JP2011051714A - Hook storage system and crane - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a hook storage system capable of recognizing a condition of not falling within a storage preparation range, by surely informing the fact of becoming a hook storage preparation state. <P>SOLUTION: This hook storage system S has a boom capable of expanding, turning and derricking, attitude detecting means 23, 24 and 25 for detecting an attitude of the boom and a control means 40 for controlling the boom, and moves a hook up to a storage position in the distal end vicinity of the boom falling within the storage preparation range, and has a hook storage mode setting means 21 for transferring the control means 40 to a hook storage mode from an ordinary mode. The control means 40 notifies an operator of the condition of not falling within the storage preparation range until all conditions of the length of the detected boom, a turning angle and a derricking angle fall within the storage preparation range when setting the hook storage mode. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a hook storage system and a crane.

  Conventionally, in a mobile crane, in order to prevent a hook suspended by a wire from shaking while traveling, it is common to wind the wire in advance and move the hook to the retracted position at the tip of the boom. is there.

  For example, in Patent Document 1, when the hook is stored, if all the conditions of the turning position, the length, and the undulation position of the boom are in the storage preparation state, the storage state is displayed and the hoisting drive is performed. There is disclosed a hook storage control device for an on-vehicle crane that operates a restricting means to reduce a hoisting driving force.

  According to this configuration, the hook is not excessively wound, and the hook can be prevented from colliding with the boom tip.

JP 2001-287890 A

  However, since the above-mentioned Patent Document 1 is displayed after satisfying all the conditions of the boom turning position, length, and undulation position, it is not displayed if any of the conditions is not satisfied, and the operator Cannot know which conditions were not satisfied.

  In addition, if the operator does not notice that it has not been displayed, the hook will be retracted while the hydraulic circuit remains in the high pressure state, and the wire may bite into the drum.

  Therefore, the present invention is provided with a hook storage system capable of reliably notifying the operator that the hook storage preparation state has been entered, and allowing the operator to recognize conditions that are not within the storage preparation range, and the hook storage system. The purpose is to provide a crane.

  In order to achieve the above object, a hook storage system according to the present invention includes a boom that can be expanded, contracted, swiveled, and raised, a posture detecting unit that detects a posture of the boom, and a control unit that controls the boom. A hook storage system that moves the hook to a storage position near the tip of the boom that is within the storage preparation range, and includes a hook storage mode setting unit that shifts the control unit from the normal mode to the hook storage mode. When the hook storage mode is set, the control means enters the storage preparation range until all the detected boom length, turning angle, and undulation angle conditions enter the storage preparation range. It is characterized in that the operator is informed of a condition that is not present.

  Thus, the hook storage system of the present invention is a hook storage system that includes the boom, the posture detection means, and the control means, and moves the hook to the storage position of the boom that is within the storage preparation range. Storage mode setting means is provided, and when the hook storage mode is set, the control means prepares for storage until all conditions of the detected boom length, turning angle or undulation angle are within the storage preparation range. The operator is notified of conditions that are not within the range.

  Therefore, the operator can surely know that the hook storage preparation state has been entered, and can recognize a condition that is not in the hook storage preparation state.

It is a block diagram explaining the structure of the control system of the hook storage system of this invention. It is a side view explaining the whole structure of a rough terrain crane. It is a side view which expands and demonstrates the structure of a boom head and a hook. It is a hydraulic circuit diagram explaining the structure of a hydraulic system. 6 is a flowchart illustrating a processing procedure in a hook storage mode according to the first embodiment. 10 is a flowchart illustrating a processing procedure in a hook storage mode according to the second embodiment.

  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 including the hook storage system S of the present invention will be described with reference to FIG. In the following, the rough terrain crane 1 will be described as an example of the crane, but the present invention is not limited to this, and the present invention can also be applied to a mobile crane such as an all terrain crane, a truck crane, and a loading truck crane. .

  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, as shown in FIG. 4, the swivel base 12 has a pinion gear to which the power of the turning motor 33 controlled by the turning drive means 43 is transmitted, and this pinion gear is a circular gear provided on the vehicle body 10. Rotate around the swivel axis by meshing with.

  Furthermore, the boom 14 is configured to be nested by a plurality of booms, and can be expanded and contracted by an expansion / contraction cylinder 35 controlled by the expansion / contraction driving means 45 as shown in FIG.

  Among these, the base end boom is pivotally 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, as shown in FIG. 4, a hoisting cylinder 34 controlled by the hoisting drive means 44 is bridged between the bracket 13 and the boom 14, and the hoisting cylinder 34 is expanded and contracted to extend the entire boom 14. Can be undulated.

  Further, as shown in FIG. 3, a boom head 15 is attached to the tip of the boom 14, and an arm 153 of a cam mechanism is rotatably attached to a lower portion of the boom head 15.

  Sheaves 151 and 152 are rotatably supported between the side plates 150 and 150 of the boom head 15, and a wire 16 to which a hook 17 is attached is wound around the sheaves 151 and 152.

  Further, a weight 18 connected to the overwinding detection means 26 (see FIG. 1) is inserted into the wire 16 (see FIG. 2), and when the hook 17 rises to a predetermined position, the weight 18 is By pushing up, it is detected by the overwind detection means 26 that it is in an overwind state.

  Further, as shown in FIG. 3, the pivot shaft of the arm 153 is eccentrically attached to the sheave 152. Therefore, when the wire 16 is wound up and the hook 17 comes into contact with the arm 153, the hook 17 is folded inward. Thus, the arm 153 and the hook 17 are configured to rotate together.

  Next, the configuration of the hydraulic system of the rough terrain crane 1 of the present embodiment will be described with reference to the hydraulic circuit diagram of FIG.

  As shown in FIG. 4, the hydraulic system of the rough terrain crane 1 of this embodiment includes a hydraulic pump 32 that is driven by taking out power from the engine 31 by a PTO, and a swing motor that is an actuator driven by the hydraulic pump 32. 33, hoisting cylinder 34, telescopic cylinder 35, winch motor 36, turning drive means 43, hoisting driving means 44, telescopic driving means 45, and winch driving means which are 6-port 3-position switching valves controlled by a controller 40 which will be described later. 46, and a low pressure switching solenoid valve 41 and an unload solenoid valve 42 that change the set pressure of the relief valve 47.

  This low-pressure switching solenoid valve 41 is a 2-port 2-position spring-offset switching valve arranged in the vent circuit of the relief valve 47, and the pressure in the hydraulic circuit is reduced by reducing the set pressure of the relief valve 47. Switch to low pressure.

  Similarly, the unload solenoid valve 42 is a 2-port 2-position spring offset type switching valve arranged in the vent circuit of the relief valve 47. By setting the relief valve 47 to an unloaded state, pressure oil is supplied to the tank. Open to regulate the operation of the actuator.

  Next, the configuration of the control system of the hook storage system S of this embodiment will be described with reference to the block diagram of FIG.

  As shown in FIG. 1, the control system of the hook storage system S of the present embodiment is configured to turn from the reference position of the turntable 12 that turns together with the hook storage mode setting switch 21, the hook storage mode cancel switch 22, and the boom 14. Rotation angle detection means 23 as posture detection means for measuring the angle, undulation angle detection means 24 as posture detection means for measuring the undulation angle from the reference angle (horizontal) of the boom 14, and the length of the boom 14 are measured Boom length detection means 25 as posture detection means to perform, overwind detection means 26 to detect that the hook 17 is overwound, controller 40 as control means to control the boom 14, and hydraulic circuit A low pressure switching solenoid valve 41 for switching the pressure to a low pressure, a display means 48 as a notification means such as a monitor of a safety device arranged in the cabin, It is provided.

  The hook storage mode setting switch 21 serving as the hook storage mode setting means is a button switch arranged on the operation panel of the safety device and is used for controlling the boom 14 in the hook storage mode.

  A hook storage mode cancel switch 22 serving as a hook storage mode canceling means is a button switch arranged on the operation panel of the safety device and used to return the boom 14 controlled in the hook storage mode to the normal mode. It is done.

  Note that the hook storage mode setting switch 21 and the hook storage mode cancel switch 22 do not have to be button switches, but can be any mode-switchable switch such as a toggle switch, a slide switch, or a rocker switch. Also good.

  Furthermore, the overwinding detection means 26 is connected to the weight 18 suspended from the tip of the boom 14, and the hook 17 comes into contact with the weight 18 and is pushed up so that the hook 17 enters the overwinding range. Detect that.

  The controller 40 as a control means is a general-purpose microcomputer composed of a CPU, a memory, an HDD, an SSD, and the like. In response to the input from the means 26, it is determined whether or not all conditions are within the storage preparation range, and the result is output to the low pressure switching solenoid valve 41 and the display means 48.

  Although not shown, the controller 40 controls driving means such as the turning drive means 43, the undulation drive means 44, the expansion / contraction drive means 45, the winch drive means 46, etc., so that the boom 14 is turned, undulated, extended and contracted. It controls the hoisting and lowering of the machine.

  Further, the display means 48 is one of informing means for notifying the operator of a condition that is not within the storage preparation range. In addition to the display means 48, a sound means that records a real voice, an alarm sound (buzzer), An alarm lamp (lamp) can be used.

  Next, the hook storage mode executed by the hook storage system S of the present embodiment will be described with reference to the flowchart of FIG.

  First, after the predetermined work using the boom 14 or the like is completed, when the operator presses the hook storage mode setting switch 21 (YES in step S1), the controller 40 executes the hook storage mode described below. On the other hand, if the hook storage mode setting switch 21 has not been pressed (NO in step S1), the process ends. Thereafter, the operator manually operates the operation lever to move the boom 14 so as to fall within the storage preparation range.

  Next, when the hook storage mode cancel switch 22 is not pressed (NO in step S2), the controller 40 determines whether the undulation angle measured by the undulation angle detection means 24 is within the storage preparation range. (Step S3). On the other hand, if the hook storage mode cancel switch 22 is pressed (YES in step S2), the process is terminated.

  As the hoisting angle storage preparation range, a predetermined range (for example, ± 3 degrees) before and after the hoisting angle of the boom 14 in the boom stowing posture when the rough terrain crane 1 is traveling is set.

  If the undulation angle of the boom 14 that has been operated and moved is not within the storage preparation range (YES in step S3), a message such as “the undulation angle exceeds the set value” is output to the display means 48. (Step S4). On the other hand, when the undulation angle does not exceed the set value and is within the storage preparation range (NO in step S3), no message is output.

  Next, the controller 40 determines whether or not the turning angle measured by the turning angle detection means 23 is within the storage preparation range (step S5). In addition, as the storage preparation range of the turning angle, a predetermined range (for example, ± 3 degrees) before and after the turning angle of the boom 14 in the boom storage posture when the rough terrain crane 1 is traveling is set.

  If the turning angle of the boom 14 that has been operated and moved is not within the storage preparation range (YES in step S5), a message such as “the turning angle exceeds the set value” is output to the display means 48. (Step S6). On the other hand, if the turning angle does not exceed the set value and is within the storage preparation range (NO in step S5), no message is output.

  Next, the controller 40 determines whether or not the boom length measured by the boom length detection means 25 is within the storage preparation range (step S7). The boom length storage preparation range is set to a range obtained by adding a margin length to the length of the boom 14 in the boom storage posture when the rough terrain crane 1 is traveling.

  If the length of the boom 14 that has been operated and moved is not within the storage preparation range (YES in step S7), a message such as “the boom length exceeds the set value” is displayed on the display means 48. Output (step S8). On the other hand, if the boom length is within the storage preparation range without exceeding the set value (NO in step S7), no message is output.

  Next, determine whether or not there is an output message of “The undulation angle exceeds the set value,” “The turning angle exceeds the set value,” or “The boom length exceeds the set value.” (Step S9).

  If there is no output message (YES in step S9), a hook storing message such as “Please store hook” is displayed on the display means 48 (step S10).

  In this case, if the overwinding state is subsequently detected by the overwinding detection means 26 (YES in step S11), the low pressure switching solenoid valve 41 is opened to set the pressure setting of the relief valve 47 to a low pressure, and the hydraulic circuit is turned on. Switching to a lower pressure than normal (step S12), the process returns to step S2. On the other hand, if an overwinding state is not detected (NO in step S11), the process directly returns to step S2.

  Accordingly, when the operator operates the winch lever in the storage preparation state and the overwinding state, the winch motor 36 is driven at a lower pressure than usual, and the wire 16 is wound up.

  On the other hand, if there is an output message (NO in step S9), if an overwinding state is detected by the overwinding detection means 26 (YES in step S13), the unload solenoid valve 42 is opened and the relief valve is opened. 47 is put into an unload state, the winch motor 36 is stopped (step S14), and the process returns to step S2. On the other hand, if the overwinding state is not detected (NO in step S13), the process directly returns to step S2.

  Then, Step S2 to Step S11 (S12) or Step S2 to Step S13 (S14) are repeated until the hook 17 moves to the storage position and the hook storage mode cancel switch 22 is pressed.

  In this way, the wire 16 is wound up by the winch motor 36 driven at a low pressure, and the hook 17 is rotated while contacting the arm 153, thereby moving the hook 17 to the storage position.

  Here, a series of processing from step S2 to step S11 (S12) or step S2 to step S13 (S14) is repeatedly executed every very short cycle time.

  For example, in a cycle immediately after work, when all of the three conditions of the undulation angle, the turning angle, and the boom length are not within the storage preparation range, three messages are displayed at a time.

  Next, the effects of the hook storage system S of the present embodiment will be listed and described.

  (1) As described above, the hook storage system S of the present invention includes the boom 14, the turning angle detection means 23 as the posture detection means, the undulation angle detection means 24, the boom length detection means 25, and the controller as the control means. 40, and a hook storage system S that moves the hook 17 to a storage position near the tip of the boom 14 that falls within the storage preparation range.

  The controller 40 as a control means is provided with a hook storage mode setting switch 21 for shifting the controller 40 from the normal mode to the hook storage mode. The controller 40 as the control means detects the boom when the hook storage mode is set. The operator is informed of the condition that is not within the storage preparation range until all of the length, turning angle, and undulation angle conditions are within the storage preparation range.

  Therefore, the operator can surely know that the hook storage preparation state has been entered, and can recognize a condition that is not within the storage preparation range.

  As described above, if it is possible to reliably know whether or not the hook is ready to be stored when it is not within the storage preparation range, the hook 17 will not be stored while the hydraulic circuit is in a high pressure state. The collision of the hook 17 and the biting of the wire 16 into the winch drum can be prevented.

  In addition, if the condition that is not within the storage preparation range can be known, the boom 14 can be quickly put into the hook storage preparation state by specifying and operating only the actuator that does not satisfy the condition.

  (2) Further, an overwinding detecting means 26 for detecting that the hook 17 has entered a predetermined overwinding range from the tip of the boom 14 is provided, and the controller 40 serving as the control means detects the length of the detected boom 14. When the hook 17 enters the overwinding range with all the conditions of the turning angle and the undulation angle being within the storage preparation range, the winch motor 36 that drives the winch that winds the wire 16 that hangs the hook 17 is normally used. Can be driven at a lower pressure.

  In this way, if the winch is driven at a low pressure, the hook 17 can be safely stored by preventing the hook 17 from colliding with the tip of the boom 14 and the wire 16 from biting into the winch drum.

  In addition, by setting the hook 17 in the overwinding range as a condition for switching to a low pressure, the actuator can be driven with normal hydraulic pressure outside the overwinding range, so that it is possible to quickly shift to the hook storage ready state.

  (3) Furthermore, an overwinding detecting means 26 for detecting that the hook 17 has entered a predetermined overwinding range from the tip of the boom 14 is provided, and the controller 40 serving as the control means detects the length of the detected boom 14. If the hook 17 enters the overwinding range in a state where either the turning angle or the undulation angle is not within the storage preparation range, the winch motor 36 that drives the winch that winds the wire 16 that hangs the hook 17 is installed. Can be stopped.

  Thus, if the winch is stopped, it is possible to prevent the hook 17 from colliding with the tip of the boom 14 and the wire 16 from biting into the winch drum. Thereafter, when the hook is ready to be stored, the winch motor 36 is driven at a low pressure to store the hook 17.

  (4) And the rough terrain crane 1 of a present Example becomes a crane which can store a hook quickly and safely by providing one of the above hook storage systems S.

  Hereinafter, a hook storing mode different from the first embodiment will be described with reference to FIG. The description of the same or equivalent parts as those described in the above embodiment will be given the same reference numerals.

  Here, the mechanical configuration, the configuration of the hydraulic system, and the configuration of the control system of the second embodiment are substantially the same as those of the first embodiment, and thus description thereof is omitted.

  Next, the hook storage mode executed by the hook storage system S of this embodiment will be described with reference to the flowchart of FIG.

  First, after the predetermined work is completed, when the operator presses the hook storage mode setting switch 21 (YES in step S21), the controller 40 executes the hook storage mode described below. On the other hand, when the hook storage mode setting switch 21 is not pressed (NO in step S21), the process is terminated. Thereafter, the operator manually operates the operation lever to move the boom 14 so as to fall within the storage preparation range.

  Next, when the hook storage mode cancel switch 22 has not been pressed (NO in step S22), the controller 40 determines whether or not the boom length measured by the boom length detection means 25 is within the storage preparation range. (Step S23). On the other hand, if the hook storage mode cancel switch 22 is pressed (YES in step S22), the process is terminated.

  If the length of the boom 14 that has been operated and moved is not within the storage preparation range (YES in step S23), a message such as “the boom length exceeds the set value” is displayed on the display means 48. (Step S24), the boom 14 is moved, and steps S22 to S24 are repeated until the length is within the storage preparation range.

  On the other hand, when the boom length is within the storage preparation range without exceeding the set value (NO in step S23), the process proceeds to step S25 without outputting a message.

  Next, the controller 40 determines whether or not the turning angle measured by the turning angle detection means 23 is within the storage preparation range (step S25).

  If the turning angle of the boom 14 that has been operated and moved is not within the storage preparation range (YES in step S25), a message such as “the turning angle exceeds the set value” is output to the display means 48. (Step S26), the boom 14 is moved, and Steps S22 to S26 are repeated until the turning angle falls within the storage preparation range.

  On the other hand, when the turning angle does not exceed the set value and is within the storage preparation range (NO in step S25), the process proceeds to step S27 without outputting a message.

  Next, the controller 40 determines whether or not the undulation angle measured by the undulation angle detection means 24 is within the storage preparation range (step S27).

  When the undulation angle of the boom 14 that has been operated and moved is not within the storage preparation range (YES in step S27), a message such as “the undulation angle exceeds the set value” is output to the display means 48. (Step S28), the boom 14 is moved, and Steps S22 to S28 are repeated until the undulation angle falls within the storage preparation range.

  On the other hand, if the undulation angle does not exceed the set value and is within the storage preparation range (NO in step S27), the process proceeds to step S29 without outputting a message.

  Subsequently, when all the conditions of boom length, turning angle and undulation angle are satisfied and no message is output, a hook storing message such as “Store hook” is displayed on the display means 48. (Step S29).

  In this case, if an overwinding state is subsequently detected by the overwinding detection means 26 (YES in step S30), the low pressure switching solenoid valve 41 is opened to set the relief valve 47 to a low pressure, and the hydraulic circuit is turned on. The pressure is switched to a lower pressure than usual (step S31), and the process returns to step S22. On the other hand, if the overwinding state is not detected (NO in step S31), the process directly returns to step S22.

  Accordingly, when the operator operates the winch lever in the storage preparation state and the overwinding state, the winch motor 36 is driven at a lower pressure than usual, and the wire 16 is wound up.

  Then, steps S22 to S30 (S31) are repeated until the hook storage mode cancel switch 22 is pushed by moving the hook 17 to the storage position.

  In this way, the wire 16 is wound up by the winch motor 36 driven at a low pressure, and the hook 17 is rotated while contacting the arm 153, thereby moving the hook 17 to the storage position.

  Here, each process of step S22-step S24, step S22-S26, step S22-S28 is repeatedly performed for every very short cycle time, but each condition of boom length, turning angle, and undulation angle is carried out. Multiple messages are not displayed at a time.

  For example, immediately after the operation, only one message “the boom length exceeds the set value” is displayed in order to determine only the boom length condition.

  Next, the effect will be described.

  (1) As described above, in the hook storage system S of the present embodiment, the controller 40 as the control means has each condition within the storage preparation range in the order of the length of the boom 14, the turning angle, and the undulation angle. Up to this time, the operator is notified by displaying messages one by one on the display means 48.

  Therefore, many messages are not displayed at once on the display means 48, and the display is easy for the operator to understand.

  In addition, since the order of the length, turning angle, and undulation angle of the boom 14 is generally the same as the order of operations executed by the operator in consideration of safety and the like, the operation procedure is safe and easy to understand.

  In addition, since it is as substantially the same as the said Example about another structure and an effect, description is abbreviate | 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, the case where the hook storage mode setting switch 21 and the hook storage mode cancel switch 22 are separately provided has been described. However, the present invention is not limited to this, and these are configured by a single switch. It may be.

  In the above embodiment, the case where only the presence / absence of a setting value excess such as “the boom length exceeds the setting value” is displayed as the output message is not limited to this. A ratio that satisfies the set value may be displayed as a message.

  Furthermore, in the above-described embodiment, the case where the operator manually operates the operation lever to move the boom 14 has been described. However, the present invention is not limited to this, and the controller 40 automatically moves the boom 14. The present invention may be applied to notify the operator of conditions that are not within the storage preparation range.

S hook storage system 1 rough terrain crane (crane)
14 Boom 15 Boom Head 16 Wire 17 Hook 18 Weight 21 Hook Storage Mode Setting Switch (Hook Storage Mode Setting Means)
22 Hook storage mode cancel switch (hook storage mode release means)
23 Turning angle detection means (posture detection means)
24 Relief angle detection means (posture detection means)
25 Boom length detection means (posture detection means)
26 Overwinding detection means 40 Controller (control means)
41 Low pressure switching solenoid valve 42 Unload solenoid valve 47 Relief valve 48 Display means

Claims (5)

A boom capable of extending, retracting, and swinging, a posture detecting means for detecting the posture of the boom, and a control means for controlling the boom, in the vicinity of the tip of the boom within the storage preparation range. A hook storage system for moving a hook to a storage position,
Hook storage mode setting means for shifting the control means from the normal mode to the hook storage mode,
When the hook storage mode is set, the control means does not enter the storage preparation range until all the detected boom length, turning angle, and undulation angle conditions enter the storage preparation range. A hook storage system characterized by notifying an operator. Comprising overwinding detecting means for detecting that the hook has entered a predetermined overwinding range from the tip of the boom;
The control means suspends the hook if the hook enters the overwinding range in a state where all the conditions of the detected boom length, turning angle and undulation angle are within the storage preparation range. The hook storage system according to claim 1, wherein the winch around which the wire is wound is driven at a lower pressure than usual. Comprising overwinding detecting means for detecting that the hook has entered a predetermined overwinding range from the tip of the boom;
The control means is configured to release the hook when the hook enters the overwinding range in a state in which any of the detected boom length, turning angle, and undulation angle is not within the storage preparation range. The hook storage system according to claim 1 or 2, wherein a winch that winds the hanging wire is stopped.   The said control means alert | reports to an operator until each condition enters in the storage preparation range in order of the length of a boom, a turning angle, and the undulation angle. The hook storage system according to item.   A crane comprising the hook storage system according to any one of claims 1 to 4.

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