JPH0789697A - Movable range display device for mobile crane - Google Patents

Abstract

PURPOSE:To carry out the turning-up/down, extension and contraction, turning, etc., of an extensible/contractible boom easily and safely by displaying the limit working range of the extensible/contractible boom and the actual working radius and the actual turning position of the extensible/contractible boom which are determined according to the suspended load at present and the working range limit, in a superposed state. CONSTITUTION:As for a shiftable crane equipped with an extensible/-contractible boom in free turning-up/down on the upper part turning body installed in a turnable manner on a lower part traveling body which travels freely, a boom length detecting means 7, boom angle detecting means 8, turning position detecting means 9, and a load detecting means 10 are installed. Each detection signal is inputted into a control part 12, and the actual load is calculated on the basis of the input signal, and the radius of a rated work in the state where the calculated actual load is suspended is calculated at each turning position. Then, the calculated radius of the rated work and the resetricted value of the set working radius are compared in each turn, and the smaller value is set as limit radius, and the value is displayed in a display part 24, together with the actual working radius calculated from the boom length and the boom angle and the actual turning position.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a movable range display device for a mobile crane that displays the movable range of the end of a telescopic boom.

[0002]

2. Description of the Related Art In a conventional mobile crane, an upper revolving structure is provided on a self-propelled lower traveling structure, and a telescopic boom that expands and contracts in multiple stages is attached to the upper revolving structure.

Further, a hook is hung from the tip of the telescopic boom via a wire, and the crane work is performed using this hook. When performing the crane work, the operator always grasps the state of the telescopic boom. Need to be kept.

Therefore, in the past, for example, Japanese Patent Publication No. 3-177
59, Japanese Patent Laid-Open No. 3-67895, and Japanese Utility Model Publication 3-.
In Japanese Patent No. 130291, the rated working radius corresponding to the current actual hoisting load is calculated for each turning angle, and the turning angle in the circumferential direction is displayed on the polar coordinates with the working radius in the radial direction. It has been proposed to display the working radius by superimposing it on the position corresponding to the actual turning angle on the polar coordinates.

[0005]

However, in the above-mentioned conventional apparatus, the movable range is set in advance by moving the telescopic boom to a desired position, and an alarm is issued when the tip of the telescopic boom reaches the boundary of the movable range during work. Many of them have a work range limiting function that limits the movement of the telescopic boom.
In mobile cranes with controllable working radius and swivel range, the display device does not provide information about the movable range of the telescopic boom, which prevents the operator from fully understanding the working radius and swivel range. , There was a problem such as giving support for ensuring work safety. The present invention has been made to improve such a problem, and an object of the present invention is to provide a movable range display device for a mobile crane, which can easily grasp the movable range of the end of the telescopic boom.

[0006]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides an upper revolving structure which is revolvably mounted on a self-propelled lower traveling structure and which is provided with a retractable telescopic boom. In the mobile crane, the boom length detecting means for detecting the length of the telescopic boom, the boom angle detecting means for detecting the boom angle, the swing position detecting means for detecting the swing position,
The load detection means for detecting the load is provided, and the control unit calculates the actual load and the limit work radius for each turning angle based on the information detected by these detection means, and the limit work radius for each turning angle is calculated by the circumference. It is displayed on the polar coordinates in which the turning angle is set in the direction and the working radius is set in the radial direction, and the actual working radius value is displayed by being superimposed on the actual turning angle corresponding position on the polar coordinates.

[0007]

With the above construction, the operator can grasp the movable range of the telescopic boom by looking at the display section, so that operations such as ups and downs of the telescopic boom, and swiveling can be performed easily and safely.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1 is a side view of a mobile crane, and FIG. 2 is a block diagram of a movable range display device of the present invention.

In FIG. 1, reference numeral 1 denotes a self-propelled lower traveling body, on which an upper revolving structure 2 is rotatably installed, and a boom cylinder 3 allows the upper revolving structure 2 to extend and retract. The boom 4 is attached. The telescopic boom 4 is extendable / contractible in a plurality of stages, and a hook 6 is hung from a tip end thereof via a wire 5, and the telescopic boom 4 has a boom length detecting means 7 for detecting the telescopic length.
And boom angle detecting means 8 for detecting the angle of the telescopic boom 4.
Are provided respectively.

A turning position detecting means 9 is provided on the turning portion of the upper turning body 2, and a load detecting means 10 is provided on the boom cylinder 3.
However, work state input means 11 are provided before and after the lower traveling body 1, and signals detected by these detection means 7 to 11 are input to the control unit 12 shown in FIG. There is.

The control unit 12 has an actual work radius calculation means 1
4, turning position calculation means 15, actual load calculation means 16, rated total load curve storage means 17, rated work radius calculation means 18,
It is composed of a movable range storage means 19, a limit radius calculation means 20, a limit radius storage means 21, and a target point storage means 21, and the signals detected by the boom length detection means 7 and the boom angle detection means 8 are the actual work radius calculation. The signal input to the means 14 and detected by the turning position detecting means 9 is the turning position calculating means 1
5 and the rated total load curve storage means 17 are input.

On the other hand, the signal detected by the load detection means 10 is input to the actual load calculation means 16, and the signal detected by the work state input means 11 is input to the actual load calculation means 16 and the rated total load curve storage means 17. A movable range can be input to the movable range storage means 19 from the movable range setting means 23, and a target point can be input to the target point storage means 21 from the target point setting means 22.

A display section 24 is connected to the output side of the control section 12, and the movable range is displayed on the display section 24. Note that FIG. 3 shows an example of the appearance of the movable range display device.

The operation will now be described. When the crane work is started, the telescopic boom 2 is simulated in a desired state, if necessary, to set the movable range regarding the working radius and the turning position. By 23, it is input to the control unit 12 and the work is started. When the work is started, detection signals are input to the control unit 12 from the detection means 7 to 11 installed in each unit, the control unit 12 calculates the actual load based on the input signal, and the rating in the state where the calculated actual load is suspended. The work radius is calculated for each turning position.

Then, the calculated rated work radius and the control unit 1
The work radius limit value set by the button 26a provided on the second switch panel 26 is compared for each turn, and the smaller value is set as the limit radius. If there is a range in which turning is impossible due to the turning limit value set by the button 26b, the limit work radius is set to "0" in the corresponding turning angle range.

On the other hand, the actual working radius is calculated based on the signals from the boom length detecting means 7 and the boom angle detecting means 8, and the actual turning position is calculated from the signal from the turning position detecting means 9 and the actual working radius calculating means. The actual working radius calculated in step 14, the actual turning position, and the limit working radius for each turning angle obtained by the above calculation are output from the control unit 12 to the display unit 24. The limit working radius of is displayed in the radial direction and the turning angle in the circumferential direction on the polar coordinates as follows.

FIG. 4 is a display based on the lower traveling body 1,
The undercarriage 1 is always displayed so as to face the upper side of the screen,
FIG. 5 shows the display based on the upper revolving structure 2.
Is always displayed facing upward on the screen.

Further, in these displays, 30 indicates an actual work radius and an actual turning position, 31 is a limit work radius for the present load, 32 is an outrigger extension state, and 33 is an outrigger installation state. , A white circle indicates a floating state. Reference numeral 34 indicates the combined range limitation of the radius and the turning, and the movable range of the telescopic boom 4 can be grasped directly by displaying the outrigger extended state and the grounded state in a superimposed manner.

FIG. 6 shows a display when performing blind work or repetitive work. The telescopic boom 4 is raised, retracted and swung up to a point to be stored in advance, and the working radius and turning position at that point are targeted. Control unit 1 by the point setting means 22
Enter in 2. FIG. 6 shows a case where the target point is displayed in an overlapping manner. With this, it is possible to determine whether the target point is within the movable range of the telescopic boom 4 immediately after the hoisting load is cut off. You can do it. In addition, 36 in FIG.
Indicates a target point OK, and 37 indicates an NG that causes an overload at the target point.

On the other hand, FIG. 7 shows a display example when the suspension load is medium, FIG. 8 is small, and FIG. 9 is a case where the suspension load is large. Working radius, 42 shows a movable range. When the radius is restricted or the swing is restricted as shown by the dotted line in these figures, the movable range of the telescopic boom 4 changes depending on the size of the suspended load, but in the conventional device, it is understood that the movable range changes due to the suspended load. Can not do it.

Further, since it is not possible to obtain information on the movable range limitation, it is difficult to deal with it in advance in order to avoid interference with an obstacle, but according to the present invention, it is possible to deal with it. become.

[0022]

As described above in detail, the present invention superimposes and displays the limit work range of the telescopic boom, which is determined by the current hoisting load and the work range limitation, the actual work radius and the actual turning position of the telescopic boom. Since it is displayed on the display section, the operator can grasp the movable range of the telescopic boom by looking at the display section. As a result, operations such as ups and downs of the telescopic boom, extension and contraction, and turning can be performed easily and safely.

[Brief description of drawings]

FIG. 1 is a side view of a mobile crane provided with a movable range display device according to an embodiment of the present invention.

FIG. 2 is a block diagram of a movable range display device according to an embodiment of the present invention.

FIG. 3 is a front view of a movable range display device according to an embodiment of the present invention.

FIG. 4 is an explanatory diagram showing a display example of a movable range display device according to an embodiment of the present invention.

FIG. 5 is an explanatory diagram showing a display example of a movable range display device according to an embodiment of the present invention.

FIG. 6 is an explanatory diagram showing a display example of a movable range display device according to an embodiment of the present invention.

FIG. 7 is an explanatory diagram showing a display example of a movable range display device according to an embodiment of the present invention.

FIG. 8 is an explanatory diagram showing a display example of a movable range display device according to an embodiment of the present invention.

FIG. 9 is an explanatory diagram showing a display example of a movable range display device according to an embodiment of the present invention.

[Explanation of symbols]

 1 Lower Traveling Body 2 Upper Revolving Body 4 Telescopic Boom 7 Boom Length Detecting Means 8 Boom Angle Detecting Means 9 Turning Position Detecting Means 10 Load Detecting Means 12 Control Section

Claims (1)

[Claims] 1. A mobile crane in which an extendable telescopic boom 4 is provided up and down on an upper revolving structure 2 which is provided on a self-propelled lower traveling body 1 so that the telescopic boom 4 can extend and retract. Boom length detecting means 7 for detecting a boom angle, boom angle detecting means 8 for detecting a boom angle, turning position detecting means 9 for detecting a turning position, and load detecting means 10 for detecting a load are respectively provided and detected by these detecting means. Based on the information, the control unit 12 calculates the actual load and the limit work radius for each turning angle,
The limit work radius for each turning angle is displayed on the polar coordinates in which the turning angle is set in the circumferential direction and the working radius is set in the radial direction, and the actual working radius value is displayed superimposed on the actual turning angle corresponding position on the polar coordinates. Movable range display device for mobile cranes.