JPH11139771A - Revolving deceleration control device of crane and controlling method thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a revolving deceleration control device of a crane and its controlling method, capable of reducing any shock in time of a revolving stop at a time when an automatic revolution stopping function has operated from the midway of a revolution braking area and/or entered into this revolution braking area. SOLUTION: In a crane's revolving deceleration controlling method, operating or prestoring a limiting area where a freely revolvable boom is unable to revolve, controlling a revolving angular velocity according to the control input of a revolution operation lever, and in the case where a revolving angle is entered into a first revolution braking area lying somewhere short of the specified angle rather than the limiting area, automatically stopping the boom as decelerating at the specified curve from just before the revolving angular velocity, when operation of an automatic stopping function is selected in the point midway in the first revolution braking area after being entered into this first revolution braking area as revolving in a state that a release of the automatic stopping function at this first revolution braking area is selected, the boom is slowly stopped as being gradually decelerated from the revolving angular velocity equivalent to the control input of the revolution operating lever by the specified curve.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a turning deceleration control device for automatically decelerating a crane in a suspended load state by swinging and decelerating without load swing, and more particularly, this function is operated from the middle of an automatic turning braking area to decelerate. The present invention relates to a crane turning deceleration control device and a control method thereof that can decelerate without shock in a case.

[0002]

2. Description of the Related Art A mobile crane in which a boom is provided on a revolving body so as to be able to move up and down and / or expand and contract is usually provided with outriggers which can be extended to the front, rear, left and right of a vehicle body, respectively. During operation, this outrigger is extended by a predetermined length, and is supported by the outrigger so that the mobile crane does not fall. At this time, the allowable boom angle and / or allowable extension length of the boom is set according to the swing angle so as not to interfere with obstacles around the swing body due to the difference in the amount of overhang of the front and rear and left and right outriggers. And turning stop area (so-called work limit area)
Is provided. Some of such mobile cranes have a function of automatically stopping the turning operation before the turning stop area.

[0003] Conventionally, as a turning braking device of this type of mobile crane, for example, one disclosed in Japanese Patent Application Laid-Open No. 6-329389 is known, and a description of the prior art will be given with reference to FIGS. Do.

FIG. 7 shows a side view of a mobile crane according to the prior art. In FIG.
A vehicle A (corresponding to the mobile crane 1 in the embodiment of the present invention) and a swivel base B (corresponding to the revolving unit 3 in the embodiment of the present invention) which is rotatably mounted above the vehicle A; A boom C (corresponding to the boom 5 in the embodiment of the present invention) attached to the swivel base B so as to be able to move up and down, and a hoist (a so-called hook) suspended at the tip of the boom C are wound up / winded up. A winch D for lowering drive is provided. Then, the swivel base B is swung by a swivel motor (described later), and the boom C is raised and lowered by an up-and-down cylinder. In addition, the vehicle A is mounted so that the vehicle A does not fall over during the load operation.
Are provided on the left and right sides of the front and rear portions of the vehicle A.

[0005] In order to prevent the boom C from interfering with a structure or the like or to prevent the movable crane from overturning, as shown in FIG. C has a turning stop position θL1 and a turning stop position θL2, and a turning stop region θL1 to θL2 that cannot enter by turning, and turning braking regions θB1 to θL1 and θB2 to reduce the turning angular velocity just before the turning stop region.
θL2. Here, the turning stop position θL1 is a stop position when the boom C is turning right, and the turning stop position θL2 is a stop position when the boom C is turning left. For this reason, the movable crane is provided with a turning brake device for automatically stopping the turning operation of the boom C at the turning stop position θL1 or the turning stop position θL2.

FIG. 9 is a control block diagram of the turning brake device disclosed in the above publication. Discharge oil from a hydraulic pump 93 is supplied to the turning motor 91 via a four-way three-position turning control valve 92. The pilot pressure generating means 94 is an operation valve that generates a pair of pilot pressures respectively corresponding to the forward and reverse operation amounts from the neutral position of the turning operation lever 94a. , 96, each pilot pressure acting portion 92 of the turning control valve 92
a, 92b. By operating the turning operation lever 94a, the rotation direction and the rotation speed of the turning motor 91 can be manually controlled. The pilot oil passage 95 is for driving the boom C to turn right, and the pilot oil passage 96 is for driving the boom C to turn left.

[0007] The pilot oil passages 95 and 96 are provided with electromagnetic proportional pressure reducing valves 97 and 98, respectively, so that the pilot pressure of the pilot pressure generating means 94 can be reduced to a predetermined value. Further, hydraulic pressure detectors 100 and 111 are provided in the pilot oil passages 95 and 96, respectively.
5,96 hydraulic pressures are detected. This oil pressure detector 10
The detection signals 0 and 111 are input to the control signal output unit 99c of the control signal output unit 99. Oil pressure detector 1
The detection signal of 00 is input to the right control signal output unit 99c1 of the control signal output unit 99c, and the detection signal of the oil pressure detector 11 is input to the left control signal output unit 99c2 of the control signal output unit 99c. .

Assuming that the vehicle is now turning right, the right control signal output unit 99c1 outputs the set pressure of the pressure reducing valve 97 (the pressure of the pressure reducing valve 97) when the turning angle is not within the turning braking range θB1 to θL1. The upper limit of the pressure generated on the secondary side is automatically adjusted so as to be equal to or slightly higher than the detected pressure detected by the hydraulic pressure detector 100. Next, when the boom C enters the turning braking region θB1 to θL1, a control signal is generated so that the set pressure of the pressure reducing valve 97 is gradually reduced by multiplying the control signal level immediately before entering the region by a predetermined coefficient gradually decreasing from 1. Output. As a result, the pilot pressure acting on the pilot pressure acting portion 92c of the turning control valve 92 gradually decreases, so that the turning speed of the boom C gradually decreases, and the turning drive is stopped in the turning braking regions θB1 to θL1. The above operation is the same when the vehicle is turning left, and the turning drive is stopped in the turning braking regions θB2 to θL2. And usually,
Within this turning braking region, the expansion and contraction and the undulation are stopped as well as the turning.

[0009]

On the other hand, in the swing braking regions θB1 to θL1 and θB2 to θL2 as described above, since the turning function and the extension / retraction of the boom and the undulating function are stopped, the failure equipment of the mobile crane is stopped. When it is necessary to repair or perform maintenance, there is a case where it is necessary to temporarily release the above-mentioned automatic stop function so that the turning function and the extension / retraction function of the boom can be performed. In such a case, for example, it is necessary to provide a turning automatic stop release switch for releasing the automatic stop function so that the operator can freely release it.

However, Japanese Patent Laid-Open Publication No.
In the conventional turning brake device disclosed in Japanese Patent No.
When the turning automatic stop release switch is provided, the following problem occurs. Now, as shown by the arrow E in FIG. 8, while the automatic stop function release of the automatic turning stop switch is selected, as shown by the arrow E in FIG. 8, the turning braking region θB1 to θL1 or the turning braking region θB2 to θL2 (the turning braking Area θB1 to θL1
If the operator accidentally or intentionally operates the turning automatic stop release switch to switch to the automatic stop function operating side at point P during turning in the turning braking area, the turning is performed. In order to stop the turning at the stop positions θL1 and θL2, the set pressure of the pressure reducing valve 97 that decelerates and stops within a range of the turning angle shorter than the normal turning braking range (indicated by a dotted line in FIG. 8). I have to order. Therefore, as shown in FIG. 10, since it is necessary to rapidly decelerate at an acceleration larger than the acceleration at the time of the normal automatic turning stop, if an excessive lateral load is applied to the boom or the like and the boom is damaged or the life is shortened. The problem arises. In addition, since the load suddenly swings largely, the crane operation may become unstable.

In some cases, a limit area AC of the turning drive, that is, an area that cannot enter by turning, is set in accordance with the overhang amount Sa of the outrigger 11 of the crane. In this case, as shown in FIG. A turning radius (represented by a radius from the turning center Oa when the tip of the boom C is viewed in plan) associated with the length of the boom C is a predetermined limit turning radius R.
When the turning radius is smaller than the maximum turning radius Ra, the turning braking area G can be set as described above.
Is provided to automatically stop turning. In such a case, inside the limit turning radius Ra,
That is, when the boom is turned down or extended simultaneously with turning in an area where the turning radius is small, the turning braking area G
, The turning range θ in FIG.
There is a case where the vehicle enters the turning braking area G from the point Q in B1 to θL1. Also at this time, in the same manner as described above, it is necessary to decelerate within a range of the turning angle shorter than the normal turning braking area G (indicated by a dotted line in FIG. 11), and therefore, the acceleration is lower than the acceleration at the time of the normal turning automatic stop. It must decelerate rapidly with large acceleration. As a result, similarly, there is a problem that the boom is damaged or the life is shortened, and the crane operation becomes unstable due to large load swing.

The present invention has been made in view of the above-mentioned problems. When the automatic turning stop function is activated from the middle of the turning braking area, or when the vehicle enters the turning braking area, the turning stop is performed. It is an object of the present invention to provide a crane turning / deceleration control device and a control method thereof that reduce the shock of the crane.

[0013]

Means for Solving the Problems, Functions and Effects In order to achieve the above object, the invention according to claim 1 is directed to a revolving revolving unit 3 and a boom disposed on the revolving unit 3. 5
A swing motor 41 for rotating the swing body 3 and a swing body 3
A turning angle sensor 26 for detecting the turning angle of the vehicle, a turning operation lever 51 for outputting an operation command of a turning angular velocity according to an operation amount operated by an operator, and a limit area AC in which the turning body 3 cannot turn when turning the turning body 3 are calculated. Alternatively, the turning angular velocity is controlled by calculating a command for controlling the turning motor 41 based on the operation command of the turning operation lever 51, and the turning angle input from the turning angle sensor 26 is limited to the limit. When the vehicle enters the first turning braking area G which is a predetermined angle before the area AC, a command for decelerating at a predetermined curve from a turning angular velocity corresponding to an operation command of the turning operation lever 51 immediately before the intrusion is calculated. In a crane turning deceleration control device provided with a controller 30 that controls the turning motor 41 and automatically stops the turning body 3, the crane in the first turning braking region G Whether the stop function is released or activated is selected, and when the release is selected, a turning automatic stop release switch 36 that outputs a release signal is provided, and the controller 30 controls the automatic turning stop release switch 36 When the vehicle enters the first turning braking area G in a state where the release signal is ON, the turning motor 41 is controlled by calculating a turning angular velocity corresponding to an operation command of the turning operation lever 51, Thereafter, the first turning braking area G
When the release signal is turned off halfway within the range, a command to gradually decelerate the revolving structure 3 at a predetermined curve from a rotational angular velocity corresponding to an operation command of the revolving operation lever 51 and slowly stop the revolving body 3 is calculated. The motor 41 is controlled.

According to the first aspect of the present invention, when the vehicle enters the first rotation braking region with the release signal of the automatic rotation stop release switch being on, the rotation angular velocity corresponding to the operation command of the rotation operation lever. When the release signal of the automatic turning stop switch is turned off during turning within the first turning braking region, the turning is gradually decelerated at a predetermined curve from the turning angular speed at this time and the turning is gradually stopped. As a result, the turn stops gently without sudden stop,
No excessive lateral load is applied to the boom to cause damage or shorten the life. Further, since the swing angular velocity does not undershoot and become oscillating, the boom can be surely stabilized and stopped. As a result, the durability and stability of the crane can be improved.

According to the second aspect of the present invention, the revolving revolving body 3, the boom 5 which is disposed on the revolving upper part 3 and is undulating and / or telescopic, and revolves the revolving body 3 are provided. A turning motor 41, a turning angle sensor 26 for detecting a turning angle of the turning body 3, and a turning operation lever 51 for outputting an operation command of a turning angular velocity according to an operation amount operated by an operator.
A boom length sensor 21 for detecting the length of the boom 5 in the expansion and contraction direction and / or a boom hoist angle sensor 22 for detecting the hoist angle of the boom 5, a hoist control means for controlling the hoist speed of the boom 5, and And / or expansion / contraction control means for controlling the expansion / contraction speed of the boom 5, the turning operation of the revolving unit 3, and the turning of the boom 5 when the boom 5 is turned down and / or extended,
And calculating or storing in advance a limit area AC in which prone and / or unstretchable, the turning operation lever 51
Based on the operation command, a command for controlling the swing motor 41 is calculated to control the swing angular velocity, and the boom length sensor 21 is controlled.
The turning radius calculated based on the boom length from the boom and the boom angle from the boom angle sensor 22 is the limit area A.
The turning angle input from the turning angle sensor 26 is larger than the limit turning radius Ra inside C, and the turning angle input from the turning angle sensor 26 is a deceleration start turning angle of the first turning braking area G that is a predetermined angle before the limit area AC. When θd1 and θd2 have been reached, a command to decelerate at a predetermined curve is calculated from the turning angular velocity corresponding to the operation command of the turning operation lever 51 immediately before the arrival, and the turning motor 41 is controlled to automatically control the turning body 3. In the turning deceleration control device for a crane provided with the controller 30 for stopping, whether to cancel or operate the automatic stop function in the first turning braking area G is selected, and when the cancel is selected, a cancel signal is issued. Is provided, and the controller 30 operates the boom 5 while the release signal from the automatic rotation stop release switch 36 is off. The calculated turning radius becomes larger than the limit turning radius Ra due to the tilting operation and / or the extending operation, and the turning radius of the first turning braking region G exceeds the deceleration start turning angles θd1 and θd2. When the vehicle has entered, a command to gradually reduce the speed of the revolving body 3 at a predetermined curve from a turning angular velocity corresponding to the operation command of the turning operation lever 51 and slowly stop the turning body 3 is used to control the turning motor 41. .

According to the second aspect of the present invention, in a state where the release signal of the automatic rotation stop release switch is turned off, the turning radius of the boom is increased by the downward and / or extending operation of the boom, and the rotation radius of the boom is reduced. Inner limit turning radius Ra
When the vehicle enters the middle of the turning range of the first turning braking region, the vehicle gradually stops at a predetermined curve from a turning angular velocity corresponding to an operation command of the turning operation lever and gradually stops. Therefore, since the swing stops gently without suddenly stopping, the boom is reliably stabilized and stopped without applying an excessive lateral load to the boom and without causing the swing angular velocity to undershoot and vibrate. be able to. Therefore, the durability and stability of the crane can be improved.

According to a third aspect of the present invention, the revolving revolving body 3, the boom 5 which is disposed on the revolving body 3 and is undulating and / or telescopic, and revolves the revolving body 3 are provided. A turning motor 41, a turning angle sensor 26 for detecting a turning angle of the turning body 3, and a turning operation lever 51 for outputting an operation command of a turning angular velocity according to an operation amount operated by an operator.
A boom length sensor 21 for detecting the length of the boom 5 in the expansion and contraction direction and / or a boom hoist angle sensor 22 for detecting the hoist angle of the boom 5, a hoist control means for controlling the hoist speed of the boom 5, and And / or expansion / contraction control means for controlling the expansion / contraction speed of the boom 5, the turning operation of the revolving unit 3, and the turning of the boom 5 when the boom 5 is turned down and / or extended,
And calculating or storing in advance a limit area AC in which prone and / or unstretchable, the turning operation lever 51
Based on the operation command, a command for controlling the swing motor 41 is calculated to control the swing angular velocity, and the boom length sensor 21 is controlled.
The turning radius calculated based on the boom length from the boom and the boom angle from the boom angle sensor 22 is the limit area A.
The turning angle input from the turning angle sensor 26 is larger than the limit turning radius Ra inside C, and the turning angle input from the turning angle sensor 26 is a deceleration start turning angle of the first turning braking area G that is a predetermined angle before the limit area AC. When θd1 and θd2 have been reached, a command to decelerate at a predetermined curve is calculated from the turning angular velocity corresponding to the operation command of the turning operation lever 51 immediately before the arrival, and the turning motor 41 is controlled to automatically control the turning body 3. In the turning deceleration control device for a crane provided with the controller 30 for stopping, whether to cancel or operate the automatic stop function in the first turning braking area G is selected, and when the cancel is selected, a cancel signal is issued. Is provided, and the controller 30 controls the second swing set inside the limit area AC adjacent to the first swing braking area G. Storing the braking area H, the turning operation,
When the boom 5 enters the second turning braking area H by the prone operation or the extending operation, the revolving unit 3 is moved to the turning operation lever 51 even when the release signal from the turning automatic stop release switch 36 is ON. The rotation motor 41 is controlled by calculating a command to gradually decelerate and gradually stop at a predetermined curve from a rotation angular velocity corresponding to the operation command.

According to the third aspect of the present invention, the second turning braking region is provided adjacent to the first turning braking region and inside the limit region, and is set to turn, prone or extend the boom. When the vehicle enters the second turning braking region by the operation, even if the release signal of the turning automatic stop release switch is on, the vehicle gradually decelerates at a predetermined curve from the turning angular speed corresponding to the operation command of the turning operation lever. Stop slowly. This allows the boom to stop gently before it enters a predetermined area within the limit area where external interference or crane overturn may occur, so that the boom interferes with the outer periphery of the crane,
Alternatively, the possibility of falling over can be reliably eliminated. Therefore, it is possible to prevent the boom from being damaged due to an excessive lateral load applied to the boom and shortening the life of the boom. As a result, the durability and stability of the crane can be improved.

According to a fourth aspect of the present invention, the limit area AC in which the swivelable boom 5 cannot be swung when it is swung is calculated or stored in advance, and the swing angular velocity corresponding to the operation amount of the swing operation lever 51 is calculated. The turning angular velocity is controlled based on the command, and when the turning angle enters the first turning braking area G that is a predetermined angle before the limit area AC, the turning angle corresponds to the operation amount of the turning operation lever 51 immediately before the intrusion. In the crane turning deceleration control method in which the boom 5 is automatically stopped by decelerating at a predetermined curve from the turning angular velocity, in a state in which cancellation of the automatic stop function in the first turning braking area G is selected, When the vehicle enters the first turn braking region G, the boom 5 is turned at a turning angular velocity corresponding to the operation amount of the turning operation lever 51, and thereafter, during the first turn braking region G, When the operation of the automatic stop function in the first turning braking area G is selected, the boom 5 is gradually decelerated at a predetermined curve from a turning angular velocity corresponding to the operation amount of the turning operation lever 51 to gradually stop. I have to.

According to the fourth aspect of the invention, when the vehicle enters the first turning braking area in a state in which the automatic turning stop function is canceled, the turning angular velocity corresponding to the operation command of the turning operation lever is obtained. When the vehicle is turned, the cancellation of the automatic turning stop function is turned off during the turning within the first turning braking region, that is, when the operation is activated, the turning angular velocity at this time gradually decelerates in a predetermined curve to gradually reduce the speed. Stop. As a result, the swivel stops gently without abrupt stop, so that an excessive lateral load is not applied to the boom, so that the boom is not damaged or its life is shortened. Further, since the swing angular velocity does not undershoot and become oscillating, the boom can be surely stabilized and stopped. As a result, the durability and stability of the crane can be improved.

The invention according to claim 5 is characterized in that the swivelable and up-and-down and / or telescopic boom 5 is swiveled and / or extended and / or extended when the boom 5 is extended and / or extended. The limit area AC where extension is not possible is calculated or stored in advance, and the turning angular velocity is controlled based on a command of the turning angular velocity according to the operation amount of the turning operation lever 51, and the turning radius of the boom 5 is adjusted to the limit area AC. When the turning angle reaches the deceleration start turning angles θd1 and θd2 of the first turning braking area G that is a predetermined angle before the limit area AC, when the turning is performed in a state where the turning radius Ra is larger than the inner limit turning radius Ra. The boom 5 is decelerated at a predetermined curve from a turning angular velocity corresponding to the operation amount of the turning operation lever 51 immediately before the arrival.
In the crane turning / deceleration control method in which the boom 5 is automatically stopped, the operation of the automatic stop function in the first turning braking area G is selected, and the boom 5 is turned down and / or extended to operate the boom 5. When the turning radius of No. 5 becomes larger than the limit turning radius Ra, and the vehicle enters the middle of the turning range of the first turning braking area G exceeding the deceleration start turning angles θd1 and θd2, the boom 5 is turned by the turning operation. A gradual deceleration is performed at a predetermined curve from a turning angular velocity corresponding to the operation amount of the lever 51, and the operation is slowly stopped.

According to the fifth aspect of the present invention, the turning radius of the boom is increased by the downward and / or extending operation of the boom in a state where the automatic turning stop function is selected, and the turning radius inside the limit area is increased. Ra, and when the boom enters the first turning braking area from the middle of the turning area of the first turning braking area, the boom gradually increases in a predetermined curve from the turning angular velocity corresponding to the operation command of the turning operation lever. Decelerate and stop slowly. Therefore, since the swing stops gently without suddenly stopping, the boom is reliably stabilized and stopped without applying an excessive lateral load to the boom and without causing the swing angular velocity to undershoot and vibrate. be able to. Therefore, the durability and stability of the crane can be improved.

The invention according to claim 6 is characterized in that the swivelable and up-and-down and / or telescopic boom 5 is swiveled and / or extended and / or extended when the boom 5 is extended and / or extended. The limit area AC where extension is not possible is calculated or stored in advance, and the turning angular velocity is controlled based on a command of the turning angular velocity according to the operation amount of the turning operation lever 51, and the turning radius of the boom 5 is adjusted to the limit area AC. When the turning angle reaches the deceleration start turning angles θd1 and θd2 of the first turning braking area G that is a predetermined angle before the limit area AC, when the turning is performed in a state where the turning radius Ra is larger than the inner limit turning radius Ra. The boom 5 is decelerated at a predetermined curve from a turning angular velocity corresponding to the operation amount of the turning operation lever 51 immediately before the arrival.
In the crane turning deceleration control method in which the automatic stop function is automatically stopped in the first turning braking area G, the turning operation, the prone operation of the boom 5 or the extension operation is performed by the turning operation. When the vehicle enters the second turning braking area H set inside the limit area AC adjacent to the first turning braking area G, the boom 5 is turned corresponding to the operation amount of the turning operation lever 51. The vehicle is gradually decelerated at a predetermined curve from the angular velocity and is gradually stopped.

According to the sixth aspect of the present invention, the second turning braking area is provided adjacent to the first turning braking area and inside the limit area, and is set to turn, prone or extend the boom. When the vehicle enters the second turning braking region by operation, even if release of the automatic turning stop function is selected, the vehicle gradually stops at a predetermined curve from a turning angular velocity corresponding to the operation amount of the turning operation lever and gradually stops. Let it. This allows the boom to stop gently before entering the predetermined area in the limit area where the possibility of interference with the outside or the crane falling down may cause the boom to interfere with the outer periphery of the crane, or
The possibility of falling over can be reliably eliminated. Therefore, it is possible to prevent the boom from being damaged due to an excessive lateral load applied to the boom and shortening the life of the boom. As a result, the durability and stability of the crane can be improved.

[0025]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 shows a side view of a mobile crane 1 according to the present invention. In the drawing, a swingable revolving structure 3 is disposed substantially at the center of the lower traveling structure 2. Above the revolving structure 3, the revolving structure is driven by an up / down cylinder 4 so as to be able to move up and down, and is not shown. A multi-stage boom 5 (hereinafter, referred to as a boom 5) that is driven to extend and contract by an extendable cylinder is attached. A sheave 6 is rotatably attached to a tip end of the boom 5, and a rope 7 from a winch (not shown) provided on the revolving unit 3 is led out via the sheave 6. A hook 8 is attached to the tip of the rope 7, and the load 9 is suspended by the hook 8. Outriggers 11 are provided on left and right side surfaces of the front and rear portions of the lower traveling body 2, each of the outriggers 11 having a vehicle body support cylinder that can be extended laterally and that can be vertically extended and contracted with respect to the ground. During a suspended load operation, the outrigger 11 is extended to stabilize the vehicle body.

FIG. 2 is an explanatory view of a limit area and a turning braking area according to the turning deceleration control device.
In the plan view of FIG. The figure shows a case where the overhang amount Sa of the right outrigger 11 is smaller than that of the left side, and in this case, the limit area AC is set on the right side. That is, the predetermined limit area AC is set in accordance with the current extension length of the boom 5, the undulation angle of the boom 5, the weight of the load 9, and the like. This limit area A
The turning stop angles at both ends of the turning direction of C are θc1 and θc2, respectively.
It is assumed that Ra is the limit turning radius inside the limit area AC, that is, the boundary line near the turning center Oa. In addition, the limit area A
The deceleration start turning angles θd1 and θd2 are set before the turning stop angles θc1 and θc2 of C by a predetermined braking angle θe, respectively, and the deceleration start turning angles θd1 and θd2 and the turning stop angles θc1 and θc2 are set. In the turning range and in a region having a turning radius larger than the limit turning radius Ra, the first
The turning braking area G is set. Further, inside the both ends in the turning direction of the limit area AC, a second turning braking area H having a predetermined turning angle range in consideration of a safety factor for preventing interference with the outside and falling down of the crane is provided. . At this time, assuming that the current turning radius of the boom 5 is Rn, when the automatic stop function related to the present turning deceleration control device is operating, the turning radius Rn is larger than the limit turning radius Ra, for example, right turning. During the rotation, the deceleration start turning angle θ
When reaching d1, deceleration is started at a predetermined angular acceleration, and further, the vehicle turns in the first turning braking area G and stops when reaching the turning stop angle θc1.

FIG. 3 is a block diagram relating to the present turning deceleration control device. In the figure, various sensors related to the turning deceleration control device are disposed at predetermined positions of the mobile crane 1. The boom length sensor 21 detects a boom length La (see FIG. 1) from the base end portion of the boom 5 to the tip end thereof. For example, the boom length sensor 21 detects the stroke length of a boom extendable cylinder (not shown) built in the boom 5. It can be constituted by a linear sensor for detecting, or a sensor for detecting the extension amount of a wire (not shown) built in the boom 5 when the wire expands and contracts. The boom hoist angle sensor 22 detects the hoist angle θa of the boom 5 with respect to the horizontal plane, that is, the elevating angle, and can be configured by, for example, an encoder that detects the rotation angle of the hoist center axis of the boom 5. The boom hoist cylinder pressure sensor 23 detects the bottom chamber side pressure and the head chamber side pressure of the hoist cylinder 4.
The load value applied to the undulating cylinder 4 and the weight of the load 9 are calculated based on the difference between the two pressures. The outrigger overhang amount sensor 25 detects the overhang amount Sa of each of the outriggers 11, and is composed of, for example, an encoder. The turning angle sensor 26 detects the turning angle of the turning angle with respect to a reference position (for example, in the forward direction of the lower traveling body 2), and is attached to, for example, a turning swivel device (not shown) disposed at the turning center. It is composed of a potentiometer and an encoder.

The turning angular velocity sensor 27 is constituted by, for example, an encoder mounted on a rotating shaft of a turning motor, which will be described later, or a rotating shaft of the turning swivel device, and is a unit of a pulse train output from the turning angular velocity sensor 27. The turning angular velocity can be calculated by counting the number of pulses per time. In addition, rope length sensor 2
Numeral 8 detects the length of the rope 7 fed from a winch (not shown), and may be constituted by, for example, an encoder, a pulse generator, or the like for detecting the rotation speed of the winch. The detection signals of these sensors are transmitted to a controller 30 described later.
To be entered.

The turning control hydraulic circuit 40 controls the rotation speed and direction of the turning motor 41 in accordance with the operation amount of the turning operation lever 51, and also controls the rotation of the turning motor 41 based on the control amount from the controller 30 described later. 2 is a hydraulic circuit configured to control a speed. This turning control hydraulic circuit 40
, The charge pump 48 supplies the pilot primary pressure to the manually operated valve 52 via the line 61. The manually operated valve 52 is an operation valve (PPC valve) that inputs the pilot primary pressure and outputs a pilot secondary pressure according to the operation amount of the turning operation lever 51, and is used during a right turning operation or a left turning operation. This pilot secondary pressure is output to lines 62 and 63, respectively. These pipes 62 and 63 are connected to pilot operation parts 42d and 42e of the direction switching valve 42 via pressure control valves 45 and 46, respectively. The return oil from the pressure control valves 45 and 46 is drained to the tank 50 via a line 66. A relief valve is connected between the pipes 61 and 66 so that the pressure of the pilot oil pressure from the charge pump 48 is relieved at a predetermined pressure value.

The pressure oil discharged from the main pump 43 is supplied to the turning motor 41 via a pipe 64 and a direction switching valve 42, and the return oil from the turning motor 41 is supplied to the direction switching valve 42.
And a drain to a tank 47 via a pipe 65. When the spool of the directional control valve 42 is at the neutral position a, the pressure oil from the main pump 43 is supplied to the tank 47.
When the spool is moved to the position b or the position c when the pilot secondary pressure is inputted to the pilot operation part 42d or the pilot operation part 42e, the oil amount proportional to the magnitude of the pilot pressure is increased. The rotation motor 41 is supplied to the rotation motor 41 and rotates in a right or left turning direction at a rotation speed corresponding to the oil amount. A main relief valve 44 is connected between the pipe 64 and the pipe 65, and the main relief valve 44 relieves the pressure oil discharged from the main pump 43 at a predetermined pressure.

Further, pressure switches 53 and 54 are connected to the pipe 62 and the pipe 63, respectively. The pressure switches 53 and 54 detect the operation direction of the turning operation lever 51, and are used when the pilot secondary pressure of the right turning operation or the left turning operation output by the manually operated valve 52 becomes equal to or higher than a predetermined value. Turn on each output contact signal and set the controller 3
Output to 0. A pressure sensor 55 is connected between the two pipes 62 and 63 via a check valve. The pressure sensor 55 detects an operation amount of the turning operation lever 51 at the time of the right turning operation and the left turning operation, and outputs a pressure value of the pilot secondary pressure according to the operation amount to the controller 30. .

The pressure control valves 45 and 46 control the pilot secondary pressure in accordance with the command values input to the solenoid operation units 45a and 46b, respectively, and control the solenoid operation units 45a and 46b from the controller 30. The amount is output.

Further, similarly to the above-described turning control hydraulic circuit,
A control hydraulic circuit (not shown) for raising and lowering drive and expansion and contraction drive of the boom 5 is provided. That is, there are provided up-and-down control means for driving the up-and-down cylinder 4 to control the up-and-down speed of the boom 5 and expansion and contraction control means to drive an expansion and contraction cylinder (not shown) to control the expansion and contraction speed of the boom 5. I have.

The controller 30 is composed of, for example, a computer device mainly composed of a microcomputer or the like. The controller 30 receives a detection signal from each of the above-mentioned sensors and performs a predetermined arithmetic processing described later. A predetermined control command is calculated and output. The controller 30 includes a limit area calculation section 31, a suspended load swing cycle calculation section 32, a target deceleration angular velocity calculation section 34, a turning control amount calculation section 35, and a turning automatic stop release switch 36.

The limit area calculating section 31 receives the pressure signal from the boom up / down cylinder pressure sensor 23 and the boom length sensor 21
The present weight and the actual load moment of the load 9 are calculated based on the boom length signal from the boom and the up / down angle signal from the boom up / down angle sensor 22. Further, based on the obtained weight and actual load moment and the amount of overhang from the outrigger overhang amount sensor 25, safety for preventing the mobile crane 1 from overturning and preventing interference with the outside. The limit area AC of turning and undulation considering the rate (see FIG. 2)
And the turning stop angle θ corresponding to the limit area AC
c1, θc2 and the critical turning radius Ra are calculated. The calculated turning stop angles θc1 and θc2 and the limit turning radius Ra are output to the turning control amount calculation unit 35.

The suspension load swing period calculating section 32 calculates the difference between the rope length and the boom length based on the boom length signal from the boom length sensor 21 and the rope length signal from the rope length sensor 28 to calculate the sheave 6. Length of rope 7 from to load 9
(See FIG. 1). Then, based on the calculated length Ma of the rope 7, the swing cycle Ta of the suspended load 9 is calculated by the following equation (1). This swing cycle Ta
Is output to the target deceleration angular acceleration calculation unit 34.

## EQU1 ## Ta = 2π (Ma / g) ^1/2

The target deceleration angular acceleration calculator 34 calculates a time t1 required for braking (hereinafter referred to as a braking time) based on the shake cycle Ta. The braking time t1 is set to an integral multiple of the shake period Ta as shown in FIG. This means that, as described in, for example, Japanese Patent Publication No. 8-5623, both the swing angle and the swing angular velocity of the suspended load immediately before the start of braking are zero, that is, the initial condition that the load 9 does not swing. Below, the time nTa from the start of braking
If (n is a natural number) the turning angular acceleration is set so that the turning is completely stopped afterward, the turning can be stopped without causing the load 9 to oscillate. At this time, the size of the natural number n is set to be equal to or less than a predetermined allowable maximum angular acceleration αm so as not to apply an excessive lateral load to the boom 5. That is, the current turning angular velocity ω0 (see FIG.
Is calculated, and the angular acceleration is calculated so that the angular velocity becomes zero after the braking time t1. The natural number n is calculated so that the calculated angular acceleration is equal to or less than the allowable maximum angular acceleration αm. Calculate the target angular acceleration. The calculated braking time t1 and angular acceleration are calculated by the turning control amount calculating unit 3.
5 is output.

The turning automatic stop release switch 36 is a switch for selecting whether or not to stop the automatic turning when the boom 5 enters the braking area during turning.
Even if the boom 5 is stopped in the braking area at the time of failure repair or maintenance inspection of the mobile crane 1 or the like, the automatic stop function is released so that the boom 5 can be forcibly turned, extended and retracted, and raised and lowered. Is a switch for allowing the user to move. The turning automatic stop release switch 36 outputs either a release or automatic stop operation signal according to the selected function, and this signal is input to the turning control amount calculation unit 35.

The turning control amount calculating section 35 includes a turning angle sensor 2
6 and the turning stop angles θc1 and θc2 and the turning radius Ra from the limit area calculating unit 31 are input.
Further, the braking time t1 for the current turning angular velocity and the target angular acceleration are input from the target deceleration angular acceleration calculation unit 34. Then, a braking angle θe necessary for decelerating at the target angular acceleration from the current turning angular velocity ω0 is calculated by integrating the angular velocities, and the first braking angle θe before the turning stop angles θc1 and θc2 by the calculated braking angle θe is calculated. Turning braking area G
The deceleration start turning angles θd1 and θd2 (see FIG. 2) are calculated.

Next, after calculating the current turning radius Rn based on the boom length La from the boom length sensor 21 and the up-and-down angle θa from the boom up-and-down angle sensor 22, the calculated turning radius Rn is determined by the input limit. It is determined whether or not the vehicle turns with the turning radius larger than Ra and the current turning angle exceeds the calculated deceleration start turning angles θd1 and θd2 and falls within the first turning braking area G. Then, when the current turning radius is smaller than the limit turning radius Ra, or when the current turning angle does not fall within the first turning braking area G, a normal turning angular velocity control process is performed. That is, a pressure value of the pilot secondary pressure (corresponding to an operation command of the turning angular velocity) corresponding to the operation amount of the turning operation lever 51 is input from the pressure sensor 55, and a control amount equal to or more than this pressure value is input to the pressure control valve. The signals are output to the solenoid operation units 45a and 45b. Thereby, the pilot secondary pressure corresponding to the operation amount of the turning operation lever 51 is input to the pilot operating portions 42d and 42e of the direction switching valve 42 (the pilot operating portion 42d at the time of turning right), and the turning motor 41 is driven rightward. By rotating in the swing direction, the swing body 3 swings at an angular velocity proportional to the operation amount.

Then, it is determined whether the vehicle is turning right or left based on output signals from the pressure switches 53 and 54, and the turning angle input from the turning angle sensor 26 corresponds to the first turning corresponding to the determined turning direction. Deceleration start turning angles θd1 and θd2 of the braking region G Deceleration start turning angles θd1 and θd2 (for example,
In the case of a right turn, it is checked whether θd1) has been exceeded. If the current turning radius is equal to or larger than the input limit turning radius Ra and the current turning angle is the deceleration start turning angle θd1,
When θd2 is exceeded, it is next determined whether or not the release signal from the turning automatic stop release switch 36 is ON. When the release signal is not ON, that is, when the automatic stop function is selected, , And performs automatic turning stop control. That is, an angular velocity command value is calculated so as to decelerate at the target angular acceleration calculated by the target deceleration angular acceleration calculation section 34, and a control amount based on the angular velocity command value is controlled by the solenoid operating sections of the pressure control valves 45 and 46. 45a and 45b. As a result, a pilot pressure gradually decreasing at a predetermined gradient along the deceleration curve from the pilot secondary pressure proportional to the operation amount of the turning operation lever 51 immediately before the start of deceleration is input to the pilot operation part 42d of the direction switching valve 42. Then, the swing motor 41 gradually decelerates, and the swing body 3 stops smoothly. When the release signal is ON, normal turning angular velocity control similar to that described above is performed, and the turning angular velocity is controlled in accordance with the operation amount of the turning operation lever 51. At the time of the turning angular velocity control at the time of the automatic stop, the control amount is calculated such that the difference between the calculated angular velocity command value and this feedback signal is reduced by using the angular velocity signal input from the turning angular velocity sensor 27 as a feedback signal. Output.

Further, during the normal turning angular velocity control within the first turning braking area G, it is continuously checked whether or not the release signal is turned off, that is, whether or not the automatic stop function is selected. When the signal is turned off, an angular velocity command value is calculated so as to smoothly decelerate and stop slowly at an angular acceleration along a predetermined curve as shown in FIG. Then, using the angular velocity signal input from the turning angular velocity sensor 27 as a feedback signal, a control amount is calculated so as to reduce the difference between the calculated angular velocity command value based on the predetermined curve and this feedback signal, and the pressure control valve 45,
Output to 46. At this time, the acceleration during deceleration is set to be equal to or less than the allowable maximum angular acceleration αm. In FIG. 5, deceleration is performed linearly. However, the present invention is not limited to this. For example, deceleration may be performed in a curve that changes trapezoidal acceleration.

The turning control amount calculation unit 35 determines that the turning radius increases when the boom 5 is turned down or extended while turning with the current turning radius Rn smaller than the limit turning radius Ra. When the turning radius Ra becomes larger, the turning angle range (the deceleration start turning angles θd1, θd1,
It is determined whether the vehicle has entered from halfway between d2 and the rotation stop angle θc1, θc2). If you enter from the middle,
An angular velocity command value is calculated so as to smoothly decelerate and stop at an angular acceleration along a predetermined curve, and the turning angular velocity sensor 2
Using the angular velocity signal input from 7 as a feedback signal, a control amount is calculated so as to reduce the difference between the calculated angular velocity command value based on the predetermined curve and this feedback signal, and is output to the pressure control valves 45 and 46. At this time, the acceleration during deceleration is set to be equal to or less than the allowable maximum angular acceleration αm.

FIG. 6 shows an example of a control flowchart of the present turning deceleration control device. Next, the operation of the above configuration will be described with reference to FIG. In S1, the vehicle turns in the direction of the turning range including the limit area AC. In S2, the turning control amount calculation unit 35 inputs the current turning radius obtained based on the boom length and the undulation angle from the limit area calculation unit 31. It is determined whether or not the radius is equal to or greater than the limit turning radius Ra. If the turning radius is equal to or greater than the limit turning radius Ra, in S3, the current turning angle is further reduced by the deceleration start turning angles θd1 and θd2 obtained based on the turning stop angles θc1 and θc2, the braking time t1, and the current turning angular velocity.
Is determined. If it does not exceed, the normal turning control process is performed in S4, then the process returns to S2, and the process is repeated. If it exceeds, it is checked in S5 whether or not the release signal of the automatic turning stop has been input. If not, a turning automatic stop process is performed in S6, and the turning angle is controlled so that there is no swing of the load and the vehicle is decelerated at the obtained predetermined angular acceleration.

If the release signal is turned on in S5, normal turning angular velocity control processing is performed in S7. After this,
In S8, it is checked whether or not the release signal has been turned off within the first turning braking area G. If the release signal has been turned off, the process proceeds to S9.
Then, the turning is stopped at a gentle curve having a predetermined angular acceleration or less, and the flow ends. If the release signal has not been turned off in S8, it is determined in S10 whether the turning angle has reached the turning stop angles θc1 and θc2. If the turning angle has not reached the turning stop angles θc1 and θc2, Returning to S7, normal turning angular velocity control processing is continued. When the turning stop angles θc1 and θc2 have been reached in S10, a gentle stop process in the second turning braking region H, that is, deceleration and stop at a predetermined curve, regardless of the state of the turning automatic stop release switch 36 in S11. Then, a process of safely turning and stopping the prone and extension of the boom 5 is performed, and the present flow ends.

When the current turning radius is smaller than the limit turning radius Ra in S2, a normal turning angular velocity control process is performed in S12, and then in S13, the current turning angle is set before the deceleration start turning angles θd1 and θd2. Check whether or not. If the turning radius is short of the deceleration start turning angles θd1 and θd2, the process does not reach the first turning braking area G, and the process returns to S2 to repeat the process. If not, the turning radius is set to the limit turning radius Ra in S14. Check if it is larger. If not, the process returns to S12 to repeat the above processing.
It is checked whether the intrusion position is in the middle of the turning angle range of the first turning braking area G, that is, in the range from the deceleration start turning angle θd1 (θd2) to the turning stop angle θc1 (θc2). When the intrusion position is in the middle, the process proceeds to S9 to perform the slow stop processing of the turning, and when the intruding position is not in the middle, the process proceeds to S11 to set the turning automatic stop release switch 36 to the state. Regardless, the slow stop processing in the second turning braking area H is performed.

As described above, when the automatic stop release of the turning automatic stop release switch 36 has not been selected, the first
When the rotation deceleration start turning angles θd1 and θd2 of the turning braking region G of the vehicle have exceeded the automatic braking function, the vehicle can be stopped without load swing. Further, when the automatic stop release of the turning automatic stop release switch 36 is selected, the vehicle enters the first turning braking area G, and the automatic stopping is performed during the normal turning in the first turning braking area G. When the release is turned off, the vehicle decelerates at a predetermined curve and gradually stops. As a result, an excessive load in the turning direction is not applied to the boom 5, and it is possible to prevent the boom 5 from being damaged or shortened in life, thereby improving the durability. Further, undershoot of the turning angular velocity does not occur, and the boom 5 can be reliably stopped with stability.

Further, even when the boom 5 is driven in the prone direction or the extension direction, the vehicle is decelerated at a predetermined curve and gently stopped even when the vehicle enters the middle of the turning range of the first turning braking area G. Similarly, durability and stability of the boom 5 are improved. Further, when the automatic stop release is turned on and the vehicle enters the second turning braking region H beyond the first turning braking region G, the vehicle is forcibly stopped slowly. By the limit area A
It is possible to prevent beforehand the intrusion into the area where the possibility of the interference or the fall in C is high.

Although the mobile crane 1 has been described as an example in the above embodiment, the object to be controlled by the turning deceleration control device and its control method according to the present invention is not limited to the mobile crane 1. . That is, in the turning range of the boom, there is a limit area AC in which the boom cannot be turned in order to prevent interference between the boom and an obstacle and to prevent the crane from tipping over, and the turning angular velocity is automatically reduced just before entering the limit area AC. Any crane that has a turning automatic stop function for causing the automatic turning to be stopped and can be selected to cancel the turning automatic stop function may be used.

In the above description, in the turning control circuit, a manually operated valve 52 that outputs a pilot secondary pressure according to the operation amount of the turning operation lever 51, and a direction switching valve controlled by the pilot secondary pressure Although an example employing 42 has been shown, the present invention is not limited to this. For example, an electric turning operation lever that outputs an electric operation command signal, and a solenoid-operated switching valve that is driven by the electric command signal are employed, and deceleration control during turning automatic braking is performed based on the operation command signal. The present invention is also applicable by configuring an electric control circuit that outputs a signal to a solenoid-operated switching valve.

[Brief description of the drawings]

FIG. 1 is a side view illustrating an outline of a mobile crane according to the present invention.

FIG. 2 is an explanatory view of a limit region and a turning braking region of the mobile crane according to the present invention.

FIG. 3 is a control block diagram of a turning / deceleration control device for a mobile crane according to the present invention.

FIG. 4 shows an angular velocity curve at the time of turning braking control of the mobile crane according to the present invention.

FIG. 5 shows an angular velocity curve at the time of turning automatic stop operation from the middle of the turning braking region according to the present invention.

FIG. 6 shows an example of a control flowchart according to the present invention.

FIG. 7 shows a schematic side view of a mobile crane according to the prior art.

FIG. 8 is an explanatory diagram of a turning stop area and a braking area according to the related art.

FIG. 9 is a control block diagram of a turning deceleration control device according to the related art.

FIG. 10 shows an angular velocity curve at the time of a turning automatic stop operation from the middle of the turning braking region according to the related art.

FIG. 11 is an explanatory diagram of a case where the vehicle enters from a middle of the turning braking region by boom down or extension.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Mobile crane, 2 ... Undercarriage, 3 ... Revolving structure, 5
... boom, 9 ... load, 11 ... outrigger, 21 ... boom length sensor, 22 ... boom hoist angle sensor, 23 ... boom hoist cylinder pressure sensor, 25 ... outrigger extension amount sensor,
26: turning angle sensor, 27: turning angular velocity sensor, 28:
Rope length sensor, 30 ... controller, 31 ... limit area calculation unit,
32: Suspended load swing cycle calculator, 34: target deceleration angular acceleration calculator, 35: swing control amount calculator, 36: swing automatic stop release switch, 41: swing motor, 43: main pump,
45, 46: pressure control valve, 51: turning operation lever, 52
... Manually operated valves, 53,54 ... Pressure switches, 55 ... Pressure sensors, G ... First swing braking area, H ... Second swing braking area, AC ... Limit area.

Claims (6)

[Claims] A revolving body (3), a boom (5) disposed above the revolving body (3), a revolving motor (41) for revolving the revolving body (3), and a revolving body. A turning angle sensor (26) that detects the turning angle of (3), and a turning operation lever (51) that outputs an operation command of a turning angular velocity according to the operation amount operated by the operator
A limit area (AC) in which the swinging body (3) cannot swing when the swinging body (3) swings is calculated or stored in advance, and the swing motor (41) is controlled based on an operation command of the swing operation lever (51). Command to control the turning angular velocity, and the turning angle input from the turning angle sensor (26) enters the first turning braking area (G) that is a predetermined angle before the limit area (AC). Then, a command for decelerating at a predetermined curve is calculated from a turning angular velocity corresponding to the operation command of the turning operation lever (51) immediately before the intrusion, the turning motor (41) is controlled, and the turning body (3) is automatically stopped. And a controller (30) for causing the automatic deceleration control device to cancel or operate the automatic stop function in the first turning braking area (G). The automatic turning stop release switch (36) that outputs the release signal Serial controller (30), the pivot automatic stop release switch (36)
When the vehicle enters the first turning braking area (G) in a state where the release signal is turned on, a command to set a turning angular velocity corresponding to an operation command of the turning operation lever (51) is calculated and the turning is performed. Controlling the motor (41), and thereafter, when the release signal is turned off in the middle of the first turning braking area (G),
The swing motor (41) is controlled by calculating a command to gradually reduce and gradually stop the swing body (3) at a predetermined curve from a swing angular velocity corresponding to an operation command of the swing operation lever (51). Crane turning deceleration control device. 2. A swiveling revolving body (3), a boom (5) disposed on the revolving body (3) and capable of raising and lowering and / or telescoping, and revolving the revolving body (3). Turning motor (41)
A swing angle sensor (26) for detecting a swing angle of the swing body (3),
A turning operation lever (51) for outputting an operation command of a turning angular velocity according to an operation amount operated by an operator, a boom length sensor (21) for detecting a length of the boom (5) in the expansion and contraction direction, and / or a boom (5) a boom hoist angle sensor (22) for detecting the hoist angle, and a hoist control means for controlling the hoist speed of the boom (5), and / or a telescopic control means for controlling the telescopic speed of the boom (5). Calculate, or store in advance, the limit area (AC) where the turning and / or extension of the boom (5) cannot be performed when performing the turning operation of the revolving structure (3) and the boom (5). In addition, a swing angle speed is controlled by calculating a command for controlling the swing motor (41) based on the operation command of the swing operation lever (51), and the boom length and the boom up / down from the boom length sensor (21) are calculated. The turning radius calculated based on the boom undulation angle from the angle sensor (22) The turning is performed in a state where the turning angle is larger than the limit turning radius (Ra) inside the area (AC), and the turning angle input from the turning angle sensor (26) is a first angle that is a predetermined angle before the limit area (AC). When the deceleration start turning angle (θd1, θd2) of the turning braking area (G) has been reached, a command to decelerate in a predetermined curve is calculated from the turning angular velocity corresponding to the operation command of the turning operation lever (51) immediately before the reaching. And a controller (30) for controlling the swing motor (41) and automatically stopping the swing body (3). Whether to cancel or activate the automatic stop function is selected, and a turning automatic stop release switch (36) that outputs a release signal when the release is selected is provided, and the controller (30) controls the turning automatic stop. Release switch (36)
In the state where the release signal is off, the calculated turning radius becomes larger than the limit turning radius (Ra) by the prone operation and / or the extension operation of the boom (5), and the deceleration start turning angle is obtained. When the vehicle enters from the middle of the turning range of the first turning braking area (G) exceeding (θd1, θd2),
(3) controlling the turning motor (41) by calculating a command to gradually reduce and gradually stop at a predetermined curve from a turning angular velocity corresponding to an operation command of the turning operation lever (51). Crane rotation deceleration control device. 3. A swiveling revolving body (3), a boom (5) disposed on the revolving body (3) and capable of raising and lowering and / or telescoping, and revolving the revolving body (3). Turning motor (41)
A swing angle sensor (26) for detecting a swing angle of the swing body (3),
A turning operation lever (51) for outputting an operation command of a turning angular velocity according to an operation amount operated by an operator, a boom length sensor (21) for detecting a length of the boom (5) in the expansion and contraction direction, and / or a boom (5) a boom hoist angle sensor (22) for detecting the hoist angle, and a hoist control means for controlling the hoist speed of the boom (5), and / or a telescopic control means for controlling the telescopic speed of the boom (5). Calculate, or store in advance, the limit area (AC) where the turning and / or extension of the boom (5) cannot be performed when performing the turning operation of the revolving structure (3) and the boom (5). In addition, a swing angle speed is controlled by calculating a command for controlling the swing motor (41) based on the operation command of the swing operation lever (51), and the boom length and the boom up / down from the boom length sensor (21) are calculated. The turning radius calculated based on the boom undulation angle from the angle sensor (22) The turning is performed in a state where the turning angle is larger than the limit turning radius (Ra) inside the area (AC), and the turning angle input from the turning angle sensor (26) is a first angle that is a predetermined angle before the limit area (AC). When the deceleration start turning angle (θd1, θd2) of the turning braking area (G) has been reached, a command to decelerate in a predetermined curve is calculated from the turning angular velocity corresponding to the operation command of the turning operation lever (51) immediately before the reaching. And a controller (30) for controlling the swing motor (41) and automatically stopping the swing body (3). Whether the automatic stop function is released or activated is selected, and a turning automatic stop release switch (36) that outputs a release signal when release is selected is provided, and the controller (30) is configured to control the first A second turning braking area set inside the limit area (AC) adjacent to the turning braking area (G). (H) is stored, and when the vehicle enters the second turning braking area (H) by turning operation, prone operation or extension operation of the boom (5), release from the turning automatic stop release switch (36). Even when the signal is on, a command to gradually decelerate the revolving body (3) in a predetermined curve from a turning angular velocity corresponding to the operation command of the turning operation lever (51) and stop slowly is calculated. ). 4. A turning angular velocity command according to the operation amount of a turning operation lever (51), wherein a limit area (AC) in which turning is not possible when the turning boom (5) is turned is calculated or stored in advance. The turning angular velocity is controlled based on the first turning braking area in which the turning angle is a predetermined angle before the limit area (AC).
(G), when the slewing operation lever
(51) The crane turning deceleration control method in which the boom (5) is automatically stopped by decelerating at a predetermined curve from the turning angular velocity according to the operation amount of (51), wherein the first turning braking area (G) When the vehicle enters the first turning braking area (G) in a state where the release of the automatic stop function is selected, the boom (5) is turned at a turning angular velocity corresponding to the operation amount of the turning operation lever (51). Thereafter, in the course of the first turning braking area (G), the first turning braking area
When the operation of the automatic stop function in (G) is selected, the boom (5) is gradually decelerated at a predetermined curve from a turning angular velocity corresponding to the operation amount of the turning operation lever (51) to gradually stop. Characteristic crane rotation deceleration control method. 5. Limiting area in which the swivelable and undulating and / or telescopic booms (5) cannot be swiveled and / or prone and / or extended when they are swiveled and / or extended and / or extended. (AC) is calculated or stored in advance, and the turning angular velocity is controlled based on a turning angular velocity command according to the operation amount of the turning operation lever (51), and the turning radius of the boom (5) is limited to the limit area. (AC) is turned in a state larger than the limit turning radius (Ra) inside, and the turning angle is in the limit area (A
When the deceleration start turning angle (θd1, θd2) of the first turning braking area (G) before the predetermined angle before (C) is reached, the turning according to the operation amount of the turning operation lever (51) immediately before the reaching. In the crane turning deceleration control method in which the boom (5) is automatically stopped by decelerating at a predetermined curve from the angular velocity, the operation of the automatic stop function in the first turning braking area (G) is selected. Then, the turning radius of the boom (5) becomes larger than the limit turning radius (Ra) by the prone operation and / or the extension operation of the boom (5), and the deceleration start turning angle (θd
1, θd2), when entering from the middle of the turning range of the first turning braking area (G), the boom (5) is moved from the turning angular velocity corresponding to the operation amount of the turning operation lever (51) to a predetermined value. A crane turning deceleration control method, wherein the crane is gradually decelerated and gradually stopped at a curve. 6. A limit area in which the swivelable and undulating and / or telescopic boom (5) cannot be swiveled and / or prone and / or extended when it is swiveled and / or extended / extended. (AC) is calculated or stored in advance, and the turning angular velocity is controlled based on a turning angular velocity command according to the operation amount of the turning operation lever (51), and the turning radius of the boom (5) is limited to the limit area. (AC) is turned in a state larger than the limit turning radius (Ra) inside, and the turning angle is in the limit area (A
When the deceleration start turning angle (θd1, θd2) of the first turning braking area (G) before the predetermined angle before (C) is reached, the turning according to the operation amount of the turning operation lever (51) immediately before the reaching. In the crane turning deceleration control method in which the boom (5) is automatically stopped by decelerating at a predetermined curve from the angular velocity, the state in which cancellation of the automatic stop function in the first turning braking area (G) is selected In the second turning braking area (AC) set adjacent to the first turning braking area (G) and inside the limit area (AC) by the turning operation, the prone operation or the extension operation of the boom (5). H), the crane turning deceleration control characterized in that the boom (5) is gradually decelerated at a predetermined curve from a turning angular velocity corresponding to the operation amount of the turning operation lever (51) and gradually stopped. Method.