JP7132450B2 - Moment limiter device for boom working machine and boom working machine equipped with the same - Google Patents

Description

Article 30, Paragraph 2 of the Patent Act applies Date of sale: May 26, 2017 Place of sale: Tatsuki Transport Co., Ltd. Publisher: Furukawa Unic Co., Ltd.

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

Conventionally, a crawler crane, which has a crawler-driven traveling body at the bottom of the frame, has a pair of left and right outriggers (four in total) at the front and rear ends of the frame to ensure stability during crane operation. is provided.
These four outriggers are radially rotatable with respect to the fuselage, and can be extended at arbitrary radially arranged positions. The tip of each outrigger is grounded to stabilize the aircraft.

In this type of crawler crane, in order to sufficiently secure the stability of the crane operation and carry out the crane operation, it is necessary to "extend in a determined direction to ensure maximum stability" and "outrigger outer box Installation conditions such as "maximum extension of the outrigger", "maximum extension of the inner box of the telescoping outrigger", and "securely grounding the outrigger" are determined.

In addition, as a safety device to prevent overloading of the crane, a moment limiter device using a microcomputer is installed, and the state quantity of the crane (load value, boom length value and boom angle value, working radius value, etc.) ), along with limit switches that detect the extension state of each outrigger, "extend in a determined direction to ensure maximum stability", "extend the outrigger outer box to the maximum", " It is determined whether or not conditions such as "extend the inner box of the telescoping outrigger to the maximum extent" and "reliably ground the outrigger" are satisfied. Only when it is judged that all the conditions are satisfied, the boom can be moved in all directions, and overload judgment of crane work can be made using the rated load table of the maximum rated load performance corresponding to the maximum outrigger extension state. It's becoming

However, if the extension state of each outrigger does not satisfy even one of the above conditions, the boom extends in all directions, and the rated load table of safety performance based on the case where the outrigger is in the minimum extension state is used. Alternatively, work will be prohibited to prevent overturning of the crane, such as stopping operation or restricting excessive capacity with an emphasis on safety.

This type of crawler crane extends to any position where it can be installed, thanks to its radially rotatable outriggers, even during crane work in places where there are many obstacles and it is difficult to install outriggers, such as residential gardens and cemeteries. It has the feature of being able to However, under these circumstances, it is recommended to "extend in a determined direction for maximum stability", "extend the outer box of the outriggers to the maximum", or "extend the inner box of the telescoping outriggers to the maximum". It is difficult to satisfy all the conditions such as "stretch the outrigger" and "reliably ground the outrigger". Due to excessive capacity restrictions, etc., the maximum capacity of the crane cannot be exhibited, and the original crane work is hindered.

On the other hand, the work machine that can travel with outriggers described in Patent Document 1 has a total of four outriggers, two each provided in the front part and the rear part of the chassis. are each associated with three transmitting/receiving units for transmitting and receiving operating or distance signals. The work machine furthermore has an evaluation unit for determining the position of the supporting leg of each outrigger on the basis of the movement or distance signals received by these transmitting and receiving units. Then, this evaluation unit specifies the position of the support leg at an arbitrary projecting position of the outrigger, sets a rectangular range surrounded by four tilting edges connecting the specified support leg positions, and defines the rectangular range. It is possible to work at any overhang position within the range that does not exceed the center of gravity of the work equipment. Specifically, the supporting positions of the supporting legs enable work not only at the inner supporting position near the chassis and the outer supporting position far from the chassis, but also at an 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 work equipment during work is not taken into consideration. There is a possibility that the center of gravity will move and exceed the range of the square. Especially in the case of work equipment such as cranes, a large load is applied to the tip of the boom during work. There is a danger that the work equipment will tip over. Considering this, it is possible to work with the minimum load performance at the intermediate position, but even in the intermediate position range, the load performance varies depending on the combination of the position of the support legs and the turning position of the boom. Therefore, it becomes impossible to perform work that fully utilizes the performance of the work machine.

SUMMARY OF THE INVENTION An object of the present invention is to provide a boom working machine moment limiter capable of preventing or suppressing the occurrence of overload work while making full use of the performance of the boom working machine. An object of the present invention is to provide a device and a boom working machine equipped with the device.

In order to solve the above-described problems, a moment limiter device for a boom working machine according to a first aspect of the present invention includes a plurality of outriggers that can be freely extended and extended around a machine body, and a shaft perpendicular to the upper part of the machine body. A moment limiter device for a boom working machine that can be applied to a boom working machine provided with a boom that can be turned around.

This moment limiter device for a boom working machine includes an outrigger extension state detection unit that detects the extension state of each of the outriggers, a boom turning angle detector that detects the turning angle of the boom, and a plurality of different boom working machines. a rated load table storing a plurality of rated load values corresponding to working postures, the rated load table storing unit storing a plurality of the rated load tables having different rated load performance; A rated load table determination line, which is a virtual line that defines an overhang distance that the grounding member of the outrigger must exceed in order to exhibit a predetermined rated load performance other than the minimum performance among the plurality of set rated load performances. A determination line information storage section storing information, a coordinate information storage section storing coordinate information of a preset reference position of the boom working machine, and an arithmetic control section.
Furthermore, as the plurality of load rating performances, there are two load rating performances, the maximum load rating performance and the minimum load rating performance inferior to the maximum load rating performance.

Then, the arithmetic control unit calculates the grounding coordinates, which are the coordinates of the grounding member when each of the outriggers is grounded, based on the coordinates of the reference position and the extension state detected by the outrigger extension state detection unit. Relative coordinates are calculated with the coordinates of the reference position as the origin, and a virtual straight line passing through the calculated grounding coordinates of the outriggers and the center of rotation of the boom is set as a rated load switching line, and is set in the rotation direction of the boom. When it is determined that the grounding coordinates of the grounding members of the two adjacent outriggers are both coordinates exceeding the overhang distance defined by the rated load table determination line, the two outriggers correspond to each other. The rated load performance in the virtual area sandwiched between the two rated load switching lines is set to the maximum rated load performance, and at least one of the grounding coordinates of each of the two outriggers is set to the rated load table determination line When it is determined that the coordinates do not exceed the overhang distance specified in , the rated load performance in the virtual area is set to the minimum rated load performance, and the swing of the boom detected by the boom swing angle detector The virtual area located on the tip side of the boom from the machine body is specified based on the angle, and the specified virtual area is set among the plurality of rated load tables stored in the rated load table storage unit. A rated load value in the current working posture of the boom working machine is determined using a rated load table corresponding to the rated load performance.

In order to solve the above-described problems, a boom working machine according to a second aspect of the present invention includes a plurality of outriggers that can be freely deployed and extended around the machine body, and A rotatable boom and a moment limiter device for a boom working machine according to the first aspect are provided.

According to the present invention, in a boom working machine provided with a plurality of outriggers that can be freely deployed and extended around the machine body, it is possible to more finely set the load rating performance according to the extension state of the outriggers. , even if the outriggers are extended to any position, the appropriate rating for the current working posture of the boom work equipment is selected from among multiple load rating tables with different rated load performance depending on the state of outrigger extension and the posture of the boom. It becomes possible to determine the rated load value by applying the rated load table of the load performance. As a result, it is possible to prevent or suppress the occurrence of overload prevention work while making full use of the performance of the work machine. In addition, the rated load switching line, rated load table determination 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 outrigger floats, so simple calculation processing is possible. It is possible to set an appropriate rated load performance by Also, the rated load switching line and the rated load table determination line are easy to visualize, and the relationship between them, including the overhanging state of the outriggers, can be easily visualized and displayed.

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 an outrigger with which the crawler crane concerning a 1st embodiment is provided. 1 is a configuration diagram of a moment limiter device for a crawler crane according to a first embodiment; FIG. 7 is a flow chart showing an example of a processing procedure of overload prevention control processing according to the first embodiment; FIG. 5 is an explanatory diagram of a method of determining load rating performance using a load rating table determination line set on the front-rear direction side from the machine body; FIG. 5 is an explanatory diagram of a method of determining load rating performance using a load rating table determination line set on the left-right direction side from the machine body; FIG. 4 is an operation explanatory diagram of the crawler crane according to the first embodiment; In the figure, a rated load switching line and a rated load table determination line are shown in a schematic plan view of the crawler crane in the outrigger extended state. It is a figure which shows an example of an outrigger screen. FIG. 11 is a flow chart showing an example of a processing procedure of overload prevention control processing according to the second embodiment; FIG. FIG. 11 is an explanatory diagram of a rated load switching region according to the third embodiment; In the figure, a rated load switching line, a rated load table determination line, and a rated load switching area are shown in a schematic plan view of the crawler crane in the outrigger extended state. FIG. 11 is a flow chart showing an example of a processing procedure of overload prevention control processing according to the third embodiment; FIG. FIG. 14 is a flow chart showing an example of a processing procedure of rated load table selection processing according to the third embodiment; FIG.

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 below with appropriate reference to the drawings. Note that the drawings are schematic. Therefore, it should be noted that the relationship, ratio, etc., between the thickness and the planar dimension may differ from the actual one, and even between the drawings, there are parts where the relationship and ratio of the dimensions are different. Sometimes. Further, the embodiments shown below are examples of devices and methods for embodying the technical idea of the present invention. etc. are not specified in the following embodiments.

(First embodiment)
(Constitution)
As shown in FIG. 1, a crawler crane 1 (hereinafter simply referred to as "crane 1") according to a first embodiment of the present invention includes a telescopic and hoistable crane on a frame 2 pivotally supported on a revolving column 4. A boom 5 is provided, and a traveling body 3 that travels by crawlers is provided under the frame 2. - 特許庁In addition, a pair of left and right outriggers A, B, C, and D (four outriggers in total) are provided at the front and rear ends of the frame 2, respectively, in order to ensure stability during crane operation.

The boom 5 is provided with a boom length detector 40 and a boom angle detector 41, and the hoisting cylinder 6 of the boom 5 is provided with a load detector 42 for detecting the actual load of the suspended load based on the internal pressure difference. there is The load detector 42 is not limited to the one that detects the actual load based on the internal pressure difference, and other methods such as a load cell can also be used.
A boom turning angle detector 43 is provided between the frame 2 and the column 4 to detect the turning angle of the boom.

As shown in FIG. 2, the outriggers A, B, C, and D of the crane 1 have brackets 11 supported on the frame 2 so as to be freely rotatable in the horizontal direction by the outrigger rotation shafts 10, and arm hoisting shafts 17 attached to the brackets 11. and an arm 12 supported so as to be able to rise and fall. In addition, an outer box 14 supported on the arm 12 by an outer box hoisting shaft 18 so as to be hoistable, and an inner box 15 slidably inserted into the outer box 14 are provided. Further, an outrigger float 16 is swingably connected to the tip of the inner box 15, and an outrigger cylinder 13 is provided between the bracket 11 and the arm 12 to move the arm 12 up and down.

At the distal end of the arm 12, a maximum extension fixing hole 19 for fixing the outer box 14 to an angle that can be set to a longer distance including the preset maximum distance of the extension distance Lf of the outriggers, and a maximum extension fixing hole 19 for the outriggers. A minimum projecting fixing hole 20 for fixing the projecting distance Lf to an angle that can be set to a short distance including a preset minimum distance, and a retracting fixing hole 21 for fixing the outer box 14 at the retracted position. is provided. Then, the angle fixing hole (not shown) at the base end of the outer box 14 is coaxially overlapped with the maximum extension fixing hole 19, the minimum extension fixing hole 20, or the storage fixing hole 21, and the fixing pin 22 is inserted. As a result, the angle of the outer box 14 with respect to the arm 12 can be fixed at an angle corresponding to each fixing hole.

A maximum fixing hole 23 is provided on the base end side of the inner box 15 , a minimum fixing hole 24 is provided on the distal end side of the inner box 15 , and an intermediate position is provided between the maximum fixing hole 23 and the minimum fixing hole 24 of the inner box 15 . A fixing hole 27 is provided respectively. Then, the maximum fixing hole 23, intermediate fixing hole 27, or minimum fixing hole 24 of the inner box 15 is coaxially overlapped with the telescopic fixing hole 26 at the tip of the outer box 14, and the fixing pin 25 is inserted. As a result, the total length of the outer box 14 and the inner box 15 can be changed and fixed so that the overhang distance Lf of the outriggers can be the longest, the middle length (plurality) or the shortest, depending on the combination with the fixed angle of the outer box 14. .

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

An arm angle detector 32 for detecting the angle of the arm 12, a fixing pin 22 inserted into the maximum extension fixing hole 19 of the outer box 14, and a minimum extension fixing hole are provided on the distal end side of the arm 12. An outer box angle detector 33 is attached to detect that the fixing pin 22 has been inserted into 20 . A potentiometer or an encoder is used as the arm angle detector 32, and a limit switch, a proximity switch, or the like is used as the outer box angle detector 33. FIG. Here, since the angles of the outer box 14 when the fixing pin 22 is inserted into the maximum extension fixing hole 19 and when the fixing pin 22 is inserted into the minimum extension fixing hole 20 are known, the fixing pin 22 It is possible to specify the angle by which fixing hole the is inserted.

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, an arithmetic control unit 100 (not shown), an overload countermeasure unit 101 (not shown), and a display unit 102 (not shown) are provided at appropriate locations on the crane 1 . The overload countermeasure unit 101 is composed of a device that outputs a sound such as a warning buzzer and automatically stops the hydraulic circuit. The display unit 102 is composed of a liquid crystal display, an organic EL display, or the like.

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

The arithmetic control unit 100 executes overload prevention control processing based on signals from each detector to determine whether the crane 1 is in an overloaded state. Then, when it is determined that there is an overload state, a signal is output to the overload handling unit 101 .
Further, the arithmetic control unit 100 executes outrigger screen display processing based on the signal from each detector and the calculation result in the overload prevention control processing, and outputs an image display signal of the outrigger screen to the display unit 102 at appropriate times. It's like Here, the outrigger screen includes an image schematically showing the body of the crane 1 and the outriggers A, B, C, and D, a character image showing the grounding state of the outriggers A, B, C, and D, each outrigger A, The screen includes character images indicating deployment angles of B, C, and D, character images indicating rated load performance set in a virtual area, which will be described later, and the like. The image that schematically shows the outriggers is displayed at a length that matches the actual extended state of the outriggers and at a position that corresponds to the actual deployment angle.

When performing a crane operation, first, after the direction in which the outriggers A, B, C, and D are extended is determined, 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 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 extension fixing hole 19 or the minimum extension 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 crawler lower surface of the traveling body 3 is separated from the ground (for example, about 50 mm). Note that the outrigger installation work is not limited to being manually performed by the operator as described above, and may be configured to be performed automatically by an actuator.

Outrigger deployment angle detector 30, arm angle detector 32, outer box angle detector 33, inner box length detector 34, outrigger ground detector 31, load detector 42, boom length detector 40, boom angle detector The device 41, the boom turning angle detector 43, the arithmetic control section 100, the overload countermeasure section 101 and the display section 102 constitute a moment limiter device.

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

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

Specifically, as indicated by broken lines in FIGS. 5 and 6, the center coordinates of the boom turning center B0 and the outrigger floats 16 indicated by white circles and black circles in the same figures (center coordinates corresponding to the current ground contact position). Set a virtual line that is a virtual straight line passing through and . In FIGS. 5 and 6, the rated load switching lines La, Lb, Lc, and Ld at each deployment angle in the horizontal direction when the extension distance Lf is the longest are indicated by dashed lines. Further, the area on the front side of the fuselage sandwiched between the rated load switching lines La and Lb is defined as a front virtual area, and the area on the right side of the fuselage sandwiched between the rated load switching lines Lb and Lc is defined as a right virtual area, and the rated load switching is performed. The area on the rear side of the fuselage sandwiched between the lines Lc and Ld is defined as a rear virtual area, and the area on the left side of the fuselage sandwiched between the rated load switching lines Ld and La is defined as a left virtual area. Also, when there is no need to distinguish between the front virtual area, the right virtual area, the rear virtual area, and the left virtual area, they are simply referred to as "virtual areas."

In step S4, based on the center coordinates of the outrigger floats 16 of the two outriggers adjacent to each other in the boom turning direction, the rated load performance in the front virtual area, the right virtual area, the rear virtual area, and the left virtual area are respectively set, and step Move to S5.
5 and 6, rated load table determination lines LwF, LwR, LwB and LwL are set on the front, right, rear and left sides of the body of the crane 1. there is Based on the stability of the crane 1, the rated load table determination lines LwF, LwR, LwB, and LwL are set to predetermined values in advance for the front, right, rear, and left sides. Also, the rated load table determination lines LwF, LwR, LwB and LwL are set by four imaginary straight lines and form a square surrounding the body portion of the crane 1 .

Specifically, the load rating table determination lines LwF and LwB on the forward side and the rearward side of the fuselage are composed of straight lines along the lateral direction of the fuselage. The rated load table determination line LwF is a boundary line that determines whether or not the position of the center coordinates of the outrigger floats 16 of the two outriggers A and B on the front end side is a position where the maximum rated load performance can be exhibited. Also, the rated load table determination line LwB is a boundary line that divides whether the position of the center coordinates of the outrigger floats 16 of the two outriggers C and D on the rear end side is a 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 a necessary and sufficient overhang distance.

In the first embodiment, the rated load table determination lines LwF and LwB are both set at the position of the shortest overhang distance capable of exhibiting the maximum rated load performance, and the center coordinates of the outrigger floats 16 are the rated load table determination line LwF. and LwB and outside LwF and LwB, it is determined 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 FIG. 5, the center coordinates are located on or outside the rated load table determination lines LwF and LwB. , the position where the maximum rated load performance can be demonstrated. On the other hand, when the center coordinates of the outrigger floats 16 are at the positions indicated by the white circles in FIG. This is an inappropriate position.

On the other hand, as indicated by the dashed lines in FIGS. 5 and 6, the load rating table determination lines LwR and LwL on the right side and left side of the fuselage are composed of straight lines along the longitudinal direction of the fuselage. The rated load table determination line LwR is a boundary line that separates whether or not the position of the center coordinates of the outrigger floats 16 of the two outriggers B and C on the right side is a position where the maximum rated load performance can be exhibited. . Also, the rated load table determination line LwL is a boundary line that divides whether the position of the center coordinates of the outrigger floats 16 of the two outriggers A and D on the left side is a position where the maximum rated load performance can be exhibited. is. That is, the rated load table judgment 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 a necessary and sufficient overhang distance.

In the first embodiment, when the center coordinates of the outrigger floats 16 are set at the shortest distance positions where the maximum rated load performance can be exhibited, and are on the rated load table determination lines LwR and LwL and outside LwR and LwL. is determined to be capable of exhibiting 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 FIG. 6, the center coordinates are located on or outside the rated load table determination lines LwR and LwL. , the position where the maximum rated load performance can be demonstrated. On the other hand, when the center coordinates of the outrigger float 16 are at the positions indicated by the white circles in FIG. This is an inappropriate position.

Here, the rated load table determination lines LwF, LwR, LwB, and LwL are set at positions a certain distance away from the machine body (for example, the boom turning center B0). As shown, it differs between the front-rear direction and the left-right direction of the fuselage.
In the first embodiment, the center coordinates of the outrigger floats 16 of the two outriggers adjacent in the boom turning direction are respectively on or outside the rated load table determination line. Judge the rated load performance.

Specifically, for the front virtual area and the rear virtual area, as shown in FIG. If it is a combination, it is determined to be the maximum rated load performance. On the other hand, a combination in which both are white circles is determined to be the minimum rated load performance, and a combination in which one is a white circle and the other is a black circle is determined to be an intermediate load rating performance. Then, the virtual area corresponding to the rated load performance of the judgment result is set.

On the other hand, for the right virtual area and the left virtual area, as shown in FIG. If it is a combination, it is determined as the maximum rated load performance. On the other hand, a combination in which both are white circles is determined to be the minimum rated load performance, and a combination in which one is a white circle and the other is a black circle is determined to be an intermediate load rating performance. Then, the virtual area corresponding to the rated load performance of the judgment result is set.

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

Returning to FIG. 4, in step S5, according to the signal from the boom turning angle detector 43, a rated load table corresponding to the rated load performance set in the virtual area on the side in which the tip of the boom 5 is facing from the machine body is generated. 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, based on the rated load table selected in step S5, the rated load value for the working radius determined in step S6 is calculated, 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. And when it determines with it being more than a rated load value (Yes), it transfers to step S9, and when it determines with it not being more than a rated load value (No), it transfers 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 countermeasure unit 101 outputs an alarm sound, automatically stops the hydraulic circuit, and the like.
After that, the series of steps S1 to S8 or S1 to S9 is repeatedly executed at a preset cycle.

(motion)
Next, based on FIG.7 and FIG.8, actual operation|movement of the crane 1 provided with the moment limiter apparatus which concerns on 1st Embodiment is demonstrated.
Assume 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 the outrigger floats 16 of the outriggers A, B, C, and D are all grounded based on the signal from the outrigger grounded detector 31 . Then, when it is determined that all of them are grounded, next, the signals from the detectors 30, 31, 32, 33, 34, 40, 41, 42, and 43 of the outriggers A, B, C, and D; Center coordinates of the outrigger floats 16 of the outriggers A, B, C, and D are calculated based on the boom turning center B0 stored in the memory 100a. As a result, the coordinates of the positions indicated by black circles in FIG. 7 are obtained.

Subsequently, the moment limiter device sets imaginary straight lines passing through the boom turning center B0 and the center coordinates of the outrigger floats 16 as the rated load switching lines La, Lb, Lc, and Ld, as indicated by the dashed line in FIG. .
7, rated load table determination lines LwF, LwR, LwB and LwL are set around the crane 1 so as to enclose the body portion of the crane 1 with a rectangle.
Next, based on the center coordinates of each outrigger float 16 and the rated load table judgment lines LwF, LwR, LwB and LwL, the moment limiter device determines a virtual area between each two rated load switching lines adjacent in the boom turning direction. Set the rated load capacity for

Specifically, in the example shown in FIG. 7, the forward center coordinates of the outrigger floats 16 of the outriggers A and B are both inside the rated load table determination line LwF. A minimum load rating capability is set for the forward imaginary area between Lb. Similarly, since the center coordinates of the outriggers B and C to the right side of the outrigger floats 16 are both outside the rated load table determination line LwR, the right imaginary area between the rated load switching lines Lb and Lc The maximum rated load capacity is set for Further, since the center coordinates of the outrigger floats 16 to the rear of the outriggers C and D are both inside the rated load table determination line LwB, the rear virtual area between the rated load switching lines Lc and Ld minimum rated load capacity is set. In addition, since the left side center coordinates of the outrigger float 16 of the outrigger D and the outrigger A are inside and outside the rated load table determination line LwL, the left imaginary area between the rated load switching lines Ld and La For that, an intermediate load rating 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 swing position of the boom 5 based on the signal from the boom swing angle detector 43 .
In the example shown in FIG. 7, it can be seen from the boom turning angle that the tip of the boom 5 is directed to the left side of the fuselage, so the load rating table corresponding to the intermediate load rating performance set in the left imaginary area is selected. .

Subsequently, the moment limiter device calculates the working radius of the crane 1 based on signals from the boom length detector 40 and boom angle detector 41 . Then, the load rating value for the calculated working radius is calculated based on the load rating table of the selected intermediate load rating 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 suspended load is greater than or equal to the rated load value. Since no crane work is currently being performed and the suspended load is "0", the overload countermeasure unit 101 is deactivated.

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

As a result, for example, an outrigger screen 200 as shown in FIG. 8 is displayed on the display unit. This 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 obliquely forward from both left and right ends of the front end side, and a rear end side. Schematic images 202C and 202D of outriggers C and D extending obliquely rearward from both left and right ends are included. These schematic images 202A, 202B, 202C and 202D are displayed with lengths and angles corresponding to the actual extension distances and horizontal deployment angles of the outriggers A, B, C and D.

In addition, the outrigger screen 200 includes "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. , 203A, 203B, 203C and 203D.
Further, the outrigger screen 200 includes character images 205A and 205B indicating the grounding state of the outrigger floats 16 of the outriggers A and B displayed below the character images 203A and 203B, and character images 203C and 203D displayed above the character images 203C and 203D. and character images 205C and 205D showing the grounded status of outrigger floats 16 for outriggers C and D. In the example shown in FIG. 8, since the outriggers A, B, C, and D are all grounded, the character images 205A, 205B, 205C, and 205D are all displayed as "grounded". there is In addition, when it is not grounded, for example, a character image of "not grounded" is displayed.

Further, the outrigger screen 200 displays the deployment angles of the outriggers A and B displayed below the character images 205A and 205B; 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 similar fixing holes of the outriggers C and D displayed above the character images 205C and 205D. and

In the example shown in FIG. 8, since the fixing pins 22 and 25 are inserted into the fixing holes of the outriggers A, B, C and D, the character images 206A, 206B, 206C and 206D are: In both cases, a character image of "insert pin" is displayed. When 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 includes character images 207A and 207B indicating deployment angles of the outriggers A and B displayed below the schematic images 202A and 202B, and outriggers C and D displayed above the schematic images 202C and 202D. character images 207C and 207D showing the expansion angles of the .
In the example shown in FIG. 8, the character images 207A, 207B, 207C and 207D are "110°", "115°", "103°" and A character image of "103°" is displayed.

Furthermore, the outrigger screen 200 includes fan-shaped area images 204A showing the deployment range and extension 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, 204B, 204C, 204D.
Further, the outrigger screen 200 includes a line image 210LwF corresponding to the rated load table determination line LwF displayed in the fan-shaped regions of the region images 204A and 204B, and a rated load table determination line LwF displayed in the fan-shaped regions of the region images 204C and 204D. and a line image 210LwB corresponding to the load table determination line LwB. In addition, a line image 210LwL corresponding to the rated load table determination line LwL displayed within the fan-shaped regions of the region images 204A and 204D, and the rated load table determination line displayed within the fan-shaped regions of the region images 204B and 204C. line image 210LwR corresponding to LwR.

Furthermore, the outrigger screen 200 includes character images 208F and 208B indicating the rated load performance of the front virtual area and the rear virtual area displayed above and below the schematic image 201, and character images 207A and 207D. A character image 208L indicating the load rating performance of the left virtual area and a character image 208R indicating the load rating performance of the right virtual area displayed to the right of the character images 207B and 207C are included.

From the outrigger screen 200, the deployment and extension states of the outriggers A, B, C, and D, the grounding positions of the outrigger floats 16 of the outriggers A, B, C, and D, and the grounding positions (strictly speaking, center coordinates) are displayed. It is possible to easily visually check whether or not the rated load table determination line is exceeded, and the rated load performance of each virtual area.
In addition, the outrigger screen 200 can be displayed in color, and the shaded portions in FIG. 8 are colored according to the outrigger extension state, the grounding state, the fixing pin insertion state, and the like. For example, a character image indicating a state of relatively high safety for crane work (eg, grounding, pin insertion, etc.) is displayed in green, for example, in the shaded portion within the frame. In the example of FIG. 8, the area of the grounding 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. In addition, when the safety is relatively low such as ungrounded or uninserted pin, it is displayed in red, for example. By displaying in color in this way, it is possible to further improve the visibility.

After that, when the cargo handling work is started, the moment limiter device detects 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 load rating table to be used for calculating the rated load value based on the signal of
In the example shown in FIG. 7, it can be seen from the boom turning angle that the tip of the boom 5 faces leftward, so it corresponds to the intermediate load rating performance set in the left imaginary area between the rated load switching lines Ld and La. A rated load table 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 boom angle detector 41 . Then, the load rating value for the calculated working radius is calculated from the load rating table of the selected intermediate load rating performance.
Subsequently, the actual suspension load is calculated based on the signal from the load detector 42, and it is determined whether or not this actual suspension load is equal to or greater than the rated load value calculated previously. Then, when it is determined that the actual suspended load is equal to or greater than the rated load value, a signal to that effect is output to the overload handling unit 101 . As a result, the overload countermeasure 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 boom working machine moment limiter device, and includes the outrigger deployment 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 extension state detector.
Further, in the first embodiment, the angles of the outriggers A, B, C, and D in the horizontal direction, the angles of the arms 12 and the outer boxes 14 constituting the outriggers A, B, C, and D, and the The amount of extension of each inner box 15 that constitutes the outriggers A, B, C, and D corresponds to the extended state.

In the first embodiment, the outrigger float 16 corresponds to the grounding member, the memory 100a corresponds to the rated load table storage section, the judgment line information storage section, and the coordinate information storage section, and the center coordinates of the outrigger float 16 are grounded. corresponds to the coordinates.
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 detector, the load detector 42 corresponds to the load detector, and the outrigger ground detector 31 corresponds to the outrigger ground detector.

(Action and effect of the first embodiment)
The moment limiter device according to the first embodiment includes an outrigger deployment 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 "outrigger extension detector"). ) is the horizontal deployment angle of the outriggers A, B, C, and D, the angle of each arm 12, the angle of each outer box 14, and the amount of extension of each inner box 15 (hereinafter collectively referred to as "extension state information ) is detected. A 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 the maximum rated load performance, intermediate load rated performance and minimum rated load performance The rated load table corresponding to each is stored. In addition, load rating table determination lines LwF and LwR, which are imaginary lines that define the overhang distances that the outrigger floats 16 of the outriggers A, B, C, and D must cross in order for the crane 1 to exhibit its maximum rated load performance. , LwB and LwL. Furthermore, coordinate information of a preset reference position (boom turning center B0) of the crane 1 is stored.

Based on the coordinates of the boom turning center B0 and the extension state information detected by the outrigger extension state detector, the arithmetic control unit 100 determines the center coordinates of the outrigger floats 16 of the outriggers A, B, C, and D when they are on the ground. Relative coordinates are calculated with the coordinates of the boom turning center B0 as the origin. In addition, imaginary straight lines passing through the calculated center coordinates of the outrigger floats 16 of the outriggers A, B, C, and D and the boom turning center B0 are set as rated load switching lines La, Lb, Lc, and Ld. Furthermore, each of the center coordinates of the outrigger floats 16 of each of the two outriggers adjacent in the turning direction of the boom 5 is positioned beyond the overhang distance defined by the rated load table determination lines LwF, LwR, LwB, and LwL. Based on a combination of coordinates or not, the rated load performance is set in the virtual area sandwiched between the two rated load switching lines corresponding to each of the two outriggers. Arithmetic control unit 100 identifies a virtual area located on the tip direction side of boom 5 from the machine body based on the swing angle of boom 5 detected by boom swing angle detector 43 . In addition, 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 among the plurality of rated load tables stored in the memory 100a. do.

With such a configuration, when the outriggers A, B, C, and D are extended to an arbitrary position, the center coordinates of the outrigger floats 16 at the time of grounding are calculated, and the center coordinates and the boom turning center B0 are calculated. It is possible to set rated load switching lines La, Lb, Lc, and Ld. Furthermore, based on the center coordinates of the outrigger floats 16 of the two outriggers adjacent in the turning direction of the boom 5 and the rated load table determination lines LwF, LwR, LwB, and LwL, the two outriggers adjacent in the turning direction of the boom 5 are calculated. It is possible to set an appropriate load rating performance from multi-level (three levels in the first embodiment) load rating performance for the virtual area between the rated load switching lines. Furthermore, according to the turning angle of the boom 5, a virtual area located on the tip side of the boom 5 from the machine body is specified, and the load rating table corresponding to the rated load performance set in the specified virtual area is used. It is possible to calculate the load rating value corresponding to the current working radius.

As a result, it becomes possible to more finely set the rated load performance for a plurality of different working postures of the crane 1 (extended states of the outriggers A, B, C, and D and the posture of the boom 5), and the performance of the crane 1 is improved. It is possible to prevent or suppress overload work while making full use of In addition, the rated load switching line, rated load table determination 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 outrigger floats, so simple calculation processing is possible. It is possible to set an appropriate rated load performance by Also, the rated load switching line and the rated load table determination line are easy to visualize, and the relationship between them, including the overhanging state of the outriggers, can be easily visualized and displayed.

Further, in the moment limiter device according to the first embodiment, the arithmetic control unit 100 determines that 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 on the rated load table determination lines LwF, LwR, When it is determined that the coordinates exceed the overhang distance defined 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 outrigger floats 16 of each of the two outriggers is a coordinate exceeding the overhang distance defined by the rated load table determination lines LwF, LwR, LwB, and LwL. , set the intermediate load rating capability for the applicable virtual area. Furthermore, when it is determined that the center coordinates of the outrigger floats 16 of each of the two outriggers do not exceed the overhang distance specified by the rated load table determination lines LwF, LwR, LwB, and LwL, the corresponding Sets the minimum load rating capability for the virtual area.

With such a configuration, it is possible to appropriately set three levels of load rating performance, maximum load rating performance, intermediate load rating performance, and minimum load rating performance, for each virtual area. It is possible to set the rated load performance more finely for the extended state and the attitude of the boom.

Furthermore, 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 detects the actual load. Detect loads. The overload countermeasure unit 101 responds to a signal from the arithmetic control unit 100 and performs countermeasures including at least one of outputting an alarm against the overload state of the crane 1 and stopping the work operation by automatically stopping the hydraulic circuit. The arithmetic control unit 100 calculates the rated load value for the working radius detected based on the boom length and boom angle from the rated load table of the rated load performance corresponding to the virtual area located on the tip side of the boom 5 from the machine body. Then, the calculated rated load value and the actual lifting load calculated based on the signal from the load detector 42 are compared, and when the actual lifting load is equal to or greater than the rated load value, it is determined that the crane 1 is in an overloaded state. .

With such a configuration, when it is determined that the crane 1 is in an overloaded state, a signal is output to the overload handling unit 101 so that the overload handling unit 101 emits an alarm sound by a warning buzzer. , and stop the work operation of the crane 1 by automatically stopping 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. FIG. When the outrigger grounding detector 31 detects the grounded state of each of the outrigger floats 16 of the outriggers A, B, C, and D, the arithmetic control unit 100 performs the rated load switching line setting process and the rated load performance setting process. , virtual 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.

With such a configuration, at the timing when the outrigger floats 16 of the outriggers A, B, C, and D are all grounded and in a relatively stable state, the rated load switching line setting process and the rated load performance setting are performed. Processing can be performed. As a result, the rated load switching line can be set at an appropriate position, and the setting accuracy of the rated load performance can be improved.

In addition, the crane 1 according to the first embodiment includes outriggers A, B, C, and D that can be freely deployed and extended around the machine body, and a column 4 on the upper part of the machine body that can turn around a vertical axis. The boom 5 provided and the moment limiter device are provided.
With such a configuration, it is possible to obtain the same function and effect as the moment limiter device.

(Second embodiment)
Next, a second embodiment of the invention will be described.
In the first embodiment, when the grounding state of each of the outrigger floats 16 of the outriggers A, B, C, and D is detected based on the signal from the outrigger grounding detector 31, the setting process of the rated load switching line, the rated load performance setting processing, virtual area specifying processing, rated load value determination processing, overload state determination processing, and signal output processing to the overload handling unit 101 in the overload state. 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 of the first embodiment are given the same reference numerals, and the explanation thereof is omitted as appropriate, and the different parts will be explained in detail.

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

If the crane 1 has a remote control device, the remote control device is also equipped with a mode changeover switch. It is wirelessly transmitted from the operating device to the crane 1 . The crane 1 has a receiver (not shown) connected to the arithmetic control unit 100, and receives radio signals with this receiver. The receiver extracts switching information contained in the received radio signal and inputs the extracted switching information to the arithmetic control section 100 .

The arithmetic control unit 100 according to the second embodiment performs each of the above processes when determining 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.
Note that the crane 1 of the second embodiment does not operate when the outrigger floats 16 of the outriggers A, B, C, and D are in a grounded state or when there is another problem, even if the crane mode is switched to the crane operation. (hereinafter referred to as "crane operation") is provided with an interlock function. That is, when the operation mode is the crane mode and the crane operation can be performed, the outrigger floats 16 are grounded and the crane operation can be performed in a stable state. is used as a trigger for

(Overload prevention control processing of the second embodiment)
An example of the processing procedure of the overload prevention control processing of the second embodiment executed by the arithmetic control unit 100 will be described below with reference to FIG. 9 .
That is, in the second embodiment, when the overload prevention control process is started in the arithmetic control unit 100, 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 controller. When it is determined that the crane mode is set (Yes), the process proceeds to step S12, and when it is determined that the mode is not set (No), the process returns to step S11.
The subsequent processing of steps S12 to S19 is the same as the processing of steps S2 to S9 in the first embodiment, so description thereof is omitted.
Further, the operations other than the operation of determining the operation mode of the crane 1 are the same as those of the first embodiment, so the explanation 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 performs a rated load switching line setting process, a rated load performance setting process, a virtual Area identification processing, rated load value determination processing, overload state determination processing, and signal output processing to the overload handling unit 101 in an overload state are performed.

With this configuration, each of the above processes can be performed when the crane mode is set. Since no processing is performed in the outrigger mode, the computational load can be reduced. In addition, 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. Even if is calculated, it is not applied, so there is no loss of safety.

(Third Embodiment)
Next, a third embodiment of the invention will be described.
In the first embodiment, the rated load tables are switched on the basis of the rated load switching lines La, Lb, Lc, and Ld. The rated load switching area is set within a predetermined turning angle range. Then, when the tip of the boom 5 faces the rated load switching area side, the rated load table corresponding to the inferior one of the rated load performances set in each of the two adjacent virtual areas is selected. This is different from the first embodiment described above.
Hereinafter, the same parts as those of the first embodiment are given the same reference numerals, and the explanation thereof is omitted as appropriate, and the different parts will be explained in detail.

(Constitution)
After setting the rated load switching lines La, Lb, Lc, and Ld, the arithmetic and control unit 100 according to the third embodiment further sets 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, Ad, when the virtual area in which the minimum rated load performance is set is switched to the virtual area in which another performance is set, the rated load corresponding to the minimum rated load performance The load table applies as is. In addition, the load rating table corresponding to the minimum load rating performance is applied prior to switching from the virtual area where the maximum load rating performance or intermediate load rating performance is set to the virtual area where the minimum load rating performance is set. be.
That is, the arithmetic control unit 100 of the third embodiment sets the rated load switching area when the tip of the boom 5 faces one of the rated load switching areas Aa, Ab, Ac, and Ad. The rated load table corresponding to the inferior one of the rated load performances set in each of the two virtual areas adjacent to each other around the rated load switching line is selected.

(Overload prevention control processing of the third embodiment)
An example of the processing procedure of the overload prevention control processing of the third embodiment executed by the arithmetic control unit 100 will be described below with reference to FIG. 11 .
That is, in the third embodiment, when the overload prevention control process is started in the arithmetic control unit 100, first, as shown in FIG. 11, the process proceeds to step S21.
Here, the processing from steps S21 to S24 is the same as the processing from steps S1 to S4 in the first embodiment, so the description is omitted.

In step S25, the rated load switching areas Aa, Ab, Ac, and Ad are set in predetermined turning angle ranges 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, according to the signal from the boom turning angle detector 43, the subsequent rated load value is calculated based on the rated load switching area in the direction in which the tip of the boom 5 is facing from the machine body or the virtual area other than the rated load switching area. A rated load table to be used for calculation is selected, and the process proceeds to step S27.
It should be noted that subsequent steps S27 to S30 are the same as steps S5 to S9 in the first embodiment, so description thereof will be omitted.

(Rated load table selection process)
Next, an example of the processing procedure of the rated load table selection processing 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, as shown in FIG. 12, the process first proceeds to step S261.

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

If 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, the series of processes is terminated, and the original process is returned to. .
On the other hand, when the process proceeds to step S264, the load rating table corresponding to the load rating performance set in the virtual area facing the tip of the boom is selected as the load rating table used to calculate the load rating value, and a series of processing is performed. Exit and return to original processing.

(motion)
Next, based on FIG. 10, operation|movement of the crane 1 provided with the moment limiter apparatus which concerns on 3rd Embodiment is demonstrated.
Assume now that the outriggers A, B, C, and D are installed in an overhanging state as shown in FIG. 10, for example.

The operation from detecting the grounding state of each outrigger float 16 to setting the rated load performance in each virtual area is the same as in the first embodiment. The operation for setting Ac and Ad will be described.
When the rated load performance setting for each virtual area is completed, the moment limiter device of the crane 1 is then adjusted to a predetermined turning angle range in the forward and backward direction around each of the rated load switching lines La, Lb, Lc, and Ld. set the rated load switching areas Aa, Ab, Ac, Ad. Specifically, the rated load switching area Aa is before and after the rated load switching line La, the rated load switching area Ab is before and after the rated load switching line Lb, the rated load switching area Ac is before and after the rated load switching line Lc, and the rated load switching area Ac is before and after the rated load switching line Lc. A rated load switching region 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 swing position of the boom 5 based on the signal from the boom swing 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 in the front virtual area and the left virtual area that are adjacent to each other across the rated load switching line La. , the left side is the intermediate load rating performance, so in the load rating switching area Aa, the load rating table corresponding to the minimum load rating performance with the inferior load rating performance is selected.

Similarly, for example, when the tip of the boom 5 faces the rated load switching area Ab side, among the virtual areas adjacent to each other across the rated load switching line Lb, the front virtual area has the minimum rated load performance and the right virtual area has the maximum rated load performance. Select the load rating table corresponding to the lowest load rating performance, which is inferior because of the load rating performance.
Further, for example, when the tip of the boom 5 faces the rated load switching area Ac side, among the virtual areas adjacent to each other across the rated load switching line Lc, the right virtual area has the maximum rated load performance and the rear virtual area has the minimum rated load performance. Select the load rating table that corresponds to the lowest load rating capability that is inferior because of the load capability.

Further, for example, when the tip of the boom 5 faces the rated load switching area Ad side, among the virtual areas adjacent to each other across the rated load switching line Ld, the rear virtual area has the minimum rated load performance and the left virtual area has the intermediate rated load performance. Select the load rating table that corresponds to the lowest load rating capability that is inferior because of the load capability.
It should be noted that subsequent operations are the same as those of the first embodiment, and thus description thereof is omitted.

(Action and effect of the third embodiment)
In addition to the same actions and effects as those of the first embodiment, the third embodiment has the following actions and effects.
In the moment limiter device according to the third embodiment, the arithmetic control unit 100 controls the rated load switching areas Aa and Ab, which are predetermined swing angle areas before and after the swing direction of the boom 5 on the rated load switching lines La, Lb, Lc, and Ld. , Ac, Ad. 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, the rated load switching line adjacent to the rated load switching area is positioned. A load rating table corresponding to the load rating performance that is inferior in performance among the load rating performances set in the two virtual areas 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 a load is lifted by a crane operation and the boom is swiveled from a virtual area with good load rating performance to a virtual area with poor load rating performance, the rated load switching line La , Lb, Lc, Ld, a load rating table with inferior load rating performance is selected. As a result, it becomes possible to switch the performance slightly before the area where the crane is likely to tip over, which enables safer crane operation. In addition, it is possible to absorb errors due to mechanical rattling of the crane 1 and errors due to rattling of the detector.

(Modification)
In each of the above embodiments, three types of load rating tables corresponding to three levels of performance, maximum load rating performance, intermediate load rating performance, and minimum load rating performance, were described as examples, but the configuration is not limited to this. For example, other configurations, such as a configuration having two types of load rating tables corresponding to two levels of performance, or a configuration having four or more types of load rating tables corresponding to four or more levels of performance, may be employed.

Further, in each of the above embodiments, the center coordinates of the outrigger floats 16 of the two adjacent outriggers are the overhang distances that allow the maximum rated load performance specified by the rated load table determination lines LwF, LwR, LwB, and LwL to be exhibited. It was configured to determine the rated load performance by a combination of whether or not it exceeds. Not limited to this, for example, a new load rating table determination line is set at the position of the shortest overhang distance that can demonstrate the intermediate load rating performance, and the virtual area is divided into three areas, where the center coordinates are It is good also as composition which judges rated load performance by combination whether it is located. In addition, for example, if the rated load table judgment line is set at the position of the shortest overhang distance that can demonstrate the minimum rated load performance, and the center coordinates are not at the position of this overhang distance or more, the center coordinates A configuration may be adopted in which the rated load table is not applied because it is in the work prohibited area.

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

1 crawler crane 2 frame 3 running body 4 column 5 boom 6 hoisting cylinder 10 outrigger rotating shaft 11 bracket 12 arm 13 outrigger cylinder 14 outer box 15 inner box 16 outrigger float 17 arm hoisting shaft 18 outer box hoisting shaft 30 outrigger deployment angle detector 31 outrigger ground detector 32 arm angle detector 33 outer box angle detector 34 inner box length detector 40 boom length detector 41 boom angle detector 42 load detector 43 boom rotation 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)

A moment limiter for a boom working machine that can be applied to a boom working machine that has a plurality of outriggers that can be freely extended and extended around the machine body, and a boom that is provided on the upper part of the machine body so as to be able to turn around a vertical axis. a device,
an outrigger extension state detection unit that detects the extension state of each of the outriggers;
a boom turning angle detector that detects the turning angle of the boom;
a rated load table storing a plurality of rated load values corresponding to a plurality of different working postures of the boom working machine, the rated load table storing unit storing a plurality of the rated load tables having different rated load performance; ,
Rated load table determination, which is a virtual line that defines an overhang distance that the grounding member of the outrigger must exceed in order for the boom working machine to exhibit the maximum rated load performance among the plurality of preset load rated performances. a determination line information storage unit storing line information;
a coordinate information storage unit storing coordinate information of a preset reference position of the boom working machine;
and an arithmetic control unit,
As the plurality of load rating performances, two load rating performances, the maximum load rating performance and the minimum load rating performance inferior to the maximum load rating performance,
The arithmetic control unit is
Based on the coordinates of the reference position and the extension state detected by the outrigger extension state detection unit, the grounding coordinates, which are the coordinates of the grounding member in the grounded state of each of the outriggers, are set with the coordinates of the reference position as the origin. calculated as relative coordinates,
setting a virtual straight line passing through the calculated ground coordinates of each of the outriggers and the turning center of the boom as a rated load switching line;
When it is determined that the ground contact coordinates of the ground contact members of the two outriggers adjacent in the boom turning direction are both coordinates exceeding the overhang distance defined by the rated load table determination line, the respective setting the rated load performance in the virtual area sandwiched between the two rated load switching lines corresponding to the two outriggers to the maximum rated load performance,
When it is determined that the grounding coordinates of each of the two outriggers are 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 determined as the minimum rated load. set to performance,
When it is determined that one of the grounding coordinates of each of the two outriggers is a coordinate exceeding the overhang distance specified by the rated load table determination line, the rated load performance in the virtual area is determined as the Set to the maximum rated load performance or the minimum rated load performance,
identifying the virtual area located on the tip direction side of the boom from the aircraft body based on the boom turning angle detected by the boom turning angle detector;
A current working posture of the boom work machine using a 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 a boom working machine, characterized in that it determines a rated load value in. The working posture is a working radius of the boom working machine,
a working radius detection unit that detects the working radius;
a load detection unit that detects the actual load applied to the boom;
an overload countermeasure unit that performs countermeasures including at least one of outputting a warning against an overload state of the boom working machine and stopping work operation in response to a signal from the arithmetic control unit;
The arithmetic control unit calculates a rated load value corresponding to the working radius detected by the working radius detection unit from the rated load table of the rated load performance corresponding to the virtual area located on the tip side of the boom from the machine body. and compares the acquired rated load value with the actual load detected by the load detection unit, and determines that the boom working machine is in an overloaded state when the actual load is equal to or greater than the rated load value. 2. A moment limiter device for a boom working machine according to claim 1, wherein a signal is output to said overload countermeasure unit. The working radius detection unit 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 detects the working radius based on the length of the boom and the angle of the boom. 3. The boom working machine moment limiter device according to claim 2, wherein the radius is calculated. The outrigger extension state detection unit includes an outrigger deployment angle detector that detects a deployment angle of the outrigger in a horizontal direction, an arm angle detector that detects an angle of an arm of the outrigger, and an outer box of the outrigger. An outer box angle detector for detecting an angle and an inner box length detector for detecting an extension amount of the inner box of the outrigger, wherein 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, wherein the grounding coordinate of the grounding member is calculated based on the amount of the grounding member. an outrigger grounding detection unit that detects a grounding state of the grounding member of each of the outriggers;
The arithmetic control unit performs the rated load switching line setting process, the rated load performance setting process, the virtual The moment limiter device for a boom working machine according to any one of claims 1 to 4, wherein processing for specifying an area and processing for determining the rated load value are performed. The boom work machine has, as operation modes, a work mode in which a work operation can be performed and an outrigger mode in which the outriggers can be deployed and extended, and
When the operation mode of the boom working machine is set to the work mode, the arithmetic control unit performs the process of setting the rated load switching line, the process of setting the rated load performance, the process of specifying the virtual area, and The moment limiter device for a boom working machine according to any one of claims 1 to 4, wherein the rated load value is determined. A predetermined angle area is provided in each of the rated load switching lines in the area before and after the turning direction, and the angle area is defined as the rated load switching area,
When the rated load switching region is located on the tip side of the boom from the machine body, the arithmetic control unit controls the rated load performance set in the virtual areas adjacent to each other across the rated load switching line. 7. 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 using the rated load table corresponding to the rated load performance of the lower performance. Moment limiter device for work equipment. A plurality of outriggers that can be freely deployed and extended around the fuselage,
a boom rotatable around an axis perpendicular to the upper part of the airframe;
A boom working machine comprising the moment limiter device for a boom working machine according to any one of claims 1 to 7.

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