JPH04129996A - Safety device for boom type work vehicle - Google Patents

Abstract

PURPOSE:To improve safety by calculating actual moment based on boom operating attitude, swivel base tilt angle and an elevation cylinder output so as to limit boom related operation when the moment reaches the limit moment, in a safety device for a truck crane or the like. CONSTITUTION:A length of a moment arm about a boom elevation supporting point is calculated in an actual moment arithmetic means 8 by detected data of a swivel base tilt angle detecting means 22 and a boom elevation angle detecting means 32. Further, actual moment is calculated by multiplying by an output of an elevation cylinder 4 output by an elevation cylinder output detecting means 41. A limit moment arithmetic means 7 compares the actual moment with a limit moment, determined based on data of a boom length detecting means 33, boom elevation angle detecting means 32, swivel base turning position detecting means 20 and an outrigger overhung condition detecting means 61, to control correlative operation by a boom related operation control means 10.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Field of Application) The present invention relates to a boom-type working vehicle such as a one-rack crane, and more particularly relates to a method for determining whether the actual stress value occurring during boom-related work or the preset limit. This invention relates to a safety device for a boom-type work vehicle that limits boom-related operations to automatic n4I when a stress value is reached.

(Prior art) Conventionally, in mobile cranes such as trunk cranes, which are a typical example of boom-type work vehicles, the actual moment generated in the boom during boom-related work has generally been determined by the crane overturn danger value or load support. A safety device (overload prevention device) that limits (disables) the boot-related work when the critical moment that is the limit of capacity is exceeded.
is equipped with. The boom-related work mentioned above is
Lifting work using a boom includes, in theory, work to change the operating position of the boom that does not involve lifting work, and work to change the position of the boom by rotating the swivel base.

However, in the conventional overload prevention device for a mobile crane, the actual moment during boom-related work is calculated as follows. That is, this type of mobile crane has a boom (
The base end of the telescopic boom) 3 is pivotally connected to the swivel base 2 with a pin (boom hoisting fulcrum) 51, and the base end of the hoisting cylinder 4 is attached to the swivel base 2 with a pin (cylinder base end fulcrum) 52, and Pin the tip of cylinder 4 to boom 3 (cylinder tip fulcrum) 5
3 are connected to each other. In addition, as shown in FIG. 5, the actual moment calculation means 8A for calculating the actual moment includes the distance 7 between the boom hoisting fulcrum 51 and the cylinder base end fulcrum 52, and the distance between the boom hoisting fulcrum 51 and the cylinder tip fulcrum 53.
The distance M between the boom hoisting fulcrum 51 and the cylinder base end fulcrum 52 with respect to the straight line P perpendicular to the rotation center line O of the swivel base
Each data regarding the intersection angle 0 of the straight line Q connecting these is stored in advance as three-fulcrum related constants. Then, the actual moment calculation means 8Δ calculates the constants related to the three supports and the boot t.
Boom luffing angle detection means 3 for detecting the ground luffing angle of z3
2 (FIG. 4), the length of the perpendicular line drawn from the boom hoisting fulcrum 51 to the axis R of the hoisting cylinder 4)-I is calculated.

This calculated length I] is the moment arm around the boom hoisting fulcrum 51 of the hoisting cylinder output.

In addition, the actual moment around the boom hoisting fulcrum during boom-related work is determined by the moment arm (2) calculated by the actual moment calculation means 8A and the hoisting cylinder output detection means 41 that detects the force acting on the hoisting cylinder 4. Calculated by multiplying the data from .

On the other hand, the limit moment calculation means 7 calculates the limit value ( The critical moment) is memorized. In the limit moment calculation process by the limit moment calculation means 7, the outrigger extended state detection means 61, the swivel base rotation position detection means 20, and the boom operating attitude detection means 31 (boom heave angle detection means 3
2 and the boom length detecting means 33) is stored as an Intex signal, the limit value of boom moment 1- corresponding to the actual operating posture of the crane is determined. I'm starting to ask for it. Conventionally, when calculating the limit value of the boom moment, the limit load value corresponding to the actual operating posture of the crane is determined from among the group of limit load values stored in the limit moment calculating means 7. Some devices calculate the critical moment based on the critical load value.

During boom-related work, this overload prevention device compares the actual moment obtained by the actual moment calculation means 8A with the limit moment obtained by the limit moment calculation means 7 using the comparison means 9, and compares the former (actual moment). moment) or the latter (limit moment), a signal from the boom-related operation control means 10 activates various drive devices for boom-related work (for example, a lifting winch, a boom telescopic cylinder, a boom hoisting cylinder, The operation of the swivel table rotation drive device, etc.) is stopped.

By the way, in this type of mobile crane, boom-related work is performed with the swivel base 2 held in a horizontal position, but during boom-related work, the entire vehicle 1 may tilt due to the suspended load or the boom operating position. The swivel base 2 may tilt from the horizontal position due to the movement of the swivel hair ring or the rattling of the swivel hair ring. When the swivel table 2 is tilted in this manner, for example, as shown in FIG. 5, the cylinder base end fulcrum 52 is displaced to the position 52', and the length of the moment arm around the undulating fulcrum of the cylinder output nofoam is 1'.
It changes (becomes longer) as shown by the symbol 1-1'.

(Problem to be Solved by the Invention) However, with the safety device (overload prevention device) in the conventional mobile crane mentioned in Section 2, during boom-related work, the moment 1 - arm of the output of the hoisting cylinder around the boom hoisting fulcrum is When calculating, we assume that the swivel base 2 is always in a horizontal position, so the swivel base 2
When boom-related work is performed in a state where the boom is tilted from the horizontal, the calculated moment arm length 11 is different from the actual moment arm length + (' or (H < J-I ').
), lack of accuracy (lower reliability of safety equipment)
There was a problem.

In addition, as a conventional safety device of this type, there is one that controls the crane by comparing the actual hoisting cylinder output during boom-related work with the limit hoisting cylinder output calculated by a calculation device. Even when the crane is controlled by comparing the actual hoisting cylinder output and the limit hoisting cylinder output in this way, no information regarding the inclination of the swivel base is taken into account.

In view of the problems of the conventional safety devices mentioned above, the present invention
Even when boom-related work is performed with the swivel platform tilted, the safety device for boom-type work vehicles is designed to accurately calculate the actual moment or actual luffing cylinder output generated at that time. The purpose is to provide

(Means for Solving the Problems) The invention of claim 1 of the present application provides a vehicle, a swivel base mounted on the vehicle so as to be horizontally swivelable, a boom mounted on the swivel base so as to be freely undulating, and a swivel base that allows the boom to be mounted on the swivel base. A safety device for a boom-type work vehicle equipped with a hoisting cylinder that raises and lowers against the actual moment calculated by the actual moment calculating means and the limit moment calculated by the limit moment calculating means, and when the actual moment reaches the limit moment, performs a boom-related operation. boom-related operation control means for emitting a limiting signal; further, the actual moment calculation means receives data from a boom operating attitude detection means for detecting an operating attitude of the boom and data relating to an inclination angle of the swivel base relative to the ground; The moment around the boom hoisting fulcrum of the hoisting cylinder output is calculated by taking into account the data from the swivel table inclination angle data sending means! -Calculate the length of the arm, and multiply the length of the moment arm by the data from the hoisting cylinder output detection means that detects the force acting on the hoisting cylinder to calculate the actual moment 1- during boom-related work. It is characterized by the fact that it consists of

In addition, the invention of claim 2 of the present application provides a vehicle, a swivel base mounted on the vehicle so as to be horizontally swivelable, a boom mounted on the swivel base in a manner that it can be raised and lowered, and the boom attached to the swivel base. In a safety device for a boom-type work vehicle equipped with a hoisting sill for hoisting, there is a limit moment calculation means for calculating the limit moment of the hoisting cylinder for each boom-related work condition, and an actual hoisting sill that occurs on the hoisting sill during boom-related work. and an actual undulation shilling output calculation means for calculating an output, and compares the actual undulation shilling output calculated by the actual undulation shilling output calculation means with the limit undulation shilling output calculated by the limit undulation shilling output calculation means. It includes a boom-related operation control means that issues a signal to limit boom-related operations when the actual hoisting cylinder output reaches a limit hoisting cylinder output, and the actual hoisting cylinder output calculation means detects the output of the seven hoisting cylinders. The length of the moment arm around the boom hoisting fulcrum of the hoisting cylinder output is determined by taking into account the data from the detection means and the data from the swivel base inclination angle data transmitting means that transmits data related to the ground inclination angle of the swivel base. The present invention is characterized in that it is configured to calculate the actual hoisting shilling output during boom-related work based on the length of the moment arm.

(Function) The safety device of the invention of Claim 1 controls boom-related operations by comparing the actual moment and limit moment during boom-related work, and the actual moment calculation means is Since the moment arm around the boom hoisting fulcrum of the hoisting cylinder output is calculated by taking into account the data from the swivel table inclination angle data transmission means related to the ground inclination angle of the swivel table, it is possible to calculate the moment arm around the boom hoisting fulcrum during boom-related work. Even when the swivel table is tilted to the ground, the length of the moment arm in the swivel table tilted state can be accurately calculated, and the actual moment when the swivel table is tilted can be calculated. can be calculated accurately.

In addition, the safety device of the invention of claim 2 controls the boom-related operation by comparing the actual hoisting cylinder output and the limit hoisting cylinder output during boom-related work, and the actual hoisting cylinder output is compared with the limit hoisting cylinder output. The output calculation means calculates the actual undulation shilling output by taking into account data related to the angle of inclination of the swivel base relative to the ground, so that even if the swivel base is tilted, the actual undulation shilling output at that time can be accurately calculated. You will be able to calculate.

(Effect of the invention) Therefore, according to the safety device of the invention of claim 1, even when boom-related work is performed with the swivel base in an inclined state, the actual moment in the actual posture of the swivel base is By accurately calculating and comparing the accurate actual moment with the limit moment I, it is possible to perform more detailed control of boom-related operations, and the reliability of safety devices can be improved. There is.

Further, according to the safety device of the invention of claim 2 of the present application, it is possible to accurately calculate the actual hoisting cylinder output in the actual posture state of the swivel base, and to compare the accurate actual hoisting cylinder output with the limit hoisting cylinder output. Accordingly, the same effect as in claim 1 can be obtained.

(Example) Referring to FIGS. 1 to 3, the present invention will be described in detail. FIG. 1 shows an example (
A safety device for a boom-type working vehicle according to the first embodiment) is shown, and FIG. 2 shows a modification of the embodiment shown in FIG. 1 (second embodiment), and FIG. An embodiment (third embodiment) according to the invention in Section 2 is shown. Furthermore, in each of these embodiments, a mobile crane is employed as the boom type work vehicle.

The mobile crane of each embodiment shown in FIGS. 1 to 3 has a swivel base 2 horizontally swingable on the vehicle 1-, a boom 3 on the swivel base 2 so as to be movable up and down, Furthermore, the boom 3 is configured to be able to be raised and lowered by a raising and lowering cylinder 4.

The vehicle 1 is provided with an outlier 6, and the outlier 6 is used by being grounded as necessary during boom-related work. In addition, boom-related work may be carried out without using the Autorino J6, and with an on-tire barber.

The swivel base 2 is connected to the vehicle by a swivel drive device (not shown).
” 2 will cause it to turn horizontally. This swivel base 2'' has
A winch 5 for hanging loads is provided.

In this embodiment, the boom 3 includes multiple (3) single booms.
A continuous telescopic boom is used.

The base end of the boom 3 is pivotally connected to the swivel base 2-1- by a pin (boom hoisting fulcrum) 51, and the base end of the hoisting cylinder 4 is separated from the boom hoisting fulcrum 51 by a pin (cylinder base end fulcrum) 52. It is pivotally attached to the swivel base 2'', and the tip of the undulating cylinder 4 is pivoted to the boom 3 by a pin (cylinder tip fulcrum) 53.

The mobile crane of each of the embodiments shown in FIGS. 1 to 3 automatically detects when the actual stress value applied to the boom 3 or the luffing cylinder 4 reaches a pre-stored limit stress value during boom-related work. A safety device (overload prevention device) is installed to stop boom-related work.

In the safety device of the first embodiment shown in FIG.
-1) The limit is determined based on various data from the lever overhang state detection means 61, the swivel base rotation position detection means 20, and the boom operating posture detection means 31 (consisting of the boom heave angle detection means 32 and the boom length detection means 33). The moment calculation means 7 calculates the limit value (limit moment) of the boom moment for each operating posture, and on the other hand, the boom heave angle detection means 32 and the swivel table inclination angle data transmission means 22 (this first
In the embodiment, based on various data from the swivel table inclination angle detection means (or applicable) and the undulating cylinder output detection means 41,
The actual moment calculating means 8 calculates the boom moment that actually occurs for each operating posture, and the actual moment calculating means 8 calculates the boom moment that actually occurs for each operating posture.
A comparison means 9 compares the actual moment calculated by the limit moment with the limit moment stored in the limit moment calculation means 7.
Compare with ``The actual moment is the critical moment]
When this point is reached, the boom-related operation control means 10 is configured to issue a signal to various control valves of the crane drive device to restrict boom-related work.

In this first embodiment, the swivel table inclination angle detection means 22,
Boom elevation angle detection means 32, boom length detection means 33,
The undulating cylinder output detecting means 41 employs an angle detector, a length detector, and an output detector, respectively, which have been commonly used in the past. For example, as the swivel table inclination angle detection means 22 and the boom elevation angle detection means 32, weight type angle detectors are respectively employed. Further, as the boom length detecting means 33, a wire pull-out type length detecting device is adopted. Further, as the undulation cylinder output detection means 41, a strain cage type output detector is adopted.

The limit moment calculation means 7, similar to the conventional example shown in FIG.
and each data from the boom length detection means 33, and calculates the limit value of the boom moment corresponding to the actual operating posture of the crane from among the limit value group stored in the limit moment calculation means 7. It is supposed to be done. still,
In calculating the limit value of the boom moment, the limit load value corresponding to the actual operating posture of the crane is determined from among the limit load value group stored in the limit moment calculation means 7, and based on the limit load value. Alternatively, the critical moment may be calculated.

The actual moment calculating means 8 calculates the actual moment by taking into account information from the swivel table inclination angle detecting means 22 in addition to the conventional example shown in FIG. That is, during boom-related work, the vehicle 1 itself may be tilted, or the swivel base 2 may be tilted with respect to the vehicle frame, and the swivel base 2 may be tilted with respect to a horizontal plane.

If the swivel base 2 is tilted in this way,
(See figure), the length of the moment arm around the boom hoisting fulcrum 51 is, for example, from the symbol H (when the swivel table is in a horizontal state) to the symbol Ml-1' (when the swivel table is in a tilted state).
Changes to However, in the safety device of this embodiment, the inclination angle of the swivel base 2 relative to the ground is detected by the swivel base inclination angle detection means 22, and the data is manually inputted to the actual moment calculation means 8. , the length of the moment arm around the boom hoisting fulcrum is determined based on the data from the swivel table inclination angle detection means 22 and the data from the boom hoisting angle detection means 32, and the length of the moment arm and the length of the hoisting linter 4 are calculated. Multiplying the data from the undulation cylinder output detection means 41 that detects the output,
The current actual moment during boom-related work is calculated. In this way, the value of the actual moment calculated by taking into account the data regarding the angle of inclination of the swivel base 2 relative to the ground accurately reflects the actual moment at the time of boom-related work. Therefore, by comparing the accurately calculated actual moment with the critical moment in the crane's current position during boom-related work, it becomes possible to perform more detailed crane control (increasing the reliability of the safety device). (increase in sex)
.

The angle of inclination of the swivel base 2 to the ground during boom-related work may vary depending on the softness of the ground where the vehicle is installed, whether the outriggers 6 are used or not, and the weight of the lifting load. The swivel base inclination angle to the ground that has changed depending on these conditions is accurately detected by the swivel base inclination angle detection means 22, and the actual moment is calculated by the actual moment calculation means 8 based on the data from the swivel base inclination angle detection means 22. Since the calculation is performed, an accurate actual moment can always be calculated regardless of the magnitude of the amount of inclination of the swivel base 2.

The safety device of the second embodiment, which is not shown in FIG. 2, includes a boom hoisting angle detection means 32 and a hoisting cylinder output detection means instead of the swivel table inclination angle detection means 22 of the first embodiment as the slewing table inclination angle data transmitting means. Means 41 and outlier overhang state detection means 6
The swivel table inclination angle calculating means 23 is adapted to read data from a memory stored functionally based on each data from 1 to 1. That is, in this swivel base inclination angle calculation means 23, the swivel base 2 is preliminarily determined based on the operating attitude (levitation angle) of the boom 3, the output of the luffing cylinder 4, and the extended state of the outriggers 6.
The degree of inclination of each of the detection means 32, 41 .
Based on each data from 61, a selection is made from among the memories stored in the swivel base inclination angle calculation means 23, and the current swivel base inclination angle calculation value is outputted to the actual moment calculation means 8 side. That's what I do. In the case of this second embodiment as well, it is possible to calculate the actual moment taking into account the angle of inclination of the swivel base 2 relative to the ground.

In this second embodiment, the swivel table inclination angle detecting means 22 shown in FIG. 1 is not required, and the other configurations in this second embodiment are the same as those in the first embodiment.

The safety device of the third embodiment shown in FIG. 3 stores the actual hoisting cylinder output that actually acts on the hoisting cylinder 4 during boom-related work and the limit moment calculating means 7 in advance for each crane operating posture. Crane control is performed by comparing the limit undulation cylinder output calculated based on the limit moment. In this third embodiment, the actual hoisting cylinder output is determined by the hoisting cylinder output data detected by the hoisting cylinder output detection means 41 during boom-related work and the swivel table inclination angle detection means 22.
The data regarding the tilting position of the swivel table from the swivel table and the data regarding the boom hoisting angle from the boom hoisting angle detection means 32 are respectively input to the actual hoisting cylinder output calculation means 12,
It is calculated there. That is, when the swivel base 2 is tilted, the length of the moment arm changes from the symbol ■] to the symbol 1-1' in FIG. 5, for example. The actual hoisting cylinder output during boom-related work is calculated by dividing the changed moment arm length I-('.In the case of this third embodiment, the swivel base is As the tilt angle data transmitting means, a weight type angle detector 22 that detects the tilt of the swivel base 2 in a battlefield manner is adopted, or in other embodiments, the swivel angle detector 22 used in the second embodiment (FIG. 2) is used. The platform inclination angle calculation means 23 may be adopted.In addition, in this third embodiment (FIG. 3), the limit undulation cylinder output is the limit moment value calculated by the limit moment calculation means 7. The output calculation means 11 is manually operated, and the calculation is performed there.In the case of the third embodiment, the actual undulation output is calculated by taking into account the angle of inclination of the swivel base 2 relative to the ground; Since crane control is performed by comparing the limit hoisting cylinder output calculated based on the limit moment value, it is possible to perform detailed You will be able to perform highly safe boom-related work.

[Brief explanation of drawings]

Fig. 1 is a side view of a boom-type work vehicle equipped with a safety device according to an embodiment of the invention of claim 1 of the present application, and Fig. 2 is a side view of a safety device of another embodiment according to the invention of claim 1 of the present application. FIG. 3 is a side view of a boom-type working vehicle equipped with a safety device according to an embodiment of the invention of claim 2 of the present application, and FIG. 4 is a side view of a boom-type working vehicle equipped with a conventional safety device. FIG. 5, a side view of the mobile crane, is an explanatory diagram of the operation of the safety device shown in FIG. 4. 1... Vehicle 2... Swivel base 3... Boom 4... Lifting cylinder... Outrigger 7... Calculating means 8 to limit moment 1. ... Actual moment calculation means 9 ... Comparison means 10 ... Boom related operation control means 1] ・ 12 ・ 22 ・ 23 ・ 31 ・ 32 ・ 33 ・ 41 ・ Limit hoisting cylinder output calculation means actual Lifting cylinder output calculation means Swivel table inclination angle detection means Swivel table inclination angle calculation means Boom operating attitude detection means Boom luffing angle detection means Boom length detection means Lifting cylinder output detection means Agent

Claims (1)

[Claims] 1. A vehicle (1), a swivel base (2) mounted on the vehicle (1) so as to be horizontally swivelable, and a boom (3) mounted on the swivel base (2) so as to be movable up and down. , a boom-type work vehicle equipped with a hoisting cylinder (4) for hoisting the boom (3) relative to the swivel base (2), and a limit moment calculation means (7) for calculating the limit moment of the boom for each boom-related work state. ), and an actual moment calculating means (8) for calculating the actual moment generated in the boom during boom-related work, and the actual moment calculated by the actual moment calculating means (8) and the limit moment calculating means (7). ), the safety device is equipped with a boom-related operation control means (10) that compares the actual moment with the limit moment calculated by the above-mentioned limit moment and issues a signal to limit the boom-related operation when the actual moment reaches the limit moment, the safety device comprising: The means (8) is the boom (3).
boom operating attitude detection means (31) for detecting the operating attitude of the boom;
swivel base inclination angle data transmitting means (22) for transmitting data related to the data from the swivel base and the ground inclination angle of the swivel base (2).
, 23), calculate the length of the moment arm around the boom hoisting fulcrum of the hoisting cylinder output, and calculate the length of the moment arm and the hoisting cylinder (4).
The undulation cylinder output detection means (4) detects the force acting on the
1) A safety device for a boom-type work vehicle, characterized in that the device is configured to calculate an actual moment during boom-related work by multiplying the data from 1). 2. A vehicle (1), a swivel base (2) mounted on the vehicle (1) so as to be horizontally swivelable, a boom (3) mounted on the swivel base (2) so as to be freely undulating, and the boom (3) In a boom-type work vehicle equipped with a hoisting cylinder (4) for raising and lowering a motor with respect to a swivel base (2), limit hoisting cylinder output calculation means for calculating the limit hoisting cylinder output of the hoisting cylinder (4) for each boom-related work state. (11), and an actual hoisting cylinder output calculation means (12) for calculating the actual hoisting cylinder output generated in the hoisting cylinder (4) during boom-related work, and the actual hoisting cylinder output calculation means (12) The calculated actual hoisting cylinder output and the limit hoisting cylinder output calculation means (11
The safety device is equipped with a boom-related operation control means (10) that compares the actual hoisting cylinder output with the limit hoisting cylinder output calculated in step 1 and issues a signal to limit boom-related operations when the actual hoisting cylinder output reaches the limit hoisting cylinder output. The actual undulation cylinder output calculation means (12) calculates the undulation cylinder output (4).
) undulation cylinder output detection means (41) for detecting the output of
swivel base inclination angle data transmitting means (22) for transmitting data related to the data from the swivel base and the ground inclination angle of the swivel base (2).
, 23), calculate the length of the moment arm around the boom hoisting fulcrum of the hoisting cylinder output, and calculate the actual hoisting cylinder output during boom-related work based on the length of the moment arm. A safety device for a boom-type work vehicle characterized by being configured as follows.