JP3229679B2 - Control device for hydraulically driven winch in mobile crane - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a mobile crane having a boom, and more particularly, to a normal mode in which a boom raising / lowering drive and a winch hoisting / lowering drive are controlled by corresponding operating levers. The present invention relates to a control device having a ground-cut mode in which a winch is driven up at a very low speed and an increase in a boom working radius caused by a change in a load acting on the boom is automatically eliminated by raising the boom.

[0002]

2. Description of the Related Art As shown in FIGS. 2 and 3, a mobile crane includes an up-and-down boom 3 driven by an up-down hydraulic actuator 4, and a winch 5 driven up and down by a winch hydraulic actuator 6. Boom 3 via wire rope 7 pulled out from winch 5
The hanging tool 8 is hung from the tip of the. 1 is a vehicle. Reference numeral 2 denotes a turntable which is mounted on the vehicle 1 so as to be capable of turning. The raising / lowering hydraulic actuator 4 is constituted by a double-acting hydraulic cylinder in this example, and is driven and controlled by a four-way three-position raising / lowering control valve 4a. In addition, the hydraulic actuator 6 for unichi is
It is constituted by a hydraulic motor and is driven and controlled by a four-way three-position winch control valve 6a.

A conventional control device will be described with reference to FIG.
In FIG. 3, reference numeral 9 denotes an up / down operation signal generating means for outputting an up / down operation signal a corresponding to the operation direction and operation amount of the up / down operation lever 9a. 10 is a winch operation lever 10a
Is a winch operation signal generating means for outputting a winch operation signal b corresponding to the operation direction and the operation amount of. Reference numeral 11 denotes a normal mode in which the raising / lowering drive of the boom 3 and the hoisting / lowering drive of the winch 5 are controlled by the corresponding operation levers 9a and 10a. Signal c for selecting a land-cut mode in which the increase in the boom working radius R caused by the change in the load that occurs is automatically canceled by the raising motion of the boom 3.
Is the mode selection means for outputting Reference numeral 12 denotes an up-and-down angle detecting means for detecting the up-and-down angle Θ of the boom 3. 13
Is a boom load detecting means for detecting a load f acting on the boom 3.

[0004] Reference numerals 14 denote signals from the above-mentioned means (the undulation operation signal a from the undulation operation signal generation means 9, the winch operation signal b from the winch operation signal generation means 10, the selection signal c from the mode selection means 11, and the undulation. The undulation control valve 4a receives the undulation angle signal か ら from the angle detection means 12 and the load signal f) from the boom load detection means 13 and calculates and calculates it.
And a calculation unit that outputs a valve drive signal to the winch control valve 6a. As described above, the control device of the conventional mobile crane includes the up / down operation signal generation unit 9, the winch operation signal generation unit 10, the mode selection unit 11, and the up / down angle detection unit 1.
2. It is composed of a boom load detecting means 13 and a calculating unit 14.

[0005] The up / down operation signal generating means 9 outputs an up / down operation signal a capable of discriminating the operation direction and operation amount from the neutral position of the up / down operation lever 9a. Specifically, a potentiometer (not shown) connected to the operation lever 9a is used so that the output voltage of the operation lever 9a increases linearly as it goes from one operation terminal to the other operation terminal. ing. The winch operation signal generating means 10 outputs a winch operation signal b capable of discriminating an operation direction and an operation amount from a neutral position of the winch operation lever 10a. Specifically, as the operation lever 10a moves from one operation end portion to the other operation end portion, the output voltage of the operation lever 10a increases linearly.
A potentiometer (not shown) connected to a is used.

Next, the configuration of the arithmetic unit 14 will be described.
The up / down operation signal a input from the up / down operation signal generating means 9 to the calculation unit 14 includes information corresponding to the operation direction and the operation amount of the up / down operation lever 9a as described above. The raising / lowering operation signal a is input to the operation direction / operation amount discriminating means 15 provided in the arithmetic section 14, and the operation direction / operation amount discriminating means 15 calculates the raising operation signal a1 and the falling operation signal a2. You. The raising operation signal a1 is a voltage corresponding to an operation amount when the raising / lowering operating lever 9a is operated from its neutral position in the boom raising direction, and the lowering operation signal a2 is a voltage corresponding to operating the raising / lowering operating lever 9a from the neutral position. The voltage corresponds to the operation amount when operating in the boom falling direction. The raising operation signal a1 and the falling operation signal a2
Are amplified through power amplifiers 16 and 17, respectively, and the amplified powers are respectively raised and lowered by the raising and lowering drive side solenoid 4a1 and 4a1 of the control valve 4a.
2 is input. Each power amplifier 1
The power signals output from 6 and 17 to the raising drive solenoid 4a1 and the lowering drive solenoid 4a2 of the raising / lowering control valve 4a are valve driving signals output from the calculator 14.

The winch operation signal b input from the winch operation signal generating means 10 to the calculation section 14 includes information corresponding to the operation direction and operation amount of the winch operation lever 10a as described above. The winch operation signal b is input to the operation direction / operation amount discriminating means 18 provided in the arithmetic unit 14, and the operation direction / operation amount discriminating means 18 calculates the hoisting operation signal b1 and the lowering operation signal b2. You. The hoisting operation signal b1 is a voltage corresponding to the operation amount when the winch operating lever 10a is operated in the hoisting direction from its neutral position, and the lowering operation signal b2 is a lowering of the winch operating lever 10a from its neutral position. The voltage corresponds to the amount of operation when operating in the direction.

The hoisting operation signal b1 and the lowering operation signal b2 are amplified via power amplifiers 19 and 20, respectively, and the amplified power is respectively supplied to the hoisting drive solenoid 6a1 and the lowering drive solenoid of the winch control valve 6a. 6a2. The power signals output from the power amplifiers 19 and 20 to the hoisting drive solenoid 6a1 and the lowering drive solenoid 6a2 of the winch control valve 6a are:
This is a valve drive signal output from the calculation unit 14.

Reference numeral 21 denotes a ground control signal generation means provided in the arithmetic section 14. The ground control signal generating means 21
, A signal from the mode selection unit 11 and detection signals from the undulation angle detection unit 12 and the boom load detection unit 13 are input. The hoisting command signal generating unit 21a is configured to: The hoisting command signal generating unit 21a moves the winch 5 very slowly while the selection signal c relating to the grounding mode is input from the mode selecting unit 11. A hoist command signal d for hoist driving is input to the front stage (input) side of the power amplifier 19. A work radius calculating unit 21b, the work radius calculating unit 21b includes:
2 and the boom load detecting means 13
The boom working radius R taking into account the bending of the boom 3 is continuously calculated based on the load f from the boom 3 and output to the initial working radius storage unit 21c and the comparison unit 21d to be described later. An initial work radius storage unit 21c, the initial work radius storage unit 21c
In the state where the selection signal c of the ground-cut mode is input from, the work radius R calculated by the work-radius calculation unit 21b at the time when the selection signal c of the ground-cut mode is input is stored as the initial work radius R0. Initial working radius R
0 is output to the comparing unit 21d, which will be described later, and in the state where the selection signal c of the normal mode is input from the mode selection unit 11 (the input of the selection signal c of the ground-cut mode is cut off), the work radius The work radius R calculated by the calculation unit 21b is output as it is to a comparison unit 21d described later. A comparison unit 21d, the comparison unit 21d includes a work radius R directly input from the work radius calculation unit 21c, and an initial work radius storage unit 21c.
Work radius R0 (mode selection means 11)
Or when the selection signal c of the ground-cutting mode is output from the controller or the work radius R (when the selection signal c of the ground-cutting mode is not output from the mode selection means 11; Is the calculated value itself), and when the former value exceeds the latter value by a predetermined amount or more,
An elevating command signal e for raising the boom 3 is input to the front stage (input) of the power amplifier 16. It consists of:

The conventional control device for a mobile crane having a boom configured as described above operates the mode selection means 11 to perform a normal mode selection signal from the mode selection means 11 when performing a normal crane operation. c to the arithmetic unit 14
(The input of the selection signal c of the ground separation mode is cut off). Then, the hoisting command signal d is not output from the hoisting command signal generating section 21a of the grounding control signal generating means 21, and the comparing section 21 of the grounding control signal generating means 21 is not output.
The d does not output the raising command signal e. Therefore, in the state where the selection signal c of the normal mode is input from the mode selection means 11 (the input of the selection signal c of the ground-cut mode is cut off), the calculation unit 14 determines the operation direction and the operation amount of the up / down operation lever 9a. A valve drive signal corresponding to the up / down operation signal a from the up / down operation signal generating means 9 is output to the up / down control valve 4a so that the up / down control valve 4a is correspondingly switched, and the operation direction and operation of the winch operation lever 10a. A valve drive signal corresponding to the winch operation signal b from the winch operation signal generating means 10 is output to the winch control valve 6a so that the winch control valve 6a is switched in accordance with the amount. For this reason, the undulating operation lever 9
The normal crane operation can be performed by operating the a and the winch operation lever 10a.

Further, when performing the ground cutting operation, the mode selecting means 11 is operated to input a selection signal c of the ground cutting mode from the mode selecting means 11 to the arithmetic unit 14. Then, the hoisting command signal generator 21a of the ground control signal generating means 21 outputs the hoisting command signal d, so that the winch 5 is driven up at a very low speed. In addition, the work radius calculation unit 2 at the time of input of the selection signal c of the land separation mode 2
The work radius R calculated as 1b is stored in the initial work radius storage unit 21c as the initial work radius R0. The comparison unit 21d compares the work radius R (actual value) continuously calculated by the work radius calculation unit 21b with the initial work radius storage unit 21c.
Is compared with the initial working radius R0 stored in. As a result of the comparison, when the working radius R (actual value) increases by a predetermined amount or more with respect to the initial working radius R0, the raising command signal e is output from the comparator 21d, and the boom 3 raises.

As described above, when the suspended load is to be grounded,
When the mode selection means 11 is operated and the selection signal c of the ground-cut mode is input from the mode selection means 11 to the arithmetic unit 14, the winch 5 is automatically driven up at a very low speed, and the load f acting on the boom 3 is controlled. The increase in the working radius based on the bending of the boom 3 caused by the increase is eliminated by the automatically raising and lowering movement of the boom 3.

A conventional control device for a mobile crane having a boom is configured as described above. That is, the control device of the conventional mobile crane having a boom includes an undulating hydraulic actuator 4 driven and controlled by an undulating control valve 4a.
Boom 3 which is driven up and down by the above, and winch control valve 6a
Winch hydraulic actuator 6 driven and controlled by
Control device for a mobile crane having a boom having a hanging device 8 suspended from a tip end of the boom 3 via a wire rope 7 drawn from the winch 5. An up / down operation signal generating means 9 for outputting an up / down operation signal a corresponding to the operation direction and operation amount of the up / down operation lever 9a; a winch operation signal b corresponding to the operation direction and operation amount of the winch control lever 10a. A mode selecting means 11 for outputting a selection signal c for selecting a normal mode and a ground-cut mode; and an up-and-down angle detecting means 1 for detecting an up-and-down angle の of the boom 3.
2. Boom load detecting means 13 for detecting a load f acting on the boom 3. Receiving and calculating signals from the means 9, 10, 11, 12, 13 to calculate the up / down control valve 4a and the winch control valve. 6a, which outputs a valve drive signal to the control unit 6a.
Is input, the valve drive signal corresponding to the up / down operation signal a from the up / down operation signal generating means 9 is switched so that the up / down control valve 4a is switched in accordance with the operation direction and the operation amount of the up / down operation lever 9a. To the up / down control valve 4a, and a valve corresponding to the winch operation signal b from the winch operation signal generator 10 so that the winch control valve 6a is switched in accordance with the operation direction and operation amount of the winch operation lever 10a. The drive signal is sent to the winch control valve 6a.
Output to (2) In the state where the selection signal c of the ground-cut mode is input from the mode selection means 11, a valve drive signal for operating the winch control valve 6a to wind up the winch control valve 6a is output to the winch control valve 6a. The boom working radius R taking into account the bending is continuously calculated based on the detection signals Θ and f from the undulation angle detecting means 12 and the boom load detecting means 13, and the boom working radius related to this calculation is calculated. The amount of increase of R with respect to the time of input of the selection signal c of the ground-cut mode is monitored, and when the amount of increase becomes equal to or more than a predetermined value, a valve control signal for raising / lowering the up / down control valve 4a is transmitted to the up / down control valve 4a. Output. It is configured as follows.

The control device for a mobile crane having a conventional boom constructed as described above can perform a normal crane operation by operating the hoisting operation lever 9a and the winch operation lever 10a. By inputting the mode selection signal c to the calculation unit 14, it is possible to ground the suspended load while eliminating the increase in the working radius R due to the bending of the boom 3 by the automatic raising movement of the boom 3. It has excellent effects.

By the way, the above-described conventional control device for a mobile crane having a boom comprises a
1 to input the selection signal c of the ground-cutting mode to the arithmetic unit 14 and perform the ground-cutting operation.
The winch control valve 6a and the winch control valve 6a can be controlled by an up / down control lever 9a and a winch control lever 10a. For this reason, a state in which the ground cutting operation is being performed (the selection signal c of the ground cutting mode from the mode selecting means 11
If the user operates the raising / lowering operation lever 9a by mistake while the input is being performed, the boom 3 is raised or lowered. As a result, the work radius calculation unit 21c calculates the work radius R based on the undulation angle さ れ driven up and down by the undulation operation lever 9a.
Initial work radius R0 stored in the initial work radius storage unit 21c
Will be compared. This contrast is meaningless, and it becomes impossible to prevent the swing of the suspended load at the time of the ground cut. In particular, when the boom 3 is driven to fall down by the raising / lowering operation lever 9a, the working radius R increases, the working radius R (actual value) becomes larger than the memorized working radius R0, and the raising command signal e is output from the comparing unit 21d. As a result, the boom is automatically driven to return to the original undulation angle Θ. Such a behavior of the boom 3 is against the intention of the operator and involves danger.

[0016]

The present invention solves the above-mentioned problem of the conventional control device for a mobile crane having a boom, because the mode selection means 11 outputs a ground-cut mode selection signal c. The operating lever 9a
The boom 3 cannot be driven up or down , or the mode selection means 11
When the selection signal c is being output, the winch operation lever
Winch 6 can not be driven by 10a
By doing so, it is intended to be eliminated.

[0017]

In order to achieve the above-mentioned object, a control device for a mobile crane having a boom according to the present invention is provided to a calculation unit 14 of a conventional control device by a mode selection means 11 to select a ground cut mode. In the state where the selection signal c is being input, an up / down operation signal cut-off unit A for preventing transmission of the operation signal a from the up / down operation signal generation unit 9 to the up / down control valve 4a is provided. Things. Alternatively, the arithmetic unit 14 in the conventional control device
The selection signal c of the ground-cut mode is input from the mode selection means 11.
In a state where the winch operation signal is generated,
Transmission of the operation signal b from the control signal 10 to the winch control valve 6a.
A winch operation signal blocking means B for blocking is provided.
It is characterized by the following.

[0018]

In the control device for a mobile crane having a boom according to the present invention configured as described above, when the selection signal c of the groundbreaking mode is input from the mode selection means 11 to the calculation unit 14, the calculation unit 14 Since the provided up / down operation signal cutoff means is operated, the up / down operation signal a from the up / down operation signal generation means 9 is transmitted even when the up / down operation lever 9a is operated.
a is not transmitted. Alternatively, from the mode selection unit 11
The selection signal c of the ground-cut mode is input to the arithmetic unit 14.
In a state where the winch operation signal provided in the operation unit 14 is shut off,
Since the means is operated, the winch operation lever 10a is operated.
The winch operation from the winch operation signal generating means 10
The operation signal b is not transmitted to the winch control valve 6a. Therefore, it is possible to prevent the swinging of the suspended load from being prevented at the time of the ground cutting, and the dangerous behavior of the boom 3 is also eliminated.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a control device for a mobile crane having a boom according to the present invention will be described below with reference to FIG. In the following description, reference numerals used in the description of the related art of FIGS. 2 and 3 are used as having the same meaning.

FIG. 1 is a control circuit diagram corresponding to FIG. 3 used in the description of the prior art. In FIG. 1, A indicates a falling operation signal b1 in the path for transmitting the raising operation signal a1 from the operation direction / operation amount determination unit 15 to the voltage amplifier 16 and a falling operation signal b1 from the operation direction / operation amount determination unit 15 to the power amplifier 17. An undulation operation signal cut-off means interposed in a transmission path.
The undulation operation signal cut-off means A outputs a switching signal c of the ground-cut mode from the mode selection means 11 and outputs this signal to the arithmetic unit 1.
In the state where the signal is inputted to the control signal 4, transmission of the up / down operation signal a (the up / down operation signal a 1 and the down / down operation signal b 1) from the up / down operation signal generating means 9 to the up / down control valve 4 a is cut off. ing.

The control device for a mobile crane having a boom according to the present invention configured as described above can perform a crane operation in a normal mode and a crane operation in a ground-cut mode as in the conventional one. In the crane operation in the land-cutting mode (in which the selection signal c of the land-cutting mode is output from the mode selection means 11 and the signal is input to the arithmetic unit 14), the undulation operation signal cut-off means A operates to perform the undulation operation. Since the transmission of the signal a to the up / down control valve 4a is cut off, the boom 3 is not driven up / down by operating the up / down operation lever 9a. Therefore,
At the time of crane operation in the land-cutting mode, load deflection at the time of the land-cutting can be reliably prevented.

Mode selection means 11 in the above embodiment
Is composed of a single changeover switch for arbitrarily outputting a selection signal in the normal mode and a selection signal in the ground-cut mode according to an operator's selection operation.

Next, a development example of the present invention will be described. As described above, according to the present invention, when the selection signal c of the ground-cut mode is input from the mode selection unit 11 to the arithmetic unit 14, the up / down control valve 4a of the operation signal a from the up / down operation signal generation unit 9 is provided. Undulating operation signal blocking means A for preventing transmission to the motor. With this configuration, during the ground-cutting operation with the land-cut mode selected, the raising / lowering drive of the boom 3 by operating the raising / lowering operating lever 9a is disabled. However, as shown in FIG. 14, the mode selection means 1
In the state where the selection signal c of the ground-cut mode is inputted from 1, a winch operation signal cut-off means B for preventing transmission of the winch operation signal b from the winch operation signal generation means 10 to the winch control valve 6 a is added. To be provided.
By additionally providing the winch operation signal cut-off means B as described above, when the mode selection means 11 outputs the selection signal c of the ground-cut mode, the up / down operation lever 9 is provided.
In addition to the raising / lowering driving of the boom 3 by the a, the lifting and lowering driving of the winch 5 by the winch operating lever 10a can be disabled.

In this case, the ground separation mode selecting means 11
Winding operation detecting means for detecting operation of the changeover switch and the winch operating lever in the winding direction (a limit switch or the like configured to detect when the winch operating lever 10a is operated in the winding direction by a small amount or more from the neutral position. (Not shown), and a ground-cut mode selection signal may be output when the changeover switch is switched to the ground-cut mode state and the hoisting operation detecting means detects a hoisting operation.

When the control device for a mobile crane having a boom according to the present invention is applied to a mobile crane having a telescopic boom, a telescopic operation signal corresponding to the operation direction and the operation amount of the telescopic operation lever is provided. The telescopic operation signal from the telescopic operation signal generating means for outputting the telescopic operation signal is transmitted to the telescopic control valve via the computing unit 14 and the telescopic boom 3
The boom length signal from the boom length detecting means for detecting the length of the boom is input to the working radius calculating section 21b of the ground control signal generating means 21 in the arithmetic section 14. And
The work radius calculation unit 21b calculates the boom work radius R taking into account the bending of the boom 3 as a function of the boom length signal from the boom length detection means, the undulation angle signal Θ, and the load f acting on the boom 3. Just do it. Such a configuration is also included in the gist of the present invention. In this case, in a state where the selection signal c of the ground-cut mode is input from the mode selection unit 11 to the arithmetic unit 14, the expansion / contraction operation for preventing transmission of the operation signal from the expansion / contraction operation signal generation unit to the expansion / contraction control valve is performed. A signal blocking means may be provided.

[0026]

The control device for a mobile crane having a boom according to the present invention having the above-described structure has a simple structure obtained by partially changing the structure of a conventional control device, and is used for raising and lowering the operating lever 9a at the time of ground-cutting work. The boom 3 cannot be driven up and down, and the undulating operation lever 9a is erroneously operated during the ground-cutting operation.
Is operated, the boom 3 is not driven up and down by the operation.
The winch 6 is driven to be hoisted by the punch operation lever 10a.
Becomes impossible and the winch operation lever
Even if 10a is operated, the winch 6 is wound by the operation.
Since it is not driven, it is not impossible to prevent the swing of the suspended load at the time of the ground cutting, and the dangerous behavior of the boom 3 is also eliminated.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of a control device for a mobile crane having a boom according to the present invention.

FIG. 2 is an explanatory view of a mobile crane having a boom.

FIG. 3 is an explanatory diagram of a conventional control device for a mobile crane having a boom.

[Explanation of symbols]

3; boom, 4; hydraulic actuator for raising and lowering, 4a; control valve for raising and lowering, 5; winch, 6; hydraulic actuator for winch, 6a; winch control valve, 7;
Reference numeral 8: hanging tool, 9: up / down operation signal generation means, 9a; up / down operation lever, 10; telescopic operation signal generation means, 10a; winch operation lever, 11; mode selection means, 12; up / down angle detection means, 13; boom load Detection means, 14;
15; operation direction / operation amount detection means; 16; voltage amplifier;
17: voltage amplifier, 18: operation direction / operation amount detection means,
19; voltage amplifier, 20; voltage amplifier, 21; ground control signal generation means, 21a;
1b: work radius calculation unit, 21c: initial work radius storage unit,
21d: comparison section, A: up / down operation signal blocking means, B: winch operation signal blocking means, a: up / down operation signal, b: winch operation signal, c: selection signal, Θ: up / down angle, f: load acting on the boom , R: working radius (current value), R0: working radius (initial value),

Claims (2)

(57) [Claims] 1. A boom that is driven up and down by a hydraulic actuator for raising and lowering controlled by a control valve and a winch that is driven and controlled by a hydraulic actuator for winch that is driven and controlled by a winch control valve. A control device for a mobile crane having a boom in which a hanger is hung from a tip end of the boom via a wire rope drawn out of the winch, the device corresponding to an operation direction and an operation amount of an up / down operation lever. An up / down operation signal generating means for outputting an up / down operation signal to perform a winch operation signal generating means for outputting a winch operation signal corresponding to an operation direction and an operation amount of a winch control lever; a selection signal for selecting a normal mode and a ground cut mode. Mode selection means for outputting the boom angle detection means for detecting the boom angle, and detecting the load acting on the boom. A boom load detecting unit that receives a signal from each of the units and calculates and outputs a valve drive signal to the up-and-down control valve and the winch control valve; and (1) a mode In a state in which the selection signal of the normal mode is input from the selection means, it corresponds to the up / down operation signal from the up / down operation signal generation means so that the up / down control valve is switched in accordance with the operation direction and the operation amount of the up / down operation lever. A valve drive signal corresponding to a winch operation signal from the winch operation signal generator so that the winch control valve is switched in accordance with the operation direction and the operation amount of the winch operation lever. Output a signal to the winch control valve. (2) In the state where the selection signal of the ground-cut mode is input from the mode selection means, a valve drive signal for winding up the winch control valve is output to the winch control valve, while the boom taking into account the bending of the boom. The working radius is continuously calculated and calculated based on each detection signal from the undulation angle detecting means and the boom load detecting means, and the boom working radius according to this calculation is calculated with respect to the selection signal input time of the ground-cut mode. The amount of increase is monitored, and when the amount of increase is equal to or more than a predetermined value, a valve control signal for raising / lowering the up / down control valve is output to the up / down control valve. In the control device for a mobile crane having a boom configured as described above, the arithmetic unit may be configured to select a ground-cut mode from a mode selection unit.
When the signal is being input, the undulating operation signal is generated.
Means for preventing transmission of the operation signal from the means to the control valve.
Boom characterized by providing
Mobile crane control device. 2. An up-and-down control driven by an up-and-down control valve.
A boom driven up and down by a hydraulic actuator;
Hydraulic actuator for winch driven and controlled by inch control valve
A winch driven by a tutor
Through the wire rope pulled out from the winch
It has a boom that suspends a hanger from the end of the boom
A control device for a mobile crane, ・ Lift operation corresponding to the operation direction and operation amount of the raising / lowering operation lever
Undulating operation signal generating means for outputting a working signal, ・ The winch corresponding to the operating direction and operating amount of the winch control lever
A winch operation signal generating means for outputting an inch operation signal, ・ Outputs a selection signal to select normal mode and ground cut mode
Mode selection means, An undulation angle detecting means for detecting an undulation angle of the boom; .Boom load detection means for detecting the load acting on the boom
Dan, .Receiving signals from each of the means and calculating and calculating
Outputs valve drive signal to lift control valve and winch control valve
Arithmetic unit, Consisting of The arithmetic unit is (1) Normal mode selection signal is input from mode selection means
The operating direction and operation of the
So that the undulation control valve is switched according to the amount.
Valve corresponding to the undulation operation signal from the undulation operation signal generating means
Outputs the drive signal to the control valve and operates the winch.
The winch control according to the operation direction and operation amount of the lever
The winch operation signal generator so that a valve can be switched.
Ui from Winch operation signal corresponding to the
Output to the control valve. (2) A selection signal of the groundbreak mode is input from the mode selection means.
When the winch is in force, the winch control valve
Outputs a valve drive signal for hoisting the control valve
On the other hand, the boom working radius taking into account the boom deflection is raised as described above.
Each of the tilt angle detection means and the boom load detection means
This calculation is performed continuously based on the detection signal.
Selection of the above-mentioned ground section mode of the boom working radius related to the calculation
Monitor the amount of increase with respect to the signal input time.
When the value exceeds a predetermined value, the control valve is activated.
It outputs a valve control signal for maneuvering. Configure
Control equipment for mobile cranes with different booms
hand, The operation unit selects a ground-cut mode from a mode selection unit.
When a signal is input, the winch operation signal
Transmission of operation signals from the generator to the winch control valve.
A winch operation signal cut-off means for stopping
Control device for mobile crane with boom.