JPH07277675A - Network system in crane truck - Google Patents

Abstract

PURPOSE:To expand the system easily, and to simplify the wiring, by networking the devices on a crane truck on which an overload preventive device; a control system having plural display devices of the load, the turning radius, and the like; and a motive power device on the lower side running body; through multiplex transmission serial communication circuits. CONSTITUTION:On the upper rotating body 2 of a crane truck, an overload preventive device 8, a condition centralized display device 9, a boom controller 10, a rotation controller 11, a cabin air-conditioner controller 12, a control system 13, and a self-diagnosis device 14 are connected to an electric swivel joint 16 passing in series through an upper repeater 15. And on the lower running body 7 of the crane truck, an engine control device 18, a pump control device 19, an outrigger controller 20, a transmission controller 21, and a (to the,electric swivel joint 16,') suspension controller 22 are connected to the electric swivel joint 16, through a lower repeater 17. These plural devices have transmission control function respectively, and they are combined through multiflex transmission serial communication circuits 100 and 110.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a network system for a crane vehicle, and more particularly to a network system for a crane vehicle controller.

[0002]

2. Description of the Related Art FIG. 1 is a side view of a traveling posture of a crane vehicle (rough tele crane), and FIG. 2 is a plan view thereof.
A boom 4 that expands and contracts in multiple stages is mounted on an upper revolving structure 2 equipped with a driver's cab 3 mounted on a vehicle body 1 so that the boom 4 is substantially horizontal in a traveling posture, or It is leaning forward. The auxiliary jib 6 attached to the tip of the top boom 5 of the boom 4 is stored in parallel on the side surface of the boom 4. The upper revolving structure 2 is connected to the lower traveling structure 7 via an electric swivel joint 8 so as to be capable of revolving 360 degrees. The electric swivel joint 8 is provided with a slip ring for transmitting information between the upper revolving unit 2 and the lower traveling unit 7 by electric wiring. At the time of work, the auxiliary jib 6 is extended to the tip of the top boom 5, and the boom 4 is arbitrarily expanded and contracted and raised and lowered to perform the work.

In a control device for a crane vehicle, the electric circuit connecting the upper revolving structure 2 and the lower traveling structure 7 is partially connected directly to the electric swivel joint, and the rest is connected to the electric swivel joint 8 to reduce the number of poles. , The multiple transmission serial communication line through the electric swivel joint was used, but when a plurality of devices including the controller are provided, the internal connection of each of the upper revolving structure 2 and the lower traveling structure 7 requires a dedicated electric wire for the number of signals. I am using. For example,
As shown in FIG. 3, a block diagram in the case where the control device 26, the centralized state display device 27, the engine control device 31, and the pump control device 32 are connected by dedicated electric wires in the electronic control circuit of the crane vehicle. Is. In this system, as many signal lines as the number of signals transmitted and received between each controller or device are required. The reference numerals shown in the figure are compared with those of the present invention shown in FIG. 5, and the same portions as those in FIG. 5 are represented by the same reference numerals.

[0004]

However, as the electric circuit of the crane construction vehicle becomes more and more complicated due to the automatic control of the apparatus, the detection of defects by the electric circuit, etc.
With the method of using multiplex transmission serial communication line only for the connection of the electric circuit across the upper revolving structure and the lower traveling structure, the space for wiring is insufficient, and it is difficult to flexibly cope with the expansion of the system. .

Focusing on the above conventional problems, the present invention facilitates system expansion and simplification of wiring by networking a plurality of devices including a controller of a crane vehicle using a multiplex transmission serial communication line. Is intended.

[0006]

In order to achieve the above object, according to a first aspect of the present invention, an overload preventing device for preventing an overload from being applied to a crane and a maneuvering operation for running or working. Device and a plurality of controllers used for a plurality of display devices such as loads and turning radii on an upper revolving structure, and an engine, a hydraulic pump controlled by the controller,
In a crane vehicle that is equipped with a plurality of devices such as a transmission and a transmission in the lower traveling body to perform traveling or work,
Each of the devices including the controller is connected to each other by a multiplex transmission serial communication line forming a network.

In the second invention, which is mainly based on the first invention,
The self-diagnosis display device is provided with a display unit for centrally displaying the contents of the self-diagnosis display function of each device including a controller, a storage device, and an operation switch, and a self-diagnosis display device that can be connected to and disconnected from a multiplex transmission serial communication line.

In the third invention, which is mainly based on the first invention,
The operating states of a plurality of devices including the controller are displayed on at least one state centralized display device via a network.

In the fourth invention, which is mainly based on the third invention,
The centralized state display device is equipped with a volatile storage device for recording the operating states of a plurality of devices including a controller.

In the fifth invention, which is mainly based on the third invention,
The centralized state display device is equipped with a non-volatile storage device, and the non-volatile storage device records the operating states of a plurality of devices including a controller, so that a record of work history and abnormality history can be retained even after the power supply is stopped.

[0011]

According to the above structure, since all signals transmitted and received between the engine including the controller, the pump, the transmission, and the cabin can be transmitted by the multiplex transmission serial communication line, a large number of signals are handled. Even a system that needs it does not need many signal lines and does not run out of wiring space. Also, for the same reason, the system can be easily expanded, so it is possible to connect to and disconnect from the volatile memory device, nonvolatile memory device, and multiplex transmission serial communication line added to the status centralized display device described above. Also, a self-diagnosis display device and the like can be installed. It is possible to centralize the confirmation of the operation by the centralized state display device, and by using the nonvolatile memory device, it is possible to collect the accident history of the vehicle.

[0012]

Embodiments of the present invention will be described below with reference to the drawings. Since the crane vehicles using the present invention are the same in FIGS. 1 and 2, the same reference numerals are given and description thereof will be omitted. FIG. 4 is a diagram showing a configuration of a network system in a crane vehicle having a plurality of devices including a controller according to the first embodiment of the present invention. In the figure,
An overload prevention device 8, a centralized state display device 9, a boom controller 10, which are mounted on the upper swing body 2 of the crane vehicle,
Swing controller 11, cabin air conditioning controller 1
2, the control device 13, the self-diagnosis display device 14, the electric swivel joint 16 through the upper repeater 15 in series
The engine control device 18, the pump control device 19, the outrigger controller 20, the transmission controller 21, and the suspension controller 22 which are connected to the lower traveling body 7 of the crane vehicle and which are connected to the electric vehicle, connect the electric swivel joint 16 through the lower repeater 17 in series. It is connected to the. The state centralized display device 9 mounted on the upper swing body 2 has a volatile storage device 14a and a non-volatile storage device 14b built therein.

A plurality of devices including the controller have a uniquely assigned terminal identification number and at the same time have a data transmission control function. The sending terminal sends the data after attaching the identification number of the receiving terminal to the beginning of the data. All of a plurality of devices including the controller connected to the multiplex transmission serial communication lines 100 and 110 can receive this data, but a terminal having the same terminal identification number as the head of the data. Captures this data, and other terminals discard the data.

In this case, each device including the controller on the transmitting side, that is, each terminal checks whether or not the transmission channel is in use in order to avoid collision, and waits if it is in use.
Sends data if not in use. Upper repeater 1
5, and the lower repeater 17 has not only the function of regenerative relay, but also the function of controlling collisions when signals arrive from both communication lines at the same time.

FIG. 5 is a block diagram showing only the control unit 26, the centralized state display unit 27, the engine control unit 31, and the pump control unit 32 in the electronic control circuit of the crane vehicle. . The engine 33 that is the drive source of the crane vehicle, the hydraulic pump 40 that is driven by the engine 33, the operation valve 36, and the working machine hydraulic actuator 37 are configured as shown in FIG. The electronic control circuit controls the engine rotation setting switch 25 for setting the rotation of the engine 33, the engine control device 31 for controlling the engine 33 according to the engine rotation setting signal from the switch 25, and the displacement of the hydraulic pump 40. Pump control device 32, a control device 26 having an engine control characteristic changeover switch 23, a pump control characteristic changeover switch 24, a state centralized display device 27 for displaying the operating state of the system, the engine control device 31, the pump control device 32, a control device 26, and a multiplex transmission serial communication line 42 connecting between the state centralized display device 27.
A rotation sensor 34, a pump discharge hydraulic pressure sensor 35,
It is composed of a servo valve 41 for varying the discharge amount of the hydraulic pump.

The hydraulic pump 40 is driven by the engine 33, and the discharge flow rate per one rotation is controlled by changing the tilt of the swash plate (not shown) of the servo valve 41. The hydraulic pressure discharged from the hydraulic pump 40 is the operating valve 36.
The hydraulic pressure supplied to the hydraulic actuator 37 via the pump is output to the pump control device 32 as a pressure signal by the pump discharge hydraulic pressure sensor 35. The engine 33 is provided with a fuel injection pump 38 and a governor actuator 39. The rotation of the governor actuator 39 is controlled by the drive signal of the engine control device 31, and the rotation speed at that time is used as an engine rotation signal by the rotation sensor 34 as a pump rotation control signal via the engine control device 31 and the multiplex transmission serial communication line 42. Is output to 32. The engine control device 31 outputs a drive signal based on the engine rotation setting signal output from the engine rotation setting switch 25 to drive the engine 33. The engine control characteristic switching signal is supplied from the above-described control device 26 to the state centralized display device 27 and the engine control device 31, and the pump control characteristic switching signal is supplied to the state centralized display device 27.
And the pump controller 32.

The electronic control circuit according to the present invention is shown in FIG.
As shown in FIG. 5, the controllers or devices are connected by multiplex transmission serial communication lines 100 and 110 to form a network. Therefore, for example, the state concentration display device 27
Even in the case of displaying the data of the engine speed and the pump discharge hydraulic pressure, it is possible to deal with it without adding a signal line for guiding the engine speed signal and the pressure signal. Further, as shown in FIG. 6, if the operating states of a plurality of devices including other controllers are transmitted to the state centralized display device 27 via a network using the multiplex transmission serial communication line 42, the operation of the plurality of devices including a controller will be performed. It is possible to unify the display of the status and to use resources together.

Further, as shown in FIG. 7, if a volatile memory 44 is added to the state centralized display device 27, the recording of the operating states of a plurality of devices including the controller can be unified, and resources can be used together. Is. Similarly, by adding the non-volatile storage device 45 to the state centralized display device 27, it is possible to keep a record of the operating states of a plurality of devices including the controller even after the power supply is stopped.

FIG. 8 is a self-diagnosis display device 4 having a display portion 47, an operation switch 48 and a storage device 49 which can be connected to and disconnected from the multiplex transmission serial communication line 42.
It is a block diagram when 6 is added. Each of the plurality of devices 31, 32, including the controller is equipped with a failure detection device that detects a failure of the sensor 34, 35, ... or the actuator 37 in charge thereof and transmits failure data indicating each failure item. The self-diagnosis display device 46 is a timer means 46a for measuring an elapsed time after receiving failure data from a plurality of devices including the controller,
A storage device 49 for storing and storing failure information including each failure item from a plurality of devices including the controller and the elapsed time corresponding to the failure item, and an operation instruction for sequentially displaying the failure information on the display. And operating means 48 for giving.

As can be understood from the above description, by adding the self-diagnosis display device 46, the maintenance time can be shortened and the efficiency can be improved as compared with the conventional device whose failure history is unknown. Further, not only the connection of the electric circuit across the upper revolving structure 2 and the lower traveling structure 7 in the crane vehicle, but also the internal connection of each of the upper revolving structure 2 and the lower traveling structure 7 is networked using the multiplex transmission serial communication line. Since the space for wiring does not run short, the system can be easily expanded, and a self-diagnosis display device that can be connected to and disconnected from the multiplex transmission serial communication line can be provided.

FIG. 9 is a diagram showing the configuration of a network system in a crane vehicle having a plurality of devices including a controller according to the second embodiment of the present invention. In the figure, an outrigger controller 50, a transmission controller 51, a suspension controller 52, an engine control device 53, a pump control device 54, and an overload prevention device provided on an upper swing body of a crane vehicle, which are equipped on a lower traveling body of the crane vehicle. 56, a state centralized display device 57, a boom controller 58, a turning controller 59, a cabin air conditioning controller 60, a control device 61,
The self-diagnosis display device 62 is relayed by the electric swivel joint 55, and the multiplex transmission serial communication lines 130, 131,
132, ... Are connected in a ring shape.

A plurality of devices 50 including the above controller,
The data sent from any one of 51, 52, ... Is the next controller (50 + 1, 51 + 1, 52).
+1, ...) or a device and further sends it to the next controller or device. Data is transferred along the ring by repeating these operations. If the received data is addressed to the terminal itself, the received data is copied and then sent.

Each device including the controller, that is, the terminal has a transmission / reception register 64 shown in FIG. The terminal having no transmission data sets the switch 66 to the state a, and the packet arriving at the terminal is sent to the next terminal as it is without delay. At the same time, the address is inspected, and if it is addressed to its own terminal, the data is copied. When transmission data is generated in a certain terminal, it is first stored in the transmission register 64, and after waiting for the ring to be vacant, the switch is instantly changed to c and the data in the transmission register 64 is sent out. Packets that arrive during data transmission are stored in the reception register 63. When the transmission is completed, the switch 66 is switched to b, and the packet saved in the temporary register is sent out again on the ring.
When the packet sent from this terminal goes around the ring and returns to the receiving register 63, the switch 66 switches to a and returns to the normal ring. In this way, the same operation as that of the first embodiment becomes possible.

[0024]

As described in detail above, according to the present invention, not only is it possible to reduce the number of poles of the electric swivel joint that electrically connects the upper swing body and the lower traveling body, but also each device including a controller. It is also effective in reducing the number of wires for connecting the two. Therefore, it becomes possible to flexibly cope with an increase in the number of signals and system expansion. Further, according to the present invention, the following effects can be obtained. (A) By displaying the operating states of a plurality of devices including a controller on at least one display device via a network, it is possible to utilize resources. (B) shows the operating states of a plurality of devices including the controller,
By recording in the volatile storage device provided in the display device described in (A), it is possible to use the resources. (C) Since the system can be easily expanded, it is possible to equip the display device described in (A) with a non-volatile storage device and retain a record of work history and abnormality history even after the power supply is stopped. (D) Since the system can be easily expanded, by providing a display device for centrally displaying the contents of the self-diagnosis display function of a plurality of controllers, it is possible to facilitate failure diagnosis and shorten maintenance time. The effect can be obtained.

[Brief description of drawings]

FIG. 1 is a side view of a traveling posture of a crane vehicle.

FIG. 2 is a plan view of a traveling posture of a crane vehicle.

FIG. 3 is a block diagram of a conventional electronic control circuit system.

FIG. 4 is a configuration diagram of a network system in a crane vehicle according to a first embodiment of the present invention.

FIG. 5 is a block diagram showing only a control device, a centralized state display device, an engine control device, and a pump control device of the network system in the crane vehicle according to the first embodiment of the present invention.

FIG. 6 is a block diagram showing an example of a case where operating states of a plurality of devices including a controller are unified and resources are used together.

7 is a block diagram when a volatile storage device and a non-volatile storage device are added to the system of FIG.

FIG. 8 is a block diagram when a self-diagnosis display device is added to the system of FIG.

FIG. 9 is a configuration diagram of a network system in a crane vehicle according to a second embodiment of the present invention.

FIG. 10 is a configuration diagram of a transmission / reception register provided in each controller or device according to the second embodiment of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Car body, 2 ... Upper swing body, 4 ... Boom, 5 ... Top boom, 7 ... Swivel joint, 8 ... Overload prevention device,
9, 27 ... Centralized status display device, 10 ... Boom controller, 11 ... Turning controller, 12 ... Cabin air-conditioning controller, 13, 26 ... Steering device, 14, 46 ... Self-diagnosis display device, 15, 28 ... Upper repeater, 16, 29
... Electric swivel joint, 17,30 ... Lower repeater, 18,31 ... Engine control device, 19,32 ... Pump control device, 20,50 ... Outrigger controller, 2
1, 51 ... Transmission controller, 2, 5
2 ... Suspension controller, 33 ... Engine, 3
4 ... Rotation sensor, 35 ... Pump discharge hydraulic pressure sensor, 44 ...
Volatile storage device, 45 ... Non-volatile storage device, 47 ... Display unit, 49 ... Operating state storage device, 60 ... Cabin air-conditioning controller, 61 ... Steering device, 62 ... Self-diagnosis display device,
63 ... Reception register, 64 ... Transmission register, 65 ... Controller or device, 66 ... Switch, 67 ... Ring, 6
8 ... Upper multiplexer, 69 ... Lower multiplexer 100, 1
10, ... Multiplex transmission serial communication line.

Claims (5)

[Claims] 1. An overload preventing device for preventing a crane from being overloaded, a control device for operating traveling or work, and a plurality of controllers used for a plurality of display devices such as a load and a turning radius. In a crane vehicle that is provided with a swing structure and a plurality of devices such as an engine, a hydraulic pump, and a transmission that are controlled by a controller in a lower traveling structure, and that is used for traveling or working, a network is provided between the devices including the controller. A network system for crane vehicles, characterized in that they are connected by a multiplex transmission serial communication line that constitutes a. 2. The display device according to claim 1, further comprising a display unit for centrally displaying the contents of the self-diagnosis display function of each device including a controller, a storage device, and an operation switch, and connecting and disconnecting with a multiplex transmission serial communication line. Crane vehicle network system with possible self-diagnosis display. 3. The network system for a crane vehicle according to claim 1, wherein the operating states of a plurality of devices including the controller are displayed on at least one state centralized display device via a network. 4. The network system for a crane vehicle according to claim 3, wherein the state centralized display device is equipped with a volatile storage device for recording the operating states of a plurality of devices including a controller. 5. The work history and work history according to claim 3, wherein the state centralized display device is equipped with a non-volatile memory device, and the non-volatile memory device records operation states of a plurality of devices including a controller. A network system for crane vehicles that keeps a record of abnormality history.