WO2022113882A1 - 作業機 - Google Patents
作業機 Download PDFInfo
- Publication number
- WO2022113882A1 WO2022113882A1 PCT/JP2021/042460 JP2021042460W WO2022113882A1 WO 2022113882 A1 WO2022113882 A1 WO 2022113882A1 JP 2021042460 W JP2021042460 W JP 2021042460W WO 2022113882 A1 WO2022113882 A1 WO 2022113882A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- hydraulic cylinder
- expansion
- contraction
- state
- boom
- Prior art date
Links
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 21
- 230000008602 contraction Effects 0.000 claims description 332
- 238000001514 detection method Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 description 8
- 238000004804 winding Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 108010066278 cabin-4 Proteins 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/64—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
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/20—Control systems or devices for non-electric drives
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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
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/06—Cranes in which the lifting movement is done with a hydraulically controlled plunger
- B66C2700/062—Cranes in which the lifting movement is done with a hydraulically controlled plunger mounted on motor vehicles
- B66C2700/065—Cranes in which the lifting movement is done with a hydraulically controlled plunger mounted on motor vehicles with a slewable jib
Definitions
- the present invention relates to a working machine provided with a plurality of expansion / contraction hydraulic cylinders for expanding / contracting a multi-stage boom.
- Patent Document 1 is provided with a limit switch for detecting the extension amount of the intermediate boom with respect to the proximal boom, and is a telescopic boom type for detecting whether or not the intermediate boom is substantially fully contracted with respect to the proximal boom.
- Aerial work platforms are disclosed.
- the boom is almost fully contracted, that is, the expansion / contraction hydraulic cylinder is not completely contracted. If the suspended load is hung in this state, the expansion / contraction hydraulic cylinder receives the load that should be originally received by the boom, and the expansion / contraction hydraulic cylinder may be damaged. Therefore, in a crane equipped with a multi-stage boom, it is desired to completely shrink the expansion / contraction hydraulic cylinder.
- a predetermined expansion / contraction hydraulic cylinder that should be fully contracted is not completely contracted.
- rice field for example, in the process of contracting the boom, even if the predetermined expansion / contraction hydraulic cylinder that should be fully contracted is not completely contracted, it may be determined to be in the fully contracted state. This is because the boom length detected when the boom length detector is used has a certain range due to the variation and hysteresis of the boom length detector.
- hydraulic oil leaks to the expansion / contraction hydraulic cylinder side that is not activated through the spool gap of the solenoid valve that switches the expansion / contraction hydraulic cylinder to be operated, and the expansion / contraction hydraulic cylinder that is not activated is extended. There is also.
- An object of the present invention is to provide a working machine provided with a plurality of expansion / contraction hydraulic cylinders for expanding / contracting a multi-stage boom, which can completely contract a predetermined expansion / contraction hydraulic cylinder.
- One aspect of the working machine according to the present invention is The first hydraulic cylinder and the second hydraulic cylinder that expand and contract the expansion and contraction boom based on the supply and discharge of hydraulic oil, A switching valve provided on the pressure relief circuit connecting the first hydraulic cylinder and the second hydraulic cylinder to the tank, Control to release the pressure in the first hydraulic cylinder by controlling the switching valve so as to connect the first hydraulic cylinder and the tank when the second hydraulic cylinder is contracted or extended while the first hydraulic cylinder is contracted. It has a part and.
- a predetermined expansion / contraction hydraulic cylinder can be completely contracted.
- FIG. 1 is a side view showing an overall configuration of a crane according to an embodiment of the present invention.
- FIG. 2 is a schematic side view of the boom when the expansion / contraction hydraulic cylinder is in the first state.
- FIG. 3 is a schematic side view of the boom when the expansion / contraction hydraulic cylinder is in the second state.
- FIG. 4 is a schematic side view of the boom when the expansion / contraction hydraulic cylinder is in the third state.
- FIG. 5 is a schematic side view of the boom when the expansion / contraction hydraulic cylinder is in the fourth state.
- FIG. 6 is a diagram showing a hydraulic circuit.
- the working machine is not limited to the crane, and may be, for example, an aerial work platform provided with a telescopic boom.
- the working machine may be various working machines provided with a telescopic boom.
- the crane 1 includes a first expansion / contraction hydraulic cylinder 51 and a second expansion / contraction hydraulic cylinder 52, and a first expansion / contraction hydraulic cylinder 51 and a second expansion / contraction hydraulic cylinder 52 that expand and contract the expansion / contraction boom 4 based on the supply and discharge of hydraulic oil.
- the expansion / contraction cylinder pressure relief solenoid valve 88 provided on the pressure relief circuit connecting the tank 90 and one of the first expansion / contraction hydraulic cylinder 51 and the second expansion / contraction hydraulic cylinder 52 contracted.
- the crane 1 includes a vehicle 2 and a crane device 3.
- the vehicle 2 includes a pair of left and right front wheels 21 and rear wheels 22. Further, the vehicle 2 is provided with an outrigger 23 that is grounded for stability when carrying the luggage W.
- the crane device 3 supported on the upper portion of the vehicle 2 is swivelable by an actuator.
- the crane device 3 is provided with a boom 4 so as to protrude forward from the rear portion.
- the boom 4 is configured to swing freely by a turning hydraulic motor (not shown). Further, the boom 4 is configured to be expandable and contractible by a telescopic hydraulic cylinder 5 (see FIGS. 2 to 5). Further, the boom 4 is configured to be undulating by the undulating hydraulic cylinder 31.
- the turning angle, turning speed, expansion / contraction length, expansion / contraction speed, undulation angle, and undulation speed of the boom 4 are detected by a plurality of sensors (not shown).
- a wire rope 61 is hung on the boom 4.
- a winch 62 around which a wire rope 61 is wound is arranged on the base end side of the boom 4, and a hook 63 is hung on the tip end side of the boom 4 by the wire rope 61.
- the winch 62 is integrally configured with a winding hydraulic motor (not shown), and enables winding and unwinding of the wire rope 61.
- the hook 63 is configured to be able to move up and down by a winding hydraulic motor. The hanging length and elevating speed of the hook 63 are detected by a sensor (not shown).
- the crane device 3 is provided with a cabin 32 on the side of the boom 4. Inside the cabin 32, a turning operation tool, a telescopic operation tool, an undulation operation tool, a winding operation tool, and the like for operating the crane device 3 are provided.
- [boom] 2 to 5 are side views of the boom 4.
- the boom 4 is configured by nesting five members of the first boom 41 to the fifth boom.
- the first boom 41 is the outermost member arranged on the proximal end side, and is supported so as to be rotatable and undulating.
- the second boom 42 is a member that is arranged inside the first boom 41 and expands and contracts with respect to the first boom 41.
- the third boom 43 is a member that is arranged inside the second boom 42 and expands and contracts with respect to the second boom 42.
- the fourth boom 44 is a member that is arranged inside the third boom 43 and expands and contracts with respect to the third boom 43.
- the fifth boom 45 is the innermost member arranged on the tip side, is arranged inside the fourth boom 44, and expands and contracts with respect to the fourth boom 44.
- the third boom 43, the fourth boom 44, and the fifth boom 45 are connected via a wire or the like (not shown), and the booms 43, 44, and 45 are configured to expand and contract in conjunction with each other at a constant rate. That is, in the third boom 43, the fourth boom 44, and the fifth boom 45, the fully contracted state is reached at one time, and the fully extended state is reached at one time.
- the expansion / contraction hydraulic cylinder 5 includes a first expansion / contraction hydraulic cylinder 51 that expands / contracts the second boom 42, and a second expansion / contraction hydraulic cylinder 52 that expands / contracts the third boom 43.
- the fourth boom 44 is linked to the expansion and contraction of the third boom 43 due to the expansion and contraction of the second expansion and contraction hydraulic cylinder 52.
- the fifth boom 45 also expands and contracts.
- the second expansion / contraction hydraulic cylinder 52 expands / contracts the third boom 43, the fourth boom 44, and the fifth boom 45.
- the first expansion / contraction hydraulic cylinder 51 corresponds to an example of one of the first hydraulic cylinder and the second hydraulic cylinder.
- the second expansion / contraction hydraulic cylinder 52 corresponds to an example of any one of the first hydraulic cylinder and the second hydraulic cylinder.
- the first expansion / contraction hydraulic cylinder 51 corresponds to an example of the first hydraulic cylinder
- the second expansion / contraction hydraulic cylinder 52 corresponds to an example of the second hydraulic cylinder.
- the first expansion / contraction hydraulic cylinder 51 corresponds to an example of the second hydraulic cylinder
- the second expansion / contraction hydraulic cylinder 52 corresponds to an example of the first hydraulic cylinder.
- a boom length detector 7 for detecting the length of the boom is provided on the outer surface of the boom 4.
- the boom length detector 7 has a reel 71, a wire 72 having one end fixed to the reel 71 and the other end fixed to the tip of the fifth boom 45, and a sensor (not shown) for detecting the feeding amount of the wire 72. is doing.
- the sensor is connected to a control unit 11 described later. As a result, the length of the boom 4 can be detected by detecting the amount of wire feeding by the sensor.
- FIG. 6 is a diagram showing a hydraulic circuit relating to the first expansion / contraction hydraulic cylinder 51 and the second expansion / contraction hydraulic cylinder 52.
- the hydraulic circuit includes a first expansion / contraction hydraulic cylinder 51, a second expansion / contraction hydraulic cylinder 52, a prime mover 81, a pump 82, an expansion / contraction control valve 83, an expansion / contraction cylinder operation switching solenoid valve 84, and a first counter balance.
- the valve 85, the second counter balance valve 86, the hose reel 87, the expansion / contraction cylinder pressure release solenoid valve 88, the relief valve 89, and the tank 90 are provided.
- the prime mover 81 is connected to the pump 82.
- the pump 82 corresponds to an example of the supply unit, is arranged between the tank 90 and the expansion / contraction control valve 83, and pumps hydraulic oil from the tank 90 to the expansion / contraction control valve 83.
- the expansion / contraction control valve 83 is arranged between the pump 82 and the expansion / contraction cylinder operation switching solenoid valve 84.
- the expansion / contraction control valve 83 is a 4-way 4-port 3-position solenoid valve. The four ports are connected to the pump 82, the tank 90, the expansion / contraction cylinder operation switching solenoid valve 84, and the contraction circuit 51B of the first expansion / contraction hydraulic cylinder 51 and the contraction circuit 52B of the second expansion / contraction hydraulic cylinder 52, respectively. Has been done.
- the expansion / contraction control valve 83 has a first solenoid 831 and a second solenoid 832, and is configured to be switchable between a first position, a second position, and a third position by the first solenoid 831 and the second solenoid 832. Solenoid. Specifically, when the first solenoid 831 is turned on and the second solenoid 832 is turned off, the expansion / contraction control valve 83 is switched to the first position, and when the first solenoid 831 is turned off and the second solenoid 832 is turned on, the expansion / contraction control valve 83 is expanded / contracted. The control valve 83 is switched to the second position, and when both the first solenoid 831 and the second solenoid 832 are turned off, the expansion / contraction control valve 83 is switched to the third position.
- the expansion / contraction control valve 83 When the expansion / contraction control valve 83 is switched to the third position, the port connected to the pump 82 is closed, and the other three ports are connected to the tank 90. In the state where the expansion / contraction control valve 83 is switched to the first position, the pump 82 and the expansion / contraction cylinder operation switching solenoid valve 84 are connected, and the contraction circuit 51B of the first expansion / contraction hydraulic cylinder 51 and the second expansion / contraction hydraulic cylinder 52 are connected. The contraction circuit 52B of the above and the tank 90 are connected. When the expansion / contraction control valve 83 is switched to the first position, hydraulic oil is supplied from the pump 82 to the expansion / contraction cylinder operation switching solenoid valve 84.
- the pump 82 In the state where the expansion / contraction control valve 83 is switched to the second position, the pump 82 is connected to the contraction circuit 51B of the first expansion / contraction hydraulic cylinder 51 and the contraction circuit 52B of the second expansion / contraction hydraulic cylinder 52, and the expansion / contraction cylinder is operated.
- the switching solenoid valve 84 and the tank 90 are connected.
- hydraulic oil is supplied from the pump 82 to the contraction circuit 51B of the first expansion / contraction hydraulic cylinder 51 and the contraction circuit 52B of the second expansion / contraction hydraulic cylinder 52.
- the expansion / contraction cylinder operation switching solenoid valve 84 is arranged between the expansion / contraction control valve 83, the first counter balance valve 85, and the hose reel 87.
- the expansion / contraction cylinder operation switching solenoid valve 84 is a 3-port single-acting solenoid valve, which is located at the left side when it is off and switches to the right position when it is turned on. The three ports are connected to the expansion / contraction control valve 83, the first counter balance valve 85, and the hose reel 87, respectively.
- the expansion / contraction cylinder operation switching solenoid valve 84 connects the expansion / contraction control valve 83 and the first counterbalance valve 85, and closes the port connected to the hose reel 87.
- the expansion / contraction cylinder operation switching solenoid valve 84 connects the expansion / contraction control valve 83 and the hose reel 87, and closes the port connected to the first counterbalance valve 85.
- the first counter balance valve 85 is arranged between the expansion / contraction cylinder operation switching solenoid valve 84 and the extension circuit 51A of the first expansion / contraction hydraulic cylinder 51.
- the second counter balance valve 86 is arranged between the hose reel 87 and the extension circuit 52A of the second expansion / contraction hydraulic cylinder 52.
- the hose reel 87 is arranged between the expansion / contraction cylinder operation switching solenoid valve 84 and the second counter balance valve 86.
- the expansion / contraction cylinder pressure release solenoid valve 88 corresponds to an example of a switching valve, and is between the circuit 91 connecting the first counter balance valve 85 and the expansion / contraction cylinder operation switching solenoid valve 84 and the tank 90, and the hose reel 87. It is arranged between the circuit 92 connecting the expansion / contraction cylinder operation switching solenoid valve 84 and the tank 90.
- the expansion / contraction cylinder pressure release solenoid valve 88 is a 4-way 4-port 3-position solenoid valve, and has a first expansion / contraction cylinder pressure release solenoid 881 on the left side and a second expansion / contraction cylinder pressure release solenoid 882 on the right side.
- the four ports are connected to the tank 90, the circuit 91, the circuit 92, and the closed circuit, respectively.
- the circuit that connects the first expansion / contraction hydraulic cylinder 51, the second expansion / contraction hydraulic cylinder 52, and the pump 82, including the circuits 91 and 92, corresponds to an example of the supply circuit.
- the expansion / contraction cylinder pressure release solenoid valve 88 is configured to be switchable between a first position, a second position, and a third position by a first expansion / contraction cylinder pressure release solenoid 881 and a second expansion / contraction cylinder pressure release solenoid 882. Specifically, when the first expansion / contraction cylinder pressure release solenoid 881 is turned on and the second expansion / contraction cylinder pressure release solenoid 882 is turned off, the expansion / contraction cylinder pressure release solenoid valve 88 is switched to the first position.
- the expansion / contraction cylinder pressure release solenoid valve 88 is switched to the second position. Further, when both the first expansion / contraction cylinder pressure release solenoid 881 and the second expansion / contraction cylinder pressure release solenoid 882 are turned off, the expansion / contraction cylinder pressure release solenoid valve 88 is switched to the third position.
- the first circuit includes a circuit connecting the expansion / contraction cylinder pressure release solenoid valve 88 at the third position, the extension circuit 51A of the first expansion / contraction hydraulic cylinder 51, and the expansion / contraction cylinder pressure release solenoid valve 88. 2. It is composed of a circuit for connecting the extension circuit 52A of the expansion / contraction hydraulic cylinder 52 and the expansion / contraction cylinder pressure relief solenoid valve 88.
- the circuit 91 and the tank 90 are connected, and the circuit 92 is connected to the closed circuit. That is, in the state where the expansion / contraction cylinder pressure relief solenoid valve 88 is switched to the first position, the extension circuit 51A of the first expansion / contraction hydraulic cylinder 51 is connected to the tank 90 and the extension circuit 52A of the second expansion / contraction hydraulic cylinder 52. A second circuit is formed that does not connect to the tank 90.
- the second circuit includes a expansion / contraction cylinder pressure relief solenoid valve 88 at the first position, a circuit connecting the extension circuit 51A of the first expansion / contraction hydraulic cylinder 51 and the tank 90, and a second expansion / contraction hydraulic cylinder 52. It is composed of a circuit for connecting the extension circuit 52A and the expansion / contraction cylinder pressure relief solenoid valve 88, and a closed circuit.
- the circuit 92 and the tank 90 are connected, and the circuit 91 is connected to the closed circuit. That is, in the state where the expansion / contraction cylinder pressure relief solenoid valve 88 is switched to the second position, the extension circuit 51A of the first expansion / contraction hydraulic cylinder 51 is not connected to the tank 90, and the extension circuit 52A of the second expansion / contraction hydraulic cylinder 52 is not connected.
- a third circuit is configured to connect the tank 90 to the tank 90.
- the third circuit includes a expansion / contraction cylinder pressure relief solenoid valve 88 at the second position, a circuit connecting the extension circuit 52A of the second expansion / contraction hydraulic cylinder 52 and the tank 90, and the first expansion / contraction hydraulic cylinder 51. It is composed of a circuit for connecting the extension circuit 51A and the expansion / contraction cylinder pressure relief solenoid valve 88, and a closed circuit.
- the expansion / contraction cylinder pressure relief solenoid valve 88 is a solenoid valve that switches between the first circuit, the second circuit, and the third circuit. It can be said that the pressure relief circuit is composed of the first circuit, the second circuit, and the third circuit.
- the relief valve 89 is arranged between the delivery side of the pump 82 and the tank 90, and is a valve that returns excess hydraulic oil sent from the pump 82 to the tank 90.
- the tank 90 stores hydraulic oil used in the hydraulic circuit.
- the expansion / contraction cylinder pressure release solenoid 882 is connected to the control unit 11.
- the boom length detector 7 and the expansion / contraction operation lever 12 are also connected to the control unit 11.
- the expansion / contraction operation lever 12 operates the expansion / contraction of the first expansion / contraction hydraulic cylinder 51 and the second expansion / contraction hydraulic cylinder 52 according to the operation direction (extension direction and reduction direction) and the operation amount of the lever.
- the control unit 11 is composed of a control device such as a CPU and a storage device such as a RAM (Random Access Memory) and a ROM (Read Only Memory).
- the control unit 11 controls the expansion / contraction control valve 83, the expansion / contraction cylinder operation switching solenoid valve 84, and the expansion / contraction cylinder pressure relief solenoid valve 88 in response to the input from the boom length detector 7 and the expansion / contraction operation lever 12.
- the expansion / contraction cylinder operation switching solenoid valve 84 when operating the first expansion / contraction hydraulic cylinder 51, the expansion / contraction cylinder operation switching solenoid valve 84 is turned off (the expansion / contraction control valve 83 and the first expansion / contraction hydraulic cylinder 51 are connected).
- the expansion / contraction cylinder operation switching solenoid valve 84 when operating the second expansion / contraction hydraulic cylinder 52, the expansion / contraction cylinder operation switching solenoid valve 84 is turned on (a state in which the expansion / contraction control valve 83 and the second expansion / contraction hydraulic cylinder 52 are connected). That is, the expansion / contraction control valve 83 controls the operating direction and operating speed of the first expansion / contraction hydraulic cylinder 51 or the second expansion / contraction hydraulic cylinder 52, and the expansion / contraction cylinder operation switching solenoid valve 84 operates the first expansion / contraction hydraulic pressure. Switch to the cylinder 51 or the second expansion / contraction hydraulic cylinder 52.
- the control unit 11 can execute a plurality of expansion / contraction modes in which the expansion / contraction order of the first expansion / contraction hydraulic cylinder 51 and the second expansion / contraction hydraulic cylinder 52 is different, and in each expansion / contraction mode, the expansion / contraction control valve 83 and the expansion / contraction cylinder operation switching solenoid It controls the valve 84 and the expansion / contraction cylinder pressure release solenoid valve 88.
- the plurality of expansion / contraction modes are a first expansion / contraction mode and a second expansion / contraction mode.
- the first expansion / contraction mode and the second expansion / contraction mode can be selected (settable) by operating an operation unit (not shown), and can be selected and operated in either the fully contracted state or the fully expanded state of the boom 4. ing. In all other states, the last selected telescopic mode is retained.
- the first expansion / contraction mode shifts between the first state and the second state when the first expansion / contraction hydraulic cylinder 51 expands / contracts, and the second expansion / contraction hydraulic cylinder 52 expands / contracts to the second state.
- Table 1 is a table showing the state of each solenoid in the first expansion / contraction mode.
- the control unit 11 when transitioning between the first state and the second state, the control unit 11 turns off the expansion / contraction cylinder operation switching solenoid valve 84 and turns off the first expansion / contraction cylinder pressure release solenoid 881.
- the second expansion / contraction cylinder pressure release solenoid 882 is controlled to be turned on.
- the control unit 11 when transitioning between the second state and the third state, the control unit 11 turns on the expansion / contraction cylinder operation switching solenoid valve 84, turns off the first expansion / contraction cylinder pressure release solenoid 881, and turns off the second expansion / contraction cylinder.
- the pressure relief solenoid 882 is controlled to be off.
- the determination of the first state, the second state, and the third state is made by the control unit 11 from the detection result (detection value) of the boom length detector 7.
- the length of the boom 4 detected by the boom length detector 7 has a certain range due to variations and hysteresis of the boom length detector 7. Therefore, within this range, the second expansion / contraction hydraulic cylinder 52 when shifting from the third state to the second state may not be completely fully contracted.
- the expansion / contraction cylinder operation switching solenoid valve 84 When it is determined that the second state is reached, the expansion / contraction cylinder operation switching solenoid valve 84 is switched off, the first expansion / contraction hydraulic cylinder 51 begins to shrink, and the second expansion / contraction cylinder pressure relief solenoid 882 is turned on.
- the extension circuit 52A of the second expansion / contraction hydraulic cylinder 52 is connected to the tank 90. Therefore, when the first expansion / contraction hydraulic cylinder 51 shrinks, the second expansion / contraction hydraulic cylinder 52 also shrinks at the same time. As a result, the stroke (extension amount) remaining in the second expansion / contraction hydraulic cylinder 52 disappears, and the second expansion / contraction hydraulic cylinder 52 completely contracts.
- the hydraulic oil is supplied to the second expansion / contraction hydraulic cylinder through the spool gap of the expansion / contraction cylinder operation switching solenoid valve 84 due to the pressure difference. It may leak toward the extension circuit 52A of 52.
- the second expansion / contraction cylinder pressure relief solenoid 882 is on and the extension circuit 52A of the second expansion / contraction hydraulic cylinder 52 is connected to the tank 90, the leaked hydraulic oil is the second expansion / contraction hydraulic cylinder 52. Before reaching the extension circuit 52A, it is returned to the tank 90 through the second expansion / contraction cylinder pressure release solenoid 882. As a result, the second expansion / contraction hydraulic cylinder 52 does not expand and can be kept in a completely contracted state.
- control unit 11 controls each solenoid so that the pressure relief circuit becomes the third circuit when shifting between the first state and the second state in the first expansion / contraction mode.
- the second expansion / contraction mode shifts between the first state and the fourth state by expanding / contracting the second expansion / contraction hydraulic cylinder 52, and changes to the fourth state by expanding / contracting the first expansion / contraction hydraulic cylinder 51.
- Table 2 is a table showing the state of each solenoid in the second expansion / contraction mode.
- the control unit 11 when transitioning between the first and fourth states, the control unit 11 turns on the expansion / contraction cylinder operation switching solenoid valve 84 and turns on the first expansion / contraction cylinder pressure release solenoid 881.
- the second expansion / contraction cylinder pressure release solenoid 882 is controlled to be off.
- the control unit 11 when transitioning between the fourth state and the third state, the control unit 11 turns off the expansion / contraction cylinder operation switching solenoid valve 84, turns off the first expansion / contraction cylinder pressure release solenoid 881, and the second expansion / contraction cylinder.
- the pressure relief solenoid 882 is controlled to be off.
- the control unit 11 determines the first state, the third state, and the fourth state from the detection result of the boom length detector 7. Therefore, for the same reason as in the first expansion / contraction mode, the first expansion / contraction hydraulic cylinder 51 when shifting from the third state to the fourth state may not be completely contracted.
- the expansion / contraction cylinder operation switching solenoid valve 84 is switched on, the second expansion / contraction hydraulic cylinder 52 begins to shrink, and the first expansion / contraction cylinder pressure relief solenoid 881 is turned on.
- the extension circuit 51A of the first expansion / contraction hydraulic cylinder 51 is connected to the tank 90. Therefore, when the second expansion / contraction hydraulic cylinder 52 shrinks, the first expansion / contraction hydraulic cylinder 51 also shrinks at the same time. As a result, the stroke (extension amount) remaining in the first expansion / contraction hydraulic cylinder 51 disappears, and the first expansion / contraction hydraulic cylinder 51 completely contracts.
- the hydraulic oil is supplied to the first expansion / contraction hydraulic cylinder through the spool gap of the expansion / contraction cylinder operation switching solenoid valve 84 due to the pressure difference. It may leak toward the extension circuit 51A of 51.
- the leaked hydraulic oil is the first expansion / contraction hydraulic cylinder 51.
- the extension circuit 51A it is returned to the tank 90 through the first expansion / contraction cylinder pressure release solenoid 881.
- the first expansion / contraction hydraulic cylinder 51 does not expand and can be kept in a completely contracted state.
- the expansion / contraction cylinder pressure relief solenoid valve 88 which is a pressure relief circuit, becomes the second circuit. It controls each solenoid.
- the other is connected to the tank 90 through a pressure relief circuit to connect the other extension circuit.
- the pressure can be released and the other can be fully contracted.
- the telescopic cylinder operation switching solenoid valve 84 and the telescopic cylinder pressure relief solenoid valve 88 are increased according to the number of telescopic cylinders and similarly controlled. By doing so, the same action and effect can be obtained.
- the present invention can be applied to various working machines having a telescopic boom.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Fluid-Pressure Circuits (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Jib Cranes (AREA)
Abstract
Description
作動油の給排に基づいて伸縮ブームを伸縮させる第1油圧シリンダ及び第2油圧シリンダと、
第1油圧シリンダ及び第2油圧シリンダとタンクとを接続する圧抜き回路上に設けられた切換弁と、
第1油圧シリンダが収縮した状態で、第2油圧シリンダを収縮又は伸長させる際、第1油圧シリンダとタンクとを接続するように切換弁を制御して、第1油圧シリンダ内の圧力を抜く制御部と、を備える。
図1に示すように、クレーン1は、車両2と、クレーン装置3とを備えている。車両2は、左右一対の前輪21及び後輪22を備えている。また、車両2は、荷物Wの運搬作業を行なう際に接地させて安定を図るアウトリガ23を備えている。なお、車両2は、アクチュエータによって、その上部に支持するクレーン装置3を旋回自在としている。
図2から図5は、ブーム4の側面図である。ブーム4は、第1ブーム41から第5ブームの5つの部材が入れ子状に組み立てられて構成される。第1ブーム41は、基端側に配置される最も外側の部材であり、旋回自在及び起伏自在に支持されている。第2ブーム42は、第1ブーム41の内側に配置され、第1ブーム41に対して伸縮する部材である。
図2から図5に示すように、ブーム4の内部には伸縮用油圧シリンダ5が配置されている。伸縮用油圧シリンダ5は、第2ブーム42を伸縮させる第1伸縮用油圧シリンダ51と、第3ブーム43を伸縮させる第2伸縮用油圧シリンダ52とで構成されている。上述したように、第3ブーム43、第4ブーム44及び第5ブーム45は連結されているため、第2伸縮用油圧シリンダ52の伸縮による第3ブーム43の伸縮に連動して第4ブーム44及び第5ブーム45も伸縮する。したがって、第2伸縮用油圧シリンダ52は、第3ブーム43、第4ブーム44及び第5ブーム45を伸縮させるということもできる。第1伸縮用油圧シリンダ51は、第1油圧シリンダ及び第2油圧シリンダのうちの何れか一方のシリンダの一例に該当する。又、第2伸縮用油圧シリンダ52は、第1油圧シリンダ及び第2油圧シリンダのうちの何れか他方のシリンダ一例に該当する。具体的には、第1伸縮用油圧シリンダ51が第1油圧シリンダの一例に該当する場合、第2伸縮用油圧シリンダ52は、第2油圧シリンダの一例に該当する。又、第1伸縮用油圧シリンダ51が第2油圧シリンダの一例に該当する場合、第2伸縮用油圧シリンダ52は、第1油圧シリンダの一例に該当する。
図2から図5に示すように、ブーム4の外面には、ブームの長さを検出するブーム長さ検出器7が設けられている。ブーム長さ検出器7は、リール71と、一端がリール71に固定され他端が第5ブーム45の先端に固定されるワイヤ72と、ワイヤ72の繰り出し量を検出する図示しないセンサとを有している。センサは後述する制御部11に接続されている。これにより、センサでワイヤの繰り出し量を検出することで、ブーム4の長さを検出することができる。
図6は、第1伸縮用油圧シリンダ51及び第2伸縮用油圧シリンダ52に関する油圧回路を示す図である。油圧回路は、第1伸縮用油圧シリンダ51と、第2伸縮用油圧シリンダ52と、原動機81と、ポンプ82と、伸縮コントロールバルブ83と、伸縮用シリンダ作動切替ソレノイドバルブ84と、第1カウンタバランスバルブ85と、第2カウンタバランスバルブ86と、ホースリール87と、伸縮用シリンダ圧抜きソレノイドバルブ88と、リリーフバルブ89と、タンク90とを備えている。
図6の油圧回路によれば、伸縮操作レバー12の操作方向と操作量に応じて第1ソレノイド831又は第2ソレノイド832に電流が流れ、その電流量に応じて伸縮コントロールバルブ83が動く。原動機81にて駆動されたポンプ82から送出された作動油は、伸縮コントロールバルブ83の動いた量に応じて、第1伸縮用油圧シリンダ51又は第2伸縮用油圧シリンダ52に流入する。その結果、第1伸縮用油圧シリンダ51又は第2伸縮用油圧シリンダ52が伸縮する。なお、余剰の作動油はリリーフバルブ89からタンク90へ排出される。
制御部11は、第1伸縮用油圧シリンダ51及び第2伸縮用油圧シリンダ52の伸縮順序が異なる複数の伸縮モードを実行可能であり、各伸縮モードにおいて伸縮コントロールバルブ83、伸縮用シリンダ作動切替ソレノイドバルブ84及び伸縮用シリンダ圧抜きソレノイドバルブ88を制御する。本実施形態において、複数の伸縮モードは、第1伸縮モード及び第2伸縮モードである。第1伸縮モード及び第2伸縮モードは、図示しない操作部を操作することで選択可能(設定可能)であり、ブーム4の全縮状態又は全伸状態の何れかの状態において選択操作可能となっている。それ以外の状態では、最後に選んだ伸縮モードが保持される。
第1伸縮モードは、第1伸縮用油圧シリンダ51及び第2伸縮用油圧シリンダ52が全縮している第1状態(図2に示す状態)と、第1伸縮用油圧シリンダ51が全伸し、第2伸縮用油圧シリンダ52が全縮している第2状態(図3に示す状態)と、第1伸縮用油圧シリンダ51及び第2伸縮用油圧シリンダ52が全伸している第3状態(図4に示す状態)とを取り得るように制御するモードである。
第2伸縮モードは、第1伸縮用油圧シリンダ51及び第2伸縮用油圧シリンダ52が全縮している第1状態(図2に示す状態)と、第1伸縮用油圧シリンダ51が全縮し、第2伸縮用油圧シリンダ52が全伸している第4状態(図5に示す状態)と、第1伸縮用油圧シリンダ51及び第2伸縮用油圧シリンダ52が全伸している第3状態(図4に示す状態)とを取り得るように制御するモードである。
11 制御部
2 車両
21 前輪
22 後輪
23 アウトリガ
3 クレーン装置
31 起伏用油圧シリンダ
32 キャビン
4 ブーム
41 第1ブーム
42 第2ブーム
43 第3ブーム
44 第4ブーム
45 第5ブーム
5 伸縮用油圧シリンダ
51 第1伸縮用油圧シリンダ
51B 縮回路
52 第2伸縮用油圧シリンダ
52B 縮回路
61 ワイヤロープ
62 ウインチ
63 フック
7 ブーム長さ検出器
71 リール
72 ワイヤ
81 原動機
82 ポンプ
83 伸縮コントロールバルブ
831 第1ソレノイド
832 第2ソレノイド
84 伸縮用シリンダ作動切替ソレノイドバルブ
85 第1カウンタバランスバルブ
86 第2カウンタバランスバルブ
87 ホースリール
88 伸縮用シリンダ圧抜きソレノイドバルブ(電磁弁)
881 第1伸縮用シリンダ圧抜きソレノイド
882 第2伸縮用シリンダ圧抜きソレノイド
89 リリーフバルブ
90 タンク
91、92 回路
W 吊り荷
Claims (8)
- 作動油の給排に基づいて伸縮ブームを伸縮させる第1油圧シリンダ及び第2油圧シリンダと、
前記第1油圧シリンダ及び前記第2油圧シリンダとタンクとを接続する圧抜き回路上に設けられた切換弁と、
前記第1油圧シリンダが収縮した状態で、前記第2油圧シリンダを収縮又は伸長させる際、前記第1油圧シリンダとタンクとを接続するように前記切換弁を制御して、前記第1油圧シリンダ内の圧力を抜く制御部と、を備える
作業機。 - 前記第1油圧シリンダ及び第2油圧シリンダに前記作動油を供給する供給部を、更に備え、
前記圧抜き回路は、前記第1油圧シリンダ及び前記第2油圧シリンダと前記供給部とを接続する供給回路に接続されている、請求項1に記載の作業機。 - 前記第1油圧シリンダ及び第2油圧シリンダはそれぞれ、伸長する際に前記作動油が供給される伸回路と、収縮する際に前記作動油が供給される縮回路と、を有し、
前記圧抜き回路は、前記伸回路に接続されている、請求項1または2に記載の作業機。 - 前記伸縮ブームの長さを検出するブーム長さ検出器を、更に備え、
前記制御部は、前記ブーム長さ検出器の検出値に応じて前記切換弁を制御する、請求項1~3の何れか一項に記載の作業機。 - 前記切換弁は、前記制御部の制御下で、
前記第1油圧シリンダ及び前記第2油圧シリンダを前記タンクに接続しない第1回路と、
前記第1油圧シリンダを前記タンクに接続するとともに前記第2油圧シリンダを前記タンクに接続しない第2回路と、
前記第1油圧シリンダを前記タンクに接続しないとともに前記第2油圧シリンダを前記タンクに接続する第3回路と、
を切り替える、
請求項1~4の何れか一項に記載の作業機。 - 前記制御部は、予め設定され、前記第1油圧シリンダ及び前記第2油圧シリンダの伸縮順序が異なる複数の伸縮モードを実行可能であり、前記伸縮モードのそれぞれにおいて前記切換弁を制御する、請求項1~5の何れか一項に記載の作業機。
- 前記複数の伸縮モードは、前記第1油圧シリンダ及び前記第2油圧シリンダが全縮している第1状態と、前記第1油圧シリンダが全伸し、前記第2油圧シリンダが全縮している第2状態と、前記第1油圧シリンダ及び前記第2油圧シリンダが全伸している第3状態とを有する第1伸縮モードを含み、
前記制御部は、前記第1伸縮モードにおいて前記第1状態と前記第2状態との間を移行する際、前記第1油圧シリンダとタンクとを接続するように前記切換弁を制御して、前記第1油圧シリンダ内の圧力を抜く、請求項6に記載の作業機。 - 前記複数の伸縮モードは、前記第1油圧シリンダ及び前記第2油圧シリンダが全縮している第1状態と、前記第1油圧シリンダが全縮し、前記第2油圧シリンダが全伸している第4状態と、前記第1油圧シリンダ及び前記第2油圧シリンダが全伸している第3状態とを有する第2伸縮モードを含み、
前記制御部は、前記第2伸縮モードにおいて前記第1状態と前記第4状態との間を移行する際、前記第1油圧シリンダとタンクとを接続するように前記切換弁を制御して、前記第1油圧シリンダ内の圧力を抜く、請求項6又は7に記載の作業機。
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Citations (8)
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JPS567894A (en) * | 1979-06-25 | 1981-01-27 | Kobe Steel Ltd | Boom reducing circuit for hydraulic crane |
JPS58220089A (ja) * | 1982-06-16 | 1983-12-21 | 株式会社神戸製鋼所 | 多段ブームの順次伸縮制御方法 |
JPH09124274A (ja) * | 1995-10-06 | 1997-05-13 | Kidde Ind Inc | 伸長可能なブーム用電気・流体圧操作システム |
JPH11217191A (ja) * | 1998-02-02 | 1999-08-10 | Sumitomo Constr Mach Co Ltd | テレスコ型多段ブーム伸縮装置 |
JP2004149309A (ja) | 2002-10-31 | 2004-05-27 | Aichi Corp | 伸縮ブーム式高所作業車 |
JP2006300280A (ja) * | 2005-04-25 | 2006-11-02 | Kobelco Cranes Co Ltd | 油圧シリンダ回路 |
JP2015042571A (ja) * | 2013-08-26 | 2015-03-05 | 日本車輌製造株式会社 | テレスコブーム装置およびクローラクレーン |
JP2020196126A (ja) | 2019-05-28 | 2020-12-10 | 株式会社マキタ | 電動作業機 |
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Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
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JPS567894A (en) * | 1979-06-25 | 1981-01-27 | Kobe Steel Ltd | Boom reducing circuit for hydraulic crane |
JPS58220089A (ja) * | 1982-06-16 | 1983-12-21 | 株式会社神戸製鋼所 | 多段ブームの順次伸縮制御方法 |
JPH09124274A (ja) * | 1995-10-06 | 1997-05-13 | Kidde Ind Inc | 伸長可能なブーム用電気・流体圧操作システム |
JPH11217191A (ja) * | 1998-02-02 | 1999-08-10 | Sumitomo Constr Mach Co Ltd | テレスコ型多段ブーム伸縮装置 |
JP2004149309A (ja) | 2002-10-31 | 2004-05-27 | Aichi Corp | 伸縮ブーム式高所作業車 |
JP2006300280A (ja) * | 2005-04-25 | 2006-11-02 | Kobelco Cranes Co Ltd | 油圧シリンダ回路 |
JP2015042571A (ja) * | 2013-08-26 | 2015-03-05 | 日本車輌製造株式会社 | テレスコブーム装置およびクローラクレーン |
JP2020196126A (ja) | 2019-05-28 | 2020-12-10 | 株式会社マキタ | 電動作業機 |
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