WO2021085569A1 - Dispositif de prévention contre les surcharges - Google Patents

Dispositif de prévention contre les surcharges Download PDF

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Publication number
WO2021085569A1
WO2021085569A1 PCT/JP2020/040715 JP2020040715W WO2021085569A1 WO 2021085569 A1 WO2021085569 A1 WO 2021085569A1 JP 2020040715 W JP2020040715 W JP 2020040715W WO 2021085569 A1 WO2021085569 A1 WO 2021085569A1
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WIPO (PCT)
Prior art keywords
moment
boom
crane
overload
overload prevention
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PCT/JP2020/040715
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English (en)
Japanese (ja)
Inventor
正裕 石井
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株式会社タダノ
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Publication date
Application filed by 株式会社タダノ filed Critical 株式会社タダノ
Priority to JP2021553702A priority Critical patent/JP7088418B2/ja
Publication of WO2021085569A1 publication Critical patent/WO2021085569A1/fr

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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
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment

Definitions

  • the present invention relates to an overload prevention device for a crane. More specifically, the present invention relates to an overload prevention device for preventing a fall due to an overload of a crane.
  • the overload prevention device determines that the outrigger jack is overloaded when the ground contact reaction force of the outrigger jack becomes equal to or less than the threshold value.
  • the outrigger jack In the case of a loaded truck crane, the outrigger jack is installed almost right next to the turning center of the boom. In such a configuration, the ground reaction force of the outrigger jack does not change even if the forward overturning moment increases. Therefore, it is not possible to detect a forward fall based on the ground contact reaction force of the outrigger jack.
  • Patent Document 1 discloses a technique for detecting a forward fall based on the fact that the actual load reaches the allowable forward lifting load.
  • the permissible forward lifting load is obtained from the forward overturning moment at the limit where the rear wheels of the truck are lifted in the boom front work in which the telescopic boom is swiveled to the front of the truck in an empty state where no load is loaded on the truck bed.
  • Patent Document 1 The permissible forward lifting load of Patent Document 1 is obtained from the forward overturning moment in the state where the boom is most likely to overturn toward the front. Therefore, when the boom is directed diagonally forward, the loaded truck crane will not tip over even if the actual load exceeds the allowable forward lifting load to some extent. In other words, when the boom is directed diagonally forward, the operation of the crane device is restricted even though there is room for a fall. This means that the working range in front of the crane equipment is unnecessarily limited.
  • an object of the present invention is to provide a crane overload prevention device capable of expanding the working range in front of the crane.
  • An overload prevention device that has a boom and is built into a crane that transports suspended loads.
  • An acquisition unit that acquires a tipping moment that is a moment acting on the boom based on the load of the suspended load and includes a forward moment and a lateral moment as components.
  • a control unit that performs overload prevention control including control of either stopping the boom operation or issuing an alarm when the forward moment included in the overturning moment is larger than the first threshold value. Be prepared.
  • An overload prevention device that has a boom and is built into a crane that transports suspended loads.
  • An acquisition unit that acquires a tipping moment that is a moment acting on the boom based on the load of the suspended load and includes a forward moment and a lateral moment as components.
  • the first determination unit that determines whether the crane is in an overloaded state with respect to the front
  • the second judgment unit that determines whether the crane is overloaded with respect to the side
  • a third judgment unit that determines whether the crane is overloaded with respect to strength
  • the overload is determined based on the forward overturning component of the overturning moment acting on the boom, the working range when the boom is directed diagonally forward can be expanded.
  • FIG. 1 is a side view of a loaded truck crane.
  • FIG. 2 is a plan view of a loaded truck crane.
  • FIG. 3 is a hydraulic circuit diagram of a small crane.
  • FIG. 4 is an explanatory view of the forward working range.
  • FIG. 5 is a block diagram of the overload prevention device according to the first embodiment.
  • FIG. 6 is a flowchart of control of the forward stability monitoring unit according to the first embodiment.
  • FIG. 7 is a flowchart of control of the forward stability monitoring unit according to the second embodiment.
  • the overload prevention device AA according to the first embodiment of the present invention is used to prevent the mobile crane from tipping over due to overload.
  • mobile cranes include all-terrain cranes, rough terrain cranes, truck cranes, and loaded truck cranes.
  • the overload prevention device AA of the present embodiment is preferably used for a load-type truck crane.
  • the load-type truck crane CR has a general-purpose truck 10.
  • a driver's cab 11 is provided in the front portion of the general-purpose truck 10, and a loading platform 12 is provided in the rear portion.
  • a small crane 20 is mounted in a portion of the vehicle frame 13 of the general-purpose truck 10 between the driver's cab 11 and the loading platform 12.
  • the small crane 20 has a base 21 fixed on the vehicle frame 13.
  • a post 22 is provided on the base 21 so as to be rotatable.
  • a boom 23 is provided on the upper end of the post 22 so as to be undulating.
  • the post 22 has a built-in winch.
  • the wire rope extended from this winch is guided to the tip of the boom 23.
  • the wire rope is hung around a pulley provided at the tip of the boom 23 and the hook 24. As a result, the hook 24 is suspended from the tip of the boom 23.
  • a suspended load is suspended from the hook 24.
  • a device composed of a post 22, a boom 23, a hook 24, etc. and used for transporting a suspended load is referred to as a "crane device".
  • the boom 23 can be expanded and contracted and undulated, and can be swiveled around the swivel center O.
  • the length of the boom 23 is referred to as L.
  • the undulation angle (angle with respect to the horizontal plane) of the boom 23 is expressed as ⁇ .
  • the turning angle of the boom 23 is referred to as ⁇ .
  • the turning angle ⁇ is 0 ° directly in front of the loaded truck crane CR.
  • the small crane 20 has an outrigger jack 25 in addition to the crane device.
  • the outrigger jacks 25 are arranged on the left and right sides of the small crane 20.
  • the left and right outrigger jacks 25 and the turning center O of the boom 23 are arranged side by side in the vehicle width direction. That is, the left and right outrigger jacks 25 and the turning center O of the boom 23 are arranged at the same position in the front-rear direction of the general-purpose truck 10 or are arranged at short distances.
  • An outrigger jack different from the outrigger jack 25 may be provided on the left and right rear of the loading platform 12.
  • the small crane 20 is hydraulically driven by the hydraulic circuit 30 shown in FIG.
  • the hydraulic circuit 30 has a hydraulic valve unit 31.
  • the inlet port of the hydraulic valve unit 31 is connected to the tank 32 via the main oil passage 34.
  • a hydraulic pump 33 is provided in the main oil passage 34.
  • the hydraulic pump 33 is connected to the engine 14 of the general-purpose truck 10 via a PTO (power take-off) device, and is driven by the engine 14.
  • the hydraulic oil in the tank 32 is supplied to the hydraulic valve unit 31 by the hydraulic pump 33.
  • the outlet port of the hydraulic valve unit 31 is connected to the tank 32 via the return oil passage 35.
  • a plurality of hydraulic actuators 36a to 36f are connected to the hydraulic valve unit 31.
  • the hydraulic actuators 36a to 36f are a boom expansion / contraction hydraulic cylinder 36a, a winch hydraulic motor 36b, a boom undulating hydraulic cylinder 36c, a swivel hydraulic motor 36d, and an outrigger hydraulic cylinders 36e and 36f.
  • the boom 23 expands and contracts due to the operation of the boom expansion and contraction hydraulic cylinder 36a.
  • the hook 24 is wound up and down by the operation of the winch hydraulic motor 36b.
  • the boom 23 undulates due to the operation of the boom undulating hydraulic cylinder 36c.
  • the post 22 is swiveled by the operation of the swivel hydraulic motor 36d.
  • the outrigger jacks 25 and 25 expand and contract by the operation of the outrigger hydraulic cylinders 36e and 36f.
  • the hydraulic valve unit 31 is provided with a telescopic switching control valve 37a, a winch switching control valve 37b, an undulating switching control valve 37c, a swivel switching control valve 37d, and outrigger switching control valves 37e and 37f.
  • a boom expansion / contraction hydraulic cylinder 36a is connected to the expansion / contraction switching control valve 37a.
  • a winch hydraulic motor 36b is connected to the winch switching control valve 37b.
  • a boom undulating hydraulic cylinder 36c is connected to the undulating switching control valve 37c.
  • a swivel hydraulic motor 36d is connected to the swivel switching control valve 37d.
  • the outrigger hydraulic cylinders 36e and 36f are connected to the outrigger switching control valves 37e and 37f, respectively.
  • the switching control valves 37a to 37f control the direction and flow rate of the hydraulic oil supplied from the hydraulic pump 33 to control the operation of the hydraulic actuators 36a to 36f.
  • An operation lever is connected to the spools of the switching control valves 37a to 37f via a link mechanism or the like.
  • the spool positions of the switching control valves 37a to 37f can be switched. That is, the switching control valves 37a to 37f can be directly operated by the operating lever.
  • the small crane 20 has an operating lever group 26.
  • the operating levers constituting the operating lever group 26 are connected to any of the switching control valves 37a to 37f. The operator can operate the small crane 20 by using the operating lever group 26.
  • pilot cylinders 38a to 38f are attached to the spools of the switching control valves 37a to 37f, respectively.
  • the spool positions of the switching control valves 37a to 37f can also be switched by the operation of the pilot cylinders 38a to 38f.
  • Each of the pilot cylinders 38a to 38f is a double-acting cylinder, and is provided with a solenoid valve for supplying and discharging hydraulic oil to the right oil chamber and an electromagnetic valve for supplying and discharging hydraulic oil to the left oil chamber. There is. These solenoid valves are connected to the control device 40.
  • the control device 40 is a computer composed of a CPU, a memory, and the like. By operating the solenoid valve based on the control signal from the control device 40, the pilot cylinders 38a to 38f are driven, and the spool positions of the switching control valves 37a to 37f are switched. In this way, the control device 40 controls the operation of the small crane 20.
  • the control device 40 can perform bidirectional wireless communication or wired communication with the remote control terminal 41.
  • the remote control terminal 41 may be a wireless control terminal such as a so-called radio control transmitter, or a wired control terminal.
  • the remote control terminal 41 is equipped with an input unit including various switches and an accelerator trigger.
  • the remote control terminal 41 transmits an operation signal to the control device 40.
  • the control device 40 controls the hydraulic circuit 30 based on the operation signal to operate the small crane 20. In this way, the operator can remotely control the small crane 20 using the remote control terminal 41.
  • the small crane 20 has an attitude measuring device that measures the attitude of the boom 23.
  • the posture of the boom 23 is represented by the length L of the boom 23, the undulation angle ⁇ , and the turning angle ⁇ .
  • the posture measuring instrument consists of a plurality of measuring instruments that measure each of these parameters L, ⁇ , and ⁇ . That is, the posture measuring device includes a length measuring device 42, an undulation angle measuring device 43, and a turning angle measuring device 44.
  • the length measuring device 42 measures the length L of the boom 23.
  • the configuration of the length measuring instrument 42 is not particularly limited, and examples thereof include a configuration in which the rotation angle of the cord reel in which the end of the cord is fixed to the tip of the boom 23 is read by a potentiometer.
  • the undulation angle measuring device 43 measures the undulation angle ⁇ of the boom 23.
  • the configuration of the undulation angle measuring device 43 is not particularly limited, and examples thereof include a configuration in which a pendulum type angle measuring device in which a pendulum is attached to a potentiometer is provided on the boom 23.
  • the turning angle measuring device 44 measures the turning angle ⁇ of the boom 23.
  • the configuration of the swivel angle measuring device 44 is not particularly limited, but in addition to a configuration in which the swivel angle ⁇ of the boom 23 is discretely detected by a plurality of proximity switches provided on the base 21 or the post 22, a hydraulic motor that swivels the post 22
  • An example is a configuration in which the rotation angle is read by a potentiometer.
  • the small crane 20 has a moment measuring device 45 for measuring the overturning moment M acting on the boom 23.
  • the moment measuring device 45 corresponds to an example of the acquisition unit.
  • the overturning moment M is generated by the load of the suspended load and the own weight of the boom 23.
  • the configuration of the moment measuring device 45 is not particularly limited, and examples thereof include a configuration in which the oil pressure in the boom undulating hydraulic cylinder 36c that undulates the boom 23 is measured by a pressure sensor.
  • the control device 40 has a function as an overload prevention device AA in addition to a function of controlling the operation of the small crane 20.
  • the overload prevention device AA may be configured by a computer different from the control device 40.
  • the measurement values of the posture measuring device (length measuring device 42, undulation angle measuring device 43, turning angle measuring device 44) and the moment measuring device 45 are input to the overload prevention device AA. .. That is, the overload prevention device AA is input with the measured values of the boom 23 length L d , the undulation angle ⁇ d, and the turning angle ⁇ d , and the measured values of the overturning moment M d.
  • the overload prevention device AA detects the overload state of the small crane 20 based on these measured values L d , ⁇ d , ⁇ d , and M d.
  • the "overload state” is a state in which the overload moment exceeds the stable moment and the load-type truck crane CR overturns, and a state in which the load due to the load of the suspended load exceeds the load capacity of the constituent members of the small crane 20. , Or a state approaching those states.
  • the overload prevention device AA has a front stability monitoring unit 51, a side stability monitoring unit 52, and a strength limit monitoring unit 53.
  • the forward stability monitoring unit 51 corresponds to an example of the control unit and the first determination unit, and monitors whether or not the loaded truck crane CR falls forward, that is, the stability in the forward direction.
  • the lateral stability monitoring unit 52 corresponds to an example of the second determination unit and monitors whether or not the loaded truck crane CR falls sideways, that is, lateral stability.
  • the strength limit monitoring unit 53 corresponds to an example of the third determination unit, and monitors whether or not the load due to the load of the suspended load exceeds the withstand load of the constituent members.
  • the maximum value of the forward moment M f that ensures the forward stability of the loaded truck crane CR is defined as the forward rated moment M f-lim .
  • the forward rated moment M f-lim corresponds to an example of the first threshold value and is a predetermined value.
  • the front rated moment M f-lim means that, for example, the rear wheel of the general-purpose truck 10 is lifted when the boom 23 faces directly in front of the general-purpose truck 10 in an empty state where no load is loaded on the loading platform 12 and the general-purpose truck 10 is most likely to fall forward. It is set to the magnitude of the limit overturning moment.
  • the value obtained by multiplying the magnitude of the critical overturning moment by the safety factor (value less than 1) may be the forward rated moment M f-lim.
  • a predetermined ratio (for example, 25%) of the magnitude of the lateral stabilizing moment may be set as the forward rated moment M f-lim with reference to the lateral stabilizing moment of the loaded truck crane CR.
  • the forward rated moment M f-lim is set as the upper limit of the forward moment at which the loaded crane does not tip over forward.
  • the first threshold is preset as an upper limit of the load that prevents the crane from tipping forward.
  • the first threshold value is stored in the storage unit 60 in association with the turning angle that the boom 23 can take.
  • the forward moment M f By comparing the forward moment M f and the forward rated moment M f-lim , it can be determined whether or not the loaded truck crane CR falls forward. Specifically, when the forward moment M f is equal to or less than the forward rated moment M f-lim , it is determined that the vehicle does not tip forward. If the forward moment M f exceeds the forward rated moment M f-lim , it is determined that the vehicle falls forward (overload).
  • the work range R1 in front becomes a semi-circular region.
  • the front working range R2 is a horizontally long region including the working range R1. ..
  • the working range when the boom 23 is directed diagonally forward can be expanded.
  • the forward stability monitoring unit 51 of the present embodiment performs the following control.
  • the front stability monitoring unit 51 stores the front rated moment M f-lim in advance. Therefore, the forward stability monitoring unit 51 also has a function as a storage unit. As shown in FIG. 6, first, the forward stability monitoring unit 51 acquires the measured values ⁇ d and M d from the turning angle measuring device 44 and the moment measuring device 45 (step S11).
  • the forward stability monitoring unit 51 confirms that the boom 23 is arranged in the front region of the loaded truck crane CR (step S12).
  • the fact that the boom 23 is arranged in the front region means that the tip end portion (hook 24) of the boom 23 is arranged in front of the forward tipping baseline.
  • the forward overturning baseline is, for example, a line connecting the grounding positions of the left and right outrigger jacks 25.
  • the boom 23 is arranged in the front region when the turning angle ⁇ d of the boom 23 is within the range of ⁇ 90 ° to + 90 °. You can judge that there is.
  • the state in which the boom 23 is arranged in the front region means a state in which the magnitude of the forward moment acting on the boom 23 is greater than 0 based on the load W of the suspended load.
  • the process ends. On the other hand, when the boom 23 is arranged in the front region, the process is continued.
  • the forward stability monitoring unit 51 obtains the forward overturning component of the overturning moment M, that is, the forward moment M f from the measured values ⁇ d and M d of the turning angle and the overturning moment according to the equation (2) (step S13). ..
  • the overturning moment has a forward moment M f and a lateral moment as components.
  • the forward moment M f of the overturning moment becomes the maximum, and the turning angle of the boom 23 is 90 ° or ⁇ 90 °.
  • the forward moment M f of the overturning moment becomes the minimum.
  • the forward moment is a moment acting on the boom 23, and means a moment around an axis parallel to the left-right direction of the loaded truck crane CR.
  • the lateral moment is a moment acting on the boom 23, and means a moment around an axis parallel to the front-rear direction of the loaded truck crane CR.
  • the forward stability monitoring unit 51 compares the forward moment M f with the forward rated moment M f-lim (step S14). Then, when the forward moment M f exceeds the forward rated moment M f-lim , it is determined that the load is overloaded (step S15). Further, the forward stability monitoring unit 51 implements overload prevention control including at least one of control of stopping the operation of the boom 23 and control of issuing an alarm when it is determined that the load is overloaded.
  • the overload prevention control may include a control other than a control for stopping the operation of the boom 23 and a control for issuing an alarm.
  • the lateral stability monitoring unit 52 determines that the load is overloaded when the load-type truck crane CR falls under the condition of falling sideways, or when such a condition is approached.
  • the specific control of the lateral stability monitoring unit 52 is not particularly limited, but for example, the following control is performed.
  • the load-type truck crane CR has a ground reaction force measuring device 46 that measures the ground reaction force F of the left and right outrigger jacks 25.
  • the configuration of the ground reaction force measuring device 46 is not particularly limited, and examples thereof include a configuration using a hydraulic sensor that measures the oil pressure in the oil chamber of the outrigger jack 25.
  • the ground contact reaction force F can be calculated from the differential pressure between the holding side oil chamber and the non-holding side oil chamber of the outrigger jack 25 and the pressure receiving area of the jack cylinder.
  • the measurement values of the ground reaction force measuring device 46 i.e., the ground reaction force F d outrigger jacks 25 are input to the overload prevention device AA.
  • the lateral stability monitoring unit 52 determines that the load is overloaded when the ground contact reaction force F d of any of the left and right outrigger jacks 25 falls below the reaction force threshold value F lim.
  • the reaction force threshold value F lim is a value preset in the lateral stability monitoring unit 52.
  • the reaction force threshold value F lim may be a fixed value of 1, or may be variable based on the postures L, ⁇ , ⁇ of the boom 23, the load of the suspended load, the overhang width of the outrigger jack 25, and the like.
  • the lateral stability monitoring unit 52 performs lateral stability monitoring at least when the boom 23 is arranged in the lateral region.
  • the fact that the boom 23 is arranged in the lateral region means that the tip end portion (hook 24) of the boom 23 is arranged laterally from the lateral tipping baseline.
  • the front area and the side area of the boom 23 partially overlap each other diagonally in front of the loaded truck crane CR.
  • the side stability monitoring unit 52 may always perform lateral stability monitoring regardless of the turning angle ⁇ of the boom 23. Therefore, when the boom 23 is arranged in the front region, lateral stability monitoring is performed as well as forward stability monitoring. Even if the front stability monitoring unit 51 does not determine that it is overloaded, the side stability monitoring unit 52 may determine that it is overloaded.
  • the strength limit monitoring unit 53 determines that the load is overloaded when the load due to the load of the suspended load exceeds the withstand load of the constituent members.
  • the specific control of the strength limit monitoring unit 53 is not particularly limited, but for example, the following control is performed.
  • the strength rated moment M s-lim (L, ⁇ ) is stored in advance in the strength limit monitoring unit 53.
  • the strength rated moment M s-lim is a value determined for each length L of the boom 23 and an undulation angle ⁇ as a moment that a component member such as the boom 23 can withstand.
  • the length L and the undulation angle ⁇ of the boom 23 correspond to an example of the posture condition of the boom 23.
  • the strength rated moment M s-lim may be stored in a table format, or may be stored as a function with the length L of the boom 23 and the undulation angle ⁇ as variables.
  • the strength rated moment M s-lim may be a value determined for each of the length L of the boom 23, the undulation angle ⁇ , and the turning angle ⁇ . Further, the strength rated moment M s-lim may be a fixed value that does not depend on the length L of the boom 23 or the like.
  • the strength limit monitoring unit 53 acquires the measured values L d , ⁇ d , and M d from the length measuring device 42, the undulation angle measuring device 43, and the moment measuring device 45. Next, the strength limit monitoring unit 53 acquires the strength rated moment M s-lim (L d , ⁇ d ) corresponding to the measured values L d and ⁇ d of the length and undulation angle of the boom 23. Then, the strength limit monitoring unit 53 compares the overturning moment M d with the strength rated moment M s-lim (L d , ⁇ d). Then, when the overturning moment M d exceeds the strength rated moment M s-lim (L d , ⁇ d ), it is determined that the load is overloaded.
  • the strength limit monitoring unit 53 constantly monitors the strength limit regardless of the turning angle ⁇ of the boom 23.
  • the overload prevention device AA has a final determination unit 54.
  • the determination results of the front stability monitoring unit 51, the side stability monitoring unit 52, and the strength limit monitoring unit 53 are input to the final determination unit 54.
  • the final determination unit 54 obtains the logical sum of the determination results of the front stability monitoring unit 51, the side stability monitoring unit 52, and the strength limit monitoring unit 53, and finally determines the overload. That is, when any one or more of the front stability monitoring unit 51, the side stability monitoring unit 52, and the strength limit monitoring unit 53 determines that the load is overloaded, the final determination unit 54 determines that the load is overloaded. On the contrary, when none of the front stability monitoring unit 51, the side stability monitoring unit 52, and the strength limit monitoring unit 53 determines that the load is overloaded, the final determination unit 54 determines that the load is not overloaded.
  • the determination result of the final determination unit 54 is output to the control device 40.
  • the control device 40 may automatically stop the operation of the boom 23 or issue an alarm.
  • the automatic stop is performed by stopping the operation of the boom 23 in the direction in which the overturning moment increases. That is, it stops the extension and lodging of the boom 23 and allows the boom 23 to contract and stand. Further, the winding of the hook 24 may be stopped and the winding of the hook 24 may be allowed. Either one of the automatic stop and the alarm may be performed, or both may be performed.
  • the overload prevention device AA according to the second embodiment of the present invention will be described.
  • the configuration of the overload prevention device AA of the present embodiment is the same as the configuration shown in FIG. Further, the control of the lateral stability monitoring unit 52, the strength limit monitoring unit 53, and the final determination unit 54 is the same as in the first embodiment. Therefore, only the control of the forward stability monitoring unit 51 will be described.
  • the forward stability monitoring unit 51 stores the overturning rated moment M lim ( ⁇ ) in advance.
  • the overturning rated moment M lim corresponds to an example of the second threshold value, and is the overturning moment M when the forward overturning component (forward moment M f ) of the overturning moment M acting on the boom 23 becomes the forward rated moment M f-lim. It is a value determined for each turning angle ⁇ of the boom 23 so as to be. That is, the second threshold value is set in association with the forward rated moment, which is the first threshold value.
  • the forward stability monitoring unit 51 may store the overturning rated moment M lim in a table format, or may store it as a function with the turning angle ⁇ of the boom 23 as a variable. Therefore, the forward stability monitoring unit 51 also has a function as a storage unit for storing the second threshold value.
  • the forward stability monitoring unit 51 acquires the measured values ⁇ d and M d from the turning angle measuring device 44 and the moment measuring device 45 (step S21).
  • the forward stability monitoring unit 51 confirms that the boom 23 is arranged in the front region of the loaded truck crane CR (step S22). If the boom 23 is not located in the front region, the process ends. On the other hand, when the boom 23 is arranged in the front region, the process is continued.
  • the forward stability monitoring unit 51 acquires the overturning rated moment M lim ( ⁇ d ) corresponding to the measured value ⁇ d of the turning angle of the boom 23 (step S23). Then, the forward stability monitoring unit 51 compares the measured value M d of the overturning moment with the overturning rated moment M lim ( ⁇ d ) (step S24). Then, when the overturning moment M d exceeds the overturning rated moment M lim ( ⁇ d ), it is determined that the load is overloaded (step S25).
  • the following overload prevention device can also be implemented as a reference example of the present invention.
  • the overload prevention device according to Reference Example 1 is An overload prevention device for mobile cranes with a boom. When the forward overturning component of the overturning moment acting on the boom exceeds a predetermined forward rated moment, it is determined to be an overload.
  • the overload prevention device according to Reference Example 2 is input with the measured value of the overturning moment acting on the boom and the measured value of the turning angle of the boom. You can. In this case, the overload prevention device obtains the forward overturning component of the overturning moment based on the measured values of the overturning moment and the turning angle. Then, the overload prevention device may determine that the overload is overloaded when the forward overturning component of the overturning moment exceeds the forward rated moment.
  • the overload prevention device according to Reference Example 3 is input with the measured value of the overturning moment acting on the boom and the measured value of the turning angle of the boom. You can. In this case, the overload prevention device stores the overturning rated moment determined for each turning angle of the boom so that it becomes the overturning moment when the forward overturning component of the overturning moment acting on the boom becomes the forward rated moment. May be good. Then, the overload prevention device may determine that the overload is overloaded when the measured value of the overload moment exceeds the overturn rated moment corresponding to the measured value of the turning angle of the boom.
  • the present invention is applicable not only to loaded truck cranes but also to various mobile cranes.

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  • Mechanical Engineering (AREA)
  • Jib Cranes (AREA)

Abstract

La présente invention concerne un dispositif de prévention contre les surcharges incorporé dans une grue possédant une flèche et transportant une charge treuillée, ledit dispositif de prévention contre les surcharges étant pourvu d'une unité d'acquisition et d'une unité de commande. L'unité d'acquisition acquiert un mouvement de renversement, qui est un moment qui agit sur la flèche sur la base du poids d'une charge treuillée et comprenant un moment vers l'avant et un moment latéral en tant que composantes. Lorsque le moment vers l'avant compris dans le moment de renversement est supérieur à un premier seuil, l'unité de commande met en œuvre une commande de prévention contre les surcharges qui comprend soit une commande d'arrêt de fonctionnement de la flèche, soit une commande d'émission d'une alarme.
PCT/JP2020/040715 2019-10-29 2020-10-29 Dispositif de prévention contre les surcharges WO2021085569A1 (fr)

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JP2021553702A JP7088418B2 (ja) 2019-10-29 2020-10-29 過負荷防止装置

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JP2019196632 2019-10-29
JP2019-196632 2019-10-29

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WO2021085569A1 true WO2021085569A1 (fr) 2021-05-06

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Citations (4)

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JPH08119582A (ja) * 1994-10-27 1996-05-14 Komatsu Ltd 作業車両の転倒警報装置及び転倒防止方法
JP2007314257A (ja) * 2006-05-23 2007-12-06 Tadano Ltd 荷台を有する移動式クレーンの安定限界監視装置。
JP2008105817A (ja) * 2006-10-26 2008-05-08 Tadano Ltd 車載式クレーンの転倒防止装置
JP2017206384A (ja) * 2016-03-10 2017-11-24 マニトワック・クレーン・グループ・フランス・ソシエテ・パール・アクシオン・サンプリフィエＭａｎｉｔｏｗｏｃ Ｃｒａｎｅ Ｇｒｏｕｐ Ｆｒａｎｃｅ ＳＡＳ クレーンの積載荷重を確認する方法、およびクレーン

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