JP2018065650A - Method for rearward inclining operation on mast during assembly of crane, and crane - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method for rearward inclining operation on a mast during assembly of a crane and a crane which enable safe performance of rearward inclining operation on the mast.SOLUTION: Provided is a method for rearward inclining operation on a mast 4 of a crane 1 which comprises a crane body 10, a boom 3 capable of falling down forward and standing backward, a mast 4 capable of throwing down and standing forward and throwing down backward, a first rope 5 capable of adjusting a length between a tip 32 of the boom 3 and a tip 42 of the mast 4, a second rope 6 capable of adjusting an angle of the mast 4, a first tension detection means 71 for detecting a tension of the first rope 5, and a second tension detection means 72 for detecting a tension of the second rope 6. An operation for throwing down the mast 4 backward from a condition such that the boom 3 is fallen down on a front ground and the mast 4 throws down forward or stands on the basis of tension information for the first rope 5 and tension information for the second rope 6.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a mast backward tilting method and crane for assembling a crane.

  Conventionally, as shown in FIG. 9, a crane main body 10, a boom 3 and a mast 4 in which base end portions 31 and 41 are rotatably provided on the crane main body 10, a distal end portion 32 of the boom 3, and a distal end of the mast 4. A crane 1 having a first rope 5 stretched between a portion 42 and a second rope 6 stretched between a tip portion 42 of a mast 4 and a crane body 10 is known. (For example, refer to Patent Document 1).

  The crane 1 is transported to the site in a disassembled state and assembled at the site. In almost the final stage of assembling the crane 1, the boom 3 is attached to the front ground in a lying state, and the mast 4 is tilted rearward from the state where the mast 4 tilts forward or rises.

JP 2000-38288 A

  At this time, in the state where the mast 4 is standing, as shown in FIG. 9, when the first rope 5 and the second rope 6 are in a bent state, an operator or a driver who is on the ground or in the cab of the crane 1. May not be fully understood. When the second rope 6 is wound up first and the second rope 6 is stretched as shown in FIG. 10 from this state, the mast 4 may suddenly tilt backward until the first rope 5 is stretched. . If the mast 4 tilts backward, the mast 4 may suddenly operate with a stopper (for example, a mast back stop, not shown) that prevents the mast 4 from tilting. There was a risk of touching 1 and its devices. In particular, when the boom 3 is caused to stand on its own without using an auxiliary crane or the like, if the boom 3 is grounded by the rearward inclination of the mast 4, tension is always applied between the mast 4 and the boom 3. However, when the boom 3 is not caused to stand by itself, that is, when the boom 3 is in a fallen state (attached state) on the ground and the mast 4 is tilted backward from this state, the mast 4 is tilted backward. Since the boom 3 does not cut in accordance with this, the distance between the tip portion 42 of the mast 4 and the tip portion 32 of the boom 3 needs to be tilted backward while the first rope 5 is loosened. Since no tension is applied between the mast 4 and the boom 3, this problem is remarkable.

  The present invention has been invented in view of the above-mentioned conventional problems, and the object of the present invention is to provide a method of tilting the mast when assembling the crane, which can safely perform the tilting operation of the mast. And provide cranes.

  In order to solve the above-mentioned problems, an invention according to claim 1 includes a crane main body, a boom having a base end portion rotatably provided on the crane main body, and capable of falling forward and standing rearward. A mast having a base end portion pivotably provided on the crane body and capable of tilting forward, standing up and tilting backward; and a first winch and a second winch provided on the crane body or the mast. And one end side of the boom is wound around the first winch so as to be wound around the first winch. A first rope that allows adjustment of the length between the tip portion and the tip portion of the mast; and one end that is stretched between the tip portion of the mast and the crane body. A second rope which is connected to the second winch so as to be able to be wound, and is capable of adjusting an angle formed by the mast with respect to the crane body by winding and unwinding by the second winch. A method of backward tilting operation of the mast at the time, comprising: first tension detecting means for detecting the tension of the first rope; and second tension detecting means for detecting the tension of the second rope, Based on the tension information of the first rope detected by the first tension detecting means and the tension information of the second rope detected by the second tension detecting means, the boom falls to the ground in front. At the same time, the mast is tilted forward or raised, and the first rope is fed out by the first winch and the second rope is wound by the second winch. It performs taken, and performs an operation of tilting the mast backward.

The invention according to claim 2 is the invention according to claim 1, further comprising tension information display means for displaying the tension information of the first rope and the tension information of the second rope, and the tension information display means. Based on the tension information of the displayed first rope and the second rope,
An operation of tilting the mast backward is performed.

  The invention according to claim 3 is the invention according to claim 1 or 2, further comprising mast angle detection means for detecting an angle formed by the mast with respect to the crane body, wherein the first rope and the second rope Based on the tension information of the rope and the mast angle information detected by the mast angle detecting means, an operation of tilting the mast backward is performed.

  The invention according to claim 4 is the invention according to claim 3, further comprising angle information display means for displaying angle information of the mast, the tension information of the first rope and the second rope, and the The mast is tilted backward based on the angle information of the mast displayed by the angle information display means.

  Further, the invention according to claim 5 is the invention according to any one of claims 1 to 4, wherein the boom falls to the ground in front and the mast tilts forward or stands up. In operating the first winch and the second winch so as to tilt the mast backward by unwinding the first rope by the winch and winding the second rope by the second winch. Based on the tension information of the first rope detected by the first tension detecting means and the tension information of the second rope detected by the second tension detecting means, or based on the first rope and the second Based on the tension information of the rope and the mast angle information detected by the mast angle detection means, the first winch and the second winch. Provided operating guide means for guiding the operation of the switch, based on the guide by the operation guide means, and performs the task of tilting the mast backward.

  In order to solve the above-mentioned problem, the invention according to claim 6 is a crane, wherein a crane main body and a base end portion are rotatably provided on the crane main body, and the vehicle falls forward and stands rearward. A boom that enables the base end portion to be pivotally provided on the crane body, and a mast that can tilt forward, stand up, and tilt backward, and a crane body or a mast provided on the mast. A first winch and a second winch; and a front end portion of the boom and a front end portion of the mast; and one end side of the winch is connected to the first winch so as to be able to be wound; A first rope that allows adjustment of a length between the tip portion of the boom and the tip portion of the mast by feeding, and between the tip portion of the mast and the crane body. A second rope which is installed and is connected to the second winch so that the one side can be wound, and the mast can adjust an angle formed by the second winch with respect to the crane body by winding and unwinding, A first tension detecting means for detecting the tension of the first rope and a second tension detecting means for detecting the tension of the second rope are provided.

  The invention according to claim 7 is the invention according to claim 6, further comprising tension information display means for displaying tension information of the first rope and tension information of the second rope.

  The invention according to claim 8 is the invention according to claim 6 or 7, further comprising mast angle detection means for detecting an angle formed by the mast with respect to the crane body.

  The invention according to claim 9 is the invention according to claim 8, further comprising angle information display means for displaying angle information of the mast.

  An invention according to a tenth aspect is the invention according to any one of the sixth to ninth aspects, wherein the boom falls on the ground in front and the mast tilts forward or stands up from the first. In operating the first winch and the second winch so as to tilt the mast backward by unwinding the first rope by the winch and winding the second rope by the second winch. Based on the tension information of the first rope detected by the first tension detecting means and the tension information of the second rope detected by the second tension detecting means, or based on the first rope and the second Based on the tension information of the rope and the mast angle information detected by the mast angle detection means, the first winch and the second winch Characterized in that it comprises the operation guide means for guiding the operation of the wrench.

  The invention according to claim 11 is the invention according to claim 6 or 8, wherein the tension information of the first rope detected by the first tension detecting means and the tension information detected by the second tension detecting means. Based on the tension information of the second rope, or based on the tension information of the first rope and the second rope, and the mast angle information detected by the mast angle detection means, From a state in which the boom has fallen to the front ground and the mast has tilted or stood forward, the first rope is fed out by the first winch and the second rope is wound by the second winch, An automatic operation control unit that controls the first winch and the second winch so as to tilt the mast backward is provided.

  In the invention according to claim 1, as in the prior art, the second rope is wound while the first rope is largely bent, and the mast is prevented from suddenly tilting backward. Tilt work can be performed safely.

  In the invention which concerns on Claim 2, an operator performs the operation | work which inclines a mast back, seeing the tension information of the 1st rope displayed on the tension information display means, and the tension information of the 2nd rope. Can do.

  In the invention which concerns on Claim 3, the back tilting operation | work of a more accurate mast can be performed.

  In the invention which concerns on Claim 4, the operator can perform the operation | work which inclines a mast back, seeing the angle information of the mast displayed on an angle information display means.

  In the invention which concerns on Claim 5, the operation guide in case an operator operates a 1st winch and a 2nd winch manually can be performed, and the back tilting operation | work of a mast can be performed easily.

  In the invention according to claim 6, since the mast is tilted backward based on the tension information of the first rope and the tension information of the second rope, the first rope remains largely bent as in the prior art. The second rope is wound up, and the mast is prevented from suddenly tilting backward, so that the mast can be safely tilted backward.

  In the invention which concerns on Claim 7, an operator performs the operation | work which inclines a mast back, seeing the tension information of the 1st rope displayed on the tension information display means, and the tension information of the 2nd rope. Can do.

  In the invention according to claim 8, the mast can be tilted more accurately.

  In the invention which concerns on Claim 9, the operator can perform the operation | work which inclines a mast back, seeing the angle information of the mast displayed on an angle information display means.

  In the invention according to claim 10, it is possible to perform an operation guide when the operator manually operates the first winch and the second winch, and the mast can be easily tilted backward.

  In the invention which concerns on Claim 11, the back inclination operation | work of a mast can be performed more safely and easily.

FIG. 1 is a schematic side view of the crane of the first embodiment. FIG. 2 is a block diagram of a crane control system according to the first embodiment. FIG. 3 is a block diagram of a crane control system according to the second embodiment. FIG. 4 is a block diagram of a crane control system according to the third embodiment. FIG. 5 is a block diagram of a crane control system according to the fourth embodiment. FIG. 6 is a schematic side view of a crane in the fourth embodiment. FIG. 7 is a block diagram of a crane control system according to the fifth embodiment. FIG. 8 is a block diagram of a crane control system according to the sixth embodiment. FIG. 9 is a schematic side view of a crane for explaining a conventional problem. FIG. 10 is a schematic side view of a crane for explaining a conventional problem.

  The present invention relates to a mast backward tilting method for assembling a crane and a crane used for the subsequent tilting method. Below, 1st embodiment of this invention is described based on FIG. 1 and FIG.

  First, the crane will be outlined. In the first embodiment, the crane 1 is a crawler crane.

  As shown in FIG. 1, the crane 1 includes a lower traveling body 12 that travels by a crawler 11 and an upper revolving body 14 that is installed on the lower traveling body 12 so as to be capable of swiveling with a swivel device 13 interposed therebetween. The crane 1 in the present invention is not a crawler crane but may be a mobile crane such as a truck crane or a non-movable crane. The crane 1 includes at least an upper swing body 14, an upper swing body 14, Members other than the accompanying boom 3 and mast 4 constitute the crane body 10.

  A cab 15, a boom 3, and a mast 4 are provided at the front of the upper swing body 14.

  The boom 3 is provided at the upper swing body 14 so that the base end portion 31 is pivotable, and can be tilted forward and stood up.

  The mast 4 is provided on the upper swing body 14 so that the base end portion 41 is rotatable, and can tilt forward, stand up, and tilt backward.

  A gantry 16 (a member constituting the crane body 10) and a counterweight 17 are provided at the rear part of the upper swing body 14. Note that the crane 1 may further include a carriage or a pallet on which weights are placed.

  A suspension hook 19 is suspended from the tip 32 of the boom 3 via a hoisting rope 18. One end of the hoisting rope 18 passes through the back side of the boom 3 and is wound around a winding drum 20 provided on the upper swing body 14 or the base end 31 of the boom 3 (the upper swing body 14 in the first embodiment). ing. The hoisting hook 19 is wound or unwound by winding or unwinding the hoisting rope 18 by the winding drum 20.

  The first rope 5 is stretched between the distal end portion 32 of the boom 3 and the distal end portion 42 of the mast 4. One end of the first rope 5 is connected to the first winch so as to be able to be wound, and the length between the distal end portion 32 of the boom 3 and the distal end portion 42 of the mast 4 is adjusted by winding and unwinding by the first winch. Make it possible. In the first embodiment, the first rope 5 includes a boom hoisting guy line 21 and a boom hoisting rope 22. The first rope 5 may not be configured by the boom hoisting guy line 21 and the boom hoisting rope 22. For example, the first rope 5 may be configured only by the boom hoisting rope 22 or may have a so-called guy link formed by connecting a plurality of link members to a part thereof, and the rest may be configured by the boom hoisting rope 22.

  One end of a boom hoisting guy line 21 constituting the first rope 5 is connected to the tip 32 of the boom 3, and a spreader 23 is provided at the other end of the boom hoisting guy line 21. A boom hoisting rope 22 constituting the first rope 5 is wound between the spreader 23 and a spreader 24 provided at the tip 42 of the mast 4, and one end of the boom hoisting rope 22 is The spreader 24 passes through the back side of the mast 4 and is wound around a boom hoisting drum 25 of a first winch provided at the base end portion 41 of the mast 4. The first winch may be provided not on the mast 4 but on the upper swing body 14 (the crane body 10).

  By winding or unwinding the boom hoisting rope 22 with the first winch, the length between the tip 32 of the boom 3 and the tip 42 of the mast 4 is adjusted, and the boom 3 starts hoisting. ing.

  The second rope 6 is stretched between the tip 42 of the mast 4 and the crane body 10. One end side of the second rope 6 is connected to the second winch so as to be able to be wound, and the angle formed by the mast 4 with respect to the crane body 10 can be adjusted by winding and unwinding by the second winch. In the first embodiment, the second rope 6 includes a mast undulating guy line 26 and a mast undulating rope 27. The second rope 6 may not be constituted by the mast undulating guy line 26 and the mast undulating rope 27. For example, the second rope 6 may be constituted only by the mast hoisting rope 27, or may have a so-called guy link formed by connecting a plurality of link members in part, and the rest may be constituted by the mast hoisting rope 27.

  One end of a mast undulating guy line 26 constituting the second rope 6 is connected to the tip 42 of the mast 4, and a spreader 28 is provided at the other end of the mast undulating guy line 26. A mast hoisting rope 27 constituting the second rope 6 is wound between the spreader 28 and a spreader 29 provided on the top of the gantry 16, and one end of the mast hoisting rope 27 is spread around the spreader 29. And is wound around a mast undulation drum 30 of a second winch provided at the base end of the gantry 16 through the surface side. The second winch may be provided on the upper swing body 14 instead of the gantry 16.

  By winding or unwinding the mast hoisting rope 27 with this second winch, the length between the tip 42 of the mast 4 and the tip of the gantry 16 is adjusted, and the mast 4 starts hoisting operation. Yes.

  As shown in FIG. 2, the crane 1 includes first tension detection means 71 that detects the tension of the first rope 5 and second tension detection means 72 that detects the tension of the second rope 6.

  The first tension detecting means 71 is composed of, for example, a load cell, and is provided at a portion to which one end of the boom hoisting guy line 21 (first rope 5) of the distal end portion 32 of the boom 3 is connected. The second tension detecting means 72 is composed of, for example, a load cell, and is provided at a portion to which one end of the mast undulating guy line 26 (second rope 6) of the tip portion 42 of the mast 4 is connected. The first tension detecting means 71 and the second tension detecting means 72 are not limited to the load cell, and the position where the first tension detecting means 71 and the second tension detecting means 72 are provided is not limited, and various tension detecting means that have been widely used in cranes in the past are appropriately used. Is possible.

  The tension data of the first rope 5 detected by the first tension detection means 71 and the tension data of the second rope 6 detected by the second tension detection means 72 are processed by the control unit 8. The control unit 8 includes, for example, a microcomputer and peripheral devices, and performs various processes according to a program. Various types that have been widely used in the past can be used as appropriate, and are not particularly limited.

  The crane 1 is transported to the site in a disassembled state and assembled at the site. In almost the final stage of assembling the crane 1, the boom 3 is attached to the front ground in a lying state, and the mast 4 is tilted rearward from the state where the mast 4 tilts forward or rises. The mast 4 is tilted backward (backward tilted) by feeding the first rope 5 by the first winch and winding the second rope 6 by the second winch.

  In the present invention, the mast is based on the tension information of the first rope 5 detected by the first tension detecting means 71 and the tension information of the second rope 6 detected by the second tension detecting means 72. 4 to perform the backward tilting work. In the first embodiment and the second and third embodiments described later, the mast 4 is manually tilted backward based on the tension information of the first rope 5 and the tension information of the second rope 6. In the fourth embodiment and the fifth embodiment, which will be described later, the backward tilting operation of the mast 4 is automatically performed based on the tension information of the first rope 5 and the tension information of the second rope 6.

  The crane 1 according to the first embodiment includes tension information display means 90 that displays tension information of the first rope 5 and tension information of the second rope 6.

  The tension information display means 90 is preferably displayed on an operation screen provided in the driver's seat (cab 15), an ML (overload prevention device) screen, or the like. It may be displayed on a part of the surface, or may be displayed on a (mobile) terminal using a mobile phone network or wireless communication.

  The operator performs the work of tilting the mast 4 backward while viewing the tension information of the first rope 5 and the tension information of the second rope 6 displayed on the tension information display means 90.

  As described above, in the present invention, the backward tilting operation of the mast 4 is performed based on the tension information of the first rope 5 and the tension information of the second rope 6. For this reason, as in the conventional case, the second rope 6 is wound up first while the first rope 5 is largely bent, and the mast suddenly tilts backward, so that the mast 4 is moved to the crane 1 or its equipment. The contact is suppressed, and the backward tilting operation of the mast 4 can be performed safely.

  In addition to the above, the tension information display means 90 is, for example, a means for displaying the respective tension values (numerical values) based on the tension information of the first rope 5 and the tension information of the second rope 6; Examples include bar graphs and meters that display tension values as visual information, and voices that convey numerical values.

  Next, a second embodiment will be described with reference to FIG. In addition, since 2nd embodiment is the same as 1st embodiment in most, description is abbreviate | omitted about the same part and it mainly demonstrates a different part.

  The crane 1 according to the second embodiment includes operation guide means 91 that guides an operation for an operator to operate the first winch and the second winch.

  The operation guide unit 91 includes, for example, a lamp, a speaker that emits sound, a liquid crystal panel that displays characters, and various known devices can be used as appropriate and are not particularly limited. The operation guide means 91 is preferably displayed on an operation screen provided in the driver's seat (cab 15), an ML (overload prevention device) screen, or the like. It may be displayed on a part of the outer surface, or may be displayed on a (mobile) terminal using a mobile phone network or wireless communication. By this operation guide means 91, for example, the operator's operation is guided by notifying the operator of whether the operation is appropriate or not.

  For example, when the operation guide means 91 is composed of two types of lamps, green and red, the operation is proper when the green lamp is lit, and the operation is improper when the red lamp is lit. Guidance can be provided to ensure proper operation. The operation guide unit 91 is controlled by the control unit 8.

  The control unit 8 includes a determination function that determines whether the operation performed by the operator is appropriate or inappropriate based on the tension information of the first rope 5 and the tension information of the second rope 6. In the second embodiment, the control unit 8 determines whether or not the tension value of the first rope 5 is within the proper range, and if it is within the proper range, the green lamp is lit. Turn on the lamp. The tension value of the second rope 6 is also judged as to whether it is within the proper range (but not necessarily the proper range of the tension value of the first rope 5). Turn on the lamp, and if it is not within the proper range, turn on the red lamp. This example is merely an example, and it may be determined whether the operation performed by the worker is appropriate or inappropriate based on other determination criteria.

  In the second embodiment, since the operation guide means 91 is provided in the crane 1, it is possible to perform an operation guide when the operator manually operates the first winch and the second winch. The backward tilting operation can be easily performed.

  In addition to the above, as the operation guide means 91, for example, based on the tension information of the first rope 5 and the tension information of the second rope 6, each tension value (numerical value) is displayed and the value is displayed. That displays whether the value is within the proper range by display color or voice, or displays the tension value such as a bar graph or meter as visual information and guides whether the value is within the proper range by display or voice , And the like that tells whether the value is in the proper range only by voice.

  Next, a third embodiment will be described with reference to FIG. The third embodiment has an additional configuration in addition to the configuration of the first embodiment. The description of the same parts as the first embodiment is omitted, and different parts are mainly described.

  As shown in FIG. 4, the crane 1 of the third embodiment is provided with mast angle detection means 73 that detects an angle formed by the mast 4 with respect to the crane body 10. As the mast angle detection means 73, various angle detection means that have been widely used in cranes conventionally, such as a rotary encoder type, an angle meter based on a slip resistance type such as a potentiometer, and an inductance type, can be used as appropriate. It is not limited.

  Further, the crane 1 includes angle information display means 93 that displays angle information of the mast 4.

  The angle information display means 93 is preferably displayed on an operation screen provided in the driver's seat (cab 15), an ML (overload prevention device) screen, or the like, similarly to the tension information display means 90. In addition, it may be displayed on a part of the outer surface of the crane body 10, or may be displayed on a (mobile) terminal using a mobile phone network or wireless communication.

  In addition to the above, the angle information display means 93 is, for example, a device that displays the angle (numerical value) of the mast 4, a device that displays the angle value as a visual information such as a bar graph or a meter, and the numerical value that is a voice What you tell in

  Further, the crane 1 includes not the operation guide means 91 but the tension information display means 90 similar to that of the first embodiment.

  The operator performs the work of tilting the mast 4 backward while viewing the angle information of the mast 4 in addition to the tension information of the first rope 5 and the tension information of the second rope 6 displayed on the tension information display means 90. .

  As described above, in the third embodiment, since the backward tilting operation of the mast 4 is also based on the angle information of the mast 4, the backward tilting operation of the mast 4 with higher accuracy than the backward tilting operation of the mast 4 of the first embodiment is performed. It can be carried out.

  Next, a fourth embodiment will be described with reference to FIGS. In addition, 4th embodiment is provided with an additional structure in addition to the structure of 2nd embodiment, abbreviate | omits description about the same part as 2nd embodiment, and mainly demonstrates a different part.

  In the fourth embodiment, as shown in FIG. 5, the crane 1 is provided with mast angle detection means 73 that detects an angle formed by the mast 4 with respect to the crane body 10. Then, the control unit 8 determines that the operation performed by the operator is appropriate based on the tension information of the first rope 5 and the tension information of the second rope 6 and the angle information of the mast 4 detected by the mast angle detection means 73. Judge whether or not.

  For example, as shown in FIG. 6, the appropriate range of the tension value of the first rope 5 and the appropriate range of the tension value of the second rope 6 are different for each angle of the mast 4. Such an appropriate range is obtained in advance by experiments and calculations, and is stored in storage means accessible by the control unit 8.

  The control unit 8 determines whether the tension value of the first rope 5 is within an appropriate range for each angle of the mast 4, and if it is within the appropriate range, the green lamp is turned on and must be within the appropriate range. If so, turn on the red lamp. The same applies to the second rope 6.

  Specifically, if the angle of the mast 4 is vertical (90 degrees) and the tension of the first rope 5 and the tension of the second rope 6 are not balanced, there is a possibility that the tension will fall to the higher tension. Therefore, the worker is informed of this state. Moreover, even if the angle of the mast 4 is inclined backward (for example, more than 90 degrees), there is no problem as long as the tension of the first rope 5 and the tension of the second rope 6 are balanced. Tell the worker. Further, the mast 4 is tilted backward, and the tension of the second rope 6 is greater than the tension of the first rope 5 or the tension of the first rope 5 is the tension of the second rope 6. If it is smaller, the situation is more likely to fall down, so the operator is informed that this is the case.

  Next, a fifth embodiment will be described with reference to FIG. Since the fifth embodiment is mostly the same as the second embodiment, the description of the same parts is omitted, and different parts are mainly described.

  The crane 1 of 5th embodiment is provided with the automatic driving | operation control part 92 which controls a 1st winch and a 2nd winch automatically instead of the operation guide means 91 in 2nd embodiment, as shown in FIG. The automatic operation control unit 92 includes, for example, a microcomputer and peripheral devices, and performs various processes according to a program. Various types that have been widely used conventionally can be used as appropriate, and are not particularly limited. Note that the automatic operation control unit 92 is not provided separately from the control unit 8, but the control unit 8 may be provided as one function.

  In the fifth embodiment, the automatic operation control unit 92 obtains tension information of the first rope 5 and tension information of the second rope 6 from the control unit 8 and automatically controls the first winch and the second winch.

  The automatic operation control unit 92 controls the first winch so that the tension value of the first rope 5 maintains an appropriate range by feedback control or the like based on the tension information of the first rope 5. The same applies to the second winch.

  As described above, in the fifth embodiment, since the backward operation of the mast 4 is performed by the automatic operation control unit 92, the backward inclination of the mast 4 is easier and safer than the backward operation of the mast 4 of the second embodiment. Work can be done.

  Next, a sixth embodiment will be described with reference to FIG. The sixth embodiment has an additional configuration in addition to the configuration of the fifth embodiment. The description of the same parts as the fifth embodiment is omitted, and different parts are mainly described.

  As shown in FIG. 8, the crane 1 of 6th embodiment is further provided with the mast angle detection means 73 in 5th embodiment. The mast angle detection means 73 is the same as in the third embodiment.

  In the sixth embodiment, the automatic operation control unit 92 obtains the angle information of the mast 4 in addition to the tension information of the first rope 5 and the tension information of the second rope 6 from the control unit 8, and the first winch and the second winch. The winch is controlled automatically.

  The automatic operation control unit 92 sets the first winch for each angle of the mast 4 so that the tension value of the first rope 5 is maintained within an appropriate range by feedback control or the like based on the tension information of the first rope 5. Control. The same applies to the second winch.

  As described above, in the sixth embodiment, it is possible to perform the back tilting operation of the mast 4 with higher accuracy than the back tilting operation of the mast 4 of the fifth embodiment.

  In addition, the automatic operation control unit 92, for example, based on the tension information of the first rope 5 and the tension information of the second rope 6, the tension value of the first rope 5 and the tension value of the second rope 6 are respectively in appropriate ranges. It is judged whether it is within (control target value or target range), and if it is outside that range and the tension value is small, the rope (first rope 5 or second rope 6) is wound with a winch (first winch or second winch) On the contrary, if the tension value is large, control is performed so that the rope is drawn out from the winch.

  Further, it is determined whether or not the difference between the tension value of the first rope 5 and the tension value of the second rope 6 is within an appropriate range, and the difference is deviated (here, the tension value of the first rope 5 minus the first rope value). 2), the tension value of the first rope 5 has become smaller than the tension value of the second rope 6, so that it is in the direction of further backward tilt. Accordingly, the rope is wound up by the first winch and the rope is fed out from the second winch.

  Further, when the angle information of the mast 4 is substantially vertical (90 degrees), the above control is performed, and when the mast 4 is gradually tilted backward (for example, more than 90 degrees) to a predetermined inclination, Since the mast 4 is supported by the first rope 5, the tension on this side is large, while the second rope 6 is pulled from the side where the mast 4 falls, so the tension value of the second rope 6 is It may be small. That is, if the tension value of the first rope 5−the tension value of the second rope 6 is set, it may be always a positive value instead of zero. At this time, as the automatic operation control unit 92, the second rope 6 is extended so that the tension of the second rope 6 does not become larger than a predetermined value while the first rope 5 is fed out so that the tension value of the first rope 5 does not become smaller than a predetermined value. 6 may be wound up, and the mast 4 may be tilted backward to a predetermined inclination.

  Here, when the first winch and the second winch are hydraulic winches, the operation of each winch is controlled by controlling a valve for controlling the flow rate and flow direction of oil supplied thereto.

  In the first embodiment to the sixth embodiment described above, the gantry 16 fixed to the upper swing body 14 has been described. However, instead of the gantry, a box mast or a crane mast (the crane main body 10 is used). (Members to be configured) may be used. In this case, the mast 4 and the box mast are connected by a guy link, and the distance between them is not changed, and a spreader is arranged on each of the box mast and the upper swing body 14 and a rope is put between them, and a fixed gantry and Differently, the box mast is raised and lowered by expanding and contracting between them, and thereby the mast 4 is raised and lowered. At this time, the undulating winch of the box mast is usually provided in the upper swing body 14, but may be provided in the box mast.

1 Crawler crane
DESCRIPTION OF SYMBOLS 10 Crane main body 12 Lower traveling body 13 Turning apparatus 14 Upper turning body
3 Boom
4 Mast
5 First rope 6 Second rope 71 First tension detecting means 72 Second tension detecting means 73 Mast angle detecting means 8 Control unit 90 Tension information display means
91 Operation guide means
92 Automatic operation controller 93 Angle information display means

Claims (11)

The crane body,
A boom that is pivotally provided on the crane main body and capable of falling forward and standing backward;
A mast in which a base end portion is rotatably provided in the crane body, and tilting forward, standing up and tilting backward is possible;
A first winch and a second winch provided on the crane body or the mast;
The end of the boom is stretched between the tip of the boom and the tip of the mast and one end of the boom is connected to the first winch so as to be rewound. And a first rope that allows adjustment of the length between the mast and the tip of the mast;
The mast is stretched between the tip portion of the mast and the crane body, and one end side thereof is connected to the second winch so as to be rewound. A second rope that allows adjustment of an angle formed with respect to the crane, and a method of tilting the mast at the time of assembling the crane,
A first tension detecting means for detecting the tension of the first rope; and a second tension detecting means for detecting the tension of the second rope;
Based on the tension information of the first rope detected by the first tension detection means and the tension information of the second rope detected by the second tension detection means,
From the state where the boom falls to the ground in front and the mast tilts forward or rises, the first rope is unwound by the first winch and the second rope is wound by the second winch, A method of backward tilting operation of a mast during assembly of a crane, wherein the operation of tilting the mast backward is performed. Tension information display means for displaying tension information of the first rope and tension information of the second rope is provided,
Based on the tension information of the first rope and the second rope displayed on the tension information display means,
2. The method of tilting the mast when assembling the crane according to claim 1, wherein the tilting of the mast is performed backward. Mast angle detection means for detecting an angle formed by the mast with respect to the crane body is provided,
Based on the tension information of the first rope and the second rope, and the mast angle information detected by the mast angle detection means,
3. The method of tilting the mast when assembling the crane according to claim 1, wherein the mast is tilted backward. Angle information display means for displaying angle information of the mast is provided,
Based on the tension information of the first rope and the second rope and the angle information of the mast displayed by the angle information display means,
4. The method of backward tilting operation of the mast when assembling the crane according to claim 3, wherein the operation of tilting the mast backward is performed. From the state where the boom falls to the ground in front and the mast tilts forward or rises, the first rope is unwound by the first winch and the second rope is wound by the second winch, In operating the first winch and the second winch to tilt the mast backward,
Based on the tension information of the first rope detected by the first tension detecting means and the tension information of the second rope detected by the second tension detecting means, or based on the first rope and the Based on the tension information of the second rope and the mast angle information detected by the mast angle detection means,
Operation guide means for guiding operations of the first winch and the second winch is provided;
Based on the guide by the operation guide means,
5. The method of tilting the mast when assembling the crane according to any one of claims 1 to 4, wherein the mast is tilted backward. The crane body,
A boom that is pivotally provided on the crane main body and capable of falling forward and standing backward;
A mast in which a base end portion is rotatably provided in the crane body, and tilting forward, standing up and tilting backward is possible;
A first winch and a second winch provided on the crane body or the mast;
The end of the boom is stretched between the tip of the boom and the tip of the mast and one end of the boom is connected to the first winch so as to be rewound. And a first rope that allows adjustment of the length between the mast and the tip of the mast;
The mast is stretched between the tip portion of the mast and the crane body, and one end side thereof is connected to the second winch so as to be rewound. A second rope that allows the angle to be adjusted to be adjustable;
A crane comprising: first tension detecting means for detecting tension of the first rope; and second tension detecting means for detecting tension of the second rope.   The crane according to claim 6, further comprising tension information display means for displaying tension information of the first rope and tension information of the second rope.   The crane according to claim 6 or 7, further comprising mast angle detection means for detecting an angle formed by the mast with respect to the crane body.   The crane according to claim 8, further comprising angle information display means for displaying angle information of the mast. From the state where the boom falls to the ground in front and the mast tilts forward or rises, the first rope is unwound by the first winch and the second rope is wound by the second winch, In operating the first winch and the second winch to tilt the mast backward,
Based on the tension information of the first rope detected by the first tension detecting means and the tension information of the second rope detected by the second tension detecting means, or based on the first rope and the Based on the tension information of the second rope and the mast angle information detected by the mast angle detection means,
The crane according to any one of claims 6 to 9, further comprising operation guide means for guiding operations of the first winch and the second winch. Based on the tension information of the first rope detected by the first tension detecting means and the tension information of the second rope detected by the second tension detecting means, or based on the first rope and the Based on the tension information of the second rope and the mast angle information detected by the mast angle detection means,
From the state where the boom falls to the ground in front and the mast tilts forward or rises, the first rope is unwound by the first winch and the second rope is wound by the second winch, The crane according to claim 6 or 8, further comprising an automatic operation control unit that controls the first winch and the second winch so as to tilt the mast backward.

Images