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

Device for stopping turning of on-vehicle working machine

Info

Publication number
JP2001233588A
JP2001233588A JP2000048456A JP2000048456A JP2001233588A JP 2001233588 A JP2001233588 A JP 2001233588A JP 2000048456 A JP2000048456 A JP 2000048456A JP 2000048456 A JP2000048456 A JP 2000048456A JP 2001233588 A JP2001233588 A JP 2001233588A
Authority
JP
Japan
Prior art keywords
turning
stop
vehicle
position detecting
post
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP2000048456A
Other languages
Japanese (ja)
Other versions
JP2001233588A5 (en
JP4421726B2 (en
Inventor
Masatake Akita
真壮 秋田
Suekazu Satohigashi
末和 郷東
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tadano Ltd
Original Assignee
Tadano Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tadano Ltd filed Critical Tadano Ltd
Priority to JP2000048456A priority Critical patent/JP4421726B2/en
Publication of JP2001233588A publication Critical patent/JP2001233588A/en
Publication of JP2001233588A5 publication Critical patent/JP2001233588A5/ja
Application granted granted Critical
Publication of JP4421726B2 publication Critical patent/JP4421726B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Landscapes

  • Operation Control Of Excavators (AREA)
  • Jib Cranes (AREA)

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

【発明の詳細な説明】DETAILED DESCRIPTION OF THE INVENTION

【0001】[0001]

【発明の属する技術分野】本発明は、車輌の運転室と荷
台間に架装されるよう構成したクレーンや高所作業機等
の車載式作業機の旋回停止装置に関するものである。
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】[0002]

【従来の技術】車輌の運転室と荷台間に架装されるよう
構成した車載式作業機として、図4〜図7に示す如き車
載式クレーンがある。当該車載式クレーンは、車輌1の
運転室2と荷台3間に位置した左右のシャシフレーム1a
上に架装したクレーン基台4と、当該クレーン基台4上
の車幅方向一側に偏寄した位置に立設され旋回駆動手段
12で旋回駆動される旋回ポスト5、当該旋回ポスト5の
上部に枢支され起伏シリンダ8で起伏駆動並びにブーム
伸縮用シリンダ7で伸縮駆動される伸縮ブーム6、及び
当該伸縮ブーム6の先端部6aから吊下げられウインチ装
置10で巻上げ巻下げ駆動されるフックブロック11とで構
成されている。
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.

【0003】図6は、車載式クレーンを駆動制御する油
圧制御装置であり、当該油圧制御装置はエンジン13で駆
動される油圧ポンプ14と、当該油圧ポンプ14からの圧油
を前記旋回駆動手段12に給排して旋回ポスト5を旋回駆
動する旋回制御弁15、圧油を前記起伏シリンダ8に給排
して伸縮ブーム6を起伏駆動する起伏制御弁16、圧油を
前記ウインチ装置10に給排してフックブロック11を巻上
げ巻下げ駆動するウインチ制御弁17、及び圧油を前記ブ
ーム伸縮用シリンダ7に給排して伸縮ブーム6を伸縮駆
動する伸縮制御弁18とで構成されている。
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.

【0004】そして、これら各制御弁15,16,17,18
は、有線あるいは無線で遠隔操作可能な遠隔操作装置19
で遠隔操作されるようになっている。当該遠隔操作装置
19は、オペレータが携帯して操作する送信器20と、当該
送信器20からの操作信号を受信して対応する各制御弁1
5,16,17,18に対し弁切換信号を出力して当該制御弁
を切換制御するコントローラ21とで構成されており、オ
ペレータが送信器20を駆動したい方向、例えば伸縮ブー
ム6を右旋回させる場合には送信器20を右旋回側に操作
すれば、この操作信号を受信したコントローラ21が操作
信号に対応した旋回制御弁15に対し右旋回位置aへの弁
切換信号を出力して当該制御弁を切換制御し、圧油を旋
回駆動手段12に供給して旋回ポスト5を右旋回方向に駆
動するようになっている。
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】また、当該コントローラ21は、各制御弁1
5,16,17,18に対し弁切換信号を出力すると共に、油
圧ポンプ14を駆動するエンジン13に対しエンジン回転増
速信号を出力するようになっている。すなわち、当該コ
ントローラ21は、送信器20からの操作信号が小さい時に
は各制御弁15,16,17,18に対する弁切換信号のみを出
力してエンジン13を低速状態のままで駆動するが、操作
信号が所定以上になった時には各制御弁15,16,17,18
に対する弁切換信号と共にエンジン13に対しエンジン回
転増速信号を出力してエンジン13を高速状態にして高速
駆動ができるようになっている。
[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】このように構成した車載式クレーンは、フ
ックブロック11に荷物を吊下げた状態で、旋回制御弁15
を切換制御して旋回ポスト5を旋回駆動すると共に、起
伏制御弁16を切換制御して起伏シリンダ8を起伏駆動並
びに伸縮制御弁18を切換制御してブーム伸縮用シリンダ
7を伸縮駆動させて伸縮ブーム先端部6aを任意な位置に
移動させ、この状態でウインチ制御弁17を切換制御して
ウインチ装置10を駆動しフックブロック11を巻上げ巻下
げ動させてクレーン作業を行うようになっている。
[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.

【0007】また、クレーン作業が終了して車輌1を走
行させる時には、図4に示す如く伸縮ブーム6を車輌1
の運転室2と荷台3間の格納空間A内(図5参照)に旋
回させ、この状態で当該伸縮ブーム6を最縮小並びにフ
ックブロック11を最巻上げ位置まで巻上げ駆動し、伸縮
ブーム6を先端下がり状態(水平面から略40°倒伏した
状態)となるまで倒伏させて格納するようになってい
る。
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).

【0008】このように、伸縮ブーム6を運転室2と荷
台3間の格納空間A内に格納するよう構成した車載式ク
レーンは、当該格納空間Aが極めて狭い範囲に設定され
ているため、格納時に伸縮ブーム6を精度よく格納旋回
位置S(格納旋回位置Sの許容誤差は約2°)に停止さ
せる必要があった。このため、この種の車載式クレーン
には、旋回ポスト5が当該格納旋回位置Sに旋回したこ
とを旋回停止位置検出手段22で検出して、主回路23に介
装した主リリーフ弁24をアンロードさせて前記旋回駆動
手段12による旋回ポスト5の旋回駆動を停止させる旋回
停止手段25が取付けられていた。
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】[0009]

【発明が解決しようとする課題】しかしながら、従来の
旋回停止位置検出手段22は、図7に示す如く1個の近接
センサ22aと、所定幅Φ0の被検出領域を持つ被検出部材
22bで構成していたため、検出精度が悪く伸縮ブーム6
を格納旋回位置Sに正確に停止させることができないと
いう問題が生じていた。すなわち、1個のセンサ22aと
被検出部材22bの組合わせによる旋回位置検出機構で
は、センサ22aの検出信号を安定させる必要性から被検
出部材22bの被検出領域幅Φ0を検出許容幅以下(例え
ば、10mm以下)に設定することができなかった。また、
この種の旋回位置検出機構は、右旋回時の検出位置(図
7実線図示状態)と左旋回時の検出位置(図7鎖線図示
状態)との間で角度差ΔΦ(被検出部材22bの被検出領
域幅Φ0+α)が生じ、この角度差ΔΦが比較的小径の
旋回ポスト5部に検出機構を取付けた場合には4〜5°
以上となり、このため格納旋回位置Sへの停止許容誤差
である約2°の検出精度が確保できず、伸縮ブーム6を
格納旋回位置Sに正確に停止させることができないとい
う問題が生じていた。
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.

【0010】本発明は、上記した従来の問題点に鑑み、
微少な角度を精度よく検出可能な旋回停止位置検出手段
と、格納旋回位置からオーバーランすることなく正確に
停止制御可能な旋回停止手段を提供することを目的とし
ている。
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】[0011]

【課題を解決するための手段】本発明は、上記課題を解
決するための手段として次の構成を有している。すなわ
ち、本発明の車載式作業機の旋回停止装置は、車輌の運
転室と荷台間に架装した基台上に旋回駆動手段により旋
回駆動自在に取付けた旋回ポストと、当該旋回ポストの
上部に基端部を起伏自在に枢支され先端部に作業装置を
取付けた伸縮ブーム、前記旋回ポストが格納姿勢に対応
した格納旋回位置に旋回したことを検出して旋回停止信
号を出力する旋回停止位置検出手段、及び当該旋回停止
位置検出手段からの旋回停止信号を受けて前記旋回駆動
手段による旋回ポストの旋回駆動を停止させる旋回停止
手段とで構成した旋回式作業機の旋回停止装置を対象に
している。
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.

【0012】そして、請求項1記載の旋回停止装置は、
旋回停止位置検出手段を、基台と旋回ポスト間に取付け
られ、所定角度幅の被検出領域を持つ被検出部材と、当
該被検出部材の被検出領域に略対応した角度幅だけ離間
して配置した2個の旋回位置検出手段であって両者が同
時に作動した時に旋回停止信号を出力する2個の旋回位
置検出手段で構成している。
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.

【0013】このように構成した請求項1記載の旋回停
止装置は、2個の旋回位置検出手段が同時に作動した時
のみに旋回停止信号が出力されるようになっているの
で、被検出部材の被検出領域幅の影響を受けることがな
いのである。このため、被検出部材の被検出領域幅を広
く設定してセンサの検出信号を安定させた場合でも、セ
ンサの取付位置を被検出部材の被検出領域に略対応した
角度幅だけ離間させた位置に設定することで、精度よく
格納旋回位置を検出することができるのである。
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.

【0014】また、請求項2記載の旋回停止装置は、前
記請求項1記載の旋回停止装置に付加して、旋回駆動手
段による旋回ポストの駆動速度を低速に規制する旋回速
度規制手段を設け、当該旋回速度規制手段を2個の旋回
位置検出手段のうちいずれか一方の検出手段の検出信号
で作動するよう構成している。
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.

【0015】このように構成した請求項2記載の旋回停
止装置は、前記旋回停止手段による旋回停止制御に先立
ち旋回駆動手段による旋回ポストの駆動速度を低速に規
制することができるので、旋回停止制御時における格納
旋回位置からのオーバーランを少なくすることができ、
伸縮ブームを正確に停止させることができるのである。
なお、この旋回速度規制手段の作動は、2個の旋回位置
検出手段のうちいずれか一方の検出手段の検出信号で作
動するようになっているため、別途検出手段を設ける必
要がないのである。
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】[0016]

【発明の実施の形態】以下、図1〜図3に基づき本発明
の具体的な実施形態について説明する。なお、本発明に
係る旋回停止装置は、前述した従来の旋回停止装置の旋
回停止位置検出手段の構成を変更すると共に、旋回速度
規制手段を付加したものであり以下の説明ではその相違
点を中心に説明するものとする。
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.

【0017】なお、以下の説明における実施形態では、
旋回停止装置を車載式クレーンに適用した例について説
明するが、伸縮ブームの先端部に作業者搭乗用の作業台
を取付けて高所作業を可能にした車載式の高所作業機等
にも同様に適用可能である。
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

【0018】図1には、油圧制御装置を含む車載式クレ
ーンの要部構成が、また図2には旋回停止位置検出手段
の構成が、また図3には旋回停止位置検出手段の検出方
法が示されている。
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.

【0019】本発明における車載式クレーンは、従来の
ものと同様にクレーン基台4の車幅方向一側に偏寄した
位置に立設され旋回駆動手段12で旋回駆動される旋回ポ
スト5と、当該旋回ポスト5の上部に枢支され起伏シリ
ンダ8で起伏駆動並びにブーム伸縮用シリンダ7で伸縮
駆動される伸縮ブーム6、及び当該伸縮ブーム6の先端
部6aから吊下げられウインチ装置10で巻上げ巻下げ駆動
されるフックブロック11とで構成されている。
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.

【0020】そして、当該車載式クレーンは、クレーン
作業が終了して車輌1を走行させる際には、図3に示す
如く伸縮ブーム6を車輌1の運転室3と荷台3間の格納
旋回位置Sに旋回させた状態で、当該伸縮ブーム6を最
縮小並びにフックブロック11を最巻上げ位置(ブーム基
端方向に揺動した格納位置)まで巻上げ駆動し、伸縮ブ
ーム6を先端下がり状態(水平面から略40°倒伏した状
態)となるまで倒伏させて格納するようになっている。
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.

【0021】24は、主リリーフ弁であり、ベント回路24
aにはアンロード用開閉弁26と、低圧リリーフ弁27を介
装した低圧制御用開閉弁28が並列に接続されている。こ
のため、アンロード用開閉弁26を開弁位置aに切換えれ
ば、主リリーフ弁24がアンロード状態に制御されるので
旋回駆動手段12への圧油供給が断たれ当該旋回駆動手段
12の旋回駆動を停止させることができるのである。ま
た、低圧制御用開閉弁28を開弁位置aに切換えれば、低
圧リリーフ弁27が作動して主リリーフ弁24が低圧状態に
制御されるので旋回駆動手段12への供給油量が減り(低
圧設定された主リリーフ弁24から供給油量の多くがブリ
ードオフされ供給油量が減る)当該旋回駆動手段12の駆
動速度を減速させることができるのである。そして、当
該アンロード用開閉弁26と低圧制御用開閉弁28は、後述
するコントローラ30の制御信号で切換制御されるように
なっている。なお、アンロード用開閉弁26でアンロード
制御される主リリーフ弁24で、請求項1における旋回停
止手段34を構成しており、低圧リリーフ弁27と低圧制御
用開閉弁28で低圧制御される主リリーフ弁24で、請求項
2における旋回速度規制手段34を構成している。
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.

【0022】29は、遠隔操作装置であり、従来の遠隔操
作装置19と同様にオペレータが携帯して操作する送信器
20と、当該送信器20からの操作信号を受信して対応する
各制御弁15,16,17,18に対し弁切換信号を出力して該
弁を切換制御するコントローラ30で構成されている。ま
た、当該コントローラ30には、前記旋回停止手段34と旋
回速度規制手段34の制御機能が付加されている。
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.

【0023】31は、前記クレーン基台4の旋回ベアリン
グ取付座32と旋回ポスト5の旋回ベアリングカバー33間
に取付けた旋回停止位置検出手段である。当該旋回停止
位置検出手段31は、図2に示す如く旋回ベアリング取付
座32に取付けた所定角度幅Φ(検出許容幅以上)の被検
出領域を持つ被検出部材31cと、旋回ベアリングカバー3
3に延出配置したブラケット33aに取付けた2個の近接セ
ンサ31a,31bとで構成している。そして、当該2個の近
接センサ31a,31bの取付位置は、前記被検出部材31cの
被検出領域に略対応した角度幅(略角度Φ)だけ離間さ
せた位置となるように設定されている。そして、これら
2個のセンサ31a,31bで検出した検出信号は、コントロ
ーラ30に入力されて次の如く制御信号を出力するように
なっている。すなわち、図3aの如く2個のセンサ31
a,31bが共に被検出部材31cを検出していない状態では
何ら制御信号を出力せず、図3bの如く2個のセンサ31
a,31bのうちいずれか一方のセンサが被検出部材31cを
検出した状態では旋回速度規制手段35に対し旋回減速信
号を出力し、図3cの如く2個のセンサ31a,31bが共に
被検出部材31cを検出した状態では旋回停止手段34に対
し旋回停止信号を出力するようになっている。なお、当
該旋回停止位置検出手段31の取付位置は、上記位置以外
にも適宜取付け可能である。
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.

【0024】このように構成した旋回停止位置検出手段
31は、2個の近接センサ31a,31bの取付け間隔(離間
幅)を上記した如く被検出部材31cの被検出領域幅Φに
略合致させるよう設定することで、被検出部材31cの被
検出領域幅に影響されず、すなわち旋回方向による検出
角度差(例えば、1°以下)がほとんどなく高精度に旋
回位置を検出することが可能になるのである。また、旋
回停止手段34の作動に先立ち旋回駆動速度を減速制御す
る旋回速度規制手段34を2個のセンサ31a,31bのうちい
ずれか一方のセンサの検出信号で作動させることで、別
途センサを用意することなく旋回減速制御を行うことが
可能になるのである。
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.

【0025】36は、一連の旋回停止制御の開始を指令す
るための指令スイッチである。
Reference numeral 36 denotes a command switch for commanding the start of a series of turning stop control.

【0026】次に、当該旋回停止装置の作動について説
明する。車載式クレーンを車輌1の運転室2と荷台3間
に格納するには、まず伸縮ブーム6が略水平状態となる
まで起仰させた状態にして、伸縮ブーム6を最縮小並び
にフックブロック11を最巻上げ位置まで巻上げ駆動す
る。次に、前記指令スイッチ36を操作した状態で送信器
20を操作して伸縮ブーム6を格納旋回位置S方向に旋回
させる。この旋回駆動により、伸縮ブーム6が格納旋回
位置Sの手前で、一方の近接センサ31a(あるいは31b)
が被検出部材31cを検出した状態(図3bの状態)にな
れば、この検出信号を受けたコントローラ30が旋回速度
規制手段34を構成する低圧制御用開閉弁28に対し開弁信
号(旋回減速信号)を出力して該弁を開弁させ、主リリ
ーフ弁24を低圧状態に制御する。これにより、旋回駆動
手段12への供給油量の多くが主リリーフ弁24からタンク
にブリードオフされて供給油量が減るので、旋回駆動手
段12の駆動速度が減速されるのである。このため、次の
旋回停止手段34による旋回停止時のオーバーランを少な
くすることができ、停止制御の精度を高めることができ
るのである。なお、この実施形態では、旋回速度規制手
段34を低圧制御用開閉弁28による主リリーフ弁24の低圧
制御で行う構成としたが、油圧ポンプ14を駆動するエン
ジン13の回転数を低減することで行うよう構成してもよ
い。また、低圧制御用開閉弁28による主リリーフ弁24の
低圧制御とエンジン13の回転数低減制御を同時に制御す
ることで行うよう構成してもよい。
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.

【0027】そして、伸縮ブーム6が格納旋回位置Sま
で旋回して2個の近接センサ31a,31bが共に被検出部材
31cを検出すれば(図3cの状態)、この検出信号を受
けたコントローラ30が旋回停止手段34を構成するアンロ
ード用開閉弁26に対し開弁信号(旋回停止信号)を出力
して該弁を開弁させ、主リリーフ弁24をアンロード状態
に制御する。これにより、旋回駆動手段12への圧油供給
が断たれるので旋回駆動手段12の駆動が停止するのであ
る。このため、伸縮ブーム6を正確に格納旋回位置Sに
停止制御することができるのである。
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.

【0028】以上の操作で伸縮ブーム6を精度よく格納
旋回位置Sに旋回させることができるので、後は伸縮ブ
ーム6を倒伏駆動して先端下がり状態に格納すればよい
のである。
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】[0029]

【発明の効果】本発明の車載式作業機の旋回停止装置
は、旋回停止位置検出手段を所定角度幅の被検出領域を
持つ被検出部材と、当該被検出部材の被検出領域に略対
応した角度幅だけ離間配置し両者が同時に作動した時に
旋回停止信号を出力する2個の旋回位置検出手段で構成
したので、旋回方向による検出角度差がほとんどない高
精度の旋回位置検出が可能となり、旋回停止制御を高精
度に行うことができるのである。
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.

【図面の簡単な説明】[Brief description of the drawings]

【図1】本発明の車載式作業機の旋回停止装置の要部構
成を説明する説明図である。
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.

【図2】同、旋回停止位置検出手段の構成を説明する説
明図である。
FIG. 2 is an explanatory diagram illustrating a configuration of a turning stop position detecting unit.

【図3】同、旋回停止位置検出手段の作動を説明する説
明図である。
FIG. 3 is an explanatory diagram for explaining the operation of a turning stop position detecting means.

【図4】従来の車載式作業機(車載式クレーン)の説明
図(背面図)である。
FIG. 4 is an explanatory view (rear view) of a conventional vehicle-mounted work machine (vehicle-mounted crane).

【図5】同、車載式作業機(車載式クレーン)の説明図
(平面図)である。
FIG. 5 is an explanatory view (plan view) of the vehicle-mounted work machine (vehicle-mounted crane).

【図6】同、車載式作業機の油圧制御装置の説明図であ
る。
FIG. 6 is an explanatory diagram of a hydraulic control device of the on-vehicle working machine.

【図7】同、旋回停止位置検出手段の構成を説明する説
明図である。
FIG. 7 is an explanatory diagram illustrating a configuration of a turning stop position detecting unit.

【符号の説明】[Explanation of symbols]

1;車輌、 1a;シャシフレーム、 2;運転室、 3;荷
台、 4;クレーン基台、5;旋回ポスト、 6;伸縮ブー
ム、 7;ブーム伸縮用シリンダ、8;起伏シリンダ、 1
0;ウインチ装置、 11;フックブロック、12;旋回駆動手
段、 13;エンジン、 14;油圧ポンプ、 15;旋回制御弁、
16;起伏制御弁、 17;ウインチ制御弁、 18;伸縮制御
弁、19,29;遠隔操作装置、 20;送信器、 21,30;コン
トローラ、22,31;旋回停止位置検出手段、 24;主リリ
ーフ弁、 25,34;旋回停止手段、26;アンロード用開閉
弁、 27;低圧リリーフ弁、 28;低圧用開閉弁、31a,31
b;旋回位置検出手段(近接センサ)、 31c;被検出部
材、35;旋回速度規制手段、 36;指令スイッチ、
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)

【特許請求の範囲】[Claims] 【請求項1】 車輌の運転室と荷台間に架装した基台上
に旋回駆動手段により旋回駆動自在に取付けた旋回ポス
トと、当該旋回ポストの上部に基端部を起伏自在に枢支
され先端部に作業装置を取付けた伸縮ブーム、前記旋回
ポストが格納姿勢に対応した格納旋回位置に旋回したこ
とを検出して旋回停止信号を出力する旋回停止位置検出
手段、及び当該旋回停止位置検出手段からの旋回停止信
号を受けて前記旋回駆動手段による旋回ポストの旋回駆
動を停止させる旋回停止手段とで構成した旋回式作業機
の旋回停止装置において、 前記旋回停止位置検出手段を、前記基台と旋回ポスト間
に取付けられ、所定角度幅の被検出領域を持つ被検出部
材と、当該被検出部材の被検出領域に略対応した角度幅
だけ離間して配置した2個の旋回位置検出手段であって
両者が同時に作動した時に前記旋回停止信号を出力する
2個の旋回位置検出手段で構成したことを特徴とする車
載式作業機の旋回停止装置。
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.
【請求項2】 前記旋回駆動手段による旋回ポストの駆
動速度を低速に規制する旋回速度規制手段を設け、当該
旋回速度規制手段を前記2個の旋回位置検出手段のうち
いずれか一方の検出手段の検出信号で作動するよう構成
したことを特徴とする請求項1記載の車載式作業機の旋
回停止装置。
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.
JP2000048456A 2000-02-25 2000-02-25 In-car work machine swivel stop device Expired - Fee Related JP4421726B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2000048456A JP4421726B2 (en) 2000-02-25 2000-02-25 In-car work machine swivel stop device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2000048456A JP4421726B2 (en) 2000-02-25 2000-02-25 In-car work machine swivel stop device

Publications (3)

Publication Number Publication Date
JP2001233588A true JP2001233588A (en) 2001-08-28
JP2001233588A5 JP2001233588A5 (en) 2007-03-01
JP4421726B2 JP4421726B2 (en) 2010-02-24

Family

ID=18570539

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2000048456A Expired - Fee Related JP4421726B2 (en) 2000-02-25 2000-02-25 In-car work machine swivel stop device

Country Status (1)

Country Link
JP (1) JP4421726B2 (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006282359A (en) * 2005-04-04 2006-10-19 Aichi Corp Automatic rotation stop device of boom for working vehicle
JP2007055810A (en) * 2005-08-26 2007-03-08 Kobelco Contstruction Machinery Ltd Track working vehicle
JP2009143683A (en) * 2007-12-14 2009-07-02 Tadano Ltd Boom swiveling position detecting device for swiveling type working machine
CN108756781A (en) * 2018-05-23 2018-11-06 徐工集团工程机械有限公司 A kind of truck-mounted drilling rig crane arm control device

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006282359A (en) * 2005-04-04 2006-10-19 Aichi Corp Automatic rotation stop device of boom for working vehicle
JP2007055810A (en) * 2005-08-26 2007-03-08 Kobelco Contstruction Machinery Ltd Track working vehicle
JP2009143683A (en) * 2007-12-14 2009-07-02 Tadano Ltd Boom swiveling position detecting device for swiveling type working machine
CN108756781A (en) * 2018-05-23 2018-11-06 徐工集团工程机械有限公司 A kind of truck-mounted drilling rig crane arm control device

Also Published As

Publication number Publication date
JP4421726B2 (en) 2010-02-24

Similar Documents

Publication Publication Date Title
JP2001233588A (en) Device for stopping turning of on-vehicle working machine
JP5535558B2 (en) Hook storage system and crane
WO2017216945A1 (en) Mobile crane
JP2001233587A (en) Controller for falling of boom of on-vehicle working machine
JP2011026061A (en) Boom control system and working vehicle
JP3748582B2 (en) Hook block retract release device for self-propelled crane
JP4625169B2 (en) Control device for 2-speed hydraulic motor
JP4556152B2 (en) Automatic crane boom retractor
JP4163879B2 (en) Crane hook horizontal movement control device
JP2004091166A (en) Vehicle for high lift work
JP4708698B2 (en) Crane boom enclosure
JP4447107B2 (en) In-vehicle crane boom control device
JP4102061B2 (en) Crane hook storage device
JP4988990B2 (en) Crane jib undulation controller
JP2605954Y2 (en) Outrigger device for mobile work machine with boom
JP2001287890A (en) Hook housing control device for on-vehicle crane
JP3834456B2 (en) Railroad work vehicle
JPH0628554Y2 (en) Safety equipment for lifting equipment in aerial work vehicles
JP2555425Y2 (en) Hook storage device for self-propelled cranes
JP3658183B2 (en) Regulatory control equipment for aerial work platforms
JP2000063099A (en) Controller for vehicle for high lift work
JP2005280952A (en) Automatic boom accommodating device of vehicle-mounted crane
JP2001220089A (en) Crane hook storage control device
JPH0647909Y2 (en) Retractable control device for sideways bending and stretching boom
JPH0738317Y2 (en) Aerial work vehicle

Legal Events

Date Code Title Description
A521 Written amendment

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20070112

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20070112

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20090902

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20090915

A521 Written amendment

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20091020

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20091117

A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20091203

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20121211

Year of fee payment: 3

R150 Certificate of patent or registration of utility model

Ref document number: 4421726

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

Free format text: JAPANESE INTERMEDIATE CODE: R150

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20131211

Year of fee payment: 4

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

LAPS Cancellation because of no payment of annual fees