WO2020050400A1

WO2020050400A1 - Safety device for crane, crane, safety control method for crane, and safety control program for crane

Info

Publication number: WO2020050400A1
Application number: PCT/JP2019/035177
Authority: WO
Inventors: 克彰遠藤
Original assignee: 株式会社タダノ
Priority date: 2018-09-07
Filing date: 2019-09-06
Publication date: 2020-03-12
Also published as: JPWO2020050400A1; JP6753558B2

Abstract

Provided is a safety device (10) for a crane (4), the crane being equipped with a boom (8) and outriggers (6) mounted on the vehicle body of a truck (2) with a platform (5). The safety device is provided with a controller (80) which determines whether or not hoisting is possible in consideration of the extending widths of the outriggers (6) and the load hoisting position of the boom (8) and which executes control for securing the stability of the platform (5) on the basis of the result of determination on the possibility of hoisting. The controller (80) determines that hoisting is possible when the load hoisting position of the boom (8) is within a region of the platform (5) regardless of the extending widths of the outriggers (6).

Description

Crane safety device, crane, crane safety control method, and crane safety control program

The present invention relates to a crane safety device, a crane, a crane safety control method, and a crane safety control program.

Conventionally, the stability performance of a crane is calculated by detecting the boom posture, turning position, outrigger extension position, and the like (for example, see Patent Document 1).

In order to avoid complication of control and perform smooth work, the maximum load calculated by the outrigger extension width and the boom attitude should be applied as `` rated performance '' according to the position of the boom in advance. And controls safety devices against applied loads.

For example, a loading type truck crane mounted on a truck equipped with a loading platform can perform the work of loading and unloading the load on the loading platform with a boom, but the lifting load during the operation is within the range of this `` rated performance ''. I try to limit it.

The “rated performance” in the rear of the loaded truck crane, that is, in the working area at 180 degrees on the loading side of the truck, is limited by the outrigger extension width on the right side when the boom is in the right turning position with the boom turning center as a boundary. When the boom is in the left turning position, it is restricted by the left outrigger extension width.

場合 When the left and right outriggers are fully extended, work can be performed with the maximum lifting load according to the boom posture in a sufficient area including the truck bed area. However, depending on the work site, it is not possible to secure a sufficient space for extending the outrigger, and the truck may be moved to one side, and one of the outriggers may have a minimum extension width.

As described above, since the stability of the crane is limited at least by the overhang width of the outrigger, when the outrigger overhang is at a minimum, the area in which the lifting work can be performed is limited. There were areas where work was not possible.

JP 2000-118955 A

Thus, while the loading type truck crane is a crane whose main purpose is to load and unload a load, there is an area where work cannot be performed on the load with conventional safety device settings.

However, in general, load-type truck cranes support the load with left and right outriggers in front of the loading platform and left and right rear wheel tires.For example, even if the left and right outriggers have the minimum overhang width, Is considered to be able to secure stability.

An object of the present invention is to provide a crane safety device, a crane, and a crane safety control method that can solve the problem of excessively generating an area where work cannot be performed on a carrier and can improve work convenience. And a safety control program for the crane.

One aspect of a safety device for a crane according to the present invention is a safety device for a crane including a boom mounted on a vehicle body of a truck having a loading platform and an outrigger, wherein a protruding width of the outrigger and a boom of the boom are provided. The controller determines whether or not lifting is possible according to the lifting position of the suspended load, and performs a control for ensuring stability of the loading platform according to a determination result of whether or not lifting is possible. When the suspended load lifting position is in the area of the loading platform, whether or not the lifting can be performed is allowed regardless of the extension width of the outrigger.

の一 One embodiment of the crane according to the present invention includes the above-described safety device for the crane.

One aspect of the safety control method for a crane according to the present invention is a safety control method for a crane, which is executed in a crane including a boom mounted on a vehicle body of a truck having a carrier and an outrigger, A determining step of determining whether or not lifting is possible according to the overhang width of the boom and a lifting position of the boom, and a control for ensuring stability of the loading platform is performed according to the determination result of whether or not lifting is possible. An execution step, wherein the determination step determines whether or not the lifting can be performed regardless of the outrigger width of the outrigger when the suspended load lifting position of the boom is in the area of the loading platform.

の一 One embodiment of the crane safety control program according to the present invention causes a computer to execute the crane safety control method described above.

According to the present invention, it is possible to eliminate a problem that an area where a work cannot be performed on a carrier is excessively generated, and to improve work convenience.

1 is a left side view of a loading truck crane provided with a safety device as an example according to the present disclosure. 1 is a block diagram illustrating a control function of a safety device as an example according to the present disclosure. 5 is a flowchart illustrating a process executed by a controller of the safety device according to the present disclosure. It is an explanatory view showing an example of the range in which the truck crane according to the present disclosure can move the suspended load based on the maximum load of the suspended load. It is explanatory drawing which shows an example of the range which a conventional truck crane can move a suspended load based on the maximum load of a suspended load.

Hereinafter, an embodiment in which the crane safety device 10 as an example according to the present disclosure is used for a loading type truck crane 1 will be described with reference to the drawings.

安全 A safety device 10 of Example 1 according to an embodiment of a safety device for a loaded truck crane according to the present disclosure will be described with reference to FIGS. 1 to 5. Generally, a loading type truck crane is one in which a crane unit is mounted on a normal truck later. In the loading type truck crane 1 according to the present embodiment, a crane unit 4 is mounted between the cabin 3 of the truck 2 and the carrier 5.

The truck 2 serves as a main body of a vehicle having a traveling function, and has a plurality of wheels, a plurality of wheels, and a drive source for driving the crane unit 4.

The crane unit 4 includes a pair of right and left outriggers 6, a boom support 7, a boom 8, a safety device 10, a boom drive unit 13 for driving the boom 8, an operation unit 14, and a winch hydraulic motor (not shown). And an outrigger driving unit (not shown). The boom drive unit 13 includes the turning hydraulic motor 9, the up-and-down cylinder 11, and the telescopic cylinder 12.

A pair of left and right outriggers 6 (only the left side of the truck 2 is shown in FIG. 1) are capable of extending and retracting left and right. Stable support.

The boom support 7 is driven by a turning hydraulic motor 9 and can turn horizontally.

The base end of the boom 8 is attached to the boom support 7 via a boom root fulcrum pin. The boom 8 is raised and lowered by extending and retracting the lifting cylinder 11 interposed between the boom support 7 and the boom 8.

The boom 8 is configured such that a plurality of boom sections are housed in a nested manner from the outside to the inside, and are expanded and contracted by the expansion and contraction of the telescopic cylinder 12.

A wire rope 16 is wound around a sheave 15 provided at the tip of the boom 8. A hook 18 on which a suspended load 17 or the like is slung is suspended from the wire rope 16, and the wire rope 16 is moved up and down by a winch operation of winding or unwinding the wire rope 16.

(4) The boom 8 is used so that the respective boom portions are appropriately rotated, raised and lowered, and moved back and forth, and the hooks 18 suspended from the boom are moved up and down as needed to move the suspended load 17.

非 Further, when the boom 8 is not used, such as when traveling, the respective boom portions are retracted most and retracted while the hooks 18 are raised most.

伸縮 The expansion, contraction, undulation and turning of the boom 8 and the lifting and lowering of the hook 18 are performed according to the operation of the operation unit 14. The operation unit 14 outputs an operation signal corresponding to the operation input by the operator. The operation signal output from the operation unit 14 controls the operation of a driving device such as a hydraulic pump, a direction control valve, and a flow control valve. By these operations, the boom drive unit 13 (the swing hydraulic motor 9, the up-and-down cylinder 11, and the telescopic cylinder 12) of the crane unit 4 and the winch hydraulic motor 60 for driving the winch operate to extend and retract the boom 8, and raise and lower the boom 8. And, the turning and the lifting and lowering of the hook 18 are performed.

FIG. 2 is a block diagram of the safety device 10 according to the embodiment.

The safety device 10 includes a boom length detector 41, an up-and-down angle detector 42, a turning angle detector 43, an alarm 50, and a controller 80.

The boom length detector 41 detects the length of the boom 8. The boom length detector 41 outputs a detection signal indicating the detected length to the controller 80.

The undulation angle detector 42 detects the undulation angle of the boom 8 (an angle with respect to a horizontal plane or a reference posture). The undulation angle detector 42 outputs a detection signal indicating the detected undulation angle to the controller 80.

The turning angle detector 43 detects the turning angle of the boom 8. The turning angle detector 43 outputs a detection signal indicating the detected turning angle to the controller 80.

警報 The alarm 50 that sounds an alarm is connected to the controller 80.

The controller 80 is a microcomputer having a storage unit (for example, a non-transitory computer-readable medium such as a ROM (Read Only Memory)) and an arithmetic unit (for example, a CPU (Central Processing Unit)). 4 (FIG. 1). The controller 80 comprehensively controls the operation of each unit based on a program stored in the storage unit.

The controller 80 controls the boom drive unit 13 and the winch hydraulic motor (not shown), and controls an outrigger drive unit (not shown) that expands and contracts the outrigger 6. The controller 80 includes a suspended load lifting position calculation unit 82, an area storage unit 83, a determination unit 84, and a control execution unit 85.

The suspended load lifting position calculation unit 82 determines the center position C1 (FIG. 1) of the sheave 15 based on the length of the boom 8, the elevation angle of the boom 8, and the turning angle of the boom 8, Lifting position).

The area storage unit 83 stores the area A1 of the loading platform 5 (FIG. 4). As shown in FIG. 4, the area A1 of the loading platform 5 has a substantially rectangular shape connecting the minimum overhang width of the pair of outriggers 6 extending to the left and right of the truck 2 and the respective center positions of the left and right rear wheels of the truck 2. The area. The hatched area in FIG. 4 indicates a range in which the suspended load 17 can be moved based on the maximum load of the suspended load 17.

When the suspended load lifting position of the boom 8 is in the area A1 of the bed 5, the determination unit 84 determines whether or not the suspended load 17 can be lifted regardless of the overhang width of the outrigger 6. When the lifting position is not in the area A1 of the loading platform 5, it is determined whether the lifting of the lifting load 17 is possible.

The control execution unit 85 executes control for ensuring the stability of the carrier 5 in accordance with the result of the determination as to whether or not the suspended load 17 can be lifted. The control for securing the stability of the bed 5 corresponds to the upper limit of the lifting load in the control for suppressing the lifting of the lifting load 17 in a state where the lifting load applied to the boom 8 exceeds the upper limit. As an example, the threshold value is variably set according to the determination result of the determination unit 84. More specifically, when it is determined that the lifting of the suspended load 17 is possible, the control execution unit 85 sets the threshold to a predetermined maximum value so that the upper limit of the lifting load becomes maximum. If it is determined that lifting of the suspended load 17 is not possible, the control execution unit 85 sets the threshold to a predetermined minimum value or a predetermined intermediate value in accordance with the overhang width of the outrigger 6. Or set to.

Next, an example of a determination process for determining whether lifting of the suspended load 17 is possible in the safety device 10 will be described with reference to a flowchart illustrated in FIG. FIG. 3 is a flowchart illustrating processing executed by the controller 80 according to the first embodiment. Hereinafter, each step of the flowchart of FIG. 3 will be described.

The process shown in the flowchart of FIG. 3 is started when the crane unit 4 of the loading type truck crane 1 lifts the suspended load 17.

In step S1, the controller 80 reads the preset area A1 on the carrier 5 from the area storage unit 83.

In step S2, the suspended load lifting position calculation unit 82 calculates the center position C1 of the sheave 15 as the suspended position of the suspended load 17.

In step S3, the determination unit 84 determines whether or not the center position C1 of the sheave 15 is in an area on the bed 5 in plan view. If the center position C1 of the sheave 15 is in the area on the bed 5 in plan view (YES in step S3), the process proceeds to step S4.

On the other hand, if the center position C1 of the sheave 15 is not in the area on the bed 5 in plan view (NO in step S3), the process proceeds to step S5.

In step S4, the controller 80 determines whether or not the suspended load 17 can be lifted. Thereafter, the process returns to step S2.

In step S5, the controller 80 determines whether the suspended load 17 can be lifted. Thereafter, the process returns to step S2.

より Conventionally, the stability performance of a crane is calculated by detecting the boom posture, turning position, outrigger extension position, and the like.

When the left and right outriggers 6 are fully extended (O / R maximum), it is possible to work with the maximum lifting load according to the posture of the boom 8 in a sufficient area including the area of the bed 5 of the truck 2. Become. However, as shown in FIG. 5, depending on the work site, it is not possible to secure a sufficient space for extending the outrigger 6, and the truck 2 is moved to one side so that one of the outriggers 6 has a minimum extension width (O / R minimum). May occur. The hatched area in FIG. 5 indicates a range in which the suspended load 17 can be moved based on the maximum load of the suspended load 17.

Since the stability performance of the crane unit 4 is at least limited to the overhang width of the outrigger 6, when the overhang width of the outrigger 6 is minimum, the area where the load operation can be performed is limited. There were areas where work was not possible (FIG. 5). As described above, the loading type truck crane is a crane whose main purpose is to load and unload the suspended load 17 on the loading platform 5, but an area where the operation on the loading platform 5 cannot be performed with the setting of the conventional safety device occurs. I was

That is, according to the safety device 10 for the load-type truck crane as an example according to the present disclosure, the propriety of lifting is determined according to the overhang width of the outrigger 6 and the lifting position of the suspended load of the boom 8. A controller 80 is provided that executes control for ensuring the stability of the loading platform 5 according to the determination result. When the suspended load lifting position of the boom 8 is in the area of the bed 5, the controller 80 enables or disables lifting regardless of the extension width of the outrigger 6. Therefore, despite the structure of the loading type truck crane, it is possible to ensure the stability of the bed, but there is a problem that an area is determined by the control to be unable to work on the bed, that is, the work on the bed. It is possible to solve the problem that the region where the operation cannot be performed excessively occurs, and to improve the convenience of the operation.

As described above, the safety device for a truck crane and the truck crane provided with the same according to the present disclosure have been described based on the first embodiment. However, the specific configuration is not limited to the first embodiment, and Changes and additions to the design are permitted without departing from the gist of the claimed invention.

In the first embodiment described above, an example is described in which the area A1 on the carrier 5 is set in advance by utilizing the fact that the minimum overhang width of the outrigger 6 is known. The present invention is not limited to this mode. For example, an area A1 on the loading platform 5 is set based on an image obtained by capturing a surrounding by a camera mounted with a CCD or a CMOS element and capable of capturing the surrounding. Is also good.

The control execution unit 85 of the controller 80 determines that when any of the outriggers 6 has the minimum extension width, the suspended load lifting position of the boom 8 is in the area A1 of the loading platform 5, and the boom 8 is lifting the suspended load 17. May cause the alarm 50 to output an alarm sound. The output of the alarm is not limited to an audible alarm such as an alarm sound, and may be a visual alarm such as displaying an alarm on a screen.

The control execution unit 85 of the controller 80 determines that when any of the outriggers 6 has the minimum overhang width, the suspended load lifting position of the boom 8 is in the area of the bed 5, and the boom 8 is lifting the suspended load 17. Alternatively, the driving of the boom 8 by the boom driving unit 13 may be controlled so that the operating speed of the boom 8 does not exceed a certain speed.

The disclosure of Japanese Patent Application No. 2018-167842 filed on Sep. 7, 2018, including the specification, drawings and abstract, is incorporated herein by reference in its entirety.

クレーン The safety device for a crane of the present disclosure can be widely applied to a loading type truck crane.

DESCRIPTION OF REFERENCE NUMERALS 1 loading type truck crane 2 truck 4 crane unit 5 carrier 6 outrigger 8 boom 9 turning hydraulic motor 10 safety device for truck crane 11 up / down cylinder 12 telescopic cylinder 13 boom drive unit 14 operation unit 15 sheave 16 wire rope 17 suspension 50 alarm Container 80 controller 82 suspended load lifting position calculation unit 83 area storage unit 84 determination unit 85 control execution unit C1 center position of sheave (suspended load lifting position)

Claims

A safety device for a crane including a boom and an outrigger mounted on the body of a truck having a carrier,
A controller that determines whether lifting is possible according to the overhang width of the outrigger and the lifting position of the boom, and executes control for ensuring stability of the loading platform according to the determination result of whether lifting is possible. With
The controller, when the suspended load lifting position of the boom is in the area of the loading platform, regardless of the overhang width of the outrigger, enables or disables the lifting.
Safety device for cranes.
The controller is
A lifting load lifting position calculation unit that calculates the lifting load lifting position of the boom,
And an area storage unit that stores the area of the carrier.
A safety device for a crane according to claim 1.
The lifting load lifting position calculation unit calculates the lifting lifting position of the boom based on the length of the boom, an elevation angle of the boom, and a turning angle of the boom.
A safety device for a crane according to claim 2.
The area of the loading platform is a substantially rectangular area connecting the minimum overhang width of the pair of outriggers that overhang the truck left and right and the respective center positions of the left and right rear wheels of the truck.
A safety device for a crane according to any one of claims 1 to 3.
It further includes an alarm that outputs an alarm,
The controller outputs an alarm when any one of the outriggers has a minimum overhang width, the boom lift position is in the area of the loading platform, and the boom is lifting a load. Controlling the alarm so as to cause
A safety device for a crane according to any one of claims 1 to 4.
The crane further includes a boom drive unit that drives the boom,
The controller is configured such that, when any of the outriggers has a minimum overhang width, the suspended load lifting position of the boom is in the area of the loading platform, and the boom is lifting the suspended load, Controlling the driving of the boom by the boom driving unit so that the operating speed does not exceed a certain speed,
A safety device for a crane according to any one of claims 1 to 5.
A crane provided with the crane safety device according to any one of claims 1 to 6.
A safety control method for a crane, which is performed in a crane including a boom and an outrigger mounted on a body of a truck having a bed,
A judging step of judging whether or not lifting is possible according to the overhang width of the outrigger and the suspended load lifting position of the boom,
An execution step of executing control for ensuring the stability of the loading platform according to the determination result of whether or not the lifting is possible;
With
The determination step is, when the suspended load lifting position of the boom is in the area of the loading platform, regardless of the outrigger width of the outrigger, enables or disables the lifting.
Safety control method for cranes.
A crane safety control program for causing a computer to execute the crane safety control method according to claim 8.