JP4841832B2 - Crane operating speed control device - Google Patents

Description

  The present invention relates to a crane operation speed control device using a joystick as a remote controller for performing remote operation in a crane having a plurality of actuators.

The crane includes a plurality of actuators.
For example, in the vehicle-mounted crane 1 shown in FIG. 6, a column 6 is rotatably provided on a base 4 provided with an outrigger 2, and a boom 7 that expands and contracts at the upper end of the column 6 is pivotally supported. ing. A winch 11 is provided in the column 6, and a wire rope 12 is led from the winch 11 to the tip of the boom 7, and is attached to a hook 13 for a suspended load via a pulley (not shown) at the tip of the boom 7. By hooking, the hook 13 is suspended from the tip of the boom 7.

  The crane 1 is an actuator for turning the column 6 (boom 7), raising and lowering and extending and retracting the boom 7, and winding and unwinding the hook 13 by the winch 11. A cylinder 9, a boom expansion / contraction hydraulic cylinder 8, and a winch hydraulic motor 10 are provided, and are operated by supplying pressure oil from a vehicle hydraulic pump (not shown) via the switching control valve device 3.

  The switching control valve device 3 includes a boom turning control valve and a boom raising / lowering control for controlling the respective actuators of the turning hydraulic motor 5, the boom raising / lowering hydraulic cylinder 9, the boom extending / lowering hydraulic cylinder 8, and the winch hydraulic motor 10. This is a multi-connection valve device configured by connecting a valve, a boom expansion / contraction control valve, and a hook hoisting / lowering control valve.

  Some remote controllers for remotely operating the crane 1 use a joystick. For example, the remote controller 70 shown in FIGS. 7 and 8 includes a joystick 71R for operating the hoisting operation of the boom 7 and the hoisting and lowering operation of the hook 13 on the right side of the front, and the telescopic operation of the boom 7 and the boom 7 on the left side. A joystick 71L for operating the left / right turning operation is provided.

  When performing remote operation, the operator holds the grip 72 of the remote controller 70 and tilts the joysticks 71R and 71L with the thumb of the gripped hand in the direction corresponding to the operation of the required actuator according to the contents of the work. Thus, an operation signal corresponding to the operation of the joysticks 71R and 71L is sent to each control valve, and the operation speed of each actuator is increased or decreased by changing the operation amount of the spool of each control valve.

When working with a crane, it is required to be able to easily perform a fine movement operation when it is desired to slowly move a heavy suspended load or when a suspended load is installed at a predetermined place.
Therefore, it is desirable to enable fine movement even when remote operation is performed using a remote controller using a joystick. As a technique for that purpose, an operation speed control device for hydraulically operated equipment has been proposed (see Patent Document 1). .

  The operating speed control device for hydraulically operated equipment has mode setting means configured to be switchable between a fine speed mode and a high speed mode. In the high speed mode, the operation amount of the spool of the control valve is maximized up to a certain tilt angle of the joystick. If it is tilted further, the engine speed of the vehicle is increased / decreased according to the tilt angle, and the amount of pressure oil discharged from the hydraulic pump is controlled to increase / decrease, but in the fine speed mode, it is controlled at the maximum tilt angle of the joystick. The fine movement operation is somewhat facilitated by controlling so that the valve spool operation amount is maximized.

However, the tilt angle range of the joystick is limited. However, in the operation speed control device as described above, even if the fine speed operation is performed in the fine speed mode, the spool of the control valve is within the tilt angle range of the joystick. Since the operation amount has to be controlled, to achieve the intended operation speed of the actuator, a very fine operation has to be performed, and skill is required.
Japanese Patent No. 2582482

  The present invention solves the above-mentioned problem in the operation speed control device of a crane, and even when remote operation is performed by a remote controller using a joystick with a limited tilt angle range, it can be easily finely operated at an arbitrary speed. It is an object of the present invention to provide an operating speed control device for a crane that can be used.

The crane operation speed control device according to the present invention determines the operation distribution rate by a plurality of control valves for controlling each of the plurality of actuators, an actuator, and an operation direction and a ratio of an actual tilt angle to a maximum tilt angle. A remote controller having a speed lever for determining a spool operation amount of the joystick and the control valve, a receiver for receiving an operation signal of the joystick and the speed lever sent from the remote controller, and a spool operation of the control valve A function equation for calculating the amount is stored, and the spool operation amount is determined by substituting the operation allocation rate obtained from the operation signal of the joystick and the pulling rate obtained from the operation signal of the speed lever into the function equation , And a crane operation controller for sending a spool control signal to a control valve of a selected actuator. Ri is to solve the above problems.

When performing remote control, the operator determines which actuator to select and in which direction by tilting the joystick of the remote controller, and the control valve for the selected actuator according to the tilt angle of the joystick. An operation signal for determining the operation distribution ratio is sent from the remote controller.
Further, by pulling the speed lever, an operation signal for determining the operation amount of the spool of the control valve of the selected actuator is sent from the remote controller.

The operation signals of the joystick and the speed lever sent from the remote controller are received by the receiver, and the operation distribution rate and pulling rate are obtained in the crane operation controller.
The operation distribution ratio (%) is the ratio of the actual tilt angle to the maximum tilt angle of the joystick, and is 0% when not tilted and 100% when tilted to the maximum.
The pulling allowance rate (%) is the ratio of the actual pulling amount to the maximum pulling amount of the speed lever, and is 0% when not pulled and 100% when pulled to the maximum.

The crane operation controller stores a function formula for calculating the spool operation amount of the control valve, determines the spool operation amount based on the operation distribution rate and the pulling rate, and sends it to the control valve of the selected actuator. Send spool control signal.
The operating range of the spool of the control valve is limited by the operation distribution rate determined by the tilt angle of the joystick, and the spool operation is performed at the pulling rate determined by the pull amount of the speed lever within this limited operating range. The amount is freely controlled.

Therefore, even for fine movement operations that were difficult only with joystick operations where the tilt angle range is limited, combining the joystick and speed lever increases the control resolution when the spool of the control valve is finely operated, allowing fine adjustment of the spool operation amount. It becomes possible, and a fine movement operation can be easily performed at an arbitrary speed.
In this crane operating speed control device, the basic data for calculating the spool operating amount of each control valve is stored as a function formula, and the operation signal from the remote controller is calculated and processed by the function formula. The amount of data stored in the operation controller is small.

  According to the crane operating speed control device of the present invention, even if the remote operation is performed by a remote controller using a joystick, a fine movement operation can be easily performed at an arbitrary speed.

FIG. 1 is a configuration diagram of a crane operating speed control apparatus according to an embodiment of the present invention, FIG. 2 is a front view of a remote controller, FIG. 3 is a side view of the remote controller, and FIG. 4 is a crane operating speed control. FIG. 5 is a diagram showing the relationship of the spool operation amount of the control valve with respect to the operation distribution rate of the joystick and the pulling rate of the speed lever.
This crane operating speed control device is used for a vehicle-mounted crane or the like. The construction of the crane body is the same as that of the conventional one, and will be described with reference to FIG.

  In the vehicle-mounted crane 1, a column 6 is pivotably provided on a base 4 having an outrigger 2, and a boom 7 that expands and contracts at the upper end of the column 6 is pivotally supported. A winch 11 is provided in the column 6, and a wire rope 12 is led from the winch 11 to the tip of the boom 7, and is attached to a hook 13 for a suspended load via a pulley (not shown) at the tip of the boom 7. By hooking, the hook 13 is suspended from the tip of the boom 7.

  The crane 1 is an actuator for turning the column 6 (boom 7), raising and lowering and extending and retracting the boom 7, and winding and unwinding the hook 13 by the winch 11. A cylinder 9, a boom expansion / contraction hydraulic cylinder 8, and a winch hydraulic motor 10 are provided, and are operated by supplying pressure oil from a vehicle hydraulic pump (not shown) via the switching control valve device 3.

  The switching control valve device 3 includes a boom hoisting control valve 51 for controlling the respective actuators of the swing hydraulic motor 5, the boom hoisting hydraulic cylinder 9, the boom telescopic hydraulic cylinder 8, and the winch hydraulic motor 10, and a hook winding. It is a multi-connected valve device configured by connecting an upper / lower control valve 52, a boom extension / contraction control valve 53, and a boom turning control valve 54, and can be operated on the machine side by each operation lever 14 and remotely by the remote controller 20. It has become.

As shown in FIG. 1, the crane operating speed control device includes a remote controller 20, a receiver 30, and a crane operation controller 40.
As shown in FIG. 2, the remote controller 20 has a joystick 21R for operating the hoisting operation of the boom 7 and the hoisting and lowering operation of the hook 13 on the right side of the front, and the telescopic operation of the boom 7 and the boom 7 on the left side of the front. A joystick 21L for operating the left and right turning operation is provided. Further, as shown in FIG. 3, a speed lever 23 is provided on the back surface of the grip 22.

  The joysticks 21R and 21L use potentiometers, capacitance sensors, or the like, and output analog signals that change according to the tilt angle in the vertical, horizontal, or diagonal directions. A rotary encoder or a piezoelectric element can be used. In addition, an analog signal that changes in accordance with the pulling margin is output using a speed lever 23 that uses a potentiometer, a capacitive sensor, or the like. A rotary encoder or a piezoelectric element can be used.

  Here, the joystick 21R on the front right side of the remote controller 20 operates an operation signal for operating the hoisting operation of the boom 7 when tilted up and down, and operates the hoisting and lowering operation of the hook 13 when tilted in the left and right direction. When the left joystick 21L is tilted up and down, the left joystick 21L is operated to operate the boom 7 to extend and retract. Although an operation signal is output, this is merely an example, and the correspondence between the joysticks 21R, 21L and the tilt direction thereof and the actuators 5, 8, 9, 10 of the crane 1 may be arbitrarily set. .

It is also possible to provide four joysticks for two-way operation so as to control the hoisting operation of the boom 7, the hoisting / lowering operation of the hook 13, the telescopic operation of the boom 7, and the left / right turning operation of the boom 7.
The remote controller 20 includes an A / D converter 24 for digitally converting analog signals output by operating the joysticks 21R and 21L and the speed lever 23, and an operation signal from the A / D converter 24. And a high-frequency circuit 26 for transmitting an operation signal from the calculation control unit 25 to the crane body side.

  The receiver 30 includes a high frequency circuit 31 for receiving an operation signal sent from the remote controller 20. The crane operation controller 40 stores a functional expression for calculating the spool operation amount of the control valve, and calculates and operates an operation signal from the high frequency circuit 31 of the receiver 30. An output circuit 42 for sending the spool control signal obtained by the calculation to the boom raising / lowering control valve 51, the hook hoisting / lowering control valve 52, the boom expansion / contraction control valve 53, and the boom turning control valve 54 is provided.

The spool operation amount of each control valve 51, 52, 53, 54 is increased or decreased by the spool control signal. Since the amount of pressure oil supplied to each actuator increases if the spool operation amount increases, the operation speed increases, and if the spool operation amount decreases, the amount of pressure oil supplied to each actuator decreases. The operating speed is slow.
When operating the crane 1 with this crane operating speed control device, the operator grips the grip 22 of the remote controller 20 and grips it in the direction corresponding to the operation of the required actuator according to the contents of the work. Tilt the joysticks 21R and 21L with the thumb of the left hand, and pull the speed lever 23 with the index finger of the gripped hand. Operation signals from the joysticks 21R and 21L and the speed lever 23 are transmitted from the remote controller 20 to the crane body side, received by the receiver 30, and sent to the crane operation controller 40.

In the crane operation controller 40, as shown in FIG. 4, the calculation control unit 41 reads the operation signal from the receiver 30, selects the actuator to be operated by the operation signal of the joysticks 21R and 21L, and in which direction It is determined whether to operate, and the operation distribution ratio of the control valve of the selected actuator is calculated according to the tilt angle of the joysticks 21R and 21L.
The operation distribution ratio is the ratio of the actual tilt angle to the maximum tilt angle of the joysticks 21R and 21L, and is 0% when not tilted and 100% when tilted to the maximum.

This operation distribution ratio is substituted into the basic function formula to generate a new function formula.
In addition, the calculation control unit 41 calculates a pulling rate based on the pull amount of the speed lever 23.
The pulling rate is the ratio of the actual pulling amount to the maximum pulling amount of the speed lever 23, and is 0% when not pulled and 100% when pulled to the maximum.
This allowance rate is substituted into a new function formula obtained by substituting the operation distribution rate into the basic function formula, the spool operation amount of the control valve of the actuator is calculated, and the actuator selected from the output circuit 42 is calculated. A spool control signal is sent to the control valve.

Hereinafter, a specific function formula and an example of control will be described with reference to FIG.
Here, the maximum amount of spool operation of the control valve is 8 mm, and the crane operation controller 40 stores the following linear function formula as a basic function formula.
S = 8 × V × 0.01 × α × 0.01 (1)
However, S: Spool operating amount (mm)
V: Discount rate (%)
α: Operation distribution rate (%)
This linear function formula is an example, and the spool operation amount can be expressed by an n-order function formula or the like.

For example, when the remote controller 20 is viewed from the front, when the right joystick 21R is tilted to the right and the tilt angle is maximized, the lowering operation of the hook 13 is selected, and the hook hoisting / lowering control valve is selected. The operation distribution rate in the downward direction of 52 is 100%. This operation distribution ratio is substituted into the basic function formula (1), and the following new function formula is generated.
S = 0.08 × V (2)

When the speed lever 23 is pulled in this state, the pulling rate is substituted into the new function equation (2), the spool operation amount in the lowering direction of the hook hoisting / lowering control valve 52 is calculated, and the pulling rate ( 0% to 100%), the spool operation amount changes from 0 mm to 8 mm.
That is, when the speed lever 23 is pulled to the maximum, the spool of the hook hoisting / lowering control valve 52 operates 8 mm in the lowering direction, and when the speed lever 23 is pulled half the maximum pulling amount, The spool of the lower control valve 52 operates 4 mm in the winding down direction.

Further, when the remote controller 20 is viewed from the front, when the tilting direction of the right joystick 21R is tilted to the right and the tilting angle is half of the maximum tilting angle, the lowering operation of the hook 13 is performed. As a result, the operation distribution rate in the lowering direction of the hook hoisting / lowering control valve 52 is 50%. This operation distribution ratio is substituted into the basic function formula (1), and the following new function formula is generated.
S = 0.04 × V (3)

When the speed lever 23 is pulled in this state, the pulling rate is substituted into the new function equation (3), the spool operation amount in the lowering direction of the hook hoisting / lowering control valve 52 is calculated, and the pulling rate ( 0% to 100%), the spool operation amount changes from 0 mm to 4 mm.
That is, when the speed lever 23 is pulled to the maximum, the spool of the hook hoisting / lowering control valve 52 operates 4 mm in the lowering direction, and when the speed lever 23 is pulled to half the maximum pulling amount, The spool of the lower control valve 52 operates 2 mm in the winding down direction.

Further, when the remote controller 20 is viewed from the front, when the tilting direction of the right joystick 21R is tilted to the right and the tilting angle is ¼ of the maximum tilting angle, the hook 13 is lowered. The operation is selected, and the operation distribution rate in the lowering direction of the hook hoisting / lowering control valve 52 is 25%. This operation distribution ratio is substituted into the basic function formula (1), and the following new function formula is generated.
S = 0.02 × V (4)

When the speed lever 23 is pulled in this state, the pulling rate is substituted into the new function equation (4), and the spool operation amount in the lowering direction of the hook hoisting / lowering control valve 52 is calculated, and the pulling rate ( 0% to 100%), the spool operation amount changes from 0 mm to 2 mm.
That is, when the speed lever 23 is pulled to the maximum, the spool of the hook hoisting / lowering control valve 52 operates 2 mm in the lowering direction, and when the speed lever 23 is pulled to half the maximum pulling amount, The spool of the lower control valve 52 operates 1 mm in the winding down direction.

  When the remote controller 20 is viewed from the front and the right joystick 21R is tilted to the right and upward, the hook 13 lowering operation and the boom 7 standing operation are selected, and the hook hoisting and lowering is selected. The operation distribution ratio in the lowering direction of the control valve 52 and the operation distribution ratio in the standing direction of the boom raising / lowering control valve 51 are calculated according to the tilt angle of the joystick 21R, and the operation amount of the spool of each control valve is determined. The operation distribution ratio is substituted into the basic function formula to be generated, and a new function formula is generated for each.

When the speed lever 23 is pulled in this state, the pulling rate is substituted into each new function formula, and the spool operating amount of the hook hoisting / lowering control valve 52 and the raising / lowering direction of the boom hoisting control valve 51 are set. The spool operating amount is calculated, and each spool operating amount changes according to the pulling rate.
As described above, the fine movement operation, which is difficult only by the operation of the joysticks 21R and 21L whose tilt angle range is limited, can be obtained by combining the joysticks 21R and 21L with the speed lever 23 to spool the control valves 51, 52, 53, and 54. The control resolution at the time of fine operation is increased, the fine adjustment of the spool operation amount is possible, and the fine movement operation can be easily performed at an arbitrary speed.

Further, in this crane operation speed control device, basic data for calculating the spool operation amount of each control valve 51, 52, 53, 54 is stored as a function equation, and an operation signal from the remote controller 20 is expressed as a function equation. Therefore, the data capacity stored in the crane operation controller 40 is small.
If a position detector, such as a differential transformer, that detects the amount of operation of the spool in the control valve and feeds back to the arithmetic control unit is provided, the spool operation amount can be controlled more accurately.

  In addition, the remote controller is provided with mode setting means for switching between the high speed mode and the fine speed mode. In the high speed mode, the operation distribution ratio calculated from the tilt angle of the joystick is used as it is, and in the fine speed mode, the tilt angle of the joystick is used. For example, the fine motion operation can be facilitated by calculating the operation distribution ratio calculated by the above as 50%.

It is a block diagram of the operating speed control apparatus of the crane which shows one Embodiment of this invention. It is a front view of a remote controller. It is a side view of a remote controller. It is a flowchart of control by the operating speed control apparatus of a crane. It is a figure which shows the relationship of the spool operation amount of a control valve with respect to the operation allocation rate of a joystick, and the allowance rate of a speed lever. It is a block diagram of a crane. It is a front view of the conventional remote controller. It is a side view of the conventional remote controller.

Explanation of symbols

20 Remote controller 21L, 21R Joystick 22 Grip 23 Speed lever 24 A / D converter 25 Arithmetic controller 26 High frequency circuit 30 Receiver 31 High frequency circuit 40 Crane operation controller 41 Arithmetic controller 42 Output circuit 51 Boom relief control valve 52 Hook hoisting / lowering control valve 53 Boom telescopic control valve 54 Boom turning control valve

Claims (1)

A plurality of control valves for respectively controlling a plurality of actuators;
A remote controller having a speed lever for determining a spool operating amount of a joystick and a control valve for selecting an actuator and determining an operation distribution ratio by an operation direction and a ratio of an actual tilt angle to a maximum tilt angle ;
A receiver for receiving operation signals of a joystick and a speed lever sent from a remote controller;
Stores a functional expression for calculating the spool operation amount of the control valve, and substitutes the operation distribution ratio obtained from the operation signal of the joystick and the pulling-off ratio obtained from the operation signal of the speed lever into the function expression. A crane operation controller for determining a quantity and sending a spool control signal to a control valve of a selected actuator;

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