Swing control device

Abstract

To provide a swing control device that can automatically stop a work machine at a desired swing angle regardless of a swing speed of the work machine.SOLUTION: When a crane device 5 reaches a stop command angle 23 due to a swing operation, a stop command signal is sent to a swing motor 15, and the swing operation of the crane device 5 is automatically stopped. When the crane device 5 is stopped during swinging, the crane device 5 continues to swing due to its own inertial force even after the swing motor 15 is stopped, so the stop command angle 23 is set taking into consideration the swing due to such inertial force. For this reason, the stop command angle 23 is set to be larger when the crane device is swinging at high speed than when it is swinging at low speed.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a swing control device for an industrial machine equipped with a work implement. [Background technology]

[0002] Conventionally, industrial machines equipped with a work implement that can rotate around a rotation axis may be required to stop the work implement at a specific rotation angle. For example, in the case of a mobile crane, the work implement is placed in a stowed position during movement. This stowed position is often set by rotating the work implement until the length of the boom provided on the work implement is aligned with the fore-and-aft direction of the industrial machine, and then lowering the boom angle to a nearly horizontal position. The operation of turning and changing the attitude of such a work machine is performed by the operator operating a lever or the like provided on an operating section.

[0003] For example, the mobile crane disclosed in Figure 1 of Patent Document 1 has an operating unit located at the rear of the machine, so when the work machine is rotated with the boom lowered to an angle close to horizontal, part of the boom passes above the operating unit. For this reason, such industrial machinery is equipped with an automatic stop function that detects the posture of the boom and stops the operation of the work equipment if any part of the boom attempts to enter a no-entry area set around the operating unit. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2016-222401 Summary of the Invention [Problem to be solved by the invention]

[0005] In a mobile crane such as that disclosed in FIG. 1 of Patent Document 1, when changing the position of the work machine from the working position to the stowed position, the boom is lowered to a predetermined angle and then rotated until the automatic stop function is activated. The automatic stop function operates by stopping the swing device when the boom reaches a predetermined swing angle while it is lowered below a predetermined angle.

[0006] However, when the swing device is stopped during swing, a strong inertial force acts depending on the swing speed, and a deviation may occur between the swing angle at which the swing device is stopped and the swing angle at which the swing actually stops. However, if the swing device is stopped at a swing angle that takes into consideration the deviation that would occur if such a strong inertial force were to act, the deviation from the desired swing angle would actually become larger if the swing speed of the work implement is slow.

[0007] In particular, in the case of a mobile crane such as that disclosed in Patent Document 1, a safety device is installed that prevents travel operations unless the boom is placed in a substantially horizontal position and the work implement is rotated to a predetermined rotation angle to assume a stowed position to ensure safety, and if the rotation angle of the work implement deviates from the rotation angle set for the stowed position after the rotation device automatically stops, it becomes necessary to manually adjust the rotation angle, which is time-consuming. Furthermore, such a safety device can also be installed on industrial machinery other than a mobile crane such as that disclosed in Patent Document 1.

[0008] In view of the above-described situation, the present invention aims to provide a swing control device that can automatically stop a work machine at a desired swing angle regardless of the swing speed of the work machine when an operator operates the work machine. [Means for solving the problem]

[0009] The first invention is a swing control device that is mounted on an industrial machine that includes a work machine that can swing around a swing axis, a swing device that swings the work machine, and an operating unit that can adjust the swing speed of the swing device, and that automatically sends a stop command signal to the swing device when the work machine reaches a predetermined stop command angle under predetermined circumstances while swinging, and that includes a swing speed detection unit that detects the swing speed of the work machine, and a stop command angle setting unit that sets the stop command angle, and is characterized in that the stop command angle setting unit sets the stop command angle a predetermined angle forward in the swing direction from the target stop angle of the work machine, and sets the predetermined angle so that it is larger when the work machine swings at a high speed than when it swings at a low speed.

[0010] A second invention is the swing control device according to the first invention, characterized in that the predetermined angle increases linearly in response to an increase in the swing speed of the work machine.

[0011] A third invention is a swing control device according to the first invention, characterized in that the predetermined angle increases in stages in response to an increase in the swing speed of the work machine.

[0012] The fourth invention is a slewing control device characterized in that the slewing speed detection unit described in any one of the first to third inventions is composed of a slewing angle detection unit that detects the slewing angle of the work implement, and a slewing speed calculation unit that calculates the slewing speed of the work implement based on the detection value of the slewing angle detection unit.

[0013] The fifth invention is a swing control device characterized in that the work machine described in any one of the first to third inventions is equipped with a boom that can be raised and lowered around a horizontal axis and a boom-raising angle detection unit that detects the boom-raising angle, and the stop command signal is further transmitted when the boom-raising angle is within a predetermined angle range.

[0014] A sixth invention is a swing control device characterized in that the work machine described in any one of the first to third inventions is equipped with a boom that can be raised and lowered around a horizontal axis, the boom is equipped with an extension mechanism and a boom length detection unit that detects the length of the boom, and the stop command angle setting unit further calculates the stop command angle based on the detection value of the boom length detection unit.

[0015] A seventh invention is a turning control device further comprising a turning direction detection unit that detects the turning direction of the work machine, and the stop command angle setting unit described in any one of the first to third inventions further calculates the stop command angle based on the detection result of the turning direction detection unit.

[0016] The eighth invention is a turning control device characterized in that the working machine described in any one of the first to third inventions is equipped with a holding unit for holding a load and a load detection unit for detecting the load of the load, and the stop command angle setting unit further calculates the stop command angle using the detection value of the load detection unit.

[0017] The ninth invention is an industrial machine characterized by comprising a work machine that can rotate around a rotation axis, a rotation device for rotating the work machine, and a rotation control device described in any one of the first to third inventions.

[0018] A tenth aspect of the present invention is an industrial machine according to the ninth aspect, further comprising a determination unit that determines whether the work implement is in a work implement stowed position, the work implement comprising a boom that can be raised and lowered around a horizontal axis and a hoisting angle detection unit that detects the boom hoisting angle, the storage hoisting angle being set within a predetermined angle range that includes the hoisting angle at which the longitudinal direction of the boom is approximately parallel to the horizontal, the work implement being set with a storage swing angle as the target stop angle that is an angle range that includes a swing angle at which the longitudinal direction of the boom and the fore-and-aft direction of the industrial machine overlap in the vertical direction, and the determination unit is configured to determine that the work implement is in a work implement stowed position when the work implement is within the storage swing angle range and the boom is within the storage hoisting angle range. [Effects of the Invention]

[0019] By using the present invention, it is possible to provide a swing control device that can automatically stop a work machine at a desired swing angle regardless of the swing speed of the work machine when an operator operates the work machine. [Brief explanation of the drawings]

[0020] [Figure 1] 1 is a side view of a crawler crane according to an embodiment of the present invention. [Figure 2] FIG. 1 is a top view of a crawler crane showing a configuration according to one embodiment of the present invention. [Figure 3] 1 is a block diagram showing the configuration of a crawler crane according to an embodiment of the present invention. [Figure 4] 10 is a flowchart of a boom rotation stop process according to an embodiment of the present invention. [Figure 5] 10 is a graph showing the relationship between a rotation speed and a stop command angle according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0021] Below, an embodiment of the present invention will be described with reference to the accompanying drawings, using a crawler crane, which is a type of industrial machine, as an example, and which includes a work machine that can rotate around a rotation axis, a rotation device that rotates the work machine, and an operating unit that can adjust the rotation speed of the rotation device. In the drawings, identical or similar parts are denoted by identical or similar reference numerals, and redundant explanations are omitted. It should be noted that the drawings are schematic. Therefore, it should be noted that the relationship between thickness and planar dimensions, ratios, etc. may differ from the actual ones, and the drawings also include parts where the relationship between dimensions and ratios differ. Furthermore, the embodiments shown below are merely examples of devices and methods for embodying the technical concept of the present invention, and the technical concept of the present invention does not limit the materials, shapes, structures, markings, etc. of component parts to the following embodiments.

[0022] In the following explanations and drawings relating to the configuration of industrial machinery, unless otherwise specified, the direction in which the machine moves forward will be referred to as the "front side of the machine" or simply "front side," and the direction in which the machine moves backward will be referred to as the "rear side of the machine" or simply "rear side." Furthermore, the left-hand side of the machine from the driver's side will be referred to as the "left side of the machine" or simply "left side," and the right-hand side will be referred to as the "right side of the machine" or simply "right side." Similarly, "upper side" and "lower side" are defined based on the driver sitting in the driver's seat. When no particular direction is specified, they may be referred to as the "forward / backward direction of the machine," "left / right direction of the machine," or "up / down direction of the machine." Unless otherwise specified, the crawler crane will be described as being in a traveling position with the crane device rotated to a position facing rearward along the fore-and-aft direction of the machine body, with the boom tilted to a horizontal angle, and with the outriggers retracted.

[0023] The swing control device according to this embodiment is composed of a crane device, which is a working machine, and a control unit that controls the operation of the crane device. Next, the structure, configuration, operation and function of each component will be explained.

[0024] <Crawler crane structure> The structure of a crawler crane 1 will be described with reference to FIG. The crawler crane 1 comprises a chassis frame CF that forms the skeleton of the machine body, and a pair of crawlers 2 on the left and right sides of the lower part of the chassis frame CF, which are driven by a hydraulic motor and have tracks that circulate along the fore-and-aft direction of the machine body. The chassis frame CF is equipped with four outriggers 4, one on each side of the front of the machine body and one on each side of the center of the machine body. The outriggers 4 extend out from the periphery of the machine body and touch the ground to ensure the stability of the crawler crane 1 during work. The chassis frame CF is also provided with a crane device 5 at its front. An engine and other components are housed in a rear body 6, and an operation unit 7 is also provided for inputting operations for the crane device 5 and other components. Although not shown, if the crawler crane 1 is a large model, the rear body 6 may be provided with a driver's seat where an operator sits. The operating unit 7 is disposed offset to the right side of the crawler crane 1 as shown in FIG.

[0025] <Crane device structure> The structure of the crane apparatus 5 will be described with reference to FIGS. The crane apparatus 5 is equipped with a column 9 that can be rotated about an axis along the vertical direction of the machine body by a slewing device 8 provided at the bottom, and a boom 10 that is supported on the upper end of the column 9 so as to be able to rise and fall about an axis along the horizontal direction and is extendable and contractible by a telescoping mechanism, and a hook HO connected to a wire rope extending from a winch is suspended from the tip of the boom 10. The hook HO is an example of a holding part for holding a load as recited in the claims.

[0026] As shown in FIG. 3, the crane apparatus 5 is equipped with a swing angle detector 11, a boom length detector 12, a boom derrick angle detector 14, a swing motor 15, and a control valve CB. The swing angle detection unit 11 detects the swing angle of the crane device 5 relative to the chassis frame CF. The boom length detection unit 12 detects the length of the boom 10 . The load cell 13 detects the mass of the load suspended by the hook HO. The hoisting angle detection unit 14 detects the hoisting angle of the boom 10. The swing motor 15 is a swing power source for the crane device 5 provided in the swing device 8 shown in FIG. The control valve CB supplies the hydraulic oil discharged from the hydraulic oil pump to the swing motor 15.

[0027] <Crawler crane posture> The crawler crane 1 can change its posture between a traveling posture (not shown) in which it can travel using the crawlers 2 and a working posture (Figs. 1 and 2) in which it can perform crane work using the crane device 5. When in the traveling position, the crane apparatus 5 is placed in the work equipment stor- ing position and the outriggers 4 are stored. To give a specific example, the boom 10 is shortened to its maximum length to set it at a storage hoisting angle, which is a substantially horizontal hoisting angle, and then rotated to a storage swing angle at which the length of the boom 10 and the fore-and-aft direction of the crawler crane 1 overlap substantially vertically to set it in the work equipment stor- ing position. The outriggers 4 are then released from the ground, folded, and rotated in a direction along the fore-and-aft direction of the machine body for storage. As shown in FIG. 2, the attitude can be changed to the working attitude by extending the outriggers 4 around the machine body and setting the boom 10 at a hoisting angle φ of more than 10° while the machine is on the ground.

[0028] <Settings related to crane rotation> As shown in FIG. 2, the crawler crane 1 has a no-entry area 21, a target stop angle 22, and a stop command angle 23 set therein. The no-entry area 21 is set around the operation unit 7. The target stop angle 22 is set to a storage swing angle, which will be described later. The stop command angle 23 is a swing angle at which a stop command signal is sent to stop the operation of the swing motor 15. In the following description, the angle between the target stop angle 22 and the stop command angle 23 will be denoted by the symbol θ and will be described as "angle θ."

[0029] The no-entry area 21 is set to cover the area around the operation unit 7 and the area where the operator is expected to be located. If the boom 10 enters this area, the rotation motor 15 is stopped regardless of the angle or rotation direction of the boom 10 to prevent contact between the boom 10 and the operator.

[0030] In this embodiment, target stop angle 22 is set to a rotation angle shifted approximately 2° clockwise with respect to an imaginary line IL that passes through the center of the machine body in the left-right direction and is aligned with the machine body's fore-and-aft direction. This is because if the machine body's fore-and-aft direction and the length direction of boom 10 coincide with each other, the operating unit 7 and a part of boom 10 will overlap in the vertical direction. When crane apparatus 5 is positioned at target stop angle 22, it is determined that crane apparatus 5 is positioned at the swing storage angle. The rotation angle for which the target stop angle 22 is set is the ideal value of the rotation angle in the storage posture, and in reality, if the boom is positioned within an angle range of about 3° clockwise from the imaginary line IL when viewed from above, the crane apparatus 5 is determined to be at the rotation storage angle.

[0031] The stop command angle 23 is set to a predetermined angle in the turning direction before the target stop angle 22 by processing to be described later. When the crane apparatus 5 under a specified condition reaches the stop command angle 23 through its swing operation, a stop command signal is sent to the control valve CB to stop the operation of the swing motor 15, automatically stopping the swing operation of the crane apparatus 5. When the crane apparatus 5 is stopped during swinging, the crane apparatus 5 continues to swing due to its own inertial force even after the swing motor 15 is stopped, and therefore the stop command angle 23 is set taking into account the swing due to such inertial force.

[0032] The target stop angle 22 of the crane apparatus 5 is set so that the boom 10 is positioned between the operation unit 7 and the outriggers 4. Therefore, when changing the posture from the working posture to the traveling posture, the crane device 5 is first set to the working equipment storage posture, and when changing the posture from the traveling posture to the working posture, the outriggers 4 are grounded before the crane device 5 is operated. The swing and storage angle is a swing angle at which the boom 10 does not enter the no-entry area 21 and does not interfere with the stored outriggers 4.

[0033] <Control unit configuration> The configuration of the control unit 40 provided in the crawler crane 1 will be described with reference to FIG. The control unit 40 includes a turning speed calculation unit 41, a turning direction calculation unit 42, a stop command angle setting unit 43, a control unit 44, and a determination unit 45. In this embodiment, the operation unit 7 will also be described as part of the control unit.

[0034] The swing speed calculation unit 41 calculates the swing speed of the crane apparatus 5 based on the detection value of the swing angle detection unit 11 provided in the crane apparatus 5. The swing speed calculation unit 41, together with the swing angle detection unit 11, constitutes the swing speed detection unit described in the claims. The rotation direction calculation unit 42 also calculates the rotation direction of the crane apparatus 5 based on the detection value of the rotation angle detection unit 11 provided in the crane apparatus 5. The rotation direction calculation unit 42 is a rotation direction detection unit recited in the claims. The stop command angle setting unit 43 calculates the stop command angle 23 based on the calculation results of the swing speed calculation unit 41 and the calculation results of the swing direction calculation unit 42. In the case described later, the stop command angle 23 is also calculated based on the detection values ​​of the boom length detection unit 12 and the load meter 13. The control unit 44 controls the operation of the crane apparatus 5 based on the input to the operation unit 7 and the calculation result of the stop command angle setting unit 43. The determination unit 45 determines whether the crane apparatus 5 is in the working implement stor- ing posture based on the detection results of the swing angle detection unit 11 and the derrick angle detection unit 12. Specifically, if the boom 10 is at the derrick stor- ing angle and the crane apparatus 5 is at the swing stor- ing angle, it determines that the crane apparatus 5 is in the working implement stor- ing posture;

[0035] The determination result of the determination unit 45 is used to switch to the outrigger mode in which the operation of the outriggers 4 is permitted. Specifically, when the outrigger / crane changeover switch provided on the operation unit 7 is operated while the crane apparatus 5 is in the working implement stowed posture, the control unit 44 switches to the outrigger mode. This function is a safety device that prevents the outriggers 4 from malfunctioning during work.

[0036] <Operation> The operation of the turning control device according to this embodiment will be described with reference to FIG. In the following explanation, the initial state of the crawler crane 1 is assumed to be such that the outriggers 4 extend out around the crawler crane 1 and are on the ground, the boom 10 is in an upright working position with its hoisting angle φ greater than 10°, and the crawler crane 1 is not positioned at the target stop angle 22 or the stop command angle 23.

[0037] While the boom 10 is in an upright position so that the boom hoisting angle φ is greater than 10° (S01: NO), there is no risk of any part of the boom 10 coming into contact with the operating unit 7, and therefore no processing to stop the rotation is performed. When the boom 10 hoisting angle is reduced to 10° or less (S01: YES) and the crane apparatus 5 is rotated counterclockwise (S02: YES), the rotation speed calculation unit 41 calculates the rotation speed of the crane apparatus 5 based on the detection value of the rotation angle detection unit 11 (S03). The determination of the boom hoisting angle and the rotation direction is a determination of whether the specified conditions described in the claims are met. Then, the stop command angle setting unit 43 calculates a rotation angle for setting the stop command angle 23 based on the calculated rotation speed and the detection value of the boom length detection unit 12 (S04).

[0038] Thereafter, the above processing is repeated (S01 to S04) until the crane apparatus 5 reaches the stop command angle 23 (S05: NO). Therefore, the stop command angle 23 is recalculated in response to changes in the rotation speed, and the setting is updated (S03, S04). When the crane apparatus 5 reaches the stop command angle 23 (S05: YES), the control unit 44 transmits a signal to stop the swing motor 15.

[0039] If the rotation direction of the crane device 5 is clockwise (S02: NO), the crane device 5 will enter the no-entry area 21 set around the operating unit 7 before reaching the stop command angle 23, so a signal to stop the operation of the rotation motor 15 is sent (S08) at the point when the no-entry area is entered (S07: YES). In this embodiment, the stop command angle 23 is not set when the boom 10 enters the no-entry area 21. This is because the purpose of setting the no-entry area 21 is not to stop the crane apparatus 5 at a target swing angle, but to stop the operation of the crane apparatus 5 at a position away from the operation unit 7 to ensure the safety of the operator, and the no-entry area 21 itself is set to a range that has sufficient leeway for the operation of the crane apparatus 5 due to inertial force. For this reason, in this embodiment, the stop command angle 23 is not set during clockwise swing, which is not related to a change in attitude to the stowed attitude.

[0040] The operation of the swing control device described above is an example set for industrial machinery in which the operation unit 7 is located offset to the right side of the machine body and the target stop angle 22 is set to the swing angle of the crane apparatus 5 when it is in the stored posture. Therefore, depending on the location of the operation unit 7, the configuration may be such that the stop command angle 23 is calculated when the crane apparatus 5 is rotating clockwise. In addition, depending on the swing angle at which the target stop angle 22 is set, a process is added to determine the direction in which the crane apparatus 5 will swing due to inertial force, based on the calculation result of the swing direction calculation unit 42.

[0041] <Setting the angle θ> The relationship between the rotation speed and the stop command angle 23 will be described with reference to FIG. The stop command angle 23 is set so that the angle θ when the crane device 5 rotates at a high speed is larger than the angle θ when the crane device 5 rotates at a low speed. The boom 10 generally comes in a variety of telescopic sections, from three to six. The types of lines in Figure 5 indicate the relationship between the rotation speed and angle θ for each variation of the boom 10, with a straight line representing a three-section boom, a dashed line representing a four-section boom, a one-dot chain line representing a five-section boom, and a two-dot chain line representing a six-section boom.

[0042] Since the magnitude of the inertial force is proportional to the square of the speed, the faster the swing speed of the crane apparatus 5, the farther the stop command angle 23 becomes from the target stop angle 22. In addition, since it is also proportional to the mass of the rotating body, the greater the increase in stop command angle 23 relative to the swing speed becomes for a boom 10 with more telescopic sections that have a larger internal structure and therefore a larger mass. For this reason, the angle θ relative to the swing speed becomes larger for a six-section boom shown by the two-dot chain line than for a three-section boom shown by the solid line. However, the specific setting of the stop command angle 23 is adjusted according to the rotation speed that the actual machine can achieve and the mass of the actual boom 10.

[0043] The operation of stop command angle setting unit 43 described so far is the operation when changing the position of crane apparatus 5 to the stored position, and is based on the premise that no load is suspended. Therefore, the only variable required for calculating stop command angle 23 is the rotation speed, and therefore angle θ is set in proportion to the rotation speed of crane apparatus 5.

[0044] In practical applications, the target stop angle 22 can be arbitrarily set by the operator by using the detection values ​​of the boom length detection unit 12 and the load meter 13 provided in the crane apparatus 5 to calculate the stop command angle 23 . For example, when a load is suspended from the hook HO, the stop command angle 23 is calculated based on the detection values ​​of the boom length detection unit 12 and the load meter 13 in addition to the calculation result of the swing speed calculation unit 41. This is because the inertial force generated when the crane apparatus 5 swings varies depending on the mass of the load and its distance from the center of swing. Naturally, the kinetic energy of the crane apparatus 5 when a heavy load is suspended is greater than the kinetic energy when no load is suspended, and the inertial force is also greater. Therefore, when performing work in which the weight of the load changes, the kinetic energy of the crane apparatus 5 is calculated using the detection value of the load meter in addition to the swing speed, and the angle θ is set to a larger value in proportion to the magnitude of the kinetic energy calculated as a result.

[0045] <Effects> By using the swing control device of the present invention, the stop command angle is set taking into account the amount of swing due to inertial force corresponding to the swing speed of the work machine, and when the work machine reaches the stop command angle 23, the swing motor 15 automatically stops, making it easy to stop the work machine at the target stop angle 22 regardless of the swing speed of the work machine.

[0046] Furthermore, by setting the angle θ so that it increases linearly in accordance with the swing speed of the work machine, it is possible to reduce the deviation between the swing angle at which the work machine actually stops and the stop command angle 23.

[0047] Additionally, even in a configuration in which the swing speed is divided into stages within a certain range and the stop command angle 23 is selected for each speed stage, if the mass of the work machine is sufficiently small and the influence of inertial force is small, the stop command angle 23 can be set more easily than by determining or adjusting linear parameters, and therefore this is particularly suitable for industrial machinery equipped with such work machines, and it is possible to reduce design costs and maintenance costs.

[0048] The swing control device shown in the embodiment is configured so that the swing angle of the work machine is detected by the swing angle detection unit 11, and the swing speed calculation unit 41 calculates the swing speed based on the rate of change of the swing angle, so it is possible to detect the swing speed by utilizing the swing angle detection unit 11 used in industrial machines that have no-entry areas 21 set or industrial machines that are equipped with moment limiters. In other words, it is possible to detect the swing speed without adding a new sensor for detecting the swing speed of the work machine, and it is possible to suppress increases in manufacturing costs.

[0049] When performing the swing stop process for the work machine, the stop command angle 23 can be set and the conditions for performing the swing stop process can be set by referencing the hoisting angle of the boom 10, so the swing stop process can be set flexibly and the variety of work that can be done using the swing control device increases. In other words, the swing control device can be operated in accordance with the operation desired by the operator, improving the workability of industrial machinery.

[0050] As shown in the embodiment, when the industrial machine is equipped with a boom 10 having an extension mechanism, information on the boom 6 length is used to calculate the stop command angle 23 and to condition whether or not to execute the swing stop process, thereby increasing the variety of work that can be done using the swing control device, just like information on the boom hoisting angle, and improving the workability of the industrial machine according to the present invention.

[0051] Furthermore, by calculating the stop command angle 23 based on the turning direction in addition to the turning speed, it is possible to perform turning stop processing more flexibly than when the stop command angle 23 is calculated based only on the turning speed, for example, when the no-entry area 21 described in the embodiment is set.

[0052] Setting the stop command angle 23 to the storage angle of the work machine makes the operation for storage easier. In particular, since the operation of storing the work machine is an operation that must be performed at the end of work, such a setting is likely to contribute to improving the operability of industrial machinery.

[0053] By equipping the work machine with a load detection unit, it is possible to detect changes in the weight of the work machine while it is carrying a load, so that the angle at which the work machine rotates due to inertial force when the rotation device stops can be calculated with high precision, and the stop command angle 23 can be calculated with high precision. <Modification>

[0054] Modifications that can be adopted by the present invention will now be described. The crawler crane 1 shown in the embodiment is an industrial machine equipped with crawlers 2 and outriggers 4, but the application of the present invention is not limited to industrial machines with such a configuration. In addition, there is no need to provide a swing direction calculation unit 42 or a boom 10 with an extension mechanism. Even when the present invention is applied to such industrial machinery, it is possible to easily stop the working machine at the target swing angle by calculating the stop command angle 23.

[0055] For example, in a repetitive task such as loading and unloading multiple loads from the bed of a truck equipped with a vehicle-mounted crane to a fixed location, the target stop angle 22 may be set to the rear side of the vehicle. This setting corresponds to the side of the body of the crawler crane 1 shown in the embodiment. Even in such a case, the method for setting the stop command angle 23 relative to the target stop angle 22 is as described above. When setting a target stop angle for use in such an operation, the determination as to whether or not the predetermined situation described in claim 1 applies is also reset to an appropriate one. In that case, for example, a determination as to whether or not an operation mode that automatically stops a turning operation is set may be additionally set. Alternatively, it is possible to simply determine whether a load is being lifted or not based on the calculation results of the rotation direction calculation unit 42, and set the angle θ to be different depending on the rotation direction.

[0056] In the embodiment, the rotation speed of the crane apparatus 5 is calculated by the rotation speed calculation unit 41 based on the change in the rotation angle detected by the rotation angle detection unit 11, but in the application of the present invention, the means for detecting the rotation speed of the crane apparatus 5 is not limited to this configuration. For example, as shown in the embodiment, if the crane device 5 is configured to have a hydraulic swing motor 15, the flow rate of hydraulic oil flowing into or out of the swing motor 15 can be detected, and the swing speed can be calculated based on the flow rate and the performance of the swing motor 15.

[0057] In the embodiment, the no-entry area 21 is set separately from the target stop angle 22, but in the application of the present invention, the stop command angle 23 may be set so that the boundary between the no-entry area 21 and the normal area is the target stop angle 22. Even in such a case, the work machine will not enter a swing angle exceeding the target stop angle 22, so workability will not change. [Explanation of symbols]

[0058] 1...crawler crane, 4...outrigger, 5...crane device, 10...boom, 11...swing angle detection unit, 12...boom length detection unit, 13...load meter, 14...hoisting angle detection unit, 15...swing motor, 22...target stop angle, 23...stop command angle, 40...control unit, 41...swing speed calculation unit, 42...swing direction calculation unit, 43...stop command angle setting unit, 44...control unit

Claims

1. A swing control device is mounted on an industrial machine that includes a work machine that can swing around a swing axis, a swing device that swings the work machine, and an operation unit that can adjust the swing speed of the swing device, and that automatically transmits a stop command signal to the swing device when the work machine reaches a predetermined stop command angle under predetermined circumstances while swinging, a swing speed detection unit that detects a swing speed of the work machine; a stop command angle setting unit that sets the stop command angle, A turning control device characterized in that the stop command angle setting unit sets the stop command angle a predetermined angle toward the front of the turning direction from the target stop angle of the work machine, and sets the predetermined angle so that it is larger when the work machine is turning at a high speed than when it is turning at a low speed.

2. 2. A swing control device according to claim 1, wherein the predetermined angle increases linearly in response to an increase in the swing speed of the work machine.

3. 2. A swing control device according to claim 1, wherein the predetermined angle increases in stages in response to an increase in the swing speed of the work machine.

4. 4. A turning control device as described in any one of claims 1 to 3, characterized in that the turning speed detection unit is composed of a turning angle detection unit that detects the turning angle of the work implement, and a turning speed calculation unit that calculates the turning speed of the work implement based on the detection value of the turning angle detection unit.

5. the work machine includes a boom that can be raised and lowered around a horizontal axis, and a boom hoisting angle detection unit that detects the boom hoisting angle, 4. The swing control device according to claim 1, wherein the stop command signal is further transmitted when the boom hoisting angle is within a predetermined angle range.

6. The work machine includes a boom that can be raised and lowered around a horizontal axis, The boom includes a telescoping mechanism and a boom length detection unit that detects the length of the boom, 4. The swing control device according to claim 1, wherein the stop command angle setting unit further calculates the stop command angle based on a value detected by the boom length detection unit.

7. Further, a rotation direction detection unit is provided to detect the rotation direction of the work machine, 4. The turning control device according to claim 1, wherein the stop command angle setting unit calculates the stop command angle based on the detection result of the turning direction detection unit.

8. The work machine includes a holding unit for holding a load and a load detection unit for detecting a load of the load, 4. The turning control device according to claim 1, wherein the stop command angle setting unit further calculates the stop command angle using a detection value from the load detection unit.

9. An industrial machine comprising: a work machine that is rotatable about a rotation axis; a rotation device for rotating the work machine; and the rotation control device according to any one of claims 1 to 3.

10. Further, a determination unit is provided that determines whether the work implement is in a work implement stowed position, the work machine includes a boom that can be raised and lowered around a horizontal axis, and a boom hoist angle detection unit that detects the boom hoist angle, and the storage hoist angle is set within a predetermined angle range that includes the boom hoist angle at which the length direction of the boom is approximately parallel to the horizontal direction; a storage swing angle that is an angle range including a swing angle at which the length direction of the boom and the front-to-rear direction of the industrial machine overlap in the up-down direction is set as the target stop angle for the work machine, 10. The industrial machine according to claim 9, wherein the determination unit determines that the work implement is in a stowed posture when the work implement is within the range of the stowing swing angle and the boom is within the range of the stowing hoist angle.

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