JP2872959B2 - Balance control device for crane with weight bogie - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crane with a weight bogie to which a weight bogie is pulled at a rear portion of an airframe main body. In particular, the crane with a weight bogie causes imbalance in lifting and lowering a suspended load. The present invention relates to an apparatus for preventing the above.

[0002]

2. Description of the Related Art FIG. 4 shows a conventional crane 1 with a weight trolley. A weight trolley 3 is pulled to the rear of the body 2 by hinges. A boom 4 is provided at the front of the body 2 for pivoting forward of the body 2, and a mast boom is provided at the pivot point of the boom 4 behind the body 2. 5 is pivoted.

A hoisting rope 7 is extended from a winch 6a mounted on the body 2 of the machine, and the hoisting rope 7 passes through guide sheaves 8 and 9 provided on the mast boom 5. The boom 4 is suspended via a guide sheave 10 and a top sheave 11 at the tip of the boom 4, and a hook 12 is hooked to a lower end thereof.

[0004] Further, one end of a boom pendant rope 13 is fixed to the back surface of the end of the boom 4, and a bridle 14 is disposed at the other end of the boom pendant rope 13. And the bridle 14 and the bail 15
While the boom hoisting rope 16 is wound between
The base end of the boom hoisting rope 16 is connected to the mast boom 5.
It is wound around the winch 6b of the body 2 via the top sheave 17 at the tip.

[0005] One end of a mast pendant rope 18 is connected to the end of the mast boom 5, and a bridle 19 is arranged at the other end of the mast pendant rope 18. And the bridle 19 and the bail 20
The mast hoisting rope 21 is wound between
The base end of the mast hoisting rope 21 is passed through a top sheave 23 at the tip of a high mast 22 erected on the body 2 of the machine.
It is wound around the winch 6c of the body 2.

Further, one end of a weight bogie pendant rope 24 is connected to the end of the mast boom 5, and the other end of the weight bogie pendant rope 24 is hung on the weight bogie 3. Thus, the weight of the weight cart 3 exerts a tension on the weight cart pendant rope 24, thereby taking a rearward reaction force against the load of the suspended load 25.

[0007] However, when the suspended load 25 is lifted and lowered, a sudden change in the load accompanies the load, so that the balance may be lost and the boom may swing or the machine body may be damaged. Therefore, a tension detector 26 is provided on the mast pendant rope 18, and a hydraulic cylinder 27 is provided on the weight carriage pendant rope 24 so as to be extendable. When the tension of the mast pendant rope 18 reaches a specified value (for example, 2 tons) by the controller 28, the hydraulic cylinder 27 is contracted to increase the tension of the weight bogie pendant rope 24, and the suspended load 25 is lifted. The weight bogie pendant rope 24 is configured to exclusively receive the reaction force against the increase in the tension of the boom pendant rope 13 and the boom hoisting rope 16 due to the lifting, when the weight exceeds the prescribed value.

On the other hand, when the suspended load 25 is grounded, the boom pendant rope 13 and the boom
Since the tension of the mast pendant rope 18 falls below the specified value, the hydraulic cylinder 27 is extended to reduce the tension of the weight bogie pendant rope 24. .

[0009]

The load fluctuation accompanying the lifting and lowering of the suspended load 25 is extremely sharp.
It takes a certain time for 7 to expand and contract to the target value. Therefore, the conventional control method cannot follow the load fluctuation and cannot eliminate the swing of the boom 4 or the like. When the boom 4 shakes, the vibration is propagated to the hoisting rope 7 and the hook 12 begins to rampage, and there is a danger of causing harm to a slinger or the like.

Therefore, there is a technical problem to be solved in order to eliminate a swing of a boom or the like by performing balance control capable of following a sudden load change, thereby preventing damage to the machine body and improving safety. Therefore, an object of the present invention is to solve the problem.

[0011]

SUMMARY OF THE INVENTION The present invention has been proposed to solve the above-mentioned problem, and is a crane with a weight bogie in which a weight bogie is pulled at a rear portion of a body of a vehicle, wherein a winch is attached to the body of the body. Mounted, and the vehicle body is pivotally connected with a boom that descends forward and a mast boom that descends rearward, and a hoisting rope is wound around a winch via the boom tip and the mast boom, and is attached to the boom tip. Wind the secured boom rope around the winch via the mast boom tip, wind the mast boom rope secured at the mast boom tip around the winch, and further attach the weight bogie rope secured to the mast boom tip to the weight bogie. In a crane with a weight trolley, the actuator for pressing wheels is provided on the weight trolley body, and a mast booze is provided. By installing a rope tension detector and a weight bogie rope tension detector, when the mast boom rope tension exceeds the specified value and the weight bogie rope tension reaches the limit value, the lifting of the hoisting rope and the boom rope Dispensing is prohibited, and when the mast boom rope tension exceeds the specified value and the weight bogie rope tension is less than the limit value, the actuator is deenergized.
An object of the present invention is to provide a balance control device for a crane with a weight trolley for urging the actuator when the mast boom rope tension is less than a specified value.

[0012]

FIG. 1 is a block diagram showing an embodiment of the present invention.
3 to FIG. For the sake of explanation, the same reference numerals are given to the same parts as those in the conventional example, and the explanation is omitted.

FIG. 1 shows a crane 31 with a weight cart. A controller 32 is stored in the body 2 of the machine, and the controller 32 has a tension detector 26 of the mast pendant rope 18 and a tension of the weight cart pendant rope 24. The detection result of the detector 33 is input.

The body 3a of the weight cart 3 and the wheels 3
Suspension cylinders 36, 36,... Are disposed on a suspension 35 connecting the 4, 4,. FIG.
As shown in the figure, the base end of the suspension cylinder 36 is pivotally attached to the weight bogie main body 3a, and the distal end of the piston 37 is pivotally attached to an arm 39 provided horizontally on a hub 38 of the wheel 34. The base end (the left end in the figure) of the arm 39 is pivotally attached to a bracket 40 which is suspended from the weight bogie main body 3a.

Therefore, the suspension cylinder 36
The piston 37 presses the arm 39 by the pressure oil supplied to the oil chamber 41, and a moment acts on the arm 39 with the pivot point of the bracket 40 as a fulcrum, whereby the wheel 34 is pressed downward. You.

Further, the suspension cylinder 36 is provided with a length detector 42 of the suspension cylinder 36 and a hydraulic pressure detector 43 for the pressure oil fed to the oil chamber 41. The oil reaching the oil chamber 41 is also provided. The path 44 is provided with an expansion and contraction of the suspension cylinder 36 and a pressure control valve 45. The detection results of the length detector 42 and the oil pressure detector 43 are output to the controller 32, and a command signal is output from the controller 32 to the expansion / contraction and pressure control valve 45. I have.

FIG. 3 is a block diagram showing the content of the balance control of the crane 31 with the weight trolley by the controller 32. As shown in the figure, the controller 32 includes a crane operation control unit 46, a fuselage body load range management unit 47, a fuselage body / weight bogie tension balance management unit 48, a weight bogie pendant rope tension control unit 49, and wheels 34, 34. ... for each wheel reaction force control unit 50, 50 ...
Is stored.

Then, the detection result M of the mast pendant rope tension detector 26 is sent to the machine body load range management unit 47. The machine load range management unit 47 stores a prescribed tension value M ₀ of the mast pendant rope 18 (here, 2 tons).
When M <M ₀ , a signal indicating “small tension” and a tension difference ΔM = M ₀ −M are output to the body / weight bogie tension balance management unit 48. On the other hand, M
If> M ₀ , a signal indicating “large tension” and a tension difference ΔM = M−M ₀ are output to the body / weight bogie tension balance management unit 48.

Further, the detection result W of the weight bogie pendant rope tension detector 33 is also input to the body body / weight bogie tension balance manager 48. Further, a tension limit value W ₀ (here, 100 tons) of the weight bogie pendant rope 24 is set in the machine body / weight bogie tension balance management unit 48. And
When M> M ₀ and W ≧ W ₀ , a signal indicating “over-tension” is output to the crane operation control unit 46.

Accordingly, the crane operation control unit 46 determines that the suspended load 25 is too heavy, and prohibits the hoisting rope 7 from being hoisted and the boom hoisting rope 16 from being fed out. In this way, the lifting operation of the suspended load 25 and the lowering operation of the boom 4 are prevented, so that the damage of the machine body due to the overload is prevented and the safety of the worker is ensured. In this case, the operation in the direction in which the stability increases, that is, the extension of the hoisting rope 7 and the winding of the boom hoisting rope 16 are allowed.

Next, when M> M ₀ and W <W ₀ , the machine body / weight bogie tension balance management unit 4
8 outputs to the weight bogie pendant rope tension controller 49 a command signal indicating "increase the weight bogie pendant rope tension" and the detection results M and W. Then, the weight carriage pendant rope tension control unit 49 which has received this, calculates the weights carriage pendant rope tension W ₁ required to mast pendant rope tension the defined value M _0, further, the weight carriage pendant rope It calculates a reaction force F ₁ for each wheel each 34 required to achieve the tension W _1, and outputs the calculation result of the reaction force F ₁ to the wheel reaction force control unit 50.

The wheel reaction force control unit 50 feeds back the detection results of the hydraulic pressure detector 43 and the length detector 42 so that the reaction force of the corresponding wheel 34 becomes the target value F _1. The expansion and contraction and pressure control valve 45
To adjust the hydraulic pressure of the suspension cylinder 36. Incidentally, since the control performed here is to increase the tension of the weight bogie pendant rope 24,
An operation is performed to reduce the reaction force of the wheels 34, that is, to reduce the pressing force of the suspension cylinder 36 on the wheels 34.

The series of processes is executed instantaneously by the controller 32. At the moment when the detection results M and W become M> M ₀ and W <W ₀ from the other judgment condition areas, the above-described processing is executed. The hydraulic pressure of the suspension cylinder 36 is adjusted. That is, since the operation target is the hydraulic pressure of the suspension cylinder 36, the time from the load change time until the operation target reaches the target value is extremely short, and follows the sudden load change instantaneously. Therefore, when lifting the suspended load 25 that satisfies M> M ₀ and W <W ₀ , the balance between the body body 2 and the weight carriage 3 is not temporarily lost, and the boom 4 and the like do not swing.

On the other hand, when the suspended load 25 is lifted and lifted,
When the suspended load 25 is grounded, the mast boom 5
The moment due to the suspended load 25 that has acted disappears.
Therefore, the detection of the mast pendant rope tension detector 26 is required.
The result M is instantaneously M <M ₀become. When you are right
The body body and weight bogie tension balance management unit 48
"Reduce weight pendant rope tension"
The command signal and the detection results M and W after the change
Output to the vehicle pendant rope tension controller 49.

In response to this, the weight bogie pendant rope tension controller 49 calculates a weight bogie pendant rope tension W ₂ at which the balance between the body 2 and the weight bogie 3 is optimized, and further calculates the weight bogie pendant rope. It calculates a reaction force F ₂ of the wheels per 34 needed to achieve a tension W _2, and outputs the calculation result of the reaction force F ₂ to the wheels reaction force control unit 50.

The wheel reaction force control unit 50 adjusts the hydraulic pressure of the suspension cylinder 36 in the same manner as described above, but here, the tension of the weight bogie pendant rope 24 is reduced. From
An operation is performed such that the reaction force of the wheels 34 increases, that is, the pressing force of the suspension cylinder 36 against the wheels 34 is urged.

Thus, after the suspended load 25 is grounded, the hydraulic pressure of the suspension cylinder 36 fluctuates instantaneously, and the balance between the body 2 and the weight carriage 3 is maintained. Therefore, there is no fear that the body is damaged or the boom 4 or the like swings and harms a slinger or the like.

The present invention can be variously modified without departing from the spirit of the present invention, and it goes without saying that the present invention extends to the modified ones.

[0029]

As described above, the present invention is different from the conventional concept of adjusting the tension by expanding and contracting the weight bogie rope, and the operation of the balance control is performed by the pressing force of the actuator against the wheel. Therefore, it is possible to instantaneously follow a sudden change in load caused by lifting and lowering the suspended load, thereby maintaining the balance between the body and the weight cart.

Therefore, the boom and the like are not shaken when the suspended load is lifted and lowered, so that damage to the machine body can be avoided, safety is enhanced, and work efficiency is improved.

[Brief description of the drawings]

FIG. 1 is a side view of a crane with a weight cart, showing an embodiment of the present invention.

FIG. 2 is an enlarged side sectional view of a suspension and wheels of the weight cart in FIG. 1;

FIG. 3 is a block diagram showing the contents of balance control by a controller. The illustration of suspension control by the wheel reaction force control unit for the second and subsequent axes is omitted.

FIG. 4 is a side view of a crane with a weight cart, showing a conventional example.

[Explanation of symbols]

2 Airframe main body 3 Weight bogie 3a Weight bogie main body 4 Boom 5 Mast boom 6a, 6b, 6c Winch 7 Hoisting rope 13 Boom pendant rope 16 Boom hoisting rope 18 Mast pendant rope 21 Mast hoisting rope 24 Weight bogie pendant rope 25 Hanging load 26 Mast pendant rope tension detector 31 Crane with weight trolley 32 Controller 33 Tension detector of pendant rope with weight trolley 34 Wheels 36 Suspension cylinder 42 Suspension cylinder length detector 43 Suspension cylinder oil pressure detector 45 Expansion and contraction of suspension cylinder Pressure control valve 46 Crane work control unit 47 Airframe main unit load range management unit 48 Airframe main unit / weight bogie tension balance management unit 49 Weight bogie page Dantoropu tension control unit 50 a wheel reaction force control unit

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-63-277194 (JP, A) JP-A-62-175399 (JP, A) JP-A-54-97956 (JP, A) 128082 (JP, U) Actually open 48-66264 (JP, U) (58) Fields investigated (Int. Cl. ⁶ , DB name) B66C 19/00-23/94

Claims (1)

(57) [Claims] 1. A crane with a weight bogie to which a weight bogie is pulled at a rear portion of a fuselage main body, wherein a winch is mounted on the fuselage main body, and a boom for raising the main body and a mast boom for raising rearward. And the hoisting rope is wound around the winch via the boom tip and the mast boom, and the boom rope fastened to the boom tip is wound around the winch via the mast boom tip, and the mast boom An actuator for winding a mast boom rope attached to the tip to a winch, and further pressing a wheel to the weight cart body in a crane with a weight cart in which a weight cart rope attached to the mast boom tip is attached to the weight cart. By providing a mast boom rope tension detector and a weight bogie rope tension detector, When the mast boom rope tension exceeds the specified value and the weight bogie rope tension has reached the limit value, hoisting of the hoisting rope and extension of the boom rope are prohibited, and the mast boom rope tension exceeds the specified value. When the weight bogie rope tension is less than the limit value, the actuator is deenergized. On the other hand, when the mast boom rope tension is less than the specified value, the actuator is energized. Control device.