JP2003128384A - Expansion control device of telescopic boom - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the problem wherein when an operational lag is caused in a boom-to-boom connecting mechanism 9, a telescopic boom 3 is elongated over the connecting position to cause a failure in connection in a system where the telescopic boom 3 formed by a base end boom 3a and the forward end boom 3b is driven to be elongated and contracted by an expansion cylinder 8, the boom-to-boom connecting mechanism 9 is provided to connect and disconnect between both booms in response to a connection signal or a disconnection signal, and a controller 38 detects the vicinity of the connecting position of the boom-to-boom connecting mechanism 9 while elongating the telescopic boom 3 and outputs the connecting signal when the position is detected to achieve the connection of the boom-to-boom connecting mechanism 9. SOLUTION: The operation of the boom-to-boom connecting mechanism 9 is detected by a connecting mechanism operation detecting means 35, and the controller 38 measures the operating time of the boom-to-boom connecting mechanism 9 by the operation detection of the connecting mechanism operation detecting means 35, and changes the expansion and contraction speed of the telescopic boom 3 in relation to the measured operating time.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a telescopic boom telescopic control device.

[0002]

2. Description of the Related Art As shown in FIG. 5, a telescopic control device for a telescopic boom of a vehicle-mounted crane arranges a swivel base 2 on a vehicle 1 so that the telescopic boom can swivel, and a telescopic boom 3 is raised and lowered on the swivel base 2. Arranged freely. A hoisting cylinder 4 is arranged between the telescopic boom 3 and the swivel base 2 so that the telescopic boom 3 can be hoisted. A winch 5 is arranged at the rear part of the swivel base 2 and a wire rope 6 is fed from the winch 5.
To the tip of the telescopic boom 3,
The hook 7 is hung from the tip of the hook, and the suspended load is hung on the hook 7.

The telescopic boom 3 has a base end side boom 3a and a tip end side boom 3 which is telescopically fitted into the base end side boom 3a.
It consists of b. Base side boom 3a and tip side boom 3
A telescopic cylinder 8 is arranged upside down between b. That is, the rod-side end portion of the telescopic cylinder 8 is connected to the base end portion of the base end side boom 3a, and the cylinder tube rod side end portion of the telescopic cylinder 8 is connected to the base end side of the tip end side boom 3b. The telescopic boom 3 can be driven to extend and retract by expanding and contracting the telescopic cylinder 8.

The telescopic boom 3 is, as shown in FIG.
When fully contracted by the telescopic cylinder 8, when intermediately expanded,
Further, the boom-to-boom connection mechanism 9 connects the base end side boom 3a and the tip end side boom 3b when fully extended. That is, when the telescopic boom 3 is telescopic, the telescopic cylinder 8 telescopes the telescopic boom 8. However, when suspending a suspended load from the telescopic boom 3, a load is applied to the telescopic cylinder 8 and the telescopic cylinder 8 is loaded. It becomes necessary to have strength. Therefore, if the telescopic cylinder 8 is made to be strong, the weight of the telescopic cylinder 8 increases and the vehicle weight of the vehicle-mounted crane increases. Three
After setting the length to the target length, the boom-to-boom connection mechanism 9 connects the booms to suspend the suspended load.

As shown in FIG. 6, the boom-to-boom connection mechanism 9 comprises a boom-to-boom connection pin portion 10 and a fixed pin drive means 20. The boom-to-boom connection pin portion 10 includes a fixed pin 10b slidably assembled to a fixed pin storage member 10a at the base end of the distal boom 3b, and the base boom 3b.
It is composed of a fixing hole 10d provided in a fixing boss 10c attached to the side surface of a. A connecting member 10e is provided on the inner end portion of the fixing pin 10b, and the connecting member 10e has a box shape with an opening. The fixing holes 10d provided in the fixing boss 10c are respectively arranged at the tip end portion, the intermediate portion, and the base end portion of the base end side boom 3a.

Fixed pin housing member 10a and fixed pin 10b
A ball lock mechanism 15 for the fixing pin 10b is provided between them. A notch 16 is cut in the fixing pin 10b, and a spring-loaded ball 17 of the ball lock mechanism 15 is provided.
By being fitted into the notch 16, the fixing pin 10b is held at the boom connecting position where the tip of the fixing pin 10b enters the fixing hole 10d of the base end side boom 3a.

As shown in FIG. 6, the fixing pin 10b is operated by the fixing pin driving means 20 to move the tip side boom 3b.
And the proximal boom 3a are connected or disconnected. The fixed pin drive means 20 is composed of a fixed pin drive cylinder 21, a fixed pin drive lever 22, and a roller 23. The fixed pin drive levers 22 are pivotally supported by a support 24 integrally formed with the end portion of the telescopic cylinder 8 on the cylinder tube rod side, and are arranged in a pair on the left and right. A roller 23 is rotatably supported at one end of the fixed pin drive lever 22 and the other end is at the rod side end 21a of the fixed pin drive cylinder 21.
And the cylinder side end 21b.

The fixed pin drive means 20 is entirely integrated with the end portion of the telescopic cylinder 8 on the cylinder tube rod side. Therefore, the roller 23 can be positioned within the connecting member 10e of any fixing pin of the boom-to-boom connecting pin portion 10 arranged on the proximal end side of the tip side boom 3b by the expanding and contracting operation of the expandable cylinder 8. 10b
It is possible to drive.

As shown in FIG. 6, the telescopic boom telescopic control device has a fixed pin state detecting means 25 for detecting a connected state in which the fixed pin 10b enters the fixing hole 10d or a disconnected state in which the fixed pin 10b is disconnected. Is equipped with. The fixed pin state detecting means 25 includes the fixed pin drive cylinder 21.
The proximity switches 27 and 28 attached to the cylinder portion of the above and the U-shaped detection piece attached to the rod portion of the fixed pin drive cylinder 21.

FIG. 6 shows the uncoupling state of the boom-to-boom coupling mechanism 9 in which the fixing pin 10b is pulled out from the fixing hole 10d. At this time, the proximity switch 28 detects the detection piece 26, and the switch is turned on. When the fixed pin drive cylinder 21 is driven and the fixing pin 10b enters the fixing hole 10d, the other proximity switch. 27 detects the detection piece 26, and the switch is turned on. That is, the proximity switch 28 is a disconnection detector that detects disconnection, and the proximity switch 27
Is a connection detector that detects the connection. (Hereinafter, 28 will be described as a disconnection detector and 27 as a connection detector.) The detection signals detected by the disconnection detector 28 and the connection detector 27 are input to the controller 34 shown in FIG.

The telescopic boom telescopic control device provided with the inter-boom coupling mechanism 9 detects the vicinity of the inter-boom coupling mechanism 9 in the coupling position and outputs a coupling operation signal, and the telescopic operation position detecting means 31. An operation command means 30 that outputs a command signal of an operation direction and an operation amount that is operated when the boom is expanded and contracted, an expansion and contraction cylinder control means 32 that expands and contracts the expansion cylinder 8 by an expansion and contraction drive signal, and a boom or boom between connection and disconnection signals. The inter-boom coupling mechanism control means 33 for coupling or uncoupling the coupling mechanism 9 and the controller 34 are included.

The operation command means 30 outputs a command signal of an operation direction and an operation amount for extending and retracting the telescopic boom according to the tilt direction and the tilt amount of the operation lever.

The connecting operating position detecting means 31 comprises a length detector 31a and a connecting position vicinity determining means 31b provided in the controller 34. That is, the length detector 31a is arranged between the tip side boom and the proper position of the base end side boom. The controller 34 is provided with a connecting position vicinity determining means 31b. The connecting position vicinity determining means 31 receives a signal from the length detector 31a, and the signal from the length detector 31a detects the vicinity of the preset connecting position (for example, When the signal is about 100 mm before the boom-to-boom connection position), it is determined to be near the connection position and a connection operation signal is output. The connecting operating position detecting means 31 may be a switch that is directly attached to the telescopic boom 3 and that is activated when the telescopic boom 3 is near the connecting position.

The boom-to-boom connection mechanism control means 33 is a control means for controlling the fixing pin drive cylinder 21 to connect or disconnect the fixing pin 10b to the fixing hole 10d.

The controller 34 receives an operation command signal from the operation command means 30 when the telescopic boom 3 is telescopic, and outputs an telescopic drive signal to the telescopic cylinder control means 32 to extend and retract the telescopic boom 8 and connect the booms. By outputting a connection or connection release signal to the mechanism control means 33, the boom-to-boom connection mechanism 9 is connected or released. Further, the controller 34 receives the connection operation signal from the connection operation position detection means 31 and outputs a connection signal to the boom-to-boom connection mechanism control means 33 to connect the boom-to-boom connection mechanism 9.

The expansion / contraction control device for the expansion / contraction boom thus configured operates as follows. It is now assumed that the telescopic boom 3 is in the fully contracted state and the boom connecting mechanism 9 is connected to the fixing hole 10d arranged at the base end of the base end side boom 3a with the connecting pin 10b. Then, a case will be described below in which the telescopic boom 3 is extended from this state, and the telescopic boom 3 is extended from the base end side boom 3a to the tip end side boom 3b in the intermediate extension or full extension.

First, the operation command means 30 is tilted in the extension direction, and signals of the operation direction and the operation amount are input to the controller 34. When the controller 34 receives the operation direction and operation amount signals from the operation instructing means 30, the telescopic boom is in the fully retracted state by the signal from the length detector 31a, and the connection detector of the fixed pin state detecting means 25. Upon receiving a signal indicating that the boom-to-boom connection mechanism 9 is in the connected state from 27, a connection release signal is output to the boom-to-boom connection mechanism control means 33. And
The fixing pin drive cylinder 21 is driven to extend, and the fixing pin 1 is inserted through the fixing hole 10d arranged on the base end side of the base end side boom 3a.
0b is pulled out, and the connection of the boom-to-boom connection mechanism 9 is released.

When a connection release signal is received from the connection release detector 28 of the fixed pin state detecting means 25, the controller 34
Outputs an extension drive signal to the extension / contraction cylinder control unit 32 to extend the extension / contraction cylinder 8 to extend the extension / contraction cylinder 8. The expansion hole of the telescopic cylinder 8 extends the distal boom 3b from the proximal boom 3a, and the fixing pin 10b is arranged in the middle of the proximal boom 3a.
When it is located near 0d, the connecting operating position detecting means 3
The connection activation signal is input to the controller 34 from 1. When the controller 34 receives the connection operation signal from the connection operation position detection means 31, the controller 34 outputs the connection signal to the boom-to-boom connection mechanism control means 33. And fixed pin drive cylinder 2
1 is reduced and driven, the fixing pin 10b is moved in the pin insertion direction, and the tip of the fixing pin 10b is brought into contact with the inner surface of the side plate of the proximal boom 3a.

At this time, since the telescopic cylinder 8 is extended, the telescopic boom 3 is extended while sliding the tip of the fixing pin 10b on the inner surface of the side plate of the base end side boom 3a. Then, when the fixing pin 10b is located at the position of the fixing hole 10d arranged in the middle portion of the proximal boom 3a, the fixing hole 10
The fixing pin 10b enters into d, and the boom 3a on the proximal end side and the boom 3b on the distal end side are connected by the boom connecting mechanism 9.

When the controller 34 receives a detection signal from the connection detector 27 of the fixed pin state detection means 25 that the boom-to-boom connection mechanism 9 has brought the connection state, it outputs an extension drive signal to the telescopic cylinder control means 32. Then, the extension of the telescopic boom 8 is stopped. Telescopic boom 3 in this state
Can be set to an intermediate extension state, and if used in this state, the operation lever of the operation commanding means 30 is set to the neutral position state.

If the telescopic boom 3 is further extended to use the telescopic boom fully extended, the operation lever of the telescopic operation command means 30 is further tilted to the extension side. When the controller 34 receives the operation direction and operation amount signals from the operation command means 30, the controller 34 detects that the telescopic boom is in the intermediate state by the signal from the length detector 31a, and detects the connection of the fixed pin state detection means 25. The boom connection mechanism 9 receives a signal indicating that the boom connection mechanism 9 is in the connected state from the container 27, and outputs a connection release signal to the boom connection mechanism control means 33. Then, the fixed pin drive cylinder 21 is driven to extend, and the base end side boom 3
From the fixing hole 10d arranged in the middle part of a to the fixing pin 10b
To disconnect the boom-to-boom connection mechanism 9.

When a connection release signal is received from the connection release detector 28 of the fixed pin state detecting means 25, the controller 34
Outputs an extension drive signal to the extension / contraction cylinder control unit 32 to extend the extension / contraction cylinder 8 to extend the extension / contraction cylinder 8. The extension hole of the telescopic cylinder 8 extends the distal boom 3b from the proximal boom 3a, and the fixing pin 10b is arranged at the distal end of the proximal boom 3a.
When it is located near 0d, the connecting operating position detecting means 3
The connection activation signal is input to the controller 34 from 1. When the controller 34 receives the connection operation signal from the connection operation position detection means 31, the controller 34 outputs the connection signal to the boom-to-boom connection mechanism control means 33.

Then, the fixed pin drive cylinder 21 is reduced and driven to move the fixed pin 10b in the pin insertion direction,
The tip of the fixing pin 10b is brought into contact with the inner surface of the side plate of the base end boom 3a. At this time, since the telescopic cylinder 8 is extended, the telescopic boom 3 is extended while sliding the tip of the fixing pin 10b on the inner surface of the side plate of the base end side boom 3a. Then, when the fixing pin 10b is located at the position of the fixing hole 10d arranged at the tip of the base side boom 3a, the fixing hole 10
The fixing pin 10b enters into d, and the boom 3a on the proximal end side and the boom 3b on the distal end side are connected by the boom connecting mechanism 9.

When the controller 34 receives a detection signal from the connection detector 27 of the fixed pin state detection means 25 that the boom-to-boom connection mechanism 9 has brought the connection state, the controller 34 stops outputting the extension drive signal to the telescopic cylinder control means 32. Telescopic boom 8
Stop the extension of. In this state, the telescopic boom 3 can be fully extended, and the operation lever of the operation command means 30 is brought to the neutral position. Then, the crane work is performed with the telescopic boom 3 fully extended.

When the telescopic boom 3 is contracted, the operation lever of the operation command means 30 can be tilted to the contraction side.
The telescopic boom 3 can be contracted contrary to the time of extension by uncoupling the inter-boom coupling mechanism 9.

[0026]

In the telescopic boom telescopic control device, the inter-boom interlocking mechanism 9 is connected while the telescopic cylinder 8 is being telescopically extended.
If the fixing pin 10b of the boom-to-boom connection mechanism 9 passes through the connection or disconnection position of the boom-to-boom connection mechanism 9 while the boom-to-boom connection mechanism 9 is connected and operated, the boom-to-boom connection mechanism is 9, the telescopic boom 3 cannot be brought into a desired extended state because the connecting operation is not performed. In particular, the connecting operation of the inter-boom connecting mechanism 9 is performed by the fixed pin drive cylinder 21.
The above problem is likely to occur because the operation delay occurs when the oil temperature becomes low and the operating speed of the boom-to-boom connection mechanism 9 changes greatly, because the operation is performed by driving. The present invention is intended to provide a telescopic boom telescopic control device that solves such problems.

[0027]

The telescopic boom telescopic control device according to the present invention comprises a base end side boom and a tip end side boom telescopically inserted into the base end side boom. The telescopic boom, the telescopic cylinder that extends and contracts the distal boom with respect to the proximal boom, the boom interlocking mechanism that connects and disconnects the boom between the proximal boom and the distal boom, and the boom interlocking mechanism. A connecting operation position detecting means for detecting the vicinity of the connecting position and outputting a connecting operation signal, an operation command means for outputting a command signal of an operation direction and an operation amount which is operated when the telescopic boom is expanded and contracted, and an expansion / contraction cylinder is operated by an expansion / contraction driving signal. Consists of a telescopic cylinder control means for driving the telescopic movement, a boom inter-coupling mechanism control means for coupling or uncoupling the boom inter-coupling mechanism with a coupling or uncoupling signal, and a controller. The controller receives an operation command signal from the operation command means when expanding and contracting the telescopic boom and outputs a telescopic drive signal to the telescopic cylinder control means to extend and retract the telescopic boom to connect or disconnect the boom-to-boom connection mechanism control means. Outputting a signal connects or disconnects the boom-to-boom connection mechanism, and outputs a connection signal to the boom-to-boom connection mechanism control means when a connection operation signal is received from the connection operation position detection means. A device is provided with connection mechanism operation detection means for detecting an operation of the boom-to-boom connection mechanism and outputting a connection mechanism operation signal, wherein the controller operates the connection mechanism operation signal or the connection or connection release signal and the connection mechanism operation signal. When the operation time is measured by the operation time measurement means and the operation time measurement means that receives the signal and measures the operation time of the boom-to-boom connection mechanism It is characterized in that it comprises a telescopic speed changing means for outputting a telescopic drive signal to the expansion cylinder control means changes the expansion rate of the telescopic boom in relation to.

According to a second aspect of the present invention, there is provided a telescopic boom telescopic control device according to the first aspect, wherein the connecting mechanism operation detecting means includes an operation start detector for detecting an operation start of the boom-to-boom connecting mechanism. , An operation completion detector that detects the completion of operation of the boom-to-boom connection mechanism, and the operation time measuring means of the controller receives the signals from the operation start detector and the operation completion detector to start the operation of the boom-to-boom connection mechanism. It is characterized in that it is configured to measure the operation time from the completion of the operation to the completion of the operation.

According to a third aspect of the present invention, there is provided an extension / contraction control device for an extension / contraction boom according to the first aspect, wherein the connecting mechanism operation detecting means is an operation start detector for detecting an operation start of the boom-to-boom connecting mechanism. The operating time measuring means of the controller receives the connection or disconnection signal and the signal from the operation start detector, and outputs the connection or disconnection signal until the operation of the boom-to-boom connection mechanism starts. It is characterized in that it is configured to measure.

According to a fourth aspect of the invention, there is provided a telescopic boom telescopic control device according to the first aspect, wherein the connecting mechanism operation detecting means is an operation completion detector for detecting the completion of operation of the boom-to-boom connecting mechanism. The operation time measuring means of the controller receives the connection or disconnection signal and the signal from the operation completion detector and outputs the connection or disconnection signal until the boom interlocking mechanism completes operation. It is characterized in that it is configured to measure.

[0031]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a telescopic boom telescopic control device according to the present invention is shown in FIGS. 1 to 3 and described below. It should be noted that reference numerals other than the reference numeral 34 shown and described in FIGS. 5 to 7 are the same in the following description, and the same reference numerals are used, and detailed description thereof will be omitted.

In FIG. 1, reference numeral 35 is a connection mechanism operation detection means, which is an operation start detector 36 for detecting the start of operation of the boom-to-boom connection mechanism 9 and an operation completion detection to detect the completion of operation of the boom-to-boom connection mechanism 9. It is composed of a container 37.

The operation start detector 36 detects the operation start of the boom-to-boom connecting mechanism 9 by using the fixed pin drive cylinder 2.
The detector for detecting the start of extension driving of No. 1 detects the time when the connection detector 27 is turned off. The operation completion detector 37 is a detector adapted to detect the completion of extension drive of the fixed pin drive cylinder 21 in order to detect the operation completion of the boom-to-boom connection mechanism 9, and when the connection release detector 28 is turned on. To detect
It is a detector common to the connection release detector 28.

Reference numeral 38 denotes a controller, which is obtained by adding an operation time measuring means 38a and an expansion / contraction speed setting means 38b to the controller 34 described in the prior art. Reference numeral 38a denotes an operation time measuring means for measuring an operation time of the boom-to-boom connection mechanism 9, and includes an operation start detector 36 and an operation completion detector 37 of the connection mechanism operation detection means 35.
Is a means for measuring the time from when the fixed pin 10b begins to come off to when the removal of the fixed pin 10b is completed.

Reference numeral 38b is an expansion / contraction speed setting means for changing the expansion / contraction speed of the expansion / contraction boom 3 in relation to the operation time measured by the operation time measuring means 38a and outputting an expansion / contraction drive signal to the expansion / contraction cylinder control means 32. The expansion / contraction speed setting means 38b sets the expansion / contraction speed in relation to the measured operation time so as to decrease the expansion / contraction speed of the expansion / contraction cylinder 8 as much as the operation time measured by the operation time measuring means 38a is long, for example. I am trying. That is, the expansion / contraction speed setting means 38b stores a function which is calculated in advance by calculating the relationship between the expansion and contraction cylinders 8 so as to change the expansion / contraction speed of the expansion / contraction cylinder 8 according to the function of the operating time.

The telescopic boom telescopic control device according to the present invention thus configured operates as follows. It is now assumed that the telescopic boom 3 is in the fully contracted state and the boom connecting mechanism 9 is connected to the fixing hole 10d arranged at the base end of the base end side boom 3a with the connecting pin 10b. Then, a case will be described below in which the telescopic boom 3 is extended from this state, and the telescopic boom 3 is extended from the base end side boom 3a to the tip end side boom 3b in the intermediate extension or full extension.

First, the operation command means 30 is tilted in the extension direction, and the signals of the operation direction and the operation amount are input to the controller 38. When the controller 38 receives the operation direction and operation amount signals from the operation commanding means 30, the telescopic boom is in the fully retracted state by the signal from the length detector 31a, and the connection detector of the fixed pin state detecting means 25. Upon receiving a signal indicating that the boom-to-boom connection mechanism 9 is in the connected state from 27, a connection release signal is output to the boom-to-boom connection mechanism control means 33. And
The fixing pin drive cylinder 21 is driven to extend, and the fixing pin 1 is inserted through the fixing hole 10d arranged on the base end side of the base end side boom 3a.
0b is pulled out, and the connection of the boom-to-boom connection mechanism 9 is released.

At this time, the actuation time measuring means 38a of the controller 38 receives the detection signals from the actuation start detector 36 and the actuation completion detector 37 of the coupling mechanism actuation detection means 35, and when the fixing pin 10b begins to come off. From fixing pin 1
The operation time until the removal of 0b is completed is measured. The expansion / contraction speed setting means 38b is operated by the operation time measuring means 3
Telescopic boom 3 in relation to the operating time measured by 8a
The expansion / contraction speed is changed and an expansion / contraction drive signal is output to the expansion / contraction cylinder control means 32.

That is, when the controller 38 receives the connection release signal from the connection release detector 28 of the fixed pin state detection means 25, it outputs the extension drive signal to the extension cylinder control means 32 to extend the extension cylinder 8. Outputs the extension / contraction drive signal changed by the extension / contraction speed setting means 38b to extend the extension / contraction cylinder 8 at the set extension / contraction speed.

When the distal end boom 3b is extended from the base end side boom 3a by the extension drive of the telescopic cylinder 8 and the fixing pin 10b is located in the vicinity of the fixing hole 10d arranged in the intermediate portion of the base end side boom 3a, A connection operation signal is input from the connection operation position detection means 31 to the controller 38.
When the controller 38 receives the connection operation signal from the connection operation position detection means 31, the inter-boom connection mechanism control means 33.
Output a concatenated signal to. Then, the fixed pin drive cylinder 21 is driven to contract, the fixed pin 10b is moved in the pin insertion direction, and the tip of the fixed pin 10b is brought into contact with the inner surface of the side plate of the base end side boom 3a.

At this time, since the telescopic cylinder 8 is extended, the telescopic boom 3 is extended while sliding the tip of the fixing pin 10b on the inner surface of the side plate of the base end side boom 3a. At this time, the extension / contraction speed of the extension / contraction boom 3 is detected by the coupling mechanism operation detecting means 35, and the extension / contraction drive is performed at the extension / contraction speed changed by the extension / contraction speed setting means 38b in relation to the measurement time measured by the operation time measuring means 38a. Therefore, the fixing hole 10d arranged at the intermediate portion of the base end side boom 3a
When the fixing pin 10b is located at the position, the fixing pin 10b surely enters the fixing hole 10d and the connection is not unsuccessful. Therefore, the proximal boom 3a and the distal boom 3b
Are reliably connected by the boom connecting mechanism 9.

In the case of this embodiment, the fixing pin 1
Since the time from when the 0b starts to come off to when the fixing pin 10b is completely removed is measured, the fixed pin drive cylinder 21 of the boom-to-boom connection mechanism 9 is delayed in operation because the oil temperature is low. Also, it is possible to deal with this operation delay.

Similarly, since the same effect is exerted in the case of full extension, the description of these cases will be omitted.

Next, the operation time measuring means 38 of the above embodiment
“A” receives the detection signals from the operation start detector 36 and the operation completion detector 37 of the connection mechanism operation detecting means 35, and measures the time from when the fixing pin 10b starts to come off to when the fixing pin 10b is completely removed. However, the operation time from the reception of the connection release signal to the reception of the detection signal from the operation start detector 36 of the connection mechanism operation detection means 35 may be measured.

An embodiment in this case is shown in FIG. 2 and described below. It is now assumed that the telescopic boom 3 is in the fully contracted state and the boom connecting mechanism 9 is connected to the fixing hole 10d arranged at the base end of the base end side boom 3a with the connecting pin 10b. Then, when the telescopic boom 3 is extended from this state, and the telescopic boom 3 is extended from the base end side boom 3a to the tip end side boom 3b in the intermediate extension or full extension, first, the operation command means 30 is tilted in the extension direction to change the operation direction. The signal of the manipulated variable is input to the controller 38.

When the controller 38 receives the operation direction and operation amount signals from the operation command means 30, the length detector 31.
In response to the signal from a, the telescopic boom is in the fully retracted state, and the boom interlocking mechanism 9 is in the interlocking state from the interlocking detector 27 of the fixed pin state detecting means 25. The connection release signal is output to.
Then, the fixing pin drive cylinder 21 is driven to extend, the fixing pin 10b is pulled out from the fixing hole 10d arranged on the base end side of the base end side boom 3a, and the connection between the boom connecting mechanisms 9 is released. The operation time measuring means 38c provided is an operation from receiving a connection release signal output to the boom-to-boom connection mechanism control means 33 to receiving a detection signal from the operation start detector 36 of the connection mechanism operation detection means 35. Time is measured.

That is, the time required from the output of the connection release signal for pulling out the fixed pin 10b to the start of the pulling out of the fixed pin 10b is measured. Then, the extension / contraction speed setting means 38d included in the controller 38 changes the extension / contraction speed of the extension / contraction boom 3 in relation to the operation time measured by the operation time measuring means 38c, and outputs an extension / contraction drive signal to the extension / contraction cylinder control means 32.

Since it is apparent that the same operation is performed in the case of the embodiment configured as described above, the description of the operation will be omitted. In the case of this embodiment, since the operation time from the output of the connection release signal to the start of operation of the boom interlocking mechanism 9 is measured, the boom interlocking mechanism 9 is operated.
It is possible to deal with the delay at the start of the operation of.

Further, in the above embodiment, the operation time from the reception of the connection release signal to the reception of the detection signal from the operation start detector 36 of the connection mechanism operation detection means 35 is measured. The operation time from the reception of the signal to the reception of the detection signal from the operation completion detector 37 of the connection mechanism operation detection means 35 may be measured.

An embodiment in this case is shown in FIG. 3 and described below. It is now assumed that the telescopic boom 3 is in the fully contracted state and the boom connecting mechanism 9 is connected to the fixing hole 10d arranged at the base end of the base end side boom 3a with the connecting pin 10b. Then, when the telescopic boom 3 is extended from this state, and the telescopic boom 3 is extended from the base end side boom 3a to the tip end side boom 3b in the intermediate extension or full extension, first, the operation command means 30 is tilted in the extension direction to change the operation direction. The signal of the manipulated variable is input to the controller 38.

When the controller 38 receives signals of the operation direction and the operation amount from the operation command means 30, the length detector 31.
In response to the signal from a, the telescopic boom is in the fully retracted state, and the boom interlocking mechanism 9 is in the interlocking state from the interlocking detector 27 of the fixed pin state detecting means 25. The connection release signal is output to.
Then, the fixing pin drive cylinder 21 is driven to extend, the fixing pin 10b is pulled out from the fixing hole 10d arranged on the base end side of the base end side boom 3a, and the connection between the boom connecting mechanisms 9 is released. The provided operation time measuring means 38e operates from receiving the connection release signal output to the boom-to-boom connection mechanism control means 33 to receiving the detection signal from the operation completion detector 37 of the connection mechanism operation detection means 35. Time is measured.

That is, the time required to complete the removal of the fixed pin 10b after outputting the connection release signal for removing the fixed pin 10b is measured. The expansion / contraction speed setting means 38f provided in the controller 38 is
The telescopic speed of the telescopic boom 3 is changed in relation to the operating time measured by the operating time measuring means 38e, and the telescopic drive signal is output to the telescopic cylinder control means 32.

Since it is apparent that the same operation is performed in the case of the embodiment configured as described above, the description of the operation will be omitted. In the case of this embodiment, the operation time from the output of the connection release signal to the completion of operation of the boom-to-boom connection mechanism 9 is measured.
It is possible to deal with the delay from the output of the signal for activating the operation to the completion of the operation.

Next, in the above embodiment, the controller 38
The operating time is measured by the operating time measuring means 38a, 38c, 38e, and the telescopic cylinder 8 is telescopically moved at the telescopic speed changed in association with the measured operating time thereafter. The telescopic boom 3 may be extended and retracted at a telescopic speed changed by the telescopic speed setting means 38b, 38d, 38f from the time when the telescopic boom 3 is located near the connecting position.

That is, the controller 38 extends and retracts based on the operation amount determined by the tilt amount of the operation lever of the operation command means 30 until the telescopic boom 3 is positioned near the connecting position of the boom-to-boom connecting mechanism 9. When the extension / contraction speed of the boom is determined, and the extension / contraction boom 3 is positioned near the connection position of the boom-to-boom connection mechanism 9 and receives the connection operation signal from the connection operation position detection means 31, the extension / contraction speed setting means 38b,
The telescopic boom 3 is telescopically moved at the telescopic speed set in 38d and 38f.

In this case, until the telescopic boom 3 is positioned near the connecting position of the boom-to-boom connecting mechanism 9, the telescopic boom is telescopic based on the operation amount determined by the tilt amount of the operation lever of the operation commanding means 30. Since the speed is determined, the operator can determine the expansion / contraction speed of the telescopic boom during that time, and the telescopic boom can be expanded / contracted faster accordingly.

Further, in the above-described embodiment, since the telescopic boom 3 is extended from the state in which the telescopic boom 3 is fully contracted by the inter-boom connecting mechanism 9, the inter-boom connecting mechanism 9 releases the connection. Although the operation time is measured and the extension / contraction speed of the telescopic boom 3 is changed thereafter, once the telescopic boom 3 is in the fully contracted state, the inter-boom interlocking mechanism 9 once interlocks and measures the interlocking operation time. The extension / contraction speed of the extension / contraction boom 3 may be determined.

At this time, when the telescopic boom 3 is fully contracted and is connected by the inter-boom connecting mechanism 9, when the operation lever of the operation command means 30 is tilted to the extension side, the controller 38 automatically once makes a boom. Interlocking mechanism 9
After the connection is released by (1), the boom-to-boom connection mechanism 9 is connected to measure the operation time for connection, and the connection is released again to extend the telescopic boom 3.

Alternatively, a connection switch for manually connecting the boom-to-boom connection mechanism 9 and a connection release switch to manually disconnect the boom-to-boom connection mechanism 9 are separately prepared,
The controller 38 receives signals from these switches and connects or disconnects the boom-to-boom connection mechanism 9, and measures the connection operation time of the boom-to-boom connection mechanism 9 based on the connection signal from the connection switch. You may In this case, it is also possible to measure the connection release operation time of the boom-to-boom connection mechanism 9 based on the connection release signal from the connection release switch.

As a further development, the following interlock function can be added. That is, in the above-described embodiment, the telescopic boom 3 is located near the connecting position of the boom connecting mechanism 9 (for example, about 1 before the connecting position of the boom connecting mechanism 9).
The position of the telescopic boom 3 is positioned immediately before the connecting position of the boom-to-boom connecting mechanism 9 is detected by the connecting operating position detecting means 31 and the connecting operating signal is output by the detecting means 31. A position detection means immediately before connection for detecting that the position is located at a position (for example, a position about 50 mm before the connection position of the inter-boom connection mechanism 9) is arranged, and when the detection signal from the position detection means immediately before the connection is received, the boom is detected. If the interlocking mechanism 9 is not operating, an interlock function for stopping the extension / contraction drive of the extension / contraction boom may be added.

More specifically, as shown in FIG. 4, the controller 38 receives the signal from the length detector 31a, and the telescopic boom 3 is positioned immediately before the connecting position of the boom-to-boom connecting mechanism 9 (for example, boom). It is provided with an immediately-before-discrimination judging means 39a for discriminating that the inter-coupling mechanism 9 is located about 50 mm before the coupling position. The length detector 31a and the immediately-before-discrimination means 39a constitute the just-before-coupling position detecting means 39. The position detecting means 39 immediately before the connection is
The telescopic boom 3 is at a position immediately before the connecting position of the boom connecting mechanism 9 (for example, about 50 before the connecting position of the boom connecting mechanism 9).
mm) may be directly detected by a switch arranged on the telescopic boom 3.

The connection mechanism operation detecting means 35 includes an operation start detector 40 (a detector for detecting the start of connection of the boom-to-boom connection mechanism 9, specifically, for detecting the start of contraction of the fixed pin drive cylinder 21. The disconnection detector 28 is detected to be turned off.).

The controller 38 receives signals from the immediately preceding connecting position detecting means 39 and the operation start detector 40, and the telescopic boom 3 is positioned immediately before the connecting position of the boom connecting mechanism 9 (for example, the boom connecting mechanism 9). If the boom interlocking mechanism 9 does not start the connection even though the interlock function 41 is located 50 mm before the connection position of the interlocking position, the interlocking function 41 that functions not to output the expansion / contraction driving signal to the expansion / contraction cylinder control means 32 is provided. I have it.

In the telescopic boom telescopic control device having such an interlock function, the inter-boom connecting function 9 is used.
In the event of a failure or a large operational delay, it is possible to prevent the telescopic boom 3 from expanding and contracting beyond the inter-boom connection position, and surely confirm the operation of the boom-to-boom connecting function 9 to enable the telescopic boom 3 to expand and contract. Is what you can do.

Further, in the above embodiment, the expansion / contraction control device for the expansion / contraction boom in the two-stage boom has been described. However, the same applies to a multi-stage expansion / contraction boom in which a plurality of distal end booms are sequentially and elastically inserted into a proximal boom. Of course, it can be applied.

Further, the present invention can be applied to a telescopic boom telescopic control device for telescopically expanding and contracting each of the telescopic booms constituting the multi-stage telescopic boom by one telescopic cylinder. Such a telescopic boom telescopic system is equipped with a cylinder / boom connection mechanism that connects and disconnects the telescopic boom and each boom step, and a boom-to-boom connection mechanism that connects and disconnects adjacent boom steps. Therefore, when the telescopic boom is extended by operating the cylinder / boom connecting mechanism and the boom-to-boom connecting mechanism appropriately, the telescopic boom is extended from the tip side boom stage and is contracted from the base end side boom stage. The present invention can be applied to the reliable operation of the cylinder-boom connecting mechanism and the boom-to-boom connecting mechanism.

Next, in the above embodiment, the operation time of the boom-to-boom connection mechanism 9 is measured to change the expansion / contraction speed of the expansion / contraction cylinder 3, but an outside air temperature detector is arranged and the controller 38 controls the outside air temperature. The expansion / contraction speed of the expansion / contraction cylinder 3 may be changed according to the outside air temperature by receiving a signal from the detector. In this case, the lower the outside temperature is, the slower the expansion / contraction speed of the expansion / contraction cylinder may be changed.

[0068]

The telescopic boom telescopic control device according to claim 1 of the present invention measures the operating time of the boom-to-boom connecting mechanism, and changes the telescopic speed of the telescopic cylinder in relation to the measured operating time. Thus, the telescopic cylinder expands and contracts in accordance with the operation of the boom-to-boom connection mechanism, and the boom-to-boom connection mechanism can be reliably operated. In particular, when a hydraulic cylinder is used for the boom-to-boom connection mechanism, if there is an operation delay due to a decrease in the oil temperature, the expansion / contraction speed of the expansion / contraction cylinder is related to the operation delay of the hydraulic cylinder used for the boom-to-boom connection mechanism. By delaying, the boom-to-boom connection mechanism can be operated reliably.

According to a second aspect of the present invention, in the telescopic boom telescopic control device according to the first aspect, when measuring the operating time of the boom-to-boom connection mechanism, the operation time from the start of operation of the boom-to-boom connection mechanism to the completion of the operation is set. Since the expansion / contraction speed of the telescopic cylinder is changed in relation to the measured operation time, the boom-to-boom connection mechanism can be adjusted in response to the operation delay from the start to the completion of operation of the boom-to-boom connection mechanism. It can be operated reliably. Especially when a hydraulic cylinder is used for the boom-to-boom coupling mechanism, the boom-to-boom coupling mechanism should be operated reliably by slowing the expansion and contraction speed of the telescopic cylinder in relation to the delay in the operation of the hydraulic cylinder due to the decrease in oil temperature. You can

The telescopic boom telescopic control device according to claim 3 outputs a connection or disconnection signal for connecting or disconnecting the boom interlocking mechanism when measuring the operating time of the boom interlocking mechanism. The operation time from the start of operation of the boom-to-boom coupling mechanism is measured, and the extension / contraction speed of the telescopic cylinder is changed in relation to the measured operation time, so a signal to activate the boom-to-boom coupling mechanism is output. The boom-to-boom connection mechanism can be reliably operated in response to the operation delay from the time when the operation is started until the operation is started. In particular, when a hydraulic cylinder is used for the boom-to-boom connection mechanism, if there is an operation delay before the hydraulic cylinder starts operating due to a decrease in oil temperature, the expansion / contraction speed of the expansion / contraction cylinder will be slowed in relation to this operation delay. Thus, the boom-to-boom connection mechanism can be operated reliably.

The telescopic boom telescopic control device according to claim 4 outputs a connection or disconnection signal for connecting or disconnecting the boom interlocking mechanism when measuring the operating time of the boom interlocking mechanism. The operation time from time to completion of operation of the boom-to-boom connection mechanism is measured, and the expansion / contraction speed of the telescopic cylinder is changed in relation to the measured operation time, so a signal to operate the boom-to-boom connection mechanism is output. The boom-to-boom connection mechanism can be reliably operated in response to an operation delay from the time when the operation is completed until the operation is completed. In particular, when a hydraulic cylinder is used for the boom-to-boom coupling mechanism, the expansion and contraction of the expansion and contraction cylinder is related to the case where there is a delay in the operation until the hydraulic cylinder starts operating due to the decrease in oil temperature, and the delay in the operation of the hydraulic cylinder. The boom-to-boom connection mechanism can be reliably operated by reducing the speed.

[Brief description of drawings]

FIG. 1 is an explanatory diagram for explaining a telescopic boom telescopic control device of the present invention, and is an explanatory diagram of an embodiment in which an operation time from the start of operation of a boom-to-boom connecting mechanism to the completion of operation is measured.

FIG. 2 is an explanatory view for explaining another embodiment of the telescopic boom telescopic control device of the present invention, in which the inter-boom interlocking mechanism starts to operate after outputting a connection or disconnection signal for operating the inter-boom interlocking mechanism. It is explanatory drawing of embodiment which measured the operating time until.

FIG. 3 is an explanatory view for explaining another embodiment of the telescopic boom telescopic control device of the present invention, in which the inter-boom interlocking mechanism completes its operation after outputting a connection or disconnection signal for operating the inter-boom interlocking mechanism. It is explanatory drawing of embodiment which measured the operating time until.

FIG. 4 is an explanatory diagram illustrating an embodiment in which the telescopic boom telescopic control device of the present invention has an interlock function.

FIG. 5 is an explanatory diagram illustrating a vehicle-mounted crane.

FIG. 6 is an explanatory diagram illustrating a boom-to-boom connection mechanism.

FIG. 7 is an explanatory diagram illustrating a conventional telescopic boom telescopic control device.

[Explanation of symbols]

3 is a telescopic boom, 3a is a proximal boom, 3b is a distal boom, 8 is a telescopic cylinder, 9 is a boom-to-boom connection mechanism, 3
0 is an operation command means, 31 is a connecting operation position detecting means, 32
Is a telescopic cylinder control means, 33 is a boom-to-boom connection mechanism control means, 35 is a connection mechanism operation detection means, 36 is an operation start detector, 37 is an operation completion detector, 38 is a controller, 3
8a, 38c, 38e are operating time measuring means, 38b, 3
8d and 38f are operating speed changing means

Claims (4)

[Claims] 1. A telescopic boom comprising a base end side boom and a tip end side boom telescopically inserted into the base end side boom, and an telescopic cylinder for extending and retracting the tip end side boom with respect to the base end side boom. Connect the boom-to-boom connection mechanism that connects and disconnects the boom between the base end side boom and the tip end side boom, the connection operation position detection unit that detects the connection position vicinity of the boom-to-boom connection mechanism and outputs a connection operation signal, and the telescopic boom. The operation command means that outputs a command signal of the operation direction and the operation amount that is operated when expanding and contracting, the expansion and contraction cylinder control means that expands and contracts the expansion cylinder by the expansion and contraction drive signal, and the boom-to-boom connection mechanism is connected or disconnected by the connection or disconnection signal. It is composed of a boom-to-boom connection mechanism control means for releasing the connection and a controller, and the controller instructs the operation command means to extend and retract the telescopic boom. In response to the signal, the telescopic cylinder control means outputs the telescopic drive signal to extend and retract the telescopic boom, and outputs the interlocking or uncoupling signal to the inter-boom interlocking mechanism control means to connect or disconnect the inter-boom interlocking mechanism. A telescopic boom extension / contraction control device configured to output a connection signal to the boom-to-boom connection mechanism control means when a connection operation signal is received from the operation position detection means, and detects the operation of the boom-to-boom connection mechanism to operate the connection mechanism. A connection mechanism operation detecting means for outputting a signal is arranged, and the controller receives the connection mechanism operation signal or the connection or disconnection signal and the connection mechanism operation signal to measure the operation time of the boom-to-boom connection mechanism. And the operation time measured by the operation time measurement means, the extension speed of the extension boom is changed and the extension cylinder control means is extended. An extension / contraction control device for an extension / contraction boom, which is provided with extension / contraction speed changing means for outputting a signal. 2. The operation mechanism detector according to claim 1, wherein the connection mechanism operation detection means detects an operation start detector for detecting an operation start of the boom-to-boom connection mechanism, and an operation completion detector to detect an operation completion of the boom-to-boom connection mechanism. The operation time measuring means of the controller receives signals from the operation start detector and the operation completion detector, and measures the operation time from the operation start to the operation end of the boom interlocking mechanism. A telescopic control device for the telescopic boom. 3. The connection mechanism operation detection means according to claim 1, wherein the connection mechanism operation detection means comprises an operation start detector for detecting an operation start of the boom-to-boom connection mechanism, and the operation time measurement means of the controller is the connection or connection. Telescopic boom expansion and contraction characterized by being configured to measure the operation time from the output of the connection or connection release signal to the start of operation of the boom-to-boom connection mechanism upon receiving a release signal and a signal from the operation start detector. Control device. 4. The connection mechanism operation detection means according to claim 1, wherein the connection mechanism operation detection means is composed of an operation completion detector for detecting completion of operation of the boom-to-boom connection mechanism, and the operation time measurement means of the controller is the connection or connection. Retracting the telescopic boom characterized by being configured to measure the operation time from the output of the connection or connection release signal to the completion of the operation of the boom-to-boom connection mechanism upon receiving the release signal and the signal from the operation completion detector. Control device.