JP7415762B2 - How to calculate the limit swing angle of a loading truck crane and boom - Google Patents

Description

The present invention relates to a loading truck crane and a method for calculating the limit swing angle of a boom.

2. Description of the Related Art Loading type truck cranes in which a crane device is mounted on a vehicle having a loading platform have been known (see Patent Document 1). In the case of such a loaded truck crane, the limit swing angle at which the crane can swing without the vehicle overturning varies depending on the boom length, swing angle, luffing angle, hanging load, cargo load, etc.

Japanese Patent Application Publication No. 2010-126300

In the above-mentioned loading type truck crane, from the viewpoint of improving safety, it is desired to determine a limit swing angle according to the usage condition.

An object of the present invention is to provide a loading type truck crane and a method for calculating the limit swing angle of a boom, which can improve safety.

The loading type truck crane according to the present invention includes:
an outrigger device that is mounted on a vehicle and includes a right outrigger and a left outrigger that are extendable and retractable in the width direction of the vehicle;
A boom rotatably mounted on the vehicle;
When the boom is turned from the reference position, the limit turning angle of the boom is determined based on the jack reaction force of the anti-overturning side outrigger, which is the outrigger located on the opposite side of the boom in the vehicle width direction, among the right and left outriggers. a turning angle calculation device that calculates the
Equipped with

The boom limit swing angle calculation method according to the present invention is as follows:
A boom limit executed in a calculation unit of a load-bearing truck crane that is equipped with an outrigger device that is mounted on a vehicle and includes a right outrigger and a left outrigger that are extendable and retractable in the vehicle width direction, and a boom that is rotatably mounted on the vehicle. A turning angle calculation method,
In a state where the boom has rotated from a reference position, a step of determining a jacking reaction force of an outrigger on the anti-overturning side, which is an outrigger located on the opposite side of the boom in the vehicle width direction, among the right outrigger and the left outrigger;
The method includes the step of determining a limit swing angle of the boom based on the jack reaction force.

According to the present invention, it is possible to provide a loading type truck crane and a method for calculating the limit swing angle of a boom that can improve safety.

FIG. 1 is a side view of a loading truck crane according to a first embodiment. FIG. 2 is a plan view of the loading truck crane. FIG. 3 is a block diagram of a swing angle calculation device for a loaded truck crane. FIG. 4 is a flowchart for explaining the limit turning angle calculation method. FIG. 5 is a schematic plan view of the loading type truck crane. FIG. 6 is a schematic diagram of the crane device. FIG. 7 is a flowchart for explaining the limit turning angle calculation method according to the second embodiment. FIG. 8 is a diagram showing an example of the reaction force-load relationship.

Hereinafter, some embodiments of the present invention will be described in detail using the drawings.

[Embodiment 1]
Embodiment 1 will be described with reference to FIGS. 1 to 6.

[About the loading truck crane]
First, the structure of the loading type truck crane C will be briefly described with reference to FIGS. 1 and 2. FIG. 1 is a side view of a loading type truck crane C according to the first embodiment. FIG. 2 is a plan view of the loading type truck crane C.

The loading truck crane C includes a vehicle 10 and a crane device 20. In the following description, an orthogonal coordinate system (X, Y, Z) will be used for convenience of explanation. The orthogonal coordinate system (X, Y, Z) shown in each figure is a common orthogonal coordinate system.

Furthermore, unless otherwise specified, when we refer to the front-rear direction, the left-right direction, and the up-down direction, we mean each direction in the vehicle 10. The front-rear direction corresponds to the X direction in the orthogonal coordinate system (X, Y, Z). The left and right direction corresponds to the Y direction in the orthogonal coordinate system (X, Y, Z). The vertical direction corresponds to the Z direction in the orthogonal coordinate system (X, Y, Z).

[vehicle]
Vehicle 10 is a general-purpose truck and has a driving function. Such a vehicle 10 includes, for example, a frame 100, a driver's cab 101, a cargo platform 102, a pair of front wheels 103, and a pair of rear wheels 104.

Frame 100 extends in the longitudinal direction of the vehicle. The driver's cab 101 is fixed to the upper side of the front end of the frame 100. The loading platform 102 is a box-shaped member that is open at the top, and is fixed to the upper side of the rear half of the frame 100. A pair of front wheels 103 are rotatably supported below the driver's cab 101 in the frame 100. A pair of rear wheels 104 are rotatably supported below the loading platform 102 in the frame 100.

[Crane device]
The crane device 20 is fixed between the driver's cab 101 and the loading platform 102 in the frame 100. Such a crane device 20 includes, as an example, an outrigger device 200, a fixed part 201, a swivel base 202, a boom 203, a winch 204, a wire 205, and a hook 206.

The outrigger device 200 prevents the loading truck crane C from overturning, and includes a right outrigger 200R provided on the right side of the frame 100 and a left outrigger 200L provided on the left side.

The right outrigger 200R and the left outrigger 200L each have a horizontal outrigger 200a that can be expanded and contracted in the left-right direction, and a vertical outrigger 200b that can be expanded and contracted in the vertical direction.

The lateral outrigger 200a has a lateral jack 200c as a hydraulic actuator. The lateral outrigger 200a expands and contracts in the left-right direction by the lateral jack 200c.

The vertical outrigger 200b has a vertical jack 200d as a hydraulic actuator. The vertical outriggers 200b are vertically expanded and contracted by the vertical jacks 200d. The vertical outrigger 200b is extended vertically by the vertical jack 200d to touch the ground.

The vertical outrigger 200b includes a reaction force information detection unit 305 (see FIG. 3) that detects that the vertical outrigger 200b is grounded and detects a jack reaction force on the vertical jack 200d. In the state in which the vertical outriggers 200b are in contact with the ground (also referred to as the outrigger usage state), the pair of front wheels 103 are separated from the ground.

The swivel base 202 supports the boom 203 so that it can rotate with respect to the vehicle 10 . Such a swivel base 202 has a bearing (not shown). A pivot center O _c (see FIG. 5) of the pivot table 202 exists on the central axis of the bearing.

The boom 203 is configured by a base end boom 203a, a plurality of intermediate booms 203b, 203c, and a distal end boom 203d combined in a nested manner. Such a boom 203 is extended and contracted by a telescoping cylinder 210 as a hydraulic actuator.

The base end of the base boom 203a is rotatably attached to the support shaft of the swivel base 202. An undulation cylinder 211 serving as a hydraulic actuator is bridged between the swivel base 202 and the vicinity of the base end of the base end boom 203a. By extending and contracting the undulation cylinder 211, the boom 203 is undulated.

Winch 204 is supported by swivel base 202 . Specifically, the winch 204 is supported at the tip of the swivel base 202.

The base end of the wire 205 is wound around the winch 204. A hook 206 is fixed to the tip of the wire 205. The middle portion of the wire 205 is hung on a sheave (not shown) rotatably provided at the tip of the tip boom 203d. By rotating the winch 204, the wire 205 and the hook 206 are hoisted up or down.

The above-described loading type truck crane C has a turning angle that allows the boom 203 to turn without tipping over (hereinafter referred to as "limit turning angle") depending on the usage status of the loading type truck crane C. An angle calculation device 30 is provided. The configuration of the turning angle calculation device 30 will be described below with reference to FIGS. 3 and 5.

[Turning angle calculation device]
FIG. 3 is a block diagram showing the configuration of the turning angle calculation device 30. As shown in FIG. The turning angle calculation device 30 includes, for example, a storage section 300, a suspended load information detection section 301, a turning angle information detection section 302, a length information detection section 303, a heave angle information detection section 304, a reaction force information detection section 305, and a tension information detection section 304. It has an output information detection section 306 and a calculation section 307.

The turning angle calculation device 30 is realized, for example, by a function of an overload prevention device of the loading type truck crane C. The turning angle calculating device 30 is realized, for example, by a detector (for example, a sensor) that detects a physical quantity in the loading truck crane C and a computing unit (for example, an electronic control unit) mounted on the crane device 20. Each functional block included in the turning angle calculation device 30 will be described below.

[Storage]
The storage unit 300 is constituted by a memory mounted on the loading type truck crane C or the like. The storage unit 300 stores the strength load rating Wstr for each working radius Radi of the boom 203 as a strength load rating data group.

The storage unit 300 stores information regarding the loading truck crane C (hereinafter referred to as "crane information"). The crane information includes information regarding the dimensions of the loading type truck crane C. The information regarding the dimensions includes, for example, the distance Xd between the center of rotation _Oc of the crane device 20 and the pair of rear wheels 104 in the front-rear direction. Note that the distance Xd is stored in the storage unit 300, for example, at the time of mounting.

The crane information includes information regarding the weight and center of gravity of the members constituting the loading type truck crane C.

The storage unit 300 stores a pair of falling lines L _a1 and L _b1 shown by two-dot chain lines in FIG. 5 . The pair of fall lines L _a1 and L _b1 are determined by the calculation unit 307 . The right overturning line L _a1 is defined by a horizontal line connecting the ground contact position G _R of the right outrigger 200R and the center position O _b of the rear wheel line Lc in the vehicle width direction.

The rear wheel line L _c is a straight line that passes through the centers of the pair of rear wheels 104 and is parallel to the vehicle width direction when the loading truck crane C is viewed from above the vehicle (that is, from the + side in the Z direction). It is. The rear wheel line _Lc exists between the pair of rear wheels 104 in the vehicle width direction. Note that in the state shown in FIGS. 2 and 5, the pair of rear wheels 104 are in contact with the ground. On the other hand, in the state shown in FIGS. 2 and 5, the pair of front wheels 103 are not installed.

The left overturning line L _b1 is defined by a horizontal line connecting the ground contact position G _L of the left outrigger 200L and the center position O _b of the rear wheel line L _c in the vehicle width direction.

Note that the pair of fall lines L _a1 and L _b1 are not limited to the above case. The pair of overturning lines L _a1 and L _b1 may be lines connecting the ground contact position G _R and the ground contact position G _L , respectively, and any point on the rear wheel line L _c .

In addition, when the loading type truck crane is equipped with rear outriggers (right rear outrigger and left rear outrigger) at the rear of the vehicle in addition to the right outrigger 200R and left outrigger 200L, which are the front outriggers, the overturning line L _a1 , L _b1 is defined as follows. The right overturning line L _a1 is defined by a horizontal line connecting the ground contact position _GR of the right outrigger 200R and the ground contact position of the right outrigger of the rear outrigger. On the other hand, the left overturning line L _b1 is defined by a horizontal line connecting the ground contact position _GL of the left outrigger 200L and the ground contact position of the left outrigger of the rear outriggers. Note that the pair of fall lines L _a1 and L _b1 are not limited to the above case. The pair of overturn lines L _a1 and L _b1 may be horizontal lines connecting the ground contact positions _GR and G _L and arbitrary points on the lines of the pair of rear outriggers.

The storage unit 300 also stores a predetermined safety factor N, which is the ratio between the chipping load Wtip of the loading type truck crane C and the rated total load Wrate. The chipping load Wtip is the limit lifting load at which the loading type truck crane C falls over. The relationship between the chipping load Wtip, the rated total load Wrate, and the safety factor N is defined by the following equation 1-1. Note that the safety factor N is a constant of 1 or more determined by the specifications of the loading type truck crane C.

[Hanged load information detection unit]
The hanging load information detection unit 301 detects information (hereinafter referred to as "hanging load information") for determining the weight of the hanging load suspended from the hook 206 (hereinafter referred to as "hanging load load"). The suspended load information detection unit 301 is provided, for example, in the undulation cylinder 211 of the boom 203. The suspended load information detection unit 301 sends suspended load information to the calculation unit 307.

[Turning angle information detection unit]
The turning angle information detection unit 302 detects information for determining the boom turning angle θ (hereinafter referred to as “turning angle information”). The boom turning angle θ means the angle at which the boom 203 turns with respect to the reference position _Sp (the position indicated by the solid line _Sp in FIG. 5). The reference position S _p is a state in which the boom 203 is parallel to the front-rear direction and the tip of the boom 203 is located forward of the base end (the state shown in FIG. 1, in other words, the tip of the boom 203 is at the most forward position). position).

When viewing the loading truck crane C from above (that is, from the + side in the Z direction), the boom rotation angle θ is a positive direction when clockwise from the reference position Sp, and a negative direction when the direction is opposite to the clockwise direction. be. Such a turning angle information detection unit 302 is provided on the turning base 202, for example. The turning angle information detection unit 302 sends turning angle information to the calculation unit 307.

[Length information detection section]
The length information detection unit 303 detects information for determining the boom length Lb (hereinafter referred to as "length information"). Boom length Lb is the distance between the base end and the tip end of boom 203. Such a length information detection unit 303 is provided in the boom 203, for example. The length information detection section 303 sends the detected value to the calculation section 307.

[Luff angle information detection unit]
The heave angle information detection unit 304 detects information for determining the boom heave angle θb (hereinafter referred to as "heave angle information"). The boom elevation angle θb is the angle of the boom 203 with respect to the horizontal direction. Such an undulation angle information detection unit 304 is provided, for example, at the base end of the boom 203. The undulation angle information detection section 304 sends the detected value to the calculation section 307.

[Reaction force information detection section]
The reaction force information detection unit 305 detects information for determining the jack reaction force of each of the right outrigger 200R and the left outrigger 200L (hereinafter referred to as "reaction force information"). Such a reaction force information detection unit 305 is provided, for example, in the vertical jack 200d of the right outrigger 200R and the left outrigger 200L, respectively. The reaction force information detection section 305 sends the detected value to the calculation section 307. When the loading type truck crane includes a rear outrigger at the rear of the vehicle in addition to the right outrigger 200R and the left outrigger 200L, the reaction force information detection unit 305 also detects reaction force information of the rear outrigger. Then, the reaction force information detection section 305 sends the detected reaction force information of the rear outrigger to the calculation section 307 .

[Overhang information detection unit]
The overhang information detection unit 306 detects information for determining the overhang positions of the right outrigger 200R and the left outrigger 200L in the vehicle width direction (hereinafter referred to as "overhang information"). Such an overhang information detection section 306 is provided in the fixed section 201, for example. The overhang information detection section 306 sends the detected value to the calculation section 307. When the loading type truck crane includes a rear outrigger at the rear of the vehicle in addition to the outrigger 200, the overhang information detection unit 306 also detects overhang information of the rear outrigger. Then, the overhang information detection section 306 sends the detected overhang information of the rear outrigger to the calculation section 307.

[Calculation section]
The calculation unit 307 is, for example, a computer including an input terminal, an output terminal, a CPU, a memory, and the like. In the following description, the arithmetic unit 307 is constituted by integrated hardware. However, the calculation unit 307 may be configured by a plurality of pieces of hardware.

The calculation unit 307 calculates the working radius of the loading type truck crane C based on the boom length Lb, the boom elevation angle θb, and the distance L between the boom attachment start point and the rotation center Oc of the rotation platform 202 (see figure). Find Radi. The working radius Radi is determined by the following formula 1-2. Note that when calculating the working radius Radi, it is preferable for the calculation unit 307 to consider the deflection of the boom 203, as shown by the two-dot chain line in FIG.

The calculation unit 307 calculates the suspended load load based on the suspended load information received from the suspended load information detection unit 301.

The calculation unit 307 determines the rotation angle of the boom 203 (boom rotation angle θ) based on the rotation angle information received from the rotation angle information detection unit 302. The calculation unit 307 sends the boom rotation angle θ to the storage unit 300. The boom rotation angle θ is stored in the storage unit 300 as crane information.

The calculation unit 307 calculates the length dimension of the boom 203 (boom length Lb) based on the length information received from the length information detection unit 303. The calculation unit 307 sends the boom length Lb to the storage unit 300. The boom length Lb is stored in the storage unit 300 as crane information.

The calculation unit 307 calculates the heave angle of the boom 203 (boom heave angle θb) based on the heave angle information received from the heave angle information detection unit 304. The calculation unit 307 sends the boom heave angle θb to the storage unit 300. The boom elevation angle θb is stored in the storage unit 300 as crane information.

Based on the reaction force information received from the reaction force information detection unit 305, the calculation unit 307 calculates the jack reaction force of each of the right outrigger 200R and the left outrigger 200L. When the loading type truck crane includes a rear outrigger at the rear of the vehicle in addition to the right outrigger 200R and the left outrigger 200L, the calculation unit 307 also determines the jack reaction force of each of the rear outriggers. The calculation unit 307 sends the jack reaction force to the storage unit 300. The jack reaction force is stored in the storage unit 300 as crane information.

Based on the overhang information received from the overhang information detection section 306, the calculation unit 307 determines the overhang positions of the right outrigger 200R and the left outrigger 200L in the vehicle width direction. The extended position is also the ground position of the right outrigger 200R and the left outrigger 200L. When the loading type truck crane includes a rear outrigger at the rear of the vehicle in addition to the right outrigger 200R and the left outrigger 200L, the calculation unit 307 also determines the extended position of the rear outrigger. The calculation unit 307 sends the overhang position to the storage unit 300. The overhang position is stored in the storage unit 300 as crane information.

The calculation unit 307 calculates a distance X1 in the longitudinal direction between the turning center O _c and the ground contact position _GR , and a distance X4 in the longitudinal direction between the turning center O _c and the ground contact position _GL . The calculation unit 307 sends the distance X1 and the distance X4 to the storage unit 300. The distance X1 and the distance X4 are stored in the storage unit 300 as crane information.

Based on the overhang information, the calculation unit 307 calculates a distance Y1 in the vehicle width direction between the turning center _Oc and the ground contact position _GR , and a distance Y4 in the vehicle width direction between the turning center _Oc and the ground contact position G _L. demand. The calculation unit 307 sends the distance Y1 and the distance Y4 to the storage unit 300. The distance Y1 and the distance Y4 are stored in the storage unit 300 as crane information.

The calculation unit 307 determines the center of gravity of each member constituting the loading truck crane C. Note that when calculating the center of gravity position of the boom 203, the calculation unit 307 preferably takes into account the deflection of the boom 203, as shown by the two-dot chain line in FIG. Note that the center of gravity position of each member may be stored in advance in the storage unit 300 as crane information.

The calculation unit 307 acquires the strength load rating Wstr corresponding to the working radius Radi from the storage unit 300.

Based on the detection value of the overhang information detection unit 306 and the crane information acquired from the storage unit 300, the calculation unit 307 determines a pair of overturning lines L _a1 and L _b1 indicated by two-dot chain lines in FIG. 5 . Here, the crane information acquired from the storage unit 300 is the distance Xd between the turning center _Oc of the crane device 20 and the pair of rear wheels 104 in the front-rear direction. The calculation unit 307 sends the obtained pair of fall lines L _a1 and L _b1 to the storage unit 300 . The pair of fall lines L _a1 and L _b1 are stored in the storage unit 300 as crane information.

The calculation unit 307 determines the anti-overturning side outrigger based on the detection value of the turning angle information detection unit 302. The anti-overturning side outrigger is an outrigger of the right outrigger 200R and the left outrigger 200L that is located on the opposite side of the boom 203 in the vehicle width direction with respect to the central axis of the loading truck crane C in the vehicle width direction. Note that the central axis in the vehicle width direction means an axis that passes through the center of the loading truck crane C in the vehicle width direction and is parallel to the front-rear direction. When the loading type truck crane is provided with a rear outrigger at the rear of the vehicle, the rear anti-overturning outrigger is an outrigger located on the opposite side of the boom 203 in the vehicle width direction.

Specifically, when the calculation unit 307 determines that the boom 203 is turning to the right side of the vehicle based on the detection value of the turning angle information detection unit 302, the calculation unit 307 sets the left outrigger 200L as the anti-overturning side outrigger. On the other hand, when the calculation unit 307 determines that the boom 203 is turning to the left side of the vehicle based on the detection value of the turning angle information detection unit 302, the calculation unit 307 sets the right outrigger 200R as the anti-overturning side outrigger. When a loading type truck crane is equipped with a rear outrigger at the rear of the vehicle, a rear anti-overturning outrigger is defined in the same way as a front outrigger.

The calculation unit 307 determines a fall reference line based on the detection value of the turning angle information detection unit 302. The tipping reference line is a tipping line that exists in the same direction as the boom 203 among the pair of tipping lines L _a1 and L _b1 in the vehicle width direction.

Specifically, when the calculation unit 307 determines that the boom 203 is turning to the right side of the vehicle based on the detection value of the turning angle information detection unit 302, the calculation unit 307 sets the right side overturning line L _a1 as the overturning reference line. do. On the other hand, when the calculation unit 307 determines that the boom 203 is turning to the left side of the vehicle based on the detection value of the turning angle information detection unit 302, the calculation unit 307 sets the left overturn line L _b1 as the overturn reference line.

[Limit turning angle calculation method]
Next, a method for calculating the limit turning angle γ will be explained with reference to FIGS. 3 to 5. Note that FIG. 4 is a flowchart for explaining the limit angle calculation method executed by the turning angle calculation device 30. FIG. 5 is a diagram schematically showing a plan view of the loading type truck crane C.

Note that the turning angle calculation device 30 repeatedly executes the control flow shown in FIG. 4 at predetermined time intervals. That is, the swing angle calculation device 30 calculates the limit swing angle γ in real time while the state of the loaded truck crane C changes. The calculation of the control flow shown in FIG. 4 is executed by the calculation unit 307.

First, in step S101 shown in FIG. 4, the turning angle calculation device 30 calculates the suspended load load Tload based on the suspended load information detected by the suspended load information detection unit 301.

Next, in step S102 shown in FIG. 4, the swing angle calculating device 30 calculates the center of gravity position of each member constituting the upper member group in the loading type truck crane C. The upper member group includes a swivel base 202, a luffing cylinder 211, and a boom 203. Note that the upper member group may include members fixed to the swivel base 202, the undulating cylinder 211, or the boom 203.

Next, in step S103 shown in FIG. 4, the swing angle calculation device 30 calculates the boom swing angle θ at that time based on the swing angle information received from the swing angle information detection unit 302.

Next, in step S104 shown in FIG. 4, the turning angle calculation device 30 calculates the jack reaction force PF1 of the right outrigger 200R and the jack reaction force of the left outrigger 200L based on the reaction force information received from the reaction force information detection unit 305. Find PF4.

Next, in step S105 shown in FIG. 4, the turning angle calculating device 30 calculates the combined weight of the upper member group and the hanging load H (hereinafter referred to as "upper weight Uwei"). The upper weight Uwei is determined by the following equation 1-3.

In addition, in the following equations 1-3, each parameter is defined as follows.
Tload: Hanging load (ton)
Wbm: Weight of boom 203 (ton)
Wecy: Weight of the undulation cylinder 211 (ton)
Wsle: Weight of swivel base 202 (ton)

Next, in step S106 shown in FIG. 4, the turning angle calculating device 30 calculates the center of gravity of the upper member group and the suspended load H (hereinafter referred to as "upper center of gravity Ugra"). The upper center of gravity Ugra is determined by the following equation 1-4.

In addition, in the following equations 1-4, each parameter is defined as follows.
Radi: Working radius Rlbm: Horizontal distance between the swing center _Oc and the center of gravity of the boom 203 Rlecy: Horizontal distance between the swing center _Oc and the center of gravity of the luffing cylinder 211 Rlsle: Horizontal distance between the swing center _Oc and the center of gravity of the swivel base 202 distance

Next, in step S107 shown in FIG. 4, the turning angle calculation device 30 calculates the jack reaction force due to the upper weight Uwei. Hereinafter, a method of calculating the jack reaction force based on the upper weight Uwei will be explained.

First, in Equations 1-5 to 1-7 described later, θ (deg) is the swing angle of the boom 203, and Ft is the thrust load (ton) that the upper weight Uwei acts on the swing center _Oc . , Mx is the moment (ton·m) around the X axis due to the upper weight Uwei, and My is the moment (ton·m) around the Y axis due to the upper weight Uwei.

The above-mentioned Ft, Mx, and My are determined by the following equations 1-5 to 1-7.

Further, the reaction force coefficient S due to the above-mentioned Ft, Mx, and My is defined by the following equation 1-8. In Formula 1-8, X1 is the distance in the longitudinal direction between the turning center O _c and the ground contact position G _R , and X4 is the distance in the longitudinal direction between the turning center O _c and the ground contact position G _L. . Further, in formula 1-8, Y1 is the distance in the vehicle width direction between the turning center O _c and the ground contact position G _R , and Y4 is the distance in the vehicle width direction between the turning center O _c and the ground contact position G _L It is.

From the above equation 1-8, F(PF1), Mx(PF1), and My(PF1) are defined by the following equations 1-9 to 1-11.

Using the above equations 1-9 to 1-11, the jack reaction force PF1u (ton) of the right outrigger 200R due to the upper weight Uwei can be obtained from the following equation 1-12.

Further, from the above equation 1-8, F(PF4), Mx(PF4), and My(PF4) are defined by the following equations 1-13 to 1-15.

Using the above equations 1-13 to 1-15, the jack reaction force PF4u (ton) of the left outrigger 200L due to the upper weight Uwei can be obtained from the following equation 1-16.

Next, in step S108 shown in FIG. 4, the jack reaction force due to the lower weight of the lower member group is determined. Note that the lower member group includes the vehicle 10, the outrigger device 200, the fixed part 201, and the cargo on the platform 102. Therefore, the lower weight is the sum of the weight of the vehicle 10, the outrigger device 200, the fixing part 201, and the weight of the cargo on the loading platform 102.

The above-mentioned bottom weight cannot be determined directly because the weight of the cargo is unknown. Therefore, in the case of this embodiment, the jack reaction force due to the lower weight is determined by subtracting the jack reaction force due to the upper weight Uwei calculated in step S107 described above from the jack reaction force determined in step S104 described above.

The jack reaction force PF1l of the right outrigger 200R due to the lower weight is determined by the following equation 1-17.

Further, the jack reaction force PF4l of the left outrigger 200L due to the lower weight is determined by the following equation 1-18.

Next, in step S109 shown in FIG. 4, the moments due to the weight of the lower part (hereinafter referred to as "stable moments") around the pair of overturning lines L _a1 and L _b1 are respectively determined. Note that the pair of fall lines L _a1 and L _b1 are calculated by the calculation unit 307 and stored in the storage unit 30 .

The stability moment SMOMr (ton·m) around the right overturning line L _a1 is determined by the following equation 1-19. In the following equation 1-19, l4 is the distance between the ground contact position G _L and the right overturning line L _a1 .

The stabilizing moment SMOMl (ton·m) around the left overturning line L _b1 is determined by the following equation 1-20. In Equation 1-20 below, l1 is the distance between the ground contact position G _R and the left fall line L _b1 .

Next, in step S110 shown in FIG. 4, the turning angle calculation device 30 calculates the chipping load Wtip at the working radius Radi. The chipping load Wtip is the limit lifting load at which the loading type truck crane C falls over. In addition, when determining the upper center of gravity Ugra in step S110, the center of gravity position of the boom 203 is determined at the boom heave angle θb such that the working radius is Rad in a state where there is no deflection (the state of the boom 203 shown by the solid line in FIG. 5). Use the center of gravity position.

The relationship between the upper weight Uwei and the chipping load Wtip is defined as shown in Equation 1-21 below. Further, the relationship between the upper center of gravity Ugra and the chipping load Wtip is defined as shown in the following equation 1-22. Note that in the following equations 1-21 and 1-22, each parameter is defined as follows.

Wtip: Chipping load (ton)
Wbm: Weight of boom 203 (ton)
Wecy: Weight of the undulation cylinder 211 (ton)
Wsle: Weight of swivel base 202 (ton)
Radi: Working radius (m)
_Rlbm2 : Horizontal distance in the vehicle width direction between the turning center _Oc and the center of gravity of the boom 203 (m)
Rlecy ₂ : Horizontal distance in the vehicle width direction between the turning center _Oc and the center of gravity of the luffing cylinder 211 (m)
Rlsle: Horizontal distance in the vehicle width direction between the turning center _Oc and the center of gravity of the turning base 202 (m)

Hereinafter, a method of calculating the chipping load Wtip when the boom 203 turns to the right side of the vehicle (that is, the boom turning angle θ is 0°≦θ≦180°) will be described.

The distance XLI1 (m) from the turning center O _c to the right overturning line L _a1 is determined by the following equation 1-23.

Assuming that the angle between the overturning line L _a1 and the X axis is α (deg), α is determined by the following equation 1-24.

Here, if β=θ−α−90, the following relational expression 1-25 holds true.

Wtip is determined by the following equation 1-26 using the above equation 1-25.

Next, a method of calculating the chipping load Wtip when the boom 203 turns to the left side of the vehicle (that is, the boom turning angle θ is 180°≦θ≦360°) will be described.

The distance XLI4 (m) from the turning center O _c to the left overturning line L _b1 is determined by the following equation 1-27.

Assuming that the angle between the overturning line L _b1 and the X-axis is α (deg), α is determined by the following equation 1-28.

Here, if β=270-θ-α, the following relational expression 1-29 holds true.

Note that when θ is 180° or 360°, the chipping load Wtip becomes the minimum value of equation (1-26) and equation (1-29).

Next, in step S111 shown in FIG. 4, the turning angle calculation device 30 calculates the rated total load Wrate. Hereinafter, a method of calculating the rated total load Wrate will be explained.

Stability performance (also referred to as stable load rating) Wsta is determined by the following formula 1-30.

Then, the rated total load Wrate is determined by the following formula 1-31. That is, the total rated load Wrate is the smaller of the stable rated load Wsta and the strength rated load Wstr. Note that the strength load rating Wstr is stored in the storage unit 300.

Note that the calculated total rated load Wrate may be output to the display section 4. The display section 4 may be, for example, a display section provided in the driving section of the loading truck crane C. Alternatively, the display unit 4 may be a display unit (for example, a display) of a terminal connected to the loading truck crane C via a network.

Next, in step S112 shown in FIG. 4, the turning angle calculation device 30 calculates the limit turning angle γ. Hereinafter, a method for calculating the limit turning angle γ will be explained.

Through the above-described processing, the rated total load Wrate at the boom rotation angle θ and the working radius Rad was determined. Here, if the rated total load Wrate when the boom 203 is located at the weakest swing position is larger than the suspended load Tload, the loading type truck crane C can swing around the entire circumference without falling over.

Note that the boom 203 is perpendicular to the pair of overturning lines L _a1 and L _b1 at the weakest swing position. Specifically, when the boom 203 turns to the right side of the vehicle, the boom 203 is perpendicular to the right side overturning line L _a1 at the weakest turning position. On the other hand, when the boom 203 turns to the left side of the vehicle, the boom 203 is perpendicular to the left overturning line L _b1 at the weakest turning position.

On the other hand, if the rated total load Wrate at the weakest swing position is smaller than the suspended load load Tload, it is necessary to stop the swing of the boom 203 at the latest at the position where the suspended load load Tload becomes equal to the rated total load Wrate. be. That is, the turning angle at which the suspended load Tload becomes equal to the rated total load Wrate is the limit turning angle γ.

Note that the limit turning angle γ is based on a state in which the boom 203 is parallel to the front-rear direction and the tip of the boom 203 is located forward of the base end (in other words, the tip of the boom 203 is located furthest forward). It is the turning angle. Hereinafter, a method for calculating the limit turning angle γ will be explained.

First, when the total rated load is the stable rated load Wsta, the chipping load Wtip is determined by the following equation 1-32.

Here, when the boom 203 turns to the right side of the vehicle, and assuming that β ₂ =γ−α−90, Wtip is obtained by the following equation 1-33.

When β ₂ =0, the boom 203 is located at the weakest swing position. The chipping load Wtip ₂ when β ₂ =0 is determined by the following equation 1-34.

If Wtip ₂ ≧Wtip, the boom 203 can rotate over the entire circumference. On the other hand, if Wtip ₂ <Wtip, the turning angle calculation device 30 calculates β ₂ using the following equation 1-35.

Then, the turning angle calculating device 30 calculates the limit turning angle γ from β ₂ calculated using the above equation 1-37.

Next, a method of calculating the limit turning angle γ when the boom 203 turns to the left side of the vehicle will be explained. When β ₂ =270-γ-α, Wtip is determined by the following equation 1-36.

When β ₂ =0, the boom 203 is located at the weakest swing position. The chipping load Wtip ₂ when β ₂ =0 is determined by the following equation 1-37.

If Wtip ₂ ≧Wtip, the boom 203 can rotate over the entire circumference. On the other hand, if Wtip ₂ <Wtip, the turning angle calculating device 30 calculates β ₂ using the following equation 1-38.

Then, the turning angle calculation device 30 calculates the limit turning angle γ from β ₂ calculated using the above equation 1-38.

The turning angle calculating device 30 returns the control process to step S101 and repeatedly executes the control flow of FIG. 4 at predetermined intervals. Note that when the control flow in FIG. 4 is repeatedly executed, steps that do not need to be executed may be skipped as appropriate.

For example, since the hanging load load does not change after the hanging load is lifted until it is placed at the target position, step S101 in FIG. 4 may be skipped as appropriate. Further, the order of each step in the control flow of FIG. 4 may be changed as appropriate within a technically consistent range.

Note that the turning angle calculating device 30 may output the determined limit turning angle γ to the display unit 4. The display section 4 may be, for example, a display section provided at the operation section of the loading truck crane C. Alternatively, the display unit 4 may be a display unit (for example, a display) of a terminal connected to the loading truck crane C via a network. The operating section may be provided on the fixed section 201, for example.

Further, when displaying the limit turning angle γ on the display unit, the turning angle calculating device 30 may display the limit turning angle γ using, for example, a graphic. In this case, the swing angle calculation device 30 displays the display unit in such a manner that the state of the boom 203 at the time when the limit swing angle γ is calculated and the state of the boom 203 when the swing angle reaches the limit swing angle γ can be visually confirmed. May be displayed.

Moreover, the loading type truck crane C may further include a swing control device that controls the swing operation of the boom 203 based on the limit swing angle γ. The swing control device controls the boom 203 based on the limit swing angle γ determined by the swing angle calculation device 30 so that the boom 203 does not swing beyond the position corresponding to the limit swing angle γ.

In other words, the swing control device may control the boom 203 to stop when it reaches the position corresponding to the limit swing angle γ. In this case, the swing control device controls the swing speed of the boom 203 at a time before the boom 203 reaches the position corresponding to the limit swing angle γ (specifically, a predetermined angle or a predetermined time). may be controlled so that it gradually slows down. For example, the swing control device may apply a braking force to the boom 203 before the boom 203 reaches the position corresponding to the limit swing angle γ.

The loading truck crane C may also include an alarm control device that issues an alarm before the boom 203 reaches the position corresponding to the limit swing angle γ. Specifically, the loading type truck crane C is in a state before the boom 203 reaches the position corresponding to the limit swing angle γ, and when the difference between the swing angle of the boom 203 and the limit swing angle γ is less than or equal to a predetermined value. In some cases, an alarm control device may be provided to issue an alarm. This predetermined value may be calculated based on, for example, the swing angle of the boom 203, the swing speed of the boom 203, and the limit swing angle γ. In this configuration, the loading truck crane C may stop the operation of the boom 203 when the boom 203 reaches the position corresponding to the limit swing angle γ, or may not stop the operation of the boom 203. Good too.

[Actions and effects of this embodiment]
According to this embodiment as described above, the safety of the loading type truck crane C can be improved. That is, in the case of the present embodiment, depending on the state of the loading truck crane C, the limit turning angle γ at which the loading truck crane C can turn without overturning is determined. If such a limit swing angle γ is used to control the swing stop of the boom 203, the timing of braking during the swing operation of the boom 203 can be optimized. As a result, the safety of the loading truck crane C is improved. Note that the swing stop control is executed by the swing control device of the loading truck crane C.

Furthermore, as described above, according to the method for calculating the limit turning angle γ according to the present embodiment, the limit turning angle γ can be calculated regardless of the presence or absence of cargo on the platform 102. Further, as described above, according to the method for calculating the limit swing angle γ according to the present embodiment, a stable performance (stable rated load) having the same safety factor can be calculated for each boom swing angle θ. Furthermore, according to the method for calculating the limit turning angle γ according to the present embodiment, it is possible to calculate the limit turning angle γ according to the loading amount of the cargo on the platform 102.

[Embodiment 2]
Embodiment 2 will be described with reference to FIGS. 3, 5, 7, and 8. Note that the basic configuration of the loading type truck crane C is the same as that of the first embodiment described above. First, the circumstances that led the present inventors to devise this embodiment will be briefly explained.

The present inventors studied the relationship between the jack reaction force of the outrigger on the opposite side of overturning and the stable rated load in a predetermined state of the loading type truck crane C. As a result, the inventors found that, in a predetermined state of the loading truck crane C, there is a linear relationship between the jack reaction force of the anti-overturn side outrigger (hereinafter referred to as "anti-overturn side reaction force") and the stable rated load. It was found that there is a relationship (proportionality).

In addition, the present inventors have determined the limit turning angle γ by storing the relationship between the anti-overturning side reaction force and the stable rated load (hereinafter referred to as "reaction force-load relationship") in the storage unit 300. We have found that the amount of calculations required can be reduced. Hereinafter, the configuration of the loading type truck crane C and the method for calculating the limit swing angle according to the present embodiment will be explained.

[Storage]
In the case of this embodiment, the storage unit 300 stores the reaction force-load relationship in association with the crane information of the loading type truck crane C in a predetermined state. The storage unit 300 stores the reaction force-load relationship in a format such as a calculation formula (linear formula) or a map.

FIG. 8 is a diagram showing an example of the reaction force-load relationship stored in the storage unit 300. The horizontal axis is the anti-overturning side reaction force, and the vertical axis is the lifting load. The crane information of the loading type truck crane C in a predetermined state includes, for example, the boom rotation angle θ, the boom length Lb, the boom hoisting angle θb, and the working radius Radi. However, the predetermined conditions for the loading type truck crane C do not include the hanging load Tload.

[Calculation section]
The calculation unit 307 can acquire the reaction force-load relationship corresponding to a predetermined state from the storage unit 300. The calculation unit 307 can use the crane information of the loading type truck crane C in a predetermined state as an argument to obtain the reaction force-load relationship corresponding to the argument.

[Limit turning angle calculation method]
Hereinafter, the limit turning angle calculation method according to the present embodiment will be described with reference to FIGS. 5, 7, and 8.

First, in step S201 shown in FIG. 7, the turning angle calculation device 30 calculates the suspended load load Tload based on the suspended load information detected by the suspended load information detection unit 301.

Next, in step S202 shown in FIG. 7, the turning angle calculation device 30 calculates the boom length Lb based on the length information detected by the length information detection unit 303.

Next, in step S203 shown in FIG. 7, the swing angle calculation device 30 calculates the boom heave angle θb based on the heave angle information detected by the heave angle information detection unit 304.

Next, in step S204 shown in FIG. 7, the swing angle calculation device 30 calculates the boom swing angle θ based on the swing angle information received from the swing angle information detection unit 302.

Next, in step S205 shown in FIG. 7, the swing angle calculating device 30 calculates the center of gravity position of each member constituting the upper member group in the loading type truck crane C.

Next, in step S206 shown in FIG. 7, the turning angle calculation device 30 calculates the jack reaction force PF1 of the right outrigger 200R and the jack reaction force of the left outrigger 200L based on the reaction force information received from the reaction force information detection unit 305. Find PF4. Such jack reaction force PF1 and jack reaction force PF4 are detected values.

Hereinafter, as shown in FIG. 5, a state in which the boom 203 is turned to the right side of the vehicle will be described. In this state, the anti-overturn side outrigger is the left outrigger 200L. Therefore, the anti-overturn side reaction force R1 is the jack reaction force PF4 of the left outrigger 200L (R1=PF4). Note that the anti-overturning side reaction force R1 obtained in step S206 includes an influence on the reaction force based on the hanging load load Tload.

Next, in step S207 shown in FIG. 7, the swing angle calculation device 30 acquires the reaction force-load relationship corresponding to the boom length Lb, the boom heave angle θb, and the boom swing angle θ from the storage unit 300. The reaction force-load relationship obtained here is the reaction force-load relationship shown in FIG. 8. In FIG. 8, the reaction force-load relationship is defined as shown in Equation 2-1 below.

Next, in step S208 shown in FIG. 7, the turning angle calculation device 30 calculates the hypothetical total load Wpre (Fig. (see 8).

Here, the reaction force-load relationship shown in FIG. 8 (that is, the relationship expressed by equation 2-1 above) is a relationship obtained without considering the influence of the suspended load Tload. On the other hand, the anti-overturning side reaction force R1 obtained in step S206 includes the influence of the reaction force based on the hanging load load Tload. Therefore, if the hypothetical total load Wpre determined in step S208 is larger than the hanging load load Tload, there is a margin with respect to the stability limit. Therefore, the actual stable load rating Wsta is determined by the following steps. Incidentally, in step S208, if the suspended load Tload is larger than the assumed total load Wpre, the operation of the loading type truck crane C is stopped.

Next, in step S209 shown in FIG. 7, an allowance load F1, which is the difference between the actual stable rated load Wsta and the suspended load Tload, is determined. Here, the relationship between F1, the actual stable load rating Wsta, and the hanging load Tload is expressed by the following relational expression 2-2.

Assuming that the boom center of gravity position and working radius Rad remain unchanged, the allowance load F1 is the thrust load Ft (ton) acting on the turning center _Oc , the moment Mx (ton m) around the X axis due to the allowance load F1, and the allowance load. Find the moment My (ton·m) around the Y axis due to F1. The thrust load Ft, the moment Mx around the X-axis, and the moment My around the Y-axis are determined by the following equations 2-3 to 2-5.

The reaction force coefficient S due to the above-mentioned Ft, Mx, and My is defined by the following equation 2-6. In Formula 2-6, X1 is the distance in the longitudinal direction between the turning center O _c and the ground contact position _GR , and X4 is the distance in the longitudinal direction between the turning center O _c and the ground contact position G _L. . In addition, in Equation 2-6, Y1 is the distance in the vehicle width direction between the turning center O _c and the ground contact position _GR , and Y4 is the distance in the vehicle width direction between the turning center O _c and the ground contact position G _L It is.

From the above equation 2-6, F(PF1), Mx(PF1), and My(PF1) are defined by the following equations 2-7 to 2-9.

Then, using Equations 2-7 to 2-9 above, the jack reaction force PF1u of the right outrigger 200R due to the allowance load F1 can be obtained from Equation 2-10 below.

Further, from the above equation 2-6, F(PF4), Mx(PF4), and My(PF4) are defined by the following equations 2-11 to 2-13.

Using the above equations 2-11 to 2-13, the jack reaction force PF4u of the left outrigger 200L due to the allowance load F1 can be obtained from the following equation 2-14.

Here, as shown in FIG. 5, when the boom 203 is turning to the right side of the vehicle (that is, the boom turning angle θ is 0°≦θ≦180°), the anti-overturning side outrigger is the left outrigger. It is 200L. Therefore, in FIG. 8, when the anti-overturn side reaction force due to the actual stable rated load Wsta is R2, the following relational expression 2-15 holds true.

Further, from the above equations 2-1, 2-2, 2-14, the hanging load load Tload, and the anti-overturning side reaction force R1, the allowance load F1 is determined by the following equation 2-16.

Next, in step S210 shown in FIG. 7, the turning angle calculation device 30 calculates the actual stable load rating Wsta from the above equation 2-2.

Note that the obtained actual stable rated load Wsta and the rated total load Wrate, which is the minimum value of Wsta and Wstr, may be output to the display section 4. The display section 4 may be, for example, a display section provided in the driving section of the loading truck crane C. Alternatively, the display unit 4 may be a display unit (for example, a display) of a terminal connected to the loading truck crane C via a network.

The procedure by which the turning angle calculating device 30 calculates the limit turning angle γ will be described below.

In step S211 shown in FIG. 7, the swing angle calculation device 30 acquires the boom swing angle closest to the current boom swing angle θ (hereinafter referred to as "front swing angle θn") from the storage unit 30. . Hereinafter, the process of step S211 will be explained using a specific example. The storage unit 30 stores the corresponding reaction force-load relationship for each boom rotation angle at a predetermined interval (for example, 5°). For example, assuming that the predetermined interval is 5 degrees, if the current boom rotation angle θ is 0 degrees, the front rotation angle θn in the rotation direction obtained in step S211 is 5 degrees. Note that the front side in the turning direction means the direction in which the boom 203 moves from the current position to the weakest turning position.

Next, in step S212 shown in FIG. 7, the swing angle calculation device 30 calculates the reaction force at the lifting load Tload at the boom swing angle θn obtained in step S211 from the current boom swing angle θ and the counter-overturning side reaction force R1. Find the falling side reaction force R1.

Next, in step S213 shown in FIG. 7, the swing angle calculation device 30 calculates the actual stable rated load Wsta at the boom swing angle θn and the suspended load Tload. The processing in step S213 is similar to steps S208 to 210 described above.

Note that the obtained actual stable rated load Wsta and the rated total load Wrate, which is the minimum value of Wsta and Wstr, may be output to the display section 4. The display section 4 may be, for example, a display section provided in the driving section of the loading truck crane C. Alternatively, the display unit 4 may be a display unit (for example, a display) of a terminal connected to the loading truck crane C via a network.

Next, in step S214 shown in FIG. 7, the turning angle calculation device 30 compares the actual stable load rating Wsta obtained in step S213 and the suspended load Tload.

In step S214, when the suspended load Tload is less than or equal to the actual stable rated load Wsta (step S214: YES), the control process moves to step S215. On the other hand, in step S214, when the suspended load Tload is larger than the actual stable rated load Wsta (step S214: NO), the control process moves to step S216.

In step S215 shown in FIG. 7, the turning angle calculating device 30 acquires a new turning angle θn on the front side in the turning direction from the storage unit 300. That is, the turning angle θn on the front side in the turning direction is updated. For example, assuming that the predetermined interval is 5 degrees and the front turning angle θn in the turning direction at step S214 is 5 degrees, the new front turning angle θn in the turning direction acquired in step S215 is 10 degrees. In addition, in step S215 shown in FIG. 7, if there is no new turning angle θn on the front side in the turning direction, the loaded truck crane C can turn around the entire circumference without overturning. The control process then returns to step S212.

Further, in step S216, which is a transition from step S214, the turning angle calculation device 30 calculates the limit turning angle γ. Hereinafter, a method for calculating the limit turning angle γ will be explained. First, at the time of transitioning to step S216, the suspended load Tload is larger than the actual stable rated load Wsta at the turning angle θn on the front side in the turning direction. On the other hand, at the time of proceeding to step S216, the suspended load Tload is smaller than the actual stable load rating Wsta at the front turning angle θn-1 in the turning direction (that is, the turning angle before being updated in step S215). Therefore, the limit turning angle γ exists in the range of turning angle θn-1<γ<θn.

The limit turning angle γ is determined by the following method. Here, if the actual stable load rating at the turning angle θ _n-1 is T _rn-1 (T _rn-1 >Tload), and the actual stable load rating at the turning angle θ _n is T _rn (T _rn <Tload), then The limit turning angle γ is determined by the following equation 2-17.

Note that in step S216, the limit turning angle γ may be set to the turning angle θn-1.

The loading truck crane C may further include a swing control device that controls the swing operation of the boom 203 based on the calculated limit swing angle γ. The swing control device controls the boom 203 based on the limit swing angle γ determined by the swing angle calculation device 30 so that the boom 203 does not swing beyond the position corresponding to the limit swing angle γ.

In other words, the swing control device may control the boom 203 to stop when it reaches the position corresponding to the limit swing angle γ. In this case, the swing control device controls the swing speed of the boom 203 at a time before the boom 203 reaches the position corresponding to the limit swing angle γ (specifically, a predetermined angle or a predetermined time). may be controlled so that it gradually slows down. For example, the swing control device may apply a braking force to the boom 203 before the boom 203 reaches the position corresponding to the limit swing angle γ.

As described above, in the case of this embodiment, the amount of calculation when calculating the limit turning angle γ is smaller than in the first embodiment described above. For this reason, it is possible to prevent the calculation unit 307 of the turning angle calculation device 30 from having higher specifications. The configuration of this embodiment is effective in reducing the cost of the loading truck crane C.

<Additional notes>
In each of the above-described embodiments, a loading type truck crane was described that was provided with only front outriggers (the right outrigger 200R and the left outrigger 200L) as outrigger devices. However, the present invention can also be applied to a loading type truck crane that includes rear outriggers (a right rear outrigger and a left rear outrigger) in addition to the front outrigger.

When a load-bearing truck crane is equipped with a rear outrigger, the limit swing angle of the boom is determined by taking into account not only the jacking reaction force of the front outrigger on the anti-overturning side of the outrigger, but also the jacking reaction force of the rear outrigger on the anti-overturning side outrigger. Calculate.

INDUSTRIAL APPLICATION This invention is applicable to the loading type truck crane of various structures in which the crane apparatus is applied to the vehicle which has a loading platform.

C Loading truck crane 10 Vehicle 100 Frame 101 Cab 102 Loading platform 103 Front wheels 104 Rear wheels 20 Crane device 200 Outrigger 200R Right outrigger 200L Left outrigger 200a Horizontal outrigger 200b Vertical outrigger 200c Horizontal jack 200d Vertical jack 201 Fixed part 202 Swivel base 203 Boom 203a Base side boom 203b, 203c Intermediate boom 203d Tip boom 204 Winch 205 Wire 206 Hook 210 Telescopic cylinder 211 Luffing cylinder 30 Turning angle calculation device 300 Storage section 301 Hanging load information detection section 302 Turning angle information detection section 303 Length Information detection unit 304 Luffing angle information detection unit 305 Reaction force information detection unit 306 Overhang information detection unit 307 Calculation unit H Hanging load L _a1 , L _b1 overturning line L _c Rear wheel line O _b center position S _p reference position G _R grounding Position G _L grounding position

Claims (8)

an outrigger device that is mounted on a vehicle and includes a right outrigger and a left outrigger that are extendable and retractable in the vehicle width direction of the vehicle;
a boom rotatably mounted on the vehicle;
In a state where the boom has rotated from the reference position, based on the jacking reaction force of the anti-overturning side outrigger, which is the outrigger located on the opposite side of the boom in the vehicle width direction, among the right side outrigger and the left side outrigger, a swing angle calculation device for determining a limit swing angle of the boom;
A loading truck crane equipped with The loading type truck crane according to claim 1, wherein the swing angle calculating device executes a process of calculating the limit swing angle at predetermined time intervals. The loading type truck crane according to claim 1 or 2, further comprising a swing control device that controls the boom so as not to swing beyond a position corresponding to the limit swing angle. The loading type truck crane according to claim 3, wherein the swing control device controls the swing operation of the boom so that the boom stops when it reaches a position corresponding to the limit swing angle. The loading type truck crane according to claim 3 or 4, wherein the swing control device gradually slows down the swing speed of the boom before the boom reaches a position corresponding to the limit swing angle. The loading type truck crane according to claim 1 or 2, further comprising an alarm control device that issues an alarm before reaching the position corresponding to the limit turning angle. The turning angle calculating device is configured to display at least one of information regarding the limit turning angle and information regarding the calculated total rated load, and the device is connected to a display section provided in the loading type truck crane or to the loading type truck crane via a network. The loading type truck crane according to any one of claims 1 to 6, wherein the loadable truck crane outputs the output toward a display section included in a terminal. A boom operation executed in a calculation unit of a loading type truck crane, which is mounted on a vehicle and includes an outrigger device including a right outrigger and a left outrigger that are extendable and retractable in the vehicle width direction, and a boom that is rotatably mounted on the vehicle. A method for calculating a limit turning angle, the method comprising:
In a state in which the boom has rotated from a reference position, determining a jacking reaction force of an anti-overturning side outrigger, which is an outrigger located on the opposite side of the boom in the vehicle width direction, among the right side outrigger and the left side outrigger. ,
A method for calculating a limit swing angle of a boom, including the step of determining a limit swing angle of the boom based on the jack reaction force.

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