JP2001233588A - Device for stopping turning of on-vehicle working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable turning stop position means 31 which detects a very narrow turning storage position S to implement a highly accurate detection with less detection angle difference in terms of the turning direction, in an on-vehicle machine adapted to store an elongating/shrinking boom 6 in a storage space A between a cabin 2 of a vehicle 1 and a loading space 3. SOLUTION: This device comprises turning stoppage position detection means 31 composed of a member to be detected 31c having an area to be detected having a specified angle width ϕ, and two turning position detection means 31a, 31b which are arranged apart with an angle width corresponding substantially to the area to be detected of the member 31c and output truning stop signals when they are simaltaneously operated.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a turning stop device for a vehicle-mounted working machine such as a crane or a high-altitude working machine, which is mounted between a cab of a vehicle and a carrier.

[0002]

2. Description of the Related Art As an on-vehicle type working machine constructed to be mounted between a cab of a vehicle and a cargo bed, there is an on-vehicle type crane as shown in FIGS. The on-vehicle crane includes left and right chassis frames 1a located between a cab 2 and a carrier 3 of a vehicle 1.
A crane base 4 mounted thereon, and a turning drive means erected at a position on the crane base 4 offset to one side in the vehicle width direction.
A swivel post 5 which is swiveled by 12; a telescopic boom 6 pivotally supported on the upper part of the swivel post 5; and a telescopic boom 6 which is driven up and down by an hoisting cylinder 8 and telescopically driven by a boom telescopic cylinder 7; And a hook block 11 that is hung from below and is driven up and down by a winch device 10.

FIG. 6 shows a hydraulic control device for driving and controlling a vehicle-mounted crane. The hydraulic control device includes a hydraulic pump 14 driven by an engine 13 and a hydraulic oil from the hydraulic pump 14 for the turning drive means 12. A swivel control valve 15 for swiveling the swivel post 5 to supply / discharge the swivel post 5, an up / down control valve 16 to supply / discharge pressure oil to the up / down cylinder 8 and up / down drive the telescopic boom 6, and supply a pressurized oil to the winch device 10. It comprises a winch control valve 17 for discharging and driving the hook block 11 up and down, and a telescopic control valve 18 for supplying and discharging pressure oil to the boom telescopic cylinder 7 and driving the telescopic boom 6 to expand and contract.

The control valves 15, 16, 17, 18
Is a remote control device that can be remotely controlled by wire or wireless.
Remote control. The remote control device
Reference numeral 19 denotes a transmitter 20 which is carried and operated by an operator, and each control valve 1 which receives an operation signal from the transmitter 20 and corresponds thereto.
A controller 21 that outputs a valve switching signal to 5, 16, 17, and 18 to switch and control the control valve. The controller 21 drives the transmitter 20 in the direction in which the transmitter 20 is to be driven, for example, turns the telescopic boom 6 clockwise. In this case, if the transmitter 20 is operated to the right turning side, the controller 21 receiving this operation signal outputs a valve switching signal to the right turning position a to the turning control valve 15 corresponding to the operation signal. Thus, the control valve is controlled to be switched, and pressure oil is supplied to the turning drive means 12 to drive the turning post 5 in the right turning direction.

[0005] The controller 21 controls each control valve 1.
A valve switching signal is output to 5, 16, 17, and 18, and an engine speed increase signal is output to the engine 13 that drives the hydraulic pump 14. That is, when the operation signal from the transmitter 20 is small, the controller 21 outputs only a valve switching signal for each of the control valves 15, 16, 17, and 18 to drive the engine 13 in a low speed state. When the pressure exceeds a predetermined value, each control valve 15, 16, 17, 18
And an engine speed increase signal is output to the engine 13 together with a valve switching signal for the engine 13 to drive the engine 13 in a high-speed state so that high-speed driving can be performed.

[0006] The vehicle-mounted crane having the above-described configuration, with the load suspended from the hook block 11, is equipped with a swing control valve 15.
, The swivel post 5 is swiveled, the up / down control valve 16 is swiveled, the up / down cylinder 8 is up / down driven, and the expansion / contraction control valve 18 is switched to drive the boom extend / contract cylinder 7 to extend / contract. The boom tip 6a is moved to an arbitrary position, and in this state, the winch control valve 17 is switched and controlled to drive the winch device 10 to raise and lower the hook block 11 to perform crane work.

When the vehicle 1 travels after the crane operation is completed, the telescopic boom 6 is moved to the vehicle 1 as shown in FIG.
In the storage space A (see FIG. 5) between the operator's cab 2 and the loading bed 3 in this state, and in this state, the telescopic boom 6 is reduced to the minimum and the hook block 11 is driven to the maximum winding position to drive the telescopic boom 6 to the tip. It is designed to be stored in a down position until it is in a down position (a state in which it is lying down at about 40 ° from the horizontal plane).

As described above, the on-vehicle crane configured to store the telescopic boom 6 in the storage space A between the cab 2 and the cargo bed 3 has the storage space A set in an extremely narrow range. At times, the telescopic boom 6 has to be accurately stopped at the retracted swing position S (the tolerance of the retracted swing position S is about 2 °). Therefore, in this type of on-vehicle crane, the turning stop position detecting means 22 detects that the turning post 5 has turned to the storage turning position S, and the main relief valve 24 interposed in the main circuit 23 is unlocked. A turning stop means 25 for loading and stopping the turning drive of the turning post 5 by the turning driving means 12 is provided.

[0009]

However, as shown in FIG. 7, the conventional turning stop position detecting means 22 includes one proximity sensor 22a and a detected member having a detected area having a predetermined width Φ0.
22b, the detection accuracy is poor and the telescopic boom 6
Cannot be accurately stopped at the retracted turning position S. That is, in the turning position detecting mechanism based on the combination of one sensor 22a and the detected member 22b, the detected area width Φ0 of the detected member 22b is set to be equal to or smaller than the permissible detection width (e.g., , 10 mm or less). Also,
This kind of turning position detecting mechanism is provided with an angle difference ΔΦ (detection of the detected member 22b) between a detecting position at the time of turning right (shown by a solid line in FIG. 7) and a detecting position at the time of turning left (shown by a chain line in FIG. 7). The detected area width Φ0 + α) is generated, and this angle difference ΔΦ is 4 to 5 ° when the detecting mechanism is mounted on the turning post 5 having a relatively small diameter.
As described above, for this reason, a detection accuracy of about 2 °, which is a stop allowable error at the retracted swing position S, cannot be secured, and the telescopic boom 6 cannot be accurately stopped at the retracted swing position S.

The present invention has been made in view of the above-mentioned conventional problems,
It is an object of the present invention to provide a turning stop position detecting means capable of detecting a minute angle with high accuracy, and a turning stopping means capable of performing stop control accurately without overrunning from a stored turning position.

[0011]

The present invention has the following structure as means for solving the above-mentioned problems. That is, the turning stop device of the vehicle-mounted working machine of the present invention includes a turning post that is turnably driven by turning driving means on a base mounted between a cab of a vehicle and a carrier, and an upper portion of the turning post. A telescopic boom pivotally supported at the base end so as to be able to move up and down, and a turning stop position for outputting a turning stop signal by detecting that the turning post has turned to the retracted turning position corresponding to the retracted posture, and a turning device. A turning stop device for a turning type working machine, comprising a turning means for receiving a turning stop signal from the turning stop position detecting means and stopping the turning drive of the turning post by the turning driving means. I have.

The turning stop device according to claim 1 is
The turning stop position detecting means is mounted between the base and the turning post, and is separated from the detected member having a detected area having a predetermined angular width by an angular width substantially corresponding to the detected area of the detected member. And two turning position detecting means for outputting a turning stop signal when both of them operate simultaneously.

In the turning stop device according to the first aspect of the present invention, the turning stop signal is output only when the two turning position detecting means are simultaneously operated. It is not affected by the width of the detection area. Therefore, even when the detection area of the detected member is set wide and the detection signal of the sensor is stabilized, the mounting position of the sensor is separated by an angular width substantially corresponding to the detected area of the detected member. , The storage turning position can be accurately detected.

The turning stop device according to a second aspect of the present invention further includes a turning speed restricting means for restricting the driving speed of the turning post by the turning driving means to a low speed, in addition to the turning stop device according to the first aspect. The turning speed restricting means is configured to operate by a detection signal of one of the two turning position detecting means.

In the turning stop device according to the second aspect of the present invention, the driving speed of the turning post by the turning driving means can be regulated to a low speed prior to the turning stop control by the turning stopping means. Overrun from the retracted swivel position at the time can be reduced,
The telescopic boom can be stopped accurately.
Since the turning speed restricting means is operated by a detection signal of one of the two turning position detecting means, there is no need to provide a separate detecting means.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A specific embodiment of the present invention will be described below with reference to FIGS. The turning stop device according to the present invention is obtained by changing the configuration of the turning stop position detecting means of the conventional turning stop device described above and adding a turning speed restricting means. In the following description, the difference will be mainly described. It shall be explained.

In the embodiment described below,
An example in which the turning stop device is applied to a vehicle-mounted crane will be described, but the same applies to a vehicle-mounted aerial work machine etc. where a work platform for mounting a worker is attached to the tip of the telescopic boom to enable work at a height. Applicable to

FIG. 1 shows a main structure of a vehicle-mounted crane including a hydraulic control device, FIG. 2 shows a structure of a turning stop position detecting means, and FIG. 3 shows a detecting method of the turning stop position detecting means. It is shown.

The on-vehicle crane according to the present invention comprises a swivel post 5 erected at a position deviated to one side in the vehicle width direction of the crane base 4 and swivel-driven by a swivel drive means 12 as in the prior art. A telescopic boom 6 pivotally supported on the upper part of the turning post 5 and driven up and down by a raising and lowering cylinder 8 and driven to expand and contract by a boom extending and retracting cylinder 7, and suspended from a tip 6 a of the telescopic boom 6 by a winch device 10. The hook block 11 is driven down.

When the vehicle 1 travels after the crane operation is completed, the telescopic boom 6 is moved to the retracted turning position S between the cab 3 and the carrier 3 of the vehicle 1 as shown in FIG. In the state where the telescopic boom 6 is turned, the telescopic boom 6 is reduced to the minimum and the hook block 11 is driven to hoist to the most hoisting position (the storage position swung toward the base end of the boom). (40 ° lying down) until it is stored.

Reference numeral 24 denotes a main relief valve, which is a vent circuit 24.
An unloading on-off valve 26 and a low-pressure control on-off valve 28 with a low-pressure relief valve 27 interposed are connected in parallel to a. Therefore, when the unloading on-off valve 26 is switched to the valve opening position a, the main relief valve 24 is controlled to the unloaded state, so that the supply of the pressure oil to the turning drive means 12 is cut off and the turning drive means
Twelve turning drives can be stopped. Further, if the low pressure control on-off valve 28 is switched to the valve opening position a, the low pressure relief valve 27 is operated and the main relief valve 24 is controlled to a low pressure state, so that the amount of oil supplied to the turning drive means 12 is reduced ( Most of the supply oil amount bleeds off from the main relief valve 24 set at a low pressure, and the supply oil amount decreases.) The drive speed of the turning drive means 12 can be reduced. The unloading on-off valve 26 and the low-pressure control on-off valve 28 are switch-controlled by a control signal of a controller 30 described later. The main relief valve 24, which is unloaded by the unloading on-off valve 26, constitutes the turning stop means 34 in claim 1, and the low pressure is controlled by the low-pressure relief valve 27 and the low-pressure control on-off valve 28. The main relief valve 24 constitutes the turning speed restricting means 34 according to the second aspect.

Reference numeral 29 denotes a remote control device, which is a transmitter which is carried and operated by an operator, similarly to the conventional remote control device 19.
And a controller 30 that receives an operation signal from the transmitter 20 and outputs a valve switching signal to each of the corresponding control valves 15, 16, 17, and 18 to control the switching of the valves. Further, the controller 30 has a control function of the turning stop means 34 and the turning speed regulating means 34 added thereto.

Reference numeral 31 denotes a turning stop position detecting means mounted between the turning bearing mounting seat 32 of the crane base 4 and the turning bearing cover 33 of the turning post 5. As shown in FIG. 2, the turning stop position detecting means 31 includes a detected member 31 c having a detected area having a predetermined angular width Φ (not less than a detection allowable width) attached to the turning bearing mounting seat 32, and the turning bearing cover 3.
3 and two proximity sensors 31a and 31b attached to a bracket 33a extending and arranged. The mounting positions of the two proximity sensors 31a and 31b are set to positions separated by an angular width (substantially angle Φ) substantially corresponding to the detection area of the detection target member 31c. The detection signals detected by these two sensors 31a and 31b are input to the controller 30 and output control signals as follows. That is, as shown in FIG.
In the state where neither the sensor 31a nor the sensor 31b has detected the detected member 31c, no control signal is output, and as shown in FIG.
In the state where one of the sensors a and 31b detects the detected member 31c, a turning deceleration signal is output to the turning speed restricting means 35, and as shown in FIG. 3c, both the sensors 31a and 31b detect the detected member 31c. In the state where 31c is detected, a turning stop signal is output to the turning stop means 34. In addition, the mounting position of the turning stop position detecting means 31 can be appropriately mounted other than the above-described position.

The turning stop position detecting means thus constituted
The detection area 31 of the detected member 31c is set by setting the mounting interval (separation width) of the two proximity sensors 31a and 31b to substantially match the detected area width Φ of the detected member 31c as described above. It is possible to detect the turning position with high accuracy without being affected by the width, that is, with almost no detection angle difference (for example, 1 ° or less) depending on the turning direction. In addition, a separate sensor is prepared by operating the turning speed regulating means 34 for controlling the deceleration of the turning drive speed prior to the operation of the turning stop means 34 based on the detection signal of one of the two sensors 31a and 31b. It is possible to perform turning deceleration control without performing.

Reference numeral 36 denotes a command switch for commanding the start of a series of turning stop control.

Next, the operation of the turning stop device will be described. In order to store the vehicle-mounted crane between the operator's cab 2 and the carrier 3 of the vehicle 1, first, the telescopic boom 6 is raised until the telescopic boom 6 is substantially horizontal, and the telescopic boom 6 is minimized and the hook block 11 is moved down. Drive up to the maximum winding position. Next, with the command switch 36 operated, the transmitter
By operating 20, the telescopic boom 6 is turned in the direction of the storage turning position S. By this turning drive, the telescopic boom 6 is moved to the position before the retracted turning position S, and one of the proximity sensors 31a (or 31b).
When the controller 30 detects the detected member 31c (the state shown in FIG. 3B), the controller 30 having received the detection signal sends a valve opening signal (rotation deceleration) to the low-pressure control opening / closing valve 28 constituting the turning speed regulating means 34. Signal) to open the valve and control the main relief valve 24 to a low pressure state. As a result, a large amount of oil supplied to the turning drive means 12 is bleed off from the main relief valve 24 to the tank, and the amount of supplied oil is reduced, so that the driving speed of the turning drive means 12 is reduced. For this reason, the overrun at the time of turning stop by the next turning stop means 34 can be reduced, and the accuracy of stop control can be improved. In this embodiment, the turning speed regulating means 34 is configured to perform low pressure control of the main relief valve 24 by the low pressure control opening / closing valve 28, but by reducing the number of revolutions of the engine 13 that drives the hydraulic pump 14 It may be configured to do so. Further, a configuration may be adopted in which the low pressure control of the main relief valve 24 by the low pressure control opening / closing valve 28 and the rotation speed reduction control of the engine 13 are simultaneously controlled.

Then, the telescopic boom 6 is turned to the retracted turning position S, and the two proximity sensors 31a and 31b are both detected members.
When the controller 31 detects the signal 31c (the state shown in FIG. 3C), the controller 30 outputs a valve opening signal (turning stop signal) to the unloading on-off valve 26 constituting the turning stop means 34 by receiving the detection signal, and And the main relief valve 24 is controlled to the unloaded state. As a result, the supply of the pressure oil to the turning drive means 12 is cut off, so that the driving of the turning drive means 12 is stopped. Therefore, the stop of the telescopic boom 6 can be accurately controlled to the retracted swing position S.

With the above operation, the telescopic boom 6 can be accurately pivoted to the retracted pivot position S, so that the telescopic boom 6 can be retracted and stored in a state where the tip is lowered.

[0029]

According to the turning stop device for a vehicle-mounted working machine of the present invention, the turning stop position detecting means is adapted to substantially correspond to a detected member having a detected area having a predetermined angular width and a detected area of the detected member. Since it is composed of two turning position detecting means that are separated by an angle width and output a turning stop signal when both are operated at the same time, it is possible to detect the turning position with high accuracy with almost no detected angle difference depending on the turning direction. The stop control can be performed with high accuracy.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram illustrating a main configuration of a turning stop device of a vehicle-mounted working machine according to the present invention.

FIG. 2 is an explanatory diagram illustrating a configuration of a turning stop position detecting unit.

FIG. 3 is an explanatory diagram for explaining the operation of a turning stop position detecting means.

FIG. 4 is an explanatory view (rear view) of a conventional vehicle-mounted work machine (vehicle-mounted crane).

FIG. 5 is an explanatory view (plan view) of the vehicle-mounted work machine (vehicle-mounted crane).

FIG. 6 is an explanatory diagram of a hydraulic control device of the on-vehicle working machine.

FIG. 7 is an explanatory diagram illustrating a configuration of a turning stop position detecting unit.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1; Vehicle, 1a; Chassis frame, 2; Operator's cab, 3; Carrier, 4; Crane base, 5; Swivel post, 6; Telescopic boom, 7; Boom telescopic cylinder, 8;
0; winch device, 11; hook block, 12; swing drive means, 13; engine, 14; hydraulic pump, 15; swing control valve,
16; up / down control valve, 17; winch control valve, 18; telescopic control valve, 19, 29; remote control device, 20; transmitter, 21, 30; controller, 22, 31; turning stop position detecting means, 24; Relief valve, 25, 34; turning stop means, 26; unloading on-off valve, 27; low-pressure relief valve, 28; low-pressure on-off valve, 31a, 31
b; turning position detecting means (proximity sensor), 31c; detected member, 35; turning speed regulating means, 36; command switch,

Claims (2)

[Claims] 1. A swivel post mounted on a base mounted between a cab of a vehicle and a luggage carrier so as to be swingably driven by a swing drive means, and a base end is pivotally supported on an upper portion of the swivel post so that the base end can be raised and lowered. A telescopic boom having a working device attached to the distal end thereof, a turning stop position detecting means for detecting that the turning post has turned to a retracted turning position corresponding to the retracted posture and outputting a turning stop signal, and the turning stop position detecting means A turning stop device for a turning type work machine, comprising turning stop means for stopping turning driving of the turning post by the turning driving means in response to a turning stop signal from the turning base, wherein the turning stop position detecting means comprises: A detection member attached between the turning posts and having a detection area having a predetermined angular width, and two turning position detection means arranged at an angular width substantially corresponding to the detection area of the detection member; There are vehicle type working machine slewing stop device, characterized in that both are composed of two pivoted position detecting means for outputting the slewing stop signal when activated at the same time. 2. A turning speed restricting means for restricting a driving speed of a turning post by said turning driving means to a low speed, wherein said turning speed restricting means is provided by one of said two turning position detecting means. The turning stop device for a vehicle-mounted working machine according to claim 1, wherein the turning stop device is configured to be activated by a detection signal.