JP2012071965A - Operating device of crane, and crane - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an operating device of a crane capable of simply switching operation modes.SOLUTION: The operating device S of a crane is provided to the crane 1 having a plurality of driving means 31, 32, 33, 34 driving a work machine, and includes an operation means 2 operating the driving means 31, 32, 33, 34 according to a manipulated variable. The operating device includes an interlocking operation control means 50 which performs interlocking operation such that when the operation means 2 is operated, while making one of the first operation means 33 and the second operation means 31 operate independently at a fixed speed, after making the operation means operate independently at a speed corresponding to the manipulated variable, makes the other operation means of the first operation means 33 and the second operation means 31, operate independently at a speed corresponding to the manipulated variable.

Description

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

  Generally, a crane is configured to include a swivel that is pivotally attached to a vehicle body, a boom that is undulated and telescopically attached to the swivel, and a hook that is suspended from a tip of the boom by a wire. Yes.

  This crane includes hook parallel movement that moves the hook while keeping the distance from the tip of the boom constant, horizontal movement that moves the hook while keeping the distance from the suspended load and the ground constant, etc. Technology to do has been developed.

  For example, Patent Literature 1 discloses a hook control device for a crane vehicle that includes a mode changeover switch that switches between hook parallel movement and hook horizontal movement, and selects a predetermined mode to perform parallel movement and horizontal movement of a suspended load. Has been.

Japanese Utility Model Publication No. 2-129387

  However, in Patent Document 1 described above, it is necessary to operate the mode changeover switch to select a target operation mode from a plurality of operation modes each time, and there is a problem that the operation is complicated.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a crane operation device that can easily switch the operation mode, and a crane including the crane operation device.

  In order to achieve the above object, a crane operating device according to the present invention is equipped with a crane having a plurality of drive means for driving a work machine, and includes an operation means for operating the drive means according to an operation amount. When the operation means is operated, either one of the first drive means and the second drive means is operated alone at a speed corresponding to the operation amount, and then operated alone at a constant speed. In addition, an interlocking operation control means for performing an interlocking operation for causing the other one of the first driving means and the second driving means to perform a single operation at a speed corresponding to the operation amount is provided.

  As described above, the crane operating device according to the present invention is an crane operating device including an operating unit that operates the driving unit according to the operation amount. When the operating unit is operated, the first driving unit or the first driving unit is operated. One of the two drive means is operated alone at a speed corresponding to the operation amount, and then the single operation is performed at a constant speed, while either one of the first drive means or the second drive means is set to the operation amount. An interlocking operation control means for performing an interlocking operation for performing an independent operation at a corresponding speed is provided.

  Therefore, the operator can adjust the operation amount based on his / her sense while watching the state of the work implement without selecting the operation mode each time, and can execute different single operations in harmony.

It is a block diagram explaining the structure of the control system of this invention. It is a side view explaining the whole structure of a cargo crane. It is a front view of an operation means. It is a side view of an operation means. It is a graph explaining the relationship between the trigger stroke and spool stroke of Example 1. It is explanatory drawing explaining the expansion / contraction interlocking operation of Example 1. FIG. (A) is a graph explaining the relationship between the trigger operation amount, the extension speed of the boom tip and the downward movement speed of the suspended load, and (b) is an explanatory diagram explaining the positional relationship between the boom and the suspended load. It is a graph explaining the relationship between the trigger stroke and spool stroke of Example 2. It is explanatory drawing explaining the expansion / contraction interlocking operation mode of Example 2. FIG. (A) is a graph explaining the relationship between the trigger operation amount, the extension speed and the unwinding speed, and (b) is an explanatory diagram explaining the positional relation between the boom and the suspended load.

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

(overall structure)
First, the whole structure of the loading type truck crane 1 as a crane provided with the crane operation apparatus S of this invention is demonstrated using FIG. Note that the crane of the present invention is not limited to the load-type truck crane 1, and can be applied to any crane including a boom and winch that can be expanded and contracted, such as a truck crane, a rough terrain crane, and an all terrain crane.

  As shown in FIGS. 1 and 2, the loadable truck crane 1 according to the present invention includes a vehicle body 10 that is a main body portion of a vehicle having a traveling function, and outriggers 11 provided on the front left and right sides of the vehicle body 10. A swivel base 12 is mounted on the vehicle body 10 so as to be horizontally swivelable, a column 13 is erected on the swivel base 12, and a boom 14 is mounted on the column 13 so as to be freely raised and lowered.

  The outriggers 11 prevent the load-type truck crane 1 from overturning, and are provided on the left and right sides of the front side of the vehicle body 10 and are overhanged and grounded by hydraulic pressure.

  The swivel base 12 has a pinion gear to which the power of the swivel motor 34 as a work machine controlled by the swivel motor control means 44 is transmitted. The pinion gear meshes with a circular gear provided on the vehicle body 10. In this way, it is turned (turned) around the turning axis.

  Further, the boom 14 as a work machine is configured to be nested by a base end boom 141, intermediate booms 142 and 143, and a distal end boom 144, and the telescopic cylinder 33 as a driving unit controlled by the telescopic cylinder control unit 43. Can be expanded and contracted.

  Among these, the base end boom 141 is rotatably attached to a support shaft installed horizontally on the column 13 at the base thereof, and can be raised and lowered up and down. That is, a hoisting cylinder 32 as a driving means controlled by the hoisting cylinder control means 42 is bridged between the column 13 and the vicinity of the distal end of the base end boom 141, and the hoisting cylinder 32 is expanded and contracted. The entire boom 14 can be raised and lowered.

  Further, a rotatable sheave (not shown) is attached to the tip of the tip boom 144, and a wire 16 having a hook 17 attached to the tip is hung on the sheave. On the other hand, the end of the wire 16 is wound around a winch 31 as drive means controlled by the winch control means 41, and the wire 16 and the hook 17 can be wound or unwound by rotating the winch 31.

  As described above, the load-type truck crane 1 includes the winch 31, the hoisting cylinder 32, the telescopic cylinder 33, the turning motor 34, and the like as drive means. These are winch operation levers as operation means provided in the vehicle body 10. By operating the hoisting operation lever, the telescopic operation lever, and the turning lever, it operates at a speed corresponding to the operation amount (stroke) of the operation lever.

(Configuration of radio control transmitter)
3 and 4, the crane operating device S according to the present embodiment allows the operator to remotely extend, swing, undulate and winch 31 the boom 14 while standing away from the vehicle body 10. In addition, a radio control transmitter 2 is provided as an operation means.

  This radio-controlled transmitter 2 includes a main body 20 in which operation switch groups are arranged, a gripping hand portion 28 for stably holding, and a trigger for operating the driving means at a speed corresponding to an operation amount (stroke). 27.

  The operation switch group is disposed at a position where the operator can easily operate with the thumb while holding the grip portion 28, and the trigger 27 is easily operated with the index finger while the operator holds the grip portion 28. Is arranged. In addition, it is preferable that the trigger 27 has a click feeling at a position corresponding to a predetermined interlock operation amount described later.

  In addition, the main body 20 has a power switch 21 for switching power ON / OFF, a hook up / down switch 22 for switching the rotation direction of the winch 31, and a hoisting switch 23 for switching the expansion / contraction direction of the hoisting cylinder 32. Further, an expansion / contraction switch 24 for switching the expansion / contraction direction of the expansion / contraction cylinder 33, a turning switch 25 for switching the rotation direction of the turning motor 34, a mode switching switch 26 for switching the operation mode, and the like are arranged.

  The mode switch 26 is a button switch, and can be switched between two operation modes, that is, the single operation mode and the interlocking mode each time it is pressed.

  When the single operation mode is selected, the winch control means 41, the hoisting / lowering switch 22, the hoisting switch 23, the telescopic switch 24, the turning switch 25, and the trigger 27 are operated in accordance with the operation amounts. The moving amounts of the spools of the hoisting cylinder control means 42, the telescopic cylinder control means 43, and the swing motor control means 44 are changed to change the speeds of the driving means (see FIG. 1).

  When the interlock mode is selected, the direction is switched by the expansion / contraction switch 24, and the movement amounts of both the winch control means 41 and the expansion cylinder control means 43 are changed according to the operation amount of the trigger 27, Both the hoisting / lowering speed of the winch 31 and the extending speed / reducing speed of the telescopic cylinder 33 are changed.

  Further, when the interlock mode is selected, the direction is switched by the hoisting switch 23, and the movement amounts of both the winch control means 41 and the hoisting cylinder control means 42 are changed according to the operation amount of the trigger 27, Both the hoisting / lowering speed of the winch 31 and the extending speed / reducing speed of the hoisting cylinder 32 are changed.

  The power switch 21 is not necessarily provided, and the trigger 27 may be used instead.

(Control system configuration)
Next, the configuration of the control system of the crane operating device S of this embodiment will be described.

  As shown in FIG. 1, the crane operating device S of this embodiment is an electromagnetic device such as a winch control unit 41, a hoisting cylinder control unit 42, a telescopic cylinder control unit 43, a swing motor control unit 44, etc. A switching valve (solenoid) is provided, and a controller 50 is provided as interlocking operation control means for controlling these driving means.

  The controller 50 as the interlocking operation control means is constituted by a general-purpose microcomputer having an input port, an output port, an arithmetic device, etc., receives an input from the operation means, calculates a control signal for the driving means and outputs it.

  When the single operation mode is selected by the mode changeover switch 26, the controller 50 controls the winch control means 41, the hoisting cylinder control means 42, the expansion and contraction according to the operation amounts of the switches 22 to 25 and the trigger 27. The control signals of the cylinder control means 43 and the swing motor control means 44 are calculated and output to change the amount of movement of the spool.

  Further, when the interlock mode is selected, the controller 50 calculates the control signals of both the winch control means 41 and the extension cylinder control means 43 according to the direction switching by the extension switch 24 and the operation amount of the trigger 27.・ Output to change the movement amount of both spools.

  Similarly, when the interlock mode is selected, the controller 50 outputs control signals for both the winch control means 41 and the undulation cylinder control means 42 according to the direction switching by the undulation switch 23 and the operation amount of the trigger 27. Calculate and output to change the movement amount of both spools.

  FIG. 5 shows the relationship between the operation amount (trigger stroke) of the trigger 27 and the movement amount (spool stroke) of the spool of the winch control means 41 and the telescopic cylinder control means 43. Here, the above-described interlocking mode is selected, the 40% position of the movable range of the trigger 27 is set as a predetermined interlocking operation amount, and the 70% position of the movable range of the trigger 27 is set as a predetermined replacement operation amount. The case will be described.

  As shown in FIG. 5, the spool stroke of the expansion / contraction cylinder control means 43 increases linearly in proportion to the trigger stroke until the interlock operation amount, and maintains a maximum value from the interlock operation amount to the replacement operation amount to a constant value. As a result, the amount of replacement operation decreases linearly and changes to a trapezoid as a whole.

  On the other hand, the spool stroke of the winch control means 41 remains zero until the interlock operation amount, increases linearly in proportion to the trigger stroke from the interlock operation amount to the replacement operation amount, and maintains the maximum value from the interlock operation amount. As a whole, the value changes to a trapezoidal shape in which the trigger stroke and the position of the upper base portion are shifted as a whole.

  The interlocking operation amount is an operation amount for switching from the single operation to the interlocking operation, and is preferably set so as to ensure a movable range necessary for each of the single operation and the interlocking operation. For example, it can be set to 40% of the movable range of the trigger 27.

  The replacement operation amount is an operation amount for starting the deceleration of the driving means on the side that is at a constant speed during the interlocking operation, and the trigger stroke after the replacement operation amount in the state where the boom 14 is raised to a predetermined undulation angle. Is preferably set so that the horizontal movement of the hook 17 is possible. For example, it can be set at 70% of the movable range of the trigger 27.

  If the expansion / contraction speed reaches the maximum before the spool stroke of the expansion / contraction cylinder control means 43 reaches the maximum, as shown in FIG. 5, the movement of the winch control means 41 is started slightly before the center position. Thus, the width of the movable range of the trigger 27 corresponding to the spool stroke of the winch control means 41 can be widened.

(Function)
Next, the operation when the interlocking / winch interlocking is executed in the interlocking mode by the crane operating device S of the present embodiment will be described with reference to FIGS. Here, a case where a position of 40% of the movable range of the trigger 27 is set as the predetermined interlocking operation amount and a position of 70% of the movable range of the trigger 27 is set as the predetermined replacement operation amount will be described as an example. To do. In the following, the case where the undulation angle is small (θ = θ1) and the case where the undulation angle is large (θ = θ2) will be described separately. First, the case where the undulation angle is small will be described.

  Here, FIG. 6 is a graph showing the movement speed in the boom telescopic direction at the tip of the boom and the downward movement speed of the suspended load, where the vertical axis is the movement speed and the horizontal axis is the trigger operation amount.

(When the undulation angle θ is small)
First, the operator presses the mode changeover switch 26 of the radio-controlled transmitter 2 with the thumb to set the interlocking mode, and further slides the expansion / contraction switch 24 with the thumb to set the expansion side.

  Subsequently, when the operator pulls the trigger 27 with the index finger in the range of 0 to 40%, the controller 50 that has received the operation amount moves the spool of the expansion / contraction cylinder control means 43 substantially in proportion to the operation amount. The extension speed of the cylinder 33 also increases almost in proportion to the operation amount.

  Therefore, in this range, the boom 14 extends at a moving speed proportional to the operation amount, but the winch 31 remains stopped, and the suspended load rises as the boom 14 extends.

  When the operator pulls the trigger 27 with the index finger to a range exceeding 40%, the controller 50 that has received the operation amount holds the spool of the telescopic cylinder control means 43 at a fixed position regardless of the operation amount. The spool of the winch control means 41 is moved by an amount substantially proportional to the difference between the amount and the predetermined interlocking operation amount.

  As a result, the boom 14 extends at a constant speed, and the winch 31 is unwound at a speed proportional to the difference. Therefore, in this range, the moving direction of the suspended load is determined by the relationship between the extension speed of the boom 14 and the descending speed of the suspended load caused by the lowering of the winch 31 caused by the operation amount of the trigger 27.

  Specifically, when the operation amount of the trigger 27 is relatively small (for example, 40 to 50%), the descent speed of the suspended load due to the lowering of the winch 31 cannot catch up with the extension speed of the boom 14, and the suspended load is upward. Move to. Further, when the operation amount of the trigger 27 increases and reaches a predetermined amount (for example, 50%), the suspended load descending speed due to the winding of the winch 31 and the extension speed of the boom 14 are in harmony, and the suspended load is parallel to the boom 14. Move to. When the operation amount of the trigger 27 further increases and reaches a predetermined amount (for example, 60%), the suspended load descending speed due to the lowering of the winch 31 and the boom 14 extending speed are in harmony, and the suspended load is against the ground. Move horizontally.

(When the undulation angle θ is large)
First, as in the case where the undulation angle θ is small, when the operator pulls the trigger 27 in the range of 0 to 40%, the extension speed of the telescopic cylinder 33 increases in proportion to the operation amount. Therefore, in this range, the suspended load rises as the boom 14 extends.

  When the operator pulls the trigger 27 with the index finger to a range exceeding 40%, the boom 14 extends at a constant speed, and the winch 31 is unwound at a speed proportional to the difference. Therefore, in this range, the moving direction of the suspended load is determined by the relationship between the extension speed of the boom 14 and the descending speed of the suspended load caused by the lowering of the winch 31 caused by the operation amount of the trigger 27.

  Specifically, when the operation amount of the trigger 27 is relatively small (for example, 40 to 70%), the descent speed of the suspended load due to the lowering of the winch 31 cannot catch up with the extension speed of the boom 14, and the suspended load is upward. Move to. Further, when the operation amount of the trigger 27 increases and reaches a predetermined amount (for example, 70%), the descent speed of the suspended load due to the winding of the winch 31 and the extension speed of the boom 14 are harmonized, and the suspended load is parallel to the boom 14. Move to. When the operation amount of the trigger 27 further increases and reaches a predetermined amount (for example, 90%), the descent speed of the suspended load due to the lowering of the winch 31 and the extension speed of the boom 14 are in harmony, and the suspended load is in contact with the ground. Move horizontally.

(effect)
Next, the effect of the crane operating device S of the present embodiment will be described.

  (1) As described above, the crane operating device S of this embodiment is mounted on a crane having a winch 31, a hoisting cylinder 32, a telescopic cylinder 33, a turning motor 34, and the like as driving means, and is driven according to an operation amount. A radio control transmitter 2 is provided as an operating means for operating the means.

  Then, when the radio control transmitter 2 is operated, either one of the first driving means or the second driving means is operated alone at a speed corresponding to the operation amount, and then is operated alone at a constant speed, A controller 50 is provided as an interlocking operation control means for performing an interlocking operation that causes the other of the first driving means and the second driving means to perform a single operation at a speed corresponding to the operation amount.

  Therefore, the operator adjusts the operation amount based on his / her sense while observing the state of the work implement without selecting each of the switches 22 to 24 each time in the single operation mode, and harmonizes separate single operations. The linked operation can be executed.

  In other words, it is possible to make a natural transition based on the operator's sense, such as moving from a horizontal movement to a slightly upward movement, moving from a horizontal movement to a parallel movement, and moving from a parallel movement to a slight downward movement. Operability is improved.

  In addition, the controller 50 does not need to input the posture of the boom 14 from expensive measuring means, and the interlocking operation can be executed by operating the operating means while actually observing the position of the suspended load. The configuration can be very simple.

  (2) In addition, the controller 50 controls the second drive means to the operation amount while causing the first drive means to operate independently at a constant speed in the region where the operation amount of the radio-controlled transmitter 2 is less than the predetermined replacement operation amount. In a region where the operation amount of the operation means is equal to or greater than a predetermined replacement operation amount, the first drive means is operated according to the operation amount while the second drive means is operated alone at a constant speed. Operate alone at speed.

  For this reason, the energy ratio received by each drive means from the drive source is increased by increasing the relative speed of the second drive means below the replacement operation amount, and by decreasing the relative speed of the first drive means above the replacement operation amount. While changing, the speed of the second drive means can be increased according to the operation amount.

  For example, if it is less than the replacement operation amount, the extension speed of the boom 14 as the first drive means is made constant while the winch 31 as the second drive means is increased, and if it is more than the replacement operation amount, the extension speed of the boom 14 is reduced. Meanwhile, the rotation speed of the winch 31 is made constant. Thereby, even when the undulation angle is large, the extension speed and the lowering speed can be harmonized so that the hook 17 can be translated or horizontally moved.

  In this case, the operator receives an impression that the lowering speed becomes faster when the operation amount of the trigger 27 exceeds the interlocking operation amount, and the lowering speed becomes faster when the operation amount is further increased and exceeds the replacement operation amount. Thus, the operability is good because the sense of the operation amount and the lowering speed match.

  (3) Further, the controller 50 causes the first drive unit to perform a single operation at a speed corresponding to the operation amount in a region where the operation amount of the operation unit is less than a predetermined interlocking operation amount that is smaller than the replacement operation amount. In the region where the operation amount is equal to or greater than the interlocking operation amount, the first driving unit continues the single operation at a constant speed and the second driving unit performs the single operation at a speed corresponding to the operation amount.

  For this reason, the operation mode can be naturally shifted from the single operation to the linked operation by adjusting the pulling amount of the trigger 27 with the sense of the operator's index finger without operating the mode switch 26 during the movement. That is, by adjusting the operation amount of the trigger 27, only a single operation can be performed, or the operation can be shifted to a linked operation.

  For example, the working machine includes a telescopic boom 14 and a winch 31 that winds or unwinds the wire 16 that hangs the hook 17, and the controller 50 has an operation amount of the trigger 27 less than a predetermined interlocking operation amount. In this case, the boom 14 is expanded and contracted at a speed corresponding to the operation amount, and when the operation amount of the trigger 27 is equal to or larger than a predetermined interlock operation amount, the boom 14 is continuously expanded and contracted at a constant speed. Then, an expansion / contraction interlocking operation for causing the winch 31 to perform a hoisting operation or a lowering operation is performed at a speed corresponding to the operation amount.

  For this reason, by adjusting the pulling amount of the trigger 27 with the sense of the operator's index finger without operating the mode switch 26 during the movement, the suspended load can be freely moved in the vertical direction while moving in the radial direction. It can be moved, and the suspended load can be moved in parallel and horizontally.

  Thereby, for example, the positioning operation on the loading platform can be easily performed by horizontal movement, and the avoidance operation at the place where the obstacle is present is facilitated, and the operation can be performed safely.

  In addition, by naturally shifting from parallel movement to horizontal mode, when lifting a suspended load to a high place, the work can be quickly performed by adjusting the position by horizontal movement after moving upward by parallel movement. Can be done accurately.

  In particular, in a state where the boom 14 is extended and the work radius is large, the work can be quickly performed by moving the suspended load by the above-described expansion / contraction interlocking operation.

  (4) Further, since the loading type truck crane 1 as a crane of the present invention includes any one of the crane operating devices described above, it is not necessary to frequently switch the mode changeover switch 26 and has a good operability. A truck crane 1 is obtained.

  Hereafter, the effect | action at the time of performing expansion / contraction interlocking | linkage mode with the operating device S of the crane of a present Example is demonstrated using FIG.

(Constitution)
Since the overall configuration and the configuration of the radio control transmitter 2 are substantially the same as those in the first embodiment, description thereof is omitted. The configuration of the control system is substantially the same as that of the first embodiment except for the stroke relationship shown in FIG. 7, and therefore only the stroke relationship shown in FIG. 7 will be described here.

  FIG. 7 shows the relationship between the trigger stroke of the trigger 27 and the spool strokes of the winch control means 41 and the telescopic cylinder control means 43.

  As shown in FIG. 7, the spool stroke of the expansion / contraction cylinder control means 43 increases linearly in proportion to the trigger stroke up to the interlock operation amount, becomes a constant value from the interlock operation amount, and changes to a trapezoid as a whole. However, the expansion / contraction speed, which is a constant value, is set to about 60% to 80% of the maximum value with a certain margin from the maximum value.

  On the other hand, the spool stroke of the winch control means 41 remains zero until the interlock operation amount, increases linearly in proportion to the trigger stroke from the interlock operation amount, and changes in a triangular shape as a whole. When the trigger stroke is maximized, the spool stroke of the winch control means 41 is also maximized.

  That is, in the present embodiment, unlike the first embodiment, the speed (constant value) of the first driving means is set low in advance with a predetermined margin, so the speed of the second driving means is increased by the margin. Can be made. The speed (a constant value) that allows for this margin is a balance between the first drive means and the second drive means so that the hook 17 can be moved horizontally with the boom 14 raised at a predetermined undulation angle. Set in consideration.

(Function)
The operation is also substantially the same as in the first embodiment. That is, as shown in FIG. 8, when the undulation angle is small (θ = θ1), the suspended load rises in the range of 0 to 40%, and the suspended load rises in the range of 40 to 60%. When reaching%, the suspended load moves in parallel with the boom 14, and when reaching 70%, the suspended load moves in parallel with the ground.

  On the other hand, when the undulation angle is large (θ = θ2), the suspended load rises in the range of 0 to 40%, the suspended load rises in the range of 40 to 80%, and the suspended load reaches 80%. When it reaches 95%, the suspended load moves parallel to the ground.

(effect)
Next, the effect will be described.

  (1) As with the first embodiment, when the radio control transmitter 2 is operated, the crane operating device S according to the present embodiment is operated at a constant speed in either the first driving means or the second driving means. A controller 50 is provided as an interlocking operation control means for performing an interlocking operation for causing the other of the first driving means or the second driving means to perform an independent operation at a speed corresponding to the operation amount while performing an independent operation.

  Therefore, the operator can adjust the operation amount based on his / her sense while looking at the state of the work implement without selecting the operation mode each time, and can perform the interlocking operation that harmonizes the individual operations. become.

  In this case, since the speed of the first driving means that is operated independently at a constant speed is set in advance with a predetermined margin in advance, the speed of the second driving means can be improved by this margin.

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

  Although the embodiments of the present invention have been described in detail with reference to the drawings, the specific configuration is not limited to the embodiments, and design changes that do not depart from the gist of the present invention are included in the present invention. .

  For example, in the above-described embodiment, the case where the single operation is executed up to a predetermined interlock operation amount in the interlock operation mode is described. However, the present invention is not limited to this, and the range of the single operation may be very narrow (for example, It may not be present at all).

  In other words, from the beginning of the stroke, one drive means can always be operated at a constant speed regardless of the operation amount of the operation means, while another drive means can be operated at a speed corresponding to the operation amount of the operation means. .

  Further, in the above-described embodiment, the case where the control is performed based on the operation amount of the trigger 27 of the radio control transmitter 2 as the operation means has been described, but the present invention is not limited to this, and the operation lever installed on the vehicle body 10 It is also possible to control based on the operation amount.

  And in the said Example, although it limited about the case where the operation speed of a drive means is made proportional to the operation amount, it is not limited to this, A slow start process and a slow stop process may be performed, and a tertiary It may be changed in a curved line, or may be changed in any way as long as it corresponds one-to-one with the operation amount.

S crane operating device 1 load-type truck crane 12 swivel base 14 boom (work machine)
16 Wire 17 Hook 2 Radio control transmitter (operating means)
26 Mode switch 27 Trigger 31 Winch (drive means)
32 Undulating cylinder (drive means)
33 Telescopic cylinder (drive means)
34 Turning motor (drive means)
41 winch control means 42 hoisting cylinder control means 43 telescopic cylinder control means 44 turning motor control means 50 controller (interlocking operation control means)

Claims (4)

A crane operating device equipped with a crane having a plurality of drive means for driving a work machine, and comprising an operation means for operating the drive means according to an operation amount,
When the operating means is operated, either the first driving means or the second driving means is operated alone at a speed corresponding to the operation amount, and then operated alone at a constant speed. An operating device for a crane, comprising interlocking operation control means for performing an interlocking operation in which one of the driving means and the second driving means is operated independently at a speed corresponding to an operation amount. In the region where the operation amount of the operation means is less than a predetermined replacement operation amount, the interlock operation control means causes the second drive means to operate according to the operation amount while causing the first drive means to perform an independent operation at a constant speed. Single operation at a certain speed,
In a region where the operation amount of the operation means is greater than or equal to a predetermined replacement operation amount, the first drive means is made to operate alone at a speed corresponding to the operation quantity while the second drive means is made to operate alone at a constant speed. The crane operating device according to claim 1. The interlock operation control means causes the first drive means to perform a single operation at a speed corresponding to the operation amount in a region where the operation amount of the operation means is less than a predetermined interlock operation amount less than the replacement operation amount,
In a region where the operation amount of the operation means is equal to or greater than the interlock operation amount, the first drive means continues the single operation at a constant speed, while the second drive means operates at a speed corresponding to the operation quantity. The crane operating device according to claim 2, wherein an interlocking operation is performed to perform the operation.   A crane provided with the operation apparatus of the crane as described in any one of Claims 1 thru | or 3.