JP2010070311A - Movement control device of crane and mobile crane - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a movement control device of a crane for suppressing impact of a winch even if a horizontal movement of a hook is continued when a boom is brought to a movement limit state. <P>SOLUTION: The movement control device 2 of the crane for horizontally moving a boom distal end part 134 and the hook 16 is mounted on the crane provided with the boom 13 formed in a manner for freely moving while rising and lowering and freely moving while extending and contracting and the hook 16 connected with the winch 17 and suspended from a boom distal end part 134 of the boom 13. When the boom distal end part 134 and a hook 16 is horizontally moved and the boom 16 reaches a predetermined posture position L<SB>LM</SB>or before then, the horizontal movement of the boom distal end part 134 is canceled and the horizontal movement of the hook is continued by two operations including at least either a boom extension/contraction movement operation or a boom rising/lowering movement operation and a winch operation and impact generated by rapid change of rotation of the winch 17 is suppressed by an impact suppression means 70. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a crane movement control device that is attached to a crane and controls movement of a boom tip and a hook, and a mobile crane.

  2. Description of the Related Art Conventionally, there is an operation of moving a load suspended by a hook in the direction of increasing or decreasing a working radius by extending or retracting a crane boom.

  During this work, in order to prevent the hook from rising and falling as the boom expands and contracts and undulates and the suspended load sways, the height of the hook is kept constant and kept in a horizontal direction. It is desirable to move it.

  As such a crane movement control device, for example, Patent Document 1 includes a hook suspension length maintaining mechanism, and when a telescopic boom is driven by switching and controlling a main control valve, the tip of the boom is currently present. A crane movement control device that switches and controls the driven-side control valve so as to move in a substantially horizontal direction while maintaining the ground height is disclosed.

According to this configuration, it is possible to speed up the control by reducing the total driving amount and to perform a quick work, and also to enable high-precision control and reduce the cost by eliminating the wire feeding length detection means. Can do.
JP 2003-285990 A

  However, in the above-described crane movement control device disclosed in Patent Document 1, when the hook is moved horizontally and the boom reaches a movement limit state such as full extension or full contraction, the hook continues to move horizontally. Then, there was a problem that the winch was instantaneously reversely rotated and an impact was generated.

  Therefore, the present invention provides a crane movement control device capable of suppressing the impact of the winch even when the hook is continuously moved horizontally when the boom is in a movement limit state, a mobile crane including the crane movement control device, The purpose is to provide.

  In order to achieve the above object, a crane movement control device according to the present invention includes a boom formed to be movable up and down and telescopically movable, and a hook connected to a winch and suspended from a tip of the boom. A crane movement control device that can horizontally move the boom tip and the hook, wherein the boom tip and the hook are horizontally moved, and the boom At the time when the posture position is reached or before, the horizontal movement of the boom tip is released, and the hook horizontal movement is performed by two operations including a boom telescopic movement operation or a boom raising / lowering movement operation and a winch operation. While the movement is continued, the impact generated by the sudden change of the winch is suppressed by the impact suppressing means.

  As described above, the crane movement control device according to the present invention horizontally moves the boom tip and the hook, and releases the horizontal movement of the boom tip at or before the boom reaches a predetermined posture position. Then, the hook horizontal movement is continued by two operations including the boom telescopic movement operation or the boom raising / lowering movement operation and the winch operation, and the impact generated by the sudden change in the rotation of the winch is caused by the impact suppressing means. Suppress.

  Therefore, when the boom reaches a predetermined posture position, the horizontal movement of the hook can be continued while suppressing an impact caused by a sudden change in the rotation of the winch.

  Hereinafter, the best mode of the present invention will be described based on Example 1 shown in the drawings.

  First, the mechanical structure of the mobile crane 1 provided with the crane movement control apparatus 2 of this Embodiment is demonstrated using FIG.

  The mobile crane 1 according to the present embodiment is a so-called cargo crane, and includes a vehicle 10 having a traveling function, an outrigger 11 for preventing the vehicle 10 from overturning, a column 12 erected on the vehicle 10 so as to be turnable, A boom 13 supported by the column 12 so as to be raised and lowered, a boom raising and lowering cylinder 14 for raising and lowering the boom 13, and a hook 16 suspended from the tip of the boom 13 by a wire 15 that is operated to hoist or lower. And.

  The outriggers 11 are used to stabilize the vehicle 10 by projecting to the side of the vehicle 10 when the load is suspended from the hook 16, and one on each of the left and right sides of the column 12 in front of the vehicle 10. Has been placed.

  In addition, the boom 13 is inserted into the first boom 131 that is supported by the column 12 so as to be able to move up and down, a second boom 132 that is telescopically inserted into the first boom 131, and a telescopic insertion into the second boom 132. And a third boom 133 that is expanded and contracted.

  Furthermore, the wire 15 connected to the drum of the winch 17 installed at the base of the column 12 or the first boom 131 is wound or operated on the boom tip 134 at the tip of the third boom 133 located at the most tip. The hook 16 is suspended so as to be movable up and down by being wound down.

  In addition, as shown in FIG. 1, a boom telescopic valve 61 is connected to the boom 13, a boom hoisting valve 62 is connected to the boom hoisting cylinder 14, and a winch valve 64 is connected to the winch 17. Various operations such as boom expansion / contraction, boom hoisting, winch hoisting / lowering can be performed by hydraulic pressure generated by the hydraulic pump.

  The mobile crane 1 configured in this manner causes the column 12 to pivot in the horizontal direction with the load suspended from the hook 16, and causes the boom 13 configured in a telescopic manner to extend and contract in the axial direction, thereby raising and lowering the boom. The cylinder 14 is expanded and contracted to move the boom 13 up and down in the vertical direction, and by rotating the winch 17, the hook 16 is wound or unwound to move the hook 16 and the suspended load and perform operations such as loading and unloading. be able to.

  Next, the hardware configuration of the control system of the crane movement control device 2 of this embodiment will be described with reference to FIG.

  The crane movement control apparatus 2 according to the present embodiment includes an attitude detector 30 for detecting the attitude of the boom 13 and the position of the hook 16, a hoisting cylinder pressure detector 35 as a load detector, and an operator operating the operation panel. An operation 40 inputted by operation, a posture detector 30, a undulating cylinder pressure detector 35 and an operation 40 are inputted to control the movement of the boom 13 and the hook 16, and a command from the microcomputer 80 is given. The valve group 60 is received and controlled to open and close, and the prior notification means 65 notifies the operator that the movement limit has been approached.

  The posture detector 30 includes a winch rotation speed detector 31 of the winch 17, a boom length detector 32, a boom hoisting angle detector 33, a boom turning angle detector 34, and the like.

  The operation 40 input by the operator includes a single operation such as a winch operation 41, a boom turning operation 42, a boom raising / lowering operation 43, and a boom telescopic operation 44, as well as a composite such as a hook horizontal operation 45 and a hook parallel operation 46. There is an operation.

  The microcomputer 80 further includes a CPU 81 that performs arithmetic operations and manages input / output, a storage device 82 such as a ROM and a RAM, input ports 83, 84, and 85 to which external devices are connected, an output port 86, and the like. . The operations of the judging means 50 and the impact suppressing means 70 shown in FIG.

  The valve group 60 includes a boom telescopic valve 61, a boom hoisting valve 62, a boom turning valve 63, a winch valve 64, and the like, all of which are 4-port electromagnetic pilot switching valves.

In addition, the prior notification means 65 is configured by a speaker or the like disposed near the operation panel, and the length L and the undulation angle θ of the boom 13 are set to the expansion limit length L _LM and the undulation limit angle θ _LM . When approaching, before releasing the horizontal movement of the boom tip 134, a voice such as “the boom tip will rise soon” is issued to notify and warn the operator.

  Next, crane movement control by the crane movement control device 2 of this embodiment will be described based on the block diagram of FIG. 3, the flowchart of FIG. 4, and the explanatory diagram of FIG.

  In this crane movement control, when the operator inputs the operation panel hook horizontal operation 45 (step S1), the attitude detector 30 detects the attitude of the boom 13 and the hook 16 (step S2), and the microcomputer 80 uses the boom tip. The operation of the boom 13 and winch 17 is calculated so that the portion 134 and the hook 16 move horizontally (step S3).

Then, the calculation result by the received determination means 50 (see FIG. 1), the length L of the boom 13 is equal to or less than the stretch relaxation length L _r of the prior reaching the elastic limit length L _LM as a predetermined posture position If it is determined (YES in step S41), the horizontal movement of the boom tip 134 is released (step S42).

  Subsequently, in order to suppress the impact of the winch 17, the operations of the boom 13 and the winch 17 are recalculated so that the horizontal movement of the hook 16 can be continued only by the raising / lowering movement operation of the boom 13 and the rotation operation of the winch 17 ( Step S43).

That is, as shown in the explanatory diagram of FIG. 5 to be described later, while moving along the relaxation movement track T _r smoothly connecting the boom tip and the horizontal movement track T _H and a relief movement track T _theta, hook 16 Calculate the operation to continue the horizontal movement.

  Then, the prior notification means 65 emits a sound such as “the boom head will rise soon” that the boom tip part 134 that has been released from the horizontal movement is raised and lowered, and the boom tip part 134 is actually raised and lowered. An operator is notified in advance before descending (step S44).

  Finally, by outputting the recalculated operation to the valve group 60, the winch 17 is rotated backward while the boom 13 is raised and lowered, and the horizontal movement of the hook 16 is continued (step S5).

On the other hand, (NO in step S41) If the length L of the calculation result boom 13 by determination means 50 which received a determined to longer than stretching relaxation length L _r, calculated actuation by outputting it, The horizontal movement of the boom tip 134 and the hook 16 is continued (step S5).

Here, stretching relaxation length L _r of the boom 13 as a boundary value at the time of transition to the impact suppression control, to the stretch limit length L _LM is limited by the mechanical structure of the boom 13, a predetermined margin It provided a value that is set, for example, those of adding a margin of a predetermined rate of about 5% stretch limit the length L _LM and, can be considered such as to add a predetermined length of the margin of about 50 cm.

A method of calculating the relaxation movement trajectory _Tr in the re-calculation of the crane operation (step S43) executed in the impact suppression control of the boom 13 described above will be described based on equations (1) to (3) shown in FIG.

In this impact suppression control, the equation (1) is calculated based on the moving speed V of the hook 16 indicated by the operator with the operation lever, the hoisting angle θ of the boom 13 detected by the boom hoisting angle detector 33, and the length L of the boom 13. Based on the equation (3), the expansion / contraction speed v _L of the boom 13, the hoisting speed v _θ , and the rotation speed v _w of the winch 17 are calculated, and the horizontal movement control of the hook 16 is performed. Hereinafter, Formula (1) to Formula (3) will be described by taking as an example a case where the work radius is horizontally moved in the direction of decreasing the working radius and reaches the expansion / contraction limit length _LLM .

First, equation (1), which corresponds to the position p1, p2, p3 in FIG. 5 (a), while maintaining the height _{H f} of the hook 16 (see FIG. 1), the height of the boom tip It maintains H _b is a calculation formula for moving along the horizontal movement track T _H.

A in this equation (1) is a function of three variables: the length L of the boom 13, the hoisting angle θ of the boom 13, and the rotation speed w of the winch 17, and based on the moving speed V of the hook 16, the boom It is possible to calculate the speeds v _L , v _θ , and v _w of each actuator for horizontally moving the tip portion 134 and the hook 16.

Next, equation (2), which corresponds to the position p5, p6, p7 in FIG. 5 (a), while Okoshiossha operated along the boom tip undulating movement track T _theta, winding winch 17 It is a calculation formula for moving the hook 16 horizontally by the lower operation.

C in this equation (2) is a function of two variables, the hoisting angle θ of the boom 13 and the rotational speed w of the winch 17, and the hook 16 is raised and lowered based on the moving speed V of the hook 16. It is possible to calculate the operating speeds v _L , v _θ , and v _w of the actuators for horizontally moving the actuators.

Then, equation (3), as does not pass through the position p4 in FIG. 5 (a), the relaxation movement is shortcut the intersection of the boom tip 134 and the horizontal movement track T _H undulating movement track T _theta smoothly connected This is a calculation formula for causing movement along the trajectory _Tr .

C and A in the equation (3) are the same functions as C and A in the above equations (1) and (2), and these are multiplied by the weighting factors α and β, respectively. , Β is gradually changed to calculate the relaxation movement trajectory _Tr .

That is, while satisfying the alpha + beta = 1, together with changing the alpha from 0 to 1, by changing the beta from 1 to 0, the relaxation movement track T _r, the area close to the position of the end point p3 of the horizontal movement track T _H in the weight coefficient β becomes large formula (1) is dominant, the weighting factor α is larger equation (2) becomes dominant in the region close to the position p5 of the start point of the undulating movement track T _theta.

Then, the boom tip 134, at the beginning of the relaxation movement track T _r (the end point of the horizontal movement locus T _H), smoothly moves to be connected to the horizontal movement track T _H, the end point of the relaxation movement track T _r (undulations at the beginning) of the movement track T _theta, it will be smoothly moved so as to be connected to the undulating movement track T _theta.

  Therefore, as shown in FIG. 5B, the output (valve opening degree, valve switching direction) of the winch valve 64 changes from the hoist corresponding to the horizontal movement of the boom tip part 134 to the undulation movement of the boom tip part 134. It gradually changes in a relaxed curve shape to the corresponding lowering, and the output difference before and after the change from forward rotation (winding) to reverse rotation (lowering) becomes extremely small.

  Next, the effect of the crane movement control apparatus 2 of the present embodiment will be described.

As described above, the crane movement control device 2 of the present embodiment horizontally moves the boom tip 134 and the hook 16, and the extension limit length with which the length L of the boom 13 is set to a predetermined posture position by the determination means 50. when it is judged to have reached the stretch relaxation length L _r of the prior is reached L _LM, automatically releases the horizontal movement of the boom tip 134, rotational operation of the undulating movement operation and winch 17 the boom 13 Thus, the horizontal movement of the hook 16 is continued, and the impact generated by reversing the rotation direction of the winch 17 is suppressed by the impact suppressing means 70.

Therefore, when the length L of the boom 13 reaches a stretch limit the length L _LM as telescopic movement limit, changes in feed from with wire 15 is retracted to a change in the movement direction of the boom 13, the rotational direction of the winch 17 The horizontal movement of the hook 16 can be continued while suppressing the impact caused by the reverse rotation.

  Since the impact due to the reverse rotation of the winch 17 is suppressed in this way, this impact is not transmitted to the suspended load via the boom 13, the wire 15, or the hook 16, so that the suspended load can be suppressed. The impact load on the boom 13 and the column 12 is reduced, and the overall durability is improved.

  Furthermore, the impact of the winch 17 is suppressed, so that the durability of the winch motor (not shown) for driving the winch 17 to rotate is also improved.

  In addition, since the impact caused by the winch 17 is suppressed in this way, the gear noise and the jumping (lateral swing) of the wire 15 that accompanies this are eliminated, so that discomfort given to the operator can be reduced.

Further, the shock suppression means 70, so that the boom tip 134 moves along the relaxation movement track T _r which connects the horizontal movement track T _H by the horizontal movement, the relief movement track T _theta by undulating movement, a smooth By controlling to, the output of the winch valve 64 can be smoothly changed to suppress the impact caused by the reverse rotation.

That is, the boom tip 134, is connected to the horizontal movement track T _H at the beginning of the relaxation movement trajectory T _r, that is connected to the undulating movement track T _theta at the end of the relaxation movement trajectory T _r, the output of the winch valve 64 , Because it changes smoothly from hoisting corresponding to horizontal movement to lowering corresponding to undulation movement, the output difference before and after the change from forward rotation (winding) to reverse rotation (winding) is very small Become.

Incidentally, this relaxation movement track T _r is embodiment is not limited to a curve by weighting factors as described in, but smoothly connecting the horizontal movement track T _H undulating movement track T _theta Any one may be used as long as it is a polygonal line or a clothoid curve.

Furthermore, pre-notification means 65 for notifying that the boom 13 before reaching the expansion limit length L _LM as telescopic travel limit, thereby automatically releasing the horizontal movement of the boom tip 134 continues the horizontal movement of the hook 16 By informing the operator that the boom tip 134 is raised and lowered, it is possible to suppress accidents that come into contact with surrounding structures and the like.

The advance notification to the operator by the advance notification means 65 is made at a time earlier than the time when the expansion / contraction relaxation length _Lr is reached, so that the advance notification is given a predetermined time before the boom 13 actually rises and falls. It is preferable.

  And since the mobile crane 1 of a present Example can suppress the impact by the reverse rotation of the rotation direction of the winch 17 by providing the above-mentioned crane movement control apparatus 2, the safe mobile crane 1 with which a suspended load is hard to shake. It becomes.

  Hereinafter, a crane movement control device 2 using an impact suppressing means different from that of the first embodiment will be described. Note that the same or equivalent parts as those described in the first embodiment will be described with the same reference numerals.

  Since the basic configuration of the present embodiment is substantially the same as that of the first embodiment, a description thereof will be omitted. The crane movement control by the crane movement control device 2 of the present embodiment is substantially the same as that of the first embodiment described with reference to FIGS.

On the other hand, the present embodiment is different from the first embodiment in that winch stop control is interposed in the middle of the relaxation movement locus _Tr in the recalculation of the crane operation (step S43 in FIG. 4).

Hereinafter, the calculation method of the relaxation movement trajectory _{Tr in} the re-calculation of the crane operation (corresponding to step S43 in FIG. 4) executed in the impact suppression control of the boom 13 of the present embodiment will be _expressed from the equation (1) shown in FIG. A description will be given based on (5). In FIG. 6, the boom 13, the wire 15, and the hook 16 are simplified for easy understanding of the movement trajectory.

In this impact suppression control, the boom 13 telescopic speed v _L and hoisting speed based on the formulas (1) to (5) based on the moving speed V of the hook 16, the hoisting angle θ of the boom 13, and the length L of the boom 13. v _θ and the rotation speed v _w of the winch 17 are calculated, and the horizontal movement control of the hook 16 is performed. Hereinafter, Expressions (1) to (5) will be described by taking as an example a case where the work radius is horizontally moved in the direction of decreasing the working radius and reaches the expansion / contraction limit length _LLM .

  First, the expression (1) corresponds to the positions p1, p2, and p3 in FIG. 6A, and is substantially the same as the expression (1) in the first embodiment, so that the description thereof is omitted.

The expression (2) of this embodiment corresponds to the positions p4 to p5 in FIG. 6A, and the winch is moved in the middle of moving the boom tip along the relaxation movement trajectories T _{r1 to} T _r3. the output of 17 is stopped, while the boom 13 is Okoshiossha operation with the shortened boom 13, a calculation formula for horizontally moving along the hook 16 to the relaxation movement track T _r2.

B in this equation (2) is a function of two variables, the length L of the boom 13 and the undulation angle θ of the boom 13, and the winch 17 is stopped based on the moving speed V of the hook 16. The operating speed v _L , v _θ , v _w (= 0) of each actuator for moving the hook tip 16 horizontally along the relaxation movement trajectory T _r2 can be calculated.

  Furthermore, the expression (3) corresponds to the positions p6 and p7 in FIG. 6 (a) and is substantially the same as the expression (2) in the first embodiment, so that the description thereof is omitted.

Then, equation (4), the boom tip 134, a calculation formula for causing to move along the relaxation movement track T _r1 to smoothly connect the relaxation movement track T _r2 and horizontal movement track T _H, Formula (5) is a calculation formula for causing the boom tip 134 to move along a relaxation movement trajectory T _r3 that smoothly connects the relaxation movement trajectory T _r2 and the undulation movement trajectory T _θ .

The functions A, B, and C in the expressions (4) and (5) are the same functions as the functions A, B, and C in the expressions (1), (2), and (3) described above. The relaxation movement trajectories T _r1 and T _r3 are calculated by multiplying the weight coefficients α and β, respectively, and gradually changing the ratio of the weight coefficients α and β.

Then, the boom tip 134, at the beginning of the relaxation movement track T _r1 (the end point of the horizontal movement locus T _H), smoothly moves to be connected to the horizontal movement track T _H, the end point of the relaxation movement track T _r1 (relaxation at the beginning) of the movement track T _r2, smoothly moved so as to connect the relaxation movement track T _r2.

Similarly, the boom tip 134, relaxation at the beginning of the movement track _{T r3} (the end point of the relaxation movement track _{T r2),} relaxation move smoothly moved so as to connect the trajectory _{T r2,} the relaxation movement track _{T r3} endpoint ( in undulation starting point of the movement locus T _theta), smoothly moves to connect to the undulating movement track T _theta.

  Therefore, as shown in FIG. 6 (d), the output of the winch valve 64 is smoothly changed from the winding corresponding to the horizontal movement of the boom tip 134 to the lowering corresponding to the undulation movement of the boom tip 134. It will change, and will go through the state where an output is temporarily stopped in the middle of the change from forward rotation (winding up) to reverse rotation (winding down).

  Next, the operation will be described.

As described above, the impact suppressing means 70 of the present embodiment only stops the winch 17 during the movement of the boom tip 134 along the relaxation movement trajectory _Tr , and moves the boom 13 up and down and only the telescopic movement of the boom 13. By interposing the winch stop control for continuing the horizontal movement of the hook 16, the output of the winch valve 64 can be changed more smoothly and the impact due to the reverse rotation can be suppressed.

  That is, the output difference of the winch valve 64 before and after the change when the rotation direction of the winch 17 changes from the normal rotation to the reverse rotation can be made smaller than in the case of the first embodiment. The recoil becomes smaller because the movement is resumed from the stopped state.

Further, if the winch 17 is temporarily stopped in the middle of the relaxation movement trajectory _Tr in this way, the winch valve 64 once returns to the neutral position, and the stroke per operation of the winch valve 64 is caused when the winch valve 64 is rotated in the reverse direction. and becomes small, it is possible to suppress the deviation from the horizontal movement locus T _H of the hook 16 due to the operation delay of the winch valve 64.

  In addition, since it is substantially the same as that of the said Example 1 about another structure and an effect, description is abbreviate | omitted.

  Hereinafter, the crane movement control device 2 using the impact suppressing means different from those of the first and second embodiments will be described. The same or equivalent parts as those described in the first and second embodiments will be described with the same reference numerals.

  Since the basic configuration of the present embodiment is substantially the same as that of the first embodiment, a description thereof will be omitted.

  Further, the crane movement control by the crane movement control device 2 of this embodiment is substantially the same as that of the first embodiment, but the operation means is operated after the movement of the boom 13 and the hook 16 is completely stopped. This is different from the first embodiment in that it is restarted by the above.

  Hereinafter, the crane movement control by the crane movement control device 2 of the present embodiment will be described based on the flowchart of FIG. Steps S1, S2, and S3 are substantially the same as those in the first embodiment, and thus description thereof is omitted.

In this embodiment, the determination means 50 (see FIG. 1) that receives the calculation result causes the expansion / contraction relaxation length L _r before the boom length L reaches the expansion / contraction limit length L _LM as a predetermined posture position. If it is determined that the following is true (YES in step S41), the horizontal movement of the boom tip 134 and the hook 16 is temporarily stopped (step S42). At this time, it is preferable that the output of the winch 17 is gradually stopped to gradually decrease.

  Then, after the horizontal movement is stopped, it is determined whether or not the operator has operated the operation means of the boom 13 again by operating the operation lever of the operation panel (step S43).

  If it is determined that it has been operated (YES in step S43), the horizontal movement of the hook 16 can be continued only by the raising / lowering movement operation of the boom 13 and the rotation operation of the winch 17 while the horizontal movement of the boom tip 134 is stopped. Then, the operation of the boom 13 and winch 17 is recalculated (step S44).

  Subsequently, the advance notification means 65 notifies the operator in advance that the boom tip part 134 that has been released from the horizontal movement is raised or lowered (step S45).

  Finally, by outputting the recalculated operation to the valve group 60, the winch 17 is rotated backward while the boom 13 is raised and lowered, and the horizontal movement of the hook 16 is continued (step S5). At this time, it is preferable that the output of the winch 17 is gradually started to gradually increase.

  Next, the operation will be described.

Thus, shock suppression means 70 of this embodiment, the boom tip 134 and the hook 16 have moved horizontally undulating limit of the boom 13 as the elastic limit length L _LM or undulating movement limit of the stretching travel limit When the angle _θLM is reached, the horizontal movement of the boom tip 134 and the hook 16 is temporarily stopped, and the horizontal movement of the hook 16 is resumed by operating the operating means of the boom 13 again, whereby the winch valve 64 It is possible to suppress the impact caused by the reverse rotation by smoothly changing the output of.

That is, unlike the first and second embodiments, in this embodiment, not only the winch 17 but also the boom 13 is stopped, so that it is not necessary to calculate and move along the relaxation movement trajectory _Tr. The output difference of the winch valve 64 before and after the change when the rotation direction of the winch 17 changes can be reduced by a simple control method.

That is, in the first and second embodiments, the output of the winch valve 64 is changed by moving along the relaxation movement trajectory _Tr while releasing the horizontal movement of the boom tip 134 while continuing the horizontal movement of the hook 16. Is smooth.

  In contrast, in the present embodiment, the horizontal movement of the hook 16 is also temporarily stopped, and a stop time for temporarily stopping the output of the winch valve 64 is provided, thereby smoothing the output change of the winch valve 64 at the time of restart. Yes.

  In addition, since it is substantially the same as that of the said Example 1, 2 about another structure and an effect, description is abbreviate | omitted.

  Hereinafter, a crane movement control apparatus 2 using an impact suppressing means different from those of the first, second, and third embodiments will be described. The same or equivalent parts as those described in the first, second, and third embodiments will be described with the same reference numerals.

  Since the basic configuration of the present embodiment is substantially the same as that of the first embodiment, a description thereof will be omitted.

Further, the movement control of the crane by the movement controller 2 of the crane of the present embodiment is substantially the same as the first embodiment shown in FIG. 4, undulations prior reaching the derricking limit angle theta _LM as a predetermined posture position in that shock suppression control when it reaches the relaxed angle theta _r, is different from that of example 1 (see step S41 in FIG. 4).

Hereinafter, the calculation method of the relaxation movement trajectory _{Tr in} the re-calculation of the crane operation (corresponding to step S43 in FIG. 4) executed in the impact suppression control of the present embodiment is _{expressed by} the equations (1) to (3) shown in FIG. Based on

  First, the expression (1) corresponds to the positions p1, p2, and p3 in FIG. 8A and is substantially the same as the expression (1) in the first embodiment, so that the description thereof is omitted.

Next, the expression (2) corresponds to the positions p5 and p6 in FIG. 8A, and the hoisting operation of the winch 17 is performed while the boom tip is operated to expand and contract along the expansion and contraction movement locus _TL. Is a calculation formula for moving the hook 16 horizontally.

D in the equation (2) is a function of two variables, that is, the length L of the boom 13 and the rotational speed w of the winch 17. Based on the moving speed V of the hook 16, the hook 16 is expanded and contracted. It is possible to calculate the operating speeds v _L , v _θ and v _w of each actuator for horizontally moving the actuator.

Then, Equation (3) is a relaxed movement in which the boom tip 134 is smoothly connected by shortcutting the intersection of the horizontal movement locus _TH and the expansion / contraction movement locus _TL so as not to pass through the position p4 in FIG. This is a calculation formula for causing movement along the trajectory _Tr .

D and A in this equation (3) are the same functions as D and A in the above equations (1) and (2), and these are multiplied by the weighting factors α and β, respectively, and this weighting factor α , Β is gradually changed to calculate the relaxation movement trajectory _Tr .

That is, while satisfying the alpha + beta = 1, together with changing the alpha from 0 to 1, by changing the beta from 1 to 0, the relaxation movement track T _r, the area close to the position of the end point p3 of the horizontal movement track T _H The weighting coefficient β is large and the expression (1) is dominant, and the weighting coefficient α is large and the expression (2) is dominant in the region near the start point position p5 of the expansion / contraction movement locus _TL .

Then, the boom tip 134, at the beginning of the relaxation movement track T _r (the end point of the horizontal movement locus T _H), smoothly moves to be connected to the horizontal movement track T _H, the end point of the relaxation movement track T _r (stretching At the start point of the movement locus _TL ), the movement moves smoothly so as to be connected to the expansion / contraction movement locus _TL .

  Therefore, as shown in FIG. 8B, the output of the winch valve 64 is changed from a small hoisting output corresponding to the horizontal movement of the boom tip 134 to a large hoisting output corresponding to the expansion / contraction movement of the boom tip 134. The output difference before and after the change becomes smaller.

  Next, the operation will be described.

Thus, the mobile control device 2 of the crane of the present embodiment, the boom tip 134 and the hook 16 have moved horizontally undulating prior boom 13 reaches a derricking limit angle theta _LM as a predetermined posture position When the relaxation angle θ _r is reached, the horizontal movement of the boom tip 134 is released, the horizontal movement of the hook 16 is continued by the telescopic movement operation of the boom 13 and the rotation operation of the winch 17, and the rotation speed of the winch 17 is increased. An impact generated by sudden change is suppressed by the impact suppression means 70.

Therefore, when the boom 13 reaches the undulation limit angle _θLM , the horizontal movement of the hook 16 can be continued while suppressing an impact caused by a sudden change in the rotation speed of the winch 17.

Further, the shock suppression means 70, so that the boom tip 134 moves along the relaxation movement track T _r which connects the horizontal movement track T _H by the horizontal movement, stretching and movement track T _L by stretching movement, a smooth By controlling to, the output of the winch valve 64 can be smoothly changed to suppress an impact caused by a sudden change in the rotational speed.

  Other configurations and operational effects are substantially the same as those of the first, second, and third embodiments, and thus description thereof is omitted.

  As described above, the first, second, third, and fourth embodiments have been described in detail with reference to the drawings. However, the specific configuration is not limited to these embodiments, and the design changes do not depart from the gist of the present invention. Are included in the present invention.

For example, in the embodiment 1, 2, 3, 4, the shock suppression controlled by stretching relaxation length _{L r} and derricking relaxation angle theta _r before the boom 13 reaches the expansion limit length _{L LM} and hoisting limit angle theta _LM has been described to operate, it is not limited thereto, a predetermined relaxation time by calculating the time from the moving speed V of the hook 16 until it reaches the elastic limit length L _LM and hoisting limit angle theta _LM The shock suppression can be controlled only before.

  Moreover, in the said Example 1, 2, 3, 4, although the case where the crane movement control apparatus 2 was applied to the cargo crane as the mobile crane 1 was demonstrated, it is not limited to this, A truck crane, It can also be applied to wheel cranes and crawler cranes.

  Further, in the first, second, third, and fourth embodiments, the crane movement control device 2 is applied to the case where the boom 13 is moved in the direction of reducing the working radius and reaches a predetermined posture position. However, the present invention is not limited to this, and the present invention can also be applied to a case where a predetermined posture position is reached by moving the working radius in the direction of increasing.

It is explanatory drawing explaining the structure of the movement control apparatus of the crane of Example 1. FIG. It is explanatory drawing explaining the whole structure of a mobile crane. It is a block diagram explaining the structure of the hardware of the control system of the movement control apparatus of a crane. It is a flowchart explaining the flow of control of the movement control apparatus of the crane of Example 1. FIG. It is explanatory drawing explaining an effect | action of the movement control apparatus of the crane of Example 1. FIG. (A) is a movement locus, (b) is the output of the winch valve. It is explanatory drawing explaining an effect | action of the movement control apparatus of the crane of Example 2. FIG. (A) is a movement locus, (b) is an output of a boom telescopic valve, (c) is an output of a boom hoisting valve, and (d) is an output of a winch valve. It is a flowchart explaining the flow of control of the movement control apparatus of the crane of Example 3. It is explanatory drawing explaining an effect | action of the movement control apparatus of the crane of Example 4. FIG. (A) is a movement locus, (b) is the output of the winch valve.

Explanation of symbols

L Boom length L _LM expansion limit length (predetermined posture position)
L _r Stretching relaxation length θ Boom hoisting angle θ _LM hoisting limit angle (predetermined posture position)
θ _r undulation relief angle T _H horizontal movement locus T _θ undulation movement locus _TL telescopic movement locus T _r relaxation movement locus 1 mobile crane 13 boom 134 boom tip 16 hook 17 winch 2 crane movement control device 30 attitude detector 45 Hook horizontal operation 50 judgment means 64 winch valve 65 prior notification means 70 impact suppression means

Claims (7)

The boom tip and the hook are horizontally moved by being installed in a crane including a boom formed to be movable up and down and telescopically movable, and a hook connected to a winch and suspended from the boom tip of the boom. A crane movement control device, which can be
When the boom tip and the hook are horizontally moved and the boom reaches or reaches a predetermined posture position, the horizontal movement of the boom tip is released and the boom telescopic movement operation or boom hoisting movement is performed. The movement of the crane characterized in that the horizontal movement of the hook is continued by two operations including the operation of either one of the operations and the winch operation, and the impact generated by the sudden change of the rotation of the winch is suppressed by the impact suppressing means. Control device.   2. The crane movement control device according to claim 1, wherein the predetermined posture position is a boom posture in a state where the telescopic movement limit or the undulation movement limit is reached.   Before the boom reaches the predetermined posture position, the impact suppression means is configured so that the boom tip has a horizontal movement locus due to horizontal movement and an undulation movement locus due to undulation movement or an expansion / contraction movement locus due to expansion / contraction movement. The crane movement control device according to claim 1, wherein the crane movement control device is controlled so as to move along a smooth movement locus that is smoothly connected.   The impact suppressing means stops the winch and continues the horizontal movement of the hook only by the boom raising and lowering movement and the boom telescopic movement while the boom tip moves along the relaxation movement locus. The crane movement control device according to claim 3, wherein winch stop control is interposed.   The impact suppression means temporarily stops the horizontal movement of the tip of the boom and the hook when the boom reaches the predetermined posture position, and the boom operating means is operated again, so that the hook 3. The crane movement control device according to claim 1, wherein horizontal movement is resumed.   2. A prior notification means for informing that the horizontal movement of the boom tip is released and the horizontal movement of the hook is continued before the horizontal movement of the boom tip is released. The crane movement control apparatus according to claim 5.   A mobile crane comprising the crane movement control device according to any one of claims 1 to 6.

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