JP2948690B2 - Crane operating device - 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 operating device.

[0002]

2. Description of the Related Art Conventionally, as shown in FIGS. 4 and 5, a crane of this type suspends a hook 2 at the tip of a telescopic boom 1 that can be raised and lowered, and can move the telescopic boom 1 up and down. The movement, the lifting and lowering movement of the hook 2, and the turning movement are performed by hydraulic actuators of the undulating cylinder 3, the telescopic cylinder 4, the winch motor 5, and the turning motor 6. The undulating cylinder 3, the telescopic cylinder 4, the winch motor 5, and the swing motor 6
Are controlled by an up / down control valve 7, an expansion / contraction control valve 8,
The control is performed by the winch control valve 9 and the swing control valve 10. This crane has the up-and-down control valve 7,
Telescopic control valve 8, winch control valve 9, and swing control valve 1
As operation means for operating the control valve 0, an operation input unit 11 for inputting a signal for operating each control valve, an output signal of the operation input unit 11 is received and subjected to arithmetic processing, and the control valves 7, 8, Operation processing unit 1 that outputs operation signals to 9 and 10
2 is provided.

[0003] The operation input unit 11 has operation means corresponding to each control valve so as to output an operation signal to each control valve. The operating means includes an up / down drive direction designating switch 13 for outputting a signal for designating a switching direction of the up / down control valve 7, a telescopic drive direction designating switch 14 for outputting a signal for designating a switching direction of the telescopic control valve 8, a winch control valve. 9 is a winch drive direction designating switch 15 for outputting a signal for designating a switching direction, and a turning drive direction designating switch 16 for outputting a signal for designating a switching direction of the swing control valve 10. Each control valve 7, 8 , 9 and 10, which are constituted by a common switching amount signal generating means 17 (comprising a potentiometer or the like) for outputting signals relating to the operation amounts. (Especially, the up / down drive direction designation switch 13, the expansion / contraction drive
Direction designation switch 14, winch drive direction designation switch
Reference numeral 15 corresponds to the three operation means according to the first aspect. )

The up / down driving direction designating switch 13 has a terminal 13a for generating an elevation signal and a terminal 13 for generating a falling signal.
b and a single-pole double-throw switch having a neutral return function. The expansion / contraction drive direction designation switch 14 includes a terminal 14a for generating an expansion signal and a terminal 14b for generating a reduction signal.
And a single pole double throw switch having a neutral return function. The winch drive direction designation switch 15 has a terminal 15a for generating a winding signal and a terminal 15b for generating a lowering signal, and is configured by a single pole double throw switch having a neutral return function. Swing drive direction designation switch 16
Has a terminal 16a for generating a left turn signal and a terminal 16b for generating a right turn signal, and is constituted by a single pole double throw switch having a neutral return function.

The arithmetic processing section 12 receives an output signal from the operation input section 11 and outputs an operation signal to control valves 7 to 10 corresponding to the direction designation switches 13 to 16 relating to the operation. .

In the illustrated example, the arithmetic processing unit 12 includes terminals 13 a of direction designation switches 13 to 16 of the operation input unit 11,
13b, 14a, 14b, 15a, 15b, 16a, 1
While receiving the ON-0FF signal from 6b via the signal transmission lines 18 to 25, it receives the voltage signal from the switching amount signal generating means 17 of the manual input unit 11 via the signal transmission line 26. 27 to 34 are signal transmission lines 18 respectively.
This relay is activated when an ON signal is transmitted to .about.25.

A converter 35 converts a voltage signal input from the switching amount signal generating means 17 via the signal transmission 26 into a voltage for operating each control valve. The voltage converted by the converter 35 in proportion to the output voltage of the switching amount signal generating means 17 is supplied to the control valve 7 via a circuit 36 having a relay contact 27a connected when the relay 27 is operated. The relay 2 is mounted on the elevation switching side 7a.
8 through a circuit 37 provided with a relay contact 28a connected at the time of operation of the up / down control valve 7
A relay contact 2 connected when the relay 29 operates.
The extension direction switching side 8a of the expansion and contraction control valve 8 is connected to the extension direction switching side 8a of the expansion and contraction control valve 8 via the circuit 38 with the relay contact 30a connected when the relay 30 is actuated. A circuit 40 having a relay contact 31a connected to the switching side 8b when the relay 31 is operated.
Direction switching side 9a of winch control valve 9 via
A relay contact 3 connected when the relay 32 is activated.
The counterclockwise direction switching side 9b of the winch control valve 9 is connected to the lower side 9b of the turning control valve 10 via a circuit 42 provided with a relay contact 33a connected when the relay 33 is activated. The turning direction switching side 10a is connected to the right turning direction switching side 10b of the turning control 10 via a circuit 43 provided with a relay contact 34a connected when the relay 34 operates.

That is, the arithmetic processing unit 12 receives the output signal from the operation input unit 11 and sends the operation signal to the control valves 7 to 10 corresponding to the direction specifying switches 13 to 16 relating to the operation. An operation signal is output to the corresponding one of the control valves 7 to 10 to switch the amount related to the output signal of the switching amount signal generating means 17 in the direction specified by the direction specifying switches 13 to 16. In addition, each control valve 7 ~
Reference numeral 10 denotes a switch whose switching amount is controlled in accordance with an input operation signal level (in this case, a voltage level).

[0009]

The conventional operating device for a crane constructed as described above operates an arbitrary control valve 7 to 10 in an arbitrary switching direction by an arbitrary amount by an operation from an operation input unit 11. However, the operation input unit 11 only needs to provide the switching direction designation switches 13 to 16 and one switching amount signal generating unit 17 as means for switching and controlling the control valves 7 to 10. , The structure of the operation input unit 11 can be simplified.
This has the effect of simplifying the signal transmission to the arithmetic processing unit 12. For this reason, this kind of operation is frequently used as a so-called remote control type operation device in which a signal between the operation input unit 11 and the arithmetic processing unit 12 is performed by a flexible long cable or wirelessly. ing.

However, in this type of crane operating device, two of the direction designating switches 13 to 16 are operated, and at the same time, the switching amount signal generating means 17 is operated to carry out each of the control operations. It is often the case that a so-called combined operation of simultaneously operating two of the valves 7 to 10 is performed. In particular, the operation of moving the suspended load suspended on the hook 2 from the ground while maintaining a constant height, that is, the suspended load parallel movement operation is frequently performed. Fifteen
In addition, the joint operation of the telescopic drive direction designating switch 14 and the winch drive direction designating switch 15 is frequently performed, and two direction designating switches must be operated, which makes the operation cumbersome.

Particularly, in the conventional operating device for a crane, the two direction specifying switches must be operated and the switching amount signal generating means 17 must be operated, which is troublesome. Further, since the switching amounts of the two control valves involved in the operation are uniquely determined by the operation amounts of the common switching amount signal generator 17, two switching valves driven in association with the operations of these two control valves are used. It is difficult to move the suspended load parallel to the ground when performing the suspended load parallel movement operation by the hydraulic actuator.

In the operating device for a crane according to the present invention, a plurality of hydraulic actuators are automatically driven by operating only one direction designating switch (operating means) to perform a parallel moving operation of a suspended load. It is an object of the present invention to provide a new crane operating device that enables simple operation and enables independent operation of each hydraulic actuator as before, without increasing the number of direction designation switches.

[Means for Solving the Problems]

[0013] In order to achieve the above object, a crane operating device according to the present invention comprises a hook hung at the tip of a telescopic boom that can be raised and lowered, a raising and lowering motion of the telescopic boom, and a raising and lowering motion of the hook. The undulation control valve, telescopic control valve,
And derricking cylinder which is than Te driven controlled by the control valves of the winch control valve, telescopic cylinder, and an operating device crane to perform on each hydraulic actuator winch motor, outputs an operation signal to each control valve Operating unit having three operating means respectively arranged corresponding to the respective control valves, and an arithmetic processing unit for receiving and processing the output signal of the operating input unit and outputting the operating signal to each of the control valves in the operating device of a crane with a single
The winch motor and other hydraulic actuators
Operation to move the hook horizontally by moving a tutor
Means for one or two of the three operating means.
Is arranged as operation means for controlling the horizontal movement of the
Operation of a specific hydraulic actuator
Move the operating means to be moved to the remaining two of the three operating means.
Or one as the operating means for controlling the single hydraulic actuator
And further operated independently by the single operation means.
Hydraulic pressure other than hydraulic actuator that can be driven
Independent driving of the actuator is optional among the three operating means
It can be driven by the combined operation of the two operation means of
As described above, the operation input unit and the arithmetic processing unit are associated with each other.

[0014]

The operation device for a crane of the present invention constructed as described above controls the horizontal movement of the hook in the case of carrying out the frequent work parallel movement of the suspended load by controlling the horizontal movement of the hook among the three operation means. For controlling horizontal movement of hooks associated with
By operating the operating means , a plurality of hydraulic actuators including a winch motor can be moved together to control the horizontal movement of the hook. Therefore, one operation means
Parallel operation of suspended load can be easily performed by independent operation . When each hydraulic actuator is independently controlled, the hydraulic actuator controlled by the single hydraulic actuator control operating means among the three operating means can independently operate the hydraulic actuator by operating the single hydraulic actuator control operating means. Actuator can be controlled. The independent drive of the hydraulic actuator that is not controlled by the operating unit for controlling the single hydraulic actuator can also operate the single drive of the hydraulic actuator that is not controlled by the operating unit for controlling the single hydraulic actuator by operating the two operating units in combination. .

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a crane operating device according to the present invention will be described below with reference to FIG. In describing the operating device of the crane of the present invention, the reference numerals used in the crane operating device of the present invention, which are shown in FIGS. The same components are denoted by the same reference numerals, and description thereof is omitted. And
As an embodiment of the operating device of the crane of the present invention,
Motion direction designation switch 13 and telescopic drive direction designation switch 1
The horizontal movement of the hook according to claim 1, wherein the two operation means (4) are used.
Link as control operation means,
When the switch 13 is operated, the undulation of the telescopic boom 4 and the winch
Control the horizontal movement of the hook by controlling
When the designated switch 14 is operated, the telescopic boom 4 is
Control of horizontal movement of hook by controlling inch
The case of controlling will be described. The winch drive method
Direction designation switch 15 by the single hydraulic actuation of winch motor 5.
Operation means for controlling the tutor (the independent hydraulic
As a actuator control means), and
The independent driving of the cylinder 3 is performed by the
Extend / contract by operating the winch drive direction switch 15
Telescopic drive direction designation switch 14 for independent drive of cylinder 4
And control by the combined operation of the winch drive direction designation switch 15
The case in which this is performed will be described below.

In FIG. 1, reference numeral 44 denotes an operating posture detecting means of the telescopic boom 1, which detects a boom undulation angle detector 45 for detecting the undulation angle θ of the telescopic boom 1 and a boom length L of the telescopic boom 1. And a boom length detector 46 for detection.

Reference numeral 47 denotes an operation means provided inside the operation processing unit 12. The operating means 47 receives the boom operating attitude information (boom undulation angle θ and boom length L) from the boom operating attitude detecting means 44 and the signal V from the switching amount signal generating means 17 of the operation input unit 11. The arithmetic means 47 performs an arithmetic operation to be described later using these input signals θ, L, and V, and switches the operation signal V1 (voltage signal) for instructing the switching amount of the up / down control valve 7 and the switching of the expansion / contraction control valve 8. An operation signal V2 (voltage signal) for instructing the amount and an operation signal V3 (voltage signal) for instructing the switching amount of the winch control valve 9 are output.

[0018] 27a 'is undulating drive direction designation switch 13 (horizontal movement control of claim 1 hooks of the operation input unit 11
Operating means. ) Which is activated when a raising signal for raising the telescopic boom 1 is received from the relay 27.
Is a relay contact of the relay 27 which is closed when the operation is performed. 28
a ′ is the up / down driving direction designation switch 1 of the operation input unit 11.
3 is a relay contact of the relay 28 that is closed when the relay 28 that operates when receiving a falling signal for lowering the telescopic boom 1 from the relay 3 is operated. 29a 'is the operation input unit 11
Telescopic drive direction designation switch 14 (of the hook of claim 1)
It corresponds to a horizontal movement control operation means. ) Is a relay contact of the relay 29 which is closed when the relay 29 which operates when receiving the extension signal for extending the telescopic boom 1 from the relay 29. Reference numeral 30a ′ denotes a relay contact of the relay 30 that closes when the relay 30 that operates when a contraction signal for contracting the telescopic boom 1 is received from the telescopic drive direction designation switch 14 of the operation input unit 11.

The relays 31-1, 31-2, 31-3 and 31-4 are activated when a winch signal for winding the winch motor 5 is received from the winch drive direction designation switch 15 of the operation input unit 11. And a relay contact 31b which is closed when the relay 31 is activated and a relay contact 31b which is opened when the relay 31 is activated.

The 32-1, 32-2, 32-3 and 32-4 are activated when a lowering signal for lowering the winch motor 5 is received from the winch drive direction designation switch 15 of the operation input unit 11. The relay contacts of the relay 32 include a relay contact 32a that closes when the relay 32 operates and a relay contact 32b that opens when the relay 32 operates.

Reference numeral 48 denotes a relay, which is a relay contact 27
a 'and the relay contact 29a' in a parallel circuit.
It is connected to a power supply through a contact 31b of -1. The relay 48 includes a relay contact 28a 'and a relay contact 30.
The power supply is also connected to the parallel circuit a 'through the contact 32a of the relay contact 32-1. 49 is a relay,
A parallel circuit of the relay contact 27a 'and the relay contact 29a' is connected to a power supply via the contact 31a of the relay contact 31-1. The relay 49 is also connected to a power supply via a contact 32b of the relay contact 32-1 in a parallel circuit of the relay contact 28a 'and the relay contact 30a'.

The relay contact 31-2 of the relay 31 is interposed in a circuit 36 to the elevation direction switching side 7a of the elevation control valve 7. That is, while the contact 31a of the relay contact 31-2 is interposed between the converter 35 and the relay contact 27a,
The operation signal V1 output from the calculating means 47 is connected to the relay contact 27a via the contact 31b of the relay contact 31-2.

The relay contact 32-2 of the relay 32 is provided in a circuit 37 to the side 7b of the up / down control valve 7 for switching the falling direction. That is, while the contact 32a of the relay contact 32-2 is interposed between the converter 35 and the relay contact 28a,
The operation signal V1 output from the calculating means 47 is connected to the relay contact 28a via the contact 32b of the relay contact 32-2.

The relay contact 31-3 of the relay 31 is interposed in a circuit 38 to the extension direction switching side 8a of the expansion / contraction control valve 8. That is, the contact 31a of the relay contact 31-3 is interposed between the converter 35 and the relay contact 29a,
The operation signal V2 output from the calculating means 47 is connected so as to be transmitted to the relay contact 29a via the contact 31b of the relay contact 31-3.

The relay contact 32-3 of the relay 32 is interposed in a circuit 39 to the reduction direction switching side 8b of the expansion / contraction control valve 8. That is, while the contact 31a of the relay contact 32-3 is interposed between the converter 35 and the relay contact 30a,
The operation signal V2 output from the calculating means 47 is connected so as to be transmitted to the relay contact 30a via the contact 31b of the relay contact 31-3.

The relay contact 49-1 of the relay 49 and the relay 3
One relay contact 31-4 is provided in the circuit 40 to the winding direction switching side 9a of the winch control valve 9. That is, the contact 49b of the relay contact 49-1 and the relay contact 31
A series circuit of contacts -4 is interposed between the converter 35 and the winding direction switching side 9a of the winch control valve 9.
Further, the operation signal V3 output from the calculating means 47 is
The signal is transmitted to the winding direction switching side 9a of the winch control valve 9 via a series circuit of the contact 49a of the relay contact 49-1 and the contact 31b of the relay contact 31-4.

The relay contact 48-1 of the relay 48 and the relay 3
The second relay contact 32-4 is interposed in the circuit 41 to the lowering direction switching side 9b of the winch control valve 9. That is, the contact 48b of the relay contact 48-1 and the relay contact 32
A series circuit of contacts 32a of -4 is interposed between the converter 35 and the lowering direction switching side 9b of the winch control valve 9.
Further, the operation signal V3 output from the calculating means 47 is
The signal is transmitted to the lowering direction switching side 9b of the winch control valve 9 through a series circuit of the contact 48a of the relay contact 48-1 and the contact 32b of the relay contact 32-4.

Next, the arithmetic means 47 built in the arithmetic processing unit 12 will be described. The calculating means 47 is based on the operating posture information (boom up / down angle θ and boom length L) from the boom posture operating means 44 and the switching amount signal V from the switching amount signal generating means 17 of the operation input unit 11 as described above. Operating signal V1 for instructing the switching amount of the up / down control valve 7
(Voltage signal), an operation signal V2 (voltage signal) for instructing the switching amount of the expansion / contraction control valve 8, and an operation signal V3 (voltage signal) for instructing the switching amount of the winch control valve 9, are output. This operation is performed as follows.

Now, as shown in FIG.
Is raised from θ to θ ′, the point A of the end of the telescopic boom 1 moves to the point B, and the hook 2 moves to a position higher by L * (Sin θ′−Sin θ). become.
Therefore, in order to keep the ground height position of the hook 2 unchanged, the rope should be L * (Sin θ'-Si
n θ). When the N ropes are wound around the tip of the telescopic boom 1 and the hooks 2, the winch control valve 9 may be controlled so that the ropes are wound down by NL * (Sin θ′−Sin θ). Will be.

Conversely, when the undulation angle of the telescopic boom 1 falls from θ ′ to θ, the rope is pulled from the winch to L * (Sin θ ′).
−Sin θ). When N ropes are wound around the tip of the telescopic boom 1 and the hook 2, the winch control valve 9 may be controlled so that the rope is wound up by NL * (Sin θ′−Sin θ). become.

In controlling the horizontal movement of the hook 2 as described above, the relationship between the up / down driving of the telescopic boom 1 and the driving of the winch is determined.
When the hoisting drive direction designation switch 13 is operated, a signal from the boom operating posture detecting means 44 is received, the current boom state is stored, and the state of the telescopic boom 1 which is changing every moment is detected, and the hook is moved. An operation signal V1 for instructing a switching amount of the undulation control valve 7 so as to perform horizontal movement control.
= K * A1 * V (voltage signal) and an operation signal V3 = K * B1 * V (voltage signal) for instructing the switching amount of the winch control valve 9 are calculated and output. Here, K is a constant, V is a switching amount signal from the switching amount signal generating means 17 of the operation input unit 11, A1 is the switching amount of the up / down control valve 7 to the raising side (or the falling side), and B1 is the winch control valve. 9 is the switching amount to the lowering side (upper winding side). And this A1 and B1 are
The calculation is output in the relationship described above.

As shown in FIG. 3, consider the case where the telescopic boom 1 is extended from the boom length L to L ′.
The point C of the tip of the telescopic boom 1 moves to the point D,
The hook 2 is at a position higher by (L′−L) * Sinθ .
Therefore, in order to prevent the ground height position of the hook 2 from changing, a rope should be connected from the winch (L'-L) * S.
It is only necessary to lower by inθ . When N ropes are wound around the end of the telescopic boom 1 and the hooks 2, the winch control valve 9 may be controlled so that the ropes are wound down by (L'-L) * NSin θ. become.

Conversely, when the telescopic boom 1 is reduced from the boom length L ′ to L, the rope is moved from the winch to (L′−
L) * It is only necessary to wind up by Sinθ. When N ropes are hung between the tip of the telescopic boom 1 and the hook 2, the winch control valve 9 may be controlled so that the rope is wound up by (L'-L) * NSin θ. Become.

In controlling the horizontal movement of the hook as described above, the relationship between the telescopic drive of the telescopic boom 1 and the drive of the winch is determined.
When the telescopic drive direction designating switch 14 is operated, the current boom state is stored upon receiving a signal from the boom operating posture detecting means 44, and the state of the telescopic boom 1, which is constantly changing, is detected and the hook is moved horizontally. Operation signal V2 = K for instructing the switching amount of expansion / contraction control valve 8 to be controlled
* A2 * V (voltage signal) and an operation signal V3 = K * B2 * V (voltage signal) for instructing the switching amount of the winch control valve 9 are calculated and output. Here, K is a constant, and V is the operation input unit 11
Switching amount signal from the switching amount signal generating means 17 of A2
Is the switching amount of the expansion / contraction control valve 8 to the extension side (or reduction side), and B2 is the lowering side (winding upper side) of the winch control valve 9.
Is the switching amount. A2 and B2 are calculated and output in the relationship described above.

Next, the operation will be described. First, a description will be given of a case in which the lifting / lowering driving direction designation switch 13 is associated with a hook horizontal movement control operating means, and the telescopic boom 1 is driven to raise / lower to perform a parallel movement of a suspended load. Now, when the lifting / lowering driving direction designation switch 13 is operated so as to be connected to the terminal 13a for generating the raising signal, and the suspended load is pulled in while being moved horizontally, the following operation is performed.

When the up / down driving direction designation switch 13 is connected to the terminal 13a for generating the elevation signal, the relay 27 is operated, and the relay contact 27a and the relay contact 27a 'are closed. Since the winch drive direction designation switch 14 is not operated, each contact 31b of the relay contacts 31-1 and 31-2,
The contact 32b of the relay contact 32-4 remains closed. Therefore, the operation signal V1 output from the calculating means 47 and indicating the switching amount of the up / down control valve 7 is transmitted to the relay contact 31-2.
Through the contact 31b and the relay contact 27a, is supplied to the elevation direction switching side 7a of the elevation control valve 7, and drives the telescopic boom 1 to elevate.

On the other hand, since the relay contact 27a 'is closed and the contact 31b of the relay contact 31-1 remains closed, the relay 48 is operated and the contact 48a of the relay contact 48-1 is closed. Therefore, the operation signal V3 for instructing the switching amount of the winch control valve 9 output from the calculating means 47 includes the contact 48a of the relay contact 48-1 and the contact 32b of the relay contact 32-4.
And the lowering direction switching side 9 of the winch control valve 9
b, and pays out the rope from the winch.

At this time, V output from the calculating means 47
The operation signals of 1 and V3 are output in the relationship described above, and the operation signal of V1 proportional to the signal V from the switching amount signal generating means 17 is supplied to the up / down drive control valve 7 to the elevation direction switching side 7a. Switching amount signal generating means 17
Is supplied to the lowering direction switching side 9b of the winch control valve 9 to automatically perform the combined operation of lowering the winch while raising the telescopic boom 1. And the suspended load can be moved horizontally by pulling the hook 2 in parallel with the ground.

Conversely, the undulation drive direction designation switch 13 is operated so as to be connected to the elevation signal generation terminal 13b,
The same applies to the case of pulling out the suspended load while moving it horizontally, so that the detailed description is omitted here. In this case, the operation signal of V1 in proportion to the signal V from the switching amount signal generating means 17 is transmitted to the undulation drive control valve 7 by the undulation direction switching side 7b.
And an operation signal of V3 proportional to the signal V from the switching amount signal generating means 17 is supplied to the winch control valve 9.
Hoisting it is supplied to the direction switching side 9a of Shin
A combined operation such as winding up a winch while the contraction boom 1 is lying down is automatically performed, and the suspended load can be moved horizontally by pulling out the hook 2 in parallel with the ground.

Next, the telescopic drive direction designating switch 14 is associated with the operation means for controlling the horizontal movement of the hook,
The case where the suspended load parallel movement operation is carried out by driving the extension and contraction will be described. Now, when the extension / retraction drive direction designation switch 14 is operated so as to be connected to the extension signal generating terminal 14a, and the suspended load is horizontally moved, the following operation is performed.

With the operation of connecting the expansion / contraction drive direction designation switch 14 to the extension signal generating terminal 14a,
The relay 29 operates, and the relay contact 29a and the relay contact 2
9a 'closes. Since the winch drive direction designation switch 15 is not operated, the contacts 31b of the relay contacts 31-1 and 31-3 and the contact 32b of the relay contact 32-4 are kept closed. Therefore the operation signal V2 indicating the switching of expansion control valve 8 which is output from the arithmetic unit 47, relay
After passing through the contact 31b of the contact 31-3 and the relay contact 29a, it is supplied to the extension direction switching side 8a of the extension control valve 8, and the extension boom 1 is driven to extend.

On the other hand, since the relay contact 29a 'is closed and the contact 31b of the relay contact 31-1 remains closed, the relay 48 is operated and the contact 48a of the relay contact 48-1 is closed. Therefore, the operation signal V3 for instructing the switching amount of the winch control valve 9 output from the calculating means 47 includes the contact 48a of the relay contact 48-1 and the contact 32b of the relay contact 32-4.
And the lowering direction switching side 9 of the winch control valve 9
b, and pays out the rope from the winch.

At this time, the operation signals of V2 and V3 outputted from the calculating means 47 are outputted in the relation described above, and the operation signal of V2 proportional to the signal V from the switching amount signal generating means 17 is expanded and contracted. Set the control valve 8 to the extension direction switching side 8a
And an operation signal of V3 proportional to the signal V from the switching amount signal generating means 17 is supplied to the winch control valve 9.
Lowering be supplied to the direction switching side 9b of Shin
A combined operation such as lowering the winch while extending the contraction boom 1 is automatically performed, and the suspended load can be moved horizontally by pulling out the hook 2 in parallel with the ground.

Conversely, the telescopic drive direction designation switch 14 is operated so as to be connected to the reduced signal generation terminal 14b,
The same applies to the case of pulling in a suspended load while moving it horizontally, so that detailed description is omitted here. In this case, the operation signal of V2 proportional to the signal V from the switching amount signal generating means 17 is transmitted to the expansion / contraction drive control valve 8 by the reduction direction switching side 8b.
And an operation signal of V3 proportional to the signal V from the switching amount signal generating means 17 is supplied to the winch control valve 9.
Hoisting it is supplied to the direction switching side 9a of Shin
A combined operation such as winding up a winch while reducing the contraction boom 1 is automatically performed, and the suspended load can be moved horizontally by pulling the hook 2 in parallel with the ground.

[0045] The above single operation switch (claim 1, wherein
The horizontal movement of the suspended load is automatically operated by operating the hook horizontal movement control operating means). Next, the case of independently operating each hydraulic actuator will be described.
First, the case where the winch control valve 9 is operated alone will be described. Winch drive direction designation switch 15 (claim
Equivalent to the single hydraulic actuator control operating means described in 1.
However, in this case, it is an operating means for independent control of the winch.
You. ) Is connected to the winding signal generating terminal 15a, the relay 31 is activated, and each relay contact 31 is operated.
The contacts 31a of -1, 31-2, 31-3 and 31-4 are closed. Since the up / down driving direction designation switch 13 and the expansion / contraction driving direction designation switch 14 are not operated, the relays 27 to 30 do not operate. Therefore, the relay contacts 27a, 28a, 29a,
Since neither 30a, 27a ', 28a', 29a ', 30a' are closed, the up / down control valve 7, the telescopic control valve 8, and the relays 48, 49 do not operate. Therefore, the signal from the converter 35 is transmitted to the contact 49b of the relay contact 49-1 and the relay contact 31.
After passing through the contact 31a of -4, it is supplied to the hoisting direction switching side 9a of the winch control valve 9, and drives the winch hoisting in proportion to the signal V from the switching amount signal generating means 17.

Conversely, when the winch drive direction designating switch 15 is operated so as to be connected to the lowering signal generating terminal 15b, the relay 32 is activated and the respective relay contacts 32-1 and 32-2.
The contacts 32a of -2, 32-3 and 32-4 are closed. Up / down drive direction designation switch 13 and telescopic drive direction designation switch 14
Are not operated, so that the relays 27 to 30 do not operate. Therefore, the relay contacts 27a, 28a, 29a, 30
a, 27a ', 28a', 29a ', and 30a' are not closed, so that the up-and-down control valve 7, the telescopic control valve 8, and the relay 4
8, 49 do not work. Therefore, the signal from the converter 35 is transmitted to the contact 48b of the relay contact 48-1 and the relay contact 32-4.
Is supplied to the lowering direction switching side 9b of the winch control valve 9 through the contact 32a of the
The winch is driven to lower in proportion to the signal V from the control signal 7.

Next, a case where the undulation control valve 7 is operated alone will be described. In this case, two direction designating switches, the up / down drive direction designating switch 13 and the winch drive direction designating switch 15, are operated (the two operating means of claim 1).
This corresponds to a combined operation. When the telescopic boom 1 is to be raised, the raising / lowering driving direction designating switch 13 is operated to be connected to the raising signal generating terminal 13a, and the winch driving direction designating switch 15 is raised to the winding signal generating terminal. It is operated by connecting to 15a.

When the raising / lowering driving direction designating switch 13 is operated so as to be connected to the raising signal generating terminal 13a, the relay 27 is operated and the respective relay contacts 27a and 27a 'are closed. When the winch drive direction designation switch 15 is connected to the winding signal generating terminal 15a, the relay 31 is operated and the respective contacts 31a of the relay contacts 31-1, 31-2, 31-3, 31-4 are closed. Therefore, the relay contact 27a '
And the contact 31a of the relay contact 31-1 is closed, and the relay 49 is closed.
Activate

Since the contact 49a of the relay contact 49-1 is closed and the contact 31b of the relay contact 31-4 is opened , the operation means 4 is provided on the winding direction switching side 9a of the winch control valve 9.
7 and the signal from the converter 35 are not supplied, and the winch is not driven up. On the other hand, converter 3
5 passes through the contact 31a of the relay contact 31-2 and the relay contact 27a, is supplied to the elevation direction switching side 7a of the elevation control valve 7, and is proportional to the signal V from the switching amount signal generating means 17. And the telescopic boom 1 is driven up.

[0050] When lodging operating the telescopic boom 1 alone conversely, operates to connect the undulating driving direction designation switch 13 to fall down signal generating terminal 13b, under winding winch drive direction designation switch 15 down signal generator (The two operating means of claim 1)
Operation. ) , And the same effect can be easily understood, so that the detailed description is omitted here.

Next, a case where the expansion / contraction control valve 8 is operated alone will be described. In this case, the two direction designating switches of the telescopic drive direction designating switch 14 and the winch drive direction designating switch 15 are operated (the two operating means of claim 1).
This corresponds to a combined operation. When the telescopic boom 1 is extended, the telescopic drive direction designation switch 14 is operated so as to be connected to the extension signal generation terminal 14a, and the winch drive direction designation switch 15 is moved to the winding signal generation terminal 15a. They operate by connecting them.

When the expansion / contraction drive direction designation switch 14 is operated so as to be connected to the extension signal generating terminal 14a, the relay 29 is operated and the relay contacts 29a and 29a 'are closed. When the winch drive direction designating switch 15 is connected to the winding signal generating terminal 15a, the relay 31 is activated and the contacts 31a of the relay contacts 31-1, 31-2, 31-3, 31-4 are closed. Therefore, the contact 31a between the relay contact 29a 'and the relay contact 31-1 is closed, and the relay 49 is operated.

Then, the contact 49b of the relay contact 49-1 is opened.
Since the contact 31a of the relay contact 31-4 is closed, the operation signal V3 from the arithmetic means 47 and the signal from the converter 35 are not supplied to the winding direction switching side 9a of the winch control valve 9, and the winch is not driven to wind. . On the other hand, the signal from the converter 35 passes through the contact 31a of the relay contact 31-3 and the relay contact 29a, is supplied to the extension direction switching side 8a of the expansion / contraction control valve 8, and the signal V from the switching amount signal generation means 17 is supplied. The extension boom 1 is driven to extend in proportion to.

Conversely, when the telescopic boom 1 is to be contracted independently, the telescopic drive direction designating switch 14 is operated so as to be connected to the reduction signal generating terminal 14b, and the winch drive direction designating switch 15 is lowered. An operation to connect to the terminal 15b (a combination of the two operation means according to claim 1)
Operation. ) , And the same effect can be easily understood, so that the detailed description is omitted here.

In the above-described embodiment, a description has been given of the case where two control valves including the winch control valve 9 are automatically driven by one direction designation switch to enable the parallel movement of the suspended load. However, three control valves including the winch control valve 9 (in this case, the up-and-down control valve 7 including the winch control valve 9 and the telescopic control valve 8) are automatically driven by one direction designation switch, and the load is lifted. Needless to say, a parallel movement operation may be enabled.

In the above embodiment, the operation input unit 11 has been described as being constituted by a plurality of direction designation switches and one switching amount signal generating means. It is needless to say that the present invention can be practiced even if the operation means is configured to generate both signals.

The operating device for a crane according to the present invention constructed and operated as described above automatically drives a plurality of hydraulic actuators by operating only one operating means and controls the horizontal movement of the hook. The parallel movement of the suspended load can be performed. Then, the combined operation is simplified. Moreover, it is possible to independently operate each hydraulic actuator without increasing the number of operation means as in the related art.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram illustrating a crane operating device of the present invention.

FIG. 2 is an explanatory diagram illustrating an arithmetic unit according to the present invention.

FIG. 3 is an explanatory diagram illustrating a calculation unit of the present invention.

FIG. 4 is an explanatory diagram illustrating a crane.

FIG. 5 is an explanatory view illustrating a conventional crane operating device.

[Explanation of symbols]

REFERENCE SIGNS LIST 1 telescopic boom 2 hook 3 undulating cylinder 4 telescopic cylinder 5 winch motor 7 undulating control valve 8 telescopic control valve 9 winch control valve 11 operation input unit 12 arithmetic processing unit

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁶ , DB name) B66C 19/00-23/94 B66C 13/00-15/06

Claims (1)

(57) [Claims] A hook is hung at the tip of a telescoping boom which can be raised and lowered, and the swaying motion of the telescoping boom, the telescoping motion, and the hoisting and lowering motion of the hook are controlled by a hoisting control valve, a telescopic control valve, and a winch control valve. An operating device for a crane that is operated by each hydraulic actuator of an up-and-down cylinder, a telescopic cylinder, and a winch motor that is driven and controlled by each control valve.
And an operation input unit having three operation means arranged corresponding to each control valve so as to output an operation signal to each control valve, and receiving an output signal of the operation input unit to perform an arithmetic processing. in the operating device of a crane provided with a processing unit which outputs an operation signal to the respective control valves, one Misao
Winch motor and other hydraulic actuators
Operating means for moving the hook horizontally in conjunction with an eta
Hook one or two of the three operating means
Is arranged as an operation means for controlling the horizontal movement of the
Single hydraulic operation of a specific hydraulic actuator
The remaining two of the three operating means or
One of them is provided as an operating means for controlling a single hydraulic actuator.
And further driven independently by the single operation of the one operating means
Hydraulic actuators other than hydraulic actuators
The independent driving of the tutor can be performed using any two of the three operating means.
It can be driven by the combined operation of multiple operating means
The operation device for a crane , wherein the operation input unit and the arithmetic processing device are associated with each other.