JP2020007144A - Position adjustment assisting device, mobile crane and weight connecting method - Google Patents

Abstract

To provide a position adjustment assisting device that facilitates disposing a self-propelled trolley at a position where it can be connected to a pallet when a counterweight, the pallet, and the self-propelled trolley are combined and used as an integrated weight unit.SOLUTION: A position adjustment assisting device 100 comprises a relative position detection unit 71 for detecting a relative position of a carrier 83 of a self-propelled trolley 80 with respect to a pallet 40 in a width direction D2 of the carrier, a determination unit 52 that determines whether or not the self-propelled trolley 80 can be coupled to the pallet 40 based on a detection result by the relative position detection unit 71, and a notifying device 72 for notifying an operator of information on the result of determination by the determination unit 52.SELECTED DRAWING: Figure 4

Description

  The present invention relates to an apparatus for disposing a self-propelled bogie below a pallet on which a counterweight of a mobile crane is placed.

  Conventionally, a lower traveling body that can travel, an upper revolving body that is pivotally mounted on the lower traveling body, a boom that is rotatably mounted on the upper revolving body, and an upper revolving body. A mobile crane equipped with a mast that supports the boom from the rear and a counterweight that is arranged behind the revolving superstructure and connected to the mast through a guy line so as to balance the boom is known. Have been. In such a conventional crane, the counterweight has a function of maintaining the crane's balance as an SHL (Super Heavy Lifting) weight provided for lifting the heavy object by the crane.

  When the crane is used for SHL applications as described above, a truck for a counterweight is required. Generally, a counterweight cart used for a crane is designed specifically for the crane. However, designing a dedicated truck for each crane requires time and cost for designing and developing it.

  Therefore, for example, a self-propelled multi-axle bogie that is a general-purpose self-propelled bogie for transporting heavy objects, a bogie called SPMT (Self-Propelled Modular Transporter), or the like is used as a self-propelled bogie for counterweight. It is possible. As one example, Patent Literature 1 describes a counterweight support device for a crane provided with a pallet and a self-propelled bogie.

  In the counterweight support device of Patent Document 1, an operator operates a transporter (self-propelled trolley) by operating a remote control device, and a self-propelled trolley is provided below a mounting portion of a pallet on which a counterweight is mounted. Introduce the bogie. Then, the operator operates the remote control device to lift the pallet by the self-propelled trolley, and moves the self-propelled trolley to the vicinity of the crane in this state. By using a general-purpose self-propelled trolley such as SPMT as a counterweight trolley, it is not necessary to design and develop a dedicated self-propelled trolley for each crane.

Japanese Patent No. 5632818

  However, a general-purpose self-propelled bogie such as SPMT is not only used as a bogie for moving a counterweight near a crane as in Patent Document 1, but the self-propelled bogie itself is used as a part of the weight. When used, that is, when the counterweight, the pallet, and the self-propelled trolley are integrally connected, and the whole is used as a weight unit, the following problem occurs. In such a case, it is necessary to couple the self-propelled bogie placed below the pallet mounting portion to the pallet, and for that purpose, the self-propelled bogie is connected to a position where the self-propelled bogie can be connected to the pallet. It is necessary that a trolley is arranged. Then, the operator who operates the self-propelled trolley needs to visually determine whether or not the self-propelled trolley is arranged at a position where the self-propelled trolley can be connected to the pallet. However, since self-propelled trolleys such as SHL counterweights, pallets, and SPMTs have very large sizes, it may be difficult for an operator to make the above determination visually or the like.

  SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems, and has a position where a self-propelled bogie can be connected to a pallet when a counterweight, a pallet, and a self-propelled bogie are combined and used as an integrated weight unit. It is an object of the present invention to provide a position adjustment assisting device, a mobile crane, and a weight connecting method, which can be easily arranged on a vehicle.

  (1) The position adjustment assisting device of the present invention combines a counterweight of a mobile crane, a pallet having a mounting portion on which the counterweight is mounted, and a self-propelled trolley having a loading platform extending in one direction. In order to use as a weight unit, the self-propelled trolley enters the lower part of the mounting part with the one end in the one direction of the loading head at the head, and arranges the loading body below the mounting part. Device. The position adjustment assisting device is configured to detect a relative position of the loading platform with respect to the pallet in a width direction of the loading platform that is a direction orthogonal to the one direction, based on a detection result by the relative position detecting unit. A determination unit configured to determine whether the self-propelled bogie can be coupled to the pallet; and a notification device configured to notify an operator of information regarding a determination result by the determination unit.

  In the position adjustment assisting device according to the aspect of the invention, the determination unit may determine whether the self-propelled trolley can be coupled to the pallet based on a detection result by the relative position detection unit. The operator can obtain information on the determination result by the determination unit through the notification device. Therefore, the operator can obtain information on the relative position in at least the width direction of the width direction and the one direction. Thus, when the operator places the carrier of the self-propelled carriage below the pallet mounting portion, the operator can obtain an index for adjusting the relative position in the width direction. Careful attention should be paid to whether or not the relative position of the loading platform with respect to is appropriate. As described above, the position adjustment assisting device of the present invention facilitates disposing the self-propelled trolley at a position where it can be coupled to the pallet.

  Specifically, when the information about the determination result notified to the operator indicates that the self-propelled bogie can be combined with the pallet, the operator sets the self-propelled bogie to the pallet. It is possible to recognize that the relative position is at an appropriate position, and it is possible to proceed with a subsequent working process (for example, a connecting process of connecting a self-propelled carriage to a pallet). On the other hand, if the information on the determination result reported to the operator indicates that the self-propelled trolley cannot be coupled to the pallet, the operator determines the relative position of the self-propelled trolley with respect to the pallet. Need to be further adjusted. In such a case, after the operator obtains information on the determination result through the notification device, the relative position of the self-propelled trolley with respect to the pallet is further adjusted using the information as an index.

  The relative position of the self-propelled trolley with respect to the pallet may be adjusted by manually manipulating the self-propelled trolley, and the controller (the controller of the crane or the controller of the self-propelled trolley) is used by the controller. May be adjusted by controlling the driving mechanism of the camera. Further, the timing at which the operator obtains the information on the determination result by the determination unit is such that the self-propelled vehicle starts to enter below the pallet mounting part with the one end of the pallet at the top, and then the loading pedestal is not loaded. May be included in a period until the self-propelled bogie is stopped under the pallet and the self-propelled bogie is stopped below. It may be included in the period after stopping, or may be included in both of these periods.

  (2) Specifically, for example, the position adjustment assisting device stores a preset allowable range regarding the relative position as a position where the self-propelled trolley can be coupled to the pallet. And a determination unit configured to determine whether the relative position is included in the allowable range based on the detection result by the relative position detection unit and the allowable range. .

  In this aspect, since the allowable range is set in advance with respect to the relative position as a position at which the self-propelled bogie can be coupled to the pallet, the determination unit detects the position by the relative position detection unit. By determining whether or not the relative position falls within the allowable range based on the result, it can be determined whether or not the self-propelled trolley can be coupled to the pallet.

  (3) In the position adjustment assisting device, when a direction in which the self-propelled trolley enters below the placement unit is an entry direction, the relative position detection unit includes a first sensor and a first sensor. A second sensor provided at a position distant in the approach direction with respect to the pallet, wherein the first sensor detects a relative position of the first portion of the loading platform with respect to the pallet in the width direction, and It is preferable that the sensor is configured to detect a relative position of a second portion of the loading platform with respect to the pallet in the width direction, which is closer to the one end than the first portion.

  In this aspect, the first sensor and the second sensor detect the relative position of the first part and the relative position of the second part in the width direction. Therefore, for example, the positional relationship between the pallet and the first portion and the positional relationship between the pallet and the second portion can be calculated based on the relative positions detected at the two locations. It is also possible to compare the two relative positions detected at the two locations described above to calculate the inclination of the carrier with respect to the pallet. Thereby, the determination unit can accurately determine the relative position in the width direction.

  (4) In the position adjustment assisting device, the first sensor is provided on the pallet, and is configured to be able to measure a distance from the first sensor to a side portion of the loading platform. The pallet may be provided on the pallet at a position separated from the first sensor in the approach direction, and may be configured to be able to measure a distance from the second sensor to a side portion of the loading platform.

  In this aspect, the determination unit determines whether or not the self-propelled carriage can be coupled to the pallet from the sensors measured by each of the first sensor and the second sensor. Can be directly performed based on the distance to the side portion of the image sensor, so that the determination section can perform the determination regarding the relative position in the width direction with higher accuracy.

  Further, when the self-propelled trolley is a general-purpose trolley such as SPMT, if the first sensor and the second sensor are attached to the self-propelled trolley, the versatility of the self-propelled trolley decreases. Therefore, in this aspect, the first sensor and the second sensor are provided not on the self-propelled trolley but on the pallet. Thereby, it can suppress that the versatility of the self-propelled bogie is reduced.

  (5) In the position adjustment assisting device, the self-propelled bogie changes a tire provided below the carrier, a driving mechanism for driving the tire, and a tire angle that is an angle of the tire with respect to the carrier. And the position adjustment assisting device, when the determination unit determines that it is impossible to couple the self-propelled trolley to the pallet, Adjustment value calculation for calculating a change value of the tire angle and a moving distance of the self-propelled bogie based on the detection result by the relative position detection unit so that the self-propelled bogie can be combined with the self-propelled bogie. Part, an angle change command unit that issues a command to the angle change mechanism to adjust the tire angle based on the change value calculated by the adjustment value calculation unit, and the tire angle is adjusted. A drive command section for performing a command for said drive mechanism so as to run the self-propelled carriage on the basis of the moving distance in a state, may be further provided.

  In this aspect, when it is impossible to connect the self-propelled bogie to the pallet, the tire angle is adjusted based on the tire angle change value calculated by the adjustment value calculation unit, and the adjustment is performed. The self-propelled trolley can be run based on the moving distance of the self-propelled trolley calculated by the value calculation unit. Thereby, it becomes possible to couple the self-propelled carriage to the pallet.

  (6) In the position adjustment assisting device, the self-propelled bogie changes a tire provided below the carrier, a driving mechanism for driving the tire, and a tire angle that is an angle of the tire with respect to the carrier. The angle adjustment mechanism, and the position adjustment assisting device, the determination unit determines that the self-propelled bogie can be coupled to the pallet, and, for the pallet When the movable crane performs a turning operation in a state where the self-propelled bogie is connected, a turning operation for calculating a change value of the tire angle for the turning operation based on the detection result by the relative position detection unit. An angle change command unit that issues a command to the angle change mechanism to adjust the tire angle based on the change value calculated by the turning angle calculation unit; A drive command section for performing a command for said drive mechanism so as to run the self-propelled carriage with the pivoting motion of the mobile crane in a state in which the tire angle is adjusted, may further include a.

  Even if the carrier is inclined with respect to the pallet, the self-propelled trolley can be connected to the pallet in some cases, so the determination unit determines that the self-propelled trolley can be connected to the pallet. When the self-propelled carriage is coupled to the pallet, the carrier may be inclined with respect to the pallet. The tire angle is detected by the angle detection unit as the angle of the tire with respect to the carrier. Therefore, when the mobile crane performs a turning operation, the tire angle of the self-propelled bogie needs to be determined in consideration of the inclination angle of the carrier with respect to the pallet.

  Therefore, in this aspect, when the mobile crane performs a turning operation, the turning operation of the mobile crane is performed in a state where the tire angle is adjusted based on the tire angle change value calculated by the turning angle calculation unit. Accordingly, the self-propelled trolley travels. Thus, the self-propelled bogie can accurately follow the turning operation of the mobile crane.

  (7) In the position adjustment assisting device, the relative position detection unit is configured to be able to further detect a relative position of the loading platform with respect to the pallet in the one direction, and the allowable range is the relative position in the width direction. The position and the relative position in the one direction are set in advance, and the determination unit is based on a detection result by the relative position detection unit for the relative position in the width direction and the relative position in the one direction. It is preferable to determine whether or not these relative positions fall within the allowable range.

  In this aspect, the operator can obtain not only information on the relative position in the width direction but also information on the relative position in the one direction. Therefore, this aspect further facilitates disposing the self-propelled trolley at a position where it can be coupled to the pallet.

  (8) Since the mobile crane of the present invention includes the movable lower traveling body and the above-described position adjustment assisting device, it is necessary to arrange the self-propelled bogie at a position that can be coupled to the pallet. make it easier.

  (9) The weight combining method of the present invention combines a counterweight of a mobile crane, a pallet having a mounting portion on which the counterweight is mounted, and a self-propelled bogie having a carrier extending in one direction. A method for connecting the pallet and the self-propelled trolley by disposing the loading platform below the mounting portion for use as a weight unit. The weight combining method includes: an entry step in which the self-propelled bogie enters below the placement section with one end in the one direction in the loading platform at the head; and at least one of the entry step during the entry step and after the entry step. A detecting step of detecting a relative position of the loading platform with respect to the pallet in a width direction of the loading platform that is a direction orthogonal to the one direction, and a position where the self-propelled bogie can be coupled to the pallet. A determining step of determining whether or not the relative position is included in the allowable range based on a preset allowable range regarding the relative position and a detection result in the detecting step; and information regarding the determination result in the determining step. Notification step for notifying the operator of the self-propelled platform based on the determination result when the relative position is not included in the allowable range. And adjusting the relative position so that the relative position is included in the allowable range, and coupling the self-propelled bogie with the adjusted relative position to the pallet. .

  In the weight engagement method according to the aspect of the invention, in the determining step, based on the detection result and the allowable range, whether the relative position of the pallet with respect to the pallet in the width direction is included in the allowable range, It can be determined whether or not the trolley can be coupled to the pallet, and the operator can obtain information on the determination result. Therefore, the operator can obtain information on the relative position in at least the width direction of the width direction and the one direction. Thereby, the operator can obtain an index for adjusting the relative position in the width direction when the carrier of the self-propelled trolley is placed below the pallet mounting portion. Careful attention should be paid to whether the relative position of the carrier is at an appropriate position. As described above, the weight joining method of the present invention facilitates disposing the self-propelled carriage at a position where it can be joined to the pallet. Then, when the relative position is not included in the allowable range, the relative position is adjusted such that the self-propelled bogie travels based on the determination result so that the relative position is included in the allowable range, The self-propelled trolley having the adjusted relative position is coupled to the pallet. As described above, according to the weight combining method of the present invention, the burden on the operator can be reduced when the self-propelled bogie is combined with the pallet.

  ADVANTAGE OF THE INVENTION According to this invention, when using a counterweight, a pallet, and a self-propelled trolley as an integrated weight unit, it becomes easy to arrange | position a self-propelled trolley in the position which can be couple | bonded with a pallet.

It is a side view showing a crane system provided with a position adjustment auxiliary device concerning an embodiment of the present invention. It is a perspective view showing a counterweight, a pallet, and a self-propelled trolley in the crane system provided with the position adjustment auxiliary device concerning the embodiment. It is a schematic diagram for explaining operation of the traveling unit of the self-propelled bogie. It is a block diagram showing the functional composition of the position adjustment auxiliary device concerning the above-mentioned embodiment, and the functional composition of the self-propelled trolley. FIG. 4 is a schematic plan view for explaining a method for adjusting the relative position of the carrier of the self-propelled bogie with respect to the pallet in the crane system including the position adjustment assisting device according to the embodiment. 5 is a flowchart illustrating a control example 1 for adjusting the relative position of the self-propelled trolley with respect to the pallet and connecting the pallet and the self-propelled trolley in the crane system including the position adjustment assisting device according to the embodiment. FIG. 4 is a schematic plan view for explaining a method for adjusting the relative position of the carrier of the self-propelled bogie with respect to the pallet in the crane system including the position adjustment assisting device according to the embodiment. 9 is a flowchart illustrating a control example 2 for adjusting the relative position of the carrier of the self-propelled trolley with respect to the pallet and connecting the pallet and the self-propelled trolley in the crane system including the position adjustment assisting device according to the embodiment. FIG. 8 is a schematic plan view for explaining another method for adjusting the relative position of the carrier of the self-propelled bogie with respect to the pallet in the crane system including the position adjustment assisting device according to the embodiment. FIG. 8 is a schematic plan view for explaining another method for adjusting the relative position of the carrier of the self-propelled bogie with respect to the pallet in the crane system including the position adjustment assisting device according to the embodiment.

  Hereinafter, a position adjustment assisting device and a weight connecting method according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a side view showing a crane system 1 including a position adjustment assisting device according to an embodiment of the present invention. In the drawings, directions of “up”, “down”, “front”, “rear”, “left” and “right” may be shown, but the directions are the same as those of the embodiment of the present invention. Are shown for the sake of convenience to explain the structures of the crane system 1, the crane 10, and the like according to the present invention, and do not limit the moving direction, the usage mode, and the like of the crane 10 and the self-propelled bogie 80.

  As shown in FIG. 1, the crane system 1 includes a crane 10 and a self-propelled trolley 80. The crane 10 includes a crane main body 11, a counterweight 31, and a pallet 40. The counterweight 31, the pallet 40, and the self-propelled trolley 80 constitute the weight unit 30.

[Crane body]
The crane main body 11 includes a lower traveling body 12, an upper revolving superstructure 13, a boom 14, a 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 right and left crawlers 121.

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

  The boom 14 is attached to the upper swing body 13 so as to be able to undulate. The boom 14 has a boom base end rotatably supported by the upper swing body 13 and a boom tip end disposed on the side opposite to the boom base end in the longitudinal direction.

  A pair of left and right backstops 141 are provided on the boom base end side of the boom 14. These back stops 141 come into contact with the upper swing body 13 when the boom 14 is in the upright posture. This abutment restricts the boom 14 from being lifted backward by a strong wind or the like.

  The mast 15 is attached to the upper swing body 13 and supports the boom 14 from behind. The mast 15 has a mast base end and a mast tip. The mast base end is rotatably supported by the upper swing body 13 about a rotation axis parallel to the rotation 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 arranged at the mast tip of the mast 15. The first mast sheave 151 and the second mast sheave 152 are hung with a boom hoisting rope 22 described later.

  The mast 15 is supported from behind by a backstop 153. The base end of the backstop 153 is attached to the upper swing body 13 behind the base end of the mast 15, and the tip end of the backstop 153 is attached to a part of the mast 15 in the longitudinal direction.

  The box mast 16 has a rectangular shape in plan view. A base end portion of the box mast 16 is rotatably connected to the upper swing body 13 on the rear side of the mast 15. The rotation axis of the box mast 16 is arranged parallel to the rotation axis of the boom 14, and the box mast 16 is rotatable in the same direction as the up and down direction of the boom 14.

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

  The lower spreader 18 is rotatably supported around a pivot at 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 arranged at a predetermined interval in front of the lower spreader 18. The upper spreader 19 is connected to a boom tip via a 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 hoisting rope 22 is pulled out from the boom hoisting winch W1 and is hung on the first mast sheave 151 and the second mast sheave 152 at the end of the mast. It is multiplied. Note that the tip of the boom hoisting rope 22 after being looped around the first sheave 181 and the second sheave 191 is fixed to the mast tip of the mast 15.

  The boom hoisting winch W1 is arranged on the mast base end side of the mast 15. The boom hoisting winch W1 changes the distance between the first sheave 181 and the second sheave 191 by winding and unwinding the boom hoisting rope 22, and moves the boom 14 relative to the mast 15. The boom 14 is raised and lowered while rotating.

  The crane main body 11 further includes a guy line 23, a mast hoisting rope 26, and a mast hoisting winch W2.

  The guy lines 23 are arranged in a pair 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 makes the rotation of the mast 15 and the rotation of the box mast 16 cooperate.

  The mast hoisting rope 26 includes a sheave block 24 arranged on the upper swing body 13 and a plurality of sheaves arranged in the width direction, and a sheave block arranged on the tip end of the box mast 16 and a plurality of sheaves arranged in the width direction. 25 and multiple times.

  The mast hoisting winch W2 is arranged on the base end side of the box mast 16. The mast hoisting winch W2 winds and unwinds the mast hoisting rope 26. By winding and unwinding the mast hoisting winch W2, 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 revolving unit 13 changes. The mast 15 is raised and lowered while the box mast 16 and the mast 15 rotate integrally. The rotation of the mast 15 and the box mast 16 is mainly performed when the crane 10 is assembled and disassembled. When the crane 10 is used, the positions of the mast 15 and the box mast 16 (the ground angle) are substantially fixed.

  In addition to the mast hoisting winch W2 and the boom hoisting winch W1, the main hoisting winch W3 and auxiliary hoisting winch W4 for hoisting and lowering the suspended load are mounted on the crane body 11.

  The main winding winch W3 hoists and lowers the suspended load by the main winding rope 28. About this main winding, a guide sheave for main winding (not shown) is rotatably provided at the end of the boom of the boom 14, and a plurality of point sheaves for main winding are arranged at positions adjacent to the guide sheave for main winding in the width direction. An arrayed main winding sheave block is provided. The main hook 17 for hanging loads is connected to the main winding rope 28 suspended from the main winding sheave block. Then, the main winding rope 28 pulled out from the main winding winch W3 is sequentially hung on the main winding guide sheave, and the sheave of the main winding sheave block and the sheave of the sheave block provided on the main hook 17 are formed. It is hung in between. Accordingly, when the main winding winch W3 winds or unwinds the main winding rope 28, the main hook 17 is raised and lowered.

  Similarly, the auxiliary winch W4 raises and lowers the suspended load by the auxiliary rope 29. The auxiliary winding has a structure (not shown) similar to that of the main winding. When the auxiliary winch W4 winds or unwinds the auxiliary hoist rope 29, the auxiliary hook for a suspended load (not shown) connected to the end of the auxiliary hoist rope 29 is hoisted or lowered.

[Weight unit]
FIG. 2 is a perspective view schematically showing the counterweight 31 and the pallet 40 in the crane 10 in FIG. 1 and the self-propelled bogie 80 in FIG. As shown in FIGS. 1 and 2, the weight unit 30 includes a counterweight 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 body 11 to lift a heavy object.

  The counterweight 31 and the pallet 40 are connected by being fixed at a plurality of locations by fixing means such as connecting pins. Further, the pallet 40 and the self-propelled trolley 80 are connected by being fixed at a plurality of locations by fixing means such as connecting pins. Thus, the counter weight 31, the pallet 40, and the self-propelled carriage 80 are integrated to form the weight unit 30.

  As shown in FIG. 1, the weight unit 30 is disposed behind the upper swing body 13. The weight unit 30 is connected to the rear part of the upper swing body 13 by a rigid telescopic beam S. 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.

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

  The counter weight 31 is composed of, for example, a plurality of weight members stacked vertically. The counter weight 31 is mounted on the mounting portion 41.

  As the self-propelled trolley 80, for example, a general-purpose trolley called a self-propelled multi-axis trolley for transporting a heavy object, such as an SPMT, can be used. As shown in FIG. 2, the self-propelled trolley 80 includes a trolley body 81 and a power pack 82.

  The carriage body 81 includes a carrier 83 extending in one direction D <b> 1 and a plurality of traveling units 84 provided below the carrier 83. The length of the loading platform 83 in one direction D1 is greater than the length of the loading platform 83 in the width direction D2. Hereinafter, one direction D1 is referred to as a longitudinal direction D1. The width direction D2 is a direction orthogonal to the longitudinal direction D1 and parallel to the horizontal direction. The carrier 83 has a plate shape having a rectangular shape in plan view. The upper surface of the carrier 83 is flat. When the self-propelled trolley 80 is used as a part of the weight unit 30, the carrier 83 is arranged such that the upper surface thereof faces the lower surface of the mounting portion 41 of the pallet 40.

  The bed 83 has one end 8A and the other end 8B in the longitudinal direction D1. The carrier 83 has a pair of side portions 8C and 8D in the width direction D2 (see FIGS. 2 and 5). In the present embodiment, each of the pair of side portions 8C and 8D extends from the one end 8A to the other end 8B, and is a portion to be detected by a relative position detection unit 71 described later.

  As shown in FIG. 2, the plurality of traveling units 84 are arranged on both sides of the bed 83 in the width direction D2 so as to be arranged along the longitudinal direction D1 of the bed 83. Each traveling unit 84 is attached to a lower part of the loading platform 83 so as to be rotatable with respect to the loading platform 83 about a vertical center axis 89 (see FIG. 3). As shown in FIGS. 2 and 3, each traveling unit 84 includes an axle 86 extending in the horizontal direction, a tire 85 fixed to the axle 86, a hydraulic motor 85A for rotating the axle 86, and a center shaft 89. A hydraulic motor 85B for rotating the traveling unit 84, and a hydraulic cylinder 85C for changing the height of the upper surface of the bed 83 from the ground G by changing the vertical distance between the axle 86 and the bed 83. . The angle of the tire 85 (the direction of the tire 85) is changed by the rotation of each traveling unit 84 about the central axis 89.

  The power pack 82 is provided at the other end 8B of the bogie main body 81 in the longitudinal direction D1. The power pack 82 includes a power generator such as an engine 821, hydraulic pumps 822, 823, and 824 driven by the engine 821, a controller 60 that controls these, and an operator cab 825.

  The controller 60 of the self-propelled trolley 80 includes an angle changing unit 65, a driving unit 66, and a bed height adjusting unit 67 as functions.

  The drive section 66 of the controller 60 controls the operation of the drive mechanism 62, specifically, the operation of the hydraulic pump 822, thereby controlling the hydraulic motor 85 </ b> A to cause the self-propelled carriage 80 to travel. The hydraulic pump 822, the hydraulic motor 85A, and the axle 86 constitute at least a part of the drive mechanism 62 of the self-propelled bogie 80. The drive mechanism 62 is for driving the tire 85 of the self-propelled carriage 80.

  The angle changing unit 65 of the controller 60 controls the operation of the angle changing mechanism 63, specifically, the operation of the hydraulic pump 823, thereby controlling the hydraulic motor 85B to rotate the traveling unit 84 about the center axis 89. The hydraulic pump 823 and the hydraulic motor 85B constitute at least a part of the angle changing mechanism 63 of the self-propelled bogie 80. The angle changing mechanism 63 is for changing a tire angle which is an angle of the tire 85 with respect to the carrier 83.

  The carrier height adjusting unit 67 of the controller 60 controls the operation of the height adjusting mechanism 64, specifically, the operation of the hydraulic pump 824, thereby controlling the hydraulic cylinder 85C to adjust the height of the upper surface of the carrier 83. I do. Specifically, the height adjustment mechanism 64 of the self-propelled bogie 80 includes a rod-shaped upper shaft 87, a rod-shaped lower shaft 88, a hydraulic cylinder 85C, and a hydraulic pump 824 as shown in FIG. The upper end of the upper shaft 87 is rotatably attached to the loading platform 83, and the lower end of the upper shaft 87 is rotatably attached to the upper end of the lower shaft 88. The lower end of the lower shaft is rotatably attached to the tire 85. The upper end of the hydraulic cylinder 85C is rotatably attached to the upper shaft 87, and the lower end of the hydraulic cylinder 85C is rotatably attached to the lower shaft 88. Therefore, as the hydraulic cylinder 85C expands and contracts, the angle θ1 of the upper shaft 87 with respect to the ground G increases and decreases, and the angle θ2 of the lower shaft 88 with respect to the ground G increases and decreases. As a result, the distance between the upper end of the upper shaft 87 and the lower end of the lower shaft 88 increases or decreases in the vertical direction, and the height of the bed 83 from the ground G can be adjusted.

  The self-propelled trolley 80 further includes an angle detection unit 61. The angle detecting section 61 is for detecting a tire angle which is an angle of the tire 85 with respect to the carrier 83. As the angle detection unit 61, for example, a sensor such as an encoder can be used. A sensor such as an encoder converts the rotation angle (rotation amount) of the traveling unit 84 about the center axis 89 into an electric signal (detection signal) and inputs the electric signal to the controller 60.

  The self-propelled bogie 80 has a remote control device 801 (see FIG. 2) for an operator to perform remote control. An operator operates the hydraulic motor 85A, the hydraulic motor 85B, the hydraulic cylinder 85C, and the like via the controller 60 by operating the remote control device 801. Thereby, the self-propelled carriage 80 can be made to run or stop, the running speed can be adjusted, the angle of the tire 85 can be changed, and the height of the carrier 83 can be adjusted. Communication between the remote control device 801 and the controller 60 may be wireless or wired.

[Position adjustment assist device]
In order to use the counterweight 31, the pallet 40, and the self-propelled trolley 80 as an integrated weight unit 30, the position adjustment assisting device 100 according to the present embodiment uses one end in the longitudinal direction D1 of the carrier 83 of the self-propelled trolley 80. This is a device for disposing the self-propelled trolley 80 below the mounting portion 41 of the pallet 40 with the portion 8A at the top and disposing the loading platform 83 below the mounting portion 41. As shown in FIG. 2, the direction in which the self-propelled carriage 80 enters below the mounting portion 41 of the pallet 40 is referred to as an entry direction D3.

  FIG. 4 is a block diagram showing a functional configuration of the position adjustment assisting device 100 according to the present embodiment and a functional configuration of the self-propelled bogie 80. The crane 10 includes a controller 50, and the self-propelled trolley 80 includes the controller 60 described above. Each of the controller 50 and the controller 60 includes a CPU, a ROM for storing various control programs, a RAM used as a work area of the CPU, and the like. As shown in FIG. 4, the controller 50 of the crane 10 includes a storage unit 51, a determination unit 52, an adjustment value calculation unit 53, a turning angle calculation unit 54, an angle change command unit 55, and a drive command unit 56. And a notification unit 57 as functions.

  The position adjustment assistance device 100 according to the present embodiment includes a relative position detection unit 71, a notification device 72, a storage unit 51, a determination unit 52, an adjustment value calculation unit 53, a turning angle calculation unit 54, A change command unit 55, a drive command unit 56, and a notification unit 57 are provided.

  The relative position detector 71 is for detecting the relative position of the carrier 83 with respect to the pallet 40 in the width direction D2 of the carrier 83. Specific examples are as follows.

  FIG. 5 is a schematic plan view for explaining a method for adjusting the relative position of the carrier 83 of the self-propelled carriage 80 with respect to the pallet 40 in the crane system 1 including the position adjustment assisting device 100 according to the present embodiment. It is. In FIG. 5, for convenience of description, the mounting portion 41 of the pallet 40 is not illustrated, and only the four legs 42 are illustrated.

  As shown in FIG. 5, in the present embodiment, the relative position detection unit 71 detects the relative position at a position separated from the first sensor 71A in the approach direction D3 with respect to the first sensor 71A. And a second sensor 71B to be detected. The first sensor 71A detects the relative position of the first part of the bed 83 with respect to the pallet 40 in the width direction D2, and the second sensor 71B detects the relative position of the second part of the bed 83 with respect to the pallet 40 in the width direction D2. Is configured to be detected.

  The second part is a part closer to one end 8A of the bed 83 than the first part. The first part is a part of the bed 83 that faces the first sensor 71A in the width direction D2, and the second part is a part of the bed 83 that faces the second sensor 71B in the width direction D2. Part.

  In the present embodiment, the first sensor 71A and the second sensor 71B are provided on the pallet 40. More specifically, the first sensor 71A is provided on any one of the four legs 42 located on the upstream side in the approach direction D3 among the four legs 42. The second sensor 71B is provided on one of the four legs 42 located downstream of the approach direction D3. In the specific example shown in FIG. 5, both the first sensor 71A and the second sensor 71B are provided on the leg 42 located on the same side in the width direction D2.

  The first sensor 71A is configured to be able to measure a distance from the first sensor 71A to the first portion of the side portion 8C of the carrier 83. The second sensor 71B is configured to be able to measure a distance from the second sensor 71B to the second portion of the side portion 8C of the carrier 83. The first part is a part of the side part 8C of the bed 83 closer to the one end 8A than the center of the bed 83 in the longitudinal direction D1. The second portion is a portion of the side portion 8C of the bed 83 closer to the other end 8B than the center of the bed 83 in the longitudinal direction D1.

  As the first sensor 71A and the second sensor 71B, for example, various distance measurement sensors such as a laser type, an LED type, an ultrasonic type, a contact type, and an eddy current type can be used.

  The storage unit 51 has a function of storing an allowable range preset for the relative position as a position where the self-propelled carriage 80 can be coupled to the pallet 40. Specific examples are as follows.

  In the present embodiment, as shown in FIG. 5, the storage unit 51 stores an allowable range RC preset for the relative position of the one side 8C of the loading platform 83 to the pallet 40 in the width direction D2. The permissible range RC is defined by a minimum value RC1 of the distance to each of the first sensor 71A and the second sensor 71B and a maximum value RC2 of the distance to each of the first sensor 71A and the second sensor 71B. Information such as the width and length of the self-propelled carriage 80 is stored in the storage unit 51 in advance. Therefore, by determining whether or not one side 8C of the bed 83 is included in the allowable range RC, it is also determined whether or not the other side 8D of the bed 83 is at an appropriate position. Becomes possible.

  The position adjustment assisting device 100 according to the present embodiment is not configured to determine whether the one end 8A of the carrier 83 is included in the allowable range, but is not limited thereto. That is, the storage unit 51 may store the allowable range RA preset with respect to the relative position of the one end 8A of the loading platform 83 with respect to the pallet 40 in the longitudinal direction D1. The permissible range RA is defined by, for example, a minimum value RA1 of the distance to a sensor (not shown) and a maximum value RA2 of the distance to the sensor. By determining whether or not one end 8A of the bed 83 is included in the allowable range RA, it is possible to determine whether or not the other end 8B of the bed 83 is at an appropriate position.

  The determination unit 52 has a function of determining whether or not the self-propelled trolley 80 can be coupled to the pallet 40 based on the detection result by the relative position detection unit 71. Specifically, in the present embodiment, the determination unit 52 determines whether the side 8C of the bed 83 is included in the allowable range RC based on the detection results of the first sensor 71A and the second sensor 71B. .

  The adjustment value calculation unit 53 couples the self-propelled trolley 80 to the pallet 40 when the determination unit 52 determines that it is impossible to couple the self-propelled trolley 80 to the pallet 40. Has a function of calculating the change value of the tire angle and the moving distance of the self-propelled bogie 80 based on the detection result by the relative position detection unit 71 so that the movement can be performed.

  The turning angle calculation unit 54 is in a state where the determination unit 52 determines that the self-propelled bogie 80 can be coupled to the pallet 40 and the self-propelled bogie 80 is coupled to the pallet 40. When the crane 10 performs the turning operation, the turning is performed based on the detection result by the relative position detecting unit 71 (or based on the detection result by the relative position detecting unit 71 and the tire angle detected by the angle detecting unit 61). It has a function of calculating a change value of the tire angle for operation.

  The angle change command unit 55 has a function of issuing a command to the angle change mechanism 63 to adjust the tire angle based on the change value calculated by the adjustment value calculation unit 53. The angle change command unit 55 has a function of issuing a command to the angle change mechanism 63 to adjust the tire angle based on the change value calculated by the turning angle calculation unit 54. Specifically, the angle change command unit 55 in the controller 50 of the crane 10 inputs a command signal relating to the tire angle to the angle change unit 65 in the controller 60 of the self-propelled bogie 80, and thereby the angle change unit 65. The operation of the angle changing mechanism 63 is controlled via the.

  The drive command unit 56 has a function of issuing a command to the drive mechanism 62 to cause the self-propelled bogie 80 to travel based on the movement distance calculated by the adjustment value calculation unit 53 in a state where the tire angle is adjusted. . The drive command unit 56 has a function of issuing a command to the drive mechanism 62 to cause the self-propelled bogie 80 to travel with the turning operation of the crane 10 in a state where the tire angle is adjusted by the angle changing mechanism 63. . Specifically, the drive command unit 56 in the controller 50 of the crane 10 inputs a drive signal to the drive unit 66 in the controller 60 of the self-propelled trolley 80 to drive the self-propelled trolley 80 by driving. The operation of the drive mechanism 62 is controlled via the section 66.

  The controller 50 of the crane 10 inputs a command signal relating to the height adjustment of the carrier 83 to the carrier height adjuster 67 of the controller 60 of the self-propelled trolley 80, and thereby, through the carrier height adjuster 67. The operation of the height adjustment mechanism 64 is controlled.

  The communication between the controller 50 of the crane 10 and the controller 60 of the self-propelled trolley 80 may be wireless or may be wired.

  The notification unit 57 has a function of controlling the operation of the notification device 72 based on the determination result by the determination unit 52 and notifying the operator of information on the determination result by the determination unit 52.

  The notification device 72 is a device for notifying an operator of information on the determination result by the determination unit 52. The notification device 72 has, for example, at least one of a sound emitting unit for emitting sound, a light emitting unit for emitting light, and a display unit for displaying characters, figures, and the like. The notification device 72 is provided in a place that is easy for the operator to recognize, for example, in the cab 131 of the upper swing body 13. The sound generator has a function of emitting a sound that can be recognized by an operator through hearing. For example, the sound generator has a not-shown alarm buzzer, speaker, and the like. The light emitting section has a function of emitting light that can be recognized by an operator through visual perception. For example, the light emitting section has a not-shown indicator light, rotating light, signal light, and the like. The display unit has a function of displaying characters, figures, and the like that can be visually recognized by an operator. For example, the display unit has a display.

[Operation of Position Adjustment Aid Device]
Next, a specific operation of the position adjustment assisting device 100 will be described. FIG. 6 adjusts the relative position of the carrier 83 of the self-propelled trolley 80 with respect to the pallet 40 and connects the pallet 40 and the self-propelled trolley 80 in the crane system 1 including the position adjustment assisting device 100 according to the present embodiment. 6 is a flowchart showing a control example 1 for the control.

  As illustrated in FIG. 2, the operator operates the remote control device 801 to cause the self-propelled bogie 80 to enter below the mounting portion 41 with the one end 8 </ b> A in the longitudinal direction D <b> 1 of the carrier 83 at the top. (Entry process, step S1 in FIG. 6).

  When the operator places the loading platform 83 of the self-propelled carriage 80 below the mounting portion 41 of the pallet 40, the position adjustment assisting device 100 can obtain an index for adjusting the relative position in the width direction D2. Therefore, attention should be paid to whether or not the relative position of the bed 83 to the pallet 40 in the longitudinal direction D1 is at an appropriate position. Therefore, by operating the remote control device 801, the operator can arrange the one end 8 </ b> A in the longitudinal direction D <b> 1 of the carrier 83 at a substantially appropriate position as shown in FIG. 5, for example. On the other hand, the side portion 8C of the loading platform 83 in the width direction D2 is not included in the allowable range RC. Even in such a case, the position adjustment assisting device 100 according to the present embodiment facilitates disposing the self-propelled trolley 80 at a position that can be coupled to the pallet 40 as described below.

  When the operator operates the self-propelled trolley 80 to place the self-propelled trolley 80 below the mounting portion 41 of the pallet 40, as shown in FIG. 5, for example, the first sensor 71A of the relative position detection portion 71 And the second sensor 71B detects the relative position of the carrier 83 of the self-propelled bogie 80 with respect to the pallet 40 in the width direction D2 (detection step, step S2), and the detection result by the relative position detection unit 71 is input to the controller 50. Is done.

  Next, the determination unit 52 determines whether or not the relative position is included in the allowable range RC based on the detection result by the relative position detection unit 71 (a determination step, step S3). Thereby, it can be determined whether or not the self-propelled carriage 80 can be coupled to the pallet 40.

  As shown in FIG. 5, when the relative position is not included in the allowable range RC (NO in step S3), the adjustment value calculation unit 53 can connect the self-propelled bogie 80 to the pallet 40. The change value of the tire angle and the moving distance of the self-propelled bogie 80 are calculated based on the detection result by the relative position detection unit 71 (calculation step, step S4).

  The notifying unit 57 controls the notifying device 72 to notify the operator of information on the determination result by the determining unit 52 (notifying step, step S5). The information on the determination result includes, for example, information that the self-propelled trolley 80 cannot be coupled to the pallet 40, and a calculation result calculated by the adjustment value calculation unit 53 in association with the determination result. And other information. In the present embodiment, the notification unit 57 controls the notification device 72 with the calculation result (changed value of the tire angle, the moving distance of the self-propelled bogie 80) calculated by the adjustment value calculation unit 53 as information on the determination result. And inform the operator.

  The angle change command section 55 issues a command to the angle change mechanism 63 to adjust the tire angle based on the change value calculated by the adjustment value calculation section 53 (adjustment step, step S6). In the present embodiment, as shown in FIG. 4, the angle change command unit 55 of the crane 10 issues the command to the angle change mechanism 63 via the controller 60 of the self-propelled bogie 80.

  The drive command unit 56 issues a command to the drive mechanism 62 to cause the self-propelled trolley 80 to travel based on the moving distance in a state where the tire angle is adjusted (drive step, step S1). In the present embodiment, as shown in FIG. 2, the drive command unit 56 of the crane 10 issues the command to the drive mechanism 62 via the controller 60 of the self-propelled carriage 80. Thereby, as shown in FIG. 7, the self-propelled trolley 80 is arranged at a position where the self-propelled trolley 80 can be connected to the pallet 40.

  In a state where the self-propelled trolley 80 is arranged at the position shown in FIG. 7, the relative position is detected by the relative position detector 71 (Step S2), and the determination unit 52 determines the detection result by the relative position detector 71. , The drive instruction unit 56 controls the drive mechanism 62 to stop the traveling of the self-propelled bogie 80 (step S3). S7).

  Next, the notifying unit 57 controls the notifying device 72 to notify the operator of information on the determination result by the determining unit 52 (notifying step, step S8). The information on the determination result includes, for example, information that the self-propelled trolley 80 can be coupled to the pallet 40.

  The operator who acquires such information through the notification device 72 couples the self-propelled trolley 80 whose relative position has been adjusted to the pallet 40 (combining step). As described above, according to the weight combining method of the present embodiment, the burden on the operator can be reduced when the self-propelled carriage 80 is combined with the pallet 40.

  Further, in the position adjustment assisting device 100 according to the present embodiment, when the crane 10 performs the turning operation, it operates as follows. That is, even when the loading platform 83 is inclined with respect to the pallet 40 as shown in FIG. 7, the self-propelled carriage 80 may be able to be coupled to the pallet 40 in some cases. In such a case, the determination unit 52 determines that the self-propelled bogie 80 can be coupled to the pallet 40 as described above, and the self-propelled bogie 80 is coupled to the pallet 40. Then, the loading platform 83 is inclined with respect to the pallet 40. The tire angle is detected by the angle detection unit 61 as the angle of the tire with respect to the carrier 83. Therefore, when the crane 10 performs a turning operation, the tire angle of the self-propelled carriage 80 needs to be determined in consideration of the inclination angle of the carrier 83 with respect to the pallet 40.

  In this case, the inclination angle θ is calculated by the following equation (1).

θ = tan ⁻¹ {(AB) / C} (1)

  Here, A is the distance from the first sensor 71A detected by the first sensor 71A to the side 8C of the carrier 83, and B is the distance from the second sensor 71B detected by the second sensor 71B to the carrier 83. This is the distance to the side 8C, where C is the distance between the first sensor 71A and the second sensor 71B.

  Therefore, in the present embodiment, when the crane 10 performs a turning operation, the turning angle calculation unit 54 determines that the self-propelled bogie 80 can be coupled to the pallet 40 by the determination unit 52. And, when the crane 10 performs a turning operation in a state where the self-propelled bogie 80 is coupled to the pallet 40, the tire angle for the turning operation is determined based on the detection result by the relative position detection unit 71. A change value is calculated (turning angle calculation step, step S9).

  The angle change command unit 55 issues a command to the angle change mechanism 63 to adjust the tire angle based on the change value calculated by the turning angle calculation unit 54 (angle change step, step S10). Then, the drive command unit 56 issues a command to the drive mechanism 62 to cause the self-propelled bogie 80 to travel with the turning operation of the crane 10 with the tire angle adjusted. Thereby, the self-propelled trolley 80 can accurately follow the turning operation of the crane 10.

[Modification]
The present invention is not limited to the embodiment described above. The present invention includes, for example, the following forms.

A) Timing of Detection Process In the control example 1 shown in FIG. 6, the detection process, the determination process, and the like are performed after the loading platform 83 of the self-propelled bogie 80 is placed below the mounting portion 41 of the pallet 40. Although performed after the process, it is not limited to this. For example, as in the control example 2 shown in the flowchart of FIG. 8, the detection step may be performed during an approach step in which the bed 83 of the self-propelled carriage 80 enters below the mounting portion 41 of the pallet 40.

  FIGS. 9 and 10 illustrate another method for adjusting the relative position of the carrier 83 of the self-propelled carriage 80 with respect to the pallet 40 in the crane system 1 including the position adjustment assisting device 100 according to the present embodiment. FIG. 3 is a schematic plan view of FIG. In the position adjustment assisting device 100, the relative position detector 71 includes four sensors 71A, 71B, 71C, and 71D. The first sensor 71A and the second sensor 71B are the same as the first sensor 71A and the second sensor 71B shown in FIG. The third sensor 71C and the fourth sensor 71D are provided on the two legs 42 of the pallet 40 on the opposite sides of the first sensor 71A and the second sensor 71B in the width direction D2.

  As shown in FIG. 9, with the one end 8A of the carrier 83 of the self-propelled carriage 80 as the head, the carrier 83 starts to enter below the mounting portion 41 (step S21 in FIG. 8), and the one end 8A of the carrier 83 Reaches a position facing the first sensor 71A and the third sensor 71C in the width direction D2 of the carrier 83, the first sensor 71A and the third sensor 71C are mounted on the carrier 83 of the self-propelled carriage 80. It is detected that it has begun to enter below the placing section 41 (step S22).

  When the entry of the carrier 83 is detected, the four sensors 71A, 71B, 71C, 71D of the relative position detector 71 detect the relative position of the carrier 83 of the self-propelled carrier 80 with respect to the pallet 40 in the width direction D2 ( The detection process, step S23), and the detection result by the relative position detection unit 71 are input to the controller 50.

  Next, the determination unit 52 determines whether or not the relative position is included in the allowable range RC based on the detection result by the relative position detection unit 71 (a determination step, step S24). In the state shown in FIG. 9, one end 8A of the bed 83 of the self-propelled carriage 80 has not reached the position facing the second sensor 71B and the fourth sensor 71D in the width direction D2. In such a case, the determination unit 52 determines that the relative position is not included in the allowable range RC (NO in Step S24).

  The adjustment value calculation unit 53 determines the tire angle change value and the self-propelled truck 80 based on the detection result by the relative position detection unit 71 so that the self-propelled truck 80 can be coupled to the pallet 40. Is calculated (operation step, step S25). In the modification shown in FIG. 9, when the self-propelled trolley 80 further travels in the approach direction D3 from the state shown in FIG. 9, the adjustment value calculation unit 53 determines the distance from the first sensor 71A to the side 8C of the bed 83. The approximate traveling direction of the self-propelled trolley 80 can be calculated based on a change in the change or a change in the distance to the side portion 8D of the bed 83 by the third sensor 71C.

  Therefore, in this modified example, the detection step is performed during the approaching step in which the bed 83 of the self-propelled carriage 80 enters below the mounting portion 41 of the pallet 40, and thus the detection of the bed 83 of the self-propelled carriage 80 is performed. From the initial stage in which the one end 8A starts to enter below the mounting portion 41, the traveling direction of the self-propelled bogie 80 is controlled so that the relative position is efficiently included in the allowable range RC as shown in FIG. It will be possible to be.

  Note that the other steps in FIG. 8 are the same as the corresponding steps shown in FIG. 6, and a detailed description thereof will be omitted.

B) Positions of the First Sensor 71A and the Second Sensor 71B In the embodiment shown in FIG. 5, the first sensor 71A and the second sensor 71B are provided on the leg 42 of the pallet 40. I can't. The first sensor 71 </ b> A and the second sensor 71 </ b> B may be provided, for example, on the lower surface of the mounting section 41. Further, the first sensor 71A and the second sensor 71B may be provided on the bed 83 of the self-propelled carriage 80.

D1 Longitudinal direction of carrier (one direction of carrier)
D2 Width direction of carrier D3 Approach direction of self-propelled trolley RA Allowable range RA1 Minimum allowed range RA2 Maximum allowed range RC Allowable range RC1 Minimum allowed range RC2 Maximum allowed range 1 Crane system 8A One end of carrier Part 8C, 8D Side of loading bed 10 Crane 12 Lower traveling body 13 Upper revolving body 14 Boom 30 Weight unit 31 Counter weight 40 Pallet 41 Placement part 42 Leg 50 Controller 51 Storage part 52 Judgment part 53 Adjustment value calculation part 54 Rotation Angle calculation unit 55 Angle change command unit 56 Drive command unit 57 Notification unit 60 Controller 61 Angle detection unit 62 Drive mechanism 63 Angle change mechanism 64 Adjustment mechanism 71 Relative position detection unit 71A to 71D Sensor 72 Notification device 80 Self-propelled carriage 83 Bed 85 tire 100 position adjustment assisting device

Claims (9)

In order to combine a counterweight of a mobile crane, a pallet having a mounting portion on which the counterweight is mounted, and a self-propelled truck having a loading platform extending in one direction to use as an integrated weight unit, A position adjustment assisting device for disposing the self-propelled trolley below the mounting portion with the one end in one direction at the head and arranging the loading platform below the mounting portion,
A relative position detection unit that detects a relative position of the carrier relative to the pallet in a width direction of the carrier that is a direction orthogonal to the one direction,
A determination unit that determines whether or not the self-propelled bogie can be coupled to the pallet based on a detection result by the relative position detection unit;
A notification device for notifying an operator of information on a result of the determination by the determination unit. A storage unit that stores a preset allowable range related to the relative position as a position where the self-propelled carriage can be coupled to the pallet,
2. The method according to claim 1, wherein the determination unit is configured to determine whether the relative position is included in the allowable range based on the detection result by the relative position detection unit and the allowable range. 3. Position adjustment assist device. When the direction in which the self-propelled trolley enters below the placing section is an approach direction,
The relative position detection unit includes a first sensor and a second sensor provided at a position separated from the first sensor in the approach direction,
The first sensor detects a relative position of a first portion of the loading platform with respect to the pallet in the width direction,
The second sensor is configured to detect a relative position of a second portion of the loading platform with respect to the pallet in the width direction, the portion being closer to the one end than the first portion. Item 3. The position adjustment assisting device according to Item 1 or 2. The first sensor is provided on the pallet, and is configured to be capable of measuring a distance from the first sensor to a side portion of the loading platform,
The second sensor is provided on the pallet at a position apart from the first sensor in the approach direction, and is configured to be able to measure a distance from the second sensor to a side portion of the loading platform. Item 4. The position adjustment assisting device according to Item 3. The self-propelled trolley has a tire provided below the carrier, a driving mechanism for driving the tire, and an angle changing mechanism for changing a tire angle that is an angle of the tire with respect to the carrier,
The position adjustment assist device,
When the determination unit determines that it is impossible to couple the self-propelled bogie to the pallet, the self-propelled bogie is connected to the pallet so that the self-propelled bogie can be connected to the pallet An adjustment value calculation unit that calculates a change value of the tire angle and a moving distance of the self-propelled bogie based on the detection result by the relative position detection unit;
An angle change command unit that issues a command to the angle change mechanism to adjust the tire angle based on the change value calculated by the adjustment value calculation unit,
5. The drive command unit according to claim 1, further comprising: a drive command unit that issues a command to the drive mechanism to cause the self-propelled carriage to travel based on the moving distance in a state where the tire angle is adjusted. The position adjustment assisting device according to the item. The self-propelled trolley has a tire provided below the carrier, a driving mechanism for driving the tire, and an angle changing mechanism for changing a tire angle that is an angle of the tire with respect to the carrier,
The position adjustment assist device,
The determination unit determines that the self-propelled trolley can be connected to the pallet, and the mobile crane performs a turning operation in a state where the self-propelled trolley is connected to the pallet. When performing, a turning angle calculation unit that calculates a change value of the tire angle for the turning operation based on the detection result by the relative position detection unit,
An angle change command unit that issues a command to the angle change mechanism to adjust the tire angle based on the change value calculated by the turning angle calculation unit;
A drive command unit that issues a command to the drive mechanism to cause the self-propelled bogie to travel with the turning operation of the movable crane in a state where the tire angle is adjusted, further comprising: 5. The position adjustment assisting device according to any one of 4. The relative position detection unit is configured to further detect a relative position of the loading platform with respect to the pallet in the one direction,
The allowable range is set in advance with respect to the relative position in the width direction and the relative position in the one direction,
The determination unit determines whether or not these relative positions are included in the allowable range based on a detection result of the relative position in the width direction and the relative position in the one direction by the relative position detection unit. The position adjustment assisting device according to any one of claims 1 to 6, wherein the position adjusting assisting device is configured as follows.   A mobile crane comprising: a movable lower traveling body; and the position adjustment assisting device according to claim 1. The above-mentioned loading platform for combining a counterweight of a mobile crane, a pallet having a mounting portion for placing the counterweight thereon, and a self-propelled truck having a loading platform extending in one direction to use as an integrated weight unit. A weight connecting method for connecting the pallet and the self-propelled trolley arranged below a mounting portion,
An approaching step of approaching the self-propelled carriage below the placement section with the one end in the one direction at the top of the loading platform as a head,
During at least one of the entry step and after the entry step, a detection step of detecting a relative position of the pallet with respect to the pallet in a width direction of the pallet that is a direction orthogonal to the one direction,
The relative position is included in the allowable range based on a preset allowable range related to the relative position as a position where the self-propelled bogie can be coupled to the pallet and a detection result in the detection step. A determining step of determining whether or not
A notifying step of notifying an operator of information regarding a result of the determination in the determining step,
An adjusting step of, when the relative position is not included in the allowable range, adjusting the relative position so that the self-propelled bogie travels based on the determination result and the relative position is included in the allowable range; ,
Coupling the self-propelled carriage adjusted in relative position to the pallet.