JPH0645981U - Mobile crane - Google Patents

Abstract

(57) [Summary] [Object] The present invention provides a mobile crane capable of preventing the moving body from tipping over even when the inclination of the moving body 100 is rapidly advanced. A signal of an inclination angle or an inclination angular velocity of a moving body detected by the inclination detection unit 2 or the inclination angular velocity detection unit 3 is input to the control unit 4. The control means 4 compares each signal with a reference value predetermined according to each signal, and drives when at least either the tilt angle signal or the tilt angular velocity signal exceeds the respective reference value. An instruction signal for avoiding a fall is output to the means 1. The drive means 1 receives the instruction signal from the control means 4 and performs a fall avoidance operation of the crane.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a mobile crane such as a truck crane used in cargo handling work in industries such as construction, civil engineering, and landscaping.

[0002]

[Prior art]

 Generally, what is called a mobile crane is one in which a crane 101 is provided on a moving body 100 such as a truck as shown in FIG. 5, and the moving body 100 can freely move to a work site such as construction or civil engineering. In the work place, the jack cylinder 105 is brought into contact with the ground so that the moving body 100 is in a stable state, and the crane 101 enables cargo handling work.

In a crane work using such a mobile crane, the boom 106 is extended, undulated, and rotated while the load that is the object of the cargo handling work is applied to the hook 101. The position of the center of gravity of the moving body including the crane changes depending on the size and the motion state of the boom 106. In such a case, since the vehicle width of the moving body is narrower than the vehicle length, if the center of gravity of the moving body including the crane exceeds the vehicle width depending on working conditions, the moving body may fall. For this reason, as described above, the jack cylinder 105 is grounded at the time of work to prevent the moving body from toppling over. However, the load condition during the cargo handling and the boom motion condition still occur. Depending on the situation, the moving body may fall down.

In order to prevent such a situation, conventionally, an inclinometer is provided on a frame cover or the like, and by using this, an inclination angle on a plane substantially perpendicular to the traveling direction of the moving body 100 is measured, and the measured inclination is measured. When the angle is equal to or larger than the predetermined angle, the crane 100 is prevented from falling by performing a fall avoidance operation.

[0005]

However, in the conventional method of measuring the inclination angle of the moving body 100 by the inclinometer, when the inclination of the moving body 100 is smoothly progressing, the fall is prevented. Although it is possible, if the inclination of the moving body 100 is rapidly advancing, a situation may occur in which the falling of the moving body 100 cannot be avoided even if the operation of avoiding the fall of the crane is performed after tilting by a predetermined angle. There was a problem.

Therefore, the present invention was devised in order to solve these problems, and prevents the falling of the moving body 100 when the moving body 100 is steeply inclined. The object is to provide a mobile crane capable of

[0007]

[Means for Solving the Problems]

 The configuration of the present invention will be described below with reference to FIG. 1, which is an embodiment of the present invention.

The mobile crane according to the present invention comprises a driving means 1 for arranging a crane on a moving body and driving the crane, and an inclination angle of the moving body in a plane substantially perpendicular to the traveling direction of the moving body. The inclination detection unit 2 for detecting the inclination angle, the inclination angular velocity detection unit 3 for detecting the inclination angular velocity of the moving body on the substantially vertical surface, and the detection value of any one of the inclination detection unit 2 and the inclination angular velocity detection unit 3. When the respective predetermined values are exceeded, the drive means 1 is provided with a control means 4 for outputting an instruction signal for a fall avoidance operation.

[0009]

[Action]

 The tilt angle signal or the tilt angular velocity signal of the moving body detected by the tilt detecting means 2 or the tilt angular velocity detecting means 3 is input to the control means 4. The control means 4 compares the respective signals with a reference value predetermined according to the respective signals, and when at least either the tilt angle signal or the tilt angular velocity signal exceeds the respective reference value. An instruction signal for avoiding a fall is output to the drive means 1. The drive means 1 receives the instruction signal from the control means 4 and performs a crane fall avoidance operation.

[0010]

【Example】

 FIG. 1 is a block diagram showing a mobile crane according to an embodiment of the present invention. Reference numeral 1 is a drive means, which is a generic name for hydraulic cylinders and the like, which are power sources for crane work. Reference numeral 2 denotes an inclination detecting means, which is arranged on the moving body, detects the inclination angle of the moving body with respect to the horizontal plane, and outputs it as an electric signal. Reference numeral 3 denotes an inclination angular velocity detecting means, which is arranged on the moving body similarly to the inclination detecting means 2 and outputs the inclination angular velocity of the moving body as an electric signal. Reference numeral 4 denotes a control means, which inputs signals detected by the inclination detection means 2 and the inclination angular velocity detection means 3 to the drive means, compares the signals with predetermined reference values according to the respective signals, and determines at least the inclination angle. When either the signal or the signal of the inclination angular velocity exceeds the respective reference value, the instruction signal is output to the drive means 1 for performing the fall avoidance operation of the crane.

FIG. 2 shows a specific example of a mobile crane which is an embodiment of the present invention. Reference numeral 11 denotes a hook, which hooks a wire or the like attached to a reinforced column or a concrete column and hangs them directly. Reference numeral 12 is a wire rope, one of which is connected to the winch 20 and the other of which is connected to the hook 11, and which raises and lowers the hook 11 as the drum of the winch 20 rotates. A boom cover 13 protects the wire rope 12 and the boom 16, and is provided on the bottom surface of the boom and both side surfaces of the boom tip. Reference numeral 14 is a link for storing the hook 11. An overwinding prevention device 15 is provided at the tip of the top boom and automatically stops the movement of the crane when the hook 11 approaches the boom 16 to prevent the wire rope from being overwound. Reference numeral 16 is a boom which has a hydraulic cylinder (not shown) inside, and its length can be changed by the hydraulic cylinder. Reference numeral 17 denotes a PTO switch, which is a switch for transmitting or cutting off the power of the engine to the hydraulic pump. Reference numeral 18 is a load instruction type, which displays a load that can be caught. A hoisting cylinder 19 is a cylinder for moving the boom 16 up and down. Reference numeral 20 is a winch, which raises and lowers the hook 11 via a wire rope by rotating a drum with a hydraulic motor. Reference numeral 21 is a swing frame which is configured to be rotatable and is driven by a swing device 26. The boom 16, the winch 20, the hoisting cylinder 19 and the like are attached to the swing frame 21 so that they can turn. A swing frame cover 22 is provided on both sides of the swing frame to protect the high pressure hose. A frame cover 23 is provided on the upper surface and both side surfaces of the frame 24 to protect the internal hydraulic equipment and electronic parts. A control means 4 (not shown) is arranged in the frame cover. A frame 24 supports the swing frame 21 and the like fixed to the vehicle. The reference numeral 25 designates a jack cylinder, which grounds the ground during work and stabilizes the vehicle. A turning device 26 is a device for turning the swing frame 21 by a hydraulic motor. 27 is a panel on which switches and levers for operating the crane are arranged. Reference numeral 28 denotes a load cell, which displays the weight of the suspended load. A hydraulic oil tank 29 stores hydraulic oil exclusively for the crane. Reference numeral 30 is a rear jack operation lever for extending and contracting the rear jack cylinder 31. Reference numeral 32 is an inclinometer arranged on the frame cover 23 and detects how much the moving body 100 is inclined with respect to the horizontal plane. Reference numeral 33 denotes a tilt angular velocity meter, which is similar to the tilt meter 32 and is provided in the frame cover 23, and detects the tilt angular velocity of the moving body 100.

As one specific example of the tilt angular velocity, there is one in which piezoelectric ceramics are attached to two sides of a triangular prism as shown in FIG. 3 and the tilt angular velocity is extracted as a detection signal from the vibration state. That is, as shown in FIG. 3a, when the tilt angular velocity of the moving body 100 is 0, there is no difference in output between the left and right piezoelectric ceramics, but when tilted, as shown in FIG. 3b, between the left and right piezoelectric ceramics. Since there is an output difference between the two, the angular velocity can be detected by taking the difference between the signals from these left and right piezoelectric ceramics. The inclination angular velocity meter is preferably attached to the jackline 25 which directly supports the moving body 100, because the inclination angular velocity can be accurately sensed. Here, the driving means 1 is a generic term for the undulating cylinder 19, the jack cylinder 25, and the like that serve as a drive source for the boom 16 of the crane during cargo handling work.

FIG. 4 is a flowchart showing the operation of the control means 4 according to the present invention. During the cargo handling work of the crane, first, the tilt angular velocity signal αv is input from the tilt angular velocity detection means 3 in S1, and is compared with the preset reference tilt angular velocity value Vb in S2. If αv ≧ Vb, the process proceeds to S5 as if the moving body is in the process of falling, and if αv <Vb, the process proceeds to S3. In S3, the inclination angle signal α d is input from the inclination angle measuring means 2 and compared with a preset reference inclination angle value Db. If αd ≧ Db, it is determined that the moving body is in the process of falling, and the process proceeds to S5. If αv <Vb, the process returns to S1 and repeats the above operation. In S5, an instruction signal for avoiding the fall of the crane is output to the drive device 1. The instruction signal is to extend the undulating cylinder 19 and reduce the hydraulic cylinder disposed in the boom 6. This makes it possible to reduce moments acting in a plane substantially perpendicular to the moving direction of the moving body 100, and prevent the moving body 100 from falling.

It should be noted that although the tilt gyro is used as the means for detecting the tilt angular velocity in the above embodiments, a method of differentiating the signal of the tilt angle detector as a modified embodiment is conceivable, and as the means for detecting the tilt angle, Although a tilt angle detector is used, as a modified example, a method of integrating the signal of the tilt angular velocity detector can be considered. According to these modified embodiments, the detector in FIG. 1 can be either a tilt angle detector or a tilt angular velocity detector, and the respective differential or integral signals can be easily obtained by the control means 4. be able to.

[0015]

[Effect of device]

 According to the present invention, a tilt angle meter is provided for a mobile crane equipped with a conventional tilt meter, and the work can be stopped when the detected output exceeds a predetermined value. Even when the inclination of the mobile crane rapidly progresses during the cargo handling work, it is possible to prevent the mobile body from toppling over.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of a mobile crane of the present invention.

FIG. 2 is an overall view showing an embodiment of the mobile crane of the present invention.

FIG. 3 is a diagram showing an embodiment of a tilt angular velocity meter.

FIG. 4 is a flowchart showing the operation of the control means according to the present invention.

FIG. 5 is an overall view showing an example of a conventional mobile crane.

[Explanation of symbols]

 1 Drive Means 2 Tilt Detection Means 3 Tilt Angular Velocity Detection Means 4 Control Means

Claims (1)

[Scope of utility model registration request] 1. A mobile crane in which a crane is mounted on a moving body, and driving means for driving the crane, and tilt detection for detecting a tilt angle of the moving body in a plane substantially perpendicular to a traveling direction of the moving body. Means, an inclination angular velocity detecting means for detecting an inclination angular velocity of the moving body on the substantially vertical surface, and a detection value of any one of the inclination detecting means and the inclination angular velocity detecting means exceeds a predetermined value. A mobile crane comprising: a control unit that outputs an instruction signal for a fall avoidance operation to the drive unit.