JP5869760B2 - Control device, control method and program for mobile crane - Google Patents

Description

  The present invention relates to a control device, a control method, and a program for a mobile crane vehicle, and more particularly to a control device, a control method, and a program for determining whether or not an outrigger can be reduced in a mobile crane vehicle.

  2. Description of the Related Art Conventionally, when a mobile crane is moved on the premises in a working posture, it is generally performed to move the outrigger after reducing it to a predetermined posture. However, if the posture of the mobile crane at the time of work is different from the predetermined posture, it is changed to a predetermined posture and then moved, or the manufacturer is inquired whether or not the campus movement is possible in the posture at the time of working. Etc. were necessary and complicated for the operator.

  Therefore, for example, in Patent Document 1, when it is determined that the boom operation position detected by the boom state detecting means for detecting the position of the boom is within the predetermined vehicle body stability maintaining range by the boom state comparing means. Only a safety device for an aerial work vehicle that allows the outrigger housing operation is described. According to such a safety device for an aerial work vehicle, it is considered that the vehicle body can be stably driven because the vehicle body is stably supported in a state in which the outriggers are allowed to be accommodated.

JP 7-252098 A (Claim 1, paragraph 0015)

  However, since the invention described in Patent Document 1 relates to a so-called aerial work vehicle in which a work table is provided at the tip of the boom, it is not considered at all that the type of the bodywork with respect to the vehicle body changes. . On the other hand, in a mobile crane vehicle, since a heavy counterweight is loaded or an auxiliary jib is provided at the tip of the main jib (extensible boom), whether or not the position of the boom is simply within the vehicle body stability maintaining range. If the outrigger accommodation is allowed only depending on the determination, there is a risk that the axle is damaged due to an excessive load applied to the axle of the vehicle body.

  The present invention has been made in view of the above-described circumstances, and a mobile crane that can determine whether or not an outrigger reduction operation can be performed based on whether or not the mobile crane is in a movable posture (state). An object of the present invention is to provide a control device, a control method, and a program.

Therefore, a mobile crane vehicle control device according to the present invention is a mobile crane vehicle control device including a plurality of axles and outriggers, and the mobile crane vehicle includes a counterweight and a jib, and the mobile crane When it is determined that the load applied to each axle determined from the total weight of the crane truck and the total gravity center position satisfies a predetermined condition, the reduction operation of the outrigger is permitted, and the control device includes the counterweight. And calculating the total weight and the total center-of-gravity position of the mobile crane vehicle based on the state of the jib .
The mobile crane vehicle control device according to the present invention is a mobile crane vehicle control device including a plurality of axles and outriggers, and the mobile crane vehicle includes a counterweight and a jib. When it is determined that the load applied to each axle determined from the total weight of the crane truck and the total gravity center position satisfies a predetermined condition, the reduction operation of the outrigger is permitted, and the control device includes the counterweight. When the state of the jib satisfies a pre-stored condition, it is determined that the total weight and the total center of gravity position of the mobile crane vehicle satisfy the predetermined condition .

  Further, the predetermined condition is a total weight and a total center-of-gravity position of the mobile crane vehicle in which a load applied to each axle is within a range of a load allowed on each axle.

  Further, the predetermined condition is that the total weight of the mobile crane vehicle and the position of the total center of gravity are such that the load applied to the front axle of each axle is equal to or greater than a predetermined ratio with respect to the load applied to all axles. It is characterized by.

  Each of the plurality of axles is provided with a suspension cylinder, and hydraulic circuits in the suspension cylinders can be connected to each other, and the mobile crane vehicle includes selection means for selecting an axle to which the hydraulic circuit is connected. The control device sets an allowable load on each axle based on a selection result of the selection means.

  Further, the mobile crane vehicle includes a jack reaction force detection means for detecting a jack reaction force of an outrigger, and the control device is configured to determine a total weight of the mobile crane vehicle based on an output value of the jack reaction force detection means. And the total barycentric position are calculated.

  Further, when the total weight and the total center of gravity position of the mobile crane vehicle do not satisfy the predetermined condition, the control device is in a state where the counterweight and the jib state satisfy the predetermined condition. The guide means for guiding is provided.

A mobile crane vehicle control method and program according to the present invention relates to control of a mobile crane vehicle having a plurality of axles, and the total weight of the mobile crane vehicle calculated based on the state of a counterweight and a jib. And a reduction operation of the outrigger is permitted when it is determined that the load applied to each axle determined from the total gravity center position satisfies a predetermined condition.
Further, the mobile crane vehicle control method and program according to the present invention relates to the control of a mobile crane vehicle having a plurality of axles, and the counterweight and the jib state satisfy the prestored conditions. It is characterized in that it is determined that the load applied to each axle obtained from the total weight of the mobile crane vehicle and the total center of gravity position satisfies a predetermined condition, and the outrigger reduction operation is permitted.

  When the outrigger reduction operation is permitted, the mobile crane can be moved without damaging the axle. Further, it is possible to perform a simulation as to whether or not the mobile crane vehicle can be moved without damaging the axle.

1 is a side view of a mobile crane vehicle according to an embodiment of the present invention. It is a schematic block diagram of the control system of the mobile crane vehicle by one embodiment of this invention. It is a flowchart which shows the control by one embodiment of this invention.

  Hereinafter, embodiments of the present invention will be specifically described with reference to the drawings. For the sake of convenience, the same reference numerals are given to the portions having the same operational effects, and the description thereof is omitted. The present invention is widely applicable to control devices for mobile crane vehicles. Here, an example in which the present invention is applied to an all-terrain crane will be described.

  FIG. 1 shows a side view of the mobile crane 1. In the mobile crane 1, a traveling operation is performed at the front end of a chassis 5 having wheels disposed on the front side and wheels disposed on the rear side to which a hydraulic circuit in a suspension cylinder provided on an axle is connected. A cabin 7 is provided. In the illustrated example, six pairs of wheels 3a, 3b, 3c, 3d, 3e and 3f (collectively referred to as “wheel 3”) are axles 6a, 6b, 6c, 6d, 6e and 6f (collectively named) from the front side. And the total weight of the mobile crane 1 in the moving posture is supported by these six axles 6. Note that the front axle and the rear axle connected to the hydraulic circuit in the suspension cylinder of the axle 6 can be changed by switching the suspension mode. In this embodiment, two types of suspension modes are provided. In the first mode (4 × 2 mode), the hydraulic circuit of the suspension cylinder on the front four axles 6a, 6b, 6c and 6d and the hydraulic circuit of the suspension cylinder on the two rear axles 6e and 6f are connected, respectively. In the second mode (2 × 4 mode), the hydraulic circuit of the suspension cylinder on the two front axles 6a and 6b and the suspension on the four rear axles 6c, 6d, 6e and 6f are maintained. Each cylinder's hydraulic circuit is connected to make the pressure constant. The suspension mode is switched by mode switching means (not shown) provided in the cabin 7.

  A swivel base 9 that can be swiveled by a hydraulic motor is provided on the chassis 5, and a telescopic boom 11 that is a main jib is connected to the swivel support point 9 a so as to be raised and lowered. The boom 11 is raised and lowered by a hoisting cylinder 13. One end of the hoisting cylinder 13 is pivotally connected to the end of the swivel base 9 and the other end is pivotally connected to the abdominal surface of the boom 11. Has been. Therefore, the boom 11 is raised and lowered so as to change the inclination angle with respect to the contact surface by extending and retracting the raising and lowering cylinder 13. An extendable auxiliary jib 15 is connected to the tip of the boom 11 and can be raised and lowered freely by a raising and lowering cylinder 17 (the boom 11 and the auxiliary jib 15 constitute a jib). Thereby, the auxiliary jib 15 can be expanded and contracted and undulated independently of the boom 11. Further, an outrigger 4F and an outrigger 4R are provided on the front side and the rear side of the chassis 5 so as to extend in the vehicle width direction during work and jack up the chassis 5.

  Note that at least the undulation angle of the boom 11 (the angle of the boom 11 with respect to the ground contact surface), the expansion / contraction position of the boom 11, the offset angle of the auxiliary jib 15 (the angle of the auxiliary jib 15 with respect to the extension line of the boom 11), and the expansion / contraction position of the auxiliary jib 15 Are detected by detection means (boom angle detection means 35, boom length detection means 34, jib offset angle detection means 37, and jib length detection means 36) each composed of a potentiometer or the like provided in each. It is configured so that the state of can be always grasped. The swivel base 9 is provided with a swivel lock pin (not shown) that can be locked with the swivel base 9 facing forward or backward. Boom storage detection means 32 that can be detected by the lock pin detection means 31 and detects whether or not the boom 11 is in the storage state is provided. Further, the weight information of the counterweight W placed on the chassis 5 is detected by the counterweight weight detection means 33.

  The configuration of the control unit 40 in the mobile crane 1 configured as described above will be described with reference to FIG. The control unit 40 controls the operation of the boom and the like, controls the safety device such as an overload prevention device, and controls various state notifications. At least the turning lock pin detection unit 31, the boom storage detection unit 32, the counter weight Various detection signals from the weight detection means 33, boom angle detection means 35, boom length detection means 34, jib offset angle detection means 37, jib length detection means 36, suspension mode detection means 38, hook weight input means 39, and the like. It is input. The suspension mode detection means 38 detects whether the suspension mode is the first mode or the second mode from the signal of the mode switching means provided in the cabin 7, for example, and inputs the hook weight. The means is such that the weight of the hook used is input by the operator.

  The control unit 40 includes a total weight deriving unit 42 that calculates the total weight loaded on the axle 6, and a center of gravity position deriving unit 41 that calculates the center of gravity position (total center of gravity position) of the total weight loaded on the axle 6. A shaft weight deriving unit 43 is provided for calculating each axle load, which is a weight loaded on each axle 6a to 6f, from the calculation results of the total weight deriving unit 42 and the gravity center position deriving unit 41. Further, the control unit 40 includes a moveability determination unit 44 that determines whether or not the work posture of the mobile crane 1 is movable. In addition, the control part 40 in an Example performs the above-mentioned calculation based on various kinds of detection signals and information on weights of a chassis, a swivel base, a boom, an auxiliary jib, etc. stored in advance (or inputted by an operator). Is what you do. The calculation result by the control unit 40 can be output to the operator by the display means 50 connected to the control unit 40. The suspension mode determination unit 45 receives the detection result from the suspension mode detection means 38 and determines whether the suspension mode is the first mode or the second mode.

  Next, control for determining whether or not the mobile crane 1 can move on the premises while working is described with reference to FIG. This control is executed by the control unit 40 by, for example, selecting a predetermined switch in a state where the worker is in a working posture to move the mobile crane 1 on the premises. At this time, in order to prevent the crane from malfunctioning during the movement on the premises, the crane operation (turning, undulation, expansion / contraction, etc.) is controlled to be invalidated when the switch is selected (step S10).

  Next, the suspension mode determination unit 45 determines whether the suspension mode is the first mode or the second mode, and based on the determination result, the allowable axle load on each of the axles 6a to 6f is set (selected). (Step S11). When the suspension mode is the first mode, the hydraulic circuits of the suspension cylinders on the four axles 6a, 6b, 6c and 6d on the front side are connected to make the pressure constant, and the suspension on the axles 6e and 6f on the rear side is also suspended. Since the hydraulic circuit of the cylinder is connected and the pressure is constant, the axle load received by the axle 6 is equalized between the four axles 6a, 6b, 6c and 6d on the front side and the axles 6e and 6f on the rear side. Further, in the second mode, the two axles 6a and 6b on the front side and the axles 6c, 6d, 6e and 6f on the rear side receive the axial weight equally. For this reason, the allowable axle load on each of the axles 6a to 6f is set based on the selected suspension mode so as to be constant between the axles to which the hydraulic circuit of the suspension cylinder is connected.

  For example, when the limit axle weight that can be loaded on the front axle 6a (limit axle weight) is smaller than that of the other axles 6b, 6c, 6d, 6e, and 6f, in the first mode, Since the axle loads received by the four axles 6a, 6b, 6c and 6d on the front side are uniform, the allowable axle weights of the axles 6a, 6b, 6c and 6d are set to be the same as the limit axle weight of the axle 6a. In contrast, in the second mode, only the allowable axle weight of the axles 6a and 6b is set to the same size as the limit axle weight of the axle 6a. As a result, in this example, in the second mode, the allowable axle load on the axles 6c and 6d becomes larger in the second mode, and as a result, the sum of the allowable axle weights on the axles 6 becomes larger.

  Next, whether or not the turning lock pin is inserted is determined based on a signal from the turning lock pin detection means 31, and it is determined whether or not the turntable 9 is locked in a state of facing forward or backward (step). S12). When it is determined that the turning lock pin is not inserted, it is determined that the campus movement is impossible, and “No campus movement” is displayed (step S20).

  If it is determined in step S12 that the turning lock pin has been inserted, the counter weight weight, boom length, boom hoisting angle, auxiliary jib length, auxiliary jib offset angle, and hook weight input from each detection means. In addition, the total weight and the total center-of-gravity position loaded on the axle 6 are calculated from the weight information of the chassis, swivel, boom, auxiliary jib, and the like (step S13). At this time, when it is detected by the signal from the boom storage detection means 32 that the boom 11 is in the storage state, the boom length and the boom hoisting angle are predetermined values. You may comprise so that the detection of a boom raising / lowering angle may be abbreviate | omitted.

  Next, based on the total center of gravity position calculated in step S13 and the positional relationship between the axles 6, the total weight is allocated to the axles 6a to 6f, so that the load (axle weight) on the axles 6a to 6f is increased. Calculated (step S14). And based on the load with respect to each axle 6a-6f calculated in this way, the determination of the conditions which determine further whether a movement is possible is made.

  First, it is determined whether or not the total sum (total weight) of each axle weight is smaller than the sum of allowable axle weights on each axle 6a to 6f (step S15). In addition, the permissible axle weight in each axle 6a-6f is the permissible axle weight set in step S11. When the total weight is larger than the sum of the allowable shaft weights of the axles 6a to 6f, when the outriggers 4F and 4R are reduced and the wheel 3 tries to support the total weight, the axle 6 is likely to be damaged. Therefore, it is determined that the campus movement is impossible, and “No campus movement” is displayed (step S20).

  In step S15, when the total weight is smaller than the sum of the allowable axle weights on the axles 6a to 6f, another condition is determined. In this case, it is determined whether or not the load on each of the axles 6a to 6f is smaller than the allowable weight set in step S11 for each of the axles 6a to 6f (step S16). When the load on any of the axles 6a to 6f is larger than the allowable weight set on the axle, this corresponds to the case where the outriggers 4F and 4R are reduced and the wheel 3 tries to support the total weight. Since there is a high possibility that the axle will be damaged, it is determined that the movement on the premises is impossible, and “impossible to move on premises” is displayed (step S20).

  In step S16, when it is determined that the axle weight is smaller than the allowable axle weight on all the axles 6a to 6f, another condition is further determined. In this case, the load on the front axle (the axles 6a to 6d when the suspension mode is the first mode and the axles 6a and 6b when the suspension mode is the second mode) is the sum of the axle weights (total weight). It is determined whether or not it exceeds 20% (step S17). If the load on the axle on the front side does not exceed 20% of the total weight, when the outriggers 4F and 4R are contracted and moved, the front wheels will float or the steering will not function properly. Therefore, it is determined that the campus movement is impossible, and “No campus movement” is displayed (step S20).

  On the other hand, if the load on the axle on the front side exceeds 20% of the total weight (total weight) of each axle, it is determined that the campus movement is possible, and the indication “Campus movement is possible” is displayed. (Step S18), the outriggers 4F and 4R are unlocked, and the outriggers 4F and 4R can be reduced by a predetermined operation (step S19).

  If it is determined that the campus movement is not possible and “no campus movement is possible” is displayed, a guide function for guiding to a posture capable of the campus movement can be activated (step S21). The guide function is based on the display of the reason for causing “impossible to move on campus” and the presentation of a specific method for eliminating the unsatisfied condition. For example, if the turning lock pin is not inserted and it is determined that “on-site movement is impossible”, a message such as “Please insert the turning lock pin” is displayed. If the total weight of each axle (total weight) is greater than the sum of the allowable axle weights for each axle and it is determined that “on-site movement is impossible”, a message such as “Total weight is over” is displayed. Is displayed. In this case, if it is determined that changing the suspension mode will increase the total allowable axle weight and the total weight will be less than the total allowable axle weight, change the suspension mode. Such a message may be displayed. If the load on any axle is larger than the allowable weight set for that axle and it is determined that “on-campus movement is not possible”, “If the axle load is not balanced, the posture must be changed. Is displayed. In addition, when it is determined that “on-site movement is impossible” because the load on the front shaft does not exceed 20% of the total weight, a message such as “the load on the front shaft is less than 20%” is displayed.

  As described above, the embodiments of the present invention have been described in detail with reference to the drawings. However, the specific configuration is not limited to these embodiments, and the design can be changed without departing from the scope of the present invention. Is included in the present invention. For example, an example is shown in which the total weight applied to the axle and the total center-of-gravity position are calculated based on the counterweight weight, boom length, boom undulation angle, jib length, and jib angle input from each detection means. However, the present invention is not limited to this. For example, the total weight and the total center-of-gravity position can be calculated based on the detected value of the jack reaction force of each outrigger. In this case, as the jack reaction force detection means of the outrigger, for example, a pressure detector that detects the pressure of the jack cylinder is used, and a total of four jack reaction force detection means provided in each outrigger is used. The total center of gravity position and the total weight are calculated from the detected values. Based on the total center of gravity position and the total weight calculated in this way, whether or not movement is possible is determined by performing the condition determination after step S15.

  In addition, instead of calculating the total weight and the total center of gravity position and determining the conditions (steps S14 to S17), the configuration of the boom or the like may satisfy the conditions of steps S14 to S17 by satisfying the predetermined conditions. I do not care. For example, the control unit stores in advance, in a database, values of counterweight weight, boom length, boom hoisting angle, jib length, and jib offset angle that are permitted as a state in which the mobile crane 1 is movable as permissible data. After determining whether or not the turning lock pin is inserted (step S12), whether the counterweight weight, the boom length, the boom hoisting angle, the jib length, and the jib offset angle are values within the allowable data range. This is a judgment. If each detection value is within the allowable range, it can be assumed that Steps S14 to S17 are satisfied. Therefore, reduction of the outrigger is permitted without making these determinations.

  Moreover, although the example which performs control which determines the propriety of the campus movement by an overload prevention apparatus was shown, it is not limited to this. For example, it is possible to connect to an external computer through a terminal provided in the overload prevention device, and to calculate whether the movement is possible by the external computer. In this case, in addition to using the detection value from the actual mobile crane to be input to an external computer, the actual work posture is taken by the operator inputting each detection value assumed. It can be used so that it is possible to simulate whether or not it is possible to move.

  Further, in the embodiment, if it is determined that the conditions are not satisfied in the determination of each condition, the subsequent condition determination is not performed. Therefore, the condition determination is performed as a guide function that guides to a posture in which campus movement is possible. Although only the performed items are guided, the present invention is not limited to this. For example, all conditions (in the embodiment, steps S12 and S15 to S17) that determine whether or not movement is possible can be determined, and a message can be displayed for all unsatisfied conditions.

  Moreover, although the example in which the auxiliary jib is attached to the tip of the boom (main jib) is shown as the jib, it is not limited to this. In the mobile crane vehicle, since the auxiliary jib is detachable, the work can be performed only by the boom without using the auxiliary jib. Therefore, it can be configured to detect whether or not the auxiliary jib is mounted and to perform various calculations with the parameter related to the auxiliary jib set to 0 when the auxiliary jib is not mounted.

  In addition, although the example in which the weight of the counterweight and the state of the jib (boom, auxiliary jib) are detected by the detection unit and input to the control unit is shown, the present invention is not limited to this. The weight of the counterweight and the state of the jib need only be referred to by calculation in the control, and may be input by an operator, for example.

  Further, although an example is shown in which it is determined whether or not the load on the axle of the front wheel exceeds “20%” of the total sum (total weight) of each axle weight, the present invention is not limited to this. “20%” is an example, and if there is no problem due to load deviation such as the front wheel floating and steering not functioning well, a value smaller than 20% or a value larger than 20% is used as a criterion for judgment. It doesn't matter.

  Further, in the determination of whether or not movement is possible, signals from the turning lock pin detection means, boom storage detection means, counterweight weight detection means, boom length detection means, boom angle detection means, jib length detection means, and jib offset angle detection means Although the example which performs a process based on this was shown, it is not limited to this. For example, in addition to the above, it is detected whether the chassis is in a horizontal state within an allowable range, whether the wind speed is below a predetermined speed, or the air pressure of the wheels (tires) is a specified pressure. Or the like can be detected.

  In addition, the example in which the first mode and the second mode are provided as the suspension mode has been shown, but the present invention is not limited to this. For example, the suspension mode has only one type or three or more types. It doesn't matter. In addition, although an example in which hydraulic circuits of a plurality of axles are connected and operate in conjunction with each other has been shown, the invention is not limited to this, and for example, all the axles may be independent. In addition, although the example which is 6 pairs of wheels is shown, it cannot be overemphasized that it is not limited to this.

DESCRIPTION OF SYMBOLS 1 Mobile crane vehicle 3a-3f Wheel 4F, 4R Outrigger 6a-6f Axle 11 Boom (main jib)
15 Auxiliary jib 40 Control unit W Counter weight

Claims (10)

A mobile crane control device comprising a plurality of axles and outriggers,
The mobile crane vehicle includes a counterweight and a jib,
Permitting a reduction operation of the outrigger when it is determined that the load applied to each axle obtained from the total weight and the total center of gravity position of the mobile crane vehicle satisfies a predetermined condition ;
The said control apparatus calculates the total weight and the total gravity center position of the said mobile crane vehicle based on the said counterweight and the state of the said jib, The control apparatus of the mobile crane vehicle characterized by the above-mentioned . A mobile crane control device comprising a plurality of axles and outriggers,
The mobile crane vehicle includes a counterweight and a jib,
Permitting a reduction operation of the outrigger when it is determined that the load applied to each axle obtained from the total weight and the total center of gravity position of the mobile crane vehicle satisfies a predetermined condition ;
The control device determines that the total weight and the total center-of-gravity position of the mobile crane vehicle satisfy the predetermined condition when the counterweight and the jib state satisfy previously stored conditions. A mobile crane control apparatus characterized by: Wherein the predetermined condition is claim 1 or the load applied to each axle, characterized in that it is the total weight and the overall center of gravity of the mobile crane vehicle falls within a range of load allowed in each axle mobile crane vehicle control device according to 2. The predetermined condition is that the load applied to the front axle of each axle is equal to or greater than a predetermined ratio with respect to the load applied to all axles, and the total weight of the mobile crane and the total center of gravity position. The mobile crane control apparatus according to claim 1, wherein the mobile crane control apparatus is provided. Each of the plurality of axles is provided with a suspension cylinder, and hydraulic circuits in the suspension cylinder are connectable to each other.
The mobile crane has a selection means for selecting an axle to which the hydraulic circuit is connected,
4. The mobile crane control device according to claim 3 , wherein the control device sets an allowable load on each axle based on a selection result of the selection means. The mobile crane vehicle includes jack reaction force detection means for detecting a jack reaction force of an outrigger,
Said control device, the movement according to any of claims 1 to 5, characterized in that calculating the overall center-of-gravity position and the total weight of the mobile crane vehicle based on the output value of the jack reaction force detecting means Type crane vehicle control device. When the total weight and the total center of gravity position of the mobile crane vehicle do not satisfy the predetermined condition,
The mobile crane according to any one of claims 1 to 6, wherein the control device includes guide means for guiding the counterweight and the jib so as to satisfy the predetermined condition. Car control device. A method for controlling a mobile crane vehicle having a plurality of axles,
When it is determined that the load applied to each axle determined from the total weight of the mobile crane and the total center of gravity calculated based on the state of the counterweight and the jib satisfies a predetermined condition, the outrigger A control method for a mobile crane vehicle, wherein a reduction operation is permitted. A method for controlling a mobile crane vehicle having a plurality of axles,
When the weight of the counterweight and the jib satisfy the pre-stored conditions , the load applied to each axle obtained from the total weight of the mobile crane and the total center of gravity satisfies a predetermined condition. A control method for a mobile mobile crane, characterized in that a reduction operation of an outrigger is permitted after determination. A program for causing a computer to execute the control method according to claim 8 or 9 .

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