JPH11209067A - Detecting method of suspended load height of cable crane - Google Patents

Abstract

[PROBLEMS] To provide a method of detecting a suspended load height of a cable crane that can accurately determine the suspended load height in order to improve the steadying accuracy and the positioning accuracy. SOLUTION: A floor surface 22 on which a suspended load 20 is landed and a main tower 2 are provided.
The height difference between the trolley 5 and the hook 19 is defined as the floor height Z, the height difference between the main tower 2 and the trolley 5 is defined as the trolley height H, the height difference between the trolley 5 and the hook 19 is defined as the hoisting rope length X, In the cable crane 1 in which the height difference between the hanging load 19 and the hanging load 20 is the hanging load height Y, the load sensor 25 determines whether or not the hanging load 20 has left the floor, and determines the trolley height H at that time by the rotation angle of the traversing drum 10 and In addition to the calculation based on the load obtained by the load sensor 25, the hoisting rope length X at that time is calculated based on the rotation angle of the hoisting drum 16 and the load obtained by the load sensor 25. The suspended load height Y is obtained by subtracting the added length with the height X from the known floor height Z.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a method for detecting a suspended load height of a cable crane.

[0002]

2. Description of the Related Art A cable crane 1 shown in FIG. 1 is for dam construction. The cable crane 1 has a main tower 2 and a sub tower 3 which are arranged on a left bank and a right bank of a valley with a predetermined distance therebetween. The main tower 2 and the sub tower 3 run in the front and rear directions of the paper, respectively. A main rope 4 extends between the main tower 2 and the sub tower 3. A trolley 5 is engaged with the main rope 4 so as to freely traverse. That is,
Pulleys 6, 6 that engage with the main rope 4 are provided inside the trolley 5.

The trolley 5 has first and second transverse ropes 7,
8 are connected. One end of the first transverse rope 7 is connected to the trolley 5, and the other end is wound around a pulley 9 of the main tower 2 and wound around a transverse drum 10. 2nd transverse line 8
Has one end connected to the trolley 5, the other end wound around pulleys 11 and 12 of the auxiliary tower 3, folded back, wound around a pulley 13 provided on the main tower 2, and wound around the traversing drum 10. ing. The traversing drum 10 is provided in the main tower 2. According to this configuration, the trolley 5 traverses along the main rope 4 by rotating the traverse drum 10 forward and backward.

[0004] The trolley 5 is provided with pulleys 15, 15 with which hoisting ropes 14 are engaged. The hoisting rope 14 is unreeled from the hoisting drum 16, wrapped around the pulley 17 of the main tower 2, wrapped around the pulley 15 of the trolley 5, deflected downward, wrapped around the moving pulley 18 and upward. It is deflected, wrapped around the pulley 15 of the trolley 5, and attached to the sub tower 3. The hoisting drum 16 is provided in the main tower 2.
According to this configuration, the moving pulley 18 moves up and down by rotating the hoisting drum 16 forward and backward.

[0005] The moving pulley 18 is provided with a hook 19. A hanging load 20 (an auxiliary device such as a concrete bucket 20a or a rock drill) is hung on the hook 19. Suspended load 2
The concrete bucket 20a as the zero is provided on the floor 2 of the bunker field 21 formed on the left bank in the front and back direction of the drawing.
2, and the ready-mixed concrete is supplied from a transfer car (not shown) that moves on the transfer car field 23 above the transfer car field 23. Thereafter, the concrete bucket 20a is traversed to a predetermined position, and the hoisting rope 14 is fed out and the concrete is transferred to a concrete hopper (not shown), or the concrete is directly poured into the bottom of the dam.

[0006]

By the way, in the cable crane 1 as described above, when the trolley 5 is started or accelerated or stopped and decelerated, the suspended load 20 depends on the length of the hoisting rope 14 at that time. Exercise and shake. This reduces work efficiency, so to solve this,
The natural period of the pendulum is determined by the length X of the hoisting cable 14 at that time.
The trolley 5 is accelerated or decelerated by two steps so as to cancel the natural period of the pendulum. That is, once the starting acceleration of the trolley 5 is performed and then the second stage of acceleration is performed when the half period of the natural period of the pendulum has elapsed, the swing of the suspended load 20 caused by the first acceleration is reduced. This is offset by the second acceleration. At the time of deceleration, the vehicle is similarly decelerated by two steps.

In order to accurately control the pendulum motion of the suspended load 20, an accurate pendulum length is required. Therefore, not only the hoisting rope length X but also the suspended load height Y is required. However, when the hanging load 20 is a concrete bucket 20a, there is a concrete bucket 20a of a type in which the length of the hanging lot 24 of the bucket 20a expands and contracts depending on the amount of concrete loaded. In such a bucket 20a, concrete is actually loaded. Otherwise, the exact suspended load height Y cannot be determined. In addition, when the suspended load 20 is an auxiliary device (not shown) such as a rock drill, the rock drill or the like is slung on the hook 19, but the suspended load height Y differs depending on the sling state. For this reason, the exact suspended load height Y cannot be known unless it is actually slung and suspended. If the suspended load height Y is unclear, the steadying accuracy deteriorates.

The above-mentioned suspended load 20 (auxiliary equipment such as the concrete bucket 20a and the rock drill) is used to remove three-dimensional obstacles such as construction scaffolds and blocks under construction on the moving route. Although it is necessary to move while avoiding the obstacle, it is difficult to accurately avoid the obstacle if the suspended load height Y is unclear. That is, if the suspended load height Y is unclear, the positioning accuracy of the suspended load 20 deteriorates.

As a related prior art, Japanese Patent Publication No. 3-21
No. 477 is known, but this is a technique for a tower crane, and therefore differs from the invention of the present application targeting a cable crane.

SUMMARY OF THE INVENTION An object of the present invention, which has been made in view of the above circumstances, is to detect a suspended load height of a cable crane capable of accurately determining a suspended load height in order to improve the steadying accuracy and positioning accuracy. It is to provide a method.

[0011]

According to a first aspect of the present invention, there is provided a method for detecting a suspended load of a cable crane, comprising the steps of: A trolley traversably engaged with the main cable, a traverse cable connected to the trolley, a hook suspended from the trolley via a hoisting cable, a suspended load suspended on the hook, A traverse drum that winds up the traversing line and traverses the trolley; and a hoisting drum that winds up the hoisting line and raises and lowers the hook, and the height difference between the floor on which the suspended load is landed and the main tower. Is the floor height, the height difference between the main tower and the trolley is the trolley height, the height difference between the trolley and the hook is the hoisting cable length,
In a cable crane in which the height difference between the hook and the suspended load is the suspended load height, the load sensor determines the lifting of the suspended load by the load sensor, and determines the trolley height at that time by the rotation angle of the traversing drum and the load determined by the load sensor. The length of the hoisting rope at that time is calculated from the rotation angle of the hoisting drum and the load obtained by the load sensor, and the addition length of the trolley height and the hoisting rope length is known in advance. The height of the suspended load is obtained by subtracting from the height.

According to a second aspect of the present invention, there is provided a method for detecting a suspended load of a cable crane, wherein the main rope spans between the main tower and the auxiliary tower, and the main rope is traversably engaged with the main rope. With a trolley,
A traversing line connected to the trolley, a hook suspended from the trolley via a hoisting line, a suspended load hung on the hook, and a traversing drum for winding the traversing line and traversing the trolley. A hoisting drum that winds up the hoisting rope and raises and lowers a hook, the height difference between the floor surface on which the suspended load is landed and the main tower is the floor surface height, and the height difference between the main tower and the trolley is In a cable crane in which the height difference is a trolley height, the height difference between the trolley and the hook is a hoisting rope length, and the height difference between the hook and the suspended load is a suspended load height, the suspended load is a floor surface. From the predetermined offset height, the trolley height at that time is calculated by the rotation angle of the traversing drum and the load obtained by the load sensor, and the length of the hoisting rope at that time is calculated by the rotation angle of the winding drum and the load sensor. Calculated by the obtained load, Trolley is subtracted from the height and the hoisting rope length and offset height of the summing length beforehand Known floor level is obtained by to obtain the suspended load height.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the accompanying drawings.

FIG. 2 is a partially enlarged view of the cable crane 1 shown in FIG. In FIG. 2, parts common to those in FIG.

As shown in FIG. 2, a load sensor 25 is provided at a fixed point of the hoisting cable 14 on the side of the sub tower 3. The load sensor 25 detects the load of the suspended load 20 based on the tension of the hoisting cable 14. The load sensor 25 is not limited to the above-described position, and may be disposed, for example, on the floor surface 22 of the bunker field 21 (reference numeral 2 in the figure).
5a). Further, a pressure sensor provided on the bottom surface of the suspended load 20 may be used instead. The point is that the weight of the suspended load 20 can be detected.

The concrete bucket 20a as the suspended load 20 has a cylinder 26 built in the suspended lot 24, and the suspended lot 2 is provided in accordance with the amount of concrete loaded.
The length of 4 expands and contracts. In such a bucket 20a, the exact suspended load height cannot be known unless concrete is actually loaded. In addition, this concrete bucket 2
0a opens and closes the discharge gate at the bottom of the bucket using the pressure accumulated in the cylinder 26.

The floor height Z is the height difference between the floor surface 22 of the bunker field 21 and the attachment portion 27 of the main rope 4 to the main tower 2. The trolley height H is a height difference between the mounting portion 27 and the lower portion of the trolley 5. The hoisting cable length X is the height difference between the lower part of the trolley 5 and the hook 19. The suspended load height Y is the height difference between the hook 19 and the lower part of the suspended load 20.

The floor height Z is measured in advance. The trolley height H is determined by the traversing position between the main tower 2 and the auxiliary tower 3 of the trolley 5 and the weight of the suspended load 20, so that the traversing drum 10
And the load obtained by the load sensor 25. Since the hoisting rope length X is determined by the amount of unwinding of the hoisting rope 14 and the weight of the suspended load 20, the hoisting drum 16
And the load obtained by the load sensor 25.

In the cable crane 1 having the above configuration, the suspended load height Y is obtained as follows.

First, a concrete bucket 20 a as the suspended load 20 is placed on the floor 22 of the bunker field 21. Then, a predetermined amount of ready-mixed concrete is supplied to the concrete bucket 20a from the transferer on the transferer field 23. Thereafter, the hoisting drum 14 is rotated to take up the hoisting cable 14 and the concrete bucket 20a is released from the floor surface 22. At this time, based on the output of the load sensor 25, as shown in FIG. And the load before hoisting are compared, and the leaving-of-bed determination is performed as follows.

FIG. 4 is a diagram showing the amount of hoisting of the hoisting line 14, the load detected by the load sensor 25, and the state of the load change. As shown in the figure, first, in the area A, the hoisting ropes 14 are set in a state where the bucket 20a is placed on the floor surface 22.
Is loose, the load and the load change are zero regardless of the winding amount. Next, in the area B, the bucket 20a
, A pulling force starts to be applied, and the load increases substantially in quadratic proportion to the winding amount. At this time, the load change becomes a straight line having a predetermined inclination. Next, in the region C, the load increases substantially linearly in proportion to the winding amount. At this time, the load change becomes a straight line having a substantially zero slope. Thereafter, the user starts leaving the bed in the area D, and completely leaves the bed in the area E. In the area E after leaving the bed, the load is irrelevant and the load is substantially constant and the load change is substantially zero.

Here, paying attention to the state of the load change, the load change temporarily increases from a state where the load change is substantially zero (region A) (region C), and then becomes a state where the load change is substantially zero (region E). When it becomes, it leaves the floor. Therefore, the moment when the change in the load changes and shifts from the area D to the area E is determined as leaving the bed. Then, the hoisting rope length X at that time is calculated based on the rotation angle of the hoisting drum 16 and the load obtained by the load sensor 25, and the trolley height H at that time is calculated by the rotation angle of the traversing drum 10 and the load sensor 25. Calculated by the applied load.

Then, the added length of the trolley height H and the hoisting rope length X is subtracted from the known floor height Z to obtain the suspended load height Y (Y = Z− (H + X )). In this way, depending on the amount of concrete loaded,
Even in the case of the concrete bucket 20a in which the length of the suspended load Y changes due to expansion and contraction of the length of 4, the accurate suspended load height Y can be detected. Therefore, the length of the pendulum can be accurately obtained, and the accuracy of the steady rest can be improved. Also,
Since the suspended load height Y can be accurately obtained, even if there are three-dimensional obstacles such as a construction scaffold or a block under construction on the moving route of the suspended load 20 (the concrete bucket 20a), these obstacles are removed. It can be avoided and moved accurately.

FIG. 5 is a diagram showing a method of obtaining the suspended load height Y when the auxiliary equipment 20b such as a rock drill is slung on the hook 19. That is, FIG. 5 shows a method of calculating the suspended load height Y when the suspended load 20 is not the concrete bucket 20a but an auxiliary device 20b such as a rock drill. In this case, it is theoretically possible to measure the suspended load height Y in advance, but in practice, when the auxiliary machine 20b such as a rock drill is slung on the hook 19, the suspended load height Y depends on the sling state. Since they are different, the exact height of the suspended load cannot be known without actually sling and hanging.

In this case, the auxiliary machine 20b on the floor surface 22 of the bunker field 21 is rotated off the hoisting drum 16 to take up the hoisting cable 14 and is separated from the floor surface 22. Then, the auxiliary machine 20b is set at a predetermined offset height L from the floor surface 22.
(For example, 2 m), the trolley height H at that time is calculated from the rotation angle of the traversing drum 10 and the load obtained by the load sensor 25, and the hoist cable length X at that time is calculated as the rotation angle of the hoist drum 16. And the load obtained by the load sensor 25. Then, the sum of the trolley height H, the hoisting rope length X, and the offset height L is subtracted from the known floor height Z to obtain the suspended load height Y (Y = Z− (H + X + L)).

In this case, the auxiliary machine 20 whose exact suspended load height Y cannot be determined unless the sling is actually carried out and suspended.
For b, the accurate suspended load height Y can be detected. Therefore, the length of the pendulum can be accurately obtained, and the accuracy of the steady rest can be improved. In addition, since the suspended load height Y can be accurately obtained, even if there are three-dimensional obstacles such as a construction scaffold or a block under construction on the moving route of the suspended load 20 (the auxiliary device 20b), the obstacles are not affected. Objects can be avoided and moved accurately.

It is needless to say that the suspended load height Y of the auxiliary device 20b may be obtained by the method described with reference to FIG.

[0028]

As described above, according to the present invention, the suspended load height can be accurately obtained. Therefore, the length of the pendulum can be accurately known, and the accuracy of steadying and positioning can be improved.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing an outline of a cave crane.

FIG. 2 is a partially enlarged view of a cave crane for explaining a suspended load height detecting method according to the first embodiment.

FIG. 3 is an explanatory diagram for explaining a leaving-bed determination.

FIG. 4 is a diagram showing a hoisting amount, a load, and a load change.

FIG. 5 is a partially enlarged view of a cave crane for explaining a suspended load height detecting method according to a second embodiment.

[Description of Signs] 1 Cable Crane 2 Main Tower 3 Sub Tower 4 Main Cable 5 Trolley 7 Crossing Cable 8 Crossing Cable 10 Crossing Drum 14 Hoisting Cable 16 Hoisting Drum 19 Hook 20 Suspended Load 25 Load Sensor X Hoisting Cable Length Y Suspended load height Z Floor height H Trolley height

Continuing on the front page (72) Inventor Yuji Gomi 3-1-1-15 Toyosu, Koto-ku, Tokyo Ishikawajima-Harima Heavy Industries Co., Ltd. Tojin Technical Center (72) Inventor Shigeki Murayama 3-1-1, Toyosu, Koto-ku, Tokyo No.Ishikawajima Harima Heavy Industries Co., Ltd. Toji Technical Center (72) Inventor Hidetoshi Takimoto 3-1-1-15 Toyosu, Koto-ku, Tokyo Ishikawajima Harima Heavy Industries Co., Ltd. Toji Technical Center (72) Inventor Kazuya Ono Tokyo Ichikawajima Harima Heavy Industries, Ltd.Koto Office (72) Inventor: Yoshiro Takagi 1-19-10 Mori, Koto-ku, Tokyo Inventor Mitsugu Kishi Kashima Construction Co., Ltd. 1-2-7 Moto-Akasaka, Minato-ku, Tokyo (72) Inventor Katsumi Tsukamoto Kashima Construction Co., Ltd. 1-2-7 Moto-Akasaka, Minato-ku, Tokyo Inventor Kenichi Takemura Minato-ku, Tokyo Akasaka chome No. 2 No. 7 Ken Kashima within Co., Ltd.

Claims (2)

[Claims] 1. A main rope bridged between a main tower and a sub-tower, a trolley traversably engaged with the main rope, a traverse cable connected to the trolley, and a winding from the trolley. A hook suspended via the upper cable, a suspended load hung on the hook,
A traversing drum for winding the traversing line and traversing the trolley, and a hoisting drum for winding the hoisting line and elevating the hook, and a height of a floor surface and a main tower on which the suspended load is landed. The difference is the floor height, the height difference between the main tower and the trolley is the trolley height, the height difference between the trolley and the hook is the hoisting cable length, and the height difference between the hook and the suspended load is suspended. In a cable crane with a load height, the load sensor determines whether the suspended load has left the floor, and the trolley height at that time is calculated from the rotation angle of the traversing drum and the load obtained by the load sensor, and the hoisting rope length at that time Is calculated from the rotation angle of the hoisting drum and the load obtained by the load sensor, and the added length of the trolley height and the length of the hoisting rope is subtracted from the known floor height to obtain the suspended load height. The cable you wanted Suspended load height detection method of lane. 2. A main cable spanned between a main tower and a sub-tower, a trolley traversably engaged with the main cable, a traverse cable connected to the trolley, and a winding from the trolley. A hook suspended via the upper cable, a suspended load hung on the hook,
A traversing drum that winds the traversing line and traverses the trolley, and a hoisting drum that winds the hoisting line and raises and lowers a hook; The difference is the floor height, the height difference between the main tower and the trolley is the trolley height, the height difference between the trolley and the hook is the hoisting cable length, and the height difference between the hook and the suspended load is suspended. In a cable crane having a load height, the suspended load is lifted off the floor at a predetermined offset height, the trolley height at that time is calculated based on the rotation angle of the traversing drum and the load obtained by the load sensor, and the hoist at that time is calculated. The cable length is calculated based on the rotation angle of the hoisting drum and the load obtained by the load sensor, and the sum of the trolley height, the hoisting cable length, and the offset height is subtracted from the known floor height. Find the suspended load height Suspended load height detection method Unishi was cable cranes.