JP4328849B2 - Electric circuit for boom turning control of concrete pump car with boom - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a concrete pump truck with a boom in which concrete pumped through a concrete pipe attached along the boom is placed while turning the boom, and the concrete pump truck is configured to lock the turning of the boom. The present invention relates to an electric circuit for boom turning control which prevents the overturning of the boom.
[0002]
[Prior art]
As shown schematically in FIG. 4, the boom-equipped concrete pump car is configured so that hoppers 2 and concrete in the hoppers 2 are alternately placed on a vehicle body 1 provided to project outriggers 10 and 11 in front, rear, left and right. A piston-type concrete pump (not shown) that sucks and discharges is provided, and a turning table 3 is turnably installed at a front position on the vehicle body 1. A base end portion of a multistage boom 4 formed by connecting a boom 5, a middle boom 6 and an upper boom 7 so as to be raised and lowered, that is, a base end portion of a lower boom 5 is attached to be raised and lowered. 2 After the concrete pipe 8 for transporting the concrete sucked and discharged from the inside of the vehicle 2 is placed along the vehicle body 1 from the concrete pump, Raised and supported along the side parts of the booms 5, 6, 7 of each stage in order and supported by the booms 5, 6, 7 of each stage with stays, etc., and faced the tip of the boom 7 of the uppermost stage A tip hose 9 is connected to the tip of the concrete pipe 8, and the concrete in the hopper 2 is pressure-fed through the concrete pipe 8 by a concrete pump and discharged from the tip hose 9 to place the concrete.
[0003]
When performing concrete placing work using such a concrete pump vehicle with a boom, the concrete is made in a state where the boom 4 composed of the booms 5, 6, 7 of each stage is extended and the concrete pipe 8 is extended along the boom 4. In order to pressure-feed concrete through the pipe 8, the position of the center of gravity of the vehicle body 1 and the boom 4 when the boom 4 is extended in the lateral direction is moved when the boom is turned. There is a risk of the pump truck falling over during work.
[0004]
For this purpose, the vehicle body 1 of the boom-equipped concrete pump car includes front outriggers 10L and 10R that can be extended by horizontal rotation and expansion / contraction, for example, as shown in FIG. The rear outriggers 11L and 11R that can be extended by expansion and contraction are provided on the left and right sides of the rear side, and the left and right rear outriggers 11L and 11R extend the arm 13 from the inside of the box 12 on the vehicle body 1 in the left-right direction. The rear end of the vehicle body 1 is supported by operating the jack 14 at the end of the arm, and the left and right front outriggers 10L and 10R are stored along the side of the vehicle body 1. After the box 12 is horizontally rotated outward from the retracted state indicated by the two-dot chain line, the arm 13 is extended from within the box 12. So as to support the front side of the vehicle body 1 by operating the jacks 14 of the arm tip portion were allowed out Zhang allowed, are so achieve the stability of concrete 設作 industry while operating the boom 4.
[0005]
The maximum overhang widths of the front and rear left and right front outriggers 10L and 10R and the rear outriggers 11L and 11R, that is, the fully extended state of the front outriggers 10L and 10R as shown by the solid line in FIG. 5, and the same as shown by the solid line in FIG. When the rear outriggers 11L and 11R are fully extended, the center of gravity of the vehicle body 1 and the boom 4 when the boom 4 is extended in the horizontal direction is swung in a state where the boom 4 is extended in the horizontal direction. Is determined by the center-of-gravity locus A that moves. That is, a straight line B connecting the position of the jack 14 at the arm tip when the left and right front outriggers 10L and 10R are fully extended and the position of the jack 14 at the arm tip when the left and right rear outriggers 11L and 11R are fully extended. And C are determined by making it possible to ensure a margin α of stability outside the center-of-gravity locus A at the time of the boom turning and for stability against overturning.
[0006]
In the case of placing concrete at a work site with a conventional concrete pump vehicle with a boom, the boom 4 is operated after the vehicle body 1 is stabilized by the front outriggers 10L, 10R and the rear outriggers 11L, 11R. If the left or right outriggers 10L, 11L or 10R, 11R cannot be fully extended as shown in FIG. 6 depending on the situation at the work site, for example, one side stands out like a cliff and the outriggers are completely There are cases where it cannot be used in the overhang state. In such a narrow place, the left or right outriggers 10L, 11L or 10R, 11R are forced to be in an incompletely overhanged state in which they are not overhanged or used in the middle. Even in the case of performing concrete placing work by the boom-equipped concrete pump car in the state, the concrete placing work is performed while the boom 4 is fully swiveled.
[0007]
Therefore, if the boom 4 is turned while the outrigger as described above is used in an incompletely extended state, the concrete pump car may fall due to the position of the center of gravity locus A when the boom is turned. For example, the left side of the working position of the concrete pump car is narrow and the left front outrigger 10L can be rotated around the base end of the box 12 as shown in FIG. 6, but the arm 13 cannot be extended. When the rear outrigger 10R cannot extend the arm 13, the left outriggers 10L and 10R are in an incompletely extended state, and the position of the jack 14 at the front end of the arm of the front outrigger 10L at this time Since the line B connecting the position of the jack 14 at the arm tip of the rear outrigger 11L enters the inside of the center of gravity locus A, in the range that is inside the center of gravity locus A (the range that is shaded in FIG. 6). May fall to the left without being fully supported by the left outriggers 10L and 10R when the boom 4 turns to the left Come out. Therefore, in the case shown in FIG. 6, only the area range D3 excluding the left-hand boom turning prohibition area D1 is the limited boom turning range. However, conventionally, even in such a case, the boom 4 is fully turned. However, there is a risk of the concrete pump car falling over because the concrete is being placed.
[0008]
In addition, the left and right sides of the concrete pump truck are narrow in the situation of the concrete placing work site, and as shown in FIG. 7, both the left and right front outriggers 10L and 10R and the left and right rear outriggers 11L and 11R are in an incompletely overhanging state. If the left and right outriggers 10L, 11L and 10R, 11R are in an incompletely extended state and the boom 4 is fully swung by the position of the center of gravity locus A when the boom is swung, When the boom 4 turns to the regions D1 and D2 on both the left and right sides of the concrete pump vehicle except the limited swivelable region ranges D4 and D5, the concrete pump vehicle may fall over.
[0009]
As a device for preventing such a vehicle body from overturning, a device for preventing overturn of a crane vehicle or an aerial work vehicle has been proposed (see, for example, Patent Document 1).
[0010]
What is described in Patent Document 1 is a crane vehicle overturn prevention device, which is provided with an outrigger extending outwardly on the front, rear, left and right sides of the crane vehicle body to support the vehicle body. The base end of the telescopic boom is pivotably supported via a turntable so that it can be hoisted by the hoisting cylinder, and the swiveling position detector of the telescopic boom, the hoisting angle detector of the telescopic boom, and the telescopic boom Expansion and contraction length detector, working radius calculator connected to the undulation angle detector and expansion and contraction length detector, load detector, outrigger extension length detector, etc. When carrying out work by supporting the vehicle body by overhanging and operating the telescopic boom, the regulated load on the side of the vehicle body and the front and rear of the vehicle body from the overhang length of the outrigger, the pivoting position of the boom and the work radius of the boom Set the restriction load, in which it defines a load lifting crane so as to prevent the overturning of the crane by the smaller one of these restriction load and restriction load at that time.
[0011]
However, this Patent Document 1 does not disclose that the boom is prevented from turning in a range where the outrigger is in an incompletely extended state and the overturning stability is not ensured.
[0012]
[Patent Document 1]
Japanese Utility Model Publication No. 7-29111 [0013]
[Problems to be solved by the invention]
However, conventionally, a boom-equipped concrete pump vehicle is not provided with a device for preventing the boom from turning to the side where the outrigger is in an incompletely extended state, and the outrigger is in an extended state. Since the boom can be fully turned regardless of whether it is complete or incomplete, there is a problem that the vehicle body 1 may fall if the boom is turned in a range in which the fall stability is not ensured. It was.
[0014]
Therefore, the present invention is intended to prevent the boom from turning to a range where the outrigger is in an incompletely extended state and the operational stability is not secured in the boom-equipped concrete pump vehicle.
[0015]
[Means for Solving the Problems]
In order to solve the above-described problem, the present invention provides a first operation that is performed when each of the left front and rear outriggers is fully extended out of the outriggers attached to the left and right sides of the vehicle body of the boom-equipped concrete pump car. second, and third detectors L1, L2, L3 and left outriggers completely overhang circuit as all the detectors L1, L2, L3 and relay XL connected in series to the exciting relay XL in oN , first, second, third detector R1, R2, R3 and the detector and a relay XR are connected in series R1, R2 each outrigger of the right front and rear is activated when the full overhanging state left receiving all R3 are the right outrigger completely overhanging circuit relay XR is so excited at oN, the signal from the turning angle sensor for detecting the turning angle of the boom on the turntable The relay X1 is energized by the turning angle detecting controller turning prohibited area in pivoting range, the turning prohibited area on the right side of the pivoting range and a relay X2 is excited by the rotation angle detection controller, further, the relay XL A circuit a in which the b contact XL, the a contact XR of the relay XR, and the a contact X1 of the relay X1 are connected in series, the a contact XL of the relay XL, the b contact XR of the relay XR, and the a contact X2 of the relay X2 are connected in series. The circuit b, the contact b XL of the relay XL, and the contact b XR of the relay XR are connected in series, and the circuit c in which the contact a X1 of the relay X1 and the contact a X2 of the relay X2 are connected in parallel to the circuit c. connect to use the relay X3, handed can either one or both of the relay XL and relay XR when said relay X1 or X2 is excited is demagnetized A circuit is provided in which the lock relay X3 is excited, and the b contact X3 of the swing lock relay X3 of the circuit is connected to the left solenoid SOL-L and the right solenoid SOL-R of the boom hydraulic operation switching valve. The boom turning circuit is provided, and when the turning lock relay X3 is energized, the solenoids SOL-L and SOL-R of the turning hydraulic solenoid switching valve are demagnetized to prevent the boom turning. It is set as the electric circuit for boom turning control of the concrete pump car with a boom characterized by these.
[0016]
When the outrigger is in an incompletely extended state, the swing lock relay is energized to demagnetize the solenoid of the boom swing operation electromagnetic hydraulic switching valve, so that it cannot be swung in the boom swivel prohibited area. Thus, it is possible to perform a concrete placing operation that is stable and has no overturning of the vehicle body.
[0017]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0018]
FIG. 1 is an electric circuit diagram showing an embodiment of a boom turning control device for a boom-equipped concrete pump vehicle according to the present invention, and FIGS. 2 (a) and 2 (b) show when the outrigger is in an incompletely extended state. FIG. 2 is a plan view of a concrete pump vehicle. In FIG. 2, the left and right front outriggers 10L and 10R and the left and right rear outriggers 11L and 11R are the same as those shown in FIG. The first limit switch L1 that detects that the box 12 is pivoted and extended to the base end portion of the box 12 that is rotatably attached to the vehicle body 1 in the horizontal direction, and the arm 13 slides from within the box 12. A second limit switch L2 is provided for detecting the extension to the fully extended position, and the first limiter is also applied to the right front outrigger 10R. Switch R1 and second limit switch R2, and the left rear outrigger 11L is provided with a third limit switch L3 for detecting that the arm 13 has slid from the fixed box 12 to the fully extended position. In addition, a similar third limit switch R3 is provided for the right rear outrigger 11R.
[0019]
The electric circuit diagram shown in FIG. 1 performs control to lock (prohibit) boom rotation, and the first, second, and third limit switches L1, L2, and L3 and relays of the left outriggers 10L and 11L described above. The left outrigger fully overhanging circuit in which XL is connected in series, and the right outrigger complete in which the first, second, and third limit switches R1, R2, and R3 of the right outriggers 10R and 11R and the relay XR are connected in series. In addition, in response to a signal from the turning angle sensor 15 for detecting the turning angle of the boom on the turning table 3 shown in FIG. 2, the relay X1 is excited in the turning prohibition region D1 in the left turning range. In addition, a turning angle detection controller 16 for exciting the relay X2 in the turning prohibition area D2 is provided in the right turning range, and further, the b contact X of the relay XL is provided. A circuit a in which the a contact XR of the relay XR and the a contact X1 of the relay X1 are connected in series, and a circuit b in which the a contact XL of the relay XL, the b contact XR of the relay XR, and the a contact X2 of the relay X2 are connected in series. And a circuit c in which the b-contact XL of the relay XL and the b-contact XR of the relay XR are connected in series, and the a-contact X1 of the relay X1 and the a-contact X2 of the relay X2 are connected in parallel. A circuit connected to X3 is provided, and a boom turning circuit having a b contact X3 of the relay X3, a left solenoid SOL-L and a right solenoid SOL-R of the boom turning operation electromagnetic hydraulic switching valve 17 is provided. .
[0020]
FIG. 3 shows a boom turning hydraulic circuit. The boom hydraulic pump 20 is discharged to a turning motor 19 for applying turning power to the turning table 3 to which the boom 4 is attached via a power transmission mechanism 18. A supply pipe 21 connected to the side and a discharge pipe 23 connected to the tank 22 are connected via a supply / discharge pipe 25 having a boom turning operation electromagnetic hydraulic switching valve 17 and a counterbalance brake valve 24 in the middle, By energizing either the solenoid SOL-L or SOL-R of the boom turning operation electromagnetic hydraulic switching valve 17, the pressure oil from the boom hydraulic pump 20 is supplied to the turning motor 19, and the turning motor 19 is turned on. When the boom 4 is driven to rotate in the forward rotation direction or the reverse rotation direction, and the boom rotation operation electromagnetic hydraulic switching valve 17 is in the neutral position. The hydraulic oil from the boom hydraulic pump 20 is returned to the tank 22, and the boom-on-load valve 26 is connected to the supply pipe 21 on the discharge side of the boom hydraulic pump 20 and the discharge pipe 23 connected to the tank 22. When the solenoid 27 of the boom onload valve 26 is demagnetized, the discharge side of the boom hydraulic pump 20 is communicated with the tank 22 and the operation of the boom is locked.
[0021]
Now, as shown in FIG. 5, when all the left and right front outriggers 10L, 10R and left and right rear outriggers 11L, 11R are in the fully extended state, all the limit switches L1, L2, L3 shown in FIG. In the electric circuit diagram shown in FIG. 1, all the switches LS-L1, LS-L2, and LS-L3 of the left outrigger full extension circuit are ON and the relay XL is energized. The switches LS-R1, LS-R2, and LS-R3 of the right outrigger full extension circuit are all ON, and the relay XR is excited. Therefore, the a contact XL of the relay XL is closed and the b contact XL is opened, and the a contact XR of the relay XR is closed and the b contact XR is opened. Therefore, according to a command from the turning angle detection controller 16. All the circuits a, b, and c are cut off, and the turning lock relay X3 is not excited. For this reason, the b contact X3 of the relay X3 is kept closed, and the solenoid SOL-L or SOL-R is excited by a command from the operator using a switch for left and right turning operation or the like, and the boom 4 is fully turned. Is called.
[0022]
Next, as shown in FIG. 2 (a), when the right front outrigger 10R and the rear outrigger 11R are not fully extended to the fully extended position, the limit switches R2 and R3 are not operated. In the electric circuit diagram of FIG. 1, the switch LS-R1 of the right outrigger full extension circuit is ON, LS-R2 and LS-R3 are OFF, and the relay XR is not excited. On the other hand, since the relay X2 is excited by a command from the turning angle detection controller 16, the a contact XR of the relay XR remains open, the b contact XR remains closed, and the a contact X2 of the relay X2 closes. . At this time, since all the switches LS-L1, LS-L2, and LS-L3 of the left outrigger fully extending circuit are ON, the relay XL is energized, the contact a XL is closed, and the contact b XL is opened. Become. Therefore, the relay X3 is energized via the circuit b for turning lock, the b contact X3 of the relay X3 is opened, and the solenoids SOL-R and SOL-L are demagnetized. Thereby, in the turning prohibition area D2 in which the right relay X2 is excited, the turning of the boom 4 is controlled to be locked (prohibited).
[0023]
On the other hand, as shown in FIG. 2 (b), when the left front outrigger 10L and the rear outrigger 11L are not extended to the fully extended position, the left outriggers 10L and 11L are in an incompletely extended state. Under the same electrical control as when the outriggers 10R, 11R are in an incompletely extended state, the relay X3 is excited by the circuit a for turning lock, and the b contact X3 is opened, and the solenoids SOL-R and SOL-L Is demagnetized and the boom 4 is controlled to be locked in the left turn prohibition area D1 where the relay X1 is excited, and only the area range D3 (see FIG. 6) other than the turn prohibition area D1 can be restricted. In this range, it is possible to ensure stability without fear of the vehicle body 1 falling.
[0024]
Further, when the left and right outriggers 10L, 11L and 10R, 11R are in an incompletely extended state, the relay XL and the relay XR in FIG. 1 are not excited, and the relay X1 and the relay X2 are turned left and right. Since the excitation is performed in the prohibited areas D1 and D2, the relay X3 is excited in the areas D1 and D2 by the circuit c for turning lock. As a result, the b contact X3 of the relay X3 is opened, both the solenoids SOL-L and SOL-R are demagnetized, and the boom turning operation electromagnetic hydraulic switching valve 17 is switched to the neutral position, and the turning motor shown in FIG. No. 19 is not driven, and the boom is controlled not to turn, and limited turning is possible only in the region ranges D4 and D5 (see FIG. 7) other than the turning prohibition regions D1 and D2.
[0025]
Thus, in the present invention, when performing concrete placing work with the boom-equipped concrete pump truck, the left and right front outriggers 10L and 10R and the left and right rear outriggers 11L and 11R are extended to stabilize the vehicle body 1. When preventing the vehicle body 1 from overturning, any of the outriggers 10L, 10R, 11L, and 11R is incompletely extended, and the grounding point of the front outrigger 10L or 10R and the rear outrigger 11L or 11R (the position of the jack 14) Pressure line supply to the boom turning motor so that the boom turning to the incomplete extension side of the outrigger is automatically locked. Will be interrupted, so that it will be inadvertently removed when the concrete is placed while turning the boom 4. It is not possible to pivot the boom to Riga incomplete projecting side, it is possible to prevent the risk of overturning of the vehicle body 1.
[0026]
In the above embodiment, as a boom-equipped concrete pump car, the front outriggers 10L and 10R have a form in which the box 12 rotates and the arm 13 expands and contracts, and the rear outriggers 11L and 11R have a form in which the arm 13 expands and contracts. However, the outrigger type is not limited to this. For example, the left and right front outriggers are installed crossed on the vehicle body so that the arms extend and retract outward, and the left and right rear outriggers. It can be applied in the same way to the one that is extended by rotating it horizontally, the combination of these, and the one that uses outriggers of any other extension method, and the number of limit switches that detect the extension of the outriggers. The number of switches in the electrical circuit diagram of FIG. When performing concrete placement work in a state, it is optional to issue a warning to the outside by a buzzer, a rotating light, etc., and various other modifications within the scope of the present invention Of course, can be added.
[0027]
【The invention's effect】
As described above, according to the electric circuit for boom turning control of a concrete pump truck with a boom according to the present invention, among the outriggers attached to the left and right sides of the vehicle body of the concrete pump truck with a boom, the left front and rear outriggers. The first, second, and third detectors L1, L2, and L3, which are operated when is fully extended, are connected in series with the relay XL, and all of the detectors L1, L2, and L3 are ON and the relay XL The left outrigger fully extending circuit, the first, second and third detectors R1, R2, R3 and the relay XR which are operated when the right front and rear outriggers are fully extended. the connected in series all the detector R1, R2, R3 and the right outrigger completely overhanging circuit relay XR is so excited at oN, the boom on the turntable A relay X1 in pivoting range of the left to be excited by the turning angle detecting controller turning prohibited area in response to a signal from the turning angle sensor for detecting the rotational angle by the turning angle detecting controller turning prohibited area on the right side of the pivoting range A relay X2 that is excited, a circuit a in which the b contact XL of the relay XL, the a contact XR of the relay XR, and the a contact X1 of the relay X1 are connected in series, the a contact XL of the relay XL, and the relay XR The b-contact XR of the relay X2 and the a-contact X2 of the relay X2 are connected in series, the b-contact XL of the relay XL, and the b-contact XR of the relay XR are connected in series, and the a-contact X1 of the relay X1 and the relay X2 of a contact X2 circuit c connected in parallel, connected to the pivot locking relay X3, and the relay XL when the relay X1 or X2 is excited The circuit one or both is to be energized swivel locking relay X3 can to be demagnetized Leh XR provided, the electromagnetic hydraulic b contacts X3 and the boom swing operation of the swing lock relay X3 of the circuit A circuit for turning the boom is provided by connecting the left solenoid SOL-L and the right solenoid SOL-R of the switching valve, respectively, and when the swing lock relay X3 is energized, the solenoid SOL- of the solenoid hydraulic switching valve for turning operation is provided. L and SOL-R are demagnetized so that the boom cannot be swung, as the boom swivel control electric circuit for the boom-equipped concrete pump car is used. Boom in the direction with outriggers that are incompletely extended even if not all outriggers can be fully extended for reasons Therefore, it is possible to avoid the situation where the boom is inadvertently turned in the direction of unstable support due to an operator's operation error, and the vehicle body can be overturned during concrete placing work. It is possible to prevent such a problem that the work stability is ensured.
[Brief description of the drawings]
FIG. 1 is an electric circuit diagram for boom turning control of a concrete pump car with a boom according to the present invention.
[Fig. 2] Fig. 2 shows the outrigger incompletely extended state, (a) is a plan view showing the turning prohibition angle when the right outrigger is incompletely extended, and (b) is the left outrigger incompletely extended state. It is a top view which shows a turning prohibition angle at the time.
FIG. 3 is a hydraulic circuit diagram of boom rotation.
FIG. 4 is a schematic diagram showing an example of a boom-equipped concrete pump truck.
FIG. 5 is a plan view of a boom-equipped concrete pump car showing an example of the case where all of the outriggers are in a completely overhanging state.
6 is a plan view showing the relationship between the center of gravity trajectory during turning and the outrigger contact point when the left outrigger is in an incompletely extended state from the state shown in FIG. 5; FIG.
FIG. 7 is a plan view showing the relationship between the center of gravity trajectory during turning and the outrigger contact point when the right outrigger is also in an incompletely extended state from the state of FIG. 6;

Claims (1)

Of the outriggers attached to the left and right sides of the vehicle body of the boom-equipped concrete pump car, the first, second, and third detectors L1, L2, which operate when the left front and rear outriggers are fully extended. L3 and 該検 a relay XL connected in series can L1, L2, a left outrigger completely overhanging circuit relay XL is so excited all at oN of L3, complete each outrigger of the right front and rear overhang The first, second, and third detectors R1, R2, and R3 that operate in the state are connected in series with the relay XR , and the detectors R1, R2, and R3 are all ON and the relay XR is excited. a right outrigger completely overhang circuit as the turning angle pivot prohibited area on the left side of the pivoting range in response to a signal from the turning angle sensor for detecting the turning angle of the boom on the turntable A relay X1 to be excited by the detection controller, at the right side of the pivoting range and a relay X2 is excited by the turning angle detecting controller turning prohibited area, further, b contact XL of the relay XL, relay XR a contact XR A circuit a in which the a contact X1 of the relay X1 is connected in series, a circuit a in which the a contact XL of the relay XL, a b contact XR of the relay XR, a a contact X2 of the relay X2 are connected in series, and a b contact of the relay XL XL, b contact XR of relay XR is connected in series, circuit c in which a contact X1 of relay X1 and a contact X2 of relay X2 are connected in parallel is connected to relay X3 for turning lock, and the above relay X1 or as swivel locking relay X3 can with one or both of the relay XL and relay XR is demagnetized is energized when X2 is excited A circuit for turning the boom, in which the b contact X3 of the turning lock relay X3 of the circuit and the left solenoid SOL-L and the right solenoid SOL-R of the boom turning operation electromagnetic hydraulic switching valve are respectively connected. A boom-equipped concrete pump truck characterized by demagnetizing the solenoids SOL-L and SOL-R of the swing operation electromagnetic hydraulic switching valve when the swing lock relay X3 is energized so that the boom cannot be swung. Electric circuit for boom turning control of

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