CN1181348A - Prevention sytem for overhoist of crane - Google Patents

Prevention sytem for overhoist of crane Download PDF

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Publication number
CN1181348A
CN1181348A CN97117745A CN97117745A CN1181348A CN 1181348 A CN1181348 A CN 1181348A CN 97117745 A CN97117745 A CN 97117745A CN 97117745 A CN97117745 A CN 97117745A CN 1181348 A CN1181348 A CN 1181348A
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China
Prior art keywords
mentioned
take
mast
arm
speed
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Granted
Application number
CN97117745A
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Chinese (zh)
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CN1100718C (en
Inventor
佐藤克幸
堺俊巳
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Hitachi Construction Machinery Co Ltd
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Hitachi Construction Machinery Co Ltd
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Priority claimed from JP22386396A external-priority patent/JP3184097B2/en
Priority claimed from JP02514297A external-priority patent/JP3155484B2/en
Application filed by Hitachi Construction Machinery Co Ltd filed Critical Hitachi Construction Machinery Co Ltd
Publication of CN1181348A publication Critical patent/CN1181348A/en
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Publication of CN1100718C publication Critical patent/CN1100718C/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
    • B66C2700/084—Protection measures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
    • B66C2700/085—Control actuators

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Jib Cranes (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

The invention prevents a jib from being abruptly stopped when an overwind prevention device is operated and maintain the stability of a tower crane when the ovenvind prevention device is not properly operated in the overwind prevention device for the tower crane. A preliminary overwind state before a first overwind state stopping an auxiliary winding drum 9 winding and delivering a derricking rope 6 erecting/prostrating a jib 5 is detected by a controller 32. After the preliminary overwind state is detected, the winding speed of the auxiliary winding drum 9 is reduced in response to the relative angle between the jib 5 and a tower 2. When the auxiliary winding drum 9 is not stopped after the first overwind state, a second overwind state is detected to stop the drive of an engine 20A.

Description

Prevention sytem for overhoist of crane
The present invention relates to detect the pulleying of mast, arm or arm and can stop the prevention sytem for overhoist of crane of the action that hoists of suspension bracket automatically.
The hoisting crane that uses in loading and unloading operations such as lifting and mobile goods has the tower crane that is provided with arm at the mast front end of hoisting crane that is provided with crane arm on the hoisting crane body or setting setting on the hoisting crane body.Crane arm, mast or be installed in the action of rising and falling of the tower arm etc. of mast front end are involved on the reel that rises and falls or emit and carry out by the steel rope that rises and falls that will be installed in suspension bracket or arm front end.Steel rope is involved in excessively if will rise and fall when suspension bracket etc. is risen and fallen, then will make mast or arm surpass the angle that is suitable for operation, so, on hoisting crane or tower crane, be provided with and working as the self-braking prevention sytem for overhoist of coiling that can make the steel rope that rises and falls when suspension bracket etc. surpasses predetermined predetermined angular.
But, because the speed of the steel rope that rises and falls depends on driver's operation, so, move when hoist rope reaches maximum speed as above-mentioned prevention sytem for overhoist, then rocking of load will be taken place.In addition, when prevention sytem for overhoist during because of the et out of order cisco unity malfunction, the action of rising and falling of suspension bracket or arm etc. will be proceeded.And behind the prevention sytem for overhoist regular event, carry out that suspension bracket or arm etc. rise and fall fall down to move the time, the speed of rising and falling of steel rope also depends on driver's operation, so, fall down as at full throttle making suspension bracket, rocking of load will be taken place.
On the other hand, when tower crane is installed operation, regain and be linked at arm under the folding and unfolding state of mast and will connect releasing after mast erected 90 °.And after operation, dismantle when putting in order, for making arm become the folding and unfolding state of regaining and being linked in mast from serviceability, should make mast be roughly 90 ° and the arm steel rope that rises and falls emitted, arm drop to the mast almost parallel before make the arm steel rope that rises and falls become the state that freely hangs down so that arm connects to back rotation and with mast by deadweight.On common tower crane, because the prevention sytem for overhoist of hoisting winch is installed, thereby it is about more than 88 ° that mast can not be erected, so, move when installing operation or dismounting readjusting operations as prevention sytem for overhoist, then the action of rising and falling of mast will stop, therefore, must prevention sytem for overhoist be removed with manual mode, thereby the efficient of installing operation or dismounting readjusting operations is reduced.
The 1st purpose of the present invention provides and a kind ofly can prevent the prevention sytem for overhoist of crane that suspension bracket or arm etc. stop rapidly when pulleying prevents device action.
The 2nd purpose of the present invention provides a kind of prevention sytem for overhoist of crane that can improve the reliability of prevention sytem for overhoist.
Even providing, the 3rd purpose of the present invention also can prevent the sharply prevention sytem for overhoist of crane of starting such as suspension bracket or arm after a kind of action with prevention sytem for overhoist is removed.
The 4th purpose of the present invention provides a kind of suspension bracket or arm etc. of preventing and stops rapidly, can also install the tower crane prevention sytem for overhoist of operation expeditiously simultaneously when pulleying prevents device action.
To achieve the object of the present invention, the 1st aspect of the present invention has: elevation mount, and at least 1 the pitching member that moves constitutes by rising and falling with take-off and landing device; Shutdown feature is used to detect the volume state of crossing of above-mentioned pitching member, and above-mentioned take-off and landing device is stopped; And stop preceding movement device, be used to detect the preceding state of pulleying before above-mentioned pitching member is crossed volume state, and stop preceding action.
As according to the 1st aspect of the present invention, then stop the preceding state of pulleying before preceding movement device can detect volume state, and stop preceding action in the time before take-off and landing device is stopped.
To achieve the object of the present invention, the 2nd aspect of the present invention has: mast, by the action of rising and falling of the 1st take-off and landing device; Arm is by the action of rising and falling of the 2nd take-off and landing device; Shutdown feature is used to detect the volume state of crossing of this arm, and above-mentioned the 2nd take-off and landing device is stopped; And stop preceding movement device, be used to detect the preceding state of pulleying before above-mentioned arm is crossed volume state, and stop preceding action.
As according to the 2nd aspect of the present invention, then stop the preceding state of pulleying before preceding movement device can detect volume state, and in the time that makes before the 2nd take-off and landing device stops, stopping preceding action.
To achieve the object of the present invention, the 3rd aspect of the present invention has: mast, by the action of rising and falling of the 1st take-off and landing device; Arm is by the action of rising and falling of the 2nd take-off and landing device; Shutdown feature is used to detect the volume state of crossing of above-mentioned mast, and above-mentioned the 1st take-off and landing device is stopped; And stop preceding movement device, be used to detect the preceding state of pulleying before above-mentioned mast is crossed volume state, and stop preceding action.
As according to the 3rd aspect of the present invention, then stop the preceding state of pulleying before preceding movement device can detect volume state, and in the time that makes before the 1st take-off and landing device stops, stopping preceding action.
To achieve the object of the present invention, the 4th aspect of the present invention has: crane arm, by the take-off and landing device action of rising and falling; Shutdown feature is used to detect the volume state of crossing of above-mentioned crane arm, and above-mentioned take-off and landing device is stopped; And stop preceding movement device, be used to detect the preceding state of pulleying before above-mentioned crane arm is crossed volume state, and stop preceding action.
As according to the 4th aspect of the present invention, then stop the preceding state of pulleying before preceding movement device can detect volume state, and stop preceding action in the time before take-off and landing device is stopped.
Movement device had in the above-mentioned speed that the actuating speed of above-mentioned take-off and landing device is slowly lowered before crossing volume state and decrescence installs before the 5th aspect of the present invention above-mentioned stopped.
As according to the 5th aspect of the present invention, the speed that then can utilize speed decrescence to install in time before detecting volume state take-off and landing device slowly lowers.
The 6th aspect of the present invention have make above-mentioned stop before movement device send the warning generating means of warning.
As according to the 6th aspect of the present invention, when then movement device detected pulleying readiness before the volume state before stopping, the warning generating means sent warning.
To achieve the object of the present invention, the 7th aspect of the present invention has: mast, by the action of rising and falling of the 1st take-off and landing device; Arm is by the action of rising and falling of the 2nd take-off and landing device; Shutdown feature is used to detect the volume state of crossing of this arm, and above-mentioned the 2nd take-off and landing device is stopped; And speed decrescence installs, and is used to detect state before the pulleying before above-mentioned arm is crossed volume state, and the speed that erects that makes above-mentioned the 2nd take-off and landing device at least lowers gradually along with the angle of above-mentioned arm.
As according to this bright the 7th aspect,, the arm of the 2nd take-off and landing device speed that erects is lowered gradually along with the angle of arm then when speed when decrescence device detects the preceding state of pulleying before above-mentioned arm is crossed volume state.
The 8th aspect of the present invention has detecting and above-mentionedly erects the speed limiting device of speed limit in higher limit to above-mentioned the 2nd take-off and landing device of major general after crossing volume state.
As according to this bright the 8th aspect, then speed decrescence device detected state before the pulleying before the volume state, and the arm of the 2nd take-off and landing device speed that erects is lowered gradually along with the angle of arm.Then, when detecting volume state, speed limiting device erects speed limit in higher limit with the arm of the 2nd take-off and landing device.
To achieve the object of the present invention, the 9th aspect of the present invention has: mast, by the action of rising and falling of the 1st take-off and landing device; Arm is by the action of rising and falling of the 2nd take-off and landing device; Drive and to use primary mover, be used to drive the above-mentioned the 1st and above-mentioned the 2nd take-off and landing device; The 1st shutdown feature is used to detect the 1st of above-mentioned arm and crosses volume state, and above-mentioned the 2nd take-off and landing device is stopped; Speed is decrescence installed, and is used to detect state before the pulleying before the 1st of above-mentioned arm is crossed volume state, and the speed that erects that makes above-mentioned the 2nd take-off and landing device at least lowers gradually along with the angle of above-mentioned arm; Speed limiting device erects speed limit in higher limit to above-mentioned the 2nd take-off and landing device of major general after crossing volume state detecting the above-mentioned the 1st; And the 2nd shutdown feature, be used to detect the above-mentioned the 1st and cross the 2nd behind the volume state and cross volume state and the driving of above-mentioned the 2nd take-off and landing device is stopped.
As according to this bright the 9th aspect, then speed decrescence device detected state before the pulleying before the volume state, and the arm of the 2nd take-off and landing device speed that erects is lowered gradually along with the angle of arm.Then, when detecting the 1st mistake volume state, speed limiting device erects speed limit in higher limit with the arm of the 2nd take-off and landing device.And then when detecting the 2nd mistake volume state, the 2nd shutdown feature stops the driving of the 2nd take-off and landing device once more.
The 10th aspect of the present invention also has and detects the above-mentioned the 2nd primary mover shutdown feature of crossing volume state and above-mentioned driving being stopped with the driving of primary mover.
As according to this bright the 10th aspect, then the primary mover shutdown feature can detect the 2nd and cross volume state, and the driving that drives with primary mover is stopped.
The 11st aspect of the present invention also has after the action of above-mentioned the 2nd shutdown feature, the primary mover shutdown feature that the driving of primary mover is stopped.
As according to this bright the 11st aspect, then after the action of the 2nd shutdown feature, when the action of arm was identified, the primary mover shutdown feature stopped the driving that drives with primary mover.
To achieve the object of the present invention, the 12nd aspect of the present invention has: mast, by the action of rising and falling of the 1st take-off and landing device; Arm is by the action of rising and falling of the 2nd take-off and landing device; Drive and to use primary mover, be used to drive the above-mentioned the 1st and above-mentioned the 2nd take-off and landing device; The shutdown feature that rises and falls is used to detect the 1st of above-mentioned arm and crosses volume state, and above-mentioned the 2nd take-off and landing device is stopped; Speed is decrescence installed, and is used to detect state before the pulleying before the 1st of above-mentioned arm is crossed volume state, and the speed that erects that makes above-mentioned the 2nd take-off and landing device at least lowers gradually along with the angle of above-mentioned arm; Speed limiting device erects speed limit in higher limit to above-mentioned the 2nd take-off and landing device of major general after crossing volume state detecting the above-mentioned the 1st; And the primary mover shutdown feature, be used to detect the above-mentioned the 1st and cross the 2nd behind the volume state and cross volume state and above-mentioned driving is stopped with the driving of primary mover.
As according to this bright the 12nd aspect, then when the preceding state of the pulleying of speed before decrescence device detected volume state, the arm of the 2nd take-off and landing device speed that erects is lowered gradually along with the angle of arm.Then, when detecting the 1st mistake volume state, speed limiting device erects speed limit in higher limit with the arm of the 2nd take-off and landing device.And then when detecting the 2nd mistake volume state, the primary mover shutdown feature stops the driving that drives with primary mover.
The the 13rd, the 14th aspect of the present invention, undertaken by the 1st take-off and landing device mast fall down to move the time, above-mentioned speed decrescence device also lowers the speed of falling down that mast rises and falls gradually.
The above-mentioned speed limiting device of the 15th aspect of the present invention is used to limit the rope speed of the 1st and the 2nd take-off and landing device.
The 16th aspect of the present invention also has the suspension hook that is carried out lifting by the hook lifting device, and above-mentioned speed limiting device also limits the hook lifting speed of above-mentioned hook lifting device.
As according to this bright the 16th aspect, then speed limiting device can limit the hook lifting speed of hook lifting device.
To achieve the object of the present invention, the 17th aspect of the present invention has: mast, by the action of rising and falling of the 1st take-off and landing device; Arm is by the action of rising and falling of the 2nd take-off and landing device; The 1st shutdown feature is used to detect crossing volume state and above-mentioned the 2nd take-off and landing device being stopped of this arm; Speed is decrescence installed, and the speed that erects that is used to detect the state before the pulleying before the volume state crossed of above-mentioned arm and makes above-mentioned the 2nd take-off and landing device at least is along with the angle of above-mentioned arm lowers gradually; And the cumulative device of speed, detect above-mentioned cross volume state after, before getting back to detected above-mentioned pulleying before the state, the speed of falling down that makes at least that above-mentioned the 2nd take-off and landing device erects increases gradually along with the angle of above-mentioned arm.
As according to this bright the 17th aspect, then above-mentioned speed decrescence device detected state before the pulleying before the volume state and the arm of the 2nd take-off and landing device speed that erects is lowered gradually along with the angle of arm.Then, detect above-mentioned cross volume state after, before getting back to detected pulleying before the state, the speed of falling down of rising and falling is increased gradually along with the angle of arm.
To achieve the object of the present invention, the 18th aspect of the present invention has: mast, by the action of rising and falling of the 1st take-off and landing device; Arm is by the action of rising and falling of the 2nd take-off and landing device; The 1st shutdown feature is used to detect the 1st of above-mentioned arm and crosses volume state and above-mentioned the 2nd take-off and landing device is stopped; Speed is decrescence installed, and the speed that erects that is used to detect state before the pulleying before the 1st of above-mentioned arm is crossed volume state and makes above-mentioned the 2nd take-off and landing device at least is along with the angle of above-mentioned arm lowers gradually; Speed limiting device erects speed limit in higher limit to above-mentioned the 2nd take-off and landing device of major general after crossing volume state detecting the above-mentioned the 1st; The 2nd shutdown feature is used to detect the above-mentioned the 1st and crosses the 2nd behind the volume state and cross volume state and the driving of above-mentioned the 2nd take-off and landing device is stopped; The cumulative device of speed, detect the above-mentioned the 1st cross volume state after, before getting back to detected above-mentioned pulleying before the state, the speed of falling down that makes at least that above-mentioned the 2nd take-off and landing device erects increases gradually along with the angle of above-mentioned arm; And the speed limiting device that falls down, detect the above-mentioned the 2nd cross volume state after, before getting back to detected above-mentioned the 1st pulleying before the state, the speed limit of falling down of rising and falling to above-mentioned the 2nd take-off and landing device of major general is in higher limit.
As according to this bright the 18th aspect, then speed decrescence device detected state before the pulleying before the volume state and the arm of the 2nd take-off and landing device speed that erects lowered gradually along with the angle of arm.Then, when detecting the 1st mistake volume state, speed limiting device erects speed limit in higher limit with the arm of the 2nd take-off and landing device.And then when detecting the 2nd mistake volume state, the 2nd shutdown feature makes the driving of the 2nd take-off and landing device stop once more.On the other hand, detect the 2nd cross volume state after, before getting back to detected the 1st pulleying before the state, the speed limit of falling down that the speed limiting device that falls down rises and falls the 2nd take-off and landing device is in higher limit.And detect the above-mentioned the 1st cross volume state after, before getting back to detected pulleying before the state, the cumulative device of speed makes that the 2nd take-off and landing device erects, and the speed of falling down increases gradually along with the angle of arm.
To achieve the object of the present invention, the 19th aspect of the present invention has: mast, by the action of rising and falling of mast take-off and landing device; Arm is by the action of rising and falling of arm take-off and landing device; The pulleying detecting device is used to detect the volume state of crossing of above-mentioned mast; Shutdown feature stops above-mentioned mast take-off and landing device according to the testing result of this pulleying detecting device; Condition checkout gear before the pulleying, state before the pulleying when being used to detect the 1st angle before above-mentioned mast has arrived above-mentioned volume state excessively; And judgment means, be used to judge that above-mentioned mast is to be in to install operation or be in hoisting operation; Movement device, condition checkout gear detects under the situation of state before the above-mentioned pulleying before by above-mentioned pulleying, when predicating above-mentioned hoisting operation, carry out operation action, when predicate the above-mentioned warming-up exercise that carries out when installing operation by above-mentioned judgment means by above-mentioned judgment means.
In aspect the of the present invention the 20th, in above-mentioned hoisting operation, when when above-mentioned the 1st angle arrives the 2nd angle, above-mentioned shutdown feature carries out the 1st pulleying and stops action, then when arriving the 3rd angle, carries out the 2nd pulleying and stops to move; Install in the operation above-mentioned, when arriving above-mentioned the 3rd angle from above-mentioned the 1st angle, only carry out the 2nd pulleying and stop action.
In aspect the of the present invention the 21st, above-mentioned operation action is before above-mentioned mast arrives above-mentioned the 2nd angle from above-mentioned the 1st angle, with the speed of slowing down this mast is risen and fallen along with the angle of rising and falling of this mast, and when this mast arrives the 2nd angle, before arriving above-mentioned the 3rd angle, the mast speed of rising and falling of above-mentioned mast take-off and landing device is moved with minimum velocity; Above-mentionedly install operation before above-mentioned mast arrives above-mentioned the 2nd angle from above-mentioned the 1st angle, with the speed of slowing down this mast is risen and fallen along with the angle of rising and falling of this mast, and when this mast arrives the 2nd angle, the mast speed of rising and falling of above-mentioned mast take-off and landing device is moved with the big steady state value of stipulating of the above-mentioned minimum velocity of ratio.
Fig. 1 is the lateral plan of expression tower type crane structure.
Fig. 2 is the loop diagram that makes the oil hydraulic circuit that arm rises and falls.
Fig. 3 is the loop diagram that makes the oil hydraulic circuit that mast rises and falls.
Fig. 4 is the loop diagram that makes the oil hydraulic circuit of hook lifting.
Fig. 5 be arm the diagram of circuit that erects action (one of).
Fig. 6 is the diagram of circuit that erects action (two) of arm.
Fig. 7 is the diagram of curves that the expression arm erects speed.
Fig. 8 is the diagram of circuit of the action of falling down of arm.
Fig. 9 is the diagram of curves that the expression mast erects speed.
Figure 10 is the loop diagram that makes the oil hydraulic circuit that arm rises and falls among the 2nd embodiment.
Figure 11 is the loop diagram that makes the oil hydraulic circuit that mast rises and falls among the 2nd embodiment.
Figure 12 is the loop diagram that makes the oil hydraulic circuit of hook lifting among the 2nd embodiment.
Figure 13 is the diagram of circuit that erects action of arm among the 2nd embodiment.
Figure 14 is the loop diagram that makes the oil hydraulic circuit that mast rises and falls among the 3rd embodiment.
Figure 15 be mast the diagram of circuit that erects action (one of).
Figure 16 is the diagram of circuit that erects action (two) of mast.
Figure 17 is the diagram of circuit that erects action (three) of mast.
Figure 18 is the diagram of circuit that erects action (four) of mast.
Figure 19 is the diagram of curves that the expression mast erects speed.
Figure 20 is that the figure of operation is installed in expression.
Figure 21 is the diagram of circuit of the action of falling down of mast.
Following with reference to the description of drawings embodiments of the invention.
-Di 1 embodiment-
With reference to Fig. 1～Fig. 5 the 1st embodiment of the present invention is described.Fig. 1 is the simple constructional drawing of the expression tower crane relevant with the present invention the 1st embodiment.As shown in Figure 1, the tower crane relevant with the 1st embodiment has: hoisting crane body 1 has moving body and the swivel that is arranged on this moving body; Mast 2 is bound up on the hoisting crane body 1 in pitching mode freely; The mast reel 4 that rises and falls makes suspension bracket that steel rope 3a the connects steel rope 3 that rises and falls of hanging by being installed in mast 2 upper ends be involved in or emit, thereby mast is risen and fallen; Tower arm (to call arm in the following text) 5 is bound up on the upper end of mast 2 in pitching mode freely; And suspension hook 10, utilize to be located at hoisting on the hoisting crane body 1 with main drum 12, hoist rope 11 is involved in or emits to carry out lifting.In the upper end of mast 2 spiral arm 7 is being set.The simple structure of spiral arm 7 is with 3 component composition triangularities, and the rotation of one of 3 summits is bound up on the upper end of mast 2 freely, and other 2 summits are hung steel rope 6a, 8 with arm respectively and connect.The upper end that arm is hung steel rope 8 is bound up on the upper end of arm 5.Arm is hung the other end of steel rope 6a and the arm steel rope 6 that rises and falls and is connect, and utilizes arm to rise and fall and carries out rise and fall being involved in of steel rope 6 or emit of arm with loose drum 9, thereby arm is risen and fallen.
Fig. 2 is that expression driving arm rises and falls with the oil hydraulic circuit figure of loose drum 9.As shown in Figure 2, the oil hydraulic circuit that drives loose drum 9 comprises: main pump 21A and hydraulic control pump 22A connect with the output shaft (not shown) of the driving engine 20A of hoisting crane and the driving by driving engine 20A is driven; Secondary elevator motor 23 utilizes the pressure oil of being supplied with by main pump 21A to rotate; Control cock 24 is switched the pressure oil from main pump 21A to secondary elevator motor 23; Control lever 25, control is from the pressure of hydraulic control pump 22A to the pressure oil of the pilot chamber of control cock 24 24a, 24b supply, to carry out the switching of control cock 24; Pilot valve 25a, 25b, by the switching of control lever 25, the pressure of the pressure oil of pilot chamber 24a, the 24b of control supply control cock 24; And the 1st and the 2nd proportional pressure-reducing valve 26,27, be located at respectively on the pipeline from pilot valve 25a, 25b to pilot chamber 24a, 24b, further regulate pilot pressure from pilot valve 25a, 25b.The the 1st and the 2nd proportional pressure-reducing valve 26,27 is controlled its driving by hereinafter described mode by controller 32, but can switch to a position as full open position of coupler by the connection of not shown main power switch.
Main pump 21A is a variable displacement hydraulic pump, by changing its tilt angle by regulating control 28A, changes the pressure oil mass of discharging.Driving engine 20A connects with driving engine shutdown feature 29, stops its driving by hereinafter described mode.On driving engine shutdown feature 29, connect a reset switch 33, be used to make the driving engine 20A after stopping to be driven once more.The angle detector 30 of output and the angle θ 1 cooresponding angle signal of this arm 5 is installed on arm 5 and is used to detect the micro-switch 31 whether this boom angle θ 1 has arrived predetermined angular.The angle detector 34 of the angle θ 2 cooresponding angle signals of output and this mast 2 is installed on mast 2 in addition.Here, so-called boom angle θ 1 and mast angle θ 2 refer to the line of centers and the horizontal grounding face angulation of arm 5 and mast 2.Proportional pressure-reducing valve 26,27, regulating control 28A, driving engine shutdown feature 29, angle detector 30, micro-switch 31 and angle detector 34 all are connected in controller 32, its driving are controlled by hereinafter described mode by this controller 32.And the rotation of secondary elevator motor 23 is delivered to loose drum 9 by reductor 39.
For arm 5 is erected, control lever 25 can be operated to upside.Be operated as control lever 25, then, will supply to the pilot chamber 24b of control cock 24, control cock 24 is switched to the b side by the pressure oil behind the pilot valve 25b adjustment pressure by switch to the proportional pressure-reducing valve 27 that full open position of coupler is a side in advance by controller 32.Therefore, supply with secondary elevator motor 23 through control cock 24, loose drum 9 is rotated towards the direction that the steel rope 6 that will rise and fall is involved in from the pressure oil that main pump 21A comes.On the other hand, fall down, control lever 25 can be operated to downside for making arm 5.Be operated as control lever 25, then by similarly switching to the proportional pressure-reducing valve 26 that full open position of coupler is a side in advance by controller 32 with proportional control valve 27, to supply to the pilot chamber 24a of control cock 24 by the pressure oil behind the pilot valve 25a adjustment pressure, control cock 24 will be switched to a side.So, supply with secondary elevator motor 23 from the pressure oil that main pump 21A comes through control cock 24, the direction that loose drum 9 is emitted towards the steel rope 6 that will rise and fall is rotated.
Fig. 3 is that expression drives the rise and fall oil hydraulic circuit figure of reel 4 of mast.And in Fig. 3, the part identical with symbol shown in Figure 2 is and the rise and fall part of oil hydraulic circuit dual-purpose of arm that different symbols is the part of using in mast rises and falls oil hydraulic circuit.As shown in Figure 3, drive the rise and fall oil hydraulic circuit of reel 4 of mast and comprise: the motor 43 that rises and falls, utilize the pressure oil of supplying with from the main pump 21B with regulating control 28B control tilt angle to rotate; Control cock 44 is used to switch the pressure oil from main pump 21B to the motor 43 that rises and falls; Control lever 45, control is from the pressure of hydraulic control pump 22A to the pressure oil of the pilot chamber of control cock 44 44a, 44b supply, to carry out the switching of control cock 44; Pilot valve 45a, 45b, by the operation of control lever 45, the pressure of the pressure oil of pilot chamber 44a, the 44b of control supply control cock 44; And the 3rd and the 4th proportional pressure-reducing valve 46,47, be located at respectively on the pipeline from pilot valve 45a, 45b to pilot chamber 44a, 44b, further regulate pilot pressure from pilot valve 45a, 45b.The the 3rd and the 4th proportional pressure-reducing valve 46,47 is controlled its driving by hereinafter described mode by controller 32, but identical with the 1st and the 2nd proportional pressure-reducing valve 26,27, and can switch to as full open position of coupler by the connection of main power switch be a position.And the rotation of the motor 43 that rises and falls is delivered to the reel 4 that rises and falls by reductor 49.
For mast 2 is erected, control lever 45 can be operated to upside.Be operated as control lever 45, then, will supply to the pilot chamber 44b of control cock 44, control cock 44 is switched to the b side by the pressure oil behind the pilot valve 45b adjustment pressure by switch to the proportional pressure-reducing valve 47 that full open position of coupler is a side in advance by controller 32.Supply with the motor 43 that rises and falls from the pressure oil that main pump 21B comes through control cock 44, the reel 4 that rises and falls is rotated towards the direction that the steel rope 3 that will rise and fall is involved in.On the other hand, fall down, control lever 45 can be operated to downside for making mast 2.Be operated as control lever 45, then, will supply to the pilot chamber 44a of control cock 44, control cock 44 is switched to a side by the pressure oil behind the pilot valve 45a adjustment pressure by switch to the proportional pressure-reducing valve 46 that full open position of coupler is a side in advance by controller 32.Therefore, supply with the motor 43 that rises and falls from the pressure oil that main pump 21B comes through control cock 44, the direction that the reel 4 that rises and falls is emitted towards the steel rope 3 that will rise and fall is rotated.
Fig. 4 is the oil hydraulic circuit figure that expression drives main drum 12.And in Fig. 4, the part identical with symbol shown in Figure 2 is and the rise and fall part of oil hydraulic circuit dual-purpose of arm that different symbols is the part of using in the main drum oil hydraulic circuit.As shown in Figure 4, the oil hydraulic circuit that drives main drum 12 comprises: master winch motor 53, utilize the pressure oil of being supplied with by main pump 21A to rotate; Control cock 54 is switched the pressure oil from main pump 21A to master winch motor 53; Control lever 55, control is from the pressure of hydraulic control pump 22A to the pressure oil of the pilot chamber of control cock 54 54a, 54b supply, to carry out the switching of control cock 54; Pilot valve 55a, 55b, by the operation of control lever 55, the pressure of the pressure oil of pilot chamber 54a, 54 b of control supply control cock 54; And the 5th and the 6th proportional pressure-reducing valve 56,57, be located at respectively on the pipeline from pilot valve 55a, 55b to pilot chamber 54a, 54b, further regulate pilot pressure from pilot valve 55a, 55b.The the 5th and the 6th proportional pressure-reducing valve 56,57 is controlled its driving by hereinafter described mode by controller 32, but identical with the 1st to the 4th proportional pressure-reducing valve 26～47, and can switch to as full open position of coupler by the connection of main power switch be a position.And the rotation of master winch motor 53 is delivered to main drum 12 by reductor 59.
For suspension hook is risen, control lever 55 can be operated to upside.Be operated as control lever 55, then, will supply to the pilot chamber 54b of control cock 54, control cock 54 is switched to the b side by the pressure oil behind the pilot valve 55b adjustment pressure by switch to the proportional pressure-reducing valve 57 that full open position of coupler is a side in advance by controller 32.Therefore, supply with master winch motor 53 through control cock 54, main drum 12 is rotated towards the direction that hoist rope 11 is involved in from the pressure oil that main pump 21A comes.On the other hand, descend, control lever 55 can be operated to downside for making suspension hook 10.Be operated as control lever 55, then, will supply to the pilot chamber 54a of control cock 54, control cock 54 is switched to a side by the hydraulic oil behind the pilot valve 55a adjustment pressure by switch to the proportional pressure-reducing valve 56 that full open position of coupler is a side in advance by controller 32.Therefore, supply with master winch motor 53 through control cock 54, main drum 12 is rotated towards the direction that hoist rope 11 is emitted from the hydraulic oil that main pump 21A comes.
Below, the action of present embodiment is described.Fig. 5 and Fig. 6 are the diagram of circuits of the processing carried out in controller 32 when erecting of explanation arm 5, and Fig. 7 is the rotative speed of vice reel 9, i.e. the rise and fall diagram of curves of relation of arm relative angle θ 1R of the speed that is involved in of steel rope 6 and arm 5.In addition, in the present embodiment, to reach 15 ° position be that to reach 13.5 ° position be that to reach 18 ° the position that is positioned at before the 1st pulleying position be the pulleying front position of steel rope 6 of rising and falling for the 2nd pulleying position, arm relative angle θ 1R for the 1st pulleying position, arm relative angle θ 1R to the arm relative angle θ 1R that supposes usefulness (mast angle θ 2-boom angle θ 1) expression.At first, at step S1, to the upside operation, the steel rope 6 that will rise and fall is involved in, the action that arm 5 is erected with control lever shown in Figure 2 23.In step S2, according to signal, judge whether arm relative angle θ 1R has reached 18 ° from angle detector shown in Figure 2 30 and 34, promptly whether arrive the preceding state of pulleying.When step S2 is negated, stop as the lift operations that rises of in step S3, concluding arm 5, then finish this processing, as conclude the lift operations that rises of proceeding arm 5, then step S3 is negated to return step S2 and proceed hoisting of arm 5.The speed of being involved in of the steel rope 6 that rises and falls in this state is common speed district shown in Figure 7.
When arm relative angle θ 1R reached 18 °, step S2 quilt was sure, and sends audible alarm in step S4, simultaneously, the speed that is involved in of the steel rope 6 that rises and falls was slowed down.This deceleration is handled and is carried out in the following manner, promptly, controller 32 according to the signal of expression arm relative angle θ 1R with proportional pressure-reducing valve 27 at leisure to the b side shifting, pilot pressure is lowered, and the flow of the pressure oil by control cock 24 is slowly reduced, thereby lower the rotative speed of secondary elevator motor 23, and with the location independent of control lever 25 shown in Figure 2.If with control lever 25 substantial length of operation, then pilot valve 25a, 25b export top pressure, so pilot pressure depends on the 1st and the 2nd proportional pressure-reducing valve 26,27 fully, but as when operating for half way, just be lower than the control presssure of the 1st and the 2nd proportional pressure-reducing valve 26,27 as the delivery pressure itself of pilot valve 25a, 25b, then the delivery pressure of pilot valve 25a, 25b is fed into pilot chamber 24a, 24b.Promptly, drive the 1st and the 2nd proportional pressure-reducing valve 26,27, with the peak of pilot pressure be limited in when engine speed be that the tilt angle of maximum speed of revolution, pump makes when maximum the oil mass that flows into motor 23 be no more than arm by the diagram of curves regulation of Fig. 7 cooresponding oil mass of speed of rising and falling.
In addition, as carry out in the action erecting of arm 5 mast 2 fall down and (or) rise of suspension hook 10 action, then according to being input to the mast angle θ 2 of controller 32 and the lifting capacity of suspension hook 10 from angle detector 34, controller 32 with proportional pressure-reducing valve 46 and proportional pressure-reducing valve 57 from a side at leisure to the b side shifting, pilot pressure is lowered, and the flow of the pressure oil by control cock 44,54 is slowly reduced, thereby lower the rotative speed of rise and fall motor 43 and master winch motor 53, and with the location independent of control lever 45,55.
In step S5, reduce speed now after the processing, in step S6,, judge whether arm relative angle θ 1R has reached 15 °, promptly whether arrive the 1st and cross volume state according to signal from angle detector 30,34.When volume state was crossed in no show still the 1st, step S6 was negated that as conclude the termination that hoists of arm in step S7A, step S7A is negated then to carry out the processing of step S4～S6.The speed that is involved in of the steel rope 6 that rises and falls during this period is shown in the deceleration area of Fig. 7, along with arm relative angle θ 1R slows down at leisure.And the lifting velocity of the fall down speed and the suspension hook 10 of mast 2 also slows down at leisure.
When arm relative angle θ 1R reaches 15 °, step S6 by certainly the time, in step S7, proportional pressure-reducing valve 27 is switched to the b side fully, simultaneously in step S8, driving regulator 28A regulates the tilt angle of main pump 21A, and the discharge rate of pressure oil is reduced.Further in step S9, according to judging from the signal of angle detector 30 whether arm 5 stops.Here, if proportional pressure-reducing valve 27 switches to the b side fully, then the position of unattended operation bar 25 how, and control cock 24 is switched to midway location, and the pressure oil that comes from main pump 21A does not resupply secondary elevator motor 23, so being involved in of steel rope 6 of rising and falling stops.Therefore, step S9 is affirmed and end process.At this moment, as mentioned above because the speed of being involved in of steel rope 6 of rising and falling is decelerated, so even arm 5 stops, the impact that stops can not affact hoisting crane body 1 yet, thereby the load of suspension hook 10 suspentions can not rock indefinite.
On the other hand, owing to certain reasons such as faults, proportional pressure-reducing valve 27 does not switch to the b side fully sometimes.In this state, control cock 24 becomes from b according to the position of proportional pressure-reducing valve 27 and moves by side to the state that the midway location of specified amount stops.Therefore, supply with the cooresponding pressure oil in position of its flows and control cock 24 from main pump 21A to secondary elevator motor 23, but because of in step S8 with the discharge capacity attenuating of main pump 21A, so secondary elevator motor 23 rotates with dead slow speed, therefore, the steel rope 6 that rises and falls also is involved in dead slow speed.Like this, when proportional pressure-reducing valve 27 did not switch to the b side fully, arm 5 did not stop, so step S9 is negated, and judge in step S11 whether whether arm relative angle θ 1R reaches whether on of 13.5 ° and micro-switch 31, promptly arrive the 2nd judgement of crossing volume state.When volume state was crossed in no show still the 2nd, step S11 was stopped then end process by negative as conclude hoisting of arm in step S12, as concluded that hoisting of arm stops as yet, and then step S12 is negated, and returns step S11.The speed that is involved in of the steel rope 6 that rises and falls under this state is the dead slow speed district of Fig. 7.
When arm relative angle θ 1R reaches 13.5 °, when step S11 is affirmed, in step S13, once more proportional pressure-reducing valve 27 switched to the b side.Why carrying out the processing of step S13, is because if by switching proportion reducing valve 27 once more and proportional pressure-reducing valve 27 is switched to the b side fully, then can stop the driving of secondary elevator motor 23.In addition,, all these drivings should be stopped, when the proportional pressure-reducing valve 46 with Fig. 3 switches to the b side, the proportional pressure-reducing valve 57 of Fig. 4 be switched to the b side when in step S13, carrying out falling down and when action of hoisting of suspension hook 10 of mast 2.Then in step S14, stop and end process by the driving of driving engine shutdown feature 29 with driving engine 20A.Because driving engine 20A stops, so the driving of main pump 21A, 21B and hydraulic control pump 22A stops.Therefore, the driving of secondary elevator motor 23, rise and fall motor 43 and master winch motor 53 stops, thereby the rise action of the fall down action and the suspension hook 10 that erect action, mast 2 of arm 5 stops.In this case, also since the speed of being involved in of steel rope 6 of rising and falling be decelerated, so even the action of arm 5, mast 2 and suspension hook 10 stops, the impact that stops can not affact hoisting crane body 1 yet, thus the load of suspension hook 10 handlings can not rock indefinite.At this moment, can also send warnings such as sound equipment.
Here, make the reason that stops of action of rising and falling of mast 2 be, as mast 2 action of falling down, arm 5 erects action, and then the amplitude that diminishes of arm relative angle θ 1R increases, thereby can further impel the generation of volume state.Why stop the rise action of suspension hook 10, even be because secondary elevator motor 23 has stopped, but arm 5 sometimes also can be along with the suspension hook 10 that is risen by hoist rope 11 upwards erects.
Like this, in the present embodiment, it is preceding to cross volume state (θ 1R=15 °) the 1st, detect the preceding state (θ 1R=18 °) of pulleying, and the speed of rising and falling of arm 5 is slowed down, even thereby arm 5 cross under the volume state the 1st and stop, the impact that stops can acting on the hoisting crane body 1 yet, load can not shake, and can stably carry out operation.And when the 1st crosses that arm 5 does not stop under the volume state, also because arm 5 is driven with dead slow speed, so during this period, even make proportional pressure-reducing valve 27 further to actions such as b side switchings and arm 5 is stopped, the impact that stops can acting on the hoisting crane body 1 yet, therefore, can stably carry out operation.And then when volume state is crossed in arrival the 2nd, the driving of driving engine 20A is stopped, thereby the rise action of the rise and fall action and the suspension hook 10 of arm 5 and mast 2 is stopped,, therefore can more stably carry out operation so arm is further upwards erected although suspension hook 10 is hung.In addition, owing to also utilize 31 two systems of angle detector 30 and micro-switch to carry out the detection of angle, thus can detect the angle of arm 5 reliably, thus the processing that stops of arm 5 carried out reliably.
Like this, after driving engine 20A stops,, reset switch 33 can being connected for driving driving engine 20A once more.Then, according to diagram of circuit shown in Figure 8, at first, in step S21,20A starts once more with driving engine.Then, in step S22, the angle signal of receiving angle detector 30 or micro-switch 31 no longer.Because receiving angle signal not is so can carry out the starting once more of driving engine 20A reliably.Then, in step S23, driving regulator 28A is adjusted to above-mentioned dead slow speed position with the tilt angle of main pump 21A, and in step S24 proportional pressure-reducing valve 26 is operated to the b side a little from a side.That is, when importing in short-term pressure, can export the pressure that only control cock 24 is driven into minimum aperture.With control lever shown in Figure 2 25 when downside is operated, loose drum 9 rotates with the direction that dead slow speed is emitted towards the steel rope 6 that will rise and fall, so, carry out the action of falling down of arm 5 with dead slow speed.Then, in step S25, judge whether arm relative angle θ 1R has reached 15 ° (the 1st crosses volume state).
When volume state was crossed in arm 5 no show still the 1st, step S25 was negated, and is judged in step S26 whether falling down of arm 5 stops.As conclude that falling down of arm 5 stops, and then step S26 is affirmed, finishes this processing, as concludes that falling down of arm 5 stops as yet, then step S26 is negated, and returns step S25, proceeds the action of falling down of arm 5.As reaching θ 1R=15 °, then step S25 is by certainly, and in step S27, and driving regulator 28A is adjusted to common position with the tilt angle of main pump 21A, in step S28, according to arm relative angle θ 1R, proportional pressure-reducing valve 26 is switched to a side.Here, the common position of so-called tilt angle refers to the position of for example stipulating according to the P-Q diagram of curves of pump.Then, in step S29, judge whether arm relative angle θ 1R has reached 18 ° (states before the pulleying).When before the arm 5 no show pulleying still during state, step S29 is negated, and is judged in step S30 whether falling down of arm stops.When step S30 is affirmed, when concluding that falling down of arm 5 stops, finishes this processing, when step S30 is negated, when concluding that falling down of arm 5 do not stop as yet, returns and carry out again the processing of step S28, S29.Therefore, one side slowly increases the speed of falling down of arm 5, and one side proceeds action.State, step S29 switch to a side and end process with proportional pressure-reducing valve 26 by certainly the time fully in step S31 before arm 5 arrives pulleying.Therefore, loose drum 9 makes arm 5 proceed action with common speed with the common speed of the operation that depends on control lever 25 the emitting of steel rope 6 of rising and falling.
In addition, because erecting in the action of mast 2 also volume state can take place, thus identical with the situation of above-mentioned arm 5, also can control the driving of the motor 43 that rises and falls.Fig. 9 is the rise and fall rotative speed of reel 4, i.e. the rise and fall diagram of curves of relation of mast angle θ 2 of the speed that is involved in of steel rope 3 and mast 2 of expression.That is, when action of erecting carrying out mast, erect action with common speed and reach 85 ° up to mast angle θ 2, in the moment of state (θ 2=85 °) before arriving pulleying, make the speed that is involved at its later reel 4 that rises and falls along with the mast angle is slowed down.Then, in the moment arriving the 1st mistake volume state (θ 2=88 °), the 4th proportional pressure-reducing valve 47 is switched to the b position, the action that erects of mast 2 is stopped, when not stopping, driving regulator 28A, regulate the tilt angle of main pump 21B, reduce the discharge rate of pressure oil, mast is moved with dead slow speed.Then, in the moment arriving the 2nd mistake volume state (θ 2=91 °), the driving of driving engine 20A is stopped, thereby the driving of mast 2 is stopped.
Therefore, stop even mast 2 is crossed under the volume state the 1st, the impact that stops can not to act on the hoisting crane body 1 yet, and load can not shake, and can stably carry out operation.And when the 1st mistake volume state lower mast bar 2 does not stop, also drive owing to the further deceleration of the speed that makes mast 2 and with dead slow speed, even so make proportional pressure-reducing valve 47 during this period further to actions such as b side switchings and mast 2 is stopped, the impact that stops can acting on the hoisting crane body 1 yet, therefore, can stably carry out operation.And then when volume state is crossed in arrival the 2nd, the driving of driving engine 20A is stopped, and the action of rising and falling of mast 2 is stopped, so mast 2 can further upwards not erect, therefore can more stably carry out operation.
-Di 2 embodiment-
In above-mentioned the 1st embodiment, in the step S13 of diagram of circuit shown in Figure 6, proportional pressure-reducing valve 27 is switched to the b rear flank, even stop, but switch to the b rear flank at proportional pressure-reducing valve 27 at step S14 neutrality driving engine 20A, also can carry out following processing.
Promptly, as Figure 10～shown in Figure 12, be used for carrying out rising and falling and the oil hydraulic circuit of the rise of suspension hook 10 of the rising and falling of arm 5, mast 2, when secondary elevator motor 23, master winch motor 53 just being changeed and make motor 43 counter-rotating of rising and falling (carrying out the direction that arm 5 erects, mast 2 falls down and suspension hook 10 rises), on the pipeline of each motor supply pressure oil, dispose pressure detector 61,62,63 respectively, and whether rotate by 61,62,63 pairs of this pressure detectors each motor 23,43,53 after the step S13 of Fig. 6 and to detect processing.
Figure 13 is the diagram of circuit that is illustrated in the processing of carrying out among the present invention the 2nd embodiment.In the 2nd embodiment, because the processing after the step S13 in Fig. 6 is different with the 1st embodiment, so only description of step S13 processing afterwards.In step S13,, in step 40, whether begin to carry out to supply with the detection of pressure oil by pressure detector 61,62,63 to secondary elevator motor 23, rise and fall motor 43 and master winch motor 53 in that proportional pressure-reducing valve 27 is switched to the b rear flank.When the rise action of fall down action and the suspension hook 10 that are carrying out mast 2, also these drivings should be stopped, when the proportional pressure-reducing valve 46 with Figure 11 switches to the b side, the proportional pressure-reducing valve 57 of Figure 12 is switched to the b side.Therefore, after the processing in having carried out step S13, the lifting action of the fall down action and the suspension hook 10 that erect action, mast 2 of arm 5 should stop, but proportional pressure-reducing valve 27,47,57 for some reason meeting generation such as barrier do not switch to the situation of b side fully.The action that hoists of the fall down action and the suspension hook 10 that erect action, mast 2 of arm 5 in this case,, makes motor 23,43,53 rotations, so just can not stop sometimes because pressure oil leaked from proportional pressure-reducing valve 27,47,57.
Therefore, in step S41, judge whether to detect pressure, as not detecting, then because of motor 23,43,53 all stops, so end process by in the pressure detector 61,62,63 any one.As detect pressure, step S41 quilt certainly, then in next step S42, stop by the driving of motor shutdown feature 29 with driving engine 20A, and end process.Because driving engine 20A stops, so the driving of main pump 21A, 21B and hydraulic control pump 22A stops.Therefore, the driving of secondary elevator motor 23, rise and fall motor 43 and master winch motor 53 stops, thereby the rise action of the fall down action and the suspension hook 10 that erect action, mast 2 of arm 5 stops.In this case, identical with the 1st embodiment, also the speed of being involved in owing to the steel rope 6 that rises and falls is decelerated, so even the action of arm 5, mast 2 and suspension hook 10 stops, the impact that stops can not affact hoisting crane body 1 yet, thus the load of suspension hook 10 handlings can not rock indefinite.At this moment, can also send warnings such as sound equipment.
In addition, also as shown in above-mentioned the 2nd embodiment, the crossing under the volume state in the action that erect at mast 2, when whether when rotated detection rises and falls motor 43, pressure detector 62 can be arranged on when making the motor 43 that rises and falls just change (carrying out the direction that mast 2 erects action) on the pipeline of motor 43 supply pressure oil.
In addition, in the above-described embodiments, state, the 1st mistake volume state and the 2nd before the pulleying are crossed volume state and all detected, slow down etc. so as to the action of rising and falling to arm 5, mast 2 and suspension hook 10, but also can not detect the preceding state of pulleying, cross volume state and after the 1st pulleying status detection, carry out the 2nd pulleying status detection and detect the 1st, can also be before pulleying after the status detection, do not detect the 1st and cross volume state and detect the 2nd and cross volume state.
-Di 3 embodiment-
Concerning hoisting crane, before beginning hoisting operation etc.,, above-mentioned prevention sytem for overhoist to be removed sometimes for making hoisting crane can operation carry out prior operation when promptly installing operation, install in the operation at this, also might carry out work as described below.
Drive arm and rise and fall same as shown in Figure 2ly, drive the rise and fall oil hydraulic circuit of reel 4 of mast, as shown in figure 14 with the oil hydraulic circuit of loose drum 9.In Figure 14, component part same as shown in Figure 3 is marked with identical symbol.For the structure that had illustrated, its explanation is omitted.
As shown in figure 14, rise and fall on the proportional pressure-reducing valve 27 and the pipeline between the pilot valve 45b of oil hydraulic circuit of reel 4 driving mast, be provided with pressure detector 51, on mast 2, be provided with and be used to detect the micro-switch 80,81 that mast angle θ 2 has reached predetermined angular (being 80 degree and 90 degree in the present embodiment), have newly-installed arm to regain detector 87 on arm 5, this detector 87 is made of limit switch or the noncontacting proximity sensor that detection arm 5 is recovered to the situation of mast 2.In addition, on the steel rope 3 that rises and falls the force detector 85 that rises and falls is installed, this output of rising and falling force detector 85 is imported into the limiter of moment (M/L) 86 with loading measuring ability.
Proportional pressure-reducing valve 46,47, regulating control 28B, driving engine shutdown feature 29, angle detector 34, pressure detector 51, micro-switch 80,81 and limiter of moment 86 all are connected in controller 32, its driving is controlled by hereinafter described mode by this controller 32, or signal is input to controller 32.The annunciator 70 that sends audible alarm in hereinafter described mode is installed in controller 32.
Below, the action of present embodiment is described.Figure 15～Figure 18 is the diagram of circuit that is used to illustrate the processing of carrying out when mast 2 erects in controller 32.Figure 19 is the rise and fall rotative speed of reel 4, i.e. the rise and fall diagram of curves of relation of the angle θ 2 that rises and falls of the speed that is involved in of steel rope 3 and mast 2 of expression.
In addition, in the present embodiment, suppose that it is that to reach 88 ° position be that to reach 90 ° position be the 2nd pulleying position for the 1st pulleying position, mast angle θ 2 for pulleying front position, mast angle θ 2 that mast angle θ 2 reaches 85 ° position.Here, erect the operation form in when action, install operation and common hoisting operation when assembly and disassembly are arranged as carrying out mast, in hoisting operation, have make the state after limiter of moment 86 work and remove after state.In addition, in hoisting operation, handling has been arranged load the no-load operation of carrying operation and not handling load arranged, action in all cases is different.Such operating condition of mast 2 is shown in table 1.
[table 1]
Install operation Hoisting operation
The M/L operation M/L removes
No-load Have and carry No-load Have and carry
Below, according to action at the explanation of the operation form shown in the table 1 present embodiment.
(1) installs operation
The action of installing operation when at first, assembling being described.Here, what is called is installed operation, shown in Figure 20 (a), refer to and to rise and fall under arm 5 retired states for the folding and unfolding state that has been withdrawn into mast from arm 5 becomes operating condition that steel rope 3 is involved in so that the operation (with reference to Figure 20 (b)) that mast 2 is erected.In the present embodiment, also supposition is when making control lever 45 return midway location, and control cock 44 must move to midway location, so that the rotation of the reel 4 that rises and falls stops.
At first, the control lever 45 of Figure 14 is operated to upside, be involved in the action that mast 2 is erected with the steel rope 3 that will rise and fall.Then, in the step S101 of Figure 15,, judge whether mast angle θ 2 has reached 85 °, promptly whether arrived the pulleying front position according to signal from angle detector 34 and micro-switch 80,81.When mast 2 no show pulleying still front position, step S101 is negated, and control lever 45 is returned and judges whether not import the instruction that hoists of mast 2 in step S102.When instruction of hoisting of not importing mast 2, because of the action that erects of mast 2 stops, so step S102 by certainly, and finishes this processings, when having imported the hoisting during instruction of mast 2, step S102 is returned step S101 and proceeds hoisting of mast 2 by negative.The speed that is involved in of the steel rope 3 that rises and falls under this state is the common speed district of Figure 19.
Arrive the pulleying front position as mast 2, then step S101 is affirmed, and in step S103, according to the signal of arm withdrawal detector 87, judges whether arm 5 is recovered in the mast 2.In installing operation, because of arm 5 is withdrawn into mast 2, so step S103 is affirmed., then in step S105, send by annunciator enterprise 70 and " to arrive 88 soon and to spend volume by certainly as step S103." audible alarm.On the other hand, be not recovered at arm 5 under the state of mast 2, step S103 is negated, and sends in step S104 that " the mast angle please erects mast 2 more than 85 degree at leisure." audible alarm.Then, in step S106, the speed that is involved in of the steel rope 3 that rises and falls is slowed down.This deceleration is handled and is carried out in the following manner, promptly, controller 32 moves proportional pressure-reducing valve 47 at leisure according to the signal of expression mast angle θ 2 to the b position, pilot pressure is lowered, and the flow of the pressure oil by control cock 44 is slowly reduced, thereby lower the rotative speed of the motor 43 that rises and falls, and with the location independent of control lever 25.
In step S106, reduce speed now after the processing, in step S107,, judge whether mast angle θ 2 has reached 88 °, promptly whether arrive the 1st and cross volume state according to signal from angle detector 34 and micro-switch 80,81.When volume state was crossed in mast no show still the 1st, step S107 negated, and control lever 45 returned and judge whether not import the mast instruction that hoists in step S108.Hoist when instruction when not importing mast, step S108 is by certainly, and stops this processing.At this moment, the action that hoists of mast 2 stops, but owing to the speed of being involved in of the steel rope 3 that rises and falls as mentioned above is decelerated, so even mast 2 stops, the impact that stops can not to act on the hoisting crane body 1 yet, thereby mast 2 can not swung.Hoist when instruction when having imported mast, step S108 is negated and is returned step S107.The speed that is involved in of the steel rope 3 that rises and falls during this period is shown in the deceleration area of Figure 19, along with mast angle θ 2 slows down at leisure.
When mast had arrived the 1st mistake volume state, step S107 was affirmed, and in step S109, according to the signal of arm withdrawal detector 87, is judged once more whether arm 5 is recovered in the mast 2.In installing operation, because of arm 5 is withdrawn into mast 2, so step S109 is affirmed.Affirmed as step S109, then entered step S116, make the mast lifting velocity keep constant processing.That is it is fixing with proportional pressure-reducing valve 47, to reach 88 positions of spending at mast angle θ 2.The speed that the speed that is involved in of the steel rope 3 that rises and falls under this state is represented for the straight line L1 with the dead slow speed district of Figure 19.Then, in step S117, send " pulleying soon by annunciator 70." audible alarm.Enter Figure 16 then 1..
As in step S117, sending warning, then in the step S120 of Figure 16, according to signal from angle detector 34 and micro-switch 80,81, judge whether mast angle θ 2 has reached 90 °, when mast angle θ 2 does not reach 90 ° as yet, step S120 is negated, and in step S121, control lever 45 is returned and judges whether not import the mast instruction that hoists.Hoist when instruction when not importing mast, step S121 is by certainly, and stops this processing, and when importing mast and hoist instruction, step S121 is negated and returns step S120.When mast angle θ 2 has reached 90 °, step S120 by certainly the time, in step S122, the relay of switching proportion reducing valve 47 is disconnected, and the relay that will switch the proportional pressure-reducing valve 27 of arm 5 simultaneously also disconnects, and proportional pressure-reducing valve 27,47 is switched to the b position.Here, the reason that also will switch the proportional pressure-reducing valve 27 of arm 5 is: in installing operation, mast 2 is being erected under the state of certain angle, will the arm 5 and the connection of mast 2 removed by the operator sometimes, so that begin the action that erects of arm 5.Like this, as in step S122 the relay of switching proportion reducing valve 27,47 being disconnected, then the action that erects of mast 2 and arm 5 stops.
Then, in step S123, judge whether mast 2 and arm 5 stop in fact.The reason of doing like this is that owing to certain reasons such as faults, proportional pressure-reducing valve 27,47 might not switch to the b position fully.Whether the driving of mast 2 stops, and can judge according to the signal of mast angle gauge 34, and for arm 5, can judge according to the signal of boom angle meter 30 too.When mast 2 and arm 5 did not stop as yet, step S123 negated, and in step 127, according to the signal from angle detector 34 and micro-switch 80,81, judged whether mast angle θ 2 has reached 91 °, promptly whether arrived the 2nd mistake volume state.When mast angle θ 2 did not reach 91 ° as yet, step S127 was negated, and in step S128, control lever 45 was returned and judges whether not import the mast instruction that hoists.Hoist when instruction when having imported mast, step S128 negated, and returns step S127, carries out step S127,128 processing again.Hoist when instruction when not importing mast, step S128 is by certainly, and termination.And when mast angle θ 2 had reached 91 °, step S127 quilt was sure, and in step S129, relay with switching proportion reducing valve 47 disconnects once more, and the relay that will switch the proportional pressure-reducing valve 27 of arm 5 simultaneously also disconnects, and in next step S130, driving engine is stopped end process.At this moment, because the speed of being involved in of steel rope 3 of rising and falling as mentioned above is decelerated, so even mast 2 stops, the impact that stops can not to act on the hoisting crane body 1 yet, thereby mast 2 can not swung.
On the other hand, when mast 2 and arm 5 stops, step S123 by certainly the time, in step 124, regain the signal of detector 87 according to arm, judge whether arm 5 is recovered to mast 2.As mentioned above, the reason of doing like this is, in installing operation, mast 2 erected under the state of certain angle, to the arm 5 and the connection of mast 2 be removed by the operator sometimes so that beginning arm 5 erect action.When concluding that arm 5 is not recovered in the mast 2, step S124 is negated, erect the release termination because of mast 2 and arm 5, when concluding that arm 5 is recovered in the mast 2, step S124 is by certainly, and whether the control lever 25,45 of decision operation mast 2 and arm 5 switches to midway location in step S125.Though this is because of the operation that is necessary as described later arm 5 is hoisted in installing operation, but after mast 2 erects, stop to erect of mast 2 carrying out in the action arm 5 erect action the time, also the action that erects of arm 5 to be stopped, so that carry out operation safely.Particularly because, the control lever 25 of operation arm 5 is fixed on the operating position of regulation by stop mechanism, so as forcibly it is not returned midway location, in case after then arm 5 stops, might beginning undesirable action that erects again.
When the control lever 25,45 of operation mast 2 and arm 5 did not switch to midway location, step S125 negated, and in step S126, sent by annunciator 70 and " please control lever returned midway location." audible alarm.Then, return step S123, carry out the processing of step S123～126 again.When the control lever 25,45 of operation mast 2 and arm 5 switched to midway location, step S125 was affirmed, and is entered Figure 17 4..
As shown in figure 17, the processing of the step S125 of the Figure 16 that continues in step S140, is operated control lever 25, and judges whether to have imported the arm instruction that hoists, and when not importing, is carried out the processing of step S140 before certainly repeatedly at step S140.Hoist instruction, step S140 by certainly the time when having imported arm, proportional pressure-reducing valve 27 is switched to a position, drive secondary elevator motor 23, and carry out the action that erects of arm 5 by the steel rope 6 that rises and falls.Then, in step 141, judge whether to have imported the mast instruction that hoists.This is to confirm by the possibility of maloperation thereby to it owing to existing control lever 47.Hoist instruction, step S141 by certainly the time when having imported mast, in step S142, the relay that switches the proportional pressure-reducing valve 47 of mast 2 is disconnected, and the relay that will switch the proportional pressure-reducing valve 27 of arm 5 simultaneously also disconnects, and stops to erect of arm 5 and mast 2 and moves and end process.This is because mast 2 has been in the state that erects 90 degree, there is no need to make mast 2 to continue upwards to erect.Arm 5 can not stop yet, but as to make the pressure of arm 5 and mast 2 stop to stop in linkage then be ideal on safety.Hoist instruction, step S141 when being negated when not importing mast, in step S143, judge whether arm 5 had arrived volume state.This for example can be according to judging from the signal of angle detector 30 and micro-switch 31 relative angle of 5 pairs of masts 2 of arm is whether arm relative angle θ 1R (boom angle θ 1-mast angle θ 2) has reached predetermined specified value (for example 13.5 degree).When arm relative angle θ 1R does not reach the value of regulation as yet, step S143 is negated, and proceed the action that hoists of arm 5, when arm relative angle θ 1R has reached the value of regulation, step S143 is affirmed, and the relay that will switch the proportional pressure-reducing valve 27 of arm 5 in step S144 also disconnects, and stops the to hoist action and the end process of arm 5.
(2) hoisting operation (limiter of moment operation)
Below, the action situation of limiter of moment 86 in hoisting operation is described.
The step S101 of Figure 15～103 are with above-mentioned to install operation identical, so its explanation is omitted.In hoisting operation, because of regaining detector 87 incoming signals, so step S103 is negated and in step S104, to be sent by annunciator 70 that " the mast angle is more than 85 degree, please at leisure mast 2 is erected from arm." audible alarm.With the above-mentioned processing of similarly carrying out step S106～109, when the signal of regaining detector 87 according to arm concluded that arm 5 is not recovered to mast 2, step S109 was negated and is judged in step S110 whether limiter of moment 86 is switched on then.At this moment owing to be the limiter of moment operation,, and enter step S112 so step S110 quilt certainly.In step S112, carry out the open circuited processing of the relay of proportional pressure-reducing valve 47, and proportional pressure-reducing valve 47 is switched to the b position fully, simultaneously driving regulator 28B in step S113, regulating the tilt angle of main pump 21B, the discharge rate of pressure oil is reduced to minimum value.The speed that the speed that is involved in of the steel rope 3 that rises and falls under this state is represented for the straight line L2 with the dead slow speed district of Figure 19.That is, mast angle θ reaches the later mast of 88 degree and erects speed, and (L1 represents with straight line) is big when installing operation.
In next procedure S114, according to judging from the signal of angle detector 34 whether mast 2 stops.At this moment, if proportional pressure-reducing valve 27 switches to the b position fully, then the position of unattended operation bar 45 how, and control cock 44 is switched to midway location, can not supply with the motor 43 that rises and falls from the pressure oil that main pump 21B comes, so being involved in of steel rope 3 stops.At this moment because the speed of being involved in of steel rope 3 of rising and falling as mentioned above is decelerated, so even mast 2 stops, the impact that stops can not to act on the hoisting crane body 1 yet, thus the load of suspension hook 10 suspentions can not rock indefinite.
Stop as mast 2, then step S114 is by certainly, and in next step S115 blocked operation bar 45 and judge whether to have imported the mast instruction that hoists.Hoist when instruction when not importing mast, step S115 is negated, and end process, and when having imported the hoisting during instruction of mast 2, step S102 is by certainly, and the processing 2. that enters Figure 18.Step S115 is predicated sure situation, be because operation begins before in order to check whether the 2nd prevention sytem for overhoist can work reliably, even surpass the 2nd mistake volume state, the also operation that mast 2 is further erected sometimes.
As shown in figure 18, affirm, judge in step S150 then whether limiter of moment 86 is switched on as the step S115 quilt of Figure 15.Here, why will judge once more whether limiter of moment 86 is switched on, be because the operator has disconnected limiter of moment 86 in advance sometimes.When limiter of moment 86 was switched on, step S150 was by certainly, and in step S151, sent by annunciator 70 and " please limiter of moment removed." audible alarm, return step S150 then.Here, why, limiter of moment 86 carries out in the process of operation limiter of moment 86 being removed, even if be because cross volume state and also will make under the situation that mast 2 further erects limiter of moment 86 operation be interrupted working surpassing the 1st in that being connected.When limiter of moment 86 was disconnected, step S150 was negated, and in step S152, had judged whether load according to the loading signal of computing in limiter of moment 86, promptly whether was suspending load on suspension hook 10 in midair.When load, step S152 is by certainly, and in step S153, sent by annunciator 70 and " please hook load fallen." audible alarm, urge the operator with the lifting load fall.And, carry out step S152,153 processing repeatedly, till load is fallen.In step S154, proportional pressure-reducing valve 47 is moved to the b position slightly when not having load when concluding, mast 2 is slowly erected, send by annunciator 70 in step S155 that " mast is pulleying soon." audible alarm, and enter processing 1. shown in Figure 16.
1. Yi Xia processing is identical with the above-mentioned situation of installing operation, describes in detail here and is omitted.
(3) hoisting operation (limiter of moment releasing)
Below, the operation when limiter of moment 86 is disengaged in hoisting operation is described.
The step S101 of Figure 15～110 are identical with above-mentioned limiter of moment 86 operations, so its explanation is omitted.Remove in the operations at limiter of moment 86, step S110 negated, and in step S111, judged whether load according to the loading signal of computing in limiter of moment 86.When load, step S111 quilt is sure, and enters step S112, and is identical with above-mentioned limiter of moment 86 operations, carries out the processing from step S112 to step S115.And further in the 2. later processing of Figure 18, owing to be limiter of moment releasing operation, step S150 quilt is negated to be affirmed owing in step S111 load is arranged again, so step S152 quilt certainly.When step S152 is affirmed, before step S152 is negated, carry out step S152,153 processing repeatedly, when step S152 is negated, in step S154, proportional pressure-reducing valve 47 is moved to the b position slightly, mast 2 is slowly erected, send by annunciator 70 in step S155 that " mast is pulleying soon." audible alarm, and enter processing 1. shown in Figure 16.
1. Yi Xia processing is identical with the above-mentioned situation of installing operation, describes in detail here and is omitted.
On the other hand, when no hook load and step S111 when being negated enters step S116, and identical with the situation of installing operation carry out subsequently step S117 and the 1. later processing shown in Figure 16.
Like this, in the present embodiment, when installing operation, when mast angle θ 2 reaches 85 when spending, make mast erect speed along with mast angle θ 2 decelerations (the 1st warming-up exercise), reach 88 degree as mast angle θ 2, then do not stop the erecting action of mast 2 and proceed mast according to the speed after being decelerated before the states of 88 degree and erect action (the 2nd warming-up exercise: install action), carry out mast when not resembling hoisting operation and stop operation and make of the operation (3rd warming-up exercise: operation move) of the tilt angle of pump for minimum.Therefore, when before operation when detecting the 2nd of mast 2 and cross volume state and whether controllable function that the speed that erects is slowed down is correctly judged (limiter of moment is disconnected and uncharged situation under when mast 2 is erected, step S110, S111, S116 ...), owing to be not after volume state is crossed in detection the 1st, to make mast erect action to stop, perhaps erecting speed when installing operation is not very small speed (step S109, S106...), so can install operation expeditiously.
In addition, when hoisting operation, can obtain the effect same with the 1st embodiment.
Figure 21 is that the explanation driving engine is reset the diagram of circuit of action, because of basic identical with the action (Fig. 8) of the 1st embodiment, so its explanation is omitted.
In the above-described embodiments, state, the 1st mistake volume state and the 2nd before the pulleying are crossed volume state and all detected, and carry out the 1st～the 3rd warming-up exercise, but also can not detect the preceding state of pulleying, promptly do not carry out the 1st warming-up exercise and detect the 1st mistake volume state, and after the 1st pulleying status detection, when installing operation, carry out the 2nd warming-up exercise, when hoisting operation, carry out the 3rd warming-up exercise, detect the 2nd after this and cross volume state.
As above detailed description, as adopt the 1st aspect of the present invention, then can detect the preceding state of the preceding pulleying of volume state owing to stop preceding movement device, and carry out the preceding action that stops of take-off and landing device, so can be according to crossing before volume state stops take-off and landing device, the speed that is involved in or emits of take-off and landing device is lowered or send the preliminary activities of warning etc.Therefore, can prevent that the load when take-off and landing device stops from rocking, and stably carry out operation.
As adopt the 2nd aspect of the present invention, then owing to stop the preceding state of the preceding pulleying of volume state of crossing that preceding movement device can detect arm, and carry out the preceding action that stops of the 2nd take-off and landing device, so the preliminary activities that the speed that is involved in or emits that volume state makes the 2nd take-off and landing device before the 2nd take-off and landing device is stopped lowers or send warning etc. can crossed according to arm.Therefore, can prevent that the load when the 2nd take-off and landing device stops from rocking, and stably carry out operation.
As adopt the 3rd aspect of the present invention, then owing to stop the preceding state of the preceding pulleying of volume state of crossing that preceding movement device can detect mast, and carry out the preceding action that stops of take-off and landing device, so the preliminary activities that the speed that is involved in or emits that volume state makes take-off and landing device before take-off and landing device is stopped lowers or send warning etc. can crossed according to mast.Therefore, can prevent that the load when take-off and landing device stops from rocking, and stably carry out operation.
As adopt the 4th aspect of the present invention, then owing to stop the preceding state of the preceding pulleying of volume state of crossing that preceding movement device can detect crane arm, and carry out the preceding action that stops of take-off and landing device, so can be according to crossing the preliminary activities that the speed that is involved in or emits that volume state make take-off and landing device before take-off and landing device is stopped lowers or send warning etc.Therefore, can prevent that the load when take-off and landing device stops from rocking, and stably carry out operation.
As adopt the 7th aspect of the present invention, then owing to can utilize speed to install decrescence that the speed of rising and falling to major general's arm lowers before crossing volume state, so can be in the speed that is involved in or emits according to attenuating take-off and landing device before volume state stops take-off and landing device excessively, therefore, can prevent that the load when take-off and landing device stops from rocking, and stably carry out operation.
As adopt the 8th aspect of the present invention, then owing to can utilize speed to install decrescence that the speed of rising and falling to major general's arm lowers before crossing volume state, so can be in the speed that is involved in or emits according to attenuating take-off and landing device before volume state stops take-off and landing device excessively, therefore, can prevent that the load when take-off and landing device stops from rocking, and stably carry out operation.In addition, owing to after detecting volume state, can rise and fall speed limit in higher limit to the arm of major general's the 2nd take-off and landing device, so, after crossing volume state, even its lifting velocity also was a lower-speed state when barrier waited take-off and landing device can not be stopped for some reason, thereby can prolong the enough and to spare time that take-off and landing device is stopped etc. with manual mode.
As adopt the 9th aspect of the present invention, then owing to can utilize speed to install decrescence that the speed of rising and falling to major general's arm lowers before crossing volume state, so can be in the speed that is involved in or emits according to attenuating take-off and landing device before volume state stops take-off and landing device excessively, therefore, can prevent that the load when take-off and landing device stops from rocking, and stably carry out operation.In addition, owing to after detecting volume state, can rise and fall speed limit in higher limit to the arm of major general's the 2nd take-off and landing device, so, even its lifting velocity also was a lower-speed state when barrier etc. can not stop take-off and landing device for some reason, after crossing volume state, make take-off and landing device stop the enough and to spare time of waiting up to detecting in the 2nd time before crossing volume state, can prolonging with manual mode.Even and then barrier etc. also can forcibly stop its driving, and stops whole actions of the 2nd take-off and landing device when take-off and landing device can not be stopped for some reason.
As adopt the 12nd aspect of the present invention, then owing to can utilize speed to install decrescence that the speed of rising and falling to major general's arm lowers before crossing volume state, so can be in the speed that is involved in or emits according to attenuating take-off and landing device before volume state stops take-off and landing device excessively, therefore, can prevent that the load when take-off and landing device stops from rocking, and stably carry out operation.In addition, owing to after detecting volume state, can rise and fall speed limit in higher limit to the arm of major general's the 2nd take-off and landing device, so, even its lifting velocity also was a lower-speed state when barrier etc. can not stop take-off and landing device for some reason, after crossing volume state, make take-off and landing device stop the enough and to spare time of waiting up to detecting in the 2nd time before crossing volume state, can prolonging with manual mode.Even and then barrier waits when take-off and landing device can not be stopped for some reason, also can be stopped by the driving that the primary mover shutdown feature will drive with primary mover, so can forcibly the whole drivings of driving with primary mover be stopped.
As adopt the 17th aspect of the present invention, then owing to can utilize speed to install decrescence that the speed of rising and falling to major general's arm lowers before crossing volume state, so can be in the speed that is involved in or emits according to attenuating take-off and landing device before volume state stops take-off and landing device excessively, therefore, can prevent that the load when take-off and landing device stops from rocking, and stably carry out operation.In addition, after detecting volume state, before getting back to detected pulleying before the state, can utilize the cumulative device of speed that the arm of the 2nd take-off and landing device speed of falling down is slowly increased, therefore can prevent the action of sharply falling down of arm.
As adopt the 18th aspect of the present invention, then owing to can utilize speed to install decrescence that the speed of rising and falling to major general's arm lowers before crossing volume state, so can be in the speed that is involved in or emits according to attenuating take-off and landing device before volume state stops take-off and landing device excessively, therefore, can prevent that the load when take-off and landing device stops from rocking, and stably carry out operation.In addition, since after detecting volume state can to the speed limit of rising and falling of major general's the 2nd take-off and landing device in higher limit, so, even its lifting velocity also was a lower-speed state when barrier etc. can not stop take-off and landing device for some reason, after crossing volume state, make take-off and landing device stop the enough and to spare time of waiting up to detecting in the 2nd time before crossing volume state, can prolonging with manual mode.Even and then barrier waits when take-off and landing device can not be stopped for some reason, also can be stopped by the driving that the primary mover shutdown feature will drive with primary mover, so can forcibly the whole drivings of driving with primary mover be stopped.On the other hand, after detecting volume state, before getting back to detected pulleying before the state, can utilize the cumulative device of speed that the arm of the 2nd take-off and landing device speed of falling down is slowly increased, therefore can prevent the action of sharply falling down of arm.In addition, get back to after crossing volume state in the 1st time before crossing volume state detecting the 2nd, can utilize speed limiting device to make its speed be lower-speed state, thereby can prolong the enough and to spare time that drives take-off and landing device etc. with manual mode.
As adopt the 19th aspect of the present invention, then before the pulleying that detects mast during state, owing to can when hoisting operation, carry out the operation action, and when installing operation, carry out the install action different with operation action, so, the operation of two aspects can both be carried out expeditiously by making the exercises content be applicable to hoisting operation respectively and installing operation.
As adopt the 20th aspect of the present invention, then in hoisting operation, stop action when when the 1st angle arrives the 2nd angle, carrying out the 1st pulleying etc., and and then when arriving the 3rd angle, carry out the 2nd pulleying and stop action, so cross volume state can prevent reliably that mast from rising and falling the time.In addition, in installing operation, different during with hoisting operation, only stop action when the 1st angle arrives the 3rd angle, carrying out the 2nd pulleying, so when installing operation, can not make and install operation and temporarily interrupt because of the 1st pulleying stops action, thereby do not need to remove the operation that the 1st pulleying stops to move yet, therefore, can install operation expeditiously.
As adopt the 21st aspect of the present invention, then in hoisting operation, before arriving the 2nd angle, the speed of rising and falling of mast is slowed down from the 1st angle, and then the speed of rising and falling that makes mast before arriving the 3rd angle from the 2nd angle is minimum velocity, rock so can prevent the mast load of action when stopping of rising and falling, and stably carry out operation.In addition, in installing operation, the speed of rising and falling that makes mast before arriving the 3rd angle from the 2nd angle is the big steady state value of ratio minimum velocity of regulation, makes the operation deterioration so the speed of rising and falling because of mast of preventing in installing operation is slow.

Claims (21)

1. prevention sytem for overhoist of crane is characterized in that having: elevation mount is made of at least 1 pitching member of the action of rising and falling with take-off and landing device; Shutdown feature is used to detect the volume state of crossing of above-mentioned pitching member, and above-mentioned take-off and landing device is stopped; And stop preceding movement device, be used to detect the preceding state of pulleying before above-mentioned pitching member is crossed volume state, and stop preceding action.
2. prevention sytem for overhoist of crane is characterized in that having: mast, by the action of rising and falling of the 1st take-off and landing device; Arm is by the action of rising and falling of the 2nd take-off and landing device; Shutdown feature is used to detect the volume state of crossing of this arm, and above-mentioned the 2nd take-off and landing device is stopped; And stop preceding movement device, be used to detect the preceding state of pulleying before above-mentioned arm is crossed volume state, and stop preceding action.
3. prevention sytem for overhoist of crane is characterized in that having: mast, by the action of rising and falling of the 1st take-off and landing device; Arm is by the action of rising and falling of the 2nd take-off and landing device; Shutdown feature is used to detect the volume state of crossing of above-mentioned mast, and above-mentioned the 1st take-off and landing device is stopped; And stop preceding movement device, be used to detect the preceding state of pulleying before above-mentioned mast is crossed volume state, and stop preceding action.
4. prevention sytem for overhoist of crane is characterized in that having: crane arm, by the take-off and landing device action of rising and falling; Shutdown feature is used to detect the volume state of crossing of above-mentioned crane arm, and above-mentioned take-off and landing device is stopped; And stop preceding movement device, be used to detect the preceding state of pulleying before above-mentioned crane arm is crossed volume state, and stop preceding action.
5. according to any one described prevention sytem for overhoist of crane in the claim 1～4, it is characterized in that: movement device has in the above-mentioned speed that the actuating speed of above-mentioned take-off and landing device is slowly lowered before crossing volume state and decrescence installs before above-mentioned the stopping.
6. according to any one described prevention sytem for overhoist of crane in the claim 1～4, it is characterized in that: movement device has the warning generating means of the warning of sending before above-mentioned the stopping.
7. prevention sytem for overhoist of crane is characterized in that having: mast, by the action of rising and falling of the 1st take-off and landing device; Arm is by the action of rising and falling of the 2nd take-off and landing device; Shutdown feature is used to detect the volume state of crossing of this arm, and above-mentioned the 2nd take-off and landing device is stopped; And speed decrescence installs, and is used to detect state before the pulleying before above-mentioned arm is crossed volume state, and the speed that erects that makes above-mentioned the 2nd take-off and landing device at least lowers gradually along with the angle of above-mentioned arm.
8. prevention sytem for overhoist of crane according to claim 7 is characterized in that: also have detecting and above-mentionedly erect the speed limiting device of speed limit in higher limit to above-mentioned the 2nd take-off and landing device of major general after crossing volume state.
9. prevention sytem for overhoist of crane is characterized in that having: mast, by the action of rising and falling of the 1st take-off and landing device; Arm is by the action of rising and falling of the 2nd take-off and landing device; Drive and to use primary mover, be used to drive the above-mentioned the 1st and above-mentioned the 2nd take-off and landing device; The 1st shutdown feature is used to detect the 1st of above-mentioned arm and crosses volume state, and above-mentioned the 2nd take-off and landing device is stopped; Speed is decrescence installed, and is used to detect state before the pulleying before the 1st of above-mentioned arm is crossed volume state, and the speed that erects that makes above-mentioned the 2nd take-off and landing device at least lowers gradually along with the angle of above-mentioned arm; Speed limiting device erects speed limit in higher limit to above-mentioned the 2nd take-off and landing device of major general after crossing volume state detecting the above-mentioned the 1st; And the 2nd shutdown feature, be used to detect the above-mentioned the 1st and cross the 2nd behind the volume state and cross volume state, and the driving of above-mentioned the 2nd take-off and landing device is stopped.
10. prevention sytem for overhoist of crane according to claim 9 is characterized in that: also has and detects the above-mentioned the 2nd and cross volume state, and the primary mover shutdown feature that above-mentioned driving is stopped with the driving of primary mover.
11. prevention sytem for overhoist of crane according to claim 9 is characterized in that: also have after the action of above-mentioned the 2nd shutdown feature the primary mover shutdown feature that the driving of primary mover is stopped.
12. a prevention sytem for overhoist of crane is characterized in that having: mast, by the action of rising and falling of the 1st take-off and landing device; Arm is by the action of rising and falling of the 2nd take-off and landing device; Drive and to use primary mover, be used to drive the above-mentioned the 1st and above-mentioned the 2nd take-off and landing device; The shutdown feature that rises and falls is used to detect the 1st of above-mentioned arm and crosses volume state, and above-mentioned the 2nd take-off and landing device is stopped; Speed is decrescence installed, and is used to detect state before the pulleying before the 1st of above-mentioned arm is crossed volume state, and the speed that erects that makes above-mentioned the 2nd take-off and landing device at least lowers gradually along with the angle of above-mentioned arm; Speed limiting device erects speed limit in higher limit to above-mentioned the 2nd take-off and landing device of major general after crossing volume state detecting the above-mentioned the 1st; And the primary mover shutdown feature, be used to detect the above-mentioned the 1st and cross the 2nd behind the volume state and cross volume state, and above-mentioned driving is stopped with the driving of primary mover.
13. prevention sytem for overhoist of crane according to claim 7 is characterized in that: undertaken by above-mentioned the 1st take-off and landing device above-mentioned mast fall down to move the time, above-mentioned speed decrescence device also lowers the speed of falling down that this mast rises and falls gradually.
14. any one described prevention sytem for overhoist of crane according to Claim 8～12 is characterized in that: undertaken by above-mentioned the 1st take-off and landing device above-mentioned mast fall down to move the time, above-mentioned speed decrescence device also lowers the speed of falling down that mast rises and falls gradually.
15. prevention sytem for overhoist of crane according to claim 14 is characterized in that: above-mentioned speed limiting device is used to limit the above-mentioned the 1st and the rope speed of the 2nd take-off and landing device.
16. prevention sytem for overhoist of crane according to claim 15 is characterized in that: also have the suspension hook that is carried out lifting by the hook lifting device, above-mentioned speed limiting device also limits the hook lifting speed of above-mentioned hook lifting device.
17. a prevention sytem for overhoist of crane is characterized in that having: mast, by the action of rising and falling of the 1st take-off and landing device; Arm is by the action of rising and falling of the 2nd take-off and landing device; The 1st shutdown feature is used to detect the volume state of crossing of this arm, and above-mentioned the 2nd take-off and landing device is stopped; Speed is decrescence installed, and is used to detect the state before the pulleying before the volume state of crossing of above-mentioned arm, and the speed that erects that makes above-mentioned the 2nd take-off and landing device at least lowers gradually along with the angle of above-mentioned arm; And the cumulative device of speed, detect above-mentioned cross volume state after, before getting back to detected above-mentioned pulleying before the state, the speed of falling down that makes at least that above-mentioned the 2nd take-off and landing device erects increases gradually along with the angle of above-mentioned arm.
18. a prevention sytem for overhoist of crane is characterized in that having: mast, by the action of rising and falling of the 1st take-off and landing device; Arm is by the action of rising and falling of the 2nd take-off and landing device; The 1st shutdown feature is used to detect the 1st of above-mentioned arm and crosses volume state, and above-mentioned the 2nd take-off and landing device is stopped; Speed is decrescence installed, and is used to detect state before the pulleying before the 1st of above-mentioned arm is crossed volume state, and the speed that erects that makes above-mentioned the 2nd take-off and landing device at least lowers gradually along with the angle of above-mentioned arm; Speed limiting device erects speed limit in higher limit to above-mentioned the 2nd take-off and landing device of major general after crossing volume state detecting the above-mentioned the 1st; The 2nd shutdown feature is used to detect the above-mentioned the 1st and crosses the 2nd behind the volume state and cross volume state, and the driving of above-mentioned the 2nd take-off and landing device is stopped; The cumulative device of speed, detect the above-mentioned the 1st cross volume state after, before getting back to detected above-mentioned pulleying before the state, the speed of falling down that makes at least that above-mentioned the 2nd take-off and landing device erects increases gradually along with the angle of above-mentioned arm; And the speed limiting device that falls down, detect the above-mentioned the 2nd cross volume state after, before getting back to detected above-mentioned the 1st pulleying before the state, the speed limit of falling down of rising and falling to above-mentioned the 2nd take-off and landing device of major general is in higher limit.
19. a prevention sytem for overhoist of crane is characterized in that having: mast, by the action of rising and falling of mast take-off and landing device; Arm is by the action of rising and falling of arm take-off and landing device; The pulleying detecting device is used to detect the volume state of crossing of above-mentioned mast; Shutdown feature stops above-mentioned mast take-off and landing device according to the testing result of this pulleying detecting device; Condition checkout gear before the pulleying, state before the pulleying when being used to detect the 1st angle before above-mentioned mast has arrived above-mentioned volume state excessively; And judgment means, be used to judge that above-mentioned mast is to be in to install operation or be in hoisting operation; Movement device, condition checkout gear detects under the situation of state before the above-mentioned pulleying before by above-mentioned pulleying, when predicating above-mentioned hoisting operation, carry out operation action, when predicate the above-mentioned action of installing when installing operation by above-mentioned judgment means by above-mentioned judgment means.
20. prevention sytem for overhoist of crane according to claim 19, it is characterized in that: in above-mentioned hoisting operation, when when above-mentioned the 1st angle arrives the 2nd angle, above-mentioned shutdown feature carries out the 1st pulleying and stops action, then when arriving the 3rd angle, carry out the 2nd pulleying and stop action; Install in the operation above-mentioned, when having arrived above-mentioned the 3rd angle from above-mentioned the 1st angle, only carry out the 2nd pulleying and stop action.
21. prevention sytem for overhoist of crane according to claim 20, it is characterized in that: above-mentioned operation action is before above-mentioned mast arrives above-mentioned the 2nd angle from above-mentioned the 1st angle, with the speed of slowing down this mast is risen and fallen along with the angle of rising and falling of this mast, and when this mast arrives the 2nd angle, before arriving above-mentioned the 3rd angle, the mast speed of rising and falling of above-mentioned mast take-off and landing device is operated with minimum velocity; Above-mentionedly install operation before above-mentioned mast arrives above-mentioned the 2nd angle from above-mentioned the 1st angle, with the speed of slowing down this mast is risen and fallen along with the angle of rising and falling of this mast, and when this mast arrives the 2nd angle, the mast speed of rising and falling of above-mentioned mast take-off and landing device is moved with the big steady state value of stipulating of the above-mentioned minimum velocity of ratio.
CN97117745A 1996-08-26 1997-08-26 Prevention sytem for overhoist of crane Expired - Lifetime CN1100718C (en)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
JP223863/1996 1996-08-26
JP22386396A JP3184097B2 (en) 1996-08-26 1996-08-26 Crane overwind prevention device
JP223863/96 1996-08-26
JP02514297A JP3155484B2 (en) 1997-02-07 1997-02-07 Tower crane overwind prevention device
JP25142/1997 1997-02-07
JP25142/97 1997-02-07

Publications (2)

Publication Number Publication Date
CN1181348A true CN1181348A (en) 1998-05-13
CN1100718C CN1100718C (en) 2003-02-05

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CN97117745A Expired - Lifetime CN1100718C (en) 1996-08-26 1997-08-26 Prevention sytem for overhoist of crane

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CN (1) CN1100718C (en)

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CN103466490A (en) * 2012-09-27 2013-12-25 中联重科股份有限公司 Crane control method and crane control system on basis of image processing, and crane
CN103466480B (en) * 2012-09-27 2015-03-25 中联重科股份有限公司 Method for monitoring position of hook and preventing over-hoisting of hook, and system and crane thereof
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CN106762877B (en) * 2016-12-08 2018-10-30 徐州重型机械有限公司 A kind of crane Hydraulic guide control system, control method and its crane
CN107934785A (en) * 2017-12-18 2018-04-20 中车兰州机车有限公司 Multichannel valve group electro-hydraulic proportional control system and crane
CN111819149A (en) * 2018-03-09 2020-10-23 株式会社多田野 Crane with a movable crane
CN111819149B (en) * 2018-03-09 2022-06-21 株式会社多田野 Crane with a movable crane
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KR19980018952A (en) 1998-06-05
CN1100718C (en) 2003-02-05

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