JP2985020B2 - Method and apparatus for positioning bottom plate for outrigger of crane truck - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for positioning an outrigger sole plate of a mobile crane, and more particularly to a vertical support at an end of an overhanging beam of an outrigger provided on a body base of a mobile crane or a float thereof. An outrigger slab for a crane truck that can be pre-positioned so as to lay the slab to be laid out before the projecting beam and assume the overhanging state, and lay it below the center of the vertical support at the end of the overhanging beam in the swelling assumed state. And a positioning method and apparatus.

[0002]

2. Description of the Related Art As a conventional method and apparatus for positioning a vertical support at an end of an overhanging beam or a floor plate on which a float thereof is mounted on an outrigger provided on a vehicle body base of a crane truck, for example, first, an outrigger of a crane truck is used. After moving the truck, etc., on which the floor plate is placed, to the scheduled loading / unloading work site with the crane truck, extend the vertical strut at the end of the overhanging beam of the outrigger housed on the body base side of the crane truck, and float it below the float. Is grounded to lift the wheels, and the crane truck is temporarily supported by the outrigger at the reduced position.

[0003] Next, by extension and / or contraction and / or undulation of the telescopic boom on the revolving structure and turning of the revolving structure, the first to the first or the like placed on a truck bed or the like which has traveled with the crane truck to the cargo handling work place. The fourth floor plate is sequentially lifted by a hook hanging down from a boom head of the telescopic boom via a wire, and the first to fourth crane trucks of the crane truck are lifted.
In a state where the first to fourth overhanging beams of the outriggers are extended, the telescopic booms are erected and laid at the end of the first to fourth vertical pillars at the positions where the first to fourth floats are to be installed. Alternatively, the mobile phone is reduced and moved to the vicinity of the center of rotation of the rotating body of the crane vehicle.

[0004] Thereafter, the vertical struts at the end of each overhanging beam of the first to fourth outriggers are reduced, the respective floats below them are lifted off the ground, and the temporary support state of the crane truck by the outriggers is released, and the wheels are released. Ground. Next, the outrigger beam of each outrigger is extended to the required length, the vertical struts at the ends thereof are extended, and the respective floats below them are applied to the respective floor boards previously laid at the projected positions as described above. After stably supporting the crane truck, the crane truck is prepared for normal loading and unloading work of the crane truck by expanding and contracting and / or raising and lowering the telescopic boom and turning the revolving unit.

[0005] For example, a crane truck having a fifth outrigger provided on the front side of the vehicle body base also has an end portion substantially similar to the above operation before the fifth outrigger extends the projecting beam. Is also known in which a fifth floor plate for supporting the float below the vertical column is laid.

[0006]

However, prior to extending the overhanging beam, the floor plate on which the vertical support at the end of the overhanging beam of the outrigger provided on the body base of the conventional crane truck as described above is placed. A method and an apparatus for positioning an outrigger sole plate of a crane truck for laying below the vertical support at the end of the projecting beam at the projected projecting position, firstly, the body of the crane truck traveling to the cargo handling work place In the contracted state where the overhanging beam of the outrigger provided on the base is stored on the body base side,
After extending the vertical strut at the end and temporarily supporting the crane vehicle on the ground, the lower end of the wire hanging down from the boom head of the telescopic boom due to the expansion and contraction of the telescopic boom on the revolving structure and / or the swing of the revolving structure. With the hooks described above, the operation of sequentially lifting the first to fourth or fifth floor boards placed on the bed of a truck accompanying the crane truck, and laying the floor boards at the projected positions of the overhang beams is considerably apart from each outrigger. In the case where the operator of the crane extended the overhanging beam of the outrigger from the vehicle body base to the side from the body of the crane truck, the arrangement position of the vertical strut at the end was assumed in advance, and this assumption was made. Each telescopic boom can be extended and retracted and / or undulated and swiveled, and the wire can be extended to the position where the float under each vertical support is to be installed. It was those laying by sequentially lowering the plate.

For this reason, the laying position of the first to fourth or fifth laying plates laid by the above-described operation is shifted from the center of the vertical column at the end when the overhanging beam of the outrigger is actually extended. In some cases, for example, if the length or width of the float is shifted by more than half the length or width from the float below the vertical support, the telescopic boom is once reduced and raised to approach the upper side of the revolving center of the revolving body. rear,
The vertical strut at the end of the overhanging beam of the outrigger is reduced to float the float from the ground, and thereafter, the overhanging beam is reduced, and the vertical strut at the end of the overhanging beam at the contracted position is extended again, so that the crane vehicle Again with the outrigger, and extend the telescopic boom on the swivel,
With the hook at the lower end of the wire hanging down from the boom head of the telescopic boom due to the ups and downs and turning of the revolving structure, the floor plate once laid as described above is lifted up, and the crane truck is vertically extended at its end in the state where the projecting beam is extended. The operator of the crane assumed the arrangement position of the float at the lower part of the column again, and suspended the telescopic boom with a hook via a wire from the boom head of the telescopic boom due to expansion and contraction of the telescopic boom, undulation, turning of the revolving structure, and the like. After the soleplate has been laid again to its re-estimated position, the telescopic boom is again brought close to the center of the revolving superstructure.

Thereafter, the vertical support at the end of the overhanging beam at the contraction position is reduced, the float at the lower portion is floated, the overhang beam is extended to a predetermined position, and the vertical support at the end is extended again to lower the lower support. It is necessary to place the float on the floor board that has been laid as described above, and to stably support the body base of the crane.Replacement operation of this floor board is time-consuming and troublesome. There has been a problem that the operation of laying the floorboard by the method requires considerable skill.

The present invention has been made in view of such problems in the prior art, and includes a vertical support at an end of an overhanging beam of an outrigger provided on a vehicle body base of a crane truck and a center of rotation of a revolving body on the vehicle body base. while distance X, and is stored in advance in the storage device target location data of the vertical column, such as the turning angle [psi ₀ with respect to the reference line of the vehicle body based through the turning center of the vertical column with, the body base of the revolving body An actual turning angle に 対 す る with respect to a reference line K, an actual length L of the telescopic boom provided on the revolving structure, a horizontal projection length based on the undulating angle θ, and an outrigger beam of the outrigger stored in the storage device Positioning of the bottom plate of the outrigger before extending the overhanging beam by the coincidence with the target position information of the vertical support at the end allows the section in the conventional example as described above. An object of the present invention is to provide a method and an apparatus for positioning an outrigger sole plate of a crane truck, which can solve the problem.

[0010]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems of the prior art, the present invention provides a vertical support at the end of an overhanging beam of an outrigger provided on a vehicle body base of a crane truck and a revolving body on the vehicle body base. The storage device stores in advance a target position information of the vertical support such as a distance from the turning center of the vertical support and a turning angle of the vertical support with respect to a reference line of the vehicle base passing through the center of the rotation. The actual pivot angle with respect to a reference line, the actual length of the telescopic boom provided on the revolving structure, its horizontal projection length based on the elevation angle, and the vertical of the outrigger overhang beam end stored in the storage device. By matching with the target position information of the support,
A method of positioning an outrigger sole plate of a crane truck for positioning the sole plate before extending the outrigger overhang beam, and further comprising a vertical support at an end of an outrigger extension beam end provided on a body base of the crane truck and a vehicle body base. A storage device for storing target position information of the vertical support such as a distance from a rotation center of the upper revolving structure and a turning angle of the vertical support with respect to a reference line of a vehicle body base passing through the revolving center; Means for detecting the actual turning angle with respect to the reference line of the vehicle body base, and means such as a calculating device for obtaining the horizontal projection length from the actual length and the undulation angle of the telescopic boom provided on the revolving body, Target position information of the vertical strut at the end of the overhang beam stored in a storage device,
The outrigger sole plate of the grain wheel, whose sole plate can be positioned at the target projecting position of the vertical column at the end of the projecting beam of the outrigger, by matching the turning angle of the rotating body and the actual value of the projection length of the telescopic boom. It is a positioning device.

[00011]

Since the present invention has the above-described structure,
The distance X between the vertical strut at the end of the overhanging beam of the outrigger provided on the vehicle body base of the crane vehicle and the turning center of the revolving structure on the vehicle body base, and the turning angle of the vertical strut with respect to the reference line of the vehicle body passing through the turning center.目標 The target position information of the vertical support at the end of the overhanging beam of the outrigger, such as ₀ ,
While storing in the storage devices in advance, detection of the actual turning angle ψ of the revolving structure with respect to the reference line K of the vehicle body base, the actual length L of the telescopic boom provided on the revolving structure, and the elevation angle θ thereof By comparing the horizontal projection length based on the value with the target position information of the vertical column at the end of the outrigger beam of the outrigger stored in the storage device,
Before the projecting beam of the outrigger is extended, the sole plate is positioned.

[0012]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a crane truck according to an embodiment of the present invention;

[0013]

1 to 6 show a first embodiment of a method and apparatus for positioning an outrigger sole plate of a crane truck according to the present invention. FIG. 1 is a control block diagram thereof, and FIG. FIG. 3 is a schematic plan view of a crane truck equipped with a positioning device for a floor plate of FIG. 3, FIG. 3 is a view for explaining the relationship between the telescopic beam of the outrigger and the vertical distance between the center of rotation of the body base of the crane truck, and FIG. Explanatory diagram showing the relationship between the vertical support of the part and the distance between the vertical reference line of the vehicle body base, that is, the length of the telescopic beam of the outrigger,
FIG. 5 is a side view of a crane vehicle in which this device is implemented, and FIG. 6 is a side view of a crane equipped with this device, showing how to position a bottom plate.

1 to 6, reference numeral 1 denotes a crane truck, 2
Is a vehicle body base, 2A is a cab on the vehicle body base 2, 3 is a slewing bearing on the body base 2, 4 is a slewing bearing 3
5 is a revolving body provided so as to be rotatable around the revolving center 4 of the revolving bearing 3, 6 is a telescopic boom whose base is supported on a revolving body 5 so that it can be raised and lowered, and 8 is an up and down which raises and lowers a telescopic boom 6. A cylinder, 9 is an operation room of the crane 1 provided on the revolving unit 5, 10 is a boom head at the top of the telescopic boom 6, 11 is a sheave provided on the boom head 10, 12 is a wire hanging down from the sheave 11, and 13 is a wire. hooks provided on the wire 12 end 14 slinging _wire, 15 1-15 ₄
Is a first body provided on the vehicle body base 2 so as to be able to expand and contract in the lateral direction.
Fourth _{outrigger, 161-164} first to fourth projecting beams of the first through fourth outrigger ₁₅ 1-15 _{4 17} 1-17 ₄ first to fourth overhang beam 1
6 _{1-16 4} of the first to fourth vertical columns provided at the _end, 18 1-18 ₄ vertical column 17 of the _first to fourth
To 17 ₄ of the first to fourth float provided in the lower part, 19
_{1-19 4} is a first to fourth decking.

Reference numeral 20 denotes a control block diagram of a control device of the crane vehicle 1 provided in the operator's cab 2A of the crane vehicle 1 or the operation room 9 on the revolving unit 5, and 21 denotes _first to _fourth outriggers 151 to 154. the first to fourth overhang beam _161-164 of the projecting length, to be precise, through the pivot center of the pivot member, and a longitudinal axis of the reference line K of the vehicle body base 2, the outrigger Is a setting unit for setting the lengths Y ₁ to Y ₄ from the intersection with the axis of the crane truck, for example, provided in the overload prevention device of the crane truck, and corresponding to the planned overhang length of the outrigger 15 (or the actual overhang length). Then, a switch for setting a value stored in the storage unit of the overload prevention device may be used.

Reference numeral 22 denotes the first to fourth overhang beams 16
_(161-164) storage unit for storing the length of the set value _{Y (Y} 1 to Y ₄₎ of the detection unit of the hoisting angle θ of 24 telescopic boom 6, the reference line K of the turning body 5 is 26 detector of the turning angle ψ from 28 the display unit of the turning angle ψ of hoisting angle θ and the turning body 5 of the telescopic boom 6, 30 from the pivot 4 of the swing body 5 outriggers 15 (15 1 _{to 15 4)} Overhang beam 16 (1
6 ₁ to 16 ₄₎ end of the vertical column ₁₇ (17 1 _{to 17} 4)
Vertical distance to the axial line (center line), i.e., until the axis of the projecting beam 16 _(161-164) to the axial center line passes through the pivot 4 and the vertical column 17 ₍₁₇ 1 to 17 ₄₎ Vertical distance X ｛vertical distance X _{1 to} X in FIG.
_4: However, the turning center 4 and the first 2, second, fourth overhang beams _{16 1,} 16 2, 16 the vertical distance _X 1 between the axis of the _4, X 2, storage for storing _{X 4} illustrates a} in part, by pivoting the outrigger 15 turning body 5 to ₍₁₅ 1 to 15 ₄₎ regions disposed that the purpose of arranging the decking 19 ₍₁₉ 1 to 19 ₄₎ is in the storage unit 30, Turning center 4
The value of the vertical distance _{X (X} 1 to X ₄₎ of the axis of the corresponding one of the projecting beam 16 _(161-164) of the outriggers 15 ₍₁₅ 1 to 15 ₄₎ is output, and stores the.

[0017] 34 'in the calculation of _0, the target turning angle [psi' target turning angle [psi of telescopic boom 6 ₀ is calculated by Equation 1 below.

(Equation 1)

Reference numeral 36 denotes a target undulation angle θ ′ ₀ of the rotating body 5.
The target elevation angle θ ₀ is calculated by the following equation (2).

(Equation 2)

Ψ ′ ₀ is a target turning angle of the center line in the length direction of the telescopic boom 6 on the revolving structure 5 in the area where the outriggers 15 are provided with respect to the reference line K of the vehicle body base 2 (in FIG. 1 Autori 15 ₁ of the first projecting beam 16 _first end first vertical support column 17 ₁ of the center line the center line of the telescopic boom 6, i.e., the turning angle of the state where the target turning line J passes)
It is. J ₂ is center line of the telescopic boom 6 (target turning line) passes through the second center of vertical columns 17 of the _second overhang beam 16 _second end of the second outrigger 15 ₂ state, i.e.,
The telescopic boom 6 in the second outrigger 15 of the _second overhang beam 16 ₂ target turning line of the second center of the vertical support 17 _{and second} end portion as the target revolution position passing through (dashed line), the target turning line J ₂ of the reference line K (where the lower side of the pivot 4 in FIG. 2) spaced angles [psi from _'02 becomes the target turning angle in this state, the target turning angle [psi' in ₀₂ the reference line K (FIG. 2 An absolute angle _{０２ 02} with respect to the same reference line K as a supplementary angle with respect to the turning center 4 (above the turning center 4) is converted by the conversion unit (absolute angle output unit) 38 and output. Numeral 40 is a comparison unit for comparing the actual elevation angle θ of the telescopic boom 6 detected by the detection sensor (detection means) 24 with the target elevation angle θ ₀ calculated by the arithmetic unit, and reference numeral 42 denotes a turning angle detection sensor (detection means). 2) and the actual turning angle の of the revolving structure 5 detected by step 26 and the target turning angle ψ ′ ₀ (ψ ′ _{01 to} ψ ′ ₀₄ : calculated by the calculation unit);
₀₁ is a comparison of the [psi _'02 illustrated schematically) and. The reference numeral 44 denotes an undulation angle θ of the undulation boom 6 when the target undulation angle θ ₀ (θ _01-
θ ₀₄ ), a target value display section for notifying the operator that the swing angle の of the swing body 5 has reached the target swing angle ψ ′ ₀ (ψ ′ _{01 to} ψ ′ ₀₄ ), and 46 is a target of the up-and-down boom 6. This is a storage section for the undulating angle θ ₀ (θ _{01 to} θ ₀₄ ) and the target turning angle ψ ′ ₀ (ψ ′ _{01 to} ψ ′ ₀₄ ) of the revolving unit 5. In addition,
The target value storage unit 46 is used for feedback when the control block 20 is fully automated (see a second embodiment described later).

[0020] (Operation of first embodiment) First, the crane 1, together with the first to fourth outrigger ₁₅ 1-15 ₄ of the first to fourth decking ₁₉ 1-19 track T _{which 4} were placed on, after disposed in place by running by the crane 1 to cargo handling area, the first to fourth outrigger ₁₅ 1-15 _4, the first to fourth projecting beams _161-164 ends of collapsed state , is extended first to fourth vertical columns ₁₇ 1 to 17 _4, the lower portion of the first through fourth float ₁₈ 1-18 ₄ grounds the by floating the body base 2, the first through fourth outrigger 1
The 5 _{1-15 4} temporarily supported.

Thereafter, the boom at the top of the telescopic boom 6 is first formed by turning the telescopic boom 6 by turning the revolving unit 5, raising and lowering the telescopic boom 6 by the raising and lowering cylinder 8, and expanding and contracting by the telescopic cylinder (not shown). Hook 13 at end of wire rope 12 hanging from sheave 11 of head 10
Accordingly, lifting the first decking 19 ₁ which is placed on the bed (not shown) of the track T that shown schematically in FIG. 2 outline only, the second is suspended from via the hook 13 by a wire 12 hanging down from the boom head 10 1 decking 19 _1, the control block 2
0 swing body to pivot angle [psi ₁ matching the target turning angle [psi _'01 of the turning body 5 that is calculated by the arithmetic unit 34, 36 (second embodiment the control circuit 20A corresponds to this) 5
At the same time, and the target undulation angle θ ₀₁ of the telescopic boom 6
The undulating boom 6 is raised and lowered until the angle θ ₁ that coincides with is reached.

The revolving structure 5 is moved to the target revolving angle ψ ′ ₀₁
By turning to the turning angle [psi ₁ which coincides with the axial direction of the telescopic boom 6 provided on the turning body 5 (see the plan view of FIG. 2) is first thereof in a state the first outrigger 15 ₁ was overhanging Overhang beam 16 _1st vertical support 1 at _one end
It will pass over the vertical plane containing 7 ₁ of the center line. In this state, the up-and-down angle θ of the telescopic boom 6 whose length is set to L by the setting device is the target up-and-down angle θ
₀₁ , the boom head 10 of the telescopic boom 6
(To be precise, hanging side of the wire 12 of the sheave 11 provided on the boom head 10, in the FIG. 5 left upper side), the end of the first outrigger 15 first projecting beam 16 _first projecting expected position of ₁ a substantially right above position of the first vertical support column 17 ₁ of the central parts. The wire 12 the lower end of the hook 13 hanging down from the sheave 11 of the boom head 10 of the telescopic boom 6 in this state (see FIG. 6), drop-off the first decking 19 ₁ suspended from via the slinging wire 14 on the ground, 1st vertical support 1
7 lay almost directly under _one of the overhang scheduled position.

Next, the slinging wire 14 or the hook 13
Was removed from the first decking 19 _1, with winding up the wire rope 12, by extension and or undulations of the telescopic boom 6,
The track lifting the second floor plates 19 ₂ on the T, the second overhang beam 1 of the and the same manner the second outrigger 15 ₂
6 ₂ at projecting scheduled position, laid on the second lower vertical support column 17 ₂ of its ends.

Thereafter, the third floor plate 19 ₃ and the fourth floor plate 19 ₄ placed on a carrier (not shown) of the truck T (see FIG. 2).
Are sequentially lifted by the wire rope 12, the hook 13 and the like in substantially the same manner as described above, and the third and fourth outriggers 15 ₃ , 1
5 ₄ of the third bulging predetermined position, the fourth overhang beam 1
6 _3, 16 ₄ end of the third, fourth vertical support ₁₇ 3, 17 ₄
Lay almost directly below the center line of However, the first to fourth decking ₁₉ 1-19 ₄ insole order cuts freely selected. Note that FIG.
The vertical distance between the first through the fourth outrigger ₁₅ 1-15 first to fourth overhang beam _161-164 of _4, the turning center 4 of the vehicle body base 2 crane _X (X 1 _{to X} 4)
In this embodiment, when the turning angle of the center line (mark turning line) J of the telescopic boom 6 with respect to the reference line K (see FIG. 2) ranges from 0 ° to 90 °, X ₁ , 90 ° to 180 °. the degree range _X 2, 180 ° and 270 in ° range _X 3, 270 ° to
Of X ₄ is 360 ° range, and stores a specific value in each region. Further, in FIG. 4, first to fourth outrigger ₁₅ 1-15 ₄ first through fourth projecting beams _161-164 ends of vertical columns ₁₇ 1 to 17 ₄ of FIG. 2
And a horizontal distance Y (Y _{1 to} Y ₄ ) from a reference line K passing through the turning center 4 of the body base 2 of the crane truck, Y ₁ =
Based on Y ₂ , Y ₃ = Y ₃ , such a stored value of Y is stored.

In the above description, the first to fourth outrigger beams 16 of the first to _fourth outriggers 15 ₁ to 15 ₄ are described.
And ₁ to 16 _4, the vertical distance _{X 1} between the pivot 4 of the turning body 5
To X ₄ and the first to fourth projecting beams _161-164
On the assumption that all of the overhang lengths Y ₁ to Y ₄ are different (however, Y ₁ = Y ₂ and Y ₃ = Y ₄ in FIG. 2 are exemplified).
However, when part or all of them do not change (the length of the telescopic boom 6 does not change), the target turning angle ψ ₀ and the target undulation angle θ ₀ are set to single or 2, 3 respectively.
Is stored in the storage unit, and the above-described calculation for each of the _first to _fourth outriggers 151 to 154 is not performed, and a part of the calculation is omitted to perform the same positioning as described above. Can be performed.

Here, the target undulation angle θ of the telescopic boom 6
The calculation procedure of ₀ and the target swing angle ψ ′ ₀ of the swing body 5 will be outlined with reference to FIGS. 2, 5 and 6.

First, the target swing angle ψ ′ ₀ of the swing body 5 is calculated by the following equation (3).

(Equation 3)

Further, the target undulation angle θ ₀ of the telescopic boom 6 is calculated by the following equation (4).

(Equation 4) Where c is the pivot 7 from the pivot 4 to the support shaft 7 of the telescopic boom 6.
, L ″ is the length of the telescopic boom 6 on the tip side of the pivot line 4 of the revolving structure 5, that is, the end of the telescopic boom 6 (from the sheave 11 on the boom head 10). This is the length of the intersection of the center line of the telescopic boom 6 and the center line 4 of the revolving unit 5.

It should be noted, from the sheave 11 of the boom head 10 wire 12, the hook 13, slinging purchase decisions suspended via the wire 14 or the like, a first overhang predetermined position of the vertical column 17 ₁ (see 17 ₁ A in FIG. 6) First sole plate 19 ₁ B located directly above
And when it is lowered to the ground by the way, if, after the sling wire 14 over only the end portions of the rectangular decking 19 1 _B is a lower portion of the first decking 19 1 _B in contact with the ground, the Fall down in any direction, front or back or left or right (Fig. 6
Then, the example of lodging to 19 ₁ C on the left is shown.) Further, even when the first through fourth decking 19 _{1-19 4} is configured so as to form a disc-shaped radial B, wherein a is substantially the same.

Then, suppose that the first floor plate 19 ₁ B is
If it has a rectangular shape of width B,
Center of decking 19 ₁ C is from will deviate from the first strut 17 ₁ of the center of the first overhang beam 16 _one end portion to a half of the B / 2 only the left side of the width B (see FIG. 6), It is necessary to correct the lay position determined in the above-described manner so that the boom head 10 is shifted toward the turning center 4 side of the turning body 5 by a corresponding amount.

[0031] In this case, for example, may be set to decrease from _{Y 1} only half width B / 2 of the first decking 19 ₁ in the mathematical expression, also, the first decking 19 ₁ B fall to the right side in FIG. 6 case, setting a large _{Y 1} only half width B / 2 of the first decking 19 ₁ in the mathematical expression.

Further, the boom head 10 of the telescopic boom 6
When the first floor plate 19 ₁ B suspended from the vehicle falls down in the revolving direction (the direction perpendicular to the paper surface in FIG. 6 and the direction orthogonal to the axis of the telescopic boom 6 in FIG. 2) due to the revolving of the revolving body 5, from the first decking 19 1 _c around the first vertical support column 17 ₁ in the center of the end portion when _{the 1} first projecting beam 16 issued Zhang was laid down, the half width B / 2 corresponding amount the target turning angle [psi '
Since ₀₁ so that the shifts, the so computed becomes smaller than or larger target turning angle [psi _01, specifically a distance X ₁ between the first projecting beam 16 ₁ of the turning center of the first outrigger 15 ₁ and the length _{Y 1} of the projecting beam 16 _1, first decking 19 ₁ of half width B / 2 corresponding amount is subtracted or added to the target turning angle [psi ₀₁ and computes a target hoisting angle theta _01. In addition, if the center part of the floor board 19 in plan view is hung, the above-mentioned correction becomes unnecessary.

Second Embodiment Next, a second embodiment of a method and an apparatus for positioning an outrigger sole plate of a crane truck according to the present invention will be described with reference to FIGS. In the second embodiment, the storage unit (means) 46 for the target values of _{０ 0} and θ ₀ in the first embodiment is selected by the selection means 37, that is, the length Y and the center of rotation of the overhanging outrigger beam. the distance X setting means 21, the operation unit 34 of the hoisting angle θ of the telescopic boom, pivot angle [psi ₀ of the arithmetic unit 36 with respect to the reference line K of the turning body 5, first through by the conversion section 38 of the turning angle [psi ₀ 4 after the outriggers ₁₅ 1-15 ₄ for all (pre) configuration, this swivel angle ψ
₀ and swivel angle theta ₀ is stored in the target storage unit 46, either outrigger ₁₅ 1-15 ₄ telescopic beams _161-164 all the soleplate positioning outrigger in the vertical support column ₁₇ 1-17 ₄ lower end Outside of the provision of the mushroom selection means 37, it corresponds roughly to the first embodiment with the automatic stop function added,
FIG. 7 is a block diagram of the fully automatic control circuit of the second embodiment, and a dashed line in FIG. 7 corresponds to the block diagram of FIG. 1 showing the first embodiment. FIG. 8 shows the control circuit 20A.
FIG. 4 is an explanatory diagram of an ON-OFF circuit of FIG. 1 to 6
The same parts as those in the first embodiment shown in FIG.

[0034] In FIGS. 7 and 8, 20A corresponds to the control block 20 in the first embodiment, the control circuit, the 21 first of the first to fourth outrigger ₁₅ 1-15 ₄ it was briefly displayed fourth overhang beam _161-164 of the projecting length, to be precise, the turning body 5
Setting part of the overhang length Y (Y ₁ to Y ₄ ) from the intersection of the reference line K in the longitudinal direction of the vehicle body base 2 and the axis of the overhang beam 16 of the outrigger 15 ,
22 _Y storage unit of _(Y 1 _{~Y 4),} 30 first to the first to fourth projecting beams _161-164 ends of pivot 4 and the first to fourth outrigger ₁₅ 1-15 ₄ 4th vertical support 17
_{1-17 4,} i.e., first to fourth telescopic boom ₁₆ 1 -
Storage unit interval _{X (X} 1 _{~X 4)} and 16 ₄ of the axial line, 2
4 and 26 are detection units (means) for detecting the undulation angle θ of the telescopic boom 6.
And a detecting unit (means) 28 for detecting the turning angle ψ of the revolving unit 5 from the reference line K, a display unit 28 for displaying the up-and-down angle θ of the telescopic boom 6 and the turning angle の of the revolving unit 5, and 34 and 36 for turning A calculating unit for calculating the target turning angle ψ ' _{0 of the} body 5 and the target hoisting angle θ ₀ of the telescopic boom 6, a conversion unit 38 for the target turning angle _{０ 0} of the target turning line J of the telescopic boom 6, and 37 to first to fourth elements Outrigger 1
5 _{1-15 4} any selected means, the pivoting means 37
Storage unit of Nisato overhanging beam _161-164 of the length _Y 1 to Y ₄ Setting length unit 21, Y, the target turning angle based on the stored value and the like of the storage unit 30 of the X ψ _{'01 ~ψ'} Arithmetic unit 3 of ₀₄
The _first to fourth outriggers 151 to 15 are operated by a calculating unit 36 for calculating the target undulation angles θ _{01 to} θ ₀₄ of the telescopic boom 6 and a converting unit 38 for converting the target turning angle ψ ₀ (absolute angle) of the boom 6.
After setting No. ₄ in the same manner as in the first embodiment, any one of the _first to _fourth outriggers 151 to 154 is selected. Numeral 40 denotes a comparison unit between the actual undulation angle θ detected by the detection sensor 24 of the telescopic boom 6 and the calculated target undulation angles θ _{01 to} θ _04, and reference numeral 42 denotes a rotation angle detection sensor 26 of the slewing body 5. The detected turning angle ψ (ψ ₁ to
比較₄ ) and the calculated target swing angles _{０１ 01 to ０４ 04,} and reference numeral 46 denotes the target swing angles ψ _{01 to}の_{04 of the} swing body 5.
And storage units for the target undulation angles θ _{01 to} θ ₀₄ of the telescopic boom 6. For details of the setting procedure of X, see “0
016 "column, and the above-mentioned" 0024 "column for details of the setting procedure of Y.

[0035] By selecting the first through fourth outrigger ₁₅ 1-15 ₄ This selection means 37, the outrigger ₁₅ 1-15 ₄ exists in each area, i.e., in the first region of the first embodiment In the plan view (FIG. 2), 0 ° to 90 ° counterclockwise from the reference line K, the second area is 91 ° to 180 °, and the third area is 181 ° to 270.
° fourth region is output every the 271 ° to 360 °, the first to fourth target turning line _J in each region _(J 1 through J
₄ ) target turning angles 起_{01 to ０４ 04} and the first to fourth undulating angles θ ₀ (θ ₀₁ to θ 4) of the telescopic boom 6 corresponding to each of these target turning angles ψ ₀ (ψ _{01 to} ψ ₀₄ ).
θ ₀₄ ) are separately selected from the storage means 46. The output value selected by the selection unit 37 is input to the comparison units 40 and 42 and the display unit 44, and the undulation angle θ detected by the detection sensor (unit) 24 and the target undulation angle θ
₀ , and when the swing angle の of the swing body 5 detected by the detection sensor (means) 26 matches the target swing angle ψ ′ ₀ calculated by the calculation unit, a lamp or the like of the display means 44 is turned on. Light.

Reference numerals 50a and 50b denote stopping means for stopping the turning of the revolving unit 5 and the up / down driving of the up / down boom 6 in association with the operation of the display means 44.
Is constituted by, for example, direction switching valves 60 and 62 which are electrically switched to operate in response to the operation of the display means 44. The swing of the swing body 5 and the undulation of the telescopic boom 6 are set to respective target values, namely, , Target turning angle ψ _'01 ~ ψ'
₀₄ and automatically stops, respectively, in the target hoisting angle theta ₀₁ through? _04, the respective positions, i.e., at the target projecting positions of the first to fourth projecting beams _161-164, first to fourth vertical columns 17 _{1-17 4} to a position directly below, it is possible to lay first through fourth decking ₁₉ 1-19 _4. The direction switching valves 60 and 62 can also be manually operated by operation levers 54 and 56.

Reference numeral 52 denotes a manual / automatic switching unit of the control circuit 20A. Reference numeral 54 denotes an operating lever for switching a hydraulic oil supply / discharge circuit to the undulating cylinder 8 (see FIGS. 5 and 6) for changing the undulating angle θ of the telescopic boom 6. Reference numeral 56 denotes an operation lever for switching the pressure oil supply / discharge circuit to the swing motor for changing the swing angle の of the swing body 6, 58.
Is a controller, 60 is an up-and-down cylinder 8 of the telescopic boom 6
Reference numeral 62 denotes a direction switching valve of a pressure oil supply / discharge circuit to a swing motor (not shown).

[0038] (Operation of Second Embodiment) First, the crane 1, the first through fourth decking ₁₉ 1-19 track ₄ mounted with the T of the outriggers 15, in place by travel to handling the work area after disposed, the first to fourth projecting beams _161-164 end of the reduction state of the first to fourth outrigger ₁₅ 1-15 _4, first
Fourth is extended a vertical column ₁₇ 1-17 _4, grounds the first through fourth float ₁₈ 1-18 ₄ thereunder, if bearing the body base 2 into the ground.

Thereafter, the boom head 10 at the top of the telescopic boom 6 is moved to the loading platform (not shown) of the truck T by turning the telescopic boom 6 by turning the revolving unit 5 and raising and lowering the telescopic boom 6 by the raising and lowering cylinder 8. is moved to the upper, the wire rope 12 end of the hook 13 hanging down from the sheave 11 of the boom head 10, first decking 19 ₁ lifting was placed on a truck bed T, the turning of the turning body 5, the telescopic boom 6 expansion of the undulations or the like to move the boom head 10 to the first position directly above the vertical posts 17 _1, to extend the wire rope 12 extending downward from the boom head 10, first and suspended from the hook 13 of the end portion 1 floor plate 1
9 ₁ The first overhang beam 16 of the first outrigger 15 ₁
In _one of the overhanging target position, the first vertical support column 17 ₁ of the extending target position of the end portions, laid in the following manner.

[0040] (1) First, the distance between the first and projecting length _{Y 1} of the projecting beam 16 of the _first outrigger 15 ₁ by outrigger setting means, a first overhang beam 16 ₁ swirling around 4 corresponding thereto setting the X _1.

[0041] (2) Enter the projecting length _{Y 1} of the distance _{X 1} and first projecting beam 16 ₁ and the first overhanging beam 16 ₁ swirling around 4 to the arithmetic unit 34, 36, 38 for calculating it allows calculating a target turning angle [psi _'01 target values hoisting angle theta ₀₁ and the turning member 5 of the telescopic boom 6 corresponding to the first vertical support column 17 ₁ at the target position.

[0042] (3) the first target turning angle [psi ₀₁ of the first overhang beam 16 ₁ of the first target value hoisting angle theta ₀₁ and the turning member 5 corresponding to the first vertical support column 17 ₁ of the telescopic boom 6
Is stored in the storage device 46.

(4) First, the first to fourth outriggers 15
One of _{1-15 4} selected by the selection means 37, the outrigger 15 of interest (e.g., a first outrigger, second
Or also the fourth outrigger ₁₅ 2-15 ₄₎
Setting, to target hoisting angle theta _{01 (actually} correspond to the outrigger 15 ₁ selected by the selecting means 37 theta
_{01 to} θ ₀₄ ) and the target turning angle _{０ 0} (actually, ψ ₀₁ to θ ₀₄ ).
{ ₀₄ ) is selected from the storage means 46 and output.

It should be noted that the selection means 37 is activated by selecting each of the _first to _fourth outriggers 151 to 154.
For each region where the outrigger is located, for example, the first region is 0 ° to 90 ° clockwise from the reference line K in FIG. 2 of the plan view of the first embodiment, and the second region is 91 ° to 90 °.
180 °, the third area outputs the same 181 ° to 270 °, and the fourth area outputs the same 271 ° to 360 °, and the first to fourth target turning angles _{０１ 01 to}あ る in the respective areas.
₀₄ and the first to fourth target hoisting angles θ _{01 to} θ ₀₄ of the telescopic boom 6 at the positions corresponding to them are selected from the storage means 46. This output value is compared with the comparing means 40 and 42.
And the target value display means 44.

(5) The detection means 24 and 26 detect the current values of the undulation angle θ of the telescopic boom 6 and the turning angle の of the revolving unit 5 in real time, and the comparing means 40 and 42 and the target value display means 44 The data is input to the storage means 46. The operation of the manual / automatic switching unit 52 is performed as follows.

(In the case of automatic operation) (1) The power supply for the operation levers 54 and 56 is cut off by automatically switching the manual / automatic switching section 52, and the lines from the comparison means 40 and 42 are connected to the controller 58. .

(2) By the comparing means 40 and 42, the undulation angle θ of the telescopic boom 6 and the slewing angle の of the revolving unit 5, their target undulation angles θ ₀ (actually θ ₀₁ to θ ₀₄ ) and the target slewing angle ψ ₀ (actually _{０１ 01 to ０４ 04} ) are compared (sequentially), and a signal corresponding to the difference is input to the controller 58 to control the directional control valves 60 and 62.

(3) The detected values of the undulation angle θ of the telescopic boom 6 and the turning angle の of the revolving unit 5 are the target values θ ₀ (actually θ ₀₁ to θ ₀₄ ) and ψ ₀ (actually, ψ _{01 ~ψ 04)}
When the signals become the same, the signal stops, and the directional control valves 60 and 62 become neutral.

(In the case of manual operation) (1) The line from the comparison means 40, 42 to the controller 58 is cut by switching the manual / automatic switching unit 52 to manual, and the power is connected to the operation levers 54, 56.

(2) The operating levers 54 and 56 are manually operated, and the display means 44 displays the undulation angle θ of the telescopic boom 6.
And the turning angle の of the revolving unit 5 are set to their target values θ ₀ (actually θ ₀₁ to θ ₀₄ ) and _{０ 0} (actually, Δ _{01 to ０４ 04} ).
Match with.

[0051] By the same procedure described above, for example, when the turning body 5 pivots by an angle [psi ₁ matching the target turning angle [psi _01, axially J of the telescopic boom 6 provided in the revolving body 5,
In the first overhang state of projecting beams 16 of the _first outrigger 15 _1, will pass through a vertical plane including a first vertical support column 17 ₁ of the center line of its ends (target turning line J _1). In this state, the length is set to L by the setting device.
When hoisting angle theta of the telescopic boom 6 is set to match the target hoisting angle theta _01, the boom head 10 of the telescopic boom 6 ends, the first outrigger 15 _first target projecting position, the first vertical support column a position immediately above the 17 ₁ of the center line.

The boom head 1 of the telescopic boom 6 in this state
A first decking 19 ₁ hanging defeated wire 11 end of the hook depending from the sheave 11 0 drop-off on the ground, the first vertical post 1
7 ₁ of lay directly below the target bulged position.

[0053] Then, slinging wires 14, remove the hook 13 from the first decking 19 _1, with winding up the wire 11, by extension and or undulations of the telescopic boom 6, lifting the second floor plates 19 ₂ on the track, as with the in the second outrigger 15 ₂ overhanging predetermined position, to a second immediately below the vertical column 17 of the _second overhang beam 16 _second end, lay second decking 19 _2.

The track T on the third floor plate 19 _3, for the fourth decking 19 _4, these as well as third, fourth outrigger ₁₅ 3, 15 ₄ of the third, fourth flared beam ₁₆ 3, 1
6 ₄ third end, it lays expected position directly below the center of the fourth vertical support ₁₇ 3, 17 _4. The first to fourth floor boards 19 ₁
The order in which lay to 19 ₄ can be freely changed by changing the input sequence by the selection means 37, selection by the selection means 37 overhanging beam 1 outrigger ₁₅ 1-15 ₄
Setting 6 _{1-16 4} projecting length _{Y (Y} 1 _{~Y 4),} calculation by the telescopic boom 6 hoisting angle theta ₀ of the arithmetic unit 36, calculation by calculation unit 34 of the turning angle [psi ₀ of the revolving body 5 ', the output or the like of the absolute angle by the target turning angle [psi ₀ converting section 38 of the telescopic boom 6, after the setting for all outriggers.

Third Embodiment Next, a third embodiment of the present invention will be described with reference to FIGS. 9 to 11. The same parts as those in the first and second embodiments shown in FIGS. 1 to 8 have the same names and the same reference numerals.

[0056] Figure 9 is a first overhang beam 16 of the _first outrigger _{15 1, Y 1 a, Y} 1 b, to be selectively extended to overhang length of three stages of _{Y 1} c, of the present invention third embodiment (Although not shown, the second to fourth second to fourth outrigger ₁₅ 2-15 ₄ overhang beam ₁₆ 2 -
16 for ₄ also, schematic plan explanatory view of this almost the same as), FIG. 10 is a first overhang beam 16 ₁ of the first outrigger 15 _1, wherein _Y 1 _a, Y 1 b, three such as _{Y 1} c in the case of is stretched to the length of the stage, the first vertical support column 17 ₁ of 3 positions ₁₇ 1 a of each end, ₁₇ 1 b, 1
To 7 _{1 10} 1 _a immediately above both location of _{c, 10 1 b, 10 1} c,
In the state where the boom head 10 at the top of the telescopic boom 6 on the swivel table 5 is located, the undulation angles θ ₁ a, θ of the telescopic boom 6
_{1 b,} schematic side view showing a theta _{1 c,} FIG. 11 is a circuit diagram of a third selector switch 71 which is used in the examples and limit switches 75 and 76 of the present invention.

[0057] In the third embodiment, the first overhang beam 16 of the _first outrigger 15 ₁ provided on the vehicle body base 2,
Shortest length Y ₁ a position 16 ₁ a, middle length Y ₁ b position 16
₁ b, the maximum length _{Y 1} in the case of elongation was achieved respectively c position 16 ₁ c, telescopic boom 6, therefore, the target turning line _J of the telescopic boom 6 on the turning body _{5 (J 01 a, J 01} b,
J ₀₁ c) the first outrigger 15 from the reference line K
₁ of the first overhang beam 16 ₁ of each length _Y 1 a,
Y ₁ b, _{Y 1} turn angle [psi ₁ corresponding to c are schematic plan view illustrating [psi ₁ a of FIG. 9, [psi ₁ b, [psi ₁ c, and the limit switch 75 ₁ in a position corresponding to the respective pivot angle a,
75 ₁ b and 75 ₁ c are provided.

[0058] The length of the first overhang beam 16 of the _first outrigger 15 ₁ This three step _Y 1 _a, Y 1 b, _{Y 1}
c, the first vertical strut 17 in a state of being extended to c.
_{1 a, 17 1 b, 17} 1 turning angle corresponding to c ψ ₁ a, ψ
₁ b, the boom head 10 of the telescopic boom 6 having a length L on the revolving structure 5 in a state where the revolving structure 5 has rotated to ₁ c.
But if the position immediately above the first vertical support column _{17 1 a, 17 1 b,} 17 1 c, now that each hoisting angle theta ₁ a of the telescopic boom 6, theta ₁ b, theta ₁ c, respectively The limit switches 76 ₁ a, 76 ₁
b, 76 ₁ c are provided on the bracket 76A on the revolving unit 5.

[0059] Although not shown, the second to fourth second to fourth outrigger ₁₅ 2-15 ₄ overhang beam ₁₆ 2 -
16 _4, the shortest length _Y 2 _{to Y} 4 a, intermediate length _Y 2 B to
Y ₄ b, the maximum length _Y 2 _{c~Y 4} 3 stage c a, b, in the case where the extendable in c, second to the second to fourth outrigger ₁₅ 2-15 ₄ of the telescopic boom 6 4 overhanging beam ₁₆ corresponding to each of the projecting length of 2-16 _4, the turning angle of the turning body _{5 ψ 2 a~ψ 2 c, ψ} 3 a~ψ 3
c, _{４ 4 a to ４ 4} c, and the undulation angle θ ₂ a of the telescopic boom 6
_{~θ 2 c, θ 3 a~θ 3} c 2, θ 4 a~θ 4 for even c, the limit switch ₇₅ 2 a of the turning angle ψ of the turning body 5 in a position corresponding to the similarly to each angle, 75
_{2 b, 75 2 c~75 4 a} , 75 4 b, 75 4 provided with a c, the limit switch ₇₆ 2 _a of the hoisting angle θ of the telescopic boom _{6, 76 2 b, 76 2} c~76 4 a, 76 4 b,
76 ₄ c is provided on the bracket 76 </ b> A on the revolving superstructure 5.

[0060] As understood from the above, when the first to fourth outrigger ₁₅ 1-15 first to fourth overhang beam _161-164 of _4, and the extendable respectively three stages, each Y a projecting length of the outriggers ₁₅ 1-15 ₄ overhanging beams _161-164 from _Y 1 to Y ₁ c
₄ to Y ₄ position corresponding to c (e.g., vehicle body base 2
Above), the first to third limit switches 16
_{1 a, 16 1 b, 16} 1 c~16 4 a, 16 4 b, 16
_{4 c} outrigger providing (this becomes a total of 12 in the example), the selection of overhanging positions of the overhang beam 15 switches 7
When the switch 1 is turned on, the relay 73 is operated to connect the power to the corresponding limit switch, and each of the limit switches is ready for operation.

Next, when the revolving unit 5 is turned, the revolving unit 5 is rotated.
Of the limit switches 75 ₁ a, 75 ₁ b, 75 ₁ c to 7 in the operation ready state.
_{5 4 a, 75 4 b,} 75 4 by turning ON one of c, the limit switch ₇₆ 1 to regulate the hoisting angle of the telescopic boom _{6 a, 76 1 b, 76} 1 c~76 4 a, 76
By ON similarly to the one of the _{4 b,} 76 4 _c, the power is connected by the corresponding limit switch by the relay 73, the operating state. Then, by detecting this, the swing angle の of the swing body 5 and the undulation angle θ of the telescopic boom 6 are detected.
When each of them reaches the respective target value, it is detected and displayed, or the turning and the undulation are automatically stopped.

Therefore, the first to fourth outriggers 15 ₁
15 first ₄ to fourth overhang beam _161-164
The overhang lengths Y ₁ to Y ₄ of Y ₁ a to Y ₁ c to Y ₄ a
To Y ₄ c, the selection switch 71 _{1 a to}
71 by selecting ₇₁ 4 A～71 ₄ c from ₁ c, before extending the first through fourth projecting beams _161-164 of the first through fourth outrigger ₁₅ 1-15 _4, each target to the first to fourth lower vertical support column ₁₈ 1-18 ₄ projecting position, the first through fourth decking 19 ₁
To 19 ₄ can be lay.

Fourth Embodiment Next, a fourth embodiment of the present invention will be described with reference to FIG. Parts common to the first to third embodiments shown in FIGS. 1 to 11 are denoted by the same names and the same reference numerals. FIG. 12 shows a limit switch for restricting the turning angle ψ around the turning center 4 of the turning body 5 (see FIG. 2) in the third embodiment, and an elevation angle θ (about the support shaft 7 of the telescopic boom 6). Limit switch 7 linked to (see Fig. 5)
FIG. 10 is a block diagram of a control circuit in which a potentiometer 81 is provided at each position in place of providing 5 (see FIG. 9).

In FIG. 12, potentiometers 81 are respectively provided around the center of rotation 4 of the swing body 5 (see FIG. 9) and around the support shaft 7 of the telescopic boom 6. 8
Reference numeral 5 denotes a storage unit. The storage unit 85 stores the _first to fourth overhang beams 16 of the first to _fourth outriggers 151 to 154.
Selection switch 71 corresponding to each bulged position of _{1-16 4}
And the _first to fourth overhang beams 16 ₁ to 16 ₁ to
16 ₄ corresponding to the projecting position, the first to fourth pivot angle ψ ₁ a~ψ ₁ c from ψ ₄ a~ψ ₄ c of the turning body 5, and the first to fourth hoisting angle of the telescopic boom 6 theta _{1 a to} θ ₁ c
Corresponding to θ ₄ a~θ ₄ c from the potentiometer 81
Is stored in advance.

Reference numeral 87 denotes a comparing unit. The comparing unit 87 is stored in the storage unit 85, and the first to fourth turning angles _{１ 1 a} to _１ 1c to ψ _{4 a} to _{４ 4} c of the turning body 5 and 及 び_{4 a} to _{４ 4} c, and Telescopic boom 6
From the first to fourth undulation angles θ _{1 a} to θ ₁ c to θ _{4 a} to θ _4
4 and stored value of _c, is compared with the actual value to the potentiometer 81, when they match, and displays the matching indicator 90, to notify the operator of the crane 1.

Fifth Embodiment Next, a fifth embodiment of the present invention will be described with reference to FIG. Parts common to the first to fourth embodiments shown in FIGS. 1 to 12 have the same names and the same reference numerals.

FIG. 13 is an explanatory plan view of a display 95 according to a fifth embodiment of the present invention. The display 95 includes _first to fourth overhang beams 16 of _first to _fourth outriggers 151 to 154. each _{1-16 4,} the three-step length _{Y 1}
from to Y 1 _c Y than ₄ to Y 4 points to be displayed on the display unit 95 to those in adjustable _c, but common to the fourth embodiment comprises a display unit 90, respectively in this embodiment corresponding overhang from the length _Y 1 to Y ₁ c to _Y 4 to Y ₄ c, the first to fourth pivot angle ψ ₁ a~ψ ₁ c from ψ ₄ a~ψ ₄ c of the turning body 5, and The undulation angle θ _{1 a} of the telescopic boom 6
length from θ ₁ c θ ₄ a~θ ₄ c or telescopic boom 6 _{L 1}
The A to L ₁ c from _{L 4} a~L 4 c, the arithmetic unit (reference numeral 34, 36 refer to the first embodiment) by calculating, inform the operator of the crane and displays the calculated value on the display 95 I do.

[0068] Incidentally, the turning angle [psi ₁ of the revolving body 5 in the case where the overhang length _{Y 1} of the first overhang beam 16 in FIG. 13 was extendable to three stages of _Y 1 to Y ₁ c, undulation of the telescopic boom 6 angle theta ₁ and showed only in detail its length _{L 1} relationship, with respect to each of the second through projecting length of the fourth three-step overhanging beam ₁₆ 2 ~ 16 _{4 Y} 2 to Y _4, Like these, hoisting angle θ ₂ b~θ ₂ d of the Shintate boom 16 corresponding to each, and θ ₄ b~θ ₄ d, the length L
_{2 b~L 2 d,} there is a L ₄ b~L 4 d. However, for the sake of simplicity of the description, the details are not shown in FIG.

In the fifth embodiment, the swivel angle ψ of the revolving unit 5 corresponding to the overhang length of the first to fourth overhang beams, the undulation angle θ of the telescopic boom 6 or the length L of the telescopic boom 6 the calculated value by the computation device, the storage unit 85 in advance by pre-stored in (see FIG. 12), by inputting a length _Y 1 to Y ₄ of the first None fourth overhang beam _161-164, The turning angle ψ of the revolving structure and the undulating angle θ of the telescopic boom 6 or the length L thereof can be displayed on the display 95 corresponding to each.

The calculated value is stored in a storage device.
The input of the first to projecting length of the fourth overhang beam ₁₆ 1 ~ 16 _{4 Y} 1 to Y _4, display 9 calls each time
5 can be displayed.

[0071]

The present invention has the above-described configuration,
As a result, the following effects can be obtained.

(1) The center of rotation of the revolving unit and the center of extension of the revolving body from the target extension length and the target extension angle of the vertical column at the end of the extension beam with respect to the center of rotation of the outrigger body base and the reference line passing through the center. The distance between the beam end and the vertical support is calculated by an arithmetic unit, and the calculated value is stored in a storage unit, and the revolving unit is positioned so that the boom head of the telescopic boom is positioned above the projecting target position of the vertical support. Is turned, and either the length of the telescopic boom or the undulation angle is set, and the other is calculated by the arithmetic unit, and the boom head of the telescopic boom is adjusted to the target projecting position of the projecting beam by matching them. Before the projecting beam of the outrigger is set as the upper part, the sole plate can be positioned.

(2) The stored value of the target position information of the overhang of the vertical column at the end of the outrigger beam, one of the length of the revolving unit and the telescopic boom, and the undulation angle are set, and the other is calculated. By positioning the boom head of the telescopic boom above the target position of the vertical support at the end of the overhanging beam at the target overhang position, and determining the laying position of the floor plate, the boom head of the telescopic boom is separated from the vertical support of the overhang beam. From the operating room on the revolving superstructure or the operating room on the vehicle body base, the sole plate can be accurately positioned with only one operation of the crane truck operator.

(3) The positioning of the outrigger sole plate can be performed by one operation, and there is no need to re-place the sole plate as in the conventional example. Therefore, the positioning of the crane truck can be performed in a short time, and the cargo handling work by the crane truck can be performed. Efficiency is improved.

(4) Since the outrigger soleplate is accurately positioned, there is no danger that the vertical strut will hit the float due to the misalignment of the soleplate, and the vertical strut based on the misalignment of the soleplate will not occur. There is no danger of the sinking of the crane truck and the tilting of the crane truck.

(5) The overhang position information of each outrigger is stored in a storage device in advance, and the information is sequentially called to determine the position of the outrigger by comparing it with the actual length of the telescopic boom and the turning angle. Automation of the positioning operation of all the floor boards becomes easy.

In addition, position information such as a target turning angle of the end of the outrigger extending beam with respect to the reference line of the vertical support and a length of the overhang is stored in a storage device in advance, and a comparison value with a value detected by the detection sensor is stored. If the first to fourth flooring boards are sequentially laid at required positions by matching, all flooring boards can be continuously laid at an accurate projected position.

Further, the extension length of the extension beam of the outrigger is configured to be selectable in a plurality of stages such as the shortest, middle, and longest, and the revolving body is stopped at a rotation angle corresponding to the extension boom length, and If the limit switch is provided so as to stop the ups and downs of the telescopic boom, the control circuit configuration of this device can be significantly simplified.

Further, the extension length of the extension beam of the outrigger can be selected in a plurality of stages, and the revolving unit is stopped at a rotation angle corresponding to the length of each extension boom. If the turning angle of the revolving superstructure, the up-and-down angle of the telescopic boom, the length of the telescopic boom, etc. are displayed on the display, the operator or the like recognizes the positioning state of the floor plate from the crane truck cab or the like. The floor plate can be laid while the floor is being laid.

Further, the extension lengths of the first to fourth overhanging beams can be extended to a plurality of stages, and selection switches corresponding to the respective overhang lengths are provided. By activating the relay switch of the body drive circuit and the relay switch of one of the drive angle of the telescopic boom and the undulation angle or the telescopic length, the positioning device for the floor plate can be configured extremely simply.

[Brief description of the drawings]

FIG. 1 is a block diagram of a control circuit of a first embodiment of a method and a device for positioning an outrigger sole plate of a crane truck according to the present invention;

FIG. 2 is a schematic plan view of a crane equipped with an outrigger sole plate positioning device according to the present invention.

FIG. 3 is an explanatory diagram of a vertical distance between an overhang beam of the outrigger and a turning center of a vehicle body base of the crane vehicle.

FIG. 4 is an explanatory diagram showing a relationship between a distance between a vertical support at an end of an outrigger beam of an outrigger and a vertical reference line of a vehicle body base, that is, a length of an overrigger beam of an auriga.

FIG. 5 is an explanatory side view of a crane vehicle in which the device is implemented.

FIG. 6 is a schematic side view illustrating factors that cause a positional shift due to the falling down of the slab when the slab is laid by a crane truck by implementing this apparatus.

FIG. 7 is a block diagram of a fully automatic control circuit according to a second embodiment of the present invention.

FIG. 8 is an explanatory diagram of an ON-OFF circuit of the controller.

FIG. 9 is a schematic plan view of a third embodiment of the present invention.

FIG. 10 is a schematic side view illustrating a third embodiment of the present invention.

FIG. 11 is a block diagram of a control circuit according to a fourth embodiment of the present invention.

FIG. 12 is a block diagram of a control circuit according to a fifth embodiment of the present invention.

FIG. 13 is an explanatory plan view of a display device according to a sixth embodiment of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Crane truck 2 ... Body base 3 ... Revolving bearing 4 ... Revolving center 5 ... Revolving body 6, ... Telescopic boom 7 ... Support shaft 10 ... Boom head 11 ... Sheave 12 ... Wire rope 13 ...... hook 15 _{1-15 4} ...... first through fourth outrigger _161-164 ...... first to fourth overhang beam 17 _{1-17 4} ...... first to fourth vertical post 18 _{1-18 4} ... first to fourth floats 19 _{1 to} 19 ₄ ... first to fourth floor boards 20 ... control block 20A ... control circuit 21 ... outrigger extension length setting section 22 ... Y storage section 24 ... ... theta detector 26 ...... ψ detector 28 ...... ψ, of the display means 30 ...... X of the storage unit 32 ...... L of theta detector 34 ...... ψ _'0 calculating unit 36 ...... θ ₀ calculating unit 38 ... conversion unit of ... ψ ₀ 40 ...... θ and θ ₀ comparison unit 42... And ψ ₀ comparison unit 44... Θ, 目標 target value (θ ₀ , ψ ₀ ) display unit 46..., 目標 target value (θ ₀ , _{０ 0} ) storage Unit 48 .theta., .Infin. Display unit 50 Stopping unit 52 Manual / automatic switching unit 54 Operation lever 56 Operation lever 58 Controller 60 Directional switching valve 62 Directional switching valve 71 … Selection switch 73… Relay 75, 76… Limit switch 77… Power supply 81… Potentiometer 85… Storage device 87… Comparator 90 …… Display unit 95 …… Display unit L ”…… J (J _{1 to} J ₄ ): Target turning line (center line of telescopic boom) T: Track X: Distance between turning center and overhang beam Y: Overhang length of overhang beam θ (θ ₀₁ ~θ ₀₄₎ hoisting angle of ...... telescopic boom θ ₀ (θ _{1 ~θ 04)} ...... telescopic boom target hoisting angle ψ (ψ ₀₁ ~ψ ₀₄ of) ...... turning of the turning angle _{ψ '0 (ψ' 01 ~ψ} '04) the target turning angle of ...... swing body

Claims (2)

(57) [Claims] 1. A distance between a vertical post at an end of an overhanging beam of an outrigger provided on a vehicle body base of a crane vehicle and a turning center of a revolving body on the vehicle body base, and a reference of a vehicle body base passing through the turning center of the vertical post. While the target position information of the vertical support, such as the turning angle with respect to the line, is stored in the storage device in advance, the actual turning angle of the turning body with respect to the reference line of the vehicle body base and the actual position of the telescopic boom provided on the turning body are Before extending the outrigger overhang beam by matching the horizontal projection length based on the length and the undulation angle with the target position information of the vertical support at the outrigger overhang beam end stored in the storage device, A method of positioning a bottom plate for an outrigger of a crane truck, comprising positioning the bottom plate. 2. A distance between a vertical support at an end of an overhanging beam of an outrigger provided on a vehicle body base of a crane vehicle and a center of rotation of a revolving unit on the vehicle body base, and a reference of a vehicle body base passing through the center of rotation of the vertical support. A storage device for storing target position information of the vertical support such as a turning angle with respect to a line, a means for detecting an actual turning angle of the turning body with respect to a reference line of a vehicle body base, and a telescopic boom provided on the turning body Means for calculating the horizontal projection length from the actual length and the undulation angle of the projecting beam, the target position information of the vertical support at the end of the overhang beam stored in the storage device, and the rotation of the revolving body The cradle can be positioned at a target overhang position of a vertical column at the end of the overhang beam of the outrigger by matching the angle and the actual value of the projection length of the telescopic boom. Positioning device for the outrigger sole plate of the vehicle.