JPH10157983A - Turning speed reduction control device for crane and control method thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To automatically stop a revolving superstructure of a crane vehicle into a specified turning position within a safe area without load oscillation by providing a steady crawling turning area for turning the revolving superstructure at constant crawing speed immediately before stopping it. SOLUTION: A turning speed reducing area from a speed reduction start position to a speed reduction end position is obtained by a multiple of an oscillation cycle. At the time of reducing speed in this turning speed reducing area, a revolving superstructure braking device 42 is actuated to brake a revolving superstructure at constant acceleration by a signal from a turning angular velocity control arithmetic means 36 so that the turning angular velocity of the revolving superstructure after speed reduction control time becomes steady crawling turning speed. To be concrete, the turning angular velocity control arithmetic means 36 outputs a command to a flow control valve for controlling flow to a turning motor, and the supply quantity to a hydraulic motor is reduced by the flow control valve.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crane turning deceleration control device and a control method thereof, and more particularly, to a crane vehicle that automatically stops a revolving structure at a predetermined turning position within a safety area without load swing. And a control method thereof.

[0002]

2. Description of the Related Art In general, a crane vehicle has a safety area such that it stops within a predetermined limit work area so as not to fall according to a hanging load, overhang of an outrigger device, and a turning radius of a boom in order to prevent a fall. Is set.
Further, when stopping at a predetermined position, it is required that the suspended load be stopped without swinging. For this reason,
Japanese Patent Publication No. 8-5623 proposes a method of stopping without fail within a safe area and stopping without load swing at this time. According to the publication, the angle required to stop the boom within the limit working area without leaving the load swing is calculated, and the braking is started while the remaining angle does not fall below the required angle. The boom can be safely stopped within the marginal working area without any run-out. At this time, if the suspended load has no swing and the boom and the suspended load are both turning at a predetermined angular velocity and the boom is braked at a constant angular acceleration according to a predetermined calculation formula, the angular acceleration of the boom and There is a predetermined relationship with the angular acceleration of the suspended load as shown in FIG. In other words, when the equiangular acceleration stop control is performed so that the boom stops completely at time t = nT from the start of the braking, the angular acceleration of the boom decreases linearly while the angular acceleration of the suspended load decreases. Is gradual immediately after the start of braking, immediately after stopping, and immediately before stopping, and rapidly decreases in the intermediate region. The angular velocity of the suspended load oscillates for n times of one cycle until the complete stop, and the time t =
When T / 2 has elapsed, it becomes equal to the angular velocity of the boom.
Moreover, at this point, the angular acceleration of the suspended load is twice the angular acceleration of the boom. In addition, there is a case where a suspended load is actually touching at the start of turning braking, and if there is such a swing,
It is stated that the angular acceleration of the suspended load during braking will exceed twice the angular acceleration of the boom.

[0003]

However, in the prior art, deceleration control is performed at a constant angular velocity until deceleration is started and then stopped, and has the following problems. (1) The deceleration control is performed so that there is no load swing at the start of deceleration and the remaining load swing at the time of stop is assumed on the assumption that the speed is constant.
They do not always meet the prerequisites. Therefore, the crane operator attempts to correct the runout just before the stoppage. However, in the prior art, only manual intervention at a speed lower than the control command speed (below the angular speed in FIG. 5) is slowed down. Is difficult to perform the operation (chase operation). (2) If the revolving superstructure stops immediately before the stop point due to disturbance just before the stop or the accuracy of the control valve, the revolving body shifts to a desired stop position. Therefore, even if the operator starts restarting, it is determined by the cycle of the suspended load. However, there is a problem that the turning speed is limited by the control pattern of the elapsed time and the turning time to the stop position is greatly increased. (3) In the prior art, deceleration stop control is performed by calculating the required angle for stopping the braking at the braking angular velocity of (1). However, the turning of the revolving body, the weight of the load, the inertia load of the boom, and the like are performed. The stop position tends to vary due to the turning load of the body, and the stop position must be determined with a margin more than the original stop position. Therefore, the vehicle often stops before it can stop at the desired stop position, and the turning speed is limited by the control pattern of the time determined by the period of the suspended load in the item (2), so that the desired stop position is obtained. The problem that the turning time until the shift to is greatly increased occurs.

The present invention has been made in view of the above problems, and relates to a crane turning / deceleration control device and a control method therefor. In particular, the present invention relates to a crane vehicle in which a turning body is automatically moved to a predetermined turning position within a safe area. It is an object of the present invention to provide a turning deceleration control device and a control method thereof, which can be stopped without deviation from a desired position, and can be safely moved in a short time by an operation of an operator when the vehicle is stopped from a desired position.

[0005]

In order to achieve the above object,
In the invention of the swing deceleration control device for a crane according to the present invention, the length of the boom that can be extended and retracted on the revolving body, the swing angle of the boom, and the weight of the suspended load of the hook mounted on the boom are detected. Working radius detecting means for detecting the working radius of the hook, turning angle detecting means for detecting the turning angle of the revolving structure with respect to the traveling structure, turning angular speed detecting means for detecting the turning angular speed of the revolving structure, and extension of the outrigger Outrigger overhang amount detection means, limit area setting means for calculating and setting the crane stability limit area according to the outrigger overhang amount, and rope length for detecting the length of the rope from the crane sheave to the suspended load Detecting means, hanging load cycle calculating means for calculating the swing cycle of the suspended load according to the length of the rope, and based on the swing cycle of the suspended load, the revolving unit is kept constant without leaving the swing of the load at the end of deceleration. A deceleration required time calculating means for calculating a required time for braking at a speed, and a revolving body braking means for braking the revolving body at a constant acceleration, wherein the revolving body is braked just before the crane exceeds a limit area. A crane turning deceleration control device that decelerates and stops turning without swinging a suspended load, characterized in that a steady low speed turning area that turns at a constant low speed immediately before stopping the revolving structure is provided. I do. With the above configuration, the revolving superstructure turns at a constant low speed between the steady low speed turning regions immediately before stopping at the limit position, so that the turning stop position and the swing of the suspended load can be adjusted during this time, and the swing position of the revolving structure can be reliably adjusted at the limit position. And the swing of the suspended load can be eliminated at the turning stop position. Further, the operator can also correct the remaining load swing during the steady slow speed turning region where the vehicle is turning at a constant slow speed. Further, since the deceleration pattern is close to the actual operator's deceleration operation pattern, the operator under control is less likely to feel uncomfortable and the operation is easy.

[0006] Further, it is characterized in that the start of the constant slow speed in the steady slow speed turning area is after a required time for braking without leaving the load swing. With the above configuration, when the revolving unit enters the steady slow-speed turning area, the load is hardly shaken, and the swing of the load can be further adjusted by the operator in the steady slow-speed turning area, so that the load does not swing when stopped. In addition, since the vehicle enters the steady slow-speed turning area with almost no load swing, the operator can easily adjust the swing of the suspended load in the steady slow-speed turning area.

[0007] Further, the invention is characterized in that it comprises a revolving-body braking means for braking without leaving a swing of the load within the required deceleration time, and a revolving-body stopping means for stopping the revolving-body at the stop position.
With the above configuration, the braking means and the stopping means of the revolving body are distinguished from each other, and the revolving body braking means and the revolving body stopping means are operated by different stopping devices, so that the revolving body braking means and the revolving body stopping means are reliably stopped at the stop position, and the failure of the braking means. The safety can be improved because it can be stopped at any time.

Further, the present invention is characterized in that the steady low speed turning area and the speed are changed according to the working radius. With the above configuration, the speed of the slow speed in the steady slow speed turning area, or the magnitude of the turning angle is changed according to the work radius, so that it can be set close to the actual deceleration operation pattern of the operator,
Operation becomes easier. In addition, by increasing the speed of the slow speed near the stop point, it is possible to shorten the correction time when the vehicle deviates from a desired stop position.

Further, a warning sound is generated from the steady slow speed turning area and the steady slow speed turning area to the stop position, and a warning sound for distinguishing sound pressure and tone between the steady slow speed turning area and the steady slow speed turning area to the stop position. It is characterized by providing a generating means. With the above configuration, a warning sound such as a warning buzzer is emitted from the generating means between the steady slow speed turning area and the stop position from the steady slow speed turning area, so that the deceleration control pattern can be easily recognized. Further, when the vehicle reaches the steady slow speed turning area, a warning sound such as an alarm buzzer starts to be emitted, so that the stop of the deceleration can be easily determined, and the start of the adjustment of the load swing can be easily determined.

In the invention of the control method of the crane turning / deceleration control device according to the present invention, the working radius of the hook determined from the weight of the boom and the suspended load according to the boom length and the swing angle of the boom, Swing angle of the revolving superstructure,
By detecting the swing angular velocity of the revolving superstructure and the amount of overhang of the outrigger to calculate the danger of the crane turning, the length of the rope from the sheave of the crane to the suspended load is detected, and the length of the suspended load is determined from the length. Based on the swing cycle and the swing cycle of the suspended load, calculate the time required to brake the revolving unit at a constant acceleration without leaving the load after deceleration based on the swing period, and brake the revolving unit just before the crane turns dangerously dangerous area. And a control method of a crane turning deceleration control device that decelerates and stops turning without swinging the suspended load,
After the revolving structure is braked at a constant acceleration, the revolving body is revolved at a constant very low speed just before stopping, and then stopped. According to the above method, the revolving superstructure is braked at a constant acceleration, and revolves at a constant slow speed at the revolving position where the vibration is reduced, so that the revolving stop position and the vibration of the suspended load can be adjusted during this time, and It is possible to reliably stop at the position, and to eliminate the swing of the suspended load at the turning stop position. In addition, the remaining load swing can be corrected by the operator operating during the steady slow speed turning region where the vehicle is turning at a constant slow speed. Further, since the deceleration pattern is close to the actual operator's deceleration operation pattern, the operator under control is less likely to feel uncomfortable and the operation is easy. Also, when the turning position is slightly displaced, it can be corrected at a constant slow speed, so that the correction time can be shortened,
There is no swing.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a crane turning deceleration control device and a control method thereof according to the present invention will be described below in detail with reference to the drawings. FIG. 3 is a side view of the crane vehicle 1, and FIG.
Is a plan view.
A multi-stage boom 5 (hereinafter, referred to as a boom 5) that is swingable and expandable and contractible by a boom cylinder 4 is attached to the revolving unit 3. A sheave 6 is rotatably attached to the tip of the boom 5 and leads out a rope 7 from a winch (not shown). A hook 8 is attached to the tip of the rope 7 and a load 9 is hung. Further, an outrigger 11 is provided on the lower traveling body 2, and the outrigger 11 projects outside of the vehicle body during work, thereby stabilizing the vehicle body during a suspended load.

As shown in FIG.
A crane turning deceleration control device 20 is provided. The boom length detection sensor 21 detects the length (L
a) is detected. The boom swing angle detection sensor 22 detects a boom swing angle (θa) with respect to the swing body 3. The boom pressure sensor 23 measures the pressure (Pa) acting on the boom cylinder 4, and detects the added value of the weight of the load 9 and the boom 5 from the measurement result. The boom length detection sensor 21, the boom swing angle detection sensor 22, and the boom pressure sensor 23 constitute a working radius detecting means 24 for detecting the working radius (R) of the hook 8 from the turning center (Oa). . The turning angle detection sensor 25 detects the turning angle (γn) of the revolving unit 3, that is, the boom 5 with respect to the lower traveling unit 2.
Is detected. The turning angular speed detection sensor 26 detects the turning angular speed ω of the turning body 3. Outrigger overhang detection sensor 2
7 (hereinafter referred to as an overhang amount detection sensor 27) detects the overhang amount (Sa) of the outrigger 11. The rope length detection sensor 28 detects the rope 7 from the crane sheave 6 to the load 9.
(Ma) is detected.

Each of the above sensors is connected to a control unit 30 such as a controller. The control unit 30 includes a revolving unit stopping device 41 for stopping the revolving unit 3, a revolving unit 3
And a warning output device 43 for outputting a warning sound are connected. The revolving unit stopping device 41 is provided by a brake device for stopping an output from a hydraulic motor (not shown) or a closing valve for stopping hydraulic oil to the hydraulic motor. It is composed of an operation valve for supplying and discharging oil, a counterbalance valve, and the like. The alarm output device 43 is configured by a buzzer or the like that emits a sound.

Next, the operation will be described with reference to FIGS. The operator extends the outrigger 11 according to the work site before starting the work. This overhang amount Sa
Is detected by the overhang amount detection sensor 27, and a detected signal is transmitted to the control unit 30. The limit area setting means 31 of the control unit 30 calculates and sets a limit area Ac, which is a danger area where the vehicle falls over, according to the overhang amount Sa of the outrigger 11. The limit area setting means 31 sets the turning angles θc at both ends of the limit area Ac as stop positions,
The allowable work radius Ra is called and set from the storage device of the control unit 30. The allowable working radius Ra is obtained by the working radius detecting means 24. That is, the allowable working radius R is determined by the length L from the boom length detection sensor 21, the boom angle θ from the boom swing angle detection sensor 21, and the boom angle θ from the boom pressure sensor 23 in accordance with the overhang amount Sa of the outrigger 11. It is obtained from the correlation between the pressures P and is stored in the storage device of the control unit 30.

Next, the operation when the operator lifts the luggage 9 and turns the revolving unit 3 will be described. First, the operator turns the revolving unit 3 to the position of the luggage 9, and adjusts the boom 5 according to the size and weight of the luggage 9.
The hook 8 is adjusted to the position of the load 9 by appropriately adjusting the length La and the boom angle θa of the swing of the boom 5. When the baggage 9 is hung on the hook 8, the rope 7 is pulled out from a winch (not shown), and the baggage 9 is hung by the hook 8 and lifted to a predetermined height. At this time, the boom length detection sensor 21
Indicates the length La of the extended boom 5, the boom swing angle detection sensor 21 indicates the boom swing angle (θa), and the boom pressure sensor 23 indicates the pressure (P) acting on the boom cylinder 4.
a) is measured and transmitted to the control unit 30. Further, the rope length detection sensor 28 transmits to the control unit 30 the amount by which the rope 7 has been extended from the winch.

The suspended load cycle calculating means 32 of the control unit 30 calculates the suspended load cycle amount by the difference between the amount of the rope 7 extended and the length of the boom 5.
The length (Ma) of the rope 7 from the sheave 6 to the load 9 is calculated. Further, the suspended load cycle calculating means 32 calculates a swing cycle Ta of the suspended load 9 according to the length Ma of the rope.

The steady slow turning speed calculating means 33 includes a swing cycle Ta from the suspended load cycle calculating means 32, a length La of the boom 5 from the boom length detecting sensor 21, and a signal from the turning angular speed detecting sensor 26. In response to the turning angular velocity ωo during turning, the steady low speed turning speed ωx, the steady low speed turning time t2, and the time t3 from the end of the low speed to the stop are obtained, and the total time ta (ta = t2 + t3) is obtained. Ask. The steady slow turning speed ωx is determined based on the dynamic characteristics of the pendulum motion of the revolving unit 3, the boom 5, the rope 7, and the luggage 9, and is a speed that can be quickly corrected even when the boom 5 deviates from the stop position γd. Set.

The required deceleration time calculating means 34 receives the turning angular velocity ωo during turning from the turning angular velocity detection sensor 26 and the swing cycle Ta from the suspended load cycle calculating means 32, and calculates a deceleration control time t1. , The total time tb
(Tb = t1 + t2 + t3) is calculated. The deceleration control time t1 is obtained by a multiple of the vibration cycle Ta. (For details, refer to Japanese Patent Laid-Open No. 7-76490 proposed by the present applicant.) Thus, a pattern of the target turning angular velocity ω with respect to the time t shown in FIG. 2 is formed.

The deceleration angle calculating means 35 obtains the required turning angle in accordance with the pattern of FIG. 2 obtained as described above by using Equation 1, and calculates the deceleration start position γa shown in FIGS.
The required turning angle θ _ra-rd up to d is determined.

[Equation 1] θ _ra-rd = Σ∫ω dt

Next, the process from deceleration to stop shown in FIGS. 2 and 4 will be described. First, the process from the start of deceleration to the end of deceleration will be described. 2 and 4, the deceleration start position γ
a is a position where the revolving unit 3 has reached a required angle of rotation θ _ra-rd before the stop position γd and is a deceleration start position of the revolving unit 3 from a constant turning angular velocity ωo during turning. The constant turning angular speed ωo of the revolving unit 3 up to the deceleration start position is a desired turning angular speed of the operator, and the desired turning angular speed is determined by an operation amount of an operation lever for turning the revolving unit 3 (not shown). The deceleration end position γb is a position where the revolving structure 3 stops decelerating at a constant acceleration ωct.

From the deceleration start position γa to the deceleration end position γ
The turning deceleration region θe up to b is the swing period T as described above.
The deceleration in the turning deceleration region θe is determined by a signal from the turning angular speed control calculating means 36. The turning angular speed of the revolving unit 3 after the deceleration control time t1 is reduced to a steady low speed in the pattern shown in FIG. The revolving unit braking device 42 is operated so as to achieve ωx, and the revolving unit 3 is braked at a constant acceleration ωct. In other words, the turning angular velocity control calculating means 36 receives the signal of the turning angle γ of the boom 5 from the turning angle detection sensor 25, and turns the turning angle γ to the turning angle θc of the limit area Ac or from the deceleration angle calculating means 35. Required turning angle θ
_In response to receiving the turning angular velocity ω during turning from the turning angular velocity detection sensor 26 while detecting whether or not _ra-rd has been reached, FIG.
A command is output to the revolving-body braking device 42 so as to decelerate at the constant acceleration ωct of the pattern (1). Specifically, the turning angular velocity control calculating means 36 outputs a command to a flow control valve for controlling the flow rate to a turning motor (not shown), and the amount of supply to the hydraulic motor is reduced by the flow control valve.

Next, from the end of deceleration, the steady low speed ωx
The process from stop to stop will be described. From the position beyond the deceleration end position γb, the revolving unit 3 enters the steady-state steady-state rotation speed ωx at a very low speed. This steady slow turning speed ωx is equal to the stop position γ
The operation is performed up to the steady low-speed turning end position γc immediately before d. The steady slow speed turning region θg from the deceleration end position γb to the steady slow speed turning end position γc is a range in which, when the load 9 exceeds the deceleration end position γb, even if the luggage 9 still shakes, the load swing can be absorbed by the operator, Alternatively, as shown in FIG. 2, when the revolving unit 3 stops at the position θi immediately before the deceleration end position γb, the revolving unit 3 is restarted, and quickly moves to the stop position γd as shown by a dashed line (Ya). Set according to the range that can be turned.

The steady slow speed ωx is determined by the steady slow speed calculation means 33 based on the dynamic characteristics of the pendulum motion of the swing body 3, the boom 5, the rope 7, and the load 9, and the swing body 3 is stopped. In this case, it is set within a range that does not leave a swing in the suspended load. On the basis of the above setting, the turning angular velocity control calculating means 36 calculates the steady-state slow speed ω
2 and the total time tb from the deceleration required time calculating means 34, the steady slow speed ωx in the pattern of FIG.
After that, a command is output to the revolving-body brake device 42 so as to stop at the stop position γd. However, at this time, even when the revolving unit 3 stops at a position θi immediately before the deceleration end position γb as shown in FIG. It is possible to turn to the stop position γd more quickly than before.

Further, after passing the steady slow speed turning end position γc, the turning stop calculating means 37 outputs a signal to the turning body stopping device 41 to surely stop the turning body 3 at the stop position γd.
That is, the turning stop calculating means 37 receives the signal of the turning angle γ of the boom 5 from the turning angle detection sensor 25, and turns the turning angle γ to the turning angle θc of the limit region Ac or the required value from the deceleration angle calculating means 35. has been reached the turning angle theta _ra-rd, while detecting whether, when it reaches the required turning angle theta _ra-rd, and outputs a signal to stop the pivoting body 3 to pivot member stop device 41 . Specifically, the turning stop calculating means 37
Outputs a command to a closing valve or a brake device (not shown) attached to a swing motor (not shown) to stop the rotation of the swing motor (not shown).

In the above description, the alarm output device 43 starts generating an intermittent alarm sound when the boom 5 reaches the deceleration end position γb, and starts generating a continuous alarm sound when it reaches the steady slow speed end position γc. Therefore, the operator
By listening to the intermittent warning sound, it is possible to determine that the vehicle has entered a steady low speed turn, and to hear the continuous warning sound to stop soon, thereby improving operability.

As described above, the set control unit 30
Calculates the working radius Rn and lifts the allowable working radius Ra when the load 9 is lifted to a predetermined height by the hook 8.
Compare with The calculated working radius Rn is equal to the allowable working radius R.
If it is smaller than a, there is no limit area Ac, and the entire turning range is possible. In this case, the operator can drop the luggage to any position in the entire turning range. When the working radius Rn is larger than the allowable working radius Ra, the control can be performed before the limit area Ac without swinging the load 9 by this control. That is, the operator determines the deceleration start position γ
A turning operation lever (not shown) for turning the turning body 3 in the vicinity of a is operated in the rotation direction of the limit area Ac. Along with this, the control unit 30 outputs a command to the revolving unit braking device 42 that brakes the revolving unit 3 to apply the revolving unit 3 to a constant acceleration ωct.
To slow down.

This deceleration is performed by a command from the control unit 30 up to the deceleration end position γb. When the swing body 3 reaches the deceleration end position γb, which is a multiple of the swing cycle Ta, based on a signal from the swing angle detection sensor 25, the control unit 30 outputs a command to a flow control valve that controls a swing motor (not shown), and swings. The body 3 is set to the steady low speed ωx. At this time, the swing of the load 9 is almost eliminated. If the load 9 swings even at the steady low-speed turning speed ωx, the operator operates a turning operation lever (not shown) so as to eliminate the swing of the load 9 while operating the turning operation lever (not shown). At 41, the revolving unit 3 is stopped at the stop position γd. Therefore, at the stop position γd, the luggage 9 can be safely stopped without swinging.

Further, even when the calculated working radius Rn is smaller than the allowable working radius Ra, there is a limit area Ac when the boom 5 is being simultaneously protruded and extended. In FIG. 4, when the boom 5 is in the position Ba in the safety area (Ra or less) and the boom 5 enters the position Bb in the swing deceleration area θe (Ra or more) in the direction of the arrow due to boom down after the turning deceleration control time tr. Decelerates the swing body 3 at a constant acceleration ωct. This deceleration is performed by a command from the control unit 30 up to the deceleration end position γb. When the swing body 3 reaches the deceleration end position γb, which is a multiple of the swing cycle Ta, based on a signal from the swing angle detection sensor 25, the control unit 30 outputs a command to a flow control valve that controls a swing motor (not shown), and swings. The body 3 is set to the steady low speed ωx.

At this time, the working radius Rn is equal to the allowable working radius R
If it is larger than a, the control unit 30 outputs a signal to the revolving unit stopping device 41 to stop the revolving unit 3 at the stop position γd. If the working radius Rn is smaller than the allowable working radius Ra, even after reaching the allowable working radius Ra in the limit area Ac and stopping the boom 5, the vehicle stops at the steady low speed turning speed ωx. Therefore, the vehicle can turn on the allowable working radius Ra. Therefore, according to the present invention, the deceleration control can be activated when approaching the danger zone even when the boom is prone and the boom is extended.

[Brief description of the drawings]

FIG. 1 is a block diagram of a crane turning deceleration control device of the present invention.

FIG. 2 is a diagram illustrating the relationship between the turning angle and the turning speed of the crane of the present invention.

FIG. 3 is a side view showing a working posture of the crane.

FIG. 4 is a plan view showing a working posture of the crane.

FIG. 5 is a diagram showing characteristics of changes in the angular velocity of a suspended load and the angular velocity of a boom.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Crane vehicle, 2 ... Lower traveling body, 3 ... Revolving body, 4 ...
Boom cylinder, 5 boom, 6 sheave, 7 rope, 8 hook, 9 luggage, 11 outrigger, 21
Boom length detection sensor, 22 ... Boom swing angle detection sensor, 23 ... Boom pressure sensor, 24 ... Work radius detection means, 26 ... Slewing angular velocity detection sensor, 27 ... Outrigger extension amount detection sensor, 28 ... Rope length detection sensor, Reference numeral 30: control unit, 41: revolving unit stopping device, 42: revolving unit braking device,
43 ... Alarm output device.

Claims (6)

[Claims] 1. A work radius of a hook is detected by detecting a length of a boom that can be freely extended and retracted on a revolving structure, a swing angle of the boom, a weight of a suspended load of a hook mounted on the boom, and the like. Working radius detecting means, turning angle detecting means for detecting a turning angle of the revolving structure with respect to the traveling structure, turning angular velocity detecting means for detecting a turning angular velocity of the revolving structure, and an outrigger extension amount detecting means for detecting an overhang amount of the outrigger, Limit area setting means for calculating and setting the crane stability limit area according to the amount of outrigger extension, rope length detection means for detecting the length of the rope from the sheave of the crane to the suspended load, and according to the length of the rope A load cycle calculating means for calculating a swing cycle of the suspended load, and a time required for braking the revolving unit at a constant acceleration without leaving the load swing at the end of deceleration based on the swing cycle of the suspended load. Decrease Quick required time calculating means; and
A swinging body braking means for braking the swinging body at a constant acceleration, a crane swing deceleration control for braking the swinging body just before exceeding the crane's limit area, and slowing down and stopping the swing without swinging the suspended load. An apparatus for controlling deceleration of turning a crane, characterized in that the apparatus has a steady low-speed turning area for turning at a constant low speed immediately before stopping the revolving structure. 2. The crane turning deceleration control device according to claim 1, wherein the start of the constant slow speed in the steady slow speed turning area is after a required time for braking without leaving the load swing. Crane turning deceleration control device. 3. A revolving unit braking means for braking without leaving a swing of a load within a required deceleration time, and a revolving unit stopping means for stopping the revolving unit at a stop position. Item 3. The crane turning deceleration control device according to Item 2. 4. The crane turning deceleration control device according to claim 1, wherein the steady low speed turning area and the speed are changed according to a working radius. 5. A warning sound which generates a warning sound from the steady slow speed turning area and the steady slow speed turning area to the stop position, and distinguishes sound pressure and tone between the steady slow speed turning area and the steady slow speed turning area to the stop position. 2. The method according to claim 1, further comprising: generating means.
The crane turning deceleration control device according to any one of claims 1 to 4. 6. A work radius of the hook obtained from the weight of the boom and the suspended load according to the length of the boom and the swing angle of the boom, a turning angle of the turning body with respect to the traveling body, a turning angular velocity of the turning body, and extension of the outrigger. Calculates the crane's turning danger area by detecting each of the quantities, detects the length of the rope from the sheave of the crane to the suspended load, and detects the swing cycle of the suspended load and the swing cycle of the suspended load from the length. Calculate the required time to brake the revolving structure at a constant acceleration without leaving the load swing after deceleration based on, and brake the revolving structure just before the crane's dangerous danger zone,
A control method of a crane turning deceleration control device that decelerates and stops turning without swinging a suspended load, wherein the turning body is braked at a constant acceleration, then turns at a constant slow speed immediately before stopping, and then A control method of a crane turning deceleration control device, characterized in that the crane stops.