JP6180795B2 - Boom automatic storage device - Google Patents

Description

  The present invention relates to a boom automatic storage device that automatically stores a boom that rotates as a swivel turns in a predetermined storage position.

  The boom automatic storage device that automatically stores the swingable boom detects the turning position of the boom that turns with the turn of the turntable, and stops the turn of the turntable when the turn position of the boom reaches a predetermined position. To store the boom.

  As a technique for detecting the turning angle of the boom, for example, Patent Document 1 discloses an annular resistor attached so as to surround a cylindrical portion concentric with the turning table formed at the lower part of the turning table on which the boom is mounted. A technique using a potentiometer is disclosed.

JP 2001-240394 A

  However, as disclosed in Patent Document 1, when a potentiometer is used for detecting the turning angle of the boom, the cost for attaching the potentiometer increases, and furthermore, the potentiometer is attached to the lower part of the rotating table. Space is required.

  Therefore, it is conceivable to use a sensor such as a limit switch for detecting that the turning boom is at a predetermined turning position without using a potentiometer. However, in order to automatically stop the boom at the predetermined storage position by detecting that the boom is at the predetermined turning position, it is detected that the boom is in front of the turning direction from the storage position. A sensor must be provided. That is, if the boom is stopped after the sensor detects that the boom has reached the storage position, the boom overruns from the storage position and stops due to the time lag. For this reason, the sensor for detecting the turning position of the boom must be arranged in front of the stop position. Further, since the boom turns right and left, the right turn and the left turn respectively. It is necessary to dispose the sensor before the storage position. For this reason, the number of sensors is increased and the cost is increased. In addition, if the position where the sensor is disposed is slightly different from the overrun distance, an error occurs in the stop position of the boom.

  SUMMARY OF THE INVENTION An object of the present invention is to provide an automatic boom storage device that can improve stop accuracy when a boom is automatically stored while suppressing an increase in cost and space.

The boom automatic storage device according to the present invention drives a boom standing on a turntable provided so as to be turnable with respect to a base and a turntable on which the boom is set up to turn the base. Boom turning drive means, boom storage position detecting means for detecting that the boom turning together with the swivel that is turned by the boom turning drive means has reached a predetermined storage position, and the boom is automatically stored in the predetermined storage position. The boom automatic storage device includes a boom automatic storage device that receives an operation for automatically storing the boom, and the boom automatic storage operation unit automatically controls the boom. When an operation for storage is accepted, a boom turning start means for turning the swivel base and a boom turning by the boom turning start means are detected in the boom storage position. Stage by starts controlling to stop the swivel base when it is detected that it has reached a predetermined storage position, and the boom slewing stop means for stopping the swivel base of the turning control of the boom slewing stop means stops the swivel base The stop position where the pivot of the boom stops after the predetermined storage position or stops before the predetermined storage position after the start of the operation is obtained, and the corrected rotation time according to the amount of deviation from the predetermined storage position to the stop position The boom stop position is set to a predetermined storage position by further turning the swivel base stopped by the corrected turning time setting means and the corrected turning time setting means by the corrected turning time setting means. And a boom storage position correcting means for correcting.

  Thus, when the boom is automatically stored, the boom stopped at the predetermined turning position is turned again for a predetermined time, so that the boom stop position can be corrected to the storage position.

  According to the present invention, since the stopped boom is rotated again for a predetermined time, the stop position of the boom can be corrected and stopped at the retracted position. Without increasing the space, it is possible to improve the stop accuracy during boom automatic storage.

It is a perspective view which shows an example of the vehicle carrying a crane apparatus. It is a front view which shows an example of a crane apparatus. It is a perspective view which shows an example of a structure of a turntable roughly. It is a block diagram which shows an example of the input / output of the signal in a turning position detection apparatus. It is a flowchart which shows an example of a boom automatic storing process.

1 to 5 show an embodiment of the present invention.
The crane apparatus 1 provided with the boom automatic storage apparatus of this invention is mounted in the vehicle 2 which drive | works as shown in FIG. The boom automatic storage device is not limited to the on-vehicle crane device, but may be used for an aerial work machine, a self-propelled crane, or the like.

  The vehicle 2 has a pair of left and right wheels on each of the front and rear portions of the chassis frame 3 and travels using the engine as a power source. The vehicle 2 includes a driver's cab 4 provided on the front side of the chassis frame 3 for performing operations related to traveling of the vehicle 2, and a loading platform 5 provided behind the driver's cab 4.

  As shown in FIG. 2, the crane apparatus 1 includes a base 10 fixed on the chassis frame of the vehicle 2, outriggers 20 provided on both the left and right sides of the base 10, and a pivot on the upper surface of the base 10. The provided swivel base 30, the boom 40 provided so as to be raised and lowered with respect to the swivel base 30, the wire rope 50 suspended from the tip side of the boom 40, and the winch for winding or feeding the wire rope 50. 51.

  The outrigger 20 extends downward by the jack cylinder and grounds the lower end thereof, thereby preventing the vehicle 2 from overturning during crane work and stably supporting the vehicle 2.

  As shown in FIGS. 2 and 3, the swivel base 30 can be swung with respect to the base 10 by a ball bearing type or roller bearing type swivel circle 31 disposed between the swivel base 30 and the base 10. It turns by driving a hydraulic turning motor 33 (see FIG. 4). A swivel post 32 extending in the vertical direction is provided on the upper surface of the swivel base 30, and the base of the boom 40 is connected to the upper end side of the swivel post 32. Further, the swivel base 30 is provided with a boom turning position detection device 60 for detecting the turning position of the boom 40.

  As shown in FIG. 4, the boom turning position detection device 60 is provided on the lower surface of the turntable 30 and the conductive ring member 70 fixed to the upper surface of the base 10, without using a potentiometer or the like that greatly increases the cost. The turning position detection circuit having the contact 80 is used. In the following description, the front-rear direction and the left-right direction of the conductive ring member 70 will be described as the same direction as the front-rear direction and the left-right direction of the vehicle 2.

  The conductive ring member 70 is a ring-shaped member having a conductor 71 formed concentrically with the turning circle 31. The conductor 71 has a structure divided into four conductors 71a, 71b, 71c, and 71d by four insulating sections 72 formed with a predetermined width. The conductor 71a is located on the front right side of the conductive ring member 70, the conductor 71b is located on the rear right side of the conductive ring member 70, and the conductor 71c is located on the rear left side of the conductive ring member 70. 71 d is located on the front left side of the conductive ring member 70. An insulating section 72a is provided between the conductor 71a and the conductor 71d, an insulating section 72b is provided between the conductor 71a and the conductor 71b, and insulation is provided between the conductor 71b and the conductor 71c. A section 72c is provided, and an insulating section 72d is provided between the conductor 71c and the conductor 71d.

  The contact 80 is slidably provided on the conductive ring member 70 on the lower surface of the swivel base 30 and on the tip direction side of the boom 40, and in the circumferential direction of the conductive ring member 70 as the swivel base 30 turns. Moving. That is, in a state where the boom 40 faces the right direction of the vehicle 2, the contact 80 is located above the right side portion of the conductive ring member 70. Further, the contact 80 is made of a carbon brush or the like having a certain contact width with the conductive ring member 70, and the contact width between the contact 80 and the conductive ring member 70 is set wider than the insulating section. Yes.

  When the contact 80 slides on the conductive ring member 70 as the boom 40 turns and contacts the conductors 71a to 71d, the detection signal La corresponding to the conductors 71a to 71d with which the contact 80 contacts. To Ld are output to the boom automatic storage controller 101, which will be described later, via the turning position detection signal output means 61. Further, for example, when the boom 40 faces the rear direction of the vehicle 2, the contact 80 straddles the insulating section 72c and simultaneously contacts the conductors 71b and 71c provided on both sides of the insulating section 72c. The corresponding detection signal Lb and detection signal Lc are output simultaneously. Thereby, the boom turning position detection device 60 detects whether the turning position of the boom 40 is the front direction, the right front direction, the right direction, the right rear direction, the rear direction, the left rear direction, the left direction, or the left front direction. can do. In the present embodiment, the conductor 71 of the conductive ring member 70 is divided into four parts. However, the number of divisions can be changed as necessary without being limited thereto.

  The boom 40 includes a plurality of boom members (a base boom 40a, a second boom 40b, a third boom 40c, and a top boom 40d). 40b, the third boom 40c, and the top boom 40d are configured to be telescopic. The base boom 40a on the most proximal end side is pivotally connected to a turning post 32 provided on the upper surface of the turntable 30 at the base end. A hydraulic hoisting cylinder 41 is connected between the base boom 40 a and the bracket of the swivel post 32, and the boom 40 is raised and lowered by the expansion and contraction operation of the hoisting cylinder 41. In addition, a hydraulic telescopic cylinder (not shown) is provided inside the base boom 40a, and the boom 40 is expanded and contracted by the expansion and contraction of the expansion cylinder.

  The wire rope 50 is provided with a hook block 52 on the tip side, and the hook block 52 is suspended from the tip of the top boom 40d. The winch 51 has a drum around which the wire rope 50 is wound, and the drum is configured to be rotatable forward and backward by a hydraulic winch motor 51a.

  The crane device 1 also includes a crane remote control device 200 that can remotely control the boom 40 to be raised, retracted, swung, and the wire rope 50 can be rolled up and fed out. The crane remote control device 200 is provided with a switch for performing various operations, and transmits signals corresponding to the various operations by a transmission antenna.

  The crane apparatus 1 configured as described above includes a boom automatic storage apparatus 100 for automatically storing the boom 40 in a predetermined storage position. The configuration and operation of the boom automatic storage device 100 will be described below.

  As shown in FIG. 4, the boom automatic storage device 100 includes a boom turning position detection device 60 including a conductive ring member 70 and a contact 80, and a turning position detection signal that outputs a detection signal from the boom turning position detection device 60. The output means 61, a boom automatic storage controller 101 for controlling automatic boom storage, a crane remote control device 200 for performing boom automatic storage operation, and control signals input from the boom automatic storage controller 101 Accordingly, a swing motor control valve 33a for controlling supply and discharge of hydraulic oil in the swing motor hydraulic circuit, a swing motor 33 driven and stopped by supply and discharge of hydraulic oil controlled by the swing motor control valve 33a, and boom automatic Win according to the control signal input from the storage controller 101 Includes a winch motor control valve 51b for controlling the hydraulic oil supply and discharge of a hydraulic circuit for the motor, and the winch motor 51a for driving and stopping the supply and discharge of hydraulic oil winch motor control valve 51b is controlled to a.

  The boom automatic storage controller 101 is an ECU (Electronic Control Unit), and performs control for turning the boom 40 toward the storage position, control for correcting the stop position of the boom 40 to the storage position, and the like.

  A turning position detection signal output means 61 is connected to the input side of the boom automatic storage controller 101, and a crane remote control device 200 is wirelessly connected via an antenna. The boom automatic storage controller 101 receives a turning position detection signal from the turning position detection signal output means 61, a hook storage operation signal, a left turn operation signal, and a right turn operation signal from the crane remote control device 200. It has become.

  A swing motor control valve 33a and a winch motor control valve 51b are connected to the output side of the boom automatic storage controller 101. A boom turning control signal, a boom turning stop control signal, and a hydraulic pressure control signal are output from the boom automatic storage controller 101 to the turning motor control valve 33a, and a hook storing control signal is sent to the winch motor control valve 51b. It is output.

  The crane remote control device 200 is provided with a hook storage switch and a turning switch. The hook storage switch is a push button switch. When the hook storage switch is pressed, storage of the hook block 52 is started. The turning switch is a slide switch for selecting left turning or right turning. When the turning switch is operated after the hook block 52 is stored, the boom 40 is stored.

  Next, the setting of the correction time when the boom 40 is automatically stored will be described. The correction time is a time for turning the boom 40 again after stopping the turning of the boom 40, and adjusting the stop position of the boom 40 by turning the boom 40 again until the set correction time elapses. That is, when the boom 40 is automatically stored, the boom 40 performs the second turn after the first turn and stops.

  The correction time is set according to the amount of deviation between the stop position of the first turn of the boom 40 and the storage position. That is, the turning time corresponding to the angle at which the stop position of the boom 40 at the first turning is deviated from the storage position is set as the correction time. In the present embodiment, the swivel base 30 during boom automatic storage is set to have a speed of 5 degrees per second (a turn angle of 5 degrees per second). For example, the boom 40 overruns 2.5 degrees from the storage position. If the boom 40 stops 2.5 degrees before the stop position, “−0.5 seconds” is set. Further, different correction times can be set depending on whether the first turn of the boom 40 in the automatic storage of the boom 40 is a left turn or a right turn.

  Next, the boom automatic storage control process for automatically storing the boom 40 in the storage position will be described with reference to FIG. In the present embodiment, two positions, the position where the boom 40 faces in the front direction of the vehicle 2 and the position where the boom 40 faces in the rear direction of the vehicle 2 are set as the storage position of the boom 40. Has been. Therefore, either the position where the contact 80 simultaneously contacts the conductor 71a and the conductor 71d or the position where the contact 80 simultaneously contacts the conductor 71b and the conductor 71c is the storage position of the boom 40. .

  First, in step S1, the boom automatic storage controller 101 determines whether or not the hook storage switch of the crane remote control device 200 has been operated. Specifically, the boom automatic storage controller 101 determines whether or not a hook storage operation signal indicating that the hook storage switch has been operated is input from the crane remote control device 200. If the hook storage operation signal is input, the process proceeds to step S2. If the hook storage operation signal is not input, the process proceeds to END, and the boom automatic storage control process ends.

  In step S2, the boom automatic storage controller 101 performs a hydraulic pressure control process for lowering the hydraulic pressure of each hydraulic actuator. Specifically, the boom automatic storage controller 101 controls the hydraulic control valve (not shown) that controls the discharge amount and discharge direction of hydraulic oil to each hydraulic actuator such as the swing motor 33 and the winch motor 51a. A command signal for lowering is output. As a result, the driving pressure of the turning motor 33, the winch motor 51a, etc. is reduced, and the hook block 52 stored by the automatic storage control is excessively involved, or when the obstacle collides with the boom 40 turning by the automatic storage control. Impact can be reduced.

  In step S <b> 3, the boom automatic storage controller 101 performs hook storage control processing for storing the hook block 52. Specifically, the boom automatic storage controller 101 outputs a hook storage control signal to the winch motor control valve 51b. The winch motor 51a is driven by the control of the hydraulic fluid of the winch motor hydraulic circuit by the winch motor control valve 51b to which the hook storage control signal is input, and the winch 51 is wired until the hook block 52 reaches the tip of the top boom 40d. Take in the rope 50.

  In step S4, the boom automatic storage controller 101 determines whether or not the turning switch of the crane remote control device 200 has been operated. Specifically, the boom automatic storage controller 101 indicates that a left turn operation signal indicating that the left turn of the turn switch has been selected and a right turn of the turn switch has been selected. It is determined whether or not a right turn operation signal is input. If a left turn operation signal or a right turn operation signal is input, the process proceeds to step S5. If neither a left turn operation signal nor a right turn operation signal is input, the process returns to step S1. .

  In step S5, the boom automatic storage controller 101 outputs a boom turning control signal to the turning motor control valve 33a to drive the turning motor 33 to turn the turntable 30 left or right. Specifically, when the signal input in step S4 is a left turn operation signal, the boom automatic storage controller 101 outputs a signal for turning the turntable 30 to the left and is a right turn operation signal. Outputs a signal for turning the swivel base 30 to the right.

  In step S <b> 6, the boom automatic storage controller 101 determines whether or not the position of the turning boom 40 is the storage position, that is, the turning position of the boom 40 is in a state where the boom 40 faces the front or rear of the vehicle 2. It is determined whether or not the position has been reached.

  Specifically, whether or not the boom automatic storage controller 101 inputs the detection signal La and the detection signal Ld from the turning position detection signal output unit 61 or the detection signal Lb and the detection signal Lc at the same time. Judging. When the turning position of the boom 40 is the retracted position (when the detection signal La and the detection signal Ld are input simultaneously from the turning position detection signal output means 61 or when the detection signal Lb and the detection signal Lc are input simultaneously). Moves the process to step S7, and if the turning position of the boom 40 is not the storage position, this step is repeatedly executed until it reaches the storage position.

  In this way, the position where the boom 40 reaches first is the storage position among the position where the boom 40 faces the front of the vehicle 2 and the position where the boom 40 faces the rear of the vehicle 2. For example, if the left turn is performed from the state in which the boom 40 faces the right side, the boom 40 reaches the position in the state in which the boom 40 faces the front of the vehicle 2 before the position in the state in which the boom 40 faces the rear of the vehicle 2. Therefore, the position where the boom 40 faces the front of the vehicle 2 is the storage position. Therefore, the operator selects left turn or right turn depending on whether the boom 40 is stored in the front or rear direction of the vehicle 2. Since the loading platform 5 is the rear portion of the vehicle 2, the boom 40 is normally in the storage position when the boom 40 faces the rear of the vehicle 2, but when there is a high load on the loading platform 5, the boom 40 is mounted on the vehicle 2. The storage position can be a state facing forward. In addition, when the operator mistakenly turns left and right and operates the turning switch, the boom 40 can be stored at a position to be stored by operating the turning switch again.

  In step S <b> 7, the boom automatic storage controller 101 performs a process of outputting a boom turning stop control signal for stopping the drive of the turning motor 33 in order to stop the turning of the boom 40. Thereby, turning of the turntable 30 is stopped.

  In step S <b> 8, the boom automatic storage controller 101 performs a process of turning the boom 40 again in order to correct the storage position of the boom 40. Specifically, a value corresponding to a preset correction time is set in a correction time counter included in the boom automatic storage controller 101, and the boom for turning the swivel base 30 in a direction according to the set correction time. A turning control signal is output. For example, if the first turn (turn in step S5) is a left turn and the set correction time is “−0.5 seconds”, the correction time counter is set to a value corresponding to 0.5 seconds. At the same time, the boom turning control signal for turning the swivel base 30 to the right is output.

  In step S9, the boom automatic storage controller 101 determines whether the correction time has elapsed. Specifically, it is determined whether or not the value of the correction time counter is “0”. The correction time counter is counted down every predetermined time (for example, every 2 ms), and when the correction time set in step S8 has elapsed, the correction time counter becomes “0”. If the correction time has elapsed, the process proceeds to step S10. If the correction time has not elapsed, the present process is repeated until the correction time has elapsed.

  In step S10, the boom automatic storage controller 101 performs a process of outputting a boom turning stop control signal for stopping the drive of the turning motor 33 in order to stop the turning of the boom 40. Thereby, turning of the turntable 30 is stopped. When the process of this step is completed, the process returns to the process of step S1, and when the hook storage switch is not operated, the boom automatic storage control process is ended.

  Thus, according to the boom automatic storage apparatus 100 of this embodiment, in the automatic storage process of the boom 40, after the boom 40 is turned to the storage position and stopped (first turn), a preset correction time is set. The boom 40 is turned once again until the time elapses (second turn). If the second turn of the boom 40 is overrun from the retracted position in the first turn of the boom 40, the direction is opposite to that of the first turn. When it stops in front, it becomes the same direction as the first turn. That is, when the first turn of the boom 40 is overrun from the storage position, the vehicle is returned to the storage position by performing the reverse turn for the correction time. On the other hand, when the first turn of the boom 40 stops before the storage position, the storage position is reached by turning for an extended correction time. Thereby, in the automatic storage of the boom 40, the boom 40 can be stopped at the storage position with high accuracy.

  Furthermore, the boom 40 can be corrected to the retracted position only by performing the second turn with time control after the boom 40 has stopped when it reaches the retracted position. The stopping accuracy of 40 can be improved. That is, since overrun due to a time lag from when the boom 40 is controlled to stop until the boom 40 actually stops can be corrected, the boom 40 is located at a position separated by a predetermined distance from the storage position of the boom 40. There is no need to detect that has arrived. Therefore, the number of parts for detecting the turning position of the boom 40 can be reduced.

  Further, the correction time can be set individually for the case where the first turn of the boom 40 in the automatic boom storage is a right turn and the case of a left turn, and the second turn is referred to as the first turn. It can be set in either the same direction or the opposite direction. Thereby, it is possible to correct overrun due to a time lag from when the boom 40 is controlled to stop until the boom 40 actually stops. Further, the pivot position of the boom 40 in front of the vehicle 2 from the front or rear direction of the vehicle 2 due to the displacement of the mounting position of the conductive ring member 70 or the contactor 80 or the displacement of the mounting position of the crane device 1 to the vehicle 2. Even if it stops at, it can be corrected to the storage position. Furthermore, even when the turning distance from the control for stopping the boom 40 to the actual stop is different between the left turn and the right turn, the corresponding correction time must be set for the right turn and the left turn, respectively. Can be stored in a more accurate position.

  In the present embodiment, the boom turning position detection device 60 that is a quadrant turning direction detector is used as the turning position detection means for detecting the turning position of the boom 40. However, the present invention is not limited to this. The turning position of the boom 40 may be detected using a switch, a proximity sensor, or the like. In addition, the conductive ring member 70 of the boom turning position detection device 60 includes the conductor 71 having the four-divided contacts. However, the present invention is not limited thereto, and the number of contacts such as six-divided contacts may be increased. It is good also as a 2 division contact which divided | segmented only the front-back part which is a position.

  Further, in the present embodiment, in the automatic storage of the boom 40, the storage position of the boom 40 is determined according to the turning direction selected by the operator and the turning position of the boom 40 at that time. The position is determined to be either a position where the boom 40 is facing forward or a position where the boom 40 is facing the rear direction of the vehicle 2. However, the present invention is not limited to this, and the operator may set the storage position, and the boom 40 may turn in a direction in which the operator can quickly reach the set storage position. Also, the storage position of the boom 40 may be only one location, and the first turning direction of the boom 40 in the automatic boom storage may be any one direction.

DESCRIPTION OF SYMBOLS 1 ... Crane apparatus, 10 ... Base, 30 ... Swivel base, 31 ... Swivel circle, 32 ... Swivel post, 33 ... Swivel motor, 33a ... Control valve for swivel motor, 40 ... Boom, 50 ... Wire rope, 51 ... Winch , 51a ... winch motor, 51b ... control valve for winch motor, 52 ... hook block, 60 ... boom turning position detection device, 61 ... turning position detection signal output means, 70 ... conductive ring member, 71a-71d ... conductor, 72a 72d ... Insulation section, 80 ... Contact, 100 ... Boom automatic storage device, 101 ... Boom automatic storage controller, 200 ... Crane remote control device

Claims (2)

A boom erected on a swivel that is pivotable with respect to the base;
Boom turning drive means for turning the turntable on which the boom is erected with respect to the base;
A boom retracted position detecting means for detecting that a boom that is swung together with the swivel that is swung by the boom swing drive means has reached a predetermined retracted position;
A boom automatic storage means for automatically storing the boom in a predetermined storage position;
Boom automatic storage means
Boom automatic storage operation means for receiving an operation for automatically storing the boom;
A boom turning start means for turning the swivel when the boom automatic storing operation means receives an operation for automatically storing the boom; and
Boom turning stop means for starting control to stop the turntable and stopping turning of the turntable when the boom turning position detecting means detects that the boom turning by the boom turning start means has reached the predetermined storage position. When,
After the boom turning stop means starts control to stop the swivel base, a stop position where the turning of the boom stops after the predetermined storage position or stops before the predetermined storage position is obtained and stopped from the predetermined storage position. A correction turning time setting means for setting a correction turning time according to the amount of deviation to the position;
Boom storage position correction means for correcting the stop position of the boom to a predetermined storage position by further turning the swivel base stopped by the boom turning stop means further by the correction turning time set by the correction turning time setting means. Boom automatic storage device characterized by. The boom automatic storage device according to claim 1, wherein the corrected turning time setting means sets a corrected turning time corresponding to the turning direction of the boom.

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