JPH092782A - Controller for working machine provided with outrigger - Google Patents

Abstract

PURPOSE: To achieve effective use of work ability of a working machine by judging whether a turning position detecting value of a turning position detecting means of a turning table is abnormal or not, taking the projecting width minimum value as the projecting width in place of respective projecting width signals from a plurality of outrigger projecting width detecting means when the turning position detected value is abnormal, and calculating the rated performance. CONSTITUTION: During work of a crane, the rated performance under the present working state and the outrigger projecting state is calculated in a control unit 20 by receiving signals from a turning position detecting means 17 for detecting the turning position of a turning table 3 on which a boom 4 is so attached as to be freely erected and laid, working state detecting means 11, 12 and outrigger proj ecting width detecting means 13 to 16. Whether a turning position detected value is abnormal or not is judged in an abnormality judging means 22 on the basis of the output of the turning position detecting means 17. When it is detected that the turning posjtion detected value is abnormal, the minimum value signal from a projecting width minimum value selecting means 21 is taken as the projecting width in place of the output from the outrigger projecting width detecting means 13 to 16, and calculation of the rated performance is performed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a working machine, such as a crane truck and a work vehicle for aerial work, which is provided with an outrigger on the vehicle body side and is equipped with a swivel base for supporting the boom so that the boom can be raised and lowered. More specifically, the present invention relates to a method of processing the outrigger extension width detection value when the turning position detection value is abnormal in such a working machine.

[0002]

2. Description of the Prior Art In boom-equipped work machines such as mobile cranes and aerial work vehicles, a boom is mounted on a swivel mounted on a vehicle body so that the boom can be raised and lowered, and the swivel drive can be performed.
In order to ensure the stability of the working machine, usually, outriggers are arranged on the front, rear, left and right sides of the vehicle body, and the outriggers are extended to the side of the vehicle body to support the vehicle body in a floating manner. In addition, in such work equipment, the concept of "rated performance" was introduced to ensure safety in work, and for example, in crane vehicles, the hanging load during work should be limited to within this rated performance range. I have to.

By the way, the "rated performance" of this working machine is
It changes according to the stability specified by the overhang width of the outrigger, which is the stable element of the work machine, and the relative length of the boom, which is the overturning element, and the hoisting angle and turning position. The overhang width and the turning position are the most important factors closely related in the process of calculating the “rated performance”. For this reason, regarding the calculation control of the rated performance, it is basically necessary to make the overhang width of the outrigger correspond to the turning position one by one, but in reality, from the viewpoint of avoiding complication of the control system, etc. It is customary to roughly set the correspondence between the projecting width and the turning position as follows.

That is, in a working machine having, for example, four outriggers, when the overhang widths of these outriggers are the same (hence, the overhang widths of all outriggers are "maximum overhang widths"). , The "minimum overhang width" and the "intermediate overhang width" are included) based on the outrigger overhang width at that time regardless of the turning position. "Rated performance" is calculated, and the same rated performance is always output as long as the boom length and boom hoisting angle do not change regardless of the turning position. Therefore, if all outriggers are set to "maximum overhang width", "maximum rated performance" is output regardless of the turning position, and all outriggers are set to "minimum overhang width". If so, the “minimum rated performance” is output regardless of the turning position.

On the other hand, depending on the situation of the work site of the working machine, it may not be possible to set all the outriggers to the same overhang width. In such a case, the overhang width of each outrigger is set individually according to the on-site situation. There is a need. In such a situation, the "rated performance" changes depending on the relationship between the overhang width of each outrigger and the turning position.In this case, calculate the "rated performance" from the relationship between the overhang width of each outrigger and the turning position. I am trying to do it. That is, each of the outriggers is provided with outrigger overhang width detecting means for individually detecting its overhang width, and the overhang width of each outrigger is taken in from each of these outrigger overhang width detecting means, and the overhang width of each outrigger is taken. The "rated performance" at each turning position is calculated based on the turning position.

[0006]

However, the turning position of the boom is electrically detected by a turning position detecting means such as a potentiometer. However, if an abnormality such as a wire break or a short circuit occurs in the turning position detecting means. Since it is not possible to accurately detect the turning position, it is difficult to accurately calculate the “rated performance” unless the outriggers have the same overhanging width. Therefore, conventionally, even when the outrigger overhang width detecting means detects an accurate overhang width even when the turning position detecting means is abnormal, all outriggers are set to the “maximum overhang width”. Even if it is, without using the detection value of these overhang widths,
It is assumed that all outriggers are set to "minimum overhang width", and "rated performance" is based on this "minimum overhang width".
Was calculated. Therefore, in reality, even though the higher "rated performance" is obtained, only the work with the "minimum rated performance" is allowed, and the working capacity of the working machine cannot be fully exhibited.

In view of the above, the present invention enables a work machine equipped with an outrigger to calculate as large a "rated performance" as possible under the actual outrigger extension condition even when the turning position detecting means is abnormal. Therefore, it is proposed to propose a control device for effectively utilizing the working capacity of the working machine.

[0008]

As a concrete means for solving the above problems, the present invention is provided with a plurality of outriggers 5 to 8 for supporting the body 2 in a floating manner, and a boom 4 which is mounted so as to be able to move up and down. In a working machine equipped with an outrigger in which a platform 3 is rotatably mounted on the vehicle body 2, a swing position detecting means 17 for detecting a swing position of the swing platform 3 and outputting the swing position signal as a swing position signal, Working state detecting means 11 and 12 other than the turning position detecting means 17 for detecting working states other than the turning position related to the calculation of the rated performance of the working machine and outputting the working states as working state signals. A plurality of outrigger overhang width detection means 13-1 for detecting the overhang widths of the plurality of outriggers 5-8 and outputting the detected overhang widths as overhang width signals.
6, and the plurality of outrigger extension width detection means 13 to 1
6, the extension width minimum value selecting means 21 for receiving the respective extension width signals from the reference numeral 6, determining the size of each extension width, selecting the minimum value of these, and outputting this as the minimum value signal. A turning position detection value abnormality determining unit 22 that receives a turning position signal from the turning position detecting unit 17 and determines whether the turning position detection value is abnormal and outputs an abnormal signal when the turning position detection value is abnormal; The turning position signal from the detection means 17, the work state signals from the work state detection means 11 and 12, and the plurality of outrigger extension width detection means 13 to 16 described above.
While calculating the rated performance under the current working condition and the outrigger bulging condition in response to each bulging width signal from the above, when an abnormal signal is input from the turning position detected value abnormality judging means 22, Multiple outrigger overhang width detection means 1
The minimum value signal from the overhang width minimum value selection means 21 is adopted instead of each overhang width signal from 3 to 16, and this minimum value is used as the overhang width of each of the plurality of outriggers 5 to 8. It is characterized by comprising a rated performance calculating means 23 for calculating the rated performance based on the minimum value.

[0009]

According to the present invention, the following functions and effects can be obtained by adopting such a configuration. (A) When the turning position detecting means 17 operates normally When the turning position detecting means 17 operates normally and the turning position detecting means 17 detects an accurate turning position, the rated performance calculating means 23 operates as described above. A turning position signal from the turning position detecting means 17 and a work state detecting means 11,
In response to the work state signal from 12 and the respective overhanging width signals from the plurality of outrigger overhanging width detecting means 13 to 16, the "rated performance" under the current working state and outrigger overhanging state is calculated, And this "rated performance" is output as one of the control elements in load limiting control, for example.

In this case, as a conventional method of calculating the "rated performance", when the overhanging widths of the plurality of outriggers 5 to 8 are all the same, the overhanging width is determined regardless of the turning position. Corresponding constant "rated performance" is calculated, and "rated performance" corresponding to the overhang width of each outrigger is calculated in relation to the turning position only when the overhang widths of the plurality of outriggers 5-8 are different from each other. To be done.

(B) When the turning position detecting means 17 is abnormal When the turning position detecting means 17 is abnormal, for example, the turning position detecting means 17 does not operate normally due to a disconnection or a short circuit, and the output range of the detected value is In the case where the output range at the normal time is largely deviated, the turning position detecting means 17 is provided.
In response to the turning position signal from, the turning position detection value abnormality determining means 22 determines that the turning position detection value is abnormal and outputs an abnormality signal. Then, in response to this abnormal signal, the rated performance calculation means 23 detects the outriggers 5 detected by the plurality of outrigger extension width detection means 13 to 16.
~ 8 actual overhang width, overhang width minimum value selection means 2
The "minimum value" of the overhang widths of the plurality of outriggers 5-8 selected in 1 is adopted as the overhang width of each of the plurality of outriggers 5-8, and based on the "minimum value" Calculate the "rated performance". That is, the "rated performance" is calculated irrespective of the turning position under the assumption that the overhang widths of the plurality of outriggers 5 to 8 are all "minimum values".

Therefore, for example, a plurality of outriggers 5-8
When all of the overhang widths of are set to the "maximum overhang width", the "maximum overhang width" is used as the above "minimum value" to calculate the "rated performance" regardless of the turning position, and multiple outriggers are calculated. When all of the overhang widths of 5 to 8 are set to the "minimum overhang width", the "minimum overhang width" is used as the above "minimum value" to calculate the "rated performance" regardless of the turning position. Furthermore, when the overhanging widths of the plurality of outriggers 5-8 are different from each other, the overhanging width of each of these outriggers 5-8 is set to the “minimum value” of the overhanging widths of these outriggers 5-8. It is assumed that the "rated performance" is calculated based on this "minimum value" regardless of the turning position, and in any case, the detected value of the turning position detecting means 17 is excluded from the calculation of the "rated performance".

Therefore, when the turning position detecting means 17 is in an abnormal state, except for the case where the overhanging width of any one of all the outriggers is actually the "minimum overhanging width", the turning position is detected as in the conventional case. When the means 17 is abnormal, compared to the case where only the minimum "rated performance" is calculated assuming that the overhang widths of all the outriggers are "minimum overhang width" without considering the actual overhang width of the outriggers. It becomes possible to work under a larger “rated performance”, and the working capacity of the working machine can be effectively utilized.

[0014]

DESCRIPTION OF THE PREFERRED EMBODIMENTS A control device for a working machine equipped with an outrigger according to the present invention will be specifically described below based on embodiments. FIG.
FIG. 1 shows an overall system diagram of a control device for a mobile crane 1 according to an embodiment of the present invention. This mobile crane 1
The vehicle body 2 is provided with outriggers 5-8 projecting laterally at four positions in front, rear, left and right thereof, and a swivel base 3 on which a boom 4 is erected up and down is mounted on the vehicle body 2. There is.

The boom length of the boom 4 is detected by the boom length detecting means 11, the hoisting angle of the boom 4 is detected by the boom hoisting angle detecting means 12, and the turning position of the swivel base 3 is detected by the turning position detecting means 17. The outrigger widths of the outriggers 5 to 8 are individually detected by the outrigger overhang width detecting means 13 to 16 provided in the outriggers 5 to 8, respectively. The detection values of each of the detection means 11 to 17 are input to the control unit 20 described below as a factor for calculating "rated performance".

The control unit 20 is composed of an overhang width minimum value selection means 21, a turning position detection value abnormality determination means 22, and a rated performance calculation means 23, which will be described below.

The overhang width minimum value selecting means 21 is composed of four outrigger overhang width detecting means provided in each of the outriggers 5-8, that is, the right front outrigger overhang width detecting means 13 and the right rear outrigger. Overhang width detection means 14
And the extension width signals output from the left front outrigger extension width detection means 15 and the left rear outrigger extension width detection means 16, respectively, of the extension widths of the outriggers 5 to 8 corresponding to these signals. Although the overhang width is the smallest, the overrigger overhang width is selected as the "minimum value", and this is output as the minimum value signal to the rated performance calculating means 23 described later. In this embodiment, the processing for selecting the minimum value of the overhang width in the overhang width minimum value selecting means 21 is always executed upon receipt from each of the outrigger overhang width detecting means 13-16. However, in another embodiment, for example, the processing may be executed only when an abnormality signal is received from the turning position detection value abnormality determining means 22 described below.

The turning position detection value abnormality determining means 22 is
When the turning position signal from the turning position detecting means 17 is received, it is determined whether or not the turning position signal, that is, the detected value of the turning position is abnormal. An abnormal signal is output to the rated performance calculating means 23. As an abnormality determining method in the turning position detection value abnormality determining means 22, for example, when the turning position detecting means 17 is composed of a potentiometer, the potentiometer has a predetermined output range in advance. For example, when it is determined that the output value largely deviates from the specified output range due to a cause such as disconnection or short circuit, it is determined as "abnormal".

The rated performance calculating means 23 calculates a load range, that is, "rated performance", which is allowable according to the outrigger's overhanging width state and working state at that time, and controls it for overload prevention control or the like. Is output as a control element in. Specifically, it is as follows.

That is, the rated performance calculation means 23 receives a boom length signal corresponding to the current boom length from the boom length detection means 11 and the current boom elevation angle from the boom elevation angle detection means 12. And the turning position signal corresponding to the current boom turning position is input from the turning position detecting means 17 as the working state signal of the crane vehicle 1, respectively. In addition, from each of the outrigger overhang width detecting means 13 to 16, each of the outriggers 5 is connected.
Each of the overhang width signals corresponding to the overhang widths of 8 to 8 is individually input. Further, an abnormal signal is output from the turning position detection value abnormality determining means 22 when the turning position detecting means 17 is abnormal, and the overhang width of each outrigger 5-8 selected from the overhang width minimum value selecting means 21. The minimum value signal corresponding to the "minimum value" is input.

The rated performance calculating means 23 receives the above-mentioned input signals and calculates the "rated performance".
Different methods are used for both normal and abnormal turning position detecting means 17. With respect to the "rated performance" calculation processing in the rated performance calculation means 23, the minimum value selection processing in the overhang width minimum value selection means 21 and the turning position detection value abnormality determination will be described below with reference to the flowchart shown in FIG. Description will be made in connection with the abnormality determination processing in the means 22.

First, the rated performance calculating means 23 reads each detected value. That is, as shown in step S1 of the flowchart of FIG. 2, the current boom length, boom hoisting angle, boom turning position, and overhang width of each outrigger 5-8 are read.

Next, as shown in step S2, the abnormality judgment of the turning position detecting means 17 in the turning position detection value abnormality judging means 22 is performed. That is, the turning position detection value abnormality determination means 22 compares, for example, the output value (that is, the detection value) of the turning position detection means 17 with a previously assumed output range specific to the turning position detection means 17. If the output value deviates from the output range, it is determined to be "abnormal", and if it is within the output range, it is determined to be "normal".

Here, the case of being judged as "normal",
When it is determined that “abnormal”, the calculation processing of “rated performance” is performed by different methods as described below.

First, in the case where it is judged as "normal", in this case, in the rated performance calculating means 23, as shown in step S5, based on the detected value of the overhang width of each outrigger 5-8. Then, the “rated performance” is calculated.
That is, when the overhang widths of the respective outriggers 5 to 8 are all the same (that is, when the overhang widths of the respective outriggers 5 to 8 are both “maximum overhang width”, or both are “minimum overhang width”). , Etc.), the maximum permissible performance of the current outrigger overhang width (common overhang width) under the current boom length and boom hoisting angle conditions regardless of the turning position. Is calculated as "rated performance". Therefore, if all of the outriggers 5-8 are set to the "maximum overhang width", the maximum "rated performance" under the current boom length and undulation angle is the "minimum overhang width". Minimum "rated performance" under current boom length and undulation angle when set to
Will be calculated respectively.

On the other hand, when the overhang widths of the outriggers 5-8 are not all the same and have different overhang widths depending on factors such as the situation of the work site, the outrigger overhang width detecting means 13-. 16, the current overhang width of each outrigger 5-8 detected by 16, and the current swing position of the boom 4 detected by the swing position detection means 17,
"Rated performance" is calculated based on the current boom length and undulation angle.

On the other hand, when it is determined as "abnormal" in step S2, the turning position detecting means 17 is provided.
The “rated performance” calculation process is performed in a state in which the detected value of is excluded. That is, first, the "minimum value" of the overhang width in the overhang width minimum value selecting means 21 is selected. The selection of the "minimum value" here is, as shown in step S3, the smallest overhang width among the overhang widths of the respective outriggers 5-8 detected by the respective outrigger overhang width detecting means 13-16. It is done by selecting as the "minimum value".

Next, in the rated performance calculation means 23, the "rated performance" calculation processing is performed based on the "minimum value" selected by the overhang width minimum value selection means 21. That is, as shown in step S4, each outrigger 5-8
Assuming that all overhang widths are the above "minimum value", calculate the "rated performance" under the outrigger overhang width at this "minimum value" and by additionally considering the boom length and undulation angle. .
Therefore, according to the calculation process of the “rated performance” in this case, for example, if both the overhang widths of the outriggers 5 to 8 are both set to the “maximum overhang width”, the “maximum overhang width” is set as the “maximum overhang width”. If the maximum "rated performance" is calculated by adopting the "protrusion width", and the extension widths of the outriggers 5 to 8 are both set to the "minimum extension width", this "minimum extension" will be used as the "minimum extension". The "width" is adopted and the minimum "rated performance" is calculated. Furthermore, when the overhanging widths of the respective outriggers 5-8 are different from each other, the smallest overhanging width among the overhanging widths of the respective outriggers 5-8 is adopted as the “minimum value”, and the respective outriggers 5-8 The “rated performance” is calculated assuming that all the overhang widths of 8 are this “minimum value”. For example, when the overhang width of the outrigger set to the smallest overhang width among the overhang widths of the respective outriggers 5-8 is the “intermediate overhang width”, this “intermediate overhang width” Is selected as the above-mentioned "minimum value", and the "rated performance" calculated based on this is the performance located between the above-mentioned maximum "rated performance" and minimum "rated performance".

That is, by adopting the method of calculating the "rated performance" as in this embodiment, even if the turning position detecting means 17 is abnormal, it is not based on the output value of the turning position detecting means 17 but actually. Except when the overhang width of any one of all outriggers is the “minimum overhang width”, the actual overhang width of the outrigger is taken into consideration when the turning position detecting means 17 is abnormal as in the conventional case. It is possible to work under a larger “rated performance” than when only the minimum “rated performance” is calculated assuming that the overhang width of all outriggers is “minimum overhang width”. The working capacity of the working machine can be effectively used.

[Brief description of drawings]

FIG. 1 is an overall system diagram of a control device for a work machine including an outrigger according to an embodiment of the present invention.

FIG. 2 is a control flowchart of the control device shown in FIG.

[Explanation of symbols]

1 is a mobile crane, 2 is a vehicle body, 3 is a swivel base, 4 is a boom,
5 is a right front outrigger, 6 is a right rear outrigger, 7 is a left front outrigger, 8 is a left rear outrigger, 11 is a boom length detecting means, 12 is a boom hoisting angle detecting means, 13 is a right front outrigger extension width detecting means, and 14 is Right rear outrigger extension width detection means, 15 left front outrigger extension width detection means, 16 left rear outrigger extension width detection means, 17 turning position detection means, 20 control unit, 21
Is an overhang width minimum value selection means, 22 is a turning position detection value abnormality determination means, and 23 is a rated performance calculation means.

Claims (1)

[Claims] 1. A boom (4) having a plurality of outriggers (5) to (8) for supporting the vehicle body (2) to float.
In a working machine equipped with an outrigger, in which a swivel base (3) having a hoisting motion is mounted on the vehicle body (2) in a swivel manner, the swivel position of the swivel base (3) is detected and the swivel position is detected. A turning position detecting means (17) for outputting as a turning position signal, and a detecting means other than the turning position detecting means (17) for detecting working states other than the turning position relating to the calculation of the rated performance of the working machine. A work state detecting means (11, 12) for outputting this as a work state signal, and a plurality for detecting the overhang widths of the plurality of outriggers (5) to (8) and outputting each as an overhang width signal. Outrigger overhang width detection means (13)-(16)
And the plurality of outrigger extension width detection means (13) to (1
Receiving the respective overhang width signals from 6), the size of each overhang width is determined, the minimum value among these is selected, and this is output as the minimum value signal, the overhang width minimum value selecting means (21). And a turning position detection value abnormality determining means for receiving a turning position signal from the turning position detecting means (17), determining whether the turning position detection value is abnormal, and outputting an abnormality signal when the turning position detection value is abnormal ( 22), the turning position signal from the turning position detecting means (17), the working state signal from the working state detecting means (11, 12), and the plurality of outrigger extension width detecting means (13).
While receiving the respective overhanging width signals from (16) and calculating the rated performance under the current working condition and outrigger overhanging condition, an abnormal signal is input from the turning position detection value abnormality determining means (22). In such a case, the minimum value signal from the overhang width minimum value selecting means (21) is adopted instead of the overhang width signals from the plurality of outrigger overhang width detecting means (13) to (16). Rated performance calculation means (23) for calculating the rated performance based on the minimum value as the extension width of each of the plurality of outriggers (5) to (8).
And a control device for a working machine having an outrigger.