JP5178237B2 - Fall prevention device for cargo handling equipment - Google Patents

Description

  The present invention relates to a tipping prevention device for a cargo handling work machine, and more particularly to a tipping prevention device for a cargo handling work machine that handles bulk materials such as iron scraps and small pieces.

  In a cargo handling work machine, a tipping prevention device is provided in order to prevent tipping during handling. As the fall prevention device, the working radius of the load handling work machine is calculated, and the rated total load determined from this work radius is compared with the actual load by the load handling work machine to prevent overload (for example, patent Reference 1).

Japanese Patent Laid-Open No. 62-121196

  As a cargo handling work machine, there is a machine that handles bulk materials such as iron scraps and small pieces using hanging tools such as grapples and lifting magnets. In this type of cargo handling work, for example, a large amount of cargo handling material is deposited at a location close to the cargo handling equipment, and the deposited cargo handling material enters a location far from the cargo handling equipment. There is a demand to carry out cargo handling for loading on the vehicle, that is, cargo handling prioritizing the work radius (work radius priority).

  However, when the above-described overturn prevention device is provided, based on the rated total load curve determined from the working radius of the cargo handling work machine, the cargo handling load corresponding to the work radius is restricted. When a target work radius is set within a range that does not exceed the maximum work radius obtained from the rated total load curve determined from the work radius as a form of cargo handling work of the cargo handling work machine, and cargo handling work is performed at this target work radius When a large amount of load is lifted at a position within the target work radius, it is determined that the target work radius is overloaded, and an alarm and / or work stoppage is required. There is a grudge that it cannot be improved.

  The present invention has been made based on the above-described matters, and an object of the present invention is to provide a tipping prevention device for a cargo handling work machine that can perform a cargo handling that prioritizes a work radius (a work radius prioritized cargo handling).

In order to achieve the above-mentioned object, the present invention provides a first aspect of the present invention in which an overturn prevention device for a cargo handling machine that performs a cargo handling work by moving a suspension tool within a maximum allowable work radius set by a rated total load curve. A target work radius input device for setting and inputting a target work radius set in accordance with a work situation within the maximum allowable work radius, a target work radius input from the target work radius input device, and the rated total The target load calculating means for calculating the target load of the suspended load corresponding to the target work radius is compared with the target load and the actual load from the target load calculating means by the load curve, and the actual load is calculated as the target load. If heavier than the load, the said output load adjustment command, such as to reduce the load of the suspended load to load adjusting apparatus for performing a load control of the suspended load, when said actual load becomes lightly than the target load said before Symbol hanger to Characterized by comprising a hoisting attachment operation control means for allowing the operation of up to the marked working radius.

  According to a second aspect of the present invention, there is provided the switch according to the first aspect, further comprising a switch that preferentially controls either the fall prevention control based on the rated total load curve or the fall prevention control based on the target radius. And

  Further, a third invention is characterized in that, in the first or second invention, the lifting tool of the load handling work machine is a lifting magnet, and the load adjusting device controls energization of the voltage control device.

  According to a fourth aspect of the present invention, in the first or second aspect of the invention, the lifting tool of the load handling work machine is a gripping tool having a plurality of gripping claws, and the load adjusting device is a hydraulic pressure that drives the gripping claws to open and close. The amount of pressure oil supplied to the hydraulic cylinder is controlled so as to reduce the gripping force on the cylinder closing side.

  Further, a fifth invention according to the third or fourth invention, further comprising height detection means for detecting a height of the hanging tool, wherein the load adjusting device is a suspension detected by the height detection means. It is characterized in that it operates when the position of the tool reaches a preset lowered position.

  According to the present invention, it is possible to perform work handling with priority on the work radius to the target work radius within a range not exceeding the maximum work radius without being restricted by the load handling based on the rated total load curve. Can be further improved, and the versatility of the cargo handling work machine is improved.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of a tipping prevention device for a cargo handling machine of the present invention will be described below with reference to the drawings.
1 to 4 show an embodiment of a lifting magnet working machine of the present invention, and FIG. 1 is a front view showing a lifting magnet working machine equipped with an embodiment of the overturn prevention device of the present invention. FIG. 2 is a block diagram showing a configuration of an embodiment of the fall prevention device of the present invention, and FIG. 3 is a diagram showing an example of a rated total load curve determined from a working radius used in the embodiment of the fall prevention device of the present invention. FIG. 4 is a flowchart for explaining work radius priority work according to an embodiment of the fall prevention device of the present invention.

  In FIG. 1, a lifting magnet working machine of the present invention is provided with a traveling body 1 and a revolving body 3 that is turnable on the traveling body 1 via a revolving device 2. On the swivel body 3, a power source room 4 and a driver's cab 5 that incorporate a power unit and the like serving as a power source are mounted. A multi-joint arm 6 is installed at the front of the revolving unit 3. The articulated arm 6 includes a boom 8 provided at the front portion of the swing body 3 so as to be lifted and lowered by the boom cylinder 7, an arm 10 provided rotatably at the tip of the boom 8 by the arm cylinder 9, and a link 11 and a lifting magnet 13 as a lifting tool provided rotatably at the tip of the arm 10 via a cylinder 12.

Next, the configuration of an embodiment of the fall prevention device of the present invention will be described with reference to FIG.
In FIG. 2, a generator 15 is connected to the lifting magnet 13 via a voltage control device 14. As the generator 15, an exterior one disposed on the revolving structure 3 or an interior one installed in the power chamber 4 can be used, and the voltage generated by the generator 15 is a voltage control device. 14 and is supplied to the coil of the lifting magnet 13.

  Reference numeral 16 denotes a pressure detector, and this pressure detector 16 is attached to the base portion of the boom cylinder 7 in the lifting magnet working machine shown in FIG. 1 so as to detect the pressure in the base side oil chamber of the boom cylinder 7. Reference numeral 17 denotes an angle detector. The angle detector 17 is attached to the bases of the boom 8 and the arm 10 so as to detect the rotation angle of the boom 8 and the arm 10.

  The detected pressure detected by the pressure detector 16 is input to the load calculation means 18. The load calculating unit 18 calculates an actual load based on the detected pressure and the weight center of gravity of the boom 8, the weight center of gravity of the arm 10, and the weight center of gravity of the lifting magnet 13 stored in advance.

  The detected angle detected by the angle detector 17 is input to the working radius calculation means 19. The work calculating means 19 calculates the working radius of the lifting magnet 13 based on the detected angle and the length dimension of the boom 8 stored in advance, the length dimension of the arm 10 and the dimension of the lifting magnet 13.

  Reference numeral 20 denotes a storage unit, which stores a rated total load curve X set by the allowable work radius R and the allowable load W shown in FIG. Reference numeral 21 denotes a toppling prevention calculating means. The toppling prevention calculating means 21 takes in the actual load value from the load calculating means 18 and the actual working radius value from the working radius calculating means 19, and these values are the rated total load shown in FIG. When the allowable working radius R or the allowable load W set by the curve X is exceeded, an alarm signal is output to the alarm device 22 or a stop signal A is output to the lifting magnet working machine. The actual load value calculated by the load calculating means 18 is displayed on the display unit 23A of the display device 23, and the actual work radius value calculated by the work radius calculating means 19 is displayed on the display unit 23B of the display device 23. Is done.

  Reference numeral 24 denotes a target radius input device. The target radius input device 24 sets a target work radius within the maximum allowable work radius RN set by the rated total load curve X shown in FIG. 3, for example, the target work radius RA of FIG. Enter the settings. The target work radius RA input by the target radius input device 24 corresponds to, for example, the position of the truck bed that has entered the cargo handling site. As a result, the lifting magnet 13 moves within the target working radius RA and releases the attracted matter to the truck bed or attracts the load on the truck bed.

  Reference numeral 25 denotes a target load calculating means. The target load calculating means 25 is based on the target working radius value RA input from the target radius input device 24 and the corresponding rated total load curve X shown in FIG. An allowable target load WA corresponding to the working radius value RA is calculated. The allowable target load WA is displayed on the display unit 23C of the display device 23, and the target working radius value RA input from the target radius input device 24 described above is displayed on the display unit 23D of the display device 23.

  26 is a hanging device operation control means, and this hanging device operation control means 26 takes in the actual load from the load calculation means 18, and when this actual load exceeds the allowable target load WA from the target load calculation means 25, Outputs load adjustment command.

  Reference numeral 27 denotes a load adjusting device. The load adjusting device 27 controls the energization of the voltage control device 14 on the basis of a load adjustment command from the lifting device operation control means 26, and actuality of the adsorbed matter adsorbed on the lifting magnet 13. The load control is performed so that the attracted substance is dropped from the lifting magnet 13 so that the load becomes the allowable target load WA.

  Reference numeral 28 denotes a work radius priority selection switch. When the switch 28 is turned on, the calculation function of the fall prevention calculation means 21 is stopped and the target load calculation means 25 is selected to operate.

  Next, the operation of an embodiment of the above-described overturn prevention device for a cargo handling work machine according to the present invention will be described. In one embodiment of the overturn prevention device for a cargo handling work machine according to the present invention, the overturn prevention function by the overturn prevention calculating means 21 shown in FIG. This prevents overturning when carrying out cargo handling within the set target work radius RA. For example, when a truck that has entered the cargo handling site stops at the target work radius RA set within the maximum allowable work radius RM by the lifting magnet 13 shown in FIG. 3, the lifting magnet 13 moves within the target work radius RA, A cargo handling operation is assumed in which the adsorbate deposited at a position within the target work radius RA is released to a truck bed, or the load on the truck bed is sucked and released to a position within the target work radius RA. That is, the work radius priority is a cargo handling operation.

  First, the work radius priority selection switch 28 is turned on to stop the calculation function of the fall prevention calculation means 21 and enable the target load calculation means 25 (S1 in FIG. 4). Next, the target work radius RA within the maximum allowable work radius RM that is the position of the truck that has entered the cargo handling site is input from the target radius input device 24 (S2 in FIG. 4).

  The target load calculator 25 corresponds to the target work radius RA within the maximum allowable work radius RM that is the position of the truck that has entered the cargo handling site from the target radius input device 24 and the corresponding rated total load shown in FIG. The allowable target load WA corresponding to the target work radius value RA is calculated from the curve X, and the standby state is maintained until the cargo handling work by the lifting magnet 13 is started (S3 in FIG. 4).

  Next, for example, loose particles such as iron scrap accumulated at a location within the target working radius RA (RB in FIG. 3) are attracted by the lifting magnet 13 and a truck bed having the target working radius (RA in FIG. 3) is attracted. When the lifting magnet 13 is released to the release position, the lifting magnet 13 is positioned on the loose material such as iron scrap accumulated at the location within the target working radius RA (RB in FIG. 3), and then the energization control is performed. Adsorb objects.

  The actual load at this time is calculated by the load calculation means 18 (S4 in FIG. 4). This actual load is input to the hanging device operation control means 26. The lifting device operation control means 26 takes in the actual load from the load calculation means 18 and performs the cargo handling when the actual load does not exceed the allowable target load WA from the target load calculation means 25 (S6 in FIG. 4). . When the actual load exceeds the allowable target load WA from the target load calculation means 25, a load adjustment command is output to the load adjustment device 27 (S7 in FIG. 4).

  The load adjustment device 27 controls the energization of the voltage control device 14 based on the load adjustment command from the hanging device operation control means 26, and the actual load of the adsorbed matter adsorbed on the lifting magnet 13 is the allowable target load WA. Thus, load control is performed so that the attracted substance is dropped from the lifting magnet 13 (S8 in FIG. 4). As a result, the loose matter adsorbed by the lifting magnet 13 is adjusted and controlled to a load corresponding to the allowable target load WA in FIG. 3, and thereafter, the lifting magnet 13 is moved to the truck bed of the target working radius (RA in FIG. 3). It is possible to move to the release position, and it is possible to carry out the cargo handling work with priority on the work radius without preventing overturning.

If the switch 28 for selecting the working radius priority is released, the target load calculating means 25 is inactivated and the overturn preventing calculating means 21 can be operated. Therefore, the rated total load curve X shown in FIG. Based on the above, it becomes possible to carry out the cargo handling work in which the lifting magnet 13 acts on the lifting magnet 13 within the range of the maximum working radius RM.
According to one embodiment of the fall prevention device of the present invention described above, priority is given to the working radius to the target working radius within the range not exceeding the maximum working radius, without being restricted by the cargo handling based on the rated total load curve. Since the cargo handling work is possible, the cargo handling work efficiency can be further improved and the versatility of the cargo handling work machine is improved.

  In the above-described embodiment, the lifting magnet 13 is applied as a lifting tool to the type provided at the tip of the articulated arm 6 in the cargo handling work machine. However, the lifting magnet 13 extends from the tip of the boom B shown in FIG. The present invention can also be applied to a cargo handling work machine of a type in which 13 is suspended. In FIG. 5, the same reference numerals as those in FIG.

  Further, as shown in FIG. 6, the present invention can also be applied to a cargo handling work machine of a type provided with a hanging tool by a gripping tool C having a plurality of gripping claws at the tip of the articulated arm 6. In FIG. 6, the same reference numerals as those in FIG. In this embodiment, the load adjustment of the loose object grasped by the grasping tool C can be performed by, for example, dropping the unnecessary loose object by opening / closing movement of the grasping tool C. In this case, the amount of pressure oil supplied to the hydraulic cylinder may be controlled so as to reduce the gripping force on the closing side of the hydraulic cylinder that opens and closes the gripping claws.

  If the load adjustment of the loose material by the hanging tool described above is performed at an upper position from the soil cutting of the hanging tool, the scattering of the loose material falling from the hanging tool to the ground is expanded. In addition, for example, there is provided a height detection means of the suspension, and when the position of the suspension detected from the height detection means of the suspension reaches a preset lowered position, the load adjusting device 27 is operated. It is also possible to constitute a calculation means.

It is a front view which shows the lifting magnet working machine provided with one Embodiment of the fall prevention apparatus of this invention. It is a block diagram which shows the structure of one Embodiment of the fall prevention apparatus of this invention. It is a figure which shows an example of the rated total load curve determined from the working radius used for one embodiment of the fall prevention device of the present invention. It is a flowchart figure explaining the work radius priority work by one Embodiment of the fall prevention apparatus of this invention. It is a front view which shows the other cargo handling work machine provided with one Embodiment of the fall prevention apparatus of this invention. It is a front view which shows other cargo handling work machine provided with one Embodiment of the fall prevention apparatus of this invention.

Explanation of symbols

13 Lifting Magnet 14 Voltage Control Device 15 Generator 16 Pressure Detector 17 Angle Detector 18 Load Calculation Unit 19 Work Radius Calculation Unit 20 Storage Unit 21 Overturn Prevention Calculation Unit 22 Alarm 23 Display Device 24 Target Radius Input Device 25 Target Load Calculation Means 26 Lifting device motion control means 27 Load adjusting device 28 Switch for working radius priority selection

Claims (5)

A tipping prevention device for a cargo handling work machine that performs a cargo handling work by moving a hanging tool within a maximum allowable work radius set by a rated total load curve,
A target work radius input device for setting and inputting a target work radius set in accordance with a work situation within the maximum allowable work radius;
A target load calculating means for calculating a target load of a suspended load corresponding to the target work radius based on the target work radius input from the target work radius input device and the rated total load curve;
When the target load from the target load calculating means is compared with the actual load and the actual load is heavier than the target load, the load of the suspended load is applied to a load adjusting device that performs load control of the suspended load. outputs load adjustment command, such as to reduce said that the real load and a hoisting attachment operation control means for allowing the operation to the target operating radius before Symbol hanger if it becomes lightly than the target load A fall-prevention device for cargo handling machines characterized by In the overturn prevention device of the cargo handling work machine according to claim 1,
A fall prevention device for a cargo handling machine, further comprising a switch that preferentially controls either the fall prevention control based on the rated total load curve or the fall prevention control based on a target radius. In the overturn prevention device for a cargo handling work machine according to claim 1 or 2,
The apparatus for overturning a cargo handling work machine, wherein a lifting tool of the cargo handling work machine is a lifting magnet, and the load adjusting device controls energization of a voltage control device. In the overturn prevention device for a cargo handling work machine according to claim 1 or 2,
The hoisting tool of the load handling work machine is a gripping tool having a plurality of gripping claws, and the load adjusting device supplies the hydraulic cylinder to reduce the gripping force on the closed side of the hydraulic cylinder that opens and closes the gripping claws. An overturning prevention device for a cargo handling machine characterized by controlling the amount of pressure oil. In the overturn prevention device for a cargo handling work machine according to claim 3 or 4,
A height detecting means for detecting a height of the hanging tool, and the load adjusting device is activated when the position of the hanging tool detected by the height detecting means reaches a preset lowered position. A fall-prevention device for the cargo handling machine.

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