JPH08157188A - Deflection detecting method of boom in crane and operation radius calculating method and operation radius calculating device - Google Patents
Deflection detecting method of boom in crane and operation radius calculating method and operation radius calculating deviceInfo
- Publication number
- JPH08157188A JPH08157188A JP30486494A JP30486494A JPH08157188A JP H08157188 A JPH08157188 A JP H08157188A JP 30486494 A JP30486494 A JP 30486494A JP 30486494 A JP30486494 A JP 30486494A JP H08157188 A JPH08157188 A JP H08157188A
- Authority
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- Japan
- Prior art keywords
- boom
- light receiving
- light
- deflection
- crane
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- Control And Safety Of Cranes (AREA)
- Jib Cranes (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明はクレーン作業時のブーム
のたわみを検出する方法、およびこのブームのたわみに
よる作業半径の増加分を加えて実際の作業半径を求める
作業半径検出方法並びに同装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for detecting the deflection of a boom during crane work, a method for detecting the actual radius of operation by adding the increase in the radius of operation due to the deflection of the boom, and a device therefor. It is a thing.
【０００２】[0002]
【従来の技術】クレーンの作業半径Ｒは、そのときのブ
ーム長さＬとブーム起伏角θとから、Ｒ＝Ｌｃｏｓθに
よって求めることができる。2. Description of the Related Art The working radius R of a crane can be obtained by R = Lcos θ from the boom length L and the boom hoisting angle θ at that time.
【０００３】しかし、実際には、吊り荷重およびブーム
の自重によるブームのたわみ（伸縮ブームにあっては、
加えて各段ブーム間の嵌合隙間によるたわみ）が発生す
るため、実際の作業半径が増加する。However, in reality, the flexure of the boom due to the suspension load and the weight of the boom (in the telescopic boom,
In addition, since the bending due to the fitting gap between each stage boom occurs, the actual working radius increases.
【０００４】これは長尺ブームを備えた大形クレーンに
とくに顕著となり、上記単純式で求めた作業半径をもと
に、過負荷防止装置の定格吊り荷重を設定すると、安全
上問題がある。This is particularly noticeable in a large crane equipped with a long boom, and there is a safety problem if the rated suspension load of the overload prevention device is set based on the working radius obtained by the above simple formula.
【０００５】このため、従来、 特公昭６１−２４３１３号に示されているように、
ブームの長さと起伏角とによって決まる各ブーム状態に
おいて、吊り荷重とブームのたわみ量とが近似的に比例
することに鑑み、予め複数のブーム状態ごとに基準吊り
荷重とブームのたわみによる作業半径の増加量の関係を
求めておき、検出した実際の吊り荷重から実際の作業半
径増加量を演算する方法、 特公昭６２−１５４７５号に示されているように、
ブームの基端部と先端部の双方にブーム起伏角検出器を
設け、この両検出器の出力の平均値をブーム全体の起伏
角として作業半径を算出する方法 が提案された。Therefore, as disclosed in Japanese Patent Publication No. 61-24313,
Considering that the suspension load and the amount of flexure of the boom are approximately proportional to each other in each boom state determined by the boom length and the hoisting angle, the reference suspension load and the work radius due to the flexure of the boom are preliminarily determined for each boom state. A method of calculating the relationship between the increasing amounts and calculating the actual increasing amount of the working radius from the detected actual suspension load, as shown in Japanese Patent Publication No. 62-15475.
A method has been proposed in which boom undulation angle detectors are provided at both the base end and the tip of the boom, and the working radius is calculated using the average value of the outputs of both detectors as the levitation angle of the entire boom.
【０００６】[0006]
【発明が解決しようとする課題】ところが、上記の吊
り荷重をもとにして作業半径の増加量を算出する方法に
よると、吊り荷重の検出そのものに問題がある。However, according to the method of calculating the increase amount of the working radius based on the above suspension load, there is a problem in detecting the suspension load itself.
【０００７】すなわち、吊り荷重は、ブーム起伏シリン
ダの負荷圧を検出する方法等によって検出されるが、作
業中、吊り荷重が一時的に変動すると検出値が実際値よ
りも大幅に大きくなるため、これをもとに算出される作
業半径が実際値よりも大きくなり、定格荷重まで余裕が
あるにもかかわらずクレーン動作が無駄に停止してしま
う。That is, although the suspension load is detected by a method of detecting the load pressure of the boom hoisting cylinder, etc., if the suspension load fluctuates temporarily during the work, the detected value becomes significantly larger than the actual value. The working radius calculated based on this becomes larger than the actual value, and the crane operation stops unnecessarily even though there is a margin up to the rated load.
【０００８】一方、上記のブーム起伏角の平均値をと
る方法においては、とくにブーム先端部に設けられた検
出器の重錘振り子が、クレーン作業中に、ブーム起伏動
作による水平方向の加速度によって鉛直線に対して傾く
等の理由により、ブーム起伏角の検出が不正確になり易
いため、の方法と同様に、作業半径の算出精度が悪く
なる。On the other hand, in the above method of obtaining the average value of the boom hoisting angle, the weight pendulum of the detector provided especially at the boom tip is vertically moved by the horizontal acceleration due to the boom hoisting operation during the crane operation. Since the boom hoisting angle is liable to be inaccurately detected due to the inclination to the line or the like, the work radius calculation accuracy is deteriorated as in the method.
【０００９】そこで本発明は、ブームのたわみを、従来
技術のように吊り荷重やブーム起伏角から間接的に求め
るのではなく、直接検出することにより、たわみの検出
精度を向上させ、作業半径を正確に算出することができ
るクレーンにおけるブームのたわみ検出方法及び作業半
径算出方法並びに作業半径算出装置を提供するものであ
る。Therefore, according to the present invention, the deflection of the boom is not directly obtained from the suspension load and the boom hoisting angle as in the prior art, but is directly detected, thereby improving the deflection detection accuracy and increasing the working radius. Provided are a boom deflection detection method, a work radius calculation method, and a work radius calculation device for a crane that can be accurately calculated.
【００１０】[0010]
【課題を解決するための手段】請求項１の発明（ブーム
のたわみ検出方法）は、発光体と受光体によるレーザー
光の発受作用を行うレーザー変位計を、上記レーザー光
の発受作用がブームの基端部と先端部との間で行われ、
かつ、ブームのたわみによって受光体の受光点が変化す
る状態でブームに設け、ブームのたわみ量を、上記レー
ザー変位計における受光体の受光点とブーム上に予め設
定された基準点との距離の変化によって検出するもので
ある。According to a first aspect of the present invention (boom flexure detecting method), a laser displacement meter for emitting and receiving laser light by a light emitter and a light receiver is provided. Between the base and tip of the boom,
Also, the boom is provided in a state where the light receiving point of the photoreceptor changes due to the deflection of the boom, and the amount of deflection of the boom is set to the distance between the light receiving point of the photoreceptor in the laser displacement meter and the reference point preset on the boom. It is detected by a change.
【００１１】請求項２の発明（作業半径算出方法）は、
請求項１記載のブームのたわみ検出方法によって検出さ
れたブームのたわみ量δと、ブーム長さＬと、ブームの
起伏角θとにより、そのときのブームのたわみを加味し
た作業半径Ｒを Ｒ＝Ｌｃｏｓθ＋δｓｉｎθ の式によって求めるものである。According to the invention of claim 2 (working radius calculation method),
According to the flexure amount δ of the boom detected by the boom flexure detection method according to claim 1, the boom length L, and the boom hoisting angle θ, the working radius R in consideration of the flexure of the boom at that time is R = It is obtained by the equation of L cos θ + δ sin θ.
【００１２】請求項３の発明（作業半径算出装置）は、
伸縮自在なブームを備えたクレーンにおいて、（i）ブ
ーム長さを検出するブーム長さ検出手段と、（ii）ブー
ムの起伏角を検出するブーム起伏角検出手段と、（ii
i）発光体と受光体によるレーザー光の発受作用がブー
ムの基端部と先端部との間で行われ、かつ、ブームのた
わみによって受光体の受光点が変化する状態でブームに
設けられたレーザー変位計と、（iｖ）上記レーザー変
位計からの信号に基づき受光体の受光点とブーム上に予
め設定された基準点との距離の変化によってブームのた
わみ量δを求め、このブームたわみ量δと、上記ブーム
長さ検出手段によって検出されたブーム長さＬと、上記
ブーム起伏角検出手段によって検出されたブームの起伏
角θとにより、そのときのブームのたわみを加味した作
業半径Ｒを Ｒ＝Ｌｃｏｓθ＋δｓiｎθ の式によって求めるように構成された演算器とを具備し
てなるものである。The invention of claim 3 (working radius calculation device),
In a crane having a telescopic boom, (i) boom length detecting means for detecting boom length, (ii) boom hoisting angle detecting means for detecting hoisting angle of the boom, and (ii)
i) The light-emitting body and the light-receiving body are provided on the boom in a state where the laser light is transmitted and received between the base end portion and the tip end portion of the boom, and the light-receiving point of the light-receiving body changes due to the deflection of the boom. Laser displacement meter, and (iv) based on the signal from the laser displacement meter, the amount of flexure δ of the boom is determined by the change in the distance between the light receiving point of the light receiver and the reference point preset on the boom. The working radius R in consideration of the bending of the boom at that time is calculated by the amount δ, the boom length L detected by the boom length detecting means, and the boom hoisting angle θ detected by the boom hoisting angle detecting means. And an arithmetic unit configured to obtain R by the equation of R = L cos θ + δ sin θ.
【００１３】[0013]
【作用】上記構成によると、レーザー変位計によるレー
ザー光の発受作用がブームの基端部と先端部との間で行
われ、ブームがたわむことによってレーザー変位計の受
光点が変化するため、この受光点と、予めブーム上に設
定された基準点との距離（以下、二点間距離という）δ
´が変化する。According to the above construction, the laser displacement meter emits / receives the laser beam between the base end portion and the tip end portion of the boom, and the deflection of the boom changes the light receiving point of the laser displacement meter. The distance between this light receiving point and the reference point preset on the boom (hereinafter referred to as the distance between two points) δ
´ changes.
【００１４】そして、この二点間距離δ´から、実際の
ブームのたわみ量（レーザー光軸と直角方向の受光点の
変位量）δとたわみ角αとが求められる。From the distance δ'between the two points, the actual flexure amount of the boom (displacement amount of the light receiving point in the direction perpendicular to the laser optical axis) δ and the flexure angle α are obtained.
【００１５】このたわみ角αは、ブームの線形弾性方程
式により、二点間距離δ´を用いて求めることができ
る。また、伸縮ブームにおいては、ブームの長さおよび
起伏角とたわみ角αの関係を予め実測で求め、補間式で
たわみ角αを求めることもできる。This deflection angle α can be obtained from the linear elasticity equation of the boom by using the distance δ ′ between the two points. Further, in the telescopic boom, the relationship between the boom length and the undulation angle and the deflection angle α can be obtained in advance by actual measurement, and the deflection angle α can be obtained by an interpolation formula.
【００１６】こうして、ブームのたわみを、従来のよう
に吊り荷重やブーム起伏角を介して間接的に求めるでは
なく、レーザー変位計によって直接検出することができ
るため、たわみの検出精度が向上し、これをもとにブー
ムのたわみを加味した作業半径を正確に算出することが
できる。In this way, the deflection of the boom can be directly detected by a laser displacement meter, rather than being indirectly obtained through the suspension load and the boom hoisting angle as in the prior art, so that the deflection detection accuracy is improved, Based on this, it is possible to accurately calculate the working radius in consideration of the flexure of the boom.
【００１７】[0017]
【実施例】本発明の実施例を図によって説明する。Embodiments of the present invention will be described with reference to the drawings.
【００１８】図１〜図３において、１は複数段のブーム
筒によって伸縮自在に構成されたブーム、２はこのブー
ム１を起伏させるブーム起伏シリンダ、３はこのブーム
１の起伏支点となるブームフットピンである。In FIGS. 1 to 3, 1 is a boom configured to extend and retract by a plurality of stages of boom cylinders, 2 is a boom hoisting cylinder for hoisting the boom 1, and 3 is a boom foot serving as a hoisting fulcrum of the boom 1. It's a pin.
【００１９】ブーム１の先端部（ブームヘッド）１ａに
は、ブームポイントアイドラ、メイン両シーブ４，５が
設けられ、図示しないウィンチから引出されてこの両シ
ーブ４，５に通された吊りロープ６、および吊りロープ
６に吊持されたフック７によって吊荷Ｗが上げ下げされ
る。A boom point idler and main sheaves 4 and 5 are provided at a tip end portion (boom head) 1a of the boom 1, and a suspension rope 6 is drawn out from a winch (not shown) and passed through the sheaves 4 and 5. , And the hook 7 suspended by the suspension rope 6 raises and lowers the suspended load W.
【００２０】また、Ｌはブームフットピン３と両シーブ
４，５の軸心との距離、すなわちブーム長さ、θはブー
ム起伏角で、ブーム長さＬはコードリール式のブーム長
さ検出器８によって、またブーム起伏角θはブーム基端
部に設けられたブーム起伏角検出器９によってそれぞれ
検出される。Further, L is the distance between the boom foot pin 3 and the shaft centers of the sheaves 4 and 5, that is, the boom length, θ is the boom hoisting angle, and the boom length L is a cord reel type boom length detector. 8 and the boom hoisting angle θ are detected by a boom hoisting angle detector 9 provided at the boom base end.
【００２１】ブーム１にはレーザー変位計が設けられて
いる。このレーザー変位計は、ブーム１のたわみがない
状態でのブーム軸線に沿ってレーザー光を発射する発光
体１０と、この発光体１０からのレーザー光を受けて信
号を発する受光体１１とから成り、発光体１０がブーム
１の基端部に、受光体１１がブームヘッド１ａにそれぞ
れ上方（ブーム倒伏状態での上方）に突出して設けられ
ている。図１〜図３中、βはレーザー光線の光軸を示
す。The boom 1 is provided with a laser displacement meter. This laser displacement meter is composed of a light emitter 10 that emits laser light along the boom axis when the boom 1 is not deflected, and a light receiver 11 that receives a laser light from the light emitter 10 and emits a signal. The light-emitting body 10 is provided at the base end portion of the boom 1, and the light-receiving body 11 is provided above the boom head 1a so as to project upward (upward in the boom lying state). 1 to 3, β indicates the optical axis of the laser beam.
【００２２】受光体１１は、図２に示すように複数の受
光部１１ａ…が竪方向、すなわちブーム軸線と直角方向
に並べられてラインセンサとして構成され、ブーム１の
たわみにより、レーザー光を受ける受光部１１ａ（受光
点）が変化する。As shown in FIG. 2, the light receiving body 11 is formed as a line sensor by arranging a plurality of light receiving portions 11a in a vertical direction, that is, a direction perpendicular to the boom axis, and receives a laser beam due to the bending of the boom 1. The light receiving portion 11a (light receiving point) changes.
【００２３】この受光体１１からの受光点の位置信号
は、ブーム長さ検出器８からのブーム長さ信号およびブ
ーム起伏角検出器９からのブーム起伏角信号とともに図
４に示す演算器１２に入力され、この演算器１２におい
て各信号をもとにブーム１のたわみ量δが演算される。The position signal of the light receiving point from the light receiver 11 is sent to the calculator 12 shown in FIG. 4 together with the boom length signal from the boom length detector 8 and the boom hoisting angle signal from the boom hoisting angle detector 9. The deflection amount δ of the boom 1 is calculated on the basis of each signal input by the calculator 12.
【００２４】すなわち、ブームヘッド１ａには、予め、
ブーム１のたわみがない状態での受光点の位置Ｑが基準
点として設定され、ブーム１のたわみが生じることによ
り、受光点が移動して（Ｐはこの移動後の受光点を示
す）、この基準点Ｑと受光点Ｐの距離（二点間距離）δ
´が変化する。That is, the boom head 1a is previously provided with
The position Q of the light receiving point when the boom 1 is not deflected is set as a reference point, and the deflection of the boom 1 causes the light receiving point to move (P indicates the light receiving point after this movement). Distance between reference point Q and light receiving point P (distance between two points) δ
´ changes.
【００２５】ただし、受光体１１はブーム軸線に対して
直角に設けられているため、基準点Ｑからレーザー光軸
Ｌに下した垂線の長さδ（Ｏはこの垂線とレーザー光軸
Ｌの交点）がブーム１のたわみ量δとなり、∠ＰＱＯ＝
αがブーム１のたわみ角となる。However, since the photoreceptor 11 is provided at right angles to the boom axis, the length δ of the perpendicular line from the reference point Q to the laser optical axis L (O is the intersection of this perpendicular line and the laser optical axis L). ) Is the deflection amount δ of boom 1, and ∠PQO =
α is the bending angle of the boom 1.
【００２６】すなわち、 δ＝δ´ｃｏｓα となる。That is, δ = δ'cosα.
【００２７】ここで、たわみ角αは二点間距離δ´に対
応して変化し、はりの線形弾性方程式によって求めるこ
とができる。Here, the deflection angle α changes depending on the distance δ'between the two points, and can be obtained by the linear elasticity equation of the beam.
【００２８】あるいは、この実施例で示した複数段のブ
ーム筒から成る伸縮式のブーム１の場合は、予め二点間
距離δ´とたわみ角αの関係を複数通り、実測で求めて
演算器１２に記憶させておき、測定される二点間距離δ
´から補間演算によってたわみ角αを求めてもよい。Alternatively, in the case of the telescopic boom 1 composed of a plurality of stages of boom cylinders shown in this embodiment, a plurality of relations between the two-point distance δ'and the deflection angle α are previously obtained by actual measurement to obtain a computing unit. The distance between two points δ, which is measured and stored in 12
The deflection angle α may be obtained from ′ by interpolation calculation.
【００２９】また、一般に、伸縮ブームの弾性特性とし
て、圧縮変形はたわみ（曲げ）変形に比べて無視できる
程度に小さいため、ブーム長さ検出器８によって検出さ
れるブーム長さＬは、ブームフットピン３−交点Ｏ間の
距離Ｌ´とほぼ同じと考えて差し支えない。Further, generally, as elastic characteristics of the telescopic boom, since the compression deformation is so small that it can be ignored as compared with the bending (bending) deformation, the boom length L detected by the boom length detector 8 is equal to the boom foot. It can be considered that the distance L ′ between the pin 3 and the intersection O is almost the same.
【００３０】つまり、作業半径Ｒは、 Ｒ＝Ｌcosθ＋δsinθ によって求められる。That is, the working radius R is obtained by R = Lcosθ + δsinθ.
【００３１】こうして求められた作業半径Ｒは、図４に
示すように過負荷防止装置１３に入力され、過負荷防止
のためのパラメータとして用いられる。The work radius R thus obtained is input to the overload preventing device 13 as shown in FIG. 4 and used as a parameter for preventing overload.
【００３２】ところで、上記実施例では、ブーム基端部
に発光体１０、先端部に受光体１１を設けたが、逆に、
ブーム基端部に受光体１１、先端部に発光体１０を設け
てもよい。By the way, in the above-mentioned embodiment, the light emitter 10 is provided at the boom base end and the light receiver 11 is provided at the tip end.
The light receiving body 11 may be provided at the base end of the boom and the light emitting body 10 may be provided at the front end.
【００３３】また、本発明は上記実施例で挙げたブーム
伸縮式のクレーンに限らず、ブーム非伸縮式のクレーン
にも適用することができる。この場合、ブーム長さは既
知であるため、ブーム長さ検出器は不要となる。Further, the present invention is not limited to the boom telescopic type crane described in the above embodiment, but can be applied to a boom non-extensible type crane. In this case, since the boom length is known, the boom length detector is unnecessary.
【００３４】[0034]
【発明の効果】上記のように本発明によるときは、レー
ザー変位計の発光体と受光体を、これらによるレーザー
光の発受作用がブームの基端部と先端部との間で行わ
れ、かつ、ブームのたわみによって受光体の受光点が変
化する状態でブームに設け、ブームのたわみ量を、上記
受光点とブーム上に予め設定された基準点との距離の変
化によって直接、検出するようにしたから、従来のよう
に吊り荷重やブーム起伏角を介してブームのたわみを間
接的に求める方式と比較して、たわみの検出精度が大幅
に向上する。As described above, according to the present invention, the emitter and the receiver of the laser displacement meter are made to emit and receive the laser light between the base end portion and the tip end portion of the boom, In addition, it is provided on the boom in a state where the light receiving point of the light receiver changes due to the bending of the boom, and the amount of bending of the boom is directly detected by the change in the distance between the light receiving point and a preset reference point on the boom. Therefore, as compared with the conventional method of indirectly obtaining the deflection of the boom via the suspension load and the boom hoisting angle, the deflection detection accuracy is significantly improved.
【００３５】また、請求項２，３の発明によると、こう
して検出されたブームのたわみをもとに作業半径を算出
するため、ブームのたわみを加味した正確な作業半径を
求め、過負荷防止制御等に正確に反映させることができ
る。Further, according to the inventions of claims 2 and 3, since the working radius is calculated based on the deflection of the boom thus detected, an accurate working radius in consideration of the deflection of the boom is obtained, and the overload prevention control is performed. Etc. can be reflected accurately.
【図１】本発明の実施例を示す概略側面図である。FIG. 1 is a schematic side view showing an embodiment of the present invention.
【図２】図１の一部拡大図である。FIG. 2 is a partially enlarged view of FIG.
【図３】同実施例におけるブームのたわみ状況とたわみ
量検出方法を説明するための模式図である。FIG. 3 is a schematic diagram for explaining a flexure state of a boom and a flexure amount detection method in the embodiment.
【図４】同実施例における検出器および演算器のブロッ
ク構成図である。FIG. 4 is a block configuration diagram of a detector and an arithmetic unit in the embodiment.
１ ブーム １ａ ブームヘッド ８ ブーム長さ検出器 ９ ブーム起伏角検出器 １０ レーザー変位計の発光体 １１ 同受光体 １１ａ 受光体の複数の受光部 Ｐ 受光点 Ｑ 基準点 δ´ 受光点と基準点の距離 １２ 演算器 1 Boom 1a Boom head 8 Boom length detector 9 Boom hoisting angle detector 10 Laser displacement meter light emitter 11 Same light receiver 11a Multiple light receiving parts of light receiver P Light receiving point Q Reference point δ 'Light receiving point and reference point Distance 12 calculator
───────────────────────────────────────────────────── フロントページの続き (72)発明者 川端 將司 神戸市西区高塚台１丁目５番５号 株式会 社神戸製鋼所神戸総合技術研究所内 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor, Masashi Kawabata 1-5-5 Takatsukadai, Nishi-ku, Kobe City Kobe Steel Research Institute, Kobe Steel Research Institute
Claims (3)
作用を行うレーザー変位計を、上記レーザー光の発受作
用がブームの基端部と先端部との間で行われ、かつ、ブ
ームのたわみによって受光体の受光点が変化する状態で
ブームに設け、ブームのたわみ量を、上記レーザー変位
計における受光体の受光点とブーム上に予め設定された
基準点との距離の変化によって検出することを特徴とす
るクレーンにおけるブームのたわみ検出方法。1. A laser displacement meter for transmitting and receiving laser light by a light emitter and a light receiver, wherein the laser light is transmitted and received between a base end portion and a tip end portion of a boom, and a boom is provided. It is provided on the boom in a state where the light receiving point of the light receiving body changes due to the deflection of the light, and the amount of bending of the boom is detected by the change in the distance between the light receiving point of the light receiving body of the laser displacement meter and the preset reference point on the boom. A method for detecting the deflection of a boom in a crane, characterized by:
によって検出されたブームのたわみ量δと、ブーム長さ
Ｌと、ブームの起伏角θとにより、そのときのブームの
たわみを加味した作業半径Ｒを Ｒ＝Ｌｃｏｓθ＋δｓｉｎθ の式によって求めることを特徴とするクレーンにおける
作業半径算出方法。2. A work in which the flexure of the boom at that time is taken into consideration by the flexure amount δ of the boom detected by the boom flexure detection method according to claim 1, the boom length L, and the hoisting angle θ of the boom. A method for calculating a working radius in a crane, characterized in that the radius R is calculated by the equation R = Lcos θ + δ sin θ.
いて、 （i）ブーム長さを検出するブーム長さ検出手段と、 （ii）ブームの起伏角を検出するブーム起伏角検出手段
と、 （iii）発光体と受光体によるレーザー光の発受作用が
ブームの基端部と先端部との間で行われ、かつ、ブーム
のたわみによって受光体の受光点が変化する状態でブー
ムに設けられたレーザー変位計と、 （iｖ）上記レーザー変位計からの信号に基づき受光体
の受光点とブーム上に予め設定された基準点との距離の
変化によってブームのたわみ量δを求め、このブームた
わみ量δと、上記ブーム長さ検出手段によって検出され
たブーム長さＬと、上記ブーム起伏角検出手段によって
検出されたブームの起伏角θとにより、そのときのブー
ムのたわみを加味した作業半径Ｒを Ｒ＝Ｌｃｏｓθ＋δｓiｎθ の式によって求めるように構成された演算器とを具備し
てなることを特徴とするクレーンにおける作業半径算出
装置。3. A crane having a telescopic boom, wherein (i) boom length detecting means for detecting boom length, (ii) boom hoisting angle detecting means for detecting hoisting angle of the boom, and (iii) ) A laser beam is emitted and received by the light emitting body and the light receiving body between the base end portion and the tip end portion of the boom, and the light receiving point of the light receiving body is changed by the deflection of the boom. Laser displacement meter, and (iv) Based on the signal from the laser displacement meter, the boom deflection amount δ is obtained by the change in the distance between the light receiving point of the photoreceptor and the preset reference point on the boom. δ, the boom length L detected by the boom length detecting means, and the boom hoisting angle θ detected by the boom hoisting angle detecting means, thereby determining a working radius R in consideration of the bending of the boom at that time. A working radius calculation device for a crane, comprising: a computing unit configured to obtain the equation R = Lcos θ + δsin θ.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP30486494A JPH08157188A (en) | 1994-12-08 | 1994-12-08 | Deflection detecting method of boom in crane and operation radius calculating method and operation radius calculating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP30486494A JPH08157188A (en) | 1994-12-08 | 1994-12-08 | Deflection detecting method of boom in crane and operation radius calculating method and operation radius calculating device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH08157188A true JPH08157188A (en) | 1996-06-18 |
Family
ID=17938202
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP30486494A Pending JPH08157188A (en) | 1994-12-08 | 1994-12-08 | Deflection detecting method of boom in crane and operation radius calculating method and operation radius calculating device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH08157188A (en) |
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