JP2022079903A - Crane and crane control method - Google Patents

Abstract

To provide a crane and a crane control method capable of avoiding a turning torque applied to a boom exceeding a withstand turning torque by properly controlling a turning motion of an upper swiveling body.SOLUTION: An information acquisition part 62 acquires attachment configuration information D1 representing a configuration of multiple attachments included in a boom 20. Derrick angle measuring devices 452, 453 measure a derrick angle of the boom 20. A load measuring device 451 measures a load of a suspended load 9 applied to the boom 20. An allowable acceleration derivation part 63 derives an allowable acceleration that is a turning acceleration allowed for the boom 20 corresponding to the turning torque of the boom 20 based on the attachment configuration information D1, and on the measured result by the derrick angle measuring devices 452, 453 and by the load measuring device 451. A turning control part 64 performs the control to limit the turning acceleration of an upper swiveling body 12 within the allowable acceleration range for turning drive devices 431, 432, 441.SELECTED DRAWING: Figure 2

Description

The present invention relates to a crane and a crane control method for preventing a transient turning torque from being applied to a boom.

The crane includes an upper swivel body that can swivel with respect to the lower substrate and a boom undulatingly connected to the upper swivel body. The boom suspends a suspended load by a hanging rope and swivels in conjunction with the swivel of the upper swivel body.

Further, in the crane, when the control device stops the turning of the upper turning body, the control device may output a command to decelerate the upper turning body from a turning angular velocity corresponding to the operation command to the turning motor in a predetermined curve. It is known (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 11-139771

By the way, when the upper swing body accelerates or decelerates, a turning torque, which is a torque along the turning direction, is applied to the boom. If the turning torque exceeds the turning resistance torque of the boom, the boom may be damaged.

The turning torque is determined according to the turning radius of the boom, the weight of a plurality of attachments constituting the boom, and the load of the suspended load applied to the boom. The turning radius of the boom is determined according to the length of the boom and the undulation angle of the boom. Further, the turning resistance torque of the boom is determined according to the configuration of the attachment in the boom.

Therefore, when the swivel drive of the upper swivel body is controlled without considering the configuration of the attachment constituting the boom, the undulation angle of the boom, and the load of the suspended load, the swivel torque applied to the boom is increased. It may exceed the turning resistance torque.

It is an object of the present invention to provide a crane and a crane control method capable of avoiding that the turning torque applied to the boom exceeds the withstand turning torque by appropriately controlling the turning drive of the upper turning body.

The crane according to one aspect of the present invention includes a lower substrate, an upper swivel body, a swivel drive device, a boom, an information acquisition unit, an undulation angle measuring device, a load measuring device, and a permissible acceleration derivation unit. It is equipped with a turning control unit. The upper swing body is rotatably connected to the upper part of the lower substrate. The swivel drive device swivels and drives the upper swivel body. The boom is undulatingly connected to the upper swing body, and a suspended load is suspended by a hanging rope. The information acquisition unit acquires attachment configuration information representing the configuration of a plurality of attachments included in the boom. The undulation angle measuring device measures the undulation angle of the boom. The load measuring device measures the load of the suspended load applied to the boom. Based on the attachment configuration information and the measurement results of the undulation angle measuring device and the load measuring device, the allowable acceleration derivation unit corresponds to the turning resistance torque of the boom and is the allowable acceleration that is the turning acceleration allowed for the boom. Is derived. The turning control unit executes control for the turning drive device to limit the turning acceleration of the upper turning body within the range of the allowable acceleration.

A crane control method according to another aspect of the present invention includes a crane including the lower substrate, the upper swivel body, the swivel drive device, the boom, the undulation angle measuring device, and the load measuring device. Is a way to control. The method includes a step of acquiring attachment configuration information representing the configuration of a plurality of attachments included in the boom. Further, in the method, based on the attachment configuration information and the measurement results of the undulation angle measuring device and the load measuring device, the allowable acceleration which is the turning acceleration allowed for the boom corresponding to the turning resistance torque of the boom is derived. Including the process of Further, the method includes a step of executing a control for limiting the swivel acceleration of the upper swivel body to the range of the permissible acceleration for the swivel drive device.

INDUSTRIAL APPLICABILITY According to the present invention, it is possible to provide a crane and a crane control method capable of avoiding that the turning torque applied to the boom exceeds the withstand turning torque by appropriately controlling the turning drive of the upper turning body.

FIG. 1 is a block diagram of a crane according to the first embodiment. FIG. 2 is a block diagram showing a configuration of control-related equipment in the crane according to the first embodiment. FIG. 3 is a block diagram showing a configuration of a control device in the crane according to the first embodiment. FIG. 4 is a flowchart showing a first embodiment of the procedure for turning limit control in the crane according to the first embodiment. FIG. 5 is a graph showing the relationship between the turning control speed, the standard control speed, and the speed limit in the deceleration turning control of the upper turning body in the crane according to the first embodiment, and FIG. 5A is a graph showing the relationship between the standard control speed and the speed limit. It is a graph which shows the example which is prioritized over the speed, and FIG. 5 (B) is the graph which shows the example which the speed limit is prioritized over the standard control speed. FIG. 6 is a flowchart showing a second embodiment of the procedure for turning limit control in the crane according to the first embodiment. FIG. 7 is a graph showing the relationship between the upper limit speed of turning of the upper turning body and the permissible time for turning stop in the crane according to the first embodiment. FIG. 8 is a block diagram showing a configuration of control-related equipment in the crane according to the second embodiment. FIG. 9 is a flowchart showing an example of the procedure for turning limit control in the crane according to the second embodiment. FIG. 10 is a graph showing the relationship between the allowable acceleration, the turning control speed, the standard control speed, and the speed limit in the deceleration turning control of the upper turning body in the crane according to the second embodiment, and FIG. 10A is a graph showing a gradual change. 10 (B) is a graph showing an example of the relationship between the turning control speed, the standard control speed, and the speed limit.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. The following embodiments are examples that embody the present invention, and do not limit the technical scope of the present invention.

[Rough configuration of crane 10]
The crane 10 according to the first embodiment is a work machine for lifting and moving a suspended load 9. Hereinafter, an example in which the crane 10 is a jib crane will be described.

As shown in FIG. 1, the crane 10 includes a lower traveling body 11, an upper swivel body 12, a cab 13, a gantry 15, a winch device 16, a counterweight 17, a boom 20, a first undulating rope 31, and a second undulating rope 32. , Suspended rope 33 and hook 34 and the like. The winch device 16 includes a first winch 161 and a second winch 162 and a third winch 163.

The lower traveling body 11 is a pedestal portion that supports the upper turning body 12 so as to be able to turn. The crane 10 shown in FIG. 1 is a mobile crane. Therefore, the lower traveling body 11 of the crane 10 includes a traveling device 14 for traveling the entire crane 10. FIG. 1 shows an example in which the traveling device 14 is a crawler type device. The lower traveling body 11 is an example of the lower substrate.

The upper swivel body 12 is rotatably connected to the upper part of the lower traveling body 11. The upper swing body 12 is integrally configured with the cab 13, the gantry 15, and the winch device 16. The gantry 15 is fixed to the upper swivel body 12 in a state of standing up from the upper swivel body 12. Further, the upper swing body 12 supports the winch device 16, the counterweight 17, and the boom 20.

The upper swivel body 12 is swiveled by a swivel motor 441 provided on the lower traveling body 11 (see FIG. 2). When the upper swing body 12 turns, the cab 13, the gantry 15, the winch device 16 and the boom 20 also turn together with the upper swing body 12.

The cab 13 is a cockpit. The boom 20 is undulatingly connected to the upper swing body 12. The boom 20 can undulate around the root portion connected to the upper swing body 12.

The boom 20 includes a plurality of attachments, and has a configuration in which the plurality of attachments are combined. In the example shown in FIG. 1, the boom 20 includes a main jib 21, an auxiliary jib 22, a point sheave 25, a strut 26, and the like.

The auxiliary jib 22 is connected to the tip of the main jib 21. The strut 26 is fixed to the connecting portion of the main jib 21 and the auxiliary jib 22. The point sheave 25 is provided at the tip of the auxiliary jib 22.

The main jib 21 has a configuration in which one or more main jib attachments 210 are combined. The auxiliary jib 22 has a configuration in which one or more auxiliary jib attachments 220 are combined.

The main jib attachment 210, the auxiliary jib attachment 220, the point sheave 25, the strut 26, and the like are examples of the attachment included in the boom 20. The configuration of the plurality of attachments in the boom 20 is changed according to the situation of the work site.

The crane 10 also includes a gantry receive 23 provided at the tip of the gantry 15.

The first undulating rope 31 is hung on the gantry receive 23, and both ends of the first undulating rope 31 are connected to the main jib 21 and the first winch 161 respectively. The first winch 161 supports the boom 20 via the first undulating rope 31.

The first winch 161 changes the first undulation angle θ1, which is the undulation angle of the main jib 21, by winding or feeding out the first undulating rope 31.

The second undulating rope 32 is hung on the strut 26, and both ends of the second undulating rope 32 are connected to the jib 24 and the second winch 162, respectively. The second winch 162 supports the auxiliary jib 22 via the second undulating rope 32.

The second winch 162 changes the second undulating angle θ2, which is the undulating angle of the auxiliary jib 22, by winding or feeding out the second undulating rope 32.

The hanging rope 33 is hung on the point sheave 25, and the hook 34 is connected to the tip of the hanging rope 33. The suspended load 9 is suspended from the hook 34. As a result, the suspended load 9 is suspended from the boom 20 by the suspended rope 33. The third winch 163 raises and lowers the hook 34 and the suspended load 9 by winding or feeding out the suspended rope 33.

The crane 10 may include a second point sheave, a second suspension rope, a second hook, a fourth winch, and a second load gauge. The second point sheave is provided at the tip of the main jib 21. The second point sheave is an example of the attachment constituting the boom 20.

The second hanging rope is hung on the second point sheave. The second hook is connected to the tip of the second hanging rope. The fourth winch raises and lowers the second hook and the second suspended load suspended by the second hook by winding or feeding the second hanging rope.

The second load meter measures the load of the second suspended load suspended from the second hook of the second suspended rope. The second load meter is also an example of the load measuring device.

The counterweight 17 balances the load of the suspended load 9 suspended from the boom 20 and the hook 34.

As shown in FIG. 2, the crane 10 includes drive system equipment such as an engine 41, a hydraulic pump 42, a control valve 43, and a hydraulic actuator 44, an operating device 5, a control device 6, and a display device 7. ..

Devices for human interfaces such as the operating device 5 and the display device 7 are provided in the cab 13. Further, the crane 10 also includes a state measuring device 45 for measuring the state of various devices included in the crane 10.

The control device 6 can communicate with other devices such as the state measuring device 45 and the operating device 5 through an in-vehicle network 100 such as a CAN (Controller Area Network).

The operation device 5 is a device that accepts the operation of the operator. The display device 7 is a device that displays information, and is, for example, a panel display device such as a liquid crystal display unit.

The operation device 5 includes a turning operation device 51, a turning brake operating device 52, an operation input device 53, and the like.

The swivel operation device 51 includes a swivel lever 511 that can be displaced in two directions from the neutral position. The swivel operation device 51 outputs a signal indicating the rotation direction and rotation speed of the swivel motor 441 to the control device 6 according to the operation direction and the operation amount with respect to the swivel lever 511. The control device 6 controls the directional control valve 431, which is the control valve 43 corresponding to the swivel motor 441, according to the operation content for the swivel lever 511.

The turning brake operating device 52 includes a brake button 521. The turning brake operating device 52 outputs a signal instructing the turning brake device 440 to switch to the brake ON state or the brake OFF state in response to the ON operation or OFF operation of the brake button 521 to the control device 6.

The control device 6 switches the turning brake device 440 to the brake ON state or the brake OFF state according to the operation content for the brake button 521. The brake ON state is a state in which a braking force is applied to the turning motor 441, and the brake OFF state is a state in which the braking force applied to the turning motor 441 is released.

The brake ON state means the brake state of the turning brake device 440, and the brake OFF state means the brake release state of the turning brake device 440. Further, the ON operation and the OFF operation for the brake button 521 are examples of a brake operation and a brake release operation, respectively.

The operation input device 53 receives information input by the operator. For example, the operation input device 53 is a touch panel integrated with the display device 7. Further, the operation input device 53 may be a device that accepts information input by voice operation of the operator.

The state measuring device 45 includes a load meter 451, a first undulating angle measuring device 452, a second undulating angle measuring device 453, a turning angle measuring device 454, and the like. The measurement results of the various state measuring devices 45 are transmitted to the control device 6 through the vehicle-mounted network 100.

The load meter 451 measures the load of the suspended load 9 applied to the boom 20. For example, it is conceivable that the load meter 451 is a load sensor such as a load cell attached to the first undulating rope 31. The load meter 451 is an example of a load measuring device.

The first undulation angle measuring device 452 and the second undulating angle measuring device 453 measure the undulating angle of the boom 20. It is conceivable that the first undulation angle measuring device 452 and the second undulation angle measuring device 453 are angle meters attached to the main jib 21 and the auxiliary jib 22, respectively.

The first undulation angle measuring device 452 measures the elevation angle of the main jib 21, that is, the first undulation angle θ1 which is the undulation angle of the main jib 21. The second undulation angle measuring device 453 measures the elevation angle of the supplementary jib 22, that is, the second undulation angle θ2 which is the undulation angle of the supplementary jib 22.

The turning angle measuring device 454 measures the turning angle, which is the angle at which the upper turning body 12 turns from the reference direction of the lower traveling body 11.

The operation input device 53 receives information input by the operator. For example, the operation input device 53 is a touch panel integrated with the display device 7. Further, the operation input device 53 may be a device that accepts information input by voice operation of the operator.

The engine 41 is a diesel engine that drives the hydraulic pump 42. The control valve 43 controls the flow of hydraulic oil between the hydraulic actuator 44, the hydraulic pump 42, and the like according to a control signal output from the control device 6.

The hydraulic actuator 44 includes a swivel motor 441 and the like, which is a hydraulic motor that rotationally drives the upper swivel body 12. The hydraulic actuator 44 also includes other hydraulic motors such as the first winch motor, the second winch motor, and the third winch motor (not shown) that rotationally drive the first winch 161 and the second winch 162 and the third winch 163, respectively. include.

The control valve 43 includes a directional control valve 431 and the like corresponding to the swivel motor 441. The directional control valve 431 can switch the supply direction of the hydraulic oil to the swivel motor 441. Further, the directional control valve 431 adjusts the supply amount of the hydraulic oil to the swivel motor 441.

The directional control valve 431 is an example of an oil amount adjusting valve capable of adjusting the amount of the hydraulic oil flowing to the hydraulic motor that swivels and drives the upper swivel body 12.

The control device 6 outputs a control signal to a control target such as a control valve 43 according to an operation on the operation device 5 or a measurement result of various state measurement devices 45. Further, the control device 6 controls the display device 7.

As shown in FIG. 3, the control device 6 includes an MPU (Miro Processing Unit) 601, a RAM (Random Access Memory) 602, a non-volatile memory 603, a signal interface 604, and the like. The RAM 602 and the non-volatile memory 603 are computer-readable storage devices.

The MPU 601 is an example of a processor that executes various data processing and control by executing a program stored in the non-volatile memory 603 in advance.

The RAM 602 is a volatile memory that temporarily stores the program executed by the MPU 601 and the data derived or referenced by the MPU 601.

The non-volatile memory 603 previously stores the program executed by the MPU 601 and the data referenced by the MPU 601. For example, it is conceivable that the non-volatile memory 603 is an EEPROM (Electrically Erasable Programmable Read Only Memory), a flash memory, or the like.

The signal interface 604 converts the measurement signal of the state measuring device 45 into digital data and transmits it to the MPU 601. Further, the signal interface 604 converts the control command output by the MPU 601 into a control signal such as a current signal or a voltage signal, and outputs the control command to the device to be controlled.

By the way, when the upper swing body 12 accelerates or decelerates, a turning torque, which is a torque along the turning direction, is applied to the boom 20. If the turning torque exceeds the turning resistance torque of the boom 20, the boom 20 may be damaged.

The turning torque is determined according to the turning radius of the boom 20, the weight of the plurality of attachments constituting the boom 20, and the load of the suspended load 9 applied to the boom 20. The turning radius of the boom 20 is determined according to the length of the boom 20 and the undulation angle of the boom 20. The length of the boom 20 is determined by the configuration of the main jib attachment 210 and the auxiliary jib attachment 220 in the boom 20. Further, the turning resistance torque of the boom 20 is determined according to the configuration of the attachment on the boom 20.

Therefore, when the swivel drive of the upper swivel body 12 is controlled without considering the configuration of the attachment constituting the boom 20, the undulation angle of the boom 20, and the load of the suspended load 9, the swivel torque applied to the boom 20 is increased. It may exceed the turning resistance torque.

In the crane 10, the control device 6 appropriately controls the turning drive of the upper turning body 12 by executing the turning limitation control described later. This prevents the turning torque applied to the boom 20 from exceeding the turning resistance torque in the crane 10.

The MPU 601 of the control device 6 includes a plurality of processing modules realized by executing a predetermined computer program. The plurality of processing modules include a main processing unit 61, an information acquisition unit 62, an allowable acceleration derivation unit 63, a turning control unit 64, and the like (see FIG. 2).

The main processing unit 61 executes information input processing according to the start control of various processes when the control device 6 is activated, the control of the display device 7, and the input operation to the operation input device 53.

The information acquisition unit 62, the allowable acceleration derivation unit 63, and the turning control unit 64 execute the turning limiting control. A specific example of the turning limit control will be described later.

Further, the data of the attachment configuration information D1 is stored in advance in the non-volatile memory 603 of the control device 6 (see FIG. 3). The attachment configuration information D1 represents the configuration of a plurality of the attachments included in the boom 20.

For example, the attachment configuration information D1 includes the attachment specification information D11 and the attachment combination information D12.

The attachment specification information D11 is information registered in advance in the non-volatile memory 603 at the time of shipment of the crane 10. The attachment specification information D11 includes information on the weight and length of all the attachment candidates that can be components of the boom 20, and information on the lateral load capacity of the boom 20. The lateral direction of the boom 20 is a direction along the turning direction of the boom 20.

The attachment combination information D12 is information indicating the types and combination states of the plurality of attachments constituting the boom 20 actually connected to the upper swing body 12. The information of the type of the attachment in the attachment combination information D12 is associated with the attachment specification information D11.

The attachment combination information D12 is information that is changed according to a change in the configuration of the attachment in the boom 20.

For example, the main processing unit 61 sets the attachment configuration information D1 according to the input operation to the operation input device 53, and stores the set attachment configuration information D1 in the non-volatile memory 603.

[First Example of Turning Limit Control]
Hereinafter, an example of the procedure of the first embodiment of the turning restriction control in the crane 10 will be described with reference to the flowchart shown in FIG.

For example, after the control device 6 is activated, the information acquisition unit 62 has a first undulation angle θ1 which is a measurement angle of the first undulation angle measuring device 452 and a second undulation angle which is a measurement angle of the second undulation angle measuring device 453. When the suspended load, which is the measured load of θ2 or the load meter 451 changes, the turning limit control is started.

In the following description, S101, S102, ... Represent the identification codes of the plurality of steps in the first embodiment of the turning restriction control.

<Process S101>
In the turning limit control, the information acquisition unit 62 acquires the attachment configuration information D1 from the non-volatile memory 603. Further, the process of step S102 is executed.

In the present embodiment, the information acquisition unit 62 first acquires the attachment combination information D12. Further, the information acquisition unit 62 acquires only the information corresponding to the type of the attachment included in the attachment combination information D12 among the attachment specification information D11.

It is also conceivable that the control device 6 includes a wireless communication device capable of wireless communication with a server device (not shown). In this case, the information acquisition unit 62 may acquire the attachment configuration information D1 from the server through the wireless communication device.

It is also conceivable that the control device 6 includes a storage interface to which a portable data storage medium is mounted. In this case, the information acquisition unit 62 may acquire the attachment configuration information D1 from the data storage medium mounted on the storage interface.

<Process S102>
In the step S102, the allowable acceleration derivation unit 63 derives the turning resistance torque of the boom 20 based on the attachment configuration information D1 acquired in the step S101 and the first undulation angle θ1 and the second undulation angle θ2. Further, the process of step S103 is executed.

The turning resistance torque is an allowable value of the maximum torque along the turning direction applied to the boom 20. If a turning torque exceeding the turning resistance torque is applied to the boom 20, the boom 20 may be damaged.

For example, the allowable acceleration derivation unit 63 derives the lengths of the main jib 21 and the supplementary jib 22 from the information on the lengths of the main jib attachment and the supplementary jib attachment in the attachment configuration information D1.

Further, the allowable acceleration derivation unit 63 has a first turning radius r1 and a turning radius of the main jib 21 based on the lengths of the main jib 21 and the auxiliary jib 22 and the first undulating angle θ1 and the second undulating angle θ2. The second turning radius r2, which is the turning radius of the supplementary jib 22, is derived (see FIG. 1).

Further, the allowable acceleration derivation unit 63 is boomed based on the lateral load resistance information of the main jib attachment and the auxiliary jib attachment in the attachment configuration information D1 and the first turning radius r1 and the second turning radius r2. Derived the turning resistance torque of 20.

<Process S103>
In step S103, the allowable acceleration derivation unit 63 derives the boom moment of inertia, which is the moment of inertia of the boom 20. Further, the process of step S104 is executed.

The permissible acceleration derivation unit 63 has the boom based on the information on the weight of the attachment in the attachment configuration information D1 acquired in the step S101 and the first turning radius r1 and the second turning radius r2 derived in the step S102. Derived the moment of inertia.

For example, in steps S102 and S103, the allowable acceleration derivation unit 63 includes information on the length and weight of the main jib attachment and the auxiliary jib attachment in the attachment configuration information D1, and the first undulation angle measuring device 452 and the second undulation angle. By applying the measurement results of the measuring devices of the measuring device 453 and the load meter 451 to a predetermined calculation formula, the torque resistance and the boom moment of inertia of the boom 20 are calculated.

It is also conceivable that the data of the look-up table used for deriving the torque resistance and the boom moment of inertia are stored in the non-volatile memory 603 in advance.

The look-up table includes all the candidates for the configuration of the attachment that can be configured as the boom 20, a plurality of representative values of the first undulation angle θ1, a plurality of representative values of the second undulation angle θ2, and the torque resistance and the torque resistance. The correspondence relationship with the candidate value of each boom moment of inertia is shown.

Then, the allowable acceleration derivation unit 63 transfers the torque resistance and the boom moment of inertia corresponding to the attachment combination information D12 from the lookup table and the measurement angles of the first undulation angle measuring device 452 and the second undulation angle measuring device 453. The torque withstand and the boom moment of inertia may be derived by selecting each candidate value. In this case, the arithmetic load of the MPU 601 is reduced.

<Process S104>
In step S104, the allowable acceleration derivation unit 63 derives the suspended load moment of inertia, which is the moment of inertia of the suspended load 9. Further, the process of step S105 is executed.

The permissible acceleration derivation unit 63 derives the suspended load moment of inertia based on the load of the suspended load 9 measured by the load meter 451 and the second turning radius r2 derived in step S102.

In the following description, the length of the portion of the hanging rope 33 that hangs from the boom 20 to the suspended load 9 is referred to as a hanging length L1 (see FIG. 1).

In the present embodiment, the allowable acceleration derivation unit 63 derives the suspended load moment of inertia on the assumption that the hanging length L1 of the suspended rope 33 is zero for convenience. The above assumption means that the suspended load 9 turns integrally with the boom 20.

It is also conceivable that the crane 10 includes the second suspension rope and the second load meter. In this case, in the step S104, the allowable acceleration derivation unit 63 is the first based on the load of the second suspended load measured by the second load meter and the first turning radius r1 derived in the step S102. 2 The moment of inertia of the suspended load is also derived.

<Process S105>
In step S105, the permissible acceleration derivation unit 63 derives the permissible acceleration dVL1 which is the swivel acceleration allowed for the boom 20 corresponding to the turning resistance torque. Further, the process of step S106 is executed. The turning acceleration is the angular acceleration of the turning upper swing body 12.

The permissible acceleration derivation unit 63 has the permissible acceleration dVL1 based on the swivel resistance torque derived in step S102, the boom moment of inertia derived in step S103, and the suspended load inertia moment derived in step S104. Is derived.

For example, in the allowable acceleration derivation unit 63, the torque obtained by multiplying the sum of the boom moment of inertia and the suspended load moment of inertia by the allowable acceleration dVL1 is the turning resistance torque or the safety predetermined for the turning resistance torque. The permissible acceleration dVL1 is derived so as to match the torque obtained by applying the coefficient.

In the present embodiment, the permissible acceleration dVL1 has a negative angular acceleration adopted when the upper swivel body 12 during turning decelerates and a plus adopted when the upper swivel body 12 during stoppage or turning accelerates. Including the angular acceleration of.

In the following description, when the deceleration rate of the upper swivel body 12 during deceleration is expressed to exceed the permissible acceleration dVL1, it means that the deceleration rate of the upper swivel body 12 is larger than the absolute value of the permissible acceleration dVL1.

Similarly, when the acceleration rate of the upper swivel body 12 during acceleration is expressed as exceeding the permissible acceleration dVL1, it means that the acceleration rate of the upper swivel body 12 is larger than the absolute value of the permissible acceleration dVL1.

As shown above, in steps S102 to S105, the allowable acceleration derivation unit 63 is allowed to turn the boom 20 based on the measurement results of the attachment configuration information D1, the undulation angle measuring device 452, 453, and the load meter 451. The permissible acceleration dVL1 which is an acceleration is derived. The permissible acceleration dVL1 is a turning acceleration corresponding to the turning resistance torque of the boom 20.

<Step S106>
In step S106, the turning control unit 64 monitors the occurrence of a turning deceleration event or a turning acceleration event.

For example, the turning deceleration event is that a deceleration operation is performed on the turning lever 511, or that an emergency stop condition is satisfied while the upper turning body 12 is turning. On the other hand, the turning acceleration event is that the turning lever 511 is accelerated.

The emergency stop condition is that the turning angle measured by the turning angle measuring device 454 exceeds a preset limiting angle range. The limiting angle range is preset to prevent the boom 20 and the suspended load 9 from colliding with obstacles around the crane 10.

The turning control unit 64 stops the turning motor 441 by gradually decelerating the rotating turning motor 441 at a predetermined deceleration rate when the emergency stop condition is satisfied while the upper turning body 12 is turning.

However, as will be described later, the case where the predetermined deceleration rate exceeds the permissible acceleration dVL1 is an exception, and the permissible acceleration dVL1 is adopted instead of the permissible acceleration dVL1 as the deceleration rate when the emergency stop condition is satisfied. ..

Then, the turning control unit 64 executes the processes of steps S107 and S108 when the turning deceleration event or the turning acceleration event occurs.

<Processes S107 and S108>
The swivel control unit 64 executes acceleration limit control in step S107, and determines whether or not the swivel motor 441 has stopped in step S108.

The turning control unit 64 continues the acceleration limiting control in step S107 until it is determined that the turning motor 441 has stopped. Then, when the turning control unit 64 determines that the turning motor 441 has stopped, the turning control unit 64 ends the turning limitation control. Hereinafter, the first example and the second example of the acceleration limitation control will be described.

<First example of acceleration limit control>
In the first example, the turning control unit 64 limits the turning acceleration of the upper turning body 12 within the allowable acceleration dVL1 by the feedback control of the directional control valve 431 based on the change in the measurement result of the turning angle measuring device 454. ..

FIG. 5 shows the relationship between the turning control speed V0, the standard control speed Vx1, and the speed limit VL1 set when the turning deceleration event occurs due to the establishment of the emergency stop condition.

In FIG. 5, the initial speed V1 is the turning speed of the upper turning body 12 when the turning deceleration event occurs. The turning control speed V0 is the target turning speed of the upper turning body 12 adopted in the feedback control of the directional control valve 431.

The standard control speed Vx1 is a normal target turning speed of the upper turning body 12 set between the time when the emergency stop condition is satisfied and the time when the upper turning body 12 stops. As shown in FIG. 5, the standard control speed Vx1 is set to gradually decelerate the swivel motor 441 from the initial speed V1 at a predetermined deceleration rate.

The speed limit VL1 is set so as to gradually decelerate from the initial speed V1 with the allowable acceleration dVL1 as the deceleration rate.

One of the standard control speed Vx1 and the speed limit VL1 is selectively adopted as the turning control speed V0. In FIGS. 5A and 5B, the solid line graph shows the turning speed adopted as the turning control speed V0.

As shown in FIG. 5A, when the standard control speed Vx1 exceeds the speed limit VL1, the standard control speed Vx1 is adopted as the turning control speed V0 in preference to the speed limit VL1.

As shown in FIG. 5B, when the speed limit VL1 exceeds the standard control speed Vx1, the speed limit VL1 is adopted as the turning control speed V0 in preference to the standard control speed Vx1.

<Second example of acceleration limit control>
On the other hand, the second example is adopted when, as shown in FIG. 2, the control valve 43 of the crane 10 includes a relief control valve 432 capable of adjusting the depressurization of the hydraulic oil flowing through the swivel motor 441. The relief control valve 432 is an example of a pressure reducing control valve.

The relief control valve 432 is a general relief valve that releases a part of the hydraulic oil to the tank before the pressure of the hydraulic oil exceeds the upper limit pressure, and has a function of adjusting the opening degree according to a control signal from the control device 6. Is an added control valve.

In the second example, the swivel control unit 64 reduces the upper limit pressure of the hydraulic oil to a pressure corresponding to the allowable acceleration dVL1 by controlling the relief control valve 432. It is conceivable that the relief control valve 432 is provided in one or both of the hydraulic oil path on the downstream side and the path on the upstream side with respect to the swivel motor 441 in the hydraulic circuit.

When the upper limit pressure of the hydraulic oil is lowered by opening the relief control valve 432 on the downstream side, the maximum braking force when the swivel motor 441 is decelerated is reduced. Therefore, the deceleration rate of the upper swing body 12 can be limited by adjusting the relief control valve 432 on the downstream side.

Further, when the upper limit pressure of the hydraulic oil is lowered by opening the relief control valve 432 on the upstream side, the maximum torque when the swivel motor 441 accelerates is reduced. Therefore, the acceleration rate of the upper swing body 12 can be limited by adjusting the relief control valve 432 on the downstream side.

For example, it is conceivable that the data of the decompression adjustment information indicating the correspondence relationship between the allowable acceleration dVL1 and the opening degree of the relief control valve 432 on the downstream side and the upstream side is stored in the non-volatile memory 603. In this case, the turning control unit 64 adjusts the relief control valve 432 based on the allowable acceleration dVL1 and the decompression adjustment information.

By adopting the second example, the acceleration limitation control is simplified and the calculation load of the MPU 601 is reduced.

In the present embodiment, the directional control valve 431, the relief control valve 432, and the swivel motor 441 are examples of a swivel drive device that swivels and drives the upper swivel body 12. Further, the first example and the second example of the acceleration limiting control executed by the turning control unit 64 in the step S107 are examples of control for limiting the turning acceleration of the upper turning body 12 within the range of the allowable acceleration dVL1. be.

[Second Example of Turning Limit Control]
Next, an example of the procedure of the second embodiment of the turning restriction control in the crane 10 will be described with reference to the flowchart shown in FIG.

The MPU 601 of the control device 6 further includes an upper limit speed derivation unit 65 as the processing module for executing the second embodiment of the turning restriction control (see FIG. 2).

The condition for starting the second embodiment of the turning restriction control is the same as the condition for starting the first embodiment of the turning restriction control.

Hereinafter, the points different from the first embodiment of the turning restriction control in the second embodiment of the turning restriction control will be described. The second embodiment of the turning restriction control is different from the first embodiment of the turning restriction control in that the process S201 and the process S202 are added.

<Process S201>
The process of step S201 is executed between step S105 and step S106. In step S201, the upper limit speed derivation unit 65 derives the upper limit speed Vmx1 which is the upper limit value for controlling the turning speed of the upper turning body 12.

As shown in FIG. 7, if the upper swing body 12 decelerates at the allowable acceleration dVL1 while turning at a predetermined steady speed, the upper limit speed derivation unit 65 is preset to allow the upper swing body 12 to stop. The steady-state speed when time t1 is required is derived as the upper limit speed Vmx1.

When the upper swing body 12 is turning at a speed of the upper limit speed Vmx1 or less, the upper swing body 12 can be stopped within the allowable time t1 by decelerating the upper swing body 12 at the allowable acceleration dVL1.

<Process S202>
The process of step S202 is executed before and after step S107 or in parallel with step S107.

In step S202, the swivel control unit 64 executes control to limit the swivel speed of the upper swivel body 12 within the range of the upper limit speed Vmx1 by limiting the level of the control signal with respect to the direction control valve 431.

By adopting the second embodiment of the turning restriction control, for example, when the turning deceleration event occurs due to the establishment of the emergency stop condition, the upper turning body 12 keeps the restriction of deceleration at the allowable acceleration dVL1. Can be stopped within the permissible time t1.

For example, it is conceivable that the main processing unit 61 has a function of selecting either the first mode or the second mode as the mode of the turning restriction control according to the selection operation for the operation input device 53.

In the above case, the turning control unit 64 executes the process according to the first embodiment of the turning restriction control when the first mode is selected, and when the second mode is selected, the turning control unit 64 performs the processing according to the first embodiment. The process according to the second embodiment of the turning limit control is executed.

As shown above, by executing the turning limit control in the crane 10, the turning drive of the upper turning body 12 is appropriately controlled, and it is avoided that the turning torque applied to the boom 20 exceeds the turning resistance torque. Will be done. As a result, damage to the boom 20 due to sudden acceleration or deceleration of the turning of the upper turning body 12 is avoided.

[Second Embodiment]
Next, the crane 10A according to the second embodiment will be described with reference to FIGS. 8 to 10. In FIGS. 8 to 10, the same components as those shown in FIGS. 1 to 7 are designated by the same reference numerals.

Hereinafter, the differences between the crane 10A and the crane 10 will be described. As shown in FIG. 8, the crane 10A has a configuration in which a feed length measuring device 455 and a hanging length lead-out unit 66 are added to the crane 10 shown in FIG.

The payout length measuring device 455 is a device for measuring the payout length of the hanging rope 33. For example, the feeding length measuring device 455 measures the feeding length of the hanging rope 33 by counting the number of rotations of the rotating body that comes into contact with the hanging rope 33 and rotates accordingly.

The hanging length deriving unit 66 suspends by correcting the detection result of the feeding length measuring device 455 based on the lengths of the main jib 21 and the auxiliary jib 22 and the first undulating angle θ1 and the second undulating angle θ2. The hanging length L1 of the rope 33 is derived.

The feeding length measuring device 455 and the hanging length deriving unit 66 are examples of the hanging length measuring device for measuring the hanging length L1 of the hanging rope 33.

Further, in the present embodiment, the MPU 601 of the control device 6 executes the turning restriction control by the procedure shown in FIG. 9 instead of the procedure shown in FIG.

Hereinafter, an example of the procedure for turning limit control in the crane 10A will be described with reference to the flowchart shown in FIG.

The condition for starting the turning limit control in the present embodiment is the same as the condition for starting the first embodiment of the turning limit control of FIG. 4 in the crane 10.

Hereinafter, the points different from the first embodiment of the turning limit control in the crane 10 of the turning limit control in the crane 10A will be described. In the turning restriction control of the crane 10A, the process S105 is replaced with the steps S301 to S303, and the process S304 is added, as compared with the first embodiment of the turning limiting control shown in FIG. different.

In the present embodiment, the allowable acceleration derivation unit 63 initially and reaches the allowable acceleration dVL1 when it is assumed that the load of the suspended load 9 applied to the boom 20 changes from the predetermined minimum load to the measured load of the load meter 451. Derive the value. The minimum load is zero or a value sufficiently smaller than the actual load of the suspended load 9.

That is, in the present embodiment, as the suspended load 9 swings from a position substantially directly below the tip of the boom 20 in a direction opposite to the acceleration direction or the deceleration direction of the upper swing body 12, the suspended load 9 with respect to the boom 20. Under the assumption that the force applied along the turning direction increases, the permissible acceleration dVL1 that changes is derived.

In the following description, the initial value of the allowable acceleration dVL1 which is the allowable acceleration dVL1 when the load of the suspended load 9 applied to the boom 20 is assumed to be the minimum load is referred to as the allowable acceleration initial value dVL11 (FIG. 11 (FIG. 11). A) See).

Further, the reached value of the permissible acceleration dVL1 which is the permissible acceleration dVL1 when the load of the suspended load 9 applied to the boom 20 is the measured load of the load meter 451 is referred to as the permissible acceleration reached value dVL12 (see FIG. 11A). ).

<Process S301>
In step S301, the permissible acceleration derivation unit 63 derives the permissible acceleration initial value dVL11.

For example, in the allowable acceleration derivation unit 63, the torque obtained by multiplying the sum of the boom inertia moment and the moment of inertia of the minimum load by the allowable acceleration initial value dVL11 is predetermined as the turning resistance torque or the turning resistance torque. The allowable acceleration initial value dVL11 is derived so as to match the torque obtained by applying the obtained safety coefficient.

<Process S302>
In step S302, the permissible acceleration derivation unit 63 derives the permissible acceleration arrival value dVL12 in the same manner as in the case of deriving the permissible acceleration dVL1 in the crane 10.

That is, in the steps S301 and S302, the permissible acceleration derivation unit 63 initially performs the permissible acceleration based on the attachment configuration information D1, the measurement results of the undulation angle measuring device 452, 453 and the load meter 451 and the predetermined minimum load. The value dVL11 and the allowable acceleration reached value dVL12 are derived.

<Process S303>
In step S303, the permissible acceleration derivation unit 63 derives the change time t2, which is the time required to change the permissible acceleration dVL1 from the permissible acceleration initial value dVL11 to the permissible acceleration arrival value dVL12.

The movement of the suspended load 9 suspended by the hanging rope 33 approximates the movement of the weight in the pendulum. The vibration period of the weight in the pendulum is theoretically proportional to the length of the hanging thread in the pendulum to the 0.5th power.

In the present embodiment, it is assumed that the relationship between the hanging length L1 and the change time t2 has the same relationship as the relationship between the length of the hanging thread in the pendulum and the vibration cycle of the weight.

Therefore, the allowable acceleration derivation unit 63 corresponds to the droop length L1 by applying the droop length L1 which is the measurement result of the extension length measuring device 455 and the droop length derivation unit 66 to a predetermined calculation formula. The change time t2 to be calculated is derived.

The hanging length L1 used for deriving the change time t2 is a measurement result of the feeding length measuring device 455 and the hanging length deriving unit 66.

<Process S304>
The process of step S304 is started between step S106 and step S107.

In step S304, the permissible acceleration derivation unit 63 sets the permissible acceleration dVL1 from the permissible acceleration initial value dVL11 to the permissible acceleration arrival value dVL12 during the period from the start of acceleration or deceleration of the upper swivel body 12 to the elapse of the change time t2. The process of gradually changing until is started (see FIG. 10 (A)).

Following the start of the process of step S304, the turning control unit 64 executes the processes of steps S107 and S108 described with reference to FIG.

The permissible acceleration derivation unit 63 sets the permissible acceleration dVL1 from the permissible acceleration initial value dVL11 to the permissible acceleration arrival value dVL12 while the change time t2 elapses in parallel with the processing of the steps S107 and S108 by the turning control unit 64. Change gradually.

Further, the permissible acceleration derivation unit 63 maintains the permissible acceleration dVL1 at the permissible acceleration arrival value dVL12 after the change time t2 has elapsed from the start of the process of step S304 (see FIG. 10A).

Then, in step S107, the turning control unit 64 sets the speed limit VL1 based on the gradually changed allowable acceleration dVL1.

FIG. 10B shows the relationship between the turning control speed V0, the standard control speed Vx1, and the speed limit VL1 set when the turning deceleration event occurs due to the establishment of the emergency stop condition. The standard control speed Vx1 in FIG. 10B is the same as the standard control speed Vx1 in FIG.

On the other hand, the speed limit VL1 in FIG. 10B is set based on the permissible acceleration dVL1 that is gradually changed as shown in FIG. 10A.

FIG. 10B shows an example in which the standard control speed Vx1 exceeds the speed limit VL1 from the start of deceleration of the rotation of the upper swing body 12 to the middle, and the speed limit VL1 exceeds the standard control speed Vx1 from the middle.

Therefore, in the example shown in FIG. 10B, the standard control speed Vx1 is adopted as the turning control speed V0 in preference to the speed limit VL1 from the start of deceleration of the turning of the upper turning body 12 to the middle. After that, the speed limit VL1 is adopted as the turning control speed V0 in preference to the standard control speed Vx1.

When the crane 10A is adopted, the same effect as when the crane 10 is adopted can be obtained. Further, by adopting the crane 10A, a more realistic allowable acceleration dVL1 reflecting the deviation of the movement between the boom 20 and the suspended load 9 is derived, and the more appropriate turning restriction control is realized.

5: Operation device 6: Control device 7: Display device 9: Suspended load 10: Crane 10A: Crane 11: Lower traveling body 12: Upper swivel body 13: Cab 14: Traveling device 15: Gantry 16: Winch device 17: Counter weight 20: Boom 21: Main jib 22: Supplementary jib 23: Gantry receive 24: Jib 25: Point sheave 26: Strut 31: First undulating rope 32: Second undulating rope 33: Suspended rope 34: Hook 41: Engine 42: Hydraulic pressure Pump 43: Control valve 44: Hydraulic actuator 45: State measuring device 51: Swivel operation device 52: Swivel brake operation device 53: Operation input device 61: Main processing unit 62: Information acquisition unit 63: Allowable acceleration derivation unit 64: Swivel control Unit 65: Upper limit speed derivation unit 66: Dripping length derivation unit (hanging length measuring device)
100: In-vehicle network 161: 1st winch 162: 2nd winch 163: 3rd winch 210: Main jib attachment 220: Supplementary jib attachment 431: Direction control valve (oil amount control valve)
432: Relief control valve (pressure reducing valve)
440: Swivel brake device 441: Swivel motor 451: Load meter (load measuring device)
452: 1st undulation angle measuring device 453: 2nd undulating angle measuring device 454: Swing angle measuring device 455: Feeding length measuring device (hanging length measuring device)
511: Swing lever 521: Brake button 601: MPU
602: RAM
603: Non-volatile memory 604: Signal interface D1: Attachment configuration information D11: Attachment specification information D12: Attachment combination information V0: Turning control speed V1: Initial speed VL1: Limit speed Vmx1: Upper limit speed Vx1: Standard control speed dVL1: Allowable acceleration dVL11: Allowable acceleration initial value dVL12: Allowable acceleration reached value r1: First turning radius r2: Second turning radius t1: Allowable time t2: Change time θ1: First undulation angle θ2: Second undulation angle

Claims (6)

With the lower substrate,
An upper swivel body rotatably connected to the upper part of the lower substrate,
A swivel drive device that swivels and drives the upper swivel body,
A boom that is undulatingly connected to the upper swing body and the suspended load is hung by a hanging rope,
An information acquisition unit that acquires attachment configuration information representing the configuration of a plurality of attachments included in the boom, and an information acquisition unit.
An undulation angle measuring device that measures the undulation angle of the boom,
A load measuring device that measures the load of the suspended load applied to the boom,
Based on the attachment configuration information and the measurement results of the undulation angle measuring device and the load measuring device, the permissible acceleration derivation unit that derives the permissible acceleration, which is the swivel acceleration allowed for the boom, corresponding to the swirl resistance torque of the boom. When,
A crane including a turning control unit that executes control for limiting the turning acceleration of the upper turning body within the allowable acceleration range with respect to the turning drive device. If the upper swivel body decelerates at the allowable acceleration while turning at a predetermined steady speed, the upper limit speed which is the steady speed when the upper swivel body requires a preset allowable time to stop is derived. Further equipped with an upper speed derivation unit,
The crane according to claim 1, wherein the turning control unit controls the turning drive device to limit the turning speed of the upper turning body within the range of the upper limit speed. Further equipped with a turning angle measuring device for measuring the turning angle of the upper turning body,
The swivel drive device
A hydraulic motor that swivels and drives the upper swivel body,
It is equipped with an oil amount adjusting valve that can adjust the amount of hydraulic oil flowing to the hydraulic motor.
1. The crane according to claim 2. The swivel drive device
A hydraulic motor that swivels and drives the upper swivel body,
A pressure reducing control valve capable of adjusting the pressure reduction of the hydraulic oil flowing through the hydraulic motor is provided.
The crane according to claim 1 or 2, wherein the turning control unit reduces the upper limit pressure of the hydraulic oil to a pressure corresponding to the allowable acceleration by controlling the pressure reducing control valve. Further equipped with a hanging length measuring device for measuring the hanging length of the hanging rope,
The allowable acceleration derivation unit measures the load applied to the boom from the minimum load based on the attachment configuration information, the measurement results of the undulation angle measuring device and the load measuring device, and a predetermined minimum load. The initial value and the reached value of the allowable acceleration when it is assumed that the load is changed to the measured load of the device are derived, and further, it corresponds to the measurement result of the hanging length measuring device after the acceleration or deceleration of the upper swivel body starts. The crane according to any one of claims 1 to 4, wherein the permissible acceleration is changed from the initial value to the reached value until the change time elapses. The lower base, the upper swivel body rotatably connected to the upper part of the lower base, the swivel drive device for swiveling and driving the upper swivel body, and the swivel drive device undulatingly connected to the upper swivel body and suspended by a hanging rope. A crane control method for controlling a crane including a boom on which a rope is suspended, an undulation angle measuring device for measuring the undulating angle of the boom, and a load measuring device for measuring the load of the suspended load applied to the boom.
A step of acquiring attachment configuration information representing the configuration of a plurality of attachments included in the boom, and
Based on the attachment configuration information and the measurement results of the undulation angle measuring device and the load measuring device, a step of deriving an allowable acceleration which is a turning acceleration allowed for the boom corresponding to the turning resistance torque of the boom, and a step of deriving the allowable acceleration.
A crane control method comprising a step of executing a control for limiting the turning acceleration of the upper turning body within the allowable acceleration range with respect to the turning drive device.

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