Slow stopping apparatus for working machine

摘要

Provided is a slow stopping apparatus for a working machine which can shorten a stopping time while suppressing a cargo swing. The slow stopping apparatus includes a first slow stopper 21 which calculates a cargo swing cycle T and takes a time T1 in a half of the cargo swing cycle T to stop an actuator 10 when a stop signal is input, a second slow stopper 22 which takes a shorter time T2 than the time T1 in the half of the cargo swing cycle T to stop the actuator 10, a cargo swing predictor 23 which predicts whether a load amplitude A would exceed an allowable value, and a switcher 24 which switches the first slow stopper 21 and the second slow stopper 22 in accordance with prediction of the cargo swing predictor 23. It is possible to suppress a cargo swing in stop of a motion of the working machine, thereby shortening a time required for stopping the motion of the working machine.

主权项

1. A slow stopping apparatus for a working machine, wherein the slow stopping apparatus is provided in the working machine, and the working machine includes a boom for supporting a cargo, the slow stopping apparatus comprising:
an actuator, wherein the actuator operates the working machine; a control unit, wherein the control unit controls a driving motion of the actuator; and an operating unit, wherein the operating unit gives an instruction to operate the working machine to the control unit, wherein the control unit includes:
a first slow stopper, wherein the first slow stopper calculates a cargo swing cycle (T) of the cargo, and brakes and stops the actuator when a stop signal is input from the operating unit to stop a motion of the working machine, and time to brake and stop the actuator is half the cargo swing cycle (T/2);a second slow stopper, wherein the second slow stopper brakes and stops the actuator when the stop signal is input from the operating unit, and the time to brake and stop the actuator is less than half the cargo swing cycle (T/2);a cargo swing predictor, wherein the cargo swing predictor predicts whether a load amplitude of the cargo will exceed an allowable value; anda switcher, wherein the switcher stops the actuator with the first slow stopper when the cargo swing predictor predicts that the load amplitude of the cargo will exceed the allowable value, and stops the actuator with the second slow stopper when the cargo swing predictor predicts that the load amplitude of the cargo will not exceed the allowable value.