JPS6039640B2 - Fall warning device for crane trucks, etc. - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention is applicable to crane trucks, fire engines, aerial work vehicles, etc., in which a boom is extendable, extendable, and pivotable, and a load can be applied to the boom. This invention relates to a fall warning device that issues an alarm to confirm safety in order to prevent falls.

BACKGROUND ART Conventionally, when a crane vehicle or the like is operated with a load applied to the tip of its crane frame, accidents often occur in which the crane vehicle overturns.

Conventionally, in order to prevent crane truck overturning accidents, the most primitive approach has been to rely on the operator's intuition based on experience, or to determine the length of the boom, the size of the boom's elevation angle, and the size of the load. Calculation charts were created in advance in connection with such matters, and the work was carried out while confirming the safe range, but this placed an excessive burden on the operator and caused problems such as operational errors resulting in falls. . Recently, some devices have been designed to issue an alarm when a boom is about to fall, but their structure is complex and not satisfactory in terms of operation, and furthermore, they do not take into account the swing angle of the boom. Therefore, there is a problem that accurate warning cannot be issued. The present invention has been made in view of the above points, and includes a means for calculating the overturning moment of the vehicle in the longitudinal direction and the lateral direction from the input elements using the length of the boom, the swing angle, and the size of the applied load. An addition/subtraction/multiply/division link mechanism fixed device, which includes a means for comparing the calculated overturning moment and the restoring moment, and a means for outputting a signal when the overturning moment approaches the restoring moment as a result of this comparison, is used to warn you when you are about to overturn. It is an object of the present invention to provide a fall warning device which prevents crane truck fall accidents by outputting a signal, has a simple structure, and is reliable in operation, thereby solving the above-mentioned drawbacks.

DESCRIPTION OF THE PREFERRED EMBODIMENTS The configuration of the present invention will be described below with reference to the drawings regarding optimum embodiments.

In FIGS. 1 and 2, 1 is a crane truck, and legs 2, 2 are retractable at four locations on the front, rear, left and right sides of the crane truck.
, 2, 2 are provided.

Reference numeral 3 denotes an extendable crane boom, which is rotatably connected at a pivot point 5 to a swivel device 4 installed on the loading platform of the crane truck 1, and can be rotated by the swivel device. It is provided.

Reference numeral 6 denotes a winch (not shown) wire that is fed out from the tip of the boom 3, and a load 7 is suspended from the lower end of the wire.

In order to obtain analog values for the length r of the boom 3 of the crane vehicle 1, its elevation angle 8, its turning angle, and the weight m of the load 7, for example, a potentiometer (not shown) is installed at an appropriate location on the boom 3. is attached to output an analog value proportional to the extension length r of the boom 3, and a potentiometer (not shown), for example, is attached to the pivot point 5 of the boom 3 to output an analog value proportional to the elevation angle a' of the boom 3. is output, and the rotation device 4 is equipped with, for example, a potentiometer (
(not shown) is attached to output an analog value proportional to the turning angle of the boom 3, and a strain gauge (not shown) is attached between the tip of the wire 6 and the load 7 to output the weight of the load 7. An analog value related to m is output. In addition, CG is the center of gravity of the crane vehicle 1 body excluding the boom 3 and load 7, etc., its total weight is M, and the center of gravity point CG
is located at a distance c from the rear leg 2. The pivot point 5 of the boom 3 is located at the center of the four legs 2, 2, 2, 2, and the distance between the pivot point and the leg 2 in the front and back direction is a, and the distance in the left and right direction is a. It is b. With the above values, the overturning moment of the crane truck 1 in the longitudinal direction is m(r
cosacos mind-a) and the restoring moment is MX
c, and when the overturning moment becomes larger than the restoring moment, the crane truck 1 overturns in the front-rear direction.

On the other hand, the overturning moment of the crane truck 1 in the left and right direction is m(
rcososlnyamaichib), and the restoring moment is M
Xb, and when the overturning moment becomes larger than the restoring moment, the crane truck 1 overturns in the left-right direction. 3 and 4 show an addition/subtraction/multiplication/division link mechanism type calculation system 10 installed in the crane vehicle 1.

The calculation means is connected to means for outputting values corresponding to the operating state of the boom 3 and proportional to the length r, the elevation angle 8, the turning angle and the load m of the boom 3. a step for inputting and calculating the overturning moment of the crane truck 1 in the longitudinal direction and the left-right direction; a means for comparing the calculated overturning moment with the restoring moment; and a means for comparing the overturning moment with the restoring moment, and and means for outputting a signal to. In the calculation tool 101, 11 is a tool for setting the length r and elevation angle 8 of the boom 3, 12 is a turning angle setting board, the setting tool 11 has the outermost groove 11b, and the direction of the long groove is is a servo means 11 provided for the turning angle peak setting board 12.
a so that it can form an angle of 8 with respect to the base line 12a of the substrate, and a pin 1 is provided in the long groove 11b.
1c is inserted, and another servo means (not shown) is positioned at a distance r from the center of rotation of the servo means 11a.
The position is controlled within the long groove 11b by.

Reference numeral 13 denotes a servo means for the turning angle center setting board 12 so that its base line 12a can take an angle with respect to the base line 13a of the fixed autopsy field, and the servo means and the servo means 11a are located on the same straight line perpendicular to the base line 12a. 12b is a long groove provided in the setting board 12 along a straight line passing through the center of rotation of the servo means 13 and parallel to the base line 12a, and the pin 11c is iron-filled in the long groove. .

Reference numeral 14 denotes a first movable plate, which is provided to be movable in the same direction as the base line 12a with respect to the setting board 12, and the first movable plate is provided with a long groove 14a in a direction perpendicular to the base line 12a, A pin 11c is inserted into the chair groove.

Reference numeral 15 denotes a long groove provided in a direction perpendicular to the base line 13a in the fixed lamp, and a load setting pin 16 is movably inserted into the chair.

Reference numeral 17 denotes a fixing pin provided on the fixing part B, and the reference line 13 between the center of the fixing pin and the center of rotation of the servo means 13
Provided with a length proportional to the distance a in the a direction,
Further, the position of the load setting pin 16 is configured by a servo means (not shown) so that the distance from the fixing pin 17 in the direction perpendicular to the base line 13a is proportional to m (weight of the load 7).

An arm 18 having a long groove 18a is rotatably supported by the load setting pin 16, and the fixing pin 17 is carried into the long groove 18a of the arm. 19 is a second moving plate,
The second movable plate is provided so as to be movable in the same direction as the base line 13a with respect to the fixed part B, and the second movable plate has a
two long grooves 19 on the same straight line in a direction perpendicular to
a, 19b are provided, and the pin 11 is provided in the long groove 19b.
A pin 20 is inserted into the long groove 19a in common with the long groove 18a.

Reference numeral 21 denotes a third movable plate, which is aligned with the base line 13 with respect to the fixed part B.
a, and the third moving plate is provided with a movable plate in a direction perpendicular to the moving direction (i.e., in the direction of the base line 13a).
A long groove 21a is provided, and the pin 20 is inserted with iron into the long groove.

A slope 21b for sensor activation is formed at the upper corner of the third moving plate 21, and two microswitches 22 and 23 as sensors are disposed at predetermined positions facing the slope. With the above, the fall warning mechanism for the crane vehicle 1 in the longitudinal direction is configured. Reference numeral 25 denotes a long groove provided in the fixing mechanism 2 in a direction perpendicular to the long groove 15 (that is, in the direction of the base line 13a), and a load setting pin 26 is provided in the long groove.
are being transported to Europe.

27 is a fixing pin provided on the fixing part B2, and the base line 13 between the center of the fixing pin and the rotation center of the servo means 13 is
It is provided so that the distance in the direction perpendicular to a is proportional to b.

Further, the position of the load setting pin 26 is configured by a servo means (not shown) so that the distance from the fixing pin 27 in the direction of the base line 13a is proportional to m (weight of the load 7). An arm 28 having a long groove 28a is rotatably supported on the load setting pin 26, and the fixing pin 27 is inserted into the outermost groove 28a of the arm. Reference numeral 29 denotes a fourth moving plate, which is provided to be movable in a direction perpendicular to the base line 13a with respect to the fixed part &; Two furthest grooves 29a and 29b are provided in a straight line, the long groove 29b is fitted with iron, and the long groove 29a is fitted with a pin 30 common to the long groove 28a.

Reference numeral 31 denotes a fifth movable plate, which has a base line 13 with respect to the fixed part string.
a, and the fifth moving plate has a long plate 31a in a direction perpendicular to this moving direction (base line 13a direction).
is provided, and the pin 30 is inserted with iron into the long shaft.

A slope 31b for sensor activation is formed at the upper corner of the fifth moving plate 31, and two microswitches 32 and 33 as sensors are disposed at predetermined positions facing the slope. With the above, the fall warning mechanism for the crane vehicle 1 in the left and right direction is configured. Next, to explain the operation of the above embodiment, it is assumed that the boom 3 of the crane truck 1 is now in the posture shown in FIGS. 1 and 2.

That is, it is assumed that the length of the frame 3 is r, its elevation angle is h, its turning angle is ■, and the weight of the load 7 is m. An analog value output proportional to the elevation angle 0 of the boom 3 is input to the servo means 11a, and the setting tool 11 takes an angle of 8 with respect to the base line 12a of the board 12. An analog value output proportional to the turning angle of the boom 3 is input to the servo means 13, and the base line 12a of the board 12 takes an angle with respect to the base line 13a. Further, an analog value output proportional to the extension length r of the boom 3 is input to a servo means (not shown), and the distance between the servo means 11a and the pin 11c becomes a dimension proportional to r. Furthermore, the analog value output of a strain gauge (not shown) proportional to the weight m of the load 7 is input to a servo means (not shown), and the distance between the load setting pin 16 and the fixed pin 17 in the direction perpendicular to the base line 13a, and the load The distances between the setting pin 26 and the fixing pin 27 in the direction parallel to the base line 13a are both proportional to the weight m. In the above state, as shown in FIGS. 3 and 4, the dimensions of the mutual positions of each part are determined by geometric calculation, and ultimately the positions of the fixed pin 17 and pin 20 in the direction perpendicular to the base line 13a are determined. The distance, that is, the amount of movement of the third moving plate 21 is m(
The distance between the fixed pin 27 and the pin 30 in the same direction as the base line 13a, that is, the amount of movement of the fifth moving plate 31 is m(r cos
The value is proportional to the asm mountain (b). That is, regarding the longitudinal direction component, the center of the servo means 13 and the pin 11c
The distance between the servo means 13 and the pin 20 is rcos8, and the component parallel to the base line 13a of this value is the rcos8cos mountain, and this value is the distance between the servo means 13 and the pin 20 in the direction of the base line 13a, The distance from the base line 13a in the direction of the base line 13a is proportional to (rcosacosW-a). In addition, the arm 18 acts as a proportional handle, and forms a right triangle formed by a line connecting the load setting pin 16 and the fixing pin 7, a line parallel to the base line 13a (constant), and a line (m) perpendicular to the base line 13a; The right triangle formed by the line connecting the fixed pin 17 and the pin 20, the line parallel to the base line 13a (rcosocos mountain 1a), and the line orthogonal to the base line 13a is a similar shape with a predetermined ratio. Therefore, fixed pin 17 and pin 20
The distance in the direction perpendicular to the base line 13a, that is, the amount of movement of the third moving plate 21, becomes the value of the overturning moment proportional to m (r cosocos center - a). Similarly, regarding the horizontal component, the component perpendicular to the base line 13a of the distance r cos8 between the center of the servo means 13 and the pin 11c is r cos
8sin mountain, and this value is the servo means 13 and pin 30.
The distance perpendicular to the base line 13a between the fixed pin 2
7 and the pin 30 in the direction perpendicular to the base line 13a is (rc
The length is proportional to osasln■-b).

Also, due to the proportional action of the arm 28, a right triangle formed by a line connecting the load setting pin 26 and the fixed pin 27, a line (m) parallel to the base line 13a, and a line (constant) perpendicular to the base line 13a, and the fixed pin 27 A line connecting the pin 30 and the base line 13a
and a line perpendicular to the base line 13a (r cos
The right triangle formed by the 8sin mountain 1b) is a similar figure with a predetermined ratio. Therefore, the distance between the fixed pin 27 and the pin 30 in the direction parallel to the base line 13a, that is, the amount of movement of the fifth movable plate 31, becomes the value of the overturning moment proportional to m(rcosasln-b). Further, the microswitches 22, 23 and 32, 33 are configured to control the restoring moment MXc or MXb of the crane truck 1 in the longitudinal direction or the lateral direction.
It is arranged corresponding to the proportional value and outputs a signal when the overturning moment approaches the restoring moment by comparing it with the overturning moment calculated by the amount of movement of the third moving plate 21 or the fifth moving plate 31. It is something to do.

That is, when the overturning moment and the restoring moment in the longitudinal direction of the crane truck 1 are equal, the microswitch 23 is activated by the slope 21b of the third moving plate 21, and the microswitch 22 is activated before that. This makes it possible to issue a warning signal for a fall in the front-back direction. Similarly, when the overturning moment and the restoring moment of the crane vehicle 1 in the left and right directions are equal, the slope 31b of the fifth moving plate 31 activates the microswitch 33, and before that, the microswitch 32 is activated, so that the right and left A warning signal can be issued for a fall in the direction. Therefore, according to the overturn warning device for a crane truck, etc. of the present invention, data on various conditions such as boom length, elevation angle, turning angle, size of suspended load, etc., are input and the vehicle is moved in the longitudinal and lateral directions. By emitting an output such as a warning when the crane is about to overturn, the operator can recognize when the crane is about to overturn under any conditions under which the crane is used, thereby preventing the crane from overturning. It is safe and reliable in operation.

In addition, since we use the addition, subtraction, multiplication, and division linkage mechanism type calculation method as a calculation means to input the data of various conditions and obtain the output just before falling, there is no need for a troublesome cam like the conventional cam mechanism type.
In addition, there is no need to worry about breakdowns as with electric types, it operates reliably, is relatively easy to manufacture, is lightweight, compact, and durable.
Further, it has excellent effects such as easy adjustment.

[Brief explanation of the drawing]

The drawings illustrate the embodiment of the present invention, and FIGS. 1 and 2 are a side view and a plan view for schematic explanation of the crane vehicle in a certain posture position of the boom, respectively, and FIGS. 3 and 4 are views showing the adjustment. FIG. 2 is a front view and a perspective view of a multiplication/division link mechanism type calculation tool. 1... Crane truck, 2... Legs, 3... Hoom, 4...
...Swivel device, 5...Pivot point, 6...Wire, 7...Load, 10...Addition/subtraction/multiplication/division link mechanism calculation tool, 11... ... Length r and elevation angle 8 setting odor, 11a ... Servo means, 11b.
...Long groove, 11c...Pin, 12...
...Turning angle mountain setting board, 12a...Baseline, 1
3... Servo means, 13a... Base line,
14...First moving plate, 14a...Long groove, 15...Long groove, 16...Load setting pin, 17...Fixing pin, 18 ...Arm, 18
a...Long groove, 19...Second moving plate, 1
9a, 19b...Long groove, 20...Pin, 21...Third moving plate, 21a...Long groove, 21b...Slope, 22, 23...Micro switch, 25...Nagatoro, 26...
・Load setting pin, 27...Fixing pin, 28...
...Arm, 28a...Long groove, 29...Fourth moving plate, 29a, 29b...Long groove, 30...Pin, 31...Fifth moving plate , 31a...long groove,
31b... Slope, 32, 33... Micro switch, r... Length of hoop 3, a... Elevation angle, ■
...Turning angle, m...Weight of load 7, CG.
...Center of gravity, M...Total weight, a...Distance in the front-back direction between the pivot point and the leg, b...Distance in the left-right direction between the pivot point and the leg, B, B2... ···Fixed part. Figure 1 Figure 2 Figure 4 Figure 3

Claims (1)

[Claims] 1. In crane trucks, etc. whose booms are extendable, elevating, and swivelable and capable of applying loads to the boom, the boom length, elevation angle, swing angle, and various angles proportional to the magnitude of the load applied to the boom means for outputting values; means connected to the means for inputting the respective values to calculate overturning moments in the longitudinal and lateral directions of the vehicle; and restoration of the calculated overturning moments and the longitudinal and lateral directions of the vehicle. A crane truck or the like comprising an addition/subtraction/multiplication/division linkage mechanism calculating device comprising means for comparing the overturning moments with the respective moments, and means for outputting a signal when the overturning moment approaches the restoring moment as a result of these comparisons. Fall warning device.