JP2010235249A - Control device of crane, and crane - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a control device of a crane capable of suppressing a cargo swing by exactly recognizing the position of a hoisted cargo. <P>SOLUTION: This control device S includes a derricking boom 14 and a hook 17 suspended by a wire 16 from a tip of the boom 14. The control device S further includes boom attitude detection means 31, 32, 33 and 34 each detecting the attitude of the boom 14, a swing angle detection means 2 for detecting swing angles θ1 and θ2 from the tip of the boom 14 of the wire 16, a wire tension detection means 35 for detecting the tension of the wire 16, a winch control means 53 for imparting prescribed tensed tension to tense the wire 16 by receiving an instruction from a starting command means based on the measured tension of the wire 16, and a moving control means 54 for moving the tip of the boom 14 to the immediately above the hoisted cargo based on the attitude of the boom 14 measured in the imparted state of the tensed tension and the swing angles θ1 and θ2 of the wire 16 when the hoisted cargo is dynamically lifted off or landed. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a crane control device and a crane.

  Conventionally, a crane equipped with a boom and a jib has a problem that, when hoisting a suspended load, if the tip of the boom is not located on a vertical line passing through the center of gravity of the suspended load, the swinging of the load occurs when the ground is cut.

  In order to prevent such a load swing at the time of earth cutting, for example, in Patent Document 1, a lateral vibration detection device that detects the lateral vibration of the hook block is provided, and the expansion / contraction, undulation, and turning of the boom are controlled to control the suspended load. A boom posture control device for moving it directly above is disclosed.

  However, even if the tip of the boom is moved directly above the suspended load, if the wire is wound up, the boom or jib will bend and the tip of the boom will be displaced forward. It occurred (see FIG. 9A).

  In order to solve this problem, for example, in Patent Document 2, the momentary forward displacement amount of the boom tip is calculated based on the correlation between the load and the deflection stored in the storage means, and the displacement amount is made zero. A control device having a boom raising amount calculating means for calculating a required amount of boom raising is disclosed.

  According to this configuration, while controlling the tip of the boom to be positioned immediately above the suspended load, the wire tension is increased at a constant gradient, and the suspended load is grounded when it becomes equal to or greater than the suspended load.

Japanese Utility Model Publication No. 55-54710 Japanese Patent No. 2744110

  However, since the above-mentioned Patent Document 2 does not actually measure the deflection of the boom, if a deviation from the correlation between the stored load and the deflection occurs, the position of the suspended load cannot be accurately recognized and the swing of the load occurs. There was a problem that.

  Therefore, an object of the present invention is to provide a crane control device that can accurately recognize the position of a suspended load and suppress the swing of the load, and a crane including the crane control device.

  In order to achieve the above object, a crane control apparatus according to the present invention is a crane control apparatus comprising a boom that can be raised and lowered, and a hook that is suspended from a tip of the boom by a wire, and the attitude of the boom. A boom posture detecting means for detecting the wire, a swing angle detecting means for detecting a swing angle of the wire from the tip of the boom, a wire tension detecting means for detecting the tension of the wire, and a measured tension of the wire. Winch control means for receiving a command from the start command means and applying a predetermined tension tension for tensioning the wire, and when tensioning or landing a suspended load, the tension tension is applied. And a movement control means for moving the tip of the boom directly above the suspended load based on the attitude of the boom and the deflection angle of the wire measured in the state

  As described above, the crane control apparatus according to the present invention receives instructions from the start command means based on the boom posture detection means, the wire deflection angle detection means, the wire tension detection means, and the measured wire tension. A winch control means for providing a predetermined tension tension for tensioning the boom, and when the suspended load is grounded or landed, the posture of the boom and the wire measured with the tension tension applied Movement control means for moving the tip of the boom directly above the suspended load on the basis of the swing angle.

  Therefore, the position of the suspended load can be accurately measured in a state where the wire is tensioned without being loosened. For this reason, it is possible to work safely and quickly by suppressing the swing of the load.

It is a block diagram explaining the whole control content of the present invention. It is a side view explaining the structure of a crane. It is a perspective view explaining the structure of a deflection angle detection means. It is a block diagram explaining the boom tip movement control to a reference position. It is a flowchart explaining the flow of boom tip movement control to a reference position. It is explanatory drawing explaining the effect | action of boom tip movement control. It is a block diagram explaining the ground cutting control from a reference position to lifting. It is a flowchart explaining the flow of the ground cutting control from a reference position to lifting. It is explanatory drawing explaining the effect | action of ground cutting control. (A) shows the relationship between the amount of deflection and the deflection angle, and (b) shows the relationship between the amount of deflection and the amount of cancellation movement.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  First, the mechanical configuration of the rough terrain crane 1 as a crane provided with the crane control device S of the present embodiment will be described with reference to FIG. In the following Examples 1 and 2, the rough terrain crane 1 will be described as an example. However, the present invention is not limited to this, and any crane including a boom such as an all terrain crane, a truck crane, and a loading truck crane may be used. The present invention can be applied.

  As shown in FIG. 2, the rough terrain crane 1 according to the present embodiment includes a vehicle body 10 that is a main body portion of a vehicle having a traveling function, outriggers 11 provided at four corners of the vehicle body 10, and the vehicle body 10. A swivel base 12 is mounted so as to be horizontally swivelable, and a boom 14 is mounted on a bracket 13 erected on the swivel base 12.

  The outriggers 11 are for preventing the rough terrain crane 1 from overturning, and are provided on the left and right sides of the front side and the rear side of the vehicle body 10, and are extended and grounded by hydraulic pressure.

  Further, the turntable 12 has a pinion gear to which the power of the turning motor controlled by the turning drive control means 42 (see FIG. 4) is transmitted, and this pinion gear is a circular gear provided in the vehicle body 10. It rotates around the pivot axis by meshing.

  Further, the boom 14 is configured to be nested by a proximal boom 141, a plurality of intermediate booms 142,... And a distal boom 143, and is telescopic controlled by the telescopic drive control means 44 (see FIG. 4). The cylinder can be expanded and contracted by a cylinder (not shown).

  Among these, the base end boom 141 is rotatably attached to a support shaft installed horizontally on the bracket 13 at the base thereof, and can be raised and lowered up and down.

  Further, a hoisting cylinder (not shown) controlled by hoisting drive control means 43 (see FIG. 4) is bridged between the bracket 13 and the vicinity of the distal end of the proximal boom 141, and the hoisting cylinder is extended and retracted. By doing so, the entire boom 14 can be raised and lowered.

  Further, a rotatable sheave 15 is attached to the tip of the tip boom 143, and a wire 16 having a hook 17 attached to the tip is hung on the sheave 15. In addition, the end of the wire 16 is wound around a winch (not shown) controlled by the winch drive control means 41.

  In the crane control apparatus S of the present embodiment, the deflection angle detecting means 2 for detecting the deflection angle of the wire 16 is attached between the sheave 15 and the hook 17.

  As shown in FIG. 3, the deflection angle detection means 2 includes an upper bracket 21 that is rotatably mounted with a sheave shaft 15a that is a rotation shaft of the sheave 15 as a rotation axis, and the upper bracket 21 that is orthogonal to the sheave shaft 15a. A horizontal rotating shaft 23 provided in the direction of rotation, a lower bracket 22 rotatably mounted with the horizontal rotating shaft 23 as a rotating shaft, and a wire 16 attached rotatably with the horizontal rotating shaft 23 as a rotating shaft. A main sandwiching sheave 24 to be sandwiched, an auxiliary sandwiching sheave 25 that sandwiches the wire 16 adjacent to the main sandwiching sheave 24, and sheaves 26 and 27 on which the wire 16 is hung are provided.

  The upper bracket 21 is attached with a vertical swing angle detecting means 28 for detecting the swing angle of the boom 14 in the undulating direction so as to come into contact with the end of the sheave shaft 15a. The vertical direction swing angle detecting means 28 measures the swing angle (rotation angle) of the wire 16 with the sheave shaft 15a of the tip boom 143 as the center of rotation.

  Further, a lateral swing angle detecting means 29 for detecting a swing angle in a direction perpendicular to the undulation direction of the boom 14 is attached to the lower bracket 22 so as to come into contact with the end portion of the lateral rotation shaft 23. This lateral direction swing angle detecting means 29 measures the swing angle (rotation angle) of the wire 16 around the rotational axis 23 that is orthogonal to the sheave shaft 15a.

  Then, after the wire 16 is hung on the sheave 15, the wire 16 is passed between the main pin sheave 24 and the auxiliary pinch sheave 25, is hung on the sheave 26, hung on the hook 17, and again the sheave 27. After being hooked on the hook 17 and being hooked on the hook 17, it is connected to a cable end stopper (not shown) provided on the lower bracket 22.

  Therefore, when the wire 16 is stretched by applying a predetermined tension, the wire 16 swings in the direction in which the hook 17 is located, and the wire 16 is counteracted via the main sandwich sheave 24, the supplementary sandwich sheave 25, and the sheaves 26 and 27. The deflection angle detection means 2 that receives the force rotates in the vertical and horizontal directions.

  In this way, the vertical direction swing angle detecting means 28 detects the vertical direction swing angle, and the horizontal direction swing angle detecting means 29 detects the horizontal direction swing angle, and the measured values are respectively input to the input port 51 of the controller 5. To be notified.

  Next, with regard to the movement control using the crane control device S of the present embodiment, the boom tip movement control for moving the tip of the boom 14 on the suspended load in a state where there is no bending, and the suspension in a state where the bending is caused. The explanation will be divided into ground cutting control for moving the tip of the boom 14 onto the load.

  First, boom tip movement control will be described. First, the configuration of a control system that performs boom tip movement control will be described with reference to FIG.

  As shown in FIG. 4, the crane control apparatus S of the present embodiment includes a boom undulation angle detection means 31, a boom length detection means 32, a boom turning angle detection means 33 as a boom posture detection means, and a wire movement amount. A detection means 34, a wire tension detection means 35, a start command means 36, a vertical direction swing angle detection means 28 and a lateral direction swing angle detection means 29 as the swing angle detection means 2 are provided.

  Further, the crane control apparatus S of this embodiment includes a winch drive control means 41, a turning drive control means 42, a undulation drive control means 43, an expansion / contraction drive control means 44, and the like as drive control means.

  The crane control device S according to the present embodiment is executed in the controller 5 having a processing unit 50 including a CPU and a memory, an input port 51 (see FIG. 1), an output port 52 (see FIG. 1), and the like. As the calculation / command processing means, a winch control means 53, a movement control means 54, a boom tip position calculation means 55, a wire length calculation means 56, and a target boom tip position calculation means 57 are provided.

  The winch control means 53 is a means for calculating and commanding a predetermined tension tension, and the winch drive control means is based on the input of the start signal from the start command means 36 and the input of the wire tension from the wire tension detection means 35. The amount of winding / unwinding is output to 41.

  The boom tip position calculation means 55 receives the undulation angle input from the boom undulation angle detection means 31, the boom length input from the boom length detection means 32, and the rotation angle input from the boom turning angle detection means 33. Thus, the current boom tip position viewed from the vehicle coordinate system is output to the boom movement amount calculation means 541. In addition, it is preferable that the coordinate origin of a vehicle coordinate system is located on the rotating shaft of a turntable for easy calculation.

  The wire length calculation means 56 sends the tip boom 143 to the target boom tip position calculation means 57 based on the input of the boom tip position from the boom tip position calculation means 55 and the input of the wire movement amount from the wire movement amount detection means 34. The wire length from the tip of the wire to the hook 17 is output.

  The target boom tip position calculating means 57 inputs the wire length from the wire length calculating means 56, inputs the turning angle from the boom turning angle detecting means 33, and the vertical direction swing angle from the vertical direction swing angle detecting means 28. The target boom tip position is output to the boom movement amount calculation unit 541 by the input and the input of the lateral direction swing angle from the lateral direction swing angle detection unit 29.

  The movement control means 54 is a boom movement amount calculation means 541 that calculates the movement amount of the boom tip to the target boom tip position, and a control that converts the calculated movement amount of the boom tip to the target boom tip position into a mechanical signal value. And signal calculation means 542.

  The boom movement amount calculation unit 541 sends the current boom tip position from the boom tip position calculation unit 55 and the input of the target boom tip position from the target boom tip position calculation unit 57 to the control signal calculation unit 542. A boom tip movement amount for moving from the current boom tip position to the target boom tip position is output.

  The control signal calculation means 542 controls the movement amounts of the winch drive control means 41, the turning drive control means 42, the undulation drive control means 43, and the expansion / contraction drive control means 44 according to the input of the boom movement amount from the boom movement amount calculation means 541. And drive control signals are output.

  Next, the flow of boom tip movement control will be described with reference to FIGS.

  First, the slinger hooks the hook 17 on the wire 16 (step S110), and the operator turns on the start command means 36 to start the boom tip movement control (step S120).

  Then, the winch control means 53 commands the winch drive control means 41 to wind up the wire 16 by a very small predetermined amount (step S131), and the wire tension detection means 35 detects the wire tension (step S132).

  If the wire tension has reached the predetermined tension tension (YES in step S133), the process proceeds to step S141, and if not, steps S131 to S133 are repeated.

  Here, the predetermined tension tension can be set as a tension corresponding to the weight of the wire 16 and the hook 17 or a tension with a predetermined margin added thereto. Therefore, it is preferable to change the setting according to the wire length.

  When the wire tension reaches a predetermined tension tension (YES in step S133), it can be determined that the wire 16 is not loose and is in a straight line. Therefore, the boom undulation angle, the boom length, and the boom turning as the boom posture are determined. A corner is measured (step S141).

  Then, the boom tip position calculation means 55 calculates the current boom tip position from the measured boom posture (step S142, process (b)).

  Next, the wire length calculation means 56 calculates the wire length from the boom tip to the hook, and the target boom tip position calculation means 57 calculates the target boom tip position based on the calculated wire length and the measured swing angle. (Step S143, process (c)). Here, the target boom tip position is preferably a position that can be reached by horizontal movement from the tip position of the boom 14 at the start of movement so that the amount of movement of the boom tip is minimized.

  Subsequently, the boom movement amount calculation means 541 calculates the boom tip movement amount for moving the current boom tip position to the target boom tip position (step S144).

  Then, the control signal calculation means 542 distributes the calculated boom tip movement amount to each drive control means and outputs a drive control signal (step S145), and drives each actuator while maintaining the wire tension at the tension tension. Then, the boom tip is moved (step S146).

  Then, a series of processes of measurement, calculation and movement from step S141 to S146 are repeated, and when the boom tip reaches just above the suspended load (YES in step S147), the boom tip movement control process is terminated.

  Next, the operation of the boom tip movement control will be described with reference to FIG.

  As described above, the crane control device S according to the present embodiment, when the suspended load is grounded, is based on the posture of the boom 14 and the deflection angle of the wire 16 measured in a state where tension tension is applied. The movement control means 54 is provided for moving the tip of the right above the suspended load.

  Therefore, the position of the suspended load can be accurately measured in a state where the wire 16 is tensioned without being loosened, and the swing of the load can be suppressed. For this reason, it is possible to work safely and quickly.

  That is, when the wire 16 is loose, the direction of the suspended load as viewed from the tip of the boom and the direction of the hook 17 do not coincide with each other, so that the wire 16 is tensioned by applying a predetermined tension tension to eliminate this state.

  Then, in a state where the wire 16 is tensed and the direction of the hook 17 and the direction of the suspended load coincide with each other, the longitudinal swing angle θ1 and the lateral swing angle θ2 from the boom tip BTP are detected to detect the suspended load. The position can be measured accurately.

  Furthermore, the movement control means 54 moves the boom 14 substantially horizontally so that the tip of the boom 14 is positioned directly above the suspended load BTP ′ while controlling the winch drive control means 41 so as to maintain this tension tension. .

  When moved in this manner, the distance between the tip of the boom 14 and the suspended load is shortened, so that the wire 16 is wound up by the shortened amount, and the wire tension is moved in a state of maintaining a predetermined tension tension.

  Therefore, only a predetermined tension tension acts on the boom 14 from the wire 16, and the tip of the boom 14 can be accurately positioned at BTP 'immediately above the suspended load in a state where there is almost no bending.

  Next, the ground cutting control will be described. First, the configuration of a control system that executes the ground cutting control will be described with reference to FIG. Since the input system and the output system are the same as the boom tip movement control described above, description thereof is omitted.

  The crane control apparatus S according to the present embodiment includes a winch control means 53, a movement control means 54, a boom tip position calculation means 55, and a wire length calculation means 56 as calculation / command processing means executed by the controller 5. , Wire elongation calculating means 58, boom deflection amount calculating means 59, and wire extension speed calculating means 60.

  The wire elongation calculation unit 58 is configured to receive a wire tension input from the wire tension detection unit 35 and a wire length input from the wire length calculation unit 56, a wire elongation speed calculation unit 60, a boom deflection amount calculation unit 59, and the like. , The extension amount of the wire 16 is output.

  The boom deflection amount calculation unit 59 inputs the wire length in consideration of the wire extension from the wire extension calculation unit 58, the current boom tip position input from the boom tip position calculation unit 55, and the vertical direction swing angle detection unit 28. The change in the amount of bending of the boom tip is calculated based on the input of the vertical swing angle from the horizontal direction and the input of the horizontal swing angle from the horizontal direction swing angle detection means 29, and the turning direction component, the working radial direction component, the high The amount of change in the direction component in the three coordinate systems (ΔS, ΔR, ΔZ) is output to the boom movement amount calculation means 541.

  The wire elongation speed calculation means 60 is the same as the wire elongation speed (change in wire tension) used for the calculation of the FF control amount and the control end determination (step S239 in FIG. 8) by the input of the wire elongation from the wire elongation calculation means 58 May be calculated) and output to the control signal calculation means 542.

  Next, the flow of ground cutting control will be described with reference to FIGS. Note that this ground cutting control will be described separately from the above-described boom tip movement control for the sake of convenience, but it is preferable that it is automatically executed continuously after the boom tip movement control.

  As a premise of this earth cutting control, the crane state after the end of the boom tip movement control, that is, the state where the center of gravity of the suspended load and the position of the boom tip are located on the vertical line is applied. Make it.

  Then, the operator turns on the start command means 37 to start the ground cutting control (step S210).

  First, the boom posture as a reference posture in which the tip of the boom 14 is directly above the suspended load is measured (step S221), and the boom tip position calculation unit 55 determines the current position of the boom 14 as the reference position from the measured boom posture. The tip position is calculated (step S222).

  Next, the winch control means 53 instructs the winch drive control means 41 to wind up the wire 16 by a very small predetermined winding amount (step S231). Then, the boom 14 is bent by a very small amount of predetermined deflection.

  Subsequently, the wire movement amount, the wire tension, the boom undulation angle, and the boom length are measured (step S232), and the wire length and the wire elongation in a state where the deflection is increased by winding are calculated (step S233).

  Then, the boom deflection amount calculation means 59 calculates a change in the boom deflection amount and outputs it to the boom movement amount calculation means 541 as a change amount (ΔS, ΔR, ΔZ) in each coordinate system (step S234).

  Subsequently, the boom movement amount calculation means 541 calculates a boom tip movement amount for moving the current boom tip position to the target boom tip position (step S235).

  Then, the control signal calculation means 542 distributes the calculated boom tip movement amount to each drive control means and outputs a drive control signal (step S236), and drives each drive control means to move the boom tip (step S236). Step S237). That is, the boom movement amount is divided into a deflection correction angle in the undulation direction and a deflection correction displacement in the winch direction, and the tip of the boom is moved (see FIG. 9B).

  Specifically, in the calculation of the control signal, an FB (feedback) control amount obtained from a deviation between the target undulation angle, the target wire length, the target turning angle, and the measured undulation angle, the measured wire length, and the measured turning angle is calculated. , A control command obtained by adding the FF (feed forward) control amount is given to each drive control means. This FF control amount can be obtained by multiplying the rate of change of wire elongation obtained from the wire elongation calculation means 58 by a gain proportional to the magnitude of the swing angle.

  Then, after a series of processes of measurement, winding, and movement from step S221 to S237, it is determined whether or not the change in wire tension becomes zero (steps S238 and 239), and if not zero (NO in step S239) ), A series of processing is repeated.

  On the other hand, if the change in wire tension becomes zero (YES in step S239), the ground cutting control process is terminated. Note that the above iterative process may be ended on condition that the speed change of the change amount of the deflection amount is not zero but the wire tension.

  Next, the operation of the ground cutting control will be described with reference to FIG.

  Thus, the crane control apparatus S of the present embodiment, when the suspended load is grounded, the reference posture of the boom 14 measured in a state where the tip of the boom 14 is at the reference position immediately above the suspended load, Boom deflection amount calculation means 59 for calculating the amount of increase in the deflection amount of the boom 14 from the reference posture based on the deflection angle of the wire 16 measured in the state where the wire 16 is wound and the deflection of the boom 14 is increased. ing.

  And the movement control means 54 repeats the cancellation movement process which moves the front-end | tip of the boom 14 just above a suspended load so that the increase amount of the calculated bending amount may be canceled, and gradually increases the bending amount of the boom 14. Cut the suspended load.

  For this reason, the deflection amount of the boom 14 can be accurately calculated based on the measurement, and the boom 14 can be moved so as to cancel the deflection amount, thereby suppressing the swinging of the load at the time of ground cutting.

  That is, when the wire 16 is wound by a small amount by the winch drive control means 41, bending occurs (see FIG. 9A). By repeating the canceling movement process for moving the boom 14 so as to cancel this bending (FIG. 9). (See (b)), the boom 14 is gradually bent and converged.

  Specifically, by performing a canceling movement corresponding to the bending by raising and lowering the boom 14 and winding the wire 16, processing can be performed more quickly than when the boom 14 is expanded and contracted and the wire 16 is wound. Can be done.

  As described above, when the boom 14 is gradually bent, the bending is maximized when a tension corresponding to the weight of the suspended load is finally generated, and the suspended load is simultaneously cut off.

  At the time of ground cutting, the tip of the boom 14 is located immediately above the center of gravity of the suspended load, so that the load swing caused by the suspended load trying to move immediately below the tip of the boom 14 at the same time as the ground cutting does not occur. .

  Next, effects of the crane control apparatus S of the present embodiment will be listed and described below.

  (1) As described above, the crane control device S according to the embodiment is a crane control device S including the boom 14 that can be raised and lowered and the hook 17 that is suspended from the tip of the boom 14 by the wire 16.

  A boom posture detecting means for detecting the posture of the boom 14, a swing angle detecting means 2 for detecting a swing angle of the wire 16 from the tip of the boom 14, a wire tension detecting means 35 for detecting the tension of the wire 16, Winch control means 53 which gives a predetermined tension tension that receives the instruction from the start command means 36 based on the measured tension of the wire 16 and tensions the wire 16, and when the suspended load is grounded or When landing, movement control means 54 is provided that moves the tip of the boom 14 directly above the suspended load based on the posture of the boom 14 and the deflection angle of the wire 16 measured in a state where tension tension is applied.

  Therefore, the position of the suspended load can be accurately measured in a state where the wire 16 is tensioned without being loosened, and the swing of the load can be suppressed. For this reason, it is possible to work safely and quickly.

  In addition, in this state, the load of the suspended load does not act on the wire 16 and the boom 14 is not bent, so that the ground which is a subsequent processing step without considering the amount of bending. It can be accurately positioned at the reference position that is the starting position of the cutting control.

  Further, when the operator turns on the start command means 36, the boom tip movement control is automatically executed, so that the boom 14 can be moved even if there is a suspended load at a position where the operator cannot see.

  (2) Further, when the suspended load is grounded, the boom 14 has a reference posture measured with the tip of the boom 14 in a reference position immediately above the suspended load, and the boom 14 is bent by winding the wire 16. Boom deflection amount calculation means 59 for calculating an increase amount of the deflection amount from the reference posture of the boom 14 based on the deflection angle of the wire 16 measured in the increased state is provided. The cancellation movement process in which the tip of the boom 14 is moved immediately above the suspended load so as to cancel the increased amount of deflection is repeated, and the suspended load is grounded by gradually increasing the amount of deflection of the boom 14.

  For this reason, the deflection of the boom 14 can be accurately calculated based on the measurement, and the boom 14 can be moved so as to cancel the deflection.

  In addition, in this earth cutting control, as shown in FIG. 9B, the boom 14 extends and retracts and the wire 16 is wound to cancel the movement corresponding to the bending, so that the boom 14 extends and retracts. Compared with the case where the cancellation movement is performed above, the processing can be performed quickly.

  (3) Wire tension detecting means 35 for measuring the tension of the wire 16 is provided, and the boom deflection amount calculating means 59 is based on the extension amount of the wire 16 calculated using the measured tension. Therefore, the amount of deflection can be calculated more accurately.

  In other words, when the load of the suspended load acts, not only the boom 14 bends but also the wire 16 is stretched. Therefore, the exact position of the suspended load cannot be grasped unless this is taken into consideration. In particular, since the tension increases immediately before the ground cutting, if this amount of extension is ignored, an error occurs in the determination of the suspended load position, and the load swings.

  Therefore, by certifying the position of the suspended load in consideration of the amount of extension of the wire 16, it is possible to calculate the exact amount of deflection and suppress the load swing during the earth cutting.

  (4) Moreover, since the rough terrain crane 1 of the present embodiment includes the crane control device S as described above, there is no run-out when the suspended load is grounded or landed. Become a safe rough terrain crane 1.

  Hereinafter, unloading control when landing a suspended load using the crane control device S will be described. The description of the same or equivalent parts as described in the above embodiment will be given with the same reference numerals.

  First, since the configuration is substantially the same as the configuration for executing the ground cutting control of the first embodiment, the description thereof is omitted. Also, the flow of unloading control is substantially the same as that of the above embodiment except that step S231 in FIG.

  Next, the operation will be described.

  As described above, when the crane control apparatus S of the present embodiment lands the suspended load, the boom 14 is measured in a state where the suspended load is landed and the tip of the boom 14 is at the reference position immediately above the suspended load. Boom deflection for calculating a reduction amount of the deflection amount from the reference posture of the boom 14 based on the reference posture of the boom 14 and the deflection angle of the wire 16 measured in a state where the deflection of the boom 14 is reduced by winding the wire 16 down. A quantity calculating means 59 is provided.

  And the movement control means 54 repeats the cancellation movement process which moves the front-end | tip of the boom 14 just above a suspended load so that the amount of reduction of the calculated amount of bending may be canceled, and the amount of bending of the boom 14 and the tension | tensile_strength of the wire 16 are repeated. By gradually decreasing the tension, the tension of the wire 16 becomes substantially zero.

  For this reason, the deflection amount of the hook 17 at the time of landing can be suppressed by calculating correctly the deflection amount of the boom 14 based on measurement, and moving the boom 14 so that this deflection amount may be negated.

  In other words, when the wire 16 is wound by a small amount by the winch drive control means 41, the bending is reduced. To converge.

  As described above, when the bending is gradually taken out from the boom 14, the bending is minimized when the tension finally becomes substantially zero, and the suspended load is completely landed at the same time.

  Since the tip of the boom 14 is positioned immediately above the center of gravity of the suspended load at the time of complete landing where the tension is substantially zero, the hook 17 is removed from the tip of the boom 14 at the same time as the landing and the hook 17 are removed. The shake of the hook 17 that is caused to move immediately below does not occur.

  Next, the effect will be described.

  (1) When the crane control apparatus S of the present embodiment lands a suspended load, the crane 14 is measured in a state where the suspended load is landed and the tip of the boom 14 is at a reference position immediately above the suspended load. Boom deflection amount for calculating a reduction amount of the deflection amount of the boom 14 from the reference posture based on the reference posture and the deflection angle of the wire 16 measured in a state where the deflection of the boom 14 is reduced by lowering the wire 16. A calculation means 59 is provided, and the movement control means 54 repeats a cancellation movement process in which the tip of the boom 14 is moved immediately above the suspended load so as to cancel the calculated decrease amount of the deflection amount, and the deflection amount of the boom 14 Reduce gradually.

  Therefore, the deflection of the hook 17 at the time of landing can be suppressed by accurately calculating the deflection amount of the boom 14 based on the measurement and moving the boom 14 so as to cancel the deflection amount. For this reason, it is possible to work safely and quickly.

  Other configurations and operational effects are substantially the same as those in the above-described embodiment, and thus the description thereof is omitted.

  The embodiment of the present invention has been described in detail with reference to the drawings, but the specific configuration is not limited to this embodiment, and design changes that do not depart from the gist of the present invention are not limited to the present invention. included.

  For example, in the above-described embodiment, a case has been described in which a predetermined tension tension is applied when the suspended load is grounded, and the tip of the boom 14 is moved immediately above the suspended load. However, the present invention is not limited to this. In this case, the tip of the boom 14 can be moved directly above the suspended load by applying a predetermined tension tension.

  In the above-described embodiment, the case where the boom 14 is not turned in the earth cutting control has been described. However, the present invention is not limited to this. If lateral deflection occurs, the boom 14 is turned and moved directly above the suspended load. It can also be made.

S Crane control device 1 Rough terrain crane (crane)
12 swivel 14 boom 15 sheave 15a sheave shaft 16 wire 17 hook 2 swing angle detecting means 28 longitudinal swing angle detecting means 29 lateral swing angle detecting means 31 boom undulation angle detecting means 32 boom length detecting means 33 boom turning angle detecting means 34 Wire length detection means 35 Wire tension detection means 41 Winch drive control means 42 Swivel drive control means 43 Relief drive control means 44 Telescopic drive control means 5 Controller 53 Winch control means 54 Movement control means 55 Boom tip position calculation means 56 Wire length calculation Means 57 Target boom tip position calculation means 58 Wire elongation calculation means 59 Boom deflection amount calculation means 60 Wire elongation speed calculation means

Claims (5)

A crane control device comprising a hoistable boom and a hook suspended by a wire from the tip of the boom,
The boom posture detecting means for detecting the posture of the boom, the swing angle detecting means for detecting the swing angle of the wire from the tip of the boom, the wire tension detecting means for detecting the tension of the wire, and the measured Winch control means for giving a predetermined tension tension to receive the instruction from the start command means based on the tension of the wire and to tension the wire; and
When moving or landing a suspended load, the movement of moving the tip of the boom directly above the suspended load based on the posture of the boom and the deflection angle of the wire measured in a tensioned state. A crane control apparatus comprising a control means. When the suspended load is grounded, the boom is measured in a state in which the tip of the boom is at a reference position immediately above the suspended load, and in a state where the boom is wound up by winding the wire. A boom deflection amount calculating means for calculating an increase amount of the deflection amount from the reference posture of the boom based on a deflection angle of the wire,
The movement control means repeats a cancellation movement process for moving the tip of the boom directly above the suspended load so as to cancel the calculated increase amount of the deflection amount, and gradually increases the boom deflection amount to The crane control device according to claim 1, wherein the crane is grounded. When landing a suspended load, the boom's reference posture measured when the suspended load is landed and the tip of the boom is at a reference position immediately above the suspended load, and the wire is lowered to bend to the boom. A deflection amount calculation means for calculating a deflection amount of the deflection amount from the reference posture of the boom based on a swing angle of the wire measured in a state where
The movement control means repeats a canceling movement process for moving the tip of the boom directly above the suspended load so as to cancel the calculated decrease amount of the bending amount, and gradually decreases the bending amount of the boom. The crane control apparatus according to claim 1 or 2.   Tension detecting means for measuring the tension of the wire is provided, and the boom deflection amount calculating means calculates the boom deflection amount based on the wire extension amount calculated using the measured tension. The crane control device according to claim 2 or 3.   The crane provided with the control apparatus of the crane as described in any one of Claims 1 thru | or 4.

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