JPS645147B2 - - Google Patents
Info
- Publication number
- JPS645147B2 JPS645147B2 JP58200594A JP20059483A JPS645147B2 JP S645147 B2 JPS645147 B2 JP S645147B2 JP 58200594 A JP58200594 A JP 58200594A JP 20059483 A JP20059483 A JP 20059483A JP S645147 B2 JPS645147 B2 JP S645147B2
- Authority
- JP
- Japan
- Prior art keywords
- concrete
- amount
- pouring
- planned
- pumping amount
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 238000005086 pumping Methods 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0427—Devices for both conveying and distributing with distribution hose on a static support, e.g. crane
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
- E04G21/0463—Devices for both conveying and distributing with distribution hose with booms with boom control mechanisms, e.g. to automate concrete distribution
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
Description
【発明の詳細な説明】
この発明は水平デイストリビユーター（水平多
関節ブーム方式）、コンデスクレーン、ブーム付
コンクリートポンプ車等のコンクリート打設機の
自動運転制御に於いてのコンクリート自動打設方
法の提供に係わる。[Detailed Description of the Invention] This invention is applicable to automatic concrete pouring in the automatic operation control of concrete pouring machines such as horizontal distributors (horizontal articulated boom system), concrete cranes, concrete pump trucks with booms, etc. Involved in providing methods.
水平デイストリビユーター、コンデスクレー
ン、ブーム付コンクリートポンプ車等のコンクリ
ート打設機に於いては現在のロボツト技術により
自動運転制御は可能である。例えば、水平デイス
トリビユーターについて述べるならば第１図に示
す如くコンクリート打設フロアー１に於いて打設
範囲をＸ軸を１，２，３，……ｉ，Ｙ軸を１，
２，３，……ｊで表されるところの所定マス目間
隔の座標でもつて捉え、水平デイストリビユータ
ー２の先端軌跡つまり自動運転軌跡を中間の
〔（ｉ−１）＋ｉ〕1/2、〔（ｊ−１）＋ｊ〕1/2でもつ
て重複しない連続軌跡で万遍なく走破するものと
すれば良い。尚、図中３，……は柱部を示す。と
ころが上記軌跡上でのコンクリート打設量は各所
で異なる。つまり、第２図に示す如く柱部３にあ
つては高さＨ−１、幅Ｌ−１であり、梁部４にあ
つては高さＨ−２、幅Ｌ−２であり、床部５にあ
つては高さＨ−３、幅Ｌ−３と各々容積を異なら
せている。 Concrete placing machines such as horizontal distributors, concrete cranes, and concrete pump trucks with booms can be controlled automatically using current robotic technology. For example, when talking about a horizontal distributor, as shown in Fig. 1, on the concrete pouring floor 1, the pouring range is 1, 2, 3, ...i on the X axis, 1, 2, 3, ...i on the Y axis,
2, 3, ...j, the tip trajectory of the horizontal distributor 2, that is, the automatic operation trajectory, is determined by the intermediate [(i-1)+i]1/2. , [(j-1)+j]1/2, it may be assumed that the route is evenly covered with continuous trajectories that do not overlap. In addition, 3, . . . in the figure indicate the pillar portions. However, the amount of concrete placed on the above trajectory differs from place to place. In other words, as shown in FIG. 2, the column part 3 has a height H-1 and the width L-1, the beam part 4 has a height H-2 and a width L-2, and the floor part has a height H-1 and a width L-1. In the case of No. 5, the height H-3 and the width L-3 have different volumes.
本発明はこの条件下で所定量のコンクリート自
動打設を実現しコンクリート打設機の自動運転制
御の完壁科を目指したものでその要旨とするとこ
ろは、水平デイストリビユーター等のコンクリー
ト打設機にコンクリート圧送量検出器６を装備し
ておき、コンクリート打設フロアーに於ける座標
のマス目の計画打設量と実圧送量とを比較演算
し、計画打設量＞実圧送量であればその位置でそ
のまま打設し、計画打設量＝実圧送量となればあ
らかじめ入力していた運転座標順序で次の座標へ
移るとしたところにあり、第３図は上述本発明方
法のシステムブロツクチヤート図である。 The present invention aims to realize the automatic pouring of a predetermined amount of concrete under these conditions and to complete the automatic operation control of concrete pouring machines. The construction machine is equipped with a concrete pumping amount detector 6, and the planned placing amount and the actual pumping amount of the coordinate grid on the concrete placement floor are compared and calculated, and it is determined that the planned placing amount > the actual pumping amount. If so, the concrete will be poured at that position, and if the planned pouring amount equals the actual pumping amount, it will move to the next coordinate in the order of operating coordinates input in advance. FIG. 2 is a system block diagram.
しかして、自動運転座標順序を予め入力してお
くことにより所定量のコンクリート打設を果たし
つつの自動運転制御はそのSTART，STOPを計
画打設量Qpijと実圧送量Qdijを信号として行える
こととなる。 Therefore, by inputting the automatic operation coordinate sequence in advance, the automatic operation control can perform START and STOP while placing a predetermined amount of concrete using the planned pouring amount Qpij and the actual pumping amount Qdij as signals. Become.
第１図、第２図はコンクリート打設フロアーの
平面、正面図、第３図は本発明方法のシステムブ
ロツクチヤート図である。
１……コンクリート打設フロアー、２……水平
デイストリビユーター、３……柱部、４……床
部、５……床部、６……圧送量検出器。
1 and 2 are plan and front views of a concrete pouring floor, and FIG. 3 is a system block diagram of the method of the present invention. 1...Concrete pouring floor, 2...Horizontal distributor, 3...Column section, 4...Floor section, 5...Floor section, 6...Pumping amount detector.
Claims (1)
打設機にコンクリート圧送量検出器を装備してお
き、コンクリート打設フロアーに於ける座標のマ
ス目の計画打設量と実圧送量とを比較演算し、計
画打設量＞実圧送量であればこの位置でそのまま
打設し、計画打設量＝実圧送量となればあらかじ
め入力していた運転座標順序で次の座標へ移ると
してなることを特徴とするコンクリート打設機の
自動運転制御に於けるコンクリート自動打設方
法。1. Equip a concrete pouring amount detector such as a horizontal distributor with a concrete pumping amount detector, and compare and calculate the planned pouring amount and the actual pumping amount of the coordinate grid on the concrete placement floor. If the planned pouring amount > the actual pumping amount, the system will continue pouring at this position, and if the planned pouring amount = the actual pumping amount, it will move to the next coordinate in the pre-input operating coordinate order. Automatic concrete pouring method in automatic operation control of concrete pouring machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58200594A JPS6092558A (en) | 1983-10-26 | 1983-10-26 | Automatic concrete casting method in automatic operation control of concrete casting machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58200594A JPS6092558A (en) | 1983-10-26 | 1983-10-26 | Automatic concrete casting method in automatic operation control of concrete casting machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6092558A JPS6092558A (en) | 1985-05-24 |
| JPS645147B2 true JPS645147B2 (en) | 1989-01-27 |
Family
ID=16426944
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58200594A Granted JPS6092558A (en) | 1983-10-26 | 1983-10-26 | Automatic concrete casting method in automatic operation control of concrete casting machine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6092558A (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2003208831A1 (en) * | 2003-02-11 | 2004-09-06 | Gerhard Hudelmaier | Method and device for the targeted discharging and distribution of thick matter |
| WO2020115829A1 (en) * | 2018-12-05 | 2020-06-11 | 有限会社ユニワークス | Pressure feed means and pressure feed system |
-
1983
- 1983-10-26 JP JP58200594A patent/JPS6092558A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6092558A (en) | 1985-05-24 |
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