forward distance traveled from the concrete mixing production section. However, when this forward distance becomes equal to the distance between the bucket landing point and the concrete mixing production department, which was measured during backward movement during the previous transport, the set distance is subtracted, the transport cart is temporarily stopped. , A method for controlling the operation of a transportation vehicle, characterized in that when a restart signal is sent, the transportation vehicle that has stopped once is caused to travel forward again. (2) In claim (1), before the forward traveling distance reaches the distance obtained by subtracting the set distance from the distance between the bucket landing point and the concrete mixing manufacturing department, which was measured during backward traveling during the previous transportation. A method for controlling the operation of a transport trolley, characterized in that when a continuation signal is sent to the transporter, the transport trolley is caused to travel forward to the bucket without stopping.