JP2012210990A - Method and device for setting boom deflection restraining device in working machine with telescopic boom - Google Patents

Abstract

PROBLEM TO BE SOLVED: To automatically set a boom deflection restraining device to pretension of a reasonable state all the time with respect to a posture (length and derricking angle) of a telescopic boom, even in setting freely a combination of the length and the derricking angle of the boom to be used, when setting the boom deflection restraining device.SOLUTION: Each output value of a pretension cylinder 16 capable of supporting the telescopic boom 3 in each reasonable deflection posture is stored as a data table in a data storage means 82 of a controller 8, for every combination of the various boom lengths and various boom derricking angles, in the boom deflection restraining device in the working machine with the telescopic boom; a reasonable output value of the pretension cylinder is selected out of the data table stored in the data storage means, based on the current boom length and boom derricking angle; and the pretension cylinder is operated by an operation force corresponding to the selected output value, to support automatically the telescopic boom in the reasonable deflection posture.

Description

  The present invention relates to a boom deflection suppressing device in a working machine with a telescopic boom, and more particularly, to a boom deflection suppressing device setting method and a setting device suitable for supporting the telescopic boom in an appropriate deflection posture.

  In a working machine having a telescopic boom that is long and long in the fully extended state (for example, a large crane vehicle), a boom bending suppression device for suppressing flexural deformation of the telescopic boom due to its own weight or suspension load. There is something with. An example of this type of crane vehicle with a boom deflection suppressing device is disclosed in Japanese Patent Application Laid-Open No. 2008-120525 (Patent Document 1). In addition, the crane vehicle with a boom bending suppression apparatus shown in this patent document 1 was developed by the present applicant.

  As shown in FIGS. 9 to 11, the boom deflection suppressing device provided in the crane vehicle of Patent Document 1 includes a distal end portion 3 </ b> C of the telescopic boom 3 attached to the swivel 2 on the vehicle 1 (the distal end of the distal boom 3 </ b> B). In the following description, the boom tip 3C) is supported by the pretensioning device 10 (two sets of left and right) from the tip of the mast 11 (a pair of left and right) provided on the proximal boom 3A.

  The pretensioning device 10 includes a tension rope 14, a tension winch 15 and a pretension cylinder 16 each attached to the mast 11. The tension rope 14, the tension winch 15, and the pretension cylinder 16 are used in pairs of left and right.

  Each tension rope 14 is wound around a tension winch 15 attached to the mast 11 and, as shown in FIG. 11, two left and right fixed sheaves 18 and 18 with their feeding portions attached to the mast tip and folded back. After being wound around the sheave 19, the rope end portion 14a is connected to the expansion / contraction portion (the tip portion of the expansion / contraction rod) of the pretension cylinder 16 attached to the mast 11. The folded sheave 19 and the boom tip 3C are connected by a separate tension rope 17. A tension link 13 is interposed between the upper portion of each mast 11 and the swivel base 2.

  In the crane of this known example, as shown in FIG. 9, in order to set the boom deflection suppressing device in the boom use posture, the following operation is performed.

  First, in a state where the telescopic boom 3 is fully reduced and laid down to the maximum, the upper position of the mast 11 and the swivel base 2 are connected by a bending tension link 13, and then, as shown in FIG. Stand up to a vertical position. In this state, the tension rope 14 fed out from the tension tension winch 15 is wound around the sheaves 18, 18, 19 as shown in FIG. On the other hand, the folded sheave 19 and the boom tip 3 </ b> C are connected by another tension rope 17.

  Then, from the state of FIG. 10, the telescopic boom 3 is lifted up to a predetermined angle and the telescopic boom 3 is extended to a predetermined length, and then the pretension cylinder 16 is operated with a predetermined reducing force in a state where the tension winch 15 is locked. By doing so, as shown in FIG. 9, it is possible to set the boom use posture in which the boom deflection suppressing device functions.

  When using this type of boom deflection suppressing device, it is desirable to support the telescopic boom 3 in an appropriate deflection posture in the boom usage posture. The proper bending posture of the telescopic boom 3 is, for example, as shown in FIG. 9, when the telescopic boom 3 is excessively moved even in a suspended state in a boom use posture in which the telescopic boom 3 is set to a predetermined undulation angle with a predetermined length. This means that the telescopic boom 3 does not warp in an unloaded state.

  Elements for supporting the telescopic boom 3 in an appropriate bending posture include the length and undulation angle of the telescopic boom 3 and the tension of the tension rope 14 (tensile force by the pretension cylinder 16). In the boom use posture, the boom bending action becomes larger as the boom length becomes longer, while the boom bending action becomes larger as the boom undulation angle becomes smaller. The amount of bending of the boom is different for each combination with various boom undulation angles.

  By the way, the boom posture (boom length and boom undulation angle) to be used is determined by the situation at the work site and the work content. Conventionally, in this type of boom deflection control device, the telescopic boom 3 is set to an appropriate deflection posture. I went as follows.

  That is, in the conventional method for setting the boom deflection suppressing device, the telescopic boom 3 is used because the output of the pretension cylinder 16 is constant (for example, 1 ton fixed reduction force). Is supported by adjusting the boom undulation angle according to the boom length to be used. That is, in the crane vehicle (manufactured in-house) with the boom deflection suppressing device of the well-known example shown in FIG. 9, the proper deflection posture of the telescopic boom 3 is performed because the output of the pretension cylinder 16 is constant (eg, 1 ton). Therefore, various boom undulation angles suitable for various boom lengths are specified in advance by tests.

  Incidentally, the appropriate correspondence value of the boom undulation angle with respect to the boom length in the specific model (product number: ATF-360G-1) manufactured by our company is roughly as follows. In the following correspondence relationship, the symbol L is the boom length, the symbol θ is the boom undulation angle, and is an appropriate correspondence value when the output (reduction force) of the pretension cylinder 16 is set to 1 ton.

  That is, the appropriate values of the boom undulation angle with respect to the boom length in the above-mentioned specific model made by our company are θ = 55 ° when L = 35.3 m, θ = 57 ° when L = 40.4 m, and L = 45. Θ = 59.5 ° at 4 m, θ = 65 ° at L = 50.5 m, θ = 67 ° at L = 55.6 m, θ = 70 ° at L = 60.0 m, respectively. ing.

  Conventionally, the crane operation is performed by adjusting the boom undulation angle suitable for each boom length.

JP 2008-120525 A

  By the way, in the crane vehicle with the boom deflection suppressing device of the above known example (Patent Document 1), in order to set the boom deflection suppressing device so that the telescopic boom 3 can be supported in an appropriate deflection posture, the output of the pretension cylinder 16 is set. When the length of the telescopic boom 3 to be used is determined in a fixed relationship, it is necessary to set the boom undulation angle that matches the boom length.

  Therefore, in the boom deflection suppressing device of the above known example, it is necessary to adjust the boom undulation angle to an appropriate undulation angle corresponding to the boom length every time the boom length is set at the use site. Was troublesome.

  In addition, depending on the situation at the work site and the work content, the boom length and boom undulation angle may not be combined with the appropriate combination (for example, the boom length is long and the boom undulation angle is small, or the boom length is short. (When the undulation angle is large), it may be necessary to use the boom boom and the boom undulation angle. There arises a problem that the suppression performance is lowered and the boom is warped.

  Accordingly, the present invention provides a working machine with a boom deflection suppressing device (for example, a large crane vehicle), and when the boom deflection suppressing device is set, a combination of a boom length and a boom undulation angle to be used can be freely set. It is possible to automatically set the pretension in the proper state at all times automatically for the telescopic boom posture (length and undulation angle), and change the telescopic boom posture from a specific posture (boom length change or boom undulation angle) The primary purpose is to allow the telescopic boom to be automatically adjusted so that it can be supported in an appropriate bending posture even when the telescopic boom is changed, while a jib is added to the tip of the telescopic boom by an arbitrary length. The second object is to enable automatic adjustment so that the telescopic boom can be supported in an appropriate bending posture even when used.

  The present invention has the following configuration as means for solving the above problems. The present invention is directed to a working machine with a telescopic boom provided with a boom deflection suppressing device.

[Invention of Claim 1 of the Present Application]
The invention of claim 1 of the present application is directed to a method for setting a boom deflection suppressing device in a working machine with a telescopic boom. Moreover, as a working machine with a telescopic boom for carrying out the setting method of the first aspect, for example, as shown in FIG. 1, a work machine in which a jib is not added to the distal end of the telescopic boom is suitable. Thus, the present invention can also be applied to a boom tip having a certain length of jib added thereto. When the setting method of claim 1 is applied to a boom tip having a fixed length jib (for example, FIG. 6), the jib undulation angle with respect to the telescopic boom is fixed (for example, the jib undulation angle is 5 °) is preferable.

  As a working machine with a telescopic boom used in the present application, for example, a large mobile crane can be applied. In the following description, the working machine with a telescopic boom used in the present application may be referred to as a crane vehicle.

  Further, in the present application, a working machine with a telescopic boom (crane vehicle) is provided with a boom bending suppression device for suppressing excessive bending of the telescopic boom due to its own weight or suspension load. ing.

  The boom deflection suppressing device includes a pretension cylinder between a distal end portion of a mast provided at a proximal end boom of a telescopic boom and a distal end portion of a distal end boom of the telescopic boom (hereinafter simply referred to as a boom distal end portion). A tension rope incorporating a tension is stretched and an appropriate tension is applied to the tension rope by a pretension cylinder so that the telescopic boom can be supported in an appropriate bending posture. In the case of using a jib attached to the boom tip, a jib base may be attached to the boom tip, and in this case, the tip of the tension rope may be connected to the jib base.

  As means necessary for the method of setting the boom deflection suppressing device according to claim 1, a boom length detector for detecting the length of the telescopic boom, a boom undulation angle detector for detecting the undulation angle of the telescopic boom, and the above And a controller for transmitting a control signal to the pretension cylinder.

  As the boom length detector and the boom undulation angle detector, those used as detectors for AML (a crane vehicle overturn prevention device) can be used. The controller performs various types of control on the work machine. In the present application, the controller is also used to control the pretension cylinder.

  By the way, there are the boom length and boom undulation angle as the elements of fluctuation of the deflection of the telescopic boom, and when the boom undulation angle is reduced while the boom length is long, the amount of flexure of the telescopic boom increases, but the boom length is short. If the boom undulation angle is increased, the amount of bending of the telescopic boom decreases. As described above, when the combination of the boom length and the boom undulation angle changes, the amount of bending of the telescopic boom changes, but in the present application, the output of the pretension cylinder depends on the various combinations of the various boom lengths and the various boom undulation angles. Is adjusted so that the telescopic boom can always be supported in an appropriate bending posture.

  First, as a precondition for carrying out the setting method of claim 1 of the present application, various combinations of various boom lengths detected by the boom length detector and various boom undulation angles detected by the boom undulation angle detector are included in the controller. Each is provided with data storage means for storing each output value of a pretension cylinder capable of supporting the telescopic boom in an appropriate bending posture as a data table.

  In addition, in a case where a jib having a certain length is added to the tip of the boom, the data table stored in the data storage means is set taking into account the deflection element of the telescopic boom by the jib. The data storage means can be provided with two types of data tables, when not using a jib and when using a jib. In that case (when there are two types of data tables), it is preferable to provide a selection switch for selecting which data table is to be read depending on the presence or absence of a jib.

  In the setting method of claim 1 of the present application, based on the boom length detected by the boom length detector when the telescopic boom is set in an arbitrary posture and the boom undulation angle detected by the boom undulation angle detector. Select the output value of the pretension cylinder that can support the telescopic boom in an appropriate bending posture from the data table stored in the data storage means, and operate the pretension cylinder with the operating force corresponding to the selected output value. It is made to let you.

  In the setting method of claim 1 of the present application, the pretension cylinder is performed even when the combination of the boom length of the telescopic boom and the boom undulation angle is freely set when setting the boom deflection suppressing device. Therefore, an output that can support the current telescopic boom in an appropriate bending posture is automatically generated. Also, even when the posture of the telescopic boom is changed from a specific posture (boom length change or boom undulation angle change), the output of the pretension cylinder supports the telescopic boom in an appropriate flexing posture as the boom posture changes. It is automatically adjusted to the appropriate output.

[Invention of claim 2 of the present application]
The invention of claim 2 of the present application is a dependent claim of claim 1 above, and employs a work machine with a telescopic boom that allows a jib to be added to the tip of the boom by an arbitrary length. The invention according to claim 2 is a setting method suitable for a method in which the total length of the jibs to be added can be specified by the number of connections of each single jib (whose length is known).

  By the way, when a jib is added to the tip of the boom, the amount of bending of the telescopic boom changes depending on the length and undulation angle of the jib, but when the jib is added to the tip of the boom, the telescopic boom is bent appropriately. In order to set an appropriate output of the pre-tension cylinder for supporting in the posture, it is preferable to take into account the jib length and the undulation angle.

  And in this invention of Claim 2, in the setting method of said Claim 1, the jib undulation angle detection which detects the jib length setting means which sets the length of the jib joined to the boom tip part, and the undulation angle of this jib Each with a container.

  The jib length setting means inputs the jib length actually added to the tip of the boom to the controller directly by the input means.

  The jib undulation angle detector ultimately detects the ground angle of the jib and may directly detect the ground angle of the jib or may detect the tilt angle of the jib relative to the boom. . In the case of detecting the dibutylt angle relative to the boom as the jib undulation angle detector, the controller calculates the jib ground angle from the tilt angle and the boom undulation angle detected by the boom undulation angle detector. Good.

  According to the second aspect of the present invention, the data table stored in the data storage means provided in the controller includes various boom lengths detected by the boom length detector and various boom hoisting angles detected by the boom hoisting angle detector. Each output of the pretension cylinder that can support the telescopic boom in an appropriate bending posture for each combination of various jib lengths set by the jib length setting means and various jib undulation angles detected by the jib undulation angle detector The boom length detected by the boom length detector and the boom undulation angle detected by the boom undulation angle detector and the jib length and jib undulation angle detector set by the jib length setting means Pretension cylinder that can support the telescopic boom in an appropriate bending posture from the data table stored in the data storage means based on the jib undulation angle detected in And so as to select the output value.

  Thus, in the setting method of claim 2, the length of the jib added to the boom tip is set (input) by the jib length setting means, and the jib undulation angle is detected by the jib undulation angle detector. Thus, an appropriate output value of the pretension cylinder corresponding to the change in the amount of bending of the telescopic boom due to the jib length and the jib undulation angle can be selected from the data table stored in the data storage means.

  Therefore, in the setting method according to the second aspect, even when the jib is added to the tip of the boom, the telescopic boom can be supported in an appropriate bending posture in consideration of the jib length and the jib undulation angle.

[Invention of claim 3 of the present application]
The invention of claim 3 of the present application is also a dependent claim of claim 1 above, and employs a work machine with a telescopic boom that allows a jib to be added to the tip of the boom by an arbitrary length. Further, the invention of claim 3 is a setting method suitable for a method in which the length of the jib to be added can be detected by a detector.

  And in this invention of Claim 3, in the setting method of said Claim 1, the jib length detector which detects the length of the jib joined to the boom front-end | tip part, and the jib undulation angle detection which detects the undulation angle of this jib Each with a container. In addition, as a jib that detects the jib length using a jib length detector, there is a telescopic jib. In this case, the jib length detector includes a boom length detector used for the telescopic boom, The same configuration can be adopted.

  According to the third aspect of the present invention, the data table stored in the data storage means provided in the controller includes various boom lengths detected by the boom length detector and various boom hoisting angles detected by the boom hoisting angle detector. Each output of the pretension cylinder that can support the telescopic boom in an appropriate bending posture for each combination of various jib lengths detected by the jib length detector and various jib undulation angles detected by the jib undulation angle detector The boom length detected by the boom length detector and the boom undulation angle detected by the boom undulation angle detector and the jib length detected by the jib length detector and the jib undulation angle detector. Of the pretension cylinder that can support the telescopic boom in an appropriate bending posture from the data table stored in the data storage means based on the jib undulation angle detected in step 1. It is to choose a value.

  Thus, in the setting method of claim 3 of the present application, the length of the jib added to the boom tip is detected by the jib length detector and the jib undulation angle is detected by the jib undulation angle detector. From the data table stored in the storage means, it is possible to select an appropriate output value of the pretension cylinder corresponding to the change in the amount of bending of the telescopic boom due to the jib length and the jib undulation angle.

  Therefore, in the setting method of claim 3, as in the case of claim 2, even when the jib is added to the tip of the boom, the proper bending of the telescopic boom taking into account the jib length and the jib undulation angle is used. Can be supported in a posture.

[Invention of claim 4 of the present application]
The invention of claim 4 of the present application is directed to a setting device for a boom deflection suppressing device in a working machine with a telescopic boom. The setting device of claim 4 is for performing the setting method of claim 1.

  In the fourth aspect, as in the first aspect, for example, a large mobile crane (crane car) can be applied as the working machine with the telescopic boom. Moreover, the working machine with a telescopic boom (crane vehicle) used in claim 4 is also provided with a boom bending suppression device for suppressing the telescopic boom from being excessively bent due to its own weight or suspension load. I have.

  The boom deflection suppressing device used in the fourth aspect is similar to that of the first aspect in that the front end of the mast provided on the base end boom of the telescopic boom and the front end of the telescopic boom (or the front end of the boom). A tension rope incorporating a pretension cylinder is stretched between the jib base and the telescopic boom can be supported in an appropriate bending posture by applying appropriate tension to the tension rope by the pretension cylinder. It is a thing.

  In the set device of claim 4, the boom length detector for detecting the length of the telescopic boom, the boom hoisting angle detector for detecting the hoisting angle of the telescopic boom, and the pretension cylinder are controlled. And a controller for transmitting signals.

  As the boom length detector and the boom undulation angle detector, those used as detectors for AML (a crane vehicle overturn prevention device) can be used. The controller performs various types of control. In the present application, the controller is also used to control the pretension cylinder.

  In addition, the controller used in claim 4 includes an extendable boom for each combination of various boom lengths detected by the boom length detector and various boom undulation angles detected by the boom undulation angle detector. The current boom length and boom detected by the data storage means for storing each output value of the pretension cylinder that can be supported in an appropriate bending posture as a data table, the boom length detector and the boom undulation angle detector, respectively. Selection means for selecting an output value of a pretension cylinder capable of supporting the telescopic boom in an appropriate bending posture from the data table stored in the data storage means based on the undulation angle, and the output selected by the selection means Output means for outputting an operating force corresponding to the value to the pretension cylinder control means.

  Therefore, even the setting device according to the fourth aspect can achieve the function as described in the setting method according to the first aspect.

[Invention of claim 5 of the present application]
The invention of claim 5 of the present application is the dependent claim of claim 4 above, wherein a work machine with a telescopic boom is adapted to be able to add a jib to the tip of the boom by an arbitrary length. It is a set device applied to the thing which can specify the full length of each by the number of connection of each single jib. The setting device of the invention of claim 5 is for performing the setting method of claim 2.

  The invention according to claim 5 is the setting device according to claim 4, wherein the jib length setting means for setting the length of the jib added to the tip of the boom and the jib undulation angle detection for detecting the undulation angle of the jib. Each with a container.

  The jib length setting means inputs the jib length to be added to the tip of the boom directly to the controller using the input means.

  The jib undulation angle detector substantially detects the ground angle of the jib, and may directly detect the ground angle of the jib, or may detect the dibutyl angle relative to the boom to detect the dibutyl angle. A jib-to-ground angle may be calculated by the controller from the boom undulation angle.

  In the fifth aspect, the data table stored in the data storage means provided in the controller includes various boom lengths detected by the boom length detector and various boom undulation angles detected by the boom undulation angle detector. Each output of the pretension cylinder that can support the telescopic boom in an appropriate bending posture for each combination of various jib lengths set by the jib length setting means and various jib undulation angles detected by the jib undulation angle detector A value is set.

  Therefore, even the setting device according to the fifth aspect can achieve the function described in the setting method according to the second aspect.

[Invention of claim 6 of the present application]
The invention of claim 6 of the present application is also a dependent claim of claim 4 described above, wherein a work machine with a telescopic boom is adapted to be able to add a jib to the tip of the boom by an arbitrary length, and a jib to be further added. It is a set device applied to such a thing that the length of can be detected with a detector. The setting device of claim 6 is for performing the setting method of claim 3.

  And in this invention of Claim 6, in the set apparatus of said Claim 4, the jib length detector which detects the jib length detector which detects the length of the jib joined to the boom front-end | tip part, and the jib undulation angle detection which detects this jib's undulation angle Each with a container. In addition, as a jib that detects the jib length using a jib length detector, there is a telescopic jib. In this case, the jib length detector includes a boom length detector used for the telescopic boom, The same configuration can be adopted.

  According to the sixth aspect of the present invention, the data table stored in the data storage means provided in the controller includes various boom lengths detected by the boom length detector and various boom hoisting angles detected by the boom hoisting angle detector. Each output of the pretension cylinder that can support the telescopic boom in an appropriate bending posture for each combination of various jib lengths detected by the jib length detector and various jib undulation angles detected by the jib undulation angle detector A value is set.

  Therefore, even the setting device according to the sixth aspect can achieve the function described in the setting method according to the third aspect.

  The inventions of claims 1 (setting method) and 4 (setting device) of the present application appropriately deflect the telescopic boom from the data table stored in the data storage means based on the current boom length and boom undulation angle. An output value of a pretension cylinder that can be supported in a posture is selected, and the pretension cylinder can be operated with the selected output value.

  Therefore, in each invention of Claims 1 and 4, when the boom deflection suppressing device is set, even if the combination of the boom length to be used and the boom undulation angle is freely set, the current telescopic boom posture is maintained. On the other hand, there is an effect that the output of the pretension cylinder can always be automatically set to an appropriate output (an output capable of supporting the telescopic boom in an appropriate bending posture). As described above, when the output of the pretension cylinder can always be automatically set to an appropriate output with respect to the current posture of the telescopic boom, as in the conventional example using a pretension cylinder with a constant (invariable) output. In addition, the operation of adjusting the boom undulation angle for each boom length is not required, and an erroneous operation of setting an inappropriate boom undulation angle due to an operator's misunderstanding can be eliminated.

  Further, in each of the first and fourth aspects of the present invention, even when the posture of the telescopic boom is changed from a specific posture (boom length change or boom undulation angle change), the pretension cylinder is accompanied by the boom posture change. Is automatically adjusted to an appropriate output that can support the telescopic boom in an appropriate bending posture, so that there is an effect that a special adjustment operation associated with a change in the boom posture is not required.

  Moreover, in each invention of Claims 2 and 3 (each setting method) and 5 and 6 (each setting device) of the present application, even when used in a state where a jib having an arbitrary length is added to the tip of the boom, In addition to the effects of claims 1 and 4 above, the telescopic boom can always be supported in an appropriate flexing posture in addition to the effects of the first and fourth aspects, because the telescopic boom can be supported in consideration of the jib length and the jib undulation angle. There is an effect that can be done.

It is a side view of the crane vehicle (thing without a jib) with a boom deflection control device which can adopt the set device of the 1st example of the present invention. It is an enlarged view of the mast vicinity in the crane vehicle of FIG. It is explanatory drawing which shows the tension | pulling state of the tension rope in the boom bending suppression apparatus of FIG. It is a block diagram of the set apparatus of 1st Example of this invention. It is a control circuit diagram of the set apparatus of 1st Example of this invention. It is a side view of the crane vehicle (thing with a jib) with a boom bending suppression apparatus which can employ | adopt the setting apparatus of 2nd Example of this invention. It is a block diagram of the setting apparatus of 2nd Example of this invention. It is a block diagram of the setting apparatus of 3rd Example of this invention. It is a side view of the crane vehicle with a well-known (patent document 1) boom bending suppression apparatus. It is explanatory drawing of the setting method of the boom bending suppression apparatus of FIG. It is explanatory drawing which shows the tension state of the tension rope in the boom bending suppression apparatus of FIG.

[Example]
Hereinafter, some examples of the present application will be described with reference to FIGS. 1 to 8. FIGS. 1 to 5 show the “boom deflection suppressing device setting apparatus” according to the first example of the present application. 6 to 7 show a device related to the “boom deflection suppressing device setting device” of the second embodiment of the present application, and FIG. 8 shows a device related to the “boom deflection suppression device of the third embodiment of the present application”. Yes.

  In each Example of this application, the large crane vehicle Z is applied as shown in FIG. 1 or FIG. 6 as a working machine with a telescopic boom for equip | providing "the setting apparatus of a boom bending suppression apparatus". In addition, about the working machine with a telescopic boom applied in each Example of this application (FIG. 1 and FIG. 6) and a boom bending suppression apparatus, it is substantially the same structure as the thing of an above-mentioned well-known example (FIGS. 9-11). There are many parts that overlap with the description of the known example, but it will be described again.

  The crane vehicle Z shown in FIG. 1 (and FIG. 6) pivotally supports the base end portion of the telescopic boom 3 (the base end portion of the base end boom 3A) on the swivel 2 mounted on the vehicle 1, and the telescopic boom 3. Can be undulated by the undulating cylinder 6.

  The telescopic boom 3 is formed by connecting a plurality of single booms (in the example of FIGS. 1 and 6, five single booms) in such a manner that they can be expanded and contracted in sequence, and a desired boom length is achieved by an expansion cylinder (not shown) in the boom. It can be used in this state.

  When a higher head is required, as shown in FIG. 6, a jib base 4 is attached to the tip 3B of the tip boom 3B (hereinafter referred to as the boom tip) of the telescopic boom 3 to attach the jib. A jib 5 (shown by a chain line) having a desired length can be connected to the base 4. The jib base 4 and the jib 5 are not required in claim 1 of the present application (the first embodiment shown in FIGS. 1 to 5) and can be omitted.

  When crane work is performed with only the telescopic boom 3 (no jib) as shown in FIG. 1, the hanging hook 7 is suspended from the boom tip 3C, and the jib 5 is connected and used as shown in FIG. In this case, a hanging load hook (shown by a chain line) is suspended from the tip of the jib 5.

  Each crane vehicle Z shown in FIGS. 1 and 6 is equipped with a boom bending suppression device for suppressing the telescopic boom 3 from bending due to its own weight or suspension load.

  1 to 2, the boom deflection suppressing device is provided with a mast 11 (a pair of left and right) near the distal end of the proximal boom 3A. The boom tip 3C is supported by the pretensioning device 10.

  The mast 11 has a pair of left and right at a position near the distal end of the proximal boom 3A. Each of the masts 11 is oriented in the direction of about 90 ° with respect to the retracted posture along the proximal boom 3A by the mast hoisting cylinder 12 (the posture indicated by the reference numeral 11 'shown by a chain line in FIG. 2) and the proximal boom 3A. It can be raised and lowered between the standing postures (the postures of FIGS. 1 and 2).

  Further, the mast 11 is supported so as not to tilt forward by a tension link 13 interposed between the position near the upper portion of the mast and the swivel base 2 in the standing posture.

  The pretensioning device 10 includes a tension rope 14, a tension winch 15 and a pretension cylinder 16 that are respectively attached to the mast 11. The tension rope 14, the tension winch 15, and the pretension cylinder 16 are used in pairs of left and right.

  The tension rope 14 is wound around a tension winch 15, and as shown in FIG. 3, the feeding portion is wound around two fixed sheaves 18 and 18 and a folded sheave 19 attached to the tip of the mast. After that, the end of the rope is connected to the expansion / contraction portion (rod tip 16a) of the pretension cylinder 16 attached to the mast 11. The folded sheave 19 and the boom tip 3C (FIG. 1) are connected by a separate tension rope 17.

  The tension winch 15 is locked and unlocked by a lock device 20 (see FIG. 3). The lock device 20 is configured such that a lock claw 22 can be engaged and disengaged by a lock cylinder 23 to a latch claw 21a of a claw plate 21 provided on a winch drum 15a. The locked / unlocked state of the locking device 20 can be confirmed by the operating state detector 24 of the lock cylinder 23.

  As shown in FIG. 5, the pretension cylinder 16 is operated by supplying hydraulic oil from the hydraulic pump 40 via a solenoid valve 42 provided in the oil passage 41. In the solenoid valve 42 (FIG. 5), when a pre-tension switch 33 described later is turned ON, the reduction-side valve chamber 42a communicates with the oil passage 41 to operate the pre-tension cylinder 16 to the reduction side. The solenoid valve 42 (FIG. 5) returns to the neutral position when the pretension switch 33 is turned off. On the other hand, when the pretension reset switch (not shown) is turned on, the solenoid valve 42 moves to the side where the pretension cylinder 16 is extended. It is designed to switch.

  The output of the pretension cylinder 16 can be adjusted by a pretension cylinder control means 43 (see FIG. 4) as will be described later. The pretension cylinder control means 43 corresponds to the variable relief valve 43 provided in the hydraulic circuit of FIG. An operation signal for the variable relief valve 43 (FIG. 5) is transmitted from the output means 83 (see FIG. 4) of the controller 8, and the contents will be described in detail later.

  The current output of the pretension cylinder 16 can be detected by a pressure sensor 61 (see FIGS. 3 and 5) that detects the hydraulic oil pressure. In FIG. 3, reference numeral 62 denotes a tension detector of the tension rope 14.

  The boom deflection suppressing device of this embodiment functions, for example, in the boom use posture shown in FIG. 1 or FIG. 6, but when this kind of boom deflection restraint device is used, the telescopic boom 3 is used in the boom usage posture. Is desired to be supported in an appropriate bending posture. Note that the proper bending posture of the telescopic boom 3 is, for example, as shown in FIG. 1 (or FIG. 6), even in a suspended load state in a boom use posture in which the telescopic boom 3 is extended to a predetermined length at a predetermined elevation angle. The telescopic boom 3 does not bend excessively, and the telescopic boom 3 does not warp in an empty state.

  Elements for supporting the telescopic boom 3 in an appropriate bending posture include the length and undulation angle of the telescopic boom 3 and the tension of the tension rope 14 (tensile force by the pretension cylinder 16). In the boom use posture, the boom bending action becomes larger as the boom length becomes longer, while the boom bending action becomes larger as the boom undulation angle becomes smaller. The amount of bending of the boom is different for each combination with various boom undulation angles.

  Therefore, the setting device of the first embodiment of the present application (FIGS. 1 to 5) is applied to a device that does not use a jib, and the setting device of the second embodiment of the present application (FIGS. 6 to 7) is a jib 5 Is applied to an apparatus having an arbitrary length added and the jib length is set by the jib length setting means 51. The setting device of the third embodiment (FIG. 8) of the present application is the jib 5 Is used by adding an arbitrary length to the jar and detecting the jib length by the jib length detector 52.

“First Example of FIGS. 1 to 5”
The set device of the first embodiment always supports the telescopic boom 3 in an appropriate bending posture by adjusting the output of the pretension cylinder 16 even when various boom lengths and various boom undulation angles are freely combined. It ’s what you get.

  As shown in FIGS. 1 and 4, the set device of the first embodiment includes a boom length detector 31 that detects the length of the telescopic boom 3 and a boom hoisting that detects the hoisting angle of the telescopic boom 3. An angle detector 32 and a controller 8 for transmitting a control signal to the pretension cylinder 16 are provided.

  As the boom length detector 31 and the boom undulation angle detector 32, those used as detectors of AML (a crane vehicle overturn prevention device) can be used. The controller 8 (FIG. 4) performs various types of control on the work machine, but is also used for control of the pretension cylinder 16 in the present embodiment.

  Further, the controller 4 used in the first embodiment includes various boom lengths detected by the boom length detector 31 and various booms detected by the boom undulation angle detector 32 as shown in FIG. Data storage means 82 for storing each output value of the pretension cylinder 16 capable of supporting the telescopic boom 3 in an appropriate bending posture for each combination with the undulation angle, as a data table, the boom length detector 31, and the boom undulation A pre-tension cylinder capable of supporting the telescopic boom 3 in an appropriate bending posture from the data table stored in the data storage means 82 based on the current boom length and boom undulation angle detected by the angle detector 32 respectively. Selection means 81 for selecting 16 output values and pretension cylinder control of the operating force corresponding to the output value selected by the selection means 81 And an output unit 83 for outputting the stage 43. Note that the pretension cylinder control means 43 in FIG. 4 corresponds to the variable relief valve 43 in FIG. 5 in this embodiment.

  The data table stored in the data storage means 82 corresponds to various bending forces of the telescopic boom 3 generated for each combination of various boom lengths and various boom undulation angles arbitrarily set as described above. The output of the pretension cylinder 16 for supporting the telescopic boom 3 in each posture in an appropriate bending posture is set.

  Further, as shown in FIG. 4, detection data related to the boom length from the boom length detector 31 and detection data related to the boom undulation angle from the boom undulation angle detector 32 are always input to the selection means 81. However, this selection means 81 functions by turning on the pretension switch 33.

  In the setting device (FIG. 4) according to the first embodiment, when the pretension switch 33 is turned on in any boom use posture (for example, FIG. 1), the selection means 81 functions to store the data storage means 82. Based on the boom length data detected by the boom length detector 31 and the boom undulation angle data detected by the boom undulation angle detector 32 from the stored data table, the telescopic boom 3 is appropriately bent. The output of the pretension cylinder 16 that can be supported in the posture is called, the output of the called pretension cylinder 16 is transmitted from the selection means 81 to the output means 83, and the output means 83 controls the pretension cylinder control means (variable in FIG. 5). The relief valve 43 is set to a predetermined output. In this case, the output of the pretension cylinder 16 for supporting the telescopic boom 3 in an appropriate bending posture is performed by appropriately adjusting the degree of opening of the variable relief valve 43. That is, by appropriately adjusting the degree of opening of the variable relief valve 43, the oil pressure to the pretension cylinder 16 can be adjusted properly (the pressure can be set to support the telescopic boom 3 in an appropriate bending posture). .

  When the pretension switch 33 is turned on with the pretension cylinder control means (variable relief valve in FIG. 5) 43 set to a predetermined output in this way, the hydraulic oil pressure set by the variable relief valve 43 is set. The pretension cylinder 16 is reduced. The output of the pre-tension cylinder 16 at this time can support the telescopic boom 3 in an appropriate bending posture in the current boom use posture (boom length and boom undulation angle).

  Therefore, in the setting device (and setting method) of the first embodiment, even when the combination of the boom length and the boom undulation angle to be used is set freely when setting the boom deflection suppressing device, the current expansion and contraction is performed. The output of the pretension cylinder 16 can always be automatically set to an appropriate output (an output that can support the telescopic boom 3 in an appropriate bending posture) with respect to the posture of the boom 3. As described above, when the output of the pretension cylinder 16 can always be automatically set to an appropriate output with respect to the current posture of the telescopic boom 3 (boom length and boom undulation angle), the output is constant (invariable). As in the conventional example using a cylinder, the operation of adjusting the boom undulation angle for each boom length is not necessary, and an erroneous operation of setting an inappropriate boom undulation angle due to an operator's misunderstanding can be eliminated.

  In the setting device (and setting method) of the first embodiment, the boom posture can be changed even when the posture of the telescopic boom 3 is changed from a specific posture (boom length change or boom lift angle change). At the same time, since the selection means 81 automatically reselects the appropriate output of the pretension cylinder 16 from the data table of the data storage means 82, there is also a function that a special adjustment operation associated with the boom posture change is unnecessary. .

“Second Embodiment of FIGS. 6 to 7”
As shown in FIG. 6, the setting device of the second embodiment (FIG. 7) is applied when the jib 5 is added to the boom tip 3C by an arbitrary length. In the second embodiment, a luffing jib constituted by adding a required number of lattice type single jibs as the jib 5 is used. In this type of luffing jib 5, the length of each single boom is known in advance, and the total length of the jib 5 can be calculated according to how many single booms are added. In the example of FIG. 6, the luffing jib 5 is connected to the boom tip 3 </ b> C via the jib base 4.

  In the crane vehicle Z with the jib shown in FIG. 6, the tension rope is interposed between the tip of the jib 5 and the tension winch 57 provided on the swivel base 2 via two masts 53 and 54 provided on the jib base 4. The undulation angle of the jib 5 can be adjusted by tensioning 55 and 56 and winding or feeding the tension rope 56 on the proximal end side with a tension winch 57.

  By the way, as shown in FIG. 6, when the jib 5 is added to the boom tip 3C, it causes a bending amount to increase with respect to the telescopic boom 3 due to the load of the jib 5, and the added jib length and jib undulations. The bending action with respect to the telescopic boom 3 differs depending on the angle.

  In the setting device of the second embodiment (FIGS. 6 and 7), in addition to the configuration of the setting device of the first embodiment (FIG. 4), the length of the jib 5 added to the boom tip 3C is controlled by the controller. 8 includes a jib length setting means 51 for setting (inputting) 8 and a jib undulation angle detector 50 for detecting the undulation angle of the jib 5.

  The jib length setting means 51 (FIG. 7) is for inputting the length of the jib 5 added to the boom tip 3C directly to the controller 8 (selection means 81) using the input means.

  In this second embodiment, the jib undulation angle detector 50 employs the jib undulation angle detector 50 that directly detects the ground angle of the jib 5. In another embodiment, as the jib undulation angle detector, the tilt angle of the jib 5 with respect to the telescopic boom 3 may be detected. In that case, the dibutylt angle detected by the dibutylt angle detector and the boom undulation angle detection are detected. The ground angle of the jib 5 may be calculated by the controller 8 from the boom undulation angle detected by the device 32.

  In the setting device of the second embodiment, as shown in FIG. 7, the data table stored in the data storage means 82 provided in the controller 8 includes various boom lengths detected by the boom length detector 31. For each combination of various boom undulation angles detected by the boom undulation angle detector 32, various jib lengths set by the jib length setting means 51, and various jib undulation angles detected by the jib undulation angle detector 50. Each output value of the pretension cylinder 16 that can support the telescopic boom 3 in an appropriate bending posture is set. In addition, as shown in FIG. 7, each detection value detected by the boom length detector 31, the boom undulation angle detector 32, and the jib undulation angle detector 50 is data of AML (a crane vehicle overturn prevention device). Is always input to the controller 8.

  The setting device of the second embodiment functions as follows. That is, for example, in the boom use posture with jib shown in FIG. 6, after setting the length of the jib 5 joined to the boom tip 3C by the jib length setting means 51 (FIG. 7), the pretension switch 33 (FIG. 7) is set. ) Is turned on, the selection means 81 functions and the boom length data detected by the boom length detector 31 and the boom undulation angle detector 32 from the data table stored in the data storage means 82. The telescopic boom 3 can be supported in an appropriate bending posture based on the boom undulation angle data detected in step S1, the jib length set by the jib length setting means 51 and the jib undulation angle detected by the jib undulation angle detector 50. The output of the pretension cylinder 16 is called, and the output of the called pretension cylinder 16 is transmitted from the selection means 81 to the output means 83. Yonshirinda control means is adapted to set the 43 (variable relief valve of FIG. 5) to a predetermined output.

  Therefore, in the setting device of the second embodiment, the pretension cylinder 16 can be operated with an appropriate output that takes into account the length and undulation angle of the jib 5 added to the boom tip 3C. Even if the telescopic boom 3 is connected, the telescopic boom 3 can always be supported in an appropriate bending posture.

“Third Example of FIG. 8”
The setting device of the third embodiment shown in FIG. 8 is also applied to a boom tip 3C having an arbitrary length added to the boom tip 3C as shown in FIG. In this case, it is preferable to use a stretchable jib as the jib 5. In addition, when applying the setting apparatus of this 3rd Example, it replaces with the luffing jib 5 of FIG. 6 as a crane vehicle with a jib, and the thing using an expansion / contraction jib is applied.

  Thus, in the case of a telescopic jib, the jib length detector 52 (similar to the boom length detector 31 for detecting the telescopic boom length) can be used to recognize the total length of the jib 5; In the setting device of the third embodiment, a jib length detector 52 is used as shown in FIG. In the third embodiment (FIG. 8), the jib undulation angle detector 50 is used as in the second embodiment.

  Further, in the set device of the third embodiment, the data table stored in the data storage means 82 provided in the controller 8 includes various boom lengths detected by the boom length detector 31 and the boom undulation angle detector 32. The telescopic boom 3 is appropriately bent for each combination of the various boom undulation angles detected by the jib and the various jib lengths detected by the jib length detector 52 and the various jib undulation angles detected by the jib undulation angle detector 50. Each output value of the pretension cylinder 16 that can be supported in the posture is set.

  The setting device of the third embodiment functions as follows. That is, when the pretension switch 33 (FIG. 8) is turned on in a boom-use posture with a jib (for example, a telescopic jib is used as the jib in FIG. 6), the selection means 81 functions and the data storage means The boom length data detected by the boom length detector 31, the boom undulation angle data detected by the boom undulation angle detector 32, and the jib length detector 52 are detected from the data table stored in 82. Based on the measured jib length and the jib undulation angle detected by the jib undulation angle detector 50, the output of the pretension cylinder 16 capable of supporting the telescopic boom 3 in an appropriate bending posture is called. The output is transmitted from the selection means 81 to the output means 83, and the pretension cylinder control means (variable relief valve in FIG. 5) 4 by the output means 83. The is adapted to set a predetermined output.

  Therefore, in the setting device of the third embodiment, as in the second embodiment (FIGS. 6 and 7), the length and the undulation angle of the jib 5 in which the pretension cylinder 16 is added to the boom tip 3C are taken into account. Therefore, even with the telescopic boom 3 to which the jib 5 is added, the telescopic boom 3 can always be supported in an appropriate bending posture.

  1 is a vehicle, 2 is a swivel, 3 is a telescopic boom, 3A is a proximal boom, 3B is a distal boom, 4 is a jib base, 5 is a jib, 8 is a controller, 10 is a pretensioning device, 11 is a mast, 14 Is a tension rope, 15 is a tension winch, 16 is a pretension cylinder, 31 is a boom length detector, 32 is a boom hoisting angle detector, 33 is a pretension switch, 43 is a pretension cylinder control means (variable relief valve), 50 is a jib undulation angle detector, 51 is a jib length setting means, and 52 is a jib length detector.

Claims (6)

A tension rope incorporating a pretension cylinder is stretched between the distal end of the mast provided on the proximal boom of the telescopic boom and the distal end of the distal boom of the telescopic boom, and the tension rope is moderated by the pretension cylinder. In the boom bending suppression device in a working machine with a telescopic boom, which can support the telescopic boom in an appropriate bending posture by applying the tension of
A boom length detector for detecting the length of the telescopic boom, a boom hoisting angle detector for detecting the hoisting angle of the telescopic boom, and a controller for transmitting a control signal to the pretension cylinder, respectively.
Further, as the controller, the telescopic boom is supported in an appropriate bending posture for each combination of various boom lengths detected by the boom length detector and various boom undulation angles detected by the boom undulation angle detector. Using a data storage means for storing each output value of the obtained pretension cylinder as a data table;
Based on the boom length detected by the boom length detector and the boom undulation angle detected by the boom undulation angle detector, the telescopic boom is appropriately bent from the data table stored in the data storage means. The output value of the pretension cylinder that can be supported in the posture is selected, and the pretension cylinder is operated with the operating force corresponding to the selected output value.
A method for setting a boom deflection suppressing device in a working machine with a telescopic boom. In claim 1,
Employing a telescopic boom working machine that can add a jib to the tip of the tip of the telescopic boom by an arbitrary length,
Jib length setting means for setting the length of the jib added to the tip of the telescopic boom, and a jib undulation angle detector for detecting the undulation angle of the jib, respectively.
The data table stored in the data storage means provided in the controller includes various boom lengths detected by the boom length detector, various boom undulation angles detected by the boom undulation angle detector, and the jib length. Each output of the pretension cylinder capable of supporting the telescopic boom in an appropriate bending posture for each combination of various jib lengths set by the height setting means and various jib undulation angles detected by the jib undulation angle detector While setting the value,
The boom length detected by the boom length detector, the boom undulation angle detected by the boom undulation angle detector, the jib length set by the jib length setting means, and the jib undulation angle detector Based on the jib undulation angle, an output value of a pretension cylinder capable of supporting the telescopic boom in an appropriate bending posture is selected from the data table stored in the data storage means.
A method for setting a boom deflection suppressing device in a working machine with a telescopic boom. In claim 1,
Employing a telescopic boom working machine that can add a jib to the tip of the tip of the telescopic boom by an arbitrary length,
A jib length detector for detecting the length of the jib joined to the tip of the telescopic boom, and a jib undulation angle detector for detecting the undulation angle of the jib, respectively.
The data table stored in the data storage means provided in the controller includes various boom lengths detected by the boom length detector, various boom undulation angles detected by the boom undulation angle detector, and the jib length. Each output of the pretension cylinder capable of supporting the telescopic boom in an appropriate bending posture for each combination of various jib lengths detected by the height detector and various jib undulation angles detected by the jib undulation angle detector While setting the value,
The boom length detected by the boom length detector, the boom undulation angle detected by the boom undulation angle detector, the jib length detected by the jib length detector, and the jib undulation angle detector Based on the jib undulation angle, an output value of a pretension cylinder capable of supporting the telescopic boom in an appropriate bending posture is selected from the data table stored in the data storage means.
A method for setting a boom deflection suppressing device in a working machine with a telescopic boom. A tension rope incorporating a pretension cylinder is stretched between the distal end of the mast provided on the proximal boom of the telescopic boom and the distal end of the distal boom of the telescopic boom, and the tension rope is moderated by the pretension cylinder. In the boom bending suppression device in a working machine with a telescopic boom, which can support the telescopic boom in an appropriate bending posture by applying the tension of
A boom length detector for detecting the length of the telescopic boom, a boom hoisting angle detector for detecting the hoisting angle of the telescopic boom, and a controller for transmitting a control signal to the pretension cylinder. While
The controller supports the telescopic boom in an appropriate bending posture for each combination of various boom lengths detected by the boom length detector and various boom undulation angles detected by the boom undulation angle detector. Data output means for storing each output value of the obtained pretension cylinder as a data table, and the current boom length and boom undulation angle detected by the boom length detector and the boom undulation angle detector, respectively. A selection means for selecting an output value of the pretension cylinder capable of supporting the telescopic boom in an appropriate bending posture from a data table stored in the data storage means, and an output value selected by the selection means Output means for outputting the operating force corresponding to the pre-tension cylinder control means,
A set device for a boom deflection suppressing device in a working machine with a telescopic boom. In claim 4,
Employing a telescopic boom working machine that can add a jib to the tip of the tip of the telescopic boom by an arbitrary length,
Jib length setting means for setting the length of the jib added to the tip of the telescopic boom, and a jib undulation angle detector for detecting the undulation angle of the jib, respectively.
The data table stored in the data storage means provided in the controller includes various boom lengths detected by the boom length detector, various boom undulation angles detected by the boom undulation angle detector, and the jib length. Each output of the pretension cylinder capable of supporting the telescopic boom in an appropriate bending posture for each combination of various jib lengths set by the height setting means and various jib undulation angles detected by the jib undulation angle detector Value is set,
A set device for a boom deflection suppressing device in a working machine with a telescopic boom. In claim 4,
Employing a telescopic boom working machine that can add a jib to the tip of the tip of the telescopic boom by an arbitrary length,
A jib length detector for detecting the length of the jib joined to the tip of the telescopic boom, and a jib undulation angle detector for detecting the undulation angle of the jib, respectively.
The data table stored in the data storage means provided in the controller includes various boom lengths detected by the boom length detector, various boom undulation angles detected by the boom undulation angle detector, and the jib length. Each output of the pretension cylinder capable of supporting the telescopic boom in an appropriate bending posture for each combination of various jib lengths detected by the height detector and various jib undulation angles detected by the jib undulation angle detector Value is set,
A set device for a boom deflection suppressing device in a working machine with a telescopic boom.

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