JP7060363B2 - Moment limiter device for boom work machine and boom work machine equipped with this - Google Patents

Description

Patent Law Article 30 Paragraph 2 Applicable Sale date: May 26, 2017 Sales location: Tatsuki Transport Co., Ltd. Publisher: Furukawa Unic Corporation

The present invention relates to a boom work machine provided with a plurality of outriggers, and relates to a moment limiter device for preventing overload work of the boom work machine.

Conventionally, crawler cranes equipped with a traveling body that travels on a crawler at the bottom of the frame have a pair of left and right outriggers (4 units in total) at the front and rear ends of the frame, for example, in order to ensure stability during crane work. Is provided.
These four outriggers can rotate radially with respect to the airframe, and overhangs at arbitrary positions arranged radially. Then, the tip of each outrigger is grounded to stabilize the aircraft.

In this type of crawler crane, in order to ensure sufficient stability of the crane work and perform the crane work, "overhang in a fixed direction that maximizes stability", "outrigger outer box" Installation conditions such as "maximize the expansion of the outrigger", "extend the inner box of the nested outrigger to the maximum", and "make sure that the outrigger is grounded" are determined.

In addition, as a safety device to prevent overload work of the crane, a moment limiter device using a microcomputer is equipped, and the state amount of the crane (load value, boom length value and work radius value based on boom angle value, etc.) ), And a limit switch that detects the overhanging state of each outrigger, "overhangs in a fixed direction that can ensure maximum stability", "maximizes the outrigger's outer box", " It is determined whether or not each condition such as "extending the inner box of the nested outrigger to the maximum" and "reliably grounding the outrigger" is satisfied. Then, only when it is judged that all the conditions are satisfied, the boom spreads in all directions, and it is possible to judge the overload of the crane work by using the rated load table of the maximum rated load performance corresponding to the maximum outrigger overhang state. It has become.

However, if the overhanging state of each outrigger does not satisfy even one of the above conditions, the boom extends in all directions, and a rated load table with safety performance based on the case where the outrigger is in the minimum overhanging state is used. Alternatively, work may be prohibited, and operations will be stopped or excessive capacity restrictions will be made with an emphasis on safety in order to prevent the crane from tipping over.

This type of crawler crane projects to any position where it can be installed by means of a radially rotatable outrigger, even when the crane is working in a place where there are many obstacles and it is difficult to install the outrigger, such as a yard or graveyard of a house. It has the characteristic of being able to do it. However, under these circumstances, "extend in a fixed direction to maximize stability", "maximize the outrigger outer box", and "maximize the nested outrigger inner box". It is difficult to satisfy all the conditions such as "extend" and "reliably ground the outriggers". In that case, the moment limiter device stops the operation and emphasizes safety in order to prevent the crane from tipping over. Due to excessive capacity limitation, the maximum capacity of the crane cannot be exhibited, which hinders the original crane work.

On the other hand, the runnable work machine provided with the outriggers described in Patent Document 1 is provided with a total of four outriggers provided at the front portion and the rear portion of the chassis, respectively, and these four outriggers are provided. Is provided with three transmission / reception units for transmitting and receiving an operation signal or a distance signal. The working machine further includes an evaluation unit that identifies the position of the support leg of each outrigger based on the operation signal or the distance signal received by these transmission / reception units. Then, by this evaluation unit, the position of the support leg at an arbitrary overhang position of the outrigger is specified, the range of the square surrounded by the four tilted edges connecting the specified support leg positions is set, and the range of this square is set. It is possible to work at any overhang position within the range where the center of gravity of the work machine does not exceed. Specifically, the support position of the support leg enables work not only at the inner support position near the chassis and the outer support position far from the chassis, but also at the intermediate position between them.

Japanese Patent Publication No. 2012-507427

However, in the prior art of Patent Document 1, the load applied to the boom of the working machine during work is not considered, and when the work is permitted without considering the load, the work machine is loaded when the load is generated. There is a possibility that the center of gravity will move and exceed the range of the square. Especially in the case of a work machine such as a crane, a large load is applied to the tip of the boom during work, so if the work is permitted even if the position of the center of gravity before the start of work is within the square range, when a load is applied. There is a risk that the work equipment will tip over. In consideration of this, it is possible to carry out the work with the minimum load performance in the intermediate position, but the load performance also differs depending on the combination of the support leg position and the boom turning position even in the intermediate position range. Therefore, it becomes impossible to fully utilize the performance of the work machine.

The present invention solves the above-mentioned problems, and an object thereof is a moment limiter for a boom work machine capable of preventing or suppressing the occurrence of overload work while fully utilizing the performance of the boom work machine. It is to provide a device and a boom working machine equipped with the device.

In order to solve the above problems, the moment limiter device of the boom working machine according to the first aspect of the present invention has a plurality of out triggers that can be freely deployed and extended around the machine body, and an axis perpendicular to the upper part of the machine body. It is a moment limiter device for a boom work machine that can be applied to a boom work machine equipped with a boom provided so as to be able to turn around.

This moment limiter device for a boom work machine includes an out-trigger overhang state detection unit that detects the overhang state of each out-trigger, a boom turn angle detector that detects the turn angle of the boom, and a plurality of different boom work machines. It is a rated load table in which a plurality of rated load values corresponding to the working postures of the above are registered, and the rated load table storage unit in which a plurality of the rated load tables having different rated load performances are stored and the boom work machine are stored in advance. Of the plurality of set rated load performances, the rated load table judgment line, which is a virtual line that defines the overhang distance that the grounding member of the out trigger must exceed in order to exhibit a predetermined rated load performance other than the minimum performance. It includes a determination line information storage unit in which information is stored, a coordinate information storage unit in which coordinate information of a preset reference position of the boom work machine is stored, and an arithmetic control unit.

Then, the arithmetic control unit obtains the ground contact coordinates, which are the coordinates of the ground contact member when the out trigger is in the ground contact state, based on the coordinates of the reference position and the overhang state detected by the out trigger overhang state detection unit. Calculated as relative coordinates with the coordinates of the reference position as the origin, a virtual straight line passing through the ground contact coordinates of each of the calculated out triggers and the turning center of the boom is set as the rated load switching line, and the calculated load is set in the turning direction of the boom. Based on the combination of whether or not each of the grounding coordinates of the grounding member of each of the two adjacent outtriggers is a position exceeding the distance specified by the rated load table determination line, each of the above 2 The rated load performance in the virtual area sandwiched between the two rated load switching lines corresponding to the book out trigger is set, and the boom from the aircraft is based on the swing angle of the boom detected by the boom turning angle detector. The virtual area located on the tip direction side of the is specified, and among the plurality of rated load tables stored in the rated load table storage unit, the rating corresponding to the rated load performance set in the specified virtual area is specified. The load table is used to determine the rated load value of the boom work machine in the current working position.

Further, in order to solve the above problems, the boom working machine according to the second aspect of the present invention has a plurality of outriggers that can be freely deployed and extended around the machine body, and around an axis perpendicular to the upper part of the machine body. It includes a boom provided so as to be rotatable, and a moment limiter device for a boom working machine according to the first aspect.

According to the present invention, in a boom work machine equipped with a plurality of out triggers that can be freely deployed and extended around the machine body, it is possible to set the rated load performance more finely according to the overhang state of the out triggers. , Even if the out-trigger is extended to any position, the appropriate rating for the current working posture of the boom work machine from among multiple rated load tables with different rated load performance according to the out-trigger overhang state and boom posture. It is possible to determine the rated load value by applying the rated load table of load performance. This makes it possible to prevent or suppress the occurrence of overload prevention work while fully utilizing the performance of the work machine. In addition, the rated load switching line, rated load table judgment line, etc. are set and the rated load performance of each virtual area is set based on the positional relationship between these and the boom and out trigger float, so it is possible to perform simple calculation processing. It is possible to set an appropriate rated load performance. In addition, the rated load switching line and the rated load table determination line are easy to visualize, and it is possible to easily visualize and display these relationships including the overhanging state of the outriggers.

It is a side view which shows the state at the time of work of the crawler crane which concerns on 1st Embodiment. It is a side view of the outrigger provided with the crawler crane which concerns on 1st Embodiment. It is a block diagram of the moment limiter apparatus of the crawler crane which concerns on 1st Embodiment. It is a flowchart which shows an example of the processing procedure of the overload prevention control processing of 1st Embodiment. It is explanatory drawing of the judgment method of the rated load performance using the rated load table judgment line set in the front-rear direction side from the machine body. It is explanatory drawing of the judgment method of the rated load performance using the rated load table judgment line set on the left-right direction side from the machine body. It is operation explanatory drawing of the crawler crane which concerns on 1st Embodiment. In the figure, a rated load switching line and a rated load table determination line are shown on a schematic plan view of a crawler crane in an outrigger overhanging state. It is a figure which shows an example of the outrigger screen. It is a flowchart which shows an example of the processing procedure of the overload prevention control processing which concerns on 2nd Embodiment. It is explanatory drawing of the rated load switching area which concerns on 3rd Embodiment. In the figure, the rated load switching line, the rated load table determination line, and the rated load switching area are shown on the schematic plan view of the crawler crane in the out-trigger overhang state. It is a flowchart which shows an example of the processing procedure of the overload prevention control processing which concerns on 3rd Embodiment. It is a flowchart which shows an example of the processing procedure of the rated load table selection process which concerns on 3rd Embodiment.

Hereinafter, a crawler crane, which is an embodiment of a boom working machine provided with a moment limiter device according to the present invention, will be described with reference to the drawings as appropriate. The drawings are schematic. Therefore, it should be noted that the relationship, ratio, etc. between the thickness and the plane dimensions may differ from the actual ones, and some parts of the drawings have different dimensional relationships and ratios. In some cases. Further, the embodiments shown below exemplify devices and methods for embodying the technical idea of the present invention, and the technical idea of the present invention describes the material, shape, structure, and arrangement of constituent parts. Etc. are not specified in the following embodiments.

(First Embodiment)
(Constitution)
As shown in FIG. 1, the crawler crane 1 (hereinafter, simply referred to as “crane 1”) according to the first embodiment of the present invention is stretchable and undulating freely supported by a swivel column 4 on a frame 2. The boom 5 is provided, and the traveling body 3 traveling by a crawler is provided at the lower part of the frame 2. In addition, in order to ensure stability during crane work, a pair of left and right outriggers A, B, C, and D are provided on the front end and the rear end of the frame 2, respectively.

The boom 5 is provided with a boom length detector 40 and a boom angle detector 41, and the undulating cylinder 6 of the boom 5 is provided with a load detector 42 that detects the actual load of the suspended load by the internal pressure difference. There is. As the load detector 42, not only the one that detects the actual load by the internal pressure difference but also the one that uses a load cell or the like can be used.
A boom turning angle detector 43 for detecting the turning angle of the boom is provided between the frame 2 and the column 4.

As shown in FIG. 2, each of the outriggers A, B, C, and D of the crane 1 has a bracket 11 rotatably supported by the outrigger rotation shaft 10 on the frame 2 in the horizontal direction, and an arm undulating shaft 17 on the bracket 11. It is equipped with an arm 12 that is supported up and down freely. In addition, the arm 12 is provided with an outer box 14 undulatingly supported by an outer box undulating shaft 18, and an inner box 15 slidably inserted into the outer box 14. Further, an outrigger float 16 swingably connected to the tip of the inner box 15 and an outrigger cylinder 13 provided between the bracket 11 and the arm 12 to undulate the arm 12 are provided.

At the tip of the arm 12, the outer box 14 has a maximum overhang fixing hole 19 for fixing the outer box 14 to a long distance including a preset maximum distance, and an out trigger. The minimum overhang fixing hole 20 for fixing the overhang distance Lf to a short distance including the preset minimum distance and the storage fixing hole 21 for fixing the outer box 14 to the storage position are provided. It is provided. Then, the angle fixing hole (not shown) at the base end of the outer box 14 is coaxially overlapped with the maximum overhanging fixing hole 19, the minimum overhanging fixing hole 20, or the storage fixing hole 21, and the fixing pin 22 is inserted. Thereby, the angle of the outer box 14 with respect to the arm 12 can be fixed to the angle corresponding to each fixing hole.

Further, the maximum fixing hole 23 is on the base end side of the inner box 15, the minimum fixing hole 24 is on the tip end side of the inner box 15, and the inner box 15 is intermediate between the maximum fixing hole 23 and the minimum fixing hole 24. Each fixing hole 27 is provided. Then, the fixing pin 25 is inserted by coaxially superimposing the maximum fixing hole 23, the intermediate fixing hole 27, or the minimum fixing hole 24 of the inner box 15 on the telescopic fixing hole 26 at the tip of the outer box 14. Thereby, depending on the combination with the fixed angle of the outer box 14, the total lengths of the outer box 14 and the inner box 15 can be changed and fixed so that the overhang distance Lf of the outrigger is the longest, the intermediate length (plural) or the shortest. ..

An outrigger expansion angle detector 30 for detecting the horizontal expansion angle of the outrigger (bracket 11) is mounted on the outrigger rotation shaft 10. A potentiometer, an encoder, or the like is used for the outrigger expansion angle detector 30.
An outrigger grounding detector 31 for detecting that the outrigger float 16 has touched the ground is attached to the base end portion of the outrigger cylinder 13. A limit switch, a proximity switch, a load cell, or the like is used for the outrigger grounding detector 31.

On the tip side of the arm 12, an arm angle detector 32 for detecting the angle of the arm 12, a fixing pin 22 inserted into the maximum overhanging fixing hole 19 of the outer box 14, and a minimum overhanging fixing hole. An outer box angle detector 33 that detects that the fixing pin 22 has been inserted is attached to the 20. A potentiometer or encoder is used for the arm angle detector 32, a limit switch, a proximity switch, or the like is used for the outer box angle detector 33. Here, since the angles of the outer box 14 when the fixing pin 22 is inserted into the maximum overhanging fixing hole 19 and when the fixing pin 22 is inserted into the minimum overhanging fixing hole 20, the fixing pin 22 is known. It is possible to specify the angle depending on which fixing hole the is inserted into.

An inner box length detector 34 for detecting the extended length of the inner box 15 is attached to the outer box 14. A limit switch, a proximity switch, a potentiometer, or the like is used for the inner box length detector 34.
Further, a calculation control unit 100 (not shown), an overload handling unit 101 (not shown), and a display unit 102 (not shown) are provided at appropriate positions in the crane 1. The overload handling unit 101 includes a device that outputs a sound such as an alarm buzzer and automatically stops the hydraulic circuit. The display unit 102 includes a liquid crystal display, an organic EL display, and the like.

As shown in FIG. 3, the arithmetic control unit 100 includes an out-trigger deployment angle detector 30, an arm angle detector 32, an outer box angle detector 33, an inner box length detector 34, an out-trigger grounding detector 31, and a load detector 42. , Boom length detector 40, boom angle detector 41, and boom turning angle detector 43 are connected, and signals from each detector are input. Further, an overload handling unit 101 and a display unit 102 are connected to the arithmetic control unit 100.

The arithmetic control unit 100 executes the overload prevention control process based on the signals from each detector, and determines whether or not the crane 1 is in the overload state. Then, when it is determined that the overload state is present, a signal is output to the overload coping unit 101.
Further, the arithmetic control unit 100 executes the outrigger screen display processing based on the signal from each detector and the arithmetic result in the overload prevention control processing, and outputs the outrigger screen image display signal to the display unit 102 in a timely manner. It has become like. Here, the outrigger screen is an image schematically showing the body of the crane 1 and each outrigger A, B, C, D, a character image showing the ground contact state of each outrigger A, B, C, D, each outrigger A, It is a screen including the character image which shows the expansion angle of B, C, D, the character image which shows the rated load performance set in the virtual area which will be described later, and the like. The image schematically showing the outriggers is displayed at a length corresponding to the actual overhanging state of the outriggers and at a position corresponding to the actual deployment angle.

When performing crane work, first, when the outriggers A, B, C, and D are projected in a direction to be extended, the outriggers A, B, C, and D are horizontally rotated radially. At this time, the frame 2 and the bracket 11 are fixed with pins (not shown) so that the outriggers A, B, C, and D do not rotate during the crane operation. After that, the outer box 14 is expanded, the angle fixing hole (not shown) of the outer box 14 is aligned with the maximum overhanging fixing hole 19 or the minimum overhanging fixing hole 20, and the fixing pin 22 is inserted.

Next, the inner box 15 is pulled out, the telescopic fixing hole 26 of the outer box 14 is aligned with the maximum fixing hole 23, the intermediate fixing hole 27 or the minimum fixing hole 24 of the inner box 15, and the fixing pin 25 is inserted. Then, the outrigger cylinder 13 is extended and the outrigger float 16 is grounded. At this time, the outrigger cylinder 13 is extended until the lower surface of the crawler of the traveling body 3 is separated from the ground (for example, about 50 mm). The outrigger installation work is not limited to the configuration performed manually by the operator as described above, but may be configured to be performed automatically by the actuator.

Here, the out trigger expansion angle detector 30, the arm angle detector 32, the outer box angle detector 33, the inner box length detector 34, the out trigger grounding detector 31, the load detector 42, the boom length detector 40, and the boom angle detection. A moment limiter device is composed of a device 41, a boom turning angle detector 43, an arithmetic control unit 100, an overload handling unit 101, and a display unit 102.

(Overload prevention control processing)
Hereinafter, an example of the processing procedure of the overload prevention control process executed by the arithmetic control unit 100 will be described in detail with reference to FIGS. 4 to 6.
That is, when the calculation control unit 100 starts the overload prevention control process, first, as shown in FIG. 4, the process proceeds to step S1.
In step S1, it is determined whether or not the outrigger floats 16 of the outriggers A, B, C, and D are in a grounded state based on the signal from the outrigger grounding detector 31. Then, when it is determined that the state is grounded (Yes), the process proceeds to step S2, and when it is determined that the state is not grounded (No), the process returns to step S1.

When the process proceeds to step S2, the outrigger expansion angle detectors 30, arm angle detectors 32, outer box angle detectors 33, and inner box length detectors 34 of each outrigger A, B, C, and D are used. Based on the signal, the center coordinates (relative coordinates) of the outrigger float 16 with the reference position (for example, boom turning center B0) of the crane 1 stored in advance in the memory 100a of the arithmetic control unit 100 as the origin are calculated, and step S3. Move to.
In step S3, a virtual line that is a virtual straight line passing through the boom turning center B0 and the center coordinates of each outrigger float 16 is set as the rated load switching lines La, Lb, Lc, and Ld, and the process proceeds to step S4.

Specifically, as shown by the broken lines in FIGS. 5 and 6, the center coordinates of the boom turning center B0 and each outrigger float 16 indicated by white circles and black circles in the same figure (center coordinates corresponding to the current ground contact position). Set a virtual line that is a virtual straight line passing through. In FIGS. 5 and 6, the rated load switching lines La, Lb, Lc, and Ld at each horizontal deployment angle when the overhang distance Lf is the longest are shown by broken lines. Further, the area on the front side of the aircraft sandwiched between the rated load switching lines La and Lb is defined as the front virtual area, and the area on the right side of the aircraft sandwiched between the rated load switching lines Lb and Lc is defined as the right virtual area, and the rated load switching is performed. The area on the rear side of the aircraft sandwiched between the lines Lc and Ld is defined as the rear virtual area, and the area on the left side of the aircraft sandwiched between the rated load switching lines Ld and La is defined as the left virtual area. Further, when it is not necessary to distinguish between the front virtual area, the right virtual area, the rear virtual area, and the left virtual area, it is simply referred to as a "virtual area".

In step S4, the rated load performance in the front virtual area, the right virtual area, the rear virtual area, and the left virtual area are set based on the center coordinates of the outrigger floats 16 of the two outriggers adjacent to each other in the boom turning direction. Move to S5.
Here, as shown by the alternate long and short dash line in FIGS. 5 and 6, rated load table determination lines LwF, LwR, LwB and LwL are set on the front, right side, rear side and left side of the body of the crane 1. There is. The rated load table determination lines LwF, LwR, LwB and LwL are preset with predetermined values on the front, right side, rear side and left side based on the stability of the crane 1. Further, the rated load table determination lines LwF, LwR, LwB and LwL are set by four virtual straight lines and form a square surrounding the body portion of the crane 1.

Specifically, the rated load table determination lines LwF and LwB on the front side and the rear side of the machine body are composed of straight lines along the left-right direction of the machine body. The rated load table determination line LwF is a boundary line that determines whether or not the position of the center coordinates of the two outrigger floats A and B on the front end side is the position where the maximum rated load performance can be exhibited. Further, the rated load table determination line LwB is a boundary line that determines whether or not the position of the center coordinates of the two outrigger floats C and D on the rear end side is the position where the maximum rated load performance can be exhibited. Is. That is, the rated load table determination lines LwF and LwB must be exceeded at least in order for the crane 1 to exhibit the maximum lifting performance when the tip of the boom 5 faces the front virtual area side and the rear virtual area side. It is a virtual line that defines the necessary and sufficient overhang distance.

In the first embodiment, the rated load table determination lines LwF and LwB are both set at the positions of the shortest overhang distances where the maximum rated load performance can be exhibited, and the center coordinates of the outrigger float 16 are the rated load table determination lines LwF. And when it is on the line of LwB and outside of LwF and LwB, it is judged that the maximum rated load performance can be exhibited.
That is, as shown in FIG. 5, when the center coordinates of the outrigger float 16 are at the positions indicated by the black circles in the figure, the center coordinates are located on or outside the rated load table determination lines LwF and LwB. , It will be a position where the maximum rated load performance can be exhibited. On the other hand, when the center coordinates of the outrigger float 16 are at the positions indicated by the white circles in FIG. 5, the center coordinates are located inside the rated load table determination lines LwF and LwB, and the maximum rated load performance should be exhibited. It will be a bad position.

On the other hand, as shown by the alternate long and short dash line in FIGS. 5 and 6, the rated load table determination lines LwR and LwL on the right side and the left side of the airframe are composed of straight lines along the front-rear direction of the airframe. The rated load table determination line LwR is a boundary line that determines whether or not the position of the center coordinates of the two outrigger floats B and C on the right side is the position where the maximum rated load performance can be exhibited. .. Further, the rated load table determination line LwL is a boundary line that determines whether or not the position of the center coordinates of the two outrigger floats A and D on the left side is the position where the maximum rated load performance can be exhibited. Is. That is, the rated load table determination lines LwR and LwL must be exceeded at least in order for the crane 1 to exhibit the maximum lifting performance when the tip of the boom 5 faces the right virtual area side and the left virtual area side. It is a virtual line that defines the necessary and sufficient overhang distance.

In the first embodiment, when the position is set to the shortest distance where the maximum rated load performance can be exhibited and the center coordinates of the outrigger float 16 are on the rated load table determination lines LwR and LwL and outside of LwR and LwL. Is judged to be able to demonstrate the maximum rated load performance.
That is, as shown in FIG. 6, when the center coordinates of the outrigger float 16 are at the positions indicated by the black circles in the figure, the center coordinates are located on or outside the rated load table determination lines LwR and LwL. , It will be a position where the maximum rated load performance can be exhibited. On the other hand, when the center coordinates of the outrigger float 16 are at the positions indicated by the white circles in the figure, the center coordinates are located inside the rated load table determination lines LwR and LwL, and the maximum rated load performance should be exhibited. It will be a bad position.

Here, the rated load table determination lines LwF, LwR, LwB, and LwL are set at positions separated from the airframe (for example, the boom turning center B0) by a certain distance. As shown, it differs between the front-rear direction and the left-right direction of the aircraft.
In the first embodiment, the center coordinates of the outrigger floats 16 of the two outriggers adjacent to each other in the boom turning direction are on or off the line of the rated load table determination line, respectively, based on the combination of whether or not the center coordinates of each virtual area are located. Determine the rated load performance.

Specifically, for the front virtual area and the rear virtual area, as shown in FIG. 5, the positions of the center coordinates of the outrigger floats 16 of the two outriggers on the front end side and the rear end side of the aircraft are both black circles. If it is a combination that becomes, it is judged as the maximum rated load performance. On the other hand, if both are combinations with white circles, it is determined to be the minimum rated load performance, and if one is a combination with white circles and the other is black circles, it is determined to be intermediate rated load performance. Then, the rated load performance of the determination result is set in the corresponding virtual area.

On the other hand, for the right virtual area and the left virtual area, as shown in FIG. 6, the positions of the center coordinates of the outrigger floats 16 of the two outriggers on the right end side and the left end side of the aircraft are both black circles. If the combination is the same, it is judged to be the maximum rated load performance. On the other hand, if both are combinations with white circles, it is determined to be the minimum rated load performance, and if one is a combination with white circles and the other is black circles, it is determined to be intermediate rated load performance. Then, the rated load performance of the determination result is set in the corresponding virtual area.

Here, as the rated load table, a table corresponding to each of the maximum rated load performance, the intermediate rated load performance, and the minimum rated load performance is stored in advance in the memory 100a of the arithmetic control unit 100. Each rated load table is a table in which rated load values corresponding to a plurality of different working radii of the crane 1 are registered.
The difference in each performance is, for example, even if the working radius is the same, the rated load value is 3 [t] for the maximum rated load performance, the rated load value is 2 [t] for the intermediate rated load performance, and the rated load for the minimum rated load performance. The value is set to be inferior in the order of maximum rated load performance, intermediate rated load performance, and minimum rated load performance, such as 1 [t].

Returning to FIG. 4, in step S5, the rated load table corresponding to the rated load performance set in the virtual area on the direction side facing the tip of the boom 5 from the machine body by the signal from the boom turning angle detector 43. Is selected as the rated load table used for calculating the rated load value, and the process proceeds to step S6.
In step S6, the working radius of the crane 1 is calculated based on the signals from the boom length detector 40 and the boom angle detector 41, and the process proceeds to step S7.

In step S7, the rated load value for the working radius obtained in step S6 is calculated based on the rated load table selected in step S5, and the process proceeds to step S8.
In step S8, the actual load value is calculated based on the signal from the load detector 42, and it is determined whether or not the calculated actual load value is equal to or greater than the rated load value calculated in step S7. Then, when it is determined that the load value is equal to or higher than the rated load value (Yes), the process proceeds to step S9, and when it is determined that the load value is not equal to or higher than the rated load value (No), the process proceeds to step S1.

In step S9, a signal is output to the overload handling unit 101, and the process proceeds to step S1.
As a result, the overload handling unit 101 outputs an alarm sound, automatically stops the hydraulic circuit, and the like.
After that, the series of processes of steps S1 to S8 or S1 to S9 are repeatedly executed in a preset cycle.

(motion)
Next, the actual operation of the crane 1 provided with the moment limiter device according to the first embodiment will be described with reference to FIGS. 7 and 8.
Now, it is assumed that the outriggers A, B, C, and D are installed in an overhanging state as shown in FIG. 7, for example.

The moment limiter device of the crane 1 determines whether or not all of the outrigger floats 16 of the outriggers A, B, C, and D are in the grounded state based on the signal from the outrigger grounding detector 31. Then, when it is determined that all of them are in the grounded state, the signals from the detectors 30, 31, 32, 33, 34, 40, 41, 42 and 43 of the outriggers A, B, C and D are then determined. Based on the boom turning center B0 stored in the memory 100a, the center coordinates of the outrigger floats 16 of the outriggers A, B, C, and D are calculated respectively. As a result, the coordinates of the positions indicated by the black circles in FIG. 7 can be obtained.

Subsequently, as shown by the alternate long and short dash line in FIG. 7, the moment limiter device sets a virtual straight line passing through the boom turning center B0 and the center coordinates of each outrigger float 16 as the rated load switching lines La, Lb, Lc, and Ld. ..
Further, as shown by the broken line in FIG. 7, the rated load table determination lines LwF, LwR, LwB and LwL are set around the crane 1 so as to surround the machine body portion with a square.
Subsequently, the moment limiter device is based on the center coordinates of each outrigger float 16 and the rated load table determination lines LwF, LwR, LwB, and LwL, and the virtual area between the two rated load switching lines adjacent to each other in the boom turning direction. Set the rated load performance for.

Specifically, in the example shown in FIG. 7, since the forward center coordinates of the outrigger floats 16 of the outrigger A and the outrigger B are both inside the rated load table determination line LwF, the rated load switching line La and The minimum rated load performance is set for the front virtual area between Lb. Similarly, since the center coordinates of the outrigger floats 16 of the outriggers B and the outriggers C to the right are both outside the rated load table determination line LwR, the right virtual area between the rated load switching lines Lb and Lc. The maximum rated load performance is set for. Further, since the center coordinates of the outrigger C and the outrigger D to the rear of each of the outrigger floats 16 are inside the rated load table determination line LwB, the rear virtual area between the rated load switching lines Lc and Ld is used. Therefore, the minimum rated load performance is set. Further, since the center coordinates of the outrigger D and the outrigger A to the left side of the outrigger floats 16 are inside and outside the rated load table determination line LwL, the left virtual area between the rated load switching lines Ld and La On the other hand, the intermediate rated load performance is set.

Subsequently, the moment limiter device selects a rated load table to be used for calculating the rated load value at the current turning position of the boom 5 based on the signal from the boom turning angle detector 43.
In the example shown in FIG. 7, since it can be seen from the boom turning angle that the tip of the boom 5 faces the left side of the airframe, the rated load table corresponding to the intermediate rated load performance set in the left virtual area is selected. ..

Subsequently, the moment limiter device calculates the working radius of the crane 1 based on the signals from the boom length detector 40 and the boom angle detector 41. Then, the rated load value for the calculated working radius is calculated based on the rated load table of the selected intermediate rated load performance.
Subsequently, based on the determined rated load value and the signal from the load detector 42, it is determined whether or not the actual suspension load is equal to or greater than the rated load value. Currently, the crane work is not performed and the suspension load becomes "0", so the overload coping unit 101 is inoperable.

The series of operations from the grounding state detection operation described above (hereinafter referred to as "overload prevention control operation") are repeatedly executed in a preset cycle.
On the other hand, in the moment limiter device, in the arithmetic control unit 100, the outrigger A, B, C, and D detectors 30, 31, 32, 33, 34, 40, 41, 42, and 43, and the overload prevention control process. Generate image data for displaying the outrigger screen based on the calculation result in. Then, the image display signal of the outrigger screen is output to the display unit based on the generated image data.

As a result, for example, the outrigger screen 200 as shown in FIG. 8 is displayed on the display unit. The outrigger screen 200 includes a schematic image 201 of the body portion of the crane 1 displayed in the center of the screen, schematic images 202A and 202B of the outriggers A and B extending diagonally forward from the left and right ends on the front end side thereof, and the rear end side. Includes schematic images 202C and 202D of outriggers C and D extending diagonally rearward from both left and right ends. These schematic images 202A, 202B, 202C and 202D are displayed with lengths and angles corresponding to the actual outrigger A, B, C and D overhang distances and horizontal deployment angles.

In addition, the outrigger screen 200 has "outrigger A", "outrigger B", "outrigger C", and "outrigger D" which are identification information of each outrigger displayed in the upper left, upper right, lower left, and lower right of the screen. The character images 203A, 203B, 203C and 203D are included.
Further, the outrigger screen 200 is displayed on the upper side of the character images 205A and 205B and the character images 203C and 203D showing the ground contact state of the outrigger floats 16 of the outriggers A and B displayed on the lower side of the character images 203A and 203B. Character images 205C and 205D showing the ground contact state of the outrigger floats 16 of the outriggers C and D are included. In the example shown in FIG. 8, since the outriggers A, B, C, and D are all in the grounded state, the character images of "grounded" are displayed as the character images 205A, 205B, 205C, and 205D. There is. If it is not in the grounded state, for example, a character image of "not grounded" is displayed.

Further, the outrigger screen 200 has a fixing pin 22 and a fixing pin 22 to each fixing hole for fixing the expansion angle of the outriggers A and B displayed on the lower side of the character images 205A and 205B, the undulation angle of the outer box, and the extension position of the inner box. Character images 206A and 206B showing the insertion state of 25, and character images 206C and 206D showing the insertion state of the fixing pin 22 into the same fixing holes of the outriggers C and D displayed on the upper side of the character images 205C and 205D. And include.

In the example shown in FIG. 8, since the fixing pins 22 and 25 are inserted into the fixing holes of each of the outriggers A, B, C, and D, the character images 206A, 206B, 206C, and 206D are used. In both cases, the character image of "Insert pin" is displayed. If at least one of the fixing pins 22 and 25 is not inserted, for example, a character image of "pin not inserted" is displayed.

Further, the outrigger screen 200 has character images 207A and 207B showing the expansion angles of the outriggers A and B displayed on the lower side of the schematic images 202A and 202B, and outriggers C and D displayed on the upper side of the schematic images 202C and 202D. Includes character images 207C and 207D showing the expansion angle of.
In the example shown in FIG. 8, as the character images 207A, 207B, 207C and 207D, "110 °", "115 °", "103 °" and "103 °" indicating the actual deployment angles of the outriggers A, B, C and D are shown. The character image of "103 °" is displayed.

Furthermore, the outrigger screen 200 is a fan-shaped area image 204A showing the expansion range and the overhang range of the outriggers A, B, C, and D displayed in the upper left, upper right, lower right, and lower left of the schematic image 201. Includes 204B, 204C, 204D.
Further, the out-trigger screen 200 has a line image 210LwF corresponding to the rated load table determination line LwF displayed in the fan-shaped area of the area images 204A and 204B, and a rating displayed in the fan-shaped area of the area images 204C and 204D. The line image 210LwB corresponding to the load table determination line LwB is included. In addition, the line image 210LwL corresponding to the rated load table determination line LwL displayed in the fan-shaped area of the area images 204A and 204D and the rated load table determination line displayed in the fan-shaped area of the area images 204B and 204C. The line image 210LwR corresponding to LwR is included.

Further, the out-trigger screen 200 is displayed on the left side of the character images 208F and 208B and the character images 207A and 207D showing the rated load performance of the front virtual area and the rear virtual area displayed on the upper side and the lower side of the schematic image 201. It includes a character image 208L showing the rated load performance of the left virtual area and a character image 208R showing the rated load performance of the right virtual area displayed on the right side of the character images 207B and 207C.

From the outrigger screen 200, the unfolded and overhanged states of the outriggers A, B, C, and D, the grounding position of each outrigger float 16 of the outriggers A, B, C, and D, and the grounding position (strictly speaking, the center coordinates) are displayed. It is possible to easily visually check whether or not the rated load table judgment line is exceeded, the rated load performance of each virtual area, and the like.
Further, the outrigger screen 200 can be displayed in color, and the shaded portion in FIG. 8 is colored according to the outrigger overhanging state, the grounding state, the fixing pin insertion state, and the like. For example, a character image (for example, grounding, pin insertion, etc.) showing a relatively safe state in performing crane work displays a shaded portion in the frame in, for example, green. Further, in the example of FIG. 8, the area of the ground contact position of the outrigger float 16 of each outrigger is displayed in yellow, for example, because it exceeds only one rated load table determination line. If the safety is relatively low, such as ungrounded or not inserted, it is displayed in red, for example. By displaying in color in this way, it is possible to further improve visibility.

After that, when the cargo handling work is started, the moment limiter device starts from each rated load switching line set by the overload prevention control operation, the rated load performance set in each virtual area, and the boom turning angle detector 43. Select the rated load table to be used to calculate the rated load value based on the signal of.
In the example shown in FIG. 7, since it can be seen from the boom turning angle that the tip of the boom 5 faces to the left, it corresponds to the intermediate rated load performance set in the left virtual area between the rated load switching lines Ld and La. The rated load table to be used is selected.

Subsequently, the moment limiter device calculates the working radius of the crane 1 based on the signals from the boom length detector 40 and the boom angle detector 41. Then, the rated load value for the calculated working radius is calculated from the rated load table of the selected intermediate rated load performance.
Subsequently, the actual suspended load is calculated based on the signal from the load detector 42, and it is determined whether or not the actual suspended load is equal to or greater than the previously calculated rated load value. If it is determined that the actual suspension load is equal to or greater than the rated load value, a signal indicating that effect is output to the overload handling unit 101. As a result, the overload coping unit 101 outputs an alarm sound, automatically stops the hydraulic circuit, and the like.

Here, in the first embodiment, the moment limiter device corresponds to the moment limiter device for the boom work machine, and the outrigger expansion angle detector 30, the arm angle detector 32, the outer box angle detector 33, and the inner box length detector 34. Corresponds to the outrigger overhang state detector.
Further, in the first embodiment, the horizontal deployment angles of the outriggers A, B, C, and D, the angles of the arms 12 and the outer boxes 14 constituting the outriggers A, B, C, and D, and each of them. The amount of extension of each inner box 15 constituting the outriggers A, B, C, and D corresponds to the overhanging state.

Further, in the first embodiment, the out-trigger float 16 corresponds to the grounding member, the memory 100a corresponds to the rated load table storage unit, the determination line information storage unit, and the coordinate information storage unit, and the center coordinates of the out-trigger float 16 are grounded. Corresponds to the coordinates.
Further, in the first embodiment, the boom length detector 40, the boom angle detector 41 and the arithmetic control unit 100 correspond to the working radius detection unit, the load detector 42 corresponds to the load detection unit, and the out trigger grounding detector 31 Corresponds to the out trigger grounding detector.

(Action and effect of the first embodiment)
The moment limiter device according to the first embodiment is referred to as an out trigger expansion angle detector 30, an arm angle detector 32, an outer box angle detector 33 and an inner box length detector 34 (hereinafter, referred to as “out trigger overhang state detector”). ) Indicates the horizontal deployment angle of the outer triggers A, B, C, and D, the angle of each arm 12, the angle of each outer box 14, and the extension amount of each inner box 15. ") Is detected. The boom turning angle detector 43 detects the turning angle of the boom 5. The memory 100a of the arithmetic control unit 100 is a rated load table in which a plurality of rated load values corresponding to a plurality of different working radii of the crane 1 are registered, and is a maximum rated load performance, an intermediate rated load performance, and a minimum rated load performance. The rated load table corresponding to each is stored. In addition, the rated load table determination lines LwF, LwR, which are virtual lines that specify the overhang distance that the outrigger floats 16 of the outriggers A, B, C, and D must exceed in order for the crane 1 to exhibit the maximum rated load performance. , LwB and LwL information is stored. Further, the coordinate information of the preset reference position (boom turning center B0) of the crane 1 is stored.

The arithmetic control unit 100 determines the center coordinates of the outrigger floats A, B, C, and D in the grounded state based on the coordinates of the boom turning center B0 and the outrigger state information detected by the outrigger overhang state detector. Calculated as relative coordinates with the coordinates of the boom turning center B0 as the origin. In addition, the virtual straight line passing through the center coordinates of the outrigger floats 16 of the calculated outriggers A, B, C, and D and the boom turning center B0 is set as the rated load switching lines La, Lb, Lc, and Ld. Further, each of the center coordinates of the out trigger floats 16 of the two out triggers adjacent to each other in the turning direction of the boom 5 exceeds the overhang distance specified by the rated load table determination lines LwF, LwR, LwB, and LwL. Based on the combination of whether or not the coordinates are used, the rated load performance in the virtual area sandwiched between the two rated load switching lines corresponding to each of the two out triggers is set. The calculation control unit 100 identifies a virtual area located on the tip end direction side of the boom 5 from the machine body based on the turning angle of the boom 5 detected by the boom turning angle detector 43. In addition, among the plurality of rated load tables stored in the memory 100a, the rated load value at the current working radius of the crane 1 is calculated using the rated load table corresponding to the rated load performance set in the specified virtual area. do.

With such a configuration, when the outriggers A, B, C, and D are extended to arbitrary positions, the center coordinates of each outrigger float 16 at the time of touchdown are calculated, and the center coordinates and the boom turning center B0 are used. It is possible to set the rated load switching lines La, Lb, Lc, and Ld. Further, based on the center coordinates of the out-trigger floats 16 of the two out-triggers adjacent to each other in the turning direction of the boom 5 and the rated load table determination lines LwF, LwR, LwB, and LwL, two of each adjacent to the turning direction of the boom 5. It is possible to set an appropriate rated load performance from among the rated load performances of multiple stages (three stages in the first embodiment) for the virtual area between the rated load switching lines. Furthermore, a virtual area on the tip end direction side of the boom 5 is specified from the aircraft according to the turning angle of the boom 5, and the crane 1 uses a rated load table corresponding to the rated load performance set in the specified virtual area. It is possible to calculate the rated load value corresponding to the current working radius.

This makes it possible to set the rated load performance more finely for a plurality of different working postures of the crane 1 (outriggers A, B, C, D overhanging state and boom 5 posture), and the performance of the crane 1 can be set. It is possible to prevent or suppress overload work while fully utilizing the above. In addition, the rated load switching line, rated load table judgment line, etc. are set and the rated load performance of each virtual area is set based on the positional relationship between these and the boom and out trigger float, so it is possible to perform simple calculation processing. It is possible to set an appropriate rated load performance. In addition, the rated load switching line and the rated load table determination line are easy to visualize, and it is possible to easily visualize and display these relationships including the overhanging state of the outriggers.

Further, in the moment limiter device according to the first embodiment, the arithmetic control unit 100 has the rated load table determination lines LwF, LwR, in which the center coordinates of the outrigger floats 16 of the two outriggers adjacent to each other in the turning direction of the boom 5 are both. When it is determined that the coordinates exceed the overhang distance specified by LwB and LwL, the maximum rated load performance is set for the corresponding virtual area. In addition, when it is determined that only one of the center coordinates of the out trigger float 16 of each of the two out triggers exceeds the overhang distance specified by the rated load table determination lines LwF, LwR, LwB, and LwL. Set the intermediate rated load performance for the corresponding virtual area. Further, it corresponds to the case where it is determined that the center coordinates of the out trigger float 16 of each of the two out triggers do not exceed the overhang distances specified by the rated load table determination lines LwF, LwR, LwB, and LwL. Set the minimum rated load performance for the virtual area.

With such a configuration, it is possible to appropriately set the rated load performance in three stages of maximum rated load performance, intermediate rated load performance, and minimum rated load performance for each virtual area. It is possible to set the rated load performance more finely with respect to the protruding state and the posture of the boom.

Further, in the moment limiter device according to the first embodiment, the boom length detector 40, the boom angle detector 41 and the arithmetic control unit 100 detect the working radius of the crane 1, and the load detector 42 is the actual load. Detect the load. The overload handling unit 101 takes measures including at least one of the output of an alarm for the overload state of the crane 1 or the stop of the work operation due to the automatic stop of the hydraulic circuit in response to the signal from the arithmetic control unit 100. The calculation control unit 100 calculates the rated load value for the work radius detected based on the boom length and the boom angle from the rated load table of the rated load performance corresponding to the virtual area located on the tip end direction side of the boom 5 from the machine body. Then, the calculated rated load value and the actual suspension load calculated based on the signal from the load detector 42 are compared, and when the actual suspension load is equal to or more than the rated load value, it is determined that the crane 1 is in the overloaded state. ..

With such a configuration, when it is determined that the crane 1 is in an overload state, a signal is output to the overload coping unit 101, so that the overload coping unit 101 emits an alarm sound by an alarm buzzer. It is possible to take measures such as the output of the crane 1 and the stop of the working operation of the crane 1 due to the automatic stop of the hydraulic circuit.
Further, in the moment limiter device according to the first embodiment, the outrigger grounding detector 31 detects the grounding state of each of the outriggers A, B, C, and D. When the arithmetic control unit 100 detects the grounding state of each outrigger float 16 of the outriggers A, B, C, and D, the rated load switching line setting process and the rated load performance setting process are performed by the outrigger grounding detector 31. , The virtual area identification process, the rated load value determination process, the overload state determination process, and the signal output process to the overload coping unit 101 in the overload state are performed.

With such a configuration, the rated load switching line setting process and rated load performance are set at the timing when the outrigger floats 16 of the outriggers A, B, C, and D are all in contact with the ground and in a relatively stable state. It becomes possible to carry out the processing. This makes it possible to set the rated load switching line at an appropriate position and improve the setting accuracy of the rated load performance.

Further, the crane 1 according to the first embodiment has outriggers A, B, C, and D that can be freely deployed and extended around the airframe, and can turn around a vertical axis via a column 4 on the upper part of the airframe. The boom 5 provided and the moment limiter device are provided.
With such a configuration, the same operation and effect as the moment limiter device can be obtained.

(Second Embodiment)
Next, a second embodiment of the present invention will be described.
In the first embodiment, when the grounding state of each of the out trigger floats A, B, C, and D is detected based on the signal from the out trigger grounding detector 31, the rated load switching line setting process and the rated load performance are performed. The setting process, the virtual area identification process, the rated load value determination process, the overload state determination process, and the signal output process to the overload coping unit 101 in the overload state are performed. On the other hand, in the second embodiment, the operation mode of the crane is determined, and when it is determined that the operation mode is the crane mode, each of the above processes is performed.
Hereinafter, the same parts as those in the first embodiment are designated by the same reference numerals, description thereof will be omitted as appropriate, and different parts will be described in detail.

(Constitution)
The crane 1 according to the second embodiment has an outrigger mode, which is a mode in which outrigger installation operations (deployment operation and extension operation) can be performed, and a crane, which is a mode in which operations related to crane work can be performed, as operation modes. It has a mode and a traveling mode which is a mode in which a traveling operation can be performed. Further, a mode changeover switch (not shown) for switching between these modes is provided. The mode changeover switch is connected to the calculation control unit 100, and information indicating the changeover state of the mode changeover switch is input to the calculation control unit 100.

If the crane 1 has a remote control device, the remote control device is also equipped with a mode changeover switch. In this case, a wireless signal including information indicating the changeover state of the mode changeover switch is remote. It is wirelessly transmitted from the operating device to the crane 1. The crane 1 includes a receiver (not shown) connected to the arithmetic control unit 100, and receives a radio signal by this receiver. The receiver extracts the switching information included in the received radio signal, and inputs the extracted switching information to the arithmetic control unit 100.

The arithmetic control unit 100 according to the second embodiment performs each of the above processes when it is determined that the operation mode of the crane 1 is the crane mode based on the input information indicating the switching state of the mode changeover switch.
The crane 1 of the second embodiment operates related to the crane operation even if the crane mode is switched to when the outrigger floats 16 of the outriggers A, B, C, and D are not in the grounded state or when there is another problem. It has an interlock function that prevents it from being performed (hereinafter referred to as "crane operation"). That is, when the operation mode is the crane mode and the crane operation is possible, each outrigger float 16 is in a grounded state and is in a stable state where the crane operation can be performed. Therefore, in the second embodiment, this is processed. It is used as a trigger for.

(Overload prevention control process of the second embodiment)
Hereinafter, an example of the processing procedure of the overload prevention control processing of the second embodiment executed by the calculation control unit 100 will be described with reference to FIG.
That is, in the second embodiment, when the calculation control unit 100 starts the overload prevention control process, first, as shown in FIG. 9, the process proceeds to step S11.

In step S11, it is determined whether or not the operation mode of the crane 1 is set to the crane mode based on the signal from the mode changeover switch or the signal indicating the state of the mode changeover switch from the remote control device. Then, when it is determined that the crane mode is set (Yes), the process proceeds to step S12, and when it is determined that the crane mode is not set (No), the process returns to step S11.
Subsequent processes of steps S12 to S19 are the same as the processes of steps S2 to S9 of the first embodiment, and thus the description thereof will be omitted.
Further, since the operations other than the operation for determining the operation mode of the crane 1 are the same as those in the first embodiment, the description of the subsequent operations will be omitted.

(Action and effect of the second embodiment)
In the moment limiter device according to the second embodiment, when the operation mode of the crane 1 is set to the crane mode, the arithmetic control unit 100 sets the rated load switching line, sets the rated load performance, and virtualizes. Area identification processing, rated load value determination processing, overload state determination processing, and signal output processing to the overload handling unit 101 in the overload state are performed.

With this configuration, it is possible to carry out each of the above processes when the crane mode is set, so compared to the configuration of the first embodiment in which the ground contact state is detected and the processes are carried out, Since processing is not performed in the outrigger mode, it is possible to reduce the calculation load. Further, since the crane 1 of the second embodiment has an interlock function, even if some problem occurs during the setting of the crane mode, the crane operation is not performed. Therefore, for example, an inappropriate rated load value. Even if is calculated, it does not apply and therefore does not impair safety.

(Third Embodiment)
Next, a third embodiment of the present invention will be described.
In the first embodiment, the rated load table is switched with the rated load switching lines La, Lb, Lc, and Ld as boundaries, but in the third embodiment, before and after the rated load switching lines La, Lb, Lc, and Ld. Set the rated load switching area within the specified turning angle range of. Then, when the tip of the boom 5 faces the rated load switching region side, the rated load table corresponding to the inferior performance of the rated load performance set in each of the two adjacent virtual areas is selected. It is different from the first embodiment.
Hereinafter, the same parts as those in the first embodiment are designated by the same reference numerals, description thereof will be omitted as appropriate, and different parts will be described in detail.

(Constitution)
After setting the rated load switching lines La, Lb, Lc, and Ld, the arithmetic control unit 100 according to the third embodiment further determines the front and rear of the rated load switching lines La, Lb, Lc, and Ld. The rated load switching areas Aa, Ab, Ac, and Ad are set in the turning angle range of.

Here, in the rated load switching areas Aa, Ab, Ac, and Ad, the rating corresponding to the minimum rated load performance when switching from the virtual area where the minimum rated load performance is set to the virtual area where other performance is set. The load rating is applied as it is. In addition, the rated load table corresponding to the minimum rated load performance is applied before switching from the virtual area where the maximum rated load performance or the intermediate rated load performance is set to the virtual area where the minimum rated load performance is set. Ru.
That is, when the tip of the boom 5 of the arithmetic control unit 100 of the third embodiment faces any one of the rated load switching areas Aa, Ab, Ac, and Ad, the rated load switching area is set. The rated load table corresponding to the inferior performance of the rated load performance set in each of the two virtual areas adjacent to the center of the rated load switching line is selected.

(Overload prevention control process of the third embodiment)
Hereinafter, an example of the processing procedure of the overload prevention control processing of the third embodiment executed by the calculation control unit 100 will be described with reference to FIG.
That is, in the third embodiment, when the calculation control unit 100 starts the overload prevention control process, first, as shown in FIG. 11, the process proceeds to step S21.
Here, since the processes in steps S21 to S24 are the same as those in steps S1 to S4 of the first embodiment, the description thereof will be omitted.

In step S25, the rated load switching areas Aa, Ab, Ac, and Ad are set in the predetermined turning angle range before and after the rated load switching lines La, Lb, Lc, and Ld, respectively, and the process proceeds to step S26. do.
In step S26, the signal from the boom turning angle detector 43 is used to determine the subsequent rated load value based on the rated load switching area or the virtual area other than the rated load switching area in the direction in which the tip of the boom 5 is facing from the machine body. The rated load table used for the calculation is selected, and the process proceeds to step S27.
Since the subsequent processes of steps S27 to S30 are the same as the processes of steps S5 to S9 of the first embodiment, the description thereof will be omitted.

(Rated load table selection process)
Next, an example of the processing procedure of the rated load table selection process executed in step S26 will be described with reference to FIG.
That is, when the rated load table selection process is executed in step S26, first, as shown in FIG. 12, the process proceeds to step S261.

In step S261, it is determined whether or not the tip of the boom 5 faces any one of the rated load switching regions Aa, Ab, Ac, and Ad based on the signal from the boom turning angle detector 43. Then, if it is determined that it is suitable (Yes), the process proceeds to step S262, and if it is determined that it is not suitable (No), the process proceeds to step S264.
When the process proceeds to step S262, it is determined whether or not the rated load performance is inferior in the virtual area adjacent to the rated load switching area to which the tip of the boom 5 faces and the adjacent rated load switching line. If it is determined to be inferior (Yes), the process proceeds to step S263, and if it is determined not to be inferior (No), the process proceeds to step S264.

When the process proceeds to step S263, the rated load table corresponding to the inferior rated load performance is selected as the rated load table used for calculating the rated load value, and a series of processes are completed to return to the original process. ..
On the other hand, when the process proceeds to step S264, a rated load table corresponding to the rated load performance set in the virtual area facing the tip of the boom is selected as the rated load table used for calculating the rated load value, and a series of processes are performed. It ends and returns to the original processing.

(motion)
Next, the operation of the crane 1 provided with the moment limiter device according to the third embodiment will be described with reference to FIG.
Now, for example, it is assumed that the outriggers A, B, C, and D are installed in an overhanging state as shown in FIG.

The operation from the operation of detecting the ground contact state of each outrigger float 16 to the setting of the rated load performance in each virtual area is the same as that of the first embodiment. The operation of setting Ac and Ad will be described first.
When the moment limiter device of the crane 1 completes the setting of the rated load performance for each virtual area, next, the predetermined turning angle range before and after the rated load switching lines La, Lb, Lc, and Ld are centered. The rated load switching areas Aa, Ab, Ac, and Ad are set in. Specifically, the rated load switching area Aa before and after the rated load switching line La, the rated load switching area Ab before and after the rated load switching line Lb, and the rated load switching area Ac before and after the rated load switching line Lc are rated. The rated load switching area Ad is set before and after the load switching line Ld.

Subsequently, the moment limiter device selects a rated load table to be used for calculating the rated load value at the current turning position of the boom 5 based on the signal from the boom turning angle detector 43.
For example, when the tip of the boom 5 faces the rated load switching area Aa side, the moment limiter device has the minimum rated load performance on the front side between the front virtual area and the left virtual area adjacent to each other across the rated load switching line La. Since the left side is the intermediate rated load performance, in the rated load switching area Aa, the rated load table corresponding to the minimum rated load performance of the one with the inferior rated load performance is selected.

Similarly, for example, when the tip of the boom 5 faces the rated load switching area Ab, the front virtual area is the minimum rated load performance and the right virtual area is the maximum among the adjacent virtual areas across the rated load switching line Lb. Since it is the rated load performance, select the rated load table corresponding to the inferior minimum rated load performance.
Further, for example, when the tip of the boom 5 faces the rated load switching area Ac side, the right virtual area is the maximum rated load performance and the rear virtual area is the minimum rated among the adjacent virtual areas across the rated load switching line Lc. Since it is a load performance, select a rated load table that corresponds to the inferior minimum rated load performance.

Further, for example, when the tip of the boom 5 faces the rated load switching area Ad side, the rear virtual area is the minimum rated load performance and the left virtual area is the intermediate rating among the adjacent virtual areas across the rated load switching line Ld. Since it is a load performance, select a rated load table that corresponds to the inferior minimum rated load performance.
Since the subsequent operations are the same as those in the first embodiment, the description thereof will be omitted.

(Action and effect of the third embodiment)
The third embodiment exhibits the following actions and effects in addition to the same actions and effects as those of the first embodiment.
In the moment limiter device according to the third embodiment, the arithmetic control unit 100 has rated load switching areas Aa, Ab, which are predetermined turning angle regions before and after the turning direction of the boom 5 of the rated load switching lines La, Lb, Lc, and Ld. , Ac, Ad are set. In addition, when any one of the rated load switching areas Aa, Ab, Ac, and Ad is located on the tip direction side of the boom 5 from the machine body, they are adjacent to each other across the rated load switching line adjacent to the rated load switching area. Of the rated load performances set in the two virtual areas, the rated load table corresponding to the rated load performance of the one with inferior performance is selected. Then, the rated load value at the current working radius is calculated using the selected rated load table.

With such a configuration, for example, when the boom is swiveled from a virtual area with good rated load performance to a virtual area with poor rated load performance while the load is lifted by crane work, the rated load switching line La , Lb, Lc, Ld are selected before the rated load table with inferior rated load performance is selected. As a result, it is possible to switch the performance from a little before the area where it is easy to fall, so that safer crane work becomes possible. In addition, it is possible to absorb the error due to the mechanical rattling of the crane 1 and the error due to the rattling of the detector.

(Modification example)
In each of the above embodiments, three types of rated load tables corresponding to the three stages of performance of maximum rated load performance, intermediate rated load performance, and minimum rated load performance have been described as examples, but the configuration is not limited to this. For example, another configuration may be used, such as a configuration having two types of rated load tables corresponding to the performance of two stages, or a configuration having four or more types of rated load tables corresponding to the performance of four or more stages.

Further, in each of the above embodiments, the extension distance at which the center coordinates of the outrigger floats 16 of the two adjacent outriggers can exhibit the maximum rated load performance defined by the rated load table determination lines LwF, LwR, LwB, and LwL. The rated load performance is judged by the combination of whether or not it exceeds. Not limited to this, for example, a new rated load table judgment line is set at the position of the shortest overhang distance where the intermediate rated load performance can be exhibited, and the virtual area is divided into three areas where the center coordinates are three. The rated load performance may be determined by the combination of the positions. In addition, for example, if the rated load table judgment line is set at the position of the shortest overhang distance where the minimum rated load performance can be exhibited and the center coordinates are not at a position greater than this overhang distance, the center coordinates are set. The rated load table may not be applied because it is in the work prohibited area.

Further, in each of the above embodiments, a fixed line is used as the rated load table determination line for determining the rated load performance, but the configuration is not limited to this. For example, when the rated load performance changes due to mounting a counterweight on the machine body, the rated load table determination line may be made variable according to such a change.
Further, in each of the above embodiments, the crawler crane has been described as an example of the boom working machine equipped with the moment limiter device according to the present invention, but the present invention is not limited to this. The present invention is applicable not only to crawler cranes but also to other cranes and various boom working machines other than cranes such as aerial work platforms, as long as the working machines are provided with booms and outriggers.

1 Crawler crane 2 Frame 3 Vehicle 4 Column 5 Boom 6 Outrigger cylinder 10 Outrigger rotation shaft 11 Bracket 12 Arm 13 Outrigger cylinder 14 Outrigger box 15 Inner box 16 Outrigger float 17 Arm outrigger shaft 18 Outrigger expansion angle detector 31 Outrigger grounding detector 32 Arm angle detector 33 Outrigger angle detector 34 Inner box length detector 40 Boom length detector 41 Boom angle detector 42 Load detector 43 Boom turning angle detector 200 Outrigger screen La, Lb, Lc , Ld Rated load switching line LwF, LwR, LwB, LwL Rated load table judgment line Aa, Ab, Ac, Ad Rated load switching area

Claims (8)

Boom work machine moment limiter applicable to boom work machines equipped with multiple outriggers that can be freely deployed and extended around the machine and a boom provided so as to be able to swivel around an axis perpendicular to the upper part of the machine. It ’s a device,
An outrigger overhang state detection unit that detects the overhang state of each outrigger,
A boom turning angle detector that detects the turning angle of the boom, and
A rated load table in which a plurality of rated load values corresponding to a plurality of different working postures of the boom work machine are registered, and a rated load table storage unit in which a plurality of the rated load tables having different rated load performances are stored. ,
Rated load table determination, which is a virtual line that defines the overhang distance that the grounding member of the out trigger must exceed in order for the boom work machine to exhibit the maximum rated load performance among the plurality of preset rated load performances. Judgment line information storage unit that stores line information,
A coordinate information storage unit that stores coordinate information of a preset reference position of the boom work machine, and a coordinate information storage unit.
Equipped with an arithmetic control unit,
The plurality of rated load performances include the maximum rated load performance, an intermediate rated load performance inferior to the maximum rated load performance, and a minimum rated load performance inferior to the intermediate rated load performance.
The arithmetic control unit
Based on the coordinates of the reference position and the overhang state detected by the out-trigger overhang state detection unit, the grounding coordinates, which are the coordinates of the grounding member when the out-trigger is in the grounding state, are the coordinates of the reference position as the origin. Calculated as relative coordinates
A virtual straight line passing through the grounded coordinates of each of the calculated outriggers and the turning center of the boom is set as the rated load switching line.
When it is determined that the grounding coordinates of the grounding member of each of the two outriggers adjacent to each other in the turning direction of the boom exceed the overhang distance specified by the rated load table determination line, each of the above. The rated load performance in the virtual area sandwiched between the two rated load switching lines corresponding to the two out triggers is set to the maximum rated load performance, and only one of the ground coordinates of each of the two out triggers is set. When it is determined that the coordinates exceed the overhang distance specified by the rated load table determination line, the rated load performance in the virtual area is set to the intermediate rated load performance, and the two out triggers of each of the two out triggers are set. When it is determined that both the ground contact coordinates are the coordinates that do not exceed the overhang distance specified by the rated load table determination line, the rated load performance in the virtual area is set to the minimum rated load performance.
Based on the turning angle of the boom detected by the boom turning angle detector, the virtual area located on the tip direction side of the boom from the machine is specified.
The current working posture of the boom work machine using the rated load table corresponding to the rated load performance set in the specified virtual area among the plurality of rated load tables stored in the rated load table storage unit. A moment limiter device for boom work machines, which is characterized in determining a rated load value in. The working posture is the working radius of the boom working machine.
The working radius detection unit that detects the working radius and
A load detection unit that detects the actual load applied to the boom, and
It is provided with an overload coping unit that takes measures including at least one of an alarm output or a stop of work operation for an overload state of the boom work machine in response to a signal from the arithmetic control unit.
The arithmetic control unit determines the rated load value corresponding to the working radius detected by the working radius detecting unit from the rated load table of the rated load performance corresponding to the virtual area located on the tip direction side of the boom from the machine body. The acquired rated load value is compared with the actual load detected by the load detection unit, and when the actual load is equal to or greater than the rated load value, it is determined that the boom working machine is in an overloaded state. The moment limiter device for a boom working machine according to claim 1 , wherein a signal is output to the overload handling unit. The working radius detector includes a boom length detector that detects the length of the boom and a boom angle detector that detects the angle of the boom, and the work is based on the length of the boom and the angle of the boom. The moment limiter device for a boom working machine according to claim 2 , wherein the radius is calculated. The outrigger overhang state detection unit is provided with an outrigger expansion angle detector that detects the horizontal expansion angle of the outrigger, an arm angle detector that detects the angle of the arm of the outrigger, and an outer box of the outrigger. It has an outer box angle detector that detects an angle and an inner box length detector that detects the extension amount of the inner box of the outrigger, and has the deployment angle, the arm angle, the installation angle, and the extension. The moment limiter device for a boom working machine according to any one of claims 1 to 3 , which calculates the grounding coordinates of the grounding member based on the amount. The outrigger grounding detection unit for detecting the grounding state of the grounding member of each outrigger is provided.
When the out-trigger grounding detection unit detects the grounding state of the grounding member of the plurality of out-triggers, the arithmetic control unit sets the rated load switching line, sets the rated load performance, and virtualizes the rated load performance. The moment limiter device for a boom working machine according to any one of claims 1 to 4 , wherein the area specifying process and the rated load value determination process are performed. The boom work machine has, as an operation mode, a work mode capable of executing a work operation and an outrigger mode capable of executing an outrigger deployment operation and an outrigger operation.
When the operation mode of the boom work machine is set to the work mode, the arithmetic control unit may set the rated load switching line, set the rated load performance, specify the virtual area, and perform the rated load performance. The moment limiter device for a boom working machine according to any one of claims 1 to 4 , wherein the process for determining the rated load value is performed. A predetermined angle region is provided in the front and rear regions of the rated load switching line in the turning direction, and the angle region is set as the rated load switching region.
The arithmetic control unit has the rated load performance set in the virtual area adjacent to the rated load switching line across the rated load switching line when the rated load switching region is located on the tip direction side of the boom from the machine body. The boom according to any one of claims 1 to 6 , wherein the rated load value in the current working posture of the boom working machine is determined by using the rated load table corresponding to the rated load performance of the inferior performance. Moment limiter device for work equipment. Multiple outriggers that can be freely deployed and extended around the aircraft,
A boom provided on the upper part of the machine so that it can turn around a vertical axis,
A boom work machine comprising the moment limiter device for a boom work machine according to any one of claims 1 to 7 .

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