JP2767465B2 - Operation control device for self-propelled cranes or aerial work vehicles - Google Patents

Description

The present invention relates to an operation control device for a self-propelled crane or an aerial work vehicle equipped with a multi-stage boom having a jib which can be raised and lowered at its tip, on a vehicle body, in particular, The present invention relates to an operation control device for horizontally moving the tip of the jib.

2. Description of the Related Art Conventionally, in a self-propelled crane or an aerial work vehicle in which a multi-stage boom is mounted on a vehicle body, an electromagnetic control valve for controlling a hydraulic actuator for extending and retracting and a hydraulic actuator for raising and lowering the multi-stage boom, respectively, Detecting means for detecting the extension length and the undulating angle of the boom, an operating device having a horizontal advance / retreat lever and outputting an operation signal corresponding to the operation of the operating lever, and a detection signal and operation from each of the detecting means An arithmetic unit that receives an operation signal from the device and outputs a control signal to a control unit of the two electromagnetic control valves, and controls switching of the electromagnetic control valve in response to operation of the operation lever, Thus, an operation control device is used in which the tip of the multi-stage boom is horizontally moved forward and backward by using both the expansion and contraction movement and the up-and-down movement of the multi-stage boom. You. Such an operation control device is disclosed, for example, in
No. 47800.

According to this known technique, the height H of the tip of the multi-stage boom is
Assuming that the length of the multi-stage boom is L and the angle of elevation of the multi-stage boom is θ, H = L sin θ, that is, a predetermined H
Based on the fact that there is only one combination of L and θ to achieve the multi-stage boom, while using the multi-stage boom telescopic movement and the up-and-down movement together, keeping the height of the tip of the multi-stage boom constant. It is intended to increase or decrease the working radius (advancing or retracting the tip of the multi-stage boom).

On the other hand, in recent years, self-propelled cranes or aerial work vehicles equipped with a multi-stage boom having a jib that can be raised and lowered on the body have been frequently used. There was no operation control device for horizontally moving the tip of the jib.

This is because in this type of self-propelled crane or aerial work platforms, the height H of the jib tip, the length of the multi-stage boom; cause elevation of theta jib;; theta _J (ground angle caused elevation of L multistage boom If the length of the jib is L _J , then H = L sin θ + L _J sin θ _J, and the variable for obtaining H is the multi-stage boom length L, even if the jib length L _J is constant. becomes three electromotive elevation theta _J electromotive elevation theta and jib multistage boom can not be determined uniquely combinations of values of these three variables to achieve a predetermined jib tip height (such There are infinite combinations).

SUMMARY OF THE INVENTION An object of the present invention is to provide a novel operation control for a self-propelled crane or an aerial work vehicle equipped with a multi-stage boom having a jib which can be raised and lowered at the tip thereof, which can move the jib tip horizontally. It is intended to provide a device.

(Means for Achieving the Object) In order to achieve the above object, the operation control device of the self-propelled crane or the aerial work vehicle of the present invention is configured as follows.

In a self-propelled crane or aerial work vehicle equipped with a multi-stage boom with a jib attached to the tip so that it can be raised and lowered,
An electromagnetic control valve for controlling the hydraulic actuator for extending and retracting the multi-stage boom, a hydraulic actuator for raising and lowering the boom, and an electromagnetic control valve for controlling the hydraulic actuator for raising and lowering the jib, respectively; Detecting means for respectively detecting
An operation device having a horizontal advance / retreat operation lever and outputting an operation signal corresponding to the operation of the operation lever; receiving a detection signal from each of the detection means and an operation signal from the operation device; and controlling each of the electromagnetic control valves A hydraulic actuator for extending and retracting the multi-stage boom so that the tip of the multi-stage boom moves forward and backward in response to the operation of the operation lever. And outputs a control signal to the electromagnetic control valve of the hydraulic actuator for raising and lowering the jib so that the elevation angle of the jib with respect to the ground is maintained irrespective of the up-and-down movement of the multi-stage boom. I did it.

(Operation) According to the above configuration, the arithmetic unit issues a control signal to the raising / lowering hydraulic actuator of the multi-stage boom and the raising / lowering hydraulic actuator, thereby moving the tip end of the multi-stage boom horizontally. Further, the arithmetic unit issues a control signal to the hydraulic actuator for raising and lowering the jib, so that the angle of the jib relative to the ground is maintained constant irrespective of the movement of the multi-stage boom.

In other words, the control device of the present invention keeps the jib factor of the height of the jib tip of the self-propelled crane unchanged by maintaining the jib ground angle constant irrespective of the up-and-down movement of the multi-stage boom, The distal end of the multi-stage boom is moved forward and backward in the same manner as in the prior art by using both the expansion and contraction movement and the up-and-down movement of the multi-stage boom, thereby moving the jib distal end in the horizontal direction.

(Embodiment) Hereinafter, the present invention will be described with reference to the drawings of an embodiment in which the invention is applied to a self-propelled crane.

FIG. 1 shows an example of a self-propelled crane. This self-propelled crane has a multi-stage boom 2 having a jib 1 attached to a tip thereof so as to be able to move up and down, mounted on a vehicle body 4 via a swivel base 3. The multi-stage boom 2 is driven to extend and retract by a retractable hydraulic actuator 5 incorporated therein, and is driven to be raised and lowered by a boom lifting hydraulic actuator 6. The jib 1 is driven up and down by a hydraulic actuator 7 for lifting and lowering the jib. 8
Are outrigger jacks provided on both front and rear sides of the vehicle 4. Reference numerals 9 and 10 denote main and sub winches provided on the swivel base 3, which are driven by hydraulic motors 11 and 12, respectively. Reference numeral 13 denotes a main hook suspended from the tip of the multi-stage boom 2, and the main winch 9
To be driven up and down. 14 is jib 1
A sub-hook suspended at the tip of the sub-winch and driven by the sub-winch 10 for hoisting and lowering. Reference numeral 15 denotes a crane operating room of a self-propelled crane provided on a swivel.
The hydraulic actuator 5 for expansion and contraction, the hydraulic actuator 6 for raising and lowering the boom, the hydraulic actuator 7 for raising and lowering the jib, the hydraulic motors 11 and 12, and the hydraulic actuators (not shown) of other movable parts are electromagnetically operated from the cab 15. Drive control is performed via a control valve.

Next, a control device of the present invention applied to the self-propelled crane of FIG. 1 will be described with reference to FIG.

In FIG. 2, reference numerals 16, 17, and 18 denote electromagnetic control valves for controlling the hydraulic actuator 5 for extending and retracting, the hydraulic actuator 6 for raising and lowering the boom, and the hydraulic actuator 7 for raising and lowering the jib of the multi-stage boom 2 respectively. These solenoid control valves
Each of 16, 17, and 18 is constituted by a four-way, three-position type double solenoid-operated electromagnetic proportional control valve. 19,20 and 21
Are the extension length L of the multi-stage boom 2, the undulation angle θ, and the jib 1
Detecting means for respectively detecting the undulation angle θ _J of. twenty two
Is an operation device that includes a horizontal advance / retreat operation lever 23 and outputs an operation signal corresponding to the operation of the operation lever 23. twenty four
Receives the detection signal from each of the detection means 19, 20, and 21 and the operation signal from the operation device, and receives the electromagnetic valves 16, 17, 18
This is an arithmetic unit that outputs control signals to the control units 16a, 16b, 17a, 17b, 18a, and 18b. The arithmetic unit 24 is configured by electronic control means such as a microcomputer.

The arithmetic unit 24 calculates the height h _{0 of the} tip of the multi-stage boom 2 and the elevation of the jib 1 with respect to the ground when the horizontal advance / retreat lever 23 is operated (when the lever is tilted in the forward direction A or the backward direction A from the neutral position 0). The angle θ _J0 is stored as an initial value. The height h of the tip of the multi-stage boom 2 is calculated based on the boom length signal L and the boom up / down angle signal θ input from the detection means 19 and 20 by the following formula: h ₀ = L sin θ.

Next, based on the operation signal from the operating device 22, the arithmetic unit 24 sends a control signal for lowering and extending or raising or lowering the multi-stage boom 2 to the electromagnetic control valve 17 of the hydraulic actuator 6 for raising and lowering the boom and extending and retracting the boom. To the electromagnetic control valve 16 of the hydraulic actuator 5 for use. In this case, a control signal for lowering and extending the multi-stage boom 2 is issued when the operation lever 23 of the operating device 22 is operated to the position A, and a control signal for raising and lowering the multi-stage boom 2 is provided. Is issued when the operating lever 23 of the operating device 22 is operated to the retracted position A. The arithmetic unit 24 calculates the height h of the tip of the multi-stage boom after driving the multi-stage boom 2 from time to time using a calculation formula h = L sin θ, where h is the initial value described above.
The control signal is generated in the arithmetic unit 24 so as to maintain h ₀ .

Further, the arithmetic unit 24 outputs a control signal to the electromagnetic control valve 18 of the hydraulic actuator 4 for raising and lowering the jib 2, and the control signal causes the ground hoisting angle θ _J of the jib 1 to be maintained regardless of the up-and-down movement of the multi-stage boom 2. Control to keep it constant. In this control, the control signal is generated in the arithmetic unit 24 so that the ground inclination angle θ _J of the jib 1 after driving maintains the above-mentioned initial value θ _J0 .

In FIG. 2, reference numerals 25, 26 and 27 denote operating devices for multi-stage boom expansion / contraction, multi-stage boom raising / lowering and jib raising / lowering, and output signals of these operation signal devices are respectively provided by switching means 28, 29 and It can be connected to the operation unit of the corresponding electromagnetic control valve via 30. These operating devices 25, 26 and 27 are used during normal crane work.

(Effects) The operation of the operation control device according to the present invention is as described in the description of the above configuration. According to the present invention, a multi-stage boom having a jib attached to the tip so as to be able to move up and down is mounted on the vehicle body. In a self-propelled crane or aerial work vehicle that has been installed, the multi-stage boom undulation, extension and contraction and jib undulation are automatically used together,
Since the jib tip can be moved back and forth horizontally, there is an effect that, for example, the work of projecting the jib into a building and moving the jib tip horizontally along the ceiling of the building can be performed extremely easily.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of a self-propelled crane, and FIG. 2 is an explanatory diagram of an operation control device of a self-propelled crane or an aerial work vehicle according to the present invention. Jib; 1, Multi-stage boom; 2, Car body; 4, Telescopic hydraulic actuator; 5, Boom up / down hydraulic actuator; 6, Jib telescopic hydraulic actuator; 7, Control device; 16, 17, 18, Telescopic length detection means 19, boom undulation angle detection means; 20, jib undulation angle detection means; 21, operating device; 22, arithmetic device; 24,

Claims (1)

(57) [Claims] 1. A self-propelled crane or an aerial work vehicle having a multi-stage boom mounted on a vehicle body and having a jib mounted on a tip thereof so as to be able to move up and down, a hydraulic actuator for extending and retracting the multi-stage boom, a hydraulic actuator for raising and lowering the boom, and An electromagnetic control valve for controlling a hydraulic actuator for raising and lowering a jib, a detecting means for detecting an extension length and a raising and lowering angle of the multi-stage boom, and a raising and lowering angle of the jib; An operation device that outputs an operation signal corresponding to an operation of an operation lever; and an operation that receives a detection signal from each of the detection units and an operation signal from the operation device and outputs a control signal to a control unit of each of the electromagnetic control valves. The multi-stage boom moves forward and backward in response to the operation of the operation lever. A control signal is output to each of the electromagnetic control valves of the hydraulic actuator for extending and retracting the boom and the hydraulic actuator for raising and lowering the boom. An operation control device for a self-propelled crane or an aerial work vehicle, which is configured to output a control signal to an electromagnetic control valve of an actuator.