JPH11106183A - Expansion control device for outrigger - Google Patents

Abstract

PROBLEM TO BE SOLVED: To automatically control the expansion of an outrigger of a crane with increased safety. SOLUTION: A transverse expansion length detector 22 to detect the stroke of a transverse object detector 20, a ground detector and a slide cylinder 14 is provided on an outrigger 10. When the slide cylinder 14 is expanded in the transverse direction and the stroke of the slide cylinder 14 reaches the prescribed expansion length, or when the transverse object detector 20 detects an obstacle in the transverse direction, the expansion of the slide cylinder 14 is stopped. At the time, the ground detector 20 checks the presence of the ground and grounds an earth plate 11 by expanding a jack cylinder 12. These operations are automatically achieved to facilitate the outrigger installation work of an operation.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an outrigger extension control device used for a mobile crane such as a truck crane.

[0002]

2. Description of the Related Art FIG. 5 is a side view of an outrigger truck crane 1 and FIG. 6 is a plan view. An upper swing body 3 is mounted on a vehicle body 2, and a boom 4 is undulated on the upper swing body 3, and a cab 5 is fixedly provided at a front end portion. Outriggers 10 are provided on each of the front, rear, left and right sides of the vehicle body 2. At the tip of the outrigger 10, a jack cylinder 12 having a grounding plate 11 at the tip is attached.
Then, the jack cylinder 12 is extended, the ground plate 11 is grounded to support the vehicle body 2, and stability is secured.

FIG. 7 is a structural view of an outrigger 10, in which a beam 13 inserted into a frame 6 fixed to the vehicle body 2 is slidable by a slide cylinder 14 in a lateral direction. The ground plate 11 is moved up and down by expanding and contracting the jack cylinder 12.

Conventionally, when the outrigger 10 is extended, the slide cylinder 14 is extended to move the outrigger 10 in the lateral direction so that the outrigger 10 does not come into contact with surrounding obstacles while the operator operates the operating device. After the overhang and the overhang are completed, the jack cylinder 12 is extended to ground the ground plate 11. However, the outriggers 10 are generally arranged on the front, rear, left and right sides of the vehicle body 2, and the rear two are likely to be blind spots from the driver's seat. In particular, in a crane having a large structure such as the boom 4 on the side (for example, the left side) of the cab 5, the outrigger 10 on the left rear side becomes a completely blind spot, and the operator should pay great attention to the operation. It costs. Further, since the switching operation of the outrigger 10 in the left, right, up, and down directions is performed by switching a plurality of levers and switches, the operation is troublesome for the operator.

As an example of a method for reducing the burden on the operator, there is a technique disclosed in Japanese Patent Application Laid-Open No. 52-62814. This is an outrigger of a traveling cargo handling machine such as a truck crane of a type in which a ground float is extended outside the vehicle body by a slide cylinder and grounded by a jack cylinder, and a hydraulic pressure capable of operating the slide cylinder and the jack cylinder independently. In the apparatus having a control circuit, the operation of extending the jack cylinder is performed by adjusting the pressure of the pressure oil supply circuit communicated to the extension operation side pressure oil chamber when the slide cylinder extension operation side pressure oil chamber or the slide cylinder is extended. An automatic outrigger installation device configured to be operated by a relay having a self-holding function that is activated by a pressure switch that operates when the above occurs.

[0006]

However, in each of the above-mentioned conventional configurations, the extension length of the slide cylinder is determined visually by the operator, and when there is an obstacle, the operator visually slides before the collision. Cylinder extension must be stopped. For this reason, the operation requires caution and is a burden on the operator.

The present invention has been made in view of the above-mentioned problems of the prior art,
An object of the present invention is to provide an outrigger extension control device that allows an operator to safely and easily perform an outrigger extension operation.

[0008]

In order to achieve the above object, a first embodiment of an outrigger extension control device according to the present invention will be described with reference to FIGS. 1 and 2, for example. An outrigger extension control device for a mobile crane having an outrigger 10 that extends the slide cylinder 14 in the lateral direction of the vehicle body 2 and then extends the jack cylinder 12 downward to ground the ground plate 11 provided at the tip of the jack cylinder 12. (A) a horizontal objective detector 20 for detecting the presence or absence of an object within a vicinity of a predetermined distance A in the direction in which the slide cylinder 14 extends, (b) a slide cylinder driving means 34 for expanding and contracting the slide cylinder 14, and (c) When the outrigger 10 is overhanging and receives an object detection signal from the horizontal objective detector 20, a signal for stopping the extension of the slide cylinder 14 is slid. It is characterized by a control unit 31 to be input to the cylinder drive means (34).

According to the first configuration, the horizontal objective detector 20
When detecting an obstacle, the control means 31 receives the detection signal and outputs a signal to the slide cylinder driving means 34 to automatically stop the extension of the slide cylinder 14. Accordingly, the operation of extending the outrigger by the operator is simplified, and the collision of the outrigger 10 with an obstacle is automatically avoided. That is, the outriggers 10 within the blind spot can safely perform the automatic extension operation of the outriggers. The predetermined distance A is, for example, 1
It is about 0 to 30 cm, and not only fixed objects such as buildings, but also moving objects such as humans and automobiles can be detected. As is apparent from the description “in the vicinity of the predetermined distance A”, the detection area includes not only the direction in which the slide cylinder 14 extends linearly but also the periphery thereof. That is, a moving object such as a human or a car moves as it is, and
If they also extend as they are, collisions can be avoided even before they collide with each other.

Secondly, in the first outrigger overhang control device, (a) the notifying means 36 is provided, and (b) the control means 31 controls the horizontal objective detector 2 when the outrigger 10 is overhanging.
0 when the object detection signal is received from the slide cylinder 14
The signal for stopping the extension of the slide cylinder driving means 3
4 and the notification operation signal is input to the notification means 36. When the object detection signal is no longer received from the horizontal objective detector 20 within a predetermined time T thereafter, the notification operation signal to the notification means 36 is stopped. In addition, a signal for restarting the extension of the slide cylinder 14 is input to the slide cylinder driving means 34.

The second configuration is configured in consideration of a case where the detection target is a movable object such as a person or a car.
That is, when the horizontal objective detector 20 detects an obstacle and the slide cylinder 14 stops, the notification means 36 sounds an alarm. Therefore, a person or an operator of a vehicle can move away from the slide cylinder 14 in order to avoid a collision with the slide cylinder 14 upon detecting an alarm. That is, the predetermined time T is an estimated time from when a person or an operator of a car detects an alarm until when the avoidance is completed, for example, 5 to 10 seconds. The predetermined time T may be appropriately set by the operator and may be input to the control means 31 in advance. After a person or a car operator leaves far away, the horizontal objective detector 20
Does not detect the object, so that the control means 31 does not receive the detection signal from the horizontal objective detector 20. With this,
The operation signal to the notification means 36 is also automatically stopped, and the extension of the slide cylinder 14 is automatically restarted. Therefore, highly efficient and safe automatic extension operation of the outrigger can be performed.

Third, in the first outrigger overhang control device, (a) the groundable distance B of the ground plate 11
A ground detector 21 for detecting the presence or absence of the ground in the vehicle, and (b) jack cylinder driving means 35 for expanding and contracting the jack cylinder 12. (C) The control means 31 controls the horizontal objective When receiving an object detection signal from the detector 20, a signal for stopping the extension of the slide cylinder 14 is input to the slide cylinder driving means 34,
(C1) When receiving the ground detection signal from the ground detector 21 after receiving the object detection signal from the horizontal objective detector 20 after a predetermined time T thereafter, a signal for extending the jack cylinder 12 is transmitted to the jack cylinder driving means. Input to 35, (c2)
When a ground detection signal is not received from the ground detector 21, a signal for contracting the slide cylinder 14 is input to the slide cylinder driving means 34.

According to the third configuration, when there is an obstacle in the lateral direction and there is no ground, the slide cylinder 14 is automatically contracted and is in the retracted state. On the other hand, if there is an obstacle in the lateral direction and the ground is present, the jack cylinder 12 is extended, and crane work can be performed.

Fourthly, in the third outrigger overhang control device, (a) a moment limiter 33 for limiting the lifting load to a fall-over safety area in accordance with the lateral overhang length L1 of the outrigger 10, (b) And (c) the control means 31 outputs a signal for extending the jack cylinder 12 to the jack cylinder driving means 35.
, The lateral extension length L2 of the slide cylinder 14 detected by the lateral extension length detector 22 is input to the moment limiter 33 as the lateral extension length L1 and set.

The moment limiter 33 is well known in the art as limiting the lifting load to a fall-over safety area in accordance with the length L1 of the outrigger 10 extending laterally. Therefore, according to the fourth configuration, the laterally extending length detector 22 detects the laterally extending length L1 of each slide cylinder 14 of all the outriggers 10 which is indispensable for setting the overturning safety region by the moment limiter 33. The actual horizontal overhang length L2 of the slide cylinder 14 is shown in FIG.
Therefore, safe crane work can be performed.

Fifth, in the first, second, third or fourth outrigger overhang control device, there is provided (a) a horizontal overhang length input means 24 which allows the horizontal overhang length L1 to be input from the outside. (B) The control means 31 is characterized in that it receives the lateral overhang length L1 from the lateral overhang length input means 24 and sets this lateral overhang length L1 as the target overhang length of the slide cylinder 14.

According to the fifth configuration, the operator can manually input the optimum overhang length L1 for the site from the overhang length input means 24 to the control means 31 by manual operation. The horizontal overhang length L1 is the target overhang length. In addition, in the fourth configuration, the target lateral overhang length L1 is equal to the actual overhang length L2 of the slide cylinder 14 in which safety is ensured.
Automatically updated to

[0018]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the outrigger overhang control device according to the present invention will be described below in detail with reference to FIGS.

FIG. 1 is a side sectional view of the outrigger 10.
A lateral objective detector 20 is attached to a lateral outer surface of a jack cylinder 12 which is a distal end of the outrigger 10, and detects an obstacle within a predetermined distance A (for example, A = 20 cm). A ground detector 21 is attached to the lower surface of the outrigger 10 and detects the ground within a predetermined distance B from the outrigger 10.
The predetermined distance B differs depending on the mounting position of the ground detector 21 and the irradiation angle of the detection medium.
Assuming that the ground detector 21 is mounted on the lower surface of the first cylinder 1, the length of the jack cylinder 12 extended to the stroke end is substantially equivalent. A laterally extending length detector 22 is attached to the slide cylinder 14, and the extension amount L2 of the slide cylinder 14, that is, the laterally extending length L of the outrigger 10 is set.
2 is detected.

FIG. 2 is a control block diagram of the above embodiment. The controller 31, which is a control means, includes a calculation unit 32 and a moment limiter 33 connected to the calculation unit 32. The moment limiter 33 receives various information such as a turning angle, a boom up / down angle, and a boom extension length at the time of crane operation, and turns, booms, and booms so that the position of the center of gravity during the crane operation falls within the overturn safety area of the vehicle. A drive means such as an extension or a winch is driven to a safe side, and an alarm is sounded in a dangerous case, which is well known in the related art. The operation unit 32 is an operation switch 23
And the horizontal extension length input means 24, and inputs information from each. The operation switch 23 is capable of selectively inputting either the extension or the storage operation of the outrigger 10 by a manual operation of an operator, and a terminal input for starting (ON) or stopping (OFF) the arithmetic unit 32 based on the selection. It is a vessel. The horizontal overhang length input means 24 is for inputting a target overhang length L1 of the outrigger which is predetermined by the operator. The arithmetic unit 32 is connected to the above-mentioned horizontal overhang length detector 22, horizontal objective detector 20, and ground detector 21, and inputs respective information. Further, the calculation unit 32 is connected to the slide cylinder driving means 34, the jack cylinder driving means 35, and the alarm 36 so that a control signal can be input. The slide cylinder driving means 34 and the jack cylinder driving means 35 are hydraulic devices including control valves for controlling the driving of the respective cylinders. Alarm 36
Denotes an alarm buzzer, a lighting lamp, and the like. Then, as described above, the moment limiter 33 inputs detection information from the detector 25 such as a turning angle, a boom up / down angle, and a boom extension length during crane operation, and turns, boom up / down, boom extension,
It is connected to a driving means 37 such as a winch and an annunciator 36 so that a control signal can be input to each.

Hereinafter, an example of a control program in the arithmetic section 32 will be described with reference to the flowcharts of FIGS.

As shown in step 101, the operation unit 32
Stores a predetermined time T which can be freely input in advance. The predetermined time T is set to a moving state of the moving object when the lateral objective detector 20 detects the obstacle, and when the obstacle is a moving object such as a person or a car, as will be described in detail later. This is a margin time for adaptation (for example, 5 to 10 seconds).

In step 102, the operator determines in advance the target lateral extension length L1 of the slide cylinder 14, and inputs this lateral extension length L1 from the lateral extension length input means 24 to the calculation unit 32. In this control program, when the target lateral extension length L1 of the slide cylinder 14 is the stroke end length of the slide cylinder 14, the operator does not need to input any information to the lateral extension length input means 24.

In step 103, the operator turns on the outrigger extension side of the operation switch 23 to start the arithmetic unit 32.

In step 104, the arithmetic section 32 starts inputting detection information from the horizontal objective detector 20 and the ground detector 21, and the amount of extension of the slide cylinder 14 from the horizontal extension length detector 22, that is, the horizontal extension of the outrigger 10. Input of the detection information of the output length L2 is started.

In step 105, the controller 31 inputs an extension signal to the slide cylinder driving means 34 to extend the slide cylinder 14 and start lateral extension.

If the horizontal objective detector 20 does not detect an object (obstacle) in step 106, the process proceeds to step 107.

In step 107, the actual horizontal overhang length L2
Is compared with the target lateral extension length L1, and when “L2 = L1”, the process proceeds to step.

In step 108, the extension of the slide cylinder 14 is stopped because the lateral extension length L2 has reached the target value L1, and the routine proceeds to step 114.

If "L2 <L1" in step 107, the process returns to step 105 to continue the lateral extension.

In step 106, when an object is detected in the horizontal direction, the process proceeds to step 109, in which the alarm 36 is activated to issue an alarm and the slide cylinder driving means 3
A stop signal is input to 4 to stop the extension of the slide cylinder 14. At this point, measurement of the elapsed time t is started.

In step 110, a horizontal object is continuously detected by the horizontal objective detector 20, and when the object is continuously detected, the process proceeds to step 111.

In step 111, the calculating section 32 compares the elapsed time t with the predetermined time T, and when "t = T",
In step 112, the alarm is stopped, and the process proceeds to step 114.

In step 111, if "t <T", the process returns to step 110, and the detection of a horizontal object is continued until "t = T".

When the object is no longer detected in step 110 (that is, when the object is a moving body such as a person or a car and escapes to a distant place by an alarm), there is no problem in safety. It stops and returns to before step 105 to resume lateral overhang.

In step 114 of FIG. 4, the ground detector 21
Detects the presence of the ground, and if there is the ground, step 11
In step 5, the jack cylinder driving means 35 is operated to extend the jack cylinder 12, and the vertical extension is started.

When the vertical extension is completed in step 116, the arithmetic unit 32 inputs the horizontal extension length L 2 to the moment limiter 33 in step 117. The input of the lateral extension length L2 to the moment limiter 33 may be performed in step 115. The moment limiter 33 inputs a control signal to a drive unit 37 such as an annunciator 36 and turning, boom up / down, boom extension, and winch, and causes a crane operation to be performed within the overturn safety area.

In step 114, when there is no ground, it is meaningless to extend the jack cylinder 12. Therefore, in step 118, a signal is input to the alarm 36 to sound an alarm. 34, the slide cylinder 14 is contracted, and the horizontal retraction is started.

When the horizontal pull-in is completed in step 120 (that is, when the storage state is reached), the alarm is stopped, and step 12 is executed.
In step 1, the operation switch 23 is automatically turned off. At this time, the operator changes the target lateral extension length L1 or moves the place, and proceeds to the next operation.

Although not shown in the flowchart when the outrigger is stored after the crane operation is completed, the operator turns on the outrigger storage side of the operation switch 23. Arithmetic unit 3
2 inputs a reduction command to the jack cylinder driving means 35 to contract the jack cylinder 12. Jack cylinder 1
2 completes the shortening, the arithmetic unit 32 stops the command input to the jack cylinder driving means 35 and inputs a reduction command to the slide cylinder driving means 34, and the slide cylinder 1
4, the storage of the outrigger 10 is completed.

As described above, according to the outrigger extension control apparatus of the present invention, the outrigger can be extended and stored automatically and safely irrespective of the quality of the field of view. Can be greatly reduced.

[Brief description of the drawings]

FIG. 1 is a side sectional view of an outrigger according to an embodiment.

FIG. 2 is a control block diagram of the embodiment.

FIG. 3 is a flowchart (1) of the embodiment when the outrigger is extended.

FIG. 4 is a flowchart (2) of the embodiment.

FIG. 5 is a side view of a truck crane with outriggers.

FIG. 6 is a plan view of FIG. 5;

FIG. 7 is an explanatory diagram showing a configuration of an outrigger.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 10 Outrigger 11 Ground plate 12 Jack cylinder 14 Slide cylinder 20 Horizontal objective detector 21 Ground detector 22 Horizontal extension length detector 23 Operation switch 24 Horizontal extension length input means 25 Rotation angle, boom up / down angle, boom extension length, etc. Detector 31 controller 32 arithmetic unit 33 moment limiter 34 slide cylinder driving means 35 jack cylinder driving means 36 alarm 37 driving means such as turning, boom up / down, boom extension, winch T predetermined time

Claims (5)

[Claims] After the slide cylinder (14) is extended in the lateral direction of the vehicle body (2), the jack cylinder (12) is extended downward and the ground plate (11) provided at the tip of the jack cylinder (12) is grounded. An outrigger extension control device for a mobile crane having an outrigger (10) for moving the (a) horizontal objective detector for detecting the presence or absence of an object within a predetermined distance (A) in the direction of extension of the slide cylinder (14) (20) and (b) slide cylinder driving means (3
4) and (c) when the outrigger (10) is overhanging, the horizontal objective detector
When an object detection signal is received from (20), the slide cylinder (1
4) The signal to stop the extension of the slide cylinder driving means
(34) An outrigger extension control device, comprising: a control unit (31) for inputting to the (34). 2. The outrigger overhang control device according to claim 1, further comprising: (a) a notification means (36); and (b) a control means (3).
1) When the outrigger (10) is overhanging, the lateral objective detector (20)
A signal for stopping the extension of the slide cylinder (14) when an object detection signal is received from the slide cylinder driving means (34)
When the object detection signal is not received from the horizontal objective detector (20) within a predetermined time (T) thereafter, the notification operation signal is input to the notification means (36). The slide cylinder driving means (34) stops the notification operation signal of and transmits a signal for restarting the extension of the slide cylinder (14).
An outrigger extension control device, characterized in that the input is input to the outrigger. 3. The outrigger overhang control device according to claim 1, wherein (a) a groundable distance (B) of the ground plate (11).
A ground detector (21) for detecting the presence or absence of the ground in the apparatus, and (b) a jack cylinder driving means (35) for expanding and contracting the jack cylinder (12), and (c) the control means (31) At the time of extension of the outrigger (10), a signal for stopping the extension of the slide cylinder (14) when receiving an object detection signal from the horizontal objective detector (20) is input to the slide cylinder driving means (34),
When the object detection signal is continuously received from the lateral objective detector (20) after a predetermined time (T) thereafter, (c1) When the ground detection signal is received from the ground detector (21), the jack cylinder (12) is turned off. The signal to extend is input to the jack cylinder driving means (35), and (c
2) When not receiving the ground detection signal from the ground detector (21),
An outrigger extension control device, characterized in that a signal for contracting a slide cylinder (14) is input to a slide cylinder driving means (34). 4. The outrigger overhang control device according to claim 3, wherein: (a) a moment limiter (33) for limiting a lifting load to a fall-over safety area according to a lateral overhang length (L1) of the outrigger (10). ) And (b) a laterally extending length detector (22) for detecting the actual laterally extending length (L2) of the slide cylinder (14), and (c) the control means (31) is a jack cylinder. (1
2) When a signal for extending the extension is input to the jack cylinder driving means (35), the lateral extension length (L2) of the slide cylinder (14) detected by the lateral extension length detector (22) is determined by the lateral extension length (L). An outrigger extension control device characterized by inputting and setting as L1) to the moment limiter 33. 5. The outrigger overhang control device according to claim 1, wherein (a) a lateral overhang length input means (24) which is capable of inputting the lateral overhang length (L1) from outside. ),
(b) The control means (31) receives the horizontal overhang length (L1) from the horizontal overhang length input means (24), and sets the horizontal overhang length (L1) to the target overhang length of the slide cylinder (14). An outrigger overhang control device, characterized in that: