JP6282471B2 - Working machine with boom - Google Patents

Description

  The invention of this application relates to a construction of a working machine with a boom provided with a crane truck or other work boom capable of turning, and more particularly, to a structure of a turning angle detecting portion thereof.

  In a working machine with a boom including a work boom that can be turned, such as a crane truck or an aerial work vehicle, a work boom, a swiveling body that supports the work boom in a undulating and telescopic state, The revolving support body is configured to support the revolving body on the vehicle body so that the revolving body can be revolved. The revolving support body portion is generally used for work together with a center joint (rotary joint) and a slip ring for connecting a power source and the like. A turning angle detector is provided for detecting the turning angle of the boom.

  The turning angle detected by the turning angle detector is used for setting the work range in the work range limiting means of the work implement, setting the stop position of the overload stop means, etc. (for example, (See Patent Document 1 for setting the work range by the work range limiting means, and Patent Document 2 for setting the stop position by the overload stop means).

  The swivel angle detector is generally provided in the slip ring portion for connecting the power source and the like provided concentrically above the center joint provided in the central axis portion of the swivel support.

  For example, the slip ring portion is rotatably supported on the rotation support shaft fixed to the upper portion of the center joint fixed to the vehicle body side and on the outer peripheral side of the rotation support shaft, and is connected to the revolving body side. A base member and a body member, a slip ring provided on the outer peripheral surface of the rotating support shaft, and a brush fixed to the base member and the body member side and pressed against the slip ring in a sliding state. However, a drive gear (swivel gear) for detecting a turning angle is provided on the outer periphery of the rotation support shaft, and the drive gear is a turning made up of a potentiometer fixed to the base member and the body member. The driven gear of the angle detector is in mesh.

  The driven gear is provided on a rotating shaft for turning angle input of a turning angle detector composed of the potentiometer, and a turning body supporting the boom turns right or left, and the turning angle output device When the driven gear rotates on the outer periphery of the drive gear on the outer periphery of the rotation support shaft by a predetermined angle planet, it rotates by a rotation amount corresponding to the rotation angle, and rotates the rotation angle input rotation shaft. Then, the slide brush on the slide resistor of the potentiometer described below slides by a predetermined angle according to the rotation amount of the rotation shaft, and a potential difference signal corresponding to the slide angle is output as a turning angle detection signal ( For example, see Patent Document 3).

  That is, the potentiometer that constitutes the turning angle detector has, for example, a C-shaped sliding resistor, and one end side pivotally supported by the arc central axis portion of the C-shaped sliding resistor, and the other end side. On the one end side of the C-shaped sliding resistor, and a slide brush (rotary brush made of a conductor) that is rotatably provided in contact with the slide surface of the C-shaped sliding resistor. A rotation angle detection circuit comprising a connected power supply terminal, a ground terminal connected to the other end of the C-shaped sliding resistor, and an output terminal connected to the shaft support portion of the slide brush is provided. The other end of the rotating shaft is connected to the shaft support portion of the brush body.

  When two sets of such potentiometers are combined with each other, it is possible to detect a turning angle of 0 to 360 deg.

JP 2013-159421 A JP 2010-70308 A JP-A-6-132058

  For example, when it is attempted to control the working boom of the working machine with a boom as described above to a certain working posture A using such a turning angle detector, the turning point support shaft and the base in the slip ring portion are used. There is backlash between the member and the body (upper and lower bearings), there is backlash between the rotation angle detector driving gear on the outer periphery of the rotation spindle and the rotation angle detector side driven gear meshing with it, When the angle detector is composed of two sets of potentiometers of 0 to 350 deg combined with each other, the boom is turned rightward to control the posture of the working boom, and leftward There is a problem that the detected turning angle is different from the case where the posture of the working boom is controlled by turning, even when the working posture A is controlled.

  As a result, even when an attempt is made to set the work range (restricted area) of the work boom using the work range limiting means, the setting is made in the right turn direction and the left turn direction. The restriction area to be set is different.

  It also affects the accuracy of the overload stop position of the overload stop means when the overhang width of the outrigger is different on the left and right.

  Of course, depending on the product, a turning angle detector may be provided coaxially with the above-described rotation support shaft. In this case, the rotation angle detector driving gear on the outer periphery of the rotation support shaft and the turning angle detector side meshing with the gear The problem of backlash with the driven gear is solved for the time being, but problems based on other causes remain.

The present invention has been made to solve such a problem, actually turning manipulating each working boom to the minimum angle of rotation position and the maximum pivot angle position of the right and left turning direction, those right and left pivot angle position turning angle detection value caused by the turning angle detector at an adjustment value (the a / D conversion value), each provided individually in accordance with the right and left turn direction to the working range limiting means their adjustment values those said working machine is respectively stored in the adjustment value storage means and correcting the detected turning angle detection value the turning angle detector by discrete adjustment value corresponding to the turning direction is stored in the adjustment value storage unit, and further the turning angle An object of the present invention is to solve the above-described problems by setting the working range of the working boom separately for each of the left and right turning directions using the correction value.

  In order to solve the above problems, the invention of this application is configured to include, for example, the following problem solving means.

(1) Problem Solving Means of the Invention of Claim 1 In the problem solving means of the present invention, a working boom, a swiveling body that supports the working boom so that it can be raised and lowered, and the swiveling body via a swivel supporting body. Based on the turning angle detected by the turning angle detector, and a turning angle detector that is provided on the turning support portion and detects the turning angle of the working boom. in a boom with working machine comprising a working range limiting means for setting a limited range of working posture, each actually turning operation of the boom the work minimum turning angle position and the maximum pivot angle position of the right and left turning direction, an adjustment value of each turning angle detection value by the angle of rotation detector in their left and right minimum turning angle position and the maximum pivot angle position of each turning direction, the right and left turning direction of the upper Symbol working range limiting means their adjustment values Individually according to It is characterized in that it is stored in each of the provided adjustment value storage means.

  As a result, according to this configuration, the zero point adjustment at the minimum turning angle position and the span point adjustment at the maximum turning angle position of the work implement are adjusted by turning angle detection only in one direction of the right turning direction as in the conventional case. Rather than performing the zero point adjustment at the minimum turning angle position in the left and right turning directions of the work implement and the span point adjustment at the maximum turning angle position in the left and right turning directions, the turning angle in both the left and right turning directions is detected individually. Therefore, the turning angle detection accuracy that is different depending on the turning direction as in the prior art can be unified to the same detection accuracy on the left and right.

(2) The problem solving means of the invention of claim 2 The problem solving means of the invention is the problem solving means of the invention of claim 1, further comprising a turning direction detecting means for detecting the turning direction of the operated work boom. According to the turning direction detected by the turning direction detection means, and the adjustment value storage means for each of the left and right turning directions individually stores the adjustment value for each of the left and right turning directions and the turning direction detection means. in accordance with the detected turning direction reads the right and left turning direction individual adjustment value stored in the adjustment value storage unit, and corrects the detected turning angle detection value by the angle of rotation detector .

Therefore, according to such a configuration, an accurate turning angle is always detected regardless of the left and right turning direction of the work boom.

(3) The problem solving means of the invention of claim 3 The problem solving means of the invention is the problem solving means of the invention of claim 2, wherein the adjustment values individually for the left and right turning directions stored in the adjustment value storage means. By using the turning angle detection value corrected by the above, the work boom restriction area in the work range restriction means is set.

Therefore, according to such a configuration, the work restriction area by the work range restriction means is always set appropriately and with high accuracy regardless of the left-right turning direction of the work boom. It also leads to an improvement in the accuracy of the overload stop position when the overhang width of the outrigger is different on the left and right.

  As a result, according to the invention of this application, the following effects can be obtained.

  (1) A backlash in a bearing portion of a rotating spindle in a slip ring portion, a backlash in a gear portion for rotating a potentiometer, a combination of two sets of potentiometers whose rotation angle detectors are reversed in phase, etc. The detection error due to the influence is absorbed, and the turning angle detection accuracy in the left and right turning directions becomes constant.

  As a result, the work range setting accuracy of the work range restriction means is improved, and the safety during work is improved.

  (2) The limitation of the work range of the swivel area at the critical position of nearby protection objects such as overhead lines and walls can be realized with high accuracy by registering and registering the swivel operations in both the left and right directions. become.

  (3) It can also contribute to the improvement of the stop accuracy of the overload stop control at the time of outrigger outboarding.

  (4) For the display of the turning angle during the operation of the working boom, the adjustment values of the left and right operation directions immediately before the operation are used, and for the display of the turning angle after the operation of the working boom, immediately before the operation is made neutral. Since the adjustment values in the left and right operation directions are used, the display accuracy of the turning angle in the turning angle display unit is improved.

FIG. 1 is a schematic view showing the overall configuration of a boom-equipped working machine such as a crane truck according to an embodiment of the invention of this application. FIG. 2 is a cross-sectional view illustrating a configuration of a slip ring unit including a turning angle detector of the working machine. FIG. 3 is a block diagram showing a schematic configuration of a work machine control unit having a work range restriction function in the work machine. FIG. 4 is a flowchart showing zero point adjustment control and span adjustment control of the turning angle detector in the working machine. FIG. 5 is a flowchart showing work range setting control using the work machine control unit of FIG. 3 in the work machine. FIG. 6 is an example of a work range set by the work range setting control of FIG. 5 in the work machine. FIG. 7 is an example different from FIG. 6 of the work range set by the work range setting control of FIG. 5 in the work machine.

  Hereinafter, the configuration and operation of an embodiment for carrying out the invention of the present application will be described in detail with reference to FIGS.

<Schematic configuration of work equipment>
First, FIGS. 1-3 has shown the schematic structure of the whole working part with booms, such as a crane vehicle, and the principal part concerning the embodiment.

  FIG. 1 shows an overall configuration of a working machine with a boom such as the crane vehicle. That is, in this embodiment, a mobile crane (truck crane) is employed as an example of a boom-equipped working machine targeted by the present invention.

  This mobile crane has a vehicle (carrier) 1 configured to run with wheels 1a, 1a,... And a driver's seat 1b, and turns on a vehicle body 1c of the vehicle 1 via a turning support 2. A revolving body 3 that can be provided, and a boom support portion of the revolving body 3 that is pivotally attached via a hinge (foot pin) 4 and that is vertically moved via a hoisting cylinder 5 and a telescopic cylinder (not shown). A working boom (hereinafter simply referred to as a boom) 6 provided so as to be undulating and extendable, and a hook block 8 suspended from a distal end side boom head portion (sheave portion) of the boom 6 via a wire rope 7. It is made up of.

  Further, before and after the vehicle body 1c of the vehicle 1, there are provided outriggers 9, 9,. In addition, a crane driver's seat 3a is provided at the front end of the revolving structure 3, and a counterweight 3b is provided at the rear end.

  In the case of this embodiment, the boom 6 is constituted by three booms, for example, a base boom 6a, an intermediate boom 6b, and a top boom 6c.

<Schematic configuration of the swivel support>
Although not shown in the figure, the swivel support 2 portion is provided on a cradle supported on the vehicle body 1c side, a large-diameter fixed gear (swivel wheel) fixed to the top of the cradle, and the upper surface of the cradle. A ball bearing that supports the revolving unit 3 so as to be horizontally rotatable, a cylindrical center joint (rotary joint) that vertically penetrates the central shaft portion of the cradle, and a concentric state provided above the center joint. And a slip ring portion having a cylindrical structure.

  A swing motor comprising a hydraulic motor (or an electric motor) is provided on the swing body 3 side, the pinion of the swing motor is engaged with the large-diameter fixed gear, and the swing motor is connected to the slip ring portion. The revolving body 3 can be arbitrarily swung right or left on the ball bearing around the center joint as a center of rotation by being driven by a power source supplied from the vehicle body 1c through the vehicle. .

  The center joint is, for example, a cylindrical structure core fixed to the cradle side, a cylindrical structure body provided on the outer periphery of the core so as to be relatively rotatable, and provided inside the core. It consists of a long hole, an annular groove provided on the outer peripheral surface of the core, and a port provided on the side of the body in a state corresponding to the annular groove. The oil passages on the hydraulic power source side such as a pump are connected to the ports on the body side, and the oil passages of the various actuators on the revolving body 3 side are connected to the ports.

  And by them, hydraulic fluid is distribute | circulated between various actuators, such as the said turning body 3 side winch motor, a raising / lowering cylinder, an expansion / contraction cylinder, and the vehicle body 1c side hydraulic power source, and a required actuator is driven.

  Then, power and control signals necessary for the various actuators on the revolving structure 3 side are supplied from the vehicle body 1c side to the upper portion of the core and body portion of the center joint, and the revolving structure 3 side (including the boom side 6) is supplied. A slip ring portion 10 is provided as an electrical connection means capable of relative rotation for inputting a detection signal from the desired sensor to the work machine control unit 30 on the vehicle body 1c side.

<Configuration of slip ring part>
FIG. 2 shows a configuration of the slip ring part 10 installed on the core and the body part of the center joint.

The slip ring portion 10 includes a rotation support shaft (swing support shaft) 11 fixed to a body portion upper portion (upper surface portion) of the center joint via a fixing plate 19 having a flange structure and fixing pins 19a, 19a,. It is located above the base end side fixed plate 19 of the rotary spindle 11 and is loosely fitted to the outer periphery of the rotary spindle 11 via a bearing (bearing portion) 12a and via a mounting bracket 12b. The base member 12 that is fixed to the lower part of the revolving body 3 and rotates together when the revolving body 3 turns, and the lower end side flange portion 13a is connected and fixed to the upper surface of the outer peripheral portion of the base member 12. And a cylindrical body member 13 having a cover plate 14 fixed to the upper end opening edge 13b. The cover plate 14 has a bearing groove 14a having a predetermined depth on the lower surface side of the center portion thereof, and the upper end of the rotating support shaft 11 is rotatably supported by the bearing groove 14a.

  The rotating support shaft 11 has an upper side portion with a larger diameter than the lower side from an intermediate portion in the vertical direction. The upper side large diameter portion has a plurality of slips at predetermined intervals in the axial direction. Rings (conductor metal rings) 15 are provided. On the other hand, a plurality of circular printed boards 25, 25,... Are provided in the small diameter part below the intermediate part at a predetermined interval in the axial direction. Further, a rotation angle detector 21 described later is provided at the outer periphery of the intermediate portion (specifically, the lower end of the upper large-diameter portion) between the slip rings 15, 15... And the printed boards 26, 26. A drive gear (swivel gear) 17 for driving the driven gear 22 on the side is fixed.

  On the other hand, on the upper surface of the base member 12 in the body member 13, a brush (conductor elastic brush) and a contact column 24 are erected along the rotary support shaft 11 at a predetermined interval. ing. A plurality of the brushes and contact struts 24 that are in contact with the outer peripheral surfaces of the slip rings 15, 15,... The brushes 16, 16,... Are fixed.

  Further, a plurality of rows radially outward from the center printed on the lower surfaces of the printed boards 25, 25,. The contact supports 26, 26,... Having a plurality of contacts that are in contact with the conductive pattern with a predetermined contact pressure are fixed.

  The slip rings 15, 15... And the brushes 16, 16... Are each made of a conductive member suitable for flowing a high current exceeding a predetermined current value. Further, the conductive patterns and the corresponding contacts of the printed boards 25, 25,... Are suitable for flowing a weak current less than a predetermined current value such as a detection signal of a turning angle detector 21 described later, other sensor signals, and a control signal. It is made of a conductive member.

  The base member 12 and the rotating support shaft 11 are connected to lead wires 20a and 20b for energizing the respective parts, supplying necessary control signals, and extracting necessary sensor signals. These lead wires 20a and 20b are connected to a desired power supply line and control signal input / output line via, for example, a detachable plug.

  On the other hand, reference numeral 21 in FIG. 2 is a turning angle detector for detecting the turning angle of the boom 6, and this turning angle detector 21 is provided in the body member 13, for example, the brush And using the contact column 24, it is fixed at a position slightly above the middle part in the vertical direction.

<Configuration of turning angle detector for detecting turning angle of boom>
The turning angle detector 21 is composed of, for example, a potentiometer (potentiometer) whose output resistance value changes according to the turning angle of the boom 6, and the rotation shaft 21a for inputting the boom rotation angle is used as the rotation support shaft. 11 is provided in parallel with the axis of 11.

  A driven gear 22 that meshes with the drive gear 17 on the outer periphery of the rotary support shaft 11 is provided at the outer end of the rotary shaft 21a.

Then, in response to rotation of the boom 6 (turning body 3), the base member 12 and the body member 13 of the slip ring unit 10 is rotated, the slip ring unit 10 via the brush and contact Ten支 pillar 24 The body 21 b and the driven gear 22 of the turning angle detector 21 fixed on the base member 12 rotate around the rotating support shaft 11 and the drive gear 17.

  As a result, the rotation angle input rotation shaft 21 a of the turning angle detector 21 also rotates by the rotation angle of the driven gear 22 with respect to the drive gear 17.

  Inside the cylindrical body 21b of the swivel angle detector 21, for example, a C-shaped sliding resistor, and one end side is pivotally supported by the arc central axis portion of the C-shaped sliding resistor, A sliding brush (rotary brush made of a conductor) provided rotatably so that the other end contacts the sliding surface of the C-shaped sliding resistor; and the C-shaped sliding resistor A rotation comprising a power supply terminal Vd connected to one end side, a ground terminal Gd connected to the other end side of the C-shaped sliding resistor, and an output terminal Vout connected to the shaft support portion of the brush body. An angle detection circuit is provided, and the other end of the rotating shaft 21a is connected to a shaft support portion of the slide brush (not shown).

  As described above, when the base member 12 and the body member 13 are rotated as described above in accordance with the rotation of the boom 6 (swivel body 3), the driven gear 22 of the turning angle detector 21 composed of the same potentiometer is changed. Since the outer periphery of the drive gear 17 on the rotating support shaft 11 is planetarily rotated, the rotation shaft 21a of the turning angle detector 21 rotates by the same amount accordingly.

  As a result, the slide brush in the body 21b rotates on the sliding resistor according to the rotation angle of the rotation shaft 21a, and between the output terminal Vout and the ground terminal Gd according to the rotation angle of the slide brush. The voltage dividing resistance value changes, and a voltage output divided according to the resistance value is output from the output terminal Vout. This output signal Vout becomes a turning angle detection signal of the boom 6.

  Accordingly, for example, a turning angle in a range of 0 to 350 degrees can be detected. Therefore, when two sets of these devices are combined with each other, a detection of 0 to 360 degrees is possible.

<Problem of swivel angle detector using potentiometer>
By the way, when it is attempted to control the boom 6 to an arbitrary working posture A using the turning angle detector 21 constituted by such a potentiometer, as described above, the turning angle detector 21 A backlash in the upper and lower bearing portions 12a and 14a of the rotating support shaft 11 of 21, a backlash in the tooth portions of the drive gear 17 and the driven gear 22, and a turning angle detector 21 are constituted by two sets of C-shaped potentiometers. For example, when the boom 6 is turned to the right to control the working posture of the boom 6 and the boom 6 is turned to the left to control the working posture of the boom. Even when controlling to the working posture A, there is a problem that the detected turning angle is different.

  As a result, for example, when the work range is limited using the work range restriction function of the work machine control unit 30 (corresponding to the work range restriction means in the claims) shown in FIG. The setting accuracy when the work range restriction region is set by turning the boom 6 in the right turn direction is different from the setting accuracy when the work range restriction region is set by turning in the left turn direction.

  In particular, in the restricted area of the work range in the present embodiment, as a performance of the crane itself, a workable area in a general sense that the work can be safely performed without causing a fall, and a fall of the crane itself as a performance. Although there is a workable area where you can work safely without any obstacles, there are objects to be protected such as overhead lines and walls in the workable area, so as not to come into contact with the objects to be protected due to actual work site conditions. There are two types of work range restriction areas, which are a work area that is more narrowly restricted.

  Now, for example, LA1 in FIG. 6 indicates a restricted range of the work range, but this LA1 is within the circular workable area LA where the crane itself can work safely without falling over as a performance of the crane itself. This is a case where the workable area is limited more narrowly due to the actual situation of the work site, such as the above-mentioned protection object on the side.

  In such a case, first, a circular restricted area LA1 ′ allowed from the crane performance is set, and in order to perform the crane work, the boom 6 is extended outside the restricted area LA1 ′ as indicated by the arrow, and a truck bed, etc. It is necessary to unload from. Usually, in order to carry out the loading, the restriction area LA1 'must be once released. For this reason, in the unloading state, it is necessary to arrange a monitoring person so as not to contact the object to be protected.

  The working range restriction area LA1 of FIG. 6 of the present embodiment is configured to solve such a problem, and is linear in the left and right directions so that the boom 6 does not contact the side protection object. The restricted area is provided. At the same time, an area (frontward in the figure) necessary for carrying out the loading is set as a radius limit, thereby setting a minimum necessary limit area necessary for crane work. As a result, even when unloading from a loading platform such as a truck, it is not necessary to release the work range restriction area LA1, and no supervisor is required.

  When such a work range is restricted, the work range must naturally be regulated at a critical position adjacent to the object to be protected. Therefore, the boom turning angle detection accuracy in the right direction and the left direction as described above can be improved. It is not preferable that there is an error.

  On the other hand, LA2 in FIG. 7 also shows the restricted area of the work range. In this case, the restricted area LA2 is basically based on the performance of the crane itself, and the performance of the crane itself is safe without causing a fall. This is a substantially circular restricted area where the work can be performed. However, since the overhang widths of the outriggers 9, 9,... Are different on the left and right, the work range on the side where the overhang width is small is limited. The error of the boom turning angle detection accuracy in the right direction and the left direction also affects the setting accuracy of the work range restriction area.

  In the embodiment of the present invention, the following configuration is adopted in order to solve these problems.

<Configuration of the present embodiment for solving the conventional problems>
That is, in the embodiment of the present invention, for example, as shown in FIG. 3, the necessary arithmetic processing means 30a is provided, the working range of the working machine is limited in the above two meanings, the automatic stop at an overload, etc. , A turning angle detector 21 for detecting a turning angle of the boom 6, and a boom length are detected with respect to a work machine control unit 30 (corresponding to a work range limiting means in the claims) that realizes the control function of In addition to working state detection means such as a boom length detector 34 for detecting the boom, a boom undulation angle detector 36 for detecting the boom undulation angle, an outrigger extension width detector 37 for detecting the extension width of the outriggers 9, 9,. And a right turning angle detector 33a and a left turning angle detector 33b for detecting whether the turning operation direction of the boom 6 that has been turned is the right turning direction or the left turning direction, respectively. Required operations When the boom 6 is turned rightward in the work machine control unit 30 provided with the control means 30a, the turning angle adjustment value (the zero point adjustment value at the minimum turning angle and the span point adjustment value at the maximum turning angle). ) To store the right turning angle adjustment value storage means 31 and the left turning to store the turning angle when turning left (the zero point adjustment value at the minimum turning angle and the span point adjustment value at the maximum turning angle). Angle adjustment value storage means 32 is provided.

For example, as shown in the flowchart of FIG. 4, the boom 6 is actually operated to turn to the minimum turning angle position and the maximum turning angle position in the left and right turning directions, respectively, and the turning angle detector 21 at each turning angle position. The turning angle detection value (A / D conversion value) by the control unit 30 is used as an adjustment value, and each adjustment value is individually stored in each adjustment value storage means 31, 32 provided for each turning direction in the work implement control unit 30. By memorizing, accurate zero point adjustment and span point adjustment are performed.

  Further, as shown in the flowchart of FIG. 5, on the premise thereof, the individual turning right adjustment values stored in the right turning angle adjustment value storage means 31 and the left turning angle adjustment value storage means 32 are individually determined according to the turning direction of the boom 6. Using the adjustment value, the detection value of the turning angle detector 21 is corrected separately for each of the left and right turning directions, thereby unifying the detection accuracy of different turning angles in the turning direction to the same detection accuracy as follows. . Then, the work range (restricted area) of the boom 6 is set.

  Note that reference numeral 35 in FIG. 3 is a display means (turning angle etc. display) such as the turning angle adjusted and detected as described above.

<Zero Point Adjustment Method and Span Point Adjustment Method of Swivel Angle Detector Using Work Machine Control Unit of FIG. 3>
First, the flowchart of FIG. 4 shows zero point adjustment control and span point adjustment control of the turning angle detector 21 performed using the work machine control unit 30 of FIG.

  That is, in this control, the boom 6 is first maintained at a predetermined undulation angle and a predetermined length, and the swing body 3 is actually rotated to start the swing operation of the boom 6 (step S1). Subsequently, it is determined whether the turning direction of the boom 6 that has been turned is the right turning direction or the left turning direction, and the turning direction (turning operation direction) is determined (step S2).

  In this case, the determination of the boom turning direction (turning operation direction) is made based on whether the detection signal of either the right turning direction detector 33a or the left turning direction detector 33b described above is input.

  If the turning direction of the operated boom 6 is the right turning direction as a result of the turning direction determination, the process proceeds to step S3 on the right side, and the boom 6 is first moved to the minimum turning angle position in the right turning direction ( For example, it is turned to 0 deg) and stopped. In the subsequent step S4, the minimum turning angle θo actually detected by the turning angle detector 21 at the minimum turning angle position (0 deg) is set as the minimum turning angle adjustment value θo (θ = 0 deg). It is stored in the right turning angle adjustment value storage means 31 in the machine control unit 30.

Thereafter, in step S5, the boom 6 is further turned rightward and stopped when it is turned to the maximum turning angle position (for example, 360 deg). Then, continues in step S6, in the maximum pivot angle position (above 360 deg), the maximum turning angle .theta.max issued RIKEN by the above turning angle detector 21 as the maximum pivot angle adjustment value θmax (θmax = 360deg), the It is stored in the right turning angle adjustment value storage means 31 in the work implement control unit 30. Thereby, the zero point adjustment and the span point adjustment in the right turn direction are performed.

  On the other hand, as a result of the turning direction determination in step S2, if the operated turning direction is the left turning direction, the process proceeds to step S7 on the left side, and the boom 6 is first moved to the minimum turning angle position in the left turning direction. Turn to (for example, 0 deg) and stop. In the following step S8, the actual turning angle is detected by the turning angle detector 21 at the same minimum turning angle position (0 deg), and the detected turning angle θo is set to the minimum turning angle adjustment value θo in the left direction. (Θ = 0 deg) is stored in the left turning angle adjustment value storage means 32 in the work implement control unit 30.

  Thereafter, in step S9, the boom 6 is further turned leftward and stopped when it is turned to the maximum turning angle position (for example, 360 deg). In the subsequent step S10, at the same maximum turning angle position (360 deg), the turning angle is detected by the turning angle detection device, and the detected turning angle θmax is set to the left maximum turning angle adjustment value θmax (θ = 360 deg) is stored in the left turning angle adjustment value storage means 32 in the work implement control unit 30. Thereby, the zero point adjustment and the span point adjustment in the left turn direction are performed, respectively.

  Each adjustment value described above is stored as a digital value obtained by A / D converting the analog output (voltage) of the potentiometer.

  In the conventional configuration, the zero point adjustment and the span point adjustment described above are performed only in one direction of the right turn direction, and the adjustment values are completely the same for the right turn direction and the left turn direction. However, if it does so, the detection error by the structure of the rotation support shaft part in a slip ring part as already stated, and the structure peculiar to a potentiometer will arise.

  On the other hand, in the configuration of the embodiment of the present invention, as described above, adjustment values are individually stored and set for each of the right turn and the left turn, and thereby the detection value of the turning angle detector 21 formed of a potentiometer. Therefore, these structural errors are absorbed, and the turning angle can be accurately detected with the same detection accuracy in any of the left and right turning directions.

  In this case, the adjustment value setting order may be performed not only from the right direction as described above but also from the left direction.

<How to set work area restriction area>
In the embodiment of the present invention, the setting of the work range by the work implement control unit 30 is also made individually for the left and right turning directions stored in the left and right direction adjustment value storage means 31 and 32 as described above. The adjustment value is read out individually and is performed based on the detected turning angle detection value appropriately corrected. Such a work range setting method is shown, for example, in the flowchart of FIG.

  That is, when setting the work range, first, in step S1 of the flowchart, it is determined whether or not the current work is a work range setting, and if YES (work range setting). In step S2, the adjustment values (θo, θmax) stored in the adjustment value storage means 31 for the right turn direction in the work implement control unit 30 are first read out. In the subsequent step S3, a work range in the right turn direction is set using them.

  Next, proceeding to step S4, the adjustment values (θo, θmax) stored in the adjustment value storage means 32 for the left turn direction in the work implement control unit 30 are read out. Then, in the subsequent step S5, the detection value of the turning angle detector 21 is corrected using them, and the work range in the left turning direction is set thereon.

  As a result, according to the setting of the work range by the work implement control unit 30 according to the embodiment of the present invention, the work restriction area is always set appropriately and with high accuracy regardless of the turning direction of the boom 6. Become so.

  The setting order in this case may be performed not only from the right direction as described above but also from the left direction.

  As a result, according to the same configuration, the zero point adjustment at the minimum turning angle position and the span point adjustment at the maximum turning angle position of the work implement can be performed by detecting the turning angle only in one direction of the right turning direction as in the prior art. Instead of adjustment, the turning angle in both the left and right turning directions is individually detected as zero point adjustment at the minimum turning angle position in each left and right turning direction of the work implement and span point adjustment at the maximum turning angle position in each left and right turning direction. As a result, the turning angle detection accuracy that is different in the conventional turning direction can be unified to the same detection accuracy.

  Furthermore, in the same structure, it has turning direction detectors 33a and 33b for detecting the turning direction of the operated boom 6, and each of the left and right turnings according to the turning direction detected by the turning direction detectors 33a and 33b. The adjustment value storage means 31, 32 for each direction stores the adjustment value for each of the left and right turning directions, and the adjustment value storage means 31, 32 according to the turning direction detected by the turning direction detectors 33a, 33b. The adjustment values for the left and right turning directions stored in the left and right directions are read out, the detection value of the turning angle detector 21 is corrected, and the stop region of the boom 6 is set based on the correction value.

  Therefore, according to such a configuration, the work stop area by the work range restriction function of the work implement control unit 30 is always set appropriately and with high accuracy regardless of the turning direction of the boom 6.

  In this case, for example, the following detection method is adopted as the turning direction detectors 33a and 33b.

  (1) The operation direction of the working boom is determined from the change in the previous turning angle detection value and the current turning angle detection value.

  (2) Specifically, the pilot pressure in the left and right hydraulic circuits is detected, and the operating direction of the working boom is determined from the increase in the pressure.

<Effects of Embodiments of the Invention>
As a result, according to the embodiment of the present invention,
(1) A backlash in a bearing portion of a rotating spindle in a slip ring portion, a backlash in a gear portion for rotating a potentiometer, a combination of two sets of potentiometers whose rotation angle detectors are reversed in phase, etc. The turning angle detection accuracy in the left and right turning directions becomes constant by absorbing the turning angle detection error due to the influence.

  As a result, the work range setting accuracy of the work range restriction means is improved, and the safety during work is improved.

  (2) The limitation of the work range of the turning area by the work implement control unit can be realized easily and with high accuracy by registering the registration by aligning the turning operation in both the left and right directions. Even if it is within the workable area, the safety of work when there is some protective object on the side and it is necessary to work under extreme conditions so as not to touch it improves.

(3) For the same reason, for example, as shown in FIG. 7, the accuracy of limiting the work range by the work implement control unit when the outrigger is extended is improved, and the overload stop control is stopped by the overload automatic stop function. It can also contribute to the improvement of accuracy.
(4) For the display of the turning angle during the operation of the working boom, the adjustment values of the left and right operation directions immediately before the operation are used, and for the display of the turning angle after the operation of the working boom, immediately before the operation is made neutral. Since the adjustment values for the left and right operation directions are used, the display accuracy of the turning angle in the turning angle display means is improved.

<Other embodiments>
For example, the turning angle detection value when turning leftward with respect to the position where turning rightward and performing “zero point adjustment / span point adjustment” is “difference in left and right direction (−1.5 degrees). Etc.) ”and stored, and this value may be used as an adjustment value (correction value) when turning leftward. The same applies to the reverse case.

  1 is a vehicle, 2 is a turning support, 3 is a turning body, 4 is a hinge, 5 is a hoisting cylinder, 6 is a boom, 7 is a wire rope, 8 is a hook block, 9 is an outrigger, 10 is a slip ring part, 11 is Rotating support shaft, 12 is a base member, 13 is a body member, 14 is a cover plate, 15 is a slip ring, 16 is a brush, 17 is a drive gear, 21 is a turning angle detector, 21a is a rotating shaft of the turning angle detector 21 , 21b is a body of the turning angle detector 21, 22 is a driven gear on the turning angle detector 21, 30 is a work machine control unit, 30a is an arithmetic processing means of the work machine control unit 30, and 31 is a right turn angle adjustment value. Storage means 32, left turn angle adjustment value storage means 33a, right turn operation detector 33b, left turn operation detector 34, boom length detector 35, turn angle display means 35, boom undulation Corner detection 37 is outrigger overhang width detector.

Claims (3)

A working boom, a revolving body that supports the working boom so that it can be raised and lowered, a receiving base that revolves the revolving body via a revolving support body, and the revolving support part. A work with a boom, comprising: a turning angle detector for detecting a turning angle of the working boom; and work range restriction means for setting a working posture restriction range based on the turning angle detected by the turning angle detector. In the machine, the working boom is actually turned to the minimum turning angle position and the maximum turning angle position in the left and right turning directions, and the turning angle detection at the minimum turning angle position and the maximum turning angle position in the left and right turning directions is performed. each turning angle detection value due to vessel an adjustment value, it has to be respectively stored in the adjustment value storage means provided individually according their respective adjustment value in the right and left turning direction of the upper Symbol working range limiting means With features Boom with a working machine that. There is a turning direction detecting means for detecting the turning direction of the operated work boom, and the left and right adjustment values are stored in the adjustment value storage means for each of the left and right turning directions according to the turning direction detected by the turning direction detection means. together and stores the turning direction discrete adjustment values, it reads the right and left turning direction individual adjustment value stored in the adjustment value storage unit in accordance with the detected turning direction by the turning direction detection means, the turning angle 2. The work machine with a boom according to claim 1, wherein the detected value of the turning angle detected by the detector is corrected. Using the corrected turning angle detection value by the respective right and left turning direction individual adjustment value stored in the adjustment value storage unit that was to set the restricted area of the working boom in the working range limiting means The working machine with a boom according to claim 2.

Images