CN109689562A

CN109689562A - Crane

Info

Publication number: CN109689562A
Application number: CN201780054589.5A
Authority: CN
Inventors: 原内裕司; 三好正人; 日樫谦司
Original assignee: Tadano Ltd
Current assignee: Tadano Ltd
Priority date: 2016-09-13
Filing date: 2017-09-13
Publication date: 2019-04-26
Anticipated expiration: 2037-09-13
Also published as: JPWO2018052050A1; JP6388095B2; CN109689562B; WO2018052050A1

Abstract

Jack machinism disclosed by the invention becomes, and has: crane arm, is configured to go up and down and can stretch；Main suspension hook the distance between is suspended to the front end of crane arm, and can take front end usual position more than first threshold and the above-mentioned distance pulleying position smaller than first threshold；Boom, base end part has a pair of of foot section, and is rotatably supported in the front end of crane arm；And control unit, it is according to information relevant to the elongation at lifting angle and crane arm of crane arm, determine whether crane meets specified states, and in the case where being judged to meeting specified states, main suspension hook is allowed to be moved to pulleying position, in the expansion movement of boom, when boom rotation, the main suspension hook positioned at pulleying position is passed through between a pair of of foot section of boom.Stretching out/store in boom as a result, can be improved operating efficiency in operation.

Description

Crane

Technical field

The present invention is for example related to crane.For specifically, it is related to the lifting for having the boom that can be stretched out or store Machine.

Background technique

Following mechanism is disclosed in patent document 1, which includes: to be mounted on the lower section of the front end side of base end arm Guiding piece；It is mounted on the guide reel of the substantially central portion of boom；It is mounted on the lifting of the lower section of the central portion side of base end arm Arm side key seat；And it is mounted on the boom side fixed pin of the front end of boom.

When carrying out boom stretching operation, firstly, boom base end part is connect with crane arm front end.Then, make lifting Arm rises.Then, when extending crane arm slightly, boom side fixed pin is detached from crane arm side key seat.When make crane arm into one When step elongation, guide reel is rolled along the inclined-plane of guiding piece, and boom slowly leaves the bottom surface of base end arm.When guide reel is completely de- When from guiding piece, boom becomes the state to hang down from crane arm front end.Finally, stretching boom and applying tension to pull rod Out.

Boom is stored operation and is carried out according to the step opposite with boom stretching operation.It hangs down with boom from crane arm front end Under state when shrinking crane arm, guide reel is rolled along guiding piece.In this way, boom is drawn and is leaned on to the bottom surface of base end arm. When shrinking crane arm further, boom side fixed pin is inserted into crane arm side key seat.Boom is fixed on crane arm as a result, On.

It stretches out/stores in operation in above-mentioned boom, in order to make the main suspension hook to hang down from crane arm front end pass through Y-shaped The boom base end part of shape needs that main suspension hook is made to become volume state.Therefore, releasing pulleying in operation is stretched out/stores in boom to prevent Only function.But also main suspension hook can be made to become volume state other than above situation, therefore, it is possible to due to maloperation and Main suspension hook is caused to contact and damage with crane arm front end.In addition, there is also prevent the shape of function to forget to reset pulleying State carries out common Sling Loads operation.

Following technology is disclosed in patent document 2, it may be assumed that stretch out/store in boom and be also kept substantially setting in operation Pulleying prevents the state of function, and pulleying is only released during pressing cancel switch prevents function.According to such composition, only Pulleying can be released in the case of necessary prevents function, therefore, can prevent from drawing in unnecessary situation because of pulleying Play damage.In addition, operator will not forget that resetting pulleying prevents function.

But operator needs to carry out the lifting or flexible operation of crane arm in the state of pressing cancel switch, from And operability is poor.Moreover, in the case where making main suspension hook pass through boom base end part, since crane arm rises completely, operation Member needs to be operated while observing right above substantially.Operator carries out cumbersome operation with uncomfortable posture, therefore, The burden of operator is big, and operating efficiency is possible to decline.

Citation

Patent document

Patent document 1: Japanese Patent Laid-Open 2000-44173 bulletin

Patent document 2: Japanese Patent Laid-Open 7-25588 bulletin

Summary of the invention

The technical problems to be solved by the invention

The present invention has been made in view of the above-described circumstances, stretches out/stores in operation in boom it is intended that providing one kind It can be improved the crane of operating efficiency.

Technical teaching for solving the problem was

In one mode of crane of the present invention, crane tool is standby: crane arm, be configured to lifting and can It is flexible；Main suspension hook is suspended to the front end of crane arm, and the distance between front end can be taken to be greater than first threshold Usual position and above-mentioned distance are in first threshold pulleying position below；Boom, base end part have a pair of of foot section, and with The mode that can be rotated is supported in the front end of crane arm；And control unit, basis and the lifting angle of crane arm and crane arm The relevant information of elongation, determine crane whether meet specified states, in the case where being judged to meeting specified states, permit Perhaps main suspension hook is moved to pulleying position, boom expansion movement in, when boom rotation when, positioned at pulleying position main suspension hook from It is passed through between a pair of of foot section of boom.

Invention effect

The crane of operating efficiency can be improved in accordance with the invention it is possible to provide and stretch out/store in operation in boom.

Detailed description of the invention

Fig. 1 is the side view of the mobilecrane in the state of storing boom.

Fig. 2 is the left side view that boom is configured at down to boom and crane arm in the state of embracing position.

Fig. 3 is the right side view that boom is configured at down to boom and crane arm in the state of embracing position.

Fig. 4 is the side view of guide member.

Fig. 5 is the perspective view of the first suspension arm support component.

Fig. 6 is the perspective view of the second suspension arm support component.

Fig. 7 is the block diagram of control system.

Fig. 8 be show boom stretch out/store operation each stage boom and crane arm side view.

Fig. 9 is the side view for the state for making boom hang down from crane arm front end.

Figure 10 is the side view for the state for stretching out boom.

Specific embodiment

Then, the embodiments of the present invention will be described with reference to the drawings.

(mobilecrane)

Firstly, being illustrated to the summary for the mobilecrane C that one embodiment of the present invention is related to.Mobile hoisting Machine C has: crane arm 14, is configured to go up and down and can stretch；Main suspension hook 15m, is suspended to the front end of crane arm 14 Portion, and the usual position that the distance between front end can be taken to be greater than first threshold and above-mentioned distance are below first threshold Pulleying position；Boom 16, base end part has a pair of of foot section 16c, and is rotatably supported in crane arm 14 Front end；And control unit 62 is sentenced according to information relevant to the elongation at lifting angle and crane arm 14 of crane arm 14 Determine whether mobilecrane C meets specified states, and in the case where being judged to meeting specified states, allows main suspension hook 15m It is moved to pulleying position；Also, the main suspension hook in the expansion of boom 16 movement, when boom 16 rotates, positioned at pulleying position 15m is passed through between a pair of of foot section 16c of boom 16.

Then, the basic structure of mobilecrane C is illustrated.Running vehicle body 11 shown in FIG. 1 has traveling and uses Wheel.Equipped with turntable 12 on running vehicle body 11.Turntable 12 can be in the horizontal plane under the action of rotating electric machine It is rotated by 360 °.Driver's cabin 13 is provided on turntable 12.

Crane arm 14 is installed on turntable 12 in a manner of going up and down freely.The base end part of crane arm 14 passes through pin pivot branch It supports on turntable 12.Lift cylinders are installed between crane arm 14 and turntable 12.When extending the lift cylinders, crane arm 14 Rise.On the other hand, when shrinking lift cylinders, crane arm 14 declines.

Crane arm 14 is the multi-stag crane arm for being configured to scale shape, by base end arm 14a, intermediate arm and preceding end arms 14b It constitutes.Crane arm 14 carries out expanding-contracting action by telescoping cylinder.It should be noted that the series of crane arm 14 is not particularly limited. Crane arm 14 is also possible to the two-stage type of not intermediate arm, can also be the composition of the level Four for having multiple intermediate arms or more.

The front end 14c of crane arm 14 (preceding end arms 14b) is hung with the main rope for having main suspension hook 15m.Main rope Turntable 12 is directed to along crane arm 14 and is wound in master file on winch.Master file is around winch by master file around lifting electricity The driving of machine carries out positive and negative rotation.Winding or the extraction that main rope is carried out according to the direction of rotation of main winch, to make to lead Suspension hook 15m rises or falls.

Has auxiliary suspension hook 15a in addition, hanging down from the pulley (also referred to as arm top block) for being set to crane arm front end 14c Auxiliary steel wire rope.Auxiliary steel wire rope is directed to turntable 12 along crane arm 14 and is wound in secondary volume on winch. Driving of the secondary volume around winch by secondary volume around bridge motor carries out positive and negative rotation.According to secondary volume around the direction of rotation of winch And winding or the extraction of auxiliary steel wire rope are carried out, to make that suspension hook 15a is assisted to rise or fall.

By combine the rotation of turntable 12, crane arm 14 lifting and it is flexible, suspension hook 15m, 15a rise or fall, So as to carry out the handling of cargo in solid space.

(boom)

Mobilecrane C has boom 16.Boom 16 is the bar-like member of integral elongated.Boom 16 is at least in base end part With a pair of of foot section 16c.A pair of of foot section 16c is each other in the width direction of boom 16 (up and down direction, Fig. 2 and Fig. 3 of Fig. 1 Table carry on the back direction) on separate.That is, the base end part 16a of boom 16 is in form of bifurcation.

In the lift or operating radius that obtain jib length when extending completely compared with weighing arm 14 bigger lift or work When industry radius, boom 16 is used.Boom 16 can be stretched out or be stored relative to crane arm 14.When not in use, boom 16 along The side of crane arm 14 is contained (referring to Fig.1).When in use, boom 16 is with boom base end part 16a and crane arm front end 14c The state of connection stretches out (referring to Fig.1 0) towards the front of crane arm 14.

Pulley is provided on the front end 16b of boom 16.Under the stretching state of boom 16, assist suspension hook 15a from boom Front end 16b hang down.

Equipped with inclined cylinder 17 on boom 16.Pull rod 18 is connected on the piston rod of inclined cylinder 17.In addition, crane arm front end Pull rod connecting rod 19 is provided on portion 14c.Under the stretching state of boom 16, pull rod 18 connect (reference with pull rod connecting rod 19 Figure 10).

Under the stretching state of boom 16, make the flexible inclination angle that can change boom 16 of inclined cylinder 17.When boom 16 When inclination angle is changed, boom 16 is gone up and down relative to crane arm 14.In the present embodiment, it when inclined cylinder 17 is shunk, hangs Arm 16 declines.On the other hand, when inclined cylinder 17 extends, boom 16 rises.Can also replace composition are as follows: when inclined cylinder 17 When contraction, boom 16 rises, and when inclined cylinder 17 extends, boom 16 declines.

Fig. 2 and Fig. 3 is that boom 16 is configured to the bottom surface along base end arm 14a (under under the decline state of crane arm 14 Side) lower armful of position state left side view and right side view.As described later, it stretches out/stores in operation in boom, inciting somebody to action Boom 16 is configured at down in the state of armful position, carries out the connection or releasing of crane arm front end 14c and boom base end part 16a.

Two sides of crane arm front end 14c are provided with the boom connecting shaft 21 protruded horizontally up.In addition, form of bifurcation is hung Each end of arm base end part 16a (specifically a pair of foot section 16c) is provided with boom cardinal extremity holding section 22.

Boom cardinal extremity holding section 22 is respectively formed as U-shaped, can be embedded in for boom connecting shaft 21.In addition, boom base The front end of end holding section 22 is formed with insertion hole.By by boom connecting shaft 21 be embedded in boom cardinal extremity holding section 22, and to insert Enter hole insertion pin 23, to prevent boom connecting shaft 21 from falling off.Boom cardinal extremity holding section 22 and boom connecting shaft 21 are connected as a result, It connects.

(guide member)

As shown in figure 3, the right side of crane arm 14 is provided with guide member 30 (also referred to as guide device).Guide member 30 is For stretching out/storing in operation in boom, it is guided while keeping the posture of boom 16 with the flexible of crane arm 14 Mobile component.As shown in figure 4, guide member 30 by guide reel 31 (also referred to as the second guide portion) and draws guide reel 31 The guiding piece 32 (also referred to as the first guide portion) led is constituted.

Guide reel 31 is set to boom 16.Specifically, being provided in the base end part side of boom 16 towards bottom surface pleurapophysis Arm 33 out.Guide reel 31 is rotatably freely set to the front end of arm 33.It should be noted that in Fig. 4, the bottom of boom 16 Face (upper side of Fig. 4) is opposed with the bottom surface of base end arm 14a.

Guiding piece 32 is set to crane arm 14.Specifically, guiding piece 32 towards bottom surface side state outstanding to be set to The front end side of base end arm 14a.Guiding piece 32 has the first track component 34 and the second track component 35.Two point in Fig. 4 Scribing line indicates to constitute the side wall 36 (also referred to as horizontal direction limiting unit) of guiding piece 32.Side wall 36 support the first track component 34 and Second track component 35, and limit the movement in the transverse direction (horizontal direction and the direction vertical with paper) of guide reel 31.For Facilitate explanation, the shape of side wall 36 is only shown with double dot dash line.

The surface of first track component 34 is the first orbital plane 34s.On the other hand, the surface of the second track component 35 is Two orbital plane 35s.Rolled on the first orbital plane 34s and the second orbital plane 35s by guide reel 31, thus guide boom 16 with Crane arm 14 flexible and moved.

First orbital plane 34s along from the front end of crane arm 14 towards cardinal extremity (in other words, towards the left side of Fig. 4) more Direction inclination close to the bottom surface (in other words, towards the upside of Fig. 4) of crane arm 14.Therefore, as described later, stretch out and make in boom In industry, when guide reel 31 rolls on the first orbital plane 34s with the elongation of crane arm 14, boom 16 is pulled away from base end arm The bottom surface of 14a.In addition, in boom storage operation, when guide reel 31 is with the contraction of crane arm 14 and in the first orbital plane 34s When upper rolling, boom 16, which is drawn, to be leaned on to the bottom surface of base end arm 14a.

Second orbital plane 35s is parallel with the central axis of crane arm 14.The front end of second orbital plane 35s and the first orbital plane The base end part of 34s connects.Therefore, as described later, stretch out/store in operation in boom, when guide reel 31 is with crane arm 14 It stretches when being rolled on the second orbital plane 35s, boom 16 is to be drawn by the state to the bottom surface of base end arm 14a along base end arm 14a is mobile.

In the present embodiment, guide reel 31 is set on boom 16, and guiding piece 32 is set on base end arm 14a.It can also Guide reel 31 is set on base end arm 14a with replacing, guiding piece 32 is set on boom 16.In this case, if The guide reel for being placed in base end arm 14a is the first guide portion.On the other hand, the guiding piece 32 for being set to boom 16 is the second guidance Portion.

(suspension arm support component)

As shown in Fig. 2, crane arm 14 has the first suspension arm support component 40 and the second suspension arm support component 50.It is specific and Speech, the first suspension arm support component 40 and the second suspension arm support component 50 are set in a manner of separating in the axial direction in crane arm 14 Middle part in the axial direction of crane arm 14.In this case, the first suspension arm support component 40 is arranged than second Suspension arm support component 50 is at the position of the front end side of crane arm 14.

The boom 16 of first suspension arm support component 40 support receiving state.In addition, the first suspension arm support component 40 makes boom 16 rotate between the reception position and lower armful of position of the side along crane arm 14.The support storage of first suspension arm support component 50 The boom 16 of state.

The first suspension arm support component 40 is illustrated according to Fig. 5.The side of the bottom side of the substantial middle of base end arm 14a Upper axis is supported by bracket 41.In addition, being equipped with hydraulic cylinder 42 between the side and bracket 41 of the upper side of base end arm 14a.Pass through Hydraulic cylinder 42 flexible and rotate bracket 41 relative to base end arm 14a.

Boom fixed pin 43 is provided on bracket 41.The front end of boom fixed pin 43 is coniform, portion in addition to this It is divided into cylindric.Boom fixed pin 43 is parallel with the central axis of crane arm 14, and with its front end towards the front end of crane arm 14 Mode configure.It should be noted that boom fixed pin 43 can also configure in parallel with the central axis of boom 16.

Key seat 44 is provided on the bottom surface of the substantial middle of boom 16.It should be noted that in Fig. 5, the bottom of boom 16 Face is opposed with base end arm 14a.Key seat 44 has preceding end rib 45 and rear end rib 46.Front end insertion hole 47 is formed on preceding end rib 45. Rear end insertion hole 48 is formed on end rib 46 afterwards.Boom fixed pin 43 is inserted into front end insertion hole 47 and rear end insertion hole 48 In or therefrom extract.

Front end insertion hole 47 and rear end insertion hole 48 are configured that and are drawn in boom 16 by the shape to the bottom surface of base end arm 14a Under state, central shaft is parallel with the central axis of crane arm 14.It should be noted that hole 48 is inserted into front end insertion hole 47 and rear end It is parallel with the central axis of boom 16 to be configurable to central shaft.

In the present embodiment, boom fixed pin 43 is set on base end arm 14a, and key seat 44 is set on boom 16.? It can replace and boom fixed pin 43 is set on boom 16, key seat 44 is set on base end arm 14a.

The second suspension arm support component 50 is illustrated according to Fig. 6.The bottom surface of the base end part of base end arm 14a is (specifically The one end in the width direction of bottom surface) on be provided with arm 51.The front end of arm 51 is provided with secondary pin 52.Secondary pin 52 and boom Fixed pin 43 is small and length is short compared to diameter, the front end of secondary pin 52 be it is coniform, part in addition to this is cylinder.Pair pin 52 is parallel with the central axis of crane arm 14, and configures in such a way that its front end is towards the front end of crane arm 14.

Secondary key seat 53 is provided on the bottom surface of the front end of boom 16.It should be noted that in Fig. 6, the bottom of boom 16 Face is opposed with base end arm 14a.Secondary key seat 53 has rib 54.Rib 54 has the insertion hole 55 that can be inserted into for secondary pin 52.

(prevention sytem for overhoist)

Mobilecrane C, which has, prevents main suspension hook 15m and auxiliary suspension hook 15a from winding excessive prevention sytem for overhoist 60. Prevention sytem for overhoist 60 has auxiliary pulleying detection sensor 61a shown in FIG. 1 and main pulleying detection sensor 61m.

Main pulleying detection sensor 61m is the sensor for detecting the pulleying of main suspension hook 15m.Main suspension hook 15m's crosses volume state Refer to: the distance between the lower part of crane arm front end 14c and the top of main suspension hook 15m are in specific length (also referred to as the first threshold Value) state below.The position of the main suspension hook 15m crossed under volume state is known as to the pulleying position of main suspension hook 15m.

On the other hand, the distance between the lower part of crane arm front end 14c and the top of main suspension hook 15m are greater than regulation length The state of degree is known as the usual state of main suspension hook 15m.The position of main suspension hook 15m under usual state is known as main suspension hook 15m's Usual position.

As long as the pulleying that the composition of main pulleying detection sensor 61m is able to detect main suspension hook 15m is just not particularly limited.Make For an example of main pulleying detection sensor 61m, such as enumerate opening with the pulleying detection for being set to crane arm front end 14c Close and hang on the pulleying detection sensor of the hammer on the working arm of the switch.

Such pulleying detection sensor is rolled-up in main suspension hook 15m and between the lower part of crane arm front end 14c When distance becomes specific length or less, which is raised by main suspension hook 15m and rotates working arm.Pulleying detection as a result, is opened Being switched on or switched off for closing switches, to detect that main suspension hook 15m's crosses volume state.

Auxiliary pulleying detection sensor 61a is the sensor of the pulleying of detection auxiliary suspension hook 15a.As described later, in boom Under 16 stretching state, auxiliary pulleying detection sensor 61a is installed on boom front end 16b together with auxiliary suspension hook 15a.

The volume state of crossing of auxiliary suspension hook 15a refers to: the lower part of crane arm front end 14c or the lower part of boom front end 16b The distance between top of auxiliary suspension hook 15a is in specific length (also referred to as second threshold) state below.By volume state Under auxiliary suspension hook 15a position be known as assist suspension hook 15a pulleying position.

It will be between the top of the lower part and auxiliary suspension hook 15a of the lower part of crane arm front end 14c or boom front end 16b The state that distance is greater than specific length is known as assisting the usual state of suspension hook 15a.By the position of the auxiliary suspension hook 15a under usual state Set the usual position for referred to as assisting suspension hook 15a.As long as the composition of auxiliary pulleying detection sensor 61a is able to detect auxiliary suspension hook The pulleying of 15a is just not particularly limited, and can be similarly to constitute with main pulleying detection sensor 61m.

As shown in fig. 7, prevention sytem for overhoist 60 has control unit 62.Control unit 62, which can be, has input terminal, output The car-mounted computer of terminal, CPU and memory etc. is also possible to the circuit being made of relay, comparator etc..

Control unit 62 have auxiliary pulleying detection sensor 61a and main pulleying detection sensor 61m in either or When two sides detected volume state, the pulleying that movement stops of rolling of suspension hook 15m, 15a is made to prevent function.

Here, the movement of suspension hook 15m, 15a rolled movement and refer to mobilecrane C, and be main suspension hook 15m and lifting The distance between arm front end 14c, auxiliary the distance between suspension hook 15a and crane arm front end 14c or boom front end 16b become Short movement.Specifically, suspension hook 15m, 15a roll movement refer to master file around the rolling of winch, secondary volume around winch volume It rises, the elongation of crane arm 14, the decline of crane arm 14.

Control unit 62 prevent function to realize pulleying and have make the mobilecranes such as crane arm 14, winch C can The function that the movement in dynamic portion 63 stops.For specifically, mobilecrane C has to the hydraulic cause for driving each movable part 63 The hydraulic circuit of dynamic device supply working oil.Control unit 62 is controlled by switching over to the valve for constituting hydraulic circuit to hydraulic cause The supply of the working oil of dynamic device, so that the movement of each movable part 63 be made to stop.

Equipped with various sensors on mobilecrane C.Specifically, the lifting angle equipped with detection with crane arm 14 The elongation quantity sensor 65 for going up and down angle transducer 64, detecting information relevant to the elongation of crane arm 14 of relevant information, It detects and the inclination sensor 66 of the relevant information of stretching for the inclined cylinder 17 for being equipped on boom 16.By these sensors 64~66 The information detected is input into control unit 62.

However, as described later, stretching out/storing in operation in boom, so that the posture of crane arm 14 becomes appropriate state Mode carry out crane arm 14 lifting or it is flexible while carry out operation.In addition, stretching out/storing in operation in boom, master is hung (specifically a pair of of foot section 16c is each other across the base end part 16a of the form of bifurcation of (in other words by) boom 16 by hook 15m Between).Therefore, the various parameters for judging the posture of crane arm 14 etc. are previously stored in control unit 62.

Specifically, being previously stored with lifting angle threshold θ t, crane arm elongation threshold value Lt, elongation stopping in control unit 62 Range L r, inclination elongation threshold value Tt.Going up and down angle threshold θ t is for distinguishing crane arm 14 according to the lifting angle of crane arm 14 Decline state and propradation threshold value.

That is, the state that the lifting angle of crane arm 14 is less than lifting angle threshold θ t to be known as to the decline state of crane arm 14.Separately On the one hand, the lifting angle of crane arm 14 is known as to the propradation of crane arm 14 in the state of lifting angle threshold θ t or more.Lifting The lifting angle of arm 14 is obtained according to the output of lifting angle transducer 64.

Crane arm elongation threshold value Lt is adapted for that main suspension hook 15m is made to pass through boom base end part 16a (specifically a pair of of branch Between foot 16c) crane arm 14 elongation.In other words, crane arm elongation threshold value Lt is the expansion in boom 16 In movement, main suspension hook 15m can be made across the lower limit value of the elongation of the crane arm 14 of boom base end part 16a.In turn, speech is changed It, crane arm elongation threshold value Lt is the elongation for making guide reel 31 be detached from required bottom line from guiding piece 32.

That is, if the elongation of crane arm 14 is less than crane arm elongation threshold value Lt, guide reel 31 and guiding piece 32 in card The boot state of conjunction.On the other hand, if the elongation of crane arm 14 is more than crane arm elongation threshold value Lt, guide reel 31 with Guiding piece 32 is in the non-guide state not engaged.The elongation of crane arm 14 is obtained according to the output of elongation quantity sensor 65.

Elongation stops the range that range L r is the elongation of crane arm 14, and is set to compared with weighing arm elongation threshold value Lt More lean on elongate sides.It is to make when the elongation of the crane arm 14 of contraction reaches crane arm elongation threshold value Lt that elongation, which stops range L r, Crane arm 14 stop elongation and be arranged.It is such elongation stop range L r have consider crane arm 14 stopping delay (that is, From issuing instruction that elongation the stops distance that is extended until actually stopping) width.

The lower limit of elongation stopping range L r is the position (also referred to as first that engaging of the guide reel 31 with guiding piece 32 is released from Position) at crane arm 14 elongation.On the other hand, the upper limit that elongation stops range L r is set at than above-mentioned first position More lean on the elongation of the crane arm 14 of the second place of the elongate sides of crane arm 14.

Said second position crane arm when in view of the elongation for issuing crane arm 14 at above-mentioned first position stops instruction It determines on the basis of 14 stopping delay (that is, from issuing the distance for extending and stopping instruction and being extended until actually stopping) It is fixed.It should be noted that stopping the performance that retardation is consistent according to speed, elongation mode etc. is for example extended with the machine of crane It suitably determines.

Inclination elongation threshold value Tt be for distinguished according to the elongation of inclined cylinder 17 the decline state of boom 16 with The threshold value of the state of liter.That is, the state that the elongation of inclined cylinder 17 is less than inclination elongation threshold value Tt to be known as to the decline of boom 16 State.On the other hand, the elongation of inclined cylinder 17 is known as to the rising of boom 16 in the state of inclination elongation threshold value Tt or more State.The elongation of inclined cylinder 17 is obtained according to the output of inclination sensor 66.

It should be noted that in the above-described configuration, the jacking condition of boom 16 is determined according to the elongation of inclined cylinder 17 (that is, being which kind of state in propradation and decline state).It, can also be according to set in addition as other determination methods Lifting angle transducer exports to obtain the lifting angle of boom 16, and the jacking condition for determining boom 16 according to the lifting angle.

Although also depending on the composition of mobilecrane C, such as Undulating angle threshold θ t is 20 °, crane arm elongation Threshold value Lt is 1.2m, and it is 1.2m~1.3m (1.2m≤Lr < 1.3m) that elongation, which stops range L r,.In addition, inclination elongation threshold value Tt It is the elongation of the inclined cylinder 17 when the lifting angle of the boom 16 in the state that the lifting angle of crane arm 14 is 45 ° becomes 45 °.

Here, the lifting angle of crane arm 14 is the angle relative to the horizontal plane of the central axis by crane arm 14.Lifting The elongation of arm 14 is the elongation of the crane arm 14 of the crane arm 14 relative to fully collapsed condition.The lifting angle of boom 16 is The central axis angulation of the state and boom 16 when the state to hang down from crane arm front end 14c is set as 0 °.

Feelings of the control unit 62 in the either condition for meeting condition 1~4 (specified states also referred to as in crane) below It under condition, releases and (releases completely) or past release pulleying prevents function, to allow volume state.As a result, in boom stretching/receipts Receive the operation allowed in operation under volume state.

In addition, as usual, stopping the movement of rolling of suspension hook 15m, 15a in all ungratified situation of condition 1~4 Only (that is, setting pulleying prevents function).Become in unnecessary situation as a result, and sets pulleying and prevent the state of function, from And pulleying caused by preventing because of maloperation.

(condition 1)

Crane arm goes up and down angle: less than lifting angle threshold θ t

Crane arm elongation: less than crane arm elongation threshold value Lt

The lifting angle of crane arm 14 is less than lifting angle threshold θ t and refers to crane arm 14 in decline state.It is gone up and down about crane arm Whether the lifting angle at angle 14 is less than threshold θ t, in control unit 62 by from lifting angle transducer 64 obtain lifting angle and institute The lifting angle threshold θ t of storage is compared to determine.

Whether the elongation about crane arm 14 is less than crane arm elongation threshold value Lt, by from stretching in control unit 62 The elongation that long quantity sensor 65 obtains is compared to determine with the crane arm elongation threshold value Lt stored.

If being specifically defined, condition 1 refers to: crane arm 14 is in decline state, and guide reel 31 engages with guiding piece 32 State (hereinafter referred to as boot state).

For control unit 62 in the case where the condition that meets 1, releasing pulleying prevents function.That is, control unit 62 is in crane arm 14 In the case that decline state and guide reel 31 are in the boot state engaged with guiding piece 32, releasing prevents function (that is, allowing Main suspension hook 15m is moved to pulleying position).

(condition 2)

Crane arm goes up and down angle: less than lifting angle threshold θ t

Crane arm elongation: elongation stops range L r

Control unit 62 is in the case where the condition that meets 2, and other than the elongation of crane arm 14, pulleying prevents function from being solved It removes.In other words, control unit 62 allows main suspension hook 15m to be moved to pulleying position in the case where the condition that meets 2, and has forbidden The elongation of weighing arm 14 acts.That is, the elongation of crane arm 14, which acts, to be stopped, but allows remaining in the case where detecting pulleying Operation (winch roll, the decline of crane arm 14).

(condition 3)

Crane arm goes up and down angle: lifting angle threshold θ t or more

Crane arm elongation: less than crane arm elongation threshold value Lt

Inclined cylinder: than inclination elongation threshold value Tt more by declining side

The lifting angle of crane arm 14 refers to that crane arm 14 is in upward status in lifting angle threshold θ t or more.17 ratio of inclined cylinder inclines Oblique elongation threshold value Tt more refers to boom 16 in decline state by decline side.The inclined cylinder 17 of present embodiment is made by shrinking Boom 16 declines.Therefore, inclined cylinder 17 more refers to the contraction state of inclined cylinder 17 than inclination elongation threshold value Tt by decline side.

For control unit 62 in the case where the condition that meets 3, releasing pulleying prevents function (that is, main suspension hook 15m is allowed to be moved to Roll up position).

(condition 4)

Crane arm goes up and down angle: lifting angle threshold θ t or more

Crane arm elongation: elongation stops range L r

Control unit 62 is in the case where the condition that meets 4, and other than the elongation of crane arm 14, pulleying prevents function from being solved It removes.In other words, control unit 62 allows main suspension hook 15m to be moved to pulleying position in the case where the condition that meets 4, and has forbidden The elongation of weighing arm 14 acts.That is, crane arm 14 stops elongation in the case where detecting pulleying, but remaining operation is allowed (to twist Vehicle is rolled, the rising of crane arm 14).

Table 1 is the table for summarizing the releasing state that above each condition and pulleying prevent function.

[table 1]

	Crane arm Undulating angle	Crane arm elongation	Inclined cylinder	Pulleying prevents function
					Condition 1	Less than θ t	Less than Lt	-	All release
Condition 2	Less than θ t	Lr	-	Past release
					Condition 3	θ t or more	Less than Lt	Decline	All release
Condition 4	θ t or more	Lr	Decline	Past release

(boom stretching operation)

Then, illustrate that pulleying prevents function together with boom stretching operation.

(1.1) as shown in Figure 1, under the receiving state of boom 16, boom 16 is contained along the side of crane arm 14.

(1.2) firstly, extending crane arm 14 slightly.Here, making crane arm 14 in the state of rolling suspension hook 15m, 15a When elongation, suspension hook 15m, 15a are further rolled and are become pulleying state.But due to meeting condition 1 under the state, Pulleying prevents function to be released from.Therefore, crane arm 14 can be made to extend.

When the elongation of crane arm 14, which reaches elongation, stops range L r, meet condition 2.Therefore, in addition to crane arm 14 Except elongation movement, pulleying prevents function to be released from.Since suspension hook 15m, 15a be in volume state, crane arm 14 Elongation be automatically stopped.

In other words, if making the elongation of crane arm 14 to being automatically stopped, the elongation of crane arm 14 can be made to become and be suitable for hanging The elongation of arm stretching operation.Operator can easily be done operation without the elongation that should be noted crane arm 14.

(1.3) then, lower armful of position of the bottom surface for being moved to boom 16 along crane arm 14.Specifically, when make the When the hydraulic cylinder 42 of one suspension arm support component 40 extends, boom 16 rotates and is moved to down and embraces position.

(1.4) then, it shrinks crane arm 14 completely, becomes Fig. 2 and state shown in Fig. 3.By the operation, boom connects Spindle 21 is embedded in boom cardinal extremity holding section 22.Then, it is inserted into pin 23 to the insertion hole of boom cardinal extremity holding section 22, by boom cardinal extremity Holding section 22 is connect with boom connecting shaft 21.Then, pull rod 18 is connect with pull rod connecting rod 19.

(1.5) then, main suspension hook 15m is rolled until becoming volume state.Due to meeting condition 1 in this case, mistake Volume prevents function to be released from.Therefore, main suspension hook 15m can be rolled until becoming volume state.Become main suspension hook 15m Volume state is crossed, is (specifically a pair of in order to make main suspension hook 15m pass through cantilevered base end portion 16a in following step 1.6 Between foot section 16c).

In this way, in order to make main suspension hook 15m roll main suspension hook 15m across boom base end part 16a, due to mistake Volume prevents function to be released from automatically, therefore, can roll main suspension hook 15m until becoming volume state (pulleying position).

At this point, operator prevents function from can roll main suspension hook 15m without releasing pulleying consciously.In addition, operation Member just can maintain pulleying to prevent the releasing shape of function without carrying out special movement (such as movement of Continued depression switch etc.) State.

(1.6) then, increase completely (referring to Fig. 8 (I)) crane arm 14.Then, when extending crane arm 14, boom Fixed pin 43 is detached from key seat 44, and secondary pin 52 is detached from secondary key seat 53 (referring to Fig. 8 (II)).

When extending crane arm 14 further, guide reel 31 is guided the guidance of part 32, and boom 16 is slowly pulled away from base The bottom surface of end arms 14a (referring to Fig. 8 (III)).Then, boom 16 is rotated centered on boom connecting shaft 21, is become from lifting The state that arm front end 14c hangs down.At this point, main suspension hook 15m passes through boom base end part 16a (specifically a pair of of foot section 16c Each other).

In step 1.6, main suspension hook 15m was in volume state.But due to meeting condition 3 in this case, pulleying Function is prevented to be released from.Therefore, crane arm 14 can be made to extend.In addition, stopping model when the elongation of crane arm 14 reaches elongation When enclosing Lr, meet condition 4, therefore, other than the elongation of crane arm 14, pulleying prevents function to be released from.

Since main suspension hook 15m had been in volume state, the elongation of crane arm 14 is automatically stopped.In other words, if making Crane arm 14 is extended can then make the elongation of crane arm 14 become the elongation for being suitable for boom stretching operation to being automatically stopped. Operator can easily be done operation without the elongation that should be noted crane arm 14.

(1.7) then, as shown in figure 9, declining crane arm 14, until boom front end 16b reaches Near Ground.So Afterwards, the auxiliary steel wire rope for having auxiliary suspension hook 15a is made to pass through the pulley of boom front end 16b.In addition, auxiliary pulleying detection is passed Sensor 61a is installed on boom front end 16b.

(1.8) finally, as shown in Figure 10, when extending inclined cylinder 17, applying tension to pull rod 18, to make boom 16 It is stretched out centered on boom connecting shaft 21 towards front.

(boom storage operation)

Then, it comes together the control for illustrating control unit 62 with boom storage operation.

(2.1) as shown in Figure 10, under the stretching state of boom 16, boom 16 is configured before the 14c of crane arm front end Side.

(2.2) firstly, the state for making crane arm 14 become rising to a certain degree, and crane arm 14 is made to be contracted to become and be suitable for The elongation of boom storage operation.In addition, being contracted to inclined cylinder 17 than inclination elongation threshold value Tt more by declining side.

(2.3) then, main suspension hook 15m is rolled until becoming volume state.Due to meeting condition 3 in this case, mistake Volume prevents function to be released from.Therefore, main suspension hook 15m can be rolled until becoming volume state.

So that main suspension hook 15m was become volume state, is to wear main suspension hook 15m in following step 2.4 Cross cantilevered base end portion 16a (between specifically a pair of of foot section 16c).In this way, being hung in order to pass through main suspension hook 15m Arm base end part 16a and in the case where rolling main suspension hook 15m, since pulleying prevents function to be released from automatically, master can be rolled Suspension hook 15m was until became volume state (pulleying position).At this point, operator prevents function energy without releasing pulleying consciously Enough roll main suspension hook 15m.

(2.4) then, so that inclined cylinder 17 is become complete decline state, mitigate the tension of pull rod 18.In this way, as shown in figure 9, Boom 16 is rotated centered on boom connecting shaft 21, becomes the state to hang down from crane arm front end 14c.At this point, main suspension hook 15m passes through boom base end part 16a (between specifically a pair of of foot section 16c).

(2.5) then, decline crane arm 14, until the front end of boom 16 reaches Near Ground.Then, it carries out to have The operation that the auxiliary steel wire rope of standby auxiliary suspension hook 15a is removed from the front end of boom 16.In addition, pulleying detection sensor will be assisted 61a is removed from boom front end 16b.

(2.6) then, increase completely (referring to Fig. 8 (III)) crane arm 14.When from the state make crane arm 14 shrink When, guide reel 31 is guided the guidance of part 32, and boom 16, which is drawn, to be leaned on to the bottom surface of base end arm 14a (referring to Fig. 8 (II)).When making lifting When arm 14 is further shunk, boom 16 is moved along base end arm 14a, and boom fixed pin 43 is inserted into key seat 44, and secondary pin 52 is inserted Enter secondary key seat 53 (referring to Fig. 8 (III)).

(2.7) then, decline crane arm 14.Then, pin 23 is extracted from the insertion hole of boom cardinal extremity holding section 22, released The connection of boom cardinal extremity holding section 22 and boom connecting shaft 21 (referring to Fig. 2 and Fig. 3).

(2.8) then, crane arm 14 is extended slightly.Then, when receiving the hydraulic cylinder 42 of the first suspension arm support component 40 When contracting, boom 16 is rotated from lower armful of position to reception position.Finally, when shrinking crane arm 14 completely, as shown in Figure 1, hanging Arm 16 is contained along the side of crane arm 14.

As previously discussed, control unit 62 releases pulleying under specific condition 1~4 prevents function, therefore, stretches in boom The operation being able to carry out in out/storage operation under volume state.In addition, crane arm 14 is made in decline state in condition 1,2 It is in decline state as condition using boom 16 in condition 3,4 for condition.In the case where being unsatisfactory for these conditions, it is believed that be The case where common Sling Loads operation etc. needs pulleying to prevent function.It is anti-due to can only release pulleying in the case of necessary Therefore only function can prevent from causing pulleying because of maloperation, so as to realize the raising of operating efficiency.

(annex)

As the reference example 1 of crane, mobilecrane has crane arm, can stretch out or store relative to crane arm Boom, the main suspension hook that hangs down from the front end of crane arm and the prevention sytem for overhoist for preventing main suspension hook pulleying, boom constitutes The base end part of the form of bifurcation of boom is passed through for suspension hook main in stretching or storage, prevention sytem for overhoist has: detecting main suspension hook Pulleying pulleying detection sensor and with making to roll main suspension hook in the case where pulleying detection sensor detects pulleying The pulleying that movement stops prevents the control unit of function, and control unit is stored with for distinguishing crane arm according to the lifting angle of crane arm Decline state and propradation lifting angle threshold value and suitable for make main suspension hook pass through boom base end part crane arm elongation Amount is crane arm elongation threshold value, is less than crane arm in the elongation that the lifting angle of crane arm is less than lifting angle threshold value and crane arm In the case where elongation threshold value, releasing pulleying prevents function.

According to such reference example 1, in order to make main suspension hook roll main suspension hook across the base end part of boom, Pulleying prevents function to be released from, so as to roll main suspension hook until becoming volume state.In addition, due to being in decline by crane arm State is as condition, and therefore, can only release pulleying in the case of necessary prevents function.

As the reference example 2 of crane, on the basis of reference example 1, control unit, which is stored with, to be set as extending compared with weighing arm Amount threshold value more leans on the elongation of elongate sides to stop range, is less than the elongation of lifting angle threshold value and crane arm at the lifting angle of crane arm In the case where elongation stops in range, other than the elongation of crane arm, releasing pulleying prevents function.

According to such reference example 2, if extending crane arm to being automatically stopped, the elongation of crane arm can be made to become The elongation of operation is stretched out suitable for boom, therefore, operator is not necessarily to be operated while paying attention to the elongation of crane arm, from And operation is easy.In addition, due to using crane arm in decline state as condition, can only release in the case of necessary Pulleying prevents function.

As the reference example 3 of crane, on the basis of reference example 1 or reference example 2, having makes boom relative to crane arm The inclined cylinder of lifting, control unit are stored with decline state and propradation for distinguishing boom according to the elongation of inclined cylinder Inclination elongation threshold value, the lifting angle of crane arm more than lifting angle threshold value, the elongation of crane arm stretches less than crane arm For the elongation of long amount threshold value and inclined cylinder than inclination elongation threshold value more in the case where the decline side, releasing pulleying prevents function.

According to reference example 3, in order to make main suspension hook roll main suspension hook across the base end part of boom, pulleying is anti- Only function is released from, so as to roll main suspension hook until becoming volume state.In addition, due to using boom in decline state as Condition, therefore, can only release pulleying in the case of necessary prevents function.

As the reference example 4 of crane, on the basis of any example of reference example 1~3, which is characterized in that having makes to hang The inclined cylinder that arm is gone up and down relative to crane arm, control unit are stored with: being set as more leaning on elongate sides compared with weighing arm elongation threshold value Elongation stops the inclination elongation of range and decline state and propradation for distinguishing boom according to the elongation of inclined cylinder Threshold value is measured, stops in range and tilts in elongation in the elongation for going up and down angle threshold value or more, crane arm at the lifting angle of crane arm The elongation of cylinder than the inclination elongation threshold value more by decline side in the case where, other than the elongation of the crane arm, solution Except the pulleying prevents function.

According to reference example 4, if extending crane arm to being automatically stopped the elongation of crane arm can become suitable for hanging Arm stretches out the elongation of operation, and therefore, operator while paying attention to the elongation of crane arm without being operated, thus operation It is easy.In addition, due to using boom in decline state as condition, can only release pulleying in the case of necessary prevents Function.

In addition, the specification for being included by 09 month 2016 Japanese publication of Patent 2016-178357 filed in 13 days, attached The disclosure of figure and abstract of description is all quoted in the application.

Symbol description

C mobilecrane

14 crane arms

The main suspension hook of 15m

15a assists suspension hook

16 booms

16a boom base end part

16b boom front end

16c foot section

17 inclined cylinders

60 prevention sytem for overhoist

61a assists pulleying detection sensor

The main pulleying detection sensor of 61m

62 control units

63 movable parts

64 lifting angle transducers

65 elongation quantity sensors

66 inclination sensors.

Claims

1. a kind of crane, which is characterized in that have:

Crane arm is configured to go up and down and can stretch；

Main suspension hook is suspended to the front end of the crane arm, and the distance between described front end can be taken to be greater than the The usual position of one threshold value and the distance are in first threshold pulleying position below；

Boom, base end part has a pair of of foot section, and is rotatably supported in the front end of the crane arm；With And

Control unit, according to the relevant information of elongation at the lifting angle of the crane arm and the crane arm, described in judgement Whether crane meets specified states, in the case where being judged to meeting the specified states, the main suspension hook is allowed to be moved to The pulleying position,

In the expansion movement of the boom, when boom rotation, the main suspension hook positioned at the pulleying position is from institute It states and is passed through between the pair of foot section of boom.

2. crane according to claim 1, wherein

The crane is also equipped with guide device, the guide device have the first guide portion for being set to the crane arm and It is set to the second guide portion of the boom, and institute is guided with the engaging of second guide portion by first guide portion Boom is stated as the flexible of the crane arm is moved,

The control unit is in decline state in the crane arm, and first guide portion in the guide device and described the In the case where boot state of two guide portions in engaging, the main suspension hook is allowed to be moved to the pulleying position.

3. crane according to claim 1, wherein

The crane arm is extended from contraction state, the position that engaging of first guide portion with second guide portion is released from It installs as first position, the specified position that the elongate sides of the crane arm are more leaned on than the first position is set as the second position,

The control unit is in decline state in the crane arm, and the elongation of the crane arm is until the first position Elongation more than and the second position until elongation situation below under, allow the main suspension hook to be moved to the mistake Position is rolled up, and the elongation of the crane arm is forbidden to act.

4. crane according to claim 1, wherein

The control unit is in upward status in the crane arm, and first guide portion is drawn with second guide portion in what is engaged State is led, and the boom allows the main suspension hook to be moved to the pulleying position in the case where decline state.

5. crane according to claim 1, wherein

The control unit is in upward status in the crane arm, and the elongation of the crane arm is until the first position Elongation more than elongation and until the second position hereinafter, and the boom allow in the case where decline state The main suspension hook is moved to the pulleying position, and the elongation of the crane arm is forbidden to act.