WO2017183576A1 - Emergency shutdown device for mobile cranes - Google Patents

Emergency shutdown device for mobile cranes Download PDF

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Publication number
WO2017183576A1
WO2017183576A1 PCT/JP2017/015293 JP2017015293W WO2017183576A1 WO 2017183576 A1 WO2017183576 A1 WO 2017183576A1 JP 2017015293 W JP2017015293 W JP 2017015293W WO 2017183576 A1 WO2017183576 A1 WO 2017183576A1
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WO
WIPO (PCT)
Prior art keywords
emergency stop
stop switch
traveling body
disposed
control means
Prior art date
Application number
PCT/JP2017/015293
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French (fr)
Japanese (ja)
Inventor
隆広 山階
Original Assignee
株式会社タダノ
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Publication of WO2017183576A1 publication Critical patent/WO2017183576A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B66C23/42—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes with jibs of adjustable configuration, e.g. foldable

Definitions

  • the present invention relates to an emergency stop device for a mobile crane that can be remotely operated by remote control means.
  • a portable remote control means for remotely controlling an actuator of a mobile crane has been proposed.
  • a small remote control means that can be operated with one hand has already been realized.
  • the remote control means there is an advantage that a complex operation such as horizontal movement of the hook can be easily performed and the work can be performed while checking the safety of the surroundings.
  • the remote control means since the remote control means is configured to communicate with the mobile crane body using radio waves, it is necessary to prepare countermeasures against radio wave interference and interference. Of course, it is important to select a frequency region that is not easily affected by interference, but there is a possibility of being affected by radio wave interference or failure. In addition, when a relatively large mobile crane is operated using the remote control means, there is a possibility that a danger (such as approaching an obstacle) that cannot be assumed by the operator may occur. For this reason, an emergency stop device that stops the operation of the actuator when using the remote control means has been proposed.
  • Patent Document 1 discloses a technique in which an emergency stop switch is provided in a portable pendant switch device (wired type) itself, and fuel supply from the pump to the engine injection pump is stopped when the emergency stop switch is operated. Is disclosed.
  • the emergency stop switch of Patent Document 1 is arranged on the pendant switch device (that is, the remote control means) itself. Therefore, when the wireless remote control means is used, there is a problem that the emergency stop switch does not function when a malfunction such as radio wave failure or failure occurs in the remote control means itself.
  • an object of the present invention is to provide an emergency stop device that functions even if a malfunction occurs in the remote control means.
  • an emergency stop device for a mobile crane includes a traveling body having a traveling function, a swivel that is rotatably mounted on the traveling body, an actuator for work, and the actuator Remote operation means for remotely operating the vehicle, and an emergency stop switch disposed on the traveling body or the swivel, the emergency stop switch for stopping the operation of the actuator during use of the remote operation means.
  • the emergency stop device for a mobile crane includes a traveling body, a swivel base, an actuator, and a remote control means, and an emergency stop switch disposed on the travel body or the swivel base.
  • An emergency stop switch for stopping the operation of the actuator during use of the remote control means is provided.
  • the rough terrain crane 1 of this embodiment includes a traveling body 10 that is a main body portion of a vehicle having a traveling function, outriggers 11,.
  • the swivel base 12 is attached to the body 10 so as to be horizontally swivelable, and the boom 14 is attached to a bracket 13 erected on the swivel base 12.
  • the rough terrain crane 1 of the present embodiment can be remotely operated using the remote operation means 40.
  • the rough terrain crane 1 is provided with emergency stop switches 81, 82 (83), 84 for stopping the operation of the actuator while the remote control means 40 is used.
  • the swivel base 12 has a pinion gear to which the power of the turning motor is transmitted.
  • the pinion gear meshes with a circular gear provided on the traveling body 10 and rotates around the turning shaft.
  • the swivel base 12 includes a cab 18 disposed on the front right side, a bracket 13 disposed in the rear center, and a counterweight 19 disposed in the lower rear portion.
  • the boom 14 is configured to be nested by a base end boom 141, an intermediate boom 142, and a front end boom 143, and can be expanded and contracted by a telescopic cylinder disposed therein.
  • a sheave is arranged at the most advanced boom head of the tip boom 143, and a wire rope 16 is hung around the sheave and a hook block 17 is suspended.
  • the outermost base boom 141 is pivotally attached to a support shaft that is installed horizontally on the bracket 13 so that the base boom 141 can be raised and lowered up and down around the support shaft. Furthermore, the raising / lowering cylinder 15 is spanned between the bracket 13 and the lower surface of the base end boom 141, and the boom 14 can be raised / lowered by extending / contracting the raising / lowering cylinder 15.
  • the jib 30 and the tension rods 20 and 20 are stored in a sideways posture on the side surface of the base end boom 141.
  • the jib 30 and the tension rods 20 and 20 are mounted / stored using a plurality of pins (not shown) and a side-up cylinder 31.
  • the control system of the present embodiment includes a turning motor 53, a hoisting cylinder 54, a telescopic cylinder 55, a main winch motor 56, and a sub winch motor 57 as actuators. These actuators are controlled by a control valve 64 described later.
  • the control system of the present embodiment includes, as a hydraulic circuit, a PTO 62 that extracts power from the transmission 61 of the engine 60, a hydraulic pump 63 that is rotationally driven by the PTO 62 and pressurizes hydraulic oil from the oil tank 65, and a hydraulic pump 63 And a control valve 64 for controlling the flow of discharged hydraulic oil.
  • the control valve 64 includes a valve group corresponding to each actuator. Each valve is controlled by a controller 70.
  • the controller 70 is a computer having a bus, an arithmetic device, a storage device, and the like.
  • the controller 70 receives an operation signal from the turning lever 71, the hoisting lever 72, the telescopic lever 73, the main winch lever 74, or the like, or receives an operation signal from the remote operation means 40 via the communication unit 70a.
  • the actuator is controlled by calculating the moving direction and moving amount of each valve and transmitting a signal to the control valve 64.
  • emergency stop switches 81 to 84 are connected to the controller 70 of the present embodiment.
  • the controller 70 stops the engine 60 when it receives signals from the emergency stop switches 81 to 84 during use of the remote operation means 40 (for example, when the power of the remote operation means 40 is ON). Furthermore, after the emergency stop switches 81 to 84 are pressed, the controller 70 starts the engine 60 when the emergency stop switches 81 to 84 are pressed again.
  • the remote operation means 40 includes an operation surface 42 for operating the actuator, and a grip portion 41 that extends below the operation surface 42 and is gripped by hand.
  • the remote control means 40 has a communication unit 40a (see FIG. 2), and commands the controller 70 via the communication unit 70a of the controller 70 by operating the lever switches S1 to S4, the setting buttons F1 to F3, and the like. Or obtain information from the controller 70.
  • a trigger (not shown) that is operated with the index finger while holding the grip 41 is disposed on the back side of the grip 41. The trigger drives the actuator selected by the selection means in a selected direction (forward direction or reverse direction) at a speed corresponding to the operation amount.
  • the operation surface 42 includes a display unit 43 disposed at the upper part; a power switch 44 disposed on the right side of the display unit 43; a mode button 46 disposed on the lower left side of the display unit; Three setting buttons F1, F2, and F3 to be arranged; a turning lever switch S1 and a undulation lever switch S2 as four selection means arranged below corresponding to the mode button 46 and the setting buttons F1, F2, and F3, A sub winch lever switch S3 and a main winch lever switch S4.
  • the display unit 43 is a liquid crystal display, and switches to a setting screen by long-pressing the mode button 46. By pressing the setting buttons F1, F2, and F3 following the mode button 46, a crane mode (laying plate suspension process mode) is displayed. ), Outrigger extension / storage process mode, and jib attachment / detachment process mode.
  • the rough terrain crane 1 of the present embodiment has an emergency stop switch 81 arranged on the swivel 12 on the left side shown in FIG. 4 and an emergency stop switch 82 arranged near the center of the traveling body 10 in the vehicle longitudinal direction. And. Further, the rough terrain crane 1 of the present embodiment has an emergency stop switch 83 disposed near the center of the traveling body 10 in the vehicle front-rear direction on the right side shown in FIG. A stop switch 84.
  • the mobile crane emergency stop device S of the present embodiment includes the traveling body 10, the swivel base 12, the actuators 53 to 57, the remote control means 40, and the emergency stop switches 81 to 84. Has been.
  • These emergency stop switches 81 to 83 (84) are all push-button switches, and are formed to have a predetermined size so that they can be easily pushed with hands and feet even in an emergency. Further, the button portions of the emergency stop switches 81 to 83 (84) are colored red so as to stand out.
  • the emergency stop switch 84 in the cab 18 may be a push button type mechanical switch or a virtual switch displayed in the display screen.
  • the emergency stop switch 81 disposed on the swivel base 12 is disposed at the lower front end on the left side which is the opposite side of the cab 18 disposed on the right side of the swivel base 12. More specifically, the emergency stop switch 81 is located in the front of the long hole 12a inside the long hole 12a disposed on the outermost front surface of the lower part of the front end formed in a stepped shape on the left side of the swivel base 12. In this way, it is fixed to an L-shaped support 85 (switch fixing support).
  • the emergency stop switch 81 disposed on the swivel base 12 takes into account the case where the emergency stop switches 82 and 83 disposed on the traveling body 10 to be described later are difficult to press due to the swivel base 12 turning. It is placed at a height that can be reached from workers on the ground.
  • the emergency stop switch 81 is connected to the controller 70 by a communication cable (not shown).
  • the “long hole” is defined as a hole having a horizontal dimension longer than a vertical dimension.
  • the shape of the opening that communicates with the emergency stop switch 81 may be any shape that allows the toes to easily enter. Therefore, the shape of the opening is not limited to the long hole 12a, and may be an elliptical hole or a rectangular hole with rounded corners.
  • the size is similar to that of the above and is slightly larger.
  • the emergency stop switch 81 of a present Example is arrange
  • the emergency stop switch 82 disposed on the left side surface of the traveling body 10 is disposed in the vicinity of the step 10 s disposed on the rear side of the left side surface of the traveling body 10. More specifically, the emergency stop switch 82 is installed immediately in front of the uppermost step 10 s of the traveling body 10. The emergency stop switch 82 is connected to the controller 70 by a communication cable (not shown).
  • the emergency stop switch 82 is fixed to the traveling body 10 via an attachment 86 (an outrigger fixing support) attached to a bracket 10b extending laterally from the upper part of the frame 10a of the traveling body 10.
  • the emergency stop switch 82 is disposed at a predetermined distance from the exterior surface.
  • the emergency stop switch 82 is disposed at such a depth that it is difficult to be pushed by an unintended contact. Specifically, it can be arranged at a distance of about 10 cm to 20 cm from the surface of the exterior (including step 10 s).
  • the emergency stop switch 83 disposed on the right side surface of the traveling body 10 is disposed in the vicinity of the step 10 s disposed near the front of the right side surface of the traveling body 10. More specifically, the emergency stop switch 83 is installed in the back between the uppermost step 10 s of the traveling body 10 and the deck.
  • the emergency stop switch 83 is connected to the controller 70 by a communication cable (not shown).
  • the emergency stop switch 83 is fixed to the traveling body 10 via an attachment 87 (switch fixing support) attached to a bracket 10b that extends laterally from the upper part of the frame 10a of the traveling body 10.
  • the emergency stop switch 83 is arranged at a predetermined distance from the exterior surface. That is, the emergency stop switch 83 is disposed at a depth that is difficult to be pressed by an unintended contact. Specifically, it can be arranged at a distance of about 10 cm to 20 cm from the surface of the exterior (including step 10 s).
  • an emergency stop switch 84 is also arranged in the cab 18.
  • the emergency stop switch 84 is disposed at an appropriate location in the cab 18 so that the operation of the actuator can be stopped by being pressed by an operator in the cab 18 when two or more people are working.
  • the emergency stop switch 84 is connected to the controller 70 by a communication cable (not shown).
  • the emergency stop device S for a mobile crane includes a traveling body 10 having a traveling function, a swivel base 12 that is turnably mounted on the traveling body 10, and a working work.
  • the emergency stop switches 81 to 84 are directly connected to the controller 70, the mobile crane emergency stop device S functions even if a malfunction occurs in the remote control means 40.
  • the emergency stop switches 81 to 83 are pushed by an operator or an assistant in an emergency. It becomes easy.
  • the swivel base 12 is provided with a boom 14 at the center of the left and right and a cab 18 on the left or right side, and the emergency stop switch 81 is located at the lower front end on the left or right side of the swivel 12.
  • the jib attachment / detachment work is carried out by ascending on the traveling body 10, and the operator can press the emergency stop switch 81 with his / her foot even when both hands are occupied.
  • the emergency stop switch 81 can be pushed with a foot even when the remote control means 40 is held with one hand and the wire rope 16 is held with the other hand.
  • the emergency stop switch 81 of the swivel base 12 can also be reached from the ground, an operator who is in the vicinity and easily grasps the situation (a slinger, an assistant) detects the danger and presses the emergency stop switch 81. Can do.
  • the emergency stop switches 82 and 83 are further arranged near the center of the traveling body 10 in the vehicle front-rear direction, so that even if there is an operator near the front of the vehicle, Even if there is an operator, the emergency stop switches 82 and 83 can be easily pushed.
  • the emergency stop switches 82 and 83 are further arranged in the vicinity of the lifting step 10 s in the traveling body 10, even an operator who is on the ground (climber or assistant) can easily make an emergency.
  • the stop switches 82 and 83 can be pressed.
  • the operator who was working on the traveling body 10 can also press the emergency stop switches 82 and 83 while getting off the traveling body 10.
  • the emergency stop switches 81 to 83 are arranged at a predetermined distance from the surface of the exterior, it is possible to prevent the operator from unintentionally pressing the emergency stop switches 81 to 83. .
  • the step 10s functions as a protective fence for the emergency stop switches 81 to 83.
  • the emergency stop switch 81 of the swivel base 12 is arranged inside the long hole 12a (or ellipse) that is large enough to fit the toe portion of the foot, making it difficult to accidentally press the emergency stop switch 81. . That is, if the long hole 12a having a size just enough to fit the toe portion is provided and the emergency stop switch 81 is disposed at the back of the long hole 12a, the possibility of accidental contact with the emergency stop switch 81 during work is suppressed. be able to.
  • the remote operation means 40 As an example of “in use of the remote operation means 40”, the situation has been described in which the remote operation means 40 is turned on and remote control is possible. However, the present invention is not limited to this. Absent. Of course, the situation where the actuators 53 to 57 are actually operated by the remote control means 40 is also included.
  • the condition that the jib attachment / detachment process mode is selected may be set, or the remote operation means is actually used in the jib attachment / detachment process mode. It is also possible to make a condition that a signal of 40 is being transmitted / received.
  • the emergency stop switches 81 to 84 are connected to the controller 70 .
  • the present invention is not limited to this, and the emergency stop switches 81 to 84 are engine controllers that control the engine 60. It may be connected to.
  • the controller 70 is described as stopping the operation of the actuators 53 to 57 by stopping the engine 60.
  • the present invention is not limited to this, and the actuator 53 is controlled by controlling the control valve 64. ⁇ 57 can also be stopped.
  • the emergency stop switches 82 and 83 arranged on the traveling body 10 have been described in the vicinity of the elevating step 10s.
  • the present invention is not limited to this.
  • an emergency stop switch can be arranged by providing a hole in the exterior.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Jib Cranes (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

Provided is an emergency shutdown device which functions even when there is a malfunction in a remote-control means thereof. An emergency shutdown device S for mobile cranes comprises: a traveling body 10 which has a traveling function; a slewing platform 12 which is mounted on the traveling body 10 so as to be capable of slewing motion; working actuators 53 to 57; a remote-control means 40 for remotely controlling the actuators 53 to 57; and emergency shutdown switches 81 to 84 which are arranged on the traveling body 10 or the slewing platform 12 and which stop the operation of the actuators 53 to 57 when the remote-control means 40 is in use.

Description

移動式クレーンの緊急停止装置Mobile crane emergency stop device
　本発明は、遠隔操作手段によって遠隔操作可能な移動式クレーンの緊急停止装置に関するものである。 The present invention relates to an emergency stop device for a mobile crane that can be remotely operated by remote control means.
　従来から、移動式クレーンのアクチュエータを遠隔操作するための携帯型の遠隔操作手段が提案されている。例えば、車両搭載型クレーンでは比較的に操作入力数が少ないため、片手で操作できる小型の遠隔操作手段がすでに実現されている。遠隔操作手段を使用することで、フックの水平移動などの複合操作を容易に実施できるうえ、周囲の安全を確かめながら作業を実施できるという利点がある。 Conventionally, a portable remote control means for remotely controlling an actuator of a mobile crane has been proposed. For example, since a vehicle-mounted crane has a relatively small number of operation inputs, a small remote control means that can be operated with one hand has already been realized. By using the remote control means, there is an advantage that a complex operation such as horizontal movement of the hook can be easily performed and the work can be performed while checking the safety of the surroundings.
　一方、遠隔操作手段は移動式クレーン本体と電波を使用して通信するように構成されているため、電波障害や混信への対応策を準備しておく必要がある。もちろん、混信の影響を受けにくい周波数領域を選択することは重要であるが、電波障害や故障の影響を受ける可能性はある。この他、遠隔操作手段を使用して比較的大型の移動式クレーンを操作する場合には、操作者には想定しえない危険（障害物接近等）が生じる可能性がある。このため、遠隔操作手段を使用する場合に、アクチュエータの動作を停止する緊急停止装置が提案されている。 On the other hand, since the remote control means is configured to communicate with the mobile crane body using radio waves, it is necessary to prepare countermeasures against radio wave interference and interference. Of course, it is important to select a frequency region that is not easily affected by interference, but there is a possibility of being affected by radio wave interference or failure. In addition, when a relatively large mobile crane is operated using the remote control means, there is a possibility that a danger (such as approaching an obstacle) that cannot be assumed by the operator may occur. For this reason, an emergency stop device that stops the operation of the actuator when using the remote control means has been proposed.
　例えば、特許文献１には、携帯型のペンダントスイッチ装置（有線型）自体に非常停止スイッチを設けて、非常停止スイッチが操作されるとポンプからエンジンの噴射ポンプへの燃料供給が停止される技術が開示されている。 For example, Patent Document 1 discloses a technique in which an emergency stop switch is provided in a portable pendant switch device (wired type) itself, and fuel supply from the pump to the engine injection pump is stopped when the emergency stop switch is operated. Is disclosed.
特開平１１－２４０６８８号公報Japanese Patent Laid-Open No. 11-240688
　しかしながら、特許文献１の非常停止スイッチは、ペンダントスイッチ装置（すなわち遠隔操作手段）自体に配置されるものであった。したがって、無線型の遠隔操作手段を使用する場合は、遠隔操作手段自体に電波障害や故障などの不具合が発生すると非常停止スイッチも機能しなくなる、という問題があった。 However, the emergency stop switch of Patent Document 1 is arranged on the pendant switch device (that is, the remote control means) itself. Therefore, when the wireless remote control means is used, there is a problem that the emergency stop switch does not function when a malfunction such as radio wave failure or failure occurs in the remote control means itself.
　そこで、本発明は、遠隔操作手段に不具合が発生しても機能する緊急停止装置を提供することを目的としている。 Therefore, an object of the present invention is to provide an emergency stop device that functions even if a malfunction occurs in the remote control means.
　前記目的を達成するために、本発明の移動式クレーンの緊急停止装置は、走行機能を有する走行体と、前記走行体に旋回自在に搭載される旋回台と、作業用のアクチュエータと、前記アクチュエータを遠隔操作する遠隔操作手段と、前記走行体又は前記旋回台に配置される緊急停止スイッチであって、前記遠隔操作手段の使用中に、前記アクチュエータの動作を停止する緊急停止スイッチと、を備えている。 In order to achieve the above object, an emergency stop device for a mobile crane according to the present invention includes a traveling body having a traveling function, a swivel that is rotatably mounted on the traveling body, an actuator for work, and the actuator Remote operation means for remotely operating the vehicle, and an emergency stop switch disposed on the traveling body or the swivel, the emergency stop switch for stopping the operation of the actuator during use of the remote operation means. ing.
　このように、本発明の移動式クレーンの緊急停止装置は、走行体と、旋回台と、アクチュエータと、遠隔操作手段と、を備えており、さらに走行体又は旋回台に配置される緊急停止スイッチであって、遠隔操作手段の使用中に、アクチュエータの動作を停止する緊急停止スイッチと、を備えている。 Thus, the emergency stop device for a mobile crane according to the present invention includes a traveling body, a swivel base, an actuator, and a remote control means, and an emergency stop switch disposed on the travel body or the swivel base. An emergency stop switch for stopping the operation of the actuator during use of the remote control means is provided.
ラフテレーンクレーンの側面図である。It is a side view of a rough terrain crane. 実施例の移動式クレーンの緊急停止装置の制御系のブロック図である。It is a block diagram of the control system of the emergency stop apparatus of the mobile crane of an Example. 実施例の遠隔操作手段の正面図である。It is a front view of the remote control means of an Example. ラフテレーンクレーンの左側面図である。It is a left view of a rough terrain crane. ラフテレーンクレーンの右側面図である。It is a right view of a rough terrain crane. 旋回台に配置される緊急停止スイッチの位置を説明する斜視図である。It is a perspective view explaining the position of the emergency stop switch arrange | positioned at a turntable. 旋回台に配置される緊急停止スイッチの位置を説明する正面図である。It is a front view explaining the position of the emergency stop switch arrange | positioned at a turntable. 旋回台に配置される緊急停止スイッチの位置を説明する説明図である。It is explanatory drawing explaining the position of the emergency stop switch arrange | positioned at a turntable. 走行体の左側に配置される緊急停止スイッチの位置を説明する説明図である。It is explanatory drawing explaining the position of the emergency stop switch arrange | positioned at the left side of a traveling body. 走行体の右側に配置される緊急停止スイッチの位置を説明する説明図である。It is explanatory drawing explaining the position of the emergency stop switch arrange | positioned at the right side of a traveling body.
　以下、本発明の実施の形態について図面を参照して説明する。ただし、以下の実施の形態に記載されている構成要素は例示であり、本発明の技術範囲をそれらのみに限定する趣旨のものではない。 Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the components described in the following embodiments are exemplifications, and are not intended to limit the technical scope of the present invention only to them.
（構成）
　まず、図１を用いて移動式クレーンの緊急停止装置Ｓを備える移動式クレーンとしてのラフテレーンクレーン１の全体構成について説明する。以下の実施例では、ラフテレーンクレーン１を例にして説明するが、これに限定されるものではなく、オールテレーンクレーンなどの移動式クレーンに広く本発明を適用できる。 (Constitution)
First, the whole structure of the rough terrain crane 1 as a mobile crane provided with the emergency stop apparatus S of a mobile crane is demonstrated using FIG. In the following embodiments, the rough terrain crane 1 will be described as an example. However, the present invention is not limited to this, and the present invention can be widely applied to a mobile crane such as an all terrain crane.
（クレーンの全体構成）
　本実施例のラフテレーンクレーン１は、図１に示すように、走行機能を有する車両の本体部分となる走行体１０と、走行体１０の四隅に設けられたアウトリガ１１，・・・と、走行体１０に水平旋回可能に取り付けられた旋回台１２と、旋回台１２に立設されたブラケット１３に取り付けられたブーム１４と、を備えている。後述するように、本実施例のラフテレーンクレーン１は、遠隔操作手段４０を使用して遠隔操作可能となっている。さらに、ラフテレーンクレーン１には、遠隔操作手段４０の使用中にアクチュエータの動作を停止する緊急停止スイッチ８１、８２（８３）、８４が配置されている。 (Overall configuration of crane)
As shown in FIG. 1, the rough terrain crane 1 of this embodiment includes a traveling body 10 that is a main body portion of a vehicle having a traveling function, outriggers 11,. The swivel base 12 is attached to the body 10 so as to be horizontally swivelable, and the boom 14 is attached to a bracket 13 erected on the swivel base 12. As will be described later, the rough terrain crane 1 of the present embodiment can be remotely operated using the remote operation means 40. Further, the rough terrain crane 1 is provided with emergency stop switches 81, 82 (83), 84 for stopping the operation of the actuator while the remote control means 40 is used.
　旋回台１２は、旋回用モータの動力を伝達されるピニオンギヤを有しており、このピニオンギヤが走行体１０に設けた円形状のギヤに噛み合うことで旋回軸を中心に回動する。旋回台１２は、前方右側に配置された運転室１８と、後方中央に配置されたブラケット１３と、後方下部に配置されたカウンタウェイト１９と、を有している。 The swivel base 12 has a pinion gear to which the power of the turning motor is transmitted. The pinion gear meshes with a circular gear provided on the traveling body 10 and rotates around the turning shaft. The swivel base 12 includes a cab 18 disposed on the front right side, a bracket 13 disposed in the rear center, and a counterweight 19 disposed in the lower rear portion.
　ブーム１４は、基端ブーム１４１と中間ブーム１４２と先端ブーム１４３とによって入れ子式に構成されており、内部に配置された伸縮シリンダによって伸縮できるようになっている。先端ブーム１４３の最先端のブームヘッドにはシーブが配置され、シーブにワイヤロープ１６が掛け回されてフックブロック１７が吊下げられている。 The boom 14 is configured to be nested by a base end boom 141, an intermediate boom 142, and a front end boom 143, and can be expanded and contracted by a telescopic cylinder disposed therein. A sheave is arranged at the most advanced boom head of the tip boom 143, and a wire rope 16 is hung around the sheave and a hook block 17 is suspended.
　最も外側の基端ブーム１４１は、付け根部がブラケット１３に水平に設置された支持軸に回動自在に取り付けられており、支持軸を回転中心として上下に起伏できるようになっている。さらに、ブラケット１３と基端ブーム１４１の下面との間には、起伏シリンダ１５が架け渡されており、起伏シリンダ１５を伸縮することでブーム１４全体を起伏することができる。 The outermost base boom 141 is pivotally attached to a support shaft that is installed horizontally on the bracket 13 so that the base boom 141 can be raised and lowered up and down around the support shaft. Furthermore, the raising / lowering cylinder 15 is spanned between the bracket 13 and the lower surface of the base end boom 141, and the boom 14 can be raised / lowered by extending / contracting the raising / lowering cylinder 15.
　さらに、本実施例のラフテレーンクレーン１では、基端ブーム１４１の側面に、ジブ３０及びテンションロッド２０、２０が横抱姿勢にて格納されている。ジブ３０及びテンションロッド２０、２０は、複数のピン（不図示）とサイドアップシリンダ３１とを用いて、装着／格納される。 Furthermore, in the rough terrain crane 1 of the present embodiment, the jib 30 and the tension rods 20 and 20 are stored in a sideways posture on the side surface of the base end boom 141. The jib 30 and the tension rods 20 and 20 are mounted / stored using a plurality of pins (not shown) and a side-up cylinder 31.
（制御系の構成）
　次に、図２を用いて本実施例の遠隔操作手段４０を含む制御系の構成について説明する。本実施例の制御系は、アクチュエータとして、旋回モータ５３と、起伏シリンダ５４と、伸縮シリンダ５５と、メインウインチモータ５６と、サブウインチモータ５７と、を備えている。これらのアクチュエータは、後述するコントロールバルブ６４によって制御される。 (Control system configuration)
Next, the configuration of the control system including the remote control means 40 of this embodiment will be described with reference to FIG. The control system of the present embodiment includes a turning motor 53, a hoisting cylinder 54, a telescopic cylinder 55, a main winch motor 56, and a sub winch motor 57 as actuators. These actuators are controlled by a control valve 64 described later.
　そして、本実施例の制御系は、油圧回路として、エンジン６０のトランスミッション６１から動力を取り出すＰＴＯ６２と、ＰＴＯ６２によって回転駆動され油タンク６５からの作動油を加圧する油圧ポンプ６３と、油圧ポンプ６３から吐出される作動油の流れを制御するコントロールバルブ６４と、を備えている。コントロールバルブ６４は、各アクチュエータに対応するバルブ群から構成される。各バルブはコントローラ７０によって制御される。 The control system of the present embodiment includes, as a hydraulic circuit, a PTO 62 that extracts power from the transmission 61 of the engine 60, a hydraulic pump 63 that is rotationally driven by the PTO 62 and pressurizes hydraulic oil from the oil tank 65, and a hydraulic pump 63 And a control valve 64 for controlling the flow of discharged hydraulic oil. The control valve 64 includes a valve group corresponding to each actuator. Each valve is controlled by a controller 70.
　コントローラ７０は、バス、演算装置、記憶装置などを有するコンピュータである。コントローラ７０は、旋回レバー７１、起伏レバー７２、伸縮レバー７３、メインウインチレバー７４などからの操作信号を受信して、又は、通信部７０ａを介して遠隔操作手段４０からの操作信号を受信して、各バルブの移動方向及び移動量を演算し、コントロールバルブ６４に信号を送信することによってアクチュエータを制御する。 The controller 70 is a computer having a bus, an arithmetic device, a storage device, and the like. The controller 70 receives an operation signal from the turning lever 71, the hoisting lever 72, the telescopic lever 73, the main winch lever 74, or the like, or receives an operation signal from the remote operation means 40 via the communication unit 70a. The actuator is controlled by calculating the moving direction and moving amount of each valve and transmitting a signal to the control valve 64.
　そして、本実施例のコントローラ７０には、緊急停止スイッチ８１～８４が接続されている。コントローラ７０は、遠隔操作手段４０の使用中に（例えば遠隔操作手段４０の電源がＯＮになっているときに）、緊急停止スイッチ８１～８４からの信号を受信すると、エンジン６０を停止する。さらに、コントローラ７０は、緊急停止スイッチ８１～８４が押された後に、もう一度、緊急停止スイッチ８１～８４が押されると、エンジン６０を始動するようになっている。 Further, emergency stop switches 81 to 84 are connected to the controller 70 of the present embodiment. The controller 70 stops the engine 60 when it receives signals from the emergency stop switches 81 to 84 during use of the remote operation means 40 (for example, when the power of the remote operation means 40 is ON). Furthermore, after the emergency stop switches 81 to 84 are pressed, the controller 70 starts the engine 60 when the emergency stop switches 81 to 84 are pressed again.
（遠隔操作手段の構成）
　遠隔操作手段４０は、図３に示すように、アクチュエータを操作するための操作面４２と、操作面４２の下方に延びて手で把持される把持部４１と、を有する。遠隔操作手段４０は通信部４０ａ（図２参照）を有しており、レバースイッチＳ１～Ｓ４や設定ボタンＦ１～Ｆ３等を操作することでコントローラ７０の通信部７０ａを介してコントローラ７０に指示を出したり、コントローラ７０から情報を取得したりする。把持部４１の背面側には把持部４１を握った状態で人差し指で操作されるトリガ（不図示）が配置されている。トリガは、選択手段によって選択されたアクチュエータを、選択された方向（正方向又は逆方向）に、操作量に応じた速度で駆動させる。 (Configuration of remote control means)
As shown in FIG. 3, the remote operation means 40 includes an operation surface 42 for operating the actuator, and a grip portion 41 that extends below the operation surface 42 and is gripped by hand. The remote control means 40 has a communication unit 40a (see FIG. 2), and commands the controller 70 via the communication unit 70a of the controller 70 by operating the lever switches S1 to S4, the setting buttons F1 to F3, and the like. Or obtain information from the controller 70. A trigger (not shown) that is operated with the index finger while holding the grip 41 is disposed on the back side of the grip 41. The trigger drives the actuator selected by the selection means in a selected direction (forward direction or reverse direction) at a speed corresponding to the operation amount.
　操作面４２は、上部に配置される表示部４３と；表示部４３の右に配置される電源スイッチ４４と；表示部の左下に配置されるモードボタン４６と；モードボタン４６の右に並んで配置される３つの設定ボタンＦ１、Ｆ２、Ｆ３と；モードボタン４６及び設定ボタンＦ１、Ｆ２、Ｆ３に対応して下方に配置される４つの選択手段としての旋回レバースイッチＳ１、起伏レバースイッチＳ２、サブウインチレバースイッチＳ３、及びメインウインチレバースイッチＳ４と；を備えている。 The operation surface 42 includes a display unit 43 disposed at the upper part; a power switch 44 disposed on the right side of the display unit 43; a mode button 46 disposed on the lower left side of the display unit; Three setting buttons F1, F2, and F3 to be arranged; a turning lever switch S1 and a undulation lever switch S2 as four selection means arranged below corresponding to the mode button 46 and the setting buttons F1, F2, and F3, A sub winch lever switch S3 and a main winch lever switch S4.
　表示部４３は、液晶ディスプレイであり、モードボタン４６を長押しすることで設定画面に切り替わり、モードボタン４６に続いて設定ボタンＦ１、Ｆ２、Ｆ３を押すことによって、それぞれクレーンモード（敷板吊工程モード）、アウトリガ張出・格納工程モード、ジブ着脱工程モードに切り替わる。 The display unit 43 is a liquid crystal display, and switches to a setting screen by long-pressing the mode button 46. By pressing the setting buttons F1, F2, and F3 following the mode button 46, a crane mode (laying plate suspension process mode) is displayed. ), Outrigger extension / storage process mode, and jib attachment / detachment process mode.
（緊急停止スイッチの構成）
　以下、図４～図１０を用いて、緊急停止スイッチ８１、８２、８３、８４を備える緊急停止装置Ｓの構成について説明する。本実施例のラフテレーンクレーン１は、図４に示す左側面において、旋回台１２に配置される緊急停止スイッチ８１と、走行体１０において車両前後方向の略中央近傍に配置される緊急停止スイッチ８２と、を備えている。また、本実施例のラフテレーンクレーン１は、図５に示す右側面において、走行体１０において車両前後方向の略中央近傍に配置される緊急停止スイッチ８３と、運転室１８内に配置される緊急停止スイッチ８４と、を備えている。そして、本実施例の移動式クレーンの緊急停止装置Ｓは、上述した走行体１０と、旋回台１２と、アクチュエータ５３～５７と、遠隔操作手段４０と、緊急停止スイッチ８１～８４と、によって構成されている。 (Emergency stop switch configuration)
Hereinafter, the configuration of the emergency stop device S including the emergency stop switches 81, 82, 83, and 84 will be described with reference to FIGS. The rough terrain crane 1 of the present embodiment has an emergency stop switch 81 arranged on the swivel 12 on the left side shown in FIG. 4 and an emergency stop switch 82 arranged near the center of the traveling body 10 in the vehicle longitudinal direction. And. Further, the rough terrain crane 1 of the present embodiment has an emergency stop switch 83 disposed near the center of the traveling body 10 in the vehicle front-rear direction on the right side shown in FIG. A stop switch 84. The mobile crane emergency stop device S of the present embodiment includes the traveling body 10, the swivel base 12, the actuators 53 to 57, the remote control means 40, and the emergency stop switches 81 to 84. Has been.
　これらの緊急停止スイッチ８１～８３（８４）は、いずれも押しボタン型のスイッチであり、緊急時にも手や足で押しやすいように所定の大きさに形成されている。さらに、緊急停止スイッチ８１～８３（８４）のボタン部は、目立つように赤色に着色されている。なお、運転室１８内の緊急停止スイッチ８４は、押しボタン型等の機械的なスイッチであってもよいが、表示画面内に表示される仮想的なスイッチであってもよい。 These emergency stop switches 81 to 83 (84) are all push-button switches, and are formed to have a predetermined size so that they can be easily pushed with hands and feet even in an emergency. Further, the button portions of the emergency stop switches 81 to 83 (84) are colored red so as to stand out. The emergency stop switch 84 in the cab 18 may be a push button type mechanical switch or a virtual switch displayed in the display screen.
　旋回台１２に配置される緊急停止スイッチ８１は、図４、図６に示すように、旋回台１２において右側に配置された運転室１８の反対側である左側の前端下部に配置されている。より具体的には、緊急停止スイッチ８１は、旋回台１２の左側の階段状に形成された前端下部の最前面の外寄りに配置された長孔１２ａの内部に、長孔１２ａの正面に位置するようにＬ字サポート８５（スイッチ固定用サポート）に固定されている。さらに、旋回台１２に配置される緊急停止スイッチ８１は、旋回台１２が旋回することで、後述する走行体１０に配置される緊急停止スイッチ８２、８３を押しにくい姿勢となる場合を考慮して、地上にいる作業者から届く高さに配置されている。緊急停止スイッチ８１は、通信ケーブル（不図示）によってコントローラ７０と接続されている。 As shown in FIGS. 4 and 6, the emergency stop switch 81 disposed on the swivel base 12 is disposed at the lower front end on the left side which is the opposite side of the cab 18 disposed on the right side of the swivel base 12. More specifically, the emergency stop switch 81 is located in the front of the long hole 12a inside the long hole 12a disposed on the outermost front surface of the lower part of the front end formed in a stepped shape on the left side of the swivel base 12. In this way, it is fixed to an L-shaped support 85 (switch fixing support). Further, the emergency stop switch 81 disposed on the swivel base 12 takes into account the case where the emergency stop switches 82 and 83 disposed on the traveling body 10 to be described later are difficult to press due to the swivel base 12 turning. It is placed at a height that can be reached from workers on the ground. The emergency stop switch 81 is connected to the controller 70 by a communication cable (not shown).
　ここにおいて「長孔」とは縦辺の寸法よりも横辺の寸法が長く形成された孔と定義される。緊急停止スイッチ８１に通ずる開口部の形状は、つま先が入りやすい形状であればよい。したがって、開口部の形状は長孔１２ａに限定されるものではなく、楕円形の孔であってもよいし、角が丸くなった長方形の孔などであってもよい。逆に、意図せずに誤って押される恐れを考慮すると、開口部は大きくし過ぎることは好ましくなく、安全靴や長靴などの大き目の靴のつま先が入る程度の大きさであり、かつ、つま先と相似形でひとまわり大きい寸法であることが好ましい。 Here, the “long hole” is defined as a hole having a horizontal dimension longer than a vertical dimension. The shape of the opening that communicates with the emergency stop switch 81 may be any shape that allows the toes to easily enter. Therefore, the shape of the opening is not limited to the long hole 12a, and may be an elliptical hole or a rectangular hole with rounded corners. On the other hand, considering the risk of being accidentally pressed unintentionally, it is not preferable to make the opening too large, and it is large enough to fit the toes of large shoes such as safety shoes or boots, and toes It is preferable that the size is similar to that of the above and is slightly larger.
　そして、本実施例の緊急停止スイッチ８１は、図８に示すように、外装の表面から所定の距離をおいて配置されている。すなわち、緊急停止スイッチ８１は、長孔１２ａを通じて足の先端（つま先）を挿し入れて押せるものの、意図せずに誤って押されにくいような深さに配置されている。具体的には、外装の表面から例えば５ｃｍ～１０ｃｍ程度の距離に配置することができる。 And the emergency stop switch 81 of a present Example is arrange | positioned at predetermined distance from the surface of an exterior, as shown in FIG. That is, the emergency stop switch 81 is disposed at such a depth that the tip (toe) of the foot can be inserted and pushed through the long hole 12a, but is not easily pushed accidentally. Specifically, it can be arranged at a distance of, for example, about 5 cm to 10 cm from the surface of the exterior.
　走行体１０の左側面に配置される緊急停止スイッチ８２は、図４に示すように、走行体１０の左側面の後方寄りに設置されたステップ１０ｓの近傍に配置されている。より具体的には、緊急停止スイッチ８２は、走行体１０の最上段のステップ１０ｓのすぐ前方に設置されている。緊急停止スイッチ８２は、通信ケーブル（不図示）によってコントローラ７０と接続されている。 As shown in FIG. 4, the emergency stop switch 82 disposed on the left side surface of the traveling body 10 is disposed in the vicinity of the step 10 s disposed on the rear side of the left side surface of the traveling body 10. More specifically, the emergency stop switch 82 is installed immediately in front of the uppermost step 10 s of the traveling body 10. The emergency stop switch 82 is connected to the controller 70 by a communication cable (not shown).
　この緊急停止スイッチ８２は、図９に示すように、走行体１０のフレーム１０ａ上部から横に延びるブラケット１０ｂに取り付けられる取付材８６（アウトリガ固定用サポート）を介して走行体１０に固定される。そして、緊急停止スイッチ８２は、外装の表面から所定の距離をおいて配置されている。すなわち、緊急停止スイッチ８２は、意図しない接触によっては押されにくいような深さに配置されている。具体的には、外装（ステップ１０ｓを含む）の表面から１０ｃｍ～２０ｃｍ程度の距離に配置することができる。 As shown in FIG. 9, the emergency stop switch 82 is fixed to the traveling body 10 via an attachment 86 (an outrigger fixing support) attached to a bracket 10b extending laterally from the upper part of the frame 10a of the traveling body 10. The emergency stop switch 82 is disposed at a predetermined distance from the exterior surface. In other words, the emergency stop switch 82 is disposed at such a depth that it is difficult to be pushed by an unintended contact. Specifically, it can be arranged at a distance of about 10 cm to 20 cm from the surface of the exterior (including step 10 s).
　走行体１０の右側面に配置される緊急停止スイッチ８３は、図５に示すように、走行体１０の右側面の前方寄りに設置されたステップ１０ｓの近傍に配置されている。より具体的には、緊急停止スイッチ８３は、走行体１０の最上段のステップ１０ｓとデッキとの間の奥に設置されている。緊急停止スイッチ８３は、通信ケーブル（不図示）によってコントローラ７０と接続されている。 As shown in FIG. 5, the emergency stop switch 83 disposed on the right side surface of the traveling body 10 is disposed in the vicinity of the step 10 s disposed near the front of the right side surface of the traveling body 10. More specifically, the emergency stop switch 83 is installed in the back between the uppermost step 10 s of the traveling body 10 and the deck. The emergency stop switch 83 is connected to the controller 70 by a communication cable (not shown).
　この緊急停止スイッチ８３は、図１０に示すように、走行体１０のフレーム１０ａ上部から横に延びるブラケット１０ｂに取り付けられる取付材８７（スイッチ固定用サポート）を介して走行体１０に固定される。そして、緊急停止スイッチ８３は、外装の表面から所定の距離をおいて配置されている。すなわち、緊急停止スイッチ８３は、意図しない接触によっては押されにくいような深さに配置されている。具体的には、外装（ステップ１０ｓを含む）の表面から１０ｃｍ～２０ｃｍ程度の距離に配置することができる。 As shown in FIG. 10, the emergency stop switch 83 is fixed to the traveling body 10 via an attachment 87 (switch fixing support) attached to a bracket 10b that extends laterally from the upper part of the frame 10a of the traveling body 10. The emergency stop switch 83 is arranged at a predetermined distance from the exterior surface. That is, the emergency stop switch 83 is disposed at a depth that is difficult to be pressed by an unintended contact. Specifically, it can be arranged at a distance of about 10 cm to 20 cm from the surface of the exterior (including step 10 s).
　この他、運転室１８内にも緊急停止スイッチ８４が配置されている。この緊急停止スイッチ８４は、運転室１８内の適切な場所に配置されており、２人以上で作業する場合に運転室１８内のオペレータが押すことでアクチュエータの動作を停止できるようになっている。緊急停止スイッチ８４は、通信ケーブル（不図示）によってコントローラ７０と接続されている。 In addition, an emergency stop switch 84 is also arranged in the cab 18. The emergency stop switch 84 is disposed at an appropriate location in the cab 18 so that the operation of the actuator can be stopped by being pressed by an operator in the cab 18 when two or more people are working. . The emergency stop switch 84 is connected to the controller 70 by a communication cable (not shown).
（作用・効果）
　次に、本実施例の移動式クレーンの緊急停止装置Ｓの作用・効果について説明する。 (Action / Effect)
Next, the operation and effect of the emergency stop device S for the mobile crane of this embodiment will be described.
（１）上述してきたように、本実施例の移動式クレーンの緊急停止装置Ｓは、走行機能を有する走行体１０と、走行体１０に旋回自在に搭載される旋回台１２と、作業用のアクチュエータ５３～５７と、アクチュエータ５３～５７を遠隔操作する遠隔操作手段４０と、走行体１０又は旋回台１２に配置される緊急停止スイッチ８１～８４であって、遠隔操作手段４０の使用中に、アクチュエータ５３～５７の動作を停止する緊急停止スイッチ８１～８４と、を備えている。このような構成であれば、緊急停止スイッチ８１～８４はコントローラ７０と直接に接続されるため、遠隔操作手段４０に不具合が発生しても機能する移動式クレーンの緊急停止装置Ｓとなる。 (1) As described above, the emergency stop device S for a mobile crane according to the present embodiment includes a traveling body 10 having a traveling function, a swivel base 12 that is turnably mounted on the traveling body 10, and a working work. Actuators 53 to 57, remote operation means 40 for remotely operating the actuators 53 to 57, and emergency stop switches 81 to 84 disposed on the traveling body 10 or the swivel base 12, and during use of the remote operation means 40, Emergency stop switches 81-84 for stopping the operation of the actuators 53-57. With such a configuration, since the emergency stop switches 81 to 84 are directly connected to the controller 70, the mobile crane emergency stop device S functions even if a malfunction occurs in the remote control means 40.
　さらに、走行体１０又は旋回台１２において運転室１８の外に、押しボタン型の緊急停止スイッチ８１～８３を配置することによって、緊急時に作業者自身や補助者によって緊急停止スイッチ８１～８３を押しやすくなる。 Further, by arranging push button type emergency stop switches 81 to 83 outside the cab 18 in the traveling body 10 or the swivel base 12, the emergency stop switches 81 to 83 are pushed by an operator or an assistant in an emergency. It becomes easy.
（２）また、旋回台１２には、左右中央にブーム１４と左右いずれか一方側に運転室１８とが配置され、緊急停止スイッチ８１は、旋回台１２において左右いずれか他方側の前端下部に配置されることで、走行体１０上に昇ってジブ着脱作業などを実施しており、両手がふさがっている状態でも、作業者自らが足で緊急停止スイッチ８１を押すことができる。例えば、一方の手で遠隔操作手段４０を持ち、他方の手でワイヤロープ１６を持っている状況でも、足で緊急停止スイッチ８１を押すことができる。さらに、旋回台１２の緊急停止スイッチ８１には地上からも手が届くため、周囲にいて状況を把握しやすい作業者（玉掛け者、補助者）が危険を察知して緊急停止スイッチ８１を押すことができる。 (2) Further, the swivel base 12 is provided with a boom 14 at the center of the left and right and a cab 18 on the left or right side, and the emergency stop switch 81 is located at the lower front end on the left or right side of the swivel 12. By being arranged, the jib attachment / detachment work is carried out by ascending on the traveling body 10, and the operator can press the emergency stop switch 81 with his / her foot even when both hands are occupied. For example, the emergency stop switch 81 can be pushed with a foot even when the remote control means 40 is held with one hand and the wire rope 16 is held with the other hand. Furthermore, since the emergency stop switch 81 of the swivel base 12 can also be reached from the ground, an operator who is in the vicinity and easily grasps the situation (a slinger, an assistant) detects the danger and presses the emergency stop switch 81. Can do.
（３）さらに、緊急停止スイッチ８２、８３は、走行体１０において車両前後方向の略中央近傍にさらに配置されることで、車両前方寄りの位置に作業者が居ても、車両後方寄りの位置に作業者が居ても、緊急停止スイッチ８２、８３を押しやすくなっている。 (3) Further, the emergency stop switches 82 and 83 are further arranged near the center of the traveling body 10 in the vehicle front-rear direction, so that even if there is an operator near the front of the vehicle, Even if there is an operator, the emergency stop switches 82 and 83 can be easily pushed.
（４）また、緊急停止スイッチ８２、８３は、走行体１０において昇降用ステップ１０ｓの近傍にさらに配置されるため、地上にいる作業者（玉掛け者、補助者）であっても、容易に緊急停止スイッチ８２、８３を押すことができる。さらに、ステップ１０ｓの近傍であれば、走行体１０上で作業していた作業者自身が、走行体１０から降りる途中で緊急停止スイッチ８２、８３を押すこともできる。 (4) Moreover, since the emergency stop switches 82 and 83 are further arranged in the vicinity of the lifting step 10 s in the traveling body 10, even an operator who is on the ground (climber or assistant) can easily make an emergency. The stop switches 82 and 83 can be pressed. Furthermore, if it is in the vicinity of step 10s, the operator who was working on the traveling body 10 can also press the emergency stop switches 82 and 83 while getting off the traveling body 10.
（５）また、緊急停止スイッチ８１～８３は、外装の表面から所定の距離をおいて配置されていることにより、作業者が意図せずに緊急停止スイッチ８１～８３を押してしまうことを防止できる。この場合、昇降用のステップ１０ｓの奥に緊急停止スイッチ８１～８３を配置すれば、ステップ１０ｓが緊急停止スイッチ８１～８３の防護柵としての機能を果たすようになる。 (5) Further, since the emergency stop switches 81 to 83 are arranged at a predetermined distance from the surface of the exterior, it is possible to prevent the operator from unintentionally pressing the emergency stop switches 81 to 83. . In this case, if the emergency stop switches 81 to 83 are arranged in the back of the step 10s for raising and lowering, the step 10s functions as a protective fence for the emergency stop switches 81 to 83.
　さらに、旋回台１２の緊急停止スイッチ８１は、足のつま先部分がちょうど入る程度の大きさの長孔１２ａ（又は楕円）の内部に配置されることで、誤って緊急停止スイッチ８１を押しにくくなる。つまり、つま先部分がちょうど入る程度の大きさの長孔１２ａを設けて、長孔１２ａの奥に緊急停止スイッチ８１を配置すれば、作業中に誤って緊急停止スイッチ８１と接触する可能性を抑えることができる。 Furthermore, the emergency stop switch 81 of the swivel base 12 is arranged inside the long hole 12a (or ellipse) that is large enough to fit the toe portion of the foot, making it difficult to accidentally press the emergency stop switch 81. . That is, if the long hole 12a having a size just enough to fit the toe portion is provided and the emergency stop switch 81 is disposed at the back of the long hole 12a, the possibility of accidental contact with the emergency stop switch 81 during work is suppressed. be able to.
　以上、図面を参照して、本発明の実施例を詳述してきたが、具体的な構成は、この実施例に限らず、本発明の要旨を逸脱しない程度の設計的変更は、本発明に含まれる。 The embodiment of the present invention has been described in detail with reference to the drawings, but the specific configuration is not limited to this embodiment, and design changes that do not depart from the gist of the present invention are not limited to the present invention. included.
　例えば、実施例では「遠隔操作手段４０の使用中」の例として、遠隔操作手段４０の電源がＯＮにされて遠隔操作が可能となっている状況を説明したが、これに限定されるものではない。遠隔操作手段４０によって実際にアクチュエータ５３～５７を操作している状況も、もちろん含まれる。 For example, in the embodiment, as an example of “in use of the remote operation means 40”, the situation has been described in which the remote operation means 40 is turned on and remote control is possible. However, the present invention is not limited to this. Absent. Of course, the situation where the actuators 53 to 57 are actually operated by the remote control means 40 is also included.
　さらにいえば、「遠隔操作手段４０の使用中」を限定する条件として、例えば、ジブ着脱工程モードが選択されていることを条件とすることもできるし、実際にジブ着脱工程モードにおいて遠隔操作手段４０による信号を送受信中であることを条件とすることもできる。 Furthermore, as a condition for limiting “in use of the remote operation means 40”, for example, the condition that the jib attachment / detachment process mode is selected may be set, or the remote operation means is actually used in the jib attachment / detachment process mode. It is also possible to make a condition that a signal of 40 is being transmitted / received.
　また、実施例では、緊急停止スイッチ８１～８４がコントローラ７０に接続されている場合について説明したが、これに限定されるものではなく、緊急停止スイッチ８１～８４は、エンジン６０を制御するエンジンコントローラに接続されていてもよい。 In the embodiment, the case where the emergency stop switches 81 to 84 are connected to the controller 70 has been described. However, the present invention is not limited to this, and the emergency stop switches 81 to 84 are engine controllers that control the engine 60. It may be connected to.
　さらに、実施例では、コントローラ７０はエンジン６０を停止することによってアクチュエータ５３～５７の動作を停止させるものとして説明したが、これに限定されるものではなく、コントロールバルブ６４を制御することによってアクチュエータ５３～５７を停止することもできる。 Further, in the embodiment, the controller 70 is described as stopping the operation of the actuators 53 to 57 by stopping the engine 60. However, the present invention is not limited to this, and the actuator 53 is controlled by controlling the control valve 64. ~ 57 can also be stopped.
　また、実施例では、走行体１０に配置される緊急停止スイッチ８２、８３が、昇降用ステップ１０ｓの近傍に配置される場合について説明したが、これに限定されるものではない。例えば、外装に孔を設けて緊急停止スイッチを配置することもできる。 In the embodiment, the emergency stop switches 82 and 83 arranged on the traveling body 10 have been described in the vicinity of the elevating step 10s. However, the present invention is not limited to this. For example, an emergency stop switch can be arranged by providing a hole in the exterior.
１：ラフテレーンクレーン；　１０：走行体；　１２：旋回台；
１０ｓ：ステップ；　１０ｃ：外装材；
２０：テンションロッド；　３０：ジブ；
４０：遠隔操作手段；
５３：旋回モータ；　５４：起伏シリンダ；　５５：伸縮シリンダ；
５６：メインウインチモータ；　５７：サブウインチモータ；
６０：エンジン；
７０：コントローラ；
８１～８４：緊急停止スイッチ
  1: rough terrain crane; 10: traveling body; 12: swivel;
10s: Step; 10c: Exterior material;
20: tension rod; 30: jib;
40: Remote control means;
53: slewing motor; 54: hoisting cylinder; 55: telescopic cylinder;
56: Main winch motor; 57: Sub winch motor;
60: engine;
70: Controller;
81-84: Emergency stop switch

Claims (5)

  1. 　移動式クレーンの緊急停止装置であって、
    　走行機能を有する走行体と、
    　前記走行体に旋回自在に搭載される旋回台と、
    　作業用のアクチュエータと、
    　前記アクチュエータを遠隔操作する遠隔操作手段と、
    　前記走行体又は前記旋回台に配置される緊急停止スイッチであって、前記遠隔操作手段の使用中に、前記アクチュエータの動作を停止する緊急停止スイッチと、を備える移動式クレーンの緊急停止装置。     An emergency stop device for a mobile crane,
    A traveling body having a traveling function;
    A swivel mounted so as to be turnable on the traveling body;
    A working actuator;
    Remote operation means for remotely operating the actuator;
    An emergency stop device for a mobile crane, comprising: an emergency stop switch disposed on the traveling body or the swivel base, wherein the emergency stop switch stops operation of the actuator during use of the remote control means.
  2. 　前記旋回台には、左右中央にブームと左右いずれか一方側に運転室とが配置され、
    　前記緊急停止スイッチは、前記旋回台において左右いずれか他方側の前端下部に配置されることを特徴とする、請求項１に記載された移動式クレーンの緊急停止装置。     In the swivel, a boom and a cab on either the left or right side are arranged in the left and right center,
    The emergency stop device for a mobile crane according to claim 1, wherein the emergency stop switch is disposed at a lower part of a front end on either the left or right side of the swivel base.
  3. 　前記緊急停止スイッチは、前記走行体において車両前後方向の略中央近傍にさらに配置されることを特徴とする、請求項２に記載された移動式クレーンの緊急停止装置。 3. The emergency stop device for a mobile crane according to claim 2, wherein the emergency stop switch is further disposed in the traveling body in the vicinity of a substantially center in the vehicle front-rear direction.
  4. 　前記緊急停止スイッチは、前記走行体において昇降用ステップの近傍に配置されることを特徴とする、請求項３に記載された移動式クレーンの緊急停止装置。 The emergency stop device for a mobile crane according to claim 3, wherein the emergency stop switch is disposed in the vicinity of the step for raising and lowering in the traveling body.
  5. 　前記緊急停止スイッチは、外装の表面から所定の距離をおいて配置されていることを特徴とする、請求項２乃至請求項４のいずれか一項に記載された移動式クレーンの緊急停止装置。
          The emergency stop device for a mobile crane according to any one of claims 2 to 4, wherein the emergency stop switch is disposed at a predetermined distance from a surface of the exterior.
PCT/JP2017/015293 2016-04-18 2017-04-14 Emergency shutdown device for mobile cranes WO2017183576A1 (en)

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US4508014A (en) * 1982-06-08 1985-04-02 U.S. Truck Cranes, Inc. Remote control apparatus for a machine such as a crane
JPH056568U (en) * 1991-06-28 1993-01-29 富士通株式会社 Switch misoperation prevention structure
JPH0515513Y2 (en) * 1987-06-18 1993-04-23
JPH0940396A (en) * 1995-07-28 1997-02-10 Aichi Corp Emergency stopping device of working vehicle
JPH10265162A (en) * 1997-03-21 1998-10-06 Hitachi Building Syst Co Ltd Passenger conveyer
JP3030242B2 (en) * 1995-11-28 2000-04-10 新キャタピラー三菱株式会社 Construction machinery

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4508014A (en) * 1982-06-08 1985-04-02 U.S. Truck Cranes, Inc. Remote control apparatus for a machine such as a crane
JPH0515513Y2 (en) * 1987-06-18 1993-04-23
JPH056568U (en) * 1991-06-28 1993-01-29 富士通株式会社 Switch misoperation prevention structure
JPH0940396A (en) * 1995-07-28 1997-02-10 Aichi Corp Emergency stopping device of working vehicle
JP3030242B2 (en) * 1995-11-28 2000-04-10 新キャタピラー三菱株式会社 Construction machinery
JPH10265162A (en) * 1997-03-21 1998-10-06 Hitachi Building Syst Co Ltd Passenger conveyer

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