Crane slewing control device and crane equipped with same

Patent metadata

Field	Value
Publication number	US-12595160-B2
Application number	US-202218262045-A
Country	US
Kind code	B2
Filing date	Jan 17, 2022
Priority date	Jan 27, 2021
Publication date	Apr 7, 2026
Grant date	Apr 7, 2026

Abstract

A slewing control device includes an attachment information acquisition unit, an angular velocity setting unit and a slewing control unit. The attachment information acquisition unit acquires attachment information for setting the maximum slewing angular velocity based on the transverse load acting on an attachment. The angular velocity setting unit sets the maximum slewing angular velocity of an upper slewing body based on the attachment information. The slewing control unit controls a slewing drive unit such that the slewing angular velocity of the upper slewing body does not exceed the maximum slewing angular velocity set by the angular velocity setting unit.

First claim

The invention claimed is:

1 . A crane slewing control device used for a crane including:
a lower body; an upper slewing body supported by the lower body to be able to slew about a slewing center axis extending in an up-and-down direction with respect to the lower body; a controller including circuitry that receives an operation to slew the upper slewing body with respect to the lower body and outputs a slewing command signal according to magnitude of the operation, the controller allowing an operation by a worker for slewing the upper slewing body to be applied to the controller; a slewing drive unit capable of slewing the upper slewing body with respect to the lower body; an attachment including a proximal end pivotably supported by the upper slewing body in a hoisting direction and a distal end opposite the proximal end, the attachment being attachable to and detachable from the upper slewing body; and a hoist cargo rope hanging down from the distal end of the attachment and connected to a hoist cargo, the crane slewing control device comprising: an attachment information acquisition unit that acquires attachment information, the attachment information being information peculiar to the attachment for setting a maximum slewing angular velocity that is a maximum value of a slewing angular velocity based on a transverse load that is a load along a slewing direction of the upper slewing body acting on the attachment due to the slewing angular velocity of the upper slewing body; a slewing control unit that receives the slewing command signal output from the controller and controls the slewing drive unit to cause the upper slewing body to slew with respect to the lower body in response to the slewing command signal; an angular velocity setting unit that sets the maximum slewing angular velocity that is allowed in a slewing operation of the upper slewing body based on at least the attachment information acquired by the attachment information acquisition unit; and a storage unit that stores limit values of the maximum slewing angular velocity for the attachment information, each of the limit values of the maximum slewing angular velocity for the attachment information stored in the storage unit is set to a smaller of a slewing angular velocity corresponding to an allowed value of a swing of the attachment, and a slewing angular velocity corresponding to an allowed value of a stress of the attachment, the angular velocity setting unit sets the maximum slewing angular velocity that is allowed in the slewing operation of the upper slewing body with reference to the limit values stored in the storage unit based on at least the attachment information acquired by the attachment information acquisition unit, the slewing control unit controls the slewing drive unit such that the slewing angular velocity of the upper slewing body does not exceed the maximum slewing angular velocity set by the angular velocity setting unit.

2 . The crane slewing control device according to claim 1 , wherein
the attachment information includes a length of the attachment from the proximal end to the distal end, and the angular velocity setting unit sets the maximum slewing angular velocity such that the maximum slewing angular velocity decreases as the length of the attachment increases.

3 . The crane slewing control device according to claim 1 , further comprising
a slewing information acquisition unit that acquires slewing information, the slewing information being information related to a condition of the slewing operation for setting the maximum slewing angular velocity, wherein the angular velocity setting unit sets the maximum slewing angular velocity based on the attachment information acquired by the attachment information acquisition unit and the slewing information acquired by the slewing information acquisition unit.

4 . The crane slewing control device according to claim 3 , wherein
the slewing information includes information corresponding to a hoist cargo load that is a load of the hoist cargo connected to the hoist cargo rope, and the angular velocity setting unit sets the maximum slewing angular velocity based on at least the attachment information acquired by the attachment information acquisition unit and the hoist cargo load acquired by the slewing information acquisition unit.

5 . The crane slewing control device according to claim 4 , wherein
the angular velocity setting unit sets the maximum slewing angular velocity such that the maximum slewing angular velocity decreases as the hoist cargo load increases in the same attachment information.

6 . The crane slewing control device according to claim 4 , further comprising
a load detection unit capable of detecting the hoist cargo load, wherein the angular velocity setting unit sets the maximum slewing angular velocity based on the hoist cargo load detected by the load detection unit in a period after the hoist cargo is separated upward from ground and before the slewing drive unit slews the upper slewing body in response to the operation input to the controller.

7 . The crane slewing control device according to claim 4 , wherein
the slewing information acquired by the slewing information acquisition unit includes information about a preset maximum hoist cargo load that is a maximum load of the hoist cargo connected to the hoist cargo rope, and the angular velocity setting unit sets the maximum slewing angular velocity based on the attachment information acquired by the attachment information acquisition unit and the maximum hoist cargo load.

8 . The crane slewing control device according to claim 4 , wherein
the slewing information includes information about a posture of the attachment, the angular velocity setting unit sets the maximum slewing angular velocity based on the attachment information acquired by the attachment information acquisition unit and a ratio of the hoist cargo load to a rated load determined from the posture of the attachment acquired by the slewing information acquisition unit, and the rated load is set corresponding to a maximum number of the hoist cargo ropes hanging down from the distal end of the attachment.

9 . The crane slewing control device according to claim 4 , wherein
the angular velocity setting unit sets the maximum slewing angular velocity when the slewing operation of the upper slewing body starts, and maintains the set maximum slewing angular velocity during the slewing operation.

10 . The crane slewing control device according to claim 3 , wherein
the angular velocity setting unit updates the maximum slewing angular velocity at predetermined intervals during the slewing operation of the upper slewing body, and the slewing control unit controls the slewing drive unit such that the slewing angular velocity of the upper slewing body does not exceed the maximum slewing angular velocity updated by the angular velocity setting unit.

11 . The crane slewing control device according to claim 3 , wherein
the slewing information acquired by the slewing information acquisition unit includes information about a working radius that is a distance from the proximal end to the distal end of the attachment in plan view, and the angular velocity setting unit sets the maximum slewing angular velocity based on at least the attachment information acquired by the attachment information acquisition unit and the working radius acquired by the slewing information acquisition unit.

12 . The crane slewing control device according to claim 11 , wherein
the angular velocity setting unit sets the maximum slewing angular velocity such that the maximum slewing angular

Assignees

• Kobe Steel Ltd
• Kobelco Construction Machinery Co Ltd

Inventors

• Sugano Naoki
• Ichikawa Yasuo
• Kurotsu Hitoshi
• Watanabe Takuya
• Kudara Kazufumi

Classifications

• B66C23/86 Primary

  hydraulically actuated · CPC title

• B66C23/94

  for limiting slewing movements · CPC title

• B66C15/00 Primary

  Safety gear (for rope, cable, or chain winding mechanisms B66D1/54) · CPC title