Cable crane, operational method, and construction method

Abstract

To provide a cable crane capable of suppressing a vertical swing of a traverse trolley and a bucket.SOLUTION: A cable crane comprises a main rope, a traverse trolley, a first driving device, a hanging tool, a second driving device, and a control device. The main rope 21 is stretched between mountains 91 and 92. The traverse trolley 22 is installed on the main rope 21 to move along it. The first driving device drives the traverse trolley 22. The hanging tool 29 is suspended from the traverse trolley 22 and can be raised and lowered. The second driving device drives the hanging tool 29 so as to raise and lower it. The control device 40 decelerates the traverse trolley 22 by controlling the first driving device, and raises the hanging tool 29 in synchronization with the deceleration of the traverse trolley 22 by controlling the second driving device.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The technology disclosed herein relates to a cable crane, an operation method, and a construction method. [Background technology]

[0002] For example, as disclosed in Patent Document 1, a cable crane installed between mountains is used to construct concrete structures such as a dam embankment in a valley. The cable crane includes a main rope, a towing cable, a traverse trolley, and a bucket. The main rope is installed between the mountains, the traverse trolley is installed on the main rope, and a bucket is suspended from the traverse trolley, and concrete is loaded into the bucket. The traverse trolley is towed by the towing cable, so that the traverse trolley travels along the main rope from the mountain to the valley, and the bucket is lowered from the traverse trolley above the valley. In this way, the concrete is transported to the valley. After that, the traverse trolley returns to the mountain to load new concrete, and the bucket is raised. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2022-154200 Summary of the Invention [Problem to be solved by the invention]

[0004] If the traverse trolley slows down while traveling, the tension in the traction cable and main rope changes, causing the traverse trolley and bucket to swing up and down. Therefore, the technology disclosed in this specification aims to suppress the vertical shaking of the traverse trolley and bucket. [Means for solving the problem]

[0005] This specification discloses a cable crane. The cable crane includes a main rope, a traverse trolley, a first drive device, a hoisting tool, a second drive device, and a control device. The main rope is stretched between the peaks above a valley between the peaks. The traverse trolley is installed on the main rope so as to move along the main rope. The first drive device drives the traverse trolley. The hoisting tool is suspended from the traverse trolley and is capable of being raised and lowered. The second drive device drives the hoisting tool so as to raise and lower the hoisting tool. The control device controls the first drive device to decelerate the traverse trolley, and controls the second drive device to raise the hoisting tool in synchronization with the deceleration of the traverse trolley.

[0006] When the traverse trolley returns toward the mountain, the control device may control the first drive device to cause the traverse trolley to move at a constant speed, and then the control device may synchronize the deceleration of the traverse trolley with the lifting of the hoisting device.

[0007] During the uniform motion of the traverse trolley, the control device may stop the second drive device to stop the hoisting device.

[0008] This specification discloses a method for operating a cable crane. The cable crane includes a main rope, a traverse trolley, and a hoisting gear. The main rope is stretched between the peaks above a valley between the peaks. The traverse trolley is installed on the main rope so as to move along the main rope. The hoisting gear is suspended from the traverse trolley and is capable of being raised and lowered. The operation method includes a deceleration step of decelerating the traverse trolley and raising the hoisting gear in synchronization with the deceleration of the traverse trolley.

[0009] The operating method may include a returning step of returning the traverse trolley toward the mountain, and a uniform velocity movement step of moving the traverse trolley at a uniform velocity during the returning step. The deceleration step is performed subsequent to the uniform velocity movement step.

[0010] The operating method may include a step of stopping the hoisting device during uniform velocity motion of the traverse trolley.

[0011] This specification discloses a construction method for constructing a concrete structure in a valley using a cable crane. The cable crane includes a main rope, a traverse trolley, and a hoisting device. The main rope is stretched between the peaks above the valley between the peaks. The traverse trolley is installed on the main rope so as to move along the main rope. The hoisting device is suspended from the traverse trolley and can be raised and lowered. The construction method includes a loading step, a transporting step, a dropping step, and a returning step. The loading step is a step of loading concrete onto the hoisting device at the peak. The transporting step is a step of transporting the concrete by moving the traverse trolley from the peak toward the top of the valley. The dropping step is a step of dropping the concrete from the hoisting device into the valley after the transporting step. The returning step is a step of returning the traverse trolley from above the valley to the peak after the dropping step. During the returning process, the traverse trolley is decelerated, and the hoist is raised in synchronization with the deceleration of the traverse trolley. Effect of the Invention

[0012] According to the technology disclosed in this specification, it is possible to suppress the vertical shaking of the traverse trolley and the hoisting device. [Brief description of the drawings]

[0013] [Figure 1] FIG. 1 is a perspective view of a cable crane at a construction site. [Diagram 2] FIG. 2 is a side view of the traverse trolley and hoisting equipment of the cable crane. [Diagram 3] FIG. 3 is a block diagram of a cable crane. [Figure 4] FIG. 4 is a diagram showing the trajectory of the sling. [Diagram 5] FIG. 5 is a graph showing the change in the speed of the traverse trolley and the lifting speed of the sling. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, the embodiments will be described with reference to the drawings. The features and technical effects of the embodiments will be understood from the following detailed description and drawings. However, the scope of the present invention is not limited to the embodiments disclosed below. The drawings are provided for illustrative purposes only, and therefore the scope of the present invention is not limited to the illustrations in the drawings.

[0015] [1. Overview of the construction system] FIG. 1 is a perspective view of a construction system 1. The construction system 1 constructs a concrete structure 99, such as a dam embankment, in a valley 93 between mountains 91 and 92. The construction system 1 transports materials, such as ready mixed concrete, from the mountain 91 or mountain 92 to the valley 93 for the construction of the concrete structure 99.

[0016] The construction system 1 comprises a concrete supply facility 10 and a cable crane 20 .

[0017] The concrete supplying facility 10 is constructed on the hillside of a mountain 92. The concrete supplying facility 10 manufactures ready mixed concrete and supplies the manufactured ready mixed concrete to a cable crane 20. Note that another concrete supplying facility may be constructed on the hillside of a mountain 91 together with the concrete supplying facility 10 or instead of the concrete supplying facility 10.

[0018] Cable crane 20 is erected between peak 91 and peak 92. Cable crane 20 receives a supply of ready-mixed concrete from concrete supply equipment 10 and transports the ready-mixed concrete to valley 93. Cable crane 20 may transport materials other than ready-mixed concrete to valley 93. Cable crane 20 may transport materials from peak 91 to valley 93. Cable crane 20 may transport materials that are no longer needed in valley 93 from valley 93 to peak 91 or peak 92. Hereinafter, objects such as ready-mixed concrete or materials transported by cable crane 20 are referred to as suspended loads.

[0019] [2. Concrete supply equipment] The concrete supply facility 10 comprises a batcher plant 11, a bunker track 12 and a transport vehicle 13.

[0020] The batcher plant 11 is constructed on the side of a mountain 92. The batcher plant 11 mixes cement, water, and aggregate to produce ready-mix concrete.

[0021] The bunker track 12 is laid along a valley 93 from the batcher plant 11 on the side of a mountain 92 .

[0022] The transport vehicle 13 is, for example, a transfer car or a bucket cart. The transport vehicle 13 can travel on the bunker track 12 along the bunker track 12. The transport vehicle 13 repeatedly performs the following operations. First, the transport vehicle 13 receives a supply of ready-mixed concrete at the batcher plant 11 and loads the ready-mixed concrete. The transport vehicle 13 transports the ready-mixed concrete from the batcher plant 11 to a loading location P1 along the bunker track 12. Next, the transport vehicle 13 transfers the ready-mixed concrete to a hoisting tool 29 described below at the loading location P1. Next, the transport vehicle 13 returns to the batcher plant 11 to receive the ready-mixed concrete.

[0023] The loading site P1 is located along the bunker track 12 and below the main rope 21 described below. In other words, when looking at the bunker track 12 and the main rope 21 from above, the point where the bunker track 12 and the main rope 21 intersect is the loading site P1.

[0024] [3. Cable crane] The cable crane 20 will be described in detail with reference to Figures 1 to 3. Figure 2 is a side view of the traverse trolley 22 and the hoisting device 29 of the cable crane 20. Figure 3 is a block diagram of the cable crane 20.

[0025] The cable crane 20 is a one-side movable cable crane among the rail-type. A rail-type cable crane is one in which one or both ends of the main ropes 21 erected between peaks 91 and 92 move along valleys 93. A one-side movable cable crane is one in which one or both ends of the main ropes 21 move along valleys 93. The cable crane 20 may be a two-side movable cable crane among the rail-type, or may be a fixed cable crane instead of a rail-type. A two-side movable cable crane is one in which both ends of the main ropes 21 move along valleys 93. A fixed cable crane is one in which both ends of the main ropes 21 are fixed and do not move.

[0026] The cable crane 20 comprises a main rope 21, a traverse trolley 22, a first winch 23, a traction cable 23a, a first tower 24, a pair of second towers 25, a rail rope 26, a running trolley 27, a second winch 28, a hoisting device 29, a lifting winch 30, a lifting cable 30a, a control device 40 and a pilot 41.

[0027] The first tower 24 is also called a main rope tower. The first tower 24 is constructed in an upright state on the middle or top of a mountain 91.

[0028] The second tower 25 is also called a cable tower. The second tower 25 is constructed standing on the top or middle of a mountain 92. The installation location of the second tower 25 is higher than the installation locations of the batcher plant 11 and the bunker track 12, and the second tower 25 is installed closer to the top of the mountain 92 than the batcher plant 11 and the bunker track 12. The two second towers 25 are lined up along the valley 93 with a gap between them.

[0029] The rail cable 26 is installed on the peak 92 along the valley 93. More specifically, one end of the rail cable 26 is connected to one of the second towers 25, particularly to the top thereof, and the other end of the rail cable 26 is connected to the other second tower 25, particularly to the top thereof, and the rail cable 26 is suspended between these second towers 25.

[0030] The traveling trolley 27 is supported by the rail 26 and is provided so as to be able to travel on and along the rail 26. The traveling trolley 27 is connected to a traveling traction cable, and the traveling traction cable is wound around a second winch .

[0031] The second winch 28 is installed on the mountain 92. More specifically, the second winch 28 is installed in the machine room 82 on the mountain 92. The second winch 28 pulls the traveling trolley 27 so that the traveling traction cable travels along the rail 26 by applying tension to the traveling traction cable by winding and unwinding the traveling traction cable. The second winch 28 has a drum around which the traveling traction cable is wound, and a motor that drives the drum. Note that the traveling trolley 27 may be a self-propelled type instead of a towing type. The self-propelled type refers to a type in which a motor is provided on the traveling trolley 27 and the traveling trolley 27 travels by the power of the motor.

[0032] The main rope 21 is suspended between the peaks 91 and 92 above the valley 93. More specifically, one end of the main rope 21 is connected to the first tower 24, particularly to its top, at the peak 91, and the other end of the main rope 21 is connected to the traveling trolley 27 at the peak 92, so that the main rope 21 is suspended between the first tower 24 and the traveling trolley 27.

[0033] When the cable crane 20 is of a fixed type, one second tower 25 is constructed standing on the top or middle of the mountain 92, and the main rope 21 is stretched between the first tower 24 and the second tower 25. When the cable crane 20 is of a double-sided movable type, two first towers 24 are constructed standing on the top or middle of the mountain 91, a rail cable is stretched between the two first towers 24, the second traveling trolley runs along the rail cable, and the main rope 21 is stretched between the second traveling trolley and the traveling trolley 27.

[0034] The traverse trolley 22 is supported by the main ropes 21 and is provided on the main ropes 21 so as to be able to run along the main ropes 21. The weight of the traverse trolley 22 causes the main ropes 21 to bend.

[0035] The traction cable 23a is stretched between the top of the first tower 24 and the traveling trolley 27 along the main rope 21. The traction cable 23a is wound around the first winch 23 at the peak 91, passes from the first winch 23 to the top of the first tower 24, turns back toward the traverse trolley 22, and is connected to the traverse trolley 22. The traction cable 23a is wound around a pulley at the peak 92, passes from the pulley through the traveling trolley 27, turns back toward the traverse trolley 22, and is connected to the traverse trolley 22.

[0036] The first winch 23 is a first driving device. The first winch 23 is installed on the mountain 91. More specifically, the first winch 23 is installed in the machine room 81 on the mountain 91. The first winch 23 pulls the traverse trolley 22 so that the traverse trolley 22 travels along the main rope 21 by applying tension to the traction cable 23a by winding and unwinding the traction cable 23a. The first winch 23 has a drum around which the traction cable 23a is wound and a motor that drives the drum. The motor may be a motor with a brake. Note that the traverse trolley 22 may be a self-propelled type instead of a towing type. The self-propelled type refers to a type in which a motor as a driving device is provided on the traverse trolley 22 and the traverse trolley 22 travels by the power of the motor.

[0037] The hoisting tool 29 is suspended from the traverse trolley 22 by a lifting cable 30a and holds a load. The hoisting tool 29 is connected to a lifting winch 30 via the lifting cable 30a.

[0038] The hoisting device 29 has a block 29a and a bucket 29b. The block 29a has a movable pulley around which the lifting cable 30a is wound. The bucket 29b is suspended from the block 29a. The bucket 29b accommodates and holds a load, particularly concrete. The bucket 29b has a switch 29c at its bottom that is opened and closed by remote control. When the switch 29c is closed, the load is held in the bucket 29b, and when the switch 29c is opened, the load is dropped from the bucket 29b.

[0039] The lifting cable 30a is wound around the lifting winch 30. The lifting cable 30a is unwound from the lifting winch 30, and is routed to the traveling trolley 27 through a pulley at the top of the first tower 24, a first pulley of the traverse trolley 22, a movable pulley of the block 29a, and a second pulley of the traverse trolley 22.

[0040] The lifting winch 30 is a second driving device. The lifting winch 30 is installed on the mountain 91, more specifically, in the machine room 81. The lifting winch 30 has a drum around which the lifting cable 30a is wound, and a motor that drives the drum. The lifting winch 30 lifts the hoisting tool 29 by winding up the lifting cable 30a. The lifting winch 30 lowers the hoisting tool 29 by letting out the lifting cable 30a.

[0041] The control device 40 and the operator 41 are installed in a place that overlooks the entire construction site, that is, the entire valley 93, for example, in a control room on the middle or top of the mountains 91, 92. The control device 40 has a computer and various electric circuits.

[0042] The control device 40 is connected by wire or wirelessly to the drive circuits of the winches 23, 28, 30 and the switch 29c, and controls the winches 23, 28, 30 and the switch 29c through the drive circuits. The control device 40 controls the first winch 23, whereby the traverse trolley 22 moves along the main ropes 21, and the moving speed and acceleration of the traverse trolley 22 are controlled. The control device 40 controls the second winch 28, whereby the end of the main ropes 21 and the traveling trolley 27 move along the rail 26. The control device 40 controls the lifting winch 30, whereby the hoisting device 29 lifts and lowers. The control device 40 controls the switch 29c, whereby the switch 29c opens and closes.

[0043] The control of the first winch 23 by the control device 40 may be either open-loop control or closed-loop control. Open-loop control means that the control device 40 controls the rotation speed and rotation acceleration of the first winch 23 without monitoring the rotation speed, rotation acceleration, etc. of the first winch 23. Closed-loop control means that the control device 40 controls the rotation speed and rotation acceleration of the first winch 23 while monitoring the rotation speed and rotation acceleration of the first winch 23 and the position of the traverse trolley 22 using a rotary encoder or the like. The control of the winches 28, 30 by the control device 40 may also be either open-loop control or closed-loop control.

[0044] The controller 41 is used to remotely control the winches 23, 28, 30 and the switchgear 29c. The controller 41 has input devices such as an operating lever, a foot pedal, a handle, a push button, a joystick, and a switch. When an operator operates the controller 41, the controller 41 outputs a signal according to the operation to the control device 40, and the control device 40 controls the winches 23, 28, 30 and the switchgear 29c according to the signal. In this way, the winches 23, 28, 30 and the switchgear 29c are remotely controlled. Normally, the cable crane 20 is automatically operated by the control device 40, and an operator manually operates the cable crane 20 as an auxiliary operation using the controller 41.

[0045] [4. Operation of cable cranes, methods of operating cable cranes and methods of constructing concrete] The operation of the cable crane 20 associated with the control device 40 controlling the winches 23, 28, 30 and the switch 29c will be described. Additionally, a method for operating the cable crane 20 will be described. Additionally, a method for constructing a concrete structure 99 using the cable crane 20 will be described.

[0046] In the following description, the drop site P2 refers to the destination where the ready-mixed concrete is transported by the cable crane 20. The start point P3 refers to the point where the ready-mixed concrete intersects with the main rope 21 in a vertically upward direction from the loading site P1. The turn-back point P4 refers to the point where the ready-mixed concrete intersects with the main rope 21 in a vertically upward direction from the drop site P2.

[0047] (1) Adjustment of loading area The control device 40 operates the second winch 28, whereby the traveling trolley 27 moves along the rail 26. As a result, the end of the main rope 21 is displaced along the rail 26, and the position of the loading site P1 is adjusted along the bunker track 12. The winch winds and unwinds the main rope 21 when the traveling trolley 27 moves, so that the length and tension of the main rope 21 may be appropriately adjusted according to the distance from the traveling trolley 27 to the first tower 24.

[0048] (2) Moving the hoisting equipment to the loading area The control device 40 operates the first winch 23, which causes the traverse trolley 22 to move along the main ropes 21 toward the mountain 91 and the traveling trolley 27. At the same time, the control device 40 operates the lifting winch 30, which causes the hoisting tool 29 to descend. Then, when the traverse trolley 22 has moved to above the loading location P1, the control device 40 stops the first winch 23. Furthermore, when the hoisting tool 29 has descended to the loading location P1, the control device 40 stops the lifting winch 30. The timing at which the control device 40 stops the lifting winch 30 may be the same as the timing at which the control device 40 stops the first winch 23.

[0049] At this time, the transport vehicle 13 transports the ready-mixed concrete from the batcher plant 11 to the loading location P1.

[0050] (3) Stacking process The control device 40 controls the switch 29c, whereby the switch 29c is closed. Then, the transport vehicle 13 performs a transfer operation, whereby the ready-mixed concrete is transferred from the transport vehicle 13 to the bucket 29b of the hoisting tool 29.

[0051] (4) Transporting ready-mix concrete to the drop site After the ready-mixed concrete has been transferred, the control device 40 accelerates and controls the first winch 23 so as to gradually increase the rotational speed of the first winch 23, whereby the traverse trolley 22 moves from the starting point P3 toward the turning point P4 while accelerating.

[0052] Simultaneously with or after the traverse trolley 22 starts to move, the control device 40 operates the lifting winch 30, thereby lifting the hoisting device 29. Thereafter, when the hoisting device 29 rises close to the traverse trolley 22, the control device 40 stops the lifting winch 30. Furthermore, when the rotational speed of the first winch 23 reaches a predetermined value, the control device 40 maintains the rotational speed of the first winch 23 at that predetermined value, so that the traverse trolley 22 moves at a constant speed. Thereafter, the control device 40 operates the lifting winch 30, thereby lowering the hoisting tool 29.

[0053] Thereafter, before the traverse trolley 22 reaches the turning point P4, the control device 40 decelerates the first winch 23, so that the moving speed of the traverse trolley 22 decreases. The deceleration of the traverse trolley 22 causes the hoisting tool 29 to swing in the forward direction and the opposite direction. The control device 40 may adjust the deceleration of the first winch 23 based on the swing angle of the hoisting tool 29, thereby damping the swing of the hoisting tool 29. The deceleration refers to the absolute value of negative acceleration. The swing angle of the hoisting tool 29 is measured by a sensor such as an angle meter, a gyro sensor, or a GNSS (Global Navigation Satellite System) type position measuring device provided on the hoisting tool 29, and the control device 40 instantly recognizes the swing angle of the hoisting tool 29 based on the measurement value of the sensor.

[0054] Thereafter, when the traverse trolley 22 reaches the turn-around point P4, the control device 40 stops the first winch 23, so that the traverse trolley 22 stops at the turn-around point P4. At that time, the control device 40 stops the lifting winch 30, so that the descent of the hoisting tool 29 stops. Until the traverse trolley 22 reaches the turn-around point P4, the control device 40 adjusts the deceleration of the first winch 23 based on the swing angle of the hoisting tool 29, so that when the descent of the hoisting tool 29 stops, the swing of the hoisting tool 29 also stops, and the position of the hoisting tool 29 is determined to be the drop location P2.

[0055] (5) Dropping process Thereafter, the control device 40 controls the switch 29c to open the switch 29c. Therefore, the ready-mix concrete in the bucket 29b is dropped from the bucket 29b to the area below. The switch 29c may be opened by an operator operating the control device 41.

[0056] (6) Returning the hoisting gear to the loading area FIG. 4 is a diagram showing the trajectory of the hoisting tool 29 when the traverse trolley 22 returns from the turning point P4 to the starting point P3.

[0057] After the ready-mixed concrete is dropped, the control device 40 operates the lifting winch 30, so that the hoisting tool 29 rises. When the lifting distance of the hoisting tool 29 reaches a predetermined value, the hoisting tool 29 is located at the position P11 shown in FIG. 5, and at that time, the control device 40 accelerates the first winch 23 so as to gradually increase the rotation speed of the first winch 23. Therefore, the traverse trolley 22 moves from the turning point P4 toward the starting point P3 while accelerating. The acceleration of the traverse trolley 22 during the acceleration of the traverse trolley 22 may be constant, or may gradually increase with the passage of time. Even during the acceleration of the traverse trolley 22, the control device 40 continues to operate the lifting winch 30, so the lifting of the hoisting tool 29 continues. During the lifting of the hoisting tool 29, the control device 40 may control the rotation speed of the lifting winch 30 to be constant.

[0058] When the rotation speed of the first winch 23 reaches a predetermined value while the hoisting tool 29 is ascending and the traverse trolley 22 is moving, the control device 40 controls the first winch 23 at a constant speed so as to maintain the rotation speed of the first winch 23 at the predetermined value. Therefore, the traverse trolley 22 moves at a constant speed. When the traverse trolley 22 starts its constant speed movement, the hoisting tool 29 is located at position P12 shown in FIG. 4.

[0059] When the hoisting tool 29 rises to a predetermined height during the uniform motion of the traverse trolley 22, the control device 40 stops the lifting winch 30. The predetermined height is higher than the height of the loading area P1. When the lifting winch 30 stops, the hoisting tool 29 is located at position P13 shown in FIG.

[0060] When the traverse trolley 22 reaches a predetermined position while moving at a constant speed with the height of the hoisting tool 29 kept at a predetermined height, the control device 40 decelerates the first winch 23, so that the moving speed of the traverse trolley 22 decreases as shown in FIG. 5. The deceleration of the traverse trolley 22 may be constant or may change over time. When the traverse trolley 22 starts to decelerate, the hoisting tool 29 is located at position P14 shown in FIG. 4. In FIG. 5, the time when the traverse trolley 22 starts to decelerate is indicated as "t1".

[0061] When the traverse trolley 22 decelerates, the tension of the main ropes 21 and the traction cables 23a changes. Such a change in tension generates an upward load F1 on the traverse trolley 22, as shown in Fig. 2. The upward load F1 causes the traverse trolley 22 to swing up and down. The vertical swing of the traverse trolley 22 is eliminated by hoisting it with the hoisting tool 29.

[0062] Specifically, when the control device 40 decelerates the first winch 23, the control device 40 operates the lifting winch 30, which generates an upward load F2 on the hoisting tool 29 and causes the hoisting tool 29 to rise. The upward load F2 on the hoisting tool 29 generates a downward reaction force R1 on the traverse trolley 22. This reaction force R1 cancels out the upward load F1 caused by changes in the tension of the main ropes 21 and the traction cable 23a. Therefore, the traverse trolley 22 is less likely to sway up and down.

[0063] During the ascent of the hoisting gear 29, the control device 40 may control the ascent speed of the hoisting gear 29, i.e., the rotation speed of the lifting winch 30. For example, as shown in Fig. 5, the control device 40 increases the ascent speed of the hoisting gear 29 at a constant acceleration until the ascent speed of the hoisting gear 29 reaches a predetermined speed, and then the control device 40 maintains the ascent speed of the hoisting gear 29 at the predetermined speed, and then the control device 40 decreases the ascent speed of the hoisting gear 29 at a constant acceleration. Note that the ascent speed of the hoisting gear 29 may change so that the acceleration of the hoisting gear 29 during ascent gradually increases or decreases, rather than changing at a constant acceleration.

[0064] When a predetermined period (e.g., 2 seconds) has elapsed since the first winch 23 and traverse trolley 22 started to decelerate, the moving speed of the traverse trolley 22 becomes half the speed during uniform motion. At that time, the control device 40 stops the lifting winch 30, and the lifting of the hoisting tool 29 stops. When the lifting of the hoisting tool 29 stops, the hoisting tool 29 is located at position P15 shown in Figure 4. In Figure 5, the time when the lifting of the hoisting tool 29 stops is indicated as "t2."

[0065] The deceleration of the traverse trolley 22 as described above causes the hoisting gear 29 to swing in the forward direction and the opposite direction. To prevent such swinging, the control device 40 adjusts the deceleration of the first winch 23 based on the swing angle of the hoisting gear 29 after the lifting of the hoisting gear 29 stops. Specifically, the control device 40 adjusts the deceleration of the first winch 23 based on the swing angle of the hoisting gear 29 measured by a sensor provided on the hoisting gear 29. This reduces the swinging of the hoisting gear 29.

[0066] While adjusting the deceleration of the first winch 23, the control device 40 operates the lifting winch 30, thereby lowering the hoisting gear 29. Thereafter, when the traverse trolley 22 reaches the starting point P3, the control device 40 stops the first winch 23, so that the traverse trolley 22 stops at the starting point P3. At that time, the control device 40 stops the lifting winch 30, so that the descent of the hoisting gear 29 stops. Until the traverse trolley 22 reaches the starting point P3, the control device 40 adjusts the deceleration of the first winch 23 based on the swing angle of the hoisting gear 29, so that when the descent of the hoisting gear 29 stops, the swing of the hoisting gear 29 also stops, and the position of the hoisting gear 29 is determined to be the loading location P1.

[0067] Thereafter, the above-mentioned "(3) stacking process," "(4) process of transporting the ready-mixed concrete to the drop location," "(5) dropping process," and "(6) process of returning the hoisting equipment to the loading location" are repeated, and ready-mixed concrete is successively transported to valley 93 and dropped.

[0068] [5. Summary] As described above, in the process in which the lateral trolley 22 returns from the turning point P4 to the starting point P3, the lateral trolley 22 moves at a constant speed with the hoisting tool 29 stopped, and then the lateral trolley 22 decelerates. The hoisting tool 29 rises in synchronization with the deceleration of the lateral trolley 22. The rise of the hoisting tool 29 generates a downward reaction force R1 on the lateral trolley 22. The reaction force R1 offsets the upward load F1 generated on the lateral trolley 22 when the lateral trolley 22 decelerates. Therefore, the vertical swing of the lateral trolley 22 and the hoisting tool 29 is suppressed. Even when the hoisting tool 29 reaches the loading place P1, the hoisting tool 29 does not swing in the vertical direction, so the hoisting tool 29 does not collide with surrounding objects or the ground. Ready-mix concrete can be loaded into the bucket 29b of the hoisting tool 29 as soon as the hoisting tool 29 reaches the loading place P1. The concrete pouring cycle is short, which also shortens the construction period for concrete structures99.

[0069] Until the traverse trolley 22 reaches the starting point P3, the control device 40 adjusts the deceleration of the first winch 23 based on the swing angle of the hoisting tool 29, so that the swing of the hoisting tool 29 in the forward direction and the reverse direction is damped. Therefore, when the traverse trolley 22 stops at the starting point P3 and the descent of the hoisting tool 29 stops at the same time, the swing of the hoisting tool 29 also stops, and the position of the hoisting tool 29 is determined to be the loading place P1. Therefore, ready-mixed concrete can be loaded into the bucket 29b of the hoisting tool 29 as soon as the hoisting tool 29 reaches the loading place P1. The concrete pouring cycle per one time is short, and the construction period for the concrete structure 99 can be shortened.

[0070] Similarly, when the traverse trolley 22 reaches the turning point P4, the swinging of the hoisting tool 29 also stops, and the position of the hoisting tool 29 is determined to be the dropping location P2. Therefore, ready-mixed concrete can be dropped promptly from the time the hoisting tool 29 reaches the dropping location P2. The concrete pouring cycle per time is short, and the construction period for the concrete structure 99 can be shortened. [Explanation of symbols]

[0071] 20 Cable Crane 21 Main rope 22 Traverse trolley 23 First winch (first drive unit) 30 Lifting winch (second drive unit) 29 Lifting equipment 40 Control device 99 Concrete Structures

Claims

1. A main rope is stretched between the peaks above a valley between the peaks; A traverse trolley mounted on the main rope so as to move along the main rope; A first drive device that drives the traverse trolley; A liftable hoisting tool suspended from the traverse trolley; a second drive device that drives the hoisting tool to raise and lower the hoisting tool; a control device that controls the first driving device to decelerate the traverse trolley and controls the second driving device to raise the hoist in synchronization with the deceleration of the traverse trolley; A cable crane comprising:

2. When the traverse trolley returns toward the mountain, the control device controls the first drive device to move the traverse trolley at a constant speed, and then the control device synchronizes the deceleration of the traverse trolley with the lifting of the hoist. The cable crane according to claim 1.

3. During the uniform motion of the traverse trolley, the control device stops the second drive device to stop the hoisting device. A cable crane as claimed in claim 2.

4. A main rope is stretched between the peaks above a valley between the peaks; A traverse trolley mounted on the main rope so as to move along the main rope; A method for operating a cable crane comprising: a deceleration step of decelerating the traverse trolley and raising the hoist in synchronization with the deceleration of the traverse trolley; Including driving methods.

5. a returning step of returning the traverse trolley toward the mountain; a uniform speed movement step of causing the traverse trolley to move at a uniform speed during the return step, The deceleration step is carried out following the uniform motion step. The operating method according to claim 4.

6. Stopping the hoist during the uniform motion of the traverse trolley The method of claim 5, further comprising:

7. A main rope is stretched between the peaks above a valley between the peaks; A traverse trolley mounted on the main rope so as to move along the main rope; A method for constructing a concrete structure in the valley using a cable crane comprising: a step of piling concrete on the lifting tool at the pile; a transporting step of transporting the concrete by moving the traverse trolley from the mountain toward the top of the valley after the loading step; a dropping step of dropping the concrete from the hoist into the valley after the transporting step; and a returning step of returning the traverse trolley from above the valley to the mountain after the dropping step, During the returning process, the traverse trolley is decelerated, and the hoist is raised in synchronization with the deceleration of the traverse trolley. How to build it:

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