JP2011006178A - Teaching playback device of crane - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a teaching playback device capable of automatic operation by a series of stored operation procedures thereby, by automatically teaching, by eliminating troublesomeness of switching to a teaching mode by an operator.SOLUTION: This teaching playback device performs teaching processing for storing operation input from the operator and playback processing for reproducing and inversely reproducing a series of operation contents stored in its teaching processing in a controller. In this teaching processing, the series of operation contents input up to determining that there is no cargo suspension from when determining that these is the cargo suspension, are stored based on a detecting signal from a load detector.

Description

  The present invention relates to a teaching playback device for a crane.

  A vehicle-mounted crane will be described as an example of a conventional crane. This type of crane is mounted between a truck's cab and the loading platform or at the rear of the loading platform, and a column is mounted on a swiveling body that rotates freely in the horizontal direction. Provided. The column is equipped with a winch. A wire rope is guided around the winch so that the winch can be fed out and retracted, and the hook is suspended from the tip of the boom.

  The operation of this type of crane is basically based on the four operations of turning the column to the left and right, raising and lowering the boom, hoisting and lowering the hook, and expansion and contraction of the boom. A crane is used to carry out the crane handling work by performing a single operation or a plurality of operations at the same time by a manual operation lever installed in the vehicle. Most of the contents of the cargo handling work are operations such as loading and moving a load on a truck bed, dropping the loaded load to the destination when it arrives at the destination, or installing it at the destination.

  Here, when the load on the truck bed is moved to the target location, the crane hook is moved to the truck bed and the load is lifted at that position, and then the crane is operated by appropriately performing the above four operations. Operate to move the load and unload it to the ground at the desired location. Thereafter, the operator returns the crane onto the truck bed by appropriately performing the above four operations again from the place where the cargo was previously unloaded, in order to lower the other cargo remaining on the truck bed to the target location. The cargo handling work will be repeated.

  Therefore, in order to realize automatic operation for the purpose of reducing the labor of repeating such cargo handling work, conventionally, a series of crane operations to be automatically operated is taught in advance. There has been proposed a teaching playback device that can play back (reproduce or reversely reproduce) the operation of the taught crane (see, for example, Patent Document 1).

Japanese Patent No. 36060892

  However, with the conventional teaching playback device, in order to teach the contents of automatic operation to the crane side, first, the operator switches to the teaching mode once and stores the series of operation contents on the crane side, and then plays. The automatic operation is performed in the playback mode after ending the teaching mode before performing the back operation. Further, in the conventional teaching playback device, when the automatic operation is performed with the separate operation content, the operator has to switch to the teaching mode again and store the new operation content on the crane side again. Therefore, the operation related to the teaching playback function is troublesome for the operator, and there is still room for improvement in terms of usability.

  Therefore, the present invention has been made paying attention to such a problem, and allows the operator to perform teaching automatically without the trouble of switching to the teaching mode. It is an object of the present invention to provide a teaching playback device capable of performing automatic operation according to the operation procedure.

  In solving the above-mentioned problems, the inventor of the present application, the operation required by the operator to move from the place where the load was unloaded to the truck bed is the operation procedure required for the movement from the truck bed to the place where the load was unloaded. We paid attention to the fact that it can be restored by the reverse operation procedure. In other words, if you memorize the operation procedure required to move from the truck bed to the place where you unloaded the vehicle so that it can be automatically operated, by letting you perform automatic operation with the operation procedure opposite to the stored operation procedure, The crane can be automatically returned onto the truck bed.

  In handling operations as described above, generally, when a load is being lifted by a crane, an operator must carefully lift the crane in order to prevent the load from falling, coming into contact with an obstacle on the load, or swinging the load. Therefore, automatic operation is rare. On the other hand, when the load is not lifted, there is no need to prevent the load from falling, coming into contact with obstacles, or swinging the load. It is not a thing. Therefore, it is more convenient to perform the automatic operation when the load is not lifted.

  That is, in order to solve the above problems, the present invention provides a teaching playback device capable of storing a series of operation contents input by an operator for operating a crane and reproducing and reversely reproducing the series of operation contents. The load detecting means for detecting a load caused by hanging the load, the operation content storage means for storing the inputted series of operation contents, and the reproduction and reverse of the series of operation contents stored in the operation content storage means. An operation content reproducing means for reproducing, and the operation content storage means determines, based on a detection signal from the load detection means, that it is determined that there is no load hanging from the determination that there is no load hanging. It is characterized by memorizing a series of operation contents inputted up to the time of being performed.

  According to the teaching playback device for a crane according to the present invention, the operation content storage means is provided. The operation content storage means determines that there is a load hanging based on a detection signal from the load detection means. A series of operation contents entered from when the load is determined to be unloaded is stored, so when the load is lifted, the teaching mode is automatically activated and the load is moved. A series of operation procedures by the operator is automatically stored, and the teaching mode is automatically terminated when the package is unloaded. For this reason, there is no trouble for the operator to switch to the teaching mode when storing a series of operation contents during hanging.

  According to the crane teaching playback apparatus of the present invention, the operation content reproduction means is provided, and the operation content reproduction means reproduces and reversely reproduces a series of operation contents stored in the operation content storage means. Therefore, it is possible to reproduce and reversely reproduce a series of stored operation contents. Therefore, if the stored series of operations are reversely reproduced, the crane can be immediately returned to the original position (position where the load is lifted) by automatic operation. Here, this stored series of operation contents stores the operation contents of the operator who carefully operated the crane so that the suspended load did not hit an obstacle or the like when the load was suspended. Therefore, even when returning to the original position by reverse regeneration by automatic driving, the crane can be returned to the initial position such as on the truck bed without hitting an obstacle or the like.

  The crane teaching playback apparatus according to the present invention is particularly convenient when, for example, there are a plurality of loads on a truck bed and the plurality of loads are repeatedly moved to a target location. In addition, even if the target location is different each time, a series of operation procedures from when the operator hangs the load through normal operation to when it is unloaded is taught based on the detection signal from the load detection means. Therefore, after the load is suspended, the crane can be returned to the initial position of the truck bed or the like again by reverse reproduction of a series of operation procedures corresponding to the operation of the last cargo handling operation. Therefore, the efficiency of the cargo handling work can be improved.

  Thus, according to the teaching playback device for a crane according to the present invention, when storing a series of operation contents, teaching is performed in accordance with the presence or absence of a suspended load while eliminating the trouble of the operator switching to the teaching mode. It is possible to perform automatic operation by a series of stored operation procedures.

It is a block diagram explaining the vehicle-mounted crane as one Embodiment of the crane which concerns on this invention. It is a block diagram explaining the control apparatus of the crane which concerns on this invention. It is a longitudinal cross-sectional view containing the axis line of a switching valve. It is a longitudinal cross-sectional view containing the axis line of an accelerator cylinder. It is explanatory drawing of the remote control device of the crane which concerns on this invention, The figure (a) is the top view, (b) is a front view. FIG. 3 is a flowchart of teaching playback processing executed by the controller shown in FIG. 2, in which FIG. 2A is a flowchart of teaching processing, and FIG. 2B is a flowchart of playback processing. It is a figure explaining operation | movement of the crane which concerns on this invention, the figure (a) is a figure which shows an image when a teaching mode is started automatically, and the figure (b) is an automatic teaching mode. It is a figure which shows an image when being terminated automatically. It is a figure explaining operation | movement of the crane which concerns on this invention, the figure (a) is a figure which shows the image when starting playback mode, and the figure (b) is when ending playback mode FIG.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings as appropriate. FIG. 1 is a block diagram illustrating a vehicle-mounted crane as an embodiment of a crane according to the present invention, and FIG. 2 is a block diagram illustrating a control device for the vehicle-mounted crane.
As shown in FIG. 1, this vehicle-mounted crane (hereinafter also simply referred to as “crane”) 1 has a column 6 pivotably provided on a base 4 having an outrigger 2, and an upper end portion of the column 6. A telescopic boom 7 is pivotably supported. The column 6 is provided with a winch 11, from which the wire rope 12 is guided to the tip 7 s of the boom 7 and is hooked via a pulley (not shown) of the tip 7 s of the boom 7. The hook 13 is suspended from the tip portion 7 s of the boom 7 by being hung around the boom 13.

  Here, the crane 1 includes a swing hydraulic motor 5 and a boom hoisting hydraulic cylinder as a plurality of actuators for turning the column 6, raising and lowering and extending and retracting the boom 7, and winding and unwinding the winch 11. 9, a boom expansion / contraction hydraulic cylinder 8, a winch hydraulic motor 10, and outrigger hydraulic cylinders 3L and 3R.

  These turning hydraulic motor 5, boom raising and lowering hydraulic cylinder 9, boom telescopic hydraulic cylinder 8, winch hydraulic motor 10, and outrigger hydraulic cylinders 3L and 3R are all vehicles as shown in FIG. The hydraulic pump 17 driven by being connected to the PTO 16 of the engine 15 is operated by supplying pressure oil through the control valve 20. Between the pump port and the tank port, there are provided a main relief valve 38 and an unload valve 39 that opens the main relief valve 38 when unloading is necessary and communicates the pump port with the tank port. Yes.

  Here, the control valve 20 is a multi-connecting valve device configured by connecting a plurality of switching valves for controlling the actuators. As shown in FIG. 2, the swing hydraulic motor 5 and the boom hoisting hydraulic pressure are provided. A plurality of switching valves 31, 32, 33, 34 corresponding to the actuators of the cylinder 9, the boom telescopic hydraulic cylinder 8, and the winch hydraulic motor 10, and the actuators of the outrigger hydraulic cylinders 3L, 3R, respectively. A plurality of corresponding switching valves 28 and 29 and an accelerator cylinder 50 for operating each actuator at a desired speed are provided.

  Specifically, as shown in an enlarged view in FIG. 3, a main spool 36 is built in each switching valve 31, 32, 33, 34 of the control valve 20. The main spool 36 is normally held at a neutral position by left and right springs 36s. One end of the main spool 36 is connected to the operation lever 18 via a link 18r, and a pilot piston 37 is connected to the other end. An iron core 23 is provided at the tip of the piston rod 22. ing. The iron core 23 is inserted into a position detector 40 having a hollow cylindrical differential transformer. The position detector 40 detects the displacement of each main spool 36 and feeds back the detected displacement signal to the controller 30.

  Each switching valve 31, 32, 33, 34 is provided with a proportional solenoid (proportional electromagnetic pilot valve) 41 having a pair of solenoids 42L, 42R. Each proportional solenoid 41 has a port E to which pilot pressure oil is supplied from the hydraulic pump 17 via the pressure reducing valve 35 is normally closed, and a port F for returning the hydraulic oil to the tank 14 is normally open. When a control current is input to 42L and 42R, the pilot spool 42s slides, and the opening amount of the port E is controlled by the input current value. Thereby, the supply of pilot pressure oil to the left and right oil chambers 37L, 37R of the pilot piston 37 is controlled.

  When the pilot pressure oil is supplied to either one of the oil chambers 37R and 37L of the pilot piston 37, the main spool 36 moves to the left or right, and the switching valves 31, 32, 33, and 34 The ports A and B and the pump port P are communicated. As a result, the switching valves 31, 32, 33, and 34 operate the actuators of the swing hydraulic motor 5, the boom hoisting hydraulic cylinder 9, the boom telescopic hydraulic cylinder 8, and the winch hydraulic motor 10 described above. It has become. The actuators of the swing hydraulic motor 5, the boom hoisting hydraulic cylinder 9, the boom telescopic hydraulic cylinder 8, and the winch hydraulic motor 10 are controlled by the controller 30 so as to be interlocked with each other according to the work contents of the crane 1. Be controlled. For example, when the boom 7 is extended while the distance between the distal end portion 7s of the boom 7 and the hook 13 is kept constant, the lowering operation of the winch 11 is also required as the boom 7 is extended. The telescopic hydraulic cylinder 8 and the winch hydraulic motor 10 are interlocked.

The switching valves 28 and 29 for driving the outrigger hydraulic cylinders 3L and 3R also have a position detector 40, which detects the displacement of each spool and feeds back the detected displacement signal to the controller 30. It is supposed to be.
On the other hand, as shown in an enlarged view in FIG. 4, the accelerator cylinder 50 is also provided with a proportional solenoid (proportional electromagnetic pilot valve) 51. Also for this proportional solenoid 51, the port E to which the pilot pressure oil is supplied is normally closed, and the port F for returning the hydraulic oil to the tank 14 is normally open. And the opening amount of the port E is controlled by the input current value. Thereby, the supply of the pilot pressure oil to the oil chamber 52s of the main spool 52 is controlled.

  The accelerator cylinder 50 is also provided with a position detector 53 for detecting the displacement of the main spool 52 and feeding it back to the controller 30 of the control device. Then, the controller 30 obtains the accelerator operation amount based on the operation lever 18 or the actuator selection and operation amount by the remote controller 19 shown in FIGS. 2 and 5, and sends the required accelerator control signal to the accelerator cylinder 50. The power is output to the proportional solenoid 51 and the accelerator cylinder 50 is operated. Further, the position detector 53 of the accelerator cylinder 50 feeds back the detected value to the controller 30, and the controller 30 performs necessary correction if there is an excess or deficiency. Note that the discharge amount of the pressure oil from the hydraulic pump 17 increases as the rotational speed of the engine 15 is increased by the accelerator operation.

  Further, as shown in FIG. 2, the crane 1 detects a boom length detector 61 that detects the length of the boom 7, a boom angle detector 62 that detects the undulation angle of the boom 7, and a turning angle of the column 6. A turning angle detector 63 for rotating the wire rope 12 from the winch 11, and a winch drum rotation detector 64 for detecting the amount of retraction, and a load detector 65 for detecting a load due to the load hanging. The signals from the detectors are read into the crane controller 30, and the controller 30 determines the position of the tip 7 s of the boom 7, the position of the hook 13, and the weight of the suspended load by the signals from the detectors. Can be recognized. Although various methods for detecting the amount of feeding and the amount of feeding of the wire rope 12 are conceivable, the example of this embodiment is an example in which the method of detecting the rotation of the winch drum and calculating the amount of feeding and the amount of feeding is adopted. .

  That is, the crane 1 can detect the length of the boom 7 with the boom length detector 61, so that the boom length can be known on the controller 30 side, and similarly, the boom angle detector 62 can be used to detect the boom 7 undulation angle. Can be detected, so that the undulation angle of the boom can be known. Further, since the winch drum rotation detector 64 can detect the amount of the wire rope 12 fed out from the winch 11 and the amount of retraction, the distance between the tip of the boom 7 and the hook 13 can be known, and the turning angle detector 63 can detect the column 6. The turning angle of the boom 7 can be known. Furthermore, since the weight of the suspended load can be detected by the load detector 65, the weight of the suspended load is known. Strictly speaking, when the length of the boom 7 changes, the distance between the tip 7s and the hook 13 changes. Therefore, the winch drum rotation detector 64 alone sets the distance between the tip 7s of the boom 7 and the hook 13. Although it cannot be detected, the boom length detector 61 and the boom angle detector 62 detect changes in the boom length and the boom angle at the same time, and correct the distance variation, so that the distance between the tip 7s of the boom 7 and the hook 13 is corrected. It is possible to detect the distance.

Next, the controller 30 will be described in more detail.
This controller 30 stores a CPU control program and the like in advance in a predetermined area and a CPU that controls the entire system of the vehicle-mounted crane 1 based on a predetermined control program (not shown). Mediates input / output of data to / from external devices including a ROM, a RAM for storing data read from the ROM and the like and a calculation result necessary for the calculation process of the CPU, and the remote controller 19 of the crane 1 I / F (interface). These are connected to each other via a bus which is a signal line for transferring data so that data can be exchanged. And from the remote controller 19 or the manual lever 18 of the crane 1 main body, a predetermined operation signal as an execution command for operating each actuator of the crane 1 is inputted by a switch operation or a lever operation by an operator. Yes.

Next, the teaching playback process executed by the controller 30 will be described with reference to FIG.
First, the teaching process in the teaching playback process will be described.
This teaching process is a timer interrupt process for the main program of the crane 1. When the teaching process is executed by the controller 30, first, as shown in FIG. The presence or absence of is confirmed. The sampling end flag is a flag for determining whether or not the sampling processing related to the storage of a series of operation contents input up to the previous time by the operator has ended, and if the sampling end flag is set ( YES), the process proceeds to step S12. In step S12, all data is reset and the process proceeds to step S13. That is, in step S12, the storage of a series of operation contents input up to the previous time is discarded, and then the process proceeds to step S13. On the other hand, if the sampling end flag is not set (NO), the process proceeds to step S13 while maintaining the storage of the series of operation contents input so far.

In step S13, it is determined based on a signal from the load detector 65 whether or not a load is detected. That is, if no load is detected (NO), the process proceeds to step S14. In step S14, the processing is returned after setting the sampling end flag, and the teaching process is ended. On the other hand, if a load is detected (YES), the process proceeds to step S15.
Here, when the load is lifted by the operator, a signal from the load detector 65 is detected. In step S13, when the signal is equal to or longer than a preset time and a determination value, It is determined that a load has been detected. These set times and determination values take into account the amplitude of the signal of the load detector 65, and the amplitude does not affect the start of sampling. In other words, the signal from the load detector 65 shows that there is a swing near 0 even when the suspended load is not suspended, and even when the suspended load is not suspended, the crane is moved and the hook is moved. This is because, in the case of shaking, some vibration is detected in the load.

In step S15, a timer having a fixed period T set as a sampling interval is reset, and the process proceeds to step S16. In step S16, the process waits until the set constant period T is reached (NO). (YES) The process proceeds to step S17.
In step S17, based on the signals from the boom length detector 61, the boom angle detector 62, the turning angle detector 63, and the winch drum rotation detector 64, the position and hook of the tip 7s of the boom 7 at that time The position of 13 is stored and the process returns to step S11. Here, until the sampling end flag is confirmed, the stored contents are stored while maintaining the storage of a series of operation contents input until then.

  As described above, in this teaching process (teaching mode), sampling is continuously performed at predetermined intervals while the load is being lifted by the operator, and when the crane is operated during this sampling, the position of the boom top at that time And the movement trajectory of the hook position are sequentially stored. When the load is unloaded, sampling is automatically ended when the load becomes a set value or less by a signal from the load detector 65.

  In the configuration of the present embodiment described above, the load detector 65 corresponds to the “load detection means” described in “Means for Solving Problems”, and the “operation content storage means” is the controller 30. The teaching process to be executed (steps S11 to S17) corresponds to the “operation content reproduction means”, and the playback process to be executed by the controller 30 (steps S21 to S25) corresponds to it.

  Next, playback (reproduction and reverse reproduction) processing in the teaching playback processing will be described. The cargo handling work on the crane 1 is performed by the remote controller 19 or the manual lever 18 on the crane 1 main body side. However, in the example of this embodiment, playback by the remote controller 19 (regeneration and reverse regeneration) is performed. ) An example of processing will be described.

  Here, as shown in FIG. 5, the remote controller 19 operates a boom raising / lowering selection switch 71, a hook winding / lowering selection switch 72, a boom expansion / contraction selection switch 73, and a left / right turn for operating each actuator of the crane 1. There are four selection switches of the selection switch 74 and a speed lever 75 for obtaining the operation amount thereof, and the operating speed of each actuator described above is determined by changing the pulling amount of the speed lever 75. Yes. When a plurality of the four selection switches are selected, a plurality of actuators are operated in conjunction with each other.

FIG. 6B shows an example of playback (reproduction and reverse reproduction) processing when the remote controller 19 is used. Note that if the movement of the crane 1 from the start to the end of the teaching process is the forward direction (regeneration), the reverse direction occurs when returning from the end of teaching to the original state. It becomes.
In the remote controller 19, in order to execute the playback process, the “mode switching” switch 76 shown in FIG. 5 is assigned as a playback mode switch. Further, the boom expansion / contraction selection switch 73 is assigned as a playback direction selection switch for playback processing, and the boom extension side is assigned as reproduction of teaching contents, and the boom contraction side is assigned as reverse reproduction of teaching contents.

  In the controller 30, this playback process is a timer interrupt process for the main program of the crane 1. When the playback process is executed, the controller 30 first proceeds to step S 21, and the remote controller 19 It is determined whether or not the “mode switching” switch 76 is pressed. If it is pressed (YES), the process proceeds to step S22. If not (NO), the process is returned.

  In step S22, it is determined whether or not the regeneration mode assignment switch, that is, the boom expansion / contraction selection switch 73 is operated to the boom extension side. If it is operated to the extension side (YES), the process proceeds to step S24. Otherwise (NO), the process proceeds to step S23. In step S23, it is determined whether or not the reverse regeneration mode assignment switch, that is, the boom expansion / contraction selection switch 73 is operated to the boom contraction side. If it is operated to the contraction side (YES), the process proceeds to step S25. Otherwise, (NO) processing is returned.

  In step S24, the playback process is performed while determining the operating speed of each actuator of the crane 1 body according to the pulling speed of the speed lever 75 based on the series of operation contents input and stored in the teaching process. Playback mode is executed. In step S25, the reverse regeneration mode is executed while determining the operating speed of each actuator according to the pulling amount of the speed lever 75 based on a series of operation contents input and stored in the teaching process. After starting playback (automatic operation), if the speed lever 75 is pulled even if the mode selector switch 76 and the selection switch 73 are released, the playback mode (reproduction mode and reverse playback mode) is maintained. It is supposed to be. Then, when the operator releases the hand from the speed lever 75, the playback process (playback mode) is terminated.

Next, the operation and effect of the teaching playback device of the crane 1 will be described.
The cargo handling work on the crane 1 is performed by the remote controller 19 or the manual lever 18 of the crane 1 body. Here, in the crane 1, as shown in FIG. 7A, when the operator moves the crane 1 and lifts the load W, the load is detected by the signal from the load detector 65 as described above. Therefore, when the load exceeds a preset set time and determination value, the mode automatically switches to the teaching (teaching) mode.

  When the baggage W is automatically switched to the teaching mode by lifting the baggage W, it is possible to configure the boom 7 tip and the hook 13 from a certain time later (note that teaching may be started from that point). The positions are sampled at a constant period T, and the positions of the tip 7s of the boom 7 and the hooks 13 can be sequentially stored. Therefore, when the crane 1 is operated during the teaching mode, the movement locus of the positions of the tip 7s of the boom 7 and the hook 13 is stored. Then, as shown in FIG. 7B, when the operator unloads the load W, the teaching mode is automatically ended when the load becomes equal to or less than the determination value by a signal from the load detector 65.

Next, in the case of playback (reproduction and reverse reproduction), the remote control device 19 of the crane 1 is used to operate the “extension” selection switch of the boom extension selection switch 73 while pressing the “mode change” switch 76. The playback playback mode is set, and the operating speed can be adjusted by changing the pulling amount of the speed lever 75.
Further, the playback reverse playback mode is set by operating the “shrink” selection switch of the boom expansion / contraction selection switch 73 while pressing the “mode switching” switch 76, and the operating speed can be adjusted by changing the pulling amount of the speed lever 75. . Therefore, according to the teaching playback device of the crane 1, when reverse playback operation is performed in the playback mode, as shown in FIGS. 8A to 8B, the tip of the boom 7 stored by teaching is stored. It is possible to easily return the positions of the tip 7s of the first boom 7 and the hook 13 on the truck bed again by automatic operation, for example, by following the movement trajectory of the positions of the part 7s and the hook 13 in reverse.

  According to the teaching playback device of the crane 1, after starting playback (automatic operation), if the speed lever 75 is pulled even if the hand is released from the mode change switch 76 and the selection switch 73, the play is performed. Since the back mode is maintained, the operation is easy. Then, when the operator releases his hand from the speed lever 75, the playback mode can be terminated. Although it is possible to keep the automatic operation even if the operator removes his / her hand from the speed lever 75, it is desirable not to do so for safety.

  Further, according to the teaching playback device of the crane 1, for example, when the next load is lifted, the teaching mode is automatically switched again to the teaching mode, the previous stored contents are discarded by the reset, and the new movement trajectory of this time You can start memorizing. Therefore, after that, all the returning operations after loading / unloading the cargo from the truck bed to each destination can be returned by automatic operation.

  At this time, when the load is suspended (during teaching), the movement trajectory of the operator carefully operating the crane 1 is stored so that the suspended load does not hit the obstacle, so automatic operation with reverse regeneration is performed. But the crane moves along the trajectory. Therefore, it is possible to return to the truck bed without hitting the obstacle. If the playback operation is performed without lifting the load after returning to the truck bed in automatic operation, the teaching contents are not erased and the memory is maintained. It is possible to drive automatically to the place where it was lowered.

As described above, according to the teaching playback device of the crane 1, when the crane side memorizes a series of operation contents, it eliminates the trouble of the operator switching to the teaching mode, while depending on the presence or absence of a suspended load. Teaching is automatically executed, and automatic operation can be performed by a series of stored operation procedures.
The crane teaching playback device according to the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention.

For example, in the above embodiment, a vehicle-mounted crane has been described as an example. However, the present invention is not limited to this, and the crane teaching playback device according to the present invention can be applied to teaching playback devices in various cranes.
Further, for example, in the above-described embodiment, a series of operation procedures from when an operator hangs a load by normal operation to when it is unloaded has been described as an example in which teaching is automatically performed each time, but is not limited thereto, for example, A teaching mode automatic / manual switching setting switch can be provided. That is, it is possible to change the setting by providing a teaching automatic / manual changeover switch or the like whether the teaching mode is automatically changed according to the load detection of the load or is manually changed by the operator.

  With such a configuration, when the teaching mode is switched to manual after the positions of the tip 7s of the boom 7 and the hook 13 are returned to the initial positions on the truck bed in automatic operation, the load can be suspended next time. The memory of the teaching contents is maintained without switching to the teaching mode. Therefore, it is also possible to perform automatic operation to the place where the previous load was unloaded with the load suspended. Therefore, for example, when there are multiple packages on the truck bed and the packages are repeatedly moved to one target location, the cargo handling work is made efficient by repeating playback (automatic operation) and reverse playback. Can be implemented well.

1 Vehicle-mounted crane (crane)
2 Outrigger 3L, 3R Outrigger hydraulic cylinder 4 Base 5 Turning hydraulic motor (actuator)
6 Column 7 Boom 8 Boom telescopic hydraulic cylinder (actuator)
9 Boom hydraulic cylinder (actuator)
10 Hydraulic motor (actuator) for winch
11 Winch 12 Wire rope 13 Hook 14 Tank 15 Engine 16 PTO
17 Hydraulic pump 18 Operating lever 19 Remote controller 20 Control valve 22 Piston rod 23 Iron core 28, 29 (For outrigger) switching valve 30 Controller 31, 32, 33, 34 Switching valve 35 Pressure reducing valve 36 Main spool 37 Pilot piston 37L, 37R Oil chamber 38 Main relief valve 39 Unload valve 40 Position detector 41 Proportional solenoid 42L, 42R Solenoid 50 Accelerator cylinder 51 Proportional solenoid 52 Main spool 53 Position detector 61 Boom length detector 62 Boom angle detector 63 Swivel angle detector 64 winch drum rotation detector 65 load detector (load detection means)
70 Power lamp 71 Boom raising / lowering selection switch 72 Hook winding / lowering selection switch 73 Boom expansion / contraction selection switch 74 Left / right turning selection switch 75 Speed lever 76 Mode change switch

Claims (1)

A teaching playback device capable of storing a series of operation contents input by an operator for operating a crane, and reproducing and reverse reproducing the series of operation contents,
Load detecting means for detecting a load caused by hanging the load, operation content storing means for storing the inputted series of operation contents, and operation for reproducing and reverse reproducing the series of operation contents stored in the operation content storing means Content reproduction means,
The operation content storage means is a series of operations input from when it is determined that there is a load suspension until when it is determined that there is no load suspension based on a detection signal from the load detection means. A crane teaching playback device characterized by memorizing the contents.

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