JP2020050453A - Rotation control device and crane with rotation control device - Google Patents

Abstract

To provide a rotation control device and a crane with the rotation control device without the need of supplying an electric power to a driving source which makes a cargo rotate around a vertical axis.SOLUTION: A rotation control device comprises: a hook sheave 10a; a hydraulic pump 32 operating based on a force transmitted from a main wire rope 14 to the hook sheave and a rotating direction of the hook sheave; a hydraulic motor 33 connected to the hydraulic pump in a closed circuit and driven by the hydraulic oil discharged from the hydraulic pump; a rotary drive valve 35 provided between the hydraulic pump and the hydraulic motor to be switched among a state where the hydraulic oil is supplied from one side of the hydraulic motor, a state where the hydraulic oil is supplied from the other side of the hydraulic motor, and a state where the hydraulic oil is not supplied to the hydraulic motor; a rotary control valve 34 having a bypass circuit for returning, to the hydraulic pump, the hydraulic oil discharged from the hydraulic pump formed on an upstream side of an electromagnetic switching valve, and provided on the bypass circuit; and a main hook 10b rotated around a vertical axis by the hydraulic motor.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a rotation control device and a crane provided with the rotation control device.

  2. Description of the Related Art Conventionally, in the operation of transporting luggage by a crane, the luggage sometimes rotates around a vertical axis against the intention of the operator due to strong wind or inertia caused by turning of the crane. In some cases, it is necessary to rotate the load around a vertical axis so that the load does not contact or collide with obstacles around the load. Therefore, a rotation control device that controls the rotation of the load about the vertical axis has been proposed. For example, as in Patent Document 1.

  In the rotating jig and the suspended load turning device (rotation control device) described in Patent Document 1, a suspended portion (load) is pivoted (perpendicular to the vertical axis) by a lock portion that restrains rotation of the suspended portion around the vertical axis and a hook. And a revolving means for rotating the rotating member. Thus, the rotating jig and the suspended load turning device can restrict the rotation of the suspended load about the vertical axis and can rotate the suspended load.

  The rotating jig and the suspended load turning device described in Patent Literature 1 use a turning motor or the like as a driving source. For this reason, the rotating jig and the suspended load turning device are supplied with power from a battery for driving a motor or a power supply provided on the vehicle side of the crane. When power is supplied from a battery provided in the rotating jig and the load turning device, periodic charging is required. When power is supplied from a power supply provided on the vehicle side of the crane, it is necessary to separately provide an electric wire from the vehicle side to the rotating jig and the load turning device, and as the rotating jig and the load turning device are raised and lowered, The structure is complicated because the wire is wound in and out.

JP 2013-035651 A

  An object of the present invention is to provide a rotation control device that does not need to supply power to a drive source that rotates a load about a vertical axis, and a crane provided with the rotation control device.

  The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.

  That is, a first invention provides a hook sheave around which a wire rope is wound, a hydraulic pump that operates based on a force from the wire rope transmitted to the hook sheave and a rotation direction of the hook sheave, the hydraulic pump and a closed circuit. A hydraulic motor connected and driven by hydraulic oil discharged from the hydraulic pump, and a hydraulic motor provided between the hydraulic pump and the hydraulic motor, wherein hydraulic oil is supplied from one of the hydraulic motors An electromagnetic switching valve that switches between a state in which hydraulic oil is supplied from the other of the hydraulic motors and a state in which hydraulic oil is not supplied to the hydraulic motor, and a hydraulic pump discharged from the hydraulic pump upstream of the electromagnetic switching valve. And a bypass circuit for returning hydraulic oil to the hydraulic pump is formed by an electromagnetic on-off valve provided in the bypass circuit and the hydraulic motor. A hook that is rotated about a vertical axis, a rotation control device comprising a.

  A second invention is a crane comprising a winch, a wire rope wound up and out by the winch, a hook sheave around which the wire rope is wound, and a rotation control device for controlling a turning posture of the load. A sensor that detects an angle of the load about a vertical axis, the rotation control device operates based on a force from the wire rope transmitted to the hook sheave and a rotation direction of the hook sheave, A hydraulic motor connected to the hydraulic pump in a closed circuit and driven by hydraulic oil discharged from the hydraulic pump; and a hydraulic motor provided between the hydraulic pump and the hydraulic motor, wherein the hydraulic oil is operated from one of the hydraulic motors. A state where oil is supplied, a state where hydraulic oil is supplied from the other hydraulic motor, and a state where hydraulic oil is supplied to the hydraulic motor. An electromagnetic switching valve that switches between a non-operating state and an electromagnetic switching valve, and a bypass circuit that returns hydraulic oil discharged from the hydraulic pump to the hydraulic pump upstream of the electromagnetic switching valve is formed, and an electromagnetic switching valve that is provided in the bypass circuit. A hook driven around the vertical axis by the hydraulic motor, and when the winch winds or unwinds the wire rope, the angle of the load detected by the sensor around the vertical axis becomes a predetermined angle. Thus, the crane controls the electromagnetic switching valve and the electromagnetic switching valve.

  A third aspect of the present invention includes a vehicle, a turntable rotatably provided on the vehicle, and a boom provided on the turntable, and a vertical axis of the load relative to a predetermined reference when the turntable is turned. A crane that controls the solenoid on-off valve and the solenoid-operated switching valve while winding or unwinding the wire rope by the winch so as to suppress a change in a rotation angle.

  A fourth invention is provided with a camera, wherein the camera captures an image including the luggage and a feature around the luggage, and recognizes the region of the luggage and the region of the feature on the image. A crane that controls the electromagnetic on-off valve and the electromagnetic switching valve such that the luggage area and the feature area do not overlap at an angle about a vertical axis of the luggage at the hanging position of the luggage. .

  According to a fifth aspect of the present invention, the luggage includes a camera and a wind direction sensor, wherein the camera takes an image of the luggage, and based on a wind direction detected by the wind direction sensor, a predetermined portion of the luggage faces upwind. A crane that controls the solenoid on-off valve and the solenoid-operated switching valve so as to have an angle around the vertical axis.

  The present invention has the following effects.

  In the first invention, the hydraulic pump driven by the rotation of the hook sheave causes the hydraulic motor driven by the hydraulic oil discharged from the hydraulic pump to rotate the hook around the vertical axis or to rotate the hook around the vertical axis. to bound. This eliminates the need to supply power to a drive source that rotates the load about a vertical axis.

  In the second invention, the rotation of the hook sheave activates the hydraulic pump, and the hydraulic motor driven by the hydraulic oil discharged from the hydraulic pump rotates the hook around the vertical axis, or controls the rotation of the hook around the vertical axis. to bound. This eliminates the need to supply power to a drive source that rotates the load about a vertical axis.

  In the third aspect, the hydraulic pump driven by the hydraulic oil discharged from the hydraulic pump rotates the hook around a vertical axis by operating the hydraulic pump by rotation of the hook sheave when the swivel table rotates, or the hook is rotated vertically. Constrain rotation around the axis. This eliminates the need for power supply to the drive source that rotates the load around the vertical axis, and the angle of the load around the vertical axis with respect to a predetermined reference, such as the direction of travel of the vehicle or the direction of extension of the boom, when turning the swivel. Fluctuations can be suppressed.

  In the fourth invention, the luggage and the feature are recognized from the image taken by the camera, and the hydraulic pump driven by the hydraulic oil discharged from the hydraulic pump operates the hydraulic pump by rotating the hook sheave. Rotate around vertical axis or restrict rotation of hook about vertical axis. Accordingly, it is not necessary to supply power to the drive source that rotates the load around the vertical axis, and it is possible to avoid or prevent the load and the feature from contacting or colliding with each other.

  In the fifth invention, a baggage is recognized from an image taken by a camera, a wind direction is recognized from a wind direction sensor, a hydraulic pump is operated by rotation of a hook sheave, and hydraulic pressure driven by hydraulic oil discharged from the hydraulic pump. A motor rotates the hook about the vertical axis or restrains the rotation of the hook about the vertical axis. Thus, it is not necessary to supply power to the drive source that rotates the load around the vertical axis, and the influence of wind on the load can be suppressed.

The side view showing the whole composition of the crane provided with the rotation control device concerning a first embodiment to a third embodiment. FIG. 2 is a schematic diagram illustrating a configuration of a rotation control device according to the first embodiment. FIG. 2 is a diagram illustrating a hydraulic circuit of the rotation control device according to the first embodiment. FIG. 2 is a block diagram showing a control configuration of a crane provided with a rotation control device according to the first embodiment and the second embodiment. The figure which shows the operation | movement aspect of the rotation control apparatus at the time of lifting a load in the crane provided with the rotation control apparatus which concerns on 1st embodiment, and the flow of hydraulic oil. The figure which shows the operation | movement mode of the rotation control apparatus at the time of suspending a load in the crane provided with the rotation control apparatus which concerns on 1st embodiment, and the flow of hydraulic oil. FIG. 3 is a diagram illustrating a control mode of the rotation control device according to the first embodiment. FIG. 2 is a plan view showing a control mode of the crane provided with the rotation control device according to the first embodiment. FIG. 9 is a plan view showing an operation mode of a crane provided with the rotation control device according to the second embodiment. The block diagram showing the control composition of the crane provided with the rotation control device concerning a third embodiment. The top view showing the operation mode of the crane provided with the rotation control device concerning a third embodiment.

  Hereinafter, the crane 1 according to the first embodiment of the present invention will be described with reference to FIG. In the present embodiment, a mobile crane (rough terrain crane) will be described as the crane 1, but a truck crane or the like may be used.

  As shown in FIG. 1, the crane 1 is a mobile crane that can move to an unspecified place. The crane 1 has a vehicle 2 and a crane device 6.

  The vehicle 2 is a traveling vehicle that transports the crane device 6. The vehicle 2 has a plurality of wheels 3 and runs using an engine 4 as a power source. The vehicle 2 is provided with an outrigger 5. The outrigger 5 includes a projecting beam that can be extended by hydraulic pressure on both sides in the width direction of the vehicle 2 and a hydraulic jack cylinder that can be extended in a direction perpendicular to the ground. The vehicle 2 can extend the workable range of the crane 1 by extending the outrigger 5 in the width direction of the vehicle 2 and grounding the jack cylinder.

  The crane device 6 is a working device for lifting the load W with a wire rope. The crane device 6 includes a swivel 7, a boom 9, a jib 9a, a rotation control device 10, a sub-hook block 11, an undulating hydraulic cylinder 12, a main winch 13, a main wire rope 14, a sub winch 15, a sub wire rope 16, and a cabin. 17 and a control device 48 (see FIG. 4).

  The swivel 7 is a drive device that configures the crane device 6 to be able to swivel. The swivel 7 is provided on a frame of the vehicle 2 via an annular bearing. The swivel 7 is rotatable around the center of the annular bearing. The turning table 7 is provided with a hydraulic turning hydraulic motor 8 as an actuator. The swivel 7 is configured to be able to swing in one direction and the other direction by a hydraulic motor 8 for swing.

  The turning hydraulic motor 8 is an actuator that is rotated by a turning valve 22 (see FIG. 4), which is an electromagnetic proportional switching valve. The turning valve 22 can control the flow rate of the working oil supplied to the turning hydraulic motor 8 to an arbitrary flow rate. That is, the swivel 7 is configured to be controllable to an arbitrary swing speed via the swing hydraulic motor 8 that is rotated by the swing valve 22. The turning table 7 is provided with a turning sensor 27 (see FIG. 4) as turning angle detecting means for detecting a turning position (angle) and a turning speed of the turning table 7.

  The boom 9 is a movable column that supports the wire rope so that the load W can be lifted. The boom 9 includes a plurality of boom members. The boom 9 is configured to be able to expand and contract in the axial direction by moving each boom member by a hydraulic cylinder for expansion and contraction (not shown) that is an actuator. The boom 9 is provided such that the base end of the base boom member can swing at substantially the center of the swivel 7.

  A telescopic hydraulic cylinder (not shown) is an actuator that is operated by a telescopic valve 23 (see FIG. 4), which is an electromagnetic proportional switching valve. The expansion / contraction valve 23 can control the flow rate of the hydraulic oil supplied to the expansion / contraction hydraulic cylinder to an arbitrary flow rate. That is, the boom 9 is configured to be controllable to an arbitrary boom length by the expansion / contraction valve 23. The boom 9 is provided with an expansion / contraction sensor 28 (see FIG. 4), which is an expansion / contraction length detecting means for detecting the length of the boom 9.

  The rotation control device 10 is a device that rotates the lifted luggage W about a vertical axis. By rotating the load W about the vertical axis, the turning posture of the load W is controlled. The rotation control device 10 is hung on the main wire rope 14 with two or more hooks. The rotation control device 10 is provided with a plurality of hook sheaves 10a around which the main wire rope 14 is wound and a main hook 10b for hanging the load W.

  The sub hook block 11 is a hanging tool for hanging the load W. The sub-hook block 11 is provided with a sub-hook 11b for hanging the load W.

  The hydraulic cylinder for raising and lowering 12 is an actuator that raises and lowers the boom 9 and maintains the posture of the boom 9. The undulating hydraulic cylinder 12 includes a cylinder part and a rod part. The undulating hydraulic cylinder 12 has an end portion of the cylinder portion swingably connected to the swivel 7 and an end portion of the rod portion swingably connected to the base boom member of the boom 9.

  The undulating hydraulic cylinder 12 is operated to expand and contract by an undulating valve 24 (see FIG. 4), which is an electromagnetic proportional switching valve. The hoisting valve 24 can control the flow rate of the hydraulic oil supplied to the hoisting hydraulic cylinder 12 to an arbitrary flow rate. That is, the boom 9 is configured to be controllable to an arbitrary undulating speed by the undulating valve 24. The boom 9 is provided with an up / down sensor 29 (see FIG. 4), which is a turning angle detecting means for detecting the up / down angle of the boom 9.

  The main winch 13 and the sub winch 15 are winding devices for winding up (rolling in) and lowering (rolling out) the main wire rope 14 and the sub wire rope 16. The main winch 13 is rotated by a main hydraulic motor (not shown) in which a main drum around which a main wire rope 14 is wound is an actuator. The sub winch 15 is a sub-illustrator in which a sub drum around which a sub-wire rope 16 is wound is an actuator. It is configured to be rotated by a hydraulic motor for use.

  The main hydraulic motor is rotated by a main valve 25m (see FIG. 4), which is an electromagnetic proportional switching valve. The main valve 25m can control the flow rate of the working oil supplied to the main hydraulic motor to an arbitrary flow rate. That is, the main winch 13 is configured to be able to be controlled to an arbitrary winding and unwinding speed by the main valve 25m. Similarly, the sub winch 15 is configured to be controllable at any winding and unwinding speed by a sub valve 25s (see FIG. 4) which is an electromagnetic proportional switching valve. The main winch 13 and the sub winch 15 are provided with winding sensors 30 (see FIG. 4) for detecting the amount of winding and unwinding of the main wire rope 14 and the sub wire rope 16, respectively.

  The cabin 17 covers the cockpit. The cabin 17 is provided with a cockpit (not shown) mounted on the swivel 7. In the cockpit, operating tools for operating the vehicle 2 and turning operating tools 18 for operating the crane device 6, telescopic operating tools 19, undulating operating tools 20, main drum operating tools 21m, sub-drum operating tools 21s, A rotary operation tool 49, a control operation tool 50, and the like are provided (see FIG. 4). The turning operation tool 18 can operate the turning hydraulic motor 8. The telescopic operation tool 19 can operate a telescopic hydraulic cylinder. The up / down operation tool 20 can operate the up / down hydraulic cylinder 12. The main drum operating tool 21m can operate the main hydraulic motor. The sub drum operating tool 21s can operate the sub hydraulic motor. The rotation operation tool 49 can operate rotation of the load W about a vertical axis. The control operation tool 50 includes a control mode (“manual mode”, “turning mode”, “avoidance mode”, “wind direction mode”) for rotation of the load W about the vertical axis, and “winding up” or “winding down”. Can be selected.

  The crane 1 configured as described above can move the crane device 6 to an arbitrary position by running the vehicle 2. In addition, the crane 1 raises the boom 9 to an arbitrary angle with the hydraulic cylinder 12 for raising and lowering by operating the raising and lowering operation tool 20, and extends the boom 9 to an arbitrary length of the boom 9 by operating the telescopic operation tool 19. By doing so, the lifting head and working radius of the crane device 6 can be increased. Further, the crane 1 can transport the load W by lifting the load W with the main drum operating tool 21m or the like and turning the swivel 7 by operating the turning operation tool 18.

  Hereinafter, the rotation control device 10 included in the crane 1 will be described in detail with reference to FIGS. 2 and 3.

  The rotation control device 10 rotates the main hook 10b around a vertical axis. The rotation control device 10 includes a hook sheave 10a, a hydraulic pump 32, a hydraulic motor 33, a rotation control valve 34, a rotation drive valve 35, relief valves 36 to 39, a check valve 40, an inertia measurement device 41, a first pump oil passage. 42, a second pump oil passage 43, a first motor oil passage 44, a second motor oil passage 45, a bypass oil passage 46, and a main hook 10b. The rotation control device 10 is provided with a power supply (not shown), and the provided power supply excites the electromagnets of the rotation control valve 34 and the rotation drive valve 35.

  The hook sheave 10a is a member around which the main wire rope 14 is wound. The hook sheave 10a is a rotatable pulley. The hook sheave 10 a is driven by the main wire rope 14 when the main wire rope 14 is wound up and down. The hook sheave 10a rotates in one direction by the force from the main wire rope 14 when the main wire rope 14 is hoisted, and rotates in the other direction by the force from the main wire rope 14 when the main wire rope 14 is unwound. .

  The hydraulic pump 32 is a pump that discharges hydraulic oil. The hydraulic pump 32 is operated in a corresponding rotation direction with a rotation torque determined by a force transmitted from the main wire rope 14 to the hook sheave 10a and a rotation direction of the hook sheave 10a as an input torque. The discharge pressure of the hydraulic pump 32 varies according to the rotation torque of the hook sheave 10a. The hydraulic pump 32 is connected to the hydraulic motor 33 in a closed circuit, and circulates hydraulic oil with the hydraulic motor 33. When the hook sheave 10a rotates in one direction (when the main wire rope 14 is wound up), the hydraulic pump 32 discharges hydraulic oil from the first port. When the hook sheave 10a rotates in the other direction (when the main wire rope 14 is rolled down), the hydraulic pump 32 discharges hydraulic oil to the second port.

  The hydraulic motor 33 is a motor that rotates the main hook 10b around a vertical axis. The hydraulic motor 33 is driven by hydraulic oil discharged from the hydraulic pump 32. When hydraulic oil is supplied from the first port of the hydraulic motor 33, the hydraulic motor 33 rotates in one direction. When hydraulic oil is supplied from the second port of the hydraulic motor 33, the hydraulic motor 33 rotates in the other direction. The main hook 10b is rotated around a vertical axis with the rotation of the hydraulic motor 33.

  The rotation control valve 34, which is an electromagnetic switching valve, is a valve that switches the flow direction of the hydraulic oil supplied to the hydraulic motor 33. The rotation control valve 34 is provided in an oil passage between the hydraulic pump 32 and the hydraulic motor 33. The first pump port of the rotation control valve 34 is connected to the first port of the hydraulic pump 32 via the first pump oil passage 42. A second port of the hydraulic pump 32 is connected to a second pump port of the rotation control valve 34 via a second pump oil passage 43. The first motor port of the rotation control valve 34 is connected to the first port of the hydraulic motor 33 via the first motor oil passage 44. The second motor port of the rotation control valve 34 is connected to the second port of the hydraulic motor 33 via a second motor oil passage 45.

  When the electromagnet is not excited, the rotation control valve 34 moves the spool to the position II by the restoring force of the spring, so that the first pump oil passage 42 and the second pump oil passage 43 and the first pump oil passage 43 The connection between the motor oil passage 44 and the second motor oil passage 45 is cut off. That is, the rotation control valve 34 blocks the flow of the hydraulic oil so that the hydraulic oil is not supplied to the hydraulic motor 33. Accordingly, the rotation of the hydraulic motor 33 is restricted because the flow of the operating oil in the first motor oil passage 44 and the second motor oil passage 45 is blocked. Then, the rotation of the main hook 10b about the vertical axis is restricted by restricting the rotation of the hydraulic motor 33.

  The rotation control valve 34 connects the first pump oil passage 42 and the first motor oil passage 44 when the electromagnet is excited so that the spool is moved to the position I, and the second pump oil passage. 43 and the second motor oil passage 45 are connected. When the hydraulic pump 32 discharges hydraulic oil to the first pump oil passage 42 (when the main wire rope 14 is wound up), the rotation control valve 34 controls the hydraulic motor via the first motor oil passage 44. The flow direction of the hydraulic oil is switched so that the hydraulic oil is supplied to the first port 33. Thereby, the hydraulic motor 33 rotates in one direction because the hydraulic oil is supplied from the first port of the hydraulic motor 33. The main hook 10b is rotated in one direction about a vertical axis by a hydraulic motor 33 that rotates in one direction.

  When the hydraulic pump 32 is discharging hydraulic oil to the second pump oil passage 43 (when the main wire rope 14 is wound down), the rotation control valve 34 is connected to the second motor oil passage 45 via the second motor oil passage 45. Then, the flow direction of the hydraulic oil is switched so that the hydraulic oil is supplied to the second port of the hydraulic motor 33. Accordingly, the hydraulic motor 33 rotates in the other direction because the hydraulic oil is supplied from the second port of the hydraulic motor 33. The main hook 10b is rotated in the other direction about the vertical axis by the hydraulic motor 33 that rotates in the other direction.

  The rotation control valve 34 connects the first pump oil passage 42 and the second motor oil passage 45 when the electromagnet is excited so that the spool is moved to the position III, and the second pump oil passage 43 and the first motor oil passage 44 are connected. That is, when the hydraulic pump 32 discharges the hydraulic oil to the first pump oil passage 42 (when the main wire rope 14 is wound up), the rotation control valve 34 is connected to the hydraulic motor via the second motor oil passage 45. The flow direction of the hydraulic oil is switched so that the hydraulic oil is supplied to the second port 33. Accordingly, the hydraulic motor 33 rotates in the other direction because the hydraulic oil is supplied from the second port of the hydraulic motor 33. The main hook 10b is rotated in the other direction about the vertical axis by the hydraulic motor 33 that rotates in the other direction.

  When the hydraulic pump 32 discharges hydraulic oil to the second pump oil passage 43 (when the main wire rope 14 is wound down), the rotation control valve 34 controls the hydraulic pressure via the first motor oil passage 44. The flow direction of the hydraulic oil is switched so that the hydraulic oil is supplied to the first port of the motor 33. Thereby, the hydraulic motor 33 rotates in one direction because the hydraulic oil is supplied from the first port of the hydraulic motor 33. The main hook 10b is rotated in one direction about a vertical axis by a hydraulic motor 33 that rotates in one direction.

  The bypass oil passage 46 is an oil passage that returns the hydraulic oil discharged from the hydraulic pump 32 to the hydraulic pump 32 without supplying the hydraulic oil to the hydraulic motor 33. In the bypass oil passage 46, one side of the bypass oil passage 46 is connected to the first pump oil passage 42. In the bypass oil passage 46, the other side of the bypass oil passage 46 is connected to the second pump oil passage 43. The hydraulic oil discharged from the hydraulic pump 32 to the first pump oil passage 42 can be circulated to the second pump oil passage 43 via the bypass oil passage 46. The hydraulic oil discharged from the hydraulic pump 32 to the second pump oil passage 43 can circulate through the bypass oil passage 46 to the first pump oil passage 42. That is, in an oil passage connecting the hydraulic pump 32 and the hydraulic motor 33 in a closed circuit, a bypass circuit for returning hydraulic oil discharged from the hydraulic pump 32 to the hydraulic pump 32 is formed upstream of the rotation control valve 34. ing.

  The rotary drive valve 35, which is an electromagnetic on-off valve, is a valve that returns the hydraulic oil discharged from the hydraulic pump 32 to the hydraulic pump 32 without supplying the hydraulic oil to the hydraulic motor 33. The rotary drive valve 35 is provided in the bypass oil passage 46.

  When the electromagnet is not excited, the rotation drive valve 35 moves the spool to the II position by the restoring force of the spring, and thereby the first pump oil passage 42 and the second pump oil passage 42 via the bypass oil passage 46. The oil passage 43 is connected. Thus, the rotary drive valve 35 connects the high-pressure discharge side of the hydraulic pump 32 and the low-pressure suction side of the hydraulic pump 32 via the bypass oil passage 46. For this reason, the hydraulic oil discharged from the hydraulic pump 32 is returned to the hydraulic pump 32 without being supplied to the hydraulic motor 33.

  When the electromagnet is excited, the rotation drive valve 35 is connected to the first pump oil passage 42 and the second pump oil passage 43 via the bypass oil passage 46 by moving the spool to the position I. Cut off. Thereby, the hydraulic oil discharged from the hydraulic pump 32 is supplied to the hydraulic motor 33 without returning to the hydraulic pump 32 via the bypass oil passage 46.

  A relief valve 36 is provided in the first pump oil passage 42. A relief valve 37 is provided in the second pump oil passage 43. The relief valve 38 is provided in the first motor oil passage 44. A relief valve 39 is provided in the second motor oil passage 45. In each of the relief valves 36 to 39, an oil passage branched from each of the oil passages 42 to 45 is connected to an inlet port of each of the relief valves 36 to 39, and an oil passage for returning hydraulic oil to the hydraulic oil tank 47 is connected to each of the relief valves 36. ~ 39 outlet ports. Each of the relief valves 36 to 39 controls the oil pressure of the hydraulic oil in each of the oil passages 42 to 45 to a set value or less. When the oil pressure of the hydraulic oil in each of the oil passages 42 to 45 exceeds a set value, each of the relief valves 36 to 39 transfers a part of the hydraulic oil flowing through each of the oil passages 42 to 45 through the oil passage to the hydraulic oil tank 47. Reflux. When the operating oil in each of the oil passages 42 to 45 is insufficient, the operating oil is supplied from the operating oil tank 47 to the second pump oil passage 43 via the check valve 40.

  The main hook 10b is a member for hanging the load W. The main hook 10b is a hook-shaped member, and is rotated around a vertical axis by a hydraulic motor 33. Thereby, the rotation control device 10 rotates the load W suspended on the main hook 10b around the vertical axis.

  The inertial measurement unit 41 (Inertial Measurement Unit) is a sensor that detects the angle (or angular velocity) and acceleration of the main hook 10b in a three-dimensional space. The inertial measurement device 41 is provided on the main hook 10b. Based on the angle (or angular velocity) and acceleration in the three-dimensional space detected by the inertial measurement device 41, the control device 48 determines whether the main hook 10b is perpendicular to a predetermined reference such as the traveling direction of the vehicle 2 or the extension direction of the boom 9. The angle around the axis can be calculated. Since the luggage W rotates about the vertical axis with the rotation of the main hook 10b about the vertical axis, the angle of the main hook 10b about the vertical axis with respect to the predetermined reference and the angle of the luggage W about the vertical axis with respect to the predetermined reference. Can be considered equal. Note that the inertial measurement device 41 may be provided on the load W.

  As shown in FIG. 4, the control device 48 controls the actuator of the crane device 6 and the rotation control device 10. The control device 48 is provided in the cabin 17. The control device 48 may have a configuration in which a CPU, a ROM, a RAM, an HDD, and the like are connected by a bus, or may be a configuration including a one-chip LSI or the like. The control device 48 stores various programs and data for controlling the operation of each actuator, sensor, and the like. The control device 48 will be described as a unit in which the control device of the crane 1 and the control device of the rotation control device 10 are integrated. However, the control device of the rotation control device 10 may be separately provided in the rotation control device 10. .

  The control device 48 is connected to the turning operation tool 18, the telescopic operation tool 19, the undulating operation tool 20, the main drum operation tool 21m, the sub-drum operation tool 21s, the rotation operation tool 49, and the control operation tool 50. The operation amounts of the telescopic operation tool 19, the undulation operation tool 20, the main drum operation tool 21m, the sub-drum operation tool 21s, the rotation operation tool 49, and the control operation tool 50 can be acquired.

  The control device 48 is connected to the turning valve 22, the expansion / contraction valve 23, the undulation valve 24, the main valve 25 m, the sub valve 25 s, the rotation control valve 34, and the rotation driving valve 35. The control signal can be transmitted to the expansion / contraction valve 23, the up / down valve 24, the main valve 25m, the sub valve 25s, the rotation control valve 34, and the rotation drive valve 35.

  The control device 48 is connected to the turning sensor 27, the expansion / contraction sensor 28, the undulation sensor 29, the winding sensor 30, and the inertial measurement device 41, and the turning position of the swivel 7, the boom length, the undulation angle, and the hoisting. The amount, the unwinding amount, and the angle (or angular velocity) and acceleration of the main hook 10b in the three-dimensional space can be acquired.

  Hereinafter, the rotation control valve 34 and the rotation drive valve 34 will be described with reference to FIGS. 5 and 6 so that the angle around the vertical axis of the load W with respect to the extension direction of the boom 9 detected by the inertial measurement device 41 becomes a predetermined angle. An operation mode of the crane 1 that controls the valve 35 will be described. In order to rotate the hook sheave 10a, there are a case where the main wire rope 14 is wound up (hanging the load W) and a case where the main wire rope 14 is wound down (hanging the load W). Each case will be described. Hereinafter, as an example of the reference of the angle of the load W about the vertical axis, the traveling direction of the vehicle 2 and the extension direction of the boom 9 will be described. Criterion).

  The case where the main wire rope 14 is wound up to rotate the hook sheave 10a will be described with reference to FIG. “Manual mode” and “winding-up” are selected by operating the control operation tool 50, and an operation of rotating the load W by an angle θa about a vertical axis with respect to the extending direction of the boom 9 is performed by operating the rotation operation tool 49. Suppose. At this time, the control device 48 switches the main valve 25m to cause the main winch 13 to wind the main wire rope 14 (see FIG. 5A). Thereby, the hook sheave 10a is rotated in one direction.

  As shown in FIG. 5B, the control device 48 moves the spool position of the rotary drive valve 35 to the I position after the rotation control device 10 is raised by a predetermined height due to the winding of the main wire rope 14. Let it. The crane 1 raises (moves) the rotation control device 10 by a predetermined height, thereby increasing the hydraulic pressure of the hydraulic oil and generating a sufficient rotation force when the rotation of the main hook 10b is started. it can. The hydraulic oil discharged from the hydraulic pump 32 is supplied to the hydraulic motor 33 without returning to the hydraulic pump 32 via the bypass oil passage 46 due to the movement of the spool position of the rotary drive valve 35. The controller 48 moves the spool position of the rotation control valve 34 to the position I at the same time as the movement of the spool position of the rotation drive valve 35. The rotation control valve 34 switches the flow direction of the hydraulic oil so that the hydraulic oil is supplied to the first port of the hydraulic motor 33 through the first motor oil passage 44. As a result, the hydraulic motor 33 rotates in one direction, and the main hook 10b rotates in one direction about the vertical axis.

  When the control device 48 detects that the main hook 10b has been rotated by the angle θa around the vertical axis with respect to the extending direction of the boom 9 by the inertial measurement device 41 (see FIG. 5A), the main valve 25m To stop the main winch 13 and stop the winding of the main wire rope 14. Thus, the rotation of the hook sheave 10a is stopped.

  The control device 48 moves the spool position of the rotary drive valve 35 to the II position at the same time as the stopping of the winding of the main wire rope 14 (see FIG. 3). The hydraulic oil discharged from the hydraulic pump 32 is returned to the hydraulic pump 32 without being supplied to the hydraulic motor 33. The controller 48 moves the spool position of the rotation control valve 34 to the position II at the same time as the movement of the spool position of the rotation drive valve 35 (see FIG. 3). The rotation control valve 34 shuts off the flow of the hydraulic oil so that the hydraulic oil is not supplied to the hydraulic motor 33. Accordingly, the rotation of the hydraulic motor 33 is restricted, and the rotation of the main hook 10b about the vertical axis with respect to the extending direction of the boom 9 is restricted.

  A case where the main wire rope 14 is wound down to rotate the hook sheave 10a will be described with reference to FIG. As in the case of hoisting the main wire rope 14, “manual mode” or “unwinding” is selected by operating the control operating tool 50, and the luggage W is moved perpendicularly to the extending direction of the boom 9 by operating the rotating operating tool 49. It is assumed that an operation of rotating by an angle θa around the axis is performed. At this time, the control device 48 switches the main valve 25m to cause the main winch 13 to lower the main wire rope 14 (see FIG. 6A). Thereby, the hook sheave 10a is rotated in the other direction.

  As shown in FIG. 6B, the control device 48 moves the spool position of the rotary drive valve 35 to the I position after the rotation control device 10 is lowered by a predetermined height due to the winding of the main wire rope 14. Let it. The hydraulic oil discharged from the hydraulic pump 32 is supplied to the hydraulic motor 33 without returning to the hydraulic pump 32 via the bypass oil passage 46 due to the movement of the spool position of the rotary drive valve 35. The controller 48 moves the spool position of the rotation control valve 34 to the position III simultaneously with the movement of the spool position of the rotation drive valve 35. The rotation control valve 34 switches the flow direction of the hydraulic oil so that the hydraulic oil is supplied to the first port of the hydraulic motor 33 through the first motor oil passage 44. As a result, the hydraulic motor 33 rotates in one direction, and the main hook 10b rotates in one direction about the vertical axis.

  After detecting that the load W has been rotated by the angle θa about the vertical axis with respect to the extension direction of the boom 9 by the inertial measurement device 41, the control device 48 performs the same control as in the case of winding the main wire rope 14. Then, the rotation of the load W about the vertical axis in the extending direction of the boom 9 is restricted. In addition, the crane 1 can suppress the fluctuation of the angle of the load W around the vertical axis with respect to the extending direction of the boom 9 at the time of turning by maintaining the restraint of the rotation of the main hook 10b at the time of turning of the turntable 7. .

  With this configuration, in the rotation control device 10, the hydraulic pump 32 is operated by the rotation of the hook sheave 10a. In the rotation control device 10, the hydraulic motor 33 is driven by hydraulic oil discharged from the hydraulic pump 32, and rotates the main hook 10b around a vertical axis. Further, the rotation control valve 34 is switched to restrict the rotation of the main hook 10b about the vertical axis. This eliminates the need to supply power to the drive source that rotates the load W about the vertical axis. The crane 1 controls the rotation drive valve 35 and the rotation control valve 34 to rotate the load W such that the angle of the load W around the vertical axis with respect to the extension direction of the boom 9 becomes a predetermined angle. Can be. In addition, only when the load W is rotated around the vertical axis, power can be saved by exciting the electromagnets of the rotation control valve 34 and the rotation drive valve 35.

  Further, the rotation control device 10 obtains, via the hook sheave 10a, a driving force when the main winch 13 winds and unwinds the main wire rope 14. The power required to drive the main hook 10b increases according to the load of the load W, but the frictional force between the hook sheave 10a and the main wire rope 14 increases according to the load of the load W. Therefore, the rotation control device 10 can efficiently obtain the power according to the load of the load W via the hook sheave 10a. Further, since the power for driving the main hook 10b can be obtained without depending on the performance of the flywheel, the battery, and the like (in the case of high performance, the weight becomes large), the rotation control device 10 can be reduced in size and weight. it can. That is, the crane 1 can rotate the load W around the vertical axis by generating the rotational force of the main hook 10b with a small device (the rotation control device 10) regardless of the size of the load W.

  7 and 8, the rotation control valve 34 and the rotation driving valve 34 are used to suppress the fluctuation of the angle of the load W around the vertical axis with respect to the traveling direction of the vehicle 2 during the turning of the swivel 7. A control mode of the crane 1 that controls the valve 35 will be described. The upper limit height Hmax and the lower limit height Hmin are the upper and lower limits of the height of the rotation control device 10 when driving the hydraulic pump 32 by rotating the hook sheave 10a. Since the crane 1 moves the rotation control device 10 between the upper limit height Hmax and the lower limit height Hmin, the range in which the load W is moved is limited. Can not be. The predetermined height Ha is the height of the rotation control device 10 that is a condition for moving the spool positions of the rotation control valve 34 and the rotation drive valve 35. By using the predetermined height Ha as a condition, the crane 1 can increase the hydraulic pressure of the hydraulic oil and generate a sufficient rotational force when the rotation of the main hook 10b is started. The angle θb is an angle around the vertical axis of the main hook 10b with respect to the traveling direction of the vehicle 2 when the turntable 7 starts turning. The predetermined angle θc is an angle within a predetermined range from the angle θb. When the angle of the main hook 10b around the vertical axis with respect to the traveling direction of the vehicle 2 exceeds a predetermined angle θc, the crane 1 rotates so as to suppress the fluctuation of the angle of the main hook 10b around the vertical axis with respect to the traveling direction of the vehicle 2. The control of the control valve 34 and the rotation drive valve 35 is performed.

  As shown in FIG. 8A, it is assumed that “turning mode” and “winding-up” are selected by operating the control operating tool 50, and an operation of turning the swivel 7 is performed by operating the turning operating tool 18. At this time, the angle of the main hook 10b around the vertical axis with respect to the traveling direction of the vehicle 2 is an angle θb (see θ1 in FIG. 7). The control device 48 switches the main valve 25m to stop the main winch 13, and stops the winding and lowering of the main wire rope 14. Thus, the rotation of the hook sheave 10a is stopped.

  The controller 48 moves the spool position of the rotary drive valve 35 to the position II. The hydraulic oil discharged from the hydraulic pump 32 is returned to the hydraulic pump 32 without being supplied to the hydraulic motor 33. The control device 48 moves the spool position of the rotation control valve 34 to the position II. The rotation control valve 34 shuts off the flow of the hydraulic oil so that the hydraulic oil is not supplied to the hydraulic motor 33. Thus, the rotation of the hydraulic motor 33 is restricted, and the rotation of the main hook 10b about the vertical axis is restricted. Since the rotation of the main hook 10b about the vertical axis is restricted, the angle of the main hook 10b about the vertical axis with respect to the traveling direction of the vehicle 2 increases with the turning of the swivel 7.

  As shown in FIG. 8B, when the angle around the vertical axis of the main hook 10b with respect to the traveling direction of the vehicle 2 reaches a predetermined angle θc (see θ2 in FIG. 7), the control device 48 sets the main valve. The main winch 13 is caused to wind up the main wire rope 14 by switching 25 m. Thereby, the hook sheave 10a is rotated in one direction.

  The control device 48 moves the spool position of the rotary drive valve 35 to the I position after the rotation control device 10 has been raised by the predetermined height Ha due to the winding of the main wire rope 14. The hydraulic oil discharged from the hydraulic pump 32 is supplied to the hydraulic motor 33 without returning to the hydraulic pump 32 via the bypass oil passage 46 due to the movement of the spool position of the rotary drive valve 35. The controller 48 moves the spool position of the rotation control valve 34 to the position I at the same time as the movement of the spool position of the rotation drive valve 35. The rotation control valve 34 switches the flow direction of the hydraulic oil so that the hydraulic oil is supplied to the first port of the hydraulic motor 33 through the first motor oil passage 44. As a result, the hydraulic motor 33 rotates in one direction, and the main hook 10b rotates in one direction about the vertical axis. Then, as the main hook 10b rotates, the angle of the main hook 10b around the vertical axis with respect to the traveling direction of the vehicle 2 decreases.

  As shown in FIG. 8C, when the angle of the main hook 10b about the vertical axis with respect to the traveling direction of the vehicle 2 returns to the angle θb (see θ3 in FIG. 7), the control device 48 sets the main valve 25m. To stop the main winch 13 and stop the winding of the main wire rope 14. Thus, the rotation of the hook sheave 10a is stopped.

  The control device 48 moves the spool position of the rotary drive valve 35 to the II position simultaneously with stopping the winding of the main wire rope 14. The hydraulic oil discharged from the hydraulic pump 32 is returned to the hydraulic pump 32 without being supplied to the hydraulic motor 33. The control device 48 moves the spool position of the rotation control valve 34 to the position II at the same time as the movement of the spool position of the rotation drive valve 35. The rotation control valve 34 shuts off the flow of the hydraulic oil so that the hydraulic oil is not supplied to the hydraulic motor 33. Accordingly, the rotation of the hydraulic motor 33 is restricted, and the rotation of the main hook 10b about the vertical axis with respect to the extending direction of the boom 9 is restricted. Since the rotation of the main hook 10b around the vertical axis is restricted, the angle of the main hook 10b around the vertical axis with respect to the traveling direction of the vehicle 2 increases again with the turning of the swivel 7.

  When the angle around the vertical axis of the main hook 10b with respect to the traveling direction of the vehicle 2 reaches the predetermined angle θc again (see θ4 in FIG. 7), the control device 48 winds up the main wire rope 14 and turns the rotation drive valve 35 on. By moving the spool position to the position I and moving the rotation control valve 34 to the position I, the angle of the main hook 10b about the vertical axis with respect to the traveling direction of the vehicle 2 is reduced.

  When the height of the rotation control device 10 reaches the upper limit height Hmax, the control device 48 switches the main valve 25m to cause the main winch 13 to lower the main wire rope 14. Thereby, the hook sheave 10a is rotated in the other direction.

  The controller 48 moves the spool position of the rotation control valve 34 to the position III simultaneously with the start of the lowering of the main wire rope 14. The rotation control valve 34 switches the flow direction of the hydraulic oil so that the hydraulic oil is supplied to the first port of the hydraulic motor 33 through the first motor oil passage 44. As a result, the hydraulic motor 33 rotates in one direction, and the main hook 10b rotates in one direction about the vertical axis. Then, as the main hook 10b rotates, the angle of the main hook 10b around the vertical axis with respect to the traveling direction of the vehicle 2 decreases.

  With such a configuration, the rotation control device 10 operates the hydraulic pump 32 by the rotation of the hook sheave 10a when the swivel 7 rotates, and the hydraulic motor 33 driven by the hydraulic oil discharged from the hydraulic pump 32 is mainly used. The hook 10b is rotated about a vertical axis or the rotation of the main hook 10b about the vertical axis is restricted. Thus, it is not necessary to supply power to the drive source that rotates the load W about the vertical axis, and it is possible to suppress a change in the angle of the load W about the vertical axis with respect to the traveling direction of the vehicle 2 when the swivel 7 turns.

  Next, a crane 1 which is a second embodiment of the crane 1 according to the present invention will be described with reference to FIGS. The crane 1 according to each of the following embodiments refers to the same crane 1 shown in FIGS. 1 to 8 by using the name, figure number, and reference numeral used in the description. In the embodiment, a detailed description of the same points as those of the already described embodiment will be omitted, and different points will be mainly described. In the following embodiments, it is assumed that “winding up” or “winding down” is selected by operating the control operation tool 50. When the luggage W is rotated around the vertical axis, the main wire rope 14 is wound up when “winding up” is selected, and the main wire rope 14 is rolled down when “winding up” is selected. And

  As shown in FIG. 4, the camera 51 is a device that captures an image. The camera 51 is provided at the tip of the boom 9 (see FIG. 1). The control device 48 can acquire an image captured by the camera 51, and can recognize an area of the baggage W and an area of a feature on the image by image recognition. Further, the control device 48 can calculate the angle of the load W around the vertical axis with respect to a predetermined reference such as the traveling direction of the vehicle 2 or the extension direction of the boom 9 from the area of the load W on the screen. Therefore, the camera 51 is also a sensor that detects the angle of the load W about the vertical axis.

  Hereinafter, an operation mode of the crane 1 that controls the rotation control valve 34 and the rotation drive valve 35 so that the load W and the obstacle do not contact or collide with each other will be described with reference to FIG. 9. The material W1 is installed on the ground around the installation position (hanging position) of the load W. Since there is a portion where the load W and the material W1 appear to overlap when viewed from above, if the load W is suspended without rotating the load W around the vertical axis, the load W and the material W1 come into contact with or collide with each other. Would.

  It is assumed that the “avoidance mode” has been selected by operating the control operation tool 50. The control device 48 recognizes the area of the luggage W and the area of the material W1 on the image from the image captured by the camera 51 by image recognition. The shortest distance between the region of the load W and the region of the material W1 on the image varies according to the angle of the load W around the vertical axis with respect to the extension direction of the boom 9. For example, when the angle of the load W around the vertical axis with respect to the extending direction of the boom 9 is the angle θd, the shortest distance between the region of the load W and the region of the material W1 on the image is the distance L1 ((FIG. 9 ( A)). When the angle of the load W around the vertical axis with respect to the extending direction of the boom 9 is the angle θe or the angle θf, the shortest distance between the region of the load W and the region of the material W1 on the image is the distance L2 (see FIG. 9). (B)).

  The control device 48 calculates the shortest distance between the region of the load W and the region of the material W1 on the image at each predetermined angle around the vertical axis of the load W with respect to the direction in which the boom 9 extends. Then, the control device 48 rotates the luggage W about the vertical axis so as to have an angle that is the maximum distance among the respective distances. For example, when the angle around the vertical axis of the load W with respect to the extension direction of the boom 9 is the angle θd, the shortest distance is maximum. (See FIG. 9A).

  Alternatively, the control device 48 calculates an angle about the vertical axis of the load W with respect to the extending direction of the boom 9 where the shortest distance is equal to or longer than the predetermined distance. The predetermined distance is a distance smaller than the shortest distance that is the maximum. Then, the control device 48 rotates the load W around the vertical axis within the range of the calculated angle. For example, assuming that the predetermined distance is the distance L2, the control device 48 calculates an angle about the vertical axis of the load W with respect to the extending direction of the boom 9 where the shortest distance is the distance L2 or more. The calculated angle is changed from the angle θe to the angle θf (see FIG. 9B). The operator rotates the load W around the vertical axis within the range from the angle θe to the angle θf by operating the rotation operation tool 49. Note that the crane 1 may output an alarm while the area of the luggage W and the area of the material W1 on the image overlap.

  With this configuration, the rotation control device 10 recognizes the luggage W and the material W1 from the image captured by the camera 51, activates the hydraulic pump 32 by rotation of the hook sheave 10a, and is discharged from the hydraulic pump 32. A hydraulic motor 33 driven by hydraulic oil rotates the main hook 10b around a vertical axis or restrains the rotation of the main hook 10b around the vertical axis. Accordingly, it is not necessary to supply power to the drive source that rotates the load W about the vertical axis, and it is possible to avoid or prevent the load W and the material W1 from contacting or colliding.

  Next, a crane 1 which is a third embodiment of the crane 1 according to the present invention will be described with reference to FIGS.

  As shown in FIG. 11, the camera 51 is a device that captures an image. The camera 51 is provided at the tip of the boom 9 (see FIG. 1). The control device 48 can acquire an image captured by the camera 51, and can recognize an area of the baggage W on the image by image recognition. The controller 48 can calculate the angle of the load W around the vertical axis with respect to a predetermined reference such as the traveling direction of the vehicle 2 or the extension direction of the boom 9 from the area of the load W on the screen. Therefore, the camera 51 is also a sensor that detects the angle of the load W about the vertical axis.

  The wind direction sensor 52 is a sensor that detects a wind direction. The wind direction sensor 52 is provided on the housing of the rotation control device 10 (see FIG. 1). Since the housing of the rotation control device 10 does not rotate around the vertical axis with respect to the camera 51, the direction of the wind direction sensor 52 with respect to the camera 51 is constant. Therefore, the wind direction sensor 52 can detect the wind direction on the image captured by the camera 51. The control device 48 can acquire the wind direction detected by the wind direction sensor 52.

  The display device 53 is a device that displays an image. The display device 53 is provided in the cabin 17. The control device 48 can display an image captured by the camera 51 on the display device 53. The display device 53 includes a touch panel, and an operator can also input information on the touch panel. The control device 48 can acquire information input on the touch panel.

  Hereinafter, an operation mode of the crane 1 that controls the rotation control valve 34 and the rotation drive valve 35 so that a predetermined portion of the load W faces the windward direction will be described with reference to FIG.

  It is assumed that the “wind direction mode” is selected by the operation of the control operation tool 50 and the position information of the predetermined position P of the baggage W is input on the screen of the display device 53. The control device 48 recognizes an area of the baggage W on the image from the image captured by the camera 51 by image recognition. The control device 48 detects the wind direction by the wind direction sensor 52. The control device 48 calculates an angle (angle θg) about the vertical axis of the load W with respect to the extending direction of the boom 9 and a rotation direction (one direction) with the predetermined position P of the load W facing the windward direction. The control device 48 rotates the load W around the vertical axis by θg in one direction with respect to the extending direction of the boom 9 (see FIG. 11A).

  It is assumed that the wind direction changes after rotating the load W about the vertical axis in one direction with respect to the extending direction of the boom 9 by the angle θg. The control device 48 recognizes an area of the baggage W on the image from the image captured by the camera 51 by image recognition. The control device 48 detects the wind direction by the wind direction sensor 52. The control device 48 calculates the angle (angle θh) about the vertical axis of the load W with respect to the extension direction of the boom 9 and the rotation direction (the other direction) with the predetermined position P of the load W facing the windward direction. The control device 48 rotates the load W around the vertical axis in the other direction by the angle θh with respect to the extension direction of the boom 9 (see FIG. 11B). In this way, even if the wind direction changes, the crane 1 can rotate the load W around the vertical axis so that the predetermined position P of the load W faces the windward direction. Similarly, the crane 1 can rotate the load W around the vertical axis so that the predetermined position P of the load W is directed to the windward direction during the turning of the swivel 7, the expansion and contraction of the boom 9, and the undulation.

  With this configuration, the rotation control device 10 recognizes the baggage W from the image captured by the camera 51, recognizes the wind direction from the wind direction sensor 52, activates the hydraulic pump 32 by rotating the hook sheave 10a, and Hydraulic motor 33 driven by hydraulic oil discharged from 32 rotates main hook 10b around a vertical axis or restricts rotation of main hook 10b around the vertical axis. This eliminates the need to supply power to the drive source that rotates the load W about the vertical axis, and can suppress the influence of wind on the load W.

  In the above-described embodiment, the configuration in which the hook sheave 10a is rotated by winding up and down the main wire rope 14 has been described as an example. However, the technical idea of the present application is that the hook block is formed by two or more wire ropes. Applicable to suspended cranes.

  The above-described embodiment merely shows a typical form, and can be variously modified and implemented without departing from the gist of the embodiment. Needless to say, the present invention can be embodied in various forms, and the scope of the present invention is indicated by the description of the claims, and furthermore, the equivalent meaning described in the claims, and all the meanings within the scope are set forth. Including changes.

DESCRIPTION OF SYMBOLS 1 Crane 10 Rotation control device 10a Hook sheave 10b Main hook 14 Main wire rope 32 Hydraulic pump 33 Hydraulic motor 34 Valve for rotation control 35 Valve for rotation drive

Claims (5)

Hook sheave around which a wire rope is wound,
A hydraulic pump that operates based on a force from the wire rope transmitted to the hook sheave and a rotation direction of the hook sheave,
A hydraulic motor connected to the hydraulic pump in a closed circuit, and driven by hydraulic oil discharged from the hydraulic pump;
A state in which hydraulic oil is provided between the hydraulic pump and the hydraulic motor, a state in which hydraulic oil is supplied from one of the hydraulic motors, a state in which hydraulic oil is supplied from the other of the hydraulic motors, and a state in which hydraulic oil is supplied. An electromagnetic switching valve that switches between a state in which the hydraulic motor is not supplied to the hydraulic motor,
A bypass circuit for returning hydraulic oil discharged from the hydraulic pump to the hydraulic pump is formed upstream of the electromagnetic switching valve, and an electromagnetic on-off valve provided in the bypass circuit,
A hook rotated around a vertical axis by the hydraulic motor. A crane including a winch, a wire rope that is wound and unwound by the winch, a hook sheave around which the wire rope is wound, and a rotation control device that controls a turning posture of the load;
A sensor for detecting an angle of the load about a vertical axis,
The rotation control device, a hydraulic pump that operates based on a force from the wire rope transmitted to the hook sheave and a rotation direction of the hook sheave,
A hydraulic motor connected to the hydraulic pump in a closed circuit, and driven by hydraulic oil discharged from the hydraulic pump;
A state in which hydraulic oil is provided between the hydraulic pump and the hydraulic motor, a state in which hydraulic oil is supplied from one of the hydraulic motors, a state in which hydraulic oil is supplied from the other of the hydraulic motors, and a state in which hydraulic oil is supplied. An electromagnetic switching valve that switches between a state in which the hydraulic motor is not supplied to the hydraulic motor,
A bypass circuit that returns hydraulic oil discharged from the hydraulic pump to the hydraulic pump is formed upstream of the electromagnetic switching valve, and an electromagnetic on-off valve provided in the bypass circuit,
A hook driven around a vertical axis by the hydraulic motor,
A crane that controls the electromagnetic on-off valve and the electromagnetic switching valve such that an angle around the vertical axis of the load detected by the sensor becomes a predetermined angle when the winch winds or unwinds the wire rope. Vehicle and
A turntable provided to be capable of turning on the vehicle;
A boom provided on the swivel,
While turning the swivel, the winch winds or unwinds the wire rope so as to suppress a change in the angle of the luggage about a vertical axis with respect to a predetermined reference. The crane according to claim 2, wherein the crane controls the switching valve. Equipped with a camera,
The camera captures an image including the luggage and a feature around the luggage, recognizes an area of the luggage and an area of the feature on the image, and recognizes the luggage in a suspended position of the luggage. 3. The crane according to claim 2, wherein the electromagnetic on-off valve and the electromagnetic switching valve are controlled such that an area around the vertical axis of the load does not overlap with the area of the feature. Camera and
And a wind direction sensor,
The camera captures the luggage, and based on a wind direction detected by the wind direction sensor, the electromagnetic on-off valve and the electromagnetic on-off valve such that a predetermined location of the luggage is at an angle about a vertical axis of the luggage facing upwind. The crane according to claim 2, wherein the crane controls an electromagnetic switching valve.

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