JPH08127491A - Hook position detecting device for crane - Google Patents

Abstract

PURPOSE: To always perform detection of accurate wire delivery length by a method wherein when a hook containing state in the running attitude of a vehicle is detected, computing data of a wire delivery length computing means is reset at a stored wire delivery absolute length. CONSTITUTION: When it is decided that a boom 3 is in a given pattern wherein a crane is runnable, a wire delivery absolute length computing means 40 inputs a wire delivery absolute length, corresponding to a storage pattern, to a wire delivery length computing means 41. Meanwhile, after a wire delivery length data reset means 39 decides the containing state of the boom 3, the containing lock state of a hook 13, and the running state of a vehicle, a data reset signal is outputted to the wire delivery length computing means 41. As a result, data based on a value heretofore integrated is cleared and an absolute length read value from the wire delivery absolute length computing means 40 is newly stored at a data memory 41a and outputted. Thus, computation of following wire delivery lengths is integrated based on an accurate reference value and computation precision is improved.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crane hook position detecting device.

[0002]

2. Description of the Related Art Generally, a crane often employs a shake prevention control for preventing a shake of a suspended load during a turning operation. Since the control is intended to control the turning speed in the decreasing direction according to the length of the suspended load during the turning work, in order to execute the control, the hook position (hook lifting height) at that time, that is, It is necessary to detect the wire payout length.

The crane also includes, for example, a boom length,
Work to judge the safety and to apply work regulation as necessary by the relationship between the rated load and the actual load according to the work condition determined by various parameters such as boom hoisting angle, outrigger extension width, presence of jib A safety device is provided (see, for example, Japanese Patent Publication No. 56-47117). Also in the work safety device, it is more preferable to add the hook position, that is, the wire payout length, to the control parameter.

The change in the wire payout length is conventionally detected by detecting the amount of rotation in the forward and reverse directions of a wire payout length detector such as a rotary pulse encoder provided in a winch drum, and the detected value is detected. According to the rotation direction, an addition / subtraction counter is used to perform calculation by integrating in both directions.

[0005]

However, in the configuration of the conventional wire payout length detecting device, since the change (increase / decrease) data of the wire payout length is sequentially integrated as described above, the use time elapses. This causes a problem that errors are accumulated in the integrated data.

The present invention has been made in view of the above circumstances, and provides a crane hook position detecting device capable of always accurately detecting the wire payout length by periodically resetting the above error. It is intended to be provided.

[0007]

In order to achieve the above object, the present invention comprises the following effective problem solving means.

That is, a hook position detecting device for a crane according to the present invention is a telescopic boom provided on a vehicle so as to be capable of undulating and turning, and a winch having a wire wound around a base end side of the telescopic boom. A hook that is movably hung up and down below the tip of the telescopic boom via a wire extended from the winch; a boom attitude detection means for detecting the attitude of the telescopic boom; and a boom attitude detection Boom attitude change amount calculating means for calculating the attitude change amount of the telescopic boom based on the detection value of the means, and wire payout length detecting means for detecting the wire payout length from the winch to the lower end of the telescopic boom. The actual wire payout length indicating the hook position is calculated by correcting the detection value of the wire payout length detecting means by the attitude change amount calculated by the attitude change amount calculating means. In a hook position detecting device for a crane, which comprises a wire payout length calculating means, a boom retracted state detecting means for detecting a retracted state of the boom in a vehicle traveling posture, and a retracted state of the hook for the vehicle in the vehicle traveling posture. Hook storage state detection means,
An absolute wire extension length storing means for storing an absolute wire extension length when the boom and the hook are stored in a vehicle running posture;
When the boom retracted state detecting means detects the retracted state of the boom in the vehicle running posture, and the hook retracted state detecting means detects the hook retracted state in the vehicle traveling posture, the operation data of the wire feeding length calculating means is calculated. Wire feeding length data resetting means for resetting to the wire feeding absolute length stored in the wire feeding absolute length storage means is provided.

Further, the crane hook position detecting device of the present invention is such that when the wire feed length data resetting means in the above configuration resets the calculation data of the wire feeding length calculation means, the calculation data at the time of resetting and the wire feeding for resetting. Comparing means for inputting and comparing the absolute length, and wire feeding length detecting means when the difference between the operation data at reset and the wire feeding absolute length for reset compared by the comparing means is a predetermined value or more. Is provided with an abnormality determining means for determining that the abnormality has occurred.

[0010]

The hook position detecting device for a crane according to the present invention has the following functions in correspondence with the above-mentioned structure.

That is, as described above, in the hook position detecting device for a crane according to the present invention, in the hook position detecting device similar to the conventional one, the boom retracted state detecting means for detecting the retracted condition of the boom in the vehicle traveling posture, and the vehicle traveling posture. A hook storage state detecting means for detecting a storage state of the hook with respect to the vehicle in the vehicle, a wire delivery absolute length storage means for storing a wire extension absolute length when the boom and the hook are stored in the vehicle running posture, and the boom storage state detection means for storing the vehicle. When the stored state of the boom in the traveling posture is detected and the hook stored state detecting means detects the stored state of the hook in the vehicle traveling posture, the calculation data of the wire feeding length calculation means is stored in the wire feeding absolute length storage means. Wire to reset to the stored wire payout absolute length The extension length data resetting means is provided, and the wire extension length detected by the wire extension length detecting means is set in the normal working state in which the telescopic boom and hook are not in the stored state corresponding to the vehicle running posture. The wire payout length calculation means calculates the wire payout length while correcting the boom attitude change quantity calculated by the change quantity calculation means.

On the other hand, when the boom retracted state detecting means and the hook retracted state detecting means detect the retracted states of the boom and the hook corresponding to the traveling posture of the vehicle, respectively, the wire feeding length data resetting means is operated and integrated. Instead of the wire feed length data including the error up to that time, the accurate wire feed absolute length in the stored state of the boom and hook stored in the preliminary wire feed absolute length storage means is read and set, and thereafter. Calculation (accumulation) is performed based on the absolute length reference data having no error.

Therefore, the accumulated error from the time of the previous reset to the time of the current reset is canceled at that time. Moreover, since the reset is performed in a short cycle from the start of crane work to the end of crane work, almost no cumulative error occurs during that period.

Further, in this case, as described above, when the wire feed length data resetting means resets the calculation data of the wire feed length calculation means, the current calculation data at the time of the reset and the wire feed absolute length for resetting are calculated. And the comparison means compares them, and when the difference between the operation data at the time of reset and the wire feeding absolute length for reset compared by the comparison means is equal to or more than a predetermined value, the abnormality determining means feeds the wire. If the length detecting means is determined to be abnormal, it is possible to periodically and automatically check the detection performance of the wire feeding length detecting means itself, which is the basic sensing means, and the hook position detecting device itself. Greatly improves the reliability of.

[0015]

As a result of the above, according to the hook position detecting device for a crane of the present invention, it is possible to eliminate the cumulative error of the wire feeding length indicating the hook position as much as possible, so that the hook position detecting accuracy is high. Becomes

[0016]

【Example】

(Embodiment 1) FIGS. 1 to 3 show the configuration of a hook position detecting device for a crane according to Embodiment 1 of the present invention.

In the present embodiment, the crane shown in FIG.
As shown in FIG. 1, a mobile crane is provided in which a swivel base 2 is provided on a chassis 1a of a vehicle 1, and a boom 3 is installed on the swivel base 2 via a hinge portion 4 so that the boom 3 can be lifted and lowered.
Outriggers 5F and 5R are provided on the front and rear ends of the chassis 1a of the vehicle 1, respectively.

The boom 3 is composed of, for example, a four-step telescopic boom, and three booms including a second boom 3b, a third boom 3c, and a top boom 3d with respect to the base boom 3a supported by the swivel base 2. The telescopic booms are sequentially inserted so that they can be expanded and contracted. Top boom 3 above
The boom head portion 12 of d is provided with an additional boom such as a jib if necessary.

The boom 3 is the base boom 3a.
By controlling expansion and contraction of the undulation cylinder 6 provided between the slewing base 2 and the swivel base 2, the undulation operation can be performed at any undulation angle from the minimum undulation angle to the maximum undulation angle state or from the maximum undulation angle to the minimum undulation angle state. ing.

Further, a winch 7 is provided at the rear end of the swivel base 2 on the counterweight side, a sheave 8 for wire guide is provided on the upper surface of the base boom 3a at the tip end side thereof, and a tip of the top boom 3d is further provided. As shown in FIG. 1, an upper sheave 9 and a lower sheave 10 are provided above and below the side boom head portion 12, respectively. Then, the wire 11 unwound from the drum portion of the winch 7
However, as shown in the drawing, it is hung from the boom head portion 12 through the sheaves 8, 9 and 10, and a hook 13 for slinging is provided at the tip of the feeding portion 11a. The hook 13 is formed of a sling portion 13a and a sheave block portion 13b.

In the traveling state of the telescopic boom 3, for example, as shown in FIG. 2, the boom length is reduced in the shortest state, and the boom hoisting angle is set to the minimum state. Is supported by the engaging ring 16 attached to the lower part of the tip of the swivel base 2 via a hinge 15.

Then, in this state, the hook 13 again.
The sheave block portion 13b is placed on the chassis 1a of the vehicle.

The engagement ring 16 is provided with a first hook storage detection device 21 between the hinge 15 and the hinge 15 for detecting the engagement state of the sling portion 13a of the hook 13. The first hook storage detection device 21 includes a sleeve 21a connected to the hinge 15 side, a circular plate 21c supported in the sleeve 21a via a coil spring 21b, and
The circular plate 21c and the hook 13 of the sleeve 21a
The sling portion 13a of the hook 13 provided between the side end portion
The push rod 23 is pressed by the pulling movement of the circular plate 21c in the direction of the arrow at the time of engagement, and the first ON / OFF switch 21d is turned on. Therefore, the first ON / OFF switch 21d
It is detected that the sling portion 13a of the hook 13 is engaged with the engaging ring 16 by the ON signal of.

The hook 1 for the engaging ring 16 is also provided.
In the engaged state of the sling portion 13a of No. 3, the hook 13
The chassis 1a on which the sheave block portion 13b of
A second hook storage detection device 22 is provided on the top. The second hook storage detection device 22 is provided with a second ON / OFF switch 22a which is turned on when the operating rod 25 descends in the center of the circular groove 24 formed in the upper portion of the chassis 1a. A circular plate 22c supported by a coil spring 22b is arranged in the upper portion. Then, the hook 1 engaged with the engagement ring 16 as described above is provided on the circular plate 22c.
When the sheave block 13b of No. 3 is placed, the circular plate 22c descends due to its weight, and the second ON, OF
The operating rod 25 of the F switch 22a is pressed downward.
As a result, the second ON / OFF switch 22a is activated to detect the stored state of the hook 13.

In this way, based on the output signals when both the first and second ON / OFF switches 21a and 22a of the first and second hook storage detecting devices 21 and 22 are turned ON, The stored state of the hook 13 is detected accurately and accurately.

Further, reference numeral 14 is an operating room of the mobile crane, and the operating room 14 is provided on one side of the swivel base 2. Various operating means for operating the crane and the vehicle are provided in the cab 14.

The crane also includes boom hoisting angle detecting means for detecting the hoisting angle of the boom 3, as will be described later.
Boom length detecting means for detecting the extension length of the boom 3, hanging load detecting means for detecting the hanging load of the hanging load 20, wire feeding length detecting means for detecting the feeding length of the wire 11 from the winch 7. Various sensors such as vehicle running state detecting means are provided. The wire payout length detecting means is constituted by, for example, a rotary pulse encoder that rotates in both forward and reverse directions to generate an addition / subtraction pulse signal, and is attached to the drum shaft of the winch 7.

On the other hand, the mobile crane is provided with a hook position (wire feeding length from the tip of the boom) detection circuit as shown in FIG. 3, for example.

The hook position detecting circuit includes, as sensing means, a boom hoisting angle detecting means 31 for detecting a hoisting angle θ of the boom 3, a boom length detecting means 32 for detecting a length L of the boom 3, and the above-mentioned. The boom turning angle detecting means 33 for detecting the turning angle ω of the boom 3, the first and second ON / OFF states of the above-described first and second hook storage detecting devices 21 and 22,
Hook storage state detecting means 34 constituted by the OFF switches 21a and 22a, vehicle running state detecting means 3 such as a vehicle speed sensor for detecting that the vehicle 1 is in a running state.
5. The wire payout length detecting means 36 is constituted by the rotary pulse encoder as described above.

The boom hoisting angle detecting means 31,
The detection data of the boom length detection means 32 and the boom turning angle detection means 33 are stored in a boom storage pattern (crane traveling posture pattern) determination means 37 and a boom posture change amount calculation means 38 for calculating the posture change amount of the boom of the crane. Each is entered. Then, the boom hoisting angle detection means 3
1, boom length detection means 32, boom turning angle detection means 3
Each of the detecting means 3 constitutes a boom attitude detecting means in the claims.

The boom attitude change amount calculating means 38 calculates the amount of change in the boom attitude of the crane for correcting the wire payout length detection data of the wire payout length detecting means 36 in accordance with the change in boom length.

Further, the respective detection data of the hook storing state detecting means 34 and the vehicle running state detecting means 35 are inputted to the wire payout length data resetting means 39 together with the determination data of the boom storing pattern determining means 37.

The boom storage pattern determining means 37 is configured to have a boom storage pattern (boom fully retracted, boom fully tilted, boom swing angle zero) data memory function according to the model of the crane, and the boom undulation is performed. Corner detecting means 3
1, boom length detection means 32, boom turning angle detection means 3
The boom storage pattern in which each detection data of 3 is input and the actual posture of the boom determined from the combination thereof is set and stored in advance according to the model of the crane.
When the boom is fully retracted, the boom is fully tilted, and the boom turning angle is zero, a judgment output is output assuming that the boom is in a retractable state in which it can travel.

Further, the boom storage pattern determining means 3
The determination data of No. 7 is input to the wire feeding absolute length calculation means 40. The boom hoisting angle detection means 31, the boom length detection means 32, the boom turning angle detection means 33, and the boom storage pattern determination means 37 for determining the boom storage pattern based on the respective detection data. A boom retracted state detecting means is defined in the claims.

The wire feeding length data resetting means 39 is
When there is no judgment output from the boom storing pattern judging means 37, and there is no detection signal output from the hook storing state detecting means 34 and the vehicle traveling state detecting means 35, the output is OFF. While the wire payout length calculation means 41, which will be described later, is maintained in the normal wire payout length calculation function state, the respective means 37, 34.35.
When the outputs from both are input, a wire payout length data reset signal is output as will be described later, and the calculated data in the data memory 41a of the wire payout length calculation means 41 is the wire payout absolute length calculation means described below. Reset to operation data from 40. Wire feeding absolute length calculation means 40
Is equipped with an absolute length memory 40a which is a memory for predicting the absolute payout length of the wire in the boom stored state and the hook stored state of the crane, and the absolute payout length is determined according to the determination output of the boom storage pattern determination means 37. Read and output the length.

Further, the wire feeding length detecting means 36,
The outputs of the boom posture change amount calculating means 38, the wire payout length data resetting means 39, and the wire payout absolute length calculating means 40 are finally inputted to the wire payout length calculating means 41, respectively. Then, the wire payout length calculation means 41 calculates the final wire payout length from the boom tip 12 to the hook 13 (that is, the hook position). The wire payout length calculating means 41 is provided with a data memory (RAM) 41a in which the wire payout length data up to the present time calculated in the previous calculation cycle is stored. First, specifically, the data memory 41a
Memory data is read, and the detected value of the wire feeding length detecting means 36 is corrected by the calculated value of the crane posture change amount calculating means 38, and the value is added or subtracted with reference to the memory data.

Next, the hook position detecting operation of the hook position detecting circuit will be described.

That is, first, the boom attitude change amount calculation means 38 does not output the hook storage state detection means 34, the vehicle traveling state detection means 35, and the boom storage pattern determination means 37, and the wire feed length data reset. In a normal working state in which the means 39 does not generate the reset output (H output), the boom hoisting angle θ, the boom length L,
The amount of change in the boom posture of the crane from the boom turning angle ω
(In particular, the boom length change amount) is calculated and input to the wire payout length calculation means 41.

The wire payout length calculating means 41 corrects the wire payout length supplied from the wire payout length detecting means 36 in accordance with the inputted posture change amount of the crane, thereby calculating the actual wire payout length. Calculate and output. Then, the output data is used as a control parameter for the above-described load shake prevention control, for example.

On the other hand, unlike this, for example, the boom 3 is stored in a predetermined state according to the model of the crane, and the hook 13 is stored and locked in a predetermined position, so that the vehicle is in a running state. If it is determined, the data memory 41 of the wire payout length calculation means 41 is as follows.
The wire feed-out length calculation data stored in a is reset to the appropriate preset reference data set each time.

That is, in this state, first, the boom storage pattern determining means 37 detects the boom hoisting angle detecting means 31, the boom length detecting means 32, and the boom turning angle detecting means 33 based on the detected values. It is determined that the boom is in a predetermined storage pattern in which the boom can travel (storage state according to the model). This determination is made by comparing with predetermined memory data. Then, the judgment data is input to the wire feeding absolute length calculating means 40 and the wire feeding length data resetting means 39 at the next stage.

The wire feeding absolute length calculating means 40 reads out the wire feeding absolute length corresponding to the boom storing pattern from the wire feeding absolute length memory 40a based on the boom storing pattern judgment data from the boom storing pattern judging means 37. , To the wire feeding length calculation means 41 in the next stage.

On the other hand, wire feeding length data resetting means 3
9 inputs the hook storage detection signal from the hook storage state detection means 34, the vehicle traveling detection signal from the vehicle traveling state detection means 35, and the determination data from the boom storage pattern determination means 37, respectively, and the boom 3 is concerned. It is determined that the vehicle is in a traveling state with a predetermined storage state corresponding to the model, and the hook 13 is also stored and locked in a predetermined storage position. A reset signal for resetting the wire feed length calculation data up to that point is output to the length calculation means 41.

When the reset signal is input, the wire feed-out length calculation means 41 clears the current wire feed-out length calculated by the accumulated value of the calculation data up to that point, and the wire feed-out absolute length is calculated. The absolute length read value from the calculating means 40 is newly stored in the data memory 41a as the current wire payout length and output. The wire feeding length (absolute length) newly stored and output is accurately specified for the crane in which the boom 3 is in the retracted state, the hook 13 is also in the regular retracted position, and the vehicle is in the traveling posture. It is the wire payout length of the length. Therefore, unlike the accumulated data up to that point, the accumulated error is not included.

As a result, the subsequent calculation of the wire payout length is
Accumulation (addition / subtraction) is performed based on this accurate reference value, and the calculation accuracy is improved.

In the above embodiment, the hook storage state detecting means 34 is composed of the first and second sets of hook storage detecting devices 21 and 22, but it goes without saying that only one of them may be used. Yes.

(Embodiment 2) Next, FIG. 4 shows the construction of a hook position detecting device for a mobile crane according to Embodiment 2 of the present invention.

The embodiment is the same as the embodiment 1 shown in FIG.
On the premise of the structure of the hook position detecting device, the wire feed-out absolute length output from the wire feed-out absolute length calculation means 40 at the time of outputting the wire feed-out length data reset signal from the wire feed-out length data reset means 39 in the same configuration. And the current value (memory value) of the wire payout length calculation means 41 calculated based on the boom attitude change amount calculation data of the boom attitude change amount calculation means 37 are compared by the comparison means 42, and the difference between them is determined by a predetermined value. When it is larger than the reference value, for example, the wire feeding length detecting means 3 such as the rotary pulse encoder described above.
6 is determined to be abnormal, and a predetermined notifying means 43 is operated to generate a notifying signal.

By doing so, it becomes possible to periodically and automatically check the normality of the detection performance of the wire feeding length detection means 36 which is the basic sensing means, and the reliability of the hook position detection device is greatly improved.

In each of the above embodiments, the boom storage pattern determination means 6 is provided to make the detection device versatile so that it can be arbitrarily applied to different models such as a truck crane and a cargo crane. However, when the device is configured as a dedicated device of a specific model, the determination unit 6 is unnecessary.

(Embodiment 3) FIG. 5 shows a circuit configuration of a hook position detecting device for a mobile crane according to Embodiment 3 of the present invention.

In this structure, the hook position detecting circuit of the first embodiment shown in FIG. 3 is provided with the wire multiplying number setting means 44 capable of setting the wire multiplying number of the crane by a push button or the like, and the above wire feeding absolute length calculation is performed. The wire feed-out absolute length memory 40a of the means 40 is configured to store the wire feed-out absolute length data corresponding to the number of wires multiplied by the crane.

Therefore, in this configuration, if the user adopts the wire multiplying number setting means 44 and sets and sets the wire multiplying number that is actually adopted, the setting is also made at the time of the above-mentioned wire feeding length reset operation. The reference data is rewritten to an accurate absolute wire payout length according to the number of applied wires.

In each of the above embodiments, the wire feed length data resetting means 39 has a reset signal generation condition that the detection signal of the vehicle running state detecting means 35 is present. However, this is not always the logical product condition. It goes without saying that you don't have to.

[Brief description of drawings]

FIG. 1 is a diagram showing a schematic configuration of a mobile crane according to a first embodiment of the present invention.

FIG. 2 is a diagram showing a configuration of a hook storage detection device of the mobile crane.

FIG. 3 is a block diagram showing a configuration of a hook position detection circuit of the mobile crane.

FIG. 4 is a block diagram showing a configuration of a hook position detection circuit of a mobile crane according to a second embodiment of the present invention.

FIG. 5 is a block diagram showing a configuration of a hook position detection circuit of a mobile crane according to a third embodiment of the present invention.

[Explanation of symbols]

1 is a vehicle, 2 is a swivel base, 3 is a telescopic boom, 6 is a hoisting cylinder, 7 is a winch, 13 is a hook, 16 is an engagement ring, 21 is a first hook storage detection device, and 21a is a first ON. , OFF switch, 22 is a second hook storage detecting device, 22a is a second ON / OFF switch, 31 is boom hoisting angle detecting means, 32 is boom length detecting means, 33 is boom turning angle detecting means, and 34 is Hook storage detecting means, 35
Is a vehicle running state detecting means, 36 is a wire feeding length detecting means, 37 is a boom storing pattern determining means, 38 is a boom posture change amount calculating means, 39 is wire feeding length data resetting means, 40 is wire feeding absolute length calculating means, Reference numeral 41 is a wire feeding length calculation means, 42 is a comparison means, and 43 is a notification means.

Claims (2)

[Claims] 1. A telescopic boom provided on a vehicle so as to be capable of undulating and turning, a winch provided on the base end side of the telescopic boom and wound with a wire, and a wire extended from the winch. And a hook that is hung up and down below the tip of the telescopic boom, boom attitude detecting means for detecting the attitude of the telescopic boom, and the telescopic boom based on the detection value of the boom attitude detecting means. The boom posture change amount calculating means for calculating the posture change amount, the wire feeding length detecting means for detecting the wire feeding length from the winch to the lower end of the telescopic boom, and the detection value of the wire feeding length detecting means. A crane hook including wire feeding length calculation means for calculating the actual wire feeding length indicating the hook position by correcting the posture change amount calculated by the posture change amount calculating means. In the vehicle position detection device, boom storage state detection means for detecting the storage state of the boom in the vehicle traveling attitude, and hook storage state detection means for detecting the storage state of the hook with respect to the vehicle in the vehicle traveling attitude,
An absolute wire extension length storing means for storing an absolute wire extension length when the boom and the hook are stored in a vehicle running posture;
When the boom storage state detecting means detects the storage state of the boom in the vehicle running posture and the hook storage state detecting means detects the hook storage state in the vehicle traveling posture, the calculation data of the wire feeding length calculation means is calculated. A hook position detecting device for a crane, comprising: wire feeding length data resetting means for resetting the wire feeding absolute length stored in the wire feeding absolute length storage means. 2. Comparing means for inputting and comparing the operation data at the time of resetting and the wire payout absolute length for resetting when the wire payout length data resetting means resets the operation data of the wire payout length operation means. When the difference between the operation data at the time of reset and the wire feed-out absolute length for reset compared by the comparison means is equal to or more than a predetermined value, the wire feed-out length detection means determines that the abnormality is provided. Characteristic crane hook position detection device.