JP2018199573A - Standing angle regulation device for work machine - Google Patents

Abstract

To provide a space-saving and low-cost standing angle regulation device for a work machine capable of regulating a standing angle of a boom.SOLUTION: The standing angle regulation device includes first and second standing angle regulation members 20R, 20L provided on a right side and a left side of a derricking boom 7 and a column 5. The first and second standing angle regulation members 20R, 20L are bent around a connection part between first right-side and left-side plates 21R, 21L and second right-side and left-side plates 22R, 22L. When the first and second standing angle regulation members receive tensile force from the derricking boom 7 in accordance with the movement of the derricking boom 7 toward a standing direction and is turned into a linear shape, the derricking boom 7 is turned into a standing state and diagonally bridged between the column 5 and the derricking boom 7 so as to prevent the turning-down of the derricking boom 7.SELECTED DRAWING: Figure 13

Description

  TECHNICAL FIELD The present invention relates to a technique for regulating the standing angle of a component member that can be raised and lowered on a base of a working machine such as a lifting boom of a crane.

  Conventionally, for example, there is a technique described in Patent Document 1 as a technique for regulating the rising angle of a crane boom. The crawler crane described in Patent Literature 1 includes a boom and a portal mast that can be raised and lowered at a front portion of an upper swing body, and an A frame that is provided at a rear portion of the upper swing body. In addition, the hoisting rope that is fed from the hoisting drum mounted on the rear part of the upper swing body and wound around the equalizer sheave of the A frame and the equalizer sheave of the mast, and one end connected to the tip of the mast and the other end A pendant device connected to the tip of the boom. When the hoisting rope is wound around the hoisting drum, the boom rising angle follows the mast angle change, and when the hoisting rope is extended from the hoisting drum, the boom follows the mast angle change. The standing angle of is small.

JP 2000-219487 A

However, in the prior art of the above-mentioned Patent Document 1, since the rising angle of the boom is regulated using the hoisting rope, a winch (drum + motor) for winding and feeding the rope is required. In addition, since the rope is stretched to support the boom, the rope is twisted or loosened during the operation. And measures such as providing a pendant device are necessary to prevent the twist and slack. Therefore, the installation of each of these devices inevitably increases the size and cost of the device.
Therefore, the present invention has been made paying attention to such problems, and provides a standing angle regulating device for a working machine that can regulate the standing angle of a boom at a small space and at a low cost. This is the issue.

  In order to solve the above-described problem, the working angle regulating device for a working machine according to the first aspect of the present invention is for a working machine that regulates a standing angle of a component member that is attached to a base of the working machine so as to be raised and lowered. 1st plate, one end of which is supported by a member on the base side, rotatably around a horizontal axis, and one end of the first plate at the other end of the first plate, A link mechanism having a second plate rotatably supported about a horizontal axis and having the other end portion supported on the component member by a second plate rotatably supported about a horizontal axis. It is comprised so that it may be bent centering on the connection part of 1 plate and the said 2nd plate, and receives the tension | tensile_strength from this structural member according to the operation | movement to the standing direction of the said structural member, and it is a straight line When the component member is in a standing state at the time of becoming It is configured to be bridged diagonally to prevent lodging of the component between member and the structure member of the base side.

  According to the standing angle regulating device for a working machine according to the present invention, when the structural member is in the standing state, the link mechanism is linear and is slanted between the structural member and the base member. As a result, the link mechanism is stretched with respect to the operation of the component member in the standing direction, and further operation of the component member in the standing direction can be prevented, and the standing angle can be regulated. As a result, it is possible to regulate the standing angle of the constituent members of the working machine such as the boom of the crane at low cost and in a space-saving manner without using a winch or the like, as compared with the case of regulating with a conventional wire.

It is a figure which shows the running posture of the tower crane which concerns on embodiment, and is the side view seen from the vehicle right hand side. It is the side view seen from the vehicle right hand side of the tower crane concerning an embodiment. The figure shows a state in the middle of deployment to a working posture in a state where the outrigger device is deployed and the hoisting boom and the folding boom are erected. It is the rear view which looked at the state of FIG. 2 from the back side. It is a figure which shows an example of the hydraulic circuit which concerns on embodiment. It is a block diagram which shows the input / output relationship of the signal of the controller which concerns on embodiment. (A) And (b) is the figure which looked at the column which concerns on embodiment, and a part of hoisting boom from one side and the other side surface side. In the figure, a part of the standing angle regulating member is broken so that the first to first 1-3 pin holes and the first and second reinforcing portions can be visually recognized. (A) And (b) is the perspective view which looked at the column and the hydraulic cylinder for hoisting boom hoisting from the diagonally upper side of one side and the other side. In the drawing, the first and second reinforcing portions are omitted, and a state in which the hoisting boom hoisting hydraulic cylinder is rotating is shown. (A) And (b) is a figure which shows the example of 1 structure of the 1st right hand side plate and 2nd right hand side plate which comprise the lock plate which concerns on embodiment. (A) And (b) is a figure which shows the state which inserted the pin in the pin hole in the standing angle of 95 degree | times in the retracted state of the raising boom which concerns on embodiment. It is the side view which looked at the tower crane which concerns on embodiment from the right hand side, and is a figure which shows the standing state in standing angle 95 degrees, 90 degrees, and 85 degrees. It is a figure for demonstrating the design procedure of the formation position of the 1-1st pin hole formed in a column. It is a figure for demonstrating the design procedure of the formation position of the 1st-2 and 1-3 pinhole formed in a column. (A) And (b) is a figure which shows an example of the standing-up operation | movement at the time of a standing-up angle of 95 degrees. (A) And (b) is a figure which shows an example of the standing-up operation | movement in case the standing-up angle is 90 degrees. (A) And (b) is a figure which shows an example of the standing-up operation | movement at the time of a standing-up angle of 85 degrees. It is a figure showing an example of the posture at the time of work of the tower crane concerning an embodiment. In the figure, a state in which the hoisting boom and the folding boom are both fully extended is shown. (A) And (b) is a figure which shows the example of installation of the proximity switch to the pin hole in a column inside. (A) And (b) is the perspective view which looked at a column and a part of hoisting boom from diagonally upward on the right hand side, and is a figure for demonstrating the insertion method of the 1st and 2nd angle control pin. . In the same figure, the standing angle regulating member is shown in a transparent manner and a part thereof is broken. It is the figure which looked at FIG.18 (b) from the front. It is a flowchart which shows an example of the process sequence of the boom raising / lowering operation control process which concerns on embodiment. (A) is a figure which shows the state in which the 1st and 2nd angle regulation pin is inserted by normal positional relationship, (b) is the positional relationship in which the 1st and 2nd angle regulation pin was wrong. It is a figure which shows the state inserted by. It is a figure for demonstrating the structure of a 1st and 2nd boom mounting part and a 1st and 2nd leg part, (a) is a figure which shows the column and the cross section of the hoisting boom in a retracted state. Yes, (b) is an enlarged view of part A of (a). In FIG. 2B, the first leg portion is shown in a sectional view. It is the figure which looked at a column and some boom booms from one side, (a) is a figure before mounting the 1st leg on the 1st boom mounting part, (b) It is a figure after mounting. In the figure, a part of the standing angle regulating member is broken so that the first leg portion and the first boom placement portion are easily visible. It is the figure which looked at a column and a part of hoisting boom from the upper surface, (a) is a figure which shows the time of hoisting boom in the retracted state, (b) is the figure which shows the state at the time of hoisting boom turning left. is there. In the same figure, description of a part of member is abbreviate | omitted so that the 1st and 2nd boom mounting part and the 1st and 2nd leg part can be visually recognized. (A) And (b) is a figure which shows the modification of a standing angle control member.

  Hereinafter, a tower crane, which is an embodiment of a work vehicle including a standing angle regulating device for a work machine according to the present invention, will be described with reference to the drawings as appropriate. The drawings are schematic. For this reason, it should be noted that the relationship between thickness and planar dimensions, ratios, etc. may differ from the actual ones, and there are portions where the relationships and ratios of the dimensions differ between drawings. There is a case. Further, the following embodiments exemplify apparatuses and methods for embodying the technical idea of the present invention, and the technical idea of the present invention is the material, shape, structure, and arrangement of components. Etc. are not specified in the following embodiments.

(Embodiment)
(Constitution)
As shown in FIGS. 1 to 3, the tower crane 1 according to the present embodiment includes a chassis frame 2, a traveling device 3, a base 4, a column 5, a crane device 6, and an outrigger device 9. In addition, a driver's seat 10, an operation unit 11, a winch 12, a wire rope 13, a hook 14, a driving unit 15, a control box 16, and a hook storage bracket 17 are provided.

The traveling device 3 is a crawler-type traveling device in which, for example, rubber crawler belts are mounted on the left and right, and is provided at the lower portion of the chassis frame 2.
The base 4 is connected and fixed to the upper part of the chassis frame 2, and the column 5 is erected on the upper part of the base 4 so as to be rotatable.
The crane device 6 is pivotably supported at the upper end of the column 5, and is telescopically supported by a telescopic hoisting boom 7 composed of a telescoping box boom. The telescopic folding boom 8 is provided.

Although part of the outrigger device 9 is not shown, a right front outrigger 9RF, a right rear outrigger 9RR, a left front outrigger 9LF, and a left rear outrigger 9LR are provided on the upper right of the chassis frame 2, on the right front, right rear, left front, and left rear, respectively. Is provided.
The right front, right rear, left front and left rear outriggers 9RF, 9RR, 9LF and 9LR are provided on the chassis frame 2 so as to be pivotable and undulating, and to be provided at the distal end of the proximal arm. And a telescopic tip arm.
Further, the right front, right rear, left front and left rear outriggers 9RF, 9RR, 9LF and 9LR are hydraulic actuators for raising and lowering the proximal arm, right front, right rear, left front and left rear vertical outrigger cylinders 37RF, 37RR, 37LF. And 37LR. In addition, as shown in FIG. 4, there are provided right front, right rear, left front and left rear lateral outrigger cylinders 36RF, 36RR, 36LF and 36LR which are hydraulic actuators that cause the distal arm to move up and down and extend and contract.

Hereinafter, the right front, right rear, left front, and left rear outriggers 9RF, 9RR, 9LF, and 9LR may be abbreviated as “respective outriggers 9RF to 9LR”. The right front, right rear, left front, and left rear lateral outrigger cylinders 36RF, 36RR, 36LF, and 36LR may be abbreviated as “each lateral outrigger cylinder 36RF to 36LR”. Further, the right front, right rear, left front and left rear vertical outrigger cylinders 37RF, 37RR, 37LF, and 37LR may be abbreviated as “respective vertical outrigger cylinders 37RF to 37LR”.
The outrigger device 9 is positioned at a radial overhang position as shown in FIGS. 2 and 3 by manually rotating the outriggers 9RF to 9LR in the horizontal direction from the retracted state shown in FIG. It is configured to be allowed to. Thereafter, the lateral outrigger cylinders 36RF to 36LR are driven by the operation of the operation unit 11 or the operation of the remote operation device 162 (described later) to operate and extend the distal side arms of the outriggers 9RF to 9LR in the starting direction. Furthermore, by driving the vertical outrigger cylinders 37RF to 37LR and operating the base end side arms of the outriggers 9RF to 9LR in the prone direction, the lower end of the front end side arm is grounded to the ground, so that the same lifting performance can be obtained on the entire circumference. The aircraft is designed to be stable while securing it.

The driver's seat 10 is a seat on which an operator (driver) is seated during the traveling operation of the tower crane 1 and is provided so as to protrude rearward of the tower crane 1 via a link mechanism.
The operation unit 11 is provided at the rear end portion of the tower crane 1, and an operation panel on which a pair of left and right traveling operation levers and a plurality of operation switches are arranged in front of the driver's seat 10 and on the left side of the rear end portion. (Not shown) and a plurality of operation levers (not shown) provided on the right side of the operation panel.
The plurality of operation levers are an outrigger switching control valve 82, a turning switching control valve 83, a boom extension switching control valve 84, a winch switching control valve 85, a boom raising / lowering switching control valve shown in FIG. Each spool in 86 is operated directly.

Each of the operation levers is provided corresponding to each of the various hydraulic actuators, and the hydraulic actuator corresponding to the operation lever can be driven by tilting in a direction approaching or separating from the aircraft from the neutral position. It has become.
Specifically, each of the operation levers includes a lever for operating the left turn operation and the right turn operation of the crane device 6, a lever for operating the telescopic operation of the hoisting boom 7 and the folding boom 8, The lever for operating the unwinding operation, the lever for operating the hoisting operation of the hoisting boom 7 and the folding boom 8 are included.

The plurality of operation switches include a crane operation / outrigger operation changeover switch, a hoisting boom changeover switch, a telescopic boom changeover switch, a hook fixing switch, and an outrigger selection switch for selecting an outrigger to be operated from each of the outriggers 9RF to 9LR. And an outrigger operation switch for operating the selected outrigger.
The crane operation / outrigger operation changeover switch is a switch for switching between a crane mode for enabling operation of the crane device 6 and an outrigger mode for enabling operation of the outrigger device 9.

The hoisting boom changeover switch switches between the hoisting boom hoisting operation mode for enabling hoisting operation of the hoisting boom 7 and the folding boom hoisting operation mode for enabling hoisting operation of the folding boom 8 in the crane mode. It is a switch for.
The telescopic boom changeover switch switches between a hoisting boom telescopic operation mode for enabling the hoisting boom 7 to be telescopically operated and a folding boom telescopic operating mode for allowing the folding boom 8 to be telescopically operated in the crane mode. It is a switch for.
The above-described traveling device 3, crane device 6 and outrigger device 9, and the hoisting boom 7 and the folding boom 8 in the crane mode are configured so that they cannot be operated simultaneously for safety by the mode switching switches.

Here, as shown in FIG. 5, the tower crane 1 includes a remote operation device 162 that can remotely perform crane operation. Although not shown in the figure, this remote operation device 162 is configured such that various operation levers and various operation switches provided on the housing of the remote operation device 162 can be operated in the same manner as the operation levers and operation switches of the operation unit 11. ing. The remote operation device 162 is configured to wirelessly transmit a remote operation signal Rctr corresponding to the operation of the operation lever and the operation switch.
As shown in FIGS. 2 and 3, a winch 12 projects from the rear end face of the hoisting boom 7 at a substantially central position. The tower crane 1 then guides the wire rope 13 from the winch 12 to the distal end portion of the bending boom 8 via the first sheave 44 and the second sheave 45. Then, a third sheave 46 provided at the upper portion of the distal end portion and a fourth sheave (not shown) provided below the third sheave 46 and provided inside the distal end of the bending boom 8 are provided. The hook 14 is suspended from the tip of the bending boom 8 by being hooked on the hook 14.

On the other hand, the prime mover 15 includes an engine 15a, a pressure oil supply device 15b that drives the engine 15a as a drive source, and pressure oil supplied from the pressure oil supply device 15b shown in FIG. And a control valve 15c for switching and controlling the oil passage.
Further, as shown in FIGS. 1 to 4, the tower crane 1 is configured to turn the column 5, expand / contract the hoisting boom 7 and the folding boom 8, wind and lower the winch 12, and the hoisting boom 7 and the folding boom 8. A hydraulic actuator for expanding and contracting.
That is, the tower crane 1 includes a swing hydraulic motor 30, a hoisting boom telescopic hydraulic cylinder 31, a folding boom telescopic hydraulic cylinder 32, a winch hydraulic motor 33, a hoisting boom hoisting hydraulic cylinder 34, and a folding boom hoisting hydraulic pressure. A cylinder 35 is provided.

Still further, the tower crane 1 includes a traveling motor 38 as a hydraulic actuator for driving the traveling device 3.
As shown in FIGS. 3 and 4, the hoisting boom hoisting hydraulic cylinder 34 includes a pair of hydraulic cylinders of a first hoisting boom hoisting hydraulic cylinder 34 </ b> R and a second hoisting boom hoisting hydraulic cylinder 34 </ b> L.
The folding boom hoisting hydraulic cylinder 35 includes a pair of hydraulic cylinders, a first folding boom hoisting hydraulic cylinder 35R and a second folding boom hoisting hydraulic cylinder 35L.

These hydraulic actuators 30, 31, 32, 33, 34, 35 and 38 are all operated by supplying pressure oil from the pressure oil supply device 15b via the control valve 15c, as shown in FIG. Is configured to do.
On the other hand, as shown in FIG. 4, the pressure oil supply device 15 b includes a hydraulic pump 60 that drives the engine 15 a as a drive source, a left discharge port 61 </ b> L, a right discharge port 61 </ b> R, a main pipeline 62, and a return pipeline 63. And a tank 64.
The control valve 15c includes a crane switching control valve 80, an accelerator cylinder 81, an outrigger switching control valve 82, a turning switching control valve 83, a boom extension switching control valve 84, and a winch switching control valve. 85 and a boom raising / lowering switching control valve 86. Further, the lateral outrigger cylinder switching valve 87, the vertical outrigger cylinder switching valve 88, the travel switching control valve 89, the first electromagnetic switching valve 820, the second electromagnetic switching valve 840, and the third electromagnetic switching valve. 860.

The pressure oil discharged from the hydraulic pump 60 is supplied to the travel switching control valve 89, and the supplied pressure oil passes through the travel switching control valve 89 when the travel operation lever is in the neutral state. It flows into the main pipeline 62 and is supplied toward the control valve 15 c via the main pipeline 62. Further, the pressure oil discharged from the hydraulic pump 60 is returned to the tank 64 through the return pipe 63.
The crane switching control valve 80 includes a main relief valve (unload valve) 180, an unload valve actuation solenoid 181 and a hook fixing relief valve 182 provided between the main pipeline 62 and the return pipeline 63. And.

  The unload valve actuating solenoid 181 enters either the ON state or the OFF state in response to the actuation signal Uo from the controller 160. In the ON state, the main relief valve 180 is opened, and the main pipeline 62 and the return pipeline 63 are communicated. In the example shown in FIG. 4, the pressure oil discharged from the hydraulic pump 60 is not transferred through the switching control valve 89 other than the traveling switching control valve 89 and the crane switching control valve 80, but via the return pipe 63. It comes to return to. That is, the operation state of the hydraulic pump 60 can be changed to an unload state (no-load operation state) in which pressure oil is circulated without load.

The hook fixing relief valve 182 includes a hook relief solenoid 182a and a hook relief valve 182b.
The hook relief solenoid 182a is either in an ON state or an OFF state in response to an operation signal Hr from the controller 160 according to the operation of the hook fixing switch in the operation unit 11 or the remote operation device 162 by the operator's manual operation. It becomes. In the ON state, the pressure oil passage from the main pipeline 62 is switched to the oil passage through which the pressure oil flows through the hook relief valve 182b.

Here, the set relief pressure of the hook relief valve 182b is a low set pressure Ps (Pm> Ps) that is lower than the main set pressure Pm that is the relief pressure during normal operation. Therefore, by operating the hook relief valve 182b with the hook relief solenoid 182a turned on, it is possible to limit the pressure oil pressure upper limit to the low set pressure Ps.
As a result, while the hook fixing switch is in the ON state, it is possible to limit the hoisting operation pressure of the hook 14 to a low pressure and prevent damage to the hook storage bracket 17 that fixes the hook 14.

  The accelerator cylinder 81 operates the piston rod of the accelerator cylinder 81 in response to an accelerator control signal Vctr from the controller 160 corresponding to the accelerator operation amount of the remote operation device 162 or the operation unit 11. This piston rod operating position signal L6 (described later) is input to the controller 160, and the controller 160 can control the rotational speed of the engine 15a to a desired rotational speed in accordance with the operating position of the accelerator cylinder 81. Note that the discharge amount of the pressure oil from the hydraulic pump 60 increases as the rotational speed of the engine 15a is increased by the accelerator operation.

The outrigger switching control valve 82 is controlled by the operation signal of the operation lever or the operation signal Actr1 from the controller 160 in response to the operation signal Rctr from the remote control device 162. Pressure oil is supplied to the vertical outrigger cylinders 37RF to 37LR.
The first electromagnetic switching valve 820 is a control valve that selects any one of the horizontal outrigger cylinders 36RF to 36LR or the vertical outrigger cylinders 37RF to 37LR of each of the outriggers 9RF to 9LR as an oil supply destination.

The pressure oil flowing out from the outrigger switching control valve 82 first flows into the first electromagnetic switching valve 820. The first electromagnetic switching valve 820 is arranged in the horizontal outrigger cylinders 36RF to 36LR or in accordance with the switching control signal Actr2 from the controller 160 by the operation of the outrigger switching switch (not shown) in the operation unit 11 by the manual operation of the operator. The oil passage for the pressure oil to the vertical outrigger cylinders 37RF to 37LR is switched.
The lateral outrigger cylinder switching valve 87 is a control valve that selects whether or not pressure oil is supplied to each of the lateral outrigger cylinders 36RF to 36LR.

The lateral outrigger cylinder switching valve 87 is operated by the lateral outrigger cylinders 36RF to 36LR in response to the operation signals Actr3 to 6 from the controller 160 by the operation of the lateral outrigger cylinder selection switch (not shown) in the operation unit 11 manually operated by the operator. Switch the oil passage for pressure oil against.
The vertical outrigger cylinder switching valve 88 is a control valve that selects whether or not pressure oil is supplied to each of the vertical outrigger cylinders 37RF to 37LR.
The vertical outrigger cylinder switching valve 88 is operated by the vertical outrigger cylinders 37RF to 37LR in response to the operation signals Actr7 to 10 from the controller 160 by the operation of the vertical outrigger cylinder selection switch (not shown) in the operation unit 11 manually operated by the operator. Switch the oil passage for pressure oil against.

The turning switching control valve 83 is a pressure applied to the turning hydraulic motor 30 according to the operation amount of the operation lever of the operation unit 11 or according to the operation signal Tctr from the controller 160 according to the operation of the remote operation device 162. Oil flows in.
The boom expansion / contraction switching control valve 84 is connected to the second electromagnetic switching valve 840 according to the operation amount of the operation lever of the operation unit 11 or according to the operation signal Bctr1 from the controller 160 according to the operation of the remote operation device 162. In contrast, pressure oil flows in.
The second electromagnetic switching valve 840 is a control valve that selects either the hoisting boom telescopic hydraulic cylinder 31 or the folding boom telescopic hydraulic cylinder 32 as a supply destination of pressure oil.

The pressure oil that has flowed out of the boom expansion / contraction switching control valve 84 first flows into the second electromagnetic switching valve 840.
The second electromagnetic switching valve 840 is switched from the controller 160 according to the operation of the telescopic boom switch (not shown) in the operation unit 11 by manual operation of the operator or according to the operation signal Rctr from the remote operation device 162. In response to the control signal Bctr3, the oil passage for the pressure oil to the hoisting boom telescopic hydraulic cylinder 31 or the folding boom telescopic hydraulic cylinder 32 is switched.

The winch switching control valve 85 applies pressure to the winch hydraulic motor 33 according to the operation amount of the operation lever of the operation unit 11 or according to the operation signal Wctr from the controller 160 according to the operation of the remote operation device 162. Oil flows in.
The boom hoisting switching control valve 86 is operated according to the hoisting boom hoisting hydraulic cylinder 34 and the hoisting boom hoisting hydraulic cylinder 34 according to the operation amount of the operation lever of the operation unit 11 or the operation signal Bctr2 from the controller 160 according to the operation of the remote operation device 162. Pressure oil is supplied to the hydraulic cylinder 35 for raising and lowering the folding boom.

The third electromagnetic switching valve 860 is a control valve that selects one of the hoisting boom hoisting hydraulic cylinder 34 and the bending boom hoisting hydraulic cylinder 35 as a supply destination of pressure oil.
The pressure oil flowing out from the boom hoisting switching control valve 86 first flows into the third electromagnetic switching valve 860.
The third electromagnetic switching valve 860 is switched from the controller 160 according to an operation of a hoisting boom switching switch (not shown) in the operation unit 11 or according to an operation signal Rctr from the remote operation device 162 by an operator's manual operation. In response to the control signal Bctr4, the oil path of the pressure oil to the hoisting boom hoisting hydraulic cylinder 34 or the bending boom hoisting hydraulic cylinder 35 is switched.

  The switching control valves 82 to 86 and the accelerator cylinder 81 are each provided with a differential transformer (not shown), and the switching positions L1 to L1 of the switching control valves 82 to 86 and the accelerator cylinder 81 detected by the differential transformers. The detection signal of L6 (hereinafter sometimes referred to as “switching position signal”) is input to the controller 160 as shown in FIG. That is, the controller 160 can grasp the operation contents (switching positions) of the switching control valves 82 to 86 and the accelerator cylinder 81 based on the switching position signals L1 to L6.

The traveling motor 38 includes two traveling motors 38L and 38R corresponding to the left and right crawler belts of the traveling device 3, as shown in FIG. Both the traveling motors 38L and 38R are independently operated by individually supplying pressure oil from the pressure oil supply device 15b via the traveling switching control valve 89.
As a result, the tower crane 1 can travel in the forward or backward direction by driving the traveling device 3 by operating the pressure oil supply device 15b and simultaneously operating the pair of left and right traveling operation levers to advance or retract. . Further, when turning right or left, the corresponding left and right crawler belts can be individually driven by individually moving the pair of left and right traveling operation levers forward or backward, so that it is possible to simply turn the head with a difference between the left and right speeds.

Returning to FIGS. 1 to 3, the control box 16 includes a controller 160 shown in FIG. 5 therein. Although not shown, a receiver 161 is provided above the control box 16.
The receiver 161 is connected to the controller 160 via a signal line (not shown). The receiver 161 receives the remote operation signal Rctr wirelessly transmitted from the remote operation device 162, and inputs the received remote operation signal Rctr to the controller 160 via the signal line.
As shown in FIG. 5, the controller 160 includes an operation signal Ctr from the operation unit 11, a remote operation signal Rctr from the remote operation device 162, various switching control valves 82 to 86, and switching position signals L <b> 1 to Lx from the accelerator cylinder 81. L6 etc. are input. Then, the controller 160 controls the operation of various electric devices such as an oil path switching electromagnetic valve provided in the tower crane 1 in accordance with these input signals.

Although not shown, the controller 160 has a central processing unit (CPU) that performs various arithmetic processes based on a predetermined control program, and a read only memory (ROM) that stores various data including the control program. A RAM (Random Access Memory) for storing data read from the ROM or the like and a calculation result required in the calculation process of the CPU, and a timer for time measurement are provided.
The controller 160 further includes an input / output I / F (interface) that mediates input / output of data to / from each device including the receiver 161, the operation unit 11, the remote operation device 162, the control valve 15c, and the like. And various internal and external buses for data transfer. The CPU, ROM, RAM, and timer are connected to each other by various internal and external buses, and each of the above devices is connected to this bus via an input / output I / F.

When the power is turned on, a system program such as BIOS stored in the ROM or the like loads various control programs stored in the ROM in advance into the RAM, and the CPU executes the instructions described in the program loaded in the RAM. Various functions for controlling the operation of each of the above devices can be realized on software by performing arithmetic processing using various resources.
Furthermore, as shown in FIGS. 1 to 3, the tower crane 1 according to the embodiment is provided at a position near the base end of the hoisting boom 7 and an upright angle regulating member 20 that regulates the upright angle of the hoisting boom 7. A proximal end bracket 40. Further, the tower crane 1 includes a first distal end bracket 41 provided on the distal end side of the hoisting boom 7 and the proximal end side of the folding boom 8, and a V link mechanism connected to the first distal end side bracket 41. 42 and a second distal end side bracket 43 provided so as to protrude partially toward the lower end side of the folding boom 8.

The standing angle regulating member 20 includes a first standing angle regulating member 20R provided on one side of the hoisting boom 7 (right hand side in FIGS. 1 to 3) and the other side of the hoisting boom 7 (FIG. 1). To the second standing angle regulating member 20L provided on the left hand side in FIG.
In the following description, “one side surface” refers to the right hand side of each component in each posture of the tower crane 1 of FIGS. 1 to 3, and “the other side surface” refers to FIGS. 1 to 3. The left-hand side of each component in each posture of the tower crane 1 is indicated.
The proximal bracket 40 is formed integrally with the hoisting boom 7, and in the posture shown in FIG. 2, the first connecting portion 40 a formed to protrude to the front side of the hoisting boom 7 and the hoisting boom 7. And a second connecting portion 40b formed to protrude rearward.

Then, as shown in FIGS. 2, 6A and 6B, one end of the tube side of the first hoisting boom hoisting hydraulic cylinder 34R is located on the inner side of the right hand side of the second connecting portion 40b. The second cylinder pin 341 is rotatably supported around a horizontal axis. In addition, one end portion of the tube side of the second hoisting boom hoisting hydraulic cylinder 34L is rotatable around the horizontal axis via the second cylinder pin 341 inside the left hand side of the second connecting portion 40b. Is pivotally supported.
Further, one end portion of the first hoisting boom hoisting hydraulic cylinder 34R on the rod side is pivoted on the inner side of the front end portion on the right hand side of the column 5 via the first cylinder pin 340 so as to be rotatable around a horizontal axis. It is supported. In addition, one end of the second hoisting boom hoisting hydraulic cylinder 34L on the rod side can be rotated around the horizontal axis via the first cylinder pin 340 inside the front end of the column 5 on the left hand side. It is pivotally supported.

As shown in FIGS. 1 and 2, the first distal end bracket 41 is attached to the proximal end bracket 41a attached to the distal end portion of the hoisting boom 7, and the proximal end portion of the folding boom 8, and In the positional relationship during the storage posture shown in FIG. 1, the lower end portion includes a distal end bracket 41b pivotally supported around the horizontal axis at the upper end portion of the base end bracket 41a.
The base end bracket 41a has two plate-like members facing each other with the tip end portion of the hoisting boom 7 interposed therebetween, and the rear end portion and the lower end portion are first inside the two plate-like members. The sheave 44 is rotatably supported around a horizontal axis.

The V link mechanism 42 includes a first V link provided on the right hand side of the folding boom 8 and a second V link (not shown) provided on the left hand side.
The first V link is configured such that one end of two plate-like links is pivotally supported by one end on the rod side of the first folding boom hoisting hydraulic cylinder 35R so as to be rotatable about a horizontal axis. It has become. In addition, the other end of one of the two plate-like links is pivotally supported around the horizontal axis at the lower part on the right hand side of the base end bracket 41a, and the portion near the other end is the tip The bracket 41b is rotatably supported around a horizontal axis on the upper right side of the bracket 41b.

The second V link has a configuration in which one end of each of the two plate-like links is pivotally supported by one end on the rod side of the second bending boom hoisting hydraulic cylinder 35L so as to be rotatable around a horizontal axis. It has become. In addition, the other end of one of the two plate-like links is pivotally supported around the horizontal axis at the lower part on the left hand side of the base end bracket 41a, and the portion near the other end is the tip The bracket 41b is rotatably supported around the horizontal axis on the left-hand side of the bracket 41b.
Further, as shown in FIG. 1, the first V-link and the second V-link have a portion on the other end side with respect to the connecting portion with the tip bracket 41b of the other link, as shown in FIG. Sheave mounting portions 42a and 42b (not shown) formed so as to protrude upward in FIG. 2 are provided. And the 2nd sheave axis | shaft which suspended this sheave attaching part 42a, 42b is provided so that the 2nd sheave 45 provided in the center of the axis | shaft may be supported rotatably around a horizontal axis. Yes.

The first folding boom raising and lowering hydraulic cylinder 35R is pivotally supported around the horizontal axis at the other end on the tube side on the right-hand side of the lower end protruding portion of the second distal end side bracket 43. The second folding boom hoisting hydraulic cylinder 35L is pivotally supported around the horizontal axis with the other end on the tube side on the left hand side of the lower end protruding portion of the second distal end side bracket 43. Yes.
Further, the first and second bending boom hoisting hydraulic cylinders 35R and 35L are pins whose one end portions on the rod side are the rotation shafts on the one end side of the first V link and the second V link. Connected by 42c.

Further, the hoisting boom 7 and the bending boom 8 are pivotally supported via a base end bracket 41a and a front end bracket 41b.
With this configuration, by extending the first and second folding boom hoisting hydraulic cylinders 35R and 35L, the folding boom 8 is rotated in the raising direction (the direction away from the hoisting boom 7), while being reduced. Thus, the folding boom 8 is rotated in the lying direction (the direction approaching the hoisting boom 7).

(Structure of column 5)
Next, the detailed structure of the column 5 of this embodiment is demonstrated.
As shown in FIGS. 6 (a) and 6 (b) and FIGS. 7 (a) and 7 (b), the column 5 includes a base plate 50 and a first plate erected on the base plate 50 with a predetermined gap therebetween. And second upper plates 51R and 51L.
As shown in FIGS. 6 (a) and 7 (a), the first upper plate 51R has a first vertical plate portion 51Ra, a second vertical plate portion 51Rb, as viewed from the right hand side, It has a first horizontal plate portion 51Rc that connects the first vertical plate portion 51Ra and the second vertical plate portion 51Rb, and is configured in a substantially “H” shape.

A rubber hose that feeds pressure oil from the pump 60 to the hydraulic actuators (31, 32, 33, 34, 35) provided on the bending boom 8 and the hoisting boom 7 are provided below the first horizontal plate portion 51Rc. A through hole is formed for passing electrical wiring or the like through the column 5.
The first vertical plate portion 51Ra is configured to be longer than the second vertical plate portion 51Rb, and the upper portion of the first vertical plate portion 51Ra can be raised and lowered via a boom foot pin 75 at the base end portion of the raising and lowering boom 7. It is pivotally supported and protrudes forward of the vehicle shown in FIG. Further, pin holes 52R, 53R, and 54R, which will be described later, are provided in the upper portion of the second vertical plate portion 51Rb, and the upper end portions thereof are formed on a substantially horizontal surface.

Furthermore, the first upper plate 51R has a first pin hole 52R, a first 1-2 pin hole 53R, and a first 1-3 provided through the plate surface of the second vertical plate portion 51Rb. Pin hole 54R, the first reinforcing portion 55R provided on the surface of the second vertical plate portion 51Rb, and the upper ends of the first reinforcing portion 55R and the second vertical plate portion 51Rb. 1st boom mounting part 59R.
The 1-1 to 1-3 pin holes 52R to 54R include a 1-1 insertion hole 52Ra, a 1-2 insertion hole 53Ra, and a 1-3 insertion hole 54Ra. In addition, the 1-1 boss 52Rb, the 1-2 boss 53Rb, the first boss 52Rb, and the first boss 53Rb are formed so as to surround the periphery of the opening portions of the first to first 1-3 insertion holes 52Ra to 54Ra. -3 boss 54Rb.

The first reinforcing portion 55R is formed so as to cover the periphery of the first to first to third bosses 52Rb to 54Rb of the first to first to third pin holes 52R to 54R. It is thicker than the upper plate 51R. The lower end of the first reinforcing portion 55R extends to the base plate 50 and is joined to the base plate 50 by welding or the like.
As shown in FIGS. 6B and 7B, the second upper plate 51L has a shape (first upper plate) that is mirror-symmetrical with the first upper plate 51R when viewed from the left hand side. 51R is turned upside down). That is, the third vertical plate portion 51La constituting the long left side, the fourth vertical plate portion 51Lb constituting the short right side, the third vertical plate portion 51La and the fourth vertical plate portion 51Lb. And a second horizontal plate portion 51Lc.

A rubber hose that feeds pressure oil from the pump 60 to the hydraulic actuators (31, 32, 33, 34, 35) provided on the bending boom 8 and the hoisting boom 7 are provided below the second horizontal plate portion 51Lc. A through hole is formed for passing electrical wiring or the like through the column 5.
The upper portion of the third vertical plate portion 51La pivotally supports the base end portion of the hoisting boom 7 so as to be raised and lowered via the boom foot pin 75, and protrudes toward the vehicle front side shown in FIG. It has a configuration. In addition, pin holes 52L, 53L, and 54L, which will be described later, are provided in the upper portion of the fourth vertical plate portion 51Lb, and the upper end portions thereof are formed on a substantially horizontal surface.

Further, the second upper plate 51L includes the first to fourth pin holes 52L, the first to fifth pin holes 53L, and the first to sixth holes provided through the plate surface of the fourth vertical plate portion 51Lb. Pin hole 54L, the second reinforcing portion 55L provided on the surface of the fourth vertical plate portion 51Lb, and the upper ends of the second reinforcing portion 55L and the fourth vertical plate portion 51Lb. And a second boom placement portion 59L.
The first to fourth pin holes 52L to 54L have the same configuration as the first to first to third pin holes 52R to 54R, and the first to fourth insertion holes 52La, 1-5 insertion hole 53La and 1-6th insertion hole 54La, 1-4 boss | hub 52Lb, 1-5 boss | hub 53Lb, and 1-6 boss | hub 54Lb are provided.

The second reinforcing portion 55L has the same configuration as the first reinforcing portion 55R, is formed so as to cover the periphery of the first to fourth to sixth bosses 52Lb to 54Lb, and the second upper plate. It is thicker than 51L. The lower end of the second reinforcing portion 55L also extends to the base plate 50 and is joined to the base plate 50 by welding or the like.
Furthermore, the 1-1 to 1-3 pin holes 52R to 54R and the 1-4 to 1-6 pin holes 52L to 54L are provided in the same relative positional relationship and concentrically in a side view. It has been.
The detailed configuration of the first boom placement portion 59R and the second boom placement portion 59L will be described later.
In addition, hereinafter, the 1-1 to 1-3 pin holes 52R to 54R and the 1-4 to 1-6 pin holes 52L to 54L are collectively referred to as “1-1 to 1-6. May be abbreviated as “pin holes 52R to 54L”.

(Configuration of standing angle regulating device)
Next, a detailed configuration of the standing angle regulating device according to the present embodiment will be described.
The standing angle regulating device includes first and second standing angle regulating members 20R and 20L, first to first 1-6 pin holes 52R to 54L formed in the column 5, first and second. Angle restriction pins 23R and 23L, and first to fourth support portions 500a to 500d described later.

As shown in FIG. 3, the first standing angle restricting member 20R includes a link mechanism that connects the first right hand side plate 21R and the second right hand side plate 22R, and the second standing angle restricting member 20L. Is composed of a link mechanism that connects the first left hand side plate 21L and the second left hand side plate 22L.
The first right hand side plate 21R is formed of a metal plate, and, as shown in FIG. And is gradually narrowed from one end side to the other end side. That is, it is formed in a substantially obtuse triangular shape with each apex rounded with the end on one end side as a short side. In addition, the first right hand side plate 21R has a 2-1 pin hole 210R, a 2-2 pin hole 211R, and a 2-3 pin hole formed at one end thereof through the plate surface. 212R has three pin holes and a first connecting hole 213R formed at the other end so as to penetrate the plate surface.

Here, the 2-1 to 2-3 pin holes 210R to 212R are formed in the same relative positional relationship and the same inner diameter as the 1-1 to 1-3 pin holes 52R to 54R.
As shown in FIG. 8B, the second right-hand side plate 22R is formed of a long plate-like metal plate with teardrops at both ends in a side view. In addition, the second right hand side plate 22R has a second connection hole 220R formed at one end thereof through the plate surface and a third connection formed at the other end through the plate surface. Hole 221R.
The first left-hand side plate 21L has the same configuration as the first right-hand side plate 21R, and the first left-hand side plate 21L is formed at one end thereof as indicated by the reference numerals in parentheses in FIG. 2-4 pin holes 210L, 2-5 pin holes 211L and 2-6 pin holes 212L, and a fourth connecting hole 213L formed at the other end.

Here, the 2-4 to 2-6 pin holes 210L to 212L are formed to have the same relative positional relationship and the same inner diameter as the 1-4 to 1-6 pin holes 52L to 54L.
Further, the second left hand side plate 22L has the same configuration as the second right hand side plate 22R, and is formed at one end thereof as indicated by the reference numerals in parentheses in FIG. The fifth connecting hole 220L and the sixth connecting hole 221L formed at the other end are provided.
As shown in FIG. 9A, one end of the first right hand side plate 21R is attached to the column 5 only when the boom boom 7 is in the retracted position (the position in FIG. 1). With respect to the formed 1-1 to 1-3 pin holes 52R to 54R, the 2-1 to 2-3 pin holes 210R to 212R are just in the axial direction of each central axis in a side view. Arranged at the same coaxial position.

Specifically, a first pin hole pair that is a set of the 1-1 pin hole 52R and the 2-1 pin hole 210R, the 1-2 pin hole 53R, and the 2-2 pin hole 211R. And the third pin hole pair, which is a set of the first to third pin holes 54R and the second to third pin holes 212R, the hole positions of each set in the axial direction. They are arranged so that they overlap on the same axis.
Further, as shown in FIG. 9 (b), one end portion of the first left-hand side plate 21L is the first formed on the column 5 only when the hoisting boom 7 is in the retracted position and the boom is retracted. For the -4 to 1-6 pin holes 52L to 54L, the 2-4 to 2-6 pin holes 210L to 212L are arranged at coaxial positions where the central axes just overlap in the axial direction in a side view. Is done.

Specifically, a fourth pin hole pair that is a set of the first to fourth pin holes 52L and the second to fourth pin holes 210L, the first to fifth pin holes 53L, and the second to fifth pin holes 211L. And the position of each pair of holes in the axial direction is a fifth pin hole pair that is a set of the first pin hole 54L and a sixth pin hole pair that is a set of the second to sixth pin holes 212L. They are arranged so that they overlap on the same axis.
Then, as shown in FIG. 9A, the first right-hand side plate 21R is inserted by inserting the first angle regulating pin 23R into one of the first to third pin hole pairs. The first angle regulating pin 23R is pivotally supported around the axis so as to be rotatable.

Further, as shown in FIG. 9B, the first left-hand side plate 21L is inserted by inserting the second angle regulating pin 23L into any of the fourth to sixth pin hole pairs. The second angle restricting pin 23L is pivotally supported around the axis so as to be rotatable.
9A and 9B, the first angle restriction pin 23R is inserted into the first pin hole pair, and the second angle restriction pin 23L is inserted into the fourth pin hole pair. Shows the case.
Here, in the standing angle regulating device of the present embodiment, when the hoisting boom 7 is in the retracted position, the hoisting boom is determined by the position of the pin hole pair into which the operator inserts the first and second angle regulating pins 23R and 23L. The standing angle of 7 can be selected as a desired angle from three different first to third standing angles set in advance. Specifically, the first and fourth pin hole pairs correspond to the first standing angle, the second and fifth pin hole pairs correspond to the second standing angle, and the third and sixth pin holes. The pair corresponds to the third standing angle.

In addition, hereinafter, the 2-1 to 2-3 pin holes 210R to 212R and the 2-4 to 2-6 pin holes 210L to 212L are collectively referred to as “2-1 to 2-6. May be abbreviated as “pin holes 210R to 212L”.
Further, in the present embodiment, as shown in FIG. 9A, the first right-hand side plate 21R arranged so that the hole positions overlap in the axial direction in each pin hole pair has the first A first support portion 500a and a second support portion 500b project from the side surface portion of the upper plate 51R. Similarly, on the lower end side of the first left hand side plate 21L, as shown in FIG. 9B, the third support portion 500c and the fourth support portion are provided on the side surface portion of the second upper plate 51L. 500d is protrudingly provided.

Each of the first to fourth support portions 500a to 500d has a block portion projecting on the side surface portion of the upper plate, an internal thread portion provided through the block portion, and the internal thread portion from below. A bolt portion screwed in and a nut portion screwed into a tip portion of the bolt portion protruding above the block portion via the female screw portion are provided.
As shown in FIGS. 9 (a) and 9 (b), the first and third support portions 500a and 500c are located on the lower side near the other end portions of the first right hand side and left hand side plates 21R and 21L. Is provided. And the front-end | tip part of a volt | bolt part is provided in the lower end part so that the axial direction may turn to the direction orthogonal to the lower end part of the 1st right hand side and left hand side plates 21R and 21L.

The second and fourth support portions 500b and 500d are provided at positions near one end portions of the first right-hand side and left-hand side plates 21R and 21L and below the position at the center side of the pin hole position. It has been. And the front-end | tip part of a volt | bolt part is provided in the lower end part so that the axial direction may turn to the direction orthogonal to the lower end part of the 1st right hand side and left hand side plates 21R and 21L.
In other words, the first to fourth support portions 500a to 500d are configured so that the lower ends of the first right hand side and left hand side plates 21R and 21L do not slip down from below only when the hoisting boom 7 is in the boom retracted state. It is a stand to support. Therefore, even when the first and second angle restricting pins 23R and 23L are not inserted, the central axes of the holes of each set overlap on the same axis, and it is possible to maintain a communication state in which the pins can be inserted.

  Even when the hole position is shifted due to an error during assembly or the like, the first right hand side plate 21R and the left hand side plate 21R are adjusted by adjusting the screwing amounts of the bolt portions of the first to fourth support portions 500a to 500d. And it is also possible to correct the hole position by adjusting the support position of 21L. In the support portion of the present embodiment, the first and third support portions 500a and 500c can adjust the horizontal support positions of the first right hand side and left hand side plates 21R and 21L. In addition, the support positions in the height direction of the first right hand side and left hand side plates 21R and 21L can be adjusted by the second and fourth support portions 500b and 500d.

Further, as shown in FIG. 9A, the other end of the first right hand side plate 21R has one end of the second right hand side plate 22R, the first connection hole 213R and the second connection hole. It is pivotally supported via a first connecting pin 24R inserted through 220R. Specifically, the second right hand side plate 22R is connected to be rotatable about the first connecting pin 24R as a rotation axis.
Further, as shown in FIG. 9B, the other end portion of the first left hand side plate 21L has one end portion of the second left hand side plate 22L, the fourth connection hole 213L and the fifth connection hole. It is pivotally supported via a second connecting pin 24L inserted through 220L. Specifically, the second left hand side plate 22L is coupled to be rotatable about the second coupling pin 24L as a rotation axis.

Further, as shown in FIG. 9A, the other end of the second right hand side plate 22R is connected to the third connecting hole 221R and the second hand on the right hand side of the first connecting portion 40a of the base end side bracket 40. It is pivotally supported via a third connecting pin 25 inserted through a connecting hole (not shown) provided in one connecting portion 40a. Specifically, the second right hand side plate 22R is connected to be rotatable about the third connecting pin 25 as a rotation axis.
Also, as shown in FIG. 9B, the other end of the second left hand side plate 22L is connected to the left hand side of the first connecting portion 40a of the base end side bracket 40 with the sixth connecting hole 221L and the It is pivotally supported via a third connecting pin 25 inserted through a connecting hole (not shown) provided in one connecting portion 40a. Specifically, the second left hand side plate 22L is connected to the third connecting pin 25 as a rotation axis so as to be rotatable about the axis.

As shown in FIG. 9A, the first standing angle regulating member 20R is connected to the first right hand side plate 21R and the second right hand side plate 22R when the hoisting boom 7 is in the boom retracted state. It is comprised so that it may be in the state bent in the shape of a "reverse character" centering on a part.
Similarly, as shown in FIG. 9B, the second upright angle restricting member 20L includes the first left hand side plate 21L and the second left hand side plate 22L when the hoisting boom 7 is in the boom retracted state. And, it is configured to be in a state of being bent into a “shape” around the connecting portion.

  Further, according to the above configuration, in the posture in which the hoisting boom 7 is in the boom retracted state, the rotating shafts (the third hoisting shafts of the second right hand side and the left hand side plates 22R and 22L on the upper side) The connecting pin 25) is arranged, and the rotating shaft (second cylinder pin 341) at the tube end of the first and second hoisting boom hoisting hydraulic cylinders 34R and 34L is arranged on the lower side. In addition, the rotation shaft (first cylinder pin 340) at the rod-side end of the first and second hoisting boom hoisting hydraulic cylinders 34R and 34L is connected to the front end side (second and fourth hoisting side) of the column 5. The first to sixth pin holes 52R to 54L are arranged on the rear end side of the column 5 (first and third vertical plate portions 51Ra and 51La). Arranged.

(Design procedure for forming positions of first to first 1-6 pin holes 52R to 54L)
Next, a design procedure for forming positions of the first to first 1-6 pin holes 52R to 54L for restricting the standing angle of the hoisting boom 7 to a target standing angle will be described.
It is assumed that the position of the boom foot pin 75, the position of other devices such as the engine cover of the prime mover 15 and the bending boom 8 are determined in advance.
Hereinafter, the design procedure of the formation positions of the 1-1 to 1-3 pin holes 52R to 54R will be described in detail.

First, the required standing angle of the hoisting boom 7 is determined. In the present embodiment, three types of standing angles of 95 °, 90 °, and 85 ° are determined as the first, second, and third standing angles.
Next, as shown in FIG. 11 (a), the third connecting pin 25 on the hoisting boom 7 side of the undulating boom 7 side is determined from the engagement with other peripheral devices such as the engine cover and the folding boom 8 constituting the driving unit 15. An approximate position (axial center position b) is determined.
Next, based on the determined axial position b and the known axial position of the boom foot pin 75, first, the position of the 1-1 pin hole 52R corresponding to the standing angle of 95 ° is determined.

Here, the moment (known) around the boom foot pin 75 is temporarily set to M, a straight line connecting the axis of the third connecting pin 25 and the axis of the first angle regulating pin 23R, and the straight line and the boom A first distance B that is a linear distance when the axial center position of the foot pin 75 intersects at a right angle is temporarily set. Then, the pulling force F applied to the first angle restricting pin 23R inserted into the 1-1 pin hole 52R is determined based on the following equation (1).
F = M / B (1)
When the work posture shown in FIG. 16 is described as an example, the tower crane 1 performs a cargo handling work by suspending a load via a hook 14 that is suspended at the tip of a folding boom 8 that is folded forward of the vehicle. . Therefore, when the load is hung, a force that is pulled to the front side of the vehicle is applied to the hoisting boom 7, and as a result, a pulling force F is generated in the first standing angle regulating member 20R.

Here, as shown in the above equation (1), the pulling force F applied to the first angle regulating pin 23R increases as the first distance B decreases, and the first angle regulation increases as the first distance B increases. The pulling force F applied to the pin 23R is reduced. On the other hand, as the first distance B is shorter, the first standing angle regulating member 20R can be provided more compactly, and as the first distance B is longer, a space for providing the first standing angle regulating member 20R. Becomes larger.
In the present embodiment, the first distance B is set as short as possible within the allowable pulling force F range.

Furthermore, if the shear stress of the first angle regulating pin 23R is τ, the cross-sectional area of the pin is A, and the stress (known) applied to the first angle regulating pin 23R to be considered in addition to the tensile force F is k, the shear The stress τ can be calculated from the following equation (2).
τ = F / A + k (2)
From the above equation (2), the pin cross-sectional area A when the shear stress τ is smaller than the preset allowable stress is obtained, and the pin diameter of the first angle regulating pin 23R and the 1-1 pin hole 52R are determined. Determine the hole diameter (inner diameter). And the axial center position of the 1-1st pin hole 52R is determined to a1 point in Fig.11 (a).

Here, it is desirable that the axial center position a1 of the 1-1 pin hole 51R is determined at a position where the first standing angle regulating member 20R can be easily attached to the column 5 and the operator can easily fit and remove the pin. In the present embodiment, the axial center position a1 is determined at the upper portion of the second vertical plate portion 51Rb of the column 5 that is below the hoisting boom 7 in the retracted state.
Next, the lengths of the first right hand side plate 21R and the second right hand side plate 22R are determined. Here, as shown in FIG. 11 (a), the axial center position of the third connecting pin 25 when the first rising angle regulating member 20R is linear when the rising angle is 95 ° is determined. Let D be the linear distance between the first pin hole 52R and the axial center position a1.

Further, the length between the axial center position a1 of the 1-1 pin hole 52R and the axial center position of the first connecting pin 24R when the standing angle is 95 ° is assumed to be the first link length r11. Set. In addition, if the length between the axial center position of the first connecting pin 24R and the axial center position of the third connecting pin 25 is temporarily set as the second link length r2, the second link length r2 is: From the straight line distance D and the 1-1 link length r11, it can be expressed by the following equation (3).
r2 = D−r11 (3)

  Here, the connection point P between the first right-hand side plate 21R and the second right-hand side plate 22R shown in FIG. 11C in the first standing angle regulating member 20R interlocked with the raising and lowering operation of the raising and lowering boom 7. If the locus drawn by the maximum diameter does not interfere with the boom foot pin 75 in side view, the first standing angle regulating member 20R can be brought closer to the column 5 in the lateral width direction. In general, the boom foot pin 75 is provided with a rotation stopper (not shown) so that the boom foot pin 75 does not rotate when the boom is raised and lowered. Considering the trajectory of the connection point P so that the arc drawn by the second link length r2 is inside the diameter of the boom foot pin 75 so that the first standing angle regulating member 20R is avoided from the thickness thereof, the first As an effect that the standing angle regulating member 20R and the column 5 approach each other, the overall length of the 2-1 pin hole 210R can be kept short, and a boss provided with a countermeasure for preventing a breakage due to a shearing force applied to the pin Also gains the advantage of not being too big. In consideration of this, in the present embodiment, from the above equation (3), the intersection of a circle having a radius r11 centered at point a1 and a circle having a radius r2 centered at point b is calculated from r11 as a variable. A dividing point is set on the trajectory to determine the 1-1 link length r11 and the second link length r2.

Specifically, as shown in FIG. 11B, the intersection of the circle when the 1-1st link length r11 is r111 and the circle when the second link length r2 is r21, The intersection of the circle when the link length r11 is r112 (r111 <r112) and the circle when the second link length r2 is r22 is obtained. In addition, the intersection of the circle when the first link length r11 is r113 (r112 <r113) and the circle when the second link length r2 is r23,... A first trajectory t1 that is a trajectory of the intersection when the link length r11 is changed is calculated.
Thus, when the 1-1 link length r11 is arbitrarily determined, the connection position between the first right hand side plate 21R and the second right hand side plate 22R is determined from the intersection with the first trajectory t1. From this connection position, as shown in FIG. 11C, the 1-1st link length r11 is determined to be Dr11, and the second link length r2 is determined to be Dr2. Further, let P be the connecting point that is the axial center position of the connecting portion.

In the present embodiment, since the pin hole is provided on one end side of the first right-hand side plate 21R, that is, on the column 5 side, the pin hole is inserted into the position of the pin hole into which the first angle regulating pin 23R corresponding to the varying standing angle is inserted. Regardless, the second link length r2 is constant at Dr2. Here, a solid line in FIG. 11C indicates a portion corresponding to the 1-1 link length r11 of the first right hand plate 21R, and a broken line indicates the second right hand plate 22R. A portion corresponding to a link length r2 of 2 is shown.
Further, as shown in FIG. 11A, the axial center position of the third connecting pin 25 moves to the point b along the track O1 when the hoisting boom 7 is tilted. At this time, as shown in FIG. 11 (c), the first rising angle regulating member 20R is connected to a connecting point P (first connecting pin 24R) between the first right hand side plate 21R and the second right hand side plate 22R. It is in a state of being bent in a “reverse character” shape centering on the axial center position of.

This is due to the weight of each plate constituting the link. In the first standing angle regulating member 20R of the present embodiment, the first right hand side plate 21R is heavier than the second right hand side plate 22R. It is configured. For this reason, the connecting point P does not move in the upward direction.
Next, the formation position of the first to third pin holes 54R corresponding to the standing angle 85 ° is determined.
Here, the second link length r2 is already determined to be Dr2, and in this embodiment, the position of the point P when the hoisting boom 7 is in the boom retracted state is fixed. Note that the position of the point P is fixed when the hoisting boom 7 is in the boom retracted state and the first to third pin hole pairs can be inserted into the first angle regulating pin 23R. It is to do.

  Based on this, first, the pin hole strength is calculated based on the determined pin diameter of the first angle regulating pin 23R, and as shown in FIG. The inter-pin distance Rb between the axial center position a1 of the hole 52R and the newly determined axial center position a3 of the first to third pin holes 54R is determined. Here, the pin diameter increases as the pulling force F applied to the first angle regulating pin 23R increases, and the outer diameter including the boss must be increased as the pin diameter increases. become longer. That is, the inter-pin distance Rb is related to the strength of the pin hole. If it is too short, the thickness between the pin holes becomes thin and the strength becomes weak. It becomes impossible to arrange compactly. Therefore, in the present embodiment, the distance is set as short as possible so that the hole positions do not overlap within the allowable strength range, giving priority to compactness. Then, a circle having a radius Rb centered on the axial center position a1 of the 1-1st pin hole 52R is set.

Next, a circle with a radius Dr2 is set centering on the axial center position of the third connecting pin 25 when the hoisting boom 7 stands at an upright angle of 85 °.
The position where the second locus t2 that is the locus of the center of the circle that is in contact with the circle having the radius Dr2 and passes through the point P and the circle having the radius Rb is in contact (or intersects) is the axis of the first to third pin holes 54R. Fix as the center position a3. The radius r13 of the circle passing through the point P at this time is the first link position and the axial center position of the first angle regulating pin 23R inserted into the 2-3 pin hole 212R and the 1-3 pin hole 54R. This is the length between the pin 24R and the axial center position (hereinafter referred to as “1-3 link length r13”).

  Specifically, as shown in FIG. 12 (b), the center of the circle of radius r131 that touches the circle of radius Dr2 and passes through point P, the circle of radius r132 that touches the circle of radius Dr2 and passes through point P, and A second trajectory t2 is calculated when the first to third link lengths r13 are varied such as the center, the center of a circle of radius r133 passing through the point P and in contact with the circle of radius Dr2. The position where the second locus t2 and the circle with the radius Rb are in contact with each other is set as the axial center position a3 of the first to third pin holes 54R. If the radius Rb is small and there is no contact with the second locus t2, an arbitrary position on the second locus t2 can be set as the axial center position a3.

Although not shown, the formation position of the 1-2 pin hole 53R corresponding to the standing angle of 90 ° is also determined by the same procedure as that for the standing angle of 85 °. In this case, a circle having a radius Dr2 is set with the axial center position of the third connecting pin 25 at the standing angle of 90 °. The third locus t3, which is the locus of the center of the circle that is in contact with the circle and passes through the point P, the axial position a1 of the 1-1 pin hole 52R, and the axial center of the 1-3 pin hole 53R. The position where the circle with the radius Rb centering on the position a3 is in contact is determined as the axial position a2 of the 1-2 pin hole 53R. The radius r12 of the circle passing through the point P at this time is the first link position and the axial center position of the first angle regulating pin 23R inserted into the 2-2 pin hole 211R and the 1-2 pin hole 53R. This is the length between the pin 24R and the axial center position (hereinafter referred to as “1-2 link length r12”).
As described above, the formation positions of the first to first 1-3 pin holes 52R to 54R are determined.
Further, when the positions of the three pin holes of the first, second and third standing angles 95 °, 90 ° and 85 ° are determined, the second vertical plate portion 51Rb of the first upper plate 51R of the column 5 is determined. The shape is determined.

Next, a combination of the column 5 and the first standing angle regulating member 20R will be examined. As shown in FIG. 12C, when the hoisting boom 7 is in the boom retracted state, the central axes of the three pin holes on the column 5 side (the first to first 1-3 pin holes 52R to 54R). Position) and the central axes of the three pin holes on the first right-hand side plate 21R side (positions of the second to first to third pin holes 210R to 212R) are coaxial with each other. The position of the second support parts 500a and 500b is adjusted.
The formation positions of the 1-4th to 1-6th pin holes 52L to 54L are reversed so that the formation positions of the 1-1st to 1-3rd pin holes 52R to 54R are symmetrical. Can be obtained in the same manner. The same applies to the second upper plate 51L and the third and fourth support portions 500c and 500d. Therefore, the description is omitted.

(Standing motion of hoisting boom 7)
Next, the standing operation of the hoisting boom 7 will be described.
Here, in the example of FIGS. 9A and 9B, the first and second angle regulating pins 23R and 23L are inserted into the first and fourth pin hole pairs corresponding to the standing angle of 95 °. Indicates the state.
Further, in the retracted state shown in FIGS. 9A and 9B, the first and second angle regulating pins 23R and 23L can be inserted and removed. Therefore, the operator selects the pin hole pair corresponding to the desired standing angle, and inserts the first and second angle restricting pins 23R and 23L into the selected pin hole pair, so that the hoisting boom 7 is raised to the desired standing position. It is possible to stand at an angle.
Hereinafter, a description will be given of an upright operation that is an operation in which the hoisting boom 7 is shifted from the boom retracted state to the upright state at each upright angle when viewed from the right hand side.

First, a standing operation to a standing state with a standing angle of 95 ° will be described.
First, the third electromagnetic switching valve 860 is switched to the hoisting boom hoisting hydraulic cylinder 34 side. This switching operation is performed by the operator switching a hoisting boom changeover switch (not shown) of the operation unit 11 to the hoisting boom hoisting operation mode side.
Next, when the hoisting boom hoisting hydraulic cylinder 34 is driven in the extending direction in the retracted state of the hoisting boom 7 shown in FIG. 9A and the first angle regulating pin 23R inserted, the hoisting boom hoisting hydraulic cylinder 34 is moved. It extends and the hoisting boom 7 rotates in the raising direction. Accordingly, as shown in FIG. 13A, the first angle regulating pin 23R becomes a fixed shaft and the third connecting pin 25 becomes a movable shaft, and the first right-hand side is synchronized with the rising of the hoisting boom 7. The plate 21R and the second right hand side plate 22R are extended.

As a result, as shown in FIG. 13 (b), the first rising angle restricting member 20R becomes a straight line and thrusts obliquely between the column 5 and the hoisting boom 7, and the hoisting boom hoisting hydraulic cylinder 34 is thus formed. The first right hand side plate 21R and the second right hand side plate 22R are not rotated any more with respect to the extending operation. That is, in this state, the hoisting boom 7 is restricted to a standing angle of 95 °.
At this time, the first and second hoisting boom hoisting hydraulic cylinders 34R and 34L do not reach the stroke end. That is, the moment M that the hoisting boom 7 is applied to the overturning side by the suspended load is received only as the tension applied to the link (standing angle regulating member), and the first and second hoisting boom hoisting hydraulic cylinders 34R and 34L are moved to the side. Is not communicated. Even if one of the standing angle regulating members has a problem such as breakage, the moment M is received by the other standing angle regulating member. Further, even when the rising angle restricting members on both sides are broken, the moment M of the hoisting boom 7 is received by the first and second hoisting boom hoisting hydraulic cylinders 34R and 34L. It has a triple fail-safe structure.

In this state, the axis of the first angle regulating pin 23R inserted into the first pair of pin holes and the axis of the third connecting pin 25 on the other end side of the second right hand side plate 22R. Let D1 be the linear distance between the two.
Here, in the stowed state shown in FIG. 9A, the standing operation when the insertion position of the first angle regulating pin 23R is the position of the second pin hole pair (corresponding to 90 °) is shown in FIG. As shown in a) and FIG. 14B, the position of the rotation shaft on the column 5 side is only the position of the second pin hole pair, and when the first pin hole pair (corresponds to 95 °) Since the operation is similar, the description is omitted. By the standing operation, as shown in FIG. 14B, the hoisting boom 7 is restricted to a standing angle of 90 °.

In this state, the axis of the first angle regulating pin 23R inserted into the second pair of pin holes and the axis of the third connecting pin 25 on the other end side of the second right hand side plate 22R. Let D2 be the linear distance between them.
This linear distance D2 is shorter than the linear distance D1 (D2 <D1). Therefore, the other end portion of the second right hand side plate 22R when the first angle restriction pin 23R is inserted into the first pin hole pair (third connection hole 221R) when it is linear. ) Reaches a higher position. However, since the position is higher in a state shorter than the straight line distance D1, the position where the third connecting hole 221R reaches the front side is on the rear side compared to the case of the first pin hole pair.

Further, in the stowed state shown in FIG. 9A, the standing operation when the insertion position of the first angle regulating pin 23R is set to the position of the third pin hole pair (corresponding to 85 °) is also shown in FIG. As shown in FIG. 15B and FIG. 15B, only the position of the rotation shaft on the column 5 side is the position of the third pin hole pair, and the same as the case of the first pin hole pair (corresponding to 95 °). Description of the operation will be omitted. As shown in FIG. 15 (b), the hoisting boom 7 is restricted to an upright angle of 85 ° by this erecting operation.
In this state, the axis of the first angle regulating pin 23R inserted into the third pin hole pair and the axis of the third connecting pin 25 on the other end side of the second right hand side plate 22R. Let D3 be the linear distance between them.

  This linear distance D3 is longer than the linear distance D2 (D2 <D3). However, in the present embodiment, the position of the third pin hole pair is lower than the first and second pin hole pairs. Therefore, compared with the case where the first angle regulating pin 23R is inserted into the second pin hole pair, the other end portion (third connection hole 221R of the second right hand side plate 22R when it is linear). ) Reaches a low position. In addition, since the position is lower than the straight line distance D2, the position where the third connecting hole 221R reaches the front is behind the second pair of pin holes.

  That is, in the present embodiment, as shown in FIGS. 13B, 14B, and 15B, the second link length is constant at Dr2, and the first to first -3 link lengths r11 to r13 are different from each other (Dr11 to Dr13). In this embodiment, the first to first to third pin holes 52R to 54R are provided in the column 5, and the first to second sides 2-3 are disposed on one end side of the first right hand side plate 21R. This is because the pin holes 210R to 212R are provided, and the positions of the pin hole pairs into which the pins are inserted are selected on the one end side. That is, the position of the rotation shaft changes on the one end side of the first right-hand side plate 21R depending on the position of the pin hole pair into which the pin is inserted, and therefore the inter-axis distance of the first right-hand side plate 21R changes. As a result, the linear distances D1 to D3 become different lengths, and the arrival position of the other end portion (third connection hole 221R) of the second right hand side plate 22R changes.

Here, as shown in FIG. 10, the tower crane 1 of the present embodiment works in a posture in which the hoisting boom 7 is raised and the folding boom 8 is bent so that the tip thereof is directed forward. .
In addition, the hoisting boom 7 and the folding boom 8 of the present embodiment are constituted by telescopic booms. Therefore, as shown in FIG. 16, at the time of work, it is possible to ensure a higher lift height of the suspended load by extending the standing boom boom 7 and to extend the folding boom 8 in the folded state. By doing so, it becomes possible to hang the load ahead.

Here, the lifting height of the suspended load is the highest when the lifted boom 8 in the upright state is combined with the lifted boom 8 so that the bent boom 8 is in the fully extended state in the fully extended state. Can be lifted.
Furthermore, the tower crane 1 of the present embodiment can select the rising angle of the hoisting boom 7 from three types of 95 °, 90 °, and 85 °. Therefore, it is possible to work by selecting a standing angle suitable for the work environment from the three kinds of standing angles.
Specifically, as shown in FIG. 10, when the standing angle is 90 °, the hoisting boom 7 stands upright without tilting back and forth, and when the standing angle is 95 °, the hoisting boom 7 tilts 5 ° forward. When the erection boom is raised and the erection angle is 85 °, the hoisting boom 7 is inclined to the rear side by 5 ° and is erected.

Therefore, with the standing angle of 90 ° as a reference, at the standing angle of 95 °, the distal end portion of the bending boom 8 reaches further forward, and it is possible to suspend the load on the front side during the hanging work. When the standing angle is 85 °, the hoisting boom 7 is positioned directly above the turning center of the column 5. Therefore, when the tower crane 1 is arranged in the building and the work is performed by projecting the boom from the opening provided on the roof, the diameter of the opening can be reduced. It is also possible to suspend a load having a larger mass than when the standing angles are 95 ° and 90 °.
As described above, the raising operation from the boom retracted state of the hoisting boom 7 when viewed from the right hand side to each standing angle has been described, but the standing operation when viewed from the left hand side is also bilaterally symmetric and turned upside down. It becomes operation. Therefore, the description is omitted.

  In the present embodiment, when the first and second upright angle restricting members 20R and 20L are linear, the second right hand side and left hand side plates 22R and 22L are disposed on the front side across the hoisting boom 7. The rotating shaft (the third connecting pin 25) at the other end is arranged. In addition, the rotation shaft (second cylinder pin 341) of the distal end portion on the tube side of the first and second hoisting boom hoisting hydraulic cylinders 34R and 34L is arranged on the rear side across the hoisting boom 7. It has become. Further, the rotation shaft (first cylinder pin 340) at the rod end of the first and second hoisting boom hoisting hydraulic cylinders 34R and 34L is connected to the front end side (the second and fourth vertical hoisting sides) of the column 5. The plate portions 51Rb and 51Lb) are arranged. Furthermore, the first and second angle restriction pins 23R and 23L inserted into the pin holes having the same standing angle on the right hand side and the left hand side among the first to first 1-6 pin holes 52R to 54L, The column 5 is arranged on the rear end side (first and third vertical plate portions 51Ra and 51La).

In other words, the first cylinder pin 340 and the first to first to sixth pin holes 52R to 54L are in relation to the positional relationship between the third connecting pin 25 and the second cylinder pin 341. The cylinder pin 340 is arranged on the third connecting pin 25 side, and the first and second angle regulating pins 23R and 23L are arranged on the second cylinder pin 341 side.
The hoisting boom 7 is rotated in the standing direction by extending the first and second hoisting boom hoisting hydraulic cylinders 34R and 34L.
As a result, as shown in FIG. 13B, FIG. 14B, and FIG. 15B, in a state where the standing angle is regulated, the first standing angle regulating member 20R that is linear, The first hoisting boom hoisting hydraulic cylinder 34R in an extended state intersects with each other as if drawing an alphabet “X” in a side view. The same applies to the second standing angle regulating member 20L on the left hand side and the second hoisting boom hoisting hydraulic cylinder 34L.
As described above, the arrangement relationship in which “X” is drawn in the upright state makes it possible to collect the upright angle restricting member 20 and the hoisting boom hoisting hydraulic cylinder 34 around the hoisting boom 7. As a result, it becomes difficult to block the operator's line of sight when working in a narrow place such as in a building, and the visibility can be improved.

(Configuration of boom hoisting motion control device)
Next, the boom hoisting operation control apparatus according to this embodiment will be described.
Here, as shown in FIG. 17A, the inner surfaces of the second vertical plate portion 51Rb of the first upper plate 51R are arranged on the first to the first through the first sensor support member 150R. A first proximity switch 56R, a second proximity switch 57R, and a third proximity switch 58R are provided in the vicinity of the 1-3 insertion holes 52Ra to 54Ra.

Specifically, the first proximity switch 56R is disposed in the vicinity of the opening of the first insertion hole 52Ra with the detection portion directed toward the opening, and the opening of the first insertion hole 53Ra is opened. The second proximity switch 57R is disposed in the vicinity of the opening portion with the detection portion directed toward the opening portion, and the third proximity switch 58R is in the vicinity of the opening portion of the first through-hole 54Ra. The part is arranged in the direction of the opening.
Further, as shown in FIG. 17B, the first to fourth first to fourth sides are provided on the inner surface of the fourth vertical plate portion 51Lb of the second upper plate 51L via the second sensor support member 150L. A fourth proximity switch 56L, a fifth proximity switch 57L, and a sixth proximity switch 58L are provided in the vicinity of the openings of the -6 insertion holes 52La to 54La.

Specifically, the fourth proximity switch 56L is arranged in the vicinity of the opening of the first to fourth insertion holes 52La with the detection portion directed toward the opening, and the first to fifth insertion holes 53La are opened. The fifth proximity switch 57L is arranged in the vicinity of the opening portion with the detection portion facing the opening, and the sixth proximity switch 58L is in the vicinity of the opening portion of the first to sixth insertion holes 54La. The part is arranged in the direction of the opening.
In the present embodiment, priority is given to space saving, as shown in FIGS. 7A and 7B, the first and second hoisting boom hoisting hydraulic cylinders 34R and 34L are provided with the first and second hoisting cylinders. Arranged between the upper plates 51R and 51L. Then, the first and second hoisting boom hoisting hydraulic cylinders 34R and 34L rotate in the vertical direction through the space between the first and second upper plates 51R and 51L.

That is, the first and second hoisting boom hoisting hydraulic cylinders 34R and 34L include the 1-1 to 1-3 pin holes 52R to 54R and the 1-4 to 1-6 pin holes 52L to 54L. It moves in a trajectory that intersects the axis of.
Therefore, for example, any one of the 1-1 to 1-3 pin holes 52R to 54R and any one of the 1-4 to 1-6 pin holes 52L to 54L concentric therewith In this configuration, one common long pin is inserted, and this pin cannot be used as a rotating shaft.
Therefore, in this embodiment, different pins are provided on the first upper plate 51R side and the second upper plate 51L side, respectively. Specifically, as shown in FIGS. 18 (a) and 18 (b), the first angle regulating pin 23R that is short enough not to contact the first hoisting boom hoisting hydraulic cylinder 34R when inserted into the pin hole, The second angle regulating pin 23L that is short so as not to come into contact with the second hoisting boom hoisting hydraulic cylinder 34L when inserted into the hole is provided.

Here, the first angle regulating pin 23R has a first handle 23Rh provided at the base end portion, and a first plunger ball 23Rb provided at the distal end portion and capable of moving forward and backward in the direction orthogonal to the axis. .
The first plunger ball 23Rb is supported by an elastic member such as a spring, and a part of the first plunger ball 23Rb protrudes from the outer peripheral surface of the distal end portion in a direction perpendicular to the axis in a state where no force is applied from the outside. When added, the elastic member contracts and the protruding portion is configured to dent inward.

That is, when the operator grasps the first handle 23Rh with his hand and inserts the first angle regulating pin 23R into one of the pin hole pairs, the first plunger ball 23Rb is dented inward, and the inner periphery of the pin hole The outer peripheral surface of the first plunger ball 23Rb is in sliding contact with the surface. Thereafter, when the first plunger ball 23Rb is pulled out to the opposite side of the hole (inside the space inside the first upper plate 51R), the first plunger ball 23Rb protrudes outward by the restoring force of the elastic member, and the first It serves to prevent the angle restriction pin 23R from coming off.
The second angle restricting pin 23L has the same configuration as the first angle restricting pin 23R, and includes a second handle 23Lh and a second plunger ball 23Lb.

Further, in the present embodiment, the first angle regulating pin 23R includes the 1-1 to 1-3 pin holes 52R to 54R and the 2-1 to 2-3 pin holes 210R to 212R. The outer diameter is in sliding contact with the inner peripheral surface. Similarly, the second angle regulating pin 23L includes inner peripheral surfaces of the first to fourth to sixth pin holes 52L to 54L and the second to fourth to sixth pin holes 210L to 212L. The outer diameter is in sliding contact.
As shown in FIGS. 18A and 18B, the operator places first to first 1-3 pin holes 52R to 54R provided in the first upper plate 51R and the first right hand side plate 21R. The first angle regulating pin 23R is inserted into a set of pin holes corresponding to a desired standing angle among the 2-1 to 2-3 pin holes 210R to 212R. Similarly, first to fourth 1-6 pin holes 52L to 54L and second to fourth to sixth pin holes 210L provided in the second upper plate 51L and the first left hand side plate 21L. The second angle regulating pin 23L is inserted into a set of pin holes corresponding to a desired standing angle among -212L.

Here, in the example of FIGS. 18A and 18B, a set of the 1-1 pin hole 52R and the 2-1 pin hole 210R corresponding to the standing angle of 95 °, and the 1-4 pin A state in which the first and second angle restricting pins 23R and 23L are inserted into the set of the hole 52L and the second to fourth pin holes 210L is shown.
At this time, as shown in FIG. 18B, the inserted first and second angle restricting pins 23R and 23L have the first and second end portions together with the first and second plunger balls 23Rb and 23Lb. Projecting inwardly of the upper plates 51R and 51L.

That is, as shown in FIG. 19, after passing through the 2-1 pin hole 210R, the first angle regulating pin 23R passes through the 1-1 pin hole 52R, and the tip thereof is the first upper portion. It reaches the inner surface side of the plate 51R. Similarly, the second angle restricting pin 23L passes through the 2-4th pin hole 210L and then passes through the 1-4th pinhole 52L, and the tip thereof is on the inner surface side of the second upper plate 51L. To reach.
Here, the first to third proximity switches 56R to 58R and the fourth to sixth proximity switches 56L to 58L are configured to detect the tip portions of the pins protruding inward from the corresponding pin holes. The detection signals SW1 to SW6 indicating the detection results are transmitted to the controller 160 via a signal line (not shown).

  In the example of FIG. 18B and FIG. 19, the tip of the first angle regulating pin 23R inserted into the 2-1 pin hole 210R and the 1-1 pin hole 52R (first pin hole pair). Is detected by the first proximity switch 56R. In addition, the tip of the second angle regulating pin 23L inserted into the 2-4th pin hole 210L and the 1-4th pin hole 52L (fourth pinhole pair) is the fourth proximity switch 56L. Detected by. Then, detection signals SW1 and SW4 indicating these detection results are transmitted to the controller 160. The other proximity switches are not detected, and detection signals SW2, SW3, SW5, and SW6 indicating that are transmitted to the controller 160.

Based on the detection signals SW1 to SW6 transmitted from the first to third proximity switches 56R to 58R and the fourth to sixth proximity switches 56L to 58L, the controller 160 inserts the pin into the pin hole pair at any position. It is determined whether it is inserted or not inserted. Based on the determination result, the hoisting operation of the hoisting boom 7 is controlled.
The controller 160 shown in FIG. 5, the first to third proximity switches 56R to 58R, and the fourth to sixth proximity switches 56L to 58L shown in FIGS. The boom hoisting operation control device of the embodiment is configured. Hereinafter, the first to third proximity switches 56R to 58R and the fourth to sixth proximity switches 56L to 58L may be abbreviated as “first to sixth proximity switches 56R to 58L”.

(Boom hoisting motion control process)
Next, the process procedure of the boom hoisting operation control process executed by the controller 160 will be described. This process is a process that is repeatedly performed at a predetermined sampling period.
When the boom hoisting operation control process is executed by the CPU of the controller 160, the process first proceeds to step S100 as shown in FIG.
In step S100, the controller 160 reads information indicating the detection result into a memory such as a RAM based on the detection signals SW1 to SW6 transmitted from the first to sixth proximity switches 56R to 58L. Thereafter, the process proceeds to step S102.

In step S102, based on the information read in controller 160, whether the first and second angle regulating pins 23R and 23L are inserted only into the pin hole pair corresponding to the same standing angle on the right hand side and the left hand side. Determine whether or not. And when it determines with having been inserted (Yes), it transfers to step S104, and when it determines with it not being (No), it transfers to step S108.
For example, in the example shown in FIG. 21A, the first and second angle regulating pins 23R and 23L are inserted into the third and sixth pin hole pairs corresponding to the same standing angle 85 °. In this case, the tip portion of the first angle regulating pin 23R is detected by the third proximity switch 58R, and the tip portion of the second angle regulating pin 23L is detected by the sixth proximity switch 58L. Therefore, the controller 160 determines that the first and second angle regulation pins 23R and 23L are the same from the detection signals SW3 and SW6 indicating the detection results and the detection signals SW1, SW2, SW4 and SW5 indicating no detection. It is determined that it is inserted only into the pin hole pair corresponding to the standing angle.

  On the other hand, for example, in the example shown in FIG. 21B, the first angle restriction pin 23R is inserted into the first pin hole pair corresponding to the standing angle 95 °, and the second angle restriction pin 23L is It is inserted into a sixth pin hole pair corresponding to a standing angle of 85 °. In this case, the tip of the first angle regulating pin 23R is detected by the first proximity switch 56R, and the tip of the second angle regulating pin 23L is detected by the sixth proximity switch 58L. Accordingly, the controller 160 determines that the first and second angle regulating pins 23R and 23L correspond to the same standing angle from the detection signals SW1 and SW6 indicating these detection results and the detection signals SW2 to SW5 indicating no detection. It is determined that it is not inserted only into the pin hole pair.

In this embodiment, not only when the detection result is combined, but also when there is no pin inserted, when only one pin is inserted, three or more pins are inserted. Cases can also be detected. In these cases, it is determined that all are not inserted only into the pin hole pair corresponding to the same standing angle.
When the process proceeds to step S104, the controller 160 sets a flag permitting the operation of the hoisting boom 7, and the process proceeds to step S106.
For example, in the example shown in FIG. 21A, the first and second upright angle restricting members 20R and 20L are inserted only into the third and sixth pin hole pairs corresponding to the same upright angle 85 °. The first and second angle regulating pins 23R and 23L can be normally rotated about the rotation axis. Therefore, the hoisting operation of the hoisting boom 7 is permitted in such a state.

In step S <b> 106, the controller 160 executes operation control processing for controlling various hydraulic actuators with respect to operation inputs corresponding to various operation contents including the hoisting operation of the hoisting boom 7. Thereafter, the series of processing is terminated.
On the other hand, if it is determined in step S102 that the first and second angle regulating pins 23R and 23L are not inserted only into the pin hole pairs corresponding to the same standing angle, the process proceeds to step S108. Then, a flag for prohibiting the operation of the hoisting boom 7 is set. Thereafter, the process proceeds to step S110.

  For example, in the example shown in FIG. 21B, the first and second uprights are set with the first and second angle restricting pins 23R and 23L inserted into the pin hole pairs corresponding to different upright angles as the rotation axes. The angle restricting members 20R and 20L are rotated. As a result, the standing angle of the hoisting boom 7 cannot be normally regulated. That is, when the hoisting boom 7 is raised in a state where the pin insertion positions are different, one of the first and second standing angle restricting members 20R and 20L inserted into the pin hole pair having the smaller standing angle is inserted. , It becomes linear before the other becomes linear. In this state, the standing operation is completed in a state where the other is bent, and most of the pulling force F is applied to the one that is linear. In such a state, the hoisting operation of the hoisting boom 7 is prohibited because there is a risk of damage to parts or an unexpected accident.

In step S110, the controller 160 transmits an operation signal Uo to the solenoid 181 for actuating the unloading valve in response to operation inputs corresponding to various operation contents including the hoisting operation of the hoisting boom 7. Thereafter, the series of processing is terminated.
In other words, while the flag prohibiting the operation of the hoisting boom 7 is set, the operation of the hydraulic pump 60 is unlocked by opening the main relief valve 180 in response to an operation input related to the operation of the hoisting boom 7. Set to load state (no-load operation).

(Configuration of boom mounting part)
Next, detailed configurations of the first and second boom placement portions 59R and 59L will be described.
As shown in FIGS. 22A and 22B, the first boom placement portion 59R includes a first horizontal surface portion 59Ra formed at the upper end portion of the first reinforcement portion 55R, and a first upper plate. And a second horizontal plane portion 59Rb formed at the upper end of the second vertical plate portion 51Rb of the 51R.
The second boom placement portion 59L includes a third horizontal surface portion 59La formed at the upper end portion of the second reinforcing portion 55L and an upper end portion of the fourth vertical plate portion 51Lb of the second upper plate 51L. And a fourth horizontal surface portion 59Lb.
Here, as shown in FIG. 22 (a), the hoisting boom 7 is mounted on the first and second boom mounting portions 59R and 59L on both side surface portions of the hoisting boom 7 via the base end side bracket 40. A first leg portion 70R and a second leg portion 70L are provided to project.

As shown in FIGS. 9A and 22B, the first leg portion 70R is closer to the lower end of the proximal-side bracket 40 on the right-hand side, and is closer to the hoisting boom 7 than the second connection portion 40b. A longitudinal section provided at the lower end of the first base leg portion 70Ra and the first base leg portion 70Ra made of metal and having a semi-trapezoidal longitudinal section joined to a position on the base end side by welding or the like. The first buffer portion 70Rb is rectangular and made of resin. The first buffer portion 70Rb is fixed to the bottom surface of the first base leg portion 70Ra with two first screws 70Rc by screwing.
Further, the second leg portion 70L has the same configuration as the first leg portion 70R and has a second base leg portion 70La and a second buffer portion 70Lb, although not shown. The second buffer portion 70Lb is fixed to the bottom surface of the second base leg portion 70La with two second screws 70Lc by screwing.

Here, the bottom surfaces of the first base leg portion 70Ra and the second base leg portion 70La are configured to be flush with the lower surface of the hoisting boom 7. Accordingly, the first buffer portion 70 </ b> Rb and the second buffer portion 70 </ b> Lb protrude from the lower surface of the hoisting boom 7 to the lower side.
Then, when placing the hoisting boom 7 on the first boom placing portion 59R, as shown in FIGS. 23 (a) and (b), the hoisting boom 7 is rotated in the lowering direction, and the first The first leg portion 70R is placed in a state where the lower surface of the first buffer portion 70Rb of the leg portion 70R is in contact with the first horizontal plane portion 59Ra and the second horizontal plane portion 59Rb. This is the same on the second boom placement portion 59L side, and although not shown, the lower surface of the second buffer portion 70Lb of the second leg portion 70L is connected to the third horizontal surface portion 59La and the fourth horizontal portion. The second leg portion 70L is placed in contact with the horizontal plane portion 59Lb.

The first and second boom placement portions 59R and 59L are formed integrally with (combined with) the column 5. Therefore, as shown in FIGS. 24A and 24B, a state in which the first leg portion 70R and the second leg portion 70L are placed on the first and second boom placement portions 59R and 59L, That is, it is possible to turn the hoisting boom 7 while keeping the hoisting boom 7 in the retracted state. Further, it is not necessary to separately provide a platform for placing the boom (boom rest), so that the cost can be reduced.
Moreover, since it was set as the structure which mounts via the 1st and 2nd leg part 70R and 70L instead of the structure which mounts the hoisting boom 7 directly, it can prevent that a boom is damaged or dented. It becomes possible. Further, since the first and second leg portions 70R and 70L are placed via the first and second buffer portions 70Rb and 70Lb made of resin, the hoisting boom 7 is placed. It is possible to prevent peeling of the coating on the first and second boom placement portions 59R and 59L due to the above. Further, as in this embodiment, even when the width of the hoisting boom 7 is narrower than the width between the first and second upper plates of the column 5, the boom mounting is performed using the upper end portion of the column 5. It is possible to configure the placement unit.

  The first and second boom placement portions 59R and 59L are provided at the upper ends of the portions reinforced by the first and second reinforcement portions 55R and 55L, and the first and second reinforcement portions are provided. As shown in FIGS. 6A and 6B, the lower portions of the portions 55R and 55L extend to the base plate 50 and are joined thereto. That is, the first and second boom placement portions 59R and 59L are provided with the first and second reinforcement portions 55R and 55L when placing a heavy object such as the hoisting boom 7 (including the weight of the folding boom 8). Therefore, sufficient strength is secured in the first place. In addition, when the suspension force is received by the pin, the tensile force is transmitted to the base plate 50 through the first and second reinforcing portions 55R and 55L, thereby ensuring sufficient strength against the tensile force. Yes.

Here, in this embodiment, the tower crane 1 corresponds to the work machine, the hoisting boom 7 corresponds to the constituent member, the member on the base side corresponds to the column 5, and the boom hoisting operation control device is the hoisting motion control device. Corresponding to
In addition, the 1-1 to 1-6 pin holes 52R to 54L correspond to the plurality of first pin holes, and the 2-1 to 2-6 pin holes 210R to 212L include the plurality of second pin holes. Corresponding to the pin holes, the first to sixth pin hole pairs correspond to a plurality of sets of pin holes.
Further, the first and second hoisting boom hoisting hydraulic cylinders 34R and 34L correspond to hoisting cylinders, the first to sixth proximity switches 56R to 58L correspond to plug-in detection units, and the controller 160 restricts hoisting operation. Corresponding to the part.

(Operation and effect of the embodiment)
The standing angle regulating device according to the present embodiment is a device that regulates the standing angle of the hoisting boom 7 of the tower crane 1, and the first standing angle regulating member 20 </ b> R provided on the right hand side of the hoisting boom 7 and the column 5. And a second standing angle regulating member 20L provided on the left hand side. The first upright angle regulating member 20R has a first right hand side plate 21R whose one end is supported on the right hand side of the column 5 so as to be rotatable around a horizontal axis via a first angle regulating pin 23R; One end portion is supported on the other end portion of the first right hand side plate 21R so as to be rotatable about a horizontal axis via the first connecting pin 24R, and the other end portion is located on the right hand side of the hoisting boom 7, and the proximal end And a second right-hand side plate 22R supported rotatably around a horizontal axis via the side bracket 40 and the third connecting pin 25. In addition, the second standing angle restricting member 20L has a first left hand plate whose one end is supported on the left hand side of the column 5 so as to be rotatable around a horizontal axis via the second angle restricting pin 23L. 21L, one end of which is supported on the other end of the first left hand side plate 21L and rotatably around a horizontal axis via the second connecting pin 24L, and the other end is on the left hand side of the hoisting boom 7. And a second left hand side plate 22L supported rotatably around a horizontal axis via the base end side bracket 40 and the third connecting pin 25.

The first and second upright angle restricting members 20R and 20L are bent around the connecting portion between the first right hand side and left hand side plates 21R and 21L and the second right hand side and left hand side plates 22R and 22L. It is comprised so that it may become a state. In addition, when the hoisting boom 7 is in a standing state when receiving a tension from the hoisting boom 7 according to the operation of the hoisting boom 7 in the standing direction, the hoisting boom 7 is in a standing state and between the column 5 and the hoisting boom 7. It is constructed so as to prevent the undulation boom 7 from falling over.
That is, the upright angle restricting member 20 becomes linear and is slanted between the upright boom 7 and the column 5, so that the upright angle restricting member 20 is stretched against the operation of the upright boom 7 in the upright direction. Thus, further movement of the hoisting boom 7 in the standing direction is prevented. This makes it possible to regulate the standing angle. As a result, it is possible to regulate the standing angle of the constituent members of the working machine such as the boom of the crane at low cost and in a space-saving manner without using a winch or the like, as compared with the case of regulating with a conventional wire.

The standing angle regulating device according to the present embodiment further includes first to first 1-3 pin holes provided through the plate surface in the first upper plate 51 </ b> R constituting the right-hand portion of the column 5. 52R-54R and the 1st-1-1-3 pinhole 52R-54R of the 2nd upper plate 51L which comprises a left-hand part are provided in the position concentric with the plate surface, and the 1st -4 to 1-6 pin holes 52L to 54L.
In addition, 2-1st to 2nd to 1st through the plate surfaces provided in the same relative positional relationship as the first to 1-3 pin holes 52R to 54R at one end of the first right hand side plate 21R. 2-3 pin holes 210R to 212R are provided. Further, the second left through second plates that penetrate through the plate surface provided in the same relative positional relationship as the first to fourth pin holes 52L to 54L at one end of the first left hand side plate 21L. -6 pin holes 210L to 212L are provided.

  Still further, among the first to first 1-3 pin holes 52R to 54R and the second to 1-3 pin holes 210R to 212R, a plurality of pin holes that are coaxially overlapped in the same relative positional relationship. The first angle restricting pin 23R is configured to be detachable with respect to the pair (first to third pin hole pairs). Further, among the first to fourth 1-6 pin holes 52L to 54L and the second to second to sixth pin holes 210L to 212L, a plurality of pin holes that overlap coaxially with the same relative positional relationship. A second angle restricting pin 23L configured to be removable with respect to the set (fourth to sixth pin hole pairs) is provided.

The first and second upright angle regulating members 20R and 20L include a first and fourth pin hole pair set, a second and fifth pin hole pair set, and a third and sixth pin hole pair. The first and second angle restricting pins 23R and 23L are inserted into only one of the sets, and this rotation is performed with the inserted first and second angle restricting pins 23R and 23L as the rotation axis. It is configured to rotate around an axis.
The first to first to sixth pin holes 52R to 54L and the second to second to sixth pin holes 210R to 212L are the first and second when the hoisting boom 7 is in the upright state. The second standing angle restricting members 20R and 20L are linear, and the rising angle of the base end boom is different for each pair of pin hole pairs (95 °, 90 °, 85 ° in the embodiment). It is formed in a regulated positional relationship.

With such a configuration, a desired standing angle can be selected from a plurality of standing angles (95 °, 90 °, 85 °) by a combination of pin hole pairs into which pins are inserted. Thus, for example, as compared with the case where the standing angle is adjusted by visual observation or the like by operating a conventional winch, the hoisting boom 7 can be easily raised at a desired standing angle simply by inserting a pin. It becomes possible.
Moreover, the standing angle control apparatus which concerns on this embodiment can select the standing angle of the hoisting boom 7 from three types of angles including two front and rear angles 85 ° and 95 ° based on 90 ° standing upright. It is configured.

With this configuration, the boom protrudes from the opening provided on the roof at 95 °, where the tip of the folding boom 8 reaches further forward, based on a standing angle of 90 °, depending on the application and site conditions. When the work is performed, it is possible to arbitrarily select an angle of 85 ° that can reduce the diameter of the opening, and it is possible to improve the work efficiency.
In addition, the first to first 1-6 pin holes 52R to 54L are provided in the right hand portion and the left hand portion of the column 5, and the second right and left ends of the first right hand side and left hand side plates 21R and 21L are 2-1 2nd to 6th pin holes 210R to 212L are provided. For example, it is assumed that a pin hole is provided in a connecting portion between the first right hand side and left hand side plates 21R and 21L and the second right hand side and left hand side plates 22R and 22L. Alternatively, it is assumed that pin holes are provided on the other ends of the hoisting boom 7 and the second right hand side and left hand side plates 22R and 22L. Compared with these cases, the pins can be inserted and removed at a lower position, and the workability can be improved.

Furthermore, in the posture in which the hoisting boom 7 is in the boom retracted state, the first right hand side plate 21R and the second right hand side plate 22R, which are the two links in the first standing angle restricting member 20R, are reversed. In the closest state, the angle of the connecting portion formed by each becomes the sharpest angle. The same applies to the second standing angle regulating member 20L.
This means that the link mechanism rotates freely around the pin as the central axis in the part that becomes a node supported by the pin, but the movement of the other plates is restricted so as not to move. The rotation of the first and second upright angle regulating members 20R and 20L other than around the axis is regulated.

That is, even if the first and second angle restriction pins 23R and 23L, which are the lower support shaft pins of the first and second standing angle restriction members 20R and 20L, are removed, the standing angle restriction member is not Since it is pivotally supported by the base end bracket 40 and is also pivotally supported by the first and second connecting pins 24R and 24L, the first right hand side and left hand side plates 21R and 21L are not easily separated from the airframe.
This is a significant point, even when the tower crane 1 is working in a place where the tower crane 1 is inclined obliquely in the left-right direction, and the link is difficult to separate from the airframe even if the pin is pulled out.

  In the standing angle regulating device according to the present embodiment, the first right hand side and left hand side plates 21R and 21L of the first and second standing angle regulating members 20R and 20L are further in a posture in which the hoisting boom 7 is in the boom retracted state. 1st-4th support part 500a-500d provided on the 1st and 2nd upper plates 51R and 51L which contact | abut and support the lower end part from below. In addition, the 1-1 to 1-6 pin holes 52R to 54L, the 2-1 to 2-6 pin holes 210R to 212L, the first and second upright angle regulating members 20R and 20L, In the state where the hoisting boom 7 is in the boom retracted state and the lower ends of the first right hand side and left hand side plates 21R and 21L are supported by the first to fourth support parts 500a to 500d, Any of the first to sixth pin hole pairs is configured to be able to insert the first and second angle regulating pins 23R and 23L.

  With such a configuration, the first right-hand side and left-hand side plates 21R and 21L are in a state where the lower end portions are supported from below even when the first and second angle restriction pins 23R and 23L are pulled out. Become. Therefore, the first right hand side and left hand side plates 21R and 21L do not rotate downward from the position where the pin holes overlap, and the first right hand side and the left hand side plates 21L and 21L It is possible to maintain the second angle regulating pins 23R and 23L in a state where they can be inserted and removed. The first right hand side and left hand side plates 21R and 21L do not rotate upward due to their own weight unless a large impact is applied.

As a result, when the hoisting boom 7 is in the boom retracted position, the operator can easily change the standing angle by inserting and removing the first and second angle regulating pins 23R and 23L.
The standing angle regulating device according to the present embodiment further includes first to first 1-6 pin holes 52R to 54L and second to second to sixth pin holes 210R to 212L, and first and first pin holes. The two standing angle regulating members 20R and 20L are connected to the first right hand side and left hand side plates 21R and 21L and the second right hand side and left hand side plates 22R and 22L when the hoisting boom 7 is raised and lowered. The column 5 is configured to move along a track that avoids the position of the boom foot pin 75 that is the mounting position of the hoisting boom 7 of the column 5.

Here, the connecting portion of the plate becomes thick because the two plates overlap and are supported by the pins. Moreover, the position of the boom foot pin 75 to which the hoisting boom 7 is attached is also relatively protruded. In addition, the first and second upright angle restricting members 20R and 20L of the embodiment are desirably arranged as close as possible to the column 5 in order to form a pin hole pair.
Based on this, when the hoisting boom 7 moves up and down and the first and second upright angle regulating members 20R and 20L rotate, the track of the connecting portion of the plate avoids the position of the boom foot pin 75. It was configured as follows. This makes it possible to dispose the first and second standing angle restricting members 20R and 20L closer to the column 5, facilitating alignment of the hole positions, and the like. It is possible to save the space for arranging the two standing angle regulating members 20R and 20L.

  Here, the tower crane 1 includes a hoisting boom hoisting hydraulic cylinder 34 that applies a force to rotate the hoisting boom 7 in the upright direction when extended and to rotate the hoisting boom 7 in the lowering direction when contracted. The hoisting boom hoisting hydraulic cylinder 34 includes a first hoisting boom hoisting hydraulic cylinder 34R provided near the right hand (first upper plate 51R) inside the column 5, and an inner left hand (second And a second hoisting boom hoisting hydraulic cylinder 34L provided near the upper plate 51L). The first and second hoisting boom hoisting hydraulic cylinders 34R and 34L are supported by the column 5 at the column 5 so as to be rotatable about a horizontal axis via the first cylinder pin 340, and the tube. Is supported by the hoisting boom 7 via the base end side bracket 40 so as to be rotatable around a horizontal axis via the second cylinder pin 341.

  The standing angle regulating device according to the present embodiment further includes the rotation shafts (first and second connecting pins 24R and 24L) on the other end side of the second right-hand side and left-hand side plates 22R and 22L and the first. The first and second hoisting boom hoisting hydraulic cylinders 34R and 34L are spaced apart from the rotating shaft (second cylinder pin 341) on the distal end side of the tube via the proximal bracket 40 with the hoisting boom 7 in between. It is arranged at the position. In addition, the rotation shafts (first and second angle regulating pins 23R and 23L) on one end side of the first right hand side and left hand side plates 21R and 21L and the first and second hoisting boom hoisting hydraulic cylinders 34R. And the rotation shaft (first cylinder pin 340) on the tip end side of the rod of 34L is disposed away from each other at a position closer to the second cylinder pin 341 than the hoisting boom 7 of the column 5. Further, when the hoisting boom 7 is in the standing state, the first cylinder pin 340 is connected to the first and second connection pins 24R and 24L and the second cylinder pin 341 with respect to the positional relationship. It is arranged on the pins 24R and 24L side (front end side of the column 5 (second and fourth vertical plate portions 51Rb and 51Lb)). Still further, the first and second angle restricting pins 23R and 23L are arranged on the second cylinder pin 341 side (the rear end side of the column 5 (first and third vertical plate portions 51Ra and 51La)). Yes.

  With such a configuration, when the hoisting boom 7 is in the standing state, the first hoisting angle regulating member 20R that is linear when viewed from the right hand side and the first hoisting boom hoisting hydraulic pressure in the extended state are provided. The cylinder 34R intersects as depicted by the letter “X”. Similarly, as viewed from the left hand side, the second rising angle restricting member 20L, which is linear, and the extended second hoisting boom hoisting hydraulic cylinder 34L intersect as shown by “X”. To do. In this way, the arrangement configuration in which “X” is drawn allows the rising angle regulating member 20 and the hoisting boom hoisting hydraulic cylinder 34 to be gathered around the hoisting boom 7 so that the worker can work in a narrow place. It is possible to improve the visibility by making it difficult to block the line of sight.

In addition, the rising angle regulating device according to the present embodiment is further configured so that the hoisting boom 7 rotates in the erecting direction when the first and second hoisting boom hoisting hydraulic cylinders 34R and 34L are extended. The first and second upright angle restricting members 20R and 20L are configured to be linear before the first and second hoisting boom hoisting hydraulic cylinders 34R and 34L extend to their stroke ends. Yes.
With such a configuration, the first and second rising angle restricting members 20R and 20L are linear in a state where the first and second hoisting boom hoisting hydraulic cylinders 34R and 34L have not reached the stroke end. Thus, the moment M on the tilting side of the hoisting boom 8 caused by the suspended load is received. At this time, for example, when both the first and second rising angle regulating members 20R and 20L are broken, the first and second hoisting boom hoisting hydraulic cylinders 34R and 34L leave a margin in the stroke. It is possible to receive the moment M at the end, and it is possible to ensure safety as compared with the case where the moment M is received at the stroke end.

  On the other hand, the boom hoisting operation control device according to this embodiment is a device that controls the hoisting operation of the hoisting boom 7 of the tower crane 1 including the above-described standing angle regulating device. In this boom hoisting operation control device, the first to sixth proximity switches 56R to 58L are provided, and the first and second angle restriction pins 23R and 23L are provided in any pin hole pair of the first to sixth pin hole pairs. Detect whether it is plugged in. Based on the detection results (detection signals SW1 to SW6) of the first to sixth proximity switches 56R to 58L, the controller 160 applies only the first and second pin hole pairs corresponding to the same standing angle on the right hand side and the left hand side. It is determined whether or not the second angle regulating pins 23R and 23L are inserted. And when it determines with having inserted only in the pin hole pair corresponding to the same standing angle, the raising / lowering operation | movement of the raising / lowering boom 7 is permitted. On the other hand, when it is determined that the pin is not inserted only into the pin hole pair corresponding to the same standing angle, the hoisting operation of the hoisting boom 7 is prohibited.

With such a configuration, the hoisting operation of the hoisting boom 7 can be prohibited when the pins are not inserted only into the pin hole pairs corresponding to the same standing angle. This prevents damage to parts and unexpected accidents caused by undulation operations performed when the pin is not inserted, only inserted into one pin hole pair, or the pin is inserted incorrectly. This can be prevented beforehand.
The tower crane 1 according to the present embodiment includes a column 5 provided on the upper portion of the base 4 and a hoisting boom 7 pivotally supported by the column 5 so as to be raised and lowered. The rising angle regulating device is provided as means for regulating the raising angle of the hoisting boom 7, and the boom hoisting operation control device is provided as means for controlling the hoisting operation of the hoisting boom 7.
As a result, the same operation and effect as those of the standing angle regulating device and the boom hoisting operation control device can be obtained.

(Modification)
In the above-described embodiment, the first and second angle regulating pins 23R and 23L are configured to be the rotation shafts on the one end side of the first right hand side and left hand side plates 21R and 21L. The configuration is not limited to this. For example, the first and second hoisting boom hoisting hydraulic cylinders 34R and 34L are arranged outside the column 5, and the first and second erecting angle regulating members 20R and 20L are arranged inside the column 5. And so on, for each pair of the first and fourth pin hole pairs, the second and fifth pin hole pairs, and the third and sixth pin hole pairs, a single long pin is used. It is good also as a structure which inserts and uses this as a rotating shaft. In this configuration, the standing angle restricting member may be a single unit.

  In the above embodiment, in consideration of workability such as insertion and removal of pins at a low position, the positions of the plurality of pin holes for changing the standing angle are set to the column 5 and the first right hand side and left hand side plate 21R. And it was set as the structure provided in the one end part side of 21L. For example, the first right-hand and left-hand plates 21R and 21L and the second right-hand and left-hand plates 22R and 22L may be provided with a plurality of pin holes, respectively. Or it is good also as a structure which provides a some pin hole in the other end part of 2nd right hand side and left hand side plate 22R and 22L, and the attachment position to the hoisting boom 7 of this other end part, respectively. Any one of these pin hole positions may be employed, or any combination may be employed.

Moreover, in the said embodiment, although it was set as the structure which provided the several pin hole for changing a standing angle, and inserted the pin which can be inserted or extracted there, it is not restricted to this structure. The combination of multiple pin holes and pins is optimal in consideration of operability, durability, cost, etc. Other configurations such as a sliding configuration may be used.
Moreover, in the said embodiment, although it was set as the structure which can select a standing angle from three types of angles of 95 degrees, 90 degrees, and 85 degrees, it is not restricted to this structure. It is good also as a structure which can select another angle, and it is good also as a structure which can be selected from two types of standing angles or four or more types of standing angles.

Moreover, in the said embodiment, it was set as the structure which made constant the distance between axial centers between the 1st connection pin 24R and the 3rd connection pin 25 at the time of standing motion of the hoisting boom 7, However, It is not restricted to this structure. . For example, as shown in FIG. 25 (a), the second right hand side plate 22R is elongated according to the required standing angle, and instead of the third connecting hole 221R, a long hole shape along the longitudinal direction is formed. The seventh connecting hole 222R may be provided to make the distance between the axes variable.
With this configuration, as shown in FIG. 25B, when the hoisting boom 7 is in the boom retracted state, the third connecting pin 25 is closer to the third connecting hole 220R in the seventh connecting hole 222R. Located in. When the hoisting boom 7 is rotated in the standing direction from this state, the second right hand side plate 22R is rotated around the third connecting pin 25 in the elongated hole, and the first and second right hand side plates 21R are rotated. When 22R and 22R are linear, the third connecting pin slides and moves in the elongated hole. The first and second right-hand side plates 21R and 22R are stretched by the third connecting pin 25 coming into contact with the end of the hoisting boom 7 in the seventh connecting hole 222R, and are longer than before the change. It becomes straight in the state.

Accordingly, it is possible to expand the range of the standing angle without changing the end position of the first and second right hand side plates 21R and 22R on the connecting portion side. In addition, the position of the elongated hole is not limited to the position of the third connection hole 221R, but the position of the first connection hole 213R of the first right hand side plate 21R or the second connection hole of the second right hand side plate 22R. The position may be 220R. This also applies to the second standing angle regulating member 20L.
Moreover, in the said embodiment, the 1st and 2nd leg part 70R and 70L which provided the boom boom 7 of the width | variety narrower than the distance between the 1st and 2nd upper plates 51R and 51L in the side part of the boom. It was set as the structure which mounts in 1st and 2nd boom mounting part 59R and 59L via. For example, the hoisting boom 7 having a width reaching the upper ends of the first and second upper plates 51R and 51L is adopted, and the lower surface of the hoisting boom 7 is directly mounted on the first and second booms. Other configurations such as mounting on the portions 59R and 59L may be adopted.

  Moreover, in the said embodiment, although the tower crane was demonstrated to the example as a working machine equipped with the standing angle control apparatus and boom raising / lowering operation control apparatus which concern on this invention, it is not restricted to this. For example, the present invention is not limited to a tower crane, but can be applied to other cranes and various work machines other than cranes as long as it is a working machine that includes a hoisting operation of the hoisting boom 7 and the like and includes a constituent member that is in an upright state during work. Applicable. In addition, as a work machine, work (for example, work to illuminate an object) is performed by moving to a destination such as a lighting device, or a work machine that does not have a self-propelled function. And the like where work (for example, work for supporting an object) is performed.

1 Tower crane (work machine)
2 chassis frame 3 traveling device 4 base 5 column 6 crane device 7 hoisting boom 8 folding boom 11 operation unit 15a engine 15b pressure oil supply device 15c control valve 20R, 20L first and second upright angle restricting members 21R first Right hand side plate 21L 1st left hand side plate 22R 2nd right hand side plate 22L 2nd left hand side plate 23R, 23L 1st, 2nd angle regulation pin 24R, 24L 1st, 2nd connection pin 25 3rd Connecting pins 34R, 34L First and second hoisting boom hoisting hydraulic cylinders 40 Base bracket 40a First connecting portion 40b Second connecting portion 50 Base plate 51R, 51L First and second upper plates 52R- 54R 1-1 to 1-3 pin holes 52L to 54L 1-4 to 1-4 pins 55R, 55L First and second reinforcing portions 56R-58R First to third proximity switches 56L-58L Fourth to sixth proximity switches 59R, 59L First and second boom placement portions 59Ra, 59Rb First DESCRIPTION OF SYMBOLS 1, 2nd horizontal surface part 59La, 59Lb 3rd, 4th horizontal surface part 60 Hydraulic pump 62 Main pipe line 63 Return pipe line 64 Tank 70R, 70L 1st, 2nd leg part 75 Boom foot pin 80 Crane switching control Valve 81 Accelerator cylinder 82 Outrigger switching control valve 83 Turning switching control valve 84 Boom expansion switching control valve 85 Winch switching control valve 86 Boom raising / lowering switching control valve 87 Horizontal outrigger cylinder switching valve 88 Vertical outrigger cylinder switching valve 160 Controller 161 Receiver 162 Remote control device 180 Main relief valve (unload valve)
181 Solenoid for actuating unloading valve 210R to 212R 2-1 to 2-3 pin holes 210L to 212L 2-4 to 2-6 pin holes 213R, 213L 1st and 4th connecting holes 220R, 220L Second and fifth connecting holes 221R, 221L Third and sixth connecting holes 340 First cylinder pin 341 Second cylinder pin 500a to 500d First to fourth support portions

Claims (10)

A standing angle regulating device for a working machine that regulates a standing angle of a component that is attached to the base of the working machine so as to be freely raised and lowered,
A first plate whose one end is supported by a base member so as to be rotatable around a horizontal axis, and one end which is rotatably supported around a horizontal axis by the other end of the first plate And the other end portion includes a link mechanism having a second plate rotatably supported around a horizontal axis on the component member,
The link mechanism is configured to bend around a connection portion between the first plate and the second plate, and a tension from the component member according to an operation in a standing direction of the component member is applied. At the time of receiving and straightening, the component member is in an upright state and is configured to be bridged obliquely between the base member and the component member to prevent the component member from falling down. Standing angle regulating device for a work machine characterized by the above.   The attachment position of the one end portion of the first plate in the base side member, the position of the connecting portion between the first plate and the second plate in the link mechanism, or the second in the component member. At least one of the mounting positions of the other end of the plate is configured to be selectable corresponding to a plurality of different standing angles, which are configured to be able to regulate the change in the standing angle of the constituent members. The standing angle regulating device for a working machine according to claim 1, wherein the working machine has a plurality of attachment parts or connection parts.   The standing angle restricting device for a work machine according to claim 2, comprising three standing angles of an angle at which the component member stands vertically as the plurality of different standing angles and two front and rear angles around the angle. A portion where the one end portion of the first plate overlaps with the base side member which is the mounting position thereof, a portion where the connecting portion of the first plate and the second plate overlaps, A set of a plurality of pin holes provided coaxially through at least one of the other end of the plate of 2 and the portion of the component that overlaps the mounting position thereof; and
An angle regulating pin configured to be detachable with respect to the set of the plurality of pin holes, and
The set of the plurality of pin holes is configured to be coaxially overlapped so that the angle restricting pin can be inserted when the component member is in a stored posture.
The insertion position or the position of the connecting portion can be selected from the plurality of mounting parts or connecting parts by inserting the angle restriction pin into any one of the plurality of pin hole groups. The standing angle regulating device for a working machine according to 2 or 3. The link mechanism includes a first link mechanism and a second link mechanism,
The first link mechanism is attached to one side portion in the horizontal axial direction of the component member and the base side member,
The second link mechanism is attached to the other side surface portion opposite to the one side surface portion of the component member and the base side member,
Mounting position of one end portion of the first plate of the base side member, mounting of the one end portion of the second plate constituting the connecting portion and the other end portion of the second plate of the constituent member A plurality of first pin holes, which are through holes that are concentric on the one side surface side and the other side surface portion side, provided in at least one of the positions;
At least one of the one end of the first plate of the first link mechanism and the second link mechanism, the other end of the first plate, and the other end of the second plate. A plurality of second pin holes penetrating the plate surface in the same relative positional relationship as the plurality of first pin holes,
The set of the plurality of pin holes is composed of a set of pin holes that are coaxially overlapped in the same relative positional relationship among the plurality of first pin holes and the plurality of second pin holes. Standing angle regulating device for a working machine as described in 1.   The set of the plurality of pin holes is formed in a portion where the one end portion of the first plate and an attachment position of the one end portion of the first plate of the member on the base side overlap. Or the standing angle control apparatus for working machines of 5. In a posture when the component member is stored, the support member is provided on a member on the base side that supports the lower end portion of the link mechanism by abutting from below and supports the link mechanism;
When the component member is retracted and the angle restricting pin is removed, the support portion is configured so that any of the plurality of pin hole sets can be inserted with the angle restricting pin. The standing angle regulating device for a working machine according to claim 6, wherein the standing angle regulating device is configured to be in a supported state.   The set of the plurality of pin holes and the link mechanism are configured such that when the component member is raised and lowered, a connecting portion between the first plate and the second plate is formed of the component member of the base side member. The standing angle regulating device for a working machine according to any one of claims 3 to 7, wherein the standing angle regulating device is configured to move along a track that avoids the mounting position. The working machine includes a hoisting cylinder that applies a force to rotate the constituent member in an upright direction when extended and rotate the constituent member in a prone direction when reduced.
The hoisting cylinder has one end of a tube and a rod supported on the base side member so as to be rotatable around a horizontal axis, and the other end is supported on the component member by a horizontal axis. It is supported so that it can rotate freely.
The link mechanism and the hoisting cylinder are provided so as to be shifted in the horizontal axial direction in a positional relationship in which both do not contact when rotating,
Furthermore, the rotation shaft of the other end of the second plate and the rotation shaft of the other tip of the hoisting cylinder are arranged at positions separated from each other with the component member interposed therebetween, The rotation axis of the one end of the plate and the rotation axis of the one tip of the hoisting cylinder are closer to the axis of rotation of the other tip of the hoisting cylinder than the component of the base side member Are spaced apart from each other, and when the component member is in an upright state, a rotation shaft of the other end of the second plate and a rotation shaft of the other tip of the hoisting cylinder With respect to the positional relationship, the rotation shaft of the one end portion of the hoisting cylinder is disposed on the rotation shaft side of the other end portion of the second plate, and the rotation shaft of the one end portion of the first plate is The other end of the hoisting cylinder Upright angle restricting device for a work machine according to any one of claims 1 to 8 disposed rotating shaft side parts. When the hoisting cylinder is extended, the component member is configured to rotate in a standing direction,
The standing angle regulating device for a working machine according to claim 9, wherein the link mechanism is configured to be linear before the hoisting cylinder extends to its stroke end.

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