JP2000016759A - Cable crane - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately convert a moving distance into a rotational position of a moving tower while eliminating a measurement error according to a ship and backlash of a running driving gear by a running position measuring device, by individually providing the running driving gear and the running position measuring device in the moving tower. SOLUTION: A running driving gear 20 and a running position measuring device 30 are separated provided in a moving tower 5. In this way, necessity for supporting a load of the moving tower 5 by a measuring roller 31 is eliminated. Accordingly, the moving tower 5 runs on a rail 14 through a wheel by the running driving gear 20, so as to prevent the generation of a slip of the measuring roller 31 between itself and the rail 14, a moving distance of the moving tower 5 is accurately converted into a rotational position. Further, since the measuring roller 31 prevents also rotation and slip in the case of generating a slip of a wheel 22 between itself and the rail 14 and even relating to backlash of the running driving gear 20, the rotational position can be output properly as an electrical information while eliminating a measurement error according to these rotation and slip.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cable crane for transporting concrete to a casting site, for example, in dam construction.

[0002]

2. Description of the Related Art Conventionally, a concrete bucket is hung up and down on a main rope routed over a pair of towers provided on a left bank and a right bank facing each other in a foundation work for building a dam. The trolley was suspended so as to be able to traverse, and at least one of the pair of towers was configured as a moving tower that travels in a direction intersecting both the traverse and the winding up and down via rails laid on the shore provided with the trolley. Mobile cable cranes are well known.

[0003]

The cable crane of this type has the following structural problems in order to shorten the construction period. One is that the encoder for measuring the traveling position of the moving tower is configured to detect the rotational position of the motor that drives the wheels of the moving tower, so that the moving tower, which is a considerably heavy object, travels. A slip may occur between the wheels and the rail at the time of starting to start and the time of stopping to end traveling. When this slip occurs, the motor spins, causing an error corresponding to the slip between the detected position of the encoder and the actual traveling position of the moving tower. The other is that the lightwave distance meter for correcting the position of the moving tower transmits lightwaves with straightness and receives the lightwaves that are reflected by the reflector and returned, so that the time from transmission to reception is reduced to the distance. Since it is configured to convert and measure, the measurement range is limited to the diffusion range of light waves, and when the moving tower is run in an arc shape, the light wave distance meter is used to measure from end to end of the arc traveling of the moving tower. Measurement cannot be performed accurately, and there is a limit to position correction. Further, since electric wires are used for communication with the host computer on the opposite side of the mobile tower, which is far away from the mobile tower, a considerable amount of time is wasted in communication when the host computer controls the traveling of the mobile tower.

Accordingly, the present invention is to solve at least one of the above problems and to provide a cable crane capable of shortening the construction period.

[0005]

According to the first aspect of the present invention, a concrete bucket can be wound up and down around a main rope routed over a pair of towers provided on a left bank and a right bank facing each other. A suspended trolley is suspended so that it can traverse, and at least one of a pair of towers is a moving tower that travels in a direction intersecting both the traverse and the winding up and down via a rail laid on a shore provided with the trolley. In the cable crane thus constituted, a traveling drive device and a traveling position measuring device are separately provided on the moving tower. According to the second aspect of the present invention, the travel measuring device according to the first aspect detects the measurement roller that rotates in contact with the shore side as the mobile tower travels and detects and converts the rotational position of the measurement roller to convert the electrical signal. And an output encoder. According to a third aspect of the present invention, a counterpart contacted by the measuring roller according to the second aspect is a rail used for traveling of the movable tower. According to a fourth aspect of the present invention, there is provided a non-slip layer having a large frictional resistance with a counterpart contacted by the measuring roller according to the second aspect. According to a fifth aspect of the present invention, the measuring roller according to the second aspect is urged by a resilient action toward a contacting partner. According to the invention of claim 6, a trolley hung so that a concrete bucket can be wound up and down can be traversed on a main rope laid across a pair of towers provided on a left bank and a right bank facing each other. In a cable crane suspended as a movable tower in which at least one of a pair of towers travels in a direction intersecting both traversing and winding up and down via a rail laid on a shore provided with the tower, A plurality of transponders having address information provided along the rail at regular intervals on the shore provided with, and receiving address information from the corresponding transponder provided with the traveling of the moving tower provided in the moving tower A travel position origin correction measuring device comprising a data carrier reader for correcting the position of the moving tower is provided. According to a seventh aspect of the present invention, the transponder according to the sixth aspect and the data carrier reader communicate wirelessly. An eighth aspect of the invention is characterized in that the wireless according to the seventh aspect is radio waves. According to the ninth aspect of the present invention, a trolley having a concrete bucket hung up and down can be traversed on a main rope laid across a pair of towers provided on a left bank and a right bank facing each other. In a cable crane suspended as a movable tower in which at least one of a pair of towers travels in a direction intersecting both traversing and winding up and down via a rail laid on a shore provided with the tower, And an automatic driving device using an optical fiber cable that crosses a valley for communication with a host computer in a driver's cab provided on the opposite bank for controlling the traveling of the vehicle.

[0006]

1 and 2 show a first embodiment of the present invention. FIG. 1 shows an outline of a cable crane, and FIG. 2 shows a traveling position measuring device 30 of a moving tower 5.

The cable crane will be described with reference to FIG. In the first embodiment, a fixed tower 4 is installed on the left bank 2 of the foundation work 1, a moving tower 5 is provided on the right bank 3, and the moving tower 5 travels in an arc with the fixed tower 4 as a center.
A one-sided arc type cable crane is exemplified, and is characterized by a structure in which the traveling drive device 20 and the traveling position measuring device 30 of the moving tower 5 are made independent.

The cable crane generally has a trolley 7 suspended on a main rope 6 that is routed between a fixed tower 4 and a moving tower 5. The trolley 7 traverses along the main rope 6 between the fixed tower 4 and the mobile tower 5 via the transverse rope 10 by driving a transverse winch 9 installed in the machine room 8 on the left bank 2 side. A concrete bucket 11 is mounted on a trolley 7 by a hoisting winch 12 installed in a machine room 8.
It is suspended in a form that can be wound up or down through 3 via. The moving tower 5 forms a dam embankment by driving a traveling drive unit 20 on a rail 14 installed on the right bank 3 so as to draw an arc with the fixed tower 4 as a center. And run towards. A bunker 15 on the left bank 2 side is provided with a batcher plant 16 for making concrete and a transfer car 17 for transporting the concrete made by the batcher plant 16 to the concrete bucket 11 stopping on the bunker 15. . At the dam site 18 between the bunker 15 and the right bank 3, a ground hopper 19 is provided as needed. There are two types of concrete casting methods: a ground hopper casting method and a direct casting method.
9 is necessary for the ground hopper casting method,
It is not necessary for the direct installation method.

In FIG. 1, a batcher plant 1 is shown.
An operator cab (central control room) 51 is provided in the vicinity of 6. Load cell 5 provided at a mooring point between moving tower 5 and hoisting cable 13
Reference numeral 3 outputs electrical information relating to the load of the concrete bucket 11. Lightwave distance meter 58 provided in fixed tower 4
The trolley 7 outputs light information toward the reflection plate 58a provided on the trolley 7 and receives reflected light from the reflection plate 58a to output electrical information relating to the correction of the traverse position of the trolley 7. The light wave distance meter 59 provided on the bunker 15 transmits a light wave toward the reflector 59a provided on the concrete bucket 11 and receives the reflected light from the reflector 59a, thereby correcting the canning position origin of the concrete bucket 11. Outputs electrical information about The area sensor 60 provided in the bunker 15 outputs electrical information related to the detection of the landing position of the concrete bucket 11.
The vibrating gyroscope 62 provided on the side of the concrete bucket 11 outputs electric information on the deflection angle of the concrete bucket 11. The area sensor 63 provided on the ground hopper 19 or the dam site 18 outputs electric information on the position of the concrete bucket 11.

In addition, the concrete operation at the batcher plant 16 which is the original operation of concrete placement, loading of concrete into the transfer car 17, transport of concrete by the transfer car 17, and loading of concrete from the transfer car 17 to the concrete bucket 11. Replacement, transporting concrete to dam site 18 by trolley 7, discharging concrete from concrete bucket 11, empty concrete bucket 11 to bunker 15
In order to automate a series of operations such as return canning and canning, the cable crane is equipped with an automatic operation device (not shown).

Referring to FIG. 2, a traveling position measuring device 30 of the moving tower 5 for obtaining information on the traveling position of the moving tower 5, which is one of the information necessary for the automatic operation, will be described. The traveling position measuring device 30 includes a measuring roller 31 and an encoder 32. The moving tower 5 includes a traveling drive device 20.
The vehicle travels along the rails 14 by driving the wheels 22 by the motor 21. During this traveling, the measuring roller 31 rotates by receiving the rotational force from the rail 14, and the encoder 32 converts the rotational position of the measuring roller 31 into information such as a pulse signal and outputs the information. In the case of the first embodiment, a non-slip layer 33 made of a material such as synthetic resin or rubber having a large frictional resistance due to the relationship with the rail 14 is provided on the peripheral surface of the measurement roller 31. The measuring roller 31 is rotatably mounted via a roller shaft 37 at an intermediate portion of a supporting member 36 which is rotatably supported by a pin 35 on a bracket 34 fixed to the moving tower 5. An elastic member 38 such as a spring that urges the measurement roller 31 toward the rail 14 is mounted between the free end side of the support member 36 and the movable tower 5.

According to the first embodiment, as shown in FIG. 2, the traveling drive device 20 and the traveling position measuring device 30 are separated from each other, so that the measuring roller 31 does not need to support the load of the moving tower 5. . Therefore, when the traveling tower 5 travels on the rails 14 via the wheels 22 by the traveling driving device 20, the measuring roller 31 rotates the traveling distance of the traveling tower 5 without causing slippage between the traveling tower 5 and the rails 14. Convert to position exactly. In addition, when the wheel 22 slips with the rail 14, or when the traveling drive device 20 performs a forward / reverse switching backlash,
The measurement roller 31 stops rotating by contacting the rail 14 at the same position without rotating or slipping. Therefore, the encoder 32 can appropriately output the rotational position of the measurement roller 31 as electrical information while eliminating a measurement error due to slip or backlash of the traveling drive device 20.

Further, since the measuring roller 31 has the non-slip layer 33 on its peripheral surface, slipping between the measuring roller 31 and the rail 14 can be appropriately prevented. Further, since the elastic member 38 presses the measuring roller 31 against the rail 14, slippage between the measuring roller 31 and the rail 14 can be further prevented.

In the first embodiment, the measuring roller 31 is
Contacted with the common rail 14, but another rail is arranged in parallel with the rail 14 on which the wheels 22 travel, and the measuring roller 31 is rotated in contact with the other rail by frictional resistance, or the measuring roller 31 is The present invention can be similarly applied to a pinion gear in which the pinion gear meshes with a rack gear arranged in parallel with the rail 14 on which the wheels 22 travel.

FIG. 3 shows a traveling position origin correction measuring device 40 of the moving tower 5 according to a second embodiment of the present invention. The traveling position origin correction measuring device 40 includes a concentric circle indicated by a virtual line L1 along a rail 14 along which a transponder 41 called a plurality of data carriers travels on a right bank 3 of a foundation 1 around a fixed tower 4 around a fixed tower 4. It is installed at regular intervals on the circumference. These transponders 41 have, for example, “addresses 1 to” from one end to the other end of the moving range of the moving tower 5 indicated by two dashed lines L2 and L3 around the fixed tower 4.
Addresses such as "N address" are sequentially assigned. The mobile carrier 5 is provided with a data carrier reader 42.
Then, while the mobile tower 5 is traveling in the direction of the arrow Y, the data information is read by the data carrier reader 42 from the corresponding transponder 41 by non-contact, high-speed and accurate data communication using microwaves, and the electrical position is read. This is a form of obtaining information.

According to the second embodiment, the transponder 4
1 and the data carrier reader 42, the traveling position origin correction measuring device 40 can perform high-speed and accurate data communication without contact using microwaves, so that even if the mobile tower 5 travels in an arc shape, the transponder Each time the data carrier 41 and the data carrier reader 42 correspond to each other, the current position with respect to the reference position can be accurately corrected. If the traveling position origin correction measuring device 40 is provided for the moving tower 5 of the first embodiment in place of the conventional lightwave distance meter, errors caused by slight bending or wear of the measuring roller 31 are also corrected, and the movement is performed. Tower 5
More accurate position correction can be performed.

Although radio waves are used for communication between the transponder 41 and the data carrier reader 42 of the second embodiment,
Optical communication or electromagnetic coupling communication may be used.

FIG. 4 shows an automatic driving device 5 according to a third embodiment.
Indicates 0. The automatic driving device 50 includes a host computer 52 in a cab 51. Host computer 52
Are electrical information regarding the travel position of the mobile tower 5 output from the encoder 32 of the travel position measuring device 30, electrical information regarding the correction of the travel position origin of the mobile tower 5 output from the data carrier reader 42, a load cell. Electrical information about the load of the concrete bucket 11 output from the 53 is transmitted to a signal transmission device 53 provided in the cab 51.
A signal transmission device 54 provided in the machine room 8, a signal transmission device 55 provided in the mobile tower 5, and a signal transmission device 53
Fiber cables 56,5 routed between
7 and received. The optical fiber cable 57 is a cable over a valley. Also, the host computer 52
Is electrical information about the traversing position of the trolley 7 output from an encoder 9b connected to a motor 9a driving the traverse winch 9, and output from an encoder 12b connected to a motor 12a driving the hoisting winch 12. Electrical information about the winding up and down of the concrete bucket 11, electrical information about the correction of the traverse position of the trolley 7 output from the lightwave distance meter 58, and correction of the canning position origin of the concrete bucket 11 output from the lightwave distance meter 59. The electrical information and the electrical information related to the detection of the canning position of the concrete bucket 11 output from the area sensor 60 are transmitted to the input / output interface 61 and the electric wire 6.
2 via Also, the host computer 52
Is electrical information on the deflection angle of the concrete bucket 11 output from the vibrating gyro 62, electrical information on the position of the concrete bucket 11 output from the area sensor 63, and its own position output from the transfer car 17 And the like are wirelessly received using the wireless device 64 and the wireless interface 65.

Then, the host computer 52 checks the received information against operation setting information stored in advance and calculates control information based on control information calculated for the traveling drive device 20, the traverse winch 9, the hoisting winch 12, the transfer car 17, and the like. Automatic operation control of each device. Control information from the host computer 52 to the traveling drive device 20 is transmitted to the signal transmission devices 53 to 5.
5 and the optical fiber cables 56 and 57. Control information from the host computer 52 to the traverse winch 9 and the hoisting winch 12 is transmitted to the input / output interface 6.
1 and the electric wire 62. Control information from the host computer 52 to the transfer car 17 is transmitted wirelessly using the radio 64 and the radio interface 65.

According to the third embodiment, the host computer 52 on the left bank 2 receives the position information from the mobile tower 5 on the right bank 3 which is normally about 500 to 600 meters away, and applies the control information calculated and processed to the opposite bank. When transmitting to the tower 5 side to perform traveling / positioning control, the optical fiber cable 56,
By using 57, the responsiveness and accuracy of the automatic operation control can be improved. Optical fiber cable 56,
By using 57, data can be protected from electromagnetic waves due to the high voltage of the power supply in the traveling drive device 20, the traverse winch 9, the hoisting winch 12, and the like.

The apparatus of the first to third embodiments may be provided for one moving tower 5 as a whole, or may be provided individually.

In the above-described embodiment, the cable crane is a one-side fixed / one-side arc type, but the present invention can also be applied to a one-side fixed / one-side linear type, both-side linear type, and both-side arc type.

[0023]

As described above, according to the first to fifth aspects of the present invention, the traveling driving device and the traveling position measuring device are separately provided on the moving tower, so that the traveling position measuring device is The moving distance of the moving tower can be accurately converted to the rotational position while eliminating the measurement error due to slip and backlash, and the construction period can be shortened. According to the invention of claims 6 to 8, it is possible to accurately correct the current position with respect to the reference position every time the transponder and the data carrier reader of the traveling position origin correction measuring device associated with the traveling of the moving tower correspond. The construction period can be shortened. According to the ninth aspect of the present invention, since the mobile tower and the host computer far away from each other communicate with each other using the optical fiber cable across the valley, the responsiveness and accuracy of the automatic operation control can be improved, and the construction period can be shortened. . In addition, the optical fiber cable can protect data from electromagnetic waves caused by a high voltage of a power supply around the optical fiber cable.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a cable crane according to a first embodiment of the present invention.

FIG. 2 is a schematic diagram showing a traveling position measuring device according to the first embodiment.

FIG. 3 is a plan view showing a travel position origin correction measurement device according to a second embodiment of the present invention.

FIG. 4 is a block diagram showing an automatic driving device according to a third embodiment of the present invention.

[Explanation of symbols]

 2 Left Bank 3 Right Bank 4 Fixed Tower 5 Moving Tower 6 Main Cable 7 Trolley 11 Concrete Bucket 20 Travel Drive 30 Travel Position Measuring Device 31 Measurement Roller 32 Encoder 40 Travel Position Origin Correction Measuring Device 41 Transponder 42 Data Carrier Reader 50 Automatic Driving Device 51 Operator's cab 52 Host computer 56, 57 Optical fiber cable

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Rikuo Matsuda 128-1 Kawaharaya, Yoshino-cho, Yoshino-gun, Nara Prefecture Inside the Kinki Regional Construction Bureau Otaki Dam Construction Office (72) Inventor Kazutoshi Ikeda Yoshino, Nara Prefecture 128-1 Kawaharaya, Yoshino-cho, Gunki Inside the Kinki Regional Construction Bureau Otaki Dam Construction Office (72) Inventor Takashi Oka 2-10-5 Katamachi, Miyakojima-ku, Osaka City, Osaka, Japan Kumagaya Gumi Osaka Branch (72 ) Inventor Shoichi Family 2-10-5 Katamachi, Miyakojima-ku, Osaka City, Osaka Inside the Kumagaya Gumi Osaka Branch (72) Mitsuo Watanabe 2-10-5 Katamachi, Miyakojima-ku, Osaka, Osaka Kumagaya Gumi Osaka Co., Ltd. In the branch

Claims (9)

[Claims] 1. A trolley suspended from a concrete bucket so as to be able to roll up and down is suspended on a main rope laid across a pair of towers provided on a left bank and a right bank facing each other. In a cable crane configured as a moving tower in which at least one of the towers travels in a direction intersecting both traversing and winding up and down via a rail laid on a shore provided with the tower, a traveling driving device is provided on the moving tower. A cable crane having a traveling position measuring device and a traveling position measuring device separately provided. 2. A travel measuring device comprising: a measuring roller which rotates in contact with the shore side as the moving tower travels; and an encoder which detects a rotational position of the measuring roller and outputs an electric signal converted therefrom. The cable crane according to claim 1, wherein 3. The cable crane according to claim 2, wherein the other side of the cable crane that contacts the measuring roller is a rail used for traveling of the moving tower. 4. The cable crane according to claim 2, wherein the cable crane has a non-slip layer having a large frictional resistance with a counterpart with which the measuring roller contacts. 5. The cable crane according to claim 2, wherein the measuring roller is urged by a resilient action toward a contacting side of the cable. 6. A trolley, which is suspended over a concrete bucket so as to be able to wind up and down, is suspended on a main rope laid across a pair of towers provided on a left bank and a right bank facing each other. In a cable crane configured as a moving tower in which at least one of the towers travels in a direction intersecting both the traverse and the vertical direction via rails laid on the shore where the tower is provided, the shore provided with the moving tower is provided. A plurality of transponders having address information provided along the rails at regular intervals and receiving the address information from the corresponding transponder provided with the traveling tower as the traveling tower travels and correcting the position of the traveling tower And a data carrier reader for performing a travel position origin correction measurement device. 7. The cable crane according to claim 6, wherein the transponder and the data carrier reader communicate wirelessly. 8. The cable crane according to claim 7, wherein the wireless is radio waves. 9. A trolley suspended from a concrete bucket so as to be able to roll up and down is suspended on a main rope laid across a pair of towers provided on a left bank and a right bank facing each other. In a cable crane configured as a moving tower in which at least one of the towers travels in a direction intersecting both traversing and winding up and down via a rail laid on a shore provided with the tower, the traveling tower and traveling control thereof are performed. A cable crane comprising an automatic operation device using an optical fiber cable that crosses a valley for communication with a host computer in an operator's cab provided on the opposite shore.