JPH10231086A - Head meter for boom working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To eliminate the need for resetting an initial position and a reset position for an engine, before stopped, in a head meter for a boom working machine even if the engine is stopped. SOLUTION: The rotation of a main winding drum 7 is detected as a pulse number by adjacent switches 12A, 12B. The pulse number of the head of a hook 6 at resetting is stored in a non-volatile EEPROM 33. The pulse number and head of the main winding drum 7 at present are stored in the non-volatile EEPROM 33. In this way, even when an engine is stopped and restarted, the need for resetting again is eliminated, so that the head can be measured without worker's operation.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a lift gauge for displaying the lift of a hanging member such as a hook or a bucket suspended from a boom working machine for an operator's work.

[0002]

2. Description of the Related Art Like a boom working machine, in which a rope is wound by a drum and a suspended load or a bucket is lifted and lowered, the winding length and the unwinding length of the rope are measured to determine the lift of the suspended load. There is known one for detecting. At this time, since the rope is wound on the drum in multiple layers, the winding diameter of the rope changes depending on the layer on which the rope is wound, and the lift of the suspended load calculated simply from the diameter of the drum and the number of windings is actually different. It will be different from the lift. For this reason, with reference to a table showing the relationship between the winding layer of the drum and the rope length, a head gauge that accurately calculates the rope length in the current winding layer and obtains an error-free head has been developed. It has been proposed (Japanese Utility Model Laid-Open No. 59-149895).

On the other hand, in a boom working machine equipped with such a head gauge, the head of the suspension member changes depending on the angle of the boom, so that the head is determined in consideration of the change in the boom angle. Has been proposed (Japanese Unexamined Patent Publication No.
No. 42004). According to the head gauge described in Japanese Patent Application Laid-Open No. 6-42004, a change in the head due to a change in the boom angle, a change in the head due to a change in the distance between the drum and the point sheave due to the increase in the boom angle, and the like, An accurate head can be obtained.

In such a lift meter, when the suspension member is set at a predetermined height position and the reset switch is operated, the rotation position of the drum at this time is used as a reference and the drum is moved from this position. The head from the reset position is obtained using the rotation amount as basic data for obtaining the bucket depth.

[0005]

However, in the above-described lift gauge, when the engine is stopped and the engine is started again when the suspension member is at a certain lift, the reset position is set again. The setting of the lift gauge was very troublesome because it had to be corrected. In particular, when it is difficult for the operator to perform work with the naked eye directly, such as with a tower crane or deep moat, when a reset position is set again, an error occurs between the reset position and the original reset position. There is a possibility that.

An object of the present invention is to provide a head gauge of a boom working machine which does not require resetting a reset position before stopping the engine even when the engine is stopped.

[0007]

FIG. 1 shows an embodiment of the present invention.
Referring to FIG. 6, the invention according to claim 1 is a boom operation in which the rope 5 wound around the drum 7 is taken up or unwound to lift the suspension member 6 suspended from the end of the boom. The first rope winding amount from the initial position of the hanging member 6 to the reset position for calculating the lift of the hanging member 6, which is applied to the head gauge 10 in the machine, and from the initial position to the current position. Nonvolatile storage means 33 for storing the second rope winding amount
The above object is attained by providing the head and the calculating means 30 for calculating the head based on the first and second rope winding amounts.

The invention according to claim 2 is applied to a head gauge 10 in a boom working machine which raises and lowers a suspension member 6 suspended from the end of a boom by winding or unwinding a rope 5 wound around a drum 7. A lift calculating means 30 for calculating the lift from the reset position for the calculation of the lift of the suspension member 6 to the current position; a predetermined rope winding amount from the initial position of the suspension member 6 to the current position; The above object is achieved by providing a non-volatile storage means 33 for storing the head.

The third aspect of the present invention is applied to a head gauge 10 in a boom working machine that raises and lowers a suspension member 6 suspended from the end of a boom by winding or rewinding a rope 5 wound around a drum 7. And rotation amount detecting means 12A, 12B for detecting the number of winding layers and the number of winding rows of the drum 7.
And a nonvolatile first storage unit 33 in which the correspondence between the winding layers and the number of windings of the drum 7 and the winding amount of the rope 5 is stored in advance, the detection results of the rotation amount detecting units 12A and 12B, and the first And the number of winding layers (Pr) of the drum 7 at the reset position for calculating the lift of the suspension member 6 and the current winding layer based on the correspondence (FIG. 5) stored in the storage means 33 of FIG. A lift calculating means 30 for calculating the amount of movement of the rope between the number of windings (Ps) and calculating the lift of the suspension member 6;
At the current position of the drum 7, the rotation amount detecting means 12A,
A non-volatile second storage means 33 for storing the winding layer and the number of windings (Pp) of the drum 7 detected by 12B and the head (Hp) calculated by the head calculating means 30; Is the number of windings and the number of windings (Pp) stored in the second storage means 33, the number of windings (Pp) and the read data (Hp) of the head and the number of windings and the number of windings (P) detected by the rotation amount detecting means 12A and 12B. The above object is achieved by calculating the lift from the reset position based on the calculated position.

According to a fourth aspect of the present invention, in the third aspect of the present invention, the angle detecting means 8 for detecting the angle of the boom, the boom angle θr at the reset position which is the detection result of the angle detecting means 8 and the current boom angle θ And a correction unit for correcting the calculation result of the head calculation unit 30 based on
The second storage means 33 stores the boom angle θr at the reset position.
Is also stored.

The invention according to claim 5 is applied to a head gauge 10 in a boom working machine that raises and lowers a suspension member 6 suspended from the end of a boom by winding or unwinding a rope 5 wound around a drum 7. And rotation amount detecting means 12A, 12B for detecting the number of winding layers and the number of winding rows of the drum 7.
And a correspondence relationship between the winding layer and the number of windings of the drum 7 and the winding amount of the rope 5 (FIG. 5).
Of the drum 7 at the reset position for calculating the lift of the suspension member 6 based on the detection results of the rotation amount detecting means 12A and 12B and the correspondence stored in the first storage means 33. Head calculation means 3 for calculating the amount of rope movement between the winding layer and the number of windings (Pr) and the current winding layer and the number of windings (Ps) to calculate the head (H) of the suspension member 6.
0 and the rotation amount detecting means 12A, 1 at the reset position.
2B and the number of winding layers and the number of windings (P
r), and a non-volatile second storage means 33 for storing the winding layer and the number of windings (Pp) of the drum 7 detected by the rotation amount detection means 12A and 12B at the current position of the drum 7, respectively. The head calculating means 30 reads the read data (Pr, P) of the winding layer and the number of windings in the second storage means 33.
The above object is achieved by calculating the lift from the reset position based on p) and the number of winding layers and the number of windings (P) detected by the rotation amount detecting means 12A and 12B.

According to a sixth aspect of the present invention, in the fifth aspect of the present invention, the angle detecting means 8 for detecting the angle of the boom, the boom angle θr at the reset position, which is the detection result of the angle detecting means 8, and the current boom angle θ And a correcting means for correcting the calculation result of the head calculating means 30 based on the above, and the second storage means 33 stores the boom angle θ at the reset position.
Also store r.

According to the first aspect of the present invention, the first rope winding amount (LB in FIG. 5) from the initial position to the reset position.
-LA) and the second rope winding amount from the initial position to the current position (LS-LA in FIG. 5) are stored in the non-volatile storage unit 33. Therefore, even when the engine is stopped, the first and second rope winding amounts are read from the storage unit, and the head from the same reset position can be calculated based on these values.

According to the second aspect of the present invention, the head (ΔH) from the reset position to the current position and the rope winding amount (LS-LA in FIG. 5) from the initial position to the current position are stored in the nonvolatile storage means 33. Is stored. Therefore, even if the engine is stopped, the head and the winding amount of the rope are read out by the storage means, and the head from the same reset position can be calculated based on these values.

According to the third aspect of the present invention, the winding layers and the number of windings of the drum are detected by the rotation amount detecting means 12A and 12B, and the detection result and the winding of the drum 7 stored in the first storage means 33 are stored. The lift of the suspension member 6 is calculated by the lift calculating means 30 based on the correspondence between the number of layers and the number of windings and the amount of rope winding. Further, the winding layer and the number of winding rows (Pp) and the head (Hp) of the drum 7 at the current position are stored in the nonvolatile storage means 33. Therefore, even if the engine is stopped, the winding layer and the number of windings (Pp) and the head (Hp) of the drum 7 at the current position are stored in the non-volatile storage means 33. It is not necessary to reset the winding layers and the number of windings at the initial position and the reset position of the drum 7.

According to the fifth aspect of the present invention, the number of winding layers and the number of windings of the drum are detected by the rotation amount detecting means 12A and 12B, and the detection result and the winding of the drum 7 stored in the first storage means 33 are stored. The lift of the suspension member 6 is calculated by the lift calculating means 30 based on the correspondence between the number of layers and the number of windings and the amount of rope winding. The storage layer 33 stores the winding layer and the number of windings (Pr) of the drum 7 at the reset position, and the winding layer and the number of windings (Pp) of the drum 7 at the current position and the head (H). Therefore, even if the engine is stopped, the winding layer and the number of windings (Pr) of the drum 7 at the reset position, the winding layer and the number of windings (Pp) of the drum 7 at the current position, and the head (H) are stored in a nonvolatile manner. Since it is stored in the means 33, when the engine is restarted, there is no need to reset the winding layers and the number of windings at the initial position and the reset position of the drum 7.

According to the fourth and sixth aspects of the present invention, the angle of the boom 4 is detected by the angle detecting means 8, and the correction means detects a change in the boom angle between the boom angle θr at the reset position and the current boom angle θ. The change in the head is corrected.

In the section of the means for solving the above-mentioned problems, which explains the configuration of the present invention, the drawings of the embodiments of the present invention are used for easy understanding of the present invention. However, the present invention is not limited to this.

[0019]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a side view showing the configuration of a crawler crane provided with a lift gauge according to the present invention. As shown in FIG. 1, the crawler crane includes a lower traveling body 1.
An upper revolving unit 3 rotatably provided on a lower traveling unit 1 via a revolving wheel 2, a boom 4 rotatably provided at a front end of the upper revolving unit 3, and an upper revolving unit 3. A main winding drum 7 provided for winding and rewinding the winding rope 5;
A hook 6 for suspending a suspended load, a boom angle meter 8 provided on the boom 4 for detecting an angle of the boom 4,
A moment limiter 9 for storing the relationship between the suspended load and the boom angle, and forcibly stopping the operation of the crane when the boom angle exceeds the maximum working radius for a predetermined suspended load; And a lift gauge 10 provided.

As shown in FIG. 2, the main winding drum 7 is provided with a drum rotation detecting gear 11 coaxially with its rotation axis, and two proximity sensors 12A are provided around the drum rotation detecting gear 11. , 12B.

As shown in FIG. 3, the head gauge 10 includes a power switch 15, a display section 16 for displaying the head, and a display section 1.
A setting item selection dial 17 for setting items to be displayed on the setting item 6 and a setting switch 18 for changing a set value
And a set button 19 for setting a set value, and an alarm light 20 which is turned on when a suspended load enters the alarm zone.
And a head reset button 21 for resetting the detected head by setting the head displayed on the display unit 16 to 0, and an arithmetic unit 30 provided in the head gauge 10.

As shown in FIG. 4, the arithmetic unit 30 has an arithmetic unit 31, a RAM 32, and an EEPROM 33,
The following variables are temporarily stored in the RAM 32. (1) Number of pulses P (count value) obtained by counting pulse trains from proximity switches 12A and 12B (2) Number of pulses Pa representing winding layer and winding sequence at initial position (3) Representing winding layer and winding sequence at reset position The number of pulses Pr (4) The current total number of pulses Ps obtained by adding the number of pulses P counted from the initial position to the number of pulses Pa (5) The rope winding length ΔLr calculated based on the number of ropes k (6) Rope length correction amount due to boom angle change ΔLb (7) Based on the change amount of the rope winding length obtained from (ΔLr + ΔLb), calculated from the number of rope hooks and the like, and displayed on display unit 16. (9) Boom length Lb (10) Boom angle θ read from boom goniometer and boom angle θr at reset position

The calculating section 31 calculates the head based on the detection results input from the boom angle meter 8, the moment limiter 9, and the proximity switches 12A and 12B, as described later. Also, as shown in FIG.
A table representing the relationship between the winding amount and the number of winding layers obtained by rotation of the drum rotation detecting gear 11 obtained from the value obtained by measuring the pulse trains output from the proximity sensors 12A and 12B and the rope winding amount is stored. I have.

The EEPROM 33 stores the following variables and numerical values. (1) The latest total pulse number Pp into which the current total pulse number Ps is substituted for use in head calculation after engine restart. (2) The latest head ΔH is used for head display after engine restart. (3) Number of ropes k (4) Boom length Lb (5) Number of pulses Pa representing winding layer and winding train at initial position (6) Boom angle θr at reset position

In the table shown in FIG. 5, the amount of change in the amount of winding differs depending on the number of winding layers. This is because the winding diameter of the main winding drum 7 increases as the winding layer increases. Points A, B, and C on the table shown in FIG. 5 are initial positions A,
They correspond to the reset position B and the current position C, respectively.

Next, a first embodiment of the operation of the present invention will be described with reference to the flowcharts shown in FIGS. First, in step S1, EEPRO
The data stored in M33 is read. EEPROM3
3 includes the latest total pulse number Pp and the head Δ
Since Hp is stored or no data is stored, in step S2 the EEPROM 33
Is stored. If step S2 is affirmed, an error is displayed on the display unit 16 of the head gauge 10 in step S3, and the process is terminated.
If step S2 is negative, the latest total pulse number P read from the EEPROM 33 in step S4.
p and the head ΔHp are updated as data in the RAM 32 as the current total pulse number Ps and the head ΔH to be displayed, and the head ΔH is displayed on the display unit 16 in step S5.
Is displayed.

In the next step S6, it is determined whether or not the initial set value has been changed. The change of the initial setting value is performed by changing the length Lb or the jib length of the boom 4 output from the moment limiter 9 or the number k of the winding rope 5 and the winding layer and winding of the main winding drum 7 visually by an operator. By confirming the number, input is made from the setting switch 18 and the setting item selection dial 17. In the present embodiment, the initial set values of the winding layer and the winding line are point A in FIG. 5, and for example, as shown in FIG. Is entered. When changing the initial set value, a dedicated switch for inputting not only the output value of the moment limiter 9 but also the boom length Lb, the jib length or the number of ropes k is provided. You may enter it.

If the result in step S6 is affirmative, in step S7 the changed initial setting value is set to R
Write to AM32 and EEPROM33. That is, the rope number k, the boom length Lb, and the pulse number Pa at the initial position are written in the RAM 32 and the EEPROM 33. At this time, the reset flag F indicating that the reset switch is turned on is reset to zero, and
The latest total pulse number Pp and the head ΔHp stored in the EPROM 33 are reset to zero. Also, the count value P from the pulse counter is reset to zero. In the next step S8, the proximity switches 12A, 12B
Is read, and in the next step S9, the current total pulse number Ps
Is calculated as Pa + P. Here, the above step S6
Is negative, the process proceeds to step S8. In the next step S10, the current total pulse number Ps is stored in the EEPROM 33 as the latest total pulse number Pp.

In the next step S11, the boom angle θ is read from the boom angle meter 8 and the RAM 32 is read.
In step S12, it is determined whether the reset switch has been turned on. In the present embodiment, a description will be given assuming that the reset switch is turned on when the suspended load rises L1 and reaches position B in FIG. If step S12 is affirmed, step S12
At 14, the head ΔH displayed is set to 0, and the reset flag F is set to 1 and stored in the EEPROM 33. In step S15, the head ΔH = 0 is displayed.
On the other hand, if step S12 is denied, step S12
In step 13, whether the reset switch has already been turned on is determined by the reset flag F.
Is negative, in step S16, the rope winding amount ΔLr is set to (current total pulse number Ps−pulse number Pa at initial position) / k, and the process proceeds to step S19 described below. When step S13 is affirmed, the process proceeds to step S17 in FIG.

When the head ΔH = 0 is displayed in step S15, in step S17 of FIG. 7, the current total pulse number Ps and the boom angle θ read in step S11 are reset to the pulse number Pr at reset and the boom at reset. RAM 32 and EEPR as angle θr
It is stored in the OM 33. In step S18, the rope winding amount ΔLr is calculated by (current total number of pulses Ps−number of pulses at reset Pr) / k. Immediately after the reset switch is operated, Ps = Pr, and ΔLr
Is zero. This reset position is point B in FIG.

Further, in step S19, a head change amount ΔLb due to a change in the boom angle from the time of reset is obtained. As shown in FIG. 8, the position of the boom point sheave 4a at the end of the boom changes as the boom angle changes from .theta.1 to .theta.2 as shown in FIG. Since the head changes, this is performed to correct this amount of change.
Hereinafter, the details of this correction will be described. First, the following equation (1)

X1 = L0 (sin θ1−sin θ2) (1) X1: correction amount L0: boom length θ1: last boom angle (boom angle θ at reset)
r) θ2: Calculate the correction amount X1 of the position of the sheave height based on the current boom angle.

As shown in FIG. 9, the boom angle is θ
When the angle changes from 1 to θ2, the distance between the main winding drum 7 and the boom point sheave 4a changes, whereby the length c of the winding rope 5 between the two changes from c1 to c2.
The lift of the hook 6 changes by the change in the length of the winding rope 5. Therefore, the following equation (2)

X2 = c1-c2 (2) The correction amount X2 based on the change in the distance between the main winding drum 7 and the boom point sheave 4a is calculated.

Here, as shown in FIG.
The rope length c between the boom point sheave 4a and
In the boom angle θ, the deformation r of the main winding drum 7, the radius r1 of the boom point sheave 4a, the horizontal distance a from the boom undulation center Q to the drum center, and the boom length L, the following equation (3)

## EQU3 ## From c ² + (r−r1) ² = (L cos θ + a) ² + (L sin θ−b) ² (3), it is obtained by the following equation (4).

C = √ ((Lcos θ + a) ² + (L sin θ−b) ² − (r−r1) ² ) (4)

Accordingly, the final correction amount ΔLb can be obtained by obtaining the correction amounts X1 and X2 according to the equations (1) to (4), adding these, and dividing by the rope number k. The correction amount ΔL is thus obtained.
After obtaining b, in step S20, the displayed head ΔH is set to ΔLr + ΔLb. Then, step S21
In EEPRO, the head ΔH is set as the latest head ΔHp.
It is stored in M33. In the next step S22, it is determined whether or not the power of the head gauge 10 is turned off. If the result in the step S22 is affirmative, the process is terminated. on the other hand,
If step S22 is denied, step S22 of FIG.
1 and the processing of steps S1 to S22 is repeated.

FIG. 11 shows a routine of the count value P read in step S8. First, step S
At 61, it is determined whether the count value is to be added or subtracted. If it is to be added, a process of adding 1 to the count value P is performed at step S62, and if it is to be subtracted, 1 is subtracted from the count value P at step S63. Perform the following processing. Thus, the count value P is updated.
The count value P is a count number from the initial position to the current position. Hereinafter, the above-described processing will be specifically described with reference to FIG. The bucket position where the bucket BA lands on the ground bottom as shown in FIG.
The position where the bucket BA is hoisted to the ground is set as a rope feeding position reset position B, and the current bucket position is set as the rope feeding position current position C.

The driver lands the bucket BA on the ground,
At that time, the rope winding layer and the winding row of the main winding drum 7 are visually confirmed and input to the lift gauge. As shown in FIG. 5, the lift meter has a graph in which the horizontal axis is the number of pulses corresponding to the winding layer and the winding row, and the vertical axis is the rope winding length when the rope is wound around the main winding drum 7 (correspondence relationship). ) Are stored in the form of a table in advance. Therefore, the winding layer and winding train input as the initial position A are converted into the initial pulse number, and the length of the rope wound on the main winding drum 7 at the initial position A is obtained from the graph of FIG.

When the winding layer and the winding train are input by the driver, step S6 is affirmed, and in step S7, the pulse number Pa is stored in a predetermined area of the RAM 32 allocated for the initial position pulse number Pa. At this time, zero is stored in the storage area of the head ΔHp used for displaying the head. Therefore, when the process proceeds and returns to step S5, if the main winding drum 7 is not moving during that time, zero is displayed on the display unit 16.

While the driver is winding the bucket BA from the initial position A to the ground position, the counter counts up in accordance with the rotation of the main winding drum 7, and the total number of pulses Ps increases in step S9. Until the reset switch is turned on (until F = 1), the process proceeds from step S12, S13 to step S16, where the winding length LD with respect to the current total pulse number Ps of the counter and the pulse number Pa with the initial position are determined. The difference in the winding length LA is calculated from the graph of FIG. 5 as the rope winding length ΔLr1. A correction amount ΔLb due to a change in boom angle is added to a value ΔLr obtained by dividing ΔLr1 by the number of ropes k in step S20 to calculate a head ΔH and an EEPROM.
The head ΔHp stored in the EEPROM 33 is stored in the display unit 1 in step S5.
6 is displayed. That is, from the initial setting position to the reset position, the lift based on the initial position is ΔLr
1 is displayed.

When the reset switch is operated, the process proceeds from step S12 to step S14, where the head ΔH is set to zero, so that the head displayed in step S15 becomes zero. Step S after the reset switch is operated
If step S12 is reached, step S12 is denied, but step S12
13 is affirmed, the process proceeds to steps S17 and S18.
The winding length LE corresponding to the current total pulse number Ps increased or decreased by the rotation of the main winding drum 7 after the reset switch operation.
Is subtracted from the winding length LB corresponding to the pulse number Pr stored in the RAM 32 at the time of reset, and the rope winding length ΔLr2 during the subtraction is calculated, and ΔLr2 is divided by the rope number k to obtain ΔLr. Then, in step S19, the correction amount ΔLb due to the change in boom angle is calculated, and in step S20, the head ΔH is calculated from the added value of the rope winding length ΔLr and ΔLb calculated in step S18. Further, in step S21, the head ΔH is set to ΔHp and E
Since the data is stored in the EPROM 33, the head displayed in step S5 is a head based on the reset position.

In steps S10 and S21, the current total pulse number Ps and the head ΔH to be displayed are set as the latest total pulse number Pp and the head ΔHp, respectively, in the EEPROM 33.
And at step S14, the reset flag F
Since = 1 is stored in the EEPROM 33, even after the engine is stopped, the head ΔHp, the latest total pulse number Pp, and F = 1 when the engine is stopped are stored without being erased.
Therefore, when the power of the head gauge 10 is turned on, the EE
The head ΔHp when the engine is stopped and the latest total pulse number Pp are read from the PROM 33, and the current total pulse number Ps and the head ΔH are replaced with these values.
Is displayed on the display unit 16. Further, since the reset flag F is 1 even after the engine is restarted and step S13 is affirmed, the process proceeds from step S17 to step S18, in which the rope winding length ΔLr3 is set to the value corresponding to the current total pulse number Ps. It is calculated from the take-up length Ls by subtracting the take-up length Lc corresponding to the pulse number Pr at the time of reset.
Therefore, the head displayed on the display unit 16 always has a value based on the reset position.

As described above, the reset flag F = 1 indicating that the reset switch has been turned on and the current total pulse number Ps and the head ΔH are non-volatile EEPROMs
Since the value is stored in the OM 33, the head based on the reset position is displayed on the head meter 10. As a result, even if the engine is stopped, it is not necessary to set the initial position or the reset position again, and the head can be accurately measured without bothering the operator. Also, the boom angle θr at the time of reset is
33, the correction based on the change in the boom angle after the engine is restarted is also correctly executed.

Next, a second embodiment of the present invention will be described with reference to the flowchart shown in FIG. In the second embodiment, the head ΔH stored in the EEPROM 33 is represented as H. First,
In step S31, it is determined whether to change the initial value. To change the initial value, the length of the boom 4 and the length of the jib output from the moment limiter 9 or the operator visually checks the number of windings of the winding rope 5 and the number of layers and the number of windings of the main winding drum 7. Thus, the setting is performed by inputting from the setting switch 18 and the setting item selection dial 17. In the present embodiment, the initial values of the winding layers and winding rows will be described as point A in FIG. That is, as shown in FIG. 10 described above, the drum winding layer and the winding row when the bucket BA lands on the ground are input. If step S31 is affirmed, step S
32, the current total pulse number Ps of the RAM 32 is set to the initial position pulse number Pa, the head H of the RAM 32 is set to 0, RA
The flag of M32 is set to 0. When changing the initial value, a dedicated switch for inputting not only the output value of the moment limiter 9 but also the boom length Lb, the jib length or the number of ropes k is provided, and the initial value is input from this switch. You may.

On the other hand, if step S31 is denied, it is determined in step S33 whether or not the engine has been restarted. If the engine has been restarted, the flag is set to 2 in step S34, the current total pulse number Ps is stored in the latest total pulse number Pp when the engine is stopped stored in the EEPROM 33, and the head H to be displayed is also E.
The head Hp at the current position when the engine is stopped is stored in the EPROM 33. On the other hand, when step S33 is denied, the process proceeds to step S35, and the head H stored in the RAM 32 is displayed. Next step S3
In step 6, the boom angle θ is read from the boom angle meter 8. Then, in step S37, the RAM
After substituting the count value P for the pulse number Pt of 32, RA
The current total pulse number Ps of M32 is updated by Ps + Pt. In step S38, it is determined whether or not the reset switch has been turned ON. If step S38 is negative, the value of the flag is determined in step S39B.

If the flag is 1 (when the reset switch has already been turned on), in step S40, the rope winding amount ΔLr is set to (current total pulse number Ps−reset pulse number Pr) / k. . ΔL in this case
r is 1 / k of ΔLr2 in FIG. That is, the rope winding amount obtained from FIG. 13 based on the current total pulse number Ps calculated in step S37, and the rope winding amount obtained from FIG. 13 based on the pulse number Pr stored in the RAM 32 in step S45 described later at the time of reset. The value obtained by dividing the difference from the take-up amount by the multiplier k is stored in the RAM 32 as the rope take-up amount ΔLr. If the flag is 0 (if the reset switch has not been turned on yet), step S41 is performed.
In the same manner as in the case of the flag 1, the rope winding amount ΔLr
To (current total number of pulses Ps−number of pulses Pa at initial position)
/ K. ΔLr in this case is 1 of ΔLr1 in FIG.
/ K. If the flag is 2 (after restarting the engine), in step S42, similarly to the flag 1,
The rope winding amount ΔLr is set to (current total number of pulses Ps−newest total number of pulses when engine is stopped Pp) / k. ΔLr in this case is 1 / k of ΔLr3 in FIG. On the other hand, if the reset switch is operated and the result in step S38 is affirmative, in step S39A, the boom angle θ is set as the reset boom angle θr in the RAM 32 and the EEPROM.
In step S43, the flag is set to 1, the displayed head H is set to 0, and the head H is displayed in step S44. Then, in step S45,
The current total pulse number Ps at the time of reset is stored in the RAM 32 as the pulse number Pr. In step S46,
The amount of rope winding ΔLr is (current total number of pulses Ps−number of pulses at reset Pr) / k. Immediately after the reset switch is operated, Ps = Pr, and ΔLr is zero.

Further, in step S47, similarly to step S19 in the first embodiment, the head change amount ΔLb due to the change in the boom angle from the time of resetting.
Is required. After obtaining the correction amount ΔLb, step S4
At 8, the head change amount ΔH is set to ΔLr + ΔLb.
Then, in step S49, the head H is updated by the head H + the head change amount ΔH, and the head H is displayed in step S50. Further, in step S51, the current head H is stored in the EEPROM 33 as the head Hp, and the current total pulse number Ps is stored as the latest total pulse number Pp in the EEPROM 33. Upon completion of the process in the step S51, the process returns to the step S33, and the processes from the step S34 to the step S51 are repeated.

With the above processing, when the engine is stopped, the total pulse number Ps and the head H at the current position are set as EEP as the closest parent total pulse number Pp and the head Hp, respectively.
This will be stored in the ROM 33.

Hereinafter, a specific description will be given with reference to FIGS. 10 and 13. The driver lands the bucket BA on the bottom of the ground. At this time, the driver visually checks the rope winding layer and the winding row of the main winding drum 7 and inputs them into the lift gauge. As shown in FIG. 13, the lift meter has a graph in which the horizontal axis is the number of pulses corresponding to the winding layer and the winding row, and the vertical axis is the rope winding length when the rope is wound on the main winding drum 7. It is stored in advance in the form. Therefore, the winding layer input as the initial position A,
The winding train is converted into the number of pulses, and the length of the rope wound on the main winding drum 7 at the initial position A is obtained as LA from the graph of FIG.

When the winding layer and the winding train are input by the driver, step S31 is affirmed, and the pulse number Pa converted in step S32 is stored in a predetermined area of the RAM 32 allocated for the initial position pulse number Pa. I do. At this time, zero is stored in the storage area of the head H used for displaying the head. Therefore, in step S35, zero is displayed on the display unit 16.

While the driver is winding the bucket BA from the initial position A to the ground position, the counter is driven by the main winding drum 7.
Is counted up in accordance with the rotation of, and in step S37, the current total pulse number Ps increases. Until the reset switch is turned on, the process proceeds from step S38 and step S39B to step S41, where the winding length LD and the initial position pulse number Pa with respect to the current total pulse number Ps of the counter are set.
Is calculated as the rope winding length ΔLr1 from the graph of FIG. The correction amount ΔLb due to the boom angle change is added to the value ΔLr obtained by dividing this ΔLr1 by the rope number k to calculate a head change amount ΔH in step S48, and in step S49, ΔH and the previous head H are added. The head H is updated, and the head H is displayed in step S50. That is, the head based on the initial position is displayed based on ΔLr1 until the reset position is reached from the initial position.

When the reset switch is operated, the process proceeds from step S38 to steps S43 to S46, and the head H and ΔLr are set to zero.
Is zero. If the process proceeds to step S38 after the reset switch is operated, the process proceeds to step S38.
38 is negative, the flag in this case is 1, and the process proceeds from step S39B to step S40, where the winding length corresponding to the current total pulse number Ps increased or decreased by the rotation of the main winding drum 7 after the reset switch operation. From the LE, the winding length LB corresponding to the pulse number Pr stored in the RAM 32 at the time of reset is subtracted, and the rope winding length ΔLr2 during that is subtracted.
Is calculated. This ΔLr2 is divided by the number k of ropes to obtain ΔLr. Then, in step S47, the correction amount ΔLb due to the change in the boom angle is calculated, and in step S48, the rope winding length Δ calculated in step S40.
The head change amount ΔH is calculated from the added value of Lr and ΔLb.
Furthermore, since the head H is updated by H + ΔH in step S49, the head H displayed in step S50 is a head based on the reset position.

In step S51, the latest head H and the current total pulse number Ps are respectively set to the head Hp and the latest total pulse number Ps.
Since it is stored in the EEPROM 33 as p, even after the engine is stopped, the head Hp and the latest total pulse number Pp when the engine is stopped are stored without being erased. Therefore, when step S33 is affirmed and the process proceeds to step S34 when the engine is restarted, the flag is set to 2 and the head H at the time of engine stop is read from the EEPROM 33.
p and the latest total pulse number Pp are read, and the current total pulse number Ps and the display head H are replaced with these values. Therefore, in step S35 when the engine is restarted, the head Hp when the engine is stopped is displayed. Step S3
From 8 the process proceeds to step S39B, and since the flag is 2, the process proceeds to step S42, where the rope winding length ΔLr3 is
It is calculated by subtracting the winding length Lp corresponding to the latest total pulse number Pp when the engine is stopped from the winding length LF corresponding to the current total pulse number Ps. Then, ΔLr3 is obtained by dividing ΔLr3 by the rope number k. Therefore, even when the main winding drum 7 is rotated and the rope is wound or unwound after the engine is restarted, the winding length corresponding to the current total pulse number Ps corresponds to the latest total pulse number Pp when the engine is stopped. The head is displayed on the basis of the reset position set before the engine is stopped.

As described above, even if the crane engine is stopped, the pulse number and the head at the current position are stored in the non-volatile EEPROM 33. The head before the stop is displayed. Even if the winding rope 5 is wound or unwound, the head can be displayed on the display unit 16 of the head gauge 10 based on the current position before the engine is stopped. As a result, even if the engine is stopped, it is not necessary to set the initial position or the reset position again, and the head can be accurately measured without bothering the operator.

Next, a third embodiment of the present invention will be described. The third embodiment and the second embodiment of the present invention are different from the third embodiment in that the current total pulse number Ps at the time of reset, which is obtained in step S45 in FIG. 12, is Pr, and the current total pulse number in step S51A (FIG. 14) is Pr. The total number of pulses Ps is stored in the EEPROM 33 as the latest total number of pulses Pp, and the head change amount ΔLb due to the change in the boom angle is also stored.
Is stored in the EEPROM 33 as ΔLbp, and the current head H is not stored in the EEPROM 33. Then, step S34 is changed as shown in FIG. In other words, when the stopped engine is restarted due to the affirmative determination in step S33, step S34A
In step S34B, the rope winding amount ΔLr is set to the difference between the winding length for the latest total pulse number Pp before the engine stop stored in the EEPROM 33 and the winding length for the reset pulse number Pr. Is divided by the number of ropes k. Then, ΔLbp read from the EEPROM 33 is added to the rope winding amount ΔLr, and the head Hs at the time of engine restart is added.
Ask for. Then, in step S34C, the current total pulse number Ps is set to the latest total pulse number Pp of the EEPROM 33.
And the displayed head H is the current head Hs obtained in step S34B.

As described above, in the third embodiment of the present invention, the current total pulse number Ps at the time of resetting is set as the pulse number Pr at the reset position, and the current total pulse number Ps at the time of engine stop is set as Pr. Since the latest total pulse number Pp at the time of engine stop is stored in the EEPROM 33, even if the winding rope 5 is wound or rewound, the head can be displayed on the display unit 16 of the head gauge 10 on the basis of resetting. it can. As a result, even if the engine is stopped, it is not necessary to set the initial position or the reset position again, and the head can be accurately measured without bothering the operator.

In the second and third embodiments, it is determined in step S33 whether or not the engine has been restarted.
The processing of step S33 and step S33 are performed as in the fourth embodiment shown in FIG.
The process may proceed without performing the process of S <b> 34, that is, without determining whether the engine has been restarted. In this case, the head displayed on the display unit 16 of the head gauge 10 is based on the reset position.

In the above-described embodiment, the head is calculated based on the number of pulses that change according to the rotation of the drum 7. For example, the first rope winding amount L10 and the first rope winding amount L10 from the initial position to the current position are calculated. Means such as a rotary encoder capable of measuring the second rope winding amount L11 from the initial position to the reset position are provided.
And the second rope winding amounts L10 and L11 are EEP
The head at the current position is stored in the ROM
It may be determined by the calculation of -L11. Also,
The lift from the reset position to the current position and the rope winding amount L10 from the initial position to the current position are determined by EEPRO.
M33 may be stored, and the head after the engine is restarted may be obtained based on these values.

In the correspondence between the above-described embodiment and the claims, the hook 6 replaces the suspension member with the proximity sensors 12A, 12B.
Is the rotation amount detecting means, the arithmetic unit 30 is the arithmetic means,
The PROM 33 constitutes first and second storage means, and the boom angle meter 8 constitutes angle detection means.

[0058]

As described above in detail, according to the first aspect of the present invention, even when the engine is stopped, the first rope winding amount from the initial position to the reset position and the first rope winding amount from the initial position to the current position. Since the second rope winding amount is stored in the nonvolatile storage means, the current rope winding amount can always be known. Therefore, even when the engine is restarted, it is not necessary to reset the initial position and the reset position of the drum, whereby the head can be accurately measured without bothering the operator.

According to the second aspect of the present invention, even when the engine is stopped, the rope winding amount from the initial position to the current position and the head from the reset position to the current position are stored in the nonvolatile storage means. So you can always know the current lift. Therefore, even when the engine is restarted, it is not necessary to reset the initial position and the reset position of the drum, whereby the head can be accurately measured without bothering the operator.

According to the third aspect of the present invention, even if the engine is stopped, the number of winding layers and the number of windings and the head of the drum at the current position are stored in the non-volatile second storage means. In this case, the current winding layer, the number of winding rows, and the head can be known. Therefore, it is not necessary to reset the initial position and the reset position of the drum, whereby the head can be accurately measured without bothering the operator.

According to the fifth aspect of the present invention, even when the engine is stopped, the number of layers and the number of windings of the drum at the reset position and the number of layers and the number of windings of the drum at the current position are non-volatile. Since it is stored in the second storage means, when the engine is restarted, it is not necessary to reset the initial position and the reset position of the drum, whereby the head can be accurately measured without bothering the operator. be able to.

Further, according to the fourth and sixth aspects of the present invention, since the change in the head due to the change in the boom angle is corrected by the correction means, the head can be accurately obtained regardless of the change in the boom angle.

[Brief description of the drawings]

FIG. 1 is a side view showing a configuration of a crane provided with a lift gauge according to the present embodiment.

FIG. 2 is a diagram showing a configuration for performing rotation measurement of a main winding drum.

FIG. 3 is a diagram showing a configuration of a head gauge.

FIG. 4 is a diagram showing a configuration of an arithmetic unit.

FIG. 5 is a diagram showing the relationship between the number of pulses and the amount of rope winding;

FIG. 6 is a flowchart (1) showing processing performed in the first embodiment;

FIG. 7 is a flowchart (part 2) illustrating processing performed in the first embodiment;

FIG. 8 is a diagram for explaining a correction of a lift due to a change in a boom angle.

FIG. 9 is a diagram for explaining a correction of a lift due to a change in a boom angle.

FIG. 10 is a side view for explaining the lift of the crane provided with the lift gauge according to the present embodiment.

FIG. 11 is a flowchart of a counter routine.

FIG. 12 is a flowchart illustrating processing performed in a second embodiment.

FIG. 13 is a diagram illustrating the relationship between the number of pulses and the amount of rope winding in the second embodiment.

FIG. 14 is a flowchart illustrating processing performed in a third embodiment;

FIG. 15 is a flowchart illustrating processing performed in a fourth embodiment;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Lower traveling body 3 Upper revolving structure 4 Boom 5 Winding rope 6 Hook 7 Main winding drum 8 Boom angle meter 9 Moment limiter 10 Lift gauge 11 Drum rotation detection gear 12A, 12B Proximity sensor 30 Arithmetic unit 32 RAM 33 EEPROM

Claims (6)

[Claims] 1. A lift gauge in a boom working machine for lifting or lowering a suspension member suspended from the end of a boom by winding or rewinding a rope wound around a drum, comprising: Non-volatile storage means for storing a first rope winding amount from an initial position to a reset position for calculating a lift of the hanging member, and a second rope winding amount from the initial position to the current position; And a calculating means for calculating a head based on the first and second rope winding amounts. 2. A lift gauge in a boom working machine for lifting and lowering a suspension member suspended from the end of a boom by winding or rewinding a rope wound around a drum. A lift calculating means for calculating a lift from the reset position to the current position, and a non-volatile storage means for storing a predetermined amount of rope winding from the initial position of the suspension member to the current position, and the lift. A lift gauge for a boom working machine, comprising: 3. A lift gauge in a boom working machine for lifting or lowering a hanging member suspended from the end of a boom by winding or unwinding a rope wound around the drum, wherein the winding layer and the number of windings of the drum are provided. Rotation amount detecting means for detecting the number of winding layers and the number of windings of the drum and the corresponding relationship between the winding amount of the rope and the first nonvolatile storage means, and a detection result of the rotation amount detecting means. And the number of windings and windings of the drum and the current number of windings and windings at the reset position for calculating the lift of the suspension member based on the correspondence stored in the first storage means. A lift calculating means for calculating the amount of rope movement during the calculation of the height of the suspension member, and a winding layer and winding of the drum detected by the rotation amount detecting means at a current position of the drum. A non-volatile second storage means for storing a number and a head calculated by the head calculation means, wherein the head calculation means includes a winding layer, a number of windings, and a head stored in the second storage means. A head from the reset position is calculated based on the readout data and the number of winding layers and the number of windings detected by the rotation amount detecting means. 4. An angle detecting means for detecting an angle of the boom; and a calculation result of the head calculating means based on a boom angle at the reset position and a current boom angle which are detection results of the angle detecting means. 4. The lift gauge according to claim 3, further comprising a correction unit for correcting, wherein the second storage unit also stores an angle of the boom at the reset position. 5. A lift gauge in a boom working machine for lifting or lowering a suspension member suspended from the end of a boom by winding or unwinding a rope wound around the drum, wherein the winding layer and the number of windings of the drum are provided. Rotation amount detecting means for detecting the number of winding layers and the number of windings of the drum and the corresponding relationship between the winding amount of the rope and the first nonvolatile storage means, and a detection result of the rotation amount detecting means. And the number of windings and windings of the drum and the current number of windings and windings at the reset position for calculating the lift of the suspension member based on the correspondence stored in the first storage means. A lift calculating means for calculating the amount of movement of the rope during the calculation of the lift of the hanging member, a winding layer and the number of windings of the drum detected by the rotation amount detecting means at the reset position, and Non-volatile second storage means for storing the number of winding layers and the number of windings of the drum detected by the rotation amount detection means at the current position of the drum, wherein the head calculation means stores the second storage A head calculated from the reset position based on read data of the winding layer and the number of windings of the means and the number of windings and the number of windings detected by the rotation amount detecting means. . 6. An angle detecting means for detecting an angle of the boom, and a calculation result of the head calculating means based on a boom angle at the reset position and a current boom angle which is a detection result of the angle detecting means. 6. The lift gauge according to claim 5, further comprising a correction unit for correcting, wherein the second storage unit also stores the angle of the boom at the reset position.