JP2767466B2 - 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,
The multi-stage boom telescopic hydraulic actuator, the boom hoist hydraulic actuator, and the electromagnetic control valve for controlling the jib hoist hydraulic actuator, respectively, the telescopic length and the hoist angle of the multi-stage boom, and the jib hoist angle 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 And a control device for outputting a control signal to the electromagnetic control valve of the hydraulic actuator for extending and retracting the multi-stage boom and the hydraulic actuator for raising and lowering the jib in response to the operation of the operation lever. However, the jib tip is moved forward and backward horizontally by using both the expansion and contraction movement of the multistage boom and the jib up / down movement without changing the elevation angle of the multistage boom.

(Operation) According to the above configuration, the arithmetic unit issues control signals to the solenoid valves of the hydraulic actuator for extending and retracting the multi-stage boom and the hydraulic actuator for raising and lowering the jib, whereby the multi-stage boom can be moved without changing the elevation angle of the multi-stage boom. The distal end of the jib is moved forward and backward horizontally using both the boom expansion and contraction movement and the jib up-and-down movement.

That is, the control device of the present invention has a multi-stage boom length that affects the height of the jib tip, a multi-stage boom undulation angle,
Of the three variables relating to the jib undulation angle, the undulation angle of the multi-stage boom is particularly fixed, and the other two are changed so that the tip of the jib is moved horizontally.

(Embodiment) Hereinafter, the present invention will be described based on the drawings of an embodiment in which the present 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
Is an outrigger jack 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 in hydraulic modes 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, 21 and the operation signal from the operation device 22, and controls the control units 16a, 16b, 18a, 18b of the solenoid valves 16 and 18 for multistage boom extension / retraction operation. An arithmetic unit that outputs a signal. The arithmetic unit 24 is configured by electronic control means such as a microcomputer.

The arithmetic unit 24 calculates the length L ₀ of the multi-stage boom 2 at the time when the horizontal advance / retreat lever 23 is operated (when the lever 23 is tilted in the forward direction A or the backward direction A from the neutral position 0), the jib undulation angle θ _J0 , And the height H ₀ of the tip of the jib 1 is stored as an initial value. The height H of the tip of the jib 1 is determined by detecting means 19, 20,
Based on the boom length signal L, boom up / down angle signal θ, and jib up / down angle signal θ _J inputted from H and L 21, the calculation is made by the formula of H = L sin θ + L _J sin θ _J. The initial value H ₀ is similarly calculated and stored.

Next, based on the operation signal from the operation device 22, the arithmetic unit 24 transmits a control signal for extending and retracting the multi-stage boom 2 and raising and lowering the jib 1 to the electromagnetic control valve 16 of the hydraulic actuator 5 for extending and retracting the boom and for raising and lowering the jib. Output to the electromagnetic control valve 18 of the hydraulic actuator 7. In this case, a signal for extending the multi-stage boom 2 and lowering the jib is issued when the operation lever 23 of the operation device 22 is operated to the forward position A, and is used to reduce the multi-stage boom 2 and raise the jib. The signal is issued when the operation lever 23 of the operation device 22 is operated to the retracted position A. The arithmetic unit 24 calculates the height H of the tip of the jib 1 after the telescopic driving of the multi-stage boom 2 and the driving of the jib 1 up and down according to the above-mentioned formula, and this H is an initial value ( said control signal to maintain the stored value) H ₀ is being created by the arithmetic unit within 24.

In FIG. 2, reference numerals 25 and 27 denote operating devices for extending and retracting the multi-stage boom and for raising and lowering the jib, and output signals of these operating devices 25 and 27 are respectively transmitted to corresponding electromagnetic devices via switching means 28 and 29. It can be connected to the operation part of the control valve. 26
Is an operating device for raising and lowering the multi-stage boom, which operates the operating valve 17.

(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 installed, the tip of the jib can be moved horizontally by operating a single operation lever, so that, for example, the jib can be inserted into a building and placed along the ceiling of the building. There is an effect that the work of moving the jib tip horizontally can be performed very easily.

In particular, according to the present invention, when moving the jib tip horizontally, the multi-stage boom 2 does not move up and down. Therefore, even when the upper or lower surface of the multi-stage boom is brought close to an elevated line or a building, the tip of the jib is not moved. Has the effect that it can be advanced and retracted horizontally.

[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, body; 4, telescopic hydraulic actuator; 5, boom up / down hydraulic actuator; 6, boom 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 unit; 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 attached to the end thereof so as to be able to raise and lower, 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. A hydraulic actuator for extending and retracting a multi-stage boom in response to the operation of the operation lever. A control signal is output to the electromagnetic control valve of the hydraulic actuator for raising and lowering the boom, and the tip end of the jib is moved horizontally using both the expansion and contraction movement of the multi-stage boom and the up-and-down movement of the jib without changing the elevation angle of the multi-stage boom. An operation control device for a self-propelled crane or an aerial vehicle, wherein the operation control device is configured as described above.