JP2684940B2 - Control method of cable crane - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cable crane control system for supplying concrete to, for example, a dam construction site, in which the transfer time is shortened by automatic operation.

[0002]

2. Description of the Related Art As is well known, a cable crane is used as one of means for transporting concrete from a manufacturing site to a pouring site at a dam construction site, for example.

As shown in FIG. 6, a conventional cable crane has a main rope 2 stretched on a dam 1 constructed in a mountain along its longitudinal direction and a main rope 2 suspended from the main rope 2. Travelable trolley 3 and trolley towing 4
A concrete bucket 6 that is hung from the bottom of the trolley 3 via suspension lines 5, and a transport start position A where the trolley 3 is installed on the mountain side by pulling the check rope 4 and an arbitrary bottom position of the dam 1. The traverse winch 7 that reciprocates between the set transport end positions B, the vertical winch 8 that winds up and down the hanging rope 5 to move the bucket 6 up and down, the position of the trolley 3 and the position of the bucket 6 are set. An operation room 9 is provided for monitoring and for driving and controlling the winches 7 and 8.

Then, on the upper side of the transport start position A,
A transfer car 1 that conveys concrete made by a batcher plant (not shown) in a direction orthogonal to the paper surface.
0 travels, and a concrete hopper 11 is arranged at the transfer end position B. Based on a control signal from the operation room 9, the trolley 3 is moved laterally and the bucket 6 is moved up and down to the respective positions A and B. The bucket 6 is positioned to supply and discharge concrete.

Since a large amount of concrete is required for this type of structure, the bucket 6 is used in consideration of the cost of construction.
It is necessary to shorten the transfer time per time as much as possible, and a suitable control mode for this purpose is to transfer on an oblique trajectory as shown in the figure.

Further, in the cable crane, the reciprocating motion of the trolley from the transport start position A to the transport end position B and the vertical motion of the bucket 6 cause the main rope 2 depending on the feeding amount and load of each rope 4, 5. The position can be detected by the degree of flexure, etc., and the coordinates are automatically calculated according to this, and the drive control device for each winch 7, 8 can be instructed to perform normal / reverse rotation, deceleration, and stop based on this calculation result. Therefore, the bucket 6 can be automatically conveyed along the oblique trajectory.

[0007]

However, in actuality, when the trolley 3 is accelerated and decelerated from the transport start position, a response delay occurs in the speed of the bucket 6, so that the bucket 6
Since it swings with the length of extension of the hanging rope 5 as a cycle, positioning at the target point becomes difficult and there is a risk of collision and the like, so it is necessary to stop this swing.

[0008] Therefore, conventionally, the conveyance is carried out by automatic control from the time of departure until reaching the vicinity of each position A or B, and from here, the operation is switched to the manual operation, and the operation is carried out with the supervisors arranged at the respective positions A and B. operator each other are arranged in the chamber 9 is keep in touch by radio, move the Toro <br/> Lee 3 to offset the deflection, then alongside by fine adjustment by manual operation of the operator based on the instruction of the monitoring person, the positioning work Was being done.

However, with this method, a skilled observer must be provided at each of the positions A and B, the time delay from the information transmission to the actual correction is large, and the control direction and the control amount become ambiguous. Therefore, the shake does not always stop within a short time and depends on the skill of the worker.

Further, since it is dangerous that the bucket is swung over the worker's head, the waiting time of the worker and the evacuation time become long, resulting in poor work efficiency and a problem in profitability.

The present invention solves the above problems.
Its purpose is to model the behavior of main ropes, trolleys, and buckets from the starting point to the reaching point, and to automatically and quickly convey concrete based on this modeled pattern, and at the time of acceleration / deceleration, to prevent steadying. It provides a control method for a cable crane that is designed to control

[0012]

In order to achieve the above object, the present invention is directed to a main rope stretched between two points, a traverse trolley capable of traveling along the main rope, and a trolley for towing the trolley. Stretching, a bucket hung at the bottom of the trolley via a suspension line, and a traverse winch that winds the retraction line and rewinds the trolley to reciprocate along the main line.
In a cable crane equipped with a longitudinal winch for lifting and lowering a bucket by winding and unwinding the suspension line and a drive control device for each winch, it is used when moving the bucket from a transport start position to a transport end position. A method for controlling a cable crane, wherein the degree of bending of the main rope, the length of the check rope, and the length of the suspension rope are calculated as calculation elements according to the conveyance start position and the conveyance end position.
Then the behavior of the main rope, the trolley and the bucket is analyzed to model an operation pattern, and when the cable crane is operated, the modeled operation pattern is selected in accordance with setting conditions, The cable crane is automatically controlled according to this operation pattern, and when the trolley accelerates and decelerates, the position and speed of the trolley along the main rope and the swing angle and angular velocity of the bucket are detected, and the swing of the bucket is controlled by feedback control. It is characterized by offsetting.

According to the present invention, the trolley is accelerated.
And to offset the shake of the bucket during deceleration
Feedback control of the trolley stairs in the same direction
It should be done by accelerating or decelerating
Is preferred.

[0014]

According to the above construction, the bucket is modeled from the start coordinate to the target position coordinated acceleration-constant velocity-.
Control is performed to travel and ascend / descend according to the program content based on the deceleration and steady rest foot pattern, and to offset the shake of the bucket during acceleration and deceleration . Further, the control for the shake prevention can be repeated many times until the shake is converged.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below in detail with reference to the drawings. In the embodiments, the same reference numerals will be used for the same or corresponding parts as in the related art, and different parts or parts to be newly added will be described with new signs.

FIG. 1 is a schematic diagram showing the overall configuration of the present invention, and FIG. 2 is a block diagram showing the system configuration.

In the figure, this cable crane is basically similar to the conventional one, and a main rope 2 stretched along the longitudinal direction on the upper part of a dam 1 constructed in a mountain, and a main rope 2. A trolley 3 that can be suspended and run along it,
Checking rope 4 for towing the trolley and hanging rope 5 under the trolley 3.
Reciprocating between a concrete bucket 6 hung via a trolley, a transport start position A in which the trolley 3 is provided on the mountain side by pulling the check rope 4 and a transport end position B set at an arbitrary bottom portion of the dam 1. The traverse winch 7 to be moved and the hanging rope 5
A longitudinal winch 8 for winding and lowering the bucket 6 to raise and lower the bucket 6, and an operation chamber 9 for monitoring the position of the trolley 3 and the position of the bucket 6 and for driving and controlling the winches 7, 8. I have it.

At the carrying start position A, a transfer car 10 for carrying concrete made of a batcher plant (not shown) travels in a direction orthogonal to the paper surface, and at the carrying end position B, a concrete hopper 11 is arranged. There is.

In the operation room 9, an operating console 20 for operating the winches 7 and 8, a control unit 22 for instructing the winches 7 and 8 in various driving modes, an optimum traveling pattern of the trolley 3 and a bucket 6. The optimum lifting pattern is calculated and the pattern is calculated.
The control unit 22 is provided with an arithmetic unit 24 and a wireless device 26.

A tilt angle detecting device 28 is provided at the root of the main rope 4, and a light wave range finder 30 is provided.

The inclination angle detecting device 28 detects the inclination degree of the main rope 4 at the approaching position of the trolley 3, and the lightwave range finder 30 detects the starting coordinates of the trolley 3 immediately above the transport start position A. Each is connected to the control unit 22. The trolley 3 is provided with a vertically long reflection plate 30a that covers the irradiation range of the light wave range finder 30 in correspondence with the light wave range finder 30.

The transverse winch 7 and the longitudinal winch 8
Is intended to be placed in the machine room 32 in the vicinity of the main rope 2, as shown in FIG. 2, it is forward and reverse rotation driven by the drive control device 34, 36. The drive control devices 34 and 36 are the control unit 2
2, the winches 7 and 8 are driven in forward / reverse and accelerated / decelerated according to a command from the controller 22.

More specifically, each winch 7, 8 has a motor 7a, 8a, a brake 7b, 8b, and a speed reducer 7, respectively.
It has drums 7d and 8d which are rotatably interlocked with each other via c and 8c, and which wind and unwind the check rope 4 and the suspension rope 5. The traverse winch 7 is an endless type checker 4
The intermediate drum 7d-1 and the drum 7d
Both ends of the check rope 4 are wound in a state of being wound around.

Each motor 7a, 8a has a speed detector 7e,
8e is provided, and these detected values are used for the speed control device 2
By feeding back to the control unit 4, 26,
It is controlled to an appropriate rotation direction and speed according to the traveling command from.

Further, encoders X and Z are provided on the drums 7d and 8d, respectively. Of these, the encoder X is for detecting the lateral travel amount of the trolley 3, and the encoder Z is for detecting the lowering amount of the bucket 6, and the respective data are input to the control unit 22. An error occurs in the detected value of the amount of traverse, which is corrected by the lightwave distance meter 30 each time the trolley 3 arrives because an error occurs due to the slip of the rope 4 on the intermediate drum 7d-1.

A bottom confirmation switch 42 is provided on the bunker line at the transport start position A, an area sensor 44 is arranged in the vicinity of the switch 42, and a control board 46 is arranged.

The bottom confirmation switch 42 is for detecting the bottom of the bucket 6, and the area sensor 44 is for the bucket 6.
It is a sensor for controlling the bottom of the sensor, and the sensor 44 can reach the bottom within the detection range. Control panel 4
Reference numeral 6 is for performing control when concrete is discharged from the truck 10 to the bucket 6.

Below the bucket 6, there are provided a gate and an open / close detection limit switch 48 which are opened and closed by a hydraulic cylinder (not shown), and an ultrasonic area sensor 50. Further, a wireless device 52, a gyro-type swing angle detector 54, a control panel 56, a battery 58 for driving these movable parts, and a solar-type charging device 60 are arranged above the bucket 6, and the detection values of the respective sensors are provided. As shown in FIG. 2, the control room 9 and the radios 52 and 26 are used to operate the operation room 9
It is transferred to the control unit 22 on the side.

The hopper 11 is supported by a support frame 62 installed on the transport end position A, and a gate for opening and closing by a hydraulic cylinder (not shown) and an open / close detection limit switch 64 are provided in the lower part of the hopper 11. There is.
Further, the concrete discharging manual switch 6 is provided at the leg portion of the support base 62 at a position where the driver's seat of the dump truck 66 stopped below the hopper 11 can be easily seen and operated.
8, a display device 70, a control panel 72, etc. are arranged.

[0030]

[0031] calculation unit 24, calculation description will be omitted, depending on the conveyance start position and the transport end position, the deflection degree of the main rope 2, feeding a length of牽索4, the feeding length of the slings 5
As a constant element, behaviors of the main rope 4, the trolley 3 and the bucket 6 are analyzed in advance to model a driving pattern, and a program of the modeled driving pattern of the shortest time is stored. Further, the calculation unit 24 has a built-in function of calculating a control amount and timing for canceling the shake corresponding to the shake angle and the angular velocity.

The program contents obtained by the above analysis are shown in FIG.
As shown in (a), the target area of the dam 1 is divided into several small blocks, and the operation speed of the trolley 3 and the ascending / descending speed of the bucket 6 are determined for each block in consideration of steady rests.
This is a calculation of the operation pattern in the shortest time. The operation speed Vx of the trolley accelerates from the start coordinate as shown in FIG. 3 (b), then becomes a constant speed, and then the speed decreases to 0 at the target coordinate. The pattern is set. The ascending / descending speed Vz of the suspension rope 5 of the bucket 6 is set to an operation pattern according to the operation pattern of the trolley 3 as shown in FIG. 3 (c).

The degree of bending of the main rope 2 depends on the tension of the main rope 2 and the total load applied to the main rope 2. However, if the tension of the main rope 2 is measured and kept constant at a known value, the operating time and operating pattern according to the program can be determined by inputting the load as a variable. The loads on the main rope 2, trolley 3, and bucket 6 are known values, and are determined according to the weight of concrete put into the bucket.

This concrete is mortar, medium-mixed concrete, or solid-mixed concrete depending on the place of casting and the type of work. When the capacity of the bucket 6 is constant, it varies depending on its specific gravity. The concrete manufactured in the batcher plant is carried on the bunker line by the carrier 10 and the product type information is also provided to the operation room 9 side and the bucket 6 side, and the operation is started based on this information.

In the operation patterns of FIGS. 3 (b) and 3 (c), during acceleration and deceleration , a shake occurs due to the response delay of the speed of the bucket 6 with respect to the trolley 3, so that it is not on a straight line during actual operation. In addition, the calculation unit 24 calculates the feedback control amount and the timing for canceling the shake according to the shake angle and the angular velocity at the specific time of acceleration / deceleration.

Therefore, the control unit 22 executes the operation processing so as to operate the drive control devices 34 and 36 according to the program contents stored in the arithmetic unit 24 after receiving the concrete type information, and at the same time, the arithmetic unit 24.
Feedback control for steadying during acceleration and deceleration is performed according to the calculation result of.

FIGS. 4 and 5 show the relationship between the control procedure at the time of acceleration and the speed and the shake state of the bucket 6 according to the control content.

As shown in FIG. 4, the trolley 3 after the start of operation
At the end of the one-step acceleration, the position of the trolley 3,
Enter the speed and the deflection angle and angular velocity of the bucket 6,
These values are applied to a predetermined motion equation for steadying to calculate a steadying control voltage, a control start time is calculated, and a control standby state is maintained until the start (steps 101 to 107). The position and speed of the trolley 3 are given by the encoder X and the speedometer 7e, and the shake angle and angular velocity of the bucket 6 are given by the detected values of the shake angle detector 54 through the radios 28 and 52.

In this state, as shown in FIG. 5A, the time from the start of operation until the speed of the trolley 3 reaches the constant speed v1 is t.
If it is 1, the bucket 6 will shake due to a delayed response,
It becomes a pendulum-shaped sinusoidal curve which is swayed to the left and right as shown by the swing width v2, and its period is constant if the length of the slings 5 is constant, and has the maximum amplitude.

Therefore, after the time t1, the point time t2 at which v2 = 0 is obtained, and v2 = m from this point.
The shake is offset by applying a second-stage acceleration corresponding to ax for a predetermined time.

Therefore, when the starting time t2 is reached, the primary feedback control is started, a control voltage for acceleration is given to the trolley 3, the driving device 34 is measured, and the resulting shake condition is measured, and the shake condition after that is measured. Calculate If the result is within the allowable value, the feedback control is ended (steps 108 and 109).

The state in which the primary feedback control is performed until time t3 is shown in FIG. 5 (b). During this time (time t2
If v2 = max <permissible value (between t3 and t3), the feedback control ends.

On the other hand, if it exceeds the allowable value, the secondary feedback start time t4 is calculated by the same procedure as described above, and if the start time comes, step 1
The control voltage generated in step 09 is applied to the third stage of acceleration for a predetermined time, and the shake is measured (steps 110 to 11).
4).

The state in which the secondary feedback control is performed is shown in FIG. 5 (c). During this period (time t3 to t4
If v2 = max <permissible value in (interval), the feedback control is ended, but if it exceeds the permissible value,
It returns to step 110 again and repeats the same feedback control until it converges to the allowable value.

The control at the time of deceleration is the same, but the control direction is different and the shake is offset by the stepwise deceleration pattern.

It is desirable that the position where the shake is completely stopped is right above the transport start or end positions A and B.
When the feedback control is applied, the trolley 3 may be short of the actual target position or may overshoot on the contrary. Therefore, after the control is finished, the position is corrected by moving at a slow speed, and the bucket 6 is lowered to carry the work. finish.

For example, on the outward path, the hopper 1 is subjected to the automatic fine adjustment in the vertical and horizontal directions according to the detection values of the ultrasonic area sensors 50 and 76 provided in the bucket 6 and the hopper 11.
Stop on 1 and open the gate to release concrete,
Complete all work on the outward path.

Similarly, on the return path, the bucket 6 reaches a position directly above the bunker line by fine adjustment after feedback control, and thereafter, according to the detection values of the ultrasonic area sensors 50 and 44 provided on the bucket 6 and the bunker line. After the vertical and horizontal automatic fine adjustment work, the bottom of the bunker line is reached, and when the switch 42 confirms, the concrete receiving standby state is resumed.

[0049]

As described above in detail with reference to the embodiments, in the cable crane control system according to the present invention, the bucket is modeled from start coordinates to target position coordinates: acceleration-constant speed-deceleration and swing. since along the program contents by the pattern of the stop for bound feet running and to lift, also during acceleration, the control to cancel the deflection of the bucket during deceleration is made, rapid and smooth automatic luck
In addition to being able to roll, it has good accuracy at the transport end position.
The positioning work will be facilitated.

Further, in the present invention, since the control for steadying can be repeated many times until the runout converges, not only at the time of acceleration / deceleration but also when the bucket shakes due to the influence of wind, the steadying is performed. Therefore, the bucket can be completely stopped even if it takes some time.

[Brief description of the drawings]

FIG. 1 is an overall explanatory view of a cable crane according to the present invention.

FIG. 2 is a block diagram showing a system configuration.

3A, 3B, and 3C are schematic diagrams showing program contents.

FIG. 4 is a flowchart showing a feedback control procedure during bucket acceleration.

5A to 5C are explanatory diagrams showing the relationship between the shake of the bucket and the speed during the same control.

FIG. 6 is an explanatory diagram showing a general configuration of a conventional cable crane.

[Explanation of symbols]

 2 Main rope 3 Trolley 4 Stretching rope 5 Suspended rope 6 Concrete bucket 7 Traverse winch 8 Traverse winch 7e, 8e Speed detector 9 Operating room 10 Bogie 11 Hopper 22 Control unit 24 Computing unit 34, 36 Drive control unit 54 Swing angle detection Total A Transport start position B Transport end position X, Z encoder

Front page continuation (72) Inventor Michio Nakao 2-3 Kandajimachi, Chiyoda-ku, Tokyo Obayashi Corporation Tokyo head office (56) Reference JP-A-62-185695 (JP, A) JP-A-55-154489 (JP, A) Japanese Patent Sho 61-38118 (JP, B2)

Claims (2)

(57) [Claims] 1. A main rope stretched between two points, a traverse trolley capable of traveling along the main rope, a check rope for towing the trolley, and a suspension rope suspended below the trolley. A lowered bucket, a traverse winch that winds and unwinds the check rope to reciprocate the trolley along the main rope, and a vertical movement that winds and unwinds the suspension rope to move the bucket up and down. In a cable crane including a winch and a drive control device for each winch, a method of controlling a cable crane used when moving the bucket from a transport start position to a transport end position, the transport start position and the transport end position According to the above, the degree of bending of the main rope, the payout length of the check rope, and the payout length of the suspension rope are used as calculation factors.
In advance , the behavior of the main rope, the trolley and the bucket is analyzed to model an operation pattern, and when the cable crane is operated, the modeled operation pattern is selected according to setting conditions, The cable crane is automatically controlled according to this operation pattern, and when the trolley accelerates and decelerates, the position and speed of the trolley along the main rope and the swing angle and angular velocity of the bucket are detected, and the swing of the bucket is controlled by feedback control. A method for controlling a cable crane, which is characterized by offsetting each other. 2. The feedback control for canceling the shake of the bucket during acceleration and deceleration of the trolley is performed by accelerating or decelerating the trolley stepwise in the same direction. The method for controlling the cable crane according to 1.