JPH04106095A - Cable crane - Google Patents

Abstract

PURPOSE:To completely automate a fine adjusting work and an antiswing work by providing a device to monitor the position of bucket hung down from the lower part of a trolley through a cable and control drive of a winch, and performing respective operation by means of first-third control means. CONSTITUTION:A trolley 3 hung down from a main cable 2 stretched in the longitudinal direction of a dam 1 and a bucket 6 suspended from the lower part of the trolley 3 are provided. A device to monitor the positions thereof and drive and control winches 7 and 8 is provided. Reciprocating movement of the trolley 3 and the bucket 6 between a conveyance starting position and a completion position is controlled by means of a first control means, antiswing of the bucket 6 in the vicinity of each arrival position is effected by a second control means, and arrival of the bucket 6 alongside a truck 10 and fine adjustment during seating of the bucket 6 to a hopper 11 are effected by means of a third control means. This constitution completely automates an antiswing work and a fine adjusting movement work.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a cable crane for supplying concrete to, for example, a dam construction site, and particularly to a cable crane that fully automates the work.

(Prior Art) As is well known, at dam construction sites, cable cranes are used as means for transporting concrete from the manufacturing site to the pouring site.

Conventionally, this cable crane, as shown in Fig. 10,
A main rope 2 whose both ends are anchored to the mountain sides on both sides of the upper part of a dam 1 constructed between mountains and stretched along the longitudinal direction of the dam 1;
A trolley 3 that is suspended from the main rope 2 and can run along it
, a tether 4 for towing the trolley, a concrete bucket 6 suspended from the lower part of the trolley 3 via a sling 5, and a transportation start position where the tether 4 is towed and the trolley 3 is set on the mountain side. A horizontal winch 7 that reciprocates between A and a conveyance end position B set at the center bottom of the dam 1, a vertical winch 8 that lowers the hanging rope 5 by two windings and raises and lowers the bucket 6, and a trolley. 3 and the bucket 6 as well as a remote control room 9 for driving and controlling each winch 7.8.

A concrete transport vehicle 10 that transports concrete made at a concrete plant (not shown) runs in the upper side of the transport start position A in a direction perpendicular to the plane of the paper, and a concrete hopper 11 runs at the transport end position B.
Based on the control signal from the control room 9,
While moving the trolley 3 laterally, the bucket 6 is raised and lowered,
The bucket 6 is positioned and bottomed at each position A and B, and concrete is supplied and discharged.

In this type of cable crane, the transport start position A
The position of the reciprocating movement of the trolley and the vertical movement of the bucket 6 from to the conveyance end position B can be detected by the amount of payout of the elements 4 and 5, the degree of deflection of the main rope 2 according to the load, etc.
Further, the coordinates are automatically calculated in accordance with this, and based on the calculation results, it is possible to instruct the drive control device of each winch 7.8 to perform forward/reverse rotation, deceleration, and stop.

(Problem to be Solved by the Invention) However, with such a control means, when the bucket 6 approaches the side of the truck 10 or approaches directly above the hopper 11, minute positions and height relationships cannot be determined. figure,
Furthermore, when the trolley 3 reaches the vicinity of the transport start or end position A or B, the inertia during deceleration or stop acts greatly, and the bucket 6 swings in the traveling direction when the trolley 3 stops, causing the trolley 3 to move forward. Not only is it difficult to place the concrete on the side of the container 10 or to bottom the hopper 11, but it is also dangerous because the bucket 6 containing heavy concrete is swung over the head of the pouring site worker, especially at the conveyance end position B.

Therefore, conventionally, this conveyance start and end position A
, B. The transport is automatically controlled until it reaches the vicinity of point B. From here on, the operation is switched to manual operation, and the monitors placed at the transport start and end positions A and B and the operators located in the control room 9 interact with each other. The trolley 3 is moved in synchronization with the direction in which the bucket 6 sways to offset the sway by communicating with each other via radio and manually operated by the operator based on the supervisor's instructions.
Landing work was underway.

However, with this method, the transport start and end positions A
, A skilled monitor must be assigned to B, and there is a large time delay from information transmission to actual correction and fine-tuning operations.
Since the direction and amount of control tend to be ambiguous, the work cannot necessarily be completed within a short time, and the waiting time and evacuation time for workers are long, resulting in poor work efficiency.

The present invention solves the above problems, and aims to provide a cable crane that can completely automate and quickly carry out this type of fine adjustment work and steady rest work at the arrival point.

(Means for Solving the Problems) In order to achieve the above object, the present invention includes a main rope inclination angle detecting means, a means for detecting the amount of payout of the towline, and a means for detecting the payout amount of the sling. and the detection signals of each of the detection means are taken in to calculate the current position coordinates of the trolley and the current position coordinates of the bucket, and based on the calculation results, the drive control device is configured to perform forward/reverse rotation or deceleration.

First control means for instructing stop: When the bucket reaches the vicinity of the conveyance start position or end position, the inclination angle is determined by taking in the detection signal of the inclination detection means and the inclination detection means provided on the bucket. a second control means that calculates the amount of movement of the trolley that offsets the movement of the trolley and instructs the drive control device of the horizontal winding winch to rotate in forward and reverse directions based on the calculation result; a detection means for detecting a proximity state, a bucket position detection means provided at each of the reached positions, and a detection signal from each of the detection means after the control by the second control means is completed to detect the bucket and each position. and third control means for calculating the amount of deviation from the drive control device and instructing the drive control device to make a fine adjustment amount according to the amount of deviation.

(Function) According to the above configuration, the first control means controls the reciprocating movement of the trolley and bucket from the transport start position to the vicinity of the end position.

The second control means causes the bucket to rest in the vicinity of each reached position.

The third control means makes fine adjustments when the bucket is placed sideways on the trolley or when the bucket touches the bottom of the hopper.

(Example) Hereinafter, an example of the present invention will be described in detail using the drawings.

In the embodiments, the same reference numerals will be used for parts that are the same as or correspond to those in the prior art, and new reference numerals will be used for different or newly added parts.

Fig. 1 is a schematic diagram showing the overall configuration of the present invention, Fig. 2 is a block diagram showing the system configuration, and Figs. 3 (a) and (b).
is a flowchart showing the processing procedure of the system.

In the figure, this cable crane is constructed in the same way as before, with both ends anchored to the mountain sides on both sides of the upper part of a dam 1 built between mountains, and a main cable 2 stretched along the longitudinal direction of the dam 1.
, a trolley 3 suspended from the main rope 2 and capable of running along it, a towline 4 for towing the trolley, a concrete bucket 6 suspended from the bottom of the trolley 3 via a hanging rope 5, and the above-mentioned A horizontal winding winch 7 pulls the rope 4 and moves the trolley 3 back and forth between a transport start position A set on the mountain side and a transport end position B set at the center bottom of the dam 1; A vertical winding winch 8 that raises and lowers the bucket 6 by hoisting it down, and a remote control system that monitors the position of the trolley 3 and the bucket 6, and is equipped with a device described below that drives and controls each of the winches 7.8. It has room 9.

Then, at the transport start position A, a concrete transport vehicle 10 that transports concrete made at a concrete plant (not shown) runs in a direction perpendicular to the paper surface,
Further, a concrete hopper 11 is arranged at the conveyance end position B.

In the remote control room 9, there is a drive control device 2 for each winch 7.8.
0, 22, a speed control device 24.26, and an arithmetic control device 28.26 that instructs various drive modes to each of these control devices 20-26. Keyboard 30 for inputting initial values and other information.
A monitor television 32, 34, a display (not shown), etc., showing the transport start position A and the end position B, respectively, are arranged.

The horizontal winch 7 and the vertical winch 8 are driven to rotate in forward and reverse directions via the drive control device 20.22 and the speed control device 24.26, and more specifically, the motors 7a and 8a are equipped with brakes 7b, respectively. , 8b, reducer 7
4. It has drums 7d and 8d for winding up and letting out the hanging rope 5.

Each motor 7a, 8a is provided with speed detectors 7e, 8e, and these detected values are fed back to the speed control device 24, 26 to ensure proper rotation according to the running command from the arithmetic and control device 28. Controlled by speed.

In addition, each drum 7d and 8d has an encoder X.
, Z are provided.

Of these, the encoder X is for detecting the amount of traversal of the trolley 3, and the encoder Z is for detecting the amount of descent of the bucket 6.
Each data is input to the arithmetic and control unit 28.

In addition, a switch C is provided at the conveyance start position A to detect the completion state of concrete loading, and a switch C is provided at the conveyance start position A.
1 side is provided with a switch H for detecting the completion state of concrete discharge, and in response to the ON state of each of these switches C and H, the arithmetic and control unit 28 controls the encoders X, Z and It receives signals from various sensors provided in each section, which will be described later, and executes calculations according to the input state thereof, and performs calculations according to the procedure shown in the flowchart of FIG. 2 via the drive control device 20.22 and speed control device 24.26. Performs various controls described below.

[Outbound route] (a) Movement control: Activated by the ON state of switch C when concrete is put into the bucket 6, and the vertical and horizontal starting point coordinates, deceleration position coordinates, and stop position, which are the coordinates of a preset target on the outward route, are activated. The drive control device 20.22 calculates the current position coordinates of the bucket 6 while moving the bucket 6 from the transport start position A to the vicinity of the transport end position B according to the coordinates, and compares it with each of the target coordinates. and commands the speed control devices 24 and 26 to rotate forward/reverse, decelerate, and stop (steps 111 to 116).

(b) Steady Rest Control: Before the bucket 6 touches the bottom of the hopper 11 at the stop position, steady rest control of the bucket 6 and lateral movement to the final target position (steps 117 to 124 above) are performed.

(c) Fine adjustment control: Deceleration and fine adjustment control when the hopper 11 reaches the bottom (steps 125 to 133).

[Return trip] (a) Movement control: Activated by turning on switch H when concrete is discharged, the transportation end position of the bucket 6 is determined according to the preset target coordinates, which are the starting point position coordinates, deceleration position coordinates, and stop position coordinates. The current position coordinates of the bucket 6 are calculated between B and the vicinity of the transport start position A, and the drive control devices 20 and 22 and the speed control device 2
Forward/reverse rotation, deceleration, and stop for 4 and 26 are commanded (steps 134 to 139 above).

(b) Steady Rest Control: Before the bucket 6 bottoms out at the transport start position A at the stop position, steady rest control of the bucket 6 and lateral movement to the final target position (steps 141 to 149 above) are performed.

(c) Fine-adjustment control: Deceleration and fine-adjustment control (steps 150 to 160 above) when moving next to the transport start position A and when landing on the bottom.

With the above, complete automation of concrete conveyance is achieved.

Next, the configuration and control mode for achieving the various control functions (a) to (c) above will be explained.

(a) Configuration for achieving functions in movement control on outbound and return trips and its control mode: At one end of the main rope 2, an inclinometer S for monitoring the deflection angle θ1 of the main rope 2 is installed.
1, a light wave range finder and a load meter W for checking the amount of traverse are also arranged, and these data are input to the arithmetic and control unit 28.

Further, from the keyboard 30, based on the initial data obtained from each of the above-mentioned sensors and each of the encoders Starting point position coordinates (x
i, zl), (xl, zl), deceleration position coordinates (x2.z2).

(x2.z-2), stop position coordinates (x3.z3) (x3
．． z-3) is input to the arithmetic and control unit 28 as an initial setting value.

As shown in FIG. 4, the amount of deflection of the main rope 2 varies depending on the tension of the main rope 2, the applied load, and the position of the trolley 3.
The larger the load, or the closer the trolley 3 is to the center, the greater the amount of deflection.

Therefore, the arithmetic and control unit 28 predicts the amount of deflection of the main rope 2 at each coordinate position based on the measurement data of the load cell W, calculates the amount of deflection based on the measurement data of the inclinometer Sl, and uses this amount of deflection and the encoder. Add the values due to Z to find the ordinate.

Furthermore, measurement data from the light wave range finder is input to the arithmetic and control unit 28 as an abscissa. Note that the abscissa can also be calculated from the value of the encoder X and the inclination angle θ1.

In this way, the arithmetic and control device 28 takes in the detection data from each sensor, calculates the current position coordinates of the bucket 6 on the outward and return trips, and issues the following drive commands while comparing the calculation results with the initial value data. said drive control device 20.22 and speed control device 24.26.

[Outbound trip (abscissa) The motor 7a is rotated forward between the starting point position (xi), that is, the deceleration position (x2) from the side of the trolley 10, and the trolley 3
is moved laterally towards the hopper 11 side (step 11
2,113).

From the deceleration position (X2) to the stop position (x3), the trolley 3 is decelerated and moved horizontally by the deceleration rotation of the motor 7, and stopped at the stop position (steps 114 to 116), and from this state, the control described in (b) above is performed. mode.

(ordinate) Between the starting point position (zl) and the deceleration position (z2), the motor 8a is once rotated in the normal direction to lift the bucket 6, and then the bucket 6 is sequentially lowered by rotating in the reverse direction (step 112,
113).

Motor 8 from deceleration position (z2) to stop position (z3)
is decelerated and reversed, the bucket 6 is slowly lowered, and is temporarily stopped at a stop position, that is, at a vertical and horizontal height position that is not buffered by the hopper 11 (steps 114 to 116), and from this state, the control mode of (b) is entered. Transition.

[Return trip (abscissa) Lateral movement of the trolley 3 by reversing the motor 7a between the starting point position (x-1) and the deceleration position (x-2) (step 13)
5,136).

Decelerated lateral movement of trolley 3 by decelerated rotation of motor 7 from decelerated position (x2) to stop position (x-3) (steps 137, 138).

When it reaches the stop position (x'3), that is, the upper side of the carriage [0] and a position that does not interfere with it, it is temporarily stopped (step 139) and the control mode is shifted to (b).

(ordinate) Lifting of the bucket 6 due to normal rotation of the motor 8a between the starting point position (zl) and the deceleration position (z-2) (steps 135, 1
36).

The bucket 6 is slowly lowered by decelerating and reversing the motor 8 from the deceleration position (z2) to the stop position (z''3) (steps 137 and 138).

It is temporarily stopped at the stop position (z3), that is, a position that is located at the side stop of the conveyance start position A and does not interfere with this (step 139), and then shifts to the control mode (b).

The above control is performed simultaneously in the horizontal and vertical directions, and as a result, the movement trajectory of the bucket 6 on the outward and return journeys is as follows:
The trajectory is diagonal as shown in the direction of the dashed arrow in FIG. 1, and the reciprocating distance is the minimum necessary.

It should be noted that the arithmetic expressions required to carry out the above arithmetic control are derived mathematically from the data obtained from the respective sensors in accordance with the geometrical figure, so their explanation will be omitted here.

(b) Configuration and control mode for achieving steady rest control function: The swing angle θ2 of the bucket 6 due to inertia during deceleration and stopping on the outward and return trips is determined by the inclinometer 8 provided on the bucket 6.
Detected by 2.

This data is transmitted via the wireless transmitter 38, received by a receiver 40 provided on the control room 9 side, inputted to the arithmetic and control unit 28 via the receiver 40, and
executes steady rest control as follows.

[Outward trip] The bucket 6 stopped at the stop position coordinates (x3.z3) is
The final position coordinates (x4.z
4), but in the preliminary stage, as shown in Figure 5, at the stop position coordinate (x3. z3), the main rope is It is in a state of maximum swing along the long plane direction of 2.

Note that the swing period to of the bucket 6 at the stop position coordinates (x3.z3) is determined according to the length g of the hanging rope 5.

Therefore, the control device 28 measures the swinging angle θ2 that is swung back after time to from the time of stop, and measures the swinging angle θ2.
2, calculate the movement timing of the trolley 3 according to the empirically obtained movement amount and the swing period of the bucket 6,
In addition, the drive control device 2 predicts the amount of movement to cancel the swing and moves the trolley 3 back and forth along the swing direction.
0 and the speed control device 24 (steps 117 to 120).

Such steady rest control is repeated a plurality of times, but in the second and subsequent control, the change over time in the swing angle θ2 may be determined, and the trolley 3 may be moved in accordance with this amount of change.

In addition, the first steady rest control is also the same as the above predictive control (
, measure the angle and time from stop to the maximum swing angle, find the amount of movement in the X direction corresponding to 1/2 of this maximum swing angle, and immediately before reaching the next maximum swing angle. The trolley 3 may be moved in the swinging direction.

At the same time as this lateral movement, the amount of payout of the hanging rope 5 is changed in accordance with the change in the amount of deflection of the main rope 2 so as to keep the bucket 6 in a horizontal state (step 121). This stopped state is determined by the fact that the detected angle 0 continues for a period equal to or longer than the swing period (step 122).

Also, in this state, it is determined whether or not the final position coordinates (x4.z4) are reached, and if not, it is moved at a slow speed in the lateral direction to match the final position coordinates (x4.z4) (steps 123, 124). .

[Return trip] Also on the return trip, the final position coordinates (x-4, z), which is almost directly above the transport start position A, are
-4) The steady rest control and slow movement are performed in the same control mode as described above (steps 140 to 149).

(c) Configuration and control mode for achieving the function of fine adjustment control; After the above-mentioned steady rest control is completed, the bucket 6 is brought close to directly above the hopper 11 on the outward trip, and brought close to the conveyance start position A on the return trip. , deceleration and fine adjustment control are performed to ensure that the aircraft lands on the bottom and sides at the correct positions.

The detection sensor for this control is bucket 6.
A sensor that detects from the approach to the deceleration area,
It consists of a sensor that detects the position from the closest position until it touches the bottom or sides.

That is, the sensors for detecting the deceleration area include the video cameras 40 and 42 placed near the transport start position A and the transport end position B, respectively, and the sensors shown in FIGS. 6 to 9.
As shown in the figure, there are collision prevention beam sensors PQ, Pr, and Pd that detect the left, right, and lower portions of the bucket 6.

Sensors from the closest position to landing on the bottom and sideways include a large number of pairs of photoelectric switches consisting of light emitting and receiving elements arranged vertically and horizontally at the conveyance start position A and the top of the hopper 11, and a final sensor installed at the top of the hopper 11. Ultrasonic range finder U1 for position detection, touch sensor TI for final position detection provided on the side and bottom of transport start position A
There is T2.

Each video camera 40.42 is connected to a monitor television 32.34 on the control room 9 side, and when the bucket 6 enters the imaging area 40a, 42a of each camera 40. monitor tv 32.34
to be displayed.

In addition, a tablet and a light pen are attached to the monitor television 32, 34, and by tracing the screen with the tablet in the vertical and horizontal directions, the vertical and horizontal deceleration position coordinates (Ωxi, f: Izl), (Qx
1. Rz l), final stop position coordinates (ρx2..
Qz2) and (ρx-2°Nz-2) are initially set, and this set value is input into the arithmetic and control unit 28 in advance.

Further, the beam sensors Pρ, Pr, Pd detect that the bucket 6 is at the set vertical and horizontal deceleration position coordinates (ρxi,
1) Zl), (jllx-1, Nz-1) and enters the conveyance start position A or the deceleration area near the hopper 11. When it approaches , the lower detection limit is exceeded and an output is generated.

This detection signal is transmitted via the transmitter 38 in the same manner as described above, and is input to the arithmetic and control unit 28 via the receiver 40 in the control room 9.

The arithmetic and control unit 28 performs the following fine adjustment control mode based on input states from various sensors that detect the deceleration region or the closest position.

[Outbound (from final position coordinates to deceleration area) After the above-mentioned steady rest control is completed, the arithmetic and control unit 28 calculates the set deceleration position coordinates (Ωxi, Nz1) from the final position coordinates (x4.z4) and the final stop position. Coordinates (,Qx2.g
Lateral movement of the trolley 3 and lowering of the bucket 6 are performed again toward z2). Then, in response to the signal from the beam sensor Pd and the deceleration position coordinate data, the arithmetic and control unit 28 issues a command to decelerate horizontally and lower by one winding (step 1).
25-127).

(From deceleration area to landing on the hopper) Figures 6 and 7
As shown in the figure, among the photoelectric switch groups provided on the hopper 11, the horizontally arranged switch groups include 1 to K.
5. K6 to KIO are for detecting the final horizontal position of the bucket 6, and switches K11 to K13 arranged in the vertical direction are for detecting the final vertical position.

Then, when the bucket 6 is in the correct position in the horizontal position, the switches 3 to 5 are placed in the switch group from the center, and the K6
When the light on the light emitting side of 8 is blocked, the corresponding light receiving side is turned OFF, so the lateral drive adjustment is performed on the switch group so that the light receiving side of 7 is turned ON (step 128).゜129).

In addition, in the vertical direction, bottoming is determined by performing a downward adjustment until all the light on the projection side is blocked. Furthermore, the bottom landing is confirmed using the ultrasonic range finder U1 (step 13).
0,131).

As described above, the arithmetic and control unit 28 determines whether or not it has landed on the bottom at an accurate position according to the combination of ON and OFF of these switch groups, and decelerates and descends and laterals when all conditions are satisfied. A command is given to stop the forward movement, and a command is given to open the bucket 6 (steps 132 and 133).

When the discharge of concrete is completed and the ON state of switch H is detected (step 134), (
The control modes a) and (b) are executed, and the bucket 6 is moved to the transport start position A side again.

In addition, in the ultrasonic range finder U1, the bucket 6 is the hopper 1.
It does not touch the bottom on the hopper 11, but stops at a distance from the hopper 11, and is also used for monitoring when concrete is being discharged.

In other words, in this state, the suspension rope 5 is under tension,
As the concrete is discharged, the load becomes lighter, so the main rope 2 tends to jump up and become unstable.

The ultrasonic distance finder Ul detects this rise, and in response to this, the arithmetic control unit 28 issues a drive command to lower the hanging rope 5 by the rise.

[Return trip] (From the final position coordinates to the deceleration area) As in the outbound trip, the arithmetic and control unit 28 determines the final position coordinates (x-4, z
−4), the deceleration position coordinates (,Qx 1.
i) z 1), final stop position coordinates (gx2.Fz-2
) and move the trolley 3 sideways again towards the bucket 6.
Perform the downward movement. And beam sensors P, Q, P
In response to the signal d and the deceleration position coordinate data, the arithmetic and control unit 28 issues a command to decelerate, traverse, and lower six times (steps 150 to 152).

(From the deceleration area to the conveyance start position A) As shown in FIGS. 8 and 9, among the photoelectric switch group provided at the conveyance start position A, the switch groups 21- and 25 are placed in the bucket 6 arranged horizontally. 31 to 35 in the vertically arranged switch group.
is to detect the final position in the vertical direction, and by adjusting the movement vertically and horizontally so that the light on the emitting side is completely blocked by the bucket 6, the receiving side is 0FFL, indicating that it has entered the correct position. Since this is confirmed, driving of the vertical and horizontal motors 7a and 8a is stopped in this state (step 15).
3-157).

Finally, a brake 7b for each motor 7a, 8a.

8b, the bucket 6 lands on the side and bottom surface of the transport start position A, and this state is maintained by the touch sensor T.
l, detected by T2 (steps 158, 159
).

If either or both of the touch sensors Tl and T2 are not detected, the vertical and horizontal motors 7a and 8a may be fine-adjusted again (step 160) and the control from step 157 may be repeated, and the bucket 6 is Therefore, the conveyance start position A is placed next to the correct position, and the control from step 111 is then executed again.

(Effects of the Invention) As explained in detail through the embodiments above, the cable crane according to the present invention eliminates the need for a supervisor for steady work at the reaching point and fine adjustment movement work, and completely automates concrete conveyance. It is possible to shorten the work at the pouring site, including evacuation time and waiting time for workers, and also improve safety.

[Brief explanation of drawings]

Fig. 1 is an overall explanatory diagram of the cable crane according to the present invention, Fig. 2 is a block diagram showing the system configuration, Figs. The figure is an explanatory diagram showing the coordinates during reciprocating movement control of the bucket, Fig. 5 is an explanatory diagram showing the state of the bucket during steady rest control, Figs.
The figure is a detailed view of the hopper, FIGS. 8 and 9 are partial views showing the relationship between the transport start position and the bucket, and FIG. 10 is an explanatory view showing the general configuration of a conventional cable crane. 2... Main rope 3... Trolley 4... Traction line 5... Hanging line 6... Concrete bucket 7... Horizontal winch 8... Vertical winch 9... Remote control room 10... Cart 11... Hopper A... Transport start position B... Transport end position 20.22... Drive control device 24.26... Speed control device 28... Arithmetic control device 30.・・Keyboard 32. 34 ・・Monitor TV 1, Pr, Pd...Beam sensor U1...Ultrasonic range finder TI, T2...Touch sensor Kl ~5.6~KIO,Kll ~K13.
25° to K21~ 35° to K31~ Photoelectric switch group C... Concrete pouring completion detection switch H...
Patent applicant for concrete release completion detection switch
Osamu Obayashi Co., Ltd.
Patent attorney - Ken Iro
Patent Attorney Masatoshi Matsumoto Figure 3, Figure 6, Figure 7, Figure 6 (Illuminating side) (Illuminating side) Procedure Shinichisho-sho (self-motivated) May 130, 1991

Claims (1)

[Claims] (1) A main rope stretched between two points, a trolley that can run along the main rope, a towline for towing the trolley, and a rope suspended from the bottom of the trolley via a hanging rope. a bucket, a horizontal winding winch that pulls the towing line and moves the trolley back and forth between a transport start position and a transport end position, a vertical winding winch that winds up and lowers the sling to raise and lower the bucket; In a cable crane equipped with a winch drive control device: a means for detecting the inclination angle of the main rope, a means for detecting the amount of payout of the tow rope, a means for detecting the amount of payout of the hanging rope, and each of the above detection means. A first control unit that takes in the detection signal of the means, calculates the current position coordinates of the trolley and the current position coordinates of the bucket, and, based on the calculation results, instructs the drive control device to rotate forward/reverse, decelerate, and stop. Control means: an inclination detection means provided on the bucket, and movement of the trolley that takes in a detection signal from the inclination detection means to offset the inclination angle when the bucket reaches the vicinity of the transport start position or end position. a second control means that calculates the amount and instructs the drive control device of the horizontal winding winch to rotate in forward and reverse directions based on the calculation result; a detection means that is provided on the bucket and detects a state of proximity to each of the reached positions; and bucket position detection means provided at each of the reached positions, and after the control by the second control means is completed, receiving detection signals from the respective detection means to calculate the amount of deviation between the bucket and each position. and a third control means for instructing the drive control device to make a fine adjustment according to the amount of deviation.