Calculation method of the limit rotation angle of loading truck crane and its arm

Abstract

The loading side crane comprises: an outrigger device which is mounted on a vehicle and includes a right outrigger and a left outrigger which are extendable and retractable in a vehicle width direction of the vehicle; an arm which is mounted on the vehicle in a rotatable manner; and a rotation angle calculation device which calculates a limit rotation angle of the arm based on a jack reaction force of the outrigger on the opposite side of the overturning, the outrigger on the opposite side of the overturning being the outrigger which is arranged on the opposite side of the arm in the vehicle width direction when the arm is rotated from a reference position, among the right outrigger and the left outrigger.

Description

Technical Field

[0001] The invention relates to a loading type truck crane and a method for calculating the limit rotation angle of an arm. Background Art

[0002] Conventionally, a loading truck crane is known in which a crane device is mounted on a vehicle having a cargo box (see Patent Document 1). In the case of such a loading truck crane, the limit rotation angle at which the crane can be rotated without the vehicle tipping over varies depending on the arm length, rotation angle, heave angle, lifting load, and the load of the loaded cargo.

[0003] Prior Art Literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2010-126300 Summary of the invention

[0006] Problems to be solved by the invention

[0007] In the above-described loading truck crane, it is desirable to obtain a limit swing angle according to the use state from the viewpoint of improving safety.

[0008] An object of the present invention is to provide a loading truck crane and a method for calculating a limit swing angle of an arm that can improve safety.

[0009] Means for solving problems

[0010] The loader truck crane according to the present invention comprises:

[0011] An outrigger device is mounted on the vehicle and includes a right outrigger and a left outrigger that are extendable and retractable in a vehicle width direction of the vehicle;

[0012] an arm mounted on the vehicle in a rotatable manner; and

[0013] The rotation angle calculation device calculates the limit rotation angle of the arm based on the jack reaction force of the outrigger on the opposite side of the rollover, wherein the outrigger on the opposite side of the rollover is the outrigger between the right outrigger and the left outrigger, which is arranged on the opposite side of the arm in the vehicle width direction when the arm is rotated from the reference position.

[0014] The arm limit rotation angle calculation method according to the present invention is a method for calculating the arm limit rotation angle executed by a computing unit of a loading truck crane, the loading truck crane comprising: an outrigger device mounted on a vehicle and including a right outrigger and a left outrigger that can be extended and retracted in a vehicle width direction; and an arm mounted on the vehicle in a rotatable manner, the method for calculating the arm limit rotation angle comprising the following steps:

[0015] A step of obtaining a jack reaction force of an outrigger on the opposite side of the rollover, the outrigger on the opposite side of the rollover being an outrigger arranged on the opposite side of the arm in the vehicle width direction when the arm is rotated from the reference position, among the right outrigger and the left outrigger; and

[0016] Procedure for calculating the limit rotation angle of the arm based on the reaction force of the jack.

[0017] Effects of the Invention

[0018] According to the present invention, it is possible to provide a loading truck crane and a method for calculating a limit swing angle of an arm that can improve safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a side view of the loader truck crane according to the first embodiment.

[0020] Figure 2 It is a plan view of a loader-type truck crane.

[0021] Figure 3 This is a block diagram of a swing angle calculation device for a loader truck crane.

[0022] Figure 4 This is a flowchart for explaining the method of calculating the limit rotation angle.

[0023] Figure 5 It is a plan view of a loading truck crane.

[0024] Figure 6 It is a schematic diagram of the crane device.

[0025] Figure 7 This is a flowchart for explaining the limit turning angle calculation method involved in the second embodiment.

[0026] Figure 8 This is a line graph showing an example of the reaction force-load relationship. DETAILED DESCRIPTION

[0027] Hereinafter, several embodiments of the present invention will be described in detail with reference to the drawings.

[0028] [Implementation Method 1]

[0029] Reference Figure 1 to Figure 6 Implementation method 1 will be described.

[0030] [About loader truck cranes]

[0031] First, refer to Figure 1 and Figure 2 , briefly explain the structure of the loading type truck crane C. Figure 1 It is a side view of the loader truck crane C according to the first embodiment. Figure 2 It is a plan view of a loader-type truck crane C.

[0032] The loader truck crane C includes a vehicle 10 and a crane device 20. In the following description, an orthogonal coordinate system (X, Y, Z) is used for convenience of description. The orthogonal coordinate system (X, Y, Z) shown in each figure is a common orthogonal coordinate system.

[0033] In addition, when the front-back direction, the left-right direction, and the up-down direction are mentioned without special explanation, they mean the directions in the vehicle 10. The front-back direction coincides with the X direction in the orthogonal coordinate system (X, Y, Z). The left-right direction coincides with the Y direction in the orthogonal coordinate system (X, Y, Z). The up-down direction coincides with the Z direction in the orthogonal coordinate system (X, Y, Z).

[0034] [vehicle]

[0035] The vehicle 10 is a general-purpose truck having a travel function. As an example, the vehicle 10 includes a frame 100 , a cab 101 , a cargo box 102 , a pair of front wheels 103 , and a pair of rear wheels 104 .

[0036] The frame 100 extends in the front-rear direction of the vehicle. The cab 101 is fixed to the upper side of the front end of the frame 100. The cargo box 102 is a box-shaped member with an upper opening, and is fixed to the upper side of the rear half of the frame 100. A pair of front wheels 103 are rotatably supported on the lower side of the cab 101 in the frame 100. A pair of rear wheels 104 are rotatably supported on the lower side of the cargo box 102 in the frame 100.

[0037] [Crane device]

[0038] The crane device 20 is fixed between the cab 101 and the cargo box 102 in the frame 100. Such a crane device 20 includes an outrigger 200, a fixing portion 201, a rotating platform 202, a boom 203, a winch 204, a cable 205, and a hook 206 as an example.

[0039] The outrigger 200 prevents the loader truck crane C from tipping over, and includes a right outrigger 200R provided on the right side of the frame 100 and a left outrigger 200L provided on the left side of the frame 100 .

[0040] The right outrigger 200R and the left outrigger 200L each include a lateral outrigger 200a that is extendable in the left-right direction and a longitudinal outrigger 200b that is extendable in the up-down direction.

[0041] The lateral outrigger 200a has a lateral jack 200c as a hydraulic actuator. The lateral outrigger 200a is extended and retracted in the left-right direction by the lateral jack 200c.

[0042] The vertical outrigger 200b has a vertical jack 200d as a hydraulic actuator. The vertical outrigger 200b is extended and retracted in the vertical direction by the vertical jack 200d. The vertical outrigger 200b is extended in the vertical direction by the vertical jack 200d to touch the ground.

[0043] The longitudinal outrigger 200b has a reaction force information detection unit 305 (see Figure 3 ), the reaction force information detection unit 305 detects the contact of the longitudinal outrigger 200b with the ground and the jack reaction force in the longitudinal jack 200d. In the state where the longitudinal outrigger 200b contacts the ground (also referred to as the use state of the outrigger), the pair of front wheels 103 leave the ground.

[0044] The turntable 202 supports the arm 203 so as to be turnable relative to the vehicle 10. The turntable 202 has a bearing (not shown). The turntable 202 has a center of rotation O c (Refer to Figure 5 ) exists on the central axis of the bearing.

[0045] The arm 203 is composed of a base arm 203a, a plurality of intermediate arms 203b and 203c, and a front arm 203d in a nested combination. Such an arm 203 is extended and retracted by an extension cylinder 210 as a hydraulic actuator.

[0046] The base end of the base end arm 203a is rotatably mounted on the support shaft of the turntable 202. A lifting cylinder 211 as a hydraulic actuator is provided between the turntable 202 and the vicinity of the base end of the base end arm 203a. The arm 203 rises and falls by extending and retracting the lifting cylinder 211.

[0047] The hoisting machine 204 is supported by the turntable 202. Specifically, the hoisting machine 204 is supported by the front end portion of the turntable 202.

[0048] The base end of the wire rope 205 is wound on the winch 204. A hook 206 is fixed to the front end of the wire rope 205. The middle part of the wire rope 205 is placed on a pulley (not shown) rotatably provided at the front end of the front end arm 203d. By rotating the winch 204, the wire rope 205 and the hook 206 are lifted or lowered.

[0049] The above-mentioned loading truck crane C is equipped with a swing angle calculation device 30 for calculating the swing angle (hereinafter referred to as the "limit swing angle") at which the arm 203 can be swung without falling down according to the usage conditions of the loading truck crane C. Figure 3 and Figure 5 , describing the structure of the rotation angle calculation device 30.

[0050] [Rotation angle calculation device]

[0051] Figure 3 1 is a block diagram showing the structure of the rotation angle calculation device 30. The rotation angle calculation device 30, as an example, includes a storage unit 300, a lifting load information detection unit 301, a rotation angle information detection unit 302, a length information detection unit 303, a heave angle information detection unit 304, a reaction force information detection unit 305, a stretching information detection unit 306, and a calculation unit 307.

[0052] The swing angle calculation device 30 is realized, for example, by the function of the overload prevention device of the loader truck crane C. The swing angle calculation device 30 is realized, for example, by a detector (e.g., a sensor) that detects a physical quantity in the loader truck crane C and a computing unit (e.g., an electronic control unit) mounted on the crane device 20. The functional blocks of the swing angle calculation device 30 are described below.

[0053] [Storage Department]

[0054] The storage unit 300 is constituted by a memory or the like mounted on the loader truck crane C. The storage unit 300 stores the strength rated load Wstr for each operation radius Radi of the arm 203 as a strength rated load data group.

[0055] The storage unit 300 stores information related to the loader truck crane C (hereinafter referred to as "crane information"). The crane information includes information related to the size of the loader truck crane C. The size-related information includes, for example, the rotation center O of the crane device 20. c A distance Xd in the front-rear direction from the pair of rear wheels 104. The distance Xd is stored in the storage unit 300, for example, at the time of assembly.

[0056] The crane information includes information on the weight and center of gravity of components constituting the loader truck crane C.

[0057] The storage unit 300 stores Figure 5 A pair of overturning lines L represented by two-dot dash lines a1 , L b1 . A pair of tipping lines L a1 , L b1 The right side overturning line L is obtained by the calculation unit 307. a1 The ground contact position G of the right outrigger 200R is connected R The center position O of the rear wheel line Lc in the vehicle width direction b The horizontal line definition formed by

[0058] Rear wheel line L c When the loader truck crane C is viewed from above the vehicle (that is, from the + side in the Z direction), the rear wheel line L is a straight line that passes through the center of each of the pair of rear wheels 104 and is parallel to the vehicle width direction. c In the vehicle width direction, there is a pair of rear wheels 104 between each other. Figure 2 and Figure 5 In the state shown, a pair of rear wheels 104 touch the ground. Figure 2 and Figure 5 In the illustrated state, the pair of front wheels 103 are not provided.

[0059] The left flip line L b1 The ground contact position G of the left outrigger 200L is connected L With rear wheel line L c The center position O in the vehicle width direction b The horizontal line definition formed by

[0060] In addition, a pair of tipping lines L a1 , L b1 The present invention is not limited to the above-mentioned case. a1 , L b1 As long as the ground contact position G R and contact position G L With rear wheel line L c Any point on the line will do.

[0061] In addition, when the loader crane has rear outriggers (right rear outrigger and left rear outrigger) at the rear of the vehicle in addition to the right outrigger 200R and the left outrigger 200L as the front outriggers, the tipping line L a1 , L b1 The right flip line L is defined as follows. a1 The ground contact position G of the right outrigger 200R is connected RThe horizontal line formed by the contact position of the right outrigger of the rear outrigger. On the other hand, the overturn line L b1 The ground contact position G of the left outrigger 200L is connected L The horizontal line formed by the contact position of the left outrigger of the rear outrigger is defined. In addition, a pair of rollover lines L a1 , L b1 The present invention is not limited to the above-mentioned case. a1 , L b1 As long as the contact position G R and contact position G L A horizontal line formed with any point on the line of the pair of rear outriggers may be used.

[0062] In addition, the storage unit 300 stores a predetermined safety factor N which is a ratio of the tipping load Wtip to the rated total load Wrate of the loader truck crane C. The tipping load Wtip is a lifting load at which the loader truck crane C tips over. The relationship among the tipping load Wtip, the rated total load Wrate, and the safety factor N is defined by the following formula 1-1. In addition, the safety factor N is one or more constants determined according to the specifications of the loader truck crane C.

[0063] [Number 1]

[0064] Wtip=N*Wrate…(1-1)

[0065] [Lifting load information detection unit]

[0066] The lifting load information detection unit 301 detects information (hereinafter referred to as "lifting load information") for obtaining the weight of the lifting load (hereinafter referred to as "lifting load weight") hung on the hook 206. The lifting load information detection unit 301 is provided, for example, in the lifting cylinder 211 of the arm 203. The lifting load information detection unit 301 sends the lifting load information to the calculation unit 307.

[0067] [Rotation angle information detection unit]

[0068] The rotation angle information detection unit 302 detects information for obtaining the arm rotation angle θ (hereinafter referred to as “rotation angle information”). The arm rotation angle θ means the position of the arm 203 relative to the reference position S. p ( Figure 5 The solid line S p The reference position S p This means that the arm 203 is parallel in the front-rear direction and the front end of the arm 203 is located forward of the base end ( Figure 1 The state shown, in other words, the state in which the front end of the arm 203 is located at the frontmost position).

[0069] As the arm rotation angle θ, when the loading truck crane C is viewed from above (that is, from the Z direction + side), the clockwise direction from the reference position Sp is a positive direction, and the opposite direction to the clockwise direction is a negative direction. Such a rotation angle information detection unit 302 is provided, for example, on the rotating table 202. The rotation angle information detection unit 302 sends the rotation angle information to the calculation unit 307.

[0070] [Length information detection unit]

[0071] The length information detection unit 303 detects information for obtaining the arm length Lb (hereinafter referred to as "length information"). The arm length Lb is the distance between the base end and the front end of the arm 203. Such a length information detection unit 303 is provided, for example, on the arm 203. The length information detection unit 303 sends the detection value to the calculation unit 307.

[0072] [Heave angle information detection unit]

[0073] The undulation angle information detection unit 304 detects information for obtaining the arm undulation angle θb (hereinafter referred to as "undulation angle information"). The arm undulation angle θb is the angle of the arm 203 relative to the horizontal direction. Such an undulation angle information detection unit 304 is provided, for example, at the base end of the arm 203. The undulation angle information detection unit 304 sends the detected value to the calculation unit 307.

[0074] [Reaction force information detection unit]

[0075] The reaction force information detection unit 305 detects information for obtaining the reaction force of the jacks of the right outrigger 200R and the left outrigger 200L (hereinafter referred to as "reaction force information"). Such reaction force information detection units 305 are provided, for example, at the longitudinal jacks 200d of the right outrigger 200R and the left outrigger 200L, respectively. The reaction force information detection unit 305 sends the detected value to the calculation unit 307. When the loader truck crane has a rear outrigger at the rear of the vehicle in addition to the right outrigger 200R and the left outrigger 200L, the reaction force information detection unit 305 also detects the reaction force information of the rear outrigger. Then, the reaction force information detection unit 305 sends the detected reaction force information of the rear outrigger to the calculation unit 307.

[0076] [Extension information detection unit]

[0077] The extension information detection unit 306 detects information for obtaining the extension position of each of the right outrigger 200R and the left outrigger 200L in the vehicle width direction (hereinafter referred to as "extension information"). Such an extension information detection unit 306 is provided, for example, at the fixing unit 201. The extension information detection unit 306 sends the detection value to the calculation unit 307. When the loader truck crane has a rear outrigger at the rear of the vehicle in addition to the outrigger 200, the extension information detection unit 306 also detects the extension information of the rear outrigger. Then, the extension information detection unit 306 sends the detected extension information of the rear outrigger to the calculation unit 307.

[0078] [Calculation Department]

[0079] The calculation unit 307 is, for example, a computer composed of input terminals, output terminals, a CPU, a memory, etc. In the following description, the calculation unit 307 is composed of an integrated hardware. However, the calculation unit 307 may also be composed of a plurality of hardware.

[0080] The operation unit 307 calculates the operation radius Radi of the loader truck crane C based on the arm length Lb, the arm undulation angle θb, and the distance L between the arm mounting start point and the rotation center Oc of the turntable 202 (Figure). The operation radius Radi is calculated by the following formula 1-2. In addition, when calculating the operation radius Radi, the operation unit 307 preferably calculates Figure 6 The deflection of the arm 203 is considered as the arm 203 indicated by the two-dot chain line in FIG.

[0081] [Number 2]

[0082] Radi=Lb*cosθb-L…(1-2)

[0083] The calculation unit 307 obtains the lifting load weight based on the lifting load information received from the lifting load information detection unit 301 .

[0084] The calculation unit 307 obtains the rotation angle (arm rotation angle θ) of the arm 203 based on the rotation angle information received from the rotation angle information detection unit 302. The calculation unit 307 sends the arm rotation angle θ to the storage unit 300. The arm rotation angle θ is stored in the storage unit 300 as crane information.

[0085] The calculation unit 307 obtains the length dimension (arm length Lb) of the arm 203 based on the length information received from the length information detection unit 303. The calculation unit 307 sends the arm length Lb to the storage unit 300. The arm length Lb is stored in the storage unit 300 as crane information.

[0086] The calculation unit 307 obtains the heaving angle (arm heaving angle θb) of the arm 203 based on the heaving angle information received from the heaving angle information detection unit 304. The calculation unit 307 sends the arm heaving angle θb to the storage unit 300. The arm heaving angle θb is stored in the storage unit 300 as crane information.

[0087] The calculation unit 307 obtains the jack reaction force of each of the right outrigger 200R and the left outrigger 200L based on the reaction force information received from the reaction force information detection unit 305. When the loader truck crane has a rear outrigger behind the vehicle in addition to the right outrigger 200R and the left outrigger 200L, the calculation unit 307 also obtains the jack reaction force of each of the rear outriggers. The calculation unit 307 sends the jack reaction force to the storage unit 300. The jack reaction force is stored in the storage unit 300 as crane information.

[0088] The calculation unit 307 obtains the extension position of each of the right outrigger 200R and the left outrigger 200L in the vehicle width direction based on the extension information received from the extension information detection unit 306. The extension position is also the ground contact position of each of the right outrigger 200R and the left outrigger 200L. When the loader truck crane has a rear outrigger behind the vehicle in addition to the right outrigger 200R and the left outrigger 200L, the calculation unit 307 also obtains the extension position of the rear outrigger. The calculation unit 307 sends the extension position to the storage unit 300. The extension position is stored in the storage unit 300 as crane information.

[0089] The calculation unit 307 obtains the rotation center O c and contact position G R The distance X1 in the front-to-back direction and the center of rotation O c and contact position G L The distance X4 in the front-rear direction. The calculation unit 307 sends the distance X1 and the distance X4 to the storage unit 300. The distance X1 and the distance X4 are stored in the storage unit 300 as crane information.

[0090] The calculation unit 307 obtains the rotation center O based on the extension information. c and contact position G R The distance Y1 in the vehicle width direction and the rotation center O c and contact position G L The distance Y4 in the vehicle width direction. The calculation unit 307 sends the distance Y1 and the distance Y4 to the storage unit 300. The distance Y1 and the distance Y4 are stored in the storage unit 300 as crane information.

[0091] The calculation unit 307 obtains the center of gravity position of each component constituting the loader truck crane C. When the calculation unit 307 obtains the center of gravity position of the arm 203, it is preferable to use Figure 6 The arm 203 shown by the two-dot chain line in the figure is considered to be bent. In addition, the center of gravity position of each component may be stored in the storage unit 300 as crane information in advance.

[0092] The calculation unit 307 acquires the strength rated load Wstr corresponding to the working radius Radi from the storage unit 300 .

[0093] The calculation unit 307 calculates the crane position based on the detection value of the extension information detection unit 306 and the crane information obtained from the storage unit 300. Figure 5 A pair of overturning lines L represented by two-dot dash lines a1 , L b1 Here, the crane information obtained from the storage unit 300 is the rotation center O of the crane device 20. c The calculation unit 307 calculates the distance Xd between the pair of rear wheels 104 and the pair of overturning lines L a1 , L b1 Sent to the storage unit 300. A pair of overturning lines L a1 , L b1 The information is stored in the storage unit 300 as crane information.

[0094] The calculation unit 307 determines the outrigger on the opposite side to the rollover based on the detection value of the swing angle information detection unit 302. The outrigger on the opposite side to the rollover is an outrigger that exists on the opposite side of the arm 203 in the vehicle width direction, of the right outrigger 200R and the left outrigger 200L, with the central axis in the vehicle width direction of the loader crane C as a reference. The central axis in the vehicle width direction means an axis that passes through the center in the vehicle width direction of the loader crane C and is parallel to the front-rear direction. In the case where the loader crane has a rear outrigger at the rear of the vehicle, the rear outrigger on the opposite side to the rollover is an outrigger that exists on the opposite side of the arm 203 in the vehicle width direction.

[0095] Specifically, when the calculation unit 307 determines that the arm 203 has rotated to the right side of the vehicle based on the detection value of the rotation angle information detection unit 302, the left outrigger 200L is set as the outrigger on the opposite side to the rollover. On the other hand, when the calculation unit 307 determines that the arm 203 has rotated to the left side of the vehicle based on the detection value of the rotation angle information detection unit 302, the right outrigger 200R is set as the outrigger on the opposite side to the rollover. When the loader truck crane has a rear outrigger behind the vehicle, the rear outrigger on the opposite side to the rollover is defined in the same manner as the front outrigger.

[0096] The calculation unit 307 determines the tipping reference line based on the detection value of the rotation angle information detection unit 302. The tipping reference line is a pair of tipping lines L a1 , L b1 Among them, the overturning line exists in the same direction as the arm 203 in the vehicle width direction.

[0097] Specifically, when the calculation unit 307 determines that the arm 203 has turned to the right side of the vehicle based on the detection value of the turning angle information detection unit 302, the right side tipping line L a1 On the other hand, when the calculation unit 307 determines that the arm 203 has turned to the left side of the vehicle based on the detection value of the turning angle information detection unit 302, the turning line L on the left side is set. b1 Set as tipping baseline.

[0098] [Limit rotation angle calculation method]

[0099] Next, refer to Figure 3 to Figure 5 The calculation method of the limit rotation angle γ is explained. Figure 4 It is a flowchart for explaining the limit angle calculation method executed by the rotation angle calculation device 30 . Figure 5 FIG. 1 is a diagram schematically showing a plan view of a loader truck crane C. FIG.

[0100] In addition, the rotation angle calculation device 30 repeatedly executes the Figure 4 That is, the swing angle calculation device 30 calculates the limit swing angle γ in real time while the state of the loader crane C is changing. Figure 4 The calculations in the control flow shown are executed by the calculation unit 307 .

[0101] First, in Figure 4 In step S101 shown, the swing angle calculation device 30 obtains the lifting load Tload based on the lifting load information detected by the lifting load information detection unit 301 .

[0102] Next, in Figure 4 In step S102 shown, the rotation angle calculation device 30 obtains the center of gravity position of each component constituting the upper component group in the loader truck crane C. The upper component group includes the rotating table 202, the lifting cylinder 211, and the arm 203. In addition, the upper component group may also include components fixed to the rotating table 202, the lifting cylinder 211, or the arm 203.

[0103] Next, in Figure 4 In step S103 shown in FIG. 1 , the rotation angle calculation device 30 obtains the arm rotation angle θ at that time based on the rotation angle information received from the rotation angle information detection unit 302 .

[0104] Next, in Figure 4 In step S104 shown, the swing angle calculation device 30 obtains the jack reaction force PF1 of the right outrigger 200R and the jack reaction force PF4 of the left outrigger 200L based on the reaction force information received from the reaction force information detection unit 305 .

[0105] Next, in Figure 4 In step S105 shown, the swing angle calculation device 30 obtains the weight (hereinafter referred to as "upper weight Uwei") obtained by adding the upper component group to the lifting load H. The upper weight Uwei is obtained by the following formula 1-3.

[0106] In addition, in the following formula 1-3, each parameter is defined as follows.

[0107] Tload: lifting load (ton)

[0108] Wbm: weight of arm 203 (ton)

[0109] Wecy: weight of the heave cylinder 211 (ton)

[0110] Wsle: weight of the turntable 202 (ton)

[0111] [Number 3]

[0112] Uwei=Tload+Wbm+Wecy+Ws / e…(1-3)

[0113] Next, in Figure 4 In step S106 shown, the swing angle calculation device 30 obtains the center of gravity (hereinafter referred to as "upper center of gravity Ugra") obtained by adding the upper component group and the lifting load H. The upper center of gravity Ugra is obtained by the following formula 1-4.

[0114] In addition, in the following formulas 1-4, each parameter is defined as follows.

[0115] Radi: operating radius

[0116] Rlbm: Rotation center O c The horizontal distance from the center of gravity of arm 203

[0117] Rlecy: Rotation Center O c The horizontal distance from the center of gravity of the heave cylinder 211

[0118] Rlsle: Rotation center O c The horizontal distance from the center of gravity of the turntable 202

[0119] [Number 4]

[0120]

[0121] Next, in Figure 4 In step S107 shown, the rotation angle calculation device 30 calculates the jack reaction force caused by the upper weight Uwei by calculation. The calculation method of the jack reaction force caused by the upper weight Uwei will be described below.

[0122] First, in the equations 1-5 to 1-7 described later, θ (deg) is the rotation angle of the arm 203, and Ft is the weight Uwei acting on the rotation center O. c Mx is the thrust load (ton), Mx is the moment (ton·m) about the X-axis caused by the upper weight Uwei, and My is the moment (ton·m) about the Y-axis caused by the upper weight Uwei.

[0123] The above-mentioned Ft, Mx and My are obtained from the following equations 1-5 to 1-7.

[0124] [Number 5]

[0125] Ft=Uwei…(1-5)

[0126] [Number 6]

[0127] Mx=-Uwei*Ugra*sinθ…(1-6)

[0128] [Number 7]

[0129] My=-Uwei*Ura*cosθ…(1-7)

[0130] In addition, the reaction force coefficient S caused by the above-mentioned Ft, Mx and My is defined by the following formula 1-8. In formula 1-8, X1 is the rotation center O c and contact position G R The distance in the front and rear direction, X4 is the rotation center O c and contact position G L In formula 1-8, Y1 is the center of rotation O c and contact position G R Distance in the vehicle width direction, Y4 is the rotation center O c and contact position G L Distance in the vehicle width direction.

[0131] [Number 8]

[0132] S=Y1*(Xd-X4)+Y4*(X1-Xd)…(1-8)

[0133] According to the above formula 1-8, F(PF1), Mx(PF1) and My(PF1) are defined by the following formulas 1-9 to 1-11.

[0134] [Number 9]

[0135]

[0136] [Number 10]

[0137]

[0138] [Number 11]

[0139]

[0140] Using the above equations 1-9 to 1-11, the jack reaction force PF1u (ton) of the right outrigger 200R caused by the upper weight Uwei is calculated by the following equation 1-12.

[0141] [Number 12]

[0142]

[0143] In addition, according to the above formula 1-8, F(PF4), Mx(PF4) and My(PF4) are defined by the following formulas 1-13 to 1-15.

[0144] [Number 13]

[0145]

[0146] [Number 14]

[0147]

[0148] [Number 15]

[0149]

[0150] Using the above equations 1-13 to 1-15, the jack reaction force PF4u (ton) of the left outrigger 200L caused by the upper weight Uwei is calculated by the following equation 1-16.

[0151] [Number 16]

[0152]

[0153] Next, in Figure 4 In step S108 shown in the figure, the jack reaction force caused by the lower weight of the lower component group is obtained. In addition, the lower component group includes the vehicle 10, the outriggers 200, the fixing part 201 and the cargo loaded in the cargo box 102. Therefore, the lower weight is the sum of the weight of the vehicle 10, the outriggers 200, the fixing part 201 and the weight of the cargo loaded in the cargo box 102.

[0154] The lower weight cannot be directly obtained because the weight of the loaded cargo is unknown. Therefore, in the present embodiment, the jack reaction force caused by the lower weight is obtained by subtracting the jack reaction force caused by the upper weight Uwei calculated in step S107 from the jack reaction force calculated in step S104.

[0155] The jack reaction force PF11 of the right outrigger 200R caused by the lower weight is calculated by the following formula 1-17.

[0156] [Number 17]

[0157] PF1l=PF1-PF1u…(1-17)

[0158] In addition, the jack reaction force PF41 of the left outrigger 200L caused by the lower weight is calculated by the following formula 1-18.

[0159] [Number 18]

[0160] PF4l=PF4-PF4u...(1-18)

[0161] Next, in Figure 4 In step S109 shown in the figure, the values ​​of the flip lines L are obtained respectively. a1 , L b1 The moment caused by the lower weight (hereinafter referred to as "stabilizing moment"). In addition, a pair of tipping lines L a1 , L b1 It is calculated by the calculation unit 307 and stored in the storage unit 300 .

[0162] Around the right flip line L a1 The stabilizing moment SMOMr (ton·m) is obtained by the following formula 1-19. In the following formula 1-19, 14 is the ground contact position G L With the overturn line L on the right a1 The distance between.

[0163] [Number 19]

[0164] SMOMr=PF4l*l4…(1-19)

[0165] Around the left flip line L b1 The stabilizing moment SMOMl (ton·m) is obtained by the following formula 1-20. In the following formula 1-20, l1 is the ground contact position G R With the tipping line L on the left b1 The distance between.

[0166] [Number 20]

[0167] SMOMl=PF1l*l1…(1-20)

[0168] Next, in Figure 4 In step S110 shown in FIG. 1 , the swing angle calculation device 30 calculates the tipping load Wtip at the working radius Radi. The tipping load Wtip is the maximum lifting load that causes the loader truck crane C to tip over. In step S110, when calculating the upper center of gravity Ugra, the center of gravity position of the arm 203 is used in a state where there is no deflection (at Figure 5 In the state of the arm 203 indicated by the solid line in the figure, the operating radius becomes the center of gravity position under the arm undulation angle θb of Radi.

[0169] The relationship between the upper weight Uwei and the tipping load Wtip is defined as follows in Formula 1-21. In addition, the relationship between the upper center of gravity Ugra and the tipping load Wtip is defined as follows in Formula 1-22. In Formulas 1-21 and 1-22, each parameter is defined as follows.

[0170] Wtip: tipping load (ton)

[0171] Wbm: weight of arm 203 (ton)

[0172] Wecy: weight of the heave cylinder 211 (ton)

[0173] Wsle: weight of the turntable 202 (ton)

[0174] Radi: operating radius (m)

[0175] R 2 :Rotation center O c Horizontal distance from the center of gravity of the arm 203 in the vehicle width direction (m)

[0176] Rlecy 2 :Rotation center O c Horizontal distance from the center of gravity of the heave cylinder 211 in the vehicle width direction (m)

[0177] Rlsle: Rotation center O c Horizontal distance from the center of gravity of the turntable 202 in the vehicle width direction (m)

[0178] [Number 21]

[0179] Uwei=Wtip+Wbm+Wecy+Wsle…(1-21)

[0180] [Number 22]

[0181]

[0182] Hereinafter, a method for calculating the tipping load Wtip when the arm 203 is rotated to the right side of the vehicle (that is, when the arm rotation angle θ is 0°≤θ≤180°) will be described.

[0183] From the rotation center O c To the right side of the tipping line L a1 The distance XLI1(m) is calculated by the following formula 1-23.

[0184] [Number 23]

[0185]

[0186] If the tipping line L a1 The angle with the X-axis is assumed to be α (deg), and α is calculated by the following formula 1-24.

[0187] [Number 24]

[0188]

[0189] Here, if β=θ-α-90, the following relational expression 1-25 holds true.

[0190] [Number 25]

[0191] Uwei*(Ugra*cosβ-xLI1)=SMOMr…(1-25)

[0192] Wtip is calculated by the following formula 1-26 using the above formula 1-25.

[0193] [Number 26]

[0194]

[0195] Next, a method for calculating the tipping load Wtip when the arm 203 is rotated to the left side of the vehicle (that is, the arm rotation angle θ is 180°≤θ≤360°) will be described.

[0196] From the rotation center O c To the left flip line L b1 The distance XLI4 (m) is calculated by the following formula 1-27.

[0197] [Number 27]

[0198]

[0199] If the tipping line L b1 The angle with the X-axis is assumed to be α (deg), and α is calculated by the following formula 1-28.

[0200] [Number 28]

[0201]

[0202] Here, if β=270-θ-α, the following relational expression 1-29 holds.

[0203] [Number 29]

[0204]

[0205] In addition, when θ is 180° or 360°, the tipping load Wtip becomes the minimum value of the equation (1-26) and the equation (1-29).

[0206] Next, in Figure 4 In step S111 shown, the swing angle calculation device 30 obtains the rated total load Wrate. The calculation method of the rated total load Wrate will be described below.

[0207] The stable performance (also called stable rated load) Wsta is obtained by the following formula 1-30.

[0208] [Number 30]

[0209]

[0210] Then, the rated total load Wrate is obtained by the following formula 1-31. That is, the rated total load Wrate is the smaller load between the stable rated load Wsta and the strength rated load Wstr. In addition, the strength rated load Wstr is stored in the storage unit 300.

[0211] [Number 31]

[0212] Wrate=min(Wstr, Wsta)…(1-31)

[0213] Furthermore, the calculated rated total load Wrate may be output to the display unit 4. The display unit 4 may be, for example, a display unit provided in the driving part of the loader truck crane C. Alternatively, the display unit 4 may be a display unit (for example, a display) of a terminal connected to the loader truck crane C via a network.

[0214] Next, in Figure 4 In step S112 shown, the rotation angle calculation device 30 obtains the limit rotation angle γ. The calculation method of the limit rotation angle γ will be described below.

[0215] The rated total load Wrate at the arm swing angle θ and the working radius Radi is obtained through the above processing. Here, if the rated total load Wrate when the arm 203 is at the weakest swing position is greater than the lifting load Tload, the loader truck crane C can swing around a full circle without tipping over.

[0216] In addition, the arm 203 is at the weakest rotation position and is aligned with a pair of overturning lines L a1 , L b1 Specifically, when the arm 203 is rotated to the right side of the vehicle, the arm 203 is at the weakest rotation position and is perpendicular to the right overturning line L. a1 On the other hand, when the arm 203 is rotated to the left side of the vehicle, the arm 203 is at the weakest rotation position and is perpendicular to the overturning line L on the left side. b1 Orthogonal.

[0217] On the other hand, when the rated total load Wrate at the weakest rotation position is smaller than the lifting load Tload, the rotation of the arm 203 must be stopped at the position where the lifting load Tload is equal to the rated total load Wrate at the latest. That is, the rotation angle at which the lifting load Tload is equal to the rated total load Wrate is the limit rotation angle γ.

[0218] The limit rotation angle γ is a rotation angle when the arm 203 is parallel in the front-rear direction and the tip of the arm 203 is located forward of the base end (in other words, the tip of the arm 203 is located most forward).

[0219] First, when the rated total load is the stable rated load Wsta, the tipping load Wtip is calculated by the following formula 1-32.

[0220] [Number 32]

[0221] wtip=N*wsta…(1-32)

[0222] Here, when the arm 203 is rotated to the right side of the vehicle, if β 2 =γ-α-90, then Wtip is calculated by the following formula 1-33.

[0223] [Number 33]

[0224]

[0225] In Beta 2 =0, the arm 203 is at the weakest rotation position. 2 = Tipping load Wtip when 0 2 Calculated by the following formula 1-34.

[0226] [Number 34]

[0227]

[0228] If Wtip 2≥Wtip, the arm 203 can rotate around the entire circle. On the other hand, if Wtip 2 <Wtip, the rotation angle calculation device 30 calculates β by the following formula 1-35 2 .

[0229] [Number 35]

[0230]

[0231] Then, the rotation angle calculation device 30 calculates β according to the above formula 1-37. 2 , find the limiting rotation angle γ.

[0232] Next, a method for calculating the limit rotation angle γ when the arm 203 is rotated to the left side of the vehicle will be described. 2 =270-γ-α, then Wtip is calculated by the following formula 1-36.

[0233] [Number 36]

[0234]

[0235] In Beta 2 =0, the arm 203 is at the weakest rotation position. 2 = Tipping load Wtip when 0 2 Calculated using the following formula 1-37.

[0236] [Number 37]

[0237]

[0238] If Wtip 2 ≥Wtip, the arm 203 can rotate around a full circle. On the other hand, if Wtip 2 <Wtip, the rotation angle calculation device 30 calculates β by the following formula 1-38 2 .

[0239] [Number 38]

[0240]

[0241] Then, the rotation angle calculation device 30 calculates β according to the above formula 1-38 2 , find the limiting rotation angle γ.

[0242] The rotation angle calculation device 30 returns the control process to step S101 and repeatedly executes the Figure 4 In addition, when repeatedly executing Figure 4 In the case of a control flow, steps that do not need to be executed can be skipped appropriately.

[0243] For example, the load of the lifting load does not change from the time the lifting load is lifted to the time the lifting load is placed at the target position, so the lifting load can be skipped appropriately. Figure 4 Step S101. In addition, Figure 4 The order of each step in the control flow can be appropriately changed within the range without technical contradiction.

[0244] Furthermore, the swing angle calculation device 30 may output the obtained limit swing angle γ to the display unit 4. The display unit 4 may be, for example, a display unit provided in the operation unit of the loader truck crane C. Alternatively, the display unit 4 may be a display unit (for example, a display) of a terminal connected to the loader truck crane C via a network. The operation unit may be provided in the fixed unit 201, for example.

[0245] In addition, when the limit rotation angle γ is displayed on the display unit, the rotation angle calculation device 30 may display the limit rotation angle γ, for example, by means of a graph, etc. In this case, the rotation angle calculation device 30 may display the state of the arm 203 at the time of finding the limit rotation angle γ and the state of the arm 203 when rotating to the limit rotation angle γ on the display unit in a manner that allows visual recognition.

[0246] The loader truck crane C may further include a swing control device for controlling the swinging motion of the arm 203 based on the limit swing angle γ. The swing control device controls the arm 203 based on the limit swing angle γ obtained by the swing angle calculation device 30 so that the arm 203 does not swing beyond the position corresponding to the limit swing angle γ.

[0247] In other words, the swing control device may also control the arm 203 to stop at the moment when it reaches the position corresponding to the limit swing angle γ. In this case, the swing control device may also control the arm 203 to gradually slow down the swing speed at a moment before the arm 203 reaches the position corresponding to the limit swing angle γ (specifically, a moment before a predetermined angle or a predetermined time). For example, the swing control device may also apply a braking force to the arm 203 at a moment before the arm 203 reaches the position corresponding to the limit swing angle γ.

[0248] Furthermore, the loader truck crane C may include an alarm control device that issues an alarm before the arm 203 reaches the position corresponding to the limit swing angle γ. Specifically, the loader truck crane C may include an alarm control device that issues an alarm when the arm 203 reaches the position corresponding to the limit swing angle γ and the difference between the swing angle of the arm 203 and the limit swing angle γ is less than a predetermined value. The predetermined value may be calculated based on the swing angle of the arm 203, the swing speed of the arm 203, and the limit swing angle γ, for example. In the case of this configuration, the loader truck crane C may stop or not stop the movement of the arm 203 when the arm 203 reaches the position corresponding to the limit swing angle γ.

[0249] [Function / Effect of the Present Embodiment]

[0250] According to the present embodiment as described above, the safety of the loader truck crane C can be improved. That is, in the case of the present embodiment, the limit rotation angle γ at which the loader truck crane C can be rotated without falling can be obtained according to the state of the loader truck crane C. If such a limit rotation angle γ is used for the rotation stop control of the arm 203, the timing of the brake in the rotation operation of the arm 203 can be optimized. As a result, the safety of the loader truck crane C is improved. In addition, the rotation stop control is executed by the rotation control device of the loader truck crane C.

[0251] In addition, as described above, according to the calculation method of the limit rotation angle γ involved in the present embodiment, the limit rotation angle γ can be calculated regardless of whether the cargo box 102 is loaded with cargo or not. In addition, as described above, according to the calculation method of the limit rotation angle γ involved in the present embodiment, the stability performance (stable rated load) with the same safety factor can be obtained for each arm rotation angle θ. Furthermore, according to the calculation method of the limit rotation angle γ involved in the present embodiment, the limit rotation angle γ corresponding to the load amount of cargo loaded in the cargo box 102 can be calculated.

[0252] [Implementation Method 2]

[0253] Reference Figure 3 , Figure 5 , Figure 7 and Figure 8 Embodiment 2 will be described. The basic structure of the loader truck crane C is the same as that of the above-mentioned Embodiment 1. First, the process by which the inventors came up with this embodiment will be briefly described.

[0254] The present inventors have studied the relationship between the jack reaction force of the outrigger on the side opposite to tipping and the stable rated load in a predetermined state of the loader-type truck crane C. As a result, the present inventors have found that in the predetermined state of the loader-type truck crane C, there is a linear relationship (proportional relationship) between the jack reaction force of the outrigger on the side opposite to tipping (hereinafter referred to as "anti-tip side reaction force") and the stable rated load.

[0255] In addition, the inventors have found that the amount of calculation required for obtaining the limit swing angle γ can be reduced by storing the relationship between the reaction force on the opposite side of the overturning and the stable rated load (hereinafter referred to as "reaction force-load relationship") in advance in the storage unit 300. The structure of the loading truck crane C and the method for calculating the limit swing angle according to this embodiment will be described below.

[0256] [Storage Department]

[0257] In the present embodiment, the storage unit 300 stores the reaction force-load relationship in association with the crane information of the loader truck crane C in a predetermined state. The storage unit 300 stores the reaction force-load relationship in the form of a calculation formula (linear formula) or a map.

[0258] Figure 8 This is a line graph showing an example of the reaction force-load relationship stored in the storage unit 300. The horizontal axis is the reaction force on the opposite side of the overturning, and the vertical axis is the hoisting load. The crane information of the loading truck crane C in a predetermined state includes, for example, the arm rotation angle θ, the arm length Lb, the arm up and down angle θb, and the operation radius Radi. However, the predetermined conditions of the loading truck crane C do not include the lifting load Tload.

[0259] [Calculation Department]

[0260] The calculation unit 307 can obtain the reaction force-load relationship corresponding to the predetermined state from the storage unit 300. The calculation unit 307 can use the crane information of the loader truck crane C in the predetermined state as an independent variable and obtain the reaction force-load relationship corresponding to the independent variable.

[0261] [Limit rotation angle calculation method]

[0262] Below, refer to Figure 5 , Figure 7 and Figure 8 , describing the method for calculating the limit turning angle involved in this embodiment.

[0263] First, in Figure 7 In step S201 shown, the swing angle calculation device 30 obtains the lifting load Tload based on the lifting load information detected by the lifting load information detection unit 301 .

[0264] Next, in Figure 7 In step S202 shown in FIG. 1 , the rotation angle calculation device 30 obtains the arm length Lb based on the length information detected by the length information detection unit 303 .

[0265] Next, in Figure 7 In step S203 shown in FIG. 1 , the swing angle calculation device 30 obtains the arm rising and falling angle θb based on the rising and falling angle information detected by the rising and falling angle information detection unit 304 .

[0266] Next, in Figure 7 In step S204 shown, the rotation angle calculation device 30 obtains the arm rotation angle θ based on the rotation angle information received from the rotation angle information detection unit 302 .

[0267] Next, in Figure 7 In step S205 shown in FIG. 1 , the swing angle calculation device 30 obtains the center of gravity position of each component constituting the upper component group in the loader crane C.

[0268] Next, in Figure 7 In step S206, the swing angle calculation device 30 obtains the jack reaction force PF1 of the right outrigger 200R and the jack reaction force PF4 of the left outrigger 200L based on the reaction force information received from the reaction force information detection unit 305. Such jack reaction force PF1 and jack reaction force PF4 are detection values.

[0269] The following, such as Figure 5 As shown, the arm 203 is rotated to the right side of the vehicle. In this state, the outrigger on the opposite side of the rollover is the left outrigger 200L. Therefore, the reaction force R1 on the opposite side of the rollover is the jack reaction force PF4 of the left outrigger 200L (R1=PF4). In addition, the reaction force R1 on the opposite side of the rollover obtained in step S206 includes the influence of the lifting load Tload on the reaction force.

[0270] Next, in Figure 7 In step S207 shown in FIG. 1 , the rotation angle calculation device 30 obtains the reaction force-load relationship corresponding to the arm length Lb, the arm up-and-down angle θb, and the arm rotation angle θ from the storage unit 300. The reaction force-load relationship obtained here is set as Figure 8 The reaction force-load relationship is shown in Figure 8 In the equation 2-1, the reaction force-load relationship is defined as follows.

[0271] [Number 39]

[0272] y=a1*x+b1…(2-1)

[0273] Next, in Figure 7 In step S208 shown in FIG. 1 , the rotation angle calculation device 30 calculates the assumed rated total load Wpre (see FIG. 1 ) based on the reaction force R1 on the opposite side of the overturning obtained in step S206 and the reaction force-load relationship obtained in step S207. Figure 8 ).

[0274] Here, Figure 8 The reaction force-load relationship shown (that is, the relationship in the above formula 2-1) is a relationship obtained without considering the influence of the lifting load Tload. On the other hand, the reaction force R1 on the opposite side of the overturning obtained in step S206 includes the influence of the reaction force based on the lifting load Tload. Therefore, when the assumed rated total load Wpre obtained in step S208 is larger than the lifting load Tload, it is a state with a surplus relative to the stability limit. Therefore, the actual stable rated load Wsta is obtained through the following steps. In addition, in step S208, when the lifting load Tload is larger than the assumed rated total load Wpre, the operation of the loading truck crane C is stopped.

[0275] Next, in Figure 7 In step S209 shown in FIG. 1 , a surplus load F1 is obtained as a difference between the actual stable rated load Wsta and the lifting load Tload. Here, the relationship between F1 and the actual stable rated load Wsta and the lifting load Tload is expressed by the following relational expression 2-2.

[0276] [Number 40]

[0277] F1=Wsta-TlOad…(2-2)

[0278] Assuming that the arm center of gravity position and the operating radius Radi remain unchanged, find the surplus load F1 acting on the rotation center O c The thrust load Ft (ton), the moment Mx (ton·m) around the X axis caused by the surplus load F1, and the moment My (ton·m) around the Y axis caused by the surplus load F1 are obtained by the following equations 2-3 to 2-5.

[0279] [Number 41]

[0280] Ft=F1…(2-3)

[0281] [Number 42]

[0282] Mx=-F1*Radi*sinθ…(2-4)

[0283] [Number 43]

[0284] My=-F1*Radi*cosθ…(2-5)

[0285] The reaction force coefficient S caused by the above-mentioned Ft, Mx and My is defined by the following formula 2-6. In formula 2-6, X1 is the rotation center O c and contact position G R The distance in the front and rear direction, X4 is the rotation center O c and contact position G L In addition, in formula 2-6, Y1 is the center of rotation O c and contact position G R Distance in the vehicle width direction, Y4 is the rotation center O c and contact position G L Distance in the vehicle width direction.

[0286] [Number 44]

[0287] S=Y1*(Xd-X4)+Y4*(X1-Xd)…(2-6)

[0288] According to the above formula 2-6, F(PF1), Mx(PF1) and My(PF1) are defined by the following formulas 2-7 to 2-9.

[0289] [Number 45]

[0290]

[0291] [Number 46]

[0292]

[0293] [Number 47]

[0294]

[0295] Then, by using the above equations 2-7 to 2-9, the jack reaction force PF1u of the right outrigger 200R caused by the surplus load F1 is obtained by the following equation 2-10.

[0296] [Number 48]

[0297]

[0298] In addition, according to the above formula 2-6, F(PF4), Mx(PF4) and My(PF4) are defined by the following formulas 2-11 to 2-13.

[0299] [Number 49]

[0300]

[0301] [Number 50]

[0302]

[0303] [Number 51]

[0304]

[0305] If the above equations 2-11 to 2-13 are used, the jack reaction force PF4u of the left outrigger 200L caused by the surplus load F1 is calculated by the following equation 2-14.

[0306] [Number 52]

[0307]

[0308] Here, if Figure 5 As shown in FIG. 1 , when the arm 203 is rotated to the right side of the vehicle (that is, the arm rotation angle θ is 0°≤θ≤180°), the outrigger on the opposite side to be overturned is the left outrigger 200L. Figure 8 In the case where the reaction force on the opposite side of the overturning caused by the actual stable rated load Wsta is set to R2, the following relational expression 2-15 holds.

[0309] [Number 53]

[0310] R2=R1+PF4u…(2-15)

[0311] In addition, based on the above formula 2-1, the above formula 2-2, the above formula 2-14, the lifting load Tload and the reaction force R1 on the opposite side of the overturning, the surplus load F1 is calculated by the following formula 2-16.

[0312] [Number 54]

[0313]

[0314] Next, in Figure 7 In step S210 shown, the rotation angle calculation device 30 calculates the actual stable rated load Wsta according to the above formula 2-2.

[0315] Furthermore, the obtained actual stable rated load Wsta and the rated total load Wrate which is the minimum value of Wsta and Wstr may be output to the display unit 4. The display unit 4 may be, for example, a display unit provided in the driving part of the loader truck crane C. Alternatively, the display unit 4 may be a display unit (for example, a display) of a terminal connected to the loader truck crane C via a network.

[0316] Next, a description will be given of a process in which the rotation angle calculation device 30 calculates the limit rotation angle γ.

[0317] exist Figure 7 In the step S211 shown, the rotation angle calculation device 30 obtains the arm rotation angle (hereinafter referred to as "the rotation angle θn on the front side of the rotation direction") that is closest to the current arm rotation angle θ from the storage unit 30. The processing of step S211 is described below with a specific example. The storage unit 30 stores the corresponding reaction force-load relationship for each arm rotation angle at a specified interval (for example, 5°). For example, if it is assumed that the above-mentioned specified interval is 5°, then when the current arm rotation angle θ is 0°, the rotation angle θn on the front side of the rotation direction obtained in step S211 is 5°. In addition, the front side in the rotation direction means the direction of the arm 203 from the current position toward the weakest rotation position.

[0318] Next, in Figure 7 In step S212 shown, the rotation angle calculation device 30 obtains the anti-tilt reaction force R1 at the hoisting load Tload at the arm rotation angle θn obtained in step S211 based on the current arm rotation angle θ and the anti-tilt reaction force R1.

[0319] Next, in Figure 7 In step S213 shown, the swing angle calculation device 30 obtains the actual stable rated load Wsta under the arm swing angle θn and the lifting load Tload. The processing of step S213 is the same as that of steps S208 to 210 described above.

[0320] Furthermore, the obtained actual stable rated load Wsta and the rated total load Wrate which is the minimum value of Wsta and Wstr may be output to the display unit 4. The display unit 4 may be, for example, a display unit provided in the driving part of the loader truck crane C. Alternatively, the display unit 4 may be a display unit (for example, a display) of a terminal connected to the loader truck crane C via a network.

[0321] Next, in Figure 7 In step S214 shown, the swing angle calculation device 30 compares the actual stable rated load Wsta obtained in step S213 with the lifting load Tload.

[0322] If the lifting load Tload is less than the actual stable rated load Wsta in step S214 (step S214: Yes), the control process moves to step S215. On the other hand, if the lifting load Tload is greater than the actual stable rated load Wsta in step S214 (step S214: No), the control process moves to step S216.

[0323] exist Figure 7In step S215 shown in FIG. 1 , the rotation angle calculation device 30 obtains a new rotation angle θn on the front side of the rotation direction from the storage unit 300. That is, the rotation angle θn on the front side of the rotation direction is updated. For example, if it is assumed that the above-mentioned specified interval is 5° and the rotation angle θn on the front side of the rotation direction at the moment of step S214 is 5°, then the new rotation angle θn on the front side of the rotation direction obtained in step S215 is 10°. In addition, Figure 7 In the step S215 shown, if there is no new rotation angle θn on the front side of the rotation direction, the loader crane C can rotate around a full circle without falling over. Then, the control process returns to the step S212.

[0324] In addition, in step S216 transferred from step S214, the rotation angle calculation device 30 calculates the limit rotation angle γ. The following describes the calculation method of the limit rotation angle γ. First, at the moment of transferring to step S216, the lifting load Tload is larger than the actual stable rated load Wsta at the rotation angle θn on the front side of the rotation direction. On the other hand, at the moment of transferring to step S216, the lifting load Tload is smaller than the actual stable rated load Wsta at the rotation angle θn-1 on the front side of the rotation direction (that is, the rotation angle before updating in step S215). Therefore, the limit rotation angle γ exists in the range of rotation angle θn-1<γ<θn.

[0325] The limit rotation angle γ is obtained by the following method. Here, if the rotation angle θ n-1 The actual stable rated load under rn-1 (T rn-1 >Tload), and the rotation angle θ n The actual stable rated load under rn (T rn <Tload), the limit rotation angle γ is calculated by the following formula 2-17.

[0326] [Number 55]

[0327]

[0328] Furthermore, in step S216, the limit rotation angle γ may be set to the rotation angle θn-1.

[0329] The loader truck crane C may further include a swing control device for controlling the swinging motion of the arm 203 based on the calculated limit swing angle γ. The swing control device controls the arm 203 based on the limit swing angle γ obtained by the swing angle calculation device 30 so that the arm 203 does not swing beyond the position corresponding to the limit swing angle γ.

[0330] In other words, the swing control device may also control the arm 203 to stop at the moment when it reaches the position corresponding to the limit swing angle γ. In this case, the swing control device may also control the arm 203 to gradually slow down the swing speed at a moment before the arm 203 reaches the position corresponding to the limit swing angle γ (specifically, a moment before a predetermined angle or a predetermined time). For example, the swing control device may also apply a braking force to the arm 203 at a moment before the arm 203 reaches the position corresponding to the limit swing angle γ.

[0331] As described above, in the case of this embodiment, the amount of calculation when calculating the limit swing angle γ is reduced compared to the above-mentioned embodiment 1. Therefore, it is possible to suppress the specification of the calculation unit 307 of the swing angle calculation device 30 from becoming higher. The structure of such an embodiment is effective in reducing the cost of the loader truck crane C.

[0332] <Note>

[0333] In the above-mentioned embodiments, a loader truck crane is described that has only the front outriggers (the right outrigger 200R and the left outrigger 200L) as the outrigger device. However, the present invention is also applicable to a loader truck crane that has rear outriggers (the right rear outrigger and the left rear outrigger) in addition to the front outriggers.

[0334] When the loader truck crane has a rear outrigger, the limit swing angle of the boom is calculated by taking into account not only the jack reaction force of the outrigger on the side opposite to the tipping over of the front outrigger but also the jack reaction force of the outrigger on the side opposite to the tipping over of the rear outrigger.

[0335] The disclosure of the specification, drawings, and abstract contained in Japanese application No. 2020-72544 filed on April 14, 2020 is incorporated herein by reference in its entirety.

[0336] Industrial Applicability

[0337] The present invention is applicable to a loading truck crane of various structures in which a crane device is applied to a vehicle having a cargo box.

[0338] Description of Reference Numerals

[0339] C Loading Truck Crane

[0340] 10 Vehicles

[0341] 100 Frames

[0342] 101 Cab

[0343] 102 Cargo Box

[0344] 103 Front wheel

[0345] 104 rear wheels

[0346] 20 Crane device

[0347] 200 Outriggers

[0348] 200R Right outrigger

[0349] 200L Left outrigger

[0350] 200a Horizontal outriggers

[0351] 200b Longitudinal outriggers

[0352] 200c horizontal jack

[0353] 200d Vertical Jack

[0354] 201 Fixed part

[0355] 202 Turntable

[0356] 203 Arm

[0357] 203a Base arm

[0358] 203b, 203c Intermediate arm

[0359] 203d front arm

[0360] 204 winch

[0361] 205 Steel Cable

[0362] 206 Hook

[0363] 210 Telescopic Cylinder

[0364] 211 Height Cylinder

[0365] 30 Rotation angle calculation device

[0366] 300 Storage

[0367] 301 Lifting load information detection unit

[0368] 302 Rotation angle information detection unit

[0369] 303 Length information detection unit

[0370] 304 Heave angle information detection unit

[0371] 305 Reaction force information detection unit

[0372] 306 Extension information detection unit

[0373] 307 Operation Department

[0374] H Lifting load

[0375] L a1 , L b1 Flip Line

[0376] L c Rear wheel line

[0377] O b Central location

[0378] S p Reference position

[0379] G R Touchdown position

[0380] G L Touchdown position

Claims

1. A loading truck crane, comprising: An outrigger device is mounted on a vehicle and includes a right outrigger and a left outrigger that are extendable and retractable in a vehicle width direction of the vehicle; an arm mounted on the vehicle in a rotatable manner; and a rotation angle calculation device for calculating a limit rotation angle of the arm based on a jack reaction force of an outrigger on the opposite side of the rollover, wherein the outrigger on the opposite side of the rollover is an outrigger on the opposite side of the arm in the vehicle width direction when the arm is rotated from a reference position, The limit swing angle is a swing angle at which the arm can be rotated without overturning the loader truck crane according to the state of the loader truck crane.

2. The loader truck crane according to claim 1, in, The rotation angle calculation device executes a process of obtaining the limit rotation angle at predetermined time intervals.

3. The loader truck crane according to claim 1 or 2, in, A swing control device is further provided, the swing control device controlling the arm so as not to swing the arm beyond a position corresponding to the limit swing angle.

4. The loader truck crane according to claim 3, in, The swing control device controls the swinging motion of the arm so that the arm stops when the arm reaches a position corresponding to the limit swing angle.

5. The loader truck crane according to claim 3 or 4, in, The rotation control device gradually slows down the rotation speed of the arm before the arm reaches a position corresponding to the limit rotation angle.

6. The loader truck crane according to claim 1 or 2, in, An alarm control device is further provided, the alarm control device sounding an alarm before reaching a position corresponding to the limit rotation angle.

7. The loader truck crane according to claim 1, in, The swing angle calculation device outputs at least one of information related to the limit swing angle and information related to the calculated rated total load to a display unit provided in the loader truck crane or a display unit provided in a terminal connected to the loader truck crane via a network.

8. A method for calculating a limit swing angle of an arm, the method being executed by a computing unit of a loading truck crane, the loading truck crane comprising: an outrigger device mounted on a vehicle and including a right outrigger and a left outrigger that are extendable and retractable in a vehicle width direction; and an arm mounted on the vehicle in a swingable manner, the method for calculating a limit swing angle of the arm comprising the following steps: A step of obtaining a jack reaction force of an outrigger on the opposite side of the rollover, wherein the outrigger on the opposite side of the rollover is an outrigger arranged on the opposite side of the arm in the vehicle width direction when the arm is rotated from the reference position, among the right outrigger and the left outrigger; and The step of calculating the limit rotation angle of the arm based on the reaction force of the jack, The limit swing angle is a swing angle at which the arm can be rotated without overturning the loader truck crane according to the state of the loader truck crane.

Images