WO1996026883A1

WO1996026883A1 - Boom storing and extending device for crane

Info

Publication number: WO1996026883A1
Application number: PCT/JP1995/000335
Authority: WO
Inventors: Kazunori Kuromoto
Original assignee: Komatsu Ltd.
Priority date: 1993-12-17
Filing date: 1995-03-02
Publication date: 1996-09-06
Also published as: JPH07172775A; EP0812797A1; EP0812797A4; TW329793U

Abstract

A device for improving safety during operations of storing or extending a boom of a crane. A corresponding relationship between a boom hoisting angle (υ) and a length of rope (s) is beforehand set when an attitude of a boom (4 ) shifts from a working attitude (A) to a working attitude (B). Means (14) for detecting a boom hoisting angle detects a current boom hoisting angle (υ), and means (18) for detecting a current length of rope detects a length of rope (s). On the basis of the current boom hoisting angle detected b y the boom hoisting angle detecting means (14), and the current length of rope (s) detected by the rope length detecting means (18), a boom drive device and a winch drive device are drivingly controlled so that a boom hoisting angle and a length of rope equal the set boom hoisting angle (υp) and a length of rope (sp), respectively.

Description

Description Crane boom storage / deployment device Technical field

The present invention relates to a crane boom storage / deployment device that stores a crane's boom so that the posture of the crane changes from a working posture to a running posture, or deploys the boom from a running posture to a working posture. Technology

In a mobile crane, for example, a rough terrain crane, as shown in Fig. 1, the boom 4 is in the running posture B as shown by the arrow C1 with the shortest prone state, and the hook 7 is an upper rotating body. It is necessary to retract the boom 4 so that the hook 7 does not swing, and then run the hook, by hooking the engaging member 10 such as a link or a wire ring provided on the repo frame 3.

It is not easy to create such a stowed state by manual operation. That is, in the stowage operation, first, the boom 4 is minimized and fully raised, and the boom 4 is hooked to a position where it can be engaged with the wire ring 10. The hook 7 is hooked onto the wire loop 10, and from that state, the wire 6 is pulled up with a winch while the boom 4 is lowered while keeping the tension of the hoisting rope 6 constant. Do it manually,

Performing the storage operation in this way requires the operator to perform two simultaneous operations with high accuracy such as boom down and winch raising.This requires skill in the operation, and even a skilled operator can make mistakes. The following problems may occur:

That is, if the above two simultaneous operations are mistaken, the hook 7 may collide with the car body and damage the car body, or the hoisting rope 6 may be over-tensioned. It is fully anticipated that it will be in a dangerous state, such as breaking the hook 10 and jumping 10- A similar problem occurs not only in the storing operation but also in the expanding operation in which the boom 4 is deployed from the running posture to the working posture.

As described above, conventionally, there was a problem in safety during boom storage or deployment. Disclosure of the invention

An object of the present invention is to enable two operations for boom driving and winch driving to be performed easily and accurately without skill, thereby improving safety during a boom storing operation or a deploying operation. Is

Therefore, in the main invention of the present invention, while the hook provided at the tip of the hoisting rope is engaged with the engaging member provided on the upper rotating body, the boom driving device changes the boom up / down angle, By changing the length of the hoisting rope from the end of the boom to the hook by the winch driving device, the posture of the boom is changed from the working posture to the traveling posture, and the boom is stored, or the boom posture is traveled. In the crane boom storage / deployment device that deploys the boom by changing from the attitude to the working attitude,

Setting means for setting in advance the correspondence between the boom undulation angle and the rope length, from when the posture of the boom changes from the working posture to the running posture;

Boom undulation angle detection means for detecting the current boom undulation angle,

Rope length detecting means for detecting the current rope length,

The boom angle and the rope length are set in the setting means based on the current boom angle detected by the boom angle detection means and the current rope length detected by the rope length detection means. Control means for controlling the driving of the boom drive device and the winch drive device so that the boom angle and the rope length are equal to each other.

With

According to such a configuration, as shown in Fig. 6, the correspondence between the boom undulation angle 61 and the rope length s from when the posture of the boom 4 changes from the working posture A (see Fig. 1) to the traveling posture B is preset. The boom angle detection means 14 (see Figure 1) detects the current boom angle 0, and the rope length detection means 18 (see Figure 1) uses the current rope length. S is detected:

Therefore, based on the current boom undulation angle 0 detected by the boom undulation angle detection means 14 and the current rope length s detected by the rope length detection means 18, the boom undulation angle and the rope length are calculated as described above. The boom driving device 13 and the winch driving device 17 (see FIG. 5) are driven and controlled so that the set boom angle and the rope length sp are set. BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is a side view of a crane applied to an embodiment of a crane boom storage and deployment device according to the present invention.

Fig. 2 is a graph showing the relationship between the boom undulation angle and the rope length during the boom storage operation of the crane of the embodiment as a target trajectory.

FIG. 3 is a block diagram showing the configuration of the control device of the embodiment.

FIG. 4 is a block diagram showing another configuration of the control device of the embodiment.

FIG. 5 is a block diagram showing still another configuration of the control device according to the embodiment. FIG. 6 is a graph used to explain an operation performed by the control device shown in FIG.

FIG. 7 (a) is a circuit diagram showing a configuration of a boom drive unit of the embodiment, and FIG. 7 (b) is a circuit diagram showing a configuration of a winch drive unit of the embodiment. BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, an embodiment of a crane boom storage and deployment device according to the present invention will be described with reference to the drawings:

FIG. 1 is a side view of the external appearance of a crane 1 applied to the embodiment, and assumes a crane traveling by a wheel-type lower mechanism 2 as shown in FIG.

On the upper part of the lower mechanism 2, an upper revolving unit 3 which is a revolving frame is disposed so as to be freely rotatable, and a boom 4 moves up and down as shown by arrows C1 and C2 on the upper revolving unit 3. The boom 4 is rotatably supported by a boom rotation pin 4a. The up-and-down angle 0 of the boom 4 is controlled by a variable resistance attached to the rotation pin 4a. The boom drive unit 13 that drives the boom 4 will be described later (refer to FIG. 7 (a)). The hoisting rope is provided with a hook 7 at its tip.The force is provided so that the hook 7 can be raised and lowered through a plurality of guide sheaves including a guide sheave 5 provided on the top of the boom 4. The distance between the tip 4b of the boom 4 and the center 7a of the hook 7 below it is defined as the rope length s.The rope length s is determined by detecting the rotation of the guide sheave 5, It is detected by a predetermined rope length sensor 18 such as a rotary encoder that applies force. The configuration of the winch drive unit 17 that raises and lowers the hoisting lobe 6 will be described later (see FIG. 7 (b)).

Here, in order to store the boom 4, as described above, first, the boom 4 is set to the shortest state, and at the same time, the hook 7 is moved to a position where the boom 4 can be sufficiently raised and engaged with the wire ring 10. The boom drive unit 13 drives the boom 4 so that the hoisting angle 0 of the boom 4 is reduced so that the hook 7 is engaged with the wire ring 10 with a constant tension. The hoisting angle 0 is changed so as to become gradually smaller, and the hoisting rope 6 is wound up by the winch driving unit 17 to change the rope length s so that the rope length s becomes gradually smaller.Thus, the posture of the boom 4 is shown by an arrow C1. Move boom 4 from working position A to running position B as follows:

FIG. 3 is a block diagram showing a configuration of the control device 11 for performing the storing operation. The control device 11 controls the boom undulation angle manually and controls the rope length automatically. :

The electric lever 12 is provided in the cockpit to manually change the boom undulation angle 0, and is constituted by an operation lever 12a operated by an operator, a variable resistance and the like, and the operation lever 12a And a speed command output unit 12b that outputs a voltage proportional to the manipulated variable of the boom up / down angle speed command 0 · R to the boom drive unit 13: shown in “0 · R” above. Is defined hereafter as representing the first derivative:

The boom drive unit 13 sets the undulation angle at the speed 0R indicated by the input speed command 0'R. Drive boom 4 so that 0 changes

That is, as shown in FIG. 7 (a), the speed command is applied to an EPC (Electrical Pro portional Control) valve driver 22, and the driver 22 outputs a current E proportional to the input speed command to the EPC valve 23. The £ 〇 valve 23 generates a pilot pressure PT, which is a secondary pressure proportional to the input current E, and acts on the pilot port 24 a or 24 b of the flow control valve 24 to generate a pressure PT. The valve position of the flow control valve 24 is changed according to: The flow control valve 24 is supplied with pressure oil discharged from the hydraulic pump 21, and pressurized oil having a flow rate corresponding to the above valve position is supplied from the flow control valve 24. Supplied to hydraulic cylinder 25 for boom 4 drive:

As described above, the undulation angle 0 of the boom 4 is changed with the speed 0. R according to the speed command. The sequential undulation angle 0 of the boom 4 due to the driving of the boom 4 is detected by the undulation angle sensor 14

On the other hand, as shown in FIG. 2, the correspondence D between the boom undulation angle 0 and the lobe length 1 from the working posture A to the running posture B is stored and stored in the storage unit 15, as shown in FIG. D is 0, which means that if the s changes along this locus D, the hook 7 can be stored accurately with the hook 7 engaged with the wire ring 10 with a constant tension. This is the target locus of s. The target trajectory D can be obtained in advance by experiments, simulations, etc. using actual equipment.

Then, the rope length s R corresponding to the undulation angle Θ detected by the undulation angle sensor 14 is read from the storage content of the storage unit 15:

That is, as shown in FIG. 2, assuming that the current undulation angle is 01, a point P1 on the target trajectory D corresponding to the undulation angle 01 is obtained as shown by an arrow, and is shown at this point P1. The rope length sRl is determined and output from storage 15:

The rope length sR output from the storage unit 15 is added to the subtraction unit 16 as a target value of the winch drive control system, while the current rope length s is detected by the rope length sensor 18, and the detected value is s is fed back to the calculation unit 16 as a feedback amount:

As a result, the difference AsR between the target value sR and the feedback amount s is output from the subtraction unit 16, and this difference AsR is added to the winch driving unit 17: The winch drive unit 17 has the same configuration as the boom drive unit 13 described above. As shown in FIG. 7 (b), the deviation command A s R is applied to the EPC valve driver 22 and the driver 2 2—outputs a current E proportional to the input deviation command to the EPC valve 2 3 —: The EPC valve 2 3 ′ generates a pilot pressure PT proportional to the input current E, and this is applied to the flow control valve 26 Acts on the pilot port 26a or 26b to change the valve position of the flow control valve 26 according to the pressure PT.The discharge pressure oil from the hydraulic pump 21 is supplied to the flow control valve 26. The pressure oil having a flow rate corresponding to the valve position is supplied from the flow control valve 26 to the winch drive hydraulic motor 27:

As described above, the rope length s is changed so that the deviation A s R becomes zero, and the winch drive control system need not be a feedback control system, but an open-loop control system. In this case, the arrangement of the lobe length sensor 18 can be omitted.

When the above control is promoted, the undulation angle 0 and the rope length s change along the target trajectory D, and the storing operation can be performed accurately. In this case, the operator needs to operate the operating lever 1 for driving the boom 4. 2 Since it is only necessary to concentrate on the operation of a, it can be easily operated without skill

FIG. 4 is a block diagram showing another example of the configuration of the control device that performs the storage operation.

This control device 1 1 ′, contrary to the one in FIG. 3, controls the rope length manually and controls the undulation angle automatically:

The electric lever 19 is a winch drive lever having the same configuration as the electric lever 12. When the operation lever 19 a is operated, the operation amount of the operation lever 19 a from the speed command output unit 19 b is operated. Is output to winch drive unit 17 as winch speed command s · R

The winch driving unit 17 drives the winch so that the rope length s changes with the speed sR indicated by the input speed command s Successive rope length s is detected by rope length sensor 18

Therefore, the undulation angle 0 corresponding to the rope length s detected by the rope length sensor 18 is 0. R is read from the storage content of the storage unit 15

That is, as shown in FIG. 2, assuming that the current rope length is s2, a point P2 on the target trajectory D corresponding to the lobe length s2 is obtained as shown by an arrow, and this point P2 The undulation angle 0 R2 shown is obtained, and the output from the storage unit 15 is obtained.

The undulation angle output from the storage unit 15 is added to the subtraction unit 16 as a target value of the boom drive control system, while the current undulation angle 0 is detected by the undulation angle sensor 14. The value 0 is fed back to the subtraction unit 16 as a feedback value and a click amount.

As a result, the subtractor 16 outputs a deviation between the target value 0 R2 and the feedback amount 0, and this deviation Δ 0 加え is added to the boom driving unit 17. Therefore, the undulation angle Θ becomes the deviation Δ 0 変化 is changed to be zero

Incidentally, it may not be a feedback control system as a boom drive control system may be configured with Saiichi flop Nrupu control _system; in this case, it is possible to omit the provision of the hoisting angle sensor 1 4 _c

When the above control is promoted, the undulation angle 0 and the rope length s change along the target trajectory D, and the storing operation can be performed accurately. In this case, the operator is required to operate the operating lever 1 for the winch drive. 9 It is easy to operate without skill, because you only need to concentrate on the operation of a.

Now, FIG. 5 is a block diagram showing still another example of the configuration of the control device that performs the above-mentioned storing operation:

This control device 1 1 — automatically controls both the boom undulation angle and the rope length.

From the speed command output unit 1 2 b of the electric lever 12 for boom drive, a boom up / down angular speed command 0 ′ R proportional to the operation amount of the operation lever 1 2 a is output. The boom 4 is driven so that the elevation angle 0 changes according to the command issued. The sequential elevation angle 0 of the boom 4 that changes with the driving of the boom 4 is detected by the elevation angle sensor 14. , Added to the arithmetic unit 20

On the other hand, the speed command output section 19 b of the electric lever 19 for driving the winch outputs a winch speed command s · R proportional to the operation amount of the operation lever 19 a: winch The driving unit 17 drives the winch so that the rope length s changes according to the input command.- The sequential rope length s that changes with the driving of the winch is detected by the rope length sensor 18. , Added to the arithmetic unit 20:

Therefore, the arithmetic unit 20 calculates the deviation Δ0 between the undulation angle 0 detected by the undulation angle sensor 14 and the target undulation angle 0p on the target trajectory D, and calculates the rope length detected by the rope length sensor 18. Calculates the deviation A s between s and the target rope length sp on the target trajectory D, and outputs this

That is, as shown in Fig. 6, the current undulation angle 0 and the current rope length s are expressed as coordinate positions Qθ, s) in the Θ-s coordinate system. The coordinate position P (p, s) on the trajectory D that minimizes the distance to the coordinate position of is obtained: At this time, let L be the vector from the coordinate position Q to the coordinate position P. The direction of the vector L is positive and negative polarities, and the scalar amount of the vector L is the absolute value.The target hoisting angle 0 p on the target locus D and the hoisting angle 0 detected by the hoisting angle sensor 14 are The deviation Δ0 and the deviation s between the target rope length on the target trajectory D and the rope length s detected by the rope length sensor 18 can be obtained respectively.-The deviation △ 0, A output from the arithmetic unit 20 can be obtained. s is added to the above speed command 0 • R and s'R, respectively, and added Command 0 · ί ^ Δ0, s' R + A s are added to the boom drive unit 13 and winch drive unit 17, respectively.

For this reason, the boom drive unit 13 drives the boom 4 so that the displacement becomes zero, and the winch drive unit 17 drives the winch so that the displacement As becomes zero.

As a result, the undulation angle 0 and the rope length s change along the target trajectory D, and the storing operation can be performed automatically and accurately:

In the above-described embodiment, the control in the case of performing the storing operation has been described. However, the present invention can be similarly applied to the control in the case of performing the unfolding operation.

As described above, according to the present invention, the same method for boom drive and winch drive is provided. Time 2 The operation can be performed easily and accurately without skill, and as a result, the safety of the crane during boom storage operation or deployment operation is dramatically improved. In addition, by applying the present invention not only to a crane but also to a device that needs to store and deploy a working machine, the safety of the device can be significantly improved.

Claims

The scope of the claims

1. While the hook provided at the end of the hoisting rope is engaged with the engaging member provided on the upper rotating body, the boom drive unit changes the boom undulation angle, and the winch drive unit activates the boom. By changing the length of the hoisting rope from the tip to the hook, the posture of the boom is changed from the working posture to the running posture and the boom is stored, or the posture of the boom is moved from the running posture to the working posture. Setting means for setting in advance the correspondence between the boom undulation angle and the rope length from when the posture of the boom changes from the working posture to the traveling posture in the boom storage / deployment device of the crane that deploys the boom by changing the boom position When,

Rope length detecting means for detecting the current rope length,

The boom angle and the rope length are set in the setting means based on the current boom angle detected by the boom angle detection means and the current rope length detected by the rope length detection means. A crane boom storage / deployment device comprising: the boom drive device and control means for driving and controlling the winch drive device so that the boom angle and the rope length are obtained.

2. While the hook provided at the end of the hoisting rope is engaged with the engaging member provided on the upper swing body, the boom drive device changes the boom undulation angle, and the winch drive device drives the boom. By changing the length of the hoisting rope from the tip to the hook, the posture of the boom is changed from the working posture to the running posture and the boom is stored, or the posture of the boom is moved from the running posture to the working posture. A boom storage for a crane that deploys the boom by changing the boom position. In the deployment device, a setting for setting in advance the correspondence between the boom undulation angle and the port length from when the posture of the boom changes from the working posture to the traveling posture. Means,

The boom drive device is manually driven and controlled, and the boom changing with the manual control is performed. The boom hoisting angle is detected by the boom hoisting angle detecting means, and the rope length corresponding to the boom hoisting angle detection value is read out from the setting contents of the setting means so that the read set rope length is obtained. And a control means for automatically controlling the winch driving device.

3. The apparatus further comprises a mouth-length detecting means for detecting a current mouth-length, wherein the control means comprises a setting rope length read from the setting means and a mouth-length of the rope length detecting means. The winch drive device is controlled so that the difference from the detected value becomes zero.

A crane boom storage and deployment device according to claim 2.

4. While the hook provided at the end of the hoisting opening is engaged with the engaging member provided on the upper rotating body, the boom drive unit changes the boom undulation angle and the winch drive unit. By changing the length of the hoisting rope from the boom tip to the hook, the boom position is changed from the working position to the running position and the boom is stored, or the boom position is changed from the running position. In the boom storage / deployment device of the crane that deploys the boom by changing to the working posture, the correspondence between the boom undulation angle and the rope length is set in advance from the posture of the boom to the traveling posture. Setting means;

A mouthpiece length detecting means for detecting a current mouthpiece length,

The winch drive device is manually driven and controlled, and the rope length that changes with the manual control is detected by the mouth-length detecting device, and the boom undulation angle corresponding to the detected rope length value is set by the setting device. A crane boom storage / deployment device comprising: control means for automatically controlling the boom driving device so as to obtain the set boom undulation angle read out from the setting contents.

5. Equipped with a boom undulation angle detection means for detecting the current boom undulation angle,

The control means controls the boom driving device such that a difference between a set boom undulation angle read from the setting means and a boom undulation angle detection value of the boom undulation angle detection means becomes zero. Is, The crane boom storage and deployment device according to claim 4 "

6. While the hook provided at the end of the hoisting opening is engaged with the engaging member provided on the upper rotating body, the boom drive device changes the boom undulation angle and the winch drive device. The boom posture is changed from the working posture to the traveling posture by changing the mouth-length of the hoisting lobe from the boom tip to the hook, and the boom is stored, or the boom posture is moved from the traveling posture. In the boom storage and deployment device of the crane that deploys the boom by changing to the working posture, the correspondence between the boom undulation angle and the port length is set in advance from the working posture to the running posture. Setting means for

Rope length detecting means for detecting the current mouth length,

The boom driving device and the winch driving device are manually driven and controlled, and the boom undulation angle and the rope length that change with the manual control are detected by the boom undulation angle detecting means and the rope length detecting means, respectively. Calculating the deviation between the detected boom angle and the boom angle set by the setting means and the deviation between the detected mouth length and the set rope length by the setting means, respectively;

A crane boom storage / deployment device comprising: control means for automatically controlling the boom drive device and the winch drive device so that the calculated displacement of the boom angle and the displacement of the rope length become zero.

7. In the setting means, the correspondence between the boom angle and the rope length is set as a locus on a two-dimensional coordinate system where the boom angle is one coordinate axis and the rope length is the other coordinate axis. ,

The control means includes:

The coordinate position on the locus is determined so that the distance between the coordinate position on the two-dimensional coordinate system indicated by the boom hoist angle detection value and the rope length detection value and the coordinate position on the locus is minimized. The deviation between the calculated boom angle and the detected value of the boom angle shown at the coordinate position on the trajectory and the deviation between the rope length and the detected value of the mouth length indicated at the coordinate position on the trajectory are calculated. Is a thing, A crane boom storage device according to claim 6.