JPH0379595A - Operation controller for self traveling type crane or high place working vehicle - Google Patents

Abstract

PURPOSE:To horizontally advance and retreat the top edge part of a jib by constituting a calculating device so that a control signal is outputted so that the rising/lowering angle of the jib for the ground is kept constant so that the top edge part of a multistage boom advances and retreats horizontally in correspondence with the operation of an operating lever. CONSTITUTION:A calculator transmits a control signal to the hydraulic actuator 6 and 5 for raising/lowering and extension/contraction of a multistage boom 2, and the top edge part of the multistage boom 2 is horizontaly advanced and retreated, and further transmits a control signal to a hydraulic actuator 7 for raising/lowering a jib 1, and the rising/lowering angle of the jib 1 for the ground is maintained constant independently of the rising/lowering of the multistage boom 2. In other words, the cause of the jib in the height of the top edge part of the jib 1 of a self traveling type crane is kept constant by keeping the angle of the jib 1 for the ground constant independently of the rising/lowering of the top edge multistage boom 2, and the top edge part of the multistage boom 2 is advanced and retreated similarly in the conventional case, using the extension/contraction and rising/lowering of the multistage boom 2, and the top edge part of the jib 1 is advanced and retreated in the horizontal direction.

Description

Detailed Description of the Invention (Field of Industrial Application) The present invention relates to an operation control device for a self-propelled crane or an aerial work vehicle equipped with a multi-stage boom with a freely movable jib attached to the tip thereof, It is connected to an operation control device for horizontally moving the tip of the jib.

(Prior art) Conventionally, in a self-propelled crane or an aerial work vehicle equipped with a multi-stage boom on the vehicle body, an electromagnetic control well that controls a hydraulic actuator for extending and retracting the multi-stage boom and a hydraulic actuator for hoisting, respectively, and a multi-stage boom are used. Detection means for detecting the extension length and elevation angle of the boom, an operating device that includes a lever for horizontal advancement and retraction and outputs an operation signal corresponding to the operation of the operation lever, and detection signals and operations from each of the detection means. comprising a calculation device that receives operation signals from the device and outputs control signals to the control portions of the two electromagnetic control valves, and switches and controls the electromagnetic control valves in response to the operation of the operation lever; Therefore, an actuation control device is used in which the tip of a multi-stage boom is moved horizontally forward and backward using both the telescopic movement and the up-and-down movement of the multi-stage boom.

Such an operation control device is known, for example, from Japanese Patent Publication No. 81-478.
No. 00.

This known technique is based on the fact that the height H of the tip of the multi-stage boom is determined by H = L sin θ, where the length of the multi-stage boom is θ, and the elevation angle of the multi-stage boom is θ.
Based on the fact that there is only one combination of height and θ to achieve This is intended to increase or decrease the working radius (move the tip of the multistage boom forward or backward).

On the other hand, in recent years, self-propelled cranes or aerial work vehicles equipped with a multi-stage boom with a movable jib attached to the tip have been frequently used. However, there was no control device for moving the tip of the jib horizontally.

This means that in this type of self-propelled crane or aerial work vehicle, the height of the jib tip H is the length of the multi-stage boom; L the elevation angle of the multi-stage boom; θ the elevation angle of the jib; θJ the ground angle) The length of the jib is LJ, then H = L sin θ + L, sin θ.

Therefore, even if the length of the multistage boom and the length of the jib are constant, there are three variables to calculate H: the elevation angle θ of the multistage boom and the elevation angle θ of the jib, and the predetermined value is This is because the combination of values of these three variables to achieve the jib tip height cannot be uniquely determined (such combinations exist infinitely).

An object of the present invention is to provide a novel operation control system for a self-propelled crane or an aerial work vehicle equipped with a multi-stage boom with a jib that can be freely raised and lowered at the tip, which allows the tip of the jib to move horizontally forward and backward. The aim is to provide equipment.

(Means for Achieving the Object) In order to achieve the above object, the operation control device for a self-propelled crane or aerial work vehicle of the present invention is configured as follows.

For self-propelled cranes or high-place work/vehicles equipped with a multi-stage boom with a jib attached to the tip that can be raised and lowered freely,
an electromagnetic control valve that respectively controls a hydraulic actuator for extending and contracting the multi-stage boom, a hydraulic actuator for hoisting the boom, and a hydraulic actuator for hoisting the jib, an extendable length and a hoisting angle of the multi-stage boom, and a hoisting angle of the jib. detection means for detecting each of the
an operating device that includes a horizontal advance/retreat operating lever and outputs an operating signal corresponding to the operation of the operating lever, and receives a detection signal from each of the detection means and an operating signal from the operating device to control each of the electromagnetic control valves. and a computing device that outputs a control signal to a hydraulic actuator for extending and retracting the multi-stage boom and a hydraulic actuator for hoisting the multi-stage boom so that the tip of the multi-stage boom moves horizontally in response to the operation of the operating lever. outputs a control signal to each electromagnetic control valve of the jib, and outputs a control signal to the electromagnetic control valve of the hydraulic actuator for hoisting the jib so that the hoisting angle of the jib above the ground is maintained constant regardless of the hoisting movement of the multi-stage boom. That's what I did.

(Function) According to the above configuration, the computing device issues a control W signal to the hydraulic actuator for hoisting and the hydraulic actuator for hoisting of the multi-stage boom, thereby horizontally moving the tip of the multi-stage boom forward and backward. Furthermore, the computing device issues a control signal to the hydraulic actuator for hoisting the jib, thereby maintaining the jib's hoisting angle relative to the ground constant regardless of the hoisting movement of the multi-stage boom.

In other words, the control H position of the present invention maintains the jib's ground angle constant regardless of the up-and-down movement of the multi-stage boom, while keeping the jib factor of the height of the jib tip of the self-propelled crane unchanged. The tip of the multi-stage boom is moved forward and backward in the same manner as in the prior art using both the telescopic movement and the up-and-down movement of the multi-stage boom, thereby moving the jib tip forward and backward in the horizontal direction.

(Example) The present invention will be described below based on drawings of an example in which the present invention is implemented in a self-propelled crane.

FIG. 1 shows an example of a self-propelled crane, and this self-propelled crane has a multistage boom 2 mounted on a vehicle body 4 via a swivel base 3, with a jib l attached to the tip so that it can be raised and lowered. The multi-stage boom 2 is driven to extend and contract by an extendable hydraulic actuator 5 built into it, and is also driven to rise and fall by a boom hoisting hydraulic actuator 6. The jib 1 is driven to raise and lower by a hydraulic actuator 7 for raising and lowering the jib. Reference numeral 8 indicates outrigger jacks installed on both sides of the vehicle 40.

Reference numerals 9 and 10 are main and sub winches provided on the swivel base 3, and are driven by hydraulic motors 11 and I2, respectively. 13 is a main hook suspended from the tip of the multistage boom 2, and is driven to be hoisted up and down by the main winch 9. Reference numeral 14 denotes a sub-hook suspended from the tip of the jib 1, which is driven to be hoisted up and hoisted down by the sub-winch lO. 15 is a crane operator's cab of a self-propelled crane installed on a rotating platform. The telescopic hydraulic actuator 5, the boom hoisting hydraulic actuator 6, the jib hoisting hydraulic actuator 7, the hydraulic motors 11, +2, and other hydraulic actuators for movable parts (not shown) are located in the operator's cab 15.
The drive is controlled via an electromagnetic control valve operated from

Next, the control device of the present invention applied to the self-propelled crane shown in FIG. 1 will be explained based on FIG. 2.

In FIG. 2, reference numerals 16, 17 and 18 are electromagnetic control valves that respectively control the telescoping hydraulic actuator 5, the boom hoisting hydraulic actuator 6, and the jib hoisting hydraulic actuator 7 of the multistage boom 2. These electromagnetic control valves 16, 17, and 18 are composed of four-way, three-position double solenoid operated electromagnetic proportional control valves. 1
9. 20 and 21 are detection means for detecting the telescopic length L1 of the multistage boom 2 and the levitation angle θ of the jib 1, respectively. Reference numeral 22 denotes an operating device that includes an operating lever 23 for horizontal advancement and retraction and outputs an operating signal corresponding to the operation of the operating lever 23. 24 is each of the detection means 19.
A control unit 16a for each of the electromagnetic valves 16, 17, and 18 receives a detection signal from the 20° 21 and an operation signal from the operating device.

16b, 17a, 17b, 18a, 18b Control 31
This is an arithmetic device that outputs an I signal. The arithmetic unit 24 is composed of electronic control means such as a microcomputer.

The calculation device 24 calculates the height ho of the tip of the multi-stage boom 2 and the angle of elevation of the jib l over the ground at the time when the horizontal advance/retreat lever 23 is operated (when it is tilted from the neutral position O to the forward direction A or the backward direction I). Store θJO as an initial value.

The height h of the tip of the multistage boom 2 is calculated based on the boom length signal and the boom heave angle signal θ input from the detection means 19 and 20 using the formula: ho=L sin θ.

Next, based on the operation signal from the operation device t22, the calculation device 24 sends a control signal for lowering and extending the multi-stage boom 2, or raising and contracting the multi-stage boom 2 to the electromagnetic control valve 17 of the boom hoisting hydraulic actuator 6 and the boom extension/retraction control signal. output to the electromagnetic side iap#-16 of the hydraulic actuator 5. In this case, the control signal for lowering and extending the multi-stage boom 2 is issued when the operating lever 23 of the operating device 22 is operated to the forward position A, and the control signal for raising and retracting the multi-stage boom 2 is emitted when the operating lever 23 of the operating device 22 is operated to the backward position. The arithmetic unit 1124 calculates the height h of the tip of the multistage boom 2 after the multistage boom 2 is driven from time to time using the calculation formula %, and this h is calculated based on the initial value hof? : the control signal is generated within the computing device 24 to maintain the control signal.

Furthermore, the calculation device 24 outputs a control signal to the electromagnetic control valve 18 of the hydraulic actuator 4 for hoisting of the jib 1, and this control signal causes the hoisting angle θJ of the jib 1 to the ground to be constant regardless of the hoisting movement of the multistage boom 2. control to maintain it. In this control, the control signal is sent to the arithmetic unit so that the ground heave angle θJ of the jib 1 after driving maintains the above-mentioned initial value θJσ.
Created within 4.

be done.

In FIG. 2, reference numerals 25, 26 and 27 are operating devices for multi-stage boom extension/retraction, multi-stage boom hoisting and jib hoisting, and the output signals of these operation signal devices are transmitted to switching means 28, 29 and 27, respectively. 30, it can be connected to the operating section of a corresponding electromagnetic control valve. These operating devices 25, 26 and 27 are used during normal crane work.

(Effects) The operation of the operation control device of the present invention is as described in the explanation of the above configuration. With an installed self-propelled crane or aerial work vehicle, the tip of the jib can be moved horizontally by automatically combining the raising and lowering of the multi-stage boom, the extension and contraction, and the raising and lowering of the jib. The task of moving the tip of the jib horizontally in line with the ceiling of the building is extremely difficult! ! It has the effect of simply being able to do it.

[Brief explanation of drawings]

FIG. 1 is an explanatory diagram of a self-propelled crane, and FIG. 2 is an explanatory diagram of an operation control device for a self-propelled crane or aerial work vehicle according to the present invention. Jib; 1. Multi-stage boom; 2. Vehicle body; 4. Hydraulic actuator for extension and contraction; 5. Hydraulic actuator for boom hoisting; 6. Hydraulic actuator for extension and contraction of jib; 7. Control device; 16.17.18. Extension and contraction length detection means 19, Boom heave angle detection means; 2o, Jib heave angle detection means; 21, Operating device: 22, Arithmetic device; 24, Porridge I diagram

Claims (1)

[Claims] In a self-propelled crane or aerial work vehicle equipped with a multistage boom having a jib attached to the tip thereof so as to be able to freely raise and lower, a hydraulic actuator for extending and contracting the multistage boom, a hydraulic actuator for hoisting the boom, and a jib for raising and lowering the jib. An electromagnetic control valve that controls each of the hydraulic actuators for hoisting, a detection means that detects the extension/contraction length and hoisting angle of the multi-stage boom and a hoisting angle of the jib, and a horizontal advance/retreat operation lever. comprising an operating device that outputs a corresponding operating signal, and an arithmetic device that receives the detection signal from each of the detection means and the operating signal from the operating device and outputs a control signal to the control unit of each of the electromagnetic control valves, The computing device outputs a control signal to each electromagnetic control valve of a hydraulic actuator for extending and contracting and a hydraulic actuator for hoisting of the multi-stage boom so that the tip of the multi-stage boom moves horizontally in response to the operation of the operating lever, and the The self-propelled type is characterized in that the jib is configured to output a control signal to the electromagnetic control valve of the hydraulic actuator for hoisting the jib so that the jib's hoisting angle with respect to the ground is maintained constant regardless of the hoisting movement of the multi-stage boom. Operation control device for cranes or aerial work vehicles.