JP2001146385A - Jib lifting gauge, lifting gauge and construction machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately determine a lift height of a jib crane and a tower crane. SOLUTION: A rotational quantity of a drum 5 is detected by using proximity sensors 37A, 37B arranged around the drum 5 to calculate a rope moving quantity ΔLkj by the rotation of the drum 5. An angle variation of a boom 7 and a jib 9 is detected by a boom angle gauge 31 and a jib angle gauge 33 to calculate a lift correction quantity ΔLj when changing an angle in the boom 7 and the jib 9 by driving of a drum 6. The lift correction quantity ΔLj by an angle change is added to the rope moving quantity ΔLkj to calculate an accurate lift ΔHj of a suspending cargo by considering even the angle change in the boom 7 and the jib 9.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a jib lift gauge, a lift gauge, and a construction machine for displaying a lift of a suspended load in an operation of a jib crane, a tower crane, or the like.

[0002]

BACKGROUND OF THE INVENTION In crane operations, a head gauge is required to indicate the head of a suspended load. As an example of the head gauge, Japanese Patent No. 2589914 discloses a head gauge of a boom working machine in which a head is obtained in consideration of not only the rotation amount of a winch drum but also a change in the angle of a boom. According to the lift meter described in this publication, the lift of the suspended load is corrected by a change in the height of the point sheave due to a change in the angle of the boom, a change in the distance between the drum and the point sheave at that time, and an accurate lift is obtained. Like that.

In such a lift meter, when the suspended load is set at a predetermined height position and a reset switch is operated, the rotation of the drum from this position is determined based on the rotation position of the drum at that time. The head of the suspended load is determined as the basic data for determining the depth of the suspended load.

[0004]

As described above, the lift meter described in the above publication determines the lift of the suspended load in consideration of the change in the angle of the boom. However, in a tower crane having a rotatable jib at the tip of the tower boom, the lift of the suspended load changes due to the change in the jib angle, so it is difficult to obtain an accurate lift only by considering the boom angle change. is there. Further, even in a jib crane having a jib supported by a rope at the tip of the boom, the jib angle with respect to the boom changes due to the extension of the support rope, so it is difficult to obtain an accurate head only by considering the change in the boom angle. .

An object of the present invention is to provide a jib head gauge, a head gauge, and a construction machine capable of obtaining an accurate head even with a jib crane such as a jib crane or a tower crane.

[0006]

An embodiment will be described with reference to FIGS. (1) The invention according to claim 1 has a jib 9 or 20 rotatably supported by a support rope 10 or 18, 21, 23 having a variable length, and is wound around a drum 5 or 4. Lifting gauge 4 for displaying the lifting height of a suspended load suspended from the tip of the jib 9 or 20 by winding or unwinding the hoisting rope 18 or 14.
Applies to 0. A lift calculating means 50 for calculating the lift of the suspended load due to the rotation of the drum 5 or 4;
Or jib angle detecting means 33 or 34 for detecting the angle of 20; and correcting means 50 for correcting the head calculated by the head calculating means 50 based on the detection value from the jib angle detecting means 33 or 34. Thus, the above-mentioned object is achieved. (2) The invention of claim 2 provides a jib 9 or 20 rotatably supported by a support rope 10 or 18, 21, 23 having a variable length at the tip of the boom 7 or 19 which can be raised and lowered. A lift gauge 40 for displaying the lift of a suspended load suspended from the tip of the jib 9 or 20 by winding or unwinding the hoisting rope 18 or 14 wound around the drum 5 or 4 Applied. Then, the head calculating means 50 for calculating the lift of the suspended load due to the rotation of the drum 5 or 4, the boom angle detecting means 31 or 32 for detecting the angle of the boom 7 or 19, and the jib for detecting the angle of the jib 9 or 20. Correction means for correcting the head calculated by the head calculation means 50 based on the angle detection means 33 or 34 and the detection value from the boom angle detection means 31 or 32 and the detection value from the jib angle detection means 33 or 34. The above-mentioned object is achieved by providing 50. (3) According to the third aspect of the present invention, the hoisting ropes 14, 18 wound around the drums 4, 5 are suspended or lifted up and down from the end of the boom 7, 19 or the jib 9, 20 by winding or winding. The present invention is applied to a head gauge 40 that calculates the head of a suspended load and displays the head. Then, a work signal indicating any one of the boom work, the jib work, and the tower work is input, and the lift of the suspended load suspended from the end of the boom 7 of the jib crane and the suspended load suspended from the end of the jib 9 of the jib crane are input. , Or the lift of a suspended load suspended from the tip of the jib 20 of the tower crane. (4) The invention according to claim 4 is a crane body 3, a boom 7 pivotally supported by the crane body 3 by extending or winding the hoisting rope 12, and a predetermined length that can be extended and contracted at the tip of the boom 7. The present invention is applied to a construction machine having a jib 9 rotatably supported by a support rope 10 and a drum 5 for lifting and lowering a suspended load suspended from a tip end of the jib 9. Then, a boom angle detecting means 31 for detecting an angle of the boom, a jib angle detecting means 33 for detecting an angle of the jib 9, and a hoisting rope 1 by rotating the drum 5.
8 for calculating the lift of the suspended load on the basis of the extension amount and the extension amount of the load 8, and the head calculation unit based on the detection value from the boom angle detection unit 31 and the detection value from the jib angle detection unit 33. The above-described object is achieved by providing the correction means 50 for correcting the head calculated by the correction means 50 and the head gauge 40 for displaying the head corrected by the correction means 50. (5) The invention according to claim 5 is characterized in that the crane main body 3, the tower boom 19 rotatably supported on the crane main body 3 by extending or winding the hoisting rope 12 and the tower by extending or winding the supporting rope 18 are provided. A jib 20 rotatably supported at the tip of the boom 19;
The present invention is applied to a construction machine having a drum 4 that lifts and lowers a suspended load suspended from the end of the jib 20. And
Boom angle detection means 32 for detecting the angle of the tower boom 19, and jib angle detection means 3 for detecting the angle of the jib 20
4, a lift calculating means 50 for calculating the lift of the suspended load based on the amount of extension and retraction of the hoisting rope 14 by the rotation of the drum 4, the detection value from the boom angle detection means 32 and the jib angle detection means 34 The above-mentioned object is achieved by providing a correcting means 50 for correcting the head calculated by the head calculating means 50 based on the detected value of the head and a head gauge 40 for displaying the head corrected by the correcting means 50. Is done.

In the section of the means for solving the above-mentioned problems, which explains the configuration of the present invention, the drawings of the embodiments of the present invention are used to make the present invention easy to understand. However, the present invention is not limited to this.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. -First Embodiment- The head gauge according to the first embodiment of the present invention is applied to a jib crane and a tower crane, respectively. FIG. 1 is a side view of a jib crane provided with a head gauge according to the present invention, and FIG. 2 is a side view of a tower crane. As shown in FIGS. 1 and 2, the crane has a traveling body 1 and a revolving body 3 mounted on the traveling body 1 via a revolving device 2 so as to be revolvable. And an auxiliary drum 5 and an undulating drum 6 are provided.

As shown in FIG. 1, a boom 7 is provided on a revolving structure of a jib crane so as to be rotatable around a boom foot pin p1.
Is pivoted, and a mast foot pin p is provided at the upper end of the boom 7.
The jib mast 8 and the jib 9 are supported by the jib mast 8 and the jib foot pin p3 (see FIG. 11). Jib mast 8
Is connected to the back side of the boom 7, and the upper end of the jib 9 is supported by a guy line 10 having a predetermined length passing through the tip of the jib mast 8. The angle (relative angle) of the jib 9 with respect to the boom 7 depends on the extension of the guy line 10. The upper end of the boom 7 is supported by an up-and-down rope 12 via a pendant rope 11, and the boom 7 is raised and lowered when the up-and-down rope 12 is fed or wound by the up-and-down drum 6, and the jib 9 is also raised and lowered with the up-and-down movement of the boom 7. .
The main hook 13 </ b> A is suspended via a main winding rope 14 wrapped around the end of the boom 7 a plurality of times via a point sheave 28 attached to the end of the boom 7, The main hook 13A is raised and lowered by the feeding or winding of 14. The auxiliary hook 13B is
Sheave 15 attached to jib mast 8, guide sheave 16 attached to the tip of jib 9, and point sheave 1
7, the auxiliary hook 13B is lifted and lowered by the auxiliary winding drum 18 being fed or wound by the auxiliary winding rope 18 which is hung from the tip of the jib 9 a plurality of times. Hereinafter, the raising and lowering operation of the main hook 13A is referred to as a boom operation, and the raising and lowering operation of the auxiliary hook 13B is referred to as a jib operation.

As shown in FIG. 2, a tower boom 19 is pivotally supported on the revolving unit 3 of the tower crane with a boom foot pin p1 as a fulcrum, and a jib foot pin p4 is provided on the upper end of the tower boom 19 with a fulcrum. Rotatable tower jib 2
0 is supported. The upper end of the tower boom 19 is supported by the hoisting rope 12 via the pendant rope 11, and the tower boom 19 is raised and lowered by feeding or winding the hoisting rope 12. The upper end of the jib 20 is supported by the auxiliary hoisting rope 18 via a pendant rope 21, a swing lever 22 pivotally supported on the upper end of the tower boom 19, and a pendant rope 23, and the auxiliary hoist drum 5
The jib 20 is raised and lowered by the feeding or winding of the auxiliary rope 18 by. The tower hook 24 is wound around the tip of the jib 20 a plurality of times via a guide sheave 25 attached to the upper end of the tower boom 19 and a guide sheave 26 and a point sheave 27 attached to the tip of the jib 20. The tower hook 24 is suspended by the main winding rope 14, and the tower hook 24 is moved up and down by the main winding drum 4 feeding or winding the main winding rope 14. Hereinafter, the lifting operation of the tower hook 24 is referred to as a tower operation.

1 and 2, a boom goniometer 31 for detecting a ground angle αB of the boom 7 is provided at a base end of the boom 7, and a tower boom 1 is provided at a base end of the tower boom 19.
A tower angle meter 32 for detecting the ground angle αT of the nine is provided. At the base end of the jib 9, the ground angle βJ of the jib 9 is provided.
A jib goniometer 33 for detecting the
A jib goniometer 34 for detecting a ground angle βT of the tower jib 20 is provided at a base end of the jib. The revolving superstructure 3 has a moment limiter 35 mounted thereon. The load curve for the maximum working radius corresponding to each of the boom work, jib work, and tower work modes is stored in the moment limiter 35, and when the predetermined work load exceeds the maximum work radius, the work is forcibly stopped. Can be As shown in FIG. 3, a drum rotation detecting gear 4 is provided on the main winding drum 4 and the auxiliary winding drum 5.
a, 5a are arranged coaxially with the rotation axis thereof, and the proximity sensors 36A, 36B, 37A, around the gears 4a, 5a.
37B are provided respectively. This proximity sensor 36
The pulses from A, 36B, 37A and 37B are counted by a counter, and the rotation amounts of the drums 4 and 5 are obtained. A lift gauge 40 as shown in FIG.
In, the lift of the suspended load suspended on the hooks 13A, 13B, and 24 is alternatively displayed.

FIG. 4 is a front view of the head gauge 40. FIG.
As shown in the figure, the head gauge 40 includes a power switch 41, a display part 42 for displaying the head and the like, and a setting item selection dial 43 for setting items (winding layer, winding row, etc.) to be displayed on the display part 42. , A setting switch 44 for changing a set value, and a set switch 4 for setting a set value
5, a warning light 46 which is turned on when the suspended load enters the warning zone, and a lift reset switch 47 which resets the detected head by setting the head displayed on the display unit 42 to 0.
And the mode identification light 4 which lights when the boom operation is selected.
8a, and a mode identification lamp 48b that lights up when the jib operation is selected. When the tower operation is selected, both the mode identification lamps 48a and 48b are turned off. Lift gauge 40
Is provided with an arithmetic unit 50.

FIG. 5 is a block diagram of the arithmetic unit 50. As shown in FIG. 5, the arithmetic unit 50 includes an arithmetic unit 51, a RAM 52 for temporarily storing variables and constants as described below,
EEPROM 53 for storing variables and constants as described later
And In the nonvolatile EEPROM 53, data is stored as it is even when the engine is stopped. The operation unit 51 includes a moment limiter 35 and a proximity sensor 36.
A, 36B, 37A, 37B and goniometers 31 to 34 are connected respectively. The calculating section 51 calculates the head based on the input signals from these as described later, and displays the head corresponding to the work mode on the display section 42.

As shown in FIG. 6, the arithmetic unit 51 stores the relationship between the number of drum winding layers and the number of windings according to the number of pulses output from the proximity sensors 36A, 36B, 37A and 37B, and the rope winding amount L. Is stored for each of the drums 4 and 5. In FIG. 6, since the drum winding diameter increases as the drum winding layer increases, the amount of change in the rope winding amount with respect to the drum winding layer, that is, the slope of the curve increases. Note that points A, B, and C in FIG. 6 respectively correspond to an initial position A, a reset position B, and a current position C of the suspended load, which will be described later.

FIGS. 7 to 9 are flow charts for explaining the calculation executed by the calculation unit 51 of the lift gauge 40 according to the first embodiment. This flowchart starts when the power supply 41 of the lift gauge 40 is turned on. In FIG. 7, first, at step S1, the moment limiter 35 is set.
The work mode is determined based on the signal from. Step S1
If the operation is determined to be a tower operation, the flow proceeds to step S38 in FIG. 9; In step S2, the data stored in the EEPROM 53 is read, and in step S3, it is determined whether the data is stored in the EEPROM 53. Immediately after the change from the tower crane to the jib crane or immediately after shipment, data relating to the lift of the suspended load of the jib crane is not stored in the EEPROM 53. In this case, step S3 is denied and the process proceeds to step S4, where the lift meter 4
An error is displayed on the 0 display section 42, and the process is terminated. Thereafter, if data is written to the EEPROM 53 by any processing, the result at Step S3 is affirmative.

If step S3 is affirmed, step S5 is reached.
Then, the data in the EEPROM 53 read in step S2 is written in the RAM 52, and the data in the RAM 52 is updated. In this case, the total number of pulses (the latest total number of pulses) PPB and PPJ of the drums 4 and 5 from the initial position stored in the EEPROM 53 is set as the current total number of pulses PSB and PSJ, and the reset position (when the reset operation is not performed) Are written in the RAM 52 as the current heads ΔHB, ΔHJ as the current heads ΔHPB, ΔHPJ from the hooks 13A, 13B from the initial positions. Then, step S
In step 6, the work mode is determined based on the signal from the moment limiter 35. If it is determined in step S6 that the operation is a boom operation, the process proceeds to step S7 to display the head ΔHB on the display unit 42. If it is determined that the operation is a jib operation, the process proceeds to step S8 to display the head ΔHJ on the display unit 42. In this specification, the subscript B is added to data related to the boom operation,
The subscript J is added to the data relating to the jib work. Also,
The suffix T described later is added to data relating to the tower work.

Subsequently, in step S9, it is determined whether or not to perform the initial setting. This initial setting is performed when the work is performed for the first time after shipment or in a state where the suspended load is landed after the rearrangement from the tower crane. When the initial setting is performed, the set switch 45 of the lift gauge 40 is operated. .
Thereby, step S9 is affirmed and step S10
And the number of ropes kB and kJ of the ropes 14 and 18 inputted by operating the setting item dial 43 and the setting switch 44.
And the number of pulses PaB, Pa corresponding to the winding layers and winding trains of the drums 4 and 5
J is set as an initial set value, and the set values kB, kJ,
Write PaB and PaJ to the EEPROM 53 and the RAM 52. When the boom length or the jib length is changed, the changed set value is input by a signal from the moment limiter 35 in step S10, and the set value is set to EE.
Write to PROM 53 and RAM 52. When the set switch 45 is not operated or when the moment limiter 3
If the changed signal is not input from step 5, step S9
Is denied, and the process proceeds to step S16. When performing the initial setting, regardless of the output value of the moment limiter 35,
A dedicated switch for inputting the boom length and the jib length may be provided, and the initial value may be input by operating the switch.

Following step S10, step S11
The work mode is determined based on the signal from the moment limiter 35. If it is determined in step S11 that the operation is a boom operation, the process proceeds to step S12, in which the current total pulse number PSB, the head ΔHB, and the count value ΔPB obtained by counting the pulses from the proximity sensors 36A and 36B are reset to zero.
Next, in step S13, the boom operation flag FB is reset to zero, and the flow advances to step S16. On the other hand, if it is determined in step S11 that the jib operation is performed, the process proceeds to step S14, in which the current total pulse number PSJ, the head ΔHJ, and the count value ΔPJ obtained by counting the pulses from the proximity sensors 37A and 37B are reset to zero. Then, step S1
In step 5, the jib work flag FJ is reset to zero, and the flow advances to step S16. In step S16, the proximity sensor 36
The count values .DELTA.PB and .DELTA.PJ obtained by counting the pulses from A, 36B, 37A and 37B are read, respectively, and in the next step S17, the current total pulse number PSB is converted to PSB +
ΔPB and PSJ are newly stored as PSJ + ΔPJ. Next, in step S18, the current total pulse numbers PSB and PSJ are substituted for the latest total pulse numbers PPB and PPJ, respectively, and EE
It is stored in the PROM 53.

Subsequently, the process proceeds to step S19 in FIG. 8, in which the boom angle αB detected by the boom angle meter 31 is set to:
The jib angle βJ detected by the jib goniometer 33 is read, and the value is stored in the RAM 52. Next, in step S20, it is determined whether or not the reset switch 47 has been turned on. When step S20 is affirmed, the process proceeds to step S21, and the work mode is determined based on a signal from the moment limiter 35. If it is determined in step S21 that the operation is a boom operation, the process proceeds to step S22, where the head ΔH
B is set to 0 and the boom operation flag FB is set to 1 and stored in the EEPROM 53, and at step S23, the head ΔHB = 0 is displayed. Then, in step S24, the current total pulse number PSB calculated in step S17 and the boom angle αB read in step S19 are substituted for the reset pulse number PrB and the reset boom angle αrB, respectively, and the RAM 52 and the EEPROM are used.
53, and the process proceeds to step S28.

On the other hand, if it is determined in step S21 that the jib operation is to be performed, the process proceeds to step S25, in which the head ΔHJ is set to 0, and the jib operation flag FJ is set to 1 for EEPRO.
The value is stored in M53, and the head ΔHJ = 0 is displayed in step S26. Next, in step S27, the current total pulse number PSJ calculated in step S17 and the boom angle αB and jib angle βJ read in step S19 are respectively set to the pulse number PrJ at reset and the boom angle αrJ and jib angle βrJ at reset. The values are assigned and stored in the RAM 52 and the EEPROM 53, and the process proceeds to step S28. In step S28, the rotation amounts of the drums 4 and 5 are calculated by subtracting the reset pulse numbers PrB and PrJ from the current total pulse numbers PSB and PSJ, respectively. The winding amounts ΔLrB and ΔLrJ of No. 18 are calculated, and the process proceeds to step S33.

If step S20 is denied, the operation proceeds to step S29 to determine the work mode. Step S
If it is determined at 29 that the operation is a boom operation, the process proceeds to a step S30 to determine whether or not the boom operation flag FB is 1, that is, whether or not the reset switch 47 is already turned on. When step S30 is denied, the process proceeds to step S32, and when affirmed, the process proceeds to step S28 described above. On the other hand, if it is determined in step S29 that the jib operation is performed, the process proceeds to step S31, and it is determined whether or not the jib operation flag FJ is 1. If step S31 is denied, step S32 is reached.
Proceeds to step S28 if affirmative. In step S32, the rotation numbers of the drums 4 and 5 are calculated by subtracting the pulse numbers PaB and PaJ at the time of the initial value setting from the current total pulse numbers PSB and PSJ, respectively.
4. The winding amounts ΔLrB and ΔLrJ of the auxiliary rope 18 are calculated, and the process proceeds to step S33.

In step S33, the rope movement amount ΔLr
B, ΔLrJ is divided by the number of ropes kB, kJ, and drums 4, 5
The rope movement amounts ΔLkB and ΔLkJ due to the rotation of are calculated.
Next, in step S34, the head correction amount ΔLB due to the angle change of the boom 7 and the head correction amount ΔLJ due to the angle change of the boom 7 and the jib 9 are calculated. The lift correction amount ΔLB due to the change in the angle of the boom 7 is a lift change amount accompanying a change in the position of the point sheave 28 when the boom angle αB changes due to the driving of the undulating drum 6.
Of the main winding rope 14 from the point sheave 28 to the drum 4 (main winding rear rope length). The lift correction amount ΔLJ due to the angle change of the boom 7 and the jib 9 is the lift change amount accompanying the change in the position of the point sheave 17 when the boom angle αB and the jib angle βJ change due to the driving of the undulating drum 6. Yes, the amount of change in the height of the point sheave 17,
Supplementary rope 18 from point sheave 17 to drum 5
Is calculated by calculating the amount of change in the length (length of the auxiliary winding back rope). Hereinafter, the calculation of the head correction amounts ΔLB and ΔLJ will be described.

First, the lift correction amount ΔL on the main hook 13A side
B will be described. In FIG. 10, the boom length is L
B, if the boom foot pin p1 is the origin, the coordinates (x28, y28) of the center of the point sheave 28 are (LB · cosαB, LB
・ SinαB). If the coordinates of the center of the main winding drum 4 are (x4, y4), the point sheave 2
The main winding back rope length RBB up to 8 is given by the following equation (I).

RBB = {(LB · cosαB-x4) 2+ (LB · sinαB-y4) 2} (I) From this, the height change of the point sheave 28 when the boom angle αB changes to αB ′ The quantity Δy1 is given by equation (II) and
The amount of change Δy2 in the length RBB of the main winding back rope is obtained by equation (III).

Δy1 = LB · sinαB′−LB · sinαB (II)

Δy2 = [{(LB · cosαB′-x4) 2+ (LB · sinαB′-y4) 2} − {(LB · cosαB-x4) 2+ (LB · sinαB-y4) 2} ] / KB (III) Therefore, the lift correction amount ΔLB on the main hook 13A side due to the change in the angle of the boom 7 is expressed by the following equation (IV).

ΔLB = Δy1 + Δy2 (IV)

Next, the lift correction amount ΔL on the auxiliary hook 13B side
J will be described. In FIG. 11, assuming that the distance between the boom tip and the jib foot pin p3 is aB and the distance between the boom center line and the jib foot pin p3 is bB, the coordinates (xp3, yp3) of the jib foot pin p3 are given by the following equation (V).

Xp3 = (LB + aB) cosαB + bB · sinαB yp3 = (LB + aB) sinαB-bB · cosαB (V) Also, the distance from the jib center line to the mast foot pin p3 is aJ, and the jib center line. Assuming that the distance between the jib foot pin p3 and the mast foot pin p2 is bJ, the coordinates (xp2, yp2) of the mast foot pin p2 are given by the following equation (VI).

Xp2 = xp3-√ (aJ2 + bJ2) × cos ｛tan-1 (bJ / aJ) +90 ゜ -βJ｝ yp2 = yp3 + √ (aJ2 + bJ2) × sin ｛tan-1 (bJ / aJ) ) +90 ゜ -βJ｝ (VI) Furthermore, the distance from the mast foot pin to the center of the sheave is LM, and the angle between the jib center line and the jib mast 8 is γ + 90.
Then, the coordinates (x15, y15) of the center of the sheave 15 are given by the following equation (VII).

X15 = xp2-LM × cos (90 ° -γ-βJ) y15 = yp2 + LM × sin (90 ° -γ-βJ) (VII) Therefore, the coordinates of the center of the auxiliary winding drum 5 are expressed by (x5 , y5), the auxiliary winding back rope length RBJ between the auxiliary drum 5 and the sheave 15 is given by the following equation (VIII).

RBJ = {(x15-x5) 2+ (y15-y5) 2} (VIII) The jib length is LJ, the jib center line and the guide sheave 16
If the distance between the jib center line and the point sheave 17 is dJ, the distance between the jib tip and the point sheave 17 is eJ, and the distance between the jib tip and the guide sheave 16 is fJ, the coordinates of the center of the guide sheave 16 (x16 , y16) and the coordinates (x17, y17) of the center of the point sheave 17 are given by the equations (IX),
(X).

X16 = (LJ-fJ) · cosβJ-cJ · sinβJ + x3 y16 = (LJ-fJ) · sinβJ + cJ · cosβJ + yp3 (IX)

X17 = (LJ + eJ) · cosβJ + dJ · sinβJ + xp3 y17 = (LJ + eJ) · sinβJ-dJ · cosβJ + yp3 (X) Therefore, the auxiliary winding between the sheave 15 and the guide sheave 16 The rear rope length RJJ is given by the following equation (XI).

RXI = {(x16−x15) 2+ (y16−y15) 2} (XI) From this, the auxiliary hook 13B side when the boom angle αB and the jib angle βJ change to αB ′, βJ ′ Is the following equation (XII).

ΔLJ = (y17′−y17) + (RBJ′−RBJ) + (RJJ′−REJ) / kJ (XII) where y17 ′: y of the sheave 17 at the angles αB ′ and βJ ′
Coordinates RBJ ', RJJ': Length of auxiliary back rope at angles αB ', βJ'

The head correction amount ΔL thus obtained
In step S35, B and ΔLJ are added to the rope movement amounts ΔLrB and ΔLrJ in step S28 or S32, and the heads ΔHB and ΔHJ to be displayed are calculated.
Then, in step S36, the heads ΔHB and ΔHJ are substituted for the latest heads ΔHPB and ΔHPJ, respectively, and the EEPROM
In step S37, the power supply 41 of the head gauge 40 is stored.
Is turned off. If step S37 is denied, the process returns to step S1 in FIG. 7, and steps S1 to S37 are repeated. If step S37 is affirmed, the calculation in the calculation unit 51 ends.

On the other hand, if it is determined in step S1 that the work is a tower work, the flow advances to step S38 in FIG. Step S38
Now, read the data stored in the EEPROM 53,
In a step S39, it is determined whether or not data is stored in the EEPROM 53. If data relating to the tower crane is not stored in the EEPROM 53, step S39 is denied and the process proceeds to step S40, where an error is displayed on the display unit 42 of the lift gauge 40, and the process ends.
If the data relating to the tower crane is stored in the EEPROM 53, the result at step S39 is affirmative and the routine proceeds to step S41, where the current total pulse number PST is set to step S41.
Substituting the total number of pulses (the latest total number of pulses) PPT of the drum 4 from the initial position read at 38, the suspended load of the hook 24 from the reset position (the initial position when the reset operation is not performed) to the current lift ΔHT. Lift (latest lift) ΔH
Substitute PT and write to RAM 52, respectively,
The data in 52 is updated. Next, in step S42, the head ΔHT is displayed on the display unit 42, and in step S43, it is determined whether or not to perform the initial setting.

Immediately after switching from the jib crane to the tower crane, or when the specifications of the tower crane are changed, the initial setting must be performed. In this case, step S43 is affirmed and the process proceeds to step S44. In step S44, initial setting values such as the number of ropes kT and the initial number of pulses PaT are input in the same manner as in step S10 described above, and the input values are stored in the EEPROM 53 and the RAM 5.
Write to 2. Next, in step S45, the current total pulse number PST, the head ΔHT, and the proximity sensors 36A, 36A
The count value ΔPB obtained by counting the pulses from B is reset to zero, and the flag F for tower work is set in step S46.
T is reset to zero and the process proceeds to step S47. When step S43 is denied, steps S44 to S
Then, the process goes through step S47. Step S47
In step S48, a count value ΔPB obtained by counting pulses from the proximity sensors 36A and 36B is read.
, PST + ΔPB is substituted for the current total pulse number PST. Next, at step S49, the latest total pulse number PP
The current total pulse number PST is substituted for T, and the EEPROM 53
To memorize. Then, in step S50, the tower goniometer 3
Tower angle αT detected by 2 and jib goniometer 3
Then, the jib angle βT detected by step 4 is read, and the value is stored in the RAM 52.

Then, the process proceeds to a step S51, wherein it is determined whether or not the reset switch 47 is turned on. If step S51 is affirmed, the process proceeds to step S52, where the head ΔH
T is set to 0 and the tower work flag FT is set to 1 and stored in the EEPROM 53, and at step S53, the head ΔHT = 0 is displayed. Next, in step S54, the current total pulse number PST, tower angle αT, and jib angle βT are substituted for the total pulse number PrT, tower angle αrT, and jib angle βrT at the time of reset, respectively, and stored in the RAM 52 and the EEPROM 53. And step S
At 55, the rotation amount of the drum 4 is calculated by subtracting the total number of pulses PrT at the time of reset from the current total number of pulses PST.
Is calculated from the relationship, and the process proceeds to step S58. On the other hand, if step S51 is negative, the process proceeds to step S56 to determine whether or not the flag FT is 1. If step S56 is affirmed, step S55 is reached.
If not, the process proceeds to step S57. In step S57, the rotation amount of the drum 4 is calculated by subtracting the pulse number PaT at the time of setting the initial value from the current total pulse number PST.
The winding amount ΔLrT of the main winding rope 14 is calculated from the relationship of FIG. 6, and the process proceeds to step S58.

In step S58, the amount of rope winding ΔLrT is divided by the number of ropes kT to calculate the amount of rope movement ΔLkT due to the rotation of the drum 4. Next, at step S59, the lift correction amount ΔLT due to the angle change of the tower 19 and the jib 20.
Is calculated. Lift correction amount ΔLT due to tower angle change
Is the amount of change in the head due to the change in the position of the point sheave 27 when the tower angle αT and the jib angle βT change by driving the drums 5 and 6, and the amount of change in the height of the point sheave 27 It is obtained by calculating the amount of change in the length of the main winding rope 14 (the length of the main winding rear rope) from the sheave 27 to the drum 4. Hereinafter, this head correction amount Δ
The calculation of LT will be described.

In FIG. 12, assuming that the tower length is LT, the distance between the tower tip and the jib foot pin p4 is aT, and the distance between the tower center line and the jib foot pin p4 is bT, the coordinates (xp4, yp4) of the jib foot pin p4 are given by the following equation (XIII). ).

Xp4 = (LT-aT) cosαT + bT · sinαT yp4 = (LT-aT) sinαT-bT · cosαT (XIII) Further, the distance between the center of the sheave 25 and the tip of the tower is cT, If the distance of the tower center line is dT,
The coordinates of the sheave 25 are given by the following equation (XIV).

X25 = (LT + cT) cosαT−dT · sinαT y25 = (LT + cT) sinαT + dT · cosαT (XIV) From this, the main winding back rope length RTB is given by the following equation (XV).

RTB = {(x25−xp4) 2+ (y25−yp4) 2} (XV) Also, the jib length is LTJ, the jib center line and the guide sheave 26
The distance between the jib center line and the point sheave 27 is bTJ, the distance between the jib tip and the guide sheave 26 is cTJ, and the distance between the jib tip and the point sheave 27 is dTJ. Are expressed by formulas (XVI) and (XVII), respectively.

X26 = (LTJ-cTJ) cosβT-aTJ · sinβT + x4 y26 = (LTJ-cTJ) sinβT + aTJ · cosβT + y4 (XVI)

X27 = (LTJ + dTJ) cosβT + bTJ · sinβT + x4 y27 = (LTJ + dTJ) sinβT-bTJ · cosβT + y4 (XVII) Accordingly, the main winding back rope length RTJ is expressed by the following equation (XVIII). Becomes

RTJ = {(x26−x25) 2+ (y26−y25) 2} (XVII I) From this, the head correction amount when the tower angle αT and the jib angle βT change to αT ′, βT ′ ΔLT is given by the following equation (XIX).

ΔLT = (y27′−y27) + (RTJ′−RTJ) + (RTJ′−RTJ) / kT (XIX) where y27 ′: y coordinate RTJ ′ of sheave 27 at angles αT ′ and βT ′ , RTJ ': Length of auxiliary back rope at angles αT', βT '

The head correction amount ΔL thus obtained
T is added to the rope movement amount ΔLrT in step S60,
The head ΔHT to be displayed is calculated. Then, step S
At 61, the head ΔHT is substituted into the latest head ΔHPT and EE
The program is stored in the PROM 53, and the process proceeds to step S37 described above.

FIG. 13 shows steps S16 and S4.
8 is a flowchart showing a routine of the count value shown in FIG. In FIG. 13, first, in step S71, it is determined whether to add or subtract the count value based on signals from the proximity sensors 36A, 36B, 37A, and 37B. If it is determined to be added, a process of adding 1 to the count value is performed in step S72, and if it is determined to be subtracted, a process of subtracting 1 from the count value is performed in step S73. Thereby, the count value, which is the count number from the initial position to the current position, is updated.

Next, the lift gauge 4 according to the first embodiment
The operation of 0 will be described more specifically. FIG. 14 is a diagram showing the position of the suspended load BA suspended from the hook.
, The position at which the suspended load BA lands on the ground is defined as an initial position A, the position at which the suspended load BA is raised to the ground is defined as a reset position B, and the current position of the suspended load BA is defined as a current position C. These positions A, B and C correspond to points A, B and C in FIG.
Respectively.

(1) Boom operation When performing a boom operation, a cassette for a jib crane is set in the moment limiter 35, and the boom operation is selected by the moment limiter 35. As a result, the mode identification lamp 48a of the head gauge 40 is turned on. If the initial setting has not been completed after the change from the tower crane or the specification change of the jib crane, the driver places the suspended load BA suspended by the hook 13A on the ground as shown in FIG. Land and make initial settings in that state. The initial setting is performed by the driver visually confirming the winding layer and the winding sequence of the rope 14 wound around the drum 4 and inputting them to the lift gauge 40 by operating the dial 43 and the switches 44 and 45. Winding layer input as initial position A,
The winding sequence is converted into the initial pulse number based on the relationship shown in FIG. 6 and stored in a predetermined area of the EEPROM 53 and the RAM 52 (step S10), and zero is stored in the head storage area used for head display. Is performed (step S12). Therefore, when the process proceeds and returns to step S7, 0 is displayed on the display unit 42 if the drum 4 is not moving during that time. At this time, the initial position A
Is obtained as La from the graph of FIG.

While the driver is hoisting the suspended load BA from the initial position A to the ground position B, the counter counts up in accordance with the rotation of the drum 4, and the current total pulse number PSB increases in step S17. Steps S20, S29 and S29 until the reset switch 47 is turned on, that is, until the flag FB = 1.
In step S32, the rope winding amount ΔLr1 corresponding to the difference between the current total pulse number PSB of the counter and the pulse number PaB of the initial position A is calculated from the graph of FIG. In this case, the rope winding amount is LD.
Then, the head ΔHB is calculated by adding the correction amount ΔLB due to the change in the boom angle to the value obtained by dividing ΔLr1 by the number of ropes kB, and calculating the head ΔHB in step S36.
M53, and the head Δ
Display HB. That is, until the reset switch 47 is turned on, the head ΔHB based on the initial position A is displayed based on ΔLr1.

When the suspended load BA is lifted up to the ground position B and the driver turns on the reset switch 47, step S is executed.
20 to step S21, step S22, step S2
The program proceeds to step S3, where the head HB = 0 is displayed on the display unit 42, and in step S24, the total number of pulses PrB at reset and the boom angle αrB are stored. In this case, the rope winding amount is Lr. Thereafter, the process proceeds to step S20, step S29, step S30, and step S28. In step S28, the rope winding amount corresponding to the difference between the current total pulse number PSB of the counter and the pulse number PrB of the reset position B from the graph of FIG. Calculate ΔLr2. In this case, the rope winding amount is Ls. Then, the head ΔHB is calculated by adding the correction amount ΔLB due to the change in the boom angle to the value obtained by dividing ΔLr2 by the rope number kB, and calculating the EEPR
Store it in OM53. Therefore, the head ΔHB displayed in step S7 is a value based on the reset position B. Since this head ΔHB is calculated in consideration of a change in the boom angle, accurate head display can be performed.

As described above, in the boom operation, the current total pulse number PSB and the head ΔHB are respectively substituted for the latest total pulse number PPB and the head ΔHPB in steps S18 and S36, and stored in the EEPROM 53.
24, the number of pulses PrB at reset and the boom angle αrB are E
Since the reset flag FB = 1 is stored in the EEPROM 53 in step S22,
After the power supply 41 of the head gauge 40 is turned off by stopping the engine, the head ΔHPB when the engine is stopped, the total number of pulses PPB, the total number of pulses PrB when resetting, the boom angle αB, and the flag FB =
1 is stored without being erased. Therefore, when the power supply 41 of the head gauge 40 is turned on after the engine is restarted, E
These values are read from the EPROM 53, and the head ΔHB when the engine is stopped is displayed in step S7. After the engine is restarted, the flag FB is still 1, and the process proceeds from step S30 to step S28, where the rope winding amount ΔLr3 is obtained based on the pulse number PrB at the time of reset. In this case, the rope winding amount is LS '. Thus, the head displayed on the display unit 42 can be set to a value based on the reset position B.

(2) Jib work When the jib work is selected by the moment limiter 35,
The mode identification lamp 48b is turned on. In jib work,
First, the initial setting is performed in the same procedure as the boom operation. That is, the suspended load BA suspended on the hook 13B is landed on the ground, and in this state, the winding layer and the winding sequence of the rope 18 are input. Since this initial setting is performed for each operation of the boom and the jib, the initial position in the jib operation can be set differently from the initial position A in the boom operation.
Further, since the reset operation is performed for each operation of the boom and the jib, the reset position in the jib operation can be set differently from the reset position B in the boom operation.

Until the reset switch 47 is turned on in the jib operation, the process proceeds to steps S20, S29, S31 and S32 to calculate the rope winding amount ΔLrJ based on the initial position A. And
The lift correction amount ΔLJ due to the angle change between the boom 7 and the jib 9 is added to the rope winding amount ΔLrJ to calculate a head ΔHJ in consideration of the boom and jib angle changes. This head ΔHJ
Is stored in the EEPROM 53 in step S36, and is displayed in step S7. When the reset switch 47 is turned on, the process proceeds from step S20 to step S21 and step S2.
5. The process proceeds to step S26, where the head ΔHJ = 0 is displayed.
Thereafter, step S20, step S29, step S3
1. Proceeding to step S28, the rope winding amount ΔLrJ based on the reset position B is calculated. Therefore, in step S7, the head ΔH based on the reset position B
J is displayed. Since this head ΔHJ is calculated in consideration of the change in the angle of the boom and jib, a more accurate head display can be displayed.

Also in the jib work, the latest total pulse number PP
J, the head ΔHPJ, the number of pulses at reset PrJ, the boom angle αrJ, the jib angle βrj, and the flag FJ = 1 are stored in the EEPROM 53.
Is stored in Therefore, even when the power supply 41 of the head gauge 40 is turned off by stopping the engine, these values are stored without being erased.
When is turned on, the stored value is read,
The head ΔHPJ when the engine is stopped is displayed. In steps S35 and S36, the head Δ
Both the HPB and the head ΔHPJ of the jib work are calculated and stored. Therefore, if the head to be displayed is switched in step S6 based on the signal indicating the work state from the moment limiter 35, the head ΔHB based on the reset position A set in the boom work or the jib work in step S7. Is immediately switched and displayed based on the reset position A based on the setting of. As a result, the suspension work by the main hook 13A and the auxiliary hook 13
It is possible to easily cope with the case where the hanging operation by B is switched.

(3) Tower work When a cassette for a tower crane is set in the moment limiter 35, the mode identification lights 48a and 48b are turned off. In the tower work, if the initial setting has not been completed after the rearrangement from the jib crane or the change in the specification of the tower crane, the suspended load BA suspended on the hook 24 is landed on the ground, and the initial setting is performed in that state. I do. In the initial setting, the driver sets the winding layer of the rope 14,
When a winding sequence or the like is input, the initial pulse number PaT corresponding to the input value is obtained from the graph of FIG.
It is stored in M52, and zero is stored in the storage area for head display (steps S44 and S45). Therefore, when the process proceeds and returns to step S42, if the drums 4 and 5 are not moving during that time, the display 4
0 is displayed in 2.

Until the reset switch 47 is turned on, the process proceeds to steps S51, S56 and S57, and the rope winding amount ΔLr with respect to the initial position A.
T, that is, ΔLr1 in FIG. 6 is calculated. The head correction amount ΔLT due to the angle change between the tower 19 and the jib 20 is added to the rope winding amount ΔLrT to calculate a head ΔHT in consideration of the angle change between the tower and the jib. This head ΔHT is stored in the EEPROM 53 in step S61, and is displayed in step S42. When the reset switch 47 is turned on, the process proceeds from step S51 to step S52 and step S53, where the head ΔHT = 0 is displayed. In step S54, the total pulse number PST, the tower angle αT, and the jib angle βT at the reset position B are stored in the EEPROM 53. Remember. Step S again
When the process returns to step 51, the process proceeds to steps S56 and S55, and the rope winding amount Δ based on the reset position B is used.
Calculate LrT. Therefore, in step S42, the head ΔHT based on the reset position B is displayed. Since this head ΔHT is calculated in consideration of the change in the angles of the tower and the jib, more accurate head display can be performed.

Also in the tower operation, the latest total pulse number P
PT, head ΔHPT, pulse number at reset PrT, tower angle αrT, jib angle βrT, and flag FT = 1 are stored in EEPROM5.
3 is stored. Therefore, even after the power supply 41 of the head gauge 40 is turned off by stopping the engine, these values are stored without being erased.
When 1 is turned on, the stored value is read and the head ΔHPT when the engine is stopped is displayed.

As described above, according to the first embodiment, the amount of rope winding ΔLrB and ΔrJ around the drums 4 and 5 is controlled by the boom 7.
And the correction amount ΔLJ due to the angle change between the boom 7 and the jib 9 is added to the head ΔHB,
Since ΔHJ is calculated, it is possible to display an accurate lift in the jib crane in consideration of a change in the angle between the boom 7 and the jib 9. In this case, the heads of the main hook 13A and the auxiliary hook 13B are always calculated at the same time, and only one of them is displayed at the time of display.
The lift of A and the auxiliary hook 13B can always be grasped. Further, since the head lift ΔHT is calculated by adding the correction amount ΔLT due to the angle change between the tower 19 and the jib 20 to the rope winding amount ΔLrT to the drum 4, the angle change between the tower 19 and the jib 20 is also possible in the tower crane. Can be displayed accurately in consideration of

Further, the latest total pulse number PP, head ΔHP,
The number of pulses Pr at the time of reset, the reset flag, and the like are stored in the nonvolatile EEPROM 53, and these values are read when the engine is restarted. As a result, an accurate head can always be displayed based on the same reset position without performing an initial setting or a reset operation every time the engine is restarted.

Second Embodiment Next, a second embodiment of the present invention will be described with reference to the flowcharts shown in FIGS. In the second embodiment, the head after engine restart is calculated based on the head when the engine is stopped. In the following description, EE
The head ΔH stored in the PROM 53 is represented as H. First, the operation mode is determined in step S81, and if it is determined that the operation is other than the tower operation, the process proceeds to step S82. In step S82, it is determined in the same manner as in step S9 of FIG. 7 described above, that is, whether or not to perform the initial setting is determined based on whether or not the set switch 45 is operated. If step S82 is affirmed, the process proceeds to step S83; Then, the process proceeds to step S87. In step S83, as in step S10 described above, the number of ropes kB, kJ, the number of pulses PaB, PaJ corresponding to the winding layer and winding sequence of the drums 4, 5, the boom 7
And the length of the jib 9 are input as initial values. Then
In step S84, the operation mode is determined. If the operation mode is determined to be the boom operation, the process proceeds to step S85. If the operation mode is determined to be the jib operation, the process proceeds to step S86. Step S85, Step S
86, the current total number of pulses PSB, PSJ in the RAM 52
Substituting the number of pulses PaB and PaJ at the initial position into
The heads HB, HJ and the flags FB, FJ of the AM 52 are set to 0.

In the next step S87, it is determined whether or not the engine has been restarted. If step S87 is affirmed, the process proceeds to step S88, where the current total number of pulses PSB, PS
The heads HB, HJ for displaying the latest total pulse numbers PPB, PPJ when the engine is stopped stored in the EEPROM 53 in J.
At the current position stored in the EEPROM 53
PB and HPJ are respectively substituted, and the flags FB and FJ are set to 2. On the other hand, when step S87 is denied, the operation proceeds to step S89 to determine the operation mode. When it is determined that the operation is the boom operation, the operation proceeds to step S90. When it is determined that the operation is the jib operation, the operation proceeds to step S91. In step S90, the head HB stored in the RAM 52 is displayed, and in step S91, the head HJ stored in the RAM 52 is displayed. In the next step S92, the proximity sensors 36A, 36B
, A count value PJ from the proximity sensors 37A and 37B, a boom angle αB detected by the boom angle meter 31, and a jib angle βJ detected by the jib angle meter 33, respectively. In step S93, the count values PB and PJ are substituted for the pulse numbers PtB and PtJ of the RAM 52, respectively.
Of the current total number of pulses PSB, PSJ of PSB + PtB, PSJ +
Each is updated by PtJ.

Subsequently, it is determined in a step S94 whether or not the reset switch 47 is on. When step S94 is affirmed, the process proceeds to step S95, and the operation mode is determined. If the boom operation is determined in step S95, the boom angle αB at that time is set as the reset boom angle αrB in step S96.
In the next step S97, the flag FB is set to 1 and the head to be displayed HB is set to 0. Then, the head HB is displayed in step S98, and the process proceeds to step S102. On the other hand, if it is determined in step S95 that the jib work is to be performed, the boom angle αB and the jib angle βJ at that time are stored in the RAM 52 and the EEPROM 53 as the reset boom angle αrB and the jib angle βrJ in step S99, and the flag is set in the next step S100. FJ is set to 1 and the head to be displayed HJ is set to 0. Then, in step S101, the head HJ is displayed, and in step S102
Proceed to. In step S102, the total number of pulses PSB and PSJ at the time of reset are substituted for PrB and PrJ, respectively,
To memorize. Next, in step S103, the total number of pulses PrB and PrJ at the time of reset are subtracted from the current total pulses PSB and PSJ. From the graph of FIG. 18 showing the relationship between the number of pulses and the amount of rope winding in the second embodiment, the amount of rope winding (ΔLr2) corresponding to each operation of the boom and the jib.
And the rope winding amounts kB and kJ are divided to calculate the rope movement amounts ΔLrB and ΔLrJ, respectively. However, immediately after the reset switch is operated, PSB = PrB or PSJ = PrJ, and ΔLrB or ΔLrJ is zero.

On the other hand, if step S94 is negative, the process proceeds to step S104, and the value of the flag FB is determined. If it is determined in step S104 that the flag FB is 1, that is, if the reset switch 47 has already been turned on during the boom operation, the process proceeds to step S105, and the value of the flag FJ is determined.
If it is determined in step S105 that the flag FJ is 1, that is, if the reset switch 47 has already been turned on during the jib operation, the flow proceeds to step S103. If the flag FJ is determined to be 0, the flow proceeds to step S106. In step S106, the total number of pulses PrB at the time of reset is subtracted from the current total pulse PSB to obtain a rope winding amount ΔLr2, which is divided by the number of rope kB to calculate a rope moving amount ΔLrB. By subtracting the pulse number PaJ at the time of initial setting from the pulse number PSJ, the rope winding amount ΔLr1 is obtained from the graph of FIG. 18, and the obtained value is divided by the rope number kJ to calculate the rope moving amount ΔLrJ.

In step S104, the flag FB is set to 0.
Is determined, the process proceeds to step S107, and the value of the flag FJ is determined. If the flag FJ is determined to be 0 in step S107, the process proceeds to step S108, where the current total pulse P
The number of rope windings ΔLr1 is obtained by subtracting the initial number of pulses PaB and PaJ from SB and PSJ, respectively, and the obtained value is divided by the number of ropes kB and kJ to obtain the amount of rope movement ΔLrB and ΔLrJ.
Are calculated respectively. If the flag FJ is determined to be 1 in step S107, the process proceeds to step S109, in which the pulse number PaB at the time of the initial setting is subtracted from the current total pulse PSB to obtain the rope winding amount ΔLr1, and the obtained value is calculated as the rope hanging number kB.
To calculate the rope movement amount ΔLrB, and from the current total pulse number PSJ to the total pulse number PrJ at reset.
Is subtracted to obtain a rope winding amount ΔLr2, which is divided by the number of rope kJ to calculate a rope moving amount ΔLrJ. If it is determined in step S104 that the flag FB is 2, that is, the engine is to be restarted, the process proceeds to step S110. In this case, the flag FJ is also 2. In step S110, the numbers of pulses PPB and PPJ stored when the engine is stopped are subtracted from the current total pulses PSB and PSJ to obtain the rope winding amounts ΔLr3 from the graph of FIG. Divide the rope travel distance ΔLrB,
ΔLrJ is calculated respectively.

As described above, Steps S103 and S
106, when the rope movement amounts ΔLrB and ΔLrJ are calculated in any of steps S108 to S110, FIG.
The process proceeds to step S111 of FIG.
34, the head correction amount ΔLB due to the boom angle change.
And a head correction amount ΔLJ due to a change in boom and jib angles are obtained. Next, in step S112, the rope movement amounts ΔLrB and ΔLrJ are changed to the head correction amount Δ
The head change amounts ΔHB, ΔHJ are obtained by correcting the heads HB, HJ by correcting the heads HB, HJ in the next step S113, respectively.
The head change amount ΔHB and the head change HJ + the head change amount ΔHJ are updated. Next, the operation mode is determined in step S114. If it is determined that the operation is the boom operation, the head HB is displayed in step S115. If it is determined that the operation is the jib operation, the process proceeds to step S1.
At 16, the head HJ is displayed. Then, step S117
Substitute the current heads HB and HJ into the heads HPB and HPJ, respectively, and replace the current total pulse number PSB and PSJ with the latest total pulse number P.
PB and PPJ are respectively substituted and stored in the EEPROM 53. In the next step S118, the power supply 41
Is determined to be OFF, and if negative, the process returns to step S81 to repeat the same processing, and if affirmative, the processing ends.

If it is determined in step S81 that the work is a tower work, the flow advances to step S119 in FIG. 17 to determine whether or not to perform an initial setting. When step S119 is affirmed, the process proceeds to step S120, and when denied, the process proceeds to step S1.
Proceed to 22. In step S120, the number of ropes kT, the winding layer of the drum 4, the number of pulses PaT corresponding to the winding train, the length of the tower 19 and the jib 20, and the like are input as initial values.
In step S121, the current total pulse number PS in the RAM 52
The pulse number PaT at the initial position is substituted for T, and the head HT and the flag FT of the RAM 52 are set to 0. Next, step S12
It is determined whether or not the engine has been restarted in step 2, and if affirmed, the process proceeds to step S123;
Proceed to 124. In step S123, the latest total pulse number PPT at the time of engine stop stored in the EEPROM 53 is stored in the current total pulse number PST in the head HT to be displayed.
The head HPT of the current position stored in the EPROM 53
And the flag FT is set to 2. Subsequently, the lift HT stored in the RAM 52 in step S124
Is displayed, and the proximity sensors 36A, 36
The count value PT from B, the tower angle αT detected by the tower angle meter 32, and the jib angle βT detected by the jib angle meter 34 are read. In the next step S126, the count value PT is substituted for the pulse number PtT of the RAM 52, and the current total pulse number PST of the RAM 52 is updated by PST + PtT.

Subsequently, in step S127, it is determined whether or not the reset switch 47 has been turned on. If the determination is affirmative, the process proceeds to step S128, where the tower angle αT and jib angle βT are reset to the tower angle αrT and jib angle at reset. Substitute the angle βrT and store it in RAM 52 and EEPROM 53,
In the next step S129, the head HT displayed is set to 0, and the flag FT is set to 1. Then, in step S130, the head HT is displayed, and the flow advances to step S131. The total number of pulses PST at the time of resetting is substituted for PrT and stored in the RAM 52. Next, in step S132, the current total pulse PST
Is subtracted from the total number of pulses PrT at the time of reset to obtain the rope winding amount ΔLr2 from the graph of FIG. 18, and the rope winding amount is divided by the rope hanging number kT to obtain the rope moving amount ΔLr2.
LrT is calculated, and the process proceeds to step S136.

On the other hand, if step S127 is denied, the process proceeds to step S133 to determine the value of the flag FT. Here, the flag FT is 1, that is, the reset switch 47
If it is determined that is already turned on, the process proceeds to step S132, and if it is determined that the flag FT is 0, the process proceeds to step S134. In step S134, the total number of pulses PaT at the time of initial setting is subtracted from the current total pulse PST to obtain the rope winding amount ΔLr1 from the graph of FIG.
The rope movement amount ΔLrT is calculated by dividing by T,
Proceed to 136. If the flag FT is determined to be 2 in step S133, the process proceeds to step S135, and the pulse number P stored when the engine is stopped is calculated from the current total pulse PST.
After subtracting PT, the amount of rope winding Δ
Lr3 is obtained and divided by the multiplier kT to calculate the rope movement amount ΔLrT, and the process proceeds to step S136.

In step S136, similarly to step S59 in FIG. 9 described above, the lift correction amount ΔLT due to the change in the tower and jib angles is determined. In step S137, the rope movement amount ΔLrT is corrected by the lift correction amount ΔLT due to the angle change. The head variation ΔHT is determined. Then, step S
At 138, the head HT is updated with the head HT + the head variation ΔHT, and at step S139, the head HT is displayed. Then
In step S140, the current lift HT is substituted for the lift HPT, and the current total pulse number PST is substituted for the latest total pulse number PPT, and stored in the EEPROM 53, and the process proceeds to step S118.

Next, the lift meter 4 according to the second embodiment
The operation of 0 will be described more specifically. (1) Boom work At the time of the boom work, as in the first embodiment, the driver lands the suspended load suspended on the hook 13A on the ground (initial position A) and performs initial settings in that state. At this time, 0 is stored in the storage area HB for head display in step S85, and head HB = 0 is displayed in step S90. After the initial setting, while the suspended load BA is being wound from the initial position A to the ground position, the counter counts up according to the rotation of the drum 4 and the total pulse number PSB increases. Until the reset switch 47 is turned on, the process proceeds from step S94 to steps S104 and S107. If the reset operation has been performed during the jib operation, the process proceeds to step S108. If the reset operation has not been performed, the process proceeds to step S109. As a result, the rope winding amount is calculated as ΔLr1 in FIG. 18 and the ΔLr1 is divided by the multiplier kB to obtain the rope movement amount ΔLr by driving the drum 4.
Calculate B. When the drum 6 is driven, the rope movement amount ΔLrB is changed to the head correction amount Δ
The head change amount ΔHB is calculated by correcting with LB, and the head change amount ΔHB is added to the immediately preceding head HB to obtain the head HB from the initial position, which is displayed in step S115.

When the suspended load reaches the ground position B and the reset switch 47 is turned on, steps S94 to S95, S96, S97, and S9 are performed.
Proceeding to 8, the display section 42 displays the head HB = 0. In the subsequent repetitive processing, the process proceeds from step S94 to steps S104 and S105. If the reset operation has been performed during the jib operation, the process proceeds to step S103. Otherwise, the process proceeds to step S106. Thus, the rope winding amount is calculated as ΔLr2 in FIG. 18, and the ΔLr2 is divided by the multiplier kB to calculate the rope movement amount ΔLrB by driving the drum 4. This is corrected by the head correction amount ΔLB due to the angle change of the boom 7 to obtain the head change amount ΔHB, the head change amount ΔHB is added to the immediately preceding head HB, the head HB from the reset position is calculated, and the head HB is calculated. Step S11
5 is displayed. This head HB and the total number of pulses P at the current position
SB is updated in step S117 and the EEPROM 53 is updated.
Even after the engine is stopped, the head HB and the total number of pulses PSB when the engine is stopped are stored without being erased.
In FIG. 18, the amount of rope winding when the engine is stopped is denoted by LE.

When the engine is restarted, step S
From 94, the process proceeds to step S104 and step S110.
Immediately after the restart of the engine, the rope winding amount is calculated as ΔLr3 in FIG. 18 based on the number of pulses PPB at the time of engine stop corresponding to the rope winding amount LE. The correction is made by ΔLB, and the head change amount ΔHB is calculated. The head HPB when the engine is stopped is added to the head change amount ΔHB to calculate the head HB, and the head HB is displayed. Therefore, even when the engine is restarted, the head H
B is displayed.

(2) Jib work During jib work, 0 is stored in the storage area HJ for head display in step S86, and in step S91, the head HJ =
0 is displayed. Until the reset switch 47 is turned on, steps S94 to S104, step S105,
The process proceeds to step S106 or steps S104, S107, and S108, and the rope movement amount ΔLrJ by driving the drum 5 is calculated. The rope movement amount ΔLrJ is corrected by the head correction amount ΔLJ due to the angle change of the boom 7 and the jib 9 by driving the drum 6, and the head change amount ΔHJ is calculated. This head correction amount ΔHJ is added immediately before the head H
J is added to obtain a head HJ from the initial position, and step S
Displayed at 116. When the reset switch 47 is turned on, steps S94 to S95 and step S9 are performed.
From 9 to step S101, the head HJ = 0 is displayed. In the subsequent repetitive processing, steps S94 to S104, step S105, step S103
Alternatively, the process proceeds to steps S104, S107, and S109 to calculate the rope movement amount ΔLrJ, obtain the head change amount ΔHJ corrected by the head correction amount ΔLB due to the boom and jib angle change, and calculate the head HJ from the reset position. .

When the engine is restarted, step S
From 94, the process proceeds to step S104 and step S110,
The head change amount ΔHJ is calculated based on the number of pulses PPJ when the engine is stopped, and this head change amount ΔHJ is added to the head HJ when the engine is stopped to calculate the current head HJ. As a result, even when the engine is restarted, the head HJ based on the reset position before the engine is stopped is displayed. The second
In this embodiment, the head of the main hook 13A and the head of the auxiliary hook 13B are simultaneously calculated and stored.

(3) Tower work At the time of tower work, 0 is stored in the storage area HT for head display in step S123, and head HT = 0 is displayed in step S124. Until the reset switch 47 is turned on, steps S127 to S13
3, the process proceeds to steps S134 and S136, and the rope movement amount ΔLrT from the initial position due to the driving of the drum 4 is calculated. This rope movement amount ΔLrT is corrected by a head correction amount ΔLT due to a change in the angle of the tower boom 19 and the jib 20 by driving the drums 5 and 6, thereby obtaining a head change amount ΔHT.
The immediately preceding head HT is added to the head correction amount ΔHT to display the head HT from the initial position. When the reset switch 47 is turned on, the process proceeds from step S127 to steps S128 to S132, and the head HT = 0 is displayed. In the subsequent repetitive processing, the process proceeds from step S127 to steps S133 and S132, where the rope movement amount ΔLr
T is calculated, and the head correction amount Δ due to changes in the tower and jib angles
The head change amount ΔHT corrected by LT is obtained, and the head HJ from the reset position is calculated.

When the engine is restarted, step S
From step 127, the process proceeds to steps S133 and S135 to calculate the head change amount ΔHT based on the pulse number PPT when the engine is stopped, and to add this head change amount ΔHT to the head HT when the engine is stopped to obtain the current head HT. calculate.
Thus, even when the engine is restarted, the head HT based on the reset position before the engine is stopped is displayed.

As described above, also in the second embodiment,
In consideration of a change in the angle of the boom 7, a change in the angle between the boom 7 and the jib 9, or a change in the angle between the tower 19 and the jib 20, the lift H
Since B, HJ, and HT are calculated, the head of a jib crane such as a jib crane or a tower crane can be accurately measured. In this case, the current heads HB, HJ, HT and the pulse numbers PSB, PSJ, PST based on the reset position are stored in the EEPROM 53 as the latest headings HPB, HPJ, HPT,
The pulse numbers PPB, PPJ, and PPT are stored while being updated as needed, and the latest heads HPB, HPJ, and H are stored when the engine is restarted.
Since the PT and the pulse numbers PPB, PPJ, and PPT are read, the head can be displayed based on the reset position before the engine is stopped even when the engine is restarted.

Third Embodiment A third embodiment differs from the second embodiment in that FIG.
In step S102 of FIG. 17 and step S131 of FIG. 17, the total number of pulses PSB, PSJ, and PST at the time of reset are stored in the EEPROM 53 as PrB, PrJ, and PrT, respectively. Also, step S88 in FIG. 15 corresponds to steps S88A to 88D in FIG. 19, and step S123 in FIG.
Steps S123A to S123D of 0 are respectively changed. Further, step S117 in FIG. 16 is replaced with step S117A in FIG.
0 is changed to step S140A in FIG.

Step S117A, Step S140A
In the EEPROM 53, the current pulse numbers PSB, PSJ, PST, the head correction amounts ΔLB, ΔLJ due to the boom and jib angle changes, and the head correction amounts ΔLT due to the tower / jib angle changes are stored in the EEPROM 53, respectively, and the current heads HB, HJ, HT is not remembered. If it is determined that the engine is restarted, that is, if steps S87 and S122 are affirmed, step S87 is performed.
88A, the process proceeds to step S123A. Step S88A,
In step S123A, the flags FB, FJ, and FT are set to 2, and in the next steps S88B and 123B, EEPRO
Latest total pulse number P before engine stop stored in M53
The difference between the winding length for PB, PPJ, PPT and the winding length for resetting PrB, PrJ, PrT is divided by the number of rope kB, kJ, kT to obtain the rope winding amount ΔLrB, ΔLrJ, ΔLrT. calculate. Next, in steps S88C and S123C, the lift correction amounts ΔLpB, ΔLpJ, ΔLpT due to the angle change read from the EEPROM 53 are added to the rope winding amounts ΔLrB, ΔLrJ, ΔLrT, respectively, and the lifts HSB, HSJ, H at the time of engine restart.
Find ST. Subsequently, step S88D, step S1
23D, the current total number of pulses PSB, PSJ, PST is EE
The latest total pulse numbers PPB, PPJ, PPT of the PROM 53 are set, and the heads HB, HJ, HT to be displayed are the heads HSB, HSJ, HST obtained in steps S88C and S123C.

As described above, according to the third embodiment, the total number of pulses PSB, PSJ, and PST at the time of resetting is stored in the EEPROM 53 as the number of pulses PrB, PrJ, and PrT at the reset position. Number PSB,
PSJ, PST, lift correction amount ΔLB, ΔLJ, Δ due to angle change
LT is the latest total number of pulses PPB, PPJ, P when the engine is stopped.
PT, lift correction amount due to angle change ΔLPB, ΔLPJ, ΔLP
Since T is stored in the EEPROM 53, the heads HB, HJ, and HT based on the reset can be displayed without storing the head when the engine is stopped.

In the second and third embodiments, it is determined whether or not the engine has been restarted in steps S87 and S122. If the engine has been restarted, steps S88 and S88A to S88 are performed.
88D, step S123, and the processing of steps S123A to S123D are performed.
(Boom, jib work), the fourth shown in FIG. 22 (tower work)
As in the embodiment, step SS87, step S87
The processing may be performed without performing the processing of step 122 or the like, that is, without determining whether the engine has been restarted.

In the above embodiment, the head is calculated separately for the jib crane and the tower crane. That is, the head for the boom work and the jib work are calculated for the jib crane, and the head for the tower work is calculated for the tower crane. Although the calculation is performed, the heads of the boom operation, the jib operation, and the tower operation may be calculated at the same time. In this case, step S1 in FIG. 7 is omitted, and the determination of the work mode in FIGS. 7 and 8 (step S6, step S11,
The tower work may be added to steps S21 and S29). In the above embodiment, the boom 7,
19 and jib 9, 20 are both movable, and boom 7, 19
The head is corrected based on the change in the angle of the jib and the change in the angle of the jib 9, 20. However, in the case where the work is performed with the boom angles αB, αT fixed, the head is corrected based on the change in the jib angle βJ, βT. It is sufficient to correct the head.

In the above-described embodiment, the head is calculated based on the number of pulses that change according to the rotation of the drums 4 and 5. For example, the first rope winding amount from the initial position to the current position is calculated. Means such as a rotary encoder capable of measuring the amount of winding L11 of the second rope from the initial position to the reset position are provided, and these first and second winding amounts of rope L10 and L11 are stored in the EEPROM 53, L at the current position
It may be determined by the calculation of 10-L11. Further, the lift from the reset position to the current position and the rope winding amount L10 from the initial position to the current position are determined by EE.
The head may be stored in the PROM 53 and the head after the engine is started may be obtained based on these values.

In the correspondence between the above embodiment and the claims, the guy line 10 and the pendant ropes 21, 23,
The auxiliary winding rope 18 is the supporting rope, the main winding rope 14 and the auxiliary winding rope 18 are the hoisting rope, the main winding drum 4 and the auxiliary winding drum 5 are the drums, the arithmetic unit 50 is the head calculating means, the jib angle meter 33 , 34 constitute the jib angle detecting means, the arithmetic unit 50 constitutes the correcting means, and the boom angle meter 31 and the tower angle meter 32 constitute the boom angle detecting means.

[0071]

As described above in detail, according to the first aspect of the present invention, the head of the suspended load due to the rotation of the drum is calculated, and the head is corrected based on the detected value of the jib angle. In addition, it is possible to obtain an accurate lift in consideration of a change in the lift due to elongation of the jib support rope. According to the second aspect of the present invention, the head is corrected based on the detected value of the boom angle and the detected value of the jib angle, so that the head when the boom angle changes can be accurately obtained. Furthermore, according to the third aspect of the invention, the head is selectively displayed according to a work signal from a moment limiter or the like. The corresponding head is displayed. Still further, according to the invention of claim 4, the lift of the suspended load is corrected based on the detected angle of the boom and the jib. According to the invention of claim 5, based on the detected angle of the tower boom and the jib. Since the lift of the suspended load is corrected, the lift of the suspended load in the jib crane and the lift of the suspended load in the tower crane can be accurately obtained.

[Brief description of the drawings]

FIG. 1 is a side view of a jib crane provided with a lift gauge according to an embodiment of the present invention.

FIG. 2 is a side view of a tower crane provided with a lift gauge according to the embodiment of the present invention.

FIG. 3 is a diagram showing a configuration for performing drum rotation measurement.

FIG. 4 is a front view of the lift gauge according to the embodiment of the present invention.

FIG. 5 is a diagram showing a configuration of a calculation device constituting the lift gauge according to the embodiment of the present invention.

FIG. 6 is a diagram showing the relationship between the number of pulses and the amount of rope winding according to the first embodiment of the present invention.

FIG. 7 is a part (part 1) of a flowchart showing processing performed in the first embodiment;

FIG. 8 is a part (part 2) of a flowchart showing processing performed in the first embodiment;

FIG. 9 is a part (part 3) of a flowchart illustrating processing performed in the first embodiment;

FIG. 10 is a diagram for explaining the correction of the head by the change in the angle of the boom.

FIG. 11 is a diagram for explaining the correction of the lift due to a change in the angle between the boom and the jib.

FIG. 12 is a diagram for explaining the correction of the lift due to a change in the angle between the tower boom and the jib.

FIG. 13 is a flowchart of a counter routine.

FIG. 14 is a view for explaining a lift of a crane provided with a lift gauge according to the embodiment of the present invention.

FIG. 15 is a part (part 1) of a flowchart showing processing performed in the second embodiment;

FIG. 16 is a part (part 2) of a flowchart showing processing performed in the second embodiment;

FIG. 17 is a part (part 3) of a flowchart showing processing performed in the second embodiment;

FIG. 18 is a diagram showing the relationship between the number of pulses and the amount of rope winding according to the second embodiment of the present invention.

FIG. 19 is a part (part 1) of a flowchart showing processing performed in the third embodiment;

FIG. 20 is a part (part 2) of a flowchart showing processing performed in the third embodiment;

FIG. 21 is a part (part 1) of a flowchart showing processing performed in the fourth embodiment;

FIG. 22 is a part (part 2) of a flowchart showing processing performed in the fourth embodiment;

[Explanation of symbols]

Reference Signs List 3 revolving unit 4 main winding drum 5 auxiliary winding drum 7 boom 9 jib 10 guy line 12 undulating rope 14 main winding rope 18 auxiliary winding rope 19 tower boom 20 jib 21,23 pendant rope 31 boom angle meter 32 tower angle meter 33,34 jib Angle meter 35 Moment limiter 36A, 36B, 37A, 37B Proximity sensor 40 Head gauge 50 Arithmetic unit

Claims (5)

[Claims] 1. A jib rotatably supported by a support rope having a variable length. The jib can be lifted and lowered from a leading end of the jib by winding or unwinding a hoisting rope wound around a drum. A jib lift gauge for displaying a lift of a suspended load suspended in the jib; a lift calculating means for calculating a lift of the suspended load by rotation of the drum; a jib angle detecting means for detecting an angle of the jib; and the jib. And a correcting means for correcting the head calculated by the head calculating means based on a value detected by the angle detecting means. 2. An end portion of a boom which can be raised and lowered and has a jib rotatably supported by a support rope having a variable length. The jib is wound or unwound by a hoisting rope wound around a drum. A lift gauge for displaying a lift of a suspended load suspended from a tip end of the jib so as to be able to ascend and descend; a lift calculating means for calculating a lift of the suspended load by rotation of the drum; and a boom for detecting an angle of the boom. Angle detection means, Jib angle detection means for detecting the angle of the jib, Based on the detection value from the boom angle detection means and the detection value from the jib angle detection means, was calculated by the head calculation means And a correcting means for correcting the head. 3. A lift gauge for calculating a lift of a suspended load suspended from a boom or a jib tip by feeding or winding a hoisting rope wound around a drum and displaying the lift. A work signal indicating any of the boom work, the jib work, and the tower work is input, and the lift of the suspended load suspended from the boom tip of the jib crane and the lift of the suspended load suspended from the jib tip of the jib crane, A lift gauge, wherein one of lifts of a suspended load suspended from a jib tip of a tower crane is selectively displayed according to the work signal. 4. A crane main body, a boom pivotally supported by the crane main body by extending or winding a hoisting rope, and a support rope having a predetermined length that can be extended and contracted at a tip end of the boom. A jib supported by the jib, and a drum that lifts and lowers a suspended load suspended from a tip end of the jib, a boom angle detection unit that detects an angle of the boom, and a detection of an angle of the jib A jib angle detecting means, a head calculating means for calculating a lifting amount of the suspended load based on a feeding amount and a feeding amount of a hoisting rope by rotation of the drum, a detection value from the boom angle detecting means and the jib angle Correction means for correcting the head calculated by the head calculation means based on the detection value from the detection means; and a head corrected by the correction means Construction machine characterized in that it comprises a lift meter display. 5. A crane main body, a tower boom pivotally supported on the crane main body by extending or winding up a hoisting rope, and pivotable to a tip end of the tower boom by extending or winding up a support rope. A construction machine comprising: a jib pivotally supported by; and a drum that lifts and lowers a suspended load suspended from a tip of the jib; a boom angle detection unit that detects an angle of the tower boom; and an angle of the jib. Jib angle detection means for detecting the lifting amount of the hoisting rope based on the rotation amount of the drum and the lifting amount of the hoisting load based on the winding amount of the lifting rope, and a detection value from the boom angle detection means and Correcting means for correcting the head calculated by the head calculating means based on the detection value from the jib angle detecting means; Construction machine characterized in that it comprises a lift meter for displaying the lift corrected by positive means.