JP2018199542A - crane - Google Patents

Abstract

To provide a crane with simple configuration capable of detecting an erroneous selection of a winch by an operator.SOLUTION: In the crane to lift and convey a suspended load, a control device: determines whether or not a suspended load work cycle including a series of works on the suspended load is carried out, on the basis of a hydraulic pressure value of a derricking cylinder obtained from a one-side hydraulic pressure sensor for derricking and the other-side hydraulic pressure sensor for derricking; acquires operation states of a main winch and a sub winch in the suspended load work cycle from an operation position detector for main and an operation position detector for sub when it is determined that the suspended load work cycle is carried out; determines whether or not the winch acquired from a safety device and corresponding to the type of a work selected by an operator is operated in the suspended load work cycle; and determines that the type of the work selected by the operator is a mistake when it is determined that the winch is not operated.SELECTED DRAWING: Figure 11

Description

  The present invention relates to a crane, and more particularly to a technique for detecting an erroneous selection of a winch in a crane having a plurality of winches.

  Conventionally, a crane is provided with a safety device for preventing the crane from overturning and preventing the wire rope from being overloaded. In particular, a safety device in a crane having a plurality of winches is configured such that an operator can select which winch to perform using a button, a switch, a touch panel, or the like (see, for example, Patent Document 1). .

  However, since the safety device as described above is premised on the selection of work by the operator, that is, the selection of the winch is correct, the conventional crane is provided with a function for detecting an erroneous selection of the winch by the operator. Therefore, there is a possibility that the winch selected by the operator is different from the winch used in the actual work.

  As a method of detecting an erroneous selection of the winch by the operator, the tension of the wire rope calculated from the pressure of the hydraulic oil supplied to the hydraulic motor of the winch and the items set in the safety device (for example, winding of the wire rope) It is conceivable that an erroneous selection of the winch is detected based on a difference from the tension of the wire rope calculated from the number, the pressure of the undulating cylinder, and the like. However, since a plurality of hydraulic sensors are necessary and the tension of the wire rope needs to be calculated, it is disadvantageous in that the configuration becomes complicated.

JP 2011-105511 A

  An object of the present invention is to provide a crane capable of detecting an erroneous selection of a winch by an operator with a simple configuration.

  A first aspect of the present invention includes a hydraulic pump that discharges hydraulic oil, a hydraulic cylinder that raises and lowers a boom by the hydraulic oil discharged from the hydraulic pump, and a hydraulic sensor for a cylinder that detects a hydraulic pressure value of the hydraulic cylinder One of the plurality of winches that are operated by the hydraulic oil discharged from the hydraulic pump and that winds and lowers the wire rope, detection means that detects an operating state of the plurality of winches, and the plurality of winches Connected to the safety device configured to be able to input the type of work using the cylinder, the cylinder hydraulic sensor, the detecting means and the safety device, and input to the safety device based on information acquired from them A control device for making a determination regarding selection of a winch corresponding to the type of work, and a crane for lifting and transporting a predetermined suspended load. The control device determines whether or not a suspended work cycle, which is a series of operations for the suspended load, has been performed based on a hydraulic pressure value of the hydraulic cylinder acquired from the cylinder hydraulic sensor. When it is determined that the suspended load work cycle has been performed, the operating states of the plurality of winches in the suspended load work cycle are acquired from the detection means and input from the safety device to the safety device. It is determined whether or not the winch corresponding to the type of work has been activated in the suspended work cycle. If it is determined that the winch has not been activated, it is determined that the type of work input to the safety device is an error.

  According to a second aspect of the present invention, in the above crane, the pump is configured to detect a pressure of hydraulic oil discharged from the hydraulic pump, and further includes a pump hydraulic sensor connected to the control device, The control device determines whether any of the plurality of winches independently wound up the wire rope in the suspension work cycle from the operating state of the plurality of winches in the suspension work cycle acquired from the detection means. If it is determined that the winch has been wound up by itself, the winch obtained from the safety device matches the winch corresponding to the type of work input to the safety device. If they do not match, the hydraulic oil pressure obtained from the pump hydraulic sensor is Is smaller than the threshold value, or when the pressure of the hydraulic oil acquired from the pump hydraulic sensor is equal to or greater than the predetermined threshold value for less than a predetermined time, the type of work input to the safety device is When it is determined that the hydraulic oil pressure obtained from the pump hydraulic sensor is equal to or higher than the predetermined threshold and continues for the predetermined time or longer, the type of work input to the safety device is incorrect. Is determined.

  According to the first aspect of the present invention, based on a change in the hydraulic pressure of the hydraulic cylinder, it is determined whether or not a suspended work cycle that is a series of operations for a suspended load has been performed. Compare the activated winch with the winch corresponding to the type of work entered into the safety device. Thereby, it is possible to detect an erroneous selection of the winch by the operator with a simple configuration.

  According to the second aspect of the present invention, when the winch that has wound the wire rope alone in the suspended load work cycle does not match the winch that corresponds to the type of work input to the safety device, the predetermined condition is satisfied. Only below is it determined that the type of work entered into the safety device is incorrect. This makes it possible to detect an erroneous selection of the winch by the operator with low cost and high accuracy.

The side view showing the whole crane composition concerning one embodiment of the present invention. The side view which shows the front-end | tip part of the boom of the crane which concerns on one Embodiment of this invention. The figure which shows the cockpit of the crane which concerns on one Embodiment of this invention. (A) The figure which shows the display screen in the safety device of the crane which concerns on one Embodiment of this invention, (b) The figure which shows the display screen which similarly sets the kind of work. The figure which shows the hydraulic circuit for main winches of the crane which concerns on one Embodiment of this invention. The figure which shows the hydraulic circuit for sub winches of the crane which concerns on one Embodiment of this invention. The figure which shows the hydraulic circuit for the hoisting cylinder of the crane which concerns on one Embodiment of this invention. The figure which shows the structure of the control apparatus of the crane which concerns on one Embodiment of this invention. The figure which shows the method of calculating a suspended load from the undulation thrust and the state of a boom in the crane which concerns on one Embodiment of this invention. The figure which shows a suspended load work cycle. The figure which shows the 1st determination by a control apparatus. The figure which shows another form of the hydraulic circuit for main winches. The figure which shows the 2nd determination by a control apparatus.

  Below, with reference to FIGS. 1-4, the crane 1 which is one Embodiment of the crane which concerns on this invention is demonstrated. In addition, the crane 1 which concerns on this embodiment is a mobile crane which can move to arbitrary places. However, the present invention is not limited thereto, and may be a crane including a boom raised and lowered by a hydraulic cylinder and a plurality of hydraulic winches.

  As shown in FIG. 1, the crane 1 includes a vehicle 2 and a crane device 6.

  The vehicle 2 conveys the crane device 6. The vehicle 2 has a plurality of wheels 3 and travels using an engine 4 (see FIG. 5) as a power source. The vehicle 2 is provided with an outrigger 5. The outrigger 5 has a projecting beam that can be extended by hydraulic pressure on both sides in the width direction of the vehicle 2 and a hydraulic jack cylinder that can extend in a direction perpendicular to the ground. The vehicle 2 can extend the workable range of the crane 1 by extending the protruding beam of the outrigger 5 to both sides in the width direction of the vehicle 2 and grounding the jack cylinder.

  The crane apparatus 6 lifts the suspended load W with a wire rope. The crane device 6 includes a swivel base 7, a telescopic boom 8, a jib 13, a main hook block 14, a sub hook block 15, a hoisting cylinder 16, a main winch 17, a sub winch 18, a main wire rope 19, a sub wire rope 20, and a cabin 21. And a safety device 23 (see FIG. 3).

  The swivel base 7 is configured to be able to swivel the crane device 6. The swivel base 7 is provided on the frame of the vehicle 2 via an annular bearing. The annular bearing is arranged such that the center of rotation is perpendicular to the installation surface of the vehicle 2. The swivel base 7 is configured to be rotatable about the center of the annular bearing as a rotation center. The swivel base 7 is configured to be rotated by a hydraulic swivel motor (not shown).

  The telescopic boom 8 is a boom that supports the wire rope so that the suspended load W can be lifted. The telescopic boom 8 includes a plurality of boom members, that is, a base boom member 8a, a second boom member 8b, a third boom member 8c, a force boom member 8d, a fifth boom member 8e, and a top boom member 8f. The plurality of boom members are formed in a cylindrical shape having polygonal cross sections similar to each other. The plurality of boom members are formed such that other boom members can be inserted into one boom member in descending order of the cross-sectional area. That is, the top boom member 8f having the smallest cross-sectional area is formed so as to be insertable into the fifth boom member 8e having the next largest cross-sectional area after the top boom member 8f. The fifth boom member 8e is formed so as to be insertable inside a force boom member 8d having the next largest cross-sectional area after the fifth boom member 8e. Thus, the telescopic boom 8 has a cross-sectional area of the second boom member 8b, the third boom member 8c, the force boom member 8d, the fifth boom member 8e, and the top boom member 8f inside the base boom member 8a having the largest sectional area. Nested in the descending order.

  The telescopic boom 8 can move the second boom member 8b, the third boom member 8c, the force boom member 8d, the fifth boom member 8e, and the top boom member 8f in the axial direction of the telescopic boom 8 with respect to the base boom member 8a. It is configured. That is, the telescopic boom 8 is configured to be telescopic by moving each boom member with an unillustrated telescopic cylinder. The telescopic boom 8 is provided so that the base end of the base boom member 8 a can swing on the swivel base 7. Thus, the telescopic boom 8 is configured to be horizontally rotatable on the frame of the vehicle 2. Further, the telescopic boom 8 is configured to be swingable about the base end of the base boom member 8 a with respect to the swivel base 7.

  As shown in FIG. 2, a main guide sheave 9, a sub guide sheave 10, a plurality of main sheaves 11, and a sub sheave 12 are provided at the tip of the top boom member 8 f of the telescopic boom 8. The main guide sheave 9 on which the main wire rope 19 is wound and the sub guide sheave on which the sub wire rope 20 is wound are wound on the rear side (the side surface on the swinging direction side when the telescopic boom 8 stands) of the top boom member 8f. 10 are rotatably provided. The sub sheave 12 and the main wire rope 19 around which the sub wire rope 20 is wound in order from the front end side are provided on the stomach side (the side opposite to the swinging direction when the telescopic boom 8 is raised) of the top boom member 8f. A plurality of main sheaves 11 to be wound are rotatably provided. A jib support 8g is provided at the tip of the top boom member 8f. The telescopic boom 8 includes a boom length detection sensor 56 (see FIG. 8) for detecting the boom length L (see FIG. 9) and a undulation angle detection sensor 57 (see FIG. 9) for detecting the undulation angle θ (see FIG. 9). 8).

  As shown in FIG. 1, the jib 13 expands the lift and work radius of the crane device 6. The jib 13 is held in a posture along the top boom member 8f by a jib support portion 8g provided on the top boom member 8f of the telescopic boom 8. The base end of the jib 13 is configured to be connectable to the jib support portion 8g of the top boom member 8f. The jib 13 is configured to be connectable to the tip of the top boom member 8f of the telescopic boom 8 by driving a pin (not shown) into the jib support portion 8g.

The main hook block 14 is a member for hanging the suspended load W. The main hook block 14 is provided with a main hook 14a hooked on the suspended load W and a plurality of hook sheaves 14b around which the main wire rope 19 is wound.
The sub hook block 15 is a member for hanging the suspended load W. The sub hook block 15 is provided with a sub hook 15 a that is hooked on the suspended load W.

  The raising / lowering cylinder 16 raises and lowers the telescopic boom 8 to maintain the posture of the telescopic boom 8. The hoisting cylinder 16 is a hydraulic cylinder including a cylinder portion and a rod portion. The hoisting cylinder 16 is configured such that the moving direction of the rod portion is switched by selectively supplying hydraulic oil to the head side oil chamber 16a (see FIG. 7) and the rod portion side oil chamber 16b (see FIG. 7). Yes. In the hoisting cylinder 16, the end of the cylinder portion is swingably connected to the swivel base 7, and the end of the rod portion is swingably connected to the base boom member 8 a of the telescopic boom 8. As a result, the hoisting cylinder 16 elevates the base boom member 8a by supplying hydraulic oil so that the rod portion is pushed out of the cylinder portion, and is supplied with hydraulic oil so that the rod portion is pushed back to the cylinder portion. Thus, the base boom member 8a is configured to fall down.

  The main winch 17 is a hydraulic winch that feeds (winds up) and feeds (winds down) the main wire rope 19. The main winch 17 is configured such that a main drum 17b (see FIG. 5) around which a main wire rope 19 is wound is rotated by a main hydraulic motor 17a (see FIG. 5). The main winch 17 feeds out the main wire rope 19 wound around the main drum 17b by supplying hydraulic oil so that the main hydraulic motor 17a rotates in one direction, and the main hydraulic motor 17a moves in the other direction. The hydraulic oil is supplied so as to rotate so that the main wire rope 19 is wound around the main drum 17b and fed.

  The sub winch 18 is a hydraulic winch that feeds (winds up) and feeds (winds down) the sub wire rope 20. The sub winch 18 is configured such that a sub drum 18b (see FIG. 6) around which the sub wire rope 20 is wound is rotated by a sub hydraulic motor 18a (see FIG. 6). The sub winch 18 feeds the sub wire rope 20 wound around the sub drum 18b by supplying hydraulic oil so that the sub hydraulic motor 18a rotates in one direction, and the sub hydraulic motor 18a rotates in the other direction. In this way, the hydraulic oil is supplied so that the sub wire rope 20 is wound around the sub drum 18b and fed.

The main wire rope 19 is wound around the main sheave 11 and the plurality of hook sheaves 14b from the main winch 17 through the main guide sheave 9 (see FIG. 2). The end of the main wire rope 19 is fixed to the top boom member 8f.
The sub wire rope 20 is connected to the sub hook block 15 from the sub winch 18 through the sub guide sheave 10 and the sub sheave 12.

The cabin 21 covers the cockpit 22 (see FIG. 3). The cabin 21 is provided on the side of the telescopic boom 8 in the swivel base 7. A cockpit 22 is provided inside the cabin 21.
As shown in FIG. 3, the cockpit 22 has a main operation tool 22 a for operating the main winch 17, a sub operation tool 22 b for operating the subwinch 18, and a undulation for operating the telescopic boom 8. An operation tool 22c, a handle 22d for moving the crane 1, an alarm buzzer 22e as a notification means, and a safety device 23 are provided.

  As shown in FIG. 4A, the safety device 23 includes a display monitor such as a touch panel, and is configured so that an operator can make various settings from the display screen of the display monitor. On the display screen of the display monitor, the boom length L of the telescopic boom 8 and the undulation angle θ of the telescopic boom 8 are displayed. Further, on the display screen of the display monitor, load information, a turning position, the number of windings of the main wire rope 19 and the like are displayed.

As shown in FIG. 4B, the safety device 23 is configured to be able to set a work type WT as one of various settings by the operator. The types of work WT include a main hook work that uses the main hook 14a in the telescopic boom 8 by operating the main winch 17, a sub hook work that uses the sub hook 15a in the telescopic boom 8 by operating the sub winch 18, And jib work using the subhook 15a in the jib 13 attached to the telescopic boom 8 by operating the winch 18.
The safety device 23 is configured such that one of a main hook operation, a sub hook operation, and a jib operation can be selected by an operator via the display screen of the display monitor. In other words, the safety device 23 is configured such that the operator can select a winch to be operated among the main winch 17 and the sub winch 18.

  The crane 1 configured as described above can move the crane device 6 to an arbitrary position by running the vehicle 2. Moreover, the crane 1 raises the telescopic boom 8 at an arbitrary hoisting angle by the hoisting cylinder 16, extends the telescopic boom 8 to an arbitrary boom length, or connects the jib 13, thereby lifting the lift of the crane device 6. And work radius can be expanded. Further, the crane 1 can select whether to use the main winch 17 or the sub winch 18 according to the weight of the suspended load W and a desired lifting speed.

  Below, with reference to FIGS. 5-7, the hydraulic circuit regarding the hoisting cylinder 16, the main winch 17, and the sub winch 18 which the crane 1 comprises is demonstrated.

  As shown in FIGS. 5 to 7, the hydraulic circuit includes a hydraulic pump 25 in which driving force from the engine 4 is transmitted, a main hydraulic circuit 28 (see FIG. 5), and a sub hydraulic circuit 37 (see FIG. 6). A hydraulic circuit 46 for undulation (see FIG. 7), and a control device 54.

  The hydraulic pump 25 discharges hydraulic oil. The hydraulic pump 25 is driven by the engine 4. The hydraulic oil discharged from the hydraulic pump 25 is supplied to the main hydraulic circuit 28, the sub hydraulic circuit 37, and the undulating hydraulic circuit 46. A relief valve 27 is provided in the discharge oil passage 26 of the hydraulic pump 25.

  As shown in FIG. 5, the main hydraulic circuit 28 operates the main winch 17. The main hydraulic circuit 28 includes a main hydraulic motor 17a, a main operation tool 22a, a main pilot type switching valve 29, a main counter balance valve 32, and a main operation position detector 36.

  The main hydraulic motor 17 a rotates the main drum 17 b of the main winch 17. The main hydraulic motor 17a is configured to interlock with the main drum 17b. The main hydraulic motor 17a rotates the main drum 17b in a direction in which the main wire rope 19 is retracted when hydraulic oil is supplied to the retracting plunger. The main hydraulic motor 17a rotates the main drum 17b in the direction in which the main wire rope 19 is fed when hydraulic oil is supplied to the feeding-side plunger.

  The main operation tool 22 a is formed in a lever shape that can be operated by an operator, and controls the operation of the main winch 17. The main operation tool 22a includes a switching valve capable of switching a pilot pressure applied to the main pilot-type switching valve 29 by an operation from the outside. The main operation tool 22a is supplied with hydraulic oil so that pilot pressure is applied from a pressure source. In the present embodiment, the main operation tool 22a is configured as a lever, but is not limited to this as long as it can be operated by an operator, and may be configured as, for example, a button.

  The main pilot type switching valve 29 switches the direction of the hydraulic oil supplied to the main hydraulic motor 17a. A hydraulic pump 25 is connected to a supply port of the main pilot type switching valve 29 via a discharge oil passage 26. A plunger on the feeding side of the main hydraulic motor 17 a is connected to one port of the main pilot-type switching valve 29 via the main one-side oil passage 30. The other port of the main pilot-type switching valve 29 is connected to the supply side plunger of the main hydraulic motor 17a via the main other side oil passage 31.

  When the pilot pressure is not applied, the main pilot-type switching valve 29 closes the main one-side oil passage 30 and the main other-side oil passage 31. Thereby, the rotation position of the main hydraulic motor 17a is maintained. When a pilot pressure is applied to the main pilot type switching valve 29 so that one port is opened, the hydraulic oil from the hydraulic pump 25 passes through the main one-side oil passage 30 and the main hydraulic motor 17a. Is supplied to the plunger on the feeding side. Thereby, the main hydraulic motor 17a is rotated in the direction in which the main wire rope 19 is fed. When a pilot pressure is applied to the main pilot type switching valve 29 so that the other port is opened, the hydraulic oil from the hydraulic pump 25 is supplied to the main hydraulic motor 17a via the main other side oil passage 31. Is supplied to the plunger on the feeding side. Thereby, the main hydraulic motor 17a is rotated in the direction in which the main wire rope 19 is fed out.

  The main counter balance valve 32 prevents the main hydraulic motor 17a from being rotated by a load applied to the main wire rope 19. The main counter balance valve 32 is provided in the main one-side oil passage 30. The main counter balance valve 32 allows the flow of hydraulic oil discharged from the feeding side plunger of the main hydraulic motor 17a only when the working oil is supplied to the feeding side plunger of the main hydraulic motor 17a. .

  The main operation position detector 36 detects the operation position of the main operation tool 22a. The main operation position detector 36 includes a neutral position that is an operation position where the main winch 17 is not operated, a winding position that is an operation position where the main winch 17 is operated so that the main wire rope 19 is wound up, and a main wire rope. It is configured to detect a lowering position, which is an operation position at which the main winch 17 operates so that 19 can be lowered. That is, the main operation position detector 36 functions as detection means for detecting the operating state of the main winch 17.

  In the crane 1 having the main hydraulic circuit 28 configured as described above, the flow of hydraulic oil supplied to the main hydraulic motor 17a by operating the main pilot type switching valve 29 by the main operation tool 22a. Switch. Thereby, the crane 1 can freely carry in and let out the main wire rope 19 with the main winch 17 by operation of the main operation tool 22a.

As shown in FIG. 6, the sub hydraulic circuit 37 operates the sub winch 18. The sub hydraulic circuit 37 includes a sub hydraulic motor 18a, a sub operation tool 22b, a sub pilot switching valve 38, a sub counter balance valve 41, and a sub operation position detector 45.
The sub operation position detector 45 detects the operation position of the sub operation tool 22b. The sub operation position detector 45 includes a neutral position where the sub winch 18 does not operate, a winding position where the sub winch 18 operates so that the sub wire rope 20 can be wound up, and a sub wire rope. It is configured to detect a lowering position that is an operation position in which the sub winch 18 operates so that 20 can be lowered. That is, the sub operation position detector 45 functions as detection means for detecting the operating state of the sub winch 18.
Note that the configuration and operation mode of the sub hydraulic circuit 37 are substantially the same as those of the main hydraulic circuit 28, and thus detailed description thereof is omitted.

  In the crane 1 having the sub hydraulic circuit 37 configured as described above, the sub pilot-type switching valve 38 is operated by the sub operating tool 22b to flow the hydraulic oil supplied to the sub hydraulic motor 18a. Switch. Thereby, the crane 1 can freely move the sub wire rope 20 in and out by the sub winch 18 by operating the sub operation tool 22b.

  As shown in FIG. 7, the undulation hydraulic circuit 46 operates the undulation cylinder 16. The hoisting hydraulic circuit 46 includes the hoisting cylinder 16, the hoisting operation tool 22c, the hoisting pilot-type switching valve 47, the hoisting counter balance valve 50, the hoisting one side hydraulic sensor 51, the hoisting other hydraulic sensor 52, and the hoisting The operation position detector 53 is provided.

  The hoisting operation tool 22 c is operated by an operator and controls the operation of the hoisting cylinder 16. The hoisting operation tool 22c includes a switching valve capable of switching a pilot pressure applied to the hoisting pilot type switching valve 47 by an operation from the outside. Hydraulic fluid is supplied to the hoisting operation tool 22c so that a pilot pressure is applied from a pressure source.

  The hoisting pilot type switching valve 47 switches the direction of the hydraulic oil supplied to the hoisting cylinder 16. The hydraulic pump 25 is connected to the supply port of the hoisting pilot type switching valve 47 via the discharge oil passage 26. The head side oil chamber 16 a of the hoisting cylinder 16 is connected to one port of the hoisting pilot type switching valve 47 through the hoisting one side oil passage 48. The other port of the hoisting pilot switching valve 47 is connected to the rod portion side oil chamber 16 b of the hoisting cylinder 16 through the hoisting other side oil passage 49.

  When the pilot pressure is not applied to the hoisting pilot type switching valve 47, the hoisting one side oil passage 48 and the hoisting other side oil passage 49 are closed. Thereby, the position of the rod part of the hoisting cylinder 16 is maintained. When the pilot pressure is applied so that one port is opened, the raising / lowering pilot-type switching valve 47 allows the hydraulic oil from the hydraulic pump 25 to pass through the raising / lowering one-side oil passage 48 and the head of the raising / lowering cylinder 16. It is supplied to the side oil chamber 16a. Thereby, as for the hoisting cylinder 16, a rod part is extruded from a cylinder part so that the expansion-contraction boom 8 may be stood up. When the pilot pressure is applied so that the other port is opened, the hoisting pilot type switching valve 47 allows the hydraulic oil from the hydraulic pump 25 to pass through the hoisting other side oil passage 49 to the rod of the hoisting cylinder 16. It is supplied to the section side oil chamber 16b. Thereby, as for the raising / lowering cylinder 16, a rod part is pushed back by a cylinder part so that the expansion-contraction boom 8 may be laid down.

  The hoisting counterbalance valve 50 prevents the rod portion of the hoisting cylinder 16 from being pushed back by a load applied to the telescopic boom 8. The hoisting counterbalance valve 50 is provided in the hoisting one side oil passage 48. The hoisting counter balance valve 50 allows the flow of the working oil discharged from the head side oil chamber 16a of the hoisting cylinder 16 only when the working oil is supplied to the rod side oil chamber 16b of the hoisting cylinder 16.

  The undulating one side hydraulic sensor 51 and the undulating other side hydraulic sensor 52 detect the value of the hydraulic pressure. The hoisting one-side hydraulic sensor 51 is configured to detect the pressure in the head-side oil chamber 16a of the hoisting cylinder 16. The other hydraulic pressure sensor 52 for undulation is configured to detect the pressure in the rod side oil chamber 16 b of the undulation cylinder 16.

  The hoisting operation position detector 53 detects the operation position of the hoisting operation tool 22c. The raising / lowering operation position detector 53 includes a neutral position that is an operation position where the telescopic boom 8 does not operate, an upright position that is an operation position for raising the telescopic boom 8, and a lying position that is an operation position for causing the telescopic boom 8 to fall down. Is configured to detect.

  In the crane 1 including the hoisting hydraulic circuit 46 configured as described above, the hoisting pilot type switching valve 47 is operated by the hoisting operation tool 22c to switch the flow of the hydraulic oil supplied to the hoisting cylinder 16. . Thereby, the crane 1 can freely raise and lower the telescopic boom 8 by the hoisting cylinder 16 by operating the hoisting operation tool 22c.

  Below, the control apparatus 54 is demonstrated with reference to FIGS. 8-11.

  As shown in FIG. 8, the control device 54 includes the safety device 23, the main operation position detector 36, the sub operation position detector 45, the undulation one side hydraulic sensor 51, the undulation other side hydraulic sensor 52, and the undulation. The operation position detector 53 is electrically connected. The control device 54 is configured to acquire various information from the connected devices, process them, and output them to the safety device 23.

  The control device 54 can acquire the work type WT input by the operator from the safety device 23.

  The control device 54 can acquire the operation position of the main operation tool 22a from the main operation position detector 36, that is, any of the neutral position, the hoisting position, and the lowering position.

  The control device 54 can acquire the operation position of the sub operation tool 22b from the sub operation position detector 45, that is, any of the neutral position, the hoisting position, and the lowering position.

  The control device 54 is connected to the hoisting operation position detector 53, and acquires the operation position of the hoisting operation tool 22c from the hoisting operation position detector 53, that is, any of the neutral position, the standing position, or the lying position. be able to.

  The control device 54 acquires the hydraulic pressure value of the head side oil chamber 16a of the hoisting cylinder 16 from the hoisting one side hydraulic sensor 51, and the hydraulic pressure of the rod portion side oil chamber 16b of the hoisting cylinder 16 from the hoisting other side hydraulic sensor 52. Can be obtained.

  The control device 54 is connected to the boom length detection sensor 56 and the undulation angle detection sensor 57, acquires the boom length L (see FIG. 9) from the boom length detection sensor 56, and the undulation angle from the undulation angle detection sensor 57. θ (see FIG. 9) can be acquired.

Based on the suspended load P, the control device 54 determines whether or not a series of operations on the suspended load W in the crane 1, that is, a cycle of a ground cutting process → a suspended process → a release process has been performed. The suspended load P is the weight of the suspended load W calculated from the undulation thrust TH and information about the telescopic boom 8 (boom length L, undulation angle θ, etc.).
In the present invention, the cycle of the ground cutting process → the suspended process → the release process, which is a series of operations for the suspended load W, is referred to as a “suspended work cycle”.

  Here, the calculation method of the suspended load P is demonstrated using FIG. In the present embodiment, the calculation of the suspended load P is described for the case where the suspended load W is suspended only by the telescopic boom 8.

In calculating the suspended load P, the control device 54 first obtains the hydraulic pressure value of the head side oil chamber 16a of the hoisting cylinder 16 obtained from the hoisting one side hydraulic sensor 51 and the hoisting other side hydraulic sensor 52. Based on the hydraulic pressure value of the rod-side oil chamber 16b of the undulating cylinder 16, the undulating thrust TH (see the white arrow in FIG. 9) is calculated.
Subsequently, the control device 54 calculates the calculated undulation thrust TH, the center of gravity C of the telescopic boom 8 representing the shape and posture of the telescopic boom 8, the weight M of the telescopic boom 8, the boom length L of the telescopic boom 8, and the telescopic boom. On the basis of the undulation angle θ of 8, the suspended load P (see the black arrow in FIG. 9) is calculated.

Based on the suspended load P calculated as described above, the control device 54 determines whether or not an suspended work cycle (ground cutting process → suspending process → release process) has been performed.
In the present embodiment, the suspended load P is calculated from the hydraulic value of the head side oil chamber 16a of the hoisting cylinder 16 obtained from the hoisting one side hydraulic sensor 51 and the hoisting cylinder obtained from the hoisting other side hydraulic sensor 52. 16 is calculated from the center of gravity position C, weight M, boom length L, and undulation angle θ of the telescopic boom 8 based on the hydraulic pressure value of the 16 rod portion side oil chamber 16b, but is not limited to this, and at least the hydraulic pressure What is necessary is just to calculate based on the hydraulic pressure value of the undulation cylinder acquired from the sensor.

  As shown in FIG. 10, in the suspended load work cycle, first, the suspended load P gradually increases from the initial value as the wire rope is wound up (ground cutting process), and then the suspended load W is completely lifted. After the suspended load P becomes constant, the suspended load W comes into contact with the ground as the wire rope is lowered, and the suspended load P gradually decreases (suspending process). The suspended load P returns to the initial value when W is completely placed on the ground (release process).

When the state where the suspended load P is equal to or greater than a predetermined value continues for a predetermined time or longer, the control device 54 determines that the grounding process for the suspended load W has been performed. In addition, the determination method of the said earth cutting process is not limited, It is also possible to determine based on the increase amount of the suspended load P per unit time.
Next, when the suspended load P is in a substantially constant state for a predetermined time or more and then the suspended load P is not more than a predetermined value for a predetermined time or longer, the control device 54 performs the suspension process of the suspended load W. Determine that it was done. In addition, the determination method of the suspension process is not limited, and the determination is based on the amount of decrease of the suspended load P per unit time after the suspended load P has been substantially constant for a predetermined time or longer. Is also possible.
Finally, when the suspended load P returns to the initial value and the state continues for a predetermined time or more, the control device 54 determines that the suspended load W release process has been performed.
As described above, the control device 54 determines based on the suspended load P whether or not the suspended work cycle has been performed.

  The control device 54 determines that the type of winch actually operated in the above-described suspension work cycle is the type of work WT (main hook work, sub-hook work, and jib work) selected in advance by the operator via the safety device 23. It is determined whether or not it matches the winch type corresponding to. Note that the type of winch operated in the suspended work cycle is acquired from the main operation position detector 36 and the sub operation position detector 45, and the main operation tool 22a and the sub operation tool 22b in the suspended load work cycle. This can be determined based on the operation position.

  As shown in FIG. 11, when the main hook operation for operating the main winch 17 is selected as the operation type WT by the operator, the control device 54 is the only winch operated during the suspended work cycle. In this case, it is determined that there is no abnormality because the type of winch selected in advance matches the type of winch actually operated in the lifting work cycle. On the other hand, when the winch used during the suspension work cycle is only the sub-winch 18, the control device 54 has the wrong work type WT preselected by the operator, that is, the winch of the pre-selected winch. It is determined that the type is different from the type of winch actually operated in the suspended work cycle. In addition, when the winch operated during the suspension work cycle is both the main winch 17 and the sub winch 18, the control device 54 cannot determine which winch has performed the suspension work cycle, and therefore determines that there is no abnormality. To do.

  When the sub-hook operation or the jib operation for operating the sub-winch 18 as the operation type WT is selected by the operator, the control device 54 is used when the main winch 17 is the only winch used during the lifting operation cycle. It is determined that the type of work WT selected in advance is incorrect, that is, the type of winch selected in advance is different from the type of winch actually operated in the lifting work cycle. On the other hand, when the winch used during the suspension work cycle is only the sub-winch 18, the control device 54 matches the type of winch selected in advance with the type of winch actually operated in the suspension work cycle. It is determined that there is no abnormality. In addition, when the winch operated during the suspension work cycle is both the main winch 17 and the sub winch 18, the control device 54 cannot determine which winch has performed the suspension work cycle, and therefore determines that there is no abnormality. To do.

  As described above, the control device 54 obtains the operation positions of the main operation tool 22a and the sub operation tool 22b in the hanging work cycle obtained from the main operation position detector 36 and the sub operation position detector 45, and Based on the work type WT acquired from the safety device 23, whether or not the winch type actually operated in the suspended work cycle matches the winch type corresponding to the work type WT selected in advance by the operator Determine whether. This can be realized without providing various devices to the conventional crane. Therefore, the crane 1 can detect an erroneous selection of the winch by the operator with a simple configuration.

  The control device 54 stores or outputs information on the detected error. Thereby, the life of the main wire rope 19 and the sub wire rope 20 can be calculated with high accuracy using the detected error information.

The hydraulic circuit (see FIGS. 5 to 7) relating to the hoisting cylinder 16, the main winch 17 and the sub winch 18 included in the crane 1 can be configured as follows.
Below, with reference to FIG. 12 and FIG. 13, the hydraulic circuit which concerns on another embodiment is demonstrated.

As shown in FIG. 12, the hydraulic circuit according to another embodiment includes a hydraulic sensor 24.
The hydraulic sensor 24 is provided in the discharge oil passage 26 of the hydraulic pump 25 and is configured to detect the hydraulic pressure Pa that is the pressure of the hydraulic oil discharged from the hydraulic pump 25.
The hydraulic circuit according to another embodiment is the same as the hydraulic circuit according to the above-described embodiment except that the hydraulic sensor 24 is provided in the discharge oil passage 26 of the hydraulic pump 25.

  The control device 54 is connected to the hydraulic sensor 24 and can acquire the pressure of the hydraulic oil discharged from the hydraulic pump 25.

  In addition to the determination based on the operation positions of the main operation tool 22a and the sub operation tool 22b during the hanging work cycle in the above-described embodiment (hereinafter referred to as “first determination”), Determination based on the hydraulic pressure Pa acquired from the hydraulic sensor 24 (hereinafter referred to as “second determination”) is performed.

  As shown in FIG. 13, the control device 54 only rolls up the sub winch 18 during the hanging work cycle when the main hook work for operating the main winch 17 is selected as the work type WT by the operator. It is determined whether or not only the main winch 17 has been rolled up, or whether other operations (combined operation of the main winch 17 and sub winch 18 and their lowering, etc.) have been performed. These determinations are made based on the operation positions of the main operation tool 22a and the sub operation tool 22b in the hanging work cycle acquired from the main operation position detector 36 and the sub operation position detector 45.

When the control device 54 determines that the main hook work is selected as the work type WT and only the sub winch 18 is wound up during the hanging work cycle, the hydraulic pressure Pa is smaller than the predetermined threshold value Ps. When (Pa <Ps), there is an erroneous selection of the winch, but it is determined that there is no abnormality because the hydraulic pressure Pa is relatively small and there is no problem (for example, it does not significantly affect the life of the wire rope). Further, when the main hook work is selected as the work type WT and the control device 54 determines that only the sub winch 18 has been wound up during the hanging work cycle, the hydraulic pressure Pa is equal to or greater than the predetermined threshold value Ps. When the state (Pa ≧ Ps) is less than a predetermined time (for example, 3 seconds), it is determined that the abnormal operation is finished immediately and there is no abnormality.
On the other hand, when the control device 54 determines that the main hook work is selected as the work type WT and only the sub winch 18 is wound up during the hanging work cycle, the hydraulic pressure Pa is equal to or greater than the predetermined threshold value Ps. When a state (Pa ≧ Ps) is continued for a predetermined time (for example, 3 seconds) or more, it is determined that there is an erroneous selection of the winch and an error is determined.

  When it is determined that the main hook work is selected as the work type WT and only the main winch 17 is wound up during the hanging work cycle, the control device 54 determines that there is no wrong selection of the winch and that there is no abnormality. To do.

  When the control device 54 determines that the main hook work is selected as the work type WT and an operation other than the lifting of the main winch 17 and the lifting of the sub winch 18 is performed during the suspension work cycle, Since determination based on Pa cannot be performed, it is determined that there is no abnormality.

  When the sub-hook operation or the jib operation for operating the sub-winch 18 is selected as the operation type WT by the operator, the control device 54 determines whether only the sub-winch 18 has been rolled up during the suspension work cycle, It is determined whether only the winch 17 has been rolled up or whether other operations (combined operation of the main winch 17 and sub-winch 18 and their lowering, etc.) have been performed.

  When the control device 54 determines that the sub-hook operation or the jib operation is selected as the operation type WT and only the winding of the sub-winch 18 is performed during the lifting operation cycle, there is no erroneous selection of the winch, and there is no abnormality. Is determined.

When the control device 54 determines that the sub-hook operation or the jib operation is selected as the operation type WT and only the main winch 17 is wound up during the suspension work cycle, the hydraulic pressure Pa is greater than the predetermined threshold value Pm. Is smaller (Pa <Pm), the winch is erroneously selected, but it is determined that there is no problem because the hydraulic pressure Pa is relatively small. Furthermore, when the control device 54 determines that the sub-hook operation or the jib operation is selected as the operation type WT and only the main winch 17 is wound up during the suspension work cycle, the hydraulic pressure Pa is a predetermined threshold value. When the state equal to or higher than Pm (Pa ≧ Pm) is less than a predetermined time (for example, 3 seconds), it is determined that the abnormal operation has ended immediately and there is no abnormality.
On the other hand, when the control device 54 determines that the sub-hook operation or the jib operation is selected as the operation type WT and only the main winch 17 has been wound up during the suspension work cycle, the hydraulic pressure Pa is a predetermined threshold value. When the state of Pm or more (Pa ≧ Pm) continues for a predetermined time (for example, 3 seconds) or more, it is determined that there is an erroneous selection of the winch and an error is determined.

  When the control device 54 determines that the sub-hook work or the jib work is selected as the work type WT and that an operation other than the lifting of the main winch 17 and the lifting of the sub-winch 18 is performed during the lifting work cycle. Since determination based on the hydraulic pressure Pa cannot be performed, it is determined that there is no abnormality.

  As described above, the control device 54 is based on the hydraulic pressure Pa acquired from the hydraulic sensor 24 in addition to the first determination based on the operation positions of the main operation tool 22a and the sub operation tool 22b in the hanging load work cycle. A second determination is made. Thereby, compared with the case of only the first determination, it is possible to detect an erroneous winch selection by the operator with high accuracy. Further, since the second determination can be realized only by providing the hydraulic pressure sensor 24, it is possible to detect an erroneous winch selection by the operator at a low cost.

DESCRIPTION OF SYMBOLS 1 Crane 8 Telescopic boom 13 Jib 14a Main hook 15a Sub hook 16 Hoisting cylinder 17 Main winch 18 Sub winch 19 Main wire rope 20 Sub wire rope 22a Main operation tool 22b Sub operation tool 22c Hoisting operation tool 23 Safety device 36 Main use Operation position detector 45 Sub operation position detector 54 Control device

Claims (2)

A hydraulic pump that discharges hydraulic oil;
A hydraulic cylinder for raising and lowering the boom by hydraulic oil discharged from the hydraulic pump;
A cylinder hydraulic pressure sensor for detecting a hydraulic pressure value of the hydraulic cylinder;
A plurality of winches that are actuated by hydraulic oil discharged from the hydraulic pump to wind and unwind the wire rope;
Detecting means for detecting operating states of the plurality of winches;
A safety device configured to allow input of a type of work using any of the plurality of winches;
A control device that is connected to the cylinder hydraulic sensor, the detection means, and the safety device, and that makes a determination regarding selection of a winch that corresponds to the type of work input to the safety device, based on information acquired from them; A crane that lifts and conveys a predetermined suspended load,
The control device includes:
Based on the value of the hydraulic pressure of the hydraulic cylinder obtained from the cylinder hydraulic sensor, it is determined whether or not a suspended work cycle that is a series of operations on the suspended load has been performed,
When it is determined that the suspended load work cycle has been performed, the operating states of the plurality of winches in the suspended load work cycle are acquired from the detection unit, and the operation input to the safety device is acquired from the safety device. Determining whether the winch corresponding to the type has been activated in the suspension work cycle;
If it is determined that it was not activated, it is determined that the type of work input to the safety device is an error,
crane. It is configured to detect the pressure of hydraulic oil discharged from the hydraulic pump, and further comprises a pump hydraulic sensor connected to the control device,
The control device includes:
From the operating state of the plurality of winches in the suspension work cycle acquired from the detection means, it is determined whether any of the plurality of winches independently wound up the wire rope in the suspension work cycle. ,
If it is determined that the winch that has been wound up the wire rope alone is determined whether or not the winch obtained from the safety device corresponds to the winch corresponding to the type of work input to the safety device,
If they do not match, when the pressure of the hydraulic oil acquired from the pump hydraulic sensor is smaller than a predetermined threshold when the wire rope is wound up, or the hydraulic oil pressure acquired from the pump hydraulic sensor is the predetermined pressure When the state equal to or greater than the predetermined threshold is less than the predetermined time, it is determined that the type of work input to the safety device is correct, and the hydraulic oil pressure obtained from the pump hydraulic sensor is equal to or greater than the predetermined threshold. When the state continues for the predetermined time or more, it is determined that the type of work input to the safety device is incorrect.
The crane according to claim 1.

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