JP2003020192A - Crane operation control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform 'a derricking separate operation control', 'winch separate operation control', 'under-hook length constant expansion and contraction control', 'hook height constant expansion and contraction control' and 'hook length constant derricking operation control' by constituting a control mode to change over from a first mode to a second mode or vice versa. SOLUTION: A controller is provided with a mode changing over means 20, which can change over the current mode from the first control mode to the second control mode or vice versa. In the first mode, 'derricking separation control', 'under-hook length constant expansion and contraction control', and 'winch separate operation control' are made, and in the second mode, 'hook length constant derricking control', 'hook height constant expansion and contraction control', and 'winch separate operation control are made'.

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention A crane operation control device according to the present invention expands and contracts by an expansion and contraction cylinder controlled by an expansion and contraction control valve, and is controlled by an up and down control valve. A boom operated by a hoist cylinder, a winch operated by a winch motor controlled by a winch control valve, and a hook suspended from the winch at the end of the boom via a wire rope from the winch. The present invention relates to an operation control device for a crane provided with: 2. Description of the Related Art FIG. 2 shows an overall configuration of a crane, and FIG. 3 shows a conventional crane operation control device. In FIG. 2, 1 is a base mounted on a vehicle such as a truck (not shown), 2 is a swivel mounted on the base 1 so as to be capable of turning operation, and 3 is a base end thereof which can be raised and lowered on the turning base 2 freely. A telescopic boom attached to 4 is swivel 2 or boom 3
It is a winch attached to the base end. FIG. 2 shows an example in which the winch 4 is attached to the swivel 2. Numeral 5 is a hook suspended from the winch 4 via a wire rope 6 at the end of the boom 3 so as to be able to perform a hoisting and lowering operation. The up-and-down operation of the boom 3 is performed by an up-and-down cylinder 8 which is interposed between the swivel 2 and a base end of the boom 3 and is controlled by an up-and-down control valve 7.
The expansion and contraction operation of the boom 3 is performed by an expansion and contraction cylinder 10 which is housed in the boom 3 and whose operation is controlled by an expansion and contraction control valve 9. The hoisting and lowering operation of the winch 4 is as follows.
The operation is performed by a winch motor 12 controlled to operate by a winch control valve 11. FIG. 3 shows a conventional operation control device A applied to the crane shown in FIG. 2 and described above. In FIG. 3, reference numerals 7, 8, 9, 10, 11, and 12 denote an up / down control valve, an up / down cylinder, a telescopic control valve, a telescopic cylinder, a winch control valve, and a winch motor, respectively. As shown in FIG. 3, the operation control device A outputs an up / down operation means 13 for outputting an up / down operation signal 13a for instructing the up / down operation of the boom 3 and an expansion / contraction operation signal 14a for instructing the expansion / contraction operation of the boom 3. Telescopic operation means 14, a winch operation signal 15a for instructing the winch 4 to hoist and lower.
Operating means 15 for outputting the
It comprises a controller 16 which receives signals from 3, 14 and 15 and outputs control signals to the up / down control valve 7, the expansion / contraction control valve 9 and the winch control valve 11, respectively. When the controller 16 receives the up / down operation signal 13a from the up / down operation means 13, the up / down control valve control signal for switching the up / down control valve 7 in accordance with the indicated direction and the indicated amount of the up / down operation signal 13a. 7a is generated and output to the up-and-down control valve 7, and when the telescopic operation signal 14a is received from the telescopic operation means 14, the telescopic operation signal 14a is generated.
A telescopic control valve control signal 9a for switching control of the telescopic control valve 9 in accordance with the indicated direction and the specified amount of a is generated and output to the telescopic control valve 9, and the winch operation signal 15a from the winch operating means 15 is output. Is received, the winch control valve 1 is controlled according to the direction and amount of the winch operation signal 15a.
Winch control valve control signal 11a for switching control
Is generated and output to the winch control valve 11. According to the conventional crane operation control apparatus A having the above-described structure, the up / down operation of the boom 3 and the operation of the boom 3 can be performed by operating the up / down operation means 13, the expansion / contraction operation means 14, and the winch operation means 15. Since the telescopic operation and the hoisting and lowering operation of the winch 4 (hook 5) can be arbitrarily controlled, the crane operator can operate these three operating means (the up / down operating means 13, the telescopic operating means 14, the winch operating means 15). ) Alone or two at the same time to operate the raising / lowering operation of the boom 3, the expansion / contraction operation of the boom 3, the hoisting / lowering operation of the winch 4 (hook 5) alone, or the two at the same time. The hook 5 can be arbitrarily controlled by controlling the two-dimensional position of the hook 5 in the boom undulation locus plane. At this time, it is needless to say that the operation control by independently controlling one of the raising / lowering operation of the boom 3, the expansion / contraction operation of the boom 3, and the hoisting / lowering operation of the winch 4 (hook 5) includes the following 3 One. -"Extend and retract independent operation control" to operate the boom independently-"Increase and decrease independent operation control" to raise and lower the boom independently-"Winch independent operation control" to operate the winch independently by hoisting and lowering The following three are the most frequently used in the operation control by simultaneously controlling the up-and-down operation 3, the expansion and contraction operation of the boom 3, and the hoisting and lowering operation of the winch 4 (hook 5). "Hook suspension constant length extension / contraction operation control" that uses both the boom extension / retraction operation and the winch lower / upper operation to extend and retract the boom while keeping the hook suspension length constant. "Hook height constant expansion / contraction operation control", in which the boom is extended and retracted while maintaining the ground height of the hook constant, using both the operation and the winch lowering / winding operation, "Hook height constant up / down operation control" for raising and lowering the boom while keeping the ground height of the hook constant by using the operation together.
3. The above-described six operation controls are performed by operating the expansion / contraction operation means 14 and the winch operation means 15 singly or two of them simultaneously. In this case, "Hook hanging length constant expansion and contraction operation control", "Hook height constant expansion and contraction operation control"
In addition, with regard to the "hook height constant raising / lowering operation control", it is necessary to simultaneously operate two operation means corresponding to the control, and there is a problem that the operation is complicated. [0010] A first object of the present invention is to switch the operation mode between a first mode and a second mode by mode switching means, so that the up-and-down operation control among the above-mentioned six operation controls is performed. The five operation controls of "Independent operation control", "Winch independent operation control", "Hook suspension length constant expansion / contraction operation control", "Hook height constant expansion / contraction operation control" and "Hook height constant undulation operation control" Three operation means (expansion / contraction operation means 13, undulation operation means 14, and winch operation means 15)
Another object of the present invention is to provide a crane operation control device which can be realized by one single operation. [0011] The operation control device for a crane of the present invention is configured as follows to achieve the above object. The boom 3 is operated by a telescopic cylinder 10 controlled by a telescopic control valve 9, and is operated by a hoist cylinder 8, which is operated by a hoist control valve 11. An operation control device for a crane, comprising: a winch 4 that is operated to be hoisted and lowered; and a hook 5 that is suspended at the tip of the boom 3 via a wire rope 6 from the winch 4 so as to be able to be hoisted and lowered. Up / down operation means 13 for outputting an up / down operation signal 13a for instructing the up / down operation; expansion / contraction operation means 14 for outputting an expansion / contraction operation signal 14a for instructing expansion / contraction operation of the boom 3; A winch operating means 15 for outputting an operation signal 15a; an elevation angle detection for detecting a boom elevation angle and outputting a detected elevation angle signal 17a; A boom length detecting means 18 for detecting a boom length and outputting a detected boom length signal 18a; a wire for detecting a feeding length of the wire rope 6 from the winch 4 and outputting a detected wire rope length signal 19a. It comprises a rope length detecting means 19 and a controller 16 which receives signals from these means and outputs control signals to the telescopic control valve 9, the undulation control valve 7, and the winch control valve 11. A switching unit 20 is provided, and the mode switching unit 20 controls at least a first mode in which the following (1), (2), and (3) controls are performed, and a control in the following (2), (4), and (5). An operation control device for a crane, wherein the control mode is switchable between a second mode and a second mode. (1) Undulating independent operation control a. An up / down control valve control signal 7a for switching control of the up / down control valve 7 is generated in response to the up / down operation signal 13a, and the up / down control valve control signal 7a is output to the up / down control valve 7. (2) Winch independent operation control a. Winch control valve control signal 11 for switching control of winch control valve 11 in response to winch operation signal 15a
a, and outputs the winch control valve control signal 11 a to the winch control valve 11. (3) Control of constant extension / contraction operation of hook suspension length a. An expansion / contraction control valve control signal 9a for switching control of the expansion / contraction control valve 9 corresponding to the expansion / contraction operation signal 14a is generated, and the expansion / contraction control valve control signal 9a is output to the expansion / contraction control valve 9. b. The target value of the wire rope length required to maintain the hanging distance of the hook 5 constant when the telescopic operation is performed by the amount of change in the boom length calculated based on the change in the detected boom length signal 18a is detected. A winch control valve control signal 11a for operating the winch 4 to lower and raise the winch so that the wire rope length becomes the target value is generated, and the winch control valve control signal 11a is output to the winch control valve 11. (4) Hook height constant expansion / contraction operation control a. An expansion / contraction control valve control signal 9a for switching control of the expansion / contraction control valve 9 corresponding to the expansion / contraction operation signal 14a is generated, and the expansion / contraction control valve control signal 9a is output to the expansion / contraction control valve 9. b. The boom 3 at the detected undulation angle is the detected boom length signal 1
8a, the target value of the wire rope length necessary to maintain the ground height of the hook 5 constant when the telescopic operation is performed by the amount of change in the boom length calculated based on the change of the detected wire rope length 19a is detected. Generates a winch control valve control signal 11a for operating the winch 4 to lower and raise the winch so as to reach the target value, and outputs the winch control valve control signal 11a to the winch control valve 11. (5) Hook height constant undulation operation control a. An up / down control valve control signal 7a for switching control of the up / down control valve 7 is generated in response to the up / down operation signal 13a, and the up / down control valve control signal 7a is output to the up / down control valve 7. b. The boom 3 at the detected boom length is the detected undulation angle signal 1
When the hoisting operation is performed by the amount of change in the boom hoisting angle calculated based on the change in 7a, the target value of the wire rope length required to maintain the ground height of the hook 4 constant is determined, and the detected wire rope length 19a is obtained. Generates a winch control valve control signal 11a for operating the winch 4 to lower and raise the winch so as to reach the target value.
a is output to the winch control valve 11. An embodiment of the present invention will be described below with reference to FIG. FIG. 1 is an explanatory diagram of a crane operation control device A according to the present invention. The crane operation control device A of the present invention is applied to the crane shown in FIG. 2 as described above. The operation control device A of the crane of the present invention is different from the conventional operation control device A shown in FIG.
Elevation angle detection means 17 for detecting a boom elevation angle and outputting a detected elevation angle signal 17a, boom length detection means 1 for detecting a boom length and outputting a detected boom length signal 18a
8 and a wire rope length detecting means 19 for detecting a feeding length of the wire rope 6 from the winch 4 and outputting a detected wire rope length signal 19a, and detecting signals 17a, 18a of these detecting means 17, 18, 19. , 19
a is input to the controller 16, the controller 16 is provided with the mode switching means 20, and the controller 16 controls the control valve control signal 7 a, the telescopic control valve control signal 9 a, and the winch control valve control signal. There is a difference in three points, that is, the arithmetic processing at the time of generating 11a is different. Therefore, in the following description, the reference numerals used in the description of the related art shown in FIGS. 2 and 3 are used as they are. In FIG. 1, reference numeral 17 denotes an up-and-down angle detecting means for detecting a boom up-and-down angle (elevation angle θ of the boom 2 from horizontal) and outputting a detected up-and-down angle signal 17a, and 18 a boom length to detect a boom length. Boom length detecting means 19 for outputting a detected boom length signal 18a, 19 is a wire rope length detecting means for detecting a feeding length of the wire rope 6 from the winch 4 and outputting a detected wire rope length signal 19a,
The detection signals 17a, 17a, 1
8a and 19a are input to the controller 16. Reference numeral 20 denotes a mode switching means arranged in the controller 16, and the mode switching means 20
Makes the controller 16 operate the three operation signals (the up / down operation signal 13 a from the up / down operation means 13,
Telescopic operation signal 14a from 4 and winch operating means 1
5), three control valve control signals (an up / down control valve control signal 7a for switching control of the up / down control valve 8) and an expansion / contraction control valve control signal 9a for switching control of the expansion / contraction control valve 9. And a control mode for generating a winch control valve control signal 11a) for switching control of the winch control valve 11 between a first mode and a second mode. The controller 16 executes the following control modes (1) to (5) in order to execute the first and second control modes switched by the mode switching means 20.
Is configured to be able to execute the arithmetic processing. (1) Undulating independent operation control a. An up / down control valve control signal 7a for switching control of the up / down control valve 7 is generated in response to the up / down operation signal 13a, and the up / down control valve control signal 7a is output to the up / down control valve 7. This control controls the operation of raising and lowering the boom 3 by operating the raising and lowering operation means 13. (2) Winch independent operation control a. Winch control valve control signal 11 for switching control of winch control valve 11 in response to winch operation signal 15a
a, and outputs the winch control valve control signal 11 a to the winch control valve 11. This control controls the hoisting and lowering operation of the winch 4 (hook 5) by operating the winch operating means 15. (3) Control of extension and contraction operation of hook hanging length constant a. An expansion / contraction control valve control signal 9a for switching control of the expansion / contraction control valve 9 corresponding to the expansion / contraction operation signal 14a is generated, and the expansion / contraction control valve control signal 9a is output to the expansion / contraction control valve 9. b. The target value of the wire rope length required to maintain the hanging distance of the hook 4 constant when the telescopic operation is performed by the change amount of the boom length calculated based on the change of the detected boom length signal 18a is detected. A winch control valve control signal 11a for operating the winch 4 to lower and raise the winch is generated so that the wire rope length 19a becomes the target value, and the winch control valve control signal 11a is output to the winch control valve 11. This control controls the extension / retraction operation of the boom 3 by operating the extension / contraction operation means 14, and thereby controls the boom 3
When the boom length changes due to the expansion and contraction operation, the lowering operation of the winch 4 (hook 5) is controlled so that the suspension distance of the hook 5 is kept constant irrespective of the change. Here, the target value of the wire rope length necessary for maintaining the hanging distance of the hook 5 constant is set to the same amount as the change amount δL of the boom length. This means that when the boom length changes to the extension side or the reduction side by δL, the suspension distance of the hook 5 is kept constant by lowering or winding the wire rope 6 by the winch 4 by the same amount as this δL. This is because it can be maintained. (4) Constant hook height expansion / contraction operation control a. An expansion / contraction control valve control signal 9a for switching control of the expansion / contraction control valve 9 corresponding to the expansion / contraction operation signal 14a is generated, and the expansion / contraction control valve control signal 9a is output to the expansion / contraction control valve 9. b. The boom 3 at the detected undulation angle is the detected boom length signal 1
8a, the target value of the wire rope length necessary to maintain the ground height of the hook 5 constant when the telescopic operation is performed by the amount of change in the boom length calculated based on the change of the detected wire rope length 19a is detected. Generates a winch control valve control signal 11a for operating the winch 4 to lower and raise the winch so as to reach the target value, and outputs the winch control valve control signal 11a to the winch control valve 11. This control controls the extension / retraction operation of the boom 3 by operating the extension / contraction operation means 14. When the boom 3 is extended / contracted and the boom length is changed, the height of the hook 5 above the ground is not affected by the change. The hoisting and lowering operation of the winch 4 (hook 5) is controlled so that the height is maintained constant. Here, the target value of the wire rope length required to maintain the ground height of the hook 5 constant is a value obtained by the following calculation formula. When the boom 3 is extended, the winch 4 is lowered so that the wire rope length is increased by this target value, and when the boom 3 is contracted, the winch 4 is raised so that the wire rope length is reduced by this target value. I try to make it. δL + N · δL sin θ where δL: boom length change amount, θ: boom up / down angle (elevation angle from horizontal), N: number of wire ropes 6 between boom 3 tip and hook 5, (5) Hook height constant undulation operation control a. An up / down control valve control signal 7a for switching control of the up / down control valve 7 is generated in response to the up / down operation signal 13a, and the up / down control valve control signal 7a is output to the up / down control valve 7. b. The boom 3 at the detected boom length is the detected undulation angle signal 1
When the hoisting operation is performed by the amount of change in the boom hoisting angle calculated based on the change in 7a, the target value of the wire rope length required to maintain the ground height of the hook 4 constant is determined, and the detected wire rope length 19a is obtained. Generates a winch control valve control signal 11a for operating the winch 4 to lower and raise the winch so as to reach the target value.
a is output to the winch control valve 11. This control controls the operation of raising and lowering the boom 3 by operating the raising and lowering operation means 13, and when the boom 3 is raised and lowered by this operation to change the angle of the boom, regardless of the change, the ground of the hook 5 is controlled. The lower hoisting operation of the winch 4 (hook 5) is controlled so that the height is kept constant. here,
The target value of the wire rope length required to keep the ground height of the hook 5 constant is a value obtained by the following formula. When the boom 3 is raised, the winch 4 is lowered so that the wire rope length is increased by this target value, and when the boom 3 is turned down, the winch 4 is wound so that the wire rope length is reduced by this target value. It works. N · L [sin (θ + δθ) -sinθ] where, L: boom length, θ: boom up / down angle before starting up / down operation, δθ: boom up / down angle changed by the up / down operation, N: boom 3 tip and hook 5 The number of the wire ropes 6 between the above, and the mode switching means 20
When the mode is switched to the first mode, the controller 1
6 executes “(1) Undulating independent operation control”, “(2) Winch independent operation control”, and “(3) Hook suspension length constant expansion / contraction operation control” among the above (1) to (5). It is supposed to. When the mode switching means 20 is switched to the second mode, the controller 16
Among the above (1) to (6), "(2) Winch independent operation control", "(4) Hook height constant expansion / contraction operation control",
"(5) Constant hook height raising / lowering operation control" is executed. The operation control apparatus for a crane according to the present invention, configured as described above, can switch the control mode of the controller 16 between the first mode and the second mode by the mode switching means 20. When the mode is switched to the first mode, the operation of the crane can be controlled substantially in the same manner as the conventional operation control device. In this first mode, the “extension / contraction independent operation control” that was possible with the conventional operation control device cannot be performed, but “(3) hook suspension constant length extension / contraction operation control” is performed in the extension / contraction operation. Since the operation can be performed by the single operation of the means 14, the “extension / contraction independent operation control” can be replaced by the “(3) hook suspension length constant extension / contraction operation control”. Generally, when the boom is extended alone, the hook 5
However, there is a problem that the hook 5 is overwound due to a decrease in the hanging length of the hook. However, “(3) Constant hook length extending / contracting operation control” solves this problem. "(3)
It is rather preferable to substitute "the hook suspension length constant expansion and contraction operation control". When switching to the second mode,
The boom 3 can be extended and retracted by operating the telescopic operation means 14 while maintaining the ground height of the hook 5 constant, and the boom 3 can be raised and lowered while maintaining the ground height of the hook 5 constant by operating the undulating operation means 13. Can work. In this type of crane, it is determined by the operator that the raising and lowering and extension / retraction operation of the boom 3 have a fluctuation component of the working radius of the boom 3 and that the hoisting and lowering operation of the winch has no fluctuation component of the working radius of the boom 3. In the second mode, “(5) hook height constant up / down operation control” is executed by operating the up / down operating means 13 and “(4) hook” is operated by operating the telescopic operating means 14. The combination in the second mode in which the “constant height expansion / contraction operation control” is executed, and “(2) winch independent operation control” is executed by operating the winch operation means 15 is as follows.
It is extremely rational and has the effect of greatly reducing the risk of misidentifying the operation.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an explanatory diagram of a crane operation control device of the present invention. FIG. 2 is an explanatory diagram of a configuration of a crane. FIG. 3 is an explanatory view of a conventional crane operation control device. DESCRIPTION OF SYMBOLS 1; vehicle, 2; swivel, 3; boom, 4; winch, 5; hook, 6; wire rope, 7; up / down control valve, 7a; up / down control valve control signal, 8; 9; telescopic control valve, 9a; telescopic control valve control signal, 10; telescopic cylinder, 11; winch control valve, 11a; winch control valve control signal, 12; winch motor, 13; undulating operation means, 13a; 14; telescopic operation means, 14a; telescopic operation signal, 15; winch operation means, 15a; winch operation signal, 16; controller, 17; undulation angle detection means, 17a; detected undulation angle signal, 18; boom length detection means, 18a Detection boom length signal 19; wire rope length detection means 19a; detection wire rope length signal 20; mode switching means

Claims (1)

Claims: 1. A boom 3 which is telescopically operated by a telescopic cylinder 10 operatively controlled by a telescopic control valve 9 and which is raised and lowered by an undulating cylinder 8 which is operatively controlled by a raising and lowering control valve 7, and a winch control valve. Winch motor 1 operated and controlled by 11
An operation control device for a crane, comprising: a winch 4 that operates to hoist and lower at 2; and a hook 5 that is suspended at the tip of the boom 3 via a wire rope 6 from the winch 4 so as to be capable of hoisting and lowering. Up / down operation means 13 for outputting an up / down operation signal 13a for instructing the up / down operation of the boom 3; expansion / contraction operation means 14 for outputting an expansion / contraction operation signal 14a for instructing expansion / contraction operation of the boom 3; A winch operating means 15 for outputting a winch operating signal 15a for instructing; a hoisting angle detecting means 17 for detecting a boom hoisting angle and outputting a detected hoisting angle signal 17a; a detecting boom length for detecting a boom length signal 18a. A boom length detecting means 18 for outputting a wire rope length signal 19a which detects a feeding length of the wire rope 6 from the winch 4 and outputs a detected wire rope length signal 19a; The controller 16 includes a yaw length detecting unit 19 and a controller 16 that receives signals from these units and outputs control signals to the expansion / contraction control valve 9, the undulation control valve 7, and the winch control valve 11. A mode 20 for controlling at least the following (1), (2) and (3) and a second mode for controlling the following (2), (4) and (5). An operation control device for a crane, wherein a control mode can be switched between two modes. (1) Undulating independent operation control a. An up / down control valve control signal 7a for switching control of the up / down control valve 7 is generated in response to the up / down operation signal 13a, and the up / down control valve control signal 7a is output to the up / down control valve 7. (2) Winch independent operation control a. Winch control valve control signal 11 for switching control of winch control valve 11 in response to winch operation signal 15a
a, and outputs the winch control valve control signal 11 a to the winch control valve 11. (3) Control of constant extension / contraction operation of hook suspension length a. An expansion / contraction control valve control signal 9a for switching control of the expansion / contraction control valve 9 corresponding to the expansion / contraction operation signal 14a is generated, and the expansion / contraction control valve control signal 9a is output to the expansion / contraction control valve 9. b. The target value of the wire rope length required to maintain the hanging distance of the hook 5 constant when the telescopic operation is performed by the amount of change in the boom length calculated based on the change in the detected boom length signal 18a is detected. A winch control valve control signal 11a for operating the winch 4 to lower and raise the winch is generated so that the wire rope length 19a becomes the target value, and the winch control valve control signal 11a is output to the winch control valve 11. (4) Hook height constant expansion / contraction operation control a. An expansion / contraction control valve control signal 9a for switching control of the expansion / contraction control valve 9 corresponding to the expansion / contraction operation signal 14a is generated, and the expansion / contraction control valve control signal 9a is output to the expansion / contraction control valve 9. b. The boom 3 at the detected undulation angle is the detected boom length signal 1
8a, the target value of the wire rope length necessary to maintain the ground height of the hook 5 constant when the telescopic operation is performed by the amount of change in the boom length calculated based on the change of the detected wire rope length 19a is detected. Generates a winch control valve control signal 11a for operating the winch 4 to lower and raise the winch so as to reach the target value, and outputs the winch control valve control signal 11a to the winch control valve 11. (5) Hook height constant undulation operation control a. An up / down control valve control signal 7a for switching control of the up / down control valve 7 is generated in response to the up / down operation signal 13a, and the up / down control valve control signal 7a is output to the up / down control valve 7. b. The boom 3 at the detected boom length is the detected undulation angle signal 1
When the hoisting operation is performed by the amount of change in the boom hoisting angle calculated based on the change in 7a, the target value of the wire rope length required to maintain the ground height of the hook 4 constant is determined, and the detected wire rope length 19a is obtained. Generates a winch control valve control signal 11a for operating the winch 4 to lower and raise the winch so as to reach the target value.
a is output to the winch control valve 11.