JPH04112193A - Bucket for cable crane - Google Patents

Abstract

PURPOSE:To pefectly automate the setting work free from the collision with an aimed position by installing a beam sensor for detecting the concrete feed position and the approach to a hopper, on a bucket far a cable crane. CONSTITUTION:The swing angle of a bucket 6 is controlled from the arrival time point to the vicinity of an aimed position. In the going passage, the swing of the bucket 6 is brought into stop, and after the final abscissa position is determined, the bucket 6 is lowered by winding down a longitudinally winding winch, and approaches the upper part of a hopper 11. At this time, a beam sensor 34 on the lower part side detects the approach state, and performs input into a calculation control part through a transmitter 36. The bucket 6 is lowered slowly by the instruction of a calculation control part, and landed on the hopper 11 free from shock. In the returning passage, the bucket 6 is lowered by the laterally/longtitudinally winding winches, and approaches a concrete feeding position A. Each approach state to a side wall A-2 and set surface A-1 is detected by the side part and lower part side beam sensors 32 and 34, and the bucket is landed and set along side at the concrete feeding position A by driving the laterally and longitudinally winding winches by the output of the calculation control part.

Description

[Detailed Description of the Invention] (Industrial Application Field) This invention detects when a bucket approaches the concrete supply and discharge position in a cable crane for transporting concrete to, for example, a dam construction site. It relates to a device equipped with a detection mechanism.

(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.

As shown in FIG. 4, this cable crane conventionally has a main cable 2 that is anchored at both ends to the mountain sides on both sides of the upper part of a dam 1 built between mountains, and is stretched along the longitudinal direction of the dam 1. A trolley 3 suspended from the main rope 2 and capable of traveling along the main rope, a towline 4 for towing the trolley, a concrete bucket 6 suspended from the lower part of the trolley 3 via a hanging rope 5, and the towline 4. a horizontal winding winch 7 that pulls the trolley 4 and moves the trolley 3 back and forth between the concrete supply position A set on the mountain side and the center of the dam 1; and a vertical winding winch that raises and lowers the bucket 6 by hoisting the suspension rope 5 by one winding. It is equipped with a remote control room 9 in which a device for monitoring the positions of the winch 8, the trolley 3 and the bucket 6, and controlling the drive of each of the winches 7.8 is installed.

At the concrete supply position A, a concrete transport vehicle 10 that transports concrete made at a concrete plant (not shown) runs in a direction perpendicular to the plane of the drawing, and a hopper 11 that receives the concrete is located at the transport end position on the dam 1 side. is arranged, and based on control signals from the control room 9, the trolley 3 is moved laterally and the bucket 6 is raised and lowered, and the bucket 6 is positioned and bottomed at each of the concrete supply position A and the hopper 11, and the concrete is poured. supply and discharge.

(Problem to be Solved by the Invention) In the cable crane having the above configuration, the coordinates of the horizontal axis are determined according to the tension of the main rope 2, the lateral position of the trolley 3, the amount of deflection due to the load, etc. The coordinate of the vertical axis is determined by the amount plus the amount of deflection of the main rope 2.

Therefore, for rough control, it is sufficient to set the target coordinates and perform control to approach the target coordinates while calculating the current coordinates. Transport can be carried out automatically and quickly up to nearby locations.

However, from the time when the bucket 6 filled with heavy concrete reaches the vicinity of the hopper 11 until it lands on the hopper 11, impactful movements must be avoided due to the load, and accurate positioning must be avoided. It is necessary to reach the bottom while doing so.

In addition, on the return trip, when landing next to the concrete supply position A from near the concrete supply position A, it is necessary to avoid shocking movements.

Furthermore, at this point, the bucket is swinging due to inertia during stopping or deceleration, and therefore, if the bucket approaches too quickly, there is a risk of collision.

For this purpose, in the past, automatic control was switched to manual control when the bucket 6 approached a non-buffered position near the hopper 11, and the observer placed in the hopper 11 and the operator placed in the control room 9 The machine communicates with the operator via radio and uses manual control operations by the operator based on the supervisor's instructions to attenuate the shake while communicating position corrections, and when the shake subsides, it gradually moves closer to the hopper and finally reaches the top of hopper 11. Bucket 6 landed on the bottom.

Similarly, at concrete supply position A, the monitor and operator were in contact with each other to carry out the bottoming work.

However, with this method, a skilled monitor must be stationed near the hopper 11 or at the concrete supply position A, and there is a large time delay from information transmission to actual corrective operation, and the control direction and control amount are also limited. Because it tends to be ambiguous, it does not necessarily mean that it will reach the bottom in the correct position within a short period of time, and the evacuation time for the workers will be long, resulting in poor work efficiency.

This invention solves the above problems.By detecting the approaching position of the bucket at the final arrival point, the cable prevents collision and reduces the work time for subsequent landing on the bottom or sideways. The purpose is to provide buckets for cranes.

(Means for Solving the Problems) In order to achieve the above object, the present invention includes a trolley that runs along a main rope stretched between two points, and a trolley that is suspended from the lower part of the trolley via a hanging rope. a horizontal winding winch that pulls the rope of the trolley to reciprocate the bucket between a concrete supply position and a hopper that discharges the received concrete; A cable crane equipped with a vertical winding winch that raises and lowers the bucket by hoisting it down, and a control device that drives and controls each of the winches, wherein the bucket is equipped with a beam sensor that detects the supply position of the concrete and its approach to the hopper. It is characterized by having the following.

(Function) According to the above configuration, before the bucket is brought to the bottom of the hopper and concrete supply position, the beam sensor detects that the bucket is approaching these locations, and the detection output is used to perform deceleration control, etc. By doing so, collisions with the target position can be avoided.

(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 similar to or corresponding to those in the conventional FIG. 4, and new reference numerals will be used for different parts or newly added parts.

In FIGS. 1 to 3, the bucket 6 is provided with an inclinometer 30 for detecting its own deflection angle θ1, and beam sensors 32 and 34 for detecting the approach position are provided on the -side and lower part. It is provided.

The inclinometer 30 and the beam sensors 32, 34 are connected to a wireless transmitter 36, and transmit each measurement data to the wireless transmitter 36.
The signal is transmitted to a receiver 38 located in the remote control room 9 through the transmitter.

A calculation control unit 40 is provided in the remote control room 9,
The data received by the receiver 38 is transferred to an A/D converter 42.
The arithmetic and control section 40 is manually operated via the computer.

The arithmetic control unit 40 receives information from the encoder 7a provided on each winch 7.8, an inclinometer 448 for detecting the inclination angle θ2 of the main rope 2, and a light wave range finder 44b for confirming the current position of the trolley 3. After receiving the detection signal, trolley 3
Then, the current position coordinates of the bucket 6 are calculated, and the drive control devices 46 and 48 provided in each of the horizontal winding winch 7 and the vertical winding winch 8 are operated while comparing the current position coordinates with the target coordinate values initialized in advance by the keyboard 44c. Execute a program that controls in a predetermined drive mode up to the vicinity of the position.

After reaching the vicinity of the target position, the deflection angle is set to 0 based on the deflection angle θ1 detected by the inclinometer 40.
Control is performed to converge to , and then commands are given to descend to the final position and move sideways.

The beam sensors 32 and 34 are, for example, ultrasonic sensors or light wave sensors, and generate detection outputs when the oscillation circuit, transducer, and received reflected waves have a magnitude greater than a preset threshold. It consists of a judgment circuit, etc.

Then, on the outward journey, the swing of the bucket 6 stops,
After the final abscissa position is located, the bucket 6 is lowered and approaches the top of the hopper 11 by the lowering action of the vertical winding winch 8, as shown in FIG.

At this time, the beam sensor 34 on the lower side detects this approaching state, and this detection output is sent to the receiver 3 through the transmitter 36.
8 and input to the calculation control section 40.

Upon receiving this input state, the arithmetic control unit 40 instructs the drive control unit 48 of the vertical winding winch 8 to decelerate and lower the winding, and as a result, the bucket 6 slowly descends and lands on the hopper 11 without any impact. I will do it.

In this case, it is assumed that the abscissa position at the time of the final descent of the bucket 6 has been determined in advance with high precision. However, in the case of performing more fine control, the lower beam sensor 34 A plurality of sensors may be provided, and the horizontal coordinate position may be corrected and controlled by configuring logic based on the detection value of each sensor, or a positioning sensor may be provided on the hopper 11 side, which is the receiving side, and this detection value may be provided. Correction control may also be performed based on the original.

On the return trip, after the swing of the bucket 6 has stopped and the final horizontal coordinate position has been determined, the horizontal winding winch 7 performs a horizontal movement and the vertical winding winch 8 performs a lowering operation, as shown in FIG. As a result, the bucket 6 descends and approaches the concrete supply position A.

In addition, at the concrete supply position A, a side wall A-2 is formed on the side of a seating surface A-1 formed by cutting out the ground in an L-shape.

Therefore, the beam sensor 32 on the side side detects the approach state to the side wall A-2, and the beam sensor 32 on the lower side detects the approaching state to the side wall A-2.
detects this approaching state to the seating surface A-1, and each detection output is sent to the receiver 38 through the transmitter 36 in the same manner as described above.
and is input to the calculation control section 40.

When the arithmetic control section 40 receives the input state from the lower beam sensor 34, it instructs the drive control section 48 of the vertical winding winch 8 to lower the winding at a reduced speed, and as a result, the bucket 6 slowly descends.

Further, upon receiving the input state from the side beam sensor 32, the drive controller 46 of the horizontal winding winch 9 is commanded to decelerate and move horizontally, and as a result, the bucket 6 slowly moves horizontally.

Therefore, the bucket 6 is brought to the bottom side of the concrete supply position A without any impact.

(Effects of the Invention) As described above in detail through the embodiments, in the cable crane bucket according to the present invention, the beam sensor detects the approach before the bucket is brought to the bottom of the hopper and the concrete supply position. .

Therefore, by performing deceleration control or the like based on this detection output, a collision with the target position can be avoided, a supervisor is no longer required, and this type of work can be completely automated.

Further, it is possible to shorten the work including waiting time and evacuation time for workers, and also improve safety.

[Brief explanation of drawings]

Fig. 1 is an explanatory diagram showing the overall configuration of a cable crane according to the present invention, Fig. 2 is a side view showing the relationship of the bucket to the hopper, Fig. 3 is a side view showing the relationship of the bucket to the concrete supply position, and Fig. 4 FIG. 1 is an explanatory diagram showing the general configuration of a conventional cable crane. 2... Main rope 3... Trolley 4... Trap line 5... Hanging rope 6... Concrete bucket 7... Horizontal winch 8... Vertical winch 11... Hopper A. ...Concrete supply position 32.34...Beam sensor 46.48...Drive control device Fig. 2

Claims (1)

[Claims] (1) A trolley that runs along a main rope stretched between two points, a bucket suspended from the bottom of the trolley via a hanging rope, and a trolley that pulls the trolley to move the bucket. , a horizontal winding winch that moves back and forth between a concrete supply position and a hopper that discharges received concrete; a vertical winding winch that winds up and lowers the hanging rope to raise and lower the bucket; and each of the winches. In the cable crane equipped with a control device for driving and controlling the bucket, the bucket is characterized in that the bucket has a beam sensor that detects the supply position of the concrete and the approach to the hopper.