Controller, boom device, and truck crane
AssigneeTadano Ltd.
InventorsDaiki Karashima, Satoshi Tanii
Life of this patent
Estimating the term…
Abstract
A controller calculates a theoretical payout length X1(θ) of a wire in a posture in which a hook block is raised, a theoretical payout length X2(θ) of the wire in a posture in which the hook block is lying, dX1(θ)/dt, and dX2(θ)/dt, using a length L of the boom, A and B (first specified values) indicating coordinates of a hook hardware, a length K (second specified value) being a sum of a length of the hook block and a length of a hook hardware, and a derricking angle θ of the boom. The controller makes the boom stand and lie at a constant speed of F=dθ/dt, and makes a winch drive at a wind-up speed of J×{dX1(θ)/dt+dX2(θ)/dt}/2 taking J×{X1(θ)+X2(θ)}/2 as a target value.
Claims9
A controller mounted on a boom device comprising:
- a pedestal;
- a boom supported by the pedestal and capable of performing a derricking motion between a lying position and a predetermined standing position;
- a winch having a wire wound up by a wire drum and wound around a tip end portion of the boom;
- a hook member having a load hanging hook provided to the wire;
- a first actuator configured to make the boom stand and lie;
- a second actuator configured to drive the winch;
- a locking member provided to the pedestal, wherein the load hanging hook is locked to the locking member;
- a derricking angle sensor configured to output a detection value in accordance with a derricking angle of the boom;
- and
- a wire sensor configured to output a detection value in accordance with a payout length of the wire, wherein
- the controller has a memory configured to store in advance a length of the boom, a first specified value in accordance with a position of the locking member taking a derricking center of the boom as a reference, and a second specified value in accordance with at least one of a type of the hook member and a type of the locking member, and
- the controller is configured to execute:
- a generation process for generating an allowable minimum distance and an allowable maximum distance from a tip end reference position of the boom to the hook member, based on the derricking angle of the boom specified from the detection value of the derricking angle sensor, the length of the boom, the first specified value, and the second specified value, and
- a drive process for making the first actuator and the second actuator drive so that the payout length of the wire specified from the detection value of the wire sensor becomes a predetermined target value that is not smaller than the allowable minimum distance and not larger than the allowable maximum distance.
Dependencies are inferred from the claim text.