Controller, boom device, and crane vehicle
Provided is a controller with high versatility that can automatically store or raise a boom and can be commonly used for various boom devices. The controller generates a function based on a length of a boom and a distance from a derrick fulcrum of the boom to an engaging member stored in a memory, and a depression angle of the engaging member with respect to the fulcrum. Then, the controller substitutes a derrick angle of the boom detected by a derrick angle sensor into the generated function to calculate a displacement distance from a distal end of the boom to the engaging member. The controller rotates a winch while raising and lowering the boom between a lowered position and a raised position such that the calculated displacement distance is a distance corresponding to an unwinding length of a wire detected by a length sensor.
1. A controller used for a boom device,
the boom device including:
a base;
a boom supported by the base and capable of being raised and lowered between a lowered position and a raised position;
a winch having a wire wound around a wire drum and wound around a distal end of the boom;
a load hook provided at a tip of the wire;
a first drive source configured to raise and lower the boom;
a second drive source configured to drive the winch and to unwind the wire from the wire drum or wind the wire around the wire drum;
an engaging member provided on the base and to which the load hook suspended from the distal end of the boom at the raised position is engaged in a detachable manner;
a derrick angle sensor configured to detect a derrick angle of the boom; and
a length sensor configured to detect an unwinding length of the wire from the distal end of the boom;
the controller comprising:
a memory configured to store specified values corresponding to a length of the boom and a position of the engaging member with respect to a derrick fulcrum of the boom; and
the controller executes an automatic boom drive process of driving the winch while raising or lowering the boom between the lowered position and the raising position in a state where the load hook is engaged with the engaging member based on derrick angle of the boom detected by the derrick angle sensor and based on the specified values read out from the memory,
and wherein in the automatic boom drive process of driving,
the controller calculates the displacement distance from the distal end of the boom to the engaging member, and matches the displacement distance to a distance corresponding to the length detected by the length sensor,
or the controller further calculates the wire speed which is an unwinding speed or a winding speed of wire based on the displacement distance and matches the calculated wire speed to a speed corresponding to a detected wire speed calculated based on a detected value of the length sensor,
wherein each of the specified values relates to the unwinding length by a function X(θ, specified value), where X is the unwinding length, θ is the boom derrick angle, and specified value is (D, L, φ) or (a, b, L, φ), where D is a distance from the derrick fulcrum P of the boom to the load hook, L is a length from a proximal end of the boom to a distal end of the boom, φ is a depression angle of the load hook, a is a first separation distance in a horizontal direction between the derrick fulcrum of the boom and the engaging member, and b is a second separation distance in a vertical direction between the derrick fulcrum of the boom and the engaging member.
2. The controller according to claim 1 , wherein:
the first drive source is a telescopic cylinder, and
an extension and retraction speed of the cylinder is kept constant in the automatic boom drive process.
3. The controller according to claim 1 , wherein an angular velocity of the boom that is raised and lowered is kept constant in the automatic boom drive process.
4. The controller according to claim 1 , wherein a rotation speed of the winch is kept constant in the automatic boom drive process.
5. The controller according to claim 1 , wherein:
the boom device further includes a tension sensor configured to detect tension applied to the wire,
the memory stores in advance a threshold for determining an allowable range of a difference between the displacement distance and the unwinding length of the wire detected by the length sensor,
in the automatic boom drive process, the controller drives the winch while raising and lowering the boom between the lowered position and the raised position such that the difference between the displacement distance and the length detected by the length sensor is within the threshold range, and
the controller corrects the threshold according to a magnitude of the tension detected by the tension sensor.
6. The controller according to claim 1 , wherein:
the controller executes a determination process of determining whether the difference between the displacement distance and the unwinding length of the wire is within a safe value range, and
the controller further executes a drive stop process of stopping the drive of the first drive source and the second drive source in response to determination that the difference between the displacement distance and the unwinding length is not within the safe value range.
7. The controller according to claim 1 , wherein the specified values include:
the length of the boom, and
a separation distance between the derrick fulcrum of the boom and the engaging member.
8. The controller according to claim 1 , wherein the specified values include:
the length of the boom,
a first separation distance in a horizontal direction between the derrick fulcrum of the boom and the engaging member, and
a second separation distance in a vertical direction between the derrick fulcrum of the boom and the engaging member.
9. The controller according to claim 1 , wherein:
the memory stores a class that generates a function for calculating the displacement distance based on the derrick angle and the unwinding length of the wire, and
the controller generates the function based on the class by using the specified values read out from the memory.
10. A boom device comprising:
the controller according to claim 1 .
11. A crane vehicle comprising:
the boom device according to claim 10 ; and
a traveling body mounted with the boom device.