JPH07115824B2 - Crane control method for mobile crane - Google Patents

Description

TECHNICAL FIELD The present invention relates to a crane control method for a mobile crane that enables remote operation and manual operation.

[Prior Art] In the operation of a crane in a mobile crane, the crane can be operated as it is in the driver's seat, at the position of the load of the crane, or at a position where the movement of the load can be directly observed. In order to be able to operate both the case and the case, an operating device having a first system that can be operated from a remote operating device at a free position and a second system that can be operated from a manual operating device in the driver's seat is provided. .

The crane control method for these mobile cranes will be described in more detail. The control method is shown by the block diagram in FIG.

In FIG. 4, the output signal from the remote control device 1a 'is input to the controller 1'through the cable a, and the configuration of the remote control device 1a' and the controller 1'is from the power source 1e as shown in FIG. It is possible to turn off the power source of the controller 1'by a switch b1 of the above, and further, the remote control device 1a 'is provided with control levers b2, b3, b4, etc., respectively, and these levers b2, b3, b4, etc. Each of them is a lever for remotely controlling each load such as boom extension and contraction in the crane, rotation of the crane pedestal, hoisting of the load in the crane, etc. Each of a and a4 is schematically illustrated in FIG. 4 by a single cable a.

That is, in the remote control device 1a ', the value of the operation signal of the lever b2 enters the controller 1'through the cable a2,
Similarly, the value of the signal from the lever b3 or the lever b4 is input to the controller 1'via the cable a3 or a4, respectively.

The signal entered from the lever b2 into the controller 1'is input to the solenoid valve 1b after being processed by the controller 1 ', the input signal is converted into a hydraulic signal, and the hydraulic signal causes the hydraulic control valve 2 to operate. The hydraulic oil from the hydraulic pump, which is operated and controlled by the operation, drives each load in the crane.

Further, when the hydraulic control valve 2 operates its load via the line 2b in this way, the operated control amount of the hydraulic control valve 2 is detected by the detector 2a, and the detected control amount s
The controller 1'transmits a signal to the solenoid valve 1c in a predetermined relationship with respect to the value of, and the solenoid valve 1c controlled by the signal operates to convert the signal into a hydraulic signal to operate the hydraulic actuator 1d. The hydraulic actuator 1d operates the throttle opening θ of the engine 5 to adjust the output of the engine 5, the detector 5b detects the value of the throttle opening θ, and the feedback value of the detected throttle opening θ and The controller 1'controls the hydraulic control valve 2 and the hydraulic actuator 1d so that the relationship with the control amount s (instruction value) detected by the detector 2a is as shown in FIG. The closed loop) control system forms the auto accelerator control system.

Here, the necessity of the characteristic of FIG. 6 is based on the following reasons.

The fixed displacement hydraulic pump is driven by the engine 5,
The pressure oil discharged from the hydraulic pump serves as pressure oil supplied to the hydraulic control valve 2 and the solenoid valve 1c.

The operating speed of the crane load driven by the pressure oil controlled by the hydraulic control valve 2 is determined by the valve opening amount of the hydraulic control valve 2 and the hydraulic energy level of the hydraulic power source.

Therefore, even if the opening amount of the hydraulic control valve 2 is the same,
If the rotational speed of the hydraulic pump, that is, the rotational speed of the engine 5 is different, the hydraulic energy level in the hydraulic power source of the hydraulic control valve 2 is also different. That is, even if the opening amount of the hydraulic control valve 2 is the same, if the rotation speed of the engine 5 is low, the operation speed of the load on the crane is slow, and conversely, if the rotation speed of the engine 5 is high, the operation speed of the load on the crane. Will be faster.

By using such a property, the control amount s (Fig. 6) of the hydraulic control valve 2 for controlling the speed of the crane load is small 0 <s.
While <so, that is, when the operation amount of the lever b2 is small, the throttle opening θ is left in the idling state so that fine adjustment can be performed, and when s> so, the operating speed of the crane load is increased. Thus, the throttle opening θ is increased in proportion to the operation amount of the lever b2.

In response to the remote control by the remote control device 1a ′, when the operator operating the crane vehicle operates each load in the crane while staying in the cab, the manual control device 3 is used as follows. And operate.

When the manual operation device 3 is operated, the hydraulic control valve 2 is directly operated via the mechanical link device, and as a result, the load in the line 2b is operated in the same manner as the remote operation.

In this case, the remote control device in the above remote control
If the switch b1 of 1a 'remains on, the remote control device
Since there may be a malfunction from the 1a 'side, the switch b1 is turned off to leave the controller 1'inoperative state.

When the manual operation device 3 is operated in the state set as described above, the hydraulic control valve 2 is operated, and at the same time, the manual operation device 3 also operates the mechanical auto accelerator mechanism 3a via the mechanical link mechanism, Further, the auto accelerator mechanism 3a mechanically operates the throttle opening degree θ of the engine 5 via the link mechanism 5a.

In this case, the relationship between the control amount s of the hydraulic control valve 2 operated by the manual operation device 3 and the throttle opening θ of the engine 5 operated by the auto accelerator mechanism 3a is the same as that in the case of remote operation as shown in FIG. The auto-accelerator mechanism 3a is configured to have the above relationship for the same reason as in the case of the remote control.

In addition, the reason why the auto accelerator mechanism 3a is required to be installed side by side with the above-described remote-controlled auto accelerator control system in this manual operation is that the controller 1 ′ is provided in order to prevent a malfunction from the remote operation side in the manual operation state. Since the operation of is stopped, the manual operation system has an auto accelerator mechanism to have the characteristics shown in FIG. 6 even when it is manually operated.
3a is provided.

In the configuration shown in FIG. 4, the operating mechanism A for operating any one of the loads of the crane is
Although the levers b2, b3, b4 and the like in FIG. 5 are independently provided, the illustration of the operating mechanism A for the levers b3, b4 and the like is omitted in FIG. 4 for convenience.

Reference numeral 4 is a lever that allows the throttle opening θ of the engine 5 to be operated independently via the link mechanism 5a.

[Problems to be Solved by the Invention] Since the crane operating device in the mobile crane of FIGS. 4 and 5 has a remote operating device in addition to the manual operating device, its operating system becomes very complicated. In particular, in addition to the configuration in which the manual operating device 3 mechanically operates the hydraulic control valve 2, the manual operating device 3 mechanically directly operates the engine 5 via the auto accelerator mechanism 3a and the link mechanism 5a. Since the configuration is such that the throttle opening θ is manipulated, the entire device is complicated in terms of the restriction due to its mechanical linkage relationship and its space utilization.

An object of the present invention is to provide a crane control method in a mobile crane that can improve the above-mentioned complexity.

[Characteristics for Solving Problems] As in the conventional case, when each load of the crane is remotely controlled by the first system, electric power required for the operation of the entire first system is supplied to the system. The hydraulic control valve is operated by the remote control, and the operated hydraulic control valve controls the operating speed of the load in the crane.

In this case, the auto accelerator control system in the first system controls the output of the engine by having a constant functional relationship with the detected value of the remotely controlled control amount of the hydraulic control valve. There is.

The hydraulic pump, which is the hydraulic source of the hydraulic control valve, is driven by the engine.

From this, the above-mentioned constant functional relationship is such that while the value of the transmission signal of the remote control is low, the flow rate of the pressure oil sent from the hydraulic control valve to the load is set small, and the operation of the load is made delicate. After it becomes possible to start the engine and the value of the remote control transmission signal becomes high, the load can be operated quickly in proportion to the transmission signal.

On the other hand, in the case of using the second system that is manually operated, the first system sets the part of the electric power required for the remote control signal transmission to the off state, and the automatic accelerator control system With the electric power necessary for operation still supplied, the automatic accelerator control system is set to a state in which it is linked to the movement of the hydraulic control valve in this case, and the hydraulic control valve is controlled in the first system. The transmission of the necessary signal is stopped, and in that state, the control valve is manually operated directly and mechanically. As a result, even in this case, the automatic accelerator control system used for the first system is hydraulically operated. Operates the crane load in conjunction with the movement of the control valve.

Therefore, in the case of this manual operation, even if the conventional auto accelerator mechanism 3a is not used, the pressure oil flow rate to be pressure-fed to the load from the hydraulic control valve is set to a small value during the small value of the manual operation amount, and the load is reduced. It is possible to delicately start the operation of, and after the value of the manual operation amount becomes large, the load can be operated quickly in proportion to the transmitted signal.

[Examples] Hereinafter, the present invention will be described based on Examples.

FIG. 1 shows a crane operating device necessary for carrying out a method for controlling a crane in a mobile crane according to the present invention, the illustration of which is shown by a block diagram.
FIG. 2 illustrates the relationship between the remote control device 1a and the controller 1 in FIG. 1 in more detail.

1 is different from FIG. 4 in that the manual operating device 3 in FIG. 4 is a mechanism for operating the hydraulic control valve 2 and the automatic accelerator mechanism 3a at the same time. In the above, the manual operation device 3 only directly operates the hydraulic control valve 2 mechanically, and the automatic accelerator mechanism 3a
Is omitted.

The second point in FIG. 1 which differs from FIG. 4 is as follows.

As shown in FIG. 2, in the conventional configuration shown in FIG. 5, when the switch b1 is set to the on state for remote operation, the levers such as the levers b2, b3, b4 are operated. , A signal with a value proportional to the operation amount can be transmitted for each lever, and switch b1 is set to the off state for manual operation (to prevent malfunction from the remote operation side during manual operation) The power supply to the remote control device 1a ′ is cut off, no signal is transmitted from the remote control side even if any lever such as the levers b2, b3, b4 is operated, and the controller 1 ′ is controlled. However, the electric power is not supplied, and the auto accelerator control system including the detector 2a, the solenoid valve 1c, the hydraulic actuator 1d and the detector 5b does not operate.

On the other hand, in the embodiment of FIG. 2 of the present invention, when the switch b1 is set to the ON state for remote operation, the switch 1f of the controller 1 is set to the second position.
The state shown in the figure is set, and as a result, power is supplied to both the remote control device 1a and the controller 1.
The operation is the same as in FIG. On the contrary, when the switch b1 is turned off for the manual operation, all the signal transmission from the remote control device 1a becomes impossible as in the case of the conventional FIG. Is manually set in a direction opposite to that shown in the drawing to supply power to the controller 1, and the auto accelerator control system in the controller 1 is set to an operable state.

Furthermore, the third difference between the controller 1 in FIG. 2 and the controller 1 ′ in FIG. 5 is that the controller 1 in FIG. 2 differs in the arithmetic program from the conventional controller 1 ′. That is, as will be described later, as in the flow chart shown in FIG.
The program of the controller 1 has a point that a calculation E3 is added to determine whether or not the remote control is set.

1 and 2 are different from FIGS. 4 and 5 in the above-mentioned three points, and other configurations are the same.

The operation of the above embodiment of the present invention will be described below with reference to the flowchart shown in FIG.

In the case of remote operation; the switch 1f in FIG. 2 is set to the illustrated state, and the switch b1 is set to the on state, whereby
Since signals can be transmitted to the cables a2, a3, a4, etc. by operating the levers b2, b3, b4, etc., and the controller 1 is operably supplied with power by the above setting of the switch 1f in the controller 1. As described with reference to FIG. 4, FIG. 1 can perform the same operation as the conventional operation.

That is, the following calculation shown in FIG. 3 is performed.

Calculation E1: Start calculation.

Computation E: Initializes the computation.

Calculation E3: It is determined whether or not the settings of the switches b1 and 1f are set to the remote control state.

In this case, since the setting is set on the remote control side, the next calculation proceeds to calculation E4 in which the determination is yes.

Calculation E4: The controller 1 controls the solenoid valve 1b of the operating mechanism A corresponding to the system of the signal based on the signal from the remote control device 1a, and controls the solenoid valve 1b to control the fourth hydraulic oil amount. The same control as described in the figure is performed, and the controlled pressure oil drives and controls the load on the crane.

Calculation E5: In the same manner as in FIG. 4, the detector 2a detects the operated control amount s of the hydraulic control valve 2.

Calculation E6: Using the detected value of the control amount s, the solenoid valve 1c is controlled so as to have the characteristic shown in FIG. 6 and the output of the engine 5 is adjusted in the same manner as in FIG. That is, automatic accelerator control is performed.

Also, after completing this auto accelerator control, calculate again
Return to E3.

In the case of manual operation: The switch 1f in FIG. 2 is set to the position opposite to the illustrated state, and the switch b1 is set to the off state.

As a result, the lever b2 in the remote control device 1a,
For b3, b4, etc., the cables a2, a3,
A signal is not transmitted to a4 and the like, and the controller 1 is in an operable state while supplying electric power.

When the manual operation device 3 is operated in this state, the following calculation is performed according to the flowchart of FIG.

Calculation E1: Start calculation.

Computation E: Initializes the computation.

Calculation E3: It is determined whether or not the settings of the switches b1 and 1f are set to the remote control state.

In this case, the setting is set to manual operation,
The determination is no, and the next calculation proceeds to calculation E5.

Here, since the remote control device 1a cannot be operated, the controller 1 does not need to control the solenoid valve 1b.
The controller 1 is set to a state in which the signal output to the solenoid valve 1b is stopped and the signal from the remote control device 1a side is not received.

Further, in this case, the driver operates the manual operating device 3 such as a lever to directly operate the solenoid valve 1b to perform the same manual control as described in FIG. 4 to control the load on the crane. There is.

Calculation E5: In the present invention, even in the case of this manual control, as in the case of the remote control in FIG.
The detected control amount s of the manually controlled hydraulic control valve 2 is detected by.

Calculation E6: Using the detected value s of the control amount, the solenoid valve 1c is controlled so as to have the characteristics shown in FIG. 6 as in the remote control shown in FIG. 4, and the solenoid valve 1c is controlled by the control.
The hydraulic actuator 1d is operated by the pressure oil output from the engine, the throttle opening θ is operated in proportion to the operation amount of the hydraulic actuator 1d, and the output of the engine 5 is adjusted. That is, by performing the auto accelerator control, during the minute operation of the manual operation device 3 where 0 <s <so in FIG. 6, fine movement control of the load in the crane is enabled for the reason described above, and s> so In this, the load movement of the crane can be controlled quickly.

[Effects of the Invention] As is apparent from the above description, the effects of the present invention are as follows.

1) When manually operating the load operation on the crane,
The hydraulic control valve 2 which controls the movement of the load is directly operated by the manual operation device 3, and during the operation, the detector 2a used for remote operation detects the control amount of the hydraulic control valve 2. The controller 1 according to the detected value
However, the output of the engine 5 is adjusted so that the characteristics shown in FIG. 6 are obtained,
That is, since the automatic accelerator control is performed, the conventional automatic accelerator mechanism 3a shown in FIG. 4 can be omitted.

Therefore, there is no need for mechanical connection between the manual operation device 3 and the engine 5, which is conventionally required, and the positional relationship between the manual operation device 3 and the engine 5 can be freely set, and the mechanical operation can be performed mechanically. Since the automatic accelerator mechanism 3a is omitted, it is advantageous in terms of space utilization, and thereby the manufacturing unit price can be reduced.

2) When using the first system that is operated remotely, supply the electric power required for the operation of the entire system to the system, and when using the second system that is operated manually, The power required for the system to send a remote control signal is set to the off state, and the power supply for at least the auto accelerator control part is left unchanged.

As a result, when manual operation is performed, auto-accelerator control is possible with no malfunction signal from the remote operation side, so there is no malfunction from the remote operation side during manual operation. With higher safety, manual operation can be performed while selecting fine operation of crane load and high operation speed.

3) Further, when a manual operation is performed using the second system, the transmission of a signal required for controlling the hydraulic control valve 2 from the remote control side is stopped.

This means that even if the power source on the side that transmits the remote control signal is turned off, the cable on the transmission side may still pick up a noise signal. If is not operated, the noise signal is completely ignored, and the manual operation is surely prevented from malfunctioning from the remote operation side.

[Brief description of drawings]

FIG. 1 shows an embodiment of a crane operating device necessary for carrying out the control method for a mobile crane according to the present invention, the illustration of which is shown by a block diagram.
FIG. 2 illustrates the relationship between the remote control device 1a and the controller 1 in FIG. 1 in more detail, and FIG. 3 shows a flowchart of the calculation in FIG.
FIG. 4 is a block diagram showing a conventional crane operating device corresponding to FIG. 1, and FIG. 5 shows a relationship between a conventional remote operating device 1a ′ and a controller 1 ′ corresponding to FIG. FIG. 6 is a block diagram, and FIG. 6 shows the characteristics of the auto accelerator mechanism 3a in FIG. 4 or the detector 2a.
5 shows the relationship between the detection value s of the above and the detection value θ of the detector 5b. The main symbols used in the examples are as follows. 1: Controller, 1a: Remote control device, 1b and 1c: Solenoid valve, 1d: Hydraulic actuator, 1e: Power supply, 1f and b1: Switch, 2: Control valve, 2a and 5b: Detector, 3: Manual control device, 5: engine.

Claims (1)

[Claims] 1. The load on each part of the crane is driven by pressure oil controlled by operating a hydraulic control valve, and the pressure oil is pumped from a hydraulic pump driven by an engine,
The hydraulic control valve is alternatively controlled by either a first system controlled by a signal of a remote operation or a second operation system mechanically directly controlled by a manual operation. When the drive of the load is controlled by the first system, electric power required for the operation of the entire system is supplied to the system and output control of the engine is performed in conjunction with an auto accelerator control system, The auto accelerator control system has a constant functional relationship with a detection value of a detector that detects a control amount of the hydraulic control valve that is remotely controlled, and controls the output of the engine. When the load is controlled by the second system, a part of the electric power required for the remote control signal transmission by the first system is set to the off state, and the electric power required for the operation of the auto accelerator control system is set. Is needed to set the auto-accelerator control system to a state in which the hydraulic control valve moves in accordance with the operation of the hydraulic control valve, and to control the hydraulic control valve from the remote control side in the first system. Crane control method for mobile cranes, characterized in that transmission of various signals is stopped.