JP3226137B2 - Crane movable range limiting 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 movable range limiting device.

[0002]

2. Description of the Related Art Conventionally, such a crane movable range limiting device is disclosed in JP-A-56-75393 and JP-A-1-1-1.
No. 50696, etc., the former sets the movable range by operating the memory command switch for the item whose range is to be limited at a desired position by simulating the crane, and reaches the movable limit position set by the boom tip. Then, the crane operation is stopped and an alarm is issued.The latter moves the boom tip to the allowed space end to set a movable space, and pushes the push button at that point, one after another. A similar operation is performed to determine the movable range. FIG. 10 shows the turning limitation in the former, and FIG. 11 shows the respective limits of the head, working radius, boom length, boom angle upper limit, and lower limit of the boom angle in relation to the movable range, and FIG. 12 shows the latter movable range setting method. Is illustrated.

[0003]

However, in the former method of limiting the range by focusing only on one of the turning and the undulation, the movable range cannot be set along the obstacle in principle. The loss of the effective working range due to the range limitation increases, and the method of setting the movable range based on the position of the boom tip as in the latter case, when working in a state where the work machine and the obstacle cross over three-dimensionally For example, in a construction work, there is a problem that a movable range cannot be set.

[0004]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and the invention according to claim 1 is capable of turning on a vehicle having slideable and jackable outriggers in front, rear, right and left directions. A movable range limiting device for a mobile crane in which a telescopic boom is attached to a mounted revolving body so that the telescopic boom can be raised and lowered, and a boom length detecting means for detecting a length of the telescopic boom, and detecting an undulation angle of the telescopic boom. Boom angle detecting means, turning angle detecting means for detecting the turning angle of the upper turning body, and movable range storage command input means for setting the movable range, the working radius based on each signal from each of the above means, The calculating means for calculating and the storage means for storing the movable range, when the obstacle crosses the work machine in a three-dimensional manner, when the turning and the boom hoisting angle lower limit or the turning and the boom hoisting angle upper limit is reduced. Also one combination, which is constituted from the setting of the movable range of the continuous arbitrary shape for each turning angle and the control unit to release the setting.
According to a second aspect of the present invention, in the first aspect of the invention, based on the movable range, the first alarm is output when the working machine enters a certain range from the movable limit while approaching the movable limit. When the working machine reaches or exceeds the movable limit, the working unit outputs a second alarm or outputs a control limit of the working machine, and includes a determination unit and a control unit including an alarm output unit. is there.

[0005] With the above configuration, when an obstacle and a work machine are three-dimensionally intersecting with each other, a movable range limit can be set along the obstacle. Since interference with objects can be prevented, it can greatly contribute to improving the safety of crane operation.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows a system block diagram of an embodiment of a crane movable range limiting device. Boom length detecting means 1 for detecting the length of the telescopic boom, boom angle detecting means 2 for detecting the elevation angle, turning angle detecting means 3 for detecting the turning angle of the upper turning body, and movable range for setting the movable range The control unit 5 that receives the signal from the storage command input unit 4 calculates the working radius based on each signal from each of the above units, and calculates the working radius by using the calculation unit 6 and the storage unit 7 that store the specified movable range. Turning and working radius, or turning and boom hoisting angle lower limit or
For at least one combination of the turning and the boom up / down angle upper limit, while setting and canceling the setting of the continuous movable range with respect to the turning angle, based on the movable range,
A first alarm is output when the work implement 14 enters a certain range from the movable limit while approaching the movable range limit, and a second alarm is output when the work implement 14 reaches or exceeds the movable limit. Or an alarm output unit 9 for outputting the operation limit or the operation restriction of the work machine 14.

[0007] As shown in FIG.
If the intersection 4 does not have a three-dimensional intersection, the turning and the working radius are limited. However, the storage command switch (not shown) is pressed at the point A shown in FIG. When the work implement 14 is moved along the path of the arrow along the obstacle 13 to the point, the movable range diagram shown in FIG. 3 is automatically created, and the switch is pressed again at the point B to complete the storage of the movable range. If the user presses the storage command switch when the range limit has already been set, the setting is cleared.

[0008] As shown in FIG.
If the vehicle 4 crosses over, the turning and the lower limit of the boom angle or the upper limit of the boom angle are set. FIGS. 4 and 5 show the turning and the upper limit of the boom angle, and FIGS. Shows how to make settings. The setting method may be the same operation as described above, and may be set by moving the work implement 14 along the obstacle 13 from point A to point B along the locus of the arrow.

The contents of control of the movable range shown in FIGS. 3, 5, and 7 will be described together. The symbols used in the figures are φ for the turning angle, θ for the boom angle, and R for the working radius. The values at point A and point B are indicated with a suffix A or B, and the current state is indicated with a suffix a. . The range indicated by the symbol with a △ is the first alarm range, and the control unit 5 which has received a signal from each detection means determines the work unit When it is confirmed that 14 has entered, a first warning of danger notice is issued by the alarm device 11 such as a buzzer. Of course, when the movable limit is reached or exceeded, the second alarm is output or the work machine 1
4 to output the operation limit signal of the working machine hydraulic system 12.
Can be operated to avoid danger.

[Brief description of the drawings]

FIG. 1 shows a system block diagram of an embodiment of a crane movable range limiting device according to the present invention.

FIG. 2 shows a method of setting a turning radius and a working radius when a three-dimensional intersection does not occur.

FIG. 3 shows the control contents of turning and working radius when there is no three-dimensional intersection.

FIG. 4 shows a method of setting a turn and a boom angle upper limit in the case of a three-dimensional intersection.

FIG. 5 shows the control contents of the turning and the upper limit of the boom angle in the case of a three-dimensional intersection.

FIG. 6 shows a method of setting a turn and a lower limit of a boom angle when the vehicle crosses a three-dimensional intersection.

FIG. 7 shows the control contents of the turning and the lower limit of the boom angle in the case of a three-dimensional intersection.

FIG. 8 is a diagram showing a relationship between a turning limit and a working radius limit when a three-dimensional intersection does not occur.

FIG. 9 is a diagram illustrating a relationship between a turning limit and a lower limit of a boom angle when the vehicle crosses a three-dimensional intersection.

FIG. 10 is a relationship diagram showing a conventional turning restriction.

FIG. 11 is a relational diagram showing each limitation of a conventional head, working radius, boom length, boom angle upper limit, and boom angle lower limit.

FIG. 12 is a diagram illustrating a conventional method of setting a movable range.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 boom length detecting means 2 boom angle detecting means 3 turning angle detecting means 4 storage command input means 5 control unit 6 calculation means 7 storage means 8 determination unit 9 alarm output unit 11 alarm device 12 work machine hydraulic system 13 obstacle 14 work machine 15 1st warning area 16 2nd warning area

Claims (2)

(57) [Claims] 1. A movable range limiting device for a mobile crane, comprising: a vehicle having an outrigger capable of sliding and jacking in front, rear, left and right, and a retractable boom mounted on a revolving body that is rotatably mounted. A boom length detecting means for detecting the length of the telescopic boom, a boom angle detecting means for detecting an elevation angle of the telescopic boom, a turning angle detecting means for detecting a turning angle of the upper turning body, and a movable part for setting a movable range. and a range storage command input means, based on the signals from the respective means, a calculating means for calculating a working radius, by a storage means for storing the movable range, obstruction and the working machine stereoscopic exchange
In the case of a difference , at least one combination of the turning and the boom hoisting angle lower limit or the turning and the boom hoisting angle upper limit is set to release the setting of the movable range of an arbitrary shape that is continuous with the turning angle. A movable range limiting device for a crane, comprising: 2. A movable range limiting device for a mobile crane, comprising: a vehicle having an outrigger capable of sliding and jacking in front, rear, left and right, and a retractable boom mounted on a revolving body that is rotatably mounted. A boom length detecting means for detecting the length of the telescopic boom, a boom angle detecting means for detecting an elevation angle of the telescopic boom, a turning angle detecting means for detecting a turning angle of the upper turning body, and a movable part for setting a movable range. and a range storage command input means, based on the signals from the respective means, a calculating means for calculating a working radius, by a storage means for storing the movable range, obstruction and the working machine stereoscopic exchange
If there is a difference , at least one combination of the turning and the boom hoisting angle lower limit or the turning and the boom hoisting angle upper limit,
When a movable range of an arbitrary shape is continuously set and released for each turning angle, and based on the movable range, the working machine approaches a movable limit and enters a certain range from the movable limit. A determination unit that outputs a first alarm and outputs a second alarm or outputs an operation limit of the work machine when the work machine reaches or exceeds the movable limit, and an alarm output unit. A movable range limiting device for a crane, comprising: a control unit.