JP3276027B2 - Safety device for two-spinning 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 safety device for a two-spinning crane vehicle.

[0002]

2. Description of the Related Art As a crane truck, a crane body is pivotally mounted on a vehicle body, and a telescopic boom is mounted on the crane body so as to be able to swing up and down. It is known that a hung wire is wound up by a winch attached to a crane body and then fed out.

In such a crane truck, the vehicle body may fall over depending on the hanging load, the length of the telescopic boom, the vertical tilt angle of the telescopic boom, and the turning angle of the crane main body. As shown, various safety devices have been proposed in which a moment is calculated from each of the above-mentioned values, and when this actual moment reaches a preset limit moment, the crane operation is prohibited so that the vehicle body does not fall.

[0004]

Such a safety device is good in the case of a uniaxial swiveling crane vehicle in which a crane is swingably mounted on a vehicle body. In the case of a two-axis swivel type mobile crane with a crane that can be swiveled, the actual moment depends on the swivel angle of the revolving unit and the swivel angle of the crane itself even if the lifting load, telescopic boom length, and telescopic boom vertical tilt angle are the same. As described above, it is difficult to calculate the preset limit moment in each posture (combination of the swing angle of the swing body and the swing angle of the crane itself) as described above, and it is impossible to reliably prevent the vehicle body from tipping over.

Accordingly, an object of the present invention is to provide a safety device for a two-axis swiveling crane vehicle capable of solving the above-mentioned problems.

[0006]

A bogie comprising a vehicle body 1 and a traveling body 4, a revolving body 5 rotatably mounted on the vehicle body 1 by a first revolving mechanism 6, and a first revolving mechanism 6 in the revolving body 5 And a crane 15 pivotally attached to the eccentric position by the second pivoting mechanism 8, the hanging load of the crane 15, the posture of the crane 15, the pivot angle of the crane 15, and the pivot angle of the revolving unit 5. To determine the weight and center of gravity of the entire crane vehicle including the suspended load
Means, and a second means for obtaining an operation restriction line at which there is a danger of vehicle body overturning based on the overall weight, center of gravity, and ground contact position,
Third means for regulating the operation of each actuator when the center of gravity of entire exceeds the movement limiting line, the Kure
Wire number setting switch for setting the number of wire
H and the set number of wires to control the suspension load.
It is characterized by the provision of a limit lifting load change means for changing the limit
Safety device for two-axis swiveling crane vehicles.

[0007]

[Operation] The weight and the center of gravity of the entire crane truck are determined, and an operation restriction line that may cause the vehicle to fall over is determined. When the center of gravity of the entire crane vehicle exceeds the operation restriction line, the operation of each actuator is regulated. Is prevented, it is possible to surely prevent a two-axis swiveling crane having two swiveling axes from overturning. Further, it is not necessary to store the overturning load (moment) according to the posture of the crane 15 and the turning position of the revolving unit 5, and it is not necessary to recalculate the overturning load (moment) for each posture every time the bogie / crane specification changes.

[0008]

[Embodiment] As shown in FIGS. 1 and 2, a left supporting cross member 2 and a right supporting cross member 3 are slidably supported by an expansion cylinder (not shown) on a vehicle body 1. The right and left traveling bodies 4 are respectively attached to 3 to form a bogie. A revolving unit 5 is attached to the vehicle body 1 so as to be pivotable by a first pivoting mechanism 6, and a crane body 7 is attached to the revolving unit 5 so as to be pivotable by a second pivoting mechanism 8. A telescopic boom 9 is mounted on a boom raising / lowering cylinder 10 so as to be able to move up and down. A pulley 12 is mounted on a leading end movable boom 11, and a wire 13 wound and fed by a winch (not shown) connects the pulley 12 and the movable pulley 14. The crane 15 is connected to the frontmost movable boom 11 through the crane 15 and is a two-spinning crane vehicle.

As shown in FIG. 1, the vehicle body 1 is provided with a vehicle body inclination sensor 20, the first turning mechanism 6 is provided with a first turning angle sensor 21 for detecting a turning angle of the turning body 5, and a second turning angle sensor 21 is provided. The second turning mechanism 8 detects a turning angle of the crane 15.
A turning angle sensor 22 is provided.

The crane 15 has a first pressure sensor 23 for detecting the pressure of the extension chamber of the boom hoist cylinder 10,
A second pressure sensor 24 for detecting the pressure of the contraction chamber, a boom angle sensor 25 for detecting the angle of elevation of the telescopic boom 9, a boom length sensor 26 for detecting the length of the telescopic boom 9, and an overwinding detection sensor 27 The boom length sensor 26 is attached to a rotatable potentiometer 28, and a rope 29 wound around a rotating portion thereof is connected to the most movable boom 11 at the forefront.

As shown in FIG. 2, a ground position detection sensor 31 which is turned on by a dock 30 when the traveling body 4 projects is mounted on the vehicle body 1, and these sensors are respectively connected to a controller 32 provided on a crane main body 71. The controller 32 is provided with a wire number setting switch 33.

As shown in FIG. 3, the controller 32 has an arithmetic circuit 40 for calculating the suspension load and the position of the center of gravity, and a first determination circuit 4 for determining the boom strength and the wire strength.
1. A second judgment circuit 42 for judging fall stability, a circuit 43 for permitting operation and setting an alarm are provided. The circuit 43 outputs each permission signal S ₁ to an operation permission relay 44, and an alarm device 45. and outputs an alarm signal S _2, the operation from the operation permission relay 44 to the solenoid valve 46 of each actuator signal S ₃
Is output. The said operation enabling relay 44 is input each operation signal S ₄ from the radio control receiver 47, and its radio control receiver 47 is the operation signal S ₅ from the RC oscillator 48 is input. Each operation signal may be input to the operation permission relay 44 from an operation box, that is, an operation signal may be input from an operation member.

The arithmetic circuit 40 is as shown in FIG. That is, a first circuit 50 for calculating a boom center of gravity based on the boom length from the boom length sensor 26 and a boom undulation angle from the boom undulation angle sensor 25, a second circuit 51 for calculating a suspension load center using the first circuit 50, A third circuit 53 for calculating the thrust of the boom hoist cylinder based on the pressures detected by the pressure sensor 23 and the second pressure sensor 24;
A fourth circuit 55 for calculating the suspension load based on the calculation results of the second and third circuits 50, 51, and 53 and the boom weight described in the first notation circuit 54, the boom weight, the boom center of gravity, and the suspension load center; A fifth circuit 57 for calculating the lifting load and the weight and center of gravity above the crane shaft from the weight and center of gravity of the crane shaft stored in the second storage circuit 56; a weight and center of gravity above the crane shaft and a second turning angle; The revolving unit swing angle from the detection sensor 22 and the revolving unit weight stored in the third storage unit 58
A sixth circuit 59 for calculating the weight and center of gravity above the revolving structure based on the center of gravity;
Based on the crane turning angle from the turning angle detection sensor 21 and the weight and center of gravity of the bogie section stored in the fourth storage circuit 60,
A seventh circuit 61 for calculating the weight and center of gravity of the suspended load is provided, and the controller 40 calculates the position of the center of gravity of the two-axis swiveling crane vehicle based on the posture of the crane, the swing body, and the suspended load.

The first determination circuit 41 determines whether the boom strength is within an allowable range or the wire strength is within an allowable range based on the hanging load and the number of wires. outputs S _1, if the outside with outputs no acceptable signal S _1, operating a warning device 45 outputs an alarm signal S _2.

As shown in FIG. 4, the second determination circuit 42 stores a signal from the ground position sensor 31 and a fifth storage circuit 62.
A circuit 63 for determining a vehicle body overturning / warning line based on the safety factor such as vehicle body front and side overturning stored in the vehicle, an eighth circuit 64 for calculating a vehicle overturning safety part based on the value and the weight and the center of gravity of the vehicle body and the suspended load. Accordingly, a circuit 65 is provided for setting the output of regulation / warning of each operation. This second determination circuit 42 is provided when the center of gravity of the two-axis turning type crane vehicle is located outside the vehicle body fall warning line in consideration of the fall safety factor. circuit 43 outputs an alarm signal S ₂ and outputs a signal to the circuit 43, the circuit 43 the center of gravity and outputs a signal to the circuit 43 when the outside than cars fall regulating line output the allowable signals S ₁ entering each operation signal S ₄ gone to prohibit the operation of each actuator.

That is, as shown in FIG. 5, an actual overturning line A, an operation restriction line B, and an alarm line C are set in the two-axis swiveling crane vehicle, and an alarm is issued when the position of the center of gravity exceeds the alarm line C. When the movement exceeds the operation restriction line B, each operation is prohibited.

As described above, the boom length, the boom hoisting angle, the boom weight actually measured and stored, and the weight above the crane shaft based on the weight and center of gravity of the crane shaft.
The center of gravity, that is, the weight and center of gravity of the crane 15 is calculated, and the weight and center of gravity of the upper part of the revolving unit are calculated based on the crane turning angle, the weight and center of gravity of the crane, and the stored weight and center of gravity of the revolving unit. The weight and center of gravity of the entire crane vehicle is calculated from the weight and center of gravity of the bogie that is stored, and when the center of gravity exceeds the warning line and the regulation line, the alarm device is activated and each operation is regulated (prohibited). There is no need to memorize the overturning load (moment) depending on the posture, and when the body / crane specifications are changed, the boom weight, crane weight / center of gravity, revolving structure weight / center of gravity, bogie weight / center of gravity, alarm line, and regulation line There is no need to recalculate the overturning load (moment) in each position each time the specification changes, and the lifting capacity in each position can be maximized.

In the above description, the ground position detecting sensor 3
1 is for detecting when the left and right traveling bodies 4 and 4 are in the overhang position, that is, when the contact position of the bogie is increased. Is the retracted position, and it is sensed that the contact position of the bogie has become smaller, and the actual fall line A, the operation restriction line B, and the alarm line C are detected.
Smaller.

If an outrigger is provided instead of the structure in which the traveling body 4 is extended and contracted, each line may be changed in the same manner as described above by detecting the extended ground of the outrigger.

The number of wires from the wire number setting switch 33 is input to a first judgment circuit 41 of the controller 32 so that the limit lifting load is variable when the wire strength is judged.

Further, to regulate the operation to cancel the output circuit 43 is enabled signals S ₁ when the above detected is the vehicle body tilt angle value of the vehicle body inclination sensor 20.

When a detection signal is input from the overwind detection sensor 27 to the circuit 43, the wire winding operation is prohibited so that the wire is not further wound.

[0023]

According to the present invention, the weight and the center of gravity of the entire crane truck are obtained, and an operation control line at which there is a danger of the vehicle body falling is obtained. When the center of gravity of the entire crane vehicle exceeds the operation control line, the operation of each actuator is restricted. Since the vehicle body is prevented from overturning, it is possible to reliably prevent the overturn of the two-axis swiveling type crane vehicle having two swiveling axes. In addition, the posture of the crane 15
There is no need to store the overturning load (moment) according to the turning position of the revolving unit 5, and it is not necessary to recalculate the overturning load (moment) for each posture every time the bogie / crane specifications change.

[Brief description of the drawings]

FIG. 1 is a front view of a two-axis swiveling mobile crane.

FIG. 2 is a plan view of the cart.

FIG. 3 is an explanatory diagram of a controller.

FIG. 4 is an explanatory diagram of an arithmetic circuit and a second determination circuit.

FIG. 5 is an explanatory diagram of each line of the bogie.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Body, 4 ... Running body, 5 ... Revolving body, 6 ... 1st revolving mechanism, 8 ... 2nd revolving mechanism, 15 ... Crane, 32 ... Controller.

──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Hideyuki Takehara 3-20-1 Nakase, Kawasaki-ku, Kawasaki-shi, Kanagawa Prefecture Komatsu Manufacturing Co., Ltd. Kawasaki Plant (56) References JP-A-57-166288 (JP, A) JP-A-60-137798 (JP, A) JP-A-57-27893 (JP, A) JP-A-52-35057 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B66C 23 / 88-23/94

Claims (1)

(57) [Claims] 1. A bogie comprising a vehicle body 1 and a traveling body 4, a revolving body 5 rotatably mounted on the vehicle body 1 by a first revolving mechanism 6, and an eccentric position of the revolving body 5 with respect to the first revolving mechanism 6. The crane 15 which is rotatably mounted by the second rotation mechanism 8
The weight and center of gravity of the entire crane vehicle including the suspended load is obtained from the hanging load of the crane 15, the posture of the crane 15, the turning angle of the crane 15, and the turning angle of the revolving unit 5 in the two-axis swiveling crane vehicle. A first means, a second means for obtaining an operation restriction line at which there is a danger of vehicle body overturning based on the overall weight, the center of gravity, and the contact position, and an operation of each actuator when the overall position of the center of gravity exceeds the operation restriction line. Third means for regulating and the crane
Wire number setting switch 3 for setting 15 wire numbers
3 and the limit of the suspended load by the set number of wires
Characterized in that a means for changing the suspended load to be changed is provided.
Safety device for two-spinning crane trucks.