WO1996026883A1 - Dispositif de reploiement et de deploiement de fleche destine a une grue - Google Patents

Dispositif de reploiement et de deploiement de fleche destine a une grue Download PDF

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Publication number
WO1996026883A1
WO1996026883A1 PCT/JP1995/000335 JP9500335W WO9626883A1 WO 1996026883 A1 WO1996026883 A1 WO 1996026883A1 JP 9500335 W JP9500335 W JP 9500335W WO 9626883 A1 WO9626883 A1 WO 9626883A1
Authority
WO
WIPO (PCT)
Prior art keywords
boom
length
posture
angle
rope
Prior art date
Application number
PCT/JP1995/000335
Other languages
English (en)
Japanese (ja)
Inventor
Kazunori Kuromoto
Original Assignee
Komatsu Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to JP5318415A priority Critical patent/JPH07172775A/ja
Application filed by Komatsu Ltd. filed Critical Komatsu Ltd.
Priority to PCT/JP1995/000335 priority patent/WO1996026883A1/fr
Priority to EP95910728A priority patent/EP0812797A4/fr
Publication of WO1996026883A1 publication Critical patent/WO1996026883A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/82—Luffing gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/20—Control systems or devices for non-electric drives

Definitions

  • 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.
  • the boom 4 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.
  • the engaging member 10 such as a link or a wire ring provided on the repo frame 3.
  • 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.
  • 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.
  • the boom driving device changes the boom up / down angle
  • 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.
  • 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.
  • 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 detects the current boom angle 0, and the rope length detection means 18 (see Figure 1) uses the current rope length. S is detected:
  • the boom undulation angle and the rope length are calculated as described above.
  • the boom driving device 13 and the winch driving device 17 are driven and controlled so that the set boom angle and the rope length sp are set.
  • 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
  • FIG. 7 (b) is a circuit diagram showing a configuration of a winch drive unit of the embodiment.
  • 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.
  • 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)).
  • 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.
  • 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.
  • 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
  • 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 £ ⁇ 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:
  • 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
  • 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.
  • 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:
  • the winch drive unit 17 has the same configuration as the boom drive unit 13 described above. As shown in FIG.
  • 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:
  • 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.
  • the arrangement of the lobe length sensor 18 can be omitted.
  • 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.
  • 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
  • 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.
  • the subtractor 16 outputs a deviation between the target value 0 R2 and the feedback amount 0, and this deviation ⁇ 0 ⁇ ⁇ is added to the boom driving unit 17. Therefore, the undulation angle ⁇ becomes the deviation ⁇ 0 ⁇ ⁇ is changed to be zero
  • 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.
  • 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
  • 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:
  • the arithmetic unit 20 calculates the deviation ⁇ 0 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
  • the current undulation angle 0 and the current rope length s are expressed as coordinate positions Q ⁇ , s) in the ⁇ -s coordinate system.
  • the coordinate position P (p, s) on the trajectory D that minimizes the distance to the coordinate position of is obtained:
  • 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 ⁇ 0 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 ⁇ ⁇ ⁇ ⁇ 0, s' R + A s are added to the boom drive unit 13 and winch drive unit 17, respectively.
  • the boom drive unit 13 drives the boom 4 so that the displacement becomes zero
  • the winch drive unit 17 drives the winch so that the displacement As becomes zero.
  • 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:
  • control in the case of performing the storing operation has been described.
  • present invention can be similarly applied to the control in the case of performing the unfolding operation.
  • 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.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Jib Cranes (AREA)

Abstract

Dispositif conçu pour améliorer la sécurité des opérations de reploiement et de déploiement de flèche de grue. On établit à l'avance un rapport correspondant entre l'angle du treuil de flèche (υ) et la longueur de corde (s) lorsque la position d'une flèche passe d'une position de travail (A) à une position de travail (B). Des moyens (14) permettant de détecter un angle de treuil de flèche effectuent un relevé de l'angle actuel (υ), alors que des moyens (18) permettant de détecter une longueur de corde effectuent un relevé de la corde actuelle (s). En fonction de l'angle de treuil de flèche actuel capté par les moyens de détection (14) et de la longueur de corde actuelle (s) captée par les moyens de détection, un dispositif d'entraînement de flèche et un dispositif d'entraînement de treuil sont pilotés de manière à pouvoir faire correspondre l'angle de treuil de flèche et la longueur de corde à l'angle (υp) et à la longueur (sp) préétablis.
PCT/JP1995/000335 1993-12-17 1995-03-02 Dispositif de reploiement et de deploiement de fleche destine a une grue WO1996026883A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP5318415A JPH07172775A (ja) 1993-12-17 1993-12-17 クレーンのブーム格納・展開装置
PCT/JP1995/000335 WO1996026883A1 (fr) 1993-12-17 1995-03-02 Dispositif de reploiement et de deploiement de fleche destine a une grue
EP95910728A EP0812797A4 (fr) 1993-12-17 1995-03-02 Dispositif de reploiement et de deploiement de fleche destine a une grue

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP5318415A JPH07172775A (ja) 1993-12-17 1993-12-17 クレーンのブーム格納・展開装置
PCT/JP1995/000335 WO1996026883A1 (fr) 1993-12-17 1995-03-02 Dispositif de reploiement et de deploiement de fleche destine a une grue

Publications (1)

Publication Number Publication Date
WO1996026883A1 true WO1996026883A1 (fr) 1996-09-06

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ID=18098902

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1995/000335 WO1996026883A1 (fr) 1993-12-17 1995-03-02 Dispositif de reploiement et de deploiement de fleche destine a une grue

Country Status (4)

Country Link
EP (1) EP0812797A4 (fr)
JP (1) JPH07172775A (fr)
TW (1) TW329793U (fr)
WO (1) WO1996026883A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0921093A2 (fr) * 1997-12-05 1999-06-09 Grove U.S. LLC Système de mesure de l'angle de relevage
CN111943060A (zh) * 2020-08-17 2020-11-17 交通运输部公路科学研究所 模块化机械臂、吊装系统及姿态调整方法
CN114007977A (zh) * 2019-07-30 2022-02-01 株式会社多田野 控制器、吊臂装置、以及起重车
CN117446670A (zh) * 2023-12-25 2024-01-26 泰安市特种设备检验研究院 一种基于人机共融的塔式起重机自动控制方法及系统

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4447107B2 (ja) * 2000-03-28 2010-04-07 株式会社タダノ 車載式クレーンのブーム制御装置
JP2005255359A (ja) * 2004-03-12 2005-09-22 Toyota Motor Corp フィラメントワインディング装置
CN102040160B (zh) * 2010-08-30 2012-10-10 湖南中联重科专用车有限责任公司 用于控制起重机的吊钩运动轨迹的方法
CN107572378B (zh) * 2017-08-15 2019-03-29 阜新力夫特液压有限公司 一种可控同轴双速双向液压马达驱动系统
JP7031385B2 (ja) 2018-03-09 2022-03-08 株式会社タダノ クレーン
JP2022080588A (ja) 2020-11-18 2022-05-30 株式会社タダノ コントローラ、ブーム装置、及びクレーン車
JP2022080589A (ja) * 2020-11-18 2022-05-30 株式会社タダノ コントローラ、ブーム装置、及びクレーン車

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Publication number Priority date Publication date Assignee Title
JPS5517751Y2 (fr) * 1975-04-23 1980-04-24
JPS5643892U (fr) * 1979-09-11 1981-04-21
JPS63166590U (fr) * 1986-06-03 1988-10-31

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5517751Y2 (fr) * 1975-04-23 1980-04-24
JPS5643892U (fr) * 1979-09-11 1981-04-21
JPS63166590U (fr) * 1986-06-03 1988-10-31

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP0812797A4 *

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0921093A2 (fr) * 1997-12-05 1999-06-09 Grove U.S. LLC Système de mesure de l'angle de relevage
EP0921093A3 (fr) * 1997-12-05 1999-06-16 Grove U.S. LLC Système de mesure de l'angle de relevage
US6473715B1 (en) 1997-12-05 2002-10-29 Grove U.S. L.L.C. Luffing angle measurement system
CN114007977A (zh) * 2019-07-30 2022-02-01 株式会社多田野 控制器、吊臂装置、以及起重车
CN114007977B (zh) * 2019-07-30 2024-02-27 株式会社多田野 控制器、吊臂装置、以及起重车
CN111943060A (zh) * 2020-08-17 2020-11-17 交通运输部公路科学研究所 模块化机械臂、吊装系统及姿态调整方法
CN111943060B (zh) * 2020-08-17 2022-03-18 交通运输部公路科学研究所 姿态调整方法
CN117446670A (zh) * 2023-12-25 2024-01-26 泰安市特种设备检验研究院 一种基于人机共融的塔式起重机自动控制方法及系统
CN117446670B (zh) * 2023-12-25 2024-04-26 泰安市特种设备检验研究院 一种基于人机共融的塔式起重机自动控制方法及系统

Also Published As

Publication number Publication date
JPH07172775A (ja) 1995-07-11
TW329793U (en) 1998-04-11
EP0812797A4 (fr) 2000-03-15
EP0812797A1 (fr) 1997-12-17

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