JP6753558B2 - Safety devices for cranes, cranes, safety control methods for cranes, and safety control programs for cranes - Google Patents

Description

The present invention relates to a safety device for a crane, a crane, a safety control method for a crane, and a safety control program for a crane.

Conventionally, the stability performance of a crane is calculated by detecting the posture of the boom, the turning position, the overhanging position of the outrigger, and the like (see, for example, Patent Document 1).

In order to avoid complication of control and perform smooth work, the maximum suspended load calculated in advance based on the outrigger overhang width and boom posture is applied as "rated performance" according to the boom position. , Controls the safety device against load.

For example, a load-type truck crane mounted on a truck equipped with a loading platform can perform work such as loading and unloading the load on the loading platform by a boom, but the lifting load during the work is within the range of this "rated performance". I try to limit it.

The "rated performance" behind the loaded truck crane, that is, in the work area of 180 degrees on the loading platform side of the truck, is restricted by the outrigger overhang width on the right side when the boom is in the right turning position with the turning center of the boom as the boundary. , When the boom is in the left turning position, it is restricted by the outrigger overhang width on the left side.

When the left and right outriggers are extended to the maximum, it is possible to work with the maximum lifting load according to the posture of the boom in a sufficient area including the truck bed area. However, depending on the work site, it may not be possible to secure a sufficient space for overhanging the outriggers, and the truck may be moved to one side and the outriggers on the other side may have the minimum overhang width.

As mentioned above, the stability performance of the crane is limited to at least the outrigger overhang width. Therefore, when the outrigger overhang width is the minimum, the area where the lifting work is possible is limited, and the hanging load is also on the loading platform. There was an area where work could not be done.

Japanese Unexamined Patent Publication No. 2000-118955

As described above, although the load-type truck crane is a crane whose main purpose is to load and unload the load on the loading platform, there is an area in which the operation on the loading platform cannot be performed with the setting of the conventional safety device.

However, in general, a load-type truck crane supports the load by the left and right outriggers in front of the loading platform and the left and right rear wheel tires, so even if the left and right outriggers have the minimum overhang width, for example, they are on the loading platform of the truck. Is considered to be able to secure stability.

An object of the present invention is a safety device for a crane, a crane, and a safety control method for a crane, which can eliminate a problem that an area where work cannot be performed on a loading platform is excessively generated and improve the convenience of work. , And to provide a safety control program for the crane.

One aspect of the safety device for a crane according to the present invention is a safety device for a crane including a boom mounted on a vehicle body of a truck provided with a loading platform and an outrigger, and the overhang width of the outrigger and the boom. A controller is provided that determines whether or not the load can be lifted according to the lifting position of the load and executes control for ensuring the stability of the loading platform according to the result of determining whether or not the load can be lifted. When the hoisting position is in the area of the loading platform, the hoisting is possible regardless of the overhang width of the outriggers.

One aspect of the crane according to the present invention includes the safety device for the crane.

One aspect of the safety control method for a crane according to the present invention is a safety control method for a crane, which is executed in a crane including a boom and an outrigger mounted on a vehicle body of a truck provided with a loading platform. A determination step for determining whether or not lifting is possible according to the overhang width of the boom and the lifting position of the lifting load of the boom, and a control for ensuring the stability of the loading platform are executed according to the determination result of whether or not the lifting is possible. The determination step includes an execution step, and when the hoisting position of the boom is in the area of the loading platform, the hoisting is possible or not regardless of the overhang width of the outriggers.

One aspect of the crane safety control program according to the present invention is to have a computer execute the crane safety control method.

According to the present invention, it is possible to solve the problem that an area where the work cannot be performed on the loading platform is excessively generated, and to improve the convenience of the work.

It is a left side view of the loading type truck crane provided with the safety device as an example which concerns on this disclosure. It is a block diagram which shows the control function of the safety device as an example which concerns on this disclosure. It is a flowchart which shows the process which the controller of the safety device which concerns on this disclosure executes. It is explanatory drawing which shows an example of the range which the truck crane which concerns on this disclosure can move a suspended load based on the maximum load of a suspended load. It is explanatory drawing which shows an example of the range which a conventional truck crane can move a suspended load based on the maximum load of the suspended load.

Hereinafter, the safety device 10 for a crane as an example according to the present disclosure will be described with reference to the drawings with reference to an embodiment in which the loading type truck crane 1 is used.

The safety device 10 of the first embodiment according to the embodiment of the safety device for a loaded truck crane according to the present disclosure will be described with reference to FIGS. 1 to 5. In general, a load-type truck crane is a normal truck with a crane portion mounted on it later. In the loading type truck crane 1 of the present embodiment, the crane unit 4 is mounted between the cabin 3 of the truck 2 and the loading platform 5.

The truck 2 is a main body portion of a vehicle having a traveling function, and has a plurality of wheels, a plurality of wheels, and a drive source for driving the crane unit 4.

The crane unit 4 includes a pair of left and right outriggers 6, a boom support 7, a boom 8, a safety device 10, a boom drive unit 13 that drives the boom 8, an operation unit 14, and a winch hydraulic motor (not shown). And an outrigger drive unit (not shown). The boom drive unit 13 includes a swing hydraulic motor 9, an undulating cylinder 11, and a telescopic cylinder 12.

A pair of left and right outriggers 6 (only the left side of the truck 2 is shown in FIG. 1) can be extended and retracted to the left and right, and by appropriately extending and touching the ground G, the truck 2 is used when working with the boom 8 described later. Stable support.

The boom support 7 is driven by a swing hydraulic motor 9 and can swing horizontally.

Further, the base end portion of the boom 8 is attached to the boom support 7 via the boom root fulcrum pin. The boom 8 is raised and lowered by expanding and contracting the undulating cylinder 11 interposed between the boom support 7 and the boom 8.

The boom 8 is configured by storing a plurality of boom portions in a nested manner from the outside to the inside, and the telescopic cylinder 12 expands and contracts to expand and contract.

A wire rope 16 is wound around a sheave 15 provided at the tip of the boom 8. A hook 18 on which a suspended load 17 or the like is slung is hung on the wire rope 16, and the wire rope 16 is moved up and down by a winch to wind up or down the wire rope 16.

At the time of use, each boom portion of the boom 8 is appropriately swiveled, and the boom portion is appropriately raised and lowered, and the hook 18 suspended from the boom 8 is appropriately raised and lowered to move the suspended load 17.

Further, the boom 8 is in a state in which the hook 18 is raised most and each boom portion is retracted most and stored when not in use such as during traveling.

The expansion and contraction, undulation and turning of the boom 8 and the raising and lowering of the hook 18 are performed according to the operation of the operation unit 14. The operation unit 14 outputs an operation signal corresponding to the operation input by the operator. The operation signal output from the operation unit 14 controls the operation of the drive device such as the hydraulic pump, the directional control valve, and the flow rate control valve. By these operations, the boom drive unit 13 (swing hydraulic motor 9, undulating cylinder 11 and telescopic cylinder 12) of the crane unit 4 and the winch hydraulic motor 60 for driving the winch are operated to expand and contract and undulate the boom 8. And turning and raising and lowering the hook 18 are performed.

FIG. 2 is a block diagram of the safety device 10 according to the embodiment.

The safety device 10 includes a boom length detector 41, an undulation angle detector 42, a turning angle detector 43, an alarm 50, and a controller 80.

The boom length detector 41 detects the length of the boom 8. The boom length detector 41 outputs a detection signal indicating the detected length to the controller 80.

The undulation angle detector 42 detects the undulation angle (angle with respect to the horizontal plane or the reference posture) of the boom 8. The undulation angle detector 42 outputs a detection signal indicating the detected undulation angle to the controller 80.

The turning angle detector 43 detects the turning angle of the boom 8. The turning angle detector 43 outputs a detection signal indicating the detected turning angle to the controller 80.

The alarm device 50 that sounds an alarm is connected to the controller 80.

The controller 80 is a microcomputer having a storage unit (for example, a non-temporary computer-readable medium such as a ROM (Read Only Memory)) and a calculation unit (for example, a CPU (Central Processing Unit)). In the first embodiment, the controller 80 is a microcomputer unit. It is provided in 4 (FIG. 1). The controller 80 comprehensively controls the operation of each unit based on the program stored in the storage unit.

The controller 80 controls the boom drive unit 13 and the winch hydraulic motor (not shown), and also controls the outrigger drive unit (not shown) that expands and contracts the outrigger 6. The controller 80 includes a suspended load lifting position calculation unit 82, an area storage unit 83, a determination unit 84, and a control execution unit 85.

Based on the length of the boom 8, the undulation angle of the boom 8, and the turning angle of the boom 8, the suspended load lifting position calculation unit 82 sets the center position C1 (FIG. 1) of the sheave 15 to the center of gravity of the suspended load 17 (suspended load 17). It is calculated as the lifting position).

The area storage unit 83 stores the area A1 of the loading platform 5 (FIG. 4). As shown in FIG. 4, the area A1 of the loading platform 5 is a substantially quadrangular shape connecting the minimum overhang width of the pair of outriggers 6 overhanging to the left and right of the truck 2 and the center positions of the left and right rear wheels of the truck 2. This is the area. The shaded area in FIG. 4 indicates the range in which the suspended load 17 can be moved based on the maximum load of the suspended load 17.

When the suspension load lifting position of the boom 8 is in the area A1 of the loading platform 5, the determination unit 84 allows the suspension load 17 to be lifted regardless of the overhang width of the outrigger 6, and allows the suspension load of the boom 8 to be lifted. When the lifting position is not in the area A1 of the loading platform 5, whether or not the suspended load 17 can be lifted is rejected.

The control execution unit 85 executes control for ensuring the stability of the loading platform 5 according to the determination result of whether or not the suspended load 17 can be lifted. The control for ensuring the stability of the loading platform 5 corresponds to the upper limit of the lifting load in the control for suppressing the lifting of the suspended load 17 when the lifting load applied to the boom 8 exceeds the upper limit. As an example, the threshold value may be variably set according to the determination result of the determination unit 84. More specifically, when it is determined whether or not the suspended load 17 can be lifted, the control execution unit 85 sets the threshold value to a predetermined maximum value so that the upper limit of the lifting load is maximized. When it is determined whether or not the suspended load 17 can be lifted, the control execution unit 85 sets the threshold value to a predetermined minimum value or a predetermined intermediate value according to the overhang width of the outrigger 6. Or set to.

Next, an example of the determination process for determining whether or not the suspended load 17 can be lifted in the safety device 10 will be described with reference to the flowchart shown in FIG. FIG. 3 is a flowchart showing a process executed by the controller 80 in the first embodiment. Hereinafter, each step of the flowchart of FIG. 3 will be described.

The process shown in the flowchart of FIG. 3 is started when the crane unit 4 of the loading truck crane 1 lifts the suspended load 17.

In step S1, the controller 80 reads the area A1 on the preset loading platform 5 from the area storage unit 83.

In step S2, the suspended load lifting position calculation unit 82 calculates the center position C1 of the sheave 15 as the lifting position of the suspended load 17.

In step S3, the determination unit 84 determines whether or not the center position C1 of the sheave 15 is in the region on the loading platform 5 in a plan view. When the center position C1 of the sheave 15 is in the region on the loading platform 5 in a plan view (YES in step S3), the process proceeds to step S4.

On the other hand, when the center position C1 of the sheave 15 is not in the region on the loading platform 5 in plan view (NO in step S3), the process proceeds to step S5.

In step S4, the controller 80 allows the suspended load 17 to be lifted or not. After this, the process returns to step S2.

In step S5, the controller 80 determines whether or not the suspended load 17 can be lifted. After this, the process returns to step S2.

Conventionally, the stability performance of a crane is calculated by detecting the posture of the boom, the turning position, the overhanging position of the outrigger, and the like.

When the left and right outriggers 6 are extended to the maximum (O / R maximum), it is possible to work with the maximum lifting load according to the posture of the boom 8 in a sufficient area including the area of the loading platform 5 of the truck 2. Become. However, as shown in FIG. 5, depending on the work site, it is not possible to secure a sufficient space for the outrigger 6 to extend, and the track 2 is moved to one side and the outrigger 6 on the other side has the minimum extension width (O / R minimum). Can also occur. The shaded area in FIG. 5 indicates the range in which the suspended load 17 can be moved based on the maximum load of the suspended load 17.

Since the stability performance of the crane unit 4 is limited to at least the overhang width of the outrigger 6, when the overhang width of the outrigger 6 is the minimum, the area where the suspension work is possible is limited, and the suspension load is also on the loading platform 5. There was an area where work could not be done (Fig. 5). As described above, although the loading type truck crane is a crane whose main purpose is to load and unload the suspended load 17 on the loading platform 5, there is an area where the work on the loading platform 5 cannot be performed with the conventional safety device setting. Was there.

However, in general, a load-type truck crane supports the load by the left and right outriggers in front of the loading platform and the left and right rear wheel tires, so even if the left and right outriggers have the minimum overhang width, for example, they are on the loading platform of the truck. Is considered to be able to secure stability.

That is, according to the safety device 10 for a load-type truck crane as an example according to the present disclosure, it is determined whether or not the outriggers can be lifted according to the overhang width of the outriggers 6 and the suspended load lifting position of the boom 8. A controller 80 that executes control for ensuring the stability of the loading platform 5 is provided according to the determination result. When the lifting position of the boom 8 is in the area of the loading platform 5, the controller 80 can lift the boom 8 regardless of the overhang width of the outrigger 6. Therefore, although the stability of the loading platform can be ensured due to the structure of the loaded truck crane, there is a problem that an area is determined to be impossible to work on the loading platform by control, that is, work on the loading platform. It is possible to solve the problem that an area where the crane cannot be used excessively occurs and improve the convenience of work.

The safety device for the truck crane of the present disclosure and the truck crane provided with the safety device have been described above based on the first embodiment, but the specific configuration is not limited to the first embodiment and is within the scope of claims. As long as the gist of the invention according to each claim is not deviated, design changes and additions are permitted.

In the above-described first embodiment, an example in which the region A1 on the loading platform 5 is set in advance is shown by utilizing the fact that the minimum overhang width of the outrigger 6 is known. The present invention is not limited to this aspect, and for example, the region A1 on the loading platform 5 is set based on an image obtained by imaging the surroundings with a camera equipped with a CCD, a CMOS element, or the like and capable of capturing the surroundings. Is also good.

The control execution unit 85 of the controller 80 is in a state where any of the outriggers 6 has the minimum overhang width, the suspended load lifting position of the boom 8 is in the area A1 of the loading platform 5, and the boom 8 is lifting the suspended load 17. May cause the alarm device 50 to output an alarm sound. The output of the alarm is not limited to an auditory alarm such as an alarm sound, and may be a visual alarm that displays the alarm on the screen.

In the control execution unit 85 of the controller 80, when any of the outriggers 6 has the minimum overhang width, the suspended load lifting position of the boom 8 is in the area of the loading platform 5, and the boom 8 is lifting the suspended load 17. The drive of the boom 8 by the boom drive unit 13 may be controlled so that the operating speed of the boom 8 does not exceed a certain speed.

The disclosures of the specification, drawings and abstract contained in the Japanese application of Japanese Patent Application No. 2018-167842 filed on September 7, 2018 are all incorporated herein by reference.

The safety device for a crane of the present disclosure can be widely applied to a loaded truck crane.

1 Loading type truck crane 2 Truck 4 Crane part 5 Loading platform 6 Outrigger 8 Boom 9 Swing hydraulic motor 10 Safety device for truck crane 11 Undulating cylinder 12 Telescopic cylinder 13 Boom driving part 14 Operation part 15 Sheave 16 Wire rope 17 Suspended load 50 Alarm Instrument 80 Controller 82 Suspended load lifting position calculation unit 83 Area storage unit 84 Judgment unit 85 Control execution unit C1 Sheave center position (suspended load lifting position)

Claims (9)

A safety device for cranes equipped with booms and outriggers mounted on the body of a truck equipped with a loading platform.
A controller that determines whether or not lifting is possible according to the overhang width of the outrigger and the lifting position of the suspended load of the boom, and executes control for ensuring the stability of the loading platform according to the determination result of whether or not the lifting is possible. With
When the lifting position of the hanging load of the boom is in the area of the loading platform, the controller allows the lifting or not regardless of the overhang width of the outriggers.
Safety device for cranes. The controller
A suspended load lifting position calculation unit that calculates the suspended load lifting position of the boom,
A region storage unit for storing the region of the loading platform is provided.
The safety device for a crane according to claim 1. The suspended load lifting position calculation unit calculates the suspended load lifting position of the boom based on the length of the boom, the undulation angle of the boom, and the turning angle of the boom.
The safety device for a crane according to claim 2. The area of the loading platform is a substantially quadrangular area connecting the minimum overhang width of the pair of outriggers overhanging to the left and right of the truck and the center positions of the left and right rear wheels of the truck.
The safety device for a crane according to any one of claims 1 to 3. Equipped with an alarm that outputs an alarm
The controller outputs an alarm when any of the outriggers has the minimum overhang width, the lifting position of the suspended load of the boom is in the area of the loading platform, and the boom is lifting the suspended load. Control the alarm so that
The safety device for a crane according to any one of claims 1 to 4. The crane further includes a boom drive unit that drives the boom.
In the controller, when any of the outriggers has the minimum overhang width, the suspended load lifting position of the boom is in the area of the loading platform, and the boom is lifting the suspended load, the boom The drive of the boom by the boom drive unit is controlled so that the operating speed does not exceed a constant speed.
The safety device for a crane according to any one of claims 1 to 5. A crane provided with the safety device for the crane according to any one of claims 1 to 6. A safety control method for a crane performed on a crane that includes a boom and outrigger mounted on the body of a truck with a loading platform.
A determination step for determining whether or not lifting is possible according to the overhang width of the outrigger and the lifting position of the suspended load of the boom, and
An execution step of executing control for ensuring the stability of the loading platform according to the determination result of whether or not the lifting is possible, and
With
In the determination step, when the lifting position of the suspended load of the boom is in the area of the loading platform, whether or not the lifting is possible is possible regardless of the overhang width of the outrigger.
Safety control method for cranes. A safety control program for a crane that causes a computer to execute the safety control method for a crane according to claim 8.

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