WO2014076935A1 - 作業機械の緩停止装置 - Google Patents
作業機械の緩停止装置 Download PDFInfo
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- WO2014076935A1 WO2014076935A1 PCT/JP2013/006637 JP2013006637W WO2014076935A1 WO 2014076935 A1 WO2014076935 A1 WO 2014076935A1 JP 2013006637 W JP2013006637 W JP 2013006637W WO 2014076935 A1 WO2014076935 A1 WO 2014076935A1
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- WIPO (PCT)
- Prior art keywords
- load
- boom
- slow stop
- swing width
- load swing
- Prior art date
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Classifications
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- 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
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
- B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
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- 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
- B66C23/64—Jibs
- B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
- B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
- B66C23/705—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic telescoped by hydraulic jacks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
- B66F11/044—Working platforms suspended from booms
- B66F11/046—Working platforms suspended from booms of the telescoping type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/006—Safety devices, e.g. for limiting or indicating lifting force for working platforms
Definitions
- the present invention relates to a slow stop device for a work machine. More specifically, the present invention relates to a slow stop device for a work machine for suppressing a load swing when stopping the operation of the work machine in a work machine having a boom such as an aerial work vehicle or a crane.
- Patent Document 2 discloses a technique for calculating the load swing period time in consideration of the bending of the boom, and braking and stopping the boom operation speed at the load swing period time with a constant acceleration. ing. According to this technique, when the operation of the boom is stopped, it is possible to suppress the load shaking including the bending of the boom.
- the amount of bending of the boom is proportional to the acceleration and mass (weight) of the load supported by the boom. More specifically, the bending of the boom can be approximated to the bending of the cantilever beam, and the bending amount ⁇ of the cantilever beam is expressed by the following equation (1).
- F is the force applied to the free end of the beam in the vertical direction
- l is the length of the beam
- E is the Young's modulus of the beam
- I is the moment of inertia of the cross section of the beam. That is, the deflection amount ⁇ is proportional to the force F applied to the beam.
- the boom acceleration increases and the load acceleration increases as the operation speed immediately before the sudden stop increases. Become. Therefore, the amount of bending of the boom is proportional to the operating speed immediately before the sudden stop. That is, when the boom operating speed is fast, the boom is greatly bent and the load swaying width is increased when the boom is suddenly stopped. On the other hand, when the operating speed of the boom is slow, even if the boom is stopped suddenly, the amount of bending of the boom is small and the width of the load swing is small. In contrast, the load swing cycle time does not depend on the boom operating speed.
- JP 2000-103596 A Japanese Patent Laid-Open No. 7-69584
- an object of the present invention is to provide a slow stop device for a work machine that can shorten a stop time while suppressing a swing of a load.
- a slow stop device for a work machine is a slow stop device provided in a work machine having a boom for supporting a load, an actuator that operates the work machine, and a control unit that controls driving of the actuator.
- An operation unit that instructs the control unit to operate the work machine, and the control unit receives the stop signal that instructs the operation unit to stop the operation of the work machine.
- the load swing prediction means predicts that the load swing width of the load exceeds an allowable value
- the first slow stop means stops the actuator
- the load swing prediction means allows the load swing width of the load to be allowed.
- switching means for stopping the actuator by the second slow stop means when it is predicted that the value will not be exceeded.
- the slow stop device for a work machine is the slow stop device for a work machine according to the first aspect, wherein the first slow stop means receives the stop signal for instructing the stop of the operation of the boom from the operation section.
- the load swing period of the load is calculated based on the posture and the weight of the load, and the actuator is braked and stopped over a half period of the load swing period.
- the work machine slow stop device according to the first aspect, wherein the work machine includes a hook that is suspended from the boom and hangs the load, and the first slow stop means is connected to the boom from the operation portion.
- the load swing period of the load is calculated based on the boom posture, the hook suspension distance, and the load weight.
- the actuator is braked and stopped over a half cycle time.
- the work machine slow stop device wherein the work machine includes a hook that is suspended from the boom and hangs the load, and the first slow stop means operates the hook from the operation portion.
- the load sway predicting means is configured to load the load based on a posture of the boom, an operating speed of the boom, and a weight of the load.
- a swing width is calculated, and when the load swing width exceeds a threshold value, it is determined that the load swing width of the load exceeds an allowable value.
- the load swing width does not exceed the threshold value, the load swing width of the load is allowable. It is determined that the value is not exceeded.
- a slow stop device for a work machine is the first or third aspect of the invention, wherein the work machine includes a hook that is suspended from the boom and hangs the load, and the load sway predicting means is the posture of the boom,
- the load swing width of the load is calculated based on the hook suspension distance, the boom operating speed, and the weight of the load, and the load swing width of the load is an allowable value when the load swing width exceeds a threshold value.
- the load swing width does not exceed a threshold value, it is determined that the load swing width of the load does not exceed an allowable value.
- the work machine includes a hook that is hung from the boom and hangs the load
- the load sway predicting means includes the posture of the boom
- the load swing width of the load is calculated based on the operating speed of the hook and the weight of the load, and when the load swing width exceeds a threshold, it is determined that the load swing width of the load exceeds an allowable value, When the load swing width does not exceed a threshold, it is determined that the load swing width of the load does not exceed an allowable value.
- a slow stop device for a work machine is the first, second, third or fourth aspect of the invention, further comprising a speed detector for detecting an operation speed of the work machine, wherein the load sway predicting means includes the speed When the detection result of the detector exceeds the threshold value, it is determined that the load swing width of the load exceeds the allowable value, and when the detection result of the speed detector does not exceed the threshold value, the load swing width of the load exceeds the allowable value. It is characterized by judging that it does not exceed.
- a slow stop device for a work machine is the first, second, third or fourth aspect of the present invention, further comprising a posture detector for detecting the posture of the boom, wherein the load sway predicting means is the posture detector.
- the detection result of the load exceeds the threshold, it is determined that the load swing width of the load exceeds the allowable value.
- the detection result of the attitude detector does not exceed the threshold value, the load swing width of the load does not exceed the allowable value. It is characterized by judging.
- a slow stop device for a work machine is the first, second, third or fourth aspect of the present invention, further comprising a weight detector for detecting the weight of the load, wherein the load sway predicting means is the weight detector.
- the detection result of the load exceeds the threshold, it is determined that the load swing width of the load exceeds the allowable value.
- the load swing width of the load does not exceed the allowable value. It is characterized by judging.
- the actuator is stopped by the first slow stop means when the load swing width is predicted to exceed the allowable value
- the load swing when the operation of the work machine is stopped can be suppressed.
- the actuator is stopped by the second slow stop means when it is predicted that the swing width does not exceed the allowable value
- the time required to stop the operation of the work machine can be shortened.
- the load sway width can be suppressed to an allowable range. Therefore, the stop time can be shortened while suppressing the swing of the load.
- the load swing period is calculated based on the posture of the boom and the weight of the load, so the load swing period can be accurately predicted and the load swing is sufficiently suppressed. it can.
- the load swing period is calculated based on the boom posture, the hook suspension distance, and the weight of the load. Predictable and can sufficiently suppress load swings.
- the load swing period is calculated based on the posture of the boom and the weight of the load, so the load swing period can be accurately predicted, and the load swing is sufficiently suppressed. it can.
- the load swing width is calculated based on the posture of the boom, the boom operating speed, and the weight of the load, and the allowable value is exceeded based on the load swing width.
- the load swing width is calculated on the basis of the posture of the boom, the hook suspension distance, the boom operating speed, and the weight of the load. Since it is predicted whether or not the allowable value is exceeded based on the swing width, the load swing can be accurately predicted, and the first slow stop means and the second slow stop means can be appropriately switched.
- the load swing width is calculated on the basis of the posture of the boom, the operation speed of the hook, and the weight of the load, and the allowable value is exceeded based on the load swing width.
- the eighth aspect of the invention it is predicted by comparing the detection result of the speed detector and the threshold value whether or not the load swaying width exceeds the allowable value. Therefore, the first slow stop means is operated according to the operating speed of the boom or hook. And the second slow stop means are switched. Therefore, it is possible for the worker to predict which slow stop means will stop the boom or hook, and the operability is improved.
- the detection result of the posture detector and the threshold value are compared to predict whether or not the load swing width exceeds the allowable value. Therefore, the first slow stop means and the second one depending on the posture of the boom. The slow stop means is switched.
- the worker to predict which slow stop means will stop the boom or hook, and the operability is improved.
- the tenth invention by comparing the detection result of the weight detector and the threshold value, it is predicted whether or not the load sway width exceeds the allowable value. The slow stop means is switched. Therefore, it is possible for the worker to predict which slow stop means will stop the boom or hook, and the operability is improved.
- FIG. 1 is a block diagram of a slow stop device according to a first embodiment of the present invention.
- A The figure is a graph which shows the time change of the operation amount of an operation part
- (b) The figure is a graph which shows the time change of the operating speed of a boom or a hook at the time of making it stop by a 1st slow stop means
- (C) is a graph which shows the time change of the operating speed of a boom or a hook at the time of making it stop by a 2nd slow stop means.
- It is a side view of an aerial work vehicle.
- It is a block diagram of the slow stop apparatus which concerns on 2nd Embodiment of this invention. It is a side view of a mobile crane.
- a slow stop device for a work machine according to the present invention is provided in any work machine having a boom that supports a load, such as an aerial work vehicle or a crane, and suppresses a load swing when stopping the operation of the work machine. Used for.
- a load such as an aerial work vehicle or a crane
- the case of an aerial work vehicle and a mobile crane will be described as an example.
- the slow stop device 1 is provided in an aerial work vehicle.
- reference numeral 110 denotes a vehicle
- a swivel base 120 is mounted behind the loading platform of the vehicle 110.
- the turning operation of the turntable 120 is performed by a turning motor.
- a multistage boom 130 is attached to the swivel base 120 so as to be raised and lowered.
- the boom 130 is extended and retracted by an extendable cylinder, and the hoisting action is performed by a hoisting cylinder.
- a bowl-shaped bucket 140 on which an operator can ride is provided at the tip of the boom 130.
- the bucket 140 is always kept horizontal regardless of the change in the undulation angle of the boom 130, and can be swiveled in a horizontal plane.
- the slow stop device 1 is used to suppress the swing of the bucket 140 when stopping the turning or undulation of the boom 130 of the aerial work vehicle 100.
- the “load” described in the claims means a bucket 140 provided at the tip of the boom 130 and a load such as an operator loaded on the bucket 140 (hereinafter, referred to as “load”).
- the weight of the load means the weight of the bucket 140 including the load (hereinafter simply referred to as “the weight of the bucket 140”)
- the load swing means the weight of the bucket 140. Means shaking.
- the slow stop device 1 includes an actuator 10 that operates an aerial work vehicle 100, a control unit 20 that controls driving of the actuator 10, and instructs the control unit 20 to operate the aerial work vehicle 100. And an attitude detector 40 that detects the attitude of the boom 130.
- the actuator 10 is a turning motor for turning the boom 130 or a hoisting cylinder for raising and lowering the boom 130.
- the control unit 20 is an in-vehicle computer configured with a CPU, a memory, and the like, and is means for controlling the driving of the actuator 10 in accordance with an instruction from the operation unit 30.
- the actuator 10 of the aerial work vehicle 100 is a hydraulic actuator, and includes a hydraulic circuit that supplies hydraulic oil to the hydraulic actuator.
- the control unit 20 controls the driving direction and the driving speed of the actuator 10 by switching the valves and the like constituting the hydraulic circuit and controlling the direction and flow rate of the hydraulic oil supplied to the actuator 10.
- the operation unit 30 is an operation lever, an operation pedal, a switch, or the like provided in the vehicle 110 or the bucket 140 of the aerial work vehicle 100.
- the control unit 20 controls the driving speed of the actuator 10 according to the operation amount of the operation unit 30 (such as the amount of tilting of the operation lever). Specifically, as the operation amount of the operation unit 30 is larger, the actuator 10 is controlled so that the driving speed becomes faster, and the turning speed or the raising / lowering speed of the boom 130 becomes faster. Further, as the operation amount of the operation unit 30 is smaller, the actuator 10 is controlled so that the driving speed becomes slower, and the turning speed or the undulation speed of the boom 130 becomes slower. Further, when the operation unit 30 is not operated (the operation amount is 0), a stop signal instructing to stop the operation of the boom 130 is input from the operation unit 30 to the control unit 20.
- the posture detector 40 includes various sensors that measure the turning angle, the undulation angle, and the extension / contraction length of the boom 130.
- the detection result of the attitude detector 40 is input to the control unit 20.
- the control unit 20 includes a first slow stop means 21, a second slow stop means 22, a load sway predicting means 23, and a switching means 24, which cooperate to stop the driving actuator 10. It is configured as follows.
- the first slow stop means 21, the second slow stop means 22, the load sway predicting means 23, and the switching means 24 are realized by the control unit 20 executing a program.
- the control unit 20 has a function of driving the actuator 10 in accordance with the operation amount of the operation unit 30 in addition to the function of stopping the actuator 10, but means for realizing this function is omitted in FIG.
- the first slow stop means 21 stops the actuator 10 by the following slow stop method when a stop signal instructing the stop of the operation of the boom 130 is input from the operation unit 30.
- the first slow stop means 21 loads the load period T of the bucket 140 based on the detection result of the attitude detector 40 and the weight of the bucket 140 stored in advance. Is calculated.
- the load swing period T is a period of natural vibration of the bucket 140 that occurs when the operation of the boom 130 is suddenly stopped. It is known that the load swing period T of the bucket 140 is uniquely determined by the posture of the boom 130 (the undulation angle and the extension / contraction length) and the weight of the bucket 140.
- the first slow stop means 21 stores in advance information such as its own weight, structure and rigidity of the boom 130, and based on the information, the detection result of the attitude detector 40 (the attitude of the boom 130), and the weight of the bucket 140. It is configured to dynamically calculate the load swing period T. Further, a load swinging period T for each posture of the boom 130 is obtained in a test in advance, and is stored in the first slow stop means 21. The first slow stop means 21 stores the load for each stored posture of the boom 130. You may comprise so that the load fluctuation period T corresponding to the detection result of the attitude
- a weight detector that detects the weight of the bucket 140 may be provided, and the load swing period T may be calculated based on the detection results of the posture detector 40 and the weight detector.
- the weight of the bucket 140 itself is constant, and the weight of the load such as an operator does not fluctuate greatly. Therefore, even if the weight of the bucket 140 is a fixed value as in this embodiment, the error of the calculated load swing period T is small.
- the second slow stop means 22 stops the actuator 10 by the following slow stop method when a stop signal is input from the operation unit 30.
- the second slow stop means 22 When the stop signal is input from the operation unit 30, the second slow stop means 22 outputs a control signal so as to brake and stop the actuator 10 over a previously stored time T2. More specifically, as shown in FIG. 2, when the operation amount of the operation unit 30 is changed from p to 0 (non-operation state) at time t (FIG. 2A), the second slow stop means 22 is The actuator 10 is braked so that the operating speed of the boom 130 becomes zero when the time T2 elapses from the time t (FIG. 2C).
- the time T2 is set to a time shorter than the time T1 of a half cycle of the load swinging period T. For this reason, when the actuator 10 is stopped by the second slow stop means 22, the load is swayed by a time shorter than the time T1.
- the value of time T2 is determined in advance by a test. Specifically, for each posture of the boom 130, a time required to stop the vehicle so that the swing width is within a predetermined range is obtained, and this is set as a time T2.
- the “load swing width” means the amplitude of the load swing.
- the second slow stop means 22 calls the time T2 corresponding to the detection result of the posture detector 40 from the stored time T2 for each posture of the boom 130, and stops the actuator 10 over the time T2. Output a control signal.
- the time T2 may be set as a constant value regardless of the posture of the boom 130.
- the detection result of the posture detector 40 is not input to the second slow stop means 22.
- the second slow stop means 22 outputs a control signal so as to stop the actuator 10 over a previously stored time T2, regardless of the posture of the boom 130.
- the load swing prediction means 23 is the load swing width when the operation of the boom 130 is suddenly stopped based on the operation amount of the operation unit 30, the detection result of the attitude detector 40, and the weight of the bucket 140 stored in advance. Predict whether or not will exceed the tolerance.
- the load sway predicting means 23 performs prediction by the following method.
- the load swing prediction means 23 calculates the load swing width A of the bucket 140 based on the operation amount of the operation unit 30, the detection result of the posture detector 40, and the weight of the bucket 140. It is known that the load swing width A of the bucket 140 is determined by the posture of the boom 130 (the undulation angle and the expansion / contraction length), the operating speed of the boom 130, and the weight of the bucket 140 (including the weight of the load). .
- the operating speed of the boom 130 is acquired from the operation amount of the operation unit 30. Specifically, as illustrated in FIG. 2A, the operation amount p immediately before the operation amount of the operation unit 30 becomes 0 is set as the operating speed of the boom 130. That is, in the present embodiment, the operation unit 30 also serves as a speed detector that detects the operating speed of the boom 130. Note that the operating speed of the boom 130 may be calculated from the time change of the detection result of the posture detector 40 (the posture of the boom 130). In addition to the operation unit 30, a speed detector that detects the operating speed of the boom 130 may be provided.
- the “speed detector” described in the claims is not limited to means for directly detecting the operating speed of the boom 130, and the operation of the boom 130, such as the operation unit 30 and the attitude detector 40. It is a concept including means for indirectly detecting the speed.
- the load sway predicting means 23 stores information such as the structure and rigidity of the boom 130 in advance, the information, the operation amount of the operation unit 30 (the operating speed of the boom 130), and the detection result (the boom of the boom 130). 130 posture) and the weight of the bucket 140 are configured to dynamically calculate the load swing width A. Also, the load swing width A for each posture and operation speed of the boom 130 is obtained in a test in advance and stored in the load swing prediction means 23.
- the load swing prediction means 23 stores the posture and operation of the stored boom 130. You may comprise so that the load swing width A corresponding to the operation amount of the operation part 30 and the detection result of the attitude
- the load swing prediction means 23 determines that the load swing width A exceeds the allowable value when the calculated load swing width A exceeds a prestored threshold value, and the calculated load swing width A does not exceed the threshold value. In this case, it is determined that the load swing width A does not exceed the allowable value.
- the threshold value is determined in advance as the maximum allowable swing width A. For example, it is determined as the maximum value of the load swing width A that is not uncomfortable for a worker on the bucket 140.
- the switching means 24 receives the control signals output from the first slow stop means 21 and the second slow stop means 22, respectively, and selects one of these control signals and outputs it to the actuator 10.
- the switching unit 24 is connected to the load fluctuation prediction unit 23, and outputs a control signal of the first slow stop unit 21 to the actuator 10 when the load fluctuation prediction unit 23 predicts that the load fluctuation width A exceeds an allowable value. Then, the actuator 10 is stopped by the first slow stop means 21. Further, when the load swing prediction means 23 predicts that the load swing width A does not exceed the allowable value, the control signal of the second slow stop means 22 is output to the actuator 10 and the actuator 10 is stopped by the second slow stop means 22. Let
- the first The slow stop means 21 outputs a control signal so as to stop the actuator 10 over a half period T1 of the load swing period T (FIG. 2B).
- the second slow stop means 22 outputs a control signal so as to stop the actuator 10 over a time T2 shorter than the time T1 (FIG. 2 (c)).
- the load swing prediction means 23 predicts whether the load swing width A exceeds an allowable value based on the operation amount p immediately before the operation unit 30, the detection result of the posture detector 40, and the weight of the bucket 140. To do.
- the load swing prediction means 23 predicts that the load swing width A exceeds an allowable value.
- the switching means 24 outputs the control signal of the first slow stop means 21 to the actuator 10, and the actuator 10 is stopped by the first slow stop means 21. Therefore, it is possible to suppress the load swing when the operation of the boom 130 is stopped.
- the load swing prediction means 23 predicts that the load swing width A does not exceed the allowable value.
- the switching unit 24 outputs the control signal of the second slow stop unit 22 to the actuator 10 and stops the actuator 10 by the second slow stop unit 22. Therefore, the time required for stopping the operation of the boom 130 can be shortened.
- the load swing width A is predicted not to exceed the allowable value, even if the actuator 10 is stopped by the second slow stop means 22, the load swing width A can be suppressed to an allowable range. As described above, according to the slow stop device 1, the stop time can be shortened while suppressing the shaking of the load.
- the load sway predicting unit 23 when the operation of the boom 130 is stopped, the load sway predicting unit 23 according to the present embodiment operates the operation amount of the operation unit 30 (the operation speed of the boom 130), and the detection result of the attitude detector 40 (the attitude of the boom 130). , And the load swing width A is predicted based on the weight of the bucket 140, and based on the load swing width A, it is predicted whether or not the allowable value is exceeded, so the load swing can be accurately predicted. Therefore, the switching between the first slow stop means 21 and the second slow stop means 22 can be performed appropriately, and the stop time can be shortened while reliably suppressing load fluctuation.
- the slow stop device 2 is provided in a mobile crane.
- reference numeral 210 denotes a traveling vehicle body, and a swivel base 220 is mounted on the upper surface of the traveling vehicle body 210.
- the turning operation of the turntable 220 is performed by a turning motor.
- a multistage boom 230 is attached to the swivel base 220 so as to be raised and lowered.
- the expansion / contraction operation of the boom 230 is performed by the expansion / contraction cylinder, and the undulation operation is performed by the undulation cylinder.
- a wire rope 241 provided with a hook 240 is suspended from the tip of the boom 230, and the wire rope 241 is guided to the root of the boom 230 and wound around a winch.
- the hook 240 can be moved up and down by rotating the winch and winding and unwinding the wire rope 241.
- a suspended load 250 can be hung on the hook 240.
- the slow stop device 2 is used to suppress the swing of the suspended load 250 when stopping the turning, undulation, or expansion / contraction of the boom 230 of the mobile crane 200.
- the “load” described in the claims means the suspended load 250 suspended from the hook 240
- the “weight” means the weight of the hook 240 and the weight of the suspended load 250. (Hereinafter, simply referred to as “the weight of the suspended load 250”)
- “sway of the load” means the swing of the suspended load 250.
- the slow stop device 2 has a configuration in which a weight detector 50 that detects the weight of the suspended load 250 is added to the slow stop device 1 according to the first embodiment.
- the actuator 10 is a turning motor for turning the boom 230, a hoisting cylinder for raising and lowering the boom 230, or an extension cylinder for extending and retracting the boom 230.
- the operation unit 30 is an operation lever, an operation pedal, a switch, or the like provided in the driver's seat of the mobile crane 200.
- the control unit 20 controls the driving speed of the actuator 10 according to the operation amount of the operation unit 30 (such as the amount of tilting of the operation lever).
- the operation amount is 0
- a stop signal instructing to stop the operation of the boom 230 is input from the operation unit 30 to the control unit 20.
- the posture detector 40 measures various turning angles, undulation angles, telescopic lengths of the boom 230, and distances from the tip of the boom 230 to the suspended load 250 (hereinafter referred to as “hanging distance of the hook 240”). It consists of sensors. The detection result of the attitude detector 40 is input to the control unit 20.
- the weight detector 50 includes various sensors that measure the weight of the suspended load 250. The detection result of the weight detector 50 is input to the control unit 20.
- the control unit 20 includes a first slow stop means 21, a second slow stop means 22, a load sway predicting means 23, and a switching means 24, which cooperate to stop the driving actuator 10. It is configured as follows.
- the first slow stop means 21 stops the actuator 10 by the following slow stop method when a stop signal instructing the stop of the operation of the boom 230 is input from the operation unit 30.
- the first slow stop means 21 calculates the load swing period T of the suspended load 250 based on the detection results of the posture detector 40 and the weight detector 50.
- the load swing period T is a period of natural vibration of the suspended load 250 generated when the operation of the boom 230 is suddenly stopped. It is known that the load cycle T of the suspended load 250 is uniquely determined by the posture of the boom 230 (the undulation angle and the length of expansion / contraction), the hanging distance of the hook 240, and the weight of the suspended load 250.
- the first slow stop means 21 stores in advance information such as the weight, structure, and rigidity of the boom 230, and the information and the detection results of the posture detector 40 and the weight detector 50 (the posture of the boom 230, the hook 240).
- the load swing period T is dynamically calculated from the suspension distance and the weight of the suspended load 250). Also, the posture of the boom 230, the hanging distance of the hook 240, and the load swinging period T for each weight of the suspended load 250 are obtained by a test and stored in the first slow stop means 21 to obtain the first slow stop.
- the stopping means 21 corresponds to the detection results of the attitude detector 40 and the weight detector 50 from the stored attitude of the boom 230, the hanging distance of the hook 240, and the load swing period T for each weight of the suspended load 250. It may be configured to call the load swing period T.
- the second slow stop means 22 stops the actuator 10 by the same slow stop method as the second slow stop means 22 of the first embodiment when a stop signal is input from the operation unit 30.
- time T2 is set to a time shorter than the time T1 of a half cycle of the load swinging period T. For this reason, when the actuator 10 is stopped by the second slow stop means 22, the load is swayed by a time shorter than the time T1.
- the value of time T2 is determined in advance by a test. Specifically, for each posture of the boom 130, the hanging distance of the hook 240, and the weight of the suspended load 250, the time required for stopping so that the swing width of the load falls within a predetermined range is obtained, and this is defined as time T2. .
- the second slow stop means 22 uses the stored posture of the boom 130, the suspension distance of the hook 240, and the time T2 for each weight of the suspended load 250 as the detection result of the posture detector 40 and the weight detector 50.
- the corresponding time T2 is called, and a control signal is output so as to stop the actuator 10 over the time T2.
- the time T2 may be determined as a constant value regardless of the posture of the boom 130, the hanging distance of the hook 240, and the weight of the suspended load 250.
- the detection results of the posture detector 40 and the weight detector 50 are not input to the second slow stop means 22.
- the second slow stop means 22 outputs a control signal so as to stop the actuator 10 over a pre-stored time T2, regardless of the posture of the boom 130, the hanging distance of the hook 240, and the weight of the suspended load 250. To do.
- the load swing prediction unit 23 Based on the operation amount of the operation unit 30 and the detection results of the posture detector 40 and the weight detector 50, the load swing prediction means 23 has a load swing width exceeding an allowable value when the operation of the boom 230 is suddenly stopped. Predict whether or not.
- the load sway predicting means 23 performs prediction by the following method.
- the load swing prediction means 23 calculates the load swing width A of the suspended load 250 based on the operation amount of the operation unit 30 and the detection results of the posture detector 40 and the weight detector 50. It is known that the swing width A of the suspended load 250 is determined by the posture of the boom 230 (the undulation angle and the extension / contraction length), the hanging distance of the hook 240, the operating speed of the boom 230, and the weight of the suspended load 250. Yes.
- the operating speed of the boom 230 is acquired from the operation amount of the operation unit 30.
- the operating speed of the boom 230 may be calculated from the time change of the detection result of the posture detector 40 (the posture of the boom 230).
- a speed detector that detects the operating speed of the boom 230 may be provided.
- the load sway predicting means 23 stores in advance information such as the structure and rigidity of the boom 230, the information, the operation amount of the operation unit 30 (operation speed of the boom 230), the attitude detector 40 and the weight detector.
- the load swing width A is dynamically calculated from the 50 detection results (the posture of the boom 230, the hanging distance of the hook 240, and the weight of the suspended load 250). Further, the posture of the boom 230, the hanging distance of the hook 240, the operating speed of the boom 230, and the load swing width A for each weight of the suspended load 250 are obtained by a test, and are stored in the load swing prediction means 23.
- the load swing prediction means 23 operates the operation unit 30 from the stored posture of the boom 230, the hanging distance of the hook 240, the operating speed of the boom 230, and the load swing width A for each weight of the suspended load 250. You may comprise so that the amount and the load swing width A corresponding to the detection result of the attitude
- the load swing prediction means 23 determines that the load swing width A exceeds the allowable value when the calculated load swing width A exceeds a prestored threshold value, and the calculated load swing width A does not exceed the threshold value. In this case, it is determined that the load swing width A does not exceed the allowable value.
- the threshold value is determined in advance as the maximum allowable swing width A.
- the load swing of the suspended load 250 is determined as the maximum value of the load swing width A that can ensure safety.
- the switching means 24 outputs a control signal of the first slow stop means 21 to the actuator 10 when the load swing prediction means 23 predicts that the load swing width A exceeds an allowable value, and the first slow stop means 21 causes the actuator 10 to Stop. Further, when the load swing prediction means 23 predicts that the load swing width A does not exceed the allowable value, the control signal of the second slow stop means 22 is output to the actuator 10 and the actuator 10 is stopped by the second slow stop means 22.
- the first The slow stop means 21 outputs a control signal so as to stop the actuator 10 over a half period T1 of the load swing period T (FIG. 2B).
- the second slow stop means 22 outputs a control signal so as to stop the actuator 10 over a time T2 shorter than the time T1 (FIG. 2 (c)).
- the load swing prediction means 23 predicts whether the load swing width A exceeds the allowable value based on the operation amount p immediately before the operation unit 30 and the detection results of the posture detector 40 and the weight detector 50. To do.
- the switching means 24 outputs the control signal of the first slow stop means 21 to the actuator 10, and the actuator 10 is stopped by the first slow stop means 21. Therefore, it is possible to suppress the load swing when the operation of the boom 230 is stopped.
- the load sway predicting means 23 It is predicted that the load swing width A does not exceed the allowable value.
- the switching unit 24 outputs the control signal of the second slow stop unit 22 to the actuator 10 and stops the actuator 10 by the second slow stop unit 22. Therefore, the time required for stopping the operation of the boom 230 can be shortened.
- the load swing width A is predicted not to exceed the allowable value, even if the actuator 10 is stopped by the second slow stop means 22, the load swing width A can be suppressed to an allowable range. As described above, according to the slow stop device 2, the stop time can be shortened while suppressing the shaking of the load.
- the load sway predicting means 23 of the present embodiment operates the operation amount of the operation unit 30 (operation speed of the boom 230), the detection result of the attitude detector 40 (boom 230, the suspension distance of the hook 240), and the weight of the suspended load 250, the load swing width A is predicted, and based on the load swing width A, it is predicted whether or not the allowable value is exceeded. Predicts shaking accurately. Therefore, the switching between the first slow stop means 21 and the second slow stop means 22 can be performed appropriately, and the stop time can be shortened while reliably suppressing load fluctuation.
- a slow stop device 3 according to a third embodiment of the present invention will be described.
- the load swings when stopping the lifting / lowering of the hook 240. More specifically, when the hook 240 is raised and lowered, and the raising and lowering is suddenly stopped, the boom 230 is bent by the inertial force of the hanging load 250, and the hanging load 250 is shaken in the vertical direction by the bending.
- the slow stop device 3 according to the present embodiment is used to suppress the swing of the suspended load 250 when stopping the lifting and lowering of the hook 240 of the mobile crane 200.
- the configuration of the slow stop device 3 is the same as the configuration of the slow stop device 2 according to the second embodiment (see FIG. 4).
- the actuator 10 is a winch that moves the hook 240 up and down.
- the operation unit 30 is an operation lever, an operation pedal, a switch, or the like provided in the driver's seat of the mobile crane 200.
- the control unit 20 controls the driving speed of the actuator 10 according to the operation amount of the operation unit 30 (such as the amount of tilting of the operation lever).
- the operation amount is 0
- a stop signal instructing to stop the operation of the hook 240 is input from the operation unit 30 to the control unit 20.
- the first slow stop means 21 stops the actuator 10 by the following slow stop method when a stop signal instructing the stop of the operation of the hook 240 is input from the operation unit 30.
- the first slow stop means 21 calculates the load swing period T of the suspended load 250 based on the detection results of the posture detector 40 and the weight detector 50.
- the load swing period T is a period of natural vibration of the suspended load 250 generated when the operation of the hook 240 is suddenly stopped. It is known that the load swing period T of the suspended load 250 is uniquely determined by the posture of the boom 230 (the undulation angle and the length of expansion / contraction) and the weight of the suspended load 250.
- the first slow stop means 21 is configured to dynamically calculate the load swing period T or is configured to call a previously stored load swing period T.
- the second slow stop means 22 stops the actuator 10 by the same slow stop method as the second slow stop means 22 of the first embodiment when a stop signal is input from the operation unit 30.
- time T2 is set to a time shorter than the time T1 of a half cycle of the load swinging period T. For this reason, when the actuator 10 is stopped by the second slow stop means 22, the load is swayed by a time shorter than the time T1.
- the value of time T2 is determined in advance by a test. Specifically, for each posture of the boom 130 and the weight of the suspended load 250, a time required to stop the vehicle so that the swing width is within a predetermined range is obtained, and is set as a time T2.
- the second slow stop means 22 calls the time T2 corresponding to the detection result of the posture detector 40 and the weight detector 50 from the stored posture of the boom 130 and the time T2 for each weight of the suspended load 250, A control signal is output so as to stop the actuator 10 over the time T2.
- the time T2 may be set as a constant value regardless of the posture of the boom 130 and the weight of the suspended load 250.
- the detection results of the posture detector 40 and the weight detector 50 are not input to the second slow stop means 22.
- the second slow stop means 22 outputs a control signal so as to stop the actuator 10 over a previously stored time T2, regardless of the posture of the boom 130 and the weight of the suspended load 250.
- the load swing prediction unit 23 Based on the operation amount of the operation unit 30 and the detection results of the posture detector 40 and the weight detector 50, the load swing prediction means 23 has a load swing width exceeding an allowable value when the operation of the hook 240 is suddenly stopped. Predict whether or not.
- the load sway predicting means 23 performs prediction by the following method.
- the load swing prediction means 23 calculates the load swing width A of the suspended load 250 based on the operation amount of the operation unit 30 and the detection results of the posture detector 40 and the weight detector 50. It is known that the swing width A of the suspended load 250 is determined by the posture of the boom 230 (the undulation angle and the length of expansion / contraction), the operating speed of the boom 230, and the weight of the suspended load 250.
- the load sway predicting means 23 is configured to dynamically calculate the load sway width A or to call a pre-stored load sway width A.
- the operating speed of the hook 240 is obtained from the operation amount of the operation unit 30.
- the operating speed of the hook 240 may be calculated from the time change of the detection result of the posture detector 40 (the hanging distance of the hook 240).
- a speed detector that detects the operating speed of the hook 240 may be provided.
- the load swing prediction means 23 determines that the load swing width A exceeds the allowable value when the calculated load swing width A exceeds a prestored threshold value, and the calculated load swing width A does not exceed the threshold value. In this case, it is determined that the load swing width A does not exceed the allowable value.
- the switching means 24 outputs a control signal of the first slow stop means 21 to the actuator 10 when the load swing prediction means 23 predicts that the load swing width A exceeds an allowable value, and the first slow stop means 21 causes the actuator 10 to Stop. Further, when the load swing prediction means 23 predicts that the load swing width A does not exceed the allowable value, the control signal of the second slow stop means 22 is output to the actuator 10 and the actuator 10 is stopped by the second slow stop means 22.
- the first The slow stop means 21 outputs a control signal so as to stop the actuator 10 over a half period T1 of the load swing period T (FIG. 2B).
- the second slow stop means 22 outputs a control signal so as to stop the actuator 10 over a time T2 shorter than the time T1 (FIG. 2 (c)).
- the load swing prediction means 23 predicts whether the load swing width A exceeds the allowable value based on the operation amount p immediately before the operation unit 30 and the detection results of the posture detector 40 and the weight detector 50. To do.
- the load swing prediction means 23 predicts that the load swing width A exceeds the allowable value.
- the switching means 24 outputs the control signal of the first slow stop means 21 to the actuator 10, and the actuator 10 is stopped by the first slow stop means 21. Therefore, it is possible to suppress the load swing when the operation of the boom 230 is stopped.
- the switching unit 24 outputs the control signal of the second slow stop unit 22 to the actuator 10 and stops the actuator 10 by the second slow stop unit 22. Therefore, the time required for stopping the operation of the boom 230 can be shortened. Moreover, since the load swing width A is predicted not to exceed the allowable value, even if the actuator 10 is stopped by the second slow stop means 22, the load swing width A can be suppressed to an allowable range. As described above, according to the slow stop device 3, the stop time can be shortened while suppressing the shaking of the load.
- the load sway predicting means 23 of the present embodiment when the operation of the hook 240 is stopped, the load sway predicting means 23 of the present embodiment, the operation amount of the operation unit 30 (operation speed of the hook 240), the detection result of the posture detector 40 (the posture of the boom 230). Since the load swing width A is predicted based on the weight of the suspended load 250 and whether or not the allowable value is exceeded based on the load swing width A, the load swing can be accurately predicted. Therefore, the switching between the first slow stop means 21 and the second slow stop means 22 can be performed appropriately, and the stop time can be shortened while reliably suppressing load fluctuation.
- a slow stop device 4 according to a fourth embodiment of the present invention will be described.
- the slow stop device 4 according to this embodiment is different from the above embodiment in the prediction method of the load sway prediction means 23. Since the rest of the configuration is the same as that of the slow stop devices 1, 2, and 3 according to the first, second, or third embodiment, the description thereof is omitted.
- the load swing prediction means 23 of the present embodiment determines that the load swing width A exceeds the allowable value when the operation amount p immediately before the operation unit 30 (the operating speed of the booms 130, 230 or the hook 240) exceeds a threshold value.
- the threshold value is determined in advance for each posture of the booms 130 and 230, a suspension distance of the hook 240 (when the boom 230 having the hook 240 is stopped), and a weight of the load (bucket 140 or suspension load 250).
- the load sway predicting means 23 selects from the stored postures of the booms 130 and 230, the hanging distance of the hook 240 (when the boom 230 having the hook 240 is stopped), and the threshold values for the weights of the loads 140 and 250. Then, a threshold value corresponding to the detection results of the posture detector 40 and the weight detector 50 is called, and the threshold value is compared with the operation amount p immediately before the operation unit 30 to determine whether the load swing width A exceeds the allowable value. Judging.
- the threshold value may be determined for each weight of the luggage 140, 250 regardless of the posture of the booms 130, 230 and the hanging distance of the hooks 240.
- the detection result of the attitude detector 40 is not input to the load sway prediction means 23.
- the load sway predicting means 23 calls out the threshold corresponding to the detection result of the weight detector 50 from the stored thresholds for the respective weights of the loads 140 and 250, and obtains the threshold and the operation amount p immediately before the operation unit 30. In comparison, it is determined whether or not the load swing width A exceeds an allowable value.
- the threshold value may be determined for each posture of the booms 130 and 230 and the hanging distance of the hook 240 (when the boom 230 having the hook 240 is stopped) regardless of the weight of the luggage 140 and 250.
- the detection result of the weight detector 50 is not input to the load fluctuation prediction means 23.
- the load sway predicting means 23 uses the stored posture of the booms 130 and 230 and the threshold value for each hanging distance of the hook 240 (when the boom 230 having the hook 240 is stopped) as the detection result of the posture detector 40.
- the corresponding threshold value is called and the threshold value is compared with the operation amount p immediately before the operation unit 30 to determine whether or not the load swing width A exceeds the allowable value.
- the threshold value may be determined as a constant value regardless of the posture of the booms 130 and 230, the hanging distance of the hook 240, and the weight of the loads 140 and 250.
- the detection results of the posture detector 40 and the weight detector 50 are not input to the load fluctuation prediction means 23.
- the load sway predicting means 23 compares the threshold value stored in advance with the operation amount p immediately before the operation unit 30 regardless of the posture of the booms 130 and 230, the hanging distance of the hook 240, and the weight of the loads 140 and 250. Then, it is determined whether or not the load swing width A exceeds an allowable value.
- the first operation speed of the booms 130 and 230 is determined.
- the slow stop means 21 and the second slow stop means 22 are switched. Therefore, it is possible for the worker to predict which of the slow stop means 21 and 22 will stop the booms 130 and 230, and the operability is improved.
- the detection result of the speed detector that detects the operating speed of the booms 130 and 230 or the hook 240 may be used instead of the operation amount p immediately before the operation unit 30.
- the operating speed of the boom 230 or the hook 240 may be calculated from the time change of the detection result of the posture detector 40 (the posture of the boom 230 or the hanging distance of the hook 240).
- the load sway predicting means 23 may be configured as follows.
- the load swing prediction means 23 determines that the load swing width A exceeds the allowable value when the detection result of the posture detector 40 exceeds the threshold, and the load swing width when the detection result of the posture detector 40 does not exceed the threshold. Judge that A does not exceed the allowable value.
- the threshold value is predetermined for each operating speed of the booms 130 and 230 or the hooks 240 and the weight of the loads 140 and 250.
- the load sway predicting means 23 selects the operation amount p (boom 130, 230 or just before the operation unit 30) from the stored operating speed of the boom 130, 230 or hook 240 and the threshold value for each weight of the load 140, 250.
- the threshold corresponding to the detection speed of the hook 240 and the detection result of the weight detector 50 is called, and the threshold and the detection result of the attitude detector 40 are compared to determine whether the load swing width A exceeds the allowable value. to decide.
- the threshold value may be determined for each weight of the luggage 140, 250 regardless of the operating speed of the booms 130, 230 or the hooks 240.
- the operation amount of the operation unit 30 is not input to the load fluctuation prediction unit 23.
- the load swing prediction means 23 calls a threshold value corresponding to the detection result of the weight detector 50 from the stored threshold values for the weights of the loads 140 and 250, and compares the threshold value with the detection result of the attitude detector 40. Thus, it is determined whether or not the load swing width A exceeds an allowable value.
- the threshold value may be determined for each operating speed of the booms 130 and 230 or the hook 240 regardless of the weight of the luggage 140 and 250.
- the detection result of the weight detector 50 is not input to the load fluctuation prediction means 23.
- the load swing prediction means 23 corresponds to the operation amount p immediately before the operation unit 30 (the operation speed of the boom 130, 230 or the hook 240) from the stored threshold values for each operation speed of the boom 130, 230 or the hook 240.
- the threshold value is called and the threshold value is compared with the detection result of the attitude detector 40 to determine whether or not the load swing width A exceeds an allowable value.
- the threshold value may be set as a constant value regardless of the operating speed of the boom 130, 230 or the hook 240 and the weight of the load 140, 250.
- the operation amount of the operation unit 30 and the detection result of the weight detector 50 are not input to the load fluctuation prediction unit 23.
- the load swing prediction means 23 compares the threshold value stored in advance with the detection result of the attitude detector 40 regardless of the operating speed of the boom 130, 230 or the hook 240 and the weight of the load 140, 250, and the load swing width. Determine whether A exceeds the tolerance.
- the first slow stop means according to the posture of the booms 130 and 230. 21 and the second slow stop means 22 are switched. Therefore, it is possible for the worker to predict which of the slow stop means 21 and 22 will stop the booms 130 and 230 or the hook 240, and the operability is improved.
- the load sway predicting means 23 may be configured as follows.
- the load fluctuation prediction means 23 determines that the load fluctuation width A exceeds the allowable value when the detection result of the weight detector 50 exceeds the threshold value, and the load fluctuation width when the detection result of the weight detector 50 does not exceed the threshold value. Judge that A does not exceed the allowable value.
- the threshold is determined in advance for each posture of the booms 130 and 230, a hanging distance of the hook 240 (when the boom 230 having the hook 240 is stopped), and an operating speed of the boom 130, 230 or the hook 240.
- the load sway predicting means 23 stores the stored attitudes of the booms 130 and 230, the suspension distance of the hook 240 (when the boom 230 having the hook 240 is stopped), and the operating speed of the boom 130, 230 or the hook 240.
- the threshold value corresponding to the detection result of the posture detector 40 and the operation amount p immediately before the operation unit 30 (the operating speed of the boom 130, 230 or the hook 240) is called out from the threshold value, and the threshold value and the weight detector 50 are detected. By comparing with the result, it is determined whether or not the load swing width A exceeds an allowable value.
- the threshold value may be determined for each operating speed of the booms 130 and 230 or the hook 240 regardless of the posture of the booms 130 and 230 and the hanging distance of the hooks 240.
- the detection result of the attitude detector 40 is not input to the load sway prediction means 23.
- the load swing prediction means 23 corresponds to the operation amount p immediately before the operation unit 30 (the operation speed of the boom 130, 230 or the hook 240) from the stored threshold values for each operation speed of the boom 130, 230 or the hook 240.
- the threshold value is called, and the threshold value is compared with the detection result of the weight detector 50 to determine whether or not the load swing width A exceeds an allowable value.
- the threshold value may be determined for each posture of the booms 130 and 230 and the hanging distance of the hooks 240 (when the boom 230 having the hooks 240 is stopped) regardless of the operating speed of the booms 130 and 230 or the hooks 240. .
- the operation amount of the operation unit 30 is not input to the load fluctuation prediction unit 23.
- the load sway predicting means 23 uses the stored posture of the booms 130 and 230 and the threshold value for each hanging distance of the hook 240 (when the boom 230 having the hook 240 is stopped) as the detection result of the posture detector 40. A corresponding threshold value is called, and the threshold value is compared with the detection result of the weight detector 50 to determine whether or not the load swing width A exceeds an allowable value.
- the threshold value may be determined as a constant value regardless of the posture of the booms 130 and 230, the hanging distance of the hook 240, and the operating speed of the booms 130, 230, or the hook 240.
- the detection result of the posture detector 40 and the operation amount of the operation unit 30 are not input to the load fluctuation prediction unit 23.
- the load sway predicting means 23 does not depend on the posture of the booms 130 and 230, the hanging distance of the hooks 240, and the operating speed of the booms 130, 230 or the hooks 240, and the threshold value stored in advance and the detection result of the weight detector 50. Are compared to determine whether the load swing width A exceeds the allowable value.
- the first slow stop means is based on the weight of the load 140, 250. 21 and the second slow stop means 22 are switched. Therefore, it is possible for the worker to predict which of the slow stop means 21 and 22 will stop the booms 130 and 230 or the hook 240, and the operability is improved.
- the load sway predicting means 23 is set to the operation amount p immediately before the operation unit 30 (the operating speed of the boom 130, 230 or the hook 240).
- the detection result of the posture detector 40 and the weight detector 50 may be compared with a threshold value stored in advance to determine whether or not the load swing width A exceeds an allowable value.
- the detection result of the speed detector that detects the operating speed of the booms 130 and 230 or the hook 240 may be used instead of the operation amount p immediately before the operation unit 30.
- the operating speed of the boom 230 or the hook 240 may be calculated from the time change of the detection result (the attitude of the boom 230 or the hanging distance of the hook 240) of the attitude detector 40.
- a display unit may be provided for displaying whether the actuator 10 is slowly stopped by the first slow stop unit 21 or the second slow stop unit 22.
- This display means may be configured to switch the display based on the prediction result of the load fluctuation prediction means 23.
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Abstract
Description
しかし、この従来の緩停止装置は、ブームの撓みを考慮していないため、特定のブーム姿勢、特にブームを伸長させている状態では、ブームの作動を停止させる際にブームが撓み、その撓みにより荷揺れが生じるという問題がある。
第2発明の作業機械の緩停止装置は、第1発明において、前記第1緩停止手段は、前記操作部から前記ブームの作動の停止を指示する停止信号が入力された場合に、前記ブームの姿勢、および前記荷物の重量を基に該荷物の荷揺れ周期を算出し、該荷揺れ周期の半周期の時間をかけて前記アクチュエータを制動して停止させることを特徴とする。
第3発明の作業機械の緩停止装置は、第1発明において、前記作業機械は前記ブームから吊り下げられ前記荷物を掛けるフックを備え、前記第1緩停止手段は、前記操作部から前記ブームの作動の停止を指示する停止信号が入力された場合に、前記ブームの姿勢、前記フックの吊下距離、および前記荷物の重量を基に該荷物の荷揺れ周期を算出し、該荷揺れ周期の半周期の時間をかけて前記アクチュエータを制動して停止させることを特徴とする。
第4発明の作業機械の緩停止装置は、第1発明において、前記作業機械は前記ブームから吊り下げられ前記荷物を掛けるフックを備え、第1緩停止手段は、前記操作部から前記フックの作動の停止を指示する停止信号が入力された場合に、前記ブームの姿勢、および前記荷物の重量を基に該荷物の荷揺れ周期を算出し、該荷揺れ周期の半周期の時間をかけて前記アクチュエータを制動して停止させることを特徴とする。
第5発明の作業機械の緩停止装置は、第1または第2発明において、前記荷揺れ予測手段は、前記ブームの姿勢、前記ブームの作動速度、および前記荷物の重量を基に該荷物の荷揺れ幅を算出し、該荷揺れ幅が閾値を超える場合に前記荷物の荷揺れ幅が許容値を超えると判断し、該荷揺れ幅が閾値を超えない場合に前記荷物の荷揺れ幅が許容値を超えないと判断することを特徴とする。
第6発明の作業機械の緩停止装置は、第1または第3発明において、前記作業機械は前記ブームから吊り下げられ前記荷物を掛けるフックを備え、前記荷揺れ予測手段は、前記ブームの姿勢、前記フックの吊下距離、前記ブームの作動速度、および前記荷物の重量を基に該荷物の荷揺れ幅を算出し、該荷揺れ幅が閾値を超える場合に前記荷物の荷揺れ幅が許容値を超えると判断し、該荷揺れ幅が閾値を超えない場合に前記荷物の荷揺れ幅が許容値を超えないと判断することを特徴とする。
第7発明の作業機械の緩停止装置は、第1または第4発明において、前記作業機械は前記ブームから吊り下げられ前記荷物を掛けるフックを備え、前記荷揺れ予測手段は、前記ブームの姿勢、前記フックの作動速度、および前記荷物の重量を基に該荷物の荷揺れ幅を算出し、該荷揺れ幅が閾値を超える場合に前記荷物の荷揺れ幅が許容値を超えると判断し、該荷揺れ幅が閾値を超えない場合に前記荷物の荷揺れ幅が許容値を超えないと判断することを特徴とする。
第8発明の作業機械の緩停止装置は、第1、第2、第3または第4発明において、前記作業機械の作動速度を検出する速度検出器を備え、前記荷揺れ予測手段は、前記速度検出器の検出結果が閾値を超える場合に前記荷物の荷揺れ幅が許容値を超えると判断し、前記速度検出器の検出結果が閾値を超えない場合に前記荷物の荷揺れ幅が許容値を超えないと判断することを特徴とする。
第9発明の作業機械の緩停止装置は、第1、第2、第3または第4発明において、前記ブームの姿勢を検出する姿勢検出器を備え、前記荷揺れ予測手段は、前記姿勢検出器の検出結果が閾値を超える場合に前記荷物の荷揺れ幅が許容値を超えると判断し、前記姿勢検出器の検出結果が閾値を超えない場合に前記荷物の荷揺れ幅が許容値を超えないと判断することを特徴とする。
第10発明の作業機械の緩停止装置は、第1、第2、第3または第4発明において、前記荷物の重量を検出する重量検出器を備え、前記荷揺れ予測手段は、前記重量検出器の検出結果が閾値を超える場合に前記荷物の荷揺れ幅が許容値を超えると判断し、前記重量検出器の検出結果が閾値を超えない場合に前記荷物の荷揺れ幅が許容値を超えないと判断することを特徴とする。
第2発明によれば、ブームの作動を停止させる場合に、ブームの姿勢、および荷物の重量を基に荷揺れ周期を算出するので、荷揺れ周期を正確に予測でき、荷揺れを十分に抑制できる。
第3発明によれば、フックを有するブームの作動を停止させる場合に、ブームの姿勢、フックの吊下距離、および荷物の重量を基に荷揺れ周期を算出するので、荷揺れ周期を正確に予測でき、荷揺れを十分に抑制できる。
第4発明によれば、フックの作動を停止させる場合に、ブームの姿勢、および荷物の重量を基に荷揺れ周期を算出するので、荷揺れ周期を正確に予測でき、荷揺れを十分に抑制できる。
第5発明によれば、ブームの作動を停止させる場合に、ブームの姿勢、ブームの作動速度、および荷物の重量を基に荷揺れ幅を算出し、その荷揺れ幅を基に許容値を超えるか否かを予測するので、荷揺れを正確に予測でき、第1緩停止手段と第2緩停止手段の切り替えを適切に行うことができる。
第6発明によれば、フックを有するブームの作動を停止させる場合に、ブームの姿勢、フックの吊下距離、ブームの作動速度、および荷物の重量を基に荷揺れ幅を算出し、その荷揺れ幅を基に許容値を超えるか否かを予測するので、荷揺れを正確に予測でき、第1緩停止手段と第2緩停止手段の切り替えを適切に行うことができる。
第7発明によれば、フックの作動を停止させる場合に、ブームの姿勢、フックの作動速度、および荷物の重量を基に荷揺れ幅を算出し、その荷揺れ幅を基に許容値を超えるか否かを予測するので、荷揺れを正確に予測でき、第1緩停止手段と第2緩停止手段の切り替えを適切に行うことができる。
第8発明によれば、速度検出器の検出結果と閾値とを比較することで、荷揺れ幅が許容値を超えるか否かを予測するので、ブームまたはフックの作動速度により第1緩停止手段と第2緩停止手段とが切り替えられる。そのため、作業員にとって、いずれの緩停止手段でブームまたはフックが停止するかが予想でき、操作性が良くなる。
第9発明によれば、姿勢検出器の検出結果と閾値とを比較することで、荷揺れ幅が許容値を超えるか否かを予測するので、ブームの姿勢により第1緩停止手段と第2緩停止手段とが切り替えられる。そのため、作業員にとって、いずれの緩停止手段でブームまたはフックが停止するかが予想でき、操作性が良くなる。
第10発明によれば、重量検出器の検出結果と閾値とを比較することで、荷揺れ幅が許容値を超えるか否かを予測するので、荷物の重量により第1緩停止手段と第2緩停止手段とが切り替えられる。そのため、作業員にとって、いずれの緩停止手段でブームまたはフックが停止するかが予想でき、操作性が良くなる。
本発明に係る作業機械の緩停止装置は、高所作業車やクレーンなどの、荷物を支持するブームを有するあらゆる作業機械に備えられ、作業機械の作動を停止させる際の荷揺れを抑制するために用いられる。以下、高所作業車および移動式クレーンの場合を例に説明する。
本発明の第1実施形態に係る緩停止装置1は高所作業車に備えられる。まず、図3に基づき高所作業車100の基本的構造を説明する。
図3において符号110は車両であり、車両110の荷台の後方には旋回台120が搭載されている。旋回台120の旋回動作は旋回モータで行われる。旋回台120には多段式のブーム130が起伏自在に取り付けられている。ブーム130の伸縮動作は伸縮シリンダで行われ、起伏動作は起伏シリンダで行われる。ブーム130の先端には、作業員が乗ることのできる籠状のバケット140が設けられている。バケット140は、ブーム130の起伏角の変化に拘わらず常に水平に維持され、かつ水平面内で旋回可能となっている。
高所作業車100においては、特許請求の範囲に記載の「荷物」とはブーム130の先端に設けられたバケット140、およびバケット140に積載された作業員などの積載物を意味し(以下、単に「バケット140」という。)、「荷物の重量」とは積載物を含むバケット140の重量を意味し(以下、単に「バケット140の重量」という。)、「荷揺れ」とはバケット140の揺れを意味する。
図1に示すように、緩停止装置1は、高所作業車100を作動させるアクチュエータ10と、アクチュエータ10の駆動を制御する制御部20と、制御部20に高所作業車100の作動を指示する操作部30と、ブーム130の姿勢を検出する姿勢検出器40とを備える。
なお、制御部20は、アクチュエータ10を停止させる機能のほかに、操作部30の操作量に従ってアクチュエータ10を駆動させる機能も有するが、図1においてこの機能を実現する手段は省略している。
また、予めブーム130の姿勢ごとの荷揺れ周期Tを試験で求めて、それを第1緩停止手段21に記憶させておき、第1緩停止手段21は、記憶したブーム130の姿勢ごとの荷揺れ周期Tの中から、姿勢検出器40の検出結果に対応する荷揺れ周期Tを呼び出すように構成してもよい。
第2緩停止手段22は、記憶したブーム130の姿勢ごとの時間T2の中から、姿勢検出器40の検出結果に対応する時間T2を呼び出し、その時間T2をかけてアクチュエータ10を停止させるように制御信号を出力する。
なお、姿勢検出器40の検出結果(ブーム130の姿勢)の時間変化からブーム130の作動速度を算出してもよい。また、操作部30とは別に、ブーム130の作動速度を検出する速度検出器を設けてもよい。このように、特許請求の範囲に記載の「速度検出器」とは、ブーム130の作動速度を直接的に検出する手段に限られず、操作部30や姿勢検出器40のようにブーム130の作動速度を間接的に検出する手段も含む概念である。
また、予めブーム130の姿勢、作動速度ごとの荷揺れ幅Aを試験で求めて、それを荷揺れ予測手段23に記憶させておき、荷揺れ予測手段23は、記憶したブーム130の姿勢、作動速度ごとの荷揺れ幅Aの中から、操作部30の操作量、および姿勢検出器40の検出結果に対応する荷揺れ幅Aを呼び出すように構成してもよい。
ここで、閾値は荷揺れ幅Aの許容できる最大値として予め定められる。例えば、バケット140に乗った作業員が不快に感じない荷揺れ幅Aの最大値として定められる。
図2に示すように、作業員が操作部30を操作して、時刻tにおいて操作部30の操作量をpから0(非操作状態)に変化させると(図2(a))、第1緩停止手段21は、荷揺れ周期Tの半周期の時間T1をかけてアクチュエータ10を停止させるように制御信号を出力する(図2(b))。一方、第2緩停止手段22は、時間T1より短い時間T2をかけてアクチュエータ10を停止させるように制御信号を出力する(図2(c))。また、荷揺れ予測手段23は、操作部30の直前の操作量p、姿勢検出器40の検出結果、およびバケット140の重量を基に、荷揺れ幅Aが許容値を超えるか否かを予測する。
以上のように、緩停止装置1によれば荷揺れを抑制しつつ、停止時間を短くできる。
本発明の第2実施形態に係る緩停止装置2は移動式クレーンに備えられる。まず、図5に基づき移動式クレーン200の基本的構造を説明する。
図5において符号210は走行車体であり、走行車体210の上面には旋回台220が搭載されている。旋回台220の旋回動作は旋回モータで行われる。旋回台220には多段式のブーム230が起伏自在に取り付けられている。ブーム230の伸縮動作は伸縮シリンダで行われ、起伏動作は起伏シリンダで行われる。ブーム230の先端からはフック240を備えたワイヤロープ241が吊り下げられ、そのワイヤロープ241はブーム230の根本に導かれてウィンチに巻き取られている。ウィンチを回転させてワイヤロープ241の巻き取り、繰り出しを行うことで、フック240を昇降させることができる。このフック240に吊り荷250を掛けることができる。ブーム230の旋回、起伏、伸縮、およびフック240の昇降を組み合わせることにより、立体空間内での吊り荷250の荷揚げと荷降ろしが可能となっている。
移動式クレーン200においては、特許請求の範囲に記載の「荷物」とはフック240に吊り下げられた吊り荷250を意味し、「荷物の重量」とはフック240の重量と吊り荷250の重量の和を意味し(以下、単に「吊り荷250の重量」という。)、「荷揺れ」とは吊り荷250の揺れを意味する。
図4に示すように、緩停止装置2は、第1実施形態に係る緩停止装置1に、吊り荷250の重量を検出する重量検出器50が加えられた構成である。
また、予めブーム230の姿勢、フック240の吊下距離、および吊り荷250の重量ごとの荷揺れ周期Tを試験で求めて、それを第1緩停止手段21に記憶させておき、第1緩停止手段21は、記憶したブーム230の姿勢、フック240の吊下距離、および吊り荷250の重量ごとの荷揺れ周期Tの中から、姿勢検出器40、および重量検出器50の検出結果に対応する荷揺れ周期Tを呼び出すように構成してもよい。
第2緩停止手段22は、記憶したブーム130の姿勢、フック240の吊下距離、および吊り荷250の重量ごとの時間T2の中から、姿勢検出器40、および重量検出器50の検出結果に対応する時間T2を呼び出し、その時間T2をかけてアクチュエータ10を停止させるように制御信号を出力する。
また、予めブーム230の姿勢、フック240の吊下距離、ブーム230の作動速度、および吊り荷250の重量ごとの荷揺れ幅Aを試験で求めて、それを荷揺れ予測手段23に記憶させておき、荷揺れ予測手段23は、記憶したブーム230の姿勢、フック240の吊下距離、ブーム230の作動速度、および吊り荷250の重量ごとの荷揺れ幅Aの中から、操作部30の操作量と、姿勢検出器40および重量検出器50の検出結果に対応する荷揺れ幅Aを呼び出すように構成してもよい。
ここで、閾値は荷揺れ幅Aの許容できる最大値として予め定められる。例えば、吊り荷250の荷揺れが安全を確保できる荷揺れ幅Aの最大値として定められる。
図2に示すように、作業員が操作部30を操作して、時刻tにおいて操作部30の操作量をpから0(非操作状態)に変化させると(図2(a))、第1緩停止手段21は、荷揺れ周期Tの半周期の時間T1をかけてアクチュエータ10を停止させるように制御信号を出力する(図2(b))。一方、第2緩停止手段22は、時間T1より短い時間T2をかけてアクチュエータ10を停止させるように制御信号を出力する(図2(c))。また、荷揺れ予測手段23は、操作部30の直前の操作量pと、姿勢検出器40および重量検出器50の検出結果を基に、荷揺れ幅Aが許容値を超えるか否かを予測する。
以上のように、緩停止装置2によれば荷揺れを抑制しつつ、停止時間を短くできる。
つぎに、本発明の第3実施形態に係る緩停止装置3を説明する。
移動式クレーン200においては、ブーム230の旋回、起伏、伸縮を停止させる場合に加え、フック240の昇降を停止させる場合にも荷揺れが生じる。より詳細には、フック240を昇降させ、その昇降を急停止させると吊り荷250の慣性力によりブーム230が撓み、その撓みにより吊り荷250が垂直方向に揺れる。本実施形態に係る緩停止装置3は、移動式クレーン200のフック240の昇降を停止させる際に、吊り荷250の揺れを抑制するために用いられる。
第2緩停止手段22は、記憶したブーム130の姿勢、および吊り荷250の重量ごとの時間T2の中から、姿勢検出器40、および重量検出器50の検出結果に対応する時間T2を呼び出し、その時間T2をかけてアクチュエータ10を停止させるように制御信号を出力する。
図2に示すように、作業員が操作部30を操作して、時刻tにおいて操作部30の操作量をpから0(非操作状態)に変化させると(図2(a))、第1緩停止手段21は、荷揺れ周期Tの半周期の時間T1をかけてアクチュエータ10を停止させるように制御信号を出力する(図2(b))。一方、第2緩停止手段22は、時間T1より短い時間T2をかけてアクチュエータ10を停止させるように制御信号を出力する(図2(c))。また、荷揺れ予測手段23は、操作部30の直前の操作量pと、姿勢検出器40および重量検出器50の検出結果を基に、荷揺れ幅Aが許容値を超えるか否かを予測する。
以上のように、緩停止装置3によれば荷揺れを抑制しつつ、停止時間を短くできる。
つぎに、本発明の第4実施形態に係る緩停止装置4を説明する。
本実施形態に係る緩停止装置4は、上記実施形態とは荷揺れ予測手段23の予測方法が異なる形態である。その余の構成は第1、第2または第3実施形態に係る緩停止装置1、2、3と同様であるので説明を省略する。
つぎに、本発明の第5実施形態に係る緩停止装置5を説明する。
上記実施形態において、荷揺れ予測手段23を以下のように構成してもよい。
荷揺れ予測手段23は、姿勢検出器40の検出結果が閾値を超える場合に荷揺れ幅Aが許容値を超えると判断し、姿勢検出器40の検出結果が閾値を超えない場合に荷揺れ幅Aが許容値を超えないと判断する。ここで、閾値はブーム130、230またはフック240の作動速度および荷物140、250の重量ごとに予め定められる。すなわち、荷揺れ予測手段23は、記憶したブーム130、230またはフック240の作動速度および荷物140、250の重量ごとの閾値の中から、操作部30の直前の操作量p(ブーム130、230またはフック240の作動速度)および重量検出器50の検出結果に対応する閾値を呼び出し、その閾値と姿勢検出器40の検出結果とを比較して、荷揺れ幅Aが許容値を超えるか否かを判断する。
つぎに、本発明の第6実施形態に係る緩停止装置6を説明する。
上記実施形態において、荷揺れ予測手段23を以下のように構成してもよい。
荷揺れ予測手段23は、重量検出器50の検出結果が閾値を超える場合に荷揺れ幅Aが許容値を超えると判断し、重量検出器50の検出結果が閾値を超えない場合に荷揺れ幅Aが許容値を超えないと判断する。ここで、閾値はブーム130、230の姿勢、フック240の吊下距離(フック240を有するブーム230を停止させる場合)、およびブーム130、230またはフック240の作動速度ごとに予め定められる。すなわち、荷揺れ予測手段23は、記憶したブーム130、230の姿勢、フック240の吊下距離(フック240を有するブーム230を停止させる場合)、およびブーム130、230またはフック240の作動速度ごとの閾値の中から、姿勢検出器40の検出結果および操作部30の直前の操作量p(ブーム130、230またはフック240の作動速度)に対応する閾値を呼び出し、その閾値と重量検出器50の検出結果とを比較して、荷揺れ幅Aが許容値を超えるか否かを判断する。
さらに、上記の第4、第5、および第6実施形態の構成を組み合わせて、荷揺れ予測手段23を、操作部30の直前の操作量p(ブーム130、230またはフック240の作動速度)と、姿勢検出器40および重量検出器50の検出結果と、予め記憶された閾値とを比較して、荷揺れ幅Aが許容値を超えるか否かを判断するよう構成してもよい。
10 アクチュエータ
20 制御部
21 第1緩停止手段
22 第2緩停止手段
23 荷揺れ予測手段
24 切替手段
30 操作部
40 姿勢検出器
50 重量検出器
100 高所作業車
110 車両
120 旋回台
130 ブーム
140 バケット
200 移動式クレーン
210 走行車体
220 旋回台
230 ブーム
240 フック
241 ワイヤロープ
250 吊り荷
Claims (10)
- 荷物を支持するブームを有する作業機械に備えられる緩停止装置であって、
前記作業機械を作動させるアクチュエータと、
該アクチュエータの駆動を制御する制御部と、
該制御部に前記作業機械の作動を指示する操作部と、を備え、
前記制御部は、
前記操作部から前記作業機械の作動の停止を指示する停止信号が入力された場合に、前記荷物の荷揺れ周期を算出し、該荷揺れ周期の半周期の時間をかけて前記アクチュエータを制動して停止させる第1緩停止手段と、
前記操作部から前記停止信号が入力された場合に、前記荷揺れ周期の半周期の時間より短い時間をかけて前記アクチュエータを制動して停止させる第2緩停止手段と、
前記荷物の荷揺れ幅が許容値を超えるか否かを予測する荷揺れ予測手段と、
前記荷揺れ予測手段が前記荷物の荷揺れ幅が許容値を超えると予測した場合に前記第1緩停止手段により前記アクチュエータを停止させ、前記荷揺れ予測手段が前記荷物の荷揺れ幅が許容値を超えないと予測した場合に前記第2緩停止手段により前記アクチュエータを停止させる切替手段と、を備える
ことを特徴とする作業機械の緩停止装置。 - 前記第1緩停止手段は、前記操作部から前記ブームの作動の停止を指示する停止信号が入力された場合に、前記ブームの姿勢、および前記荷物の重量を基に該荷物の荷揺れ周期を算出し、該荷揺れ周期の半周期の時間をかけて前記アクチュエータを制動して停止させる
ことを特徴とする請求項1記載の作業機械の緩停止装置。 - 前記作業機械は前記ブームから吊り下げられ前記荷物を掛けるフックを備え、
前記第1緩停止手段は、前記操作部から前記ブームの作動の停止を指示する停止信号が入力された場合に、前記ブームの姿勢、前記フックの吊下距離、および前記荷物の重量を基に該荷物の荷揺れ周期を算出し、該荷揺れ周期の半周期の時間をかけて前記アクチュエータを制動して停止させる
ことを特徴とする請求項1記載の作業機械の緩停止装置。 - 前記作業機械は前記ブームから吊り下げられ前記荷物を掛けるフックを備え、
第1緩停止手段は、前記操作部から前記フックの作動の停止を指示する停止信号が入力された場合に、前記ブームの姿勢、および前記荷物の重量を基に該荷物の荷揺れ周期を算出し、該荷揺れ周期の半周期の時間をかけて前記アクチュエータを制動して停止させる
ことを特徴とする請求項1記載の作業機械の緩停止装置。 - 前記荷揺れ予測手段は、前記ブームの姿勢、前記ブームの作動速度、および前記荷物の重量を基に該荷物の荷揺れ幅を算出し、該荷揺れ幅が閾値を超える場合に前記荷物の荷揺れ幅が許容値を超えると判断し、該荷揺れ幅が閾値を超えない場合に前記荷物の荷揺れ幅が許容値を超えないと判断する
ことを特徴とする請求項1または2記載の作業機械の緩停止装置。 - 前記作業機械は前記ブームから吊り下げられ前記荷物を掛けるフックを備え、
前記荷揺れ予測手段は、前記ブームの姿勢、前記フックの吊下距離、前記ブームの作動速度、および前記荷物の重量を基に該荷物の荷揺れ幅を算出し、該荷揺れ幅が閾値を超える場合に前記荷物の荷揺れ幅が許容値を超えると判断し、該荷揺れ幅が閾値を超えない場合に前記荷物の荷揺れ幅が許容値を超えないと判断する
ことを特徴とする請求項1または3記載の作業機械の緩停止装置。 - 前記作業機械は前記ブームから吊り下げられ前記荷物を掛けるフックを備え、
前記荷揺れ予測手段は、前記ブームの姿勢、前記フックの作動速度、および前記荷物の重量を基に該荷物の荷揺れ幅を算出し、該荷揺れ幅が閾値を超える場合に前記荷物の荷揺れ幅が許容値を超えると判断し、該荷揺れ幅が閾値を超えない場合に前記荷物の荷揺れ幅が許容値を超えないと判断する
ことを特徴とする請求項1または4記載の作業機械の緩停止装置。 - 前記作業機械の作動速度を検出する速度検出器を備え、
前記荷揺れ予測手段は、前記速度検出器の検出結果が閾値を超える場合に前記荷物の荷揺れ幅が許容値を超えると判断し、前記速度検出器の検出結果が閾値を超えない場合に前記荷物の荷揺れ幅が許容値を超えないと判断する
ことを特徴とする請求項1、2、3または4記載の作業機械の緩停止装置。 - 前記ブームの姿勢を検出する姿勢検出器を備え、
前記荷揺れ予測手段は、前記姿勢検出器の検出結果が閾値を超える場合に前記荷物の荷揺れ幅が許容値を超えると判断し、前記姿勢検出器の検出結果が閾値を超えない場合に前記荷物の荷揺れ幅が許容値を超えないと判断する
ことを特徴とする請求項1、2、3または4記載の作業機械の緩停止装置。 - 前記荷物の重量を検出する重量検出器を備え、
前記荷揺れ予測手段は、前記重量検出器の検出結果が閾値を超える場合に前記荷物の荷揺れ幅が許容値を超えると判断し、前記重量検出器の検出結果が閾値を超えない場合に前記荷物の荷揺れ幅が許容値を超えないと判断する
ことを特徴とする請求項1、2、3または4記載の作業機械の緩停止装置。
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