Device for slowly stopping the working machine

Abstract

A device (1; 2) for slow stopping for installation in a working machine (100; 200) with a boom (130; 230) that carries loads (140; 250), and characterized in that it is equipped: with an actuator (10) for operating the aforementioned working machine (100; 200), with a control unit (20) for controlling the actuator (10), with an operating unit (30) for giving instructions to the control unit (20) for operating the aforementioned working machine (100; 200), and with a speed sensor configured to determine the operating speed of the aforementioned working machine (100;200), wherein the aforementioned control unit (20) is equipped with the following modules (21, 22, 23, 24): a first module (21) for slow stopping, which is configured to brake and stop the aforementioned actuator (10) over a period of half the time (T1) of a vibration cycle (T) when the stop signal to stop the operation of the aforementioned working machine (100; 200) is input from the aforementioned control unit (30), whereupon the control unit (20) calculates the vibration cycle (T) of the aforementioned loads (140; 250); a second module (22) for slow stopping, which is configured to brake and stop the aforementioned actuator (10) in a shorter time (T2) than half the vibration cycle (T) when the aforementioned stop signal is input from the aforementioned control unit (30); a module (23) for predicting a load vibration, which is set up to predict whether a vibration width (A) of the above-mentioned loads (140;250) exceeds a tolerance value or not; and a switching module (24) configured to switch such that the aforementioned first module (21) slows down the actuator (10) when the aforementioned module (23) predicts the load oscillation that the aforementioned oscillation width (A) exceeds the tolerance value; or that the aforementioned second module (22) slows down the actuator (10) when the aforementioned module (23) predicts the load oscillation that the aforementioned oscillation width (A) does not exceed the tolerance value; wherein the aforementioned module (23) predicts the load oscillation to further determine that the oscillation width (A) of the aforementioned loads (140; 250) exceeds the tolerance value when the determined value of the aforementioned speed sensor exceeds a limit value;and if the determined value of the above-mentioned speed sensor does not exceed the limit value, then to decide that the amplitude of vibration (A) of the above-mentioned loads (140; 250) does not exceed the tolerance value.

Description

Technical area:

[0001] This invention relates to a device for slowly stopping a working machine. More precisely, this invention relates to a device for slowly stopping a working machine in order to suppress the oscillation of loads when the operation of a mobile elevating work platform or crane with booms is stopped. Technical background

[0002] In the event that the boom's operation is suddenly stopped by the operating lever, a device exists for slowly stopping the machine. This device decelerates the boom's speed with constant acceleration, thus bringing it to a halt (see, for example, patent document 1). This constant acceleration allows the boom to be stopped slowly and suppresses load oscillation.

[0003] However, the conventional device for slow stopping does not take into account the bending of the boom, which is why the problem arises that this bending causes a vibration under the loads, especially when the boom is fully extended or bends due to its special position when stopping.

[0004] In contrast, patent document 2 describes a technique that calculates the cycle time of the load oscillation, taking into account the bending of the boom, and then decelerates the boom's movement speed with constant acceleration during the cycle time of the load oscillation, thus stopping the boom. This technique makes it possible to suppress the oscillation of the loads, including the bending of the boom, when the boom operation is stopped.

[0005] The magnitude of the bending in the boom is known to be proportional to the acceleration and mass (weight) of the load the boom is holding. More precisely, the bending of the boom corresponds to the bending of a cantilever arm, and the magnitude δ of the bending of the cantilever arm is given by the following formula. Formula 1:

[0006] Here, F is the force acting vertically on the free end of the cantilever, l is the length of the cantilever, E is Young's modulus of elasticity, and I represents the area moment of inertia. This means that the magnitude δ of the bending is proportional to the force F acting on the cantilever. In the case of bending caused by the sudden cessation of the boom's operation, the force F is the inertial force (F = ma) of the loads carried by the boom. Therefore, the magnitude of the boom's bending is proportional to the acceleration a and the mass m of the loads carried by the boom.

[0007] If the boom's operation is suddenly stopped, the higher the operating speed, the greater the increase in the boom's acceleration shortly before the sudden stop. This, in turn, increases the acceleration of the loads, assuming that the boom's operating speed remains constant for a certain period. Therefore, the magnitude of the boom's deflection is proportional to the operating speed just before the sudden stop. This means that at a high operating speed, the deflection of the suddenly stopped boom is large, and consequently, the load's amplitude of vibration is also increased. Conversely, at a low operating speed, the deflection of the suddenly stopped boom is small, resulting in a smaller amplitude of vibration. However, the cycle time of the load oscillation is independent of the boom's operating speed.

[0008] The technique described in the aforementioned patent document 2 uses the cycle time of the load oscillation to initiate a stop, regardless of the boom's operating speed. However, this creates the problem that the time required to stop is long even when the boom's operating speed is low and the load oscillation is not a problem. Documents relating to the state of the art: Patent documents:

[0009] Patent document 1: Japanese publication no. 2000-103596 Patent document 2: Japanese publication no. Hei 7-69584 Overview of the invention: Problems that this invention is intended to solve:

[0010] Taking into account the above circumstances, the objective of this invention is to provide a device for slowly stopping the working machine, which suppresses the oscillation of the loads and can shorten the stopping time. Solution methods:

[0011] The device for slow-stopping the working machine of the first invention is a device for slow stopping that is attached to the working machine with a boom for carrying loads and comprises an actuator for operating the aforementioned working machine, a control unit for controlling the actuator, and an operating unit for giving this control unit instructions for operating the aforementioned working machine. The special feature of the invention is that, when the operating unit gives the signal to stop the working machine, the control unit calculates the load's oscillation cycle and, equipped with the first slow-stopping module, uses half the duration of the load's oscillation cycle to brake and stop the actuator. Additionally, there is a second slow-stopping module that brakes and stops the actuator in an even shorter time than half the load's oscillation cycle.Furthermore, there is a module for predicting whether the amplitude of the oscillating loads exceeds the tolerance value or not, as well as a switching module which, if this aforementioned prediction module calculates that the oscillation of the loads exceeds the tolerance value for the amplitude of the oscillation, stops the actuator with the first module mentioned above, or if the prediction module calculates that the tolerance value for the amplitude of the loads is not exceeded, then stops the actuator with the second module for slow stopping.

[0012] The device for slowly stopping the working machine of the second invention has the special feature that, in the first invention, the aforementioned first module for slow stopping calculates the oscillation cycle of the loads based on the position of the boom and the weight of the loads, and then brakes and stops the actuator halfway through the cycle time when the signal with the instruction to stop the boom has been entered at the control unit.

[0013] The device for slowly stopping the working machine of the third invention has the special feature that it calculates the oscillation cycle of the loads based on the position of the boom, the distance to the suspension of a hook and the weight of the loads and then brakes and stops the actuator in half the cycle time, when in the first invention the boom of the working machine, from which the loads hang, is equipped with a hook for suspending the loads and the aforementioned first module for slow stopping has received the signal from the control unit with the instruction to stop the boom.

[0014] The device for slowly stopping the working machine of the fourth invention has the special feature that it calculates the oscillation cycle of the loads based on the position of the boom and the weight of the loads and then brakes and stops the actuator in half the cycle time, when, in the first invention, the boom of the working machine, from which the loads hang, is equipped with a hook for suspending the loads and the aforementioned first module for slow stopping has received the signal from the control unit with the instruction to stop the hook.

[0015] The device for slowly stopping the working machine of the fifth invention has the special feature that, in the first or the second invention, the module for predicting the load vibration calculates the vibration amplitude of the loads based on the position of the boom, the operating speed of the boom and the weight of the loads, and if a limit value for the vibration amplitude is exceeded, it recognizes that the tolerance value for the vibration amplitude is exceeded, or if the limit value for the vibration amplitude is not exceeded, it recognizes that the tolerance value for the vibration amplitude is not exceeded.

[0016] The device for slowly stopping the working machine of the sixth invention has the special feature that, in the first or the third invention, the boom of the working machine, from which the loads hang, is equipped with a hook for suspending the loads, and that the module for predicting the load oscillation calculates the oscillation cycle of the loads based on the position of the boom, the distance to the suspension of the hook, the operating speed of the boom, and the weight of the loads, and then, if a limit value for the oscillation amplitude is exceeded, recognizes that the tolerance value for the oscillation amplitude is exceeded, or, if the limit value for the oscillation amplitude is not exceeded, recognizes that the tolerance value for the oscillation amplitude is not exceeded.

[0017] The device for slowly stopping the working machine of the seventh invention has the special feature that, in the first or the fourth invention, the boom of the working machine, from which the loads hang, is equipped with a hook for suspending the loads, and that the module for predicting the load oscillation calculates the oscillation cycle of the loads based on the position of the boom, the operating speed of the hook, and the weight of the loads, and then, if a limit value for the oscillation amplitude is exceeded, recognizes that the tolerance value for the oscillation amplitude is exceeded, or, if the limit value for the oscillation amplitude is not exceeded, recognizes that the tolerance value for the oscillation amplitude is not exceeded.

[0018] The device for slowly stopping the working machine of the eighth invention has the special feature that in the first, second, third or fourth invention the working machine is equipped with a speed sensor for detecting the operating speed of the working machine and that the module for predicting the load vibration detects, when a limit value for the vibration width is exceeded, that the tolerance value for the vibration width is exceeded, or, if the limit value for the vibration width is not exceeded, detects that the tolerance value for the vibration width is not exceeded.

[0019] The device for slowly stopping the working machine of the ninth invention has the special feature that in the first, second, third or fourth invention a position sensor is installed which detects the position of the boom, and that the module for predicting the load vibration recognizes, if a limit value for the value determined by the position sensor is exceeded, that the tolerance value for the vibration width is exceeded, or, if the limit value for the value determined by the position sensor is not exceeded, that the tolerance value for the vibration width is not exceeded.

[0020] The device for slowly stopping the working machine of the tenth invention has the special feature that in the first, second, third or fourth invention a weight sensor is installed which detects the weight of the loads, and that the module for predicting the load vibration recognizes, if a limit value for the value determined by the weight sensor is exceeded, that the tolerance value for the vibration width is exceeded, or, if the limit value for the value determined by the weight sensor is not exceeded, that the tolerance value for the vibration width is not exceeded. Effect of the inventions:

[0021] Because, according to the first invention, the actuator is stopped using the first module for slow stopping when an exceedance of the tolerance value for the amplitude of vibration is predicted, load oscillation can be suppressed when the machine stops. If it is predicted that the tolerance value for the amplitude of vibration will not be exceeded, then the actuator is stopped using the second module for slow stopping, which reduces the time required to stop the machine. Furthermore, the amplitude of vibration can be kept within a tolerable range. Therefore, the stopping time can be reduced while simultaneously suppressing load oscillation.

[0022] Because, according to the second invention, when the operation of the boom is stopped, the vibration cycle of the loads is calculated based on the position of the boom and the load weight, the cycle for the load vibration can be predicted exactly and the fluctuation of the loads can be sufficiently suppressed.

[0023] Because, according to the third invention, when the operation of a boom with a hook is stopped, the oscillation cycle of the loads is calculated based on the position of the boom, the distance to the suspension point of this hook, and the load weight, the cycle for the load oscillation can be predicted exactly and the fluctuation of the loads can be sufficiently suppressed. Because, according to the fourth invention, when the operation of the hook is stopped, the oscillation cycle of the loads is calculated based on the position of the boom and the load weight, the cycle for the load oscillation can be predicted exactly and the fluctuation of the loads can be sufficiently suppressed.

[0024] Because, according to the fifth invention, when the boom's operation is stopped, the amplitude of the loads is calculated based on the position of the boom, the operating speed of the boom, and the load weight, and based on this amplitude it is predicted whether the tolerance value will be exceeded or not, the load amplitude can be predicted exactly and the system can switch accordingly between the first and second modules for slow stopping.

[0025] Because, according to the sixth invention, when stopping the operation of a boom with a hook, the oscillation range of the loads is calculated and predicted based on the position of the boom, the distance to the suspension of the hook, the operating speed of the boom and the load weight, and whether the tolerance value is exceeded or not based on this oscillation range of the loads, the load oscillation can be predicted exactly and a switch can be made accordingly between the first and the second module for slow stopping.

[0026] Because, according to the seventh invention, when stopping the operation of a hook, the oscillation range of the loads is calculated based on the position of the boom, the operating speed of the hook and the load weight, and it is predicted whether the tolerance value will be exceeded or not based on this oscillation range of the loads, the load oscillation can be predicted exactly and the system can switch accordingly between the first and second modules for slow stopping.

[0027] Because, according to the eighth invention, comparing the value determined by the speed sensor with a limit value predicts whether the oscillation range of the loads exceeds the tolerance value or not, the system can switch between the first and second modules for slow stopping depending on the speed of the boom or hook. Therefore, it is predictable for the operator that the boom or hook will be stopped by one of the two slow-stop modules. This improves usability.

[0028] Because, according to the ninth invention, comparing the value determined by the position sensor with a limit value predicts whether the vibration amplitude of the loads exceeds the tolerance value or not, the system can switch between the first and second modules for slow stopping depending on the position of the boom. Therefore, it is predictable for the operator that the boom or hook will be stopped by one of the two slow-stop modules. This improves usability.

[0029] Because, according to the tenth invention, comparing the value determined by the weight sensor with a limit value predicts whether the oscillation range of the loads exceeds the tolerance value or not, the system can switch between the first and second module for slow stopping depending on the weight of the load. Therefore, it is predictable for the operator that the boom or hook will be stopped by one of the two modules for slow stopping. This improves usability. Brief description of the drawings:

[0030] Drawing 1 is a block diagram of the slow-stop device as it appears in the first implementation of this invention.

[0031] Figure 2(a) shows in a diagram the changes over time of the control unit's actuator variables. (b) shows in a diagram the changes over time of the operating speed of the boom or hook when the first module was used to bring the machine to a slow stop. (c) shows in a diagram the changes over time of the operating speed of the boom or hook when the second module was used to bring the machine to a slow stop.

[0032] Drawing 3 shows the side view of a mobile elevating work platform.

[0033] Drawing 4 is a block diagram of the slow-stop device as it appears in the second implementation of this invention.

[0034] Drawing 5 is the side view of a mobile crane. Implementation of the invention:

[0035] The execution of this invention will now be explained with reference to the drawings.

[0036] The device for slowly stopping the working machine, to which this invention relates, can be used in all kinds of working machines that have a boom for carrying loads, such as aerial work platforms or mobile cranes, etc., and can be used to suppress load oscillation when the working machine is brought to a standstill. This will be explained below using the examples of aerial work platforms and mobile cranes. First implementation

[0037] The device for slow stopping 1 In its first implementation, this invention is integrated into a mobile elevating work platform. First, the basic structure of a mobile elevating work platform is shown in drawing 3. 100 explained. In drawing 3, the number shows 110 the vehicle, on the rear part of the vehicle's loading platform 110 is the slewing ring 120 mounted. The slewing ring 120The rotary motion is performed by a rotary motor. On the slewing ring 120 is a telescopic boom 130 Freely liftable. Extending and retracting the telescopic boom. 130 The lifting motion is performed using hydraulic cylinders. A work platform is located at the end of the boom. 140 , into which workers can enter. The work basket 140 This is independent of changes in the tilt angle of the boom. 130 It is always held horizontally and can also be rotated on a horizontal plane.

[0038] If such a mobile elevating work platform 100 the boom 130 If the work basket is rotated and this rotation is suddenly stopped, it bends due to the inertial forces of the work basket. 140 the boom 130 , and because of this bending, the work basket swings. 140in a horizontal direction. Furthermore, if the boom 130 If the work basket is lifted and the lifting movement is suddenly stopped, it bends due to the inertial forces of the work basket. 140 the boom 130 , and because of this bending, the work basket swings. 140 in a vertical direction.

[0039] The device for slow stopping 1 This implementation uses [a specific technique] to control the swinging of the work basket. 140 to suppress when the rotation or lifting of the boom 130 a mobile elevating work platform 100 will be stopped.

[0040] In the case of a mobile elevating work platform 100 The “load” specified in the patent claim means the load at the tip of the boom. 130 located work basket 140 as well as those in the work basket 140 loaded workers and other cargo items (hereinafter referred to as "work basket") 140(referred to as ""). The weight of the loads refers to the weight of the work basket. 140 including all items and persons loaded in the work basket (hereinafter referred to as "weight of the work basket"). 140 “ (referred to as “load vibration”). “Load vibration” refers to the oscillation of the work platform. 140 .

[0041] The following describes the construction of the device for slow stopping. 1 explained.

[0042] As shown in drawing 1, the device for slow stopping consists of 1 from the actuator 10 , the aerial work platform 100 sets in motion, the control unit 20 , which the actuator 10 controls the control unit 30 , which the control unit 20 the instructions for operating the mobile elevating work platform 100 gives, and the position sensor 40 , which determines the position of the boom 130 recorded.

[0043] In this implementation, the actuator 10the rotary motor that moves the boom 130 rotates, or the lifting cylinder that moves the boom 130 raises.

[0044] The control unit 20 is a computer installed in the vehicle, consisting of a CPU, memory, etc., and serves to execute instructions from the control unit. 30 the actuator 10 to control. In general, the actuator 10 a mobile elevating work platform 100 It is a hydraulic actuator and has a hydraulic circuit to supply the hydraulic actuator with hydraulic oil. The control unit 20 Controls the direction and quantity of the actuator's supply by adjusting the valves in the hydraulic circuit. 10 with hydraulic oil, thus controlling the direction and speed of the actuator. 10 .

[0045] The control unit 30 includes the control levers, control pedals and switches etc. in the vehicle 110 and in the work basket 140the aerial work platform 100 The control unit 20 controls according to the control variables (e.g. the tilt angle of the operating lever, etc.) from the control unit 30 the drive speed of the actuator 10 Specifically, it is controlled in such a way that the larger the setting of the control unit, the more 30 The higher the speed, the higher the drive speed of the actuator. 10 and the higher the rotation or lifting speed of the boom. 130 Conversely, the smaller the adjustment value of the control unit 30 The higher the speed, the lower the drive speed of the actuator. 10 and thus the rotation or lifting speed of the boom is also affected. 130 lower. Will the control unit 30 If it is not moved (the setpoint = 0), then the control unit 30 to the control unit 20 the stop signal to halt the operation of the boom 130 entered.

[0046] The position sensor40 It consists of various sensors that measure the rotation angle, the boom angle, and the extended length of the boom. 130 measure. The measurement results of the position sensor 40 are integrated into the control unit 20 entered.

[0047] The control unit 20 The first module includes the slow-stop function. 21 , the second module for slow braking 22 , the module for predicting load vibration 23 as well as a switching module 24 These modules are configured to work together and control the actuator. 10 , which forms the drive, to stop. The first module for slow stopping. 21 , the second module for slow braking 22 , the module for predicting load vibration 23 as well as the switching module 24 are via a program in the control unit 20 implemented.

[0048] The control unit 20In addition to its function of controlling the actuator, it also 10 to stop, also a function to stop the actuator 10 according to the control unit's parameters 30 to drive. In drawing 1, the module for implementing this function has been omitted.

[0049] The first module for slow stopping 21 signals are received from the control unit 30 as well as from the position sensor 40 entered. If the first module is for slow stopping. 21 from the control unit 30 the signal to stop the operation of the boom 130 If it receives the information, then it stops the actuator. 10 in the following way to bring to a slow stop.

[0050] When the first module slows down 21 from the control unit 30 When it receives the signal to stop, it first calculates based on the values ​​determined by the position sensor. 40 and the previously stored weight of the work basket 140the load vibration cycle T of the work basket 140 The vibration cycle T here is the cycle of the specific vibrations of the work basket. 140 , which arise when the boom is operated 130 is suddenly stopped. The vibration cycle T of the work platform 140 is known to be uniformly determined by the position (boom angle and extended length) of the boom. 130 as well as the weight of the work basket 140 .

[0051] The first module for slow braking 21 From the beginning, it has data on the boom's own weight, construction, rigidity, etc. 130 stored and designed to work with this information and the values ​​determined by the position sensor 40 (Position of the boom) 130 ) as well as the weight of the work basket 140 The vibration cycle T of the loads is calculated dynamically.

[0052] Furthermore, it is also possible to determine the vibration cycle T for the different positions of the boom in advance through tests. 130 to determine and use these in the first module for slow stopping 21 to save. The first module for slow braking. 21 The stored vibration cycles T for the individual positions of the boom can then be used to calculate 130 Call up the vibration cycle T, which corresponds to the determined value of the position sensor. 40 is assigned.

[0053] It is also possible to use a weight sensor that measures the weight of the work basket. 140 determined, and based on the determined values ​​of the position sensor 40 and the weight sensor to determine the vibration cycle T of the loads. For mobile elevating work platforms 100 However, the work basket's own weight 140The weight of the payload (workers, etc.) is constant and does not vary significantly, therefore the fluctuations in the weight of the work basket are negligible. 140 small. For this reason, the deviations for the calculated vibration cycle T are small, even when considering the weight of the work basket in this setup. 140 should take a constant.

[0054] Next, the first module provides information on slow stopping. 21 the control signal is output, in half the time T1 (= T / 2) of the calculated oscillation cycle T the actuator 10 to brake and stop. More precisely, the setpoint of the control unit. 30 If p is as shown in drawing 2, then the operating speed of the boom should be 130 v be. If at time t the setpoint of the control unit 30 When the state is changed from p to 0 (state without operation) (Drawing 2(a)), the first module brakes to a slow stop. 21from time t over the course of time T1, the actuator 10 , to increase the operating speed of the boom 130 to bring to 0 (Drawing 2(b)).

[0055] This braking and stopping of the actuator 10 It is known that during half the time T1 of the vibration cycle T, when the operation of the boom is stopped, 130 The load oscillation is suppressed. In diagram 2(b), the acceleration during deceleration is constant, but it does not have to be constant.

[0056] The second module for slow braking 22 It receives its signals from the control unit. 30 as well as from the position sensor 40 If the second module is for slow stopping 22 from the control unit 30 When it receives the stop signal, it stops the actuator. 10 in the following way to bring to a slow stop.

[0057] When the second module is used for slow stopping 22 from the control unit30 Once it receives the stop signal, it sends out a control signal to the actuator. 10 to brake and stop within a pre-programmed time T2. More precisely, as shown in drawing 2, if at time t the setpoint of the control unit 30 When the state is changed from p to 0 (state without operation) (drawing 2(a)), the second module brakes to a slow stop. 22 from time t over the course of time T2, the actuator 10 , to increase the operating speed of the boom 130 to bring to 0 (Drawing 2(c)).

[0058] The time course T2 is set to a shorter time than half the time T1 of the oscillation cycle T. If the actuator 10 Therefore, the second module is used for slow braking. 22When the boom is stopped, a correspondingly larger load oscillation occurs for this shorter time than T1. The value for T2 is determined in advance based on tests. Specifically, for each position of the boom... 130 The time required to stop is determined, whereby the amplitude of the vibration must remain within a certain range. This value is then T2. ​​"amplitude of vibration" here refers to the amplitude of the load vibration.

[0059] The second module for slow braking 22 calls up times T2 from the stored times for the individual positions of the boom. 130 the time T2, which corresponds to the determined value of the position sensor 40 is assigned and sends a control signal to the actuator. 10 to stop T2 during this time.

[0060] Time T2 can also be defined as a constant value independent of the position of the boom. 130 to be determined. In this case, the values ​​determined by the position sensor will be used.40 not into the second module for slow stopping 22 entered. The second module for slow braking. 22 transmits regardless of the boom's position 130 the control signal, the actuator 10 to stop at the pre-programmed time T2.

[0061] The module for predicting load vibration 23 receives signals from the control unit 30 as well as from the position sensor 40 The module for predicting load vibration 23 predicts whether the amplitude of the load will change during a sudden stop in boom operation. 130 Whether or not the tolerance value is exceeded, based on the setpoint from the control unit. 30 , the determined values ​​of the position sensor 40 and the weight of the work basket, which is stored in advance. 140 In this implementation, the module leads to the prediction of the load oscillation. 23this prediction is carried out in the following way.

[0062] The module for predicting load vibration 23 initially calculated based on the setpoint from the control unit 30 , the determined values ​​of the position sensor 40 and the weight of the work basket 140 the amplitude A of the work basket 140 The amplitude A of the work platform 140 is known to be determined by the position (boom angle and extended length) of the boom. 130 , the operating speed of the boom 130 as well as the weight of the work basket 140 (including the weight of the payload).

[0063] This implementation yields the operating speed of the boom. 130 from the setpoint of the control unit 30 Specifically, as shown in drawing 2(a), the setpoint p of the control unit is 30shortly before changing to the setpoint 0 as the operating speed of the boom 130 taken. This means that in this implementation the control unit 30 also the function of a speed sensor to determine the operating speed of the boom. 130 takes over.

[0064] The operating speed of the boom can be adjusted. 130 but also from the change over time of the determined values ​​(position of the boom) 130 ) of the position sensor 40 calculate. Or you can use the control unit next to it. 30 also install a speed sensor that measures the operating speed of the boom. 130 determined. The “speed sensor” mentioned in the patent claim is therefore not limited to a module that directly measures the speed of the boom. 130 determined, but is a term that also includes modules or devices, such as the control unit 30 or the position sensor40 the operating speed of the boom 130 Determine indirectly.

[0065] The module for predicting load vibration 23 It has data on the structure, rigidity, etc. of the boom from the very beginning. 130 stored and designed to work with this data, the setpoints (operating speed of the boom) 130 ) the control unit 30 , the determined values ​​(position of the boom) 130 ) of the position sensor 40 as well as the weight of the work basket 140 The amplitude of vibration A of the loads is calculated dynamically.

[0066] Furthermore, it is also possible to determine the vibration amplitude A for the different positions and operating speeds of the boom in advance through tests. 130 to determine and use this in the module for predicting load vibration 23 to be stored. The module for predicting load oscillations 23The stored vibration widths A for the individual positions and operating speeds of the boom can then be used to calculate 130 call up the oscillation width A, which corresponds to the setpoint of the control unit 30 as well as the determined value of the position sensor 40 is assigned.

[0067] If the calculated amplitude A exceeds a previously stored limit value, then the module for predicting the load oscillation decides 23 , that the vibration width A exceeds the tolerance value, and if the calculated vibration width A does not exceed the limit value, then it decides that the vibration width A does not exceed the tolerance value.

[0068] The limit value here is predefined as the largest tolerable value for the vibration amplitude A. For example, one could take the vibration amplitude A as the largest value that would be harmful to a worker in a work platform. 140stopping is not yet unpleasant.

[0069] The switching module 24 receives the signal from the first module to slow down. 21 and from the second module to slow stopping 22 It analyzes the emitted control signals and selects one of these control signals to send to the actuator. 10 passes on. The switching module 24 is equipped with the module for predicting load vibration 23 connected and when the module is used to predict load vibration 23 If it predicts that the oscillation width A exceeds the tolerance value, then the control signal of the first module is used to slow down. 21 to the actuator 10 output and the first module for slow stopping 21 stops the actuator 10 If, on the other hand, the module is used to predict the load oscillation 23If it predicts that the oscillation width A will not exceed the tolerance value, then the control signal of the second module will be used to bring it to a slow stop. 22 to the actuator 10 output and the second module for slow stopping 22 stops the actuator 10 .

[0070] Next, the operation of the device for slow stopping will be described. 1 described.

[0071] When the worker, as shown in drawing 2, uses the control unit 30 operated and at time t the setpoint of the control unit 30 When the state changes from p to 0 (state without operation) (drawing 2(a)), the first module provides the starting point for slow stopping. 21 a control signal to stop the actuator 10 in half the time T1 of the oscillation cycle T (Figure 2(b)). The second module for slow stopping. 22 However, it provides a control signal to stop the actuator. 10T2 emerges in a shorter time than T1 (Figure 2(c)). The module for predicting the load oscillation 23 in turn, based on the immediately preceding setpoint p of the control unit, it says 30 , the determined values ​​of the position sensor 40 as well as the weight of the work basket 140 presupposed whether the amplitude of vibration A exceeds the tolerance value or not.

[0072] When the telescopic arm of the boom 130 extended far or the operating speed of the boom 130 If the load oscillation is high, etc., then the module for predicting the load oscillation will be used. 23 It was predicted that the amplitude A would exceed the tolerance value. In this case, the switching module... 24 the control signal of the first module for slow stopping 21 to the actuator 10 off, and the actuator 10 The first module will bring the car to a slow stop. 21stopped. This prevents the load oscillation from occurring when the boom stops. 130 be suppressed.

[0073] If, on the other hand, the telescopic arm of the boom 130 short or the operating speed of the boom 130 If the load oscillation is low, etc., then the module for predicting the load oscillation will be used. 23 It is predicted that the amplitude A will not exceed the tolerance value. In this case, the switching module indicates 24 the control signal of the second module for slow stopping 22 to the actuator 10 off, and the actuator 10 The second module will slow down. 22 stopped. This allows the boom to be stopped. 130 The required time can be reduced. Furthermore, since it is predicted that the amplitude A will not exceed the tolerance value, even when the actuator is stopped, 10 through the second module for slow stopping 22The vibration width A must be kept within a tolerable range.

[0074] As described above, the device can therefore be used for slow stopping. 1 The time until stopping is reduced, while at the same time the load oscillation is suppressed.

[0075] When the boom operation is stopped 130 says the module for predicting load vibration 23 in this implementation based on the setpoint (operating speed of the boom) 130 ) the control unit 30 , the determined values ​​(position of the boom) 130 ) of the position sensor 40 as well as the weight of the work basket 140 The module predicts the oscillation width A. Because it uses this oscillation width A to predict whether the tolerance value will be exceeded, the load oscillation can be precisely predicted. Therefore, switching between the first module for slow stopping is possible. 21and the second module for slow stopping 22 This can be carried out accordingly and the time until stopping can be reduced, while at the same time the load oscillation can be reliably suppressed. Second implementation

[0076] The device for slow stopping 2 The second implementation of this invention is installed in a mobile crane. First, the basic structure of a mobile crane is shown with reference to drawing 5. 100 explained. In drawing 5, the number shows 210 the undercarriage; on the undercarriage 210 The slewing ring is at the top. 220 mounted. The slewing ring 220 The rotary motion is performed by a rotary motor. On the slewing ring 220 is a telescopic boom 230 Freely liftable. Extending and retracting the telescopic boom. 230The lifting motion is performed using hydraulic cylinders. A steel cable hangs from the end of the boom. 241 down, to which a crane hook 240 is attached. This steel cable 241 becomes the base of the boom 230 The cable is guided and wound onto a winch at the end. Turning the winch winds or unwinds the steel cable, thus engaging the crane hook. 240 It can be moved up and down. A suspended load can be attached to this crane hook. 250 suspend. By combining rotation, raising and lowering, as well as extending and retracting the boom. 230 as well as the raising and lowering of the crane hook 240 can the suspended load 250 being lifted and set down in a three-dimensional space.

[0077] When such a mobile crane 200 the boom 230If the rotation is turned and then suddenly stopped, the suspended load will swing. 250 due to the inertial forces of the suspended load 250 in a horizontal direction like a pendulum, and in addition the boom bends. 230 due to the inertial forces of the suspended load 250 The suspended load also swings due to this bending. 250 in a horizontal direction. Or when the boom 230 If the load is lifted and the lifting movement is suddenly stopped, it bends due to the inertial forces of the suspended load. 250 the boom 230 , and because of this bending, the suspended load swings. 250 in the vertical direction, while at the same time due to the horizontal elements of the inertial forces of the suspended load 250 the suspended load 250It swings horizontally like a pendulum. Furthermore, if the boom is extended or retracted and this movement is suddenly stopped, the suspended load will swing. 250 due to the inertial forces of the suspended load 250 in a horizontal direction like a pendulum.

[0078] The device for slow stopping 2 In this implementation, it is used to control the oscillation of the suspended load. 250 to suppress when the rotation, lifting, or extension and retraction of the boom is taking place. 230 a mobile crane 200 will be stopped.

[0079] With a mobile crane 200 is the “load” specified in the patent claim that is attached to the crane hook 240 hanging load 250 This means the weight of the load is the sum of the weight of the crane hook. 240 and the weight of the hanging load 250 (hereinafter referred to as "weight of the suspended load") 250“ (referred to as “load oscillation”). “Load oscillation” means the oscillation of the suspended load. 250 .

[0080] The following describes the construction of the device for slow stopping. 2 explained.

[0081] As shown in drawing 4, the structure of the device for slow stopping consists of 2 from the slow-stop device 1 from the first implementation, which included a weight sensor 50 was added, which increased the weight of the hanging load 250 determined.

[0082] In this implementation, the actuator 10 the rotary motor that moves the boom 230 rotates the lifting cylinder that rotates the boom 230 lifts, or the hydraulic cylinders for extending and retracting the boom 230 .

[0083] The control unit 30 includes the driver's seat of the mobile crane 200 attached operating levers, operating pedals and switches, etc. The control unit 20controls according to the control variables (e.g. the tilt angle of the operating lever, etc.) from the control unit 30 the drive speed of the actuator 10 Will the control unit 30 If it is not moved (the setpoint = 0), then the control unit 30 to the control unit 20 the stop signal to halt the operation of the boom 230 entered.

[0084] The position sensor 40 It consists of various sensors that measure the rotation angle, the boom angle, and the extended length of the boom. 230 as well as the distance from the tip of the boom 230 up to the hanging load 250 (hereinafter referred to as "hanging distance of the crane hook") 240 (designated as “) measure. The measurement results of the position sensor 40 are integrated into the control unit 20 entered.

[0085] The weight sensor 50It consists of various sensors that measure the weight of the suspended load. 250 Measure. The measurement results of the weight sensor. 50 are integrated into the control unit 20 entered.

[0086] The control unit 20 The first module includes the slow-stop function. 21 , the second module for slow braking 22 , the module for predicting load vibration 23 as well as the switching module 24 These modules are configured to work together and control the actuator. 10 , which forms the drive, stop.

[0087] The first module for slow stopping 21 signals are received from the control unit 30 , from the position sensor 40 as well as from the weight sensor 50 entered. If the first module is for slow stopping. 21 from the control unit 30 the signal to stop the operation of the boom 230If it receives the information, then it stops the actuator. 10 in the following way to bring to a slow stop.

[0088] When the first module slows down 21 from the control unit 30 When it receives the signal to stop, it first calculates based on the values ​​determined by the position sensor. 40 and the weight sensor 50 the load oscillation cycle T of the suspended load 250 The vibration cycle T here is the cycle of specific vibrations of the suspended load. 250 , which arise when the boom is operated 130 is suddenly stopped. The oscillation cycle of the suspended load 250 is known to be uniformly determined by the position (boom angle and extended length) of the boom. 230 , the hanging section of the crane hook 240 as well as the weight of the suspended load 250 .

[0089] The first module for slow braking 21From the beginning, it has data on the boom's own weight, construction, rigidity, etc. 230 stored and designed to work with this information and the values ​​determined by the position sensor 40 as well as the weight sensor 50 (Position of the boom) 230 , Suspension length of the crane hook 240 as well as the weight of the suspended load 250 ) dynamically calculates the vibration cycle T of the loads.

[0090] Furthermore, it is also possible to determine the vibration cycle T for the different positions of the boom in advance through tests. 230 , the individual hanging sections of the crane hook 240 as well as for each weight of the suspended load 250 to determine and use these in the first module for slow stopping 21 to save. The first module for slow braking. 21 The stored vibration cycles T for the individual positions of the boom can then be used to calculate 230 , the hanging sections of the crane hook240 as well as for the weight of the suspended load 250 Call up the vibration cycle T, which corresponds to the determined values ​​of the position sensor. 40 as well as the weight sensor 50 is assigned.

[0091] Next, the first module provides information on slow stopping. 21 the control signal is output, in half the time T1 (= T / 2) of the calculated oscillation cycle T the actuator 10 to brake and stop.

[0092] The second module for slow braking 22 It receives its signals from the control unit. 30 , from the position sensor 40 as well as from the weight sensor 50 If the second module is for slow stopping 22 from the control unit 30 When it receives the stop signal, it stops the actuator. 10 in the same way as the second module for slow stopping 22 in the first implementation.

[0093] The time course T2 is set to a shorter time than half the time T1 of the oscillation cycle T. If the actuator 10 Therefore, the second module is used for slow braking. 22 When the boom is stopped, a correspondingly larger load oscillation occurs for this shorter time than T1. The value for T2 is determined in advance based on tests. Specifically, for each position of the boom... 130 , for each hanging section of the crane hook 240 as well as for each weight of the suspended load 250 The time required to stop is determined, whereby the oscillation amplitude must remain within a certain range. This value is then T2.

[0094] The second module for slow braking 22 calls up times T2 from the stored times for the individual positions of the boom. 130 , for each hanging section of the crane hook 240 as well as for each weight of the suspended load 250the time T2, which corresponds to the determined values ​​of the position sensor 40 and the weight sensor 50 corresponds and sends a control signal to the actuator. 10 to stop during time T2.

[0095] Time T2 can also be defined as a constant value independent of the position of the boom. 130 , the hanging section of the crane hook 240 as well as the weight of the suspended load 250 to be determined. In this case, the values ​​determined by the position sensor will be used. 40 as well as the weight sensor 50 not into the second module for slow stopping 22 entered. The second module for slow braking. 22 transmits regardless of the boom's position 130 , the hanging section of the crane hook 240 as well as the weight of the suspended load 250 the control signal, the actuator 10 to stop T2 at a pre-programmed time.

[0096] The module for predicting load vibration 23 receives signals from the control unit 30 , the position sensor 40 as well as the weight sensor 50 The module for predicting load vibration 23 says based on the setpoint from the control unit 30 and the determined values ​​of the position sensor 40 as well as the weight sensor 50 The module determines beforehand whether the vibration amplitude exceeds the tolerance value or not. In this implementation, the module predicts the load vibration. 23 His prediction was as follows.

[0097] The module for predicting load vibration 23 initially calculated based on the setpoint from the control unit 30 and the determined values ​​of the position sensor 40 as well as the weight sensor 50 the amplitude A of the suspended load 250 The amplitude A of the suspended load 250is known to be determined by the position (boom angle and extended length) of the boom. 230 , the hanging length of the crane hook 240 , the operating speed of the boom 230 as well as the weight of the suspended load 250 .

[0098] This implementation yields the operating speed of the boom. 230 from the setpoint of the control unit 30 The operating speed of the boom can be adjusted. 230 but also from the change over time of the determined values ​​(position of the boom) 230 ) of the position sensor 40 calculate. Or you can use the control unit next to it. 30 also install a speed sensor that measures the operating speed of the boom. 230 determined.

[0099] The module for predicting load vibration 23 It has data on the structure, rigidity, etc. of the boom from the very beginning. 230stored and designed to work with this data, the setpoints (operating speed of the boom) 230 ) the control unit 30 and the determined values ​​(position of the boom) 230 , Suspension length of the crane hook 240 as well as the weight of the suspended load 250 ) of the position sensor 40 as well as the weight sensor 50 The amplitude of vibration A of the loads is calculated dynamically.

[0100] Furthermore, it is also possible to determine the vibration amplitude A for the different positions of the boom in advance through tests. 230 , for the different suspension lengths of the crane hook 240 , for the different operating speeds of the boom 230 as well as for the different weights of the suspended load 250 to determine and use this in the module for predicting load vibration 23 to be stored. The module for predicting load oscillations 23The stored vibration widths A for the different positions of the boom can then be used to calculate 230 , for the different suspension lengths of the crane hook 240 , for the different operating speeds of the boom 230 as well as for the different weights of the suspended load 250 call up the oscillation width A, which corresponds to the setpoint of the control unit 30 as well as the values ​​determined by the position sensor 40 and the weight sensor 50 is assigned.

[0101] Next, the module decides how to predict the load oscillation. 23 , if the calculated amplitude A exceeds a previously stored limit value, then it decides that the amplitude A exceeds the tolerance value, and if the calculated amplitude A does not exceed the limit value, then it decides that the amplitude A does not exceed the tolerance value.

[0102] The limit value here is predefined as the largest tolerable value for the vibration amplitude A. For example, one could take the vibration amplitude A as the largest value at which the safety of the suspended load is compromised. 250 can still be guaranteed.

[0103] If the module is used to predict load vibration 23 If the switching module predicts that the amplitude A exceeds the tolerance value, then it outputs 24 the control signal of the first module for slow stopping 21 to the actuator 10 further and the actor 10 The first module causes the slow stop. 21 stopped. However, if the module for predicting load oscillations 23 If it predicts that the oscillation width A will not exceed the tolerance value, then the control signal of the second module will be used to bring it to a slow stop. 22 to the actuator 10 issued and the actuator 10The second module causes the slow stop. 22 stopped.

[0104] Next, the operation of the device for slow stopping will be described. 2 described.

[0105] When the worker, as shown in drawing 2, uses the control unit 30 operated and at time t the setpoint of the control unit 30 When the state changes from p to 0 (state without operation) (drawing 2(a)), the first module provides the starting point for slow stopping. 21 a control signal to stop the actuator 10 in half the time T1 of the oscillation cycle T (Figure 2(b)). The second module for slow stopping. 22 However, it provides a control signal to stop the actuator. 10 T2 emerges in a shorter time than T1 (Figure 2(c)). The module for predicting the load oscillation 23 in turn, based on the immediately preceding setpoint p of the control unit, it says 30, the determined values ​​of the position sensor 40 as well as the weight sensor 50 presupposed whether the amplitude of vibration A exceeds the tolerance value or not.

[0106] When the telescopic arm of the boom 230 fully extended, the operating speed of the boom 230 high, the hanging length of the crane hook 240 length or the weight of the hanging load 250 If the load oscillation is large, etc., then the module for predicting the load oscillation will be used. 23 It was predicted that the amplitude A would exceed the tolerance value. In this case, the switching module... 24 the control signal of the first module for slow stopping 21 to the actuator 10 off, and the actuator 10 The first module will bring the car to a slow stop. 21 stopped. This prevents the load oscillation from occurring when the boom stops. 230 be suppressed.

[0107] If, on the other hand, the boom230 When retracted and short, the operating speed of the boom 230 low, the hanging length of the crane hook 240 short or the weight of the hanging load 250 If the load oscillation is low, etc., then the module for predicting the load oscillation will be used. 23 It is predicted that the amplitude A will not exceed the tolerance value. In this case, the switching module indicates 24 the control signal of the second module for slow stopping 22 to the actuator 10 off, and the actuator 10 The second module will slow down. 22 stopped. This allows the boom to stop moving until it stops. 230 The required time can be reduced. Furthermore, since it is predicted that the amplitude A will not exceed the tolerance value, even when the actuator is stopped, 10 through the second module for slow stopping 22The vibration width A must be kept within a tolerable range.

[0108] As described above, the device can therefore be used for slow stopping. 2 The time until stopping is reduced, while at the same time the load oscillation is suppressed.

[0109] In this implementation, the module predicts the load oscillation. 23 when stopping the operation of a boom 230 with a crane hook 240 based on the setpoint (operating speed of the boom) 230 ) the control unit 30 , the determined values ​​(position of the boom) 230 , Hanging length of the hook 240 ) of the position sensor 40 as well as the weight of the suspended load 250The module predicts the oscillation width A. Because it uses this oscillation width A to predict whether the tolerance value will be exceeded, the load oscillation can be precisely predicted. Therefore, switching between the first module for slow stopping is possible. 21 and the second module for slow stopping 22 This is carried out accordingly and the time until stopping is reduced, while at the same time the load oscillation is reliably suppressed. Third implementation

[0110] The following describes the device for slow stopping. 3 explained in a third implementation of this invention.

[0111] In a mobile crane 200 The load oscillation occurs when the boom is rotated, lifted or lowered, or extended or retracted. 230 is stopped, as well as by halting the upward and downward movement of the crane hook. 240More precisely, it bends due to the inertial forces of the suspended load. 250 the boom 230 , when the crane hook 240 The load is moved upwards or downwards and this movement is suddenly stopped. Due to this bending, the suspended load swings. 250 in a vertical direction. This device for slow stopping. 3 In this implementation, it serves to prevent the lifting or lowering movement of the crane hook from stopping. 240 a mobile crane 200 the swinging of the suspended load 250 to suppress.

[0112] The design of the device for slow stopping 3 is the same as the design of the device for slow stopping 2 in the second implementation (see drawing 4). The actuator 10 In this implementation, the winch that holds the crane hook 240 can be raised or lowered.

[0113] The control unit 30 includes the driver's seat of the mobile crane200 attached operating levers, operating pedals and switches, etc. The control unit 20 controls according to the setpoints (e.g., the tilt angle of the operating lever, etc.) from the control unit 30 the drive speed of the actuator 10 Will the control unit 30 If it is not moved (the setpoint = 0), then the control unit 30 to the control unit 20 the stop signal to halt the operation of the hook 240 entered.

[0114] The first module for slow stopping 21 signals are received from the control unit 30 , from the position sensor 40 as well as from the weight sensor 50 entered. If the first module is for slow stopping. 21 from the control unit 30 the signal to stop the operation of the crane hook 240 If it receives the information, then it stops the actuator. 10 in the following way to bring to a slow stop.

[0115] When the first module slows down 21 from the control unit 30 When it receives the signal to stop, it first calculates based on the values ​​determined by the position sensor. 40 and the values ​​determined by the weight sensor 50 the load oscillation cycle T of the suspended load 250 The vibration cycle T here is the cycle of specific vibrations of the suspended load. 250 , which arise when the crane hook is operated 240 is suddenly stopped. The oscillation cycle T of the suspended load 250 is known to be uniformly determined by the position (boom angle and extended length) of the boom. 230 as well as the weight of the suspended load 250 The first module for slow braking 21 It is either designed to dynamically calculate the vibration cycle T, or it retrieves a pre-stored vibration cycle T.

[0116] Next, the first module provides information on slow stopping. 21 the control signal is output, in half the time T1 (= T / 2) of the calculated oscillation cycle T the actuator 10 to brake and stop.

[0117] The second module for slow braking 22 receives signals from the control unit 30 , from the position sensor 40 as well as from the weight sensor 50 If the second module is for slow stopping 22 from the control unit 30 When it receives the stop signal, it stops the actuator. 10 in the same way as the second module for slow stopping 22 in the first implementation.

[0118] The time course T2 is set to a shorter time than half the time T1 of the oscillation cycle T. If the actuator 10 Therefore, the second module is used for slow braking. 22When the boom is stopped, a correspondingly larger load oscillation occurs for this shorter time than T1. The value for T2 is determined in advance based on tests. Specifically, for each position of the boom... 130 as well as for each weight of the suspended load 250 The time required to stop is determined, whereby the oscillation amplitude must remain within a certain range. This value is then T2.

[0119] The second module for slow braking 22 calls up the stored times for T2 for the individual positions of the boom. 130 as well as for each weight of the suspended load 250 the time T2, which corresponds to the determined values ​​of the position sensor 40 and the weight sensor 50 is assigned and sends a control signal to the actuator. 10 to stop during time T2.

[0120] Time T2 can also be defined as a constant value independent of the position of the boom. 130as well as the weight of the suspended load 250 to be determined. In this case, the values ​​determined by the position sensor will be used. 40 as well as the weight sensor 50 not into the second module for slow stopping 22 entered. The second module for slow braking. 22 transmits regardless of the boom's position 130 as well as the weight of the suspended load 250 the control signal, the actuator 10 to stop T2 at a pre-programmed time.

[0121] The module for predicting load vibration 23 receives signals from the control unit 30 , the position sensor 40 as well as the weight sensor 50 The module for predicting load vibration 23 says based on the setpoint of the control unit 30 , the determined values ​​of the position sensor 40 as well as the weight sensor 50assuming that in the event of a halt to the operation of the crane hook 240 The module determines whether the vibration amplitude exceeds the tolerance value or not. In this implementation, the module predicts the load vibration. 23 His prediction was as follows.

[0122] The module for predicting load vibration 23 initially calculated based on the setpoint of the control unit 30 and the determined values ​​of the position sensor 40 as well as the weight sensor 50 the amplitude A of the suspended load 250 The amplitude A of the suspended load 250 is known to be determined by the position (boom angle and extended length) of the boom. 230 , the operating speed of the boom 230 as well as the weight of the suspended load 250 The module for predicting load vibration 23It is either designed to dynamically calculate the oscillation width A, or to retrieve a pre-stored oscillation width A.

[0123] This implementation yields the operating speed of the crane hook. 240 from the setpoint of the control unit 30 The operating speed of the crane hook can be adjusted. 240 but also from the change over time of the determined values ​​(suspension distance of the crane hook) 240 ) of the position sensor 40 calculate. Or you can use the control unit next to it. 30 also install a speed sensor that measures the operating speed of the crane hook. 240 determined.

[0124] Next, the module decides how to predict the load oscillation. 23, if the calculated amplitude A exceeds a previously stored limit value, then it decides that the amplitude A exceeds the tolerance value, and if the calculated amplitude A does not exceed the limit value, then it decides that the amplitude A does not exceed the tolerance value.

[0125] If the module is used to predict load vibration 23 If the switching module predicts that the amplitude A exceeds the tolerance value, then it outputs 24 the control signal of the first module for slow stopping 21 to the actuator 10 further and the actor 10 The first module causes the slow stop. 21 stopped. However, if the module for predicting load oscillations 23 If it predicts that the oscillation width A will not exceed the tolerance value, then the control signal of the second module will be used to bring it to a slow stop. 22 to the actuator 10issued and the actuator 10 The second module causes the slow stop. 22 stopped.

[0126] Next, the operation of the device for slow stopping will be described. 2 described.

[0127] When the worker, as shown in drawing 2, uses the control unit 30 operated and at time t the setpoint of the control unit 30 When the state changes from p to 0 (state without operation) (drawing 2(a)), the first module provides the starting point for slow stopping. 21 a control signal to stop the actuator 10 in half the time T1 of the oscillation cycle T (Figure 2(b)). The second module for slow stopping. 22 However, it provides a control signal to stop the actuator. 10 T2 emerges in a shorter time than T1 (Figure 2(c)). The module for predicting the load oscillation 23 in turn, based on the immediately preceding setpoint p of the control unit, it says30 , the determined values ​​of the position sensor 40 as well as the weight sensor 50 presupposed whether the amplitude of vibration A exceeds the tolerance value or not.

[0128] When the telescopic arm of the boom 230 fully extended, the operating speed of the boom 230 high or the weight of the hanging load 250 If the load oscillation is large, etc., then the module for predicting the load oscillation will be used. 23 It was predicted that the amplitude A would exceed the tolerance value. In this case, the switching module... 24 the control signal of the first module for slow stopping 21 to the actuator 10 off, and the actuator 10 The first module will bring the car to a slow stop. 21 stopped. This prevents the load oscillation from occurring when the boom stops. 230 be suppressed.

[0129] If, on the other hand, the boom 230When retracted and short, the operating speed of the boom 230 low or the weight of the hanging load 250 If the load oscillation is low, etc., then the module for predicting the load oscillation will be used. 23 It is predicted that the amplitude A will not exceed the tolerance value. In this case, the switching module indicates 24 the control signal of the second module for slow stopping 22 to the actuator 10 off, and the actuator 10 The second module will slow down. 22 stopped. This allows the boom to stop moving until it stops. 230 The required time can be reduced. Furthermore, since it is predicted that the amplitude A will not exceed the tolerance value, even when the actuator is stopped, 10 through the second module for slow stopping 22 The vibration amplitude must be kept within a tolerable range.

[0130] As described above, the device can therefore be used for slow stopping. 2 The time until stopping is reduced, while at the same time the load oscillation is suppressed.

[0131] Furthermore, the module predicts load vibrations. 23 in this implementation in the event that the operation of a crane hook 240 is stopped based on the setpoint (operating speed of the crane hook). 240 ) the control unit 30 , the determined values ​​(position of the boom) 230 ) of the position sensor 40 as well as the weight of the suspended load 250 The module predicts the oscillation width A. Because it uses this oscillation width A to predict whether the tolerance value will be exceeded, the load oscillation can be precisely predicted. Therefore, switching between the first module for slow stopping is possible. 21 and the second module for slow stopping 22This is carried out accordingly and the time until stopping is reduced, while at the same time the load oscillation is reliably suppressed. Fourth implementation

[0132] The following describes the device for slow stopping. 4 explained in a fourth implementation of this invention.

[0133] The device for slow stopping 4 This implementation uses a different approach to predicting load oscillation. 23 His prediction is more accurate than the other implementations mentioned above. The overall design is the same as for devices used for slow braking. 1 , 2 and 3 the first, second and third implementations and is therefore omitted here.

[0134] The module for predicting load vibration 23In this implementation, it predicts that the vibration amplitude A will exceed the tolerance value if the immediately preceding control value p (operating speed of the boom) 130 or 230 or the crane hook 240 ) the control unit 30 exceeds a limit value. If the immediately preceding setpoint p of the control unit 30 If the vibration amplitude A does not exceed a limit value, then the module predicts that it will not exceed the tolerance value. The limit value is defined for each position of the boom. 130 or 230 , for each hanging section of the crane hook 240 (if a cantilever 230 with a crane hook 240 is stopped) as well as for each weight of the load (a work basket 140 or a suspended load 250 ) predetermined. This means the module for predicting load oscillation is set in advance. 23selects from the pre-stored limit values ​​for the positions of the boom. 130 or 230 , for the hanging sections of the crane hook 240 (if in this case a boom 230 with a crane hook 240 is stopped) as well as for the weight of the load 140 or 250 the value that corresponds to the determined values ​​of the position sensor 40 and the weight sensor 50 is assigned. Then it compares this limit value with the immediately preceding setpoint p of the control unit. 30 and decides whether the amplitude of vibration A exceeds the tolerance value or not.

[0135] The limit value can also be set independently of the position of the boom. 130 or 230 as well as from the hanging section of the crane hook 240 for each weight of loads 140 or 250 to be determined. In this case, the values ​​determined by the position sensor will be used. 40not in the module for predicting load vibration 23 entered. The module for predicting load vibrations 23 calls up the pre-stored limit values ​​for the individual weights of the loads. 140 or 250 the limit value that corresponds to the determined values ​​of the weight sensor 50 is assigned. Then it compares this limit value with the immediately preceding setpoint p of the control unit. 30 and decides whether the amplitude of vibration A exceeds the tolerance value or not.

[0136] However, the limit value can also be independent of the weight of the loads. 140 or 250 for each position of the boom 130 or 230 as well as for each hanging section of the crane hook 240 (if in this case a boom 230 with a crane hook 240 (is stopped) can be determined. In this case, the values ​​determined by the weight sensor are used. 50not in the module for predicting load vibration 23 entered. The module for predicting load vibrations 23 calls out the pre-stored limit values ​​for the individual positions of the boom. 130 or 230 as well as for the individual suspension sections of the crane hook 240 (if in this case a boom 230 with a crane hook 240 (is stopped) the limit value which corresponds to the determined values ​​of the position sensor 40 is assigned. Then it compares this limit value with the immediately preceding setpoint p of the control unit. 30 and decides whether the amplitude of vibration A exceeds the tolerance value or not.

[0137] Furthermore, the limit value can also be set independently of the position of the boom. 130 or 230 , the hanging section of the crane hook 240 as well as the weight of the loads 140 or 250be set as a constant value. In this case, the values ​​determined by the position sensor are used. 40 as well as the weight sensor 50 not in the module for predicting load vibration 23 entered. The module for predicting load vibrations 23 compares regardless of the position of the boom. 130 or 230 , the hanging section of the crane hook 240 as well as the weight of the loads 140 or 250 the pre-stored limit value with the immediately preceding setpoint p of the control unit 30 and decides whether the amplitude of vibration A exceeds the tolerance value or not.

[0138] In this way, the control unit can be compared to the immediately preceding setpoint p. 30 The limit value can be used to predict whether the vibration amplitude A exceeds the tolerance value or not. Therefore, depending on the operating speed of the boom,130 or 240 between the first module for slow stopping 21 and the second module for slow stopping 22 to be switched. Therefore, it is predictable for the worker that the boom will 130 or 230 either through the first or through the second module to bring the car to a slow stop. 21 or 22 The process is paused. This improves usability.

[0139] Instead of the immediately preceding setpoint p of the control unit 30 Can one also use the values ​​determined by a speed sensor that measures the operating speed of the boom? 130 or 230 or the crane hook 240 determined. Or it is also possible to determine the operating speed of the boom. 230 or the crane hook 240 from the change over time of the determined values ​​(position of the boom) 230 or the hanging length of the crane hook240 ) of the position sensor 40 to calculate. Fifth implementation

[0140] The following describes the device for slow stopping. 5 explained in a fifth implementation of this invention.

[0141] The module can be used to predict load vibrations. 23 The implementations mentioned above can also be structured as follows.

[0142] The module for predicting load vibration 23 decides that the oscillation width A exceeds the tolerance value if the determined value of the position sensor 40 exceeds a limit value. If the determined value of the position sensor 40 If the limit value is not exceeded, the module determines that the vibration amplitude A does not exceed the tolerance value. The limit value is defined here for each operating speed of the boom. 130 or 230 or the crane hook 240 as well as for each weight of the load 140 or250 predefined. This means the module for predicting load vibration 23 selects from the stored limit values ​​for the operating speeds of the boom. 130 or 230 or the crane hook 240 as well as for the weight of the load 140 or 250 the value that corresponds to the immediately preceding setpoint p (operating speed of the boom) 130 or 230 or the crane hook 240 ) the control unit 30 as well as the determined value of the weight sensor 50 is assigned. Then it compares this limit value with the determined value of the position sensor. 40 and decides whether the amplitude of vibration A exceeds the tolerance value or not.

[0143] However, the limit value can also be set independently of the operating speed of the boom. 130 or 230 or the crane hook 240 for each weight of loads 140or 250 to be set. In this case, the setpoint values ​​of the control unit are determined. 30 not in the module for predicting load vibration 23 entered. The module for predicting load vibrations 23 calls up the stored limit values ​​for each weight of the loads 140 or 250 the limit value that corresponds to the determined values ​​of the weight sensor 50 is assigned. Then it compares this limit value with the determined value of the position sensor. 40 and decides whether the amplitude of vibration A exceeds the tolerance value or not.

[0144] However, the limit value can also be independent of the weight of the loads. 140 or 250 for each operating speed of the boom 130 or 230 or the crane hook 240 to be determined. In this case, the values ​​determined by the weight sensor will be used. 50not in the module for predicting load vibration 23 entered. The module for predicting load vibrations 23 calls up the stored limit values ​​for the individual operating speeds of the boom. 130 or 230 or the crane hook 240 the limit value that corresponds to the immediately preceding setpoint p (operating speed of the boom). 130 or 230 or the crane hook 240 ) the control unit 30 is assigned. Then it compares this limit value with the determined value of the position sensor. 40 and decides whether the amplitude of vibration A exceeds the tolerance value or not.

[0145] Furthermore, the limit value can also be set independently of the operating speed of the boom. 130 or 230 or the crane hook 240 as well as the weight of the loads 140 or 250be set as a constant value. In this case, the setpoints of the control unit are 30 as well as the determined value of the weight sensor 50 not in the module for predicting load vibration 23 entered. The module for predicting load vibrations 23 compares regardless of the boom's operating speed 130 or 230 or the crane hook 240 as well as the weight of the loads 140 or 250 the pre-stored limit value with the determined value of the position sensor 40 and decides whether the amplitude of vibration A exceeds the tolerance value or not.

[0146] In this way, the determined value of the position sensor can be compared. 40 The limit value can be used to predict whether the vibration amplitude A exceeds the tolerance value or not. Therefore, depending on the position of the boom, 130 or 240between the first module for slow stopping 21 and the second module for slow stopping 22 to be switched. Therefore, it is predictable for the worker that the boom will 130 or 230 or the crane hook 240 either through the first or through the second module to bring the car to a slow stop. 21 or 22 The process is stopped. This improves usability. Sixth implementation

[0147] The following describes the device for slow stopping. 6 explained in a sixth implementation of this invention.

[0148] The module can be used to predict load vibrations. 23 The implementations mentioned above can also be structured as follows.

[0149] The module for predicting load vibration 23 decides that the amplitude A exceeds the tolerance value if the determined value of the weight sensor 50exceeds a limit value. If the measured value of the weight sensor 50 If the limit value is not exceeded, the module determines that the vibration amplitude A does not exceed the tolerance value. The limit value is defined here for each position of the boom. 130 or 230 , for each hanging section of the crane hook 240 (if in this case a boom 230 with a crane hook 240 (is stopped) as well as for each operating speed of the boom 130 or 230 or the crane hook 240 predefined. This means the module for predicting load vibration 23 selects from the stored limit values ​​for the position of the boom. 130 or 230 , for the hanging section of the crane hook 240 (if in this case a boom 230 with a crane hook 240 (is stopped) as well as for the operating speed of the boom. 130 or 230or the crane hook 240 the limit value that corresponds to the determined value of the position sensor 40 as well as the immediately preceding setpoint p (operating speed of the boom) 130 or 230 or the crane hook 240 ) the control unit 30 It is assigned a limit value. Then it compares this limit value with the value determined by the weight sensor. 50 and decides whether the amplitude of vibration A exceeds the tolerance value or not.

[0150] The limit value can also be set independently of the position of the boom. 130 or 230 or from the hanging section of the crane hook 240 for each operating speed of the boom 130 or 230 or of the crane hook. In this case, the determined values ​​of the position sensor are used. 40 not in the module for predicting load vibration 23 entered. The module for predicting load vibrations23 calls up the stored limit values ​​for the individual operating speeds of the boom. 130 or 230 or the crane hook 240 the limit value that corresponds to the immediately preceding setpoint p (operating speed of the boom). 130 or 230 or the crane hook 240 ) the control unit 30 It is assigned a limit value. Then it compares this limit value with the value determined by the weight sensor. 50 and decides whether the amplitude of vibration A exceeds the tolerance value or not.

[0151] However, the limit value can also be set independently of the operating speed of the boom. 130 or 230 or the crane hook 240 for each position of the boom 130 or 230 as well as for each hanging section of the crane hook 240 (if in this case a boom 230 with a crane hook 240(is stopped) are set. In this case, the setpoint values ​​of the control unit are determined. 30 not in the module for predicting load vibration 23 entered. The module for predicting load vibrations 23 calls out the stored limit values ​​for each position of the boom. 130 or 230 as well as for each hanging section of the crane hook 240 (if in this case a boom 230 with a crane hook 240 (is stopped) the limit value which corresponds to the determined values ​​of the position sensor 40 It is assigned a limit value. Then it compares this limit value with the value determined by the weight sensor. 50 and decides whether the amplitude of vibration A exceeds the tolerance value or not.

[0152] Furthermore, the limit value can also be set independently of the position of the boom. 130 or 230 , from the hanging section of the crane hook 240as well as the operating speed of the boom 130 or 230 or the crane hook 240 be set as a constant value. In this case, the values ​​determined by the position sensor are used. 40 as well as the setpoints of the control unit 30 not in the module for predicting load vibration 23 entered. The module for predicting load vibrations 23 compares regardless of the position of the boom. 130 or 230 , from the hanging section of the crane hook 240 as well as the operating speed of the boom 130 or 230 or the crane hook 240 the pre-stored limit value with the determined value of the weight sensor 50 and decides whether the amplitude of vibration A exceeds the tolerance value or not.

[0153] In this way, the determined value of the weight sensor can be compared. 50The limit value can be used to predict whether the amplitude of vibration A exceeds the tolerance value or not. Therefore, depending on the weight of the load... 140 or 250 between the first module for slow stopping 21 and the second module for slow stopping 22 to be switched. Therefore, it is predictable for the worker that the boom will 130 or 230 or the crane hook 240 either through the first or through the second module to bring the car to a slow stop. 21 or 22 The process is stopped. This improves usability. Other implementations

[0154] Furthermore, by combining the structure from the fourth, fifth and sixth implementations, the module for predicting load vibration can be developed. 23 It can also be set up in such a way that it determines the immediately preceding setpoint p (operating speed of the boom). 130 or 230or the crane hook 240 ) the control unit 30 and the determined values ​​of the position sensor 40 as well as the weight sensor 50 compares with a pre-stored limit value and decides whether the amplitude of vibration A exceeds the tolerance value or not.

[0155] Furthermore, in the fifth or sixth implementation, instead of the immediately preceding setpoint p of the control unit 30 also the determined value of a speed sensor, which measures the operating speed of the boom. 130 or 230 or the crane hook 240 Determined, taken. Or one can determine the operating speed of the boom. 230 or the crane hook 240 also from the change over time of the determined values ​​(position of the boom) 230 or the hanging length of the crane hook 240 ) of the position sensor 40 calculate.

[0156] Furthermore, in all the above-mentioned implementations, a display module can also be integrated that shows which of the two modules, the first module for slow stopping, is being used. 21 or the second module for slow stopping 22 , the actor 10 The process is gradually stopped. This display module should be designed to adjust its display based on the predicted result of the load oscillation prediction module. 23 switches. Reference symbol list 1, 2 Device for slow stopping 10 Actuator 20 Control unit 21 First module for slow braking 22 Second module for slow braking 23 Module for predicting load vibration 24 switching module 30 Control unit 40 Position sensor 50 weight sensor 100 aerial work platforms 110 vehicles 120 slewing ring 130 outriggers 140 work basket 200 mobile crane 210 undercarriages 220 slewing ring 230 booms 240 crane hooks 241 steel cable 250 Hanging Load

Claims

[1] A slow-stop device for installation in a working machine with a boom that carries loads, and characterized by that it is equipped with an actuator for the operation of the aforementioned working machine, with a control unit for controlling the relevant actuator, and with an operating unit to give instructions to the relevant control unit for the operation of the aforementioned working machine, the aforementioned control unit is equipped with the following modules: the first module for slow stopping, which brakes and stops the above-mentioned actuator over the period of half the time of the vibration cycle when the stop signal to stop the operation of the above-mentioned working machine is entered from the above-mentioned control unit, whereupon the control unit calculates the vibration cycle of the above-mentioned loads; the second module for slow stopping, which brakes and stops the above-mentioned actuator in a shorter time than half the oscillation cycle when the above-mentioned stop signal is entered by the above-mentioned control unit; a module for predicting load vibration that predicts whether the vibration amplitude of the aforementioned loads exceeds a tolerance value or not and a switching module for switching, such that the aforementioned first module for slow stopping brings the actuator to a stop if the aforementioned module for predicting the load oscillation predicts that the aforementioned oscillation width exceeds the tolerance range; or the aforementioned second module for slow stopping brings the actuator to a stop if the aforementioned module for predicting the load oscillation predicts that the aforementioned oscillation width does not exceed the tolerance range. [2] Device for slowly stopping a working machine as described in claim 1, characterized in that the above-mentioned first module for slow stopping calculates the oscillation cycle of the loads in question based on the position of the above-mentioned boom and the weight of the above-mentioned loads, brakes the above-mentioned actuator and brings it to a stop in half the time of the oscillation cycle when the above-mentioned control unit inputs the stop signal with the instruction to stop the operation of the above-mentioned boom. [3] Device for slowly stopping a working machine as described in claim 1, characterized in that the above-mentioned working machine is equipped with a hook for suspending the above-mentioned loads from the above-mentioned boom, and that the above-mentioned first module for slow stopping calculates the oscillation cycle of the loads in question based on the position of the above-mentioned boom, the suspension distance of the above-mentioned hook and the weight of the above-mentioned loads, brakes the above-mentioned actuator and brings it to a stop in half the time of the oscillation cycle when the above-mentioned control unit inputs the stop signal with the instruction to stop the operation of the above-mentioned boom. [4] Device for slowly stopping a working machine as described in claim 1, characterized in that the working machine is equipped with a hook for suspending the loads mentioned above, which hang from the boom mentioned above, and that the first module for slow stopping, based on the position of the boom mentioned above and the weight of the loads mentioned above, calculates the oscillation cycle of the loads in question, brakes the actuator mentioned above and brings it to a stop in half the time of the oscillation cycle when the stop signal with the instruction to stop the operation of the hook mentioned above is input from the control unit mentioned above. [5] Device for slowly stopping a working machine as described in claim 1 or 2, characterized in that the above-mentioned module for predicting load vibration calculates the amplitude of the loads in question based on the position of the above-mentioned boom, the operating speed of the above-mentioned boom and the weight of the above-mentioned loads and decides that the amplitude of the loads in question exceeds the tolerance value if the amplitude exceeds a limit value; if the amplitude does not exceed the limit value, then it decides that the amplitude of the loads in question does not exceed the tolerance value. [6] Device for slowly stopping a working machine as described in claim 1 or 3, characterized in that the working machine is equipped with a hook for suspending the loads hanging from the boom, and that the module predicting load vibration calculates the amplitude of the loads based on the position of the boom, the suspension length of the hook, the operating speed of the boom, and the weight of the loads and determines that the amplitude of the loads exceeds the tolerance value if it exceeds a limit value; if it does not exceed the limit value, it determines that the amplitude of the loads does not exceed the tolerance value. [7] Device for slowly stopping a working machine as described in claim 1 or 4, characterized in that the working machine is equipped with a hook for suspending the loads hanging from the boom, and that the module predicting load vibration calculates the amplitude of the loads based on the position of the boom, the operating speed of the hook, and the weight of the loads and determines that the amplitude of the loads exceeds the tolerance value if it exceeds a limit value; if it does not exceed the limit value, it determines that the amplitude of the loads does not exceed the tolerance value. [8] Device for slowly stopping a working machine as described in claim 1, 2, 3 or 4, characterized in that the device is equipped with a speed sensor that detects the operating speed of the working machine, and that the module for predicting load vibration decides that the vibration amplitude of the loads exceeds the tolerance value if the determined value of the speed sensor exceeds a limit value; if the determined value of the speed sensor does not exceed the limit value, then the module decides that the vibration amplitude of the loads does not exceed the tolerance value. [9] Device for slowly stopping a working machine as described in claim 1, 2, 3 or 4, characterized in that the device is equipped with a position sensor that detects the position of the aforementioned boom, and that the aforementioned module for predicting load vibration decides that the vibration amplitude of the aforementioned loads exceeds the tolerance value if the determined value of the aforementioned position sensor exceeds a limit value; if the determined value of the aforementioned position sensor does not exceed the limit value, then the module decides that the vibration amplitude of the aforementioned loads does not exceed the tolerance value. [10] Device for slowly stopping a working machine as described in claim 1, 2, 3 or 4, characterized in that the device is equipped with a weight sensor that detects the weight of the loads mentioned above, and that the module mentioned above for predicting the load vibration decides that the vibration amplitude of the loads mentioned above exceeds the tolerance value if the determined value of the weight sensor mentioned above exceeds a limit value; if the determined value of the weight sensor mentioned above does not exceed the limit value, then the module decides that the vibration amplitude of the loads mentioned above does not exceed the tolerance value.