JPH0570086A - Constant-jib tilt angle control device for mobile crane - Google Patents

Abstract

PURPOSE:To keep the tilt angle of a jib constant without a delay after the change of the attitude of an expansion boom regardless of the expansion or tilt of the expansion boom in a mobile crane erectably fitted with the jib at the tip of the expansion boom erectably fitted on a rotary base and arranged with a winch on the rotary base to erect the jib. CONSTITUTION:The attitude information of an expansion boom and a jib detected by a boom tilt angle detecting means 14, a boom length detecting means 15, and a jib tilt angle detecting means 16 and the speed information detected by a boom expansion speed detecting means 17 and a boom tilt speed detecting means 18 are inputted to an arithmetic section 19, the arithmetic section 19 calculates the winch driving speed required to keep the jib tilt angle constant, and the control means 20 of a winch 5 is controlled based on the calculated result.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a jib hoisting angle for controlling the hoisting angle of a jib mounted on the tip of a telescopic boom of a mobile crane so as to be hoisted and driven, regardless of the hoisting or telescopic motion of the telescopic boom. It relates to a constant control device.

[0002]

2. Description of the Related Art In a mobile crane such as a truck crane, a jib is movably attached to a tip end of a telescopic boom which is mounted on a swivel so as to be capable of hoisting and driving, and is driven and controlled by a winch control means provided on the swivel. The jib is driven up and down via a wire rope drawn from a winch. Then, the swivel base is swiveled, the telescopic boom is raised and retracted, the jib is raised and lowered, and the hook block hung from the end of the jib is hoisted and unwound to perform crane work.
This type of mobile crane has a large crane working range and is suitable for a wide range of crane work because it can drive the jib in addition to the hoisting and telescopic drive of the telescopic boom.

However, in this type of mobile crane, since the base end of the jib and the winch for driving the jib which is arranged on the swivel are connected through the wire rope, for example, the jib hoisting drive. When the telescopic boom is hoisted or telescopically driven without driving the vehicle winch, the hoisting angle of the jib (ground hoisting angle) changes against the intention of the crane operator.

For this reason, the winch for driving the jib is driven by following the ups and downs of the telescopic boom, and the hoisting angle of the jib (the ground ups and downs) is controlled to be constant even when the telescopic boom is hoisted and telescopically driven. A constant jib undulation angle control device has been developed.

The conventional jib undulation angle control device is equipped with a jib undulation angle detector for detecting the jib undulation angle (ground undulation angle), and a controller for outputting a control signal to the control device of the jib undulation drive winch. The detected value of the jib undulation angle detector is input, and the calculation unit compares the detected values of the jib undulation angle detector before and after the change of the telescopic boom posture (change of undulation and extension / contraction state), and the jib undulation after the change. The winch for driving the jib is driven until the detection value of the angle detector becomes the same as that before the change. This type of jib undulation angle constant control device is known from Japanese Patent Publication No. 2-53358.

However, in such a conventional jib hoisting angle constant control device, there is a difference in the detection value of the jib hoisting angle detector before and after the change of the posture of the telescopic boom (the change of the undulation and the extension / contraction state). After that, that is, after the jib undulation angle (ground undulation angle) actually changes, the jib undulation driving winch is driven so as to eliminate the difference. Therefore, the jib undulation angle correction is delayed. There is a problem that

[0007]

SUMMARY OF THE INVENTION An object of the present invention is to solve the problems of the conventional constant jib hoisting angle control device described above, and to raise and lower the jib that is likely to occur with the change in the posture of the telescopic boom. An object of the present invention is to provide a constant jib undulation angle control device capable of correcting a change in angle without delay.

[0008]

In order to achieve the above object, a jib hoisting angle constant control device for a mobile crane according to the present invention is constructed as follows. That is, a jib is movably attached to the tip end of a telescopic boom mounted on a swivel so that it can be driven up and down, and the jib is pulled through a wire rope drawn from a winch provided on the swivel and driven and controlled by winch control means. A jib hoisting angle constant control device in a mobile crane that is driven to hoist,
Jib hoisting angle detection means for detecting the jib hoisting angle, boom length detecting means for detecting the length of the telescopic boom, boom hoisting angle detection means for detecting the hoisting angle of the telescopic boom, boom telescopic for detecting the telescopic speed of the telescopic boom A speed detecting means, a boom hoisting speed detecting means for detecting the hoisting speed of the telescopic boom, and a calculation section for receiving a detection signal from each of these detecting means and performing a calculation process to output a control signal to the winch control means, In the operating section of the telescopic boom and jib grasped from the detection signals of the jib hoisting angle detection means, the boom length detection means, and the boom hoisting angle detection means, the telescopic boom operates as the boom telescopic speed detection means. When the telescopic boom is extended (or contracted) at a speed corresponding to the detection and the telescopic boom is collapsed (or raised) at a speed corresponding to the detection by the boom hoisting speed detection means. ), A winch feeding (or winding) speed required to keep the undulation angle of the jib unchanged is calculated and the calculation result is output to the winch control means as a control signal. Jib hoisting angle control device for mobile crane.

[0009]

In this type of mobile crane, when the telescopic boom is changed in posture (extending or contracting or changing posture due to undulation drive), the jib undulation angle (ground angle) is kept constant regardless of the posture change. In order to do so, the winch for driving the jib undulation may be driven to wind up or down in response to a change in the posture of the telescopic boom. That is, when the telescopic boom is driven to extend or contract, the winch is fed or wound up in response to this drive, and the feeding or winding speed is set so that the jib hoisting angle is set regardless of the telescopic movement of the telescopic boom. It may be set to a value that does not change. Such a winch pay-out or take-up speed is a function of the telescopic boom's telescopic speed for each posture of the telescopic boom and jib, that is, for each combination of the telescopic boom hoisting angle, the telescopic boom length, and the jib hoisting angle. Is determined as. In other words, the winch pay-out or take-up speed that does not change the hoisting angle of the jiff when the telescopic boom is extended or contracted is determined by the hoisting angle of the telescopic boom, the length of the telescopic boom, the hoisting angle of the jib, and the telescopic boom. It can be calculated as a function of expansion or contraction speed. Also, when the telescopic boom is raised or lowered, the winch is wound or unwound in response to this drive, and the winding or unwinding speed is
The value should be set so that the hoisting angle of the jib does not change regardless of the hoisting motion of the telescopic boom. The retracting or unwinding speed of such a winch is a function of the hoisting speed of the telescopic boom for each posture of the telescopic boom and jib, that is, for each combination of the hoisting angle of the telescopic boom, the length of the telescopic boom, and the hoisting angle of the jib. Is determined as. In other words, the retracting or unwinding speed of the winch, which does not change the hoisting angle of the jiff when the telescopic boom is raised or lowered, is determined by the hoisting angle of the telescopic boom, the telescopic boom length, the hoisting angle of the jib, and the telescopic boom. It can be calculated as a function of the elevation or lodge rate of. The controller for controlling the jib hoisting angle of the mobile crane of the present invention configured as described above keeps the hoisting angle of the jib constant in the arithmetic unit during the telescopic drive and the hoisting drive of the telescopic boom regardless of the change in the attitude of the telescopic boom. Since the driving speed and direction of the winch necessary to keep it at this value are calculated and the result of this calculation is output to the winch control means as a control signal, it is possible to constantly control the undulation angle of the jib to be constant. .. In particular, according to the present invention, since the expansion / contraction speed of the telescopic boom and the hoisting speed are detected and the winch for driving the jib hoisting is driven by the detection result, the jib that is about to occur with the change in the attitude of the telescopic boom is detected. The change in the undulation angle can be corrected without delay.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a constant jib hoisting angle control device for a mobile crane according to the present invention will be described below with reference to the drawings.

FIG. 1 shows a mobile crane to which the present invention is applied. In FIG. 1, reference numeral 2 is a swivel mounted on the vehicle 1 so as to be swivel-driving. Reference numeral 3 denotes a telescopic boom that is attached to the swivel base 2 via an up-and-down fulcrum 3a so as to be able to drive up and down. Reference numeral 4 denotes a jib that is attached to the tip of the telescopic boom 3 so as to be able to move up and down via a hoisting fulcrum 4a. This jib 4 is a wire rope 6 drawn from a winch 5 for driving the jib that is provided on the swivel base 2. It is designed to be driven up and down via. In this embodiment, the jib 4 has a jib attachment frame 7 detachably attached to the tip of the telescopic boom 3.
Is attached to the tip end of the through a fulcrum supporting point 4a. At the undulating fulcrum 4a portion of the jib mounting frame 7,
A support column 9 is attached to the tip of the jib 4 via a connecting rod 8 (or a connecting rope) at an appropriate position of the jib 4 so as to be capable of undulating. And, the winch 5 for undulating the jib
The tip end portion of the wire rope 6 pulled out through the pulley 10 arranged so as to project above the swivel base 2 is connected to the tip end portion 9 a of the column 9.

Since the triangle defined by the jib 4, the column 9 and the connecting rod 8 is invariant, in order to keep the undulation angle Θj of the jib 4 constant, it is sufficient to keep the angle of the column 9 above ground constant. .. The pillar 9 or the jib 4 is the undulating fulcrum 3 of the telescopic boom 3.
Since it is supported by a quadrangle defined by the undulating fulcrum 4a of the jib 4, the tip 9a of the column 9, and the pulley 10, the extension boom of the telescopic boom 3 corresponds to the undulating drive. Up and down angle of pillar 9 or jib 4 (up and down angle to ground)
Fluctuates.

By the way, in order to prevent the hoisting angle of the support column 9, that is, the jib 4 (the hoisting angle to the ground) from changing when the telescopic boom 3 is extended or retracted, the driving speed is linked with the extension or contraction of the telescopic boom 3. It is sufficient to drive the winch 5 for driving the jib up and down at a speed commensurate with the above. For example, when the telescopic boom 3 is driven to extend or contract, the unwinding or winding speed Vw of the winch 5 that does not change the hoisting angle of the column 9, that is, the hoisting angle of the jib 4, is determined by the postures of the telescopic boom 3 and the jib 4, that is, Each combination of the hoisting angle Θb of the telescopic boom 3, the length L of the telescopic boom 3, and the hoisting angle Θj of the jib 4 is determined as a function of the extension or contraction speed of the telescopic boom 3. In other words, the unwinding or winding speed Vw of the winch 5 that does not change the hoisting angle Θj of the jiff 4 when the telescopic boom 3 is extended or contracted is determined by the hoisting angle Θ of the telescopic boom 3.
b, the length L of the telescopic boom 3, the hoisting angle Θj of the jib, and the extension or contraction speed Vl of the telescopic boom can be calculated. This calculation may be performed by mathematically solving the above quadrangle based on each of the above parameters, or the payout or winding speed Vw of the winch 5 may be stored for each of the above parameters to store the current values. It may be obtained by reading the corresponding stored value Vw using the parameter as an index signal.

Further, when the telescopic boom 3 is raised or lowered, the winding or unwinding speed Vw of the winch 5 which does not change the hoisting angle of the support column 9, that is, the hoisting angle of the jib 4, is determined by the postures of the telescopic boom 3 and the jib 4. Each time, that is, for each combination of the hoisting angle Θb of the telescopic boom 3, the length L of the telescopic boom 3, and the hoisting angle Θj of the jib 4, it is determined as a function of the raising or lowering speed of the telescopic boom 3. In other words,
The winding or unwinding speed Vw of the winch 5 that does not change the hoisting angle Θj of the jiff 4 when the telescopic boom 3 is driven up and down is determined by the hoisting angle Θb of the telescopic boom 3, the length L of the telescopic boom 3, and the hoisting of the jib. It can be calculated as a parameter of the angle Θj and the raising or lowering speed VΘ of the telescopic boom. This calculation may be obtained by mathematically solving the above quadrangle based on the above parameters, or
It is also possible to store the payout or winding speed Vw of the winch 5 for each of the above parameters, and obtain it by reading the corresponding stored value Vw using each current parameter as an index signal.

Based on this, the jib hoisting angle constant control device in the mobile crane of the present invention will be described with reference to FIG. In FIG. 2, 11 is a winch 5
Four-way three-position type manual hydraulic control valve for controlling the drive of the telescopic boom, 12 a four-way three-position type manual hydraulic control valve for controlling the telescopic drive of the telescopic boom 3, and 13 control the hoisting drive of the telescopic boom 3. It is a four-way three-position type manual hydraulic control valve.
In FIG. 2, reference numeral 14 denotes the undulation angle of the jib 4 (the undulation angle to the ground).
It is a jib undulation angle detection means for detecting Θj, and is composed of a pendulum type angle detector (potentiometer) attached to the jib 4. 15 is the length L of the telescopic boom 3
A cord winder (not shown), which is a boom length detecting means for detecting the movement of the telescopic boom 3, and has a take-up drum arranged at the base end of the telescopic boom 3 and the tip of the cord fixed to the end of the telescopic boom.
It is composed of a length detector (potentiometer) for detecting the rotational position of the winding drum. Reference numeral 16 is a boom hoisting angle detecting means for detecting the hoisting angle Θb of the telescopic boom 3, and is an angle detector attached to the base end of the telescopic boom 3 for detecting the hoisting angle Θb of the telescopic boom 3 with respect to the swivel base 2 ( Or a pendulum type angle detector (potentiometer) attached to the base end of the telescopic boom 3.

Reference numeral 17 denotes a boom extension / contraction speed detecting means for detecting the extension / contraction speed VL of the extension / contraction boom 3, and in this embodiment, the operation amount of the manual hydraulic control valve 12 for controlling the extension / contraction drive of the extension / contraction boom 3 is detected. The potentiometer 17a and an electric signal VL that receives a signal from the potentiometer 17a and that corresponds to an operation amount that exceeds the neutral dead zone of the manual hydraulic control valve 12 and that is related to the operation direction (extension side operation or contraction side operation). Processing unit 17b that outputs a signal
It consists of. 18 is the hoisting speed VΘ of the telescopic boom 3.
In this embodiment, the boom hoisting speed detecting means detects the amount of operation of the boom, and in this embodiment, the potentiometer 18a detects the operation amount of the manual hydraulic control valve 13 that controls the hoisting drive of the telescopic boom 3.
And a signal from the potentiometer 18a to output an electric signal VΘ corresponding to the operation amount exceeding the neutral dead zone of the manual hydraulic control valve 13 and a signal relating to the operation direction (operation on the lying side or operation on the rising side). The processing unit 18b that outputs Reference numeral 19 receives the detection signals from the jib hoisting angle detecting means 14, the boom length detecting means 15, the boom hoisting angle detecting means 16, the boom extension / contraction speed detecting means 17, and the boom hoisting speed detecting means 18, and performs arithmetic processing on the signals. It is an arithmetic unit that outputs a control signal to the winch control means 20. Numeral 20 is a winch control means for receiving a control signal from the arithmetic unit 19 and controlling the control signal to wind up and wind down the winch 5 for driving the jib. In this embodiment, the winch control means 20
Is a four-way three-position type electromagnetic proportional control valve, and a pair of control oil passages of the electromagnetic proportional control valve are connected to a corresponding pair of control oil passages of the manual hydraulic control valve 11. ..

The arithmetic unit 19 calculates the expansion / contraction response winch speed calculation unit 2 for calculating the drive speed Vw of the winch 5 so that the hoisting angle of the jib 4 does not change when the telescopic boom 3 is expanded / contracted.
1 and an undulation response winch speed calculation unit 22 that calculates a drive speed Vw of the winch 5 such that the undulation angle of the jib 4 does not change when the telescopic boom 3 is undulated.

The telescopic response winch speed calculation unit 21 calculates the hoisting angle Θb of the telescopic boom 3, the length L of the telescopic boom 3, the hoisting angle Θj of the jib 4, and the telescopic speed V of the telescopic boom 3.
The drive speed Vw of the winch 5 corresponding to each combination of L is stored, and the detection value Θ of the boom hoisting angle detection means 16 is stored.
b, the detection value L of the boom length detection means 15, the detection value Θj of the jib undulation angle detection means 14, and the detection value VL of the boom extension / contraction speed detection means 17, and these are used as index signals, and the corresponding drive speed Vw at that time is determined. It is designed to output. Of course, this expansion / contraction response winch speed calculation unit 2
1 is the drive speed Vw based on each input signal as described above.
May be calculated mathematically.

The undulation response winch speed calculator 22 calculates the undulation angle Θb of the telescopic boom 3, the length L of the telescopic boom 3, the undulation angle Θj of the jib 4, and the undulation speed V of the telescopic boom 3.
The driving speed Vw of the winch 5 corresponding to each combination of Θ is stored, and the detection value Θ of the boom hoisting angle detection means 16 is stored.
b, the detection value L of the boom length detecting means 15, the detection value Θj of the jib hoisting angle detecting means 14, and the detection value VΘ of the boom hoisting speed detecting means 18, which are used as index signals, the corresponding driving speed Vw at that time is obtained. It is designed to output. Of course, this expansion / contraction response winch speed calculation unit 2
2 is the drive speed Vw based on each input signal as described above.
May be calculated mathematically.

The drive speed Vw signal output from the expansion / contraction response winch speed calculation section 21 is a gate 23 which is opened when the processing section 17b of the boom expansion / contraction speed detecting means 17 detects the extension side operation of the manual hydraulic control valve 12. It is given to the gate 24 which is opened when the reduction side operation is detected. Further, the drive speed Vw signal output from the undulation response winch speed calculation unit 22 is a gate 25 and an erection that are opened when the processing unit 18b of the boom undulation speed detection unit 18 detects the operation of the manual hydraulic control valve 13 on the laid side. It is provided to the gate 26 which is opened when the supine operation is detected. The respective signals Vw from the gate 23 and the gate 25 are added by the adder 27 to form the payout drive speed signal Vw of the winch 5,
The winch control means 20 is operated in the winch feeding direction. The signals Vw from the gate 24 and the gate 26 are added by the adder 28 to become the winding drive speed signal Vw of the winch 5, and the winch control means 20 is operated in the winch winding direction.

In the above embodiment, the boom expansion / contraction speed detecting means 17 is described as detecting the operation amount and the operation direction of the manual hydraulic control valve 12, but the boom expansion / contraction speed detecting means 17 does not. Of course, the expansion and contraction speed and direction of the expansion and contraction boom may be obtained by differentiating the output of the boom length detection means 15.
Further, in the above embodiment, the boom hoisting speed detecting means 18
Is described as detecting the operation amount and the operation direction of the manual hydraulic control valve 13, the boom hoisting speed detecting means 18 differentiates the output of the boom hoisting angle detecting means 16 to hoist the telescopic boom. Of course, the speed and the undulation direction may be obtained.

[0022]

The constant jib hoisting angle control device for a mobile crane according to the present invention, which is constructed and operates as described above, changes the attitude of the telescopic boom when the attitude of the telescopic boom is changed (the telescopic boom is telescopically driven and the hoisting is driven). It automatically responds to the jib hoisting winch so that the jib hoisting angle can be kept constant regardless of the change in posture. There is no such thing.

[Brief description of drawings]

FIG. 1 is an explanatory diagram of a mobile crane to which a constant jib hoisting angle control device for a mobile crane according to the present invention is applied.

FIG. 2 is an explanatory diagram of a jib hoisting angle constant control device in the mobile crane of the present invention.

[Explanation of symbols]

 2 Swivel base 3 Telescopic boom 4 Jib 5 Jib hoisting drive winch 14 Jib hoisting angle detection means 15 Boom length detection means 16 Boom hoisting angle detection means 17 Boom hoisting speed detection means 18 Boom hoisting speed detection means 19 Computing section 20 Winch control means

Claims (1)

[Claims] 1. A jib is movably attached to the tip of a telescopic boom that is attached to a swivel so that it can be driven up and down, and a wire rope drawn from a winch that is provided on the swivel and is drive-controlled by winch control means is used. A jib hoisting angle constant control device for a mobile crane configured to hoist and drive the jib, wherein the jib hoisting angle detection means detects the hoisting angle of the jib, the boom length detection means detects the length of the telescopic boom, and the telescopic Boom hoisting angle detection means for detecting the hoisting angle of the boom, boom telescopic speed detection means for detecting the telescopic speed of the telescopic boom, boom hoisting speed detection means for detecting the hoisting speed of the telescopic boom, and detection from these detection means And a signal processing unit for receiving a signal, processing the signal, and outputting a control signal to the winch control means. The telescopic boom extends at a speed corresponding to the detection of the boom telescopic speed detecting means in the operating posture of the telescopic boom and jib grasped from the detection signals of the angle detecting means, the boom length detecting means, and the boom hoisting angle detecting means. (Or retracting) and when the telescopic boom is lowered (or raised) at a speed corresponding to the detection of the boom hoisting speed detection means, the winch is extended (or wound) required to keep the hoisting angle of the jib unchanged. A constant jib hoisting angle control device for a mobile crane, characterized in that the speed is calculated and calculated, and the calculation result is output to the winch control means as a control signal.