JP2019116348A - Position adjustment devise, crane provided therewith and weight connecting method - Google Patents

Abstract

To balance weight of a whole weight unit by adjusting positions relative to a pallet of a self-running carriage when a counterweight, a pallet and a self-running carriage are used as an integrated weight unit.SOLUTION: A position adjustment devise 50 comprises an input unit 51 to accept the information related to a self-running carriage 80, a position determination unit 52 to determine the planned stopping position of the self-running carriage 80 capable of balancing the whole weight of a weight unit 30 on the basis of the information related to the self-running carriage 80, a detection unit 53 to detect the relative position relative to a pallet 40 of the self-running carriage 80, and a notification unit 54 to inform the operator of at least one of the position information to represent that the self-running carriage 80 approaches the planned stopping position and of the position information to represent that the self-running carriage 80 reaches the planned stop position on the basis of the detected result by the detection unit 53.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a crane provided with a counterweight.

  Heretofore, it has been mounted on a lower traveling body capable of traveling, an upper revolving body pivotally attached to the lower traveling body, a boom rotatably mounted to the upper revolving body, and an upper revolving body. A crane is known which comprises a mast which supports the boom from behind and a counterweight which is arranged behind the upper slewing body and which is connected to the mast via a guy line so as to balance it with the boom. There is. In such a conventional crane, the counterweight has a function of maintaining the balance of the crane as a weight for SHL (Super Heavy Lifting) provided for the crane to lift a heavy load.

  Thus, when using a crane for the application of SHL, the trolley for counterweights is needed. Generally, a counterweight carriage used for a crane is used which is specially designed for the crane. However, designing a dedicated truck for each crane takes time and cost to design and develop it.

  Therefore, for example, a self-propelled multi-axial carriage that is a general-purpose self-propelled carriage for transporting heavy objects, a carriage called SPMT (Self-Propelled Modular Transporter), etc. is used as a self-propelled carriage for counterweights. It is conceivable. As an example, Patent Document 1 describes a crane counterweight support device including a pallet and a self-propelled carriage.

  In the counterweight support device of Patent Document 1, after the self-propelled cart is made to enter below the loading portion (loading platform) of the pallet on which the counterweight is placed, the pallet is lifted by the self-propelled cart, and Move the mobile cart near the crane. Then, the counterweight is suspended from the mast via the guy line. As described above, by using a general purpose self-propelled bogie such as SPMT as a bogie for the counterweight, there is no need to design and develop a dedicated self-propelled bogie for each crane.

Patent No. 5632818 gazette

  However, not only a general-purpose self-propelled bogie such as SPMT is used as a bogie for moving the counterweight in the vicinity of the crane as in Patent Document 1, but the self-propelled bogie itself is a part of the weight When it is used, that is, a counterweight, a pallet having a mounting portion on which the counterweight is mounted, and a self-propelled carriage disposed below the mounting portion of the pallet are integrally coupled, and the whole of them is a weight When used as a unit, the following problems occur.

  The above-described self-propelled bogie such as the SPMT includes a bogie main body having a loading platform, a traveling unit, and the like, and a power pack provided at one end in the longitudinal direction of the bogie main body. This power pack is heavy because it has a power generator such as an engine. For this reason, the center of gravity of the self-propelled cart is biased to one end side of the self-propelled cart in the longitudinal direction. And the weight of the trolley | bogie main body of a self-propelled cart and a power pack differs for every self-propelled cart. Therefore, when the self-propelled carriage used changes, the position of the center of gravity of the entire weight unit including the counterweight, the pallet and the self-propelled carriage will also change.

  Then, in a state where the weight unit is suspended from the mast via the guy line, when the crane lifts the suspended load hung on the hook, the weight unit gradually rises from the ground. Thus, when the weight unit is lifted, there is a problem that the weight balance of the weight unit, that is, the total weight balance of the counterweight, the pallet, and the self-propelled carriage can not be obtained well.

  The present invention has been made in view of the above problems, and in the case where a counterweight, a pallet and a self-propelled carriage are used as an integral weight unit, in order to balance the weight of the whole, the self-propelled carriage for the pallet SUMMARY OF THE INVENTION It is an object of the present invention to provide a position adjusting device, a crane equipped with the position adjusting device, and a weight connecting method for adjusting the relative position of the device.

  In the position adjustment device of the present invention, a weight unit including a counterweight, a pallet having a mounting portion for mounting the counterweight, and a self-propelled carriage disposed below the mounting portion is suspended from the mast of the crane In order to balance the overall weight of the weight unit when being lowered, the relative position of the self-propelled carriage relative to the pallet is adjusted. The position adjustment device is configured to receive the entire weight balance of the weight unit based on the input unit that receives information on the self-propelled carriage used as a part of the weight unit, and the information on the self-propelled carriage. A position determination unit that determines an estimated stop position of the self-propelled carriage that can be taken; a detection unit that detects a relative position of the self-propelled carriage that enters the lower side of the placing unit with respect to the pallet; Based on the detection result by the detection unit, at least one of position information indicating that the self-propelled cart has approached the planned stop position and positional information indicating that the self-propelled cart has reached the planned stop position And a notification unit for notifying an operator.

  According to the position adjustment device of the present invention, when the self-propelled cart is made to enter the lower side of the mounting portion of the pallet, the self-propelled cart can be stopped at or near the planned stop position. It is possible to balance the overall weight of the weight unit when the pallet and the self-propelled carriage are integrally suspended as a weight unit from the mast of the crane. Thus, the work can be performed without significantly shaking the suspended load or the weight unit. Specifically, it is as follows.

  In the position adjustment device according to the present invention, the position determination unit determines the planned stop position of the self-propelled carriage capable of balancing the entire weight of the weight unit based on the information on the self-propelled carriage received by the input unit. . Then, when the operator causes the self-propelled carriage to enter below the placement portion of the pallet, the detection unit detects the relative position of the self-propelled carriage with respect to the pallet, and based on the detection result, the notification unit The position information of the self-propelled cart is notified to Thereby, the operator can know that the self-propelled cart has approached or reached the position to be stopped.

  The step of actually stopping the self-propelled cart at or near the planned stop position is performed, for example, by steering the self-propelled cart by the operator. In this case, the operator informed by the notification unit that the self-propelled cart has approached or reached the planned stop position maneuvers the self-propelled cart and stops the self-propelled cart at or near the planned stop position. It can be done. The operation of the self-propelled cart may be performed by the operator in the operator's cab of the self-propelled cart, or by the operator outside the self-propelled cart by remote control or the like. In addition, in the operation which makes a self-propelled cart approach below the mounting part of a pallet, an operator carries out a low speed operation of a self-propelled cart at very low speed. For this reason, when notified by the notification unit that the self-propelled cart has approached or reached the planned stop position, if the operator performs the stop operation of the self-propelled cart, the planned stop position of the self-propelled cart Or it can be stopped in the vicinity.

  The position adjustment device may further include a carriage control unit that performs control to stop the self-propelled carriage based on the detection result of the detection unit. In this case, the step of actually stopping the self-propelled cart at or near the planned stop position controls the cart based on the detection result by the detection unit when the self-propelled cart approaches or reaches the planned stop position. It is done by the autopilot by the department. Thereby, the self-propelled cart can be stopped at or near the planned stop position.

  Even in the case of automatic steering by such a truck control unit, the operator is notified by the notification unit that the self-propelled truck has approached or reached the planned stop position. Therefore, the operator can visually confirm that the timing of the notification by the notification unit and the timing of the automatic stop of the self-propelled carriage are substantially the same. That is, the operator can visually confirm that the self-propelled carriage has automatically stopped at the appropriate position (the planned stop position or in the vicinity thereof). In other words, the operator informs that the automatic stop of the self-propelled carriage is not due to a defect due to a failure, for example, but due to the self-propelled carriage having reached an appropriate position. It can be recognized by the position information from the unit.

  In the position adjustment device, the input unit is configured to further receive information on the counterweight used as a part of the weight unit, and the position determination unit is configured to receive the information on the self-propelled carriage. The planned stop position may be determined based on a combination of the information on the counterweight and the information on the counterweight.

  This configuration is suitable in the case where the position of the overall center of gravity of the weight unit changes as the used counterweight changes. As a specific example in this case, the counterweight is separately loaded on each of the front portion of the pallet placing portion and the rear portion of the placing portion, and the counterweight is loaded on the front portion The case where the number of loaded counterweights is different from the number of loaded counterweights stacked on the rear portion can be mentioned. In addition, the front side here means the front side in the approach direction in which the self-propelled carriage enters below the mounting portion of the pallet.

  Even when the position of the center of gravity of the entire weight unit is changed by changing the counterweight used as described above, the combination of the information on the counterweight received by the input unit and the information on the self-propelled carriage On the basis of this, the position determination unit can determine a planned stop position at which the weight balance of the weight unit can be balanced. As a result, when the self-propelled carriage is advanced below the placement portion of the pallet, the self-propelled carriage can be stopped at or near the planned stop position.

  In the position adjustment device, the notification unit may be configured to display the position information on a remote control device that remotely steers the self-propelled carriage.

  In this configuration, the operator can quickly, easily, and surely grasp that the self-propelled cart approaches or reaches the planned stop position based on the position information displayed on the remote control device at hand. can do.

  In the position adjustment device, at least the detection unit sets the positions of the self-propelled carriages entering the lower side of the placement unit relative to the pallet at an interval in the approach direction of the self-propelled carriages. It is comprised so that it may detect in two places, The said alerting | reporting part is a position information based on the detection result by the said detection part in one of two said places, The detection by the said detection part in the other of two said two places The position information may be configured to be notified to the operator such that the position information based on the result is recognized as different contents from each other.

  In this configuration, the position of the self-propelled carriage is detected by the detection unit at at least two places spaced apart from each other in the approach direction of the self-propelled carriage, and the two position information based on the detection results in the two places differ from each other Is recognized by the operator as Therefore, for example, the operator reduces the speed of the self-propelled bogie based on the position information on the upstream side in the entering direction of the two places, and then, based on the positional information on the downstream side, further You can do maneuvers such as lowering. Thereby, the difference between the actual stop position of the self-propelled cart and the planned stop position can be made smaller.

  In the position adjustment device, the notification unit may be configured to notify the operator of the position information by sound generation, light emission, display, or a combination thereof.

  In this configuration, since the notification means that allows the operator to easily recognize the position information, such as pronunciation, light emission, display, or a combination thereof, is used, the operator can approach the planned stop position or the operator can It can be easily grasped that it has arrived.

  The crane according to the present invention comprises a lower traveling body, an upper revolving body pivotally mounted on the lower traveling body, a boom mounted so as to be movable relative to the upper revolving body, and the upper revolving body. A pallet having a mast mounted thereon for supporting the boom from behind, a counterweight, a pallet having a mounting part on which the counterweight is mounted, and a pallet of a self-propelled carriage advancing below the mounting part The position adjusting device for adjusting the relative position, the counterweight and the pallet being disposed behind the upper swing body and being coupled with the self-propelled carriage, It is configured to be suspended from the mast via a guy line so as to be balanced with the boom.

  According to the crane of the present invention, the self-propelled cart can be stopped at or near the planned stop position when the self-propelled cart is advanced to the lower side of the mounting portion of the pallet. It is possible to balance the overall weight of the weight unit when the self-propelled carriage is integrally suspended as a weight unit from the mast of the crane.

  The weight connecting method according to the present invention is a weight unit for a crane by combining a counterweight, a pallet having a mounting portion on which the counterweight is mounted, and a self-propelled carriage disposed below the mounting portion. It is a method to use. The weight connection method determines a planned stop position of the self-propelled carriage capable of balancing the entire weight of the weight unit based on information on the self-propelled carriage, and enters below the placement unit. The self-propelled cart is steered and stopped when the self-propelled cart approaches the planned stop position or reaches the planned stop position, and the counterweight is placed at the position at which the self-propelled cart has stopped. , The pallet, and the self-propelled carriage are integrally coupled.

  According to the weight connection method of the present invention, the self-propelled carriage can be stopped at a position where the weight balance of the entire weight unit can be balanced, and the counterweight, pallet and self-propelled carriage can be integrally coupled at that position. . Thus, the counterweight, the pallet, and the self-propelled carriage can be integrally suspended as a weight unit from the mast of the crane while the entire weight of the weight unit is balanced. Thus, the work can be performed without significantly shaking the suspended load or the weight unit.

  In the weight connection method, the planned stop position may be a position that can balance the entire weight of the weight unit based on a combination of the information on the self-propelled carriage and the information on the counterweight. Good.

  In this method, even if the position of the entire center of gravity of the weight unit changes due to a change in the counter weight used, the weight unit is based on the combination of the information on the counter weight and the information on the self-propelled carriage A planned stop position is decided which can balance the weight of the whole. Therefore, even in such a case, the self-propelled carriage can be stopped at a position where the weight balance of the entire weight unit can be balanced, and the counterweight, the pallet and the self-propelled carriage can be integrally coupled at that position.

  According to the present invention, when the self-propelled cart is made to enter the lower side of the mounting portion of the pallet, the self-propelled cart can be stopped at or near the planned stop position. It is possible to balance the overall weight of the weight unit when the type bogie is integrally suspended as a weight unit from the mast of the crane.

It is a side view showing a crane system provided with a crane provided with a position adjustment device concerning an embodiment of the present invention, and a self-propelled bogie. It is a perspective view which shows the outline of the counterweight and pallet in the crane of FIG. 1, and the self-propelled bogie of FIG. It is a block diagram showing functional composition of a position adjustment device concerning an embodiment. (A) and (B) is a side view showing an outline of a position adjustment device concerning an embodiment of the present invention. It is a flowchart which shows the position adjustment apparatus and weight coupling method which concern on embodiment. (A) and (B) is a side view which shows the outline of the position adjustment apparatus which concerns on the modification 1 of embodiment. It is a side view showing a detection part of a position adjustment device concerning modification 2 of an embodiment, a pallet which attached this, and a part of self-propelled carts. (A)-(C) are side views which show the outline of the position adjustment apparatus which concerns on the modification 2. FIG. It is a flowchart which shows the position adjustment apparatus which concerns on the modification 2, and a weight coupling method.

  Hereinafter, a position adjusting device according to an embodiment of the present invention, a crane including the same, and a weight connecting method will be described with reference to the drawings. FIG. 1 is a side view showing a crane system 1 provided with a crane 10 according to the present embodiment. In addition, although the direction of "upper", "lower", "front", and "rear" may be shown by the figure, the said direction is the crane system 1 and crane 10 which concern on embodiment of this invention. And so forth for the sake of convenience, and does not limit the moving direction or usage of the crane 10 or the self-propelled carriage 80.

  As shown in FIG. 1, the crane system 1 includes a crane 10 and a self-propelled carriage 80. The crane 10 includes a crane body 11, one or more counterweights 31, a pallet 40, and a position adjustment device 50 (see FIG. 3). The one or more counter weights 31, the pallet 40 and the self-propelled carriage 80 constitute a weight unit 30.

[Crane body]
The crane main body 11 includes a lower traveling body 12, an upper swing body 13, a boom 14, a lattice mast 15 (mast 15), and a box mast 16.

  The lower traveling body 12 is configured to be able to travel on the ground G, and includes, for example, a pair of left and right crawlers 121.

  The upper swing body 13 is attached to the lower traveling body 12. The upper revolving structure 13 is configured to be rotatable relative to the lower traveling body 12 about an axis extending in a direction perpendicular to the ground G on which the lower traveling body 12 travels. The upper revolving superstructure 13 has a cab 131 in which the operator of the crane 10 gets on. A counterweight 132 for adjusting the balance of the crane 10 is disposed at the rear of the upper revolving superstructure 13. This counter weight 132 is not essential.

  The boom 14 is mounted to the upper swing body 13 so as to be able to be raised and lowered. The boom 14 has a boom proximal end rotatably supported by the upper swing body 13 and a boom distal end disposed on the opposite side of the boom proximal end in the longitudinal direction. In addition, although the boom 14 shown by FIG. 1 is what is called a lattice type, the specific structure of a boom is not limited.

  A pair of left and right back stops 141 is provided on the boom base end side of the boom 14. These backstops 141 abut on the upper swing body 13 when the boom 14 is in the standing posture. This abutment restricts the boom 14 from being swept backward by strong wind or the like.

  The mast 15 is attached to the upper swing body 13 and supports the boom 14 from the rear. The mast 15 has a mast proximal end and a mast tip. The mast base end portion is pivotally supported by the upper swing body 13 around a pivot axis parallel to the pivot axis of the boom 14 at a position on the rear side of the boom 14. The mast 15 is rotatable in the same direction as the up and down direction of the boom 14. A first mast sheave 151 and a second mast sheave 152 are disposed at the mast tip of the mast 15. A boom relief rope 22 described later is hung on the first mast sheave 151 and the second mast sheave 152.

  The mast 15 is supported by the backstop 153 from the rear. The proximal end of the backstop 153 is attached to the upper pivoting body 13 behind the proximal end of the mast 15, and the distal end of the backstop 153 is attached to a portion of the mast 15 in the longitudinal direction.

  The box mast 16 has a rectangular shape in cross section. The proximal portion of the box mast 16 is pivotably connected to the upper swing body 13 at the rear side of the mast 15. The pivoting axis of the box mast 16 is disposed in parallel with the pivoting axis of the boom 14, and the box mast 16 is pivotable in the same direction as the up and down direction of the boom 14.

  The crane body 11 further includes a lower spreader 18, an upper spreader 19, a guy line 20, a boom relief rope 22, and a boom relief winch W1.

  The lower spreader 18 is rotatably supported around the pivot of the mast tip. The lower spreader 18 has a plurality of first sheaves 181 arranged in the left-right direction.

  The upper spreader 19 is disposed in front of the lower spreader 18 at a predetermined interval. The upper spreader 19 is connected to the boom tip via the guy line 20. The upper spreader 19 has a plurality of second sheaves 191 arranged in the left-right direction.

  The guy lines 20 are arranged in a pair in the left-right direction. The rear end of the guy line 20 is connected to the upper spreader 19 and the front end of the guy line 20 is connected to the boom tip.

  The boom undulation rope 22 is pulled out from the boom undulation winch W1 and is hung on the first mast sheave 151 and the second mast sheave 152 at the mast tip, and then multiple times between the first sheave 181 and the second sheave 191 It is multiplied. The tip of the boom undulation rope 22 after being wound around the first sheave 181 and the second sheave 191 is fixed to the mast tip of the mast 15.

  The boom relief winch W1 is disposed on the mast proximal end side of the mast 15. The boom undulation winch W1 changes the distance between the first sheave 181 and the second sheave 191 by winding and unwinding the boom undulation rope 22 so that the boom 14 is relative to the mast 15. The boom 14 is raised and lowered while being rotated.

  The crane body 11 further comprises a guy line 23, a mast relief rope 26, and a mast relief winch W2.

  The guy lines 23 are arranged in pairs in the left-right direction. The guy line 23 connects the mast tip of the mast 15 and the tip of the box mast 16. This connection coordinates the rotation of the mast 15 and the rotation of the box mast 16.

  The mast hoisting rope 26 is disposed on the upper swing body 13 and has a sheave block 24 in which a plurality of sheaves are arranged in the width direction, and a sheave block disposed in the tip of the box mast 16 and in which the plurality of sheaves are arranged in the width direction It is repeated multiple times with 25.

  The mast hoisting winch W 2 is disposed on the proximal end side of the box mast 16. The mast hoisting winch W2 winds up and unwinds the mast hoisting rope 26. The distance between the sheave block 25 at the front end of the box mast 16 and the sheave block 24 at the rear end of the upper swing body 13 is changed by the winding and unwinding operation of the mast relief winch W 2. On the other hand, while the box mast 16 and the mast 15 rotate integrally, the mast 15 is undulated. In addition, rotation of the mast 15 and the box mast 16 is mainly performed at the time of the assembly and disassembly of the crane 10, and the position (ground angle) of the mast 15 and the box mast 16 is substantially fixed at the time of use of the crane 10.

  In addition to the mast hoist winch W2 and the boom hoist winch W1, the crane main body 11 is equipped with a main wind winch W3 and a secondary wind winch W4 for hoisting and lowering a suspended load.

  The main winding winch W3 rolls up and lowers a suspended load by the main winding rope 28. The main winding guide sheave (not shown) is rotatably provided at the tip end of the boom 14 of the boom 14. Further, a plurality of main winding point sheaves are disposed in the width direction adjacent to the main winding guide sheave. An array of primary winding sheave blocks is provided. A main hook 17 for suspension load is connected to the main winding rope 28 hanging down from the main winding sheave block. The main winding rope 28 drawn from the main winding winch W3 is sequentially hooked on the main winding guide sheave, and the sheave of the main winding sheave block and the sheave block sheave provided on the main hook 17 It is bridged in between. Therefore, when the main winding winch W3 winds up and unwinds the main winding rope 28, the main hook 17 is wound up and down.

  Similarly, the winding winch W4 for supplementary winding winds up and lowers a suspended load by the supplementary winding rope 29. The auxiliary winding is provided with a structure (not shown) similar to the above-mentioned main winding. Then, when the winding winch W4 for winding the winding and unwinding the winding rope 29, the suspension hook not shown connected to the end of the winding rope 29 is wound up or lowered.

[Wait unit]
FIG. 2 is a perspective view schematically showing the counterweight 31 and the pallet 40 of the crane 10 of FIG. 1 and the self-propelled carriage 80 of FIG. As shown in FIGS. 1 and 2, the weight unit 30 includes one or more counter weights 31, a pallet 40 and a self-propelled carriage 80. The weight unit 30 has a function of maintaining the balance of the crane 10 as an SHL weight provided for the crane main body 11 to lift a heavy load. When used as a weight, the one or more counterweights 31, the pallet 40, and the self-propelled carriage 80 are combined by being fixed at a plurality of locations by fixing means such as connection pins, etc. Be

  As shown in FIG. 1, the weight unit 30 is disposed to the rear of the upper swing body 13. The weight unit 30 is connected to the rear of the upper swing body 13 by a rod-like support member S having rigidity. The weight unit 30 is connected to the mast tip of the mast 15 via a guy line 27 (weight line 27) so as to balance with the boom 14. The lower end of the guy line 27 is attached to at least one of the counterweight 31 and the pallet 40.

  When the lower end of the guy line 27 is attached to the pallet 40, the mounting position of the lower end of the guy line 27 may balance the pallet 40 when the single pallet 40 is suspended from the mast 15 via the guy line 27. It is preferable to set it as a possible position.

  When the lower end of the guy line 27 is attached to the counterweight 31, the attachment position of the lower end of the guy line 27 is when the counterweight 31 and the pallet 40 fixed to each other are suspended from the mast 15 via the guy line 27. Preferably, the counterweight 31 and the pallet 40 can be balanced as a whole.

  The pallet 40 has a mounting portion 41 on which the counterweight 31 is mounted, and a plurality of (for example, four) leg portions 42. The placement unit 41 has a plate shape having a rectangular shape in a plan view. The upper surface of the placement unit 41 is a flat surface. The plurality of legs 42 extend downward from the mounting portion 41 (for example, the four corners of the mounting portion 41).

  The counterweight 31 has, for example, a flat plate shape, but the shape of the counterweight 31 is not limited to this. When a plurality of counterweights 31 are used, the plurality of counterweights 31 are vertically stacked, for example, on the mounting portion 41 of the pallet 40.

  For example, a self-propelled multi-axial carriage for transporting heavy objects, or a general-purpose carriage called SPMT can be used as the self-propelled carriage 80. As shown in FIG. 2, the self-propelled carriage 80 includes a carriage main body 81 and a power pack 82.

  The bogie main body 81 includes a loading platform 83 and a plurality of traveling units 84 provided below the loading platform 83. The loading platform 83 has a plate shape having a rectangular shape in a plan view. The upper surface of the loading platform 83 is a plane. When the self-propelled carriage 80 is used as part of the weight unit 30, the loading platform 83 is arranged such that the upper surface thereof faces the lower surface of the mounting portion 41 of the pallet 40.

  The plurality of traveling units 84 are arranged along the longitudinal direction of the loading platform 83 on both sides in the width direction of the loading platform 83. Each traveling unit 84 is rotatably attached to the lower part of the loading platform 83 with respect to the loading platform 83 about a central axis in the vertical direction. The direction of a tire 842 described later is changed by rotating each traveling unit 84 around the axis of the central axis.

  Each traveling unit 84 changes a vertical distance between an axle 841 extending in the horizontal direction, a tire 842 fixed to the axle 841, a hydraulic motor 843 for rotating the axle 841, and the axle 841 and the platform 83. And a hydraulic cylinder 844 for changing the height of the upper surface of the loading block 83 from the ground G.

  The power pack 82 is provided at one end 811 in the longitudinal direction of the carriage body 81. Since the power pack 82 is heavy, the center of gravity of the self-propelled carriage 80 is biased to the one end 811 side of the self-propelled carriage 80. The power pack 82 includes a power generator such as the engine 821, hydraulic pumps 822 and 823 driven by the engine 821, a control unit 824 that controls these, and a driver's cab 825. The control unit 824 controls the hydraulic pump 822 to control the hydraulic motor 843 to cause the self-propelled carriage 80 to travel. Further, the control unit 824 controls the hydraulic pump 823 to control the hydraulic cylinder 844 to adjust the height of the upper surface of the loading platform 83.

  The self-propelled carriage 80 has a remote control device 85 (remote controller 85) for the operator to perform remote control. The operator operates the remote control device 85 to operate the hydraulic motor 843, the hydraulic cylinder 844 and the like via the control unit 824, thereby causing the self-propelled carriage 80 to travel and stop and travel speed. It can be adjusted, and the height of the loading platform 83 can be adjusted. Communication between the remote control device 85 and the control unit 824 may be wireless or may be wired.

  As the self-propelled carriage 80, for example, a carriage similar to the "transporter 100" disclosed in Japanese Patent No. 5632818 can be used.

[Position adjustment device]
The position adjustment device 50 according to the embodiment balances the overall weight of the weight unit 30 when the weight unit 30 including the counterweight 31, the pallet 40, and the self-propelled carriage 80 is suspended from the mast 15 of the crane 10. Furthermore, the relative position of the self-propelled carriage 80 with respect to the pallet 40 is adjusted.

  Position adjustment device 50 may be provided in crane 10 (for example, operation room 131 of upper revolving superstructure 13 in crane 10), may be provided in self-propelled bogie 80, and is provided in other than these It may be done. In addition, a part of the position adjustment device 50 may be provided to the crane 10, and the rest may be provided to the self-propelled carriage 80. However, when the position adjustment device 50 is provided on a self-propelled carriage 80 such as SPMT, which is a general-purpose carriage, it is necessary to attach the position adjustment device 50 to the self-propelled carriage 80. The versatility of 80 is reduced. Therefore, the position adjustment device 50 is preferably provided to the crane 10 other than the self-propelled carriage 80.

  FIG. 3 is a block diagram showing a functional configuration of the position adjustment device 50 according to the embodiment. The position adjustment device 50 includes a control device 60. The control device 60 is used as a central processing unit (ROM), a read only memory (ROM) storing various control programs, and a work area of a CPU. It comprises RAM (Random Access Memory) and the like.

  The position adjustment device 50 mainly includes an input unit 51, a position determination unit 52, a detection unit 53, a notification unit 54, a carriage control unit 55, and a storage unit 56 as functions. The control device 60 functionally configures the input unit 51, the position determination unit 52, the detection unit 53, the notification unit 54, the carriage control unit 55, the storage unit 56, and the like by the CPU executing the control program. Operate.

  The input unit 51 receives information on the self-propelled carriage 80 and information on the counterweight 31. The information on the self-propelled carriage 80 is information related to the weight balance of the self-propelled carriage 80, which is necessary when the position determination unit 52 determines the planned stop position of the self-propelled carriage 80. The information on the counterweight 31 is information relating to the weight balance of the counterweight 31 which is necessary when the position determination unit 52 determines the planned stop position of the self-propelled carriage 80.

  As information on the self-propelled cart 80, for example, the weight of the power pack 82 of the self-propelled cart 80 can be mentioned. As described above, since the power pack 82 is heavy and is provided at one end 811 of the carriage body 81 in the longitudinal direction, the center of gravity of the self-propelled carriage 80 is biased to the one end 811 side of the self-propelled carriage 80 It is an important factor. Therefore, based on the information on the weight of the power pack 82, the position determination unit 52 can determine the planned stop position of the self-propelled carriage 80 capable of balancing the approximate weight of the entire weight unit 30.

  The information on the self-propelled carriage 80 may be, for example, specific information that can specifically identify the self-propelled carriage 80, such as the model number of the self-propelled carriage 80. In this case, for example, the weight of the power pack 82 corresponding to specific information such as the model number is stored in advance in the storage unit 56, and the position determination unit 52 determines based on the weight stored in the storage unit 56. It is possible to determine the planned stop position of the self-propelled carriage 80 which can balance the approximate weight of the entire weight unit 30.

  Information on the counterweight 31 can include, for example, the total weight of one or more counterweights 31 actually used. Further, the information on the counterweight 31 is, for example, the type of the counterweight 31 actually used, the number of the counterweight 31 actually used (the number of sheets loaded on the mounting portion 41 of the pallet 40), etc. It is also good. In this case, for example, the weight per sheet is stored in advance in the storage unit 56 for each type of counter weight 31, and the position determining unit 52 is configured to input the weight per sheet stored in the storage unit 56 and the input. Based on the number of sheets received by the unit 51, it is possible to determine the planned stop position of the self-propelled carriage 80 capable of maintaining an approximate weight balance of the entire weight unit 30.

  Further, as in the case where the number of counterweights 31 differs between the front side of the mounting portion 41 of the pallet 40 and the rear side of the mounting portion 41, the center of gravity of the counterweight 31 moves back and forth with respect to the center of gravity of the pallet 40. It may shift in the direction. In such a case, the information on the counterweight 31 includes the information (number and weight) of the counterweight 31 placed on the front side, and the information (number and weight) of the counterweight 31 placed on the rear side. May be included. Here, the front side means the front side in the approach direction D in which the self-propelled carriage 80 enters below the mounting portion 41 of the pallet 40.

  The position determination unit 52 may balance the entire weight of the weight unit 30 based on the information received by the input unit 51, that is, the information on the self-propelled carriage 80 as described above and the information on the counter weight 31. The planned stop position of the self-propelled cart 80 which can be determined is determined. Details of the position determination unit 52 will be described later.

  The detection unit 53 detects the relative position of the self-propelled carriage 80 entering the lower side of the mounting unit 41 of the pallet 40 with respect to the pallet 40. Details of the detection unit 53 will be described later.

  Based on the detection result by the detection unit 53, the notification unit 54 provides position information indicating that the self-propelled carriage 80 has approached the planned stop position and positional information indicating that the self-propelled carriage 80 has reached the planned stop position. The operator is notified of position information including at least one of In the present embodiment, the position adjustment device 50 includes at least one of the sound generation unit 541, the light emission unit 542, and the display unit 543. The notification unit 54 notifies the operator of the position information through the sound generation unit 541, the light emission unit 542, the display unit 543, and the like.

  The sound generating unit 541, the light emitting unit 542, or the display unit 543 is provided at a position easily recognizable by the operator. The sound generating unit 541, the light emitting unit 542, or the display unit 543 may be provided, for example, on the crane main body 11, the self-propelled carriage 80, the counter weight 31, the pallet 40, etc. Good. Specifically, the sound generating unit 541, the light emitting unit 542, and the display unit 543 are provided in the cab 131 of the crane 10, the cab 825 of the self-propelled carriage 80, the remote control device 85 of the self-propelled carriage 80, and the like. They may also be provided indoors, outdoors, etc. other than these. When the sound generating unit 541, the light emitting unit 542, and the display unit 543 are provided in the operation room 131 of the crane 10, even if the operator of the crane 10 is at a position where it is difficult to visually check the self-propelled cart 80, the self-propelled cart You can know the position of 80. When the sound producing unit 541, the light emitting unit 542, and the display unit 543 are provided outdoors, the position information of the self-propelled carriage 80 can be notified to the worker outdoors.

  The sound generation unit 541 has a function of emitting a sound that can be recognized by the operator through hearing. For example, the sound generation unit 541 includes an alarm buzzer, a speaker, and the like (not shown). The sound generation unit 541 notifies the operator of positional information such as that the self-propelled carriage 80 has approached the planned stop position and that the self-propelled carriage 80 has reached the planned stop position by emitting a sound.

  The light emitting unit 542 has a function of emitting light that can be recognized by the operator through vision. For example, the light emitting unit 542 includes a not-shown indicator light, a rotating light, a signal light, and the like. By emitting light, the light emitting unit 542 notifies the operator of positional information such as that the self-propelled carriage 80 approaches the planned stop position and that the self-propelled carriage 80 has reached the planned stop position.

  The display unit 543 has a function of displaying characters, figures, etc. that can be recognized by the operator through vision. For example, the display unit 543 includes a monitor such as a liquid crystal display (not shown). The display unit 543 displays, for example, characters and figures, to the operator, for example, that the self-propelled cart 80 has approached the planned stop position, and that the self-propelled cart 80 has reached the planned stop position. Give information.

  The carriage control unit 55 performs control to stop the self-propelled carriage based on the detection result by the detection unit 53. Specifically, from the detection unit 53, the carriage control unit 55 outputs a signal indicating that the self-propelled carriage 80 has approached the planned stop position, or a signal indicating that the self-propelled carriage 80 has reached the planned stop position. When received, control is performed to stop the self-propelled carriage 80.

  The storage unit 56 stores in advance data, programs, and the like for determining the planned stop position. Specifically, the data may include information on the counterweight 31 as described above, information on the pallet 40, information on the self-propelled carriage 80, and the like.

  Next, the specific operation of the position adjustment device 50 will be described. Drawing 4 (A) and Drawing 4 (B) are side views showing an outline of position adjustment device 50 concerning an embodiment. Specifically, FIG. 4A shows a state in which the self-propelled carriage 80 is moving in the approach direction D, and FIG. 4B shows that the self-propelled carriage 80 is at the planned stop position. , Or the self-propelled carriage 80 has reached the planned stop position.

  In the position adjustment device 50 according to the present embodiment, the detection unit 53 performs detection by the limit switch. Specifically, as shown in FIG. 4A, the detection unit 53 of the position adjustment device 50 includes a plurality of limit switches 531 to 534 and a striker 535 for operating the limit switch.

  In the position adjustment device 50 shown in FIG. 4A, the plurality of limit switches 531 to 534 are provided on the mounting portion 41 of the pallet 40, and the self-propelled carriage 80 enters below the mounting portion 41. It is arranged along the approach direction D. In the embodiment, the plurality of limit switches 531 to 534 are arranged at equal intervals, but is not limited thereto.

  The striker 535 is provided on the carriage main body 81 of the self-propelled carriage 80. The striker 535 operates the limit switch (turns on the limit switch) when the self-propelled carriage 80 moves in the approach direction D and the striker 535 reaches a position corresponding to the limit switch. The positions where the limit switches 531 to 534 and the striker 535 are provided are not limited to the specific example shown in FIG. For example, the limit switches 531 to 534 may be provided on the carriage main body 81 of the self-propelled carriage 80, and the striker 535 may be provided on the mounting portion 41 of the pallet 40.

  FIG. 5 is a flowchart showing the position adjustment device 50 and the weight combining method according to the embodiment.

  In the present embodiment, the storage unit 56 balances the weight unit 30 as a whole for various combinations of one or more counter weights 31 used and the self-propelled carriage 80 used. The planned stop position of the self-propelled cart 80 which can be stored is stored in advance. Each planned stop position stored in the storage unit 56 is when the weight unit 30 combining the counterweight 31, the pallet 40, and the self-propelled carriage 80 is suspended from the mast 15 via the guy line 27. It is calculated in advance in consideration of the weight, dimensions, and the like of each of the counterweight 31, the pallet 40, and the self-propelled carriage 80 so as to be balanced. In the present embodiment, the planned stop position is calculated on the assumption that the position at which the lower end of the guy line 27 is attached to the weight unit 30 is constant without changing.

  In the present embodiment, data on the planned stop position as described above is preset in the storage unit 56. Data on the plurality of planned stop positions stored in the storage unit 56 correspond to the positions at which the plurality of limit switches 531 to 534 are provided. That is, the limit switches 531 to 534 are attached to the pallet 40 in advance and the striker 535 is attached to the self-propelled carriage 80 so as to correspond to the plurality of planned stop positions preset in the storage unit 56.

  Then, the operator inputs information on the counterweight 31 to be used and information on the self-propelled carriage 80 to be used. The input unit 51 receives the information input by the operator, and the storage unit 56 stores the information (step S1). Although the input method of these information is not particularly limited, for example, it is performed as follows.

  That is, as the input method, the operator selects a combination to be actually used from among a plurality of combinations of the counterweight 31 and the power pack 82 displayed on the operation panel provided on the crane 10 or the like, for example. The method can be adopted. As another input method, the operator directly inputs the number, weight, etc. of the counterweight 31 actually used using the operation panel, or directly inputs the weight, type, etc. of the power pack 82. The method can be adopted.

  When the counterweights 31 are individually loaded on the front portion of the loading portion 41 of the pallet 40 and the rear portion of the loading portion 41, loading of the counterweight 31 loaded on the front portion is performed. The number of sheets and the number of stacked counterweights 31 stacked on the rear portion may be input as information on the counterweights 31.

  The same pallet 40 is usually used each time. Therefore, if the planned stop position stored in the storage unit 56 is calculated in consideration of the weight, dimensions, and the like of the pallet 40, the operator does not need to input information on the pallet 40.

  Next, the position determination unit 52 is a self-propelled cart that can balance the entire weight of the weight unit 30 based on the information on the used counterweight 31 and the information on the self-propelled cart 80 used. Determine the 80 planned stop positions. Specifically, the position determination unit 52 selects a planned stop position corresponding to the combination input by the operator from a plurality of planned stop positions corresponding to a plurality of combinations stored in the storage unit 56 in advance. The planned stop position is determined (step S2).

  The determination of the planned stop position is performed by the position determination unit 52 so that the center of gravity of the entire weight unit 30 becomes optimal based on the information on the counterweight 31 and the information on the power pack 82 inputted by the operator. It may be performed by calculating each time.

  Then, the position determination unit 52 selects a limit switch corresponding to the planned stop position determined as described above from among the plurality of limit switches 531 to 534, and makes the limit switch effective (step S3). . Specifically, among the four limit switches 531 to 534 shown in FIG. 4A, for example, the limit switch 533 is enabled, and the remaining limit switches 531, 532, and 534 are disabled.

  Next, the operator maneuvers the self-propelled carriage 80 to cause the self-propelled carriage 80 to enter below the mounting portion 41 of the pallet 40. As shown in FIG. 2 and FIG. 4 (A), the self-propelled carriage 80 is in the approach direction with the other end 812 opposite to the one end 811 of the carriage body 81 on the side where the power pack 82 is provided. D enters the lower side of the mounting unit 41. The operation of the self-propelled carriage 80 may be performed by the operator in the operation room 825 of the self-propelled carriage 80 or may be performed by remote control outside the self-propelled carriage 80 by the operator.

  Then, the notification unit 54 notifies the operator of position information indicating that the self-propelled carriage 80 has reached the planned stop position, based on the detection result of the detection unit 53, that is, the operation of the limit switches 531 to 534. Specifically, it is as follows.

  When the self-propelled carriage 80 reaches the position shown in FIG. 4A, the striker 535 provided on the self-propelled carriage 80 reaches a position facing the most upstream limit switch 531 in the approach direction D. However, since the limit switch 531 is invalidated, the notification unit 54 does not notify the operator of the position information described above (NO in step S4). In this case, the notification unit 54 maintains the state in which the output of the alarm by the sound generation unit 541, the light emitting unit 542, and the display unit 543 is stopped (the state in which the output of the alarm is turned off) (step S5). Then, the notification unit 54 repeats the determination as to whether or not the limit switch 533 activated by the position determination unit 52 has been operated (step S4).

  The notification unit 54 notifies the operator of the above position information only when the limit switch 533 activated by the position determination unit 52 is operated, that is, when the limit switch 533 is turned on (YES in step S4). .

  Specifically, when the self-propelled carriage 80 reaches the position shown in FIG. 4B, the striker 535 provided on the self-propelled carriage 80 is connected to the limit switch 533 on the downstream side of the limit switch 531. Reach the opposite position. Since the limit switch 533 is enabled, the notification unit 54 controls, for example, the sound generation unit 541 to emit an alarm sound from a speaker (not shown), and controls the display unit 543 to make a monitor (not shown). The characters, figures, etc. of the alarm are displayed (step S6). Thus, the operator can know that the self-propelled carriage 80 has reached the planned stop position. The notification unit 54 may control not only the sound generation unit 541 and the display unit 543, but also the light emitting unit 542 to turn on a rotating light (not shown). In addition, the notification unit 54 may be configured to control only one of the sound generation unit 541, the light emission unit 542, and the display unit 543 to notify the operator of the position information.

  The operator who is informed of the position information of the self-propelled carriage 80 can maneuver the self-propelled carriage 80 to stop the self-propelled carriage 80 at or near the planned stop position (step S7). Note that, in the operation of causing the self-propelled carriage 80 to enter below the mounting portion 41 of the pallet 40, the operator slowly drives the self-propelled carriage 80 at a very low speed. Therefore, if the operator performs the stop operation of the self-propelled carriage 80 immediately after being notified by the notification unit 54 that the self-propelled carriage 80 has reached the planned stop position, the self-propelled carriage 80 is scheduledly stopped. It can be stopped at or near the location.

  Further, the stop of the self-propelled carriage 80 may be performed by the carriage control unit 55. In this case, when the truck control unit 55 receives a signal indicating that the effective limit switch 533 has been operated, that is, it receives a signal indicating that the self-propelled truck 80 has approached or reached the planned stop position. If it does, the self-propelled carriage 80 is controlled to stop the self-propelled carriage 80 (step S7).

  Next, after confirming that the self-propelled carriage 80 has stopped, the operator manipulates the carriage 83 of the self-propelled carriage 80 to raise the carriage 83 and change the vehicle height (step S8). Lifting of the loading platform 83 is performed until the loading platform 83 pushes up the mounting portion 41 of the pallet 40 and the legs 42 of the pallet 40 are separated from the ground G. Thereby, the pallet 40 and the counterweight 31 are supported by the loading platform 83 of the self-propelled carriage 80.

  Thereafter, the operator combines and integrates the counterweight 31, the pallet 40, and the self-propelled carriage 80 by fixing them at a plurality of locations by fixing means such as a connecting pin (step S8). The connection between the counterweight 31 and the pallet 40 may be performed in advance before the step of raising the bed 83 of the self-propelled carriage 80.

  Thereafter, the operator maneuvers the self-propelled carriage 80 to move the weight unit 30 including the counterweight 31, the pallet 40, and the self-propelled carriage 80 to the vicinity of the crane main body 11. Then, as shown in FIG. 1, the weight unit 30 is connected to the rear of the upper swing body 13 by the support member S.

  Finally, the lower end of the guy line 27 is fixed to the weight unit 30 (step S9), and the weight unit 30 is suspended from the mast 15 via the guy line 27. Thereby, the weight unit 30 can be used as a weight for SHL for maintaining the balance of the crane 10.

  As described above, in the embodiment described with reference to FIGS. 4A, 4B, and 5, the position information based on the valid limit switch 533 is the position at which the self-propelled carriage 80 is scheduled to stop. Corresponds to the position information indicating that it has arrived. For example, in the above embodiment, when not only the limit switch 533 but also the limit switch 532 on the upstream side in the approach direction D is made valid, the position information based on the limit switch 532 is scheduled for the self-propelled carriage 80 It corresponds to position information indicating that the vehicle has approached the stop position. In such a case, the notification unit 54 includes the content (sound, light, display, etc.) related to the position information based on the limit switch 532 to notify the operator and the content (sound, light, display, etc.) related to the position information based on the limit switch 533. It is preferable to make the

Modification 1 of Embodiment
FIG. 6A and FIG. 6B are side views schematically showing a position adjusting device 50 according to the first modification of the embodiment.

  The position adjustment device 50 according to the modification 1 is different from the embodiment described above in which the detection unit 53 and the detection method based on this are described with reference to FIGS. is there. Therefore, in the following, only the differences from the above-described embodiment will be described for the first modification, and the description of the same configuration and method will be omitted.

  The detection unit 53 of the position adjustment device 50 according to the first modification performs detection by the image recognition camera. Specifically, the detection unit 53 of the position adjustment device 50 according to the first modification shown in FIG. 6A includes an image recognition camera 536 and a plurality of markers 537. The image recognition camera 536 is provided on the mounting portion 41 of the pallet 40, and the plurality of markers 537 are provided on the carriage main body 81 of the self-propelled carriage 80. However, the image recognition camera 536 and the plurality of markers 537 are provided. The position where is provided may be the reverse position of the example shown in FIG. 6 (A).

  The plurality of markers 537 are arranged along the approach direction D in which the self-propelled carriage 80 enters below the placement unit 41 in the carriage main body 81 of the self-propelled carriage 80. In the first modification, the plurality of markers 537 are arranged at equal intervals (for example, 100 mm intervals), but is not limited to this. In the specific example shown in FIG. 6A, the marker 537 is configured by numerals (letters), but it is not particularly limited as long as it can be recognized by the image recognition camera 536. The marker 537 may be, for example, a figure such as a pattern diagram, a scale, or the like.

  The image recognition camera 536 sequentially scans a plurality of markers 537 provided on the pallet 40 when the self-propelled carriage 80 moves in the approach direction D and enters below the mounting portion 41 of the pallet 40. Then, as shown in FIG. 6B, when the image recognition camera 536 recognizes the marker 537 corresponding to the planned stop position determined by the position determination unit 52 among the plurality of markers 537, the recognition is recognized. Based on the signal to indicate, the notification unit 54 performs at least one of position information indicating that the self-propelled cart 80 has approached the planned stop position and position information indicating that the self-propelled cart 80 has reached the planned stop position. Tell the operator.

  In the first modification, since the sign 537 can be detected without contact by the image recognition camera 536, the detection unit 53 can be configured with a simple structure.

Modification 2 of Embodiment
FIG. 7 is a side view showing the detection unit 53 of the position adjustment device 50 according to the second modification of the embodiment, and the pallet 40 and a part of the self-propelled carriage 80 to which the detection unit 53 is attached.

  The position adjustment device 50 according to the modification 2 is different from the embodiment described above in which the detection unit 53 and the detection method based on this are described with reference to FIGS. is there. Therefore, in the following, with respect to the second modification, only the points different from the above-described embodiment will be described, and the description of the same configuration and method will be omitted.

  As shown in FIG. 7, the detection unit 53 of the position adjustment device 50 according to the second modification performs detection by the length meter 538. Specifically, the detection unit 53 of the position adjustment device 50 according to the second modification includes a length meter 538 and a reference member 539 serving as a reference for measuring the length. The length gauge 538 is provided on the mounting portion 41 of the pallet 40, and the reference member 539 is provided on the carriage main body 81 of the self-propelled carriage 80, but the length gauge 538 and the reference member 539 are provided. The position to be placed may be the reverse of the example shown in FIG.

  However, when the length gauge 538 is provided on a self-propelled carriage 80 such as SPMT, which is a general-purpose carriage, it is necessary to attach the length gauge 538 to the self-propelled carriage 80, and power and signal output Since the wiring for such as is also needed, the versatility of self-propelled truck 80 falls. On the other hand, attaching the reference member 539 to the self-propelled carriage 80 is easy, and no wiring is required. Therefore, in view of suppressing a decrease in the versatility of the self-propelled carriage 80, the length meter 538 is preferably provided not on the self-propelled carriage 80 but on the pallet 40.

  In the length gauge 538, for example, the tip end of a thread-like member 538A accommodated in the length gauge main body is fixed to the reference member 539, and the self-propelled carriage 80 enters below the mounting portion 41 of the pallet A thread-like member 538A is configured to be withdrawn from the length gauge body as it moves to the The movement distance of the self-propelled carriage 80 can be measured by detecting the drawn-out length of the thread-like member 538A.

  Further, for example, the length meter 538 irradiates the laser beam 538 A horizontally from the length meter body toward the reference member 539 and measures the time until it is reflected by the reference member 539 and returns to the length meter 538 It may be possible. Thereby, the change of the distance to the reference member 539, that is, the movement distance of the self-propelled carriage 80 can be measured.

  By using the length meter 538 as described above, since the moving distance of the self-propelled carriage 80 can be measured at all times when it is moving, the notification unit 54 is determined by the position determination unit 52 It is possible to continuously acquire a signal regarding the remaining distance until the self-propelled carriage 80 reaches the stop position.

  Therefore, the notification unit 54 can continuously or intermittently change the position information notified to the operator according to the remaining distance to the planned stop position by continuously acquiring the signal. . Specifically, the notification unit 54 changes the sound (volume, pitch, timbre, etc.) by the sound generation unit 541 according to the remaining distance to the planned stop position, the light by the light emission unit 542 (color of light, The cycle of emitting light, the intensity of light, and the like can be changed, and the display content of the display portion 543 can be changed. Therefore, the operator who is informed of the positional information of a plurality of different self-propelled bogies 80 at short intervals can gradually reduce the speed of the self-propelled bogies 80 based on the positional information. Thus, the self-propelled carriage 80 can be stopped at the planned stop position or in the vicinity thereof with higher accuracy.

  In addition, when the stop of the self-propelled carriage 80 is automatically performed by the carriage control unit 55, the carriage control unit 55 continuously obtains a signal regarding the remaining distance to the planned stop position. Depending on the remaining distance to the stop position, it is possible to reduce the speed of the self-propelled carriage 80 in stages by narrowing the output of the engine of the self-propelled carriage 80 or the like. Thus, the self-propelled carriage 80 can be stopped at the planned stop position with almost no error.

  FIGS. 8A to 8C are side views schematically showing a position adjustment device 50 according to the second modification. FIG. 9 is a flowchart showing a position adjustment device 50 and a weight combining method according to the second modification of the embodiment.

  With reference to FIG. 8 (A)-FIG. 8 (C) and FIG. 9, the position adjustment apparatus 50 and the weight coupling method which concern on the modification 2 are demonstrated concretely. In the flowchart shown in FIG. 9 according to the second modification, steps S23 to S25 are different from steps S3 to S5 of the flowchart shown in FIG. 5 according to the embodiment described above, and the other steps are the flowchart shown in FIG. It is similar to the step of Therefore, only the differences will be described below.

  After the position determination unit 52 determines the planned stop position (step S22 in FIG. 9), the operator maneuvers the self-propelled carriage 80 to palletize the self-propelled carriage 80, as shown in FIG. The lower part of the mounting portion 41 of the Then, the detection unit 53 starts the measurement of the distance by the length meter 538 (step S23). The time point at which measurement is started by the detection unit 53 is not particularly limited. For example, as shown in FIG. 8B, the placement unit 41 of the pallet 40 in the approach direction D of the self-propelled carriage 80 The self-propelled carriage 80 is at a relative position (hereinafter referred to as the center position) where the position C1 of the central portion of the length in the case and the position C2 of the central portion of the length in the loading platform 83 of the self-propelled carriage 80 coincide. The measurement by the detection unit 53 can be started from the point of arrival.

  When the relative position between self-propelled carriage 80 and pallet 40 shown in FIG. 8B is at the central position, the overall weight of weight unit 30 is well balanced due to the weight of power pack 82. Absent. Here, let ΔL be the movement distance of the self-propelled carriage 80 from the central position shown in FIG. 8B to the planned stop position determined by the position determination unit 52. The movement distance ΔL can be calculated, for example, using the following formula.

<Method of calculating ΔL>
1) First, the variables used for calculation are as follows. In addition, let the length in the following variables be the length in the front-back direction (approach direction D).

L: Length of pallet 40 L1: Length from virtual origin to front end of pallet 40 L2: Length of pallet 40 and power pack 82 L3: L1 + L2
LG: Length from virtual origin to estimated center of gravity LG ': Length from virtual origin to ideal center of gravity assuming that there is no power pack 82 of the self-propelled carriage 80 (in the case of only the dolly body 81) P: Power pack weight V1: Weight of pallet 40 on the front side of estimated center of gravity V2: Weight of pallet 40 on the rear side of estimated center of gravity M1: Weight of counterweight 31 on the front side of estimated center of gravity M2: Back side of estimated center of gravity Counterweight 31 weight

  2) The estimated center of gravity LG of the weight unit in which the counterweight 31, the pallet 40 and the self-propelled carriage 80 (the carriage main body 81 and the power pack 82) are integrated is the following relational expression Is obtained.

(V1 + M1) g (LG-L1) = (V2 + M2 + P) g (L3-LG)
Organizing this equation for LG yields the following equation A:

  (Formula A): LG = L3 {(V2 + M2 + P) + L1 (V1 + M1)} / {(V1 + V2) + (M1 + M2) + P}

  3) Assuming that the power pack 82 of the self-propelled carriage 80 does not exist (in the case of only the carriage main body 81), the estimated gravity LG of the integral of the counterweight 31, the pallet 40 and the carriage main body 81 is From the relationship of balance, it is sought as follows.

(V1 + M1) .g. (LG'-L1) = (V2 + M2) .g. (L / 2)
Organizing this equation for LG ′, we obtain the following equation B:

  (Formula B): LG '= {0.5 L (V2 + M2) + L1 (V1 + M1)} / (V1 + M1)

  4) The movement distance ΔL of the self-propelled bogie 80 from the central position shown in FIG. 8B to the planned stop position is LG minus LG ′ (LG−LG ′), and L1 (virtual) Assuming that the length from the origin to the front end of the pallet 40 is zero, ΔL is as follows.

ΔL = {L2 (V2 + M2 + P) / (V1 + V2 + M1 + M2 + P)}-{L (V2 + M2) / 2 (V1 + M1)}
As described above, ΔL is calculated.

  Then, based on the detection result by the detection unit 53, that is, based on the measurement result by the length meter 538, the notification unit 54 determines whether the moving distance of the self-propelled carriage 80 has reached ΔL, ie, the self-propelled carriage 80. It is determined whether or not the predetermined stop position has been reached (step S24). If the movement distance of self-propelled carriage 80 has not reached ΔL, notification unit 54 does not notify the operator of position information indicating that self-propelled carriage 80 has reached the planned stop position (NO in step S24). . In this case, the notification unit 54 maintains the state in which the output of the alarm by the sound generation unit 541, the light emitting unit 542, and the display unit 543 is stopped (the state in which the output of the alarm is turned off) (step S25). Then, the notification unit 54 repeats the determination based on the detection result of the detection unit 53 (step S24).

  On the other hand, when the movement distance of the self-propelled carriage 80 reaches ΔL, the notification unit 54 notifies the operator of position information indicating that the self-propelled carriage 80 has reached the planned stop position (YES in step S24). The description of the following steps S26 to S29 will be omitted.

[Other modifications]
The present invention is not limited to the embodiments described above. The present invention includes, for example, the following modes.

  Although the case where adjustment of the position with respect to the pallet 40 of the self-propelled bogie 80 is performed in the approach direction D (front-back direction in FIG. 2) was illustrated in the said embodiment and the said modifications 1 and 2, it is not restricted to this. The self-propelled multiaxial bogie described above and the self-propelled bogie 80 called SPMT can freely travel not only in the longitudinal direction but also in the lateral direction (see FIG. 2) orthogonal to the longitudinal direction (refer to FIG. 2). The position adjustment device 50 according to the invention adjusts the position of the self-propelled carriage 80 relative to the pallet 40 in the left-right direction, in addition to adjusting the position of the self-propelled carriage 80 relative to the pallet 40 in the approach direction D (front-rear direction) , And may further include adjusting the position of the self-propelled carriage 80 relative to the pallet 40 in an oblique direction.

  Although the case where the position adjustment apparatus 50 has the several limit switches 531-534 was illustrated in the said embodiment, it is not restricted to this, The position adjustment apparatus 50 may have a single limit switch. In this case, for example, the operator corresponds to position information indicating that the self-propelled cart 80 has approached the planned stop position or position information indicating that the self-propelled cart 80 has reached the planned stop position. Install in the

  In the said embodiment, although the case where the input part 51 received the information regarding the self-propelled trolley | bogie 80, and the information regarding the counter weight 31 was illustrated, it is not restricted to this. If the position of the center of gravity of the entire weight unit 30 does not change even if the number of loaded counterweights 31 changes, the information received by the input unit 51 may be only information on the self-propelled carriage .

Reference Signs List 1 crane system 10 crane 11 crane main body 12 lower traveling body 13 upper swing body 14 boom 15 mast 27 guy line (weight line)
Reference Signs List 30 weight unit 31 counter weight 40 pallet 41 placement unit 50 position adjustment device 51 input unit 52 position determination unit 53 detection unit 54 notification unit 55 carriage control unit 56 storage unit 80 self-propelled carriage 81 carriage main body 82 power pack 85 remote control apparatus

Claims (9)

A weight unit of a weight unit when the weight unit including a counterweight, a pallet having a mounting portion for mounting the counterweight, and a self-propelled carriage disposed below the mounting unit is suspended from a mast of a crane A position adjusting device for adjusting the relative position of the self-propelled carriage with respect to the pallet in order to balance the overall weight.
An input unit that receives information on the self-propelled carriage used as part of the weight unit;
A position determination unit that determines an expected stop position of the self-propelled carriage capable of balancing the entire weight of the weight unit based on the information on the self-propelled carriage;
A detection unit that detects the relative position of the self-propelled carriage that enters the lower side of the placement unit with respect to the pallet;
At least one of position information indicating that the self-propelled cart has approached the planned stop position and position information indicating that the self-propelled cart has reached the planned stop position based on the detection result by the detection unit. And a notification unit that notifies the operator.   The position adjustment device according to claim 1, further comprising a carriage control unit that performs control to stop the self-propelled carriage based on a detection result by the detection unit. The input unit is further configured to receive information on the counter weight used as part of the weight unit,
The position determination unit according to claim 1 or 2, wherein the planned stop position is determined based on a combination of the information on the self-propelled carriage and the information on the counterweight. Alignment device.   The position adjustment device according to any one of claims 1 to 3, wherein the notification unit is configured to display the position information on a remote control device that remotely steers the self-propelled carriage. The detection unit detects the relative position of the self-propelled carriage entering the lower part of the placement unit with respect to the pallet at at least two places separated from each other in the approach direction of the self-propelled carriage. Is configured to
The notification unit is configured such that position information based on a detection result by the detection unit at one of the two locations and position information based on a detection result by the detection unit at the other of the two locations are different from each other. 5. A positioning device according to any one of the preceding claims, adapted to inform the operator of these position information as would be recognized by the operator.   The position adjustment device according to any one of claims 1 to 5, wherein the notification unit is configured to notify the operator of the position information by sound generation, light emission, display, or a combination thereof. The lower traveling body,
An upper swing body rotatably mounted on the lower traveling body;
A boom mounted movably on the upper swing body;
A mast attached to the upper swing body and supporting the boom from the rear;
With counter weights,
A pallet having a mounting portion on which the counterweight is mounted;
The position adjusting device according to any one of claims 1 to 6, which adjusts the relative position of the self-propelled carriage which enters below the placing portion with respect to the pallet,
The counterweight and the pallet are disposed at the rear of the upper revolving superstructure, and are coupled with the boom from the mast via the guy line so as to be balanced with the boom. A crane that is configured to be suspended. A weight connecting method for connecting a counterweight, a pallet having a mounting portion for mounting the counterweight, and a self-propelled bogie disposed below the mounting portion to use as a weight unit for a crane ,
Based on the information on the self-propelled carriage, the planned stop position of the self-propelled carriage capable of balancing the entire weight of the weight unit is determined;
The self-propelled bogie is steered and stopped when the self-propelled bogie entering below the placing part approaches the planned stop position or when the planned stop position is reached,
A weight connecting method in which the counterweight, the pallet, and the self-propelled carriage are integrally coupled at a position at which the self-propelled carriage stops. 9. The position according to claim 8, wherein the planned stop position is a position at which the weight balance of the entire weight unit can be balanced based on a combination of the information on the self-propelled carriage and the information on the counterweight. Weight combining method.

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