JPH0616391A - Movable crane controller - Google Patents

Abstract

PURPOSE:To alleviate the braking stop by computing a boom derricking angle by deducting a overturn braking angle from the actual boom derricking angle, and by computing the limit slewing angle in the boom derricking angle at the time where the boom overturn is braked to stop for stopping the swiveling operation on a slewing table. CONSTITUTION:An actual derricking angle phi from a boom derricking angle detecting means 12, load W from a boom load detecting means 13, and an overturn braking angle phib from an overturn braking angle output means 22 are respectively input in a limit slewing angle output means 19. The limit slewing angle detecting means 19 computes the boom derricking angle phi-phib obtained by deducting the overturn braking angle phib from the derricking angle PHIand the limit slewing angle theta lim in form of a function of the load W. And a slewing braking signal output means 23 outputs control signals to a slewing braking device 17 on the basis of a signal theta lim, a slewing braking angle thetab from a slewing braking angle output means 21 and the slewing angle THETA from a slewing angle detector 11.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a mobile crane, and more particularly, to a slewing motion of a swivel base which is gradually reduced before a limit slewing angle and stopped at the limit slewing angle. Or, it relates to an improvement of a control device for gradually decreasing and stopping before the limit work radius.

[0002]

2. Description of the Related Art In a mobile crane, as shown in FIG. 2, a swivel base 2 is mounted on a vehicle 1 so that the swivel base can be freely swiveled, and a boom 3 is mounted on the swivel base 2 so that it can be raised and lowered. A hoisting tool 4 is hoisted at the tip of the boom 3 so as to be hoisted and hoisted. In this type of mobile crane, the vehicle 1 is stabilized by an outrigger device attached to the vehicle 1, and then the suspended load 5 is lifted by the lifting tool 4 and the swivel base 2 is swung and the boom 3 is driven up and down. Then, the crane work is performed.

In this type of mobile crane, the allowable boom load Wmax that can be applied to the boom 3 (the maximum value of the weight of the suspended load 4 or the maximum value of the boom falling direction moment acting around the boom 3 undulation fulcrum). , The swing angle Θ of the swivel base 2 and the hoisting angle Φ of the boom 3. In other words, when the current values of the hoisting angle Φ of the boom 2 and the load W acting on the boom (the weight of the suspended load 4 or the boom fall direction moment acting around the hoisting fulcrum of the boom 3) are determined, The limit turning angle Θ lim is determined,
When the turning angle Θ of the swivel base 2 and the current value of the load W acting on the boom are determined, the limit working radius Rli which is a function of the fall limit angle Φlim of the boom 3 or the fall limit angle Φlim.
There is a relationship in which m is determined.

In order to ensure the safety of crane work in this type of mobile crane, the swinging motion of the swivel base 2 is automatically gradually reduced before the limit swinging angle Θ lim and the limit swinging angle Θ lim.
A control device is attached for stopping the position of the boom 3 and automatically decreasing the stop motion of the boom 3 before the limit tilt angle Φlim to stop the motion.

A conventional control device will be described with reference to FIG. In the figure, the control device includes: a turning angle detecting means 1 for detecting a turning angle Θ of the turning base 2.
1, (The turning angle detecting means 11 is arranged between the vehicle 1 and the turntable 2 and detects a clockwise turning angle Θ from a specific direction of the vehicle 1 (for example, a forward direction of the vehicle 1). Boom hoisting angle detection means 12, which detects the hoisting angle Φ of the boom 3, (this hoisting angle detection means 12 is mounted between the swivel base 2 and the boom 3, and the hoisting angle of the boom 3 (horizontal) (Elevation angle Φ) is detected. Boom load detecting means 13 for detecting a load acting on the boom 3 (the boom load detecting means 13 is a load cell for detecting the weight W of the suspended load 5). Alternatively, the load W acting on the hoisting cylinder (not shown) of the boom 3 (this load corresponds to the boom 3 falling direction moment acting around the hoisting fulcrum of the boom 3 by its own weight and the hanging load 5) is detected. Do A swivel motion detecting means 14 for detecting the swivel angular velocity Θv and direction of the swivel base (the swivel operation detecting means 14 is, for example, a four-way three-position hydraulic switching valve for controlling the drive of the swivel hydraulic motor. It comprises a detector for detecting the operation amount from the neutral position and a detector for detecting the operation direction of the hydraulic switching valve.)-A hoisting motion detecting means 15 for detecting the tilting motion of the boom 3.
(This hoisting motion detecting means 15 is composed of, for example, a detector that detects that a four-way, three-position hydraulic switching valve that controls the driving of the hoisting cylinder is operated in the boom fall direction from the neutral position.・ A braking signal output unit 16 which receives and calculates from the above-mentioned detection means 11 to 15 and outputs a turning braking signal and a falling braking signal, ・ By a turning braking signal from the braking signal output unit 16 A swing braking device 17 that operates (in the case where the swivel base 2 is driven to swing by a swing hydraulic motor, the swing braking device 17 includes, for example, a pair of flow rate control devices provided in two oil supply and discharge passages of the swing hydraulic motor. It is a valve (variable throttle valve) and is composed of a pair of flow rate control valves that are operated by the turning braking signal from the braking signal output unit 16.)-Looping that is activated by the lodging braking signal from the braking signal output unit 16 Braking device 18 (When the boom 2 is driven up and down by an up-and-down cylinder, the up-and-down braking device 18 includes, for example, a flow rate control valve (variable) provided in a discharge-side oil passage during up-and-down drive in two oil supply and exhaust passages of the up-and-down cylinder. Throttle valve), which is a flow control valve that is operated by the fall braking signal from the braking signal output unit 16.).

The braking signal output unit 16 outputs: a limit swing angle output means 19, which outputs a limit swing angle Θlim of the swivel base 2 as a function of a hoisting angle Φ of the boom 3 and a load W acting on the boom 3. As described above, the limit turning angle Θ lim of the mobile crane can be obtained from the hoisting angle Φ of the boom 3 and the load W acting on the boom. Therefore, the limit turning angle calculating means 19 is the hoisting angle detecting means. Using the hoisting angle Φ signal from 11 and the load W signal from boom load detecting means 13, the limit turning angle Θ
It is configured to calculate or read lim. ) Limit loft angle output means 20 for outputting the limit loft angle Φlim of the boom 3 as a function of the swivel angle Θ of the swivel base 2 and the load W acting on the boom 3, (the limit loft angle Φlim of the mobile crane as described above). Can be obtained from the turning angle Θ of the swivel base 2 and the load W acting on the boom. Therefore, the critical lodging angle calculating means 20 detects the turning angle Θ from the turning angle detector 11 and the boom load detection. Using the load W signal from the means 13, the critical lodging angle Φlim
Is configured to be calculated or read. ) A swing braking angle output means 21, which outputs a signal relating to the swing braking angle Θb required to brake and stop the swing operation of the swivel base 2 as a function of the swing angular velocity Θv, (this swing braking angle output means 21: For example, one of the following: The turning required to stop the turning operation at a deceleration angular acceleration such that the lateral load acting on the boom 3 during braking of the turning operation does not exceed the allowable lateral load of the boom 3. Outputs a braking angle Θb (which is obtained as a function of the turning angular velocity Θv and increases as the turning angular velocity Θv increases.) When the turning operation is stopped, the turning operation is braked at a time T at which no load shake remains on the suspended load 5. Outputs the turning braking angle Θb required for stopping, for example, in the case where the braking of the turning operation is to be decelerated with a constant deceleration angular acceleration, it is suspended from the tip of the boom 3. The vibration stop time of the suspended load 5 (this time is a function of the suspension distance L of the suspended load 5) completes the braking stop at a time T that is a natural number multiple, so that the suspended load 5 is stopped when the turning operation is stopped. In this case, assuming that the turning angular velocity Θv immediately before starting braking, half of the angle obtained by multiplying Θv by the time T is output as the turning braking angle Θb. Therefore, in this case, the turning braking angle output means 21 causes the turning angular velocity Θv signal from the turning operation detecting means 14 and the separately loaded load 5 as shown by a phantom line in FIG. Which outputs the turning braking angle Θb (a function of the turning angular velocity Θv and the hanging distance L of the suspended load) by performing the necessary calculation described above on the basis of the signal from the hanging distance detecting means 26 for detecting the hanging distance L.・ Boom 3 fall A lodging braking angle output means 22 that outputs a signal related to a lodging braking angle Φb necessary for braking and stopping the operation (the lodging braking angle output means 22 is, for example, one of the following. Regardless of the size, or the load W acting on the boom, regardless of the size of the load W, the preset braking angle Φb is output so as not to destroy the boom 3. The fall direction that acts on the boom 3 during braking during the fall operation. The fall braking angle Φ required to stop the fall operation by decelerating angular acceleration so that the load does not exceed the strength limit of the boom 3.
b (the yield angular velocity Θ determined as a function of the yield angular velocity Φv
is output). In this case, the lodging angular velocity Φv from the lodging angular velocity detection unit 27 separately prepared is provided to the lodging braking angle output unit 22 as shown by a virtual line in FIG.
Be sure to enter. When the lodging operation is stopped, a signal related to the lodging braking angle Φb required to stop the lodging operation at a time T such that the load 5 does not shake. For example, when the braking of the fall operation is to be decelerated at a constant deceleration angular acceleration, the vibration cycle time of the suspended load 5 suspended from the tip of the boom 3 (this time is the suspension cycle of the suspended load 5). It is known that when the braking stop is completed in a time T that is a natural number times the natural distance (which is a function of the lower distance L), no load shake remains on the suspended load 5 when the fall operation is stopped. In this case, assuming that the lodging angular velocity is Φv immediately before the start of braking, it is necessary to output half the amount obtained by multiplying Φv by the time T as the lodging braking angle Φb. Therefore, in this case, the lodging braking angle output means 22 detects the laying angular velocity Φv and the hanging distance L of the hanging load 5 from the laying angular velocity detecting means 27, which are separately prepared, as shown by a phantom line in FIG. The signal from the detecting means 26 is input, and the above-described necessary calculation is performed to output the slump braking angle Φb (function of the spilling angular velocity Θv and the hanging distance L of the suspended load).・ Limit turning angle output means 19, turning braking angle output means 21,
Based on a signal from the turning angle detection means 11, a turning braking signal for gradually turning the turning operation of the turntable 2 at the turning braking angle Θb before the limit turning angle Θlim and stopping at the limit turning angle Θlim is given to the turning braking device. Turning braking signal output means 23 for outputting to 17; limit sill angle output means 20, sill braking angle output means 22,
And, based on the signal from the boom hoisting angle detection means 12,
The lodging braking signal for stopping the boom operation of the boom is gradually reduced before the limit lodging angle Φlim and stopped.
And a fall braking signal output means 24 for outputting to.

In the conventional mobile crane control device thus constructed, the turning operation of the swivel base 2 is limited to the turning position Θl.
There is an effect that the brake is smoothly performed even though it automatically stops at the im.
Since the laying-down operation of (1) is automatically stopped before the critical laying-down position Φlim, the braking is smoothly performed, which greatly contributes to the safety of crane work of the mobile crane.

However, the conventional control device for a mobile crane constructed as described above has the following drawbacks. That is, the braking stop of the turning operation in the above-mentioned conventional control device is performed under the actual hoisting angle Θ of the boom 3 and the actual load W acting on the boom 3 in the limit turning angle output means 19 of the braking signal output unit 16. Limit turning angle Θli
Since m is calculated in advance and braking is started from the front by the turning braking angle Θb with respect to the obtained limit turning angle Θlim and stopped at the limit turning angle Θlim, the undulation angle Θ does not change during the braking of the turning operation. In this case, although the swinging operation of the swivel base 2 can be surely stopped at the limit swinging angle Θ lim, if the boom 3 is tilted while the swinging operation is being braked, this tilting operation causes the hoisting angle Θ and the working radius R to rise. Fluctuates, and as a result, the limit turning angle Θlim
Moves toward the front side, the turning operation stops at a position beyond the limit turning angle Θlim moved toward the front side. In order to deal with such a problem, when a swing braking signal is output from the swing braking signal output means 24, the fall operation of the boom 3 is immediately stopped and the boom 3 during braking of the swing operation suddenly causes the fall operation. It is known that the boom 3 is automatically stopped automatically. However, in such a case, there is a problem that an excessive force acts on the boom 3 when the fall motion of the boom 3 is suddenly stopped automatically.

[0009]

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems that the conventional control device for a mobile crane has, and the boom 3 is moved during braking of the swivel operation of the swivel base 2. Even when the lodge operation is performed, the turning operation of the swivel base 2 is accurately stopped at the limit swivel angle Θ lim, but the locomotion operation of the boom 3 can be stopped gently (non-abruptly). An object of the present invention is to provide a control device for a crane.

[0010]

In order to achieve the above object, the control device for a mobile crane according to the present invention comprises the limit turning angle output means 19 in the conventional control device for a mobile clay as follows. . That is, when the hoisting motion detecting means 15 detects the tilting operation of the boom, the limit turning angle output means 19 changes the actual hoisting angle Φ of the boom 3 of the boom hoisting angle detecting means 12 from the actual hoisting angle Φ of the hoisting braking angle output means 22. The limit turning angle Θlim at the boom hoisting angle Φ-Φb is calculated by subtracting the braking angle Φb.

[0011]

In the control device for a mobile crane according to the present invention having the above-described structure, the current hoisting angle Φ of the boom 3 is set when the boom 3 is tilted in addition to the turning motion of the swivel base 2.
The fall braking angle Φ output by the fall braking angle output means 22
Bound hoisting angle Φ-Φb (in other words, boom hoisting angle when the booming operation of the boom 3 is stopped based on the yaw braking signal output from the yaw braking signal output means 24), the limit turning angle Θ lim. Is input to the turning braking signal output means 23, and the turning braking signal output means
In 23, since the turning braking signal for stopping the turning operation at the limit turning angle Θ lim is calculated, the turning operation of the turntable 2 is not stopped beyond the limit turning angle Θ lim. . Of course, since the braking of the boom 3 is gently (non-abruptly) caused by the lodging braking signal from the lodging braking signal output means 24, it is possible to avoid applying an excessive force to the boom 3. .

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment of a control device for a mobile crane according to the present invention will be described below with reference to FIG. The control device for a mobile crane according to the present invention is different from the conventional control device shown in FIGS. 2 and 3 only in the configuration of the limit turning angle output means 19 in the braking signal output section 16, and therefore in other configurations. For the above, the reference numerals used in the above description of the prior art and the description thereof are incorporated in the following description.

In FIG. 1, the limit turning angle output means 19 in the braking signal output section 16 is provided with a signal of the actual hoisting angle Φ from the boom hoisting angle detecting means 12 and from the boom load detecting means 13 as in the conventional case. In the present invention, the fall braking angle Φb from the fall braking angle output means 22 is input in addition to these signals Φ and W. The limit turning angle output means 19 calculates and outputs the limit turning angle Θlim of the swivel base 2 as a function of the hoisting angle Φ of the boom 3 and the load W acting on the boom 3 as described above. The limit turning angle output means 19 according to the present invention, as a hoisting angle used for calculating the limit turning angle Θ lim, is a boom hoisting angle obtained by subtracting the hoisting braking angle Φb output by the hoisting braking angle output means 22 from the current hoisting angle Φ of the boom 3. The limit turning angle Θ lim at the angle Φ−Φb (in other words, the undulation angle of the boom 3 when the laying down operation of the boom 3 is stopped based on the laying down braking signal output by the laying down braking signal output means 24) is used. . Then, the limit turning angle output means 19 calculates and outputs the limit turning angle Θlim as a function of the undulation angle Φ−Φb obtained by subtracting the fall braking angle Φb from the actual undulation angle Φ and the load W acting on the boom 3. Of.

The limit turning angle Θlim output by the limit turning angle output means 19 is the turning braking angle Θb from the turning braking angle output means 21 and the turning angle Θ from the turning angle detector 11.
At the same time, it is input to the turning braking signal output means 23. Based on these input signals, the turning braking signal output means 23 turns the braking signal for turning the turning operation of the turntable 2 at the turning braking angle Θb before the limit turning angle Θlim and stopping at the limit turning angle Θlim. It is output to the braking device 17.

With such a construction, in the state where the boom 3 is tilted in addition to the turning operation of the swivel base 2, the boom 3 is moved.
Boom undulation angle Φ− obtained by subtracting the sill braking angle Φb output by the sill braking angle output means 22 from the present undulation angle Φ
A turning braking signal output of a turning limit angle Θlim at Φb (in other words, the tilting operation of the boom 3 is based on the lodging braking signal output from the lodging braking signal output means 24 and the boom undulation angle when the boom 3 is stopped at the limiting lodging angle Φlim). It is input to the means 23, and the turning braking signal output means 23 calculates the turning braking signal for stopping the turning operation at the limit turning angle Θ lim. It is not stopped beyond the angle Θ lim. In addition, since the braking of the boom 3 is stopped gently (non-abruptly) by the lodging braking signal from the lodging braking signal output means 24, it is possible to avoid applying an excessive force to the boom 3. .

In this embodiment, the braking signal output section 16
In addition to the input of the actual signal of the turning angle Θ from the turning angle detecting means 11 and the load W from the boom load detecting means 13 to the limit lodging angle output means 20 in FIG. Input Θb. The limit lodging angle output means 20 calculates the limit lodging angle Φlim of the boom 3 as a function of the turning angle Θ of the boom 3 and the load W acting on the boom 3 as described above, but in this embodiment, A turning angle Θ + Θb obtained by adding the turning braking angle Θb from the turning braking angle output means 21 to the actual turning angle Θ from the turning angle detector 11 (in other words, the turning operation of the turning base 2 is the output of the turning braking angle output means 21). Based on the swing braking signal, the swing angle of the swivel base when stopped at the limit swing angle Θ lim) and the signal of the load W from the boom load detection means 13 are used as the basis for calculation, and the limit spill angle under Θ + Θb and W. Φlim is calculated and output.

The limit sill angle Φlim output by the limit sill angle output means 20 is the sill braking signal Φb from the sill braking angle output means 22 and the swelling angle Φ from the swelling angle detector 12. Entered in 24. On the basis of these input signals, the lodging braking signal output means 24 brakes the accommodation operation of the boom 3 before the accommodation braking angle Φb with respect to the accommodation angle Φlim, and limits the accommodation angle Φl.
The braking signal for stopping at im is output to the fall braking device 18.

With such a construction, in the state where the boom 3 is tilted in addition to the turning operation of the swivel base 2, the swivel base 2 is operated.
Turning angle Θ + Θb (in other words, the turning operation of the swivel base 2 corresponds to the turning braking signal output by the turning braking signal output means 23). Based on this, the critical lodging angle Φlim at the turning angle of the swivel base when stopped at the critical turning angle Θlim) is input to the lodging braking signal output means 24, and the lodging braking signal output means 24 lays down at this limiting lodging angle Φlim. Since the fall braking signal for stopping the operation is calculated, the fall operation of the boom 3 is not stopped beyond the limit fall angle Φlim.

In this embodiment, the boom load detecting means 13 is explained as a load cell for detecting the weight of the suspended load 5. Boom load detection means
13 is a load W acting on a hoisting cylinder (not shown) of the boom 3 (this load depends on the weight of the boom 3 and the weight of the suspended load 5;
In the case of a load cell for detecting the (tilt direction moment)), the value of the load W acting on the hoisting cylinder at the present hoisting angle Φ of the boom 3 and the present hoisting angle Θ are used to determine the hoisting braking angle output means 22. Since the load W acting on the hoisting cylinder is different at the hoisting angle of the boom 3 after subtracting the output hoisting braking angle Φb, the current hoisting angle Φ and the current load W are stored in the limit turning angle output means 19. Originally, the latter hoisting cylinder load W that would act at the latter hoisting angle (the hoisting angle of the boom 3 obtained by subtracting the tilting braking angle Φb from the actual hoisting angle Θ).
It is only necessary to provide a means for calculating and calculating, and use the calculated load W for calculating the limit turning angle Θlim. In addition, the hoisting angle Φ from the boom hoisting angle detecting means 12 is input to the limit sloping angle output means 20, and the current hoisting angle Φ and the current load W are stored in the limit silling angle output means 20. The latter boom undulation angle (boom undulation angle obtained by subtracting the fall braking angle Φb from the actual undulation angle Θ)
It is sufficient to provide a means for calculating and calculating the undulating cylinder load W that will act in (3), and use the calculated load W for the calculation of the critical collapse angle Φlim.

In the above embodiment, the limit turning angle output means
19 is boom hoisting angle detection means 12, boom load detection means
13 and the signal from the fallen braking angle output means 22,
The limit turning angle Θli under the boom hoisting angle Φ−Φb obtained by subtracting the fall braking angle Φb from the actual hoisting angle Φ.
In addition to being configured to calculate m, the limit spill angle output means 20 is set to the actual swing angle Θ based on signals from the swing angle detection means 11, the boom load detection means 13 and the swing braking angle output means 21. Although it is configured to calculate the limit swing angle Θlim under the swing angle of the swivel base 2 to which Θb is added, the control device for a mobile crane according to the present invention includes at least the limit swing angle output means 19 as described above. It should be configured.

The control device for a mobile crane according to the present invention can be applied to a mobile crane equipped with a telescopic boom, as a matter of course.

The essential constituent features of the control device for the mobile crane in the above embodiment are shown in claim 1 of the claims, but the boom hoisting angle detection means 12 and the limit in this claim 1 are limited. Looping angle output means 20, Looping braking angle output means 22, Raising angle Φ, Limiting silling angle Φl
im and the sill braking angle Φb are respectively replaced by the working radius detecting means 12, the limit working radius output means 20, the sill braking radius output means 22, the working radius R, the limit working radius Rlim, and the sill braking radius Rb. Is also good. The essential constituent features of the control device for the mobile crane constructed by re-reading as described above are defined in Claim 2 in Claims.
Is shown in.

[0023]

The control device for a mobile crane according to the present invention, which is constructed and operates as described above, automatically stops the hoisting motion of the boom 3 gently (non-abruptly).
The turning operation of the swivel base 2 is automatically stopped to limit the turning angle Θlim.
Since it does not stop over the distance, it greatly contributes to the safe work of the mobile crane.

[Brief description of drawings]

FIG. 1 is an explanatory diagram of a control device for a mobile crane according to the present invention.

FIG. 2 is an explanatory diagram of a mobile crane.

FIG. 3 is an explanatory diagram of a conventional control device for a mobile crane.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1; Vehicle, 2; Revolving base, 3; Boom, 4; Lifting tool, 5; Suspended load, 11; Swing angle detecting means, 12; Boom hoisting angle detecting means (working radius detecting means), 13; Boom load detecting means , 14; turning motion detecting means, 15; undulating motion detecting means, 16; braking signal output section, 17; turning braking device, 1
8; lodging braking device, 19; limit turning angle output means, 2
0: Limit lodging angle output means (limit working radius output means) 21: Turning braking angle output means, 22: Lodging braking angle output means (yielding braking radius output means), 23: Turning braking signal output means, 24; Lodging braking signal Output means, 26; Suspension distance detection means, 27; Falling angular velocity detection means, Θ; Turning angle,
Θlim ;: limit turning angle, Θb; turning braking angle, Φ;
Undulation angle, Φlim; limit laying angle, Φb; laying braking angle, (R; work radius, Rlim; limit work radius, Rb;
Falling braking radius,) W: Load acting on boom, Wmax: Allowable boom load, Θv: Turning angular velocity, Φv: Falling angular velocity,

Claims (2)

[Claims] 1. A boom 3 comprising a swivel base 2 mounted on a vehicle 1 so as to be swivel-driving, and a boom 3 for hoisting a hoisting load 5 and hoisting the hoisting load 5 so that the hoisting can be hoisted. Is a control device of a mobile crane in which an allowable boom load Wmax that can act on the swivel 3 fluctuates according to a swivel angle Θ of the swivel 2 and a hoisting angle Φ of the boom 3, and a swivel angle for detecting the swivel angle θ of the swivel 2. Detection means 1
1, a boom hoisting angle detecting means 12 for detecting a hoisting angle Φ of the boom 3, a boom load detecting means 13 for detecting a load W acting on the boom 3, a turning operation for detecting a turning angular velocity Θv and a direction of the swivel base 2. Motion detecting means 14, -Up-and-down motion detecting means 15 for detecting the fall operation of the boom 3, -Brake signal for receiving and calculating signals from the above-mentioned detecting means 11 to 15 and outputting a swing braking signal and a fall braking signal. The output part 16, the turning braking device 17 that operates by the turning braking signal from the braking signal output part 16, and the spilling braking device 18 that operates by the silling braking signal from the braking signal output part 16, The signal output unit 16 outputs: a limit swing angle output means 19, which outputs a limit swing angle Θ lim of the swivel base 2 as a function of a hoisting angle Φ of the boom 3 and a load W acting on the boom 3, Load W acting on Θ and the boom
A limit lodging angle output means 20 for calculating a limit lodging angle Φlim of the boom 3 as a function of, a signal relating to a swing braking angle Θb necessary to stop and stop the swing motion of the swivel base 2 as a function of the swing angular velocity Θv. Slewing braking angle output means 21 for outputting: -A fall braking angle output means 22 for outputting a signal relating to a fall braking angle Φb necessary to brake and stop the fall operation of the boom 3, -a limit swing angle output means 19, a turn braking Angle output means 21,
Based on a signal from the turning angle detection means 11, a turning braking signal for gradually turning the turning operation of the turntable 2 at the turning braking angle Θb before the limit turning angle Θlim and stopping at the limit turning angle Θlim is given to the turning braking device. Turning braking signal output means 23 for outputting to 17; limit sill angle output means 20, sill braking angle output means 22,
And, based on the signal from the boom hoisting angle detection means 12,
The lodging braking device is provided with a lodging braking signal for gradually decreasing the lodging operation of the boom 3 before the limit lodging angle Φlim and stopping the accommodation operation.
When the hoisting motion detecting means 15 detects the hoisting operation of the boom, the limit turning angle output means 19 causes the boom hoisting angle detecting means 12 to actually output the boom hoisting angle detecting means 12. Boom hoisting angle Φ obtained by subtracting the hoisting braking angle Φb of the hoisting braking angle output means 22 from the hoisting angle Φ of
A control device for a mobile crane, which is configured to calculate a limit turning angle Θ lim at -Φb. 2. A boom 3 comprising a swivel base 2 which is mounted on a vehicle 1 so as to be swivel-driving, and a boom 3 for hoisting a hoisting load 5 and hoisting the hoisting load 5 so that the hoisting can be hoisted. Is a control device of a mobile crane in which an allowable boom load Wmax that can act on the swivel 3 fluctuates according to a swivel angle Θ of the swivel 2 and a hoisting angle Φ of the boom 3, and a swivel angle for detecting the swivel angle θ of the swivel 2. Detection means 1
1. Working radius detecting means 1 for detecting the working radius R of the boom 3
2, a boom load detecting means 13 for detecting a load W acting on the boom 3, a swing motion detecting means 14 for detecting a swing angular velocity Θv and a direction of the swivel base 2, and a hoisting motion detection for detecting a fall motion of the boom 3. Means 15, a braking signal output unit 16 that receives and arithmetically calculates signals from the above-mentioned detection units 11 to 15 and outputs a turning braking signal and a falling braking signal, and operates by a turning braking signal from the braking signal output unit 16. And a falling braking device 18 that operates by a falling braking signal from the braking signal output unit 16, and the braking signal output unit 16 includes: a hoisting angle Φ of the boom 3 and a boom 3; Limit swing angle output means 19 for outputting the limit swing angle Θ lim of the swivel 2 as a function of the acting load W, the limit of the boom 3 as a function of the swing angle Θ of the swivel 2 and the load W acting on the boom 3. A limit work radius output means 20 for calculating the work radius Rlim, a swing braking angle output means for outputting a signal relating to a swing braking angle Θb required to brake and stop the swing operation of the swivel base 2 as a function of the swing angular velocity Θv. 21, a fall braking radius output means 22 for outputting a signal relating to a fall braking radius Rb necessary to brake and stop the fall operation of the boom, a limit turning angle output means 19, a turning braking angle output means 21,
Based on a signal from the turning angle detection means 11, a turning braking signal for gradually turning the turning operation of the turntable 2 at the turning braking angle Θb before the limit turning angle Θlim and stopping at the limit turning angle Θlim is given to the turning braking device. Turning braking signal output means 23 for outputting to 17; limit work radius output means 20, falling braking radius output means 22,
Also, based on a signal from the work radius detection means 12, a fall braking signal output means 24 for outputting a fall braking signal for gradually decreasing the fall operation of the boom 3 before the limit work radius Rlim and stopping the boom 3 to the fall braking device 18. , The limit turning angle output means 19, when the hoisting motion detecting means 15 detects the fall operation of the boom, the fall braking radius output means 22 becomes the actual work radius R of the work radius detecting means 12. A control device for a mobile crane, characterized in that it is configured to calculate a limit turning angle Θ lim at a working radius R + Rb, which is obtained by adding the lodging braking radius Rb.