WO2005090225A1 - Dispositif pour soulever une charge pour utilisation dans une grue à flèche - Google Patents

Dispositif pour soulever une charge pour utilisation dans une grue à flèche Download PDF

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Publication number
WO2005090225A1
WO2005090225A1 PCT/JP2005/002319 JP2005002319W WO2005090225A1 WO 2005090225 A1 WO2005090225 A1 WO 2005090225A1 JP 2005002319 W JP2005002319 W JP 2005002319W WO 2005090225 A1 WO2005090225 A1 WO 2005090225A1
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WIPO (PCT)
Prior art keywords
winch
boom
wire rope
procedure
control valve
Prior art date
Application number
PCT/JP2005/002319
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English (en)
Japanese (ja)
Inventor
Takahiro Yamamoto
Yasuhiro Maeda
Masato Miyoshi
Original Assignee
Tadano Co., 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
Application filed by Tadano Co., Ltd filed Critical Tadano Co., Ltd
Publication of WO2005090225A1 publication Critical patent/WO2005090225A1/fr

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Classifications

    • 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
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions

Definitions

  • the present invention relates to a land separation device for luggage used in a boom type crane.
  • a boom type crane is composed of a swivel base 2 mounted on a base 1 so as to be capable of horizontal swiveling operation, a boom 3 with an extendable and retractable operation mounted on a swivel base 2 and a swiveling base 3, and a swivel base 3 And a hook 6 suspended from the end 3b of the boom 3 via a wire rope 5 from a winch 4 attached to the boom.
  • the boom crane in Fig. 3 is shown as a mobile crane using a vehicle as the base 1.
  • the winch 4 is attached to the swivel 2, and the winch 4 may be attached to the base end of the boom 3.
  • the turning operation of the swivel 2, the raising / lowering operation of the boom 3, the expanding / contracting operation of the boom 3, and the hoisting / lowering operation of the winch 4 are respectively performed by a hydraulic motor 7 for turning, a hydraulic cylinder 8 for raising / lowering, a hydraulic cylinder 9 for expanding / contracting, and a winch. This is performed by the hydraulic motor 10 for use.
  • FIG. 4 is a block diagram showing an operation control circuit of the turning hydraulic motor 7, the undulating hydraulic cylinder 8, the telescopic hydraulic cylinder 9, and the ⁇ -inch hydraulic motor 10.
  • 7a is a swing control valve that controls the operation of the swing hydraulic motor
  • 8a is an up / down control valve that controls the operation of the up / down hydraulic cylinder 8
  • 9a controls the operation of the telescopic hydraulic cylinder 9.
  • the expansion / contraction control valve 10a indicates a winch control valve for controlling the operation of the winch hydraulic motor 10.
  • Reference numeral 7b denotes turning operation means
  • 8b denotes undulating operation means
  • 9b denotes expansion / contraction operation means
  • 10b denotes winch operation means.
  • the winch operation signal lOb-1 is input to the controller 11.
  • the controller 11 functions as follows when the operation signals 7b-l, 8b-1, 9b-1 and 10b-1 are input. [0007] When a turning operation signal 7b-l is input from the turning operation means 7b, a turning control valve for operating the turning hydraulic motor 7 in the direction and speed indicated by the input turning operation signal 7b-1. A switching command signal 7b-2 for 7a is generated and output to the turning control valve 7a.
  • the up / down operation signal 8b-1 from the up / down operation means 8b is input, the up / down operation for expanding and contracting the hydraulic cylinder 8 for up / down operation in the direction and speed indicated by the input up / down operation signal 8b-1. It generates a switching command signal 8b-2 for the control valve 8a and outputs it to the undulation control valve 8a.
  • the winch hydraulic motor 10 When the winch operation signal 10b-1 from the win operation means 10b is input, the winch hydraulic motor 10 is operated in the direction and speed indicated by the input inch operation signal lOb-1. And generates a switching command signal 10b-2 for the winch control valve 10a for the purpose, and outputs it to the winch control valve 10a.
  • the boom type crane thus configured is moved to the work site and stabilized (for a mobile crane using a vehicle as the base 1, it is stabilized by installing an outrigger mounted on the vehicle).
  • the turning operation means 7b By operating the turning operation means 7b, the undulating operation means 8b, the telescopic operation means 9b, and the winch operation means 10b as appropriate, the luggage 12 locked on the hook 6 is lifted and moved to a required position. Crane work.
  • Patent Document 1 a ground separating device disclosed in Japanese Patent Application Publication No. 2002-362880 (hereinafter referred to as Patent Document 1).
  • the ground separating device disclosed in Patent Document 1 locks the hook 6 to the luggage 12 at a fixed position (strictly, the hook is positioned at the center of gravity of the luggage 12), and the boom It is used with the tip 3b positioned vertically above the load 12 (strictly, the center of gravity of the load).
  • this known ground-breaking device is a portion surrounded by a virtual line in the operation control circuit diagram shown in FIG.
  • the known ground separating device shown in Fig. 4 is provided with a load detecting means 13 and a ground breaking command means 14 for detecting a downward load acting on the tip 3b of the boom 3, and a load signal from the load detecting means 13 is provided. 13a and the command signal 14-1 from the commander 14 are input to the controller 11. The controller 11 is activated when a ground disconnection command signal 14-1 is input from the ground disconnection instruction means 14, and automatically executes the following first and second procedures continuously.
  • the winch 4 is wound up until the tension of the wire rope 5 (determined by the load signal 13a from the load detecting means 13) reaches a predetermined value.
  • Patent Document 1 discloses that in the first and second procedures, the boom tip 3b is maintained vertically above the luggage 12 at the stationary position (that is, the luggage 12 having lifted and lifted away from the luggage 12 at the stationary position force). The following points are explained or suggested in regard to the fact that no fluctuations occur.
  • the predetermined value in the first procedure is a value small enough to remove the slack of the wire rope 5 and bring the wire rope 5 into a tension state, so that the vertical downward load acting on the boom tip 3b in the first procedure is small.
  • the radius of boom 3 should be negligible due to this load. Therefore, The position of the boom tip 3b must be maintained vertically above the load 12 when performing the first step of the procedure.
  • the lifting force of the load 12 is increased by the raising operation of the boom 3!
  • the downward load acting on the boom tip 3b gradually increases, and the bending of the boom 3 increases accordingly.
  • the boom tip 3b is constrained by the wire rope 5 tensioned in the first procedure described above, the boom tip 3b does not fluctuate in the height direction and rises with respect to the swivel 2 at the base end of the boom.
  • the fulcrum 3a of the boom 3 and the boom tip 3b (in this case, the boom tip is the suspension point of the wire rope 5, specifically the sheave for the wire rope 5 placed at the boom tip
  • the effective elevation angle of the boom 3 connecting the fulcrum of the boom 3 does not change, and the force of the boom 3 decreases due to the radius of the boom 3 and the distance between the boom fulcrum 3a and the boom tip 3b (hereinafter referred to as the “boom due to the radius”). (Effective length reduction) is negligibly small, so this “boom effective length reduction due to radius” does not have the effect of displacing the luggage 12 at the boom tip 3b from vertically above. .
  • the raising operation of the boom 3 executed in the second procedure may be continued even after the ground level (the luggage 12 rises from the stationary position), or the time point of the ground level is determined by the boom tip 3b. It may be detected that the downward load acting on the vehicle has stopped increasing and stop at this point.
  • the suspension distance (the distance between the boom tip 3b and the luggage 12 at the stationary position) increases due to the extension of the wire rope 5 whose tension gradually increases in the second procedure.
  • the vertical upward force of the luggage 12 at the boom tip 3b may cause a shift.
  • the winch 4 may be used in the second step to wind up the winch 4 to eliminate the increase in the suspension distance due to the extension of the wire rope 5.
  • Patent Document 1 Japanese Patent Application Laid-Open No. 2002-362880
  • the increase of the suspension distance (distance between the boom tip 3b and the luggage 12 in the stationary position) accompanying the elongation of the wire rope 5 whose tension gradually increases is due to the increase of the luggage 12 at the boom tip 3b. If this deviation is not negligible, the winch 4 is used together with the winch 4 in order to eliminate the increase in the suspension distance caused by the extension of the wire rope 5.
  • the winch 4 is used together with the winch 4 in order to eliminate the increase in the suspension distance caused by the extension of the wire rope 5.
  • the raising operation of the boom 3 performed in the second step may be continued after the completion of the terrain (the luggage 12 rises from the stationary position), or the time of the terrain may be applied to the boom tip 3b. May be detected through the fact that the downward load has stopped increasing, and may be stopped at this point. " If the raising operation is continued even after the completion of the terrain completion, there is a problem that the lifting of the luggage vertically upward cannot be guaranteed due to the decrease of the working radius accompanying the raising operation of the boom 3. In addition, if the raising operation of the boom 3 performed in the second step is stopped at the time of the completion of the ground-cutting, the work of lifting the luggage 12 at the stationary position vertically upward can be interrupted at that time and continuously performed. There is no problem.
  • the “first invention” (independent claim 1 of the present invention) is configured as follows.
  • the first invention of the present application is a swivel 2 attached to a base 1 so as to be capable of horizontal swing operation by a swing hydraulic motor 7, and a swivel 2 is attached to the swivel base 2 so as to be able to swing up and down by a hydraulic cylinder 8 for swinging.
  • Winch 4 which is attached to the base end of boom 3, swivel 2 or boom 3 which can be extended and retracted by hydraulic cylinder 9, and which can be moved up and down by hydraulic motor 10 for winch, and wire rope 5 from winch 4
  • a hook 6 is provided at the tip 3b of the boom 3 via a hook. The hook 6 is slidably suspended.
  • the swing operation means 7b, the undulation operation means 8b, and the telescopic operation are performed via the controller 11.
  • the swing control valve 7a of the swing hydraulic motor 7, the swing control valve 8a of the swing hydraulic cylinder 8, and the stretch control valve 9a of the stretch hydraulic cylinder 9 are provided.
  • c Lynch The present invention is directed to a ground-breaking device used in a boom type crane configured to control a winch control valve 10a of a hydraulic motor 10 for use.
  • the controller 11 has the ground cutting commanding means 14, the load detecting means 13 for detecting the load acting on the boom, and the feeding of the wire rope 5 from the winch 4.
  • the controller 11 receives signals from the wire rope feeding length detecting means 15 for detecting the length and the winding driving amount detecting means 16 for detecting the winding driving amount of the wire rope 6 by the winch 4.
  • the winch control valve 10a and the up / down control valve are operated in accordance with the following first and second procedures and under the conditions shown in each procedure. Each command signal is output to 8a.
  • This first procedure refers to the time from the input of the ground breaking command signal to the detection from the signal from the load detection means 13 that a predetermined tension has been generated in the wire rope 5.
  • the winch control valve It outputs a hoisting command signal for commanding the winch hoisting operation to 10a.
  • the boom 3 outputs a boom 3 raising command signal to the raising and lowering control valve 8a, and the winch control valve 10a
  • a winch command signal for commanding the winch hoisting operation is output.
  • the output winding command signal indicates that the position of the tip of the boom restrained by the luggage 12 at the fixed position via the wire rope 5 reduces the working radius due to the raising operation of the boom performed in the second procedure.
  • the “second invention” (the partitioning device of claim 2) of the present application is dependent on the above-mentioned “first invention” (the partitioning device of claim 1).
  • the winding command signal is specified specifically.
  • the winding command signal output by the controller 11 in the second procedure is the amount required to eliminate the decrease in the working radius of the boom tip 3b due to the extension of the wire rope 5 caused in the second procedure (ie, It is specific to a device that winds and drives the winch 4 by the amount of extension of the wire rope 5).
  • the “third invention” (the partitioning device of claim 3) of the present application is dependent on the above-mentioned “first invention” (the partitioning device of claim 1).
  • the winding command signal is specified specifically.
  • the controller 11 outputs the winding command signal output in the second procedure by reducing the working radius of the boom tip 3b based on the elongation of the wire rope 5 generated in the second procedure, and “the effective boom length due to the radius”.
  • the reduction in the working radius of the boom tip 3b due to the “reduction of the boom length” is specified as a method in which the winch 4 is wound up and driven by an amount necessary to eliminate each.
  • the “fourth invention” (claim 4) of the present application is dependent on any one of the above “first invention” and “third invention”, and is related to the land breaking command means 14 in these inventions. It specifically specifies the configuration to be used.
  • the ground-break command means 14 is composed of a mode-selection means 14a for selectively outputting a normal mode selection signal and a ground-break mode selection signal, and a ground-break execution command means 14b for outputting a ground-break execution signal.
  • the controller 11 receives the ground-cutting execution signal from the ground-cutting execution commanding means 14b while receiving the ground-cutting mode selection signal from the mode selecting means 14a, the controller 11 sends the It is configured to judge that it is hot.
  • the third procedure starts when the second procedure is completed, that is, when the signal from the load detecting means 13 detects that the tension of the wire rope 5 has stopped increasing.
  • the output of the signal is stopped, and a winding command signal for the winch control valve 10a is output.
  • the “seventh invention” (claim 7) of the present application is dependent on the “sixth invention” (claim 6), and the controller 11 outputs the “sixth invention” in the “sixth invention”.
  • the winding command signal is specified specifically.
  • the winding command signal output by the controller 11 in the second procedure is the amount required to eliminate the reduction in the working radius of the boom tip 3b due to the extension of the wire rope 5 caused in the second procedure (ie, It is specific to a device that winds and drives the winch 4 by the amount of extension of the wire rope 5).
  • the “eighth invention” (claim 8) of the present application is subordinate to the above “seventh invention” (claim 7), and the controller 11 outputs in the “seventh invention”.
  • the winding command signal is specified specifically.
  • the controller 11 outputs the winding command signal output in the second procedure to reduce the working radius of the boom tip 3b based on the elongation of the wire rope 5 generated in the second procedure, and “the boom effective length due to the radius”.
  • the working radius of the boom tip 3b It is specified that the winch 4 should be wound up and driven by an amount necessary to cancel it.
  • the “ninth invention” (claim 9) of the present application is dependent on any one of the above “sixth invention” and “eighth invention”, and is related to the ground breaking command means 14 in these inventions. It specifically specifies the configuration to be used.
  • the ground-break command means 14 is composed of a mode-selection means 14a for selectively outputting a normal mode selection signal and a ground-break mode selection signal, and a ground-break execution command means 14b for outputting a ground-break execution signal,
  • the controller 11 receives the ground-cutting execution signal from the ground-cutting execution commanding means 14b while receiving the ground-cutting mode selection signal from the mode selecting means 14a, the controller 11 sends the It is configured to judge that it is hot.
  • the ground-cut execution command means 14b of the configured land-cut command means 14 is constituted by a winding operation detecting means for detecting a winch hoisting side operation of the winch operating means 10b and outputting a ground-cut execution signal. is there.
  • the “eleventh invention” (a partitioning device of claim 11) of the present application is dependent on the “tenth invention” (a partitioning device of claim 10).
  • the winding command signal is specified in detail.
  • the hoisting command signal output from the controller 11 to the winch control valve 8a drives the winch 4 at a low speed
  • the controller 11 transmits the hoist control valve to the winch control valve 8a.
  • the raising command signal output to 8a is limited to a signal for raising and lowering the boom 3 at a low speed.
  • the hoisting command signal output from the controller 11 to the winch control valve 8a is The controller 11 is configured so as to gradually increase the hoisting drive speed of the winch 4 achieved during normal crane work in relation to the amount of tilting operation of the winch operating means.
  • the “first invention” (claim 1) is constructed as described above. In general, the “cut” shown in FIG. The following configuration is added.
  • a wire rope feeding length detecting means 15 for detecting the feeding length of the wire rope 5 from the winch 4 and a winding driving amount detecting means 16 for detecting a winding driving amount of the wire rope 5 by the winch 4 are added. Then, the detection signal of each of these detection means was input to the controller 11.
  • the controller 11 In the second procedure, the controller 11 outputs a raising instruction signal for instructing the boom raising operation to the raising / lowering control valve 8a, and also performs a winch winding operation to the winch control valve 10b. To output a winding instruction signal for instructing.
  • the boom tip 3b is positioned vertically above the luggage 12 in the stationary position. If moved, it will not be possible to ground the load 12 vertically upward. For this reason, in the "first invention" (the land cutting device of claim 1), the winch 4 is taken up and driven in the second step to move the boom tip 3b to the working radius decreasing side in the second procedure. This allows the luggage 12 to be separated vertically upward.
  • the winch 4 is taken up and driven in the second step to move the boom tip 3b to the working radius decreasing side in the second procedure. This allows the luggage 12 to be separated vertically upward.
  • the winding drive amount (the extension amount of the wire rope 5) is determined by the feeding length of the wire rope 5 (detected value of the wire rope feeding length detecting means 15) at the time of executing the second procedure, and the load acting on the wire rope 5. (The value detected by the load detecting means 13). Whether or not the winch 4 has been driven to wind up by the calculated elongation amount can be confirmed based on the amount of winding of the wire rope 5 by the winch 4 (detected value of the winding drive amount detecting means 16). Therefore, a winding command signal for canceling the movement related to (A) is generated (calculated by calculation) based on the detection values of the wire rope feeding length detecting means 15, the load detecting means 13, and the winding drive amount detecting means 16. )it can.
  • the movement according to (B) can be eliminated by winding and driving the winch 4 by an amount required to eliminate the movement.
  • This winding drive amount can be calculated as a function of the load acting on the boom 3 (the value detected by the load detecting means 13) for each working posture of the boom 3. Whether or not the winch 4 has been driven to wind up by the calculated winding drive amount can be confirmed based on the amount of winding of the wire rope 5 by the winch 4 (the value detected by the winding drive amount detecting means 16). Therefore, the winding command signal for canceling the movement related to (B) is generated based on the numerical value prepared in advance for each boom working posture and the detection values of the load detecting means 13 and the winding drive amount detecting means 16 ( Calculation).
  • the "first invention” attempts to eliminate at least the movement in the above (A) by a winch winding operation used in combination with the raising operation of the boom 3 in the second procedure. That is.
  • the "first invention” (the land separation device of claim 1) at least moves the boom tip 3b in the direction in which the working radius decreases in accordance with the extension of the wire rope 5 in the second step. This can be suppressed by adding the specific configuration described above.
  • the ground separating device according to the first invention (Claim 1) can position the boom tip 3b almost vertically above the load 12 through the execution process of the second procedure.
  • the swing of the load 12 at the time of ground separation (at the time of rising from the stationary position of the load 12) occurring during the second procedure can be suppressed. That is, the above problem 1 of the ground separation device of Patent Document 1 can be solved.
  • the “second invention” (the land separation device of claim 2) is the first invention, wherein the winding command signal output from the controller 11 in the second procedure is generated by the wire rope 5 generated in the second procedure. Since the winch 4 is wound and driven by an amount necessary to eliminate the reduction in the working radius of the boom tip 3b due to the extension of the boom (that is, the extension amount of the rope 5), the "boom effective by radius” By applying the present invention to a boom crane in which the amount of movement of the boom tip 3b in the direction of decreasing the working radius due to the “length reduction” is small, the same effect as the above “first invention” can be achieved.
  • the "third invention” (claim 3) is the above-mentioned “first invention”, wherein the controller 11 outputs the winding command signal output in the second procedure to the wire rope generated in the second procedure.
  • the winch 4 is wound up by the amount necessary to eliminate the reduction in the working radius of the boom tip due to elongation and the reduction in the working radius of the boom tip 3b due to the "reduction in boom effective length due to radius". Since it is driven, it is possible to achieve the same effect as the above-mentioned "first invention” (claim 1). It can also be applied to a boom crane that moves a large amount in the direction of decreasing the working radius of 3b. That is, the above problems 1 and 2 of the land separation device of Patent Document 1 can be solved.
  • the "fourth invention” (the land separation device of claim 4) is characterized in that the land separation device is operated when the land separation execution instructing means 14b is operated in a situation where the mode selection means 14a has selected the land separation mode. Since the first and second procedures are performed upon activation, for example, the operation means (turning, undulating, telescopic, and winch operation means) used in the ordinary crane operation may be added to the technological execution instruction means 14b. In addition to the same effects as those of the first invention, it is necessary to provide a dedicated operation input unit ( ⁇ denotes a dedicated operation lever and an operation button). It has an effect.
  • the land separation instruction means 14 is configured.
  • the cut-off execution instruction means 14b is constituted by winding operation detecting means for detecting the winch winding side operation of the winch operating means 10b.
  • the first and second procedures by the land separation device are performed in accordance with the hoisting operation of the winch 4 which is frequently used when moving the load 12 upward in normal crane work. It is possible to operate the ground separation device without discomfort.
  • the third procedure is continuously performed after the completion of the second procedure of the “first invention” (the partitioning device of claim 1).
  • the “sixth invention” has the same effect as that of the “first invention” (the claim 1), and the “sixth invention” described in Patent Document 1
  • the winding instruction signal is continuously output to the winch control valve 10a, so that it is possible to continuously lift the luggage 12 vertically upward after the completion of the grounding. . That is, the above problems 1 and 3 of the land separation device of Patent Document 1 can be solved.
  • the “seventh invention” (a ground separating device according to claim 7) configured as described above is the same as the “sixth invention”, except that the controller 11 outputs the winding command signal output in the second procedure to the second procedure. It is specified that the winch 4 is wound and driven by the amount required to eliminate the reduction in the working radius of the boom tip 3b due to the elongation of the wire rope 5 (i.e., the amount of elongation of the wire rope 5).
  • the "eighth invention” (the ground separating device of claim 8) configured as described above is the same as the “sixth invention” described above, except that the controller 11 outputs the winding command signal output in the second procedure.
  • the reduction of the working radius of the boom tip due to the elongation of the wire rope and the reduction of the working radius of the boom tip 3b due to the “reduction of the effective length of the boom due to the radius” are eliminated. Since the winch 4 is specified to be driven to take up and drive the necessary amount, the same effect as that of the "sixth invention” (claim 6) can be achieved. It can also be applied to a boom crane in which the amount of movement of the boom tip 3b in the direction of decreasing the working radius due to the “reduction in boom effective length” is large. That is, it is possible to solve the above-mentioned problem 1 and problem 3 of the land separation device of Patent Document 1.
  • the “ninth invention” (the partitioning device of the ninth aspect) configured as described above is characterized in that when the partitioning execution instructing means 14b is operated while the mode selecting means 14a selects the partitioning mode, the grounding is executed. Since the first-third procedure is executed by starting the disconnection device, for example, the ground-break execution instruction means 14b may be provided with the operation means (turn, undulation, extension, A device that detects the operation of one of the operating means of the winch can be used, so that it has the same effect as the "sixth invention” described above, and a dedicated operation input unit (dedicated operation lever or operation button) is provided. There is no necessity.
  • the “tenth invention” (the partitioning device of claim 10) configured as described above includes the mode selection means 14 a and the partitioning execution commanding means 14 b constituting the partitioning commanding means 14. Is constituted by a hoisting operation detecting means for detecting the winch hoisting side operation of the winch operating means 10b, so that it has the same effect as the "ninth invention” and the first
  • the third procedure can be performed in accordance with the hoisting operation of the winch 4 which is frequently used when the load 12 is moved upward in a normal crane operation, and there is an effect that the ground separation device can be operated without a sense of incongruity.
  • the “eleventh invention” (a partitioning device of claim 11) configured as described above is the same as the “tenth invention” (the partitioning device of claim 10) in addition to the above-mentioned effects.
  • the winding drive speed of the winch 4 is limited to a low speed, and gradually increases to the winding drive speed of the winch 4 achieved during normal crane operation in the third step. Therefore, if the change (increase in speed) of the winch hoisting speed until the shift to the ordinary crane operation can be performed automatically and smoothly, there is an advantage.
  • FIG. 1 first embodiment
  • FIG. 2 second embodiment
  • the present invention is based on the ground separating device (FIGS. 3 and 4) of Patent Document 1 described above, and the reference numerals used in the description of FIGS. 3 and 4 are synonymous in the description of each embodiment described below.
  • FIG. 1 shows an operation control circuit of a boom type crane in which a land separation device according to a first embodiment of the present invention is implemented. Note that the ground separating device of the first embodiment is implemented in a portion surrounded by a virtual line in FIG.
  • reference numeral 13 denotes load detecting means for detecting a downward load acting on the boom tip 3b and outputting a load signal 13a
  • reference numeral 14 denotes a ground breaking command signal 14-1 operated by a crane operator.
  • 15 is a wire rope feeding length detecting means for detecting a feeding length of the wire rope 5 from the winch 4 and outputting a feeding length signal 15a
  • 16 is a winding of the wire rope 5 by the winch 4.
  • Winding drive amount detecting means for detecting a drive amount and outputting a winding drive amount signal 16a is shown.
  • the load signal 13a from the load detecting means 13, the ground breaking command signal 14-1 from the ground breaking command means 14, the feeding length signal 15a from the wire rope feeding length detecting means 15, and the winding drive amount detecting means The take-up driving amount signal 16a from the controller 16 is input to the controller 11.
  • the ground breaking command means 14 can select the output Z non-output of the ground breaking command signal 141 by operating a crane operator.
  • the load detecting means 13 detects a parameter value related to the tension of the wire rope 5.
  • Applicable parameter values include the tension of the wire rope 5, the load acting on the boom undulating cylinder, the downward load acting on the boom tip 3b, and the like. Accordingly, the load detecting means 13 acts on, for example, the load cell interposed in the hook 6 at the end of the wire rope 5 on the drawing-out side or the locking portion to the boom tip 3b, and the hydraulic cylinder 8 for raising and lowering the boom 3.
  • Cylinder load detector that detects the load to be applied or that calculates the downward load acting on the boom tip 3b (cylinder load detector, boom 3 length detector, boom 3 And a load calculation unit that calculates the downward load on the boom tip 3b using the detection signals from these detectors).
  • the wire rope feeding length detecting means 15 is provided with a length of the wire rope 5 pulled out from the winch 4 during the work of separating the load 12 (a length including a length of the wire rope stretched and deformed by an increase in load). Is to be detected.
  • the wire rope feeding length detecting means 15 is, for example, a winch rotation driving amount detector for detecting the rotation driving amount of the winch 4, and calculates the wire rope feeding length by accumulating the winch rotation driving amount of the detector power. It consists of a payout length calculation unit.
  • the wire rope feeding length detecting means 15 is provided with a boom 3 length detector, a boom 3 length detector, since the ground cutting work always lifts the load 12 at the ground level where the boom type crane is installed.
  • Elevation angle detector (3) Elevation angle detector (3), and an extension length calculation unit for calculating the extension length of the wire rope as a function of the boom length and boom elevation angle detected by these detectors (assuming that hook 6 is near the ground level). (A calculation unit for calculating the amount of feeding of the wire port 5).
  • the winding drive amount detecting means 16 detects the amount of winding drive of the wire rope 5 by the winch 4.
  • the winding drive amount detection means 16 can be constituted by, for example, a winch rotation drive amount detector for detecting the rotation drive amount of the winch 4.
  • the above-mentioned wire rope pay-out length detecting means 15 includes a winch rotation drive amount detector, and a pay-out length calculating unit that calculates a wire rope pay-out length by accumulating the winch rotation drive amount having the detector power.
  • the winch rotation drive amount detector included in the wire rope feeding length detecting means 15 may be shared.
  • the controller 11 In a state where the controller 11 has not received the ground-break command signal 141 from the ground-break command means 14, the controller 11 performs arithmetic processing during a normal crane operation, and performs a ground-break command signal from the ground-break command means 14. When 14-1 is received, the arithmetic processing at the time of the earth-cutting work is performed.
  • the arithmetic processing during the normal crane operation of the controller 11 is as follows.
  • the switching command signal 7b-2 corresponding to the turning operation signal 7b-1 from the turning operation means 7b is output to the turning control valve 7a, and the up / down control means
  • a switching command signal 8b-2 corresponding to the up / down operation signal 8b-1 from 8b is output to the up / down control valve 8a, and a switching command signal 9b-2 corresponding to the expansion / contraction operation signal 9b-1 from the expansion / contraction operation means 9b is output.
  • the winch operation signal is output from the expansion / contraction control valve 9a and from the winch operating means 10b. It outputs the switching command signal 10b-2 corresponding to Ob-1 to the winch control valve 10a.
  • the controller 11 When the controller 11 receives the ground disconnection command signal 141 from the ground disconnection command means 14, the controller 11 performs the following first and second procedures in the "first invention” -the “fifth invention”. In the “sixth invention” -the “eleventh invention”, the following first-third procedures are respectively executed.
  • This first procedure refers to the time from the input of the ground breaking command signal 141 to the detection of the occurrence of a predetermined tension in the wire rope 5 by a signal from the load detection means 13.
  • a winch instructing signal for instructing the winch hoisting operation to the winch control valve 10a is output.
  • the “predetermined tension on the wire rope 5” refers to a state in which the wire rope 5 is loose and loosely tensioned between the boom tip 3b and the hook 6.
  • the tension of the wire rope 5 is reduced by the signal from the load detecting means 13 to the predetermined tension.
  • the boom 3 outputs a boom 3 raising operation signal to the raising and lowering control valve 8a, and the winch control It outputs a hoisting command signal for instructing the winch hoisting operation to the valve 10a.
  • the state in which “the tension of the wire rope 5 has not increased due to the value exceeding the predetermined tension!]” Means a state in which the luggage 12 has landed (floated).
  • the output hoisting command signal is for driving the winch 4 for hoisting by an amount corresponding to the amount of elongation of the wire rope 5 due to the up / down operation of the boom 3 performed in the second procedure. This is calculated based on the detected load from the detecting means 13, the wire rope unwinding length from the unwinding length detecting means 15, and the drive amount of winding drive from the winding driving amount detecting means 16.
  • This third procedure starts when the second procedure is completed, that is, when the signal from the load detecting means 13 detects that the tension of the wire rope 5 has stopped increasing (when the luggage 12 rises), The output of the raising command signal to the up / down control valve 8a is stopped, and the winch control valve is stopped. A winding command signal for 10a is output.
  • the hook 6 is locked to the stationary baggage 12 (strictly speaking, the hook 6 is located above the center of gravity of the baggage 12), similarly to the above-mentioned patent document 1.
  • the boom tip 3b is positioned vertically above the load 12 (the position of the center of gravity of the load 12).
  • the pre-cutting command means 14 is not operated (the pre-cutting command signal 14a is not output), and the controller 11 executes arithmetic processing during normal crane work.
  • the crane operator operates the turning control means 7a, the undulation control means 8a, the expansion / contraction operation means 9a, the winch control means 10a, and the like, to prepare for the pre-cutting.
  • the crane operator operates the crossing commanding means 14 to input a grounding command signal 141 from the grounding commanding means 14 to the controller 11.
  • the controller 11 that has received the command to cut off the ground removes the arithmetic processing at the time of normal crane work, and performs the arithmetic processing at the time of cutoff work, that is, the following “first invention”-“fifth invention”
  • the first procedure and the second procedure are performed, and the above-mentioned “first invention” and “eleventh invention” are respectively executed in the “sixth invention” and the “eleventh invention”.
  • the details of each procedure are as follows.
  • the controller 11 first executes the first procedure.
  • This first procedure indicates the time from the input of the ground breaking command signal 14-1 until the load signal 13a from the load detecting means 13 detects that a predetermined tension has occurred in the wire rope 5.
  • a winch command signal for instructing the winch hoisting operation is output to the winch control valve 10a.
  • This winding command signal is limited to a signal for operating the winch 4 at a low speed.
  • the controller 11 monitors the load signal 13a (parameter value related to the tension of the wire rope 5) from the load detection means 13, and the predetermined tension acts on the wire rope 5. When this is detected, the first procedure is terminated, the winding command signal for the winch control valve 10a is interrupted, the winding operation of the winch 4 is stopped, and the second procedure is executed.
  • the load signal 13a parameter value related to the tension of the wire rope 5
  • the above-mentioned predetermined tension is applied to a sling for locking the wire rope 5 and the luggage 12 to the hook 6. It has been set to the minimum necessary to prevent looseness. Therefore, the radius of the boom 3 hardly occurs at the end of the first procedure, and the position of the boom tip 3b is vertically above the load 12 (the position of the center of gravity of the load 12).
  • the posture of the boom type crane at the end of the first procedure is as shown by the solid line in FIG.
  • the controller 11 executes the second procedure at the same time as the end of the first procedure.
  • the second procedure is continued from the end of the first procedure until the load signal 13a from the load detection means 13 detects that the tension of the wire port 5 has stopped increasing.
  • the controller 11 first outputs a raising command signal 8b-2 for instructing the raising and lowering control valve 8a to raise the boom 3.
  • This raising command signal is limited to a signal for raising the boom 3 at a slow speed.
  • the boom 3 is raised at a very low speed by the raising command signal.
  • the wire rope 5 elongates along with the increase in the tension of the wire rope 5 during this time, and the boom tip 3b moves in the boom raising direction by an amount corresponding to the amount of elongation.
  • the tip 3b shifts to the side where the working radius decreases.
  • the “boom effective length decrease due to radius” is not zero, but the “boom effective length decrease due to radius” shifts the boom tip 3b to the side where the working radius decreases.
  • Such a shift of the boom tip portion 3b to the side where the working radius decreases is an obstacle to the vertical ground cutting of the load 12.
  • the controller 11 adjusts the output of the elevation command signal 8b-2 to the up-and-down control valve 8a, and instructs the winch control valve 10a to perform a winch winding operation.
  • the shift command signal 10b-2 is output to suppress the deviation.
  • the working radius of at least the boom tip 3b due to the elongation of the wire rope 5 is increased by the winding operation of the winch used in conjunction with the raising operation of the boom 3 in the second procedure.
  • the movement in the decreasing direction is suppressed.
  • the hoisting command signal 10b-2 output from the controller 11 to the winch control valve 10a is the same as that of the "third invention", “fourth invention”, “seventh invention”, and “eighth invention”. It is specifically specified.
  • the controller 11 stores data on the amount of elongation of the parameter value to be detected by the load detecting means 13 per unit length of the wire rope 5 in unit increments.
  • the increase in the load signal detected by the means 13 (from the detected load of the load detecting means 13 detected in the second procedure to the detected load of the load detecting means 13 at the end of the first procedure (same as when starting the second procedure) Is subtracted), and the wire rope pay-out length detected by the wire rope feed-out detecting means 15 is used to calculate the amount of extension of the wire rope 5.
  • the controller 11 When the controller 11 detects that the wire rope 5 has been stretched in this calculation, it outputs a winding command signal 10b-2 to the winch control valve 10a.
  • the hoisting command signal output here is for driving the winch 4 to hoist at a very low speed, but can follow at least the raising operation of the boom 3 performed in the second procedure.
  • the second procedure is continued until it is detected from the load signal 13a from the load detecting means 13 that the tension of the wire rope 5 has stopped increasing.
  • Wire rope tension is No longer means that the luggage 12 has been fully emptied (ie, the luggage 12 has left the stationary position and has been lifted into the air).
  • the raising instruction signal 8b-2 to the elevation control valve 8a stops and the boom 3 raises. Operation stops. This point is the completion of the second step.
  • the winding command signal 10b-2 output from the controller 11 to the winch control valve 10a is based on the amount of extension of the wire rope 5 caused by the raising operation (driving) of the boom 3 performed in the second procedure. Since the winch 4 is driven to wind up by the appropriate amount, in other words, it is output in connection with the increase in the tension of the wire rope 5 in the second step, it is linked to the stop of the raising operation of the boom 3 And stop.
  • the controller 11 calculates the amount of elongation of the wire rope 5 generated during the second procedure.
  • the controller 11 calculates the winding amount of the wire rope 5 necessary to eliminate the reduction in the working radius of the boom tip 3b due to the "boom effective length reduction due to the radius".
  • This winding drive amount can be calculated as a function of a constant determined for each boom working posture of the boom type crane and a load acting on the boom 3 (a detection value of the load detecting means 13).
  • the controller 11 stores constants necessary for this calculation as data, and the controller 11 uses the data related to the storage and the detection value from the load detection means 13 to perform the winding drive. Calculate the amount.
  • the controller 11 calculates the amount of elongation of the wire rope 5 according to the calculation and the decrease in the working radius of the boom tip 3b due to the "reduction of the effective length of the boom due to the radius".
  • the winding amount is added, and using the added value and the winding driving amount signal 16a from the winding driving amount detecting means 16, the winch 4 is wound up by an amount corresponding to the added value. Generates (calculates) the command signal 10b-2. The winch 4 is driven up.
  • the third procedure starts when the second procedure is completed, that is, when the signal from the load detection means 13 detects that the tension of the wire port 5 has stopped increasing, and the winch control valve 10a The corresponding winding command signal 10b-2 is output.
  • the luggage 12 lifted up in the air after leaving the stationary position can be continuously raised vertically by the hoist driving of the winch 4.
  • the second embodiment shown in FIG. 2 is composed of a fourth invention (claim 4), a fifth invention (claim 5), a ninth invention (claim 9) and a tenth invention.
  • the present invention relates to a specific configuration of the land separation command means 14 in "an invention" (claim 11).
  • the ground breaking command means 14 includes mode selection means 14a for selectively outputting a normal mode selection signal and a ground cutting mode selection signal for performing a normal crane operation, and a ground cutting execution signal. Is output.
  • the signals output from the mode selection means 14a and the ground separation execution instruction means 14b are input to the controller 11.
  • the controller 11 Under the condition that the controller 11 receives the partitioning mode selection signal from the mode selector 14a, when the controller 11 receives the partitioning execution signal from the partitioning execution instruction means 14b, the controller 11 performs the Judging that the command for ground breaking has been issued, the predetermined procedure (the first and second procedures for the “fourth invention” and “fifth invention”, and the first procedure for the “ninth invention” and “eleventh invention”
  • the third step is configured to be executed continuously.
  • the ground-cutting execution instruction means 14b includes an operation of raising and lowering the operating means 8b used during normal crane work toward the boom raising side, or an operation of the winch operating means 10b operating toward the winch winding side. Operation detection means (details omitted) that detects and outputs a ground-cut execution signal to the controller 11 is used. In this case, it is not necessary to provide a dedicated operation input unit (a dedicated operation lever or an operation button) in the ground separation execution instruction means 14b.
  • the ground cutting execution instruction means 14b in particular, the winch operating means 10b to the winch winding side. It consists of winding operation detection means (details omitted) that detects an operation and outputs a ground separation execution signal.
  • the “fifth invention” (Claim 5) and “Tenth invention” (Claim 10) configured as described above frequently use the start-up of the ground cutting device when moving the load 12 upward in normal crane work.
  • the operation can be performed in accordance with the hoisting operation of the winch 4, and the ground separation device can be operated without feeling uncomfortable.
  • the ground cutting execution instruction means 14b is provided with the winch of the winch operating means 10b. It is intended to be a winding operation detection means (details omitted) that detects an operation to the winding side and outputs a ground-cutting execution signal. Specifically, the raising command signal 8b-2 output to 8a and the winding command signal 10b-2 output to the winch control valve 10a are specifically limited.
  • the winding command signal 10b-2 output from the controller 11 to the winch control valve 10a in the first procedure and the second procedure during the ground-cutting operation is And the raising command signal 8b-2 output from the controller 11 to the raising / lowering control valve 8a in the second step is limited to the one that drives the boom 3 at a low speed.
  • the hoisting command signal 10b-2 output from the controller 11 to the winch control valve 10a is related to the amount of tilt operation of the winch operating means at that time, and the winch achieved during normal crane operation.
  • the controller 11 is configured to gradually increase the calorie up to the winding drive speed of 4.
  • the hoisting drive speed of the winch 4 which is limited to a low speed in the second step, is changed to the hoisting drive speed of the winch 4 achieved during normal crane work in the third step.
  • the change in the winch winding speed (increased speed) at the start of the ground-cutting operation before shifting to the normal crane work can be performed automatically and smoothly.
  • the ground-cutting execution means 14b of the land-cutting instruction means 14 is constituted by a winding operation detecting means for detecting a tilting operation of the lever operating means 10b toward the winch winding side. In this case, it is natural that the tilting operation of the winch operating means 10b toward the winch winding side is not used as a condition for interrupting the ground cutting process.
  • the boom crane is equipped with a safety device called a so-called moment limiter to prevent the boom crane from falling or breaking.
  • a safety device called a so-called moment limiter to prevent the boom crane from falling or breaking.
  • the safety device operates the boom 3 and the winch 4 in a direction to increase the moment (the boom 3 tilting operation, It outputs an automatic stop signal to automatically stop the extension operation of the boom and the winding operation of the winch 4.
  • the ground cutting device of the present invention uses the output of the automatic stop signal from the safety device as a condition for interrupting the ground cutting process.
  • FIG. 1 is an explanatory view of a first embodiment of a ground cutting device used for a boom type crane according to the present invention.
  • FIG. 2 is an explanatory view of a second embodiment of a ground cutting device used for a boom type crane according to the present invention.
  • FIG. 3 is an explanatory view of a boom type crane.
  • FIG. 4 is an explanatory view of a conventional land separation device.
  • [0128] 1 is a base, 2 is a turntable, 3 is a boom, 4 is a winch, 5 is a wire rope, 6 is a hook, 7 is a hydraulic motor for turning, 7a is a turning control valve, 7b is turning operation means, 7b — 1 is a swing operation signal, 7b-2 is a swing control valve switching command signal, 8 is an up-and-down hydraulic cylinder, 8a is an up and down control valve, 8b is an up and down operation means, 8b-l is an up and down operation signal, and 8b-2 is an up and down operation signal Switching command signal for up / down control valve No.
  • 9 is a hydraulic cylinder for telescopic
  • 9a is telescopic control valve
  • 9b is telescopic operating means
  • 9b-l is telescopic operating signal
  • 9b-2 is switching command signal of telescopic control valve
  • 10 is hydraulic motor for winch
  • 10a is Winch control valve
  • 10b is winch operating means
  • lOb-1 is winch operation signal
  • 10b-2 is winch control valve switching command signal
  • 11 is controller
  • 12 is luggage
  • 13 is load detection means
  • 13a is load signal
  • Numeral 14 denotes a ground breaking command means
  • 141 denotes a ground breaking command signal
  • 14a denotes a mode selecting means
  • 14b denotes a ground breaking execution instructing means
  • 15 denotes a wire rope feeding length detecting means
  • 16 denotes a winding drive amount detecting means.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
  • Jib Cranes (AREA)

Abstract

[PROBLEMES] Trouver un dispositif de décollement de grue à flèche pour soulever une charge tout en empêchant la charge de se balancer. [MOYENS POUR RESOUDRE LES PROBLEMES] Un contrôleur reçoit des signaux de détection provenant d’un moyen de commande de décollement (14), un moyen détecteur de charge (13), un moyen de détection de longueur de câble métallique déroulé (15), et le moyen de détection de degré d’entraînement d’enroulement (16) d’un treuil (4) et exécute les première et seconde procédures suivantes. Dans la première procédure, un signal de commande de levage est injecté dans une vanne de commande de treuil (10a) en réaction à un signal de commande de décollement provenant du moyen de commande de décollement (14). Dans la seconde procédure, un signal de commande de relevage est injecté dans une vanne de commande de relevage (8a) et un signal de commande de levage est injecté dans la vanne de commande de treuil (10a) au terme de la première procédure. Le signal de commande de levage permet d’entraîner l’enroulement du treuil (4) pour contrôler le mouvement de la partie extrémité avant d’une flèche soulevant une charge (12) à une position fixe par le biais d’un câble métallique (5) dans la direction de réduction du rapport de travail grâce à l’opération de relevage de la flèche effectuée lors de la seconde procédure.
PCT/JP2005/002319 2004-03-23 2005-02-16 Dispositif pour soulever une charge pour utilisation dans une grue à flèche WO2005090225A1 (fr)

Applications Claiming Priority (4)

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JP2004083922 2004-03-23
JP2004-083922 2004-03-23
JP2004256984A JP2005306602A (ja) 2004-03-23 2004-09-03 ブーム式クレーンに用いられる荷物の地切装置
JP2004-256984 2004-09-03

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WO2018123785A1 (fr) * 2016-12-27 2018-07-05 株式会社タダノ Grue
CN113382947A (zh) * 2019-02-14 2021-09-10 株式会社多田野 吊离地面判定装置、吊离地面控制装置、移动式起重机及吊离地面判定方法

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JP2016150833A (ja) * 2015-02-18 2016-08-22 株式会社タダノ クレーンのウインチモータ制御装置
DE102017125715A1 (de) * 2016-11-09 2018-05-09 Liebherr-Werk Biberach Gmbh Vorrichtung zur Kompensation von Schrägzug bei Kranen
JP2018087069A (ja) * 2016-11-29 2018-06-07 株式会社タダノ クレーン
JP6828650B2 (ja) * 2017-10-04 2021-02-10 株式会社タダノ クレーンの制御方法及びクレーン

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JPS62205993A (ja) * 1986-03-07 1987-09-10 株式会社小松製作所 クレ−ンのフツク位置検出装置
JPH0672696A (ja) * 1992-08-28 1994-03-15 Tadano Ltd 移動式クレ−ンにおける油圧駆動ウインチの制御装置
JPH0710469A (ja) * 1993-06-21 1995-01-13 Kobe Steel Ltd クレーンの鉛直地切り制御装置
JP2002362880A (ja) * 2001-06-11 2002-12-18 Tadano Ltd ブーム式クレーンを用いた荷物の地切り方法、および、装置

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JPS62205993A (ja) * 1986-03-07 1987-09-10 株式会社小松製作所 クレ−ンのフツク位置検出装置
JPH0672696A (ja) * 1992-08-28 1994-03-15 Tadano Ltd 移動式クレ−ンにおける油圧駆動ウインチの制御装置
JPH0710469A (ja) * 1993-06-21 1995-01-13 Kobe Steel Ltd クレーンの鉛直地切り制御装置
JP2002362880A (ja) * 2001-06-11 2002-12-18 Tadano Ltd ブーム式クレーンを用いた荷物の地切り方法、および、装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018123785A1 (fr) * 2016-12-27 2018-07-05 株式会社タダノ Grue
CN113382947A (zh) * 2019-02-14 2021-09-10 株式会社多田野 吊离地面判定装置、吊离地面控制装置、移动式起重机及吊离地面判定方法
CN113382947B (zh) * 2019-02-14 2023-09-05 株式会社多田野 吊离地面判定装置、吊离地面控制装置、移动式起重机及吊离地面判定方法

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