JP2010120753A - Control device of track crane - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve such a problem that there is a possibility of damaging a wheel ground reaction force support means such as an axle by a wheel ground reaction force, caused by increase in overturning moment rearward of a boom to increase a ground contact reaction force while a telescopic boom is contracted to the maximum and elevated to the maximum and a boom rotation position is directed to a side. <P>SOLUTION: The control device of a track crane includes: a limited ground reaction force value storage means B storing a limited ground reaction force value responding to the strength of the wheel ground reaction force support means 11; a present ground reaction force value acquisition means C acquiring a present ground reaction force value added to a wheel 13 in a present crane work state; a comparison means D comparing the present ground reaction force value with the limited ground reaction force value; and a ground reaction force increase side operation restriction means E restricting operation on a side where the ground reaction force value applied to the wheel 13 is increased with respect to a various types of operating actuators of the crane when the present ground reaction force value reaches the limited ground reaction force value. The ground reaction force value applied to the wheel does not exceed a range to be responded by the strength of the wheel ground reaction force support means 11. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a crane vehicle control apparatus that is mounted in connection with a wheel ground reaction force during work in a wheel grounded state in a crane vehicle in which a swivel is mounted on a vehicle and a telescopic boom is installed on the swivel base. Is.

  The crane vehicle needs to be increased in size to increase the capacity such as lifting a heavy load or widening the work range. However, if the crane vehicle is increased in size, the weight of the entire crane vehicle increases.

  FIG. 1 shows a conventionally used large crane vehicle. In this type of large crane vehicle, the rear portion of the swivel base 2 is used to cancel the overturning moment acting on the front side of the telescopic boom 3 during crane operation. In some cases, the counterweight 4 is attached, and the weight of the crane truck becomes heavier when the counterweight is attached. In some large crane vehicles, the counterweight is fixedly attached to the rear of the swivel base in advance. When the weight of the counterweight 4 at the rear of the swivel base is increased, the falling moment toward the rear side of the boom is increased as described later depending on the crane posture.

  In order to stably support a heavy crane vehicle, it is effective to distribute and support the crane vehicle weight with a large number of wheels 13 by making the axle 12 multi-axle (six axes in the example of FIG. 1). When the number of axles 12 is increased, the total weight of each axle-related portion (for example, the wheel 13, the axle 12, the suspension, etc.) is increased due to an increase in the number of axles, which becomes a factor of further increasing the weight of the crane truck as a whole. The axle-related portion includes, for example, the wheel 13, the axle 12, a suspension, and the like. In the present application, the axle-related portion is expressed as wheel ground reaction force support means.

  Therefore, in order to reduce the weight of a multi-axle crane vehicle, it is conceivable to make each axle-related portion (wheel ground reaction force support means) as light as possible (for example, make the axle 12 thinner). If the grounding reaction force support means is made lighter, the support strength against the load is reduced accordingly.

  On the other hand, the crane vehicle is usually equipped with the outrigger 6, but for example, when the crane is finished and the boom is stored, the outrigger 6 is often used in an on-tire state. In that case, the total weight of the crane truck and the overturning moment to the rear side of the boom, which will be described later, are supported by the wheel 13 portion.

  By the way, this type of crane vehicle is provided with a tipping prevention control device for controlling the crane work within a limit crane work range in which the crane vehicle does not tip over. This overturn prevention control device uses the limit crane work range in advance as a controller based on various crane work conditions such as swivel turn angle, boom length, boom hoisting angle, counterweight mounting weight, suspension load, outrigger extension width, etc. Various working state detection means (turning angle detector 23, boom length detector 33, boom undulation angle detector 34, counterweight mounting weight detector 41, suspension load detector 51, outrigger tension Various detection values related to the crane work state are obtained from the output width detector 61 and the like, and the dangerous operation of the crane is restricted when the current crane work state reaches the limit crane work state. This overturning prevention control device functions even when working in a wheel ground state (outrigger 6 is not grounded). The limit crane work range here is set to a range that has a margin on the safe side to some extent (for example, about 15%) from the limit crane work state in which the crane truck actually falls.

  As a function of the above-mentioned overturn prevention control device, there are a control for preventing the tipping over to the boom front side and a control for preventing the tipping over to the rear side of the boom. For example, Japanese Patent No. 3073310 (Patent Document 1) performs control for preventing the vehicle from tipping over to the front side of the boom. There are some which are shown by Kaisho 56-141293 (patent document 2).

  In addition, in this application, since the case where a fall moment is mainly applied to the boom rear side is targeted for control, the description of the fall prevention device for the boom front side shown in Japanese Patent No. 3073310 (Patent Document 1) is omitted. To do.

  As shown in FIG. 1, for example, as shown by a solid line in FIG. 1, the device for preventing the overturning of the boom shown in Japanese Patent Application Laid-Open No. 56-141293 (Patent Document 2) causes the telescopic boom 3 to be close to the most contracted state. This is to prevent the crane vehicle from falling to the rear side of the telescopic boom 3 from the relationship of the weight balance of the entire crane vehicle when it is raised to near the maximum hoisting angle.

  In the example of the crane truck of FIG. 1, the counterweight 4 is mounted on the rear part of the swivel base 2, and the telescopic boom 3 is contracted to the most contracted state in the absence of a suspended load and to the vicinity of the maximum undulation angle. In the raised state, the center of gravity of the entire crane vehicle is greatly displaced from the turning center P to the rear side of the boom, and the crane vehicle falls over to the rear side of the boom. In particular, in a posture in which the turning position of the telescopic boom 3 is directed to the side of the vehicle when the wheel is in contact with the ground, the horizontal distance from the turning center to the wheel at the vehicle side position is shortened (the reversing moment arm is shortened). The ratio of the backward tipping moment due to the change in weight balance increases.

  In the working state in which there is a possibility that the crane vehicle may fall to the rear side of the boom due to such a background, the rearward fall prevention device of the above-mentioned Patent Document 2 operates on a dangerous side operation (boom raising operation) with respect to the telescopic boom 3. And boom reduction operation).

  Further, the limit rearward stability performance of the crane truck set by the rearward fall prevention device of Patent Document 2 is shown by a two-dot chain line in FIG. 2 based only on the boom undulation angle and boom length data (detected values). Thus, the entire circumference of the same radius from the turning center P is set to be the same. The limit rearward stability performance M indicated by a two-dot chain line in FIG. 2 is set on the basis of a condition in which the overturning action to the rear side of the boom works most, that is, when the turning position of the telescopic boom 3 faces the vehicle side. Yes. Further, the limit rear stability performance M is such that the radius from the turning center P becomes longer as the weight of the counterweight 4 mounted on the rear part of the swivel base 2 becomes heavier, and the work impossible area (the inner area of the circle of the two-dot chain line) ) Becomes wider.

  It should be noted that the actual limit rearward stability performance is that the limit booms Ma and Mb (FIG. 2) in each posture in which the telescopic boom 3 faces the front and the rear of the vehicle 1 are the left and right sides of the vehicle 1 respectively. It becomes larger on the turning center P side than the limit stability performances Mc and Mc (FIG. 2) in the posture directed to the side. In other words, the workable area is actually wider by the ranges S and S shown by hatching in FIG. 2 than the workable area (outside area of the two-dot chain line circle) of the set limit backward stability performance M.

  By the way, at the time of the boom retracting operation, the hook 5 (FIG. 1) suspended from the distal end portion of the telescopic boom 3 is locked at a position near the front of the crane operation room 14 installed on the swivel base 2. As shown by the solid line in FIG. 1, the hook 5, which is reduced to the vicinity of the maximum reduction and raised to the vicinity of the maximum elevation state and is suspended from the tip of the boom, is set to the locking position near the front of the crane operation chamber 14. It is preferable to approach. However, in the state in which the heavy weight counterweight 4 is attached to the rear part of the swivel base, the radius of the limit rear stability performance M shown in FIG. 2 becomes long, and the boom closes the hook suspended position Q to the desired position toward the turning center P side. Operation may not be possible. In that case, since the hook 5 cannot be brought close to the position just above the position to be locked, it is difficult to lock the hook 5.

Japanese Patent No. 3073310 JP-A-56-141293

  By the way, if the wheel ground reaction force support means 11 such as the axle 12 is lightened as described above in order to reduce the weight of the crane truck that has become heavy due to the increase in size, the wheel ground reaction force is reduced. In a working state in which the strength of the support means 11 (axle 12) is weakened and the falling moment toward the rear side of the boom is increased when the wheel is grounded, a large load (wheel ground reaction force) is applied to the wheel 13 located on the rear side of the boom. The wheel ground reaction force support means 11 (for example, the axle 12) may be insufficient in strength. That is, the counterweight 4 mounted at the rear of the swivel is heavy, the telescopic boom 3 is reduced to the vicinity of the minimum contraction and raised to the vicinity of the maximum undulation angle, and the boom rotation position is directed to the side of the vehicle. In the working state in the posture, the falling moment toward the rear side of the boom increases, so that the ground reaction force of the wheel 13 located on the rear side of the boom increases, and the wheel ground reaction force support means 11 ( For example, there is a problem that the axle portion 12) may be damaged by the wheel ground reaction force.

  Further, in the rearward fall prevention device of the above-mentioned Patent Document 2, since the limit rearward stability performance M is set to the same radius all around as shown in FIG. 2, the boom turning position is directed forward or backward. Although the ranges S and S indicated by hatching 2 are operable regions, the operation in the ranges S and S remains impossible. Accordingly, when the hook 5 is stored, for example, as shown by a solid line in FIG. 1, the hook 5 cannot be brought close to the vicinity of the front portion of the crane operation chamber 14 (hook engaging position) (the hook storing operation is difficult). There was also a problem.

  Therefore, the present invention allows the work to be performed only within a range that can be handled by the strength of the means for supporting the ground reaction force applied to the wheels (corresponding to wheels, axles, sun pensions, etc.) when working in the grounded state of the wheels. Therefore, it is a first object of the present invention to provide a crane vehicle control device in which the wheel ground reaction force support means is prevented from being damaged by the wheel ground reaction force during operation. In a crane vehicle control apparatus having a tipping prevention function (limit rearward stability performance), a second object is to make the boom operable region wide.

  The present invention has the following configuration as means for solving the above problems.

  The present invention is directed to a crane vehicle control apparatus that is performed in relation to wheel ground reaction force during work in a wheel ground state, but the present invention is based on the background described in the background section above. It was made based on this.

  That is, although it overlaps with description of the above-mentioned background art section, the crane vehicle made into object in this application is mainly large-sized, and the whole crane vehicle has quite heavy weight. Also, in this type of large crane vehicle, a heavy weight counterweight may be attached to the rear part of the swivel to cancel the overturning moment acting on the front side of the telescopic boom during crane work. When the counterweight is installed, the entire weight of the crane truck becomes heavier, and if the weight of the counterweight at the rear of the swivel is large, the telescopic boom is reduced to near the most contracted state and the maximum hoisting angle is set. When lifted to the vicinity, the center of gravity of the entire crane vehicle is greatly displaced from the turning center to the boom rear side, and the crane vehicle falls over to the boom rear side. In particular, in a posture in which the turning position of the telescopic boom is directed to the side of the vehicle when the wheel is in contact with the ground, the horizontal distance from the turning center to the wheel at the vehicle side position is shortened (the reverse moment arm is shortened), The backward falling moment due to the change in weight balance increases. In the following description, for convenience, the telescopic boom is referred to as the “minimum contraction” including a state where the telescopic boom is contracted to the most contracted state. Sometimes called "back."

  In order to stably support a large and heavy crane vehicle, it is effective to distribute and support the crane vehicle weight with many axles (wheels) with multiple axles (for example, six axles). If the axles are multi-axes, the weight of the crane truck will increase accordingly.

  In order to reduce the weight of multi-axle crane vehicles, it is possible to make each axle-related part (wheel contact reaction force support means) as light as possible (for example, make the axle thinner). When the reaction force support means is made lighter, the support strength against the load is reduced accordingly.

  On the other hand, a crane vehicle is usually equipped with an outrigger. However, for example, when the crane is finished and the boom is stored, it is often performed in a wheel grounded state (on-tire state without using the outrigger). In this case, the wheel portion supports the total weight of the crane vehicle and the overturning moment toward the boom rear side, which will be described later.

  By the way, this type of crane vehicle is provided with a tipping prevention control device for controlling the crane work within a limit crane work range in which the crane vehicle does not tip over. As a function of the overturn prevention control device, there are a control for preventing the tipping over to the front side of the boom and a control for preventing the tipping over to the rear side of the boom, but the control device of the present invention mainly falls over to the rear side of the boom. It is controlled in relation to prevention.

  Based on the above background, each invention of the present application (claims 1 to 3) will be described below.

[Invention of Claim 1 of the Present Application]
The invention of claim 1 of the present application is a work state detecting means for mounting a swivel on a vehicle so as to be able to turn, and installing a telescopic boom on the swivel so that it can be extended and retracted, and detecting various information relating to the work state of the crane. The target is crane crane control equipment equipped with

  Examples of the working state detection means include a turning angle detector, a boom length detector, a boom undulation angle detector, a counterweight mounting weight detector, a hanging load detector, an outrigger extension width detector, and the like. Based on various detection values from the detector, the controller performs a fall prevention control during crane work.

  The controller used in the control device according to claim 1 of the present invention includes a limit grounding reaction that can be handled by the strength of the wheel ground reaction force support means based on the strength of the wheel ground reaction force support means when the wheel is grounded. The limit ground reaction force value storage means for storing the force value and the current ground reaction force value applied to the wheel based on various detection values from the work state detection means in the current crane work state with the wheel grounded. The current grounding reaction force value acquisition means to be acquired and a comparison for comparing the current grounding reaction force value acquired by the current grounding reaction force value acquisition means with the limit grounding reaction force value stored in the limit grounding reaction force value storage means And the comparison means to the side where the ground reaction force value applied to the wheel increases with respect to various operation actuators of the crane when it is determined that the current ground reaction force value has reached the limit ground reaction force value. Increased ground reaction force to limit operation And an operation limiting means.

  The wheel ground reaction force support means referred to in the present invention is a portion that supports the wheel ground reaction force in a crane working state with the wheel grounded, and is a collective term for a wheel, an axle, a suspension, and the like. Further, the limit ground reaction force value of the wheel ground reaction force support means is obtained for the weakest part of the wheel, axle or suspension. The limit ground reaction force value of the wheel ground reaction force support means is stored in the limit ground reaction force value storage means of the controller. The limit ground reaction force value of the wheel ground reaction force support means is set to a value with a margin on the safe side from the actual limit value at which the wheel ground reaction force support means is deformed or damaged.

  The current ground reaction force value acquisition means acquires a current ground reaction force value generated on a wheel in a crane working state with a wheel grounding state. The current ground reaction force value acquisition means is the work state detection means. The current ground reaction force value can be obtained by calculation or reading based on various detection values from. Note that the current ground reaction force value acquired by the current ground reaction force value acquisition means includes the function in the state before the final value is derived.

  The comparison means compares the current ground reaction force value acquired by the current ground reaction force value acquisition means with the limit ground reaction force value stored in the limit ground reaction force value storage means. When reaches the limit ground reaction force value, an operation signal is issued to the ground reaction force increasing side operation restricting means side.

  The ground reaction force increasing side operation restricting means is operated to the side where the ground reaction force value applied to the wheel increases with respect to various operation actuators of the crane (for example, in a crane state where a falling moment acts on the rear side of the boom, (Reduction side operation, boom raising side operation, turning operation to the side of the vehicle, etc.). The ground reaction force increasing side operation restricting means is actuated by a signal from the comparing means.

  In the crane vehicle used in claim 1, when the telescopic boom is in the most contracted state and the upright state and the telescopic boom is in the working posture facing the side of the vehicle, the crane vehicle is mounted on the boom. The moment of falling backward is maximized, and the backward falling moment appears as a wheel ground reaction force.

  The control device according to the first aspect functions as follows when working in a wheel ground state.

  First, at the time of working in a wheel ground state, the current ground reaction force value applied to the wheel ground reaction force support means at the present time is obtained by the current ground reaction force value obtaining means. The comparison means constantly compares the limit ground reaction force value stored in the reaction force value storage means.

  In the state where the current ground reaction force value is smaller than the limit ground reaction force value, the comparison means is in an OFF state so that normal crane operation can be performed without operating the ground reaction force increasing side operation restricting means. It has become.

  On the other hand, by operating the crane to the ground reaction force increasing side (boom reduction side operation, boom raising side operation, turning operation to the side of the vehicle, etc.), the current ground reaction force value becomes the limit ground reaction force value. When reaching, the comparison means is turned on, and a signal for operating the ground reaction force increasing side operation restriction means is issued from the comparison means. Then, the ground reaction force increasing side operation restricting means is operated, and the ground reaction force increasing side operation (boom reduction side operation, boom raising side operation, turning operation to the vehicle side side) is performed on various operation actuators of the crane. Etc.) are regulated.

  Therefore, in the control device according to the first aspect of the present invention, when the crane is operated with the wheel in contact with the wheel, the wheel ground reaction force support means is restricted before the crane posture is reached so that the wheel ground reaction force support means is damaged. It is possible to prevent the crane work under dangerous conditions that cause damage. Even if the ground reaction force increasing side operation restricting means is operated, the ground reaction force decreasing side operation (boom extension side operation, boom collapse side operation, turning operation to the vehicle front-rear side, etc.) is performed on various operation actuators of the crane. ) Can be performed individually.

[Invention of claim 2 of the present application]
The invention according to claim 2 of the present application is the control device according to claim 1, wherein the controller is provided with a rear stability control means for controlling the crane vehicle so as not to fall to the rear side of the telescopic boom at the time of work in a wheel grounded state. Yes.

  Further, the rear stability control means controls to expand the crane workable area at the boom turning position where the falling moment is reduced based on the change in the falling moment to the rear side of the boom caused by the change in the turning position of the telescopic boom. Like to do. Specifically, in the state where the telescopic boom is contracted to the maximum and raised, a moment that causes the crane vehicle to fall to the rear side of the boom acts, but the overturning moment at that time is such that the telescopic boom moves forward or backward of the vehicle. The direction of the telescopic boom is smaller than when the telescopic boom is in the position facing the left and right sides of the vehicle. In the second aspect of the invention, the limit rear stability performance controlled by the rear stability control means is set such that the workable area is wider on the vehicle front-rear side than on the vehicle side side.

  It should be noted that the wheel ground reaction force when the telescopic boom is in the most contracted and upright state is that when the telescopic boom is in the posture toward the front and rear direction of the vehicle, the telescopic boom is in the posture toward the side of the vehicle. Smaller.

  In the control device according to the second aspect, the ground reaction force increasing side operation restricting means is configured to turn the boom so that the wheel ground reaction force is reduced based on a change in the wheel ground reaction force caused by a change in the turning position of the telescopic boom. At the position, control is performed such that the crane workable area is expanded within the crane workable area controlled by the rear stability control means.

  By doing so, the crane workable area controlled by the rear stability control means and the crane workable area controlled by the ground reaction force increasing side operation restricting means are both expanded. In this case, the enlarged part of the crane workable area is located in the longitudinal direction of the vehicle. However, if there is an enlarged part of the crane workable area on the front side of the vehicle, for example, the telescopic boom is attached to the front side of the vehicle as in hook storage. The telescopic boom can be further reduced or raised when the work is performed in the state of facing the head (the suspended hook can be positioned immediately above the hook locking position).

[Invention of claim 3 of the present application]
According to the third aspect of the present invention, in the control device according to the second aspect, the control by the rear stability control means and the control by the ground reaction force increasing side operation limiting means are compared, and either of the crane work safety is higher. Priority is given to the control.

  As described above, in the control that performs the control by the rear stability control means and the control by the ground reaction force increase side operation restriction means, priority is given to the control on the higher safety side of the two controls. If it makes it carry out, a crane operation will not be performed in each danger side area | region of the limit back stability performance by a back stability control means, and the limit strength characteristic by a back stability control means.

[Effect of the invention of claim 1 of the present application]
The control device according to the first aspect of the present invention includes a limit ground reaction force value storage means for storing a limit ground reaction force value that can be handled by the strength of a wheel ground reaction force support means (for example, a wheel, an axle, a suspension, etc.), a wheel Current ground reaction force value acquisition means for acquiring a current ground reaction force value applied to the vehicle, comparison means for comparing the current ground reaction force value and the limit ground reaction force value, and the current ground reaction force value is the limit ground contact A ground reaction force increasing side operation restricting means for restricting an operation to the side where the ground reaction force value increases when the reaction force value is reached;

  When the current ground reaction force value reaches the limit ground reaction force value during crane operation, a signal for operating the ground reaction force increase side operation restricting means is issued from the comparison means, and the ground reaction force increase side operation restriction As a result, the ground reaction force increasing side operation (boom reduction side operation, boom raising side operation, turning operation to the side of the vehicle, etc.) is regulated for various operation actuators of the crane. Yes.

  Therefore, in the control device according to the first aspect of the present invention, when the crane is operated with the wheel in contact with the wheel, the wheel ground reaction force support means is restricted before the crane posture is reached so that the wheel ground reaction force support means is damaged. This has the effect of preventing the crane work under dangerous conditions that cause damage.

[Effect of the invention of claim 2 of the present application]
The invention of claim 2 of the present application is the rear stability control means for controlling the crane vehicle so as not to fall to the rear side of the boom in the control device of the first aspect, wherein the turning of the boom is reduced. On the other hand, the grounding reaction force increasing side operation restricting means is provided at the boom turning position where the wheel grounding reaction force becomes small. Control is performed to enlarge the workable area within the crane workable area controlled by the rear stability control means.

  Therefore, in the control device according to claim 2, in addition to the effect of claim 1, the crane workable area controlled by the rear stability control means and the crane workable area controlled by the ground reaction force increasing side operation restricting means. This has the effect that both can be expanded.

[Effect of the invention of claim 3 of the present application]
According to the third aspect of the present invention, in the control device according to the second aspect, the control by the rear stability control means and the control by the ground reaction force increasing side operation limiting means are compared, and either of the crane work safety is higher. Priority is given to the control.

  Therefore, in the control device according to claim 3, in addition to the effect of claim 2, the control by the rear stability control means and the control by the ground reaction force increasing side operation restriction means are limited. Since the crane work cannot be performed in each dangerous side region of the limit strength characteristics by the rear stable performance and the ground reaction force increasing side operation restricting means, there is an effect that the safety of the work can be secured.

  Hereinafter, the crane vehicle control apparatus according to the present embodiment will be described with reference to FIGS. 3 to 6. FIGS. 3 and 4 relate to the control apparatus according to the first embodiment of the present application, and FIGS. This relates to the control device of the second embodiment. The crane truck used in each embodiment will be described with reference to FIG.

  The crane truck of FIG. 1 used in each embodiment of the present application overlaps with the description in the background art section, but has the following configuration.

  That is, as shown in FIG. 1, the crane vehicle has a swivel base 2 mounted on a vehicle 1 so as to be capable of swiveling, and an extendable boom 3 is installed on the swivel base 2 so as to be able to extend and retract. The swivel base 2 is horizontally swiveled by a swivel motor (not shown). The telescopic boom 3 is expanded / contracted by an expansion / contraction cylinder (not shown) and is also undulated by an undulation cylinder 32.

  Moreover, the crane vehicle (FIG. 1) used in each embodiment is a large-sized one having a specification of a large lifting load and a high head, and has a large weight. In the crane vehicle shown in FIG. 1, in order to stably support the crane vehicle, the axles 12 are multi-axes (six axes in the illustrated example) and the crane vehicle weight is dispersedly supported by many axles 12 (wheels 13). Like to do.

  In the crane vehicle of FIG. 1, a heavy weight counterweight 4 is attached to the rear part of the swivel base 2 in order to cancel the overturning moment acting on the front side of the telescopic boom 3 during crane operation. The total weight of the counterweights 4 can be changed by increasing or decreasing the number of the counterweights 4. However, the counterweight 4 may be a constant weight that is fixedly incorporated in the rear part of the swivel base in advance.

  When the counterweight 4 is attached, the weight of the crane truck becomes heavier and the weight of the counterweight 4 at the rear of the swivel base is large, so that it can be expanded and contracted without a suspended load as shown by the solid line in FIG. When the boom 3 is reduced to near the maximum contracted state and raised to the vicinity of the maximum hoisting angle, the center of gravity of the entire crane vehicle is greatly displaced from the turning center P to the boom rear side, and the crane vehicle is turned over to the boom rear side. An effect occurs. In particular, in a posture in which the turning position of the telescopic boom 3 is directed to the side of the vehicle 1 when the wheels are in contact with the ground, the horizontal distance from the turning center P to the wheel 13 at the side of the vehicle is shortened (the reverse tilting moment arm is The moment of overturning due to the change in weight balance increases. In this embodiment as well, for convenience, the telescopic boom 3 including the state where the telescopic boom 3 is contracted to the most contracted state is referred to as “maximum contraction”, and including the state where the telescopic boom is raised up to the vicinity of the maximum hoisting angle, It is sometimes called “raising”.

  Although this crane vehicle is equipped with the outrigger 6, for example, when the crane is finished and the boom is stored, it is often performed in a wheel grounded state (on-tire state in which the outrigger 6 is not used). In that case, the total weight of the crane vehicle and the overturning moment to the rear side of the boom, which will be described later, are supported by the wheel portion (the wheel ground reaction force support means 11).

  A hook 5 is suspended from the distal end portion (symbol Q) of the telescopic boom 3, and the hook 5 is locked at a position near the front portion of the crane operation chamber 14 of the swivel base 2 when the telescopic boom 3 is retracted. In that case (at the time of hook locking operation), as shown by the solid line in FIG. 1, the telescopic boom 3 is fully contracted and raised up so that the hook suspension position Q at the tip of the boom is set in front of the crane operation chamber 14. It is preferable to be positioned immediately above the position near the portion (becomes the hook locking position).

  By the way, this crane vehicle is provided with a tipping prevention control device for controlling the crane work within a limit crane work range in which the crane vehicle does not tip over. This overturn prevention control device uses the limit crane work range in advance as a controller based on various crane work conditions such as swivel turn angle, boom length, boom hoisting angle, counterweight mounting weight, suspension load, outrigger extension width, etc. Various working state detection means (swing angle detector 23, boom length detector 33, boom hoisting angle detector 34, counterweight mounting weight detector 41, suspension load detector 51, outrigger extension width) Various detection values relating to the crane work state are obtained from the detector 61 and the like, and the dangerous operation of the crane is restricted when the current crane work state reaches the limit crane work state. This overturn prevention control device functions even when working in the wheel grounded state (outrigger 6 is not grounded) shown in FIG. 1, in which case the detection value of the outrigger extension width detector 61 is “0”. Become.

  By the way, in order to stably support a large and heavy crane vehicle, it is preferable that the axle 12 is multi-axis (six axes in the illustrated example), but when the axle 12 is multi-axis, The weight of the entire crane vehicle will increase. Therefore, in order to reduce the weight of a multi-axle crane vehicle, it is conceivable to make each axle-related portion (for example, the axle 12, the wheel 13, the suspension, etc.) as light as possible (for example, make the axle 12 thinner). However, when the axle-related portion is lightened, the support strength against the load is reduced accordingly. Axle-related parts such as the axle 12, the wheel 13, and the suspension serve as the wheel ground reaction force support means 11 in the claims, and are parts that receive the ground reaction force applied to the wheel 13 in the wheel ground state. .

  In the crane vehicle, the crane vehicle is moved to the rear side of the boom when the telescopic boom 3 is in the most contracted state and the upright state and the telescopic boom 3 is in the working posture facing the side of the vehicle 1 with the wheel grounded. The moment to overturn is maximized, and the rear side overturning moment appears as a wheel ground reaction force. And if this wheel ground reaction force becomes large, it is possible to damage the wheel ground reaction force support means 11 (for example, the axle 12, the wheel 13, a suspension, etc.) which supports the ground reaction force.

  Therefore, in the present application, a crane vehicle control device that controls based on the strength of the wheel ground reaction force support means 11 in the wheel ground state is adopted. In other words, the control device employed in the present application can perform crane work only within a range in which the wheel ground reaction force generated in the wheel ground contact state can be handled by the strength of the wheel ground reaction force support means 11. .

[First Example of FIGS. 3 and 4]
FIG. 3 shows the control device of the first embodiment of the present application. The control device of the first embodiment includes a controller 8 that includes a limit ground reaction force value storage means B and a current ground reaction force value acquisition means C. And a comparison means D, a ground reaction force increasing side operation regulation means E, and an output means F. The controller 8 is provided with a normal overturn prevention control device, but the control device for overturn prevention is omitted in FIG.

  The limit ground reaction force value storage means B is based on the strength of the wheel ground reaction force support means 11 (axle 12, wheel 13, suspension, etc.) with the wheel 13 grounded. It memorizes the limit ground reaction force value that can be dealt with by the strength of. The wheel ground reaction force support means 11 serving as a basis for setting the limit ground reaction force value targets a portion of the axle 12, the wheel 13, and the suspension that has the weakest strength against the ground reaction force. The limit ground reaction force value stored in the limit ground reaction force value storage means B is set to a value having a margin on the safe side from the actual limit value at which the wheel ground reaction force support means 11 is deformed or damaged. The

  By the way, the limit strength performance N (FIG. 4) of the wheel ground reaction force support means 11 is, for example, the limit strength performance in each posture in which the telescopic boom 3 faces the front and rear of the vehicle 1 as shown by a one-dot chain line in FIG. Na and Nb are larger on the turning center P side than the limit strength performances Nc and Nc in a posture in which the telescopic boom 3 faces the left and right sides of the vehicle 1. That is, in each posture in which the telescopic boom 3 is directed forward and rearward of the vehicle 1, the distance from the turning center P to the wheel 13 to which a load is applied (reverse tilting moment arm) is increased, and the ground reaction force of the wheel 13 to which the load is applied. (The limit strength performance is Na, Nb), while the telescopic boom 3 is directed to the left and right sides of the vehicle 1, the distance from the turning center P to the wheel 13 to which the load is applied (reverse inverted moment arm) Becomes shorter and the ground reaction force of the wheel 13 to which the load is applied becomes larger (the limit strength performance becomes Nc, Nc).

  In the first embodiment, the limit ground reaction force value (limit strength performance N) stored in the limit ground reaction force value storage means B is set in consideration of the change due to the boom turning position as described above. .

  The current ground reaction force value acquisition means C acquires the current ground reaction force value applied to the wheel 13 based on various detection values from the work state detection means A in the current crane work state in the wheel ground state. is there. As shown in FIG. 3, the working state detection means A employed here includes a boom length detector 33, a boom hoisting angle detector 34, a turning angle detector 23, and a counterweight attachment weight detector 41. And suspension load detector 51, both of which affect the increase / decrease of the wheel ground reaction force value.

  Acquisition of the current ground reaction force value by the current ground reaction force value acquisition means C is calculated based on various detection values from the work state detection means A, or is set in advance for each combination of various detection values. It is performed by a method such as reading out the corresponding one from the stored value. Further, the current ground reaction force value acquired by the current ground reaction force value acquisition means includes a function in a state before the final value is derived. As data for acquiring the current ground reaction force value, for example, data obtained by directly detecting the cylinder pressure, the deflection amount, etc. of the suspension may be used.

  In addition, although the detection value from the outrigger extension width detector 61 (FIG. 1) is also considered in the control regarding the fall prevention of the crane, since the present application is the control in the wheel grounded state, the block diagram of FIG. The outrigger extension width detector 61 is omitted as the work state detection means A.

  The comparison means D compares the current ground reaction force value acquired by the current ground reaction force value acquisition means C with the limit ground reaction force value stored in the limit ground reaction force value storage means B. When the reaction force value reaches the limit ground reaction force value, an operation signal is issued to the ground reaction force increase side operation restricting means E.

  The ground reaction force increasing side operation restricting means E is operated to the side where the ground reaction force value applied to the wheels 13 increases with respect to various operation actuators of the crane in a crane state in which a falling moment acts on the rear side of the boom. Is operated by a signal from the comparison means D. The operation to the side where the ground reaction force value of the wheel increases is the boom reduction side operation, boom raising side operation, turning operation to the vehicle side side in the crane state where the overturning moment acts on the rear side of the boom Etc.

  When the ground reaction force increasing side operation restricting means E is actuated, the output means F is in response to the boom telescopic cylinder control valve 31a, the boom hoisting cylinder control valve 32a, and the swivel turn motor control valve 22a. , A signal that regulates the operation of the boom expansion / contraction cylinder, boom raising / lowering cylinder and swivel turning motor to the wheel ground reaction force increasing side (boom reduction side, boom raising side, turning to the vehicle side) It is.

  And the control apparatus (FIG. 3) of this 1st Example functions as follows at the time of the operation | work in a wheel grounding state.

  First, at the time of work in a wheel ground state, the current ground reaction force value applied to the wheel ground reaction force support means 11 is acquired by the current ground reaction force value acquisition means C. The limit ground reaction force value stored in the limit ground reaction force value storage means B is constantly compared by the comparison means D.

  When the current grounding reaction force value is smaller than the limit grounding reaction force value, the comparison means D is in the OFF state, and normal crane operation is performed without operating the grounding reaction force increasing side operation restricting means E. It can be done. On the other hand, by operating the crane to the ground reaction force increasing side (boom reduction side operation, boom raising side operation, turning operation to the side of the vehicle, etc.), the current ground reaction force value becomes the limit ground reaction force value. When reaching, the comparison means D is turned on, and a signal for operating the ground reaction force increasing side operation restriction means E is issued from the comparison means D. Then, the grounding reaction force increasing side operation restricting means E is activated, and the grounding reaction force increasing side operation restricting means E is actuated against various operation actuators of the crane (substantially the telescopic cylinder control valve 31a, the hoisting cylinder control valve 32a, and the swing motor control valve 22a). Force increase side operations (boom reduction side operation, boom raising side operation, turning operation to the side of the vehicle, etc.) are respectively regulated.

  Therefore, in the control device of the first embodiment, when the crane is operated with the wheel in contact with the wheel, the crane posture is such that the wheel contact reaction force support means 11 (the wheel 13, the axle 12, the suspension, etc.) is damaged. There are restrictions. Even if the ground reaction force increasing side operation restricting means E is operated, the ground reaction force decreasing side operation (boom extending side operation, boom lying side operation, turning operation to the front and rear sides of the vehicle) is performed on various operation actuators of the crane. Etc.) can be performed respectively.

  As described above, in the control device of the first embodiment shown in FIGS. 3 and 4, the control is performed before the crane posture that causes damage to the wheel ground reaction force support means 11 when the crane is operated in the wheel ground state. Therefore, it is possible to prevent the crane work under dangerous conditions where the wheel ground reaction force support means 11 is damaged.

  Further, in the first embodiment, the limit ground reaction force value (limit strength performance N) stored in the limit ground reaction force value storage means B is the posture in which the boom turning position faces the front and rear of the vehicle 1. Since it is set so as to approach the turning center P as indicated by reference numerals Na and Nb (FIG. 4) (the workable area becomes wider), for example, the hook 5 is placed in front of the crane operation room 14 as shown in FIG. When locking in the vicinity of the hook, the hook suspension position Q at the tip of the boom can be moved to a position immediately above the hook locking position (the hook 5 can be easily locked).

[Second Embodiment of FIGS. 5 and 6]
FIG. 5 shows the control device of the second embodiment of the present application. The control device of the second embodiment is connected to the controller 8 of the first embodiment (FIG. 3) during the work in the wheel ground state. Added rear stability control means G for controlling the crane truck not to fall to the rear side of the boom, and comparison means H for comparing the control by the rear stability control means G and the control by the ground reaction force increasing side operation restriction means E. It is what.

  In FIG. 6, both the limit backward stability performance M indicated by the two-dot chain line and the limit strength performance N indicated by the one-dot chain line are the workable areas on the outside.

  When the telescopic boom 3 is contracted and raised to the maximum when the wheels are in contact with the ground, a moment is generated that causes the weight balance to move to the rear side of the boom and cause the crane truck to fall to the rear side of the boom. Controls the crane vehicle so that it does not fall to the rear side of the boom.

  This rear stability control means G has the following functions. That is, the rear stability control means G stores a limit overturning moment value (limit rearward stability performance M in FIG. 6) at which the crane vehicle falls backward, while the working state detection means A ( Based on various detection values from the boom length detector 33, the boom undulation angle detector 34, the turning angle detector 23, the mounting weight detector 41, and the hanging load detector 51), the current falling moment value is acquired, When the current overturning moment value reaches the limit overturning moment value, control is performed to limit the operation on the side where the rearward overturning moment increases. There are two types of operations on the side where the rear side overturning moment increases: the boom reduction side operation, the boom standing side operation, and the operation of turning the boom to the vehicle side. However, as described above, the current overturning moment value is limited. When the overturning moment value is reached, the rear stability control means G controls the various actuators (extension cylinder, hoisting cylinder, swing motor) so that no further dangerous side operation can occur.

  Further, the rear stability control means G performs control such that the workable area is expanded at the boom turning position where the overturning moment is reduced based on the change in the overturning moment to the rear side of the boom caused by the change in the boom turning position. To do. That is, the falling moment toward the rear side of the boom corresponds to the fact that the boom turning position is smaller when the boom turning position is toward the front or rear of the vehicle than when it is toward the left and right sides of the vehicle, as shown in FIG. Like the limit rear stability performance M indicated by the two-dot chain line, the vehicle's front and rear limit rear stability performances Ma and Mb are closer to the turning center P than the vehicle's left and right side limit rear stability performance Mc and Mc, respectively (work) The possible area is widened).

  On the other hand, the limit strength performance N (indicated by the one-dot chain line in FIG. 6) stored in the limit ground reaction force value storage means B is also the same as that in the first embodiment described above. Na and Nb are set closer to the turning center P than the limit strength performances Nc and Nc on the left and right sides of the vehicle (the workable area is expanded).

  In this way, the crane workable area (limit rear stability performance M) controlled by the rear stability control means G and the crane workable area (limit strength performance N) controlled by the ground reaction force increasing side operation restriction means E. Can be expanded together.

  Further, in the example of FIG. 6, the limit rear stability performance M and the limit strength performance N are the hatched portions of the limit rear stability performance Mc and Mc on the left and right sides of the vehicle than the limit strength performance Nc and Nc. On the other hand, in the front and rear sides of the vehicle, the limit strength performances Na and Nb work in the hatched areas U and U rather than the limit rear stability performances Ma and Mb. The possible area is widened. Note that the difference between these workable areas (ranges T and U of each hatched portion) may be changed or reversed if conditions such as the strength on the wheel ground reaction force support means 11 side and the form of the crane truck are changed. is there.

  In the control device of the second embodiment, the control by the rear stability control means G (limit rearward stability performance M) and the control by the ground reaction force increasing side operation restricting means E described in the first embodiment (limit strength performance). N) is compared by the comparison means H, and control valves 31a and 32a of various operation actuators (extension cylinders, hoisting cylinders, swing motors) from the output means F giving priority to the control on the higher safety side of the crane work. , 22a is set so that a signal for limiting (prohibiting) the dangerous side operation is output. Specifically, the control is performed with reference to the outer lines of the limit rearward stability performance M and the limit strength performance N (the hatched areas T and U are both inoperable).

  In this way, in the case where the control by the rear stability control means G and the control by the ground reaction force increase side operation restriction means E are performed, the limit rear stability performance M and the ground reaction force increase side operation restriction means by the rear stability control means G. Since the crane work cannot be performed in each dangerous area of the limit strength characteristic N due to E, the work safety can be ensured.

  In another embodiment, the ground contact reaction force value storage means B stores the object to be compared with the control by the rear stability control means G (limit rearward stability performance M) in FIG. The data from the comparison means D for comparing the limit ground reaction force value that has been obtained and the current ground reaction force value acquired by the current ground reaction force value acquisition means C directly (via the ground reaction force increase side operation restricting means E). May be used). In this case, the configuration of claim 3 of the present application is eliminated.

It is a side view of a general crane vehicle. It is explanatory drawing of the limit back stability performance by the conventional back stability control means with which the crane vehicle was equipped. It is a block diagram which shows the control apparatus of the crane vehicle of 1st Example of this application. It is explanatory drawing of the limit intensity | strength performance controlled with the control apparatus of FIG. It is a block diagram which shows the control apparatus of the crane vehicle of 2nd Example of this application. It is explanatory drawing of the limit back stability performance and limit intensity | strength performance which are controlled by the control apparatus of FIG.

Explanation of symbols

  1 is a vehicle, 2 is a swivel, 3 is a telescopic boom, 4 is a counterweight, 5 is a hook, 8 is a controller, 11 is a wheel ground reaction force support means, 12 is an axle, 13 is a wheel, and 21 is a turning operation detector. , 22a is a swing motor control valve, 23 is a swing angle detector, 31a is a telescopic cylinder control valve, 32a is a hoisting cylinder control valve, 33 is a boom length detector, 34 is a boom hoisting angle detector, and 41 is equipped with a counterweight. Weight detector, 51 is a suspended load detector, A is a working state detection means, B is a limit ground reaction force value storage means, C is a current ground reaction force value acquisition means, D is a comparison means, E is a ground reaction force increasing side Operation restricting means, F is output means, G is rear stability control means, and H is comparison means.

Claims (3)

A swivel base (2) is mounted on the vehicle (1) so as to be turnable, and a telescopic boom (3) is installed on the swivel base (2) so as to be able to extend and retract, and various types of information relating to the working state of the crane are detected. In a crane vehicle equipped with a working state detection means (A)
Based on the strength of the wheel ground reaction force support means (11) when the wheel (13) is grounded to the controller (8), the limit ground reaction force that can be handled by the strength of the wheel ground reaction force support means (11). Based on various detection values from the limit ground reaction force value storage means (B) for storing values and the work state detection means (A) in the current crane work state with the wheel (13) grounded. A current ground reaction force value acquiring means (C) for acquiring a current ground reaction force value applied to the wheel (13); a current ground reaction force value acquired by the current ground reaction force value acquiring means (C); Comparing means (D) for comparing the limit ground reaction force value stored in the reaction force value storage means (B), and the comparison means (D), the current ground reaction force value is the limit ground reaction force value When it is determined that the wheel has reached Includes ground reaction force increase side operation limit means for grounding reaction force value to limit the operation to the increase side applied to 13) and (E),
A control apparatus for a mobile crane characterized by the above. In claim 1,
The controller (8) is provided with a rear stability control means (G) for controlling the crane truck so as not to fall to the rear side of the telescopic boom (3) when working in a wheel ground state.
The rear stability control means (G) can perform a crane operation at the boom turning position where the boom rear side falling moment is reduced based on the change of the boom rearward side falling moment caused by the change of the turning position of the telescopic boom (3). While controlling to enlarge the area,
The ground reaction force increasing side operation restricting means (E) can perform a crane operation at the boom turning position where the wheel ground reaction force is reduced based on the change in the wheel contact reaction force caused by the change in the turning position of the telescopic boom (3). Control is performed to enlarge the area within the crane workable area controlled by the rear stability control means (G).
A control apparatus for a mobile crane characterized by the above. In claim 2,
By comparing the control by the rear stability control means (G) and the control by the ground reaction force increasing side operation limiting means (E), priority is given to the control on the higher safety side of the crane work. I have to,
A control apparatus for a mobile crane characterized by the above.

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