JP2020158269A - Work machine support device and method of arranging wire rope of work machine - Google Patents

Abstract

To provide a work machine support device and a method of arranging a wire rope of a work machine which are capable of improving workability of wire rope arrangement work in which a wire rope paid out from a winch is extended from a proximal end side of a luffing member to a distal end side of the luffing member.SOLUTION: A support device 50 comprises a grasping part 50A, and a running part 50B including a body part 50H. The grasping part 50A can grasp a main hoisting rope 21 paid out from a main hoisting winch 20, and can also release the main hoisting rope 21. The running part 50B can run on a top face part of a luffed-down boom 16 from a proximal end toward a distal end of the boom 16.SELECTED DRAWING: Figure 4

Description

The present invention relates to a support device used when assembling a work machine and a method of arranging a wire rope of the work machine.

Conventionally, as a work machine, a crane provided with a crane body, a boom (undulating member), and a winch is known. The boom is undulatingly supported on the front of the crane body. The winch is attached to the crane body or the base end of the boom to carry out the feeding and winding of the main winding rope (wire rope). When assembling such a crane, it is necessary to pull the tip of the main winding rope unwound from the winch to the tip of the boom (wire rope arrangement work) with the boom lying down with respect to the crane body. It becomes. Conventionally, such a towing operation has been performed by moving on the boom while the operator grips the tip of the main winding rope unwound from the winch. The main winding rope towed to the tip of the boom is connected to the hook and hangs from the tip of the boom on which the hook stands.

Further, Patent Document 1 discloses a crane provided with a crane body, a mast (undulating member), a boom, a bridle unit (lower spreader), a bail unit (upper spreader), and a winch for boom undulating. Has been done. The boom is undulatingly supported by the crane body, and the mast is undulatingly supported by the crane body behind the boom. When working on a crane, the boom undulations extended from the boom undulation winch between the sheave of the bridle unit connected to the tip of the mast and the sheave of the bail unit located closer to the tip of the boom than the bridle unit. The rope is hung around. The bail unit is connected to the tip of the boom by a guy line. When the boom undulating winch winds up and unwinds the boom undulating rope, the distance between the bridle unit and the bail unit changes, causing the boom to undulate.

In the technique described in Patent Document 1, in the transportation stage of the crane, the bridle unit and the bail unit are fixed to the base end portion of the mast in a state of being connected to each other. On the other hand, when assembling the crane, both of the above units are moved from the base end of the mast to the tip of the mast while being lifted by the auxiliary crane. At this time, the tip of the boom undulating rope drawn out from the boom undulating winch is fixed to both units. Therefore, both units are moved by the auxiliary crane while the boom undulating winch pays out the boom undulating rope.

Japanese Unexamined Patent Publication No. 2012-116605

In the conventional work machine as described above, there is a problem that it is not easy to bridge the rope unwound from the winch from the base end side of the undulating member to the tip end side of the undulating member. Specifically, the operator must move the upper surface of the undulating member at a height of several meters from the ground while the undulating member is laid down while grasping the tip of the main winding rope unwound from the winch. .. For this reason, workers need to move carefully while ensuring safety. Further, in general, the rope (wire rope) used in the work machine is a heavy object made of steel, so that the burden on the operator is large.

Further, as described in Patent Document 1, in order to move the tip end side of the rope toward the tip end portion of the undulating member by the auxiliary crane, it is necessary to match the moving speed of the auxiliary crane with the feeding speed of the winch. .. In particular, during the movement of the rope, the weight of the part of the rope that is unwound from the winch increases, so the lifting part of the auxiliary crane is likely to shake due to changes in the tension of the rope. High attention is required for each operator who operates the auxiliary crane.

The present invention has been made in view of the above problems, and improves the workability of the wire rope arranging work in which the wire rope unwound from the winch is bridged from the base end side of the undulating member to the tip end side of the undulating member. It is an object of the present invention to provide a support device for a work machine and a method for arranging a wire rope for the work machine.

The work machine support device according to one aspect of the present invention includes a machine body, a undulating member including a base end portion undulatingly mounted on the machine body and a tip end portion on the opposite side thereof, and the machine body or the undulating member. A work machine support device that supports the wire rope arrangement work of a work machine equipped with a winch that is attached to the base end portion of the above and for feeding and hoisting the wire rope, and is in a state of lying down with respect to the machine body. A traveling portion capable of traveling on a traveling surface arranged on an upper surface portion of the undulating member at least along a moving direction which is a direction from the base end portion to the tip end portion of the undulating member, and the traveling portion. A grip portion that is supported by a portion and is capable of gripping the wire rope drawn out from the winch, while the wire rope can be released, and a grip portion that is supported by the traveling portion and the grip portion is the wire. It is provided with a rope feeding portion capable of relatively moving the wire rope toward the tip end side in the moving direction with respect to the traveling portion with the rope open.

According to this configuration, it is possible to improve the workability of the wire rope arranging work (wiring) in which the wire rope unwound from the winch is bridged from the base end side of the undulating member to the tip end side of the undulating member. .. In particular, for the disposition work, the opportunity for the operator to climb on the undulation member is minimized, and the disposition work can be performed without the operator moving the undulation member while pulling the wire rope. It becomes. Therefore, the workability can be improved and the work time can be shortened by reducing the work at a high place by the worker. Further, while the traveling portion is traveling, the wire rope can be reliably gripped by the grip portion. Further, when the support device reaches the tip end side of the undulating member and the traveling portion stops due to the traveling of the traveling portion, the rope feeding portion can move the wire rope to the tip end side in the moving direction. Therefore, the wire rope can be easily delivered to an operator who stands by at the tip end side of the undulating member or a sheave arranged at the tip end portion of the undulating member.

In the above configuration, it is desirable that the rope feed portion is supported by the traveling portion on the rear end side in the moving direction with respect to the grip portion.

According to this configuration, the rope feed portion is arranged between the grip portion that grips the wire rope and the winch. Therefore, it is prevented that the wire rope is detached from the rope feed portion while the traveling portion is traveling.

In the above configuration, it is desirable that the rope feeding portion is supported by the traveling portion on the tip side in the moving direction with respect to the grip portion.

According to this configuration, the gripping portion grips the wire rope on the rear end side in the moving direction with respect to the rope feeding portion. Therefore, even if the wire rope interferes with other members on the undulating member between the support device and the winch during traveling of the traveling portion, the wire rope is prevented from being detached from the rope feeding portion.

In the above configuration, the rope feed portion has a pair of rollers having outer peripheral surfaces arranged so as to face each other in a direction intersecting the moving direction, and at least one of the pair of rollers is the other. A roller moving drive unit capable of moving at least one of the rollers so as to be brought into contact with and separated from the rollers, and the pair of rollers holding the wire rope while the pair of rollers grip the wire rope. It is desirable to have a roller rotation drive unit capable of rotating at least one of the pair of rollers so as to move the rope relative to the traveling unit.

According to this configuration, the wire rope can be moved relative to the traveling portion by the relative contact / detachment operation and rotation operation of the pair of rollers.

In the above configuration, the rope feeding portion can be switched between an allowable state in which the pair of rollers grips the wire rope and a braking state in which the pair of rollers is allowed to rotate and a braking state in which the rotation is prevented. Further, a braking mechanism is further provided in which the wire rope is moved relative to the traveling portion by the rotation of the pair of rollers in the permissible state, while the pair of rollers keeps the wire rope gripped in the braking state. It is desirable to have.

According to this configuration, the wire rope can be moved relative to the traveling portion in the allowable state of the braking mechanism, while the wire rope is prevented from being accidentally moved relative to the traveling portion in the braking state of the braking mechanism. Can be done.

In the above configuration, the grip portion has a pair of grip members having grip surfaces arranged so as to face each other, and at least one of the pair of grip members is in contact with the other grip member. It has a gripping member moving drive unit capable of moving the at least one gripping member so as to be separated, so that the gripping drive unit brings the at least one gripping member closer to the other gripping member. The wire rope can be gripped by the gripping surfaces of the pair of gripping members, and when the gripping drive unit moves the at least one gripping member away from the other gripping member, the pair It is desirable that the wire rope be released from the gripping member of.

According to this configuration, the wire rope can be stably gripped and opened by the relative movement of the pair of gripping members.

In the above configuration, the pair of gripping members can accept the outer peripheral surface of the wire rope when viewed in a cross section which is an inner peripheral surface constituting the gripping surface and intersects the direction in which the wire rope extends. It is desirable to have inner peripheral surfaces formed in a concave shape as described above.

According to this configuration, the wire rope can be stably gripped so as to surround the wire rope from the surroundings by the pair of concave inner peripheral surfaces.

In the above configuration, the gripping surface of the first gripping member of the pair of gripping members and the gripping surface of a second gripping member different from the first gripping member of the pair of gripping members. Are arranged so as to come into contact with the wire rope at different positions in the moving direction, and the gripping surface of the first gripping member is attached to the wire rope from one end side in the gripping direction intersecting the moving direction. It is desirable that the gripping surface of the second gripping member is arranged so as to come into contact with the wire rope from the other end side in the gripping direction.

According to this configuration, the pair of gripping surfaces do not interfere with each other due to the relative movement of the first gripping member and the second gripping member, so that the pair of gripping surfaces can provide various outer diameters. The wire rope to be held can be gripped.

In the above configuration, it is desirable to further include a vertically moving portion capable of vertically moving the grip portion relative to the traveling body.

According to this configuration, the height of the grip portion is changed according to the height of the winch at the base end of the undulating member and according to the height of the operator and the size of other sheaves at the tip of the undulating member. , The wire rope can be easily delivered.

In the above configuration, it is desirable that the traveling portion is installed on the upper surface portion of the undulating member of the working machine so as to extend along the moving direction and can travel on the scaffold forming the traveling surface.

According to this configuration, it is not necessary to provide a dedicated traveling path for the support device on the undulating member, and the cost of the work machine and the support device is reduced.

The method for arranging the wire rope of the work machine according to another aspect of the present invention includes the machine body, an undulating member including a base end portion and a tip end portion undulatingly mounted on the machine body, and the machine body or the undulating member. In a work machine provided with a winch attached to the base end portion for feeding and winding the wire rope, the wire rope drawn out from the winch in a state where the undulating member is laid down is placed on the upper surface portion of the undulating member. A method for arranging a wire rope of a work machine for arranging the wire rope on the undulating member by pulling from a predetermined initial position of the above to a target position on the tip end side of the undulating member from the initial position. The traveling portion capable of traveling on the upper surface portion, the grip portion capable of gripping the wire rope, and the wire rope are placed in the traveling portion at the initial position on the upper surface portion of the undulating member. On the other hand, a support device provided with a rope feeding portion capable of being relatively moved toward the tip end side in the moving direction is arranged, and the wire rope is extended from the winch, and the wire rope is gripped by the support device. The undulating member causes the traveling portion to grip the wire rope from the initial position on the undulating member to the target position while the gripping portion grips the wire rope while further extending the wire rope from the winch. When the support device reaches the target position by traveling on the upper surface portion of the above and traveling of the traveling portion, the traveling of the traveling portion is stopped, and the grip of the wire rope by the grip portion is released. The wire rope is moved relative to the traveling portion toward the tip end side in the moving direction by the rope feeding portion.

According to this method, it is possible to improve the workability of the wire rope arranging work (wiring) in which the wire rope unwound from the winch is laid from the base end side of the undulating member to the tip end side of the undulating member. .. In particular, for the disposition work, the opportunity for the operator to climb on the undulation member is minimized, and the disposition work can be performed without the operator moving the undulation member while pulling the wire rope. It becomes. Therefore, the workability can be improved and the work time can be shortened by reducing the work at a high place by the worker. Further, when the support device reaches the tip end side of the undulating member and the traveling portion stops due to the traveling of the traveling portion, the grip portion releases the wire rope and the rope feeding portion moves the wire rope to the tip end side in the moving direction. it can. Therefore, the wire rope can be easily delivered to an operator who stands by at the tip end side of the undulating member or a sheave arranged at the tip end portion of the undulating member.

In the above method, as the undulating member, a member having a scaffolding provided on the upper surface portion of the undulating member in the laid-down posture so as to extend along the moving direction is prepared, and the traveling portion is provided with the undulating member. When the member is made to run on the scaffold and the support device reaches the end of the scaffold on the tip side in the moving direction as the target position, the running of the running portion is stopped, and the wire rope by the grip portion is used. It is desirable to open the grip of the rope and to move the wire rope relative to the traveling portion toward the tip end side in the moving direction by the rope feeding portion.

According to this method, it is not necessary to provide a dedicated traveling path for the support device on the undulating member, and the cost of the work machine and the support device is reduced. In addition, the rope feeding portion allows the wire rope to be fed beyond the end of the scaffold.

According to the present invention, support for a work machine capable of improving the workability of the wire rope arrangement work in which the wire rope unwound from the winch is laid from the base end side of the undulating member to the tip end side of the undulating member. A method for arranging wire ropes for equipment and working machines is provided.

It is a side view of the state which the undulating member of the work machine which concerns on 1st Embodiment of this invention is in a laid-down posture. It is a perspective view of the upper surface part of the undulating member of the work machine which concerns on 1st Embodiment of this invention. It is a top view of the support device which concerns on 1st Embodiment of this invention. It is a side view of the support device which concerns on 1st Embodiment of this invention. It is a top view of the support device which concerns on 1st Embodiment of this invention. It is a side view of the support device which concerns on 1st Embodiment of this invention. It is a schematic cross-sectional view which shows the internal structure of the support device which concerns on 1st Embodiment of this invention. It is a partial perspective plan view of the support device which concerns on 1st Embodiment of this invention. It is a vertical sectional view of the I position of the support device of FIG. It is sectional drawing which shows the braking mechanism of the support device which concerns on 1st Embodiment of this invention. It is a bottom view which shows the braking mechanism of the support device which concerns on 1st Embodiment of this invention. It is sectional drawing of the roller of the grip part of the support device which concerns on 1st Embodiment of this invention. It is a partial perspective plan view of the support device which concerns on 1st modification embodiment of this invention. It is a schematic cross-sectional view which shows the internal structure of the support device which concerns on 1st modification embodiment of this invention. It is a partial perspective plan view of the support device which concerns on the 2nd modification embodiment of this invention. It is a partial perspective plan view of the support device which concerns on the 2nd modification embodiment of this invention. It is a partial perspective plan view of the support device which concerns on 3rd modification embodiment of this invention. It is a partial perspective plan view of the support device which concerns on the 4th modification embodiment of this invention. It is a top view of the support device which concerns on 5th modification embodiment of this invention. It is a side view of the support device which concerns on 5th modification embodiment of this invention. It is a top view of the support device which concerns on 5th modification embodiment of this invention. It is a side view of the support device which concerns on 5th modification embodiment of this invention. It is a top view of the support device which concerns on the 6th modification embodiment of this invention. It is a side view of the support device which concerns on the 6th modification embodiment of this invention. It is a side view of the support device which concerns on the 6th modification embodiment of this invention. It is sectional drawing which shows the braking mechanism of the support device which concerns on 7th modification embodiment of this invention. It is a top view which shows the braking mechanism of the support device which concerns on 8th modification embodiment of this invention. It is sectional drawing which shows the braking mechanism of the support device which concerns on 8th modification embodiment of this invention. It is a top view of the support device which concerns on the 9th modification embodiment of this invention. It is a side view of the support device which concerns on the 9th modification embodiment of this invention. It is a side view of the support device which concerns on 2nd Embodiment of this invention. It is a top view of the support device which concerns on 2nd Embodiment of this invention. It is a top view which shows how the support device which concerns on 2nd Embodiment of this invention travels on the crank part of the scaffolding on the undulating member. It is sectional drawing of the grip part of the support device which concerns on 2nd Embodiment of this invention. It is sectional drawing of the grip part of the support device which concerns on 2nd Embodiment of this invention. It is a schematic cross-sectional view which shows the mode that the gripping part of the support device which concerns on 2nd Embodiment of this invention sends out a wire rope. It is sectional drawing of the grip part of the support device which concerns on 2nd Embodiment of this invention. It is (A) front view and (B) side view of the pressing member of the support device which concerns on 2nd Embodiment of this invention. It is a side view of the support device which concerns on the tenth modification embodiment of this invention. It is a top view of the support device which concerns on the tenth modification embodiment of this invention. It is a side view which shows how the support device which concerns on the tenth modification embodiment of this invention overcomes an obstacle. It is a side view which shows how the support device which concerns on the tenth modification embodiment of this invention overcomes an obstacle. It is sectional drawing (A), (B) of the grip part of the support device which concerns on 11th modification of this invention. It is a top view of the support device which concerns on the twelfth modification embodiment of this invention. It is a side view of the support device which concerns on 3rd Embodiment of this invention. It is a top view of the support device which concerns on 3rd Embodiment of this invention. It is a rear view of the support device which concerns on 3rd Embodiment of this invention. It is a side view (A), (B) of the grip part of the support device which concerns on 3rd Embodiment of this invention. It is a side view (A), (B) which shows the mode that the gripping part of the support device which concerns on 3rd Embodiment of this invention grips a wire rope. It is a side view (A), (B) which shows the mode that the gripping part of the support device which concerns on 13th modification of this invention grips a wire rope. It is a side view of the support device which concerns on the 14th modification embodiment of this invention. It is a side view of the support device which concerns on the 15th modification embodiment of this invention. It is a side view of the support device which concerns on the 16th modification embodiment of this invention. It is a side view of the support device which concerns on the 16th modification embodiment of this invention. It is a side view of the support device which concerns on the 17th modification embodiment of this invention. It is a rear view of the feed part of the support device which concerns on the 18th modification embodiment of this invention. It is a rear view of the feed part of the support device which concerns on the 19th modification embodiment of this invention. It is a side view of the support device which concerns on the 20th modification embodiment of this invention. It is an enlarged side view of the tip side guide part of the support device which concerns on 21st modification embodiment of this invention. It is an enlarged rear view of the tip side guide part of the support device which concerns on 21st modification embodiment of this invention. It is a top view of the support device which concerns on 4th Embodiment of this invention. It is a side view of the support device which concerns on 4th Embodiment of this invention. It is a side view of the support device which concerns on 4th Embodiment of this invention. It is a side view of the support device which concerns on the 22nd modification embodiment of this invention. It is a top view of the support device which concerns on the 22nd modification embodiment of this invention. It is a side view of the support device which concerns on the 22nd modification embodiment of this invention. It is a top view of the support device which concerns on the 22nd modification embodiment of this invention. It is a side view of the support device which concerns on the 23rd modification embodiment of this invention. It is a top view of the support device which concerns on the 23rd modification embodiment of this invention. It is a top view which shows the mode that the support device which concerns on the 23rd modification embodiment of this invention runs on the crank part of the scaffolding on the undulating member. It is a side view of the support device which concerns on the 24th modification embodiment of this invention. It is a top view of the support device which concerns on the 24th modification embodiment of this invention. It is a side view which shows the mode that the support device which concerns on the 24th modification embodiment of this invention delivers a wire rope. It is a side view which shows the mode that the support device which concerns on the 24th modification embodiment of this invention delivers a wire rope. It is a side view of the support device which concerns on the 25th modification embodiment of this invention.

<First Embodiment>
Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a side view of a crane 1 (working machine) to which the support device (support device 50, FIG. 2) according to the first embodiment of the present invention is applied, and shows a state during assembly work of the crane 1. ing. In the following, the directions of "top", "bottom", "left", "right", "front" and "rear" are shown in each figure as necessary. It is shown for convenience to explain the structure of the crane 1 and each support device according to the embodiment and the assembly method of the crane 1, and does not limit the moving direction and usage mode of the work machine and the support device according to the present invention. Absent.

The crane 1 includes an upper swing body 11 (airframe) corresponding to a crane body, a lower traveling body 10 that supports the upper swing body 11 so as to be swivel, a boom 16 that functions as an undulating member, a gantry 14, and a mast 15. And. A cab 12 (driver's seat) that allows an operator to board is arranged at the front end of the upper swivel body 11.

The boom 16 shown in FIG. 1 is a so-called lattice type, and is composed of a base end side member, one or more intermediate members, and a tip end side member. The boom 16 is rotatably supported around an axis of rotation horizontal to the upper swing body 11. In other words, the boom 16 includes a base end portion undulatingly attached to the upper swing body 11 and a tip end portion on the opposite side thereof. However, the specific structure of the boom 16 is not limited. The boom 16 may be composed of a single member.

The mast 15 is rotatably supported by the upper swing body 11 around a rotation shaft parallel to the rotation shaft of the boom 16 at a position on the rear side of the boom 16. That is, the mast 15 can also rotate in the same direction as the undulating direction of the boom 16.

The gantry 14 is a support column fixed to the rear end side of the upper swing body 11.

Further, the crane 1 includes a counterweight 13, a boom undulating rope 17, a guy line 18, a boom undulating winch 19, a main winding winch 20 (winch), and a main winding rope 21 (wire rope).

The counterweight 13 is attached to the rear end of the upper swing body 11. The counterweight 13 is a weight for maintaining the balance of the crane 1 in the front-rear direction.

The guy line 18 connects the tip of the mast 15 to the tip of the boom 16. The boom undulating winch 19 is arranged at a substantially central portion in the front-rear direction of the upper swing body 11 and executes a boom undulating rope 17 feeding operation and a hoisting operation. As shown in FIG. 1, the boom undulating rope 17 unwound from the boom undulating winch 19 is hung between the sheaves arranged at the tip of the gantry 14 and the tip of the mast 15. When the boom undulating winch 19 winds up and extends the boom undulating rope 17, the mast 15 rotates, and the boom 16 undulates in conjunction with the rotation.

The main winding winch 20 is arranged on the front side of the boom undulating winch 19 in the upper swing body 11. The main winding rope 21 unwound from the main winding winch 20 is arranged along the boom 16 and then hangs down from the tip end portion of the boom 16. When the main winding winch 20 winds up and unwinds the main winding rope 21, the suspended load is lifted and suspended by a hook (not shown) arranged on the tip side of the main winding rope 21. The main winding winch 20 may be arranged at the base end portion of the boom 16.

As shown in FIG. 1, at the assembly stage of the crane 1, it is necessary to bridge the tip of the main winding rope 21 unwound from the main winding winch 20 from the base end side of the boom 16 to the tip end side of the boom 16. Yes (wire rope towing work, placement work). In the collapsed state of the boom 16 as shown in FIG. 1, the upper surface of the boom 16 is located several meters from the ground, so that the rope pulling work corresponds to the work at a high place. In the present embodiment, while the support device 50 runs on the boom 16, the tip of the main winding rope 21 unwound from the main winding winch 20 is pulled from the base end of the boom 16 to the tip of the boom 16. That is, the support device 50 supports the arrangement work of the main winding rope 21 in the crane 1.

FIG. 2 is a perspective view showing a state in which the support device 50 according to the present embodiment travels on the upper surface portion of the boom 16, and is a boom from the tip end side of the boom 16 in a state of lying down with respect to the upper swing body 11. 16 is a view of the base end side (upper swivel body 11 side) of 16.

The boom 16 includes a pair of first main pipes 161 and a pair of second main pipes 162, a plurality of lattice pipes 163, and a guide roller unit 164. The pair of first main pipes 161 and the pair of second main pipes 162 extend along the longitudinal direction of the boom 16, respectively, and form a quadrangular cross-sectional structure of the boom 16.

The plurality of lattice pipes 163 connect the pair of first main pipes 161 to each other, the pair of second main pipes 162 to each other, and the first main pipe 161 and the second main pipe 162 to each other. Note that FIG. 2 shows only a plurality of lattice pipes 163 that connect the pair of first main pipes 161 to each other.

The guide roller unit 164 is fixed on the lattice pipe 163, and suppresses contact between the rope and the boom 16 when the main winding rope 21 or the like is unwound or wound on the back surface of the boom 16 during work. The guide roller unit 164 has a guide roller 164A and a pair of left and right brackets 164B. The pair of left and right brackets 164B are fixed near both ends of the lattice pipe 163 and rotatably support the guide roller 164A. When the main winding rope 21 is placed on the guide roller unit 164 when the operator pulls the main winding rope 21, the main winding rope 21 moves forward (rope feed direction) due to the rotation of the guide roller unit 164. You will be guided. As a result, the traction load of the operator is reduced.

Further, the boom 16 includes a scaffold 100. The scaffold 100 is installed on the upper surface of the collapsed boom 16 so as to extend mainly along the front-rear direction (moving direction of the support device 50). Specifically, the scaffold 100 is fixed on a plurality of lattice pipes 163, and is located above the lattice pipes 163 and below the guide roller 164A of the above-mentioned guide roller unit 164 (FIG. 2). The worker can move on the scaffold 100 as needed. Further, the scaffold 100 has a U-shaped crank portion 100C. The crank portion 100C is configured such that a part of the scaffolding 100 is bent in a U shape. An idler sheave arrangement portion 100S is formed inside the crank portion 100C. Since the idler sheave (not shown) is rotatably supported by the boom 16 in the idler sheave arrangement portion 100S, the main winding rope 21 can be guided to the tip end side of the boom 16 when the crane 1 is used.

3 and 5 are plan views of the support device 50 according to the present embodiment. 4 and 6 are side views of the support device 50 according to the present embodiment.

The support device 50 includes a grip portion 50A and a traveling portion 50B including a main body portion 50H.

The grip portion 50A is connected to the main body portion 50H, and while it is possible to grip the main winding rope 21 unwound from the main winding winch 20, it is possible to open the main winding rope 21.

The main body portion 50H is a main body portion of the support device 50 and supports each member mounted on the support device 50.

The traveling portion 50B travels on a traveling surface arranged on the upper surface portion (scaffolding 100) of the boom 16 in a state of lying down with respect to the upper swing body 11 in a moving direction from at least the base end portion of the boom 16 toward the tip end portion. It is possible to do. In the present embodiment, the traveling portion 50B has a known crawler structure, and the width thereof in the left-right direction is set to be narrower than the width in the left-right direction of the scaffold 100. In each figure, the arrow DS indicates the direction (movement direction) in which the support device 50 mainly moves to pull the main winding rope 21.

The grip portion 50A includes a pair of left and right rollers 510 (grip members) and a pair of left and right roller support portions 511 (support portions, a pair of support members, a pair of arms) (FIGS. 3 and 5). The pair of left and right rollers 510 are arranged on a pair of center lines extending in a direction (vertical direction) orthogonal to (intersecting) the moving direction of the support device 50, and face each other in a direction intersecting the moving direction. It has a cylindrical outer peripheral surface (grip surface, see rope grip surface 510F in FIG. 12) to be arranged. The outer peripheral surfaces of the pair of left and right rollers 510 are formed of curved surfaces (circumferential surfaces) that are convex to each other when viewed from a direction parallel to the center line (direction intersecting the direction in which the main winding rope 21 extends). The pair of left and right roller support portions 511 are mounted (supported) on the main body portion 50H at intervals in the left-right direction, and support the pair of rollers 510 so as to be rotatable. In particular, in the present embodiment, the pair of roller support portions 511 have the outer peripheral surfaces of the pair of rollers 510 in the left-right direction (orthogonal (intersect) with the moving direction of the support device 50 and the traveling surface of the scaffold 100). The pair of rollers 510 are supported so as to face each other in a parallel facing direction).

FIG. 7 is a schematic cross-sectional view showing the internal structure of the support device 50 according to the present embodiment. FIG. 8 is a partial perspective plan view of the support device 50. FIG. 9 is a vertical sectional view of the I position of the support device 50 of FIG.

With reference to FIG. 9, the pair of left and right roller support portions 511 have an L-shape in a side view, and have a space inside which can accommodate each member described later. Each roller support portion 511 has a cylindrical support base end portion 511B (arm base end portion) rotatably supported around a rotation axis extending in the vertical direction by the main body portion 50H, and the support base end portion 511B. It has a support tip portion 511A (arm tip portion) that is arranged on the opposite side and rotatably supports the roller 510. The support base end portions 511B of the pair of roller support portions 511 are supported by the main body portion 50H at intervals in the left-right direction (opposing direction), and the support tip portions 511A of the pair of roller support portions 511 are paired. They are arranged so as to face each other in the left-right direction at positions spaced apart from the support base end portion 511B in the front-rear direction (moving direction of the support device 50).

With reference to FIGS. 7 to 9, the grip portion 50A further includes a pair of left and right rotating shafts 510A, a pair of left and right bearings 510B, a pair of left and right pulleys 511C, a pair of left and right pulleys 511D, and a pair of left and right belts. It has 512, a pair of left and right bearings 513, and a pair of left and right retaining members 514. In addition, in FIG. 7 and FIG. 9, the member corresponding to the roller 510 on the left side of each of the pair of left and right members is shown. Further, the grip portion 50A has a pair of left and right first motors M1 (FIG. 7) and a pair of left and right second motors M2 (FIG. 7) that supply driving force to the pair of left and right rollers 510 and the pair of left and right roller support portions 511. 9) and. The first motor M1 and the second motor M2 may be arranged one by one, and the driving force may be transmitted to the left and right rollers 510 and the roller support portion 511 by a gear mechanism (not shown). The first motor M1 and the second motor M2 include an electric motor (servo motor). The first motor M1 has a motor shaft MG, and the motor shaft MG is arranged so as to enter the inside of the support base end portion 511B from below (FIG. 9).

The rotating shaft 510A constitutes a shaft portion in the rotation of the roller 510 and is fixed to the roller 510. In the present embodiment, the rotation shaft 510A is arranged so as to extend in the vertical direction. The rotating shaft 510A is provided with a load cell 510A1 (FIG. 9). The load cell 510A1 detects the rotational load of the rotating shaft 510A.

The bearing 510B is fixed to the support tip portion 511A of the roller support portion 511 and rotatably supports the rotary shaft 510A. As shown in FIG. 9, the rotating shaft 510A is supported by two upper and lower bearings 510B. The pulley 511C is arranged inside the support base end portion 511B and is fixed to the upper end portion of the motor shaft MG of the first motor M1. On the other hand, the pulley 511D is fixed to the rotating shaft 510A inside the support tip portion 511A. The belt 512 is hung on the pulley 511C and the pulley 511D. A known chain or the like may be used instead of the belt 512.

The bearing 513 is fixed to the main body portion 50H and rotatably supports the outer peripheral surface of the cylindrical support base end portion 511B. The retaining member 514 is fixed to the upper surface of the main body 50H, and the roller support 511 is detached from the main body 50H by pressing the flange 511F fixed to the outer peripheral portion of the support base end 511B from above. To prevent. Gear teeth (not shown) are formed on the outer peripheral surface of the support base end portion 511B below the bearing 513, and the gear teeth are connected to the output shaft (not shown) of the second motor M2. ing.

According to the above configuration, when the first motor M1 (roller drive unit) rotates in a predetermined rotation direction, the pulley 511C fixed to the upper end portion of the motor shaft MG rotates, so that the belt 512 and the pulley 511D The rotational driving force is transmitted to the rotary shaft 510A via the above. As a result, the roller 510 fixed to the upper end of the rotation shaft 510A rotates in the direction of arrow DR in FIG. At this time, the first motor M1 moves in the same direction and at the same speed in the region where the outer peripheral surfaces of the pair of rollers 510 face each other in a state where the pair of rollers 510 grips the main winding rope 21. A pair of rollers 510 are rotated. Then, as the rollers 510 rotate, the main winding rope 21 sandwiched between the pair of left and right rollers 510 is sent out in the direction of the arrow DW in FIG. 5 (the main winding rope 21 moves forward relative to the traveling portion 50B). To do).

Further, when the second motor M2 (grip drive unit) is rotated in the preset first rotation direction, the support base end portion 511B rotates around the same rotation axis as the motor shaft MG of the first motor M1. At this time, the pair of left and right roller support portions 511 rotate (move) so that the pair of left and right rollers 510 approach each other. As a result, the main winding rope 21 can be gripped by the outer peripheral surfaces of the pair of left and right rollers 510. On the other hand, when the second motor M2 is rotated in the second rotation direction opposite to the first rotation direction, the support base end portion 511B is similarly rotated around the same rotation axis as the motor shaft MG of the first motor M1. Move (move). At this time, the pair of left and right roller support portions 511 rotate so that the pair of left and right rollers 510 are separated from each other. As a result, the main winding rope 21 can be released from the pair of left and right rollers 510.

Further, FIG. 10 is a cross-sectional view showing the braking mechanism of the support device 50, and FIG. 11 is a bottom view showing the braking mechanism of the support device 50. The support device 50 further includes a lock mechanism 515 (braking mechanism). The lock mechanism 515 has a function of blocking the rotation of the pair of rollers 510 in a state where the pair of rollers 510 grips the tip of the main winding rope 21. More specifically, the lock mechanism 515 can switch between an allowable state in which the pair of rollers 510 grips the main winding rope 21 and a braking state in which the pair of rollers 510 are allowed to rotate and a braking state in which the rotation is prevented. In the allowable state, the main winding rope 21 is moved forward relative to the traveling portion 50B by the rotation of the pair of rollers 510, while the state in which the pair of rollers 510 grips the main winding rope 21 is maintained in the braking state.

The lock mechanism 515 is fixed to the upper surface of the support base end portion 511B of the roller support portion 511. The lock mechanism 515 has a lock main body portion 515A and a lock lever 515B. The lock body portion 515A is fixed on the support base end portion 511B and supports the lock lever 515B so as to be swingable around a horizontal rotation axis. The lock lever 515B extends from the lock main body 515A so as to enter below the roller 510. A columnar protrusion is provided at the tip of the lock lever 515B. On the other hand, a plurality of circular locking recesses 510J as shown in FIG. 11 are formed on the lower surface of the roller 510 so as to partially overlap each other. The plurality of locking recesses 510J are formed over the entire circumferential direction of the roller 510.

When the braking motor (not shown) swings the lock lever 515B upward while the main winding rope 21 is gripped by the pair of left and right rollers 510, the protrusion of the lock lever 515B becomes the locking recess 510J directly above. Fit. As described above, in the present embodiment, by switching the lock mechanism 515 to the braking state, it is possible to prevent the roller 510 from being erroneously rotated while the main winding rope 21 is gripped. As a result, the main winding rope 21 is prevented from being sent out and the main winding rope 21 is prevented from falling off by the pair of left and right rollers 510. Such control is performed while the support device 50 is towing (inducing) the main winding rope 21 while traveling from the base end side to the tip end side of the boom 16. On the other hand, when the lock mechanism 515 is switched to the allowable state, the pair of rollers 510 capable of gripping and releasing the main winding rope 21 further moves the main winding rope 21 relative to the traveling portion 50B, that is, a so-called feeding function. Can be combined.

FIG. 12 is a cross-sectional view taken along the vertical direction of the roller 510 of the grip portion 50A of the support device 50 according to the present embodiment. As shown in FIG. 12, the rope gripping surface 510F (grip surface), which is the outer peripheral surface of the roller 510 when viewed from a direction parallel to the traveling surface, is composed of a curved surface recessed inward, and in particular, has a predetermined radius of curvature R. It has a circular cross section. Further, the amount of depression in the horizontal direction of the central portion of the rope gripping surface 510F with respect to the upper and lower ends of the rope gripping surface 510F is defined as δ. Here, when the diameter φ of the main winding rope 21 (wire rope) gripped by the pair of left and right rollers 510 is A ≦ φ ≦ B, it is desirable that the relationship of 2σ <A and 2R> B is satisfied. In this case, the pair of left and right rollers 510 can stably sandwich the plurality of main winding ropes 21 having different outer diameters from each other. In particular, since the main winding rope 21 is sandwiched by the arc portion of the rope gripping surface 510F, the main winding rope 21 is prevented from coming off or falling.

As described above, according to the support device 50 according to the present embodiment, the wire rope arrangement that bridges the main winding rope 21 unwound from the main winding winch 20 from the base end side of the boom 16 to the tip end side of the boom 16. It is possible to improve the workability of the installation work (wiring). In particular, for the disposition work, the opportunity for the operator to climb on the boom 16 is minimized, and the disposition work is performed without the operator moving the boom 16 while towing the main winding rope 21. Is possible. Therefore, the workability can be improved and the work time can be shortened by reducing the work at a high place by the worker.

Further, the second motor M2 drives (rotates) the roller support portion 511 so that the pair of rollers 510 approach each other and moves the roller 510, so that the pair of rollers 510 can grip the main winding rope 21. On the other hand, the main winding rope 21 can be released from the pair of rollers 510 by the second motor M2 driving the roller support portion 511 and moving the rollers 510 so that the pair of rollers 510 are separated from each other.

Further, the first motor M1 rotates the pair of rollers 510 around the center line (rotational shaft 510A) while the pair of rollers 510 grips the main winding rope 21, so that the gripped main winding rope 21 is sent out. This makes it possible to smoothly deliver the main winding rope 21 to an operator waiting at the tip of the boom 16.

Further, in the present embodiment, the pair of rollers 510 are arranged so as to face each other in the left-right direction. Further, the roller 510 has a dimension whose height (thickness) is smaller than its radius. Therefore, as shown in FIG. 4, the height of the support device 50 can be lowered. As a result, the support device 50 is less likely to interfere with obstacles on the boom 16, and the center of gravity of the support device 50 is lowered, so that the running stability is improved.

Further, in the present embodiment, the main winding rope 21 is gripped by the outer peripheral surfaces of the pair of circular rollers 510. The outer peripheral surfaces of the pair of rollers 510 are curved surfaces having a convex shape when viewed from a direction parallel to the center line (a direction intersecting the direction in which the main winding rope 21 extends, a vertical direction). Therefore, the position where the main winding rope 21 is extended from the main winding winch 20 changes along the direction of the rotation axis of the main winding winch 20, and the main winding rope 21 moves left and right between the main winding winch 20 and the support device 50. Since the main winding rope 21 moves along the outer peripheral surface (curved surface) of the roller 510 even when it sways, damage to the main winding rope 21 is suppressed.

Further, in the present embodiment, the first motor M1 (FIG. 7) and the second motor M2 (FIG. 9) are arranged in the main body 50H. Therefore, the weight of the pair of left and right roller support portions 511 can be reduced, and the center of gravity of the support device 50 can be set low to prevent the support device 50 from tipping over.

Further, in the present embodiment, the rotating shaft 510A of FIG. 9 is provided with a known load cell 510A1 (torque measuring unit, tension measuring unit). The load cell 510A1 detects the rotational load of the rotating shaft 510A. As a result, the traction tension of the main winding rope 21 can be measured from the above-mentioned rotational load in a state where the pair of rollers 510 grip the main winding rope 21. Therefore, it is possible to monitor the state in which the main winding rope 21 is towed and the state in which the support device 50 is loaded according to the signal output by the load cell 510A1. Further, in the present embodiment, the support device 50 travels on the scaffolding 100 provided for the operator to move on the boom 16. Therefore, it is not necessary to provide a dedicated traveling path for the support device 50 on the boom 16, and the cost of the crane 1 and the support device 50 is reduced. Further, since the width of the traveling portion 50B of the support device 50 in the left-right direction (width between the pair of left and right crawlers) is set narrower than the width of the scaffold 100, it is prevented that the support device 50 falls off the scaffold 100. Will be done.

Further, in the present embodiment, when the second motor M2 rotationally drives the roller support portion 511 to move the pair of left and right rollers 510 further to the left or right from the position shown in FIG. 5, the pair of rollers The main winding rope 21 gripped by 510 moves to the left or right. That is, the pair of left and right roller support portions 511 (connecting portions) connect the grip portion 50A and the traveling portion 50B to each other so that the grip portion 50A can be displaced relative to the traveling portion 50B. In particular, in the present embodiment, the grip portion 50A is oriented in the left-right direction (orthogonally (intersects) with the moving direction of the support device 50 and parallel to the traveling surface of the scaffold 100) with respect to the traveling portion 50B. The grip portion 50A and the traveling portion 50B are connected to each other so as to be relatively movable.

According to such a configuration, the tension of the main winding rope 21 during traveling is changed by changing the relative positional relationship between the grip portion 50A and the traveling portion 50B according to the movement of the traveling portion 50B and the main winding rope 21. The main winding rope 21 can be arranged on the boom 16 while suppressing the increase of the rope. In particular, even when the feeding position of the main winding rope 21 in the main winding winch 20 changes in the left-right direction, the grip portion 50A can be moved in the left-right direction according to the feeding position. At this time, the grip portion 50A can be positively displaced relative to the traveling portion 50B by the driving force of the second motor M2 (driving unit).

Further, in the present embodiment, the pair of rollers 510 of the grip portion 50A (rope feed portion) are supported by the traveling portion 50B, and the main winding rope 21 is relatively moved toward the tip end side in the moving direction with respect to the traveling portion 50B. Is possible. Further, the second motor M2 (roller moving drive unit) may move at least one roller 510 so that at least one of the pair of rollers 510 is brought into contact with the other roller 510. It is possible. Further, in the first motor M1 (roller rotation drive unit), the pair of rollers 510 moves the main winding rope 21 relative to the traveling portion 50B while the pair of rollers 510 grips the main winding rope 21. At least one of the pair of rollers 510 is rotated. Therefore, the main winding rope 21 can be reliably gripped by the gripping portion 50A while the traveling portion 50B is traveling. Further, when the support device 50 reaches the tip end side of the boom 16 and the traveling portion 50B stops due to the traveling of the traveling portion 50B, the grip portion 50A can move the main winding rope 21 to the tip end side in the moving direction. Therefore, the main winding rope 21 can be easily handed over to an operator standing by at the tip end side of the boom 16 or a sheave arranged at the tip end portion of the boom 16. In particular, the main winding rope 21 can be moved relative to the traveling portion 50B by the relative contact / detachment operation and rotation operation of the pair of rollers 510.

Next, a modified embodiment of the present invention will be described based on the above-mentioned first embodiment. In each of the following modified embodiments, the differences from the basic embodiment will be described, and the common points will be omitted. Further, the following modified embodiments are not limited to the support device 50 according to the first embodiment, but can also be applied to the support devices according to other embodiments described later.

FIG. 13 is a partial perspective plan view of the support device 50 according to the first modification embodiment of the present invention. FIG. 14 is a schematic cross-sectional view showing the internal structure of the support device 50 according to the present modification. In this modification, the grip portion 50A of the support device 50 has a central link 516, a pair of left and right side links 517, and a spring 518 (a urging member). The central link 516 is supported at a substantially central portion of the main body portion 50H so as to be rotatable around a fulcrum 516A extending vertically. The central link 516 extends from the fulcrum 516A in two opposite directions. The pair of left and right side links 517 connect the center link 516 and the pair of left and right roller support portions 511 (arms), respectively. That is, the left side link 517 in FIG. 13 connects one end of the central link 516 and the tip of the left roller support 511. Similarly, the right side link 517 in FIG. 13 connects the other end of the central link 516 to the tip of the right roller support 511. The base end portion of the side link 517 is rotatably supported by the central link 516 at the fulcrum 517A, and the tip end portion of the side link 517 is supported by the roller support portion 511 so as to be rotatable around the same axis as the roller 510. Has been done. The spring 518 urges the pair of left and right roller support portions 511 so that the tip portions (arm tip portions) of the pair of roller support portions 511 approach each other in the left-right direction (opposing direction). One end of the spring 518 is connected to the left roller support 511, and the other end of the spring 518 is connected to the right roller support 511.

Further, in the present modification embodiment, the third motor M3 (grip drive unit) (FIG. 14) arranged inside the main body portion 50H rotates the central link 516 around the fulcrum 516A. Specifically, the third motor M3 rotates (moves) the pair of roller support portions 511 around the fulcrum 516A so that the tip portions of the pair of roller support portions 511 are separated from each other in the left-right direction against the urging force of the spring 518. ). Therefore, when the driving force of the third motor M3 is not generated, the main winding rope 21 can be gripped between the pair of left and right rollers 510 by the urging force of the spring 518. On the other hand, when the third motor M3 generates a driving force, the pair of left and right rollers 510 are separated from each other, and the main winding rope 21 is released. The drive switching of the third motor M3 is instructed by an operator located around the crane 1 by wireless communication or the like. As described above, in the present modification embodiment, the gripping and opening of the main winding rope 21 can be stably switched by a simple configuration such as the third motor M3, the central link 516, the side link 517, and the spring 518. In particular, the pair of left and right rollers 510 can stably grip the main winding rope 21 under the urging force of the spring 518. Further, when the third motor M3 rotates the pair of roller support portions 511, the main winding rope 21 can be released from the pair of rollers 510 against the urging force of the spring 518.

Further, in this modified embodiment, the support tip portion 511A (see FIG. 9) of the roller support portion 511 that supports the roller 510 and the support base end portion 511B that serves as a rotation fulcrum of the roller support portion 511 move the support device 50. They are arranged at different positions in the direction (front-back direction). Further, the support base end portion 511B is arranged inside the support tip end portion 511A in the left-right direction. Therefore, the third motor M3 rotates the pair of support base end portions 511B, so that the main winding rope 21 can be released from the pair of rollers 510 against the urging force of the spring 518.

15 and 16 are partial perspective plan views of the support device 50 according to the second modified embodiment of the present invention. As shown in FIG. 15, the support device 50 may include a central link 516, a coil spring 516B, a pair of left and right first side links 517, and a pair of left and right second side links 519. The coil spring 516B is fitted on the outer periphery of the fulcrum 516A. Similar to the spring 518 of the first modification, the coil spring 516B has a central link 516, a first, so that the tip portions (arm tip portions) of the pair of roller support portions 511 approach each other in the left-right direction (opposite direction). A pair of left and right roller support portions 511 are urged via the side link 517 and the second side link 519.

The pair of left and right first side links 517 are rotatably connected to both ends of the central link 516, and the pair of left and right second side links 519 rotate to the tips of the pair of left and right first side links 517. Can be connected. Further, the tip portions of the pair of left and right second side links 519 are connected to the tip portions of the roller support portion 511.

In the state shown in FIG. 15, a force that causes the rollers 510 to approach each other is applied to the roller support portion 511 by the urging force of the coil spring 516B. On the other hand, when a motor similar to the third motor M3 (FIG. 14) of the above modified embodiment rotates the central link 516 in the direction of the arrow in FIG. 15 against the urging force of the coil spring 516B, a pair of left and right rollers The pair of left and right roller support portions 511 rotate so that the 510s are separated from each other (see the arrow in FIG. 16). As a result, the main winding rope 21 is released from the pair of left and right rollers 510.

FIG. 17 is a partial perspective plan view of the support device 50 according to the third modified embodiment of the present invention. As shown in FIG. 17, a pair of left and right links 520 may be flexibly connected to each other with the fulcrum 520A as a fulcrum. When the rod 521 extending forward from the fulcrum 520A is pulled forward by a drive unit (not shown), the pair of left and right roller support portions 511 rotate against the urging force of the spring 518 so that the pair of left and right rollers 510 approach each other. It can be moved to grip the main winding rope 21. As described above, in the present deformation embodiment, it is possible to bring a strong gripping force to the pair of rollers 510 by the linear operation of the rod 521.

FIG. 18 is a partial perspective plan view of the support device 50 according to the fourth modified embodiment of the present invention. As shown in FIG. 18, the telescopic cylinder 522 may be provided with a telescopic cylinder 522 that connects the tips of the pair of left and right roller support portions 511 to each other. The telescopic cylinder 522 has a cylinder rod 522A connected to the left roller support portion 511. , And a cylinder body 522B connected to the roller support portion 511 on the right side. In the state of FIG. 18, a predetermined distance is formed between the pair of left and right rollers 510. Then, when the cylinder rod 522A of the telescopic cylinder 522 contracts with respect to the cylinder body 522B, the outer peripheral surfaces of the pair of left and right rollers 510 come close to each other, and the main winding rope 21 can be gripped. As described above, in the present modification embodiment, it is possible to provide a strong gripping force to the pair of rollers 510 by the direct power of the telescopic cylinder 522.

19 and 21 are plan views of the support device 50 according to the fifth modified embodiment of the present invention. 20 and 22 are side views of the support device 50 according to the present modification. In this modification, the support device 50 further includes a rear guide 523 (rear end side guide portion) and a telescopic cylinder 524. The rear guide 523 is arranged at the rear portion of the main body portion 50H. The rear guide 523 has a rear guide main body 523A and a rear guide support portion 523B. The rear guide main body 523A is a plate member having a triangular shape in a plan view. Ribs 523H (FIG. 21) protruding upward are arranged on the left and right edge edges of the rear guide main body 523A. The rear guide support portion 523B connects the rear guide main body 523A and the main body portion 50H, and supports the rear guide main body 523A.

The rear guide 523 is supported by the main body portion 50H on the upstream side in the moving direction of the support device 50 from the grip portion 50A, is arranged below the main winding rope 21, can support the main winding rope 21, and is attached to the grip portion 50A. Guide the main winding rope 21 toward you. According to such a configuration, the main winding rope 21 sent out from the main winding winch 20 is easily guided to the grip portion 50A in a state where the support device 50 is arranged on the scaffold 100 on the base end side of the boom 16. It becomes possible to do. As a result, the gripping work of the main winding rope 21 by the support device 50 is easily realized.

Further, in this modified embodiment, as shown in FIG. 22, the rear guide support portion 523B (FIG. 20) has a telescopic cylinder 524 (rear end side guide drive portion). The telescopic cylinder 524 can move the rear guide 523 up and down. The base end of the telescopic cylinder 524 is connected to the main body 50H, and the tip of the telescopic cylinder 524 is connected to the lower surface of the rear end of the rear guide main body 523A. It is desirable that the tip of the telescopic cylinder 524 be rotatably supported around a rotation axis horizontal to the rear guide main body 523A. When the telescopic cylinder 524 is extended, the rear end portion of the rear guide main body 523A is pushed upward as shown in FIG. 22.

When the support device 50 arrives at the tip portion of the boom 16 of the scaffold 100, the pair of left and right rollers 510 are rotated to send the main winding rope 21 forward. Then, a worker standing by near the tip of the boom 16 receives the tip of the main winding rope 21 and hangs it on another idler receive unit 150 (see FIG. 25). Further, in order to separate the support device 50 from the tip of the boom 16, the pair of left and right roller support portions 511 are rotated so that the pair of left and right rollers 510 are separated from each other.

At this time, if a part of the main winding rope 21 is located between the pair of left and right rollers 510, the support device 50 easily interferes with the main winding rope 21, and it becomes difficult to separate the support device 50 from the scaffolding 100. .. Therefore, in this modified embodiment, as shown in FIG. 22, the telescopic cylinder 524 is extended by a predetermined command signal, and the rear end portion of the rear guide main body 523A is pushed upward. As a result, the main winding rope 21 located between the pair of left and right rollers 510 is pushed up to a position higher than the rollers 510 and is detached from the grip portion 50A (FIG. 22). As a result, the traveling portion 50B of the support device 50 allows the support device 50 to move laterally below the main winding rope 21 (FIG. 22) as shown by the arrow in FIG. Therefore, the support device 50 can be easily detached from the main winding rope 21.

FIG. 23 is a plan view of the support device 50 according to the sixth modified embodiment of the present invention. 24 and 25 are side views of the support device 50 according to the present modification.

In the present modification, the support device 50 further includes a front guide 525 (tip side guide portion) and a telescopic cylinder 526 (tip side guide drive portion). The front guide 525 is arranged in the front portion of the main body portion 50H. The front guide 525 is a plate member having a triangular shape in a plan view. It is desirable that ribs protruding upward are also arranged on the left and right edges of the front guide 525. The telescopic cylinder 526 connects the central portion of the front guide 525 in the front-rear direction and the main body portion 50H, and supports the rear guide main body 523A. As shown in FIG. 24, the rear end portion of the front guide 525 is rotatably supported by the bearing 525A arranged in the main body portion 50H.

The front guide 525 is supported by the main body portion 50H on the downstream side in the moving direction of the support device 50 from the grip portion 50A, is arranged below the main winding rope 21, can support the main winding rope 21, and is forward (support device). The main winding rope 21 is guided toward the downstream side in the moving direction of 50). According to such a configuration, when the support device 50 reaches the target position on the boom 16, the main winding rope 21 can be easily guided to, for example, the idler receive unit 150 (FIG. 25). As a result, the delivery work of the main winding rope 21 at the tip of the boom 16 is easily realized.

Further, the telescopic cylinder 526 can move the front guide 525 up and down by the telescopic operation.

Similar to the above, when the support device 50 arrives at the tip of the boom 16 of the scaffold 100, the pair of left and right rollers 510 are rotated to send the main winding rope 21 forward, and the front guide 525 (FIG. 24). ) Will guide you forward. Further, as shown in FIG. 25, the telescopic cylinder 526 is extended by a predetermined command signal, and the front end portion of the front guide 525 is pushed upward. As a result, the tip of the main winding rope 21 can be easily delivered to the idler receive unit 150 arranged at the tip of the boom 16. Further, by moving the front guide 525 up and down according to the height, posture, height of other sheaves, etc. of the worker standing by on the boom 16, the main winding rope 21 released from the grip portion 50A can be moved. It can be delivered more stably to workers.

FIG. 26 is a cross-sectional view showing a braking mechanism of the support device 50 according to the seventh modified embodiment of the present invention. In the above embodiment, the description has been made based on the structure of the lock mechanism 515 as shown in FIGS. 10 and 11. In this modified embodiment, the lock mechanism 515 has a lock main body portion 515A and a pair of upper and lower lock levers 515B. The lock lever 515B is supported by the lock main body 515A so as to swing up and down around a horizontal rotation axis. The pair of upper and lower lock levers 515B can sandwich a part of the roller 510 in the circumferential direction from above and below. A known brake pad or the like is fixed to a portion of the tip of the lock lever 515B that faces the roller 510. According to such a configuration, the rotation of the rollers 510 can be prevented by the pair of upper and lower lock levers 515B sandwiching the rollers 510 from above and below while the pair of left and right rollers 510 hold the main winding rope 21. it can. In particular, in the present modification embodiment, the brake pad can come into contact with the roller 510 and brake the roller 510 regardless of the rotation position of the roller 510.

FIG. 27 is a plan view showing the braking mechanism of the support device 50 according to the eighth modified embodiment of the present invention. FIG. 28 is a cross-sectional view showing a braking mechanism of the support device 50 according to the present modification. In this modified embodiment, the grip portion 50A of the support device has a pair of left and right splines 527, a support bracket 528, and a fourth motor M4 (FIG. 28). The pair of left and right splines 527 are fixed to the motor shaft MG of the first motor M1 described above below the roller support portion 511.

The support bracket 528 is arranged inside the main body 50H between the left and right roller support portions 511. The support bracket 528 has a bracket body 528A, a slider 528B, and a pinion 528C. The bracket body 528A is fixed to the body 50H. The slider 528B is supported by the bracket body 528A so as to be slidable in the front-rear direction. The slider 528B is formed with a rack gear 528H that fits with the pinion 528C. The pinion 528C is connected to the fourth motor M4 and rotates about a horizontal axis by receiving the rotational driving force of the fourth motor M4. When the slider 528B slides backward due to the rotation of the pinion 528C, the pair of left and right protrusions 528K (FIG. 27) arranged at the rear end of the slider 528B engage with the pair of left and right splines 527. As a result, the rotation of the left and right motor shafts MG is blocked, and the rotation of the roller 510 is blocked. In this modified embodiment, the braking mechanism is arranged in the main body 50H. Therefore, as compared with the case where the roller support portion 511 is provided with the braking mechanism, the center of gravity of the support device 50 can be lowered and the support device 50 can be prevented from tipping over.

FIG. 29 is a plan view of the support device 50 according to the ninth modified embodiment of the present invention. FIG. 30 is a side view of the support device 50 according to the present modification. In the first embodiment described above, as shown in FIG. 3, the support device 50 includes a pair of left and right rollers 510. In this modification, the support device 50 includes two pairs of left and right rollers 510, a pair of left and right roller support portions 511, and a pair of left and right belts 512. A pair of rollers 510 are rotatably supported before and after the pair of left and right roller support portions 511. Further, when the pulleys 511C in the pair of left and right roller support portions 511 are rotated, the four rollers 510 in the front, rear, left and right are rotated via the left and right belts 512, respectively. Even in such a configuration, with the same structure as that of the first embodiment, the pair of left and right roller support portions 511 are brought into contact with each other in the left-right direction, so that the main winding rope 21 is gripped by the four rollers 510 in the front, rear, left and right. It becomes possible to open it. Further, by rotating the left and right belts 512, the four rollers 510 in the front, rear, left and right rotate, and the sandwiched main winding rope 21 can be sent forward.

<Second Embodiment>
Next, the second embodiment of the present invention will be described. FIG. 31 is a side view of the support device 60 according to the present embodiment. FIG. 32 is a plan view of the support device 60 according to the present embodiment. FIG. 33 is a plan view showing how the support device 60 according to the present embodiment travels on the crank portion 100C of the scaffolding 100 on the boom 16.

Also in this embodiment, the support device 60 includes a grip portion 60A and a traveling portion 60B including the main body portion 60H, as in the first embodiment.

The grip portion 60A includes a grip unit 610, a swivel unit 620, and a fifth motor M5 (FIG. 31). The gripping unit 610 is a portion of the support device 60 capable of gripping and opening the main winding rope 21. The swivel unit 620 supports the gripping unit 610. The swivel unit 620 has a circular shape in a plan view and is mounted on the upper surface of the main body 60H. The swivel unit 620 is rotatable around a rotation axis extending in the vertical direction. As shown in FIG. 31, the fifth motor M5 is arranged inside the main body 60H, and the output shaft of the fifth motor M5 is fixed to the swivel unit 620. The fifth motor M5 is rotatable in the third rotation direction and the fourth rotation direction opposite to the third rotation direction, and the swivel unit 620 supporting the gripping unit 610 responds to the rotation in the main body. It rotates relative to 60H in each rotation direction.

According to such a configuration, as shown in FIG. 33, when the support device 60 reaches the crank portion 100C (FIG. 2) of the scaffold 100, the traveling portion 60B moves the support device 60 from the front direction to the right direction. Drive to switch to. At this time, the swivel unit 620 is relative to the traveling portion 60B (main body portion 60H) so that the extending direction of the main winding rope 21 does not change, that is, the main winding rope 21 continues to extend along the front-rear direction. Rotate 90 degrees. As a result, bending and damage of the main winding rope 21 are suppressed as compared with the case where the swivel unit 620 does not rotate relative to each other.

Further, when the swivel unit 620 can rotate relative to the gripping unit 610 as in the present embodiment, it is possible to flexibly respond to a change in the release point (feeding position of the main winding rope 21) of the main winding winch 20. Can be done. That is, in FIG. 2, the position where the main winding rope 21 is extended from the main winding winch 20 moves left and right on the drum of the main winding winch 20. As a result, the main winding rope 21 extending from the main winding winch 20 to the support device 60 is alternately inclined to the left and right sides in the front-rear direction (the direction in which the boom 16 extends). If the swivel unit 620 cannot swivel, the portion of the main winding rope 21 gripped by the gripping unit 610 bends alternately on both the left and right sides. On the other hand, when the swivel unit 620 can swivel with respect to the gripping unit 610 as in the present embodiment, the swivel unit 620 travels (straight ahead) along the scaffolding 100 in the front-rear direction, while the swivel unit 620 is a main winding winch. The grip unit 610 can be turned so as to adjust the posture along the direction in which the main winding rope 21 is fed from the 20. Therefore, the bending of the main winding rope 21 as described above is suppressed, and damage to the main winding rope 21 is prevented.

That is, in the present embodiment, the swivel unit 620 (connecting portion) connects the grip portion 60A and the traveling portion 60B to each other so that the gripping unit 610 of the grip portion 60A can be displaced relative to the traveling portion 60B. More specifically, the swivel unit 620 includes the grip portion 60A so that the grip portion 60A can rotate relative to the traveling portion 60B around a vertical axis extending in a direction orthogonal to (intersecting) the traveling surface. The traveling unit 60B is connected to each other. Then, the fifth motor M5 (FIG. 31) (driving unit) displaces the grip portion 60A relative to the traveling portion 60B.

Therefore, by changing the relative positional relationship between the grip portion 60A and the traveling portion 60B according to the movement of the traveling portion 60B and the main winding rope 21, the increase in tension of the main winding rope 21 during traveling is suppressed. However, the main winding rope 21 can be arranged on the boom 16. Further, the grip portion 60A can be positively displaced relative to the traveling portion 60B by the driving force of the fifth motor M5. The swivel unit 620 may be supported so as to swivel (rotate) with respect to the traveling portion 60B without receiving the driving force of the fifth motor M5. In this case, the turning unit 620 turns with respect to the traveling portion 60B according to the direction of the main winding rope 21 between the main winding winch 20 and the grip portion 60A, so that the tension related to the main winding rope 21 increases. It is deterred.

34 and 35 are cross-sectional views of the grip portion 610 of the support device 60 according to the present embodiment. Further, FIG. 36 is a schematic cross-sectional view showing how the grip portion 610 of the support device 60 sends out the main winding rope 21. FIG. 37 is a cross-sectional view of the grip portion 610 of the support device 60. FIG. 38 is a front view (A) and a side view (B) of the first pressing pin 612 of the support device 60.

The gripping unit 610 has a unit main body 611 (holding member), a first pressing pin 612 (pressing member), a second pressing pin 613 (pressing member), and a third pressing pin 614 (pressing member).

The unit main body 611 is a main body portion of the gripping unit 610, and is composed of a tubular member that surrounds an internal space that allows the main winding rope 21 to be inserted. The first pressing pin 612, the second pressing pin 613, and the third pressing pin 614 are the first pressing roller 612S, the second pressing roller 613S, and the third pressing pin 614 that press the main winding rope 21 inserted into the internal space from different directions. 3 Pressing rollers 614S (all pressing portions) are included, and these pressing rollers are supported on the unit body 611 so that they can move along the direction in which they come into contact with and separate from the main winding rope 21 (the radial direction of the main winding rope 21). Has been done. In the present embodiment, as shown in FIGS. 34 and 35, the first pressing pin 612 (predetermined pressing member) is supported on the lower portion of the unit main body 611 so as to be vertically movable. Further, the second pressing pin 613 and the third pressing pin 614 are respectively arranged at positions diagonally above the first pressing pin 612. That is, these pressing pins are arranged at different positions in the circumferential direction. Then, by moving the three (plurality) pressing pins along the radial direction in this way, the main winding rope 21 can be stably gripped.

As shown in FIG. 38, the first pressing pin 612 has a pin body portion 612A and a pin expansion / contraction portion 612B. The first pressing pin 612 has a known cylinder structure, and receives a driving force generated by a driving unit (pressing member driving unit) similar to that of the seventh motor M7 (FIG. 47) described later, and the pin telescopic portion. As the 612B moves relative to the pin body portion 612A, the first pressing pin 612 expands and contracts. The expansion / contraction structure of the second pressing pin 613 and the third pressing pin 614 is the same as that of the first pressing pin 612.

The first pressing roller 612S, the second pressing roller 613S, and the third pressing roller 614S each have a first pressing pin so as to be rotatable about an axis extending in a direction orthogonal to (intersecting) the moving direction of the support device 60. It is supported by 612, the second pressing pin 613, and the third pressing pin 614, respectively. Therefore, when the support device 60 reaches the target position on the boom 16, the main winding rope 21 can be easily pulled out from the grip portion 60A (grip unit 610). It is desirable that these pressing rollers are made of elastic members. In this case, damage to the main winding rope 21 is suppressed. Further, as shown in FIG. 37, the first pressing roller 612S that supports the lower portion of the main winding rope 21 has an outer peripheral shape in which the central portion is recessed, so that the main winding rope 21 is stably held. can do. These pressing rollers may be idler rollers that can idle, but it is desirable that they have a function of feeding out the main winding rope 21 as in the first embodiment. In the present embodiment, the gripping unit 610 has a sixth motor M6 (pressing roller driving unit) that rotationally drives the first pressing roller 612S (FIG. 38). As shown in FIG. 36, the sixth motor M6 rotates the first pressing roller 612S around the axis to move the main winding rope 21 downstream in the moving direction together with the second pressing roller 613S and the third pressing roller 614S. It can be sent out to the side (forward) (the main winding rope 21 is moved relative to the traveling portion 60B). Therefore, when the support device 60 reaches the tip of the boom 16, the main winding rope 21 can be easily delivered (delivered) to the operator or the idler receive unit 150 (see FIG. 25).

It is desirable that the first pressing roller 612S, the second pressing roller 613S, and the third pressing roller 614S be provided with a braking mechanism (not shown) having the same function as the lock mechanism 515 described above. The braking mechanism can be switched between an allowable state in which the pressing rollers of the plurality of pressing pins allow the rotation of the pressing rollers while gripping the main winding rope 21 and a braking state in which the rotation is prevented. In the allowable state, the main winding rope 21 is relatively moved with respect to the traveling portion 60B by the pressing roller, and in the braking state, the main winding rope 21 is continuously gripped by the pressing rollers of the plurality of pressing members. In this case, in the braking state of the braking mechanism, it is prevented that the gripped main winding rope 21 is accidentally dropped off while the support device 60 is traveling. As an example, a known friction member such as a brake pad is pressed against the peripheral surface or the side surface of each pressing roller, so that a braking force (brake force) is applied to each roller as needed. Further, a plurality of irregularities such as known splines may be formed on the outer peripheral surface of the rotation shaft of each pressing roller, and a braking force may be applied by engaging the claw member with the irregularities.

Further, the unit main body 611 has a unit fixing portion 611A (fixed portion) and a unit opening / closing portion 611B (movable portion) (FIG. 34). The unit fixing portion 611A defines a part of the internal space within a range of about 270 degrees in the circumferential direction of the unit main body 611. The unit opening / closing portion 611B is arranged at the upper end portion of the unit main body 611, and is a portion that defines a part of the internal space together with the unit fixing portion 611A. It defines a part of the space.

The unit opening / closing portion 611B can rotate (relatively move) with respect to the unit fixing portion 611A with the fulcrum portion 611C as a fulcrum, and together with the unit fixing portion 611A, the closed state that defines the internal space and the internal space are opened. It is possible to switch between the open state and the open state. According to such a configuration, when the support device 60 reaches the tip end portion of the boom 16, the operator rotates the unit opening / closing portion 611B with respect to the unit fixing portion 611A to grip the main winding rope 21. It can be detached from the unit 610. In other words, since the unit main body 611 of the gripping unit 610 surrounds the main winding rope 21 while the support device 60 is traveling, the main winding rope 21 is prevented from being detached from the gripping unit 610. Further, the unit opening / closing portion 611B opens the internal space upward in the open state so that the main winding rope 21 can be detached upward from the internal space.

Next, a modified embodiment of the present invention will be described based on the above-mentioned second embodiment. Further, the following modified embodiments are not limited to the support device 60 according to the second embodiment, and can be applied to the support devices according to other embodiments described later.

FIG. 39 is a side view of the support device 70 according to the tenth modified embodiment of the present invention. FIG. 40 is a plan view of the support device 70. 41 and 42 are side views showing how the support device 70 gets over an obstacle. Also in this modified embodiment, as in the second embodiment, the support device 70 includes a grip portion 70A and a traveling portion 70B including the main body portion 70H. In the second embodiment, the gripping unit 610 is supported on the upper surface of the swivel unit 620, but in the present modified embodiment, the gripping unit 70A includes the gripping unit 711, the swivel unit 712, and a pair of left and right. It has a bracket 713 and a swing shaft 714. The swivel unit 712 can swivel (relatively rotate) with respect to the main body 70H. The pair of left and right brackets 713 are arranged at intervals on the upper surface of the swivel unit 712. The swing shaft 714 is a shaft portion extending orthogonally (crossing) with the bracket 713, and connects a pair of left and right brackets 713.

In this modified embodiment, the gripping unit 711 having the same structure as the gripping unit 610 according to the second embodiment is swingably held by the swing shaft 714. In particular, the gripping unit 711 is rotatably supported by the swing shaft 714 so that it can rotate by the tension of the main winding rope 21 or the weight of the main winding rope 21 according to the posture of the support device 70 and the like. ing. When the support device 60 travels on the scaffolding 100 of the boom 16, an obstacle such as the guide roller unit 164 of FIG. 2 may exist. The support device 60 cannot continue to travel on the scaffolding 100 unless it gets over the guide roller unit 164. Therefore, as shown in FIGS. 41 and 42, the support device 70 travels so as to get over the guide roller 164A by the crawler of the traveling unit 70B. At this time, since the gripping unit 711 gripping the main winding rope 21 can swing with respect to the swing shaft 714, the main winding rope 21 is held substantially horizontally in the gripping unit 711, and the posture of the main winding rope 21 is changed. It's hard to change. Therefore, it is difficult for an extra force or load to be applied to the main winding rope 21, and the main winding rope 21 can be stably towed and guided.

That is, in this modified embodiment, the bracket 713 and the swing shaft 714 (both are connecting portions) are the grip portion 70A and the traveling portion so that the grip unit 711 of the grip portion 70A can be displaced relative to the traveling portion 70B. 70B and 70B are connected to each other. More specifically, the bracket 713 and the swing shaft 714 are relative to the horizontal axis in which the grip portion 70A extends in a direction orthogonal to (intersecting) the traveling direction and parallel to the traveling surface with respect to the traveling portion 70B. The grip portion 70A and the traveling portion 70B are connected to each other so as to be rotatable.

Therefore, by changing the relative positional relationship between the grip portion 70A and the traveling portion 70B according to the movement of the traveling portion 70B and the main winding rope 21, the increase in tension of the main winding rope 21 during traveling is suppressed. However, the main winding rope 21 can be arranged on the boom 16.

If the function as in the present modification is not provided, the operator may remove the guide roller 164A of the guide roller unit 164 from the bracket 164B in advance. Further, the gripping unit 711 is not limited to a mode in which the gripping unit 711 swings with respect to the swinging shaft 714 due to the tension of the main winding rope 21 or the weight of the main winding rope 21, and the gripping unit 711 is shaken by receiving a predetermined command signal. A mode may be provided in which a drive source (drive unit) that rotates around 714 by a predetermined angle is provided. In this case, since the drive source displaces the grip portion 70A relative to the traveling portion 70B, the grip portion 70A can be positively displaced relative to the traveling portion 70B by the driving force of the drive source. ..

FIG. 43 is a cross-sectional view (A) and (B) of the grip portion of the support device according to the eleventh modification of the present invention. In the second embodiment described above, the main winding rope 21 is taken out by the operator after the unit opening / closing portion 611B is rotated. In this modified embodiment, as shown in FIGS. 43A and 43B, the extension stroke of the first pressing pin 612 is set to be larger than that in the second embodiment. In this modified embodiment, the unit opening / closing portion 611B opens the internal space upward in the open state so that the main winding rope 21 can be detached upward from the internal space. Then, the first pressing pin 612 (predetermined pressing member) can push up the main winding rope 21 arranged in the internal space in the open state of the unit opening / closing portion 611B to a position where the main winding rope 21 is separated from the internal space. In addition, it is supported on the lower portion of the unit body 611 so as to be movable up and down. The second upper end of the first pressing pin 612 (first pressing roller 612S) is separated from the main winding rope 21 so that the upper end portion (first pressing roller 612S) can be raised to a position higher than the upper end portion of the unit fixing portion 611A. A passage space for the first pressing pin 612 is secured between the pressing pin 613 and the third pressing pin 614 (FIG. 43 (B)). According to such a configuration, when the support device 60 reaches the target position on the boom 16, the unit opening / closing portion 611B is opened, so that the main winding rope 21 is detached from the grip portion 60A. Can be done. On the other hand, while the support device 60 is traveling, since the tubular unit main body 611 surrounds the main winding rope 21, the main winding rope 21 is prevented from being detached from the grip portion 60A. In another modified embodiment, the unit opening / closing portion 611B has a drive source for generating a driving force that rotates with respect to the unit fixing portion 611A, and the unit opening / closing portion 611B is opened / closed and the main winding rope 21 is detached. May be realized by remote control.

FIG. 44 is a plan view of the support device 70 according to the twelfth modified embodiment of the present invention. In FIG. 44, the grip portion is not shown. In this modification, the support device 70 includes a front guide 720, a rotating shaft 722, and a pair of left and right brackets 723. The front guide 720 is supported by the main body portion 70H on the downstream side in the moving direction of the support device 70 from the grip portion, is arranged below the main winding rope 21, can support the main winding rope 21, and is capable of supporting the main winding rope 21. Is guided to the downstream side in the moving direction. Ribs 721 that prevent the main winding rope 21 from falling off are arranged on the left and right side edges of the front guide 720.

The pair of left and right brackets 723 are fixed to the swivel unit 712. The rotating shaft 722 is a shaft portion that connects a pair of left and right brackets 723. The front guide 720 can swing up and down with the rotation shaft 722 as a fulcrum. As a result, similarly to the support device 50 shown in FIG. 25, the main winding rope 21 can be stably delivered to the operator standing by at the tip end side of the boom 16 or the idler receive unit 150. Also in this modified embodiment, a telescopic cylinder (not shown) for moving the front guide 720 up and down may be arranged.

<Third Embodiment>
Next, the support device 80 according to the third embodiment of the present invention will be described. FIG. 45 is a side view of the support device 80 according to the present embodiment. FIG. 46 is a plan view of the support device 80. FIG. 47 is a rear view of the support device 80. FIG. 48 is side views (A) and (B) of the grip portion of the support device 80. FIG. 49 is side views (A) and (B) showing how the gripping portion of the support device 80 grips the main winding rope 21.

The support device 80 according to the present embodiment includes a grip portion 80A and a traveling portion 80B including a main body portion 80H, which have the same functions as those of the first embodiment, and further includes a feed portion 80C (roller feed portion). ) And.

The grip portion 80A is supported (connected) to the front side portion of the main body portion 80H, and can grip the main winding rope 21 unwound from the main winding winch 20, while opening the main winding rope 21. It is said that. The traveling portion 80B can travel on the upper surface portion (scaffolding 100) of the boom 16 in the collapsed state at least in the moving direction from the base end portion to the tip end portion of the boom 16.

In the present embodiment, the grip portion 80A includes a support portion 810 (support body, vertical movement portion), an upper grip claw 812 and a lower grip claw 813 (a pair of grip members), and an eighth motor M8 (FIG. 49) (grip). A member moving drive unit). The support portion 810 extends upward from the main body portion 80H. The upper grip claw 812 and the lower grip claw 813 are attached to the support portion 810 so as to face each other at the upper end portion of the support portion 810. As shown in FIG. 48, the upper grip claw 812 has two claws, and the lower grip claw 813 has one claw that enters between the two claws. Further, the upper gripping claw 812 and the lower gripping claw 813 are the inner peripheral surfaces constituting the gripping surface, and the outer circumference of the main winding rope 21 when viewed in a cross section orthogonal to (intersecting) the direction in which the main winding rope 21 extends. Each has an inner peripheral surface formed in a concave shape so as to be able to accept the surface, and at least one of the upper gripping claw 812 and the lower gripping claw 813 has a horizontal axis with respect to the other gripping claw. It is relatively rotatable around a predetermined rotation axis). Then, the gripping surface of the upper gripping claw 812 contacts the main winding rope 21 from one end side in the gripping direction orthogonal to (intersecting) the front-rear direction, and the gripping surface of the lower gripping claw 813 is the other end in the gripping direction. It is arranged so as to come into contact with the main winding rope 21 from the side. Specifically, as shown in FIG. 49 (A), in the present embodiment, the upper gripping claw 812 can rotate up and down around a horizontal axis by receiving the driving force of the eighth motor M8 (claw driving unit). It is said that. Then, when the upper gripping claw 812 rotates so that the upper gripping claw 812 and the lower gripping claw 813 approach each other, the main winding rope 21 can be gripped by the gripping surfaces of the upper gripping claw 812 and the lower gripping claw 813. When the upper grip claw 812 rotates so that the grip claw 812 and the lower grip claw 813 are separated from each other, the main winding rope 21 is released from the upper grip claw 812 and the lower grip claw 813. As a result, as shown in FIG. 49B, the main winding rope 21 can be stably gripped and opened between the upper gripping claw 812 and the lower gripping claw 813. Further, the gripping surfaces of the upper gripping claw 812 and the lower gripping claw 813 are arranged so as to grip the main winding rope 21 at different positions in the direction in which the main winding rope 21 extends (front-back direction) (FIG. 48). .. Therefore, the upper gripping claw 812 and the lower gripping claw 813 do not interfere with each other, and the upper gripping claw 812 corresponds to the amount of entry of one of the lower gripping claws 813 between the two claws of the upper gripping claw 812. The size of the space formed between the lower gripping claw 813 and the lower gripping claw 813 changes. Therefore, as shown in FIGS. 48 (A) and 48 (B), the gripping portion 80A can stably grip the main winding ropes 21 having different diameters.

The main winding rope 21 may be gripped by receiving the driving force of the eighth motor M8 and rotating the lower gripping claw 813 up and down, and the upper gripping claw receives the driving force of the eighth motor M8. The main winding rope 21 may be gripped by rotating both the 812 and the lower gripping claw 813. Further, without providing the eighth motor M8, the operator manually grips the main winding rope 21 between the upper grip claw 812 and the lower grip claw 813 at the base end portion of the boom 16, and at the tip end portion of the boom 16. The operator may open the main winding rope 21 from the upper grip claw 812 and the lower grip claw 813.

With reference to FIGS. 45 to 47, the feed portion 80C is supported by the rear portion of the main body portion 80H. The feed unit 80C includes an upper roller 851 and a lower roller 852 (a pair of rollers and a pair of gripping members) arranged on a pair of center lines extending in the left-right direction (direction orthogonal to (intersecting) the moving direction). The upper roller support portion 851S, the lower roller support portion 852S, and the seventh motor M7 (FIG. 47) (drive source) are provided. The outer peripheral surfaces of the upper roller 851 and the lower roller 852 are curved surfaces (circumferential surfaces) that are convex to each other when viewed from a direction parallel to the center line (direction intersecting the direction in which the main winding rope 21 extends). Further, in the upper roller support portion 851S and the lower roller support portion 852S, the upper roller 851 and the lower roller 851 and the lower roller 852 so that the outer peripheral surfaces of the upper roller 851 and the lower roller 852 face each other in the vertical direction (direction intersecting the moving direction). Each roller 852 is supported. The main winding rope 21 is sandwiched between the outer peripheral surface of the upper roller 851 and the outer peripheral surface of the lower roller 852. It is desirable that the upper roller 851 and the lower roller 852 are made of elastic members in order to prevent damage to the main winding rope 21 to be gripped.

With reference to FIG. 47, the upper roller support portion 851S (cylinder) has a telescopic rod 851S1 that supports the rotating shaft 851A and a cylinder main body 851S2 that is supported by the main body portion 80H. The telescopic rod 851S1 receives the driving force of the seventh motor M7 (drive source) and moves (expands and contracts) in the vertical direction with respect to the cylinder body 851S2. The rotating shaft 851A extends in the left-right direction and functions as a shaft portion in the rotation of the upper roller 851. Similarly, the lower roller support portion 852S (cylinder) has a telescopic rod 852S1 that supports the rotating shaft 852A and a cylinder main body 852S2 that is supported by the main body portion 80H. The telescopic rod 852S1 moves (expands and contracts) in the vertical direction with respect to the cylinder body 852S2 by receiving the driving force of the seventh motor M7. The rotating shaft 852A extends in the left-right direction and functions as a shaft portion in the rotation of the lower roller 852. As described above, in the present embodiment, the pair of rollers are arranged so as to face each other in the vertical direction, and the main winding rope 21 is gripped between the pair of rollers. Therefore, even if the width of the support device 80 in the left-right direction is small and the traveling width on the boom 16 is significantly limited, the support device 80 can travel on the boom 16.

Further, inside the upper roller support portion 851S and the lower roller support portion 852S, gear mechanisms (not shown) are arranged to transmit the driving force of the seventh motor M7 to the upper roller 851 and the lower roller 852 as rotational driving force. .. The driving force of the seventh motor M7 can be selectively transmitted to the rotational operation of the upper roller 851 and the lower roller 852, the expansion / contraction operation of the upper roller support portion 851S, and the expansion / contraction operation of the lower roller support portion 852S. As described above, an electromagnetic clutch (not shown) is provided inside the main body 50H. As described above, in the present embodiment, the seventh motor M7 expands and contracts each cylinder, so that the main winding rope 21 can be gripped and released by the pair of rollers.

When the support device 80 is arranged at the initial position on the base end side of the boom 16, the main winding rope 21 unwound from the main winding winch 20 is inserted between the upper roller 851 and the lower roller 852 of the feed portion 80C. Rope. At this time, it is not necessary for the upper roller 851 and the lower roller 852 to strongly grip the main winding rope 21, and both rollers may function as guide members. Further, the tip of the main winding rope 21 is pulled forward and is gripped by the upper grip claw 812 and the lower grip claw 813 of the grip portion 80A. In this state, when the support device 80 reaches the tip end side of the boom 16 as the traveling portion 80B travels, the main winding rope 21 is strongly sandwiched by the upper roller 851 and the lower roller 852. Next, the upper grip claw 812 of the grip portion 80A is rotated upward, and the gripping force of the main winding rope 21 by the upper grip claw 812 and the lower grip claw 813 is released. Then, the upper roller 851 and the lower roller 852 are rotated in the direction of the arrow in FIG. 45, so that the tip end portion of the main winding rope 21 is sent further forward than the grip portion 80A. As a result, the main winding rope 21 can be delivered to the operator waiting at the tip of the boom 16 or the idler receive unit 150 described above.

In the present embodiment, the grip portion 80A for gripping the main winding rope 21 and the feeding portion 80C for feeding the main winding rope 21 forward are provided independently of each other. Therefore, the grip portion 80A and the feed portion 80C can be realized with a simple structure, and the main winding rope 21 is surely gripped while the support device 80 is running, and the main winding portion 80A and the tip portion of the boom 16 are mainly The winding rope 21 can be easily sent out to the idler receive unit 150 and the operator.

In particular, in the present embodiment, a pair of rollers (upper roller 851 and lower roller 852) of the feed portion 80C are supported by the traveling portion 80B, and the main winding rope 21 is relative to the traveling portion 80B toward the tip end side in the moving direction. It is possible to move it. Further, the seventh motor M7 (roller movement drive unit) can move at least one roller so that at least one of the pair of rollers is brought into contact with the other roller. Further, in the seventh motor M7 (roller rotation drive unit), a pair of rollers move the main winding rope 21 relative to the traveling portion 80B while the pair of rollers grip the main winding rope 21. Rotate at least one of the rollers. Therefore, while the traveling portion 80B is traveling, the main winding rope 21 can be reliably gripped by the grip portion 80A. Further, when the support device 80 reaches the tip end side of the boom 16 and the traveling portion 80B stops due to the traveling of the traveling portion 80B, the gripping portion 80A releases the grip of the main winding rope 21, and the feed portion 80C presses the main winding rope 21. Can be moved to the tip side in the moving direction. Therefore, the main winding rope 21 can be easily handed over to an operator standing by at the tip end side of the boom 16 or a sheave arranged at the tip end portion of the boom 16. In particular, the main winding rope 21 can be relatively moved with respect to the traveling portion 80B by the relative contact / detachment operation and rotation operation of the pair of rollers.

Further, in the present embodiment, as shown in FIG. 45, the feed portion 80C is supported by the traveling portion 80B on the rear end side in the moving direction of the support device 80 rather than the grip portion 80A. Therefore, that is, the feed portion 80C is arranged between the grip portion 80A that grips the main winding rope 21 and the main winding winch 20. Therefore, it is prevented that the main winding rope 21 is detached from the feed portion 80C while the traveling portion 80B is traveling.

In the support device 80 shown in FIG. 45, the feed unit 80C may also function as the grip portion 80A, and the grip portion 80A may function as the feed guide unit. In this case, while the support device 80 is traveling, the feed unit 80C grips the main winding rope 21. Eventually, when the support device 80 reaches the tip of the boom 16, the upper roller 851 and the lower roller 852 of the feed portion 80C rotate, so that the main winding rope 21 is fed forward. At this time, the grip portion 80A guides the main winding rope 21 forward as a feed guide portion. Therefore, the grip portion 80A does not need to strongly grip the main winding rope 21.

In this case, the upper roller support portion 851S and the lower roller support portion 852S (FIG. 47) (both connecting portions) are displaced relative to the traveling portion 80B by the upper roller 851 and the lower roller 852 of the feed portion 80C (grip portion). A connecting portion that connects the feed portion 80C and the traveling portion 80B to each other so as possible. More specifically, the upper roller support portion 851S and the lower roller support portion 852S connect the feed portion 80C and the traveling portion 80B to each other so that the feed portion 80C can move up and down relative to the traveling portion 80B. ..

Therefore, by changing the relative positional relationship between the feed portion 80C and the traveling portion 80B according to the movement of the traveling portion 80B and the main winding rope 21, the increase in tension of the main winding rope 21 during traveling is suppressed. However, the main winding rope 21 can be arranged on the boom 16. In particular, when the traveling body 80B gets over an obstacle on the traveling surface as shown in FIG. 42, the feed portion 80C can move up and down relative to the traveling portion 80B, so that the main winding rope 21 moves up and down. It is possible to suppress an increase in tension of the main winding rope 21. Further, when the support device 80 is arranged on the base end side of the boom 16, the position of the feed portion 80C can be adjusted according to the height of the main winding winch 20 as described above. Further, when the support device 80 reaches the tip end side of the boom 16, the position of the feed portion 80C can be adjusted according to the height of the worker and the height of other sheaves. As a result, the workability of the delivery work of the main winding rope 21 in the support device 80 can be improved. Further, even when the support device 80 reaches the tip end side of the scaffold 100, the main winding rope 21 can be further sent out to the tip end side, so that it is mainly used by workers who stand by on the ground on the tip end side of the boom 16. It is also possible to deliver the winding rope 21.

Further, the support device 80 shown in FIG. 45 may not include the feed unit 80C. Also in this case, since the support device 80 includes the grip portion 80A and the traveling portion 80B, the support device 80 can travel on the scaffold 100 while gripping the main winding rope 21.

Next, a modified embodiment of the present invention will be described based on the above-mentioned third embodiment. Further, the following modified embodiments are not limited to the support device 80 according to the third embodiment, and can be applied to the support devices according to other embodiments described later.

FIG. 50 is side views (A) and (B) showing how the gripping portion of the support device according to the thirteenth modified embodiment of the present invention grips the main winding rope 21. In this modified embodiment, the grip portion includes an upper grip claw 812, a lower grip claw 813, and a telescopic cylinder 814. The telescopic cylinder 814 is composed of, for example, an electric cylinder. As shown in FIG. 50, the lower gripping claw 813 may rotate relative to the upper gripping claw 812 according to the expansion / contraction operation of the telescopic cylinder 814, and the main winding rope 21 may be gripped and opened. .. Further, while the main winding rope 21 is gripped, a predetermined voltage is continuously applied to the telescopic cylinder 814 to activate the braking function and prevent the main winding rope 21 from falling off. In a state where the telescopic cylinder 814 is extended and the main winding rope 21 is gripped, another pressing member may press the lower gripping claw 813 from below to operate the same braking function as described above.

FIG. 51 is a side view of the support device 80 according to the 14th modified embodiment of the present invention. In this modified embodiment, the support portion 810 of the grip portion 80A has a cylinder structure that expands and contracts up and down as shown by an arrow. A drive source (drive unit) (not shown) for expanding and contracting the support unit 810 is arranged on the traveling unit 80B. In this case, the support portion 810 (connecting portion) connects the grip portion 80A and the traveling portion 80B to each other so that the grip portion 80A can be displaced relative to the traveling portion 80B. More specifically, the support portion 810 connects the grip portion 80A and the traveling portion 80B to each other so that the grip portion 80A can move up and down relative to the traveling portion 80B.

Therefore, by changing the relative positional relationship between the grip portion 80A and the traveling portion 80B according to the movement of the traveling portion 80B and the main winding rope 21, the increase in tension of the main winding rope 21 during traveling is suppressed. However, the main winding rope 21 can be arranged on the boom 16. Further, also in this modified embodiment, when the traveling body 80B gets over an obstacle on the traveling surface as shown in FIG. 42, the grip portion 80A can move up and down relative to the traveling portion 80B. It is possible to suppress the vertical movement of the main winding rope 21 and suppress the increase in tension of the main winding rope 21. Further, when the support device 80 is arranged on the base end side of the boom 16, the position of the grip portion 80A can be adjusted according to the height of the main winch 20. Further, according to such a configuration, when the support device 80 reaches the tip end portion of the boom 16, the support portion 810 expands and contracts, so that the tip end portion of the main winding rope 21 becomes an operator or an idler receive unit 150. It can be easily handed over. As a result, the workability of the delivery work of the main winding rope 21 in the support device 80 can be improved.

Further, FIG. 52 is a side view of the support device 80 according to the fifteenth modification embodiment of the present invention. As shown in FIG. 52, the claw portions of the grip portion 80A (upper grip claw 812 and lower grip claw 813 in FIG. 48) may be supported by the support portion 810 so as to be rotatable around a horizontal axis. In this case, the upper gripping claw 812 and the lower gripping claw 813 are rotated around the axis by receiving the driving force of the eighth motor M8. According to such a configuration, since the tip end portion of the main winding rope 21 is arranged so as to extend toward the operator or the idler receive unit 150, the main winding rope 21 can be delivered more easily. Further, as shown in FIG. 51, since the main winding rope 21 does not bend in the vicinity of the rear end portion of the grip portion 80A, damage to the main winding rope 21 can be suppressed. Further, since the claw portion of the grip portion 80A is rotatable with respect to the support portion 810, the main winding rope 21 bends at the end portion of the grip portion 80A when the support device 80 gets over an obstacle on the scaffold 100. Is deterred. As a result, it is possible to prevent the main winding rope 21 from being loaded by the rotation.

In addition, FIGS. 53 and 54 are side views of the support device 80 according to the 16th modified embodiment of the present invention. In this modified embodiment, the support portion 810 is supported by the main body portion 80H so as to be rotatable back and forth with the horizontal support portion rotation shaft 810S as a fulcrum. As shown in FIG. 53, the support portion 810 rotates forward so that the tip end portion of the main winding rope 21 can be easily delivered to the operator or the idler receive unit 150. At this time, the upper grip claw 812 and the lower grip claw 813 of the grip portion 80A rotate relative to the support portion 810, so that bending and damage of the main winding rope 21 are suppressed. Further, when an obstacle (not shown) is present at the tip of the boom 16, as shown in FIG. 54, the support portion 810 rotates backward to cause the tip of the main winding rope 21 and the obstacle. Interference with objects is prevented. Also in this case, the upper grip claw 812 and the lower grip claw 813 of the grip portion 80A rotate relative to the support portion 810, so that bending and damage of the main winding rope 21 are suppressed. Further, as shown in FIG. 54, when the support portion 810 approaches the feed portion 80C, the main winding rope 21 unwound from the main winding winch 20 at the base end portion of the boom 16 is gripped via the feed portion 80C. It can be easily gripped by the portion 80A.

Further, FIG. 55 is a side view of the support device 80 according to the 18th modified embodiment of the present invention. In this modified embodiment, as compared with the 17th modified embodiment described above, the feed portion 80C is supported by the main body portion 80H so as to be rotatable back and forth around a horizontal rotation axis. According to such a configuration, as shown in FIG. 55, the feed portion is matched with the forward rotation of the support portion 810 and the relative rotation of the upper grip claw 812 and the lower grip claw 813 with respect to the support portion 810. By rotating the 80C rearward, the direction of the main winding rope 21 guided by the upper roller 851 and the lower roller 852 of the feed portion 80C can be aligned with the direction in which the grip portion 80A grips the main winding rope 21. it can. Therefore, the tip end portion of the main winding rope 21 can be easily handed over to the operator or the idler receive unit 150, and damage to the main winding rope 21 can be further suppressed.

Further, FIG. 56 is a rear view of the feed unit 80C of the support device according to the 19th modified embodiment of the present invention. Further, FIG. 57 is a rear view of the feed unit 80C of the support device according to the 20th modified embodiment of the present invention. As shown in FIG. 56, the upper roller support portion 851S that supports the upper roller 851 may be fixed to the main body portion 80H, and the lower roller support portion 852S that supports the lower roller 852 may expand and contract up and down. Further, as shown in FIG. 57, the upper roller support portion 851S that supports the upper roller 851 may be expanded and contracted up and down, and the lower roller support portion 852S that supports the lower roller 852 may be fixed to the main body portion 80H. .. That is, at least one of the upper roller support portion 851S and the lower roller support portion 852S (support member) moves (expands and contracts) along the vertical direction between the upper roller 851 and the lower roller 852. The main winding rope 21 may be gripped.

In the third embodiment (FIG. 45) described above, the support device 80 may not include the grip portion 80A, and the feed portion 80C may also have the function of the grip portion. In this case, the cylinder portion of the seventh motor M7 (FIG. 47), the upper roller support portion 851S, and the lower roller support portion 852S constitutes the gripping drive portion of the present invention. The cylinder portion of the seventh motor M7, the upper roller support portion 851S and the lower roller support portion 852S has an upper roller so that at least one of the upper roller 851 and the lower roller 852 comes into contact with the other roller. It is possible to move at least one of the support portion 851S and the lower roller support portion 852S (a pair of support members) up and down. Even in such a configuration, the main winding rope 21 can be stably gripped between the upper roller 851 and the lower roller 852. Further, since the upper roller 851 and the lower roller 852 can move relative to each other, it is possible to grip the main winding rope 21 having various outer diameters. At this time, it is desirable that a braking mechanism for blocking the rotation of the upper roller 851 and the lower roller 852 is provided as in the first embodiment. In this case, when the support device 80 travels on the scaffolding 100 with the feed unit 80C holding the main winding rope 21, the main winding rope 21 is prevented from falling off.

FIG. 58 is a side view of the support device 80 according to the 21st modified embodiment of the present invention. As described above, when the grip portion 80A also has the function of the feed portion 80C, in order to prevent the tip end portion of the main winding rope 21 from extending downward from the grip portion 80A, in this modification, the support device 80 is provided with a front guide 861 (tip side guide portion). The front guide 861 is supported by the main body 80H on the downstream side in the moving direction of the support device 80 from the grip 80A, is arranged below the main winding rope 21, can support the main winding rope 21, and is capable of supporting the main winding rope 21. Is guided to the downstream side in the moving direction. The front guide 861 has a guide main body 862, a telescopic cylinder 863, and a guide support portion 864. The guide main body 862 is rotatably supported around a horizontal rotation axis by the guide support portion 864. The tip of the guide body 862 moves up and down according to the expansion and contraction operation of the expansion and contraction cylinder 863.

59 and 60 are an enlarged side view and an enlarged rear view of the front guide 871 of the support device according to the 22nd modified embodiment of the present invention. Instead of the front guide 861 shown in FIG. 58, a front guide 871 as shown in FIGS. 59 and 60 may be provided. The front guide 871 has a guide holding portion 872, a telescopic cylinder 873, and a guide support portion 874. The telescopic cylinder 873 swings back and forth with the guide support portion 874 as a fulcrum, so that the tip end portion of the main winding rope 21 can be moved back and forth. At this time, by rotating the guide holding portion 872 relative to the telescopic cylinder 873, it is possible to prevent the main winding rope 21 from being bent or damaged as described above. Further, since the guide holding portion 872 has an arc-shaped holding surface as shown in FIG. 60, it is possible to regulate the left and right movement of the main winding rope 21 and guide the main winding rope 21 to a desired position. it can.

<Fourth Embodiment>
Next, the support device 90 according to the fourth embodiment of the present invention will be described. FIG. 61 is a plan view of the support device 90 according to the present embodiment. 62 and 63 are side views of the support device 90.

In the present embodiment, the support device 90 includes a grip portion 90A and a traveling portion 90B including a main body portion 90H.

The grip portion 90A is arranged behind the main body portion 90H and is connected to the main body portion 90H via the connecting portion 912. The gripping portion 90A is capable of gripping the main winding rope 21 unwound from the main winding winch 20 (FIG. 2), while being able to open the main winding rope 21. The grip portion 90A has a grip unit 910, a pair of left and right support brackets 911, and a connecting portion 912.

The gripping unit 910 has the same structure as the gripping unit 610 (FIG. 34) according to the second embodiment. The gripping unit 910 is supported by a pair of left and right support brackets 911 at the rear ends so as to be swingable with the first fulcrum portion 911A extending in the left-right direction as a fulcrum. In the present embodiment, the gripping unit 910 swings with respect to the support bracket 911 depending on the tension of the main winding rope 21 or the weight of the main winding rope 21 according to the posture of the support device 90, the posture of the pair of left and right support brackets 911, and the like. However, the posture in which the main winding rope 21 extends in the substantially horizontal direction is maintained. Further, the front end portions of the pair of left and right support brackets 911 are supported by the connecting portion 912 so as to be rotatable around the second fulcrum portion 911B extending in the left-right direction. The connecting portion 912 is fixed to the front end portion of the main body portion 90H, and connects the grip portion 90A and the main body portion 90H. Inside the main body 90H, a ninth motor M9 (electric motor) for rotating a pair of left and right support brackets 911 around the second fulcrum portion 911B is provided (FIG. 61). The ninth motor M9 can fix the support bracket 911 at an arbitrary position (angle).

In the present embodiment, the gripping unit 910 grips the main winding rope 21 on the scaffolding 100 (FIG. 2) at the base end of the boom 16 in the posture of the support device 90 as shown in FIGS. 61 and 62. Then, when the support device 90 reaches the scaffolding 100 at the tip of the boom 16 due to the traveling of the traveling portion 90B, the ninth motor M9 rotates the pair of left and right support brackets 911 around the second fulcrum portion 911B in the direction of the arrow in FIG. Move it. As a result, as shown in FIG. 63, the posture is changed so that the pair of left and right support brackets 911 face upward. At this time, the gripping unit 910 rotates around the first fulcrum portion 911A in the direction of the arrow in FIG. 62.

According to such a configuration, the support bracket 911 has a traveling portion 90B so as to be rotatable around the second fulcrum portion 911B within a range including at least the first position (FIG. 62) and the second position (FIG. 63). Is supported by. The grip portion 90A in the first position is arranged behind the traveling portion 90B (on the rear end side in the moving direction), and the grip portion 90A in the second position is in front of the grip portion 90A in the first position. It is located (on the tip side in the moving direction). In FIG. 62, the grip portion 90A is arranged so as to face the traveling portion 90B in a direction parallel to the traveling surface (front-rear direction). Therefore, when the support device 90 travels on the scaffold 100, the height of the support device 90 is set low as shown in FIG. 62, so that the support device 90 does not easily fall and can travel stably. .. When the support device 90 reaches the tip of the boom 16, the tip of the main winding rope 21 can be handed over to the operator or the idler receive unit 150 in the posture shown in FIG. 63. That is, the gripping unit 910 can be arranged in front and at a higher position than the traveling portion 90B during work (when the main winding rope 21 is delivered) than when the support device 90 is traveling.

Further, in the present embodiment, as shown in FIG. 63, the relative position of the gripping unit 910 with respect to the traveling portion 90B can be changed by rotating the pair of left and right support brackets 911. Therefore, when the support device 90 gets over the obstacle on the scaffold 100, the posture of the support bracket 911 can be adjusted so that the extending direction (posture) of the main winding rope 21 does not change, so that the main winding rope 21 can be adjusted. The burden on the user can be reduced. Further, when the support device 90 is traveling, the gripping unit 910 is arranged behind the main body 90H (FIG. 62), so that the gripping unit 910 is prevented from hindering the traveling of the traveling unit 90B.

In the present embodiment, the pair of left and right support brackets 911 and the connecting portion 912 (both connecting portions) are the grip portion 90A and the traveling portion so that the grip unit 910 of the grip portion 90A can be displaced relative to the traveling portion 90B. 90B and 90B are connected to each other. In particular, the pair of left and right support brackets 911 and the connecting portion 912 are displaced relative to the traveling portion 90B in the front-rear direction and the vertical direction as the grip unit 910 rotates around the second fulcrum portion 911B of the grip unit 910. Both are connected as shown. Further, the ninth motor M9 (driving unit) displaces the grip portion 90A relative to the traveling portion 90B.

Further, the base end portion (arm base end portion) of the pair of left and right support brackets 911 is supported by the traveling portion 90B so as to be rotatable around the second fulcrum portion 911B (horizontal axis) via the connecting portion 912. There is. Therefore, by rotating the pair of left and right support brackets 911 around the horizontal axis, the grip portion 90A can be moved up and down relative to the traveling portion 90B. Therefore, the traveling body 90B can be traveled while changing the position of the gripping unit 910 of the gripping portion 90A in response to the obstacle on the boom 16. Further, the tip portion (arm tip portion) of the pair of left and right support brackets 911 is a grip unit 910 so that the grip unit 910 of the grip portion 90A can rotate around the first fulcrum portion 911A (axis parallel to the horizontal axis). Supports. That is, in addition to the pair of left and right support brackets 911 rotating with respect to the traveling portion 90B, the gripping unit 910 of the gripping portion 90A is rotatably supported by the tip end portion of the support bracket 911. Therefore, it is possible to suppress that the posture of the main winding rope 21 changes with the rotation of the support bracket 911 around the second fulcrum portion 911B and the tension of the main winding rope 21 increases.

Next, a modified embodiment of the present invention will be described based on the above-mentioned fourth embodiment. Further, the following modified embodiments are not limited to the support device 90 according to the fourth embodiment, and can be applied to the support devices according to other embodiments described later.

64 and 66 are side views of the support device 90 according to the 22nd modified embodiment of the present invention. 65 and 67 are plan views of the support device 90. In this modified embodiment, the grip portion 90A includes a grip unit 910, a pair of left and right support brackets 911, and a pair of left and right connecting portions 912. The gripping unit 910 is supported by a pair of left and right support brackets 911 so as to be rotatable around the first fulcrum portion 911A. On the other hand, the base end portions of the pair of left and right support brackets 911 are supported so as to be rotatable around the second fulcrum portion 911B horizontal to the pair of left and right connecting portions 912. The pair of left and right connecting portions 912 are wall portions fixed to the main body portion 90H at intervals in the left-right direction. Stoppers 911S (FIG. 66) are arranged on the inner wall surface of the pair of left and right connecting portions 912 to regulate the rotation range of the support bracket 911 and prevent the support bracket 911 from coming into contact with the lower main body portion 90H. There is. Further, inside the main body 90H, a ninth motor M9 for rotating a pair of left and right support brackets 911 is arranged as in FIG. 61.

According to the above configuration, on the scaffolding 100 (FIG. 2) at the base end of the boom 16, as shown in FIGS. 64 and 65, the support device 90 such that the pair of left and right unit bodies 911 face rearward. In the posture, the gripping unit 910 grips the main winding rope 21. Then, when the support device 90 reaches the scaffolding 100 at the tip of the boom 16, the ninth motor M9 rotates the pair of left and right support brackets 911 around the second fulcrum portion 911B in the direction of the arrow in FIG. As a result, as shown in FIGS. 66 and 67, the posture is changed so that the pair of left and right support brackets 911 face forward. At this time, the gripping unit 910 rotates around the first fulcrum portion 911A in the direction of the arrow in FIG.

Even in such a configuration, when the support device 90 travels on the scaffold 100, the height of the support device 90 is set low as shown in FIG. 64, so that the support device 90 does not easily fall and travels stably. can do. When the support device 90 reaches the tip of the boom 16, the tip of the main winding rope 21 can be handed over to the operator or the idler receive unit 150 in the posture shown in FIG. 66. Further, in the present modified embodiment, as shown in FIG. 67, the main winding rope 21 can be accommodated between the pair of left and right connecting portions 912 and further between the pair of left and right support brackets 911. Therefore, when the posture of the grip portion 90A is changed, the main winding rope 21, the support bracket 911, and the connecting portion 912 are prevented from interfering with each other.

Also in this modified embodiment, the support bracket 911 is a traveling portion so as to be rotatable around the second fulcrum portion 911B within a range including at least the first position (FIG. 64) and the second position (FIG. 66). It is supported by 90B. The grip portion 90A in the first position is arranged on the rear side (rear end side in the moving direction) of the traveling portion 90B, and the grip portion 90A in the second position is in front of the grip portion 90A in the first position. (The tip side in the moving direction), and is arranged on the front side (tip side in the moving direction) of the traveling portion 90B.

68 and 69 are side views and plan views of the support device 90 according to the 23rd modified embodiment of the present invention. FIG. 70 is a plan view showing how the support device 90 travels on the crank portion 100C of the scaffolding 100 on the boom 16. In the present modification embodiment, as compared with the 22nd modification embodiment, the connecting portion 912 is different in that the main body portion side member 912A and the grip portion side member 912B are provided. The grip portion side member 912B is connected to a pair of left and right support brackets 911, and the main body portion side member 912A is connected to the rear end portion of the main body portion 90H. The grip portion side member 912B is connected to the main body portion side member 912A so as to be rotatable left and right with the rotation fulcrum portion 912S extending in the vertical direction as a fulcrum (FIGS. 68 and 69).

According to such a configuration, as shown in FIG. 70, when the support device 90 reaches the crank portion 100C (FIG. 2) on the scaffold 100, the traveling portion 90B changes direction along the crank portion 100C. Even if there is, the main winding rope 21 can be maintained in a state of extending in the front-rear direction by rotating the grip portion 90A relative to the traveling portion 90B. Therefore, as compared with the case where the grip portion 90A integrally changes the direction together with the traveling portion 90B, it is possible to prevent the main winding rope 21 from being bent or damaged. Further, also in this modified embodiment, as shown in FIG. 69, since the grip portion 90A can rotate with the rotation fulcrum portion 912S as a fulcrum while the traveling portion 90B is traveling, the second embodiment (FIG. 33). ), It is possible to flexibly respond to a change in the release point (the feeding position of the main winding rope 21) of the main winding winch 20.

That is, in the present modified embodiment, the connecting portion 912 (intermediate connecting portion) rotatably supports the base end portion (arm base end portion) of the support bracket 911 around the horizontal axis, and the base of the support bracket 911. The base end portion of the support bracket 911 so that the end portion can rotate relative to the traveling portion 90B around the rotation fulcrum portion 912S (the vertical axis extending in the direction orthogonal to (intersecting) the traveling surface). And the traveling unit 90B are connected to each other. Therefore, even if the traveling portion 90B changes its direction on the traveling surface as described above, the main winding rope 21 gripped by the grip portion 90A is maintained in a state of extending along the front-rear direction (moving direction). As such, the grip portion 90A can be rotated relative to the traveling portion 90B. As a result, the tension of the main winding rope 21 is increased due to the change of direction of the traveling portion 90B, and the main winding rope 21 is prevented from being damaged.

71 and 72 are side views and plan views of the support device 90 according to the 24th modified embodiment of the present invention. 73 and 74 are side views showing how the support device 90 delivers the main winding rope 21. In the present modification embodiment, the support bracket 911 has a bent shape as compared with the 22nd modification embodiment, and the support device 90 has a swivel portion 913 as in the second embodiment. It differs in that. The pair of left and right support brackets 911 have a bent portion at a substantially central portion. The pair of left and right support brackets 911 are supported by the pair of left and right connecting portions 912 so as to be rotatable around the second fulcrum portion 911B, respectively. The pair of left and right connecting portions 912 are fixed on the swivel portion 913 that can rotate (relatively rotate) with respect to the main body portion 90H. Further, a stopper 911S (FIG. 71) that regulates the rotation range of the support bracket 911 is arranged on the connecting portion 912.

According to such a configuration, as shown in FIG. 73, when the height of the idler receive unit 150 arranged at the tip of the boom 16 is low, the support bracket 911 rotates to the front of the connecting portion 912. By being moved, the main winding rope 21 can be easily delivered to the idler receive unit 150. On the other hand, as shown in FIG. 74, when the height of the idler receive unit 150 arranged at the tip of the boom 16 is high, the support bracket 911 is rotated to the upper part of the connecting portion 912, whereby The main winding rope 21 can be easily delivered to the idler receive unit 150.

Also in this modified embodiment, the support bracket 911 is a traveling portion so as to be rotatable around the second fulcrum portion 911B within a range including at least the first position (FIG. 71) and the second position (FIG. 73). It is supported by 90B. The grip portion 90A in the first position is arranged behind the traveling portion 90B (on the rear end side in the moving direction), and the grip portion 90A in the second position is in front of the grip portion 90A in the first position. (The tip side in the moving direction), and is arranged in front of the traveling portion 90B. In FIG. 74, the grip portion 90A is further arranged above the traveling portion 90B as a third position between the first position and the second position.

FIG. 75 is a side view of the support device 90 according to the 25th modified embodiment of the present invention. This modified embodiment is different from the 23rd modified embodiment (FIGS. 69 to 70) in that the support device 90 includes a bracket stopper 950. Since the main winding rope 21 is a metal (steel) wire rope, it is a heavy object. Therefore, when the traveling unit 90B travels while the gripping unit 910 grips the main winding rope 21, if the ninth motor M9 (FIG. 61) tries to maintain the posture of the support bracket 911, a large current is required. To do. Therefore, in the present modification embodiment, the bracket stopper 950 fixed to the main body 90H so as to extend rearward from the rear end of the main body 90H may support the front ends of the pair of left and right support brackets 911 from below. it can. Therefore, the load on the ninth motor M9 can be reduced when the support device 90 is moved.

<About wire rope arrangement method>
By using the support device according to each of the above embodiments, in the crane 1 (working machine), the main winding rope 21 is moved from the base end portion of the boom 16 to the tip end portion of the boom 16 by the following wire rope arrangement method. It can be arranged.

That is, taking the support device 80 according to the third embodiment as an example, the wire rope arrangement method includes an upper swing body 11 and a base end portion and a tip end portion undulatingly mounted on the upper swing body 11. In a crane 1 including a boom 16 and a main winding winch 20 attached to the base end portion of the upper swing body 11 or the boom 16 to feed and wind the main winding rope 21, with the boom 16 lying down. The boom 16 is pulled out from the main winding winch 20 from a predetermined initial position on the upper surface portion of the boom 16 to a target position on the tip end side of the boom 16 from the initial position. This is a method for arranging the wire rope of the crane 1 for arranging the main winding rope 21 on the top. The wire arrangement method is
At the initial position on the upper surface portion of the boom 16 in the collapsed posture, the traveling portion 80B capable of traveling on the upper surface portion, the grip portion 80A capable of gripping the main winding rope 21, and the main winding rope 21 are placed on the traveling portion 80B. On the other hand, by arranging the support device 80 provided with the feed unit 80C capable of relatively moving the traveling unit 80B toward the tip end side in the moving direction,
The main winding rope 21 is unwound from the main winding winch 20, and the main winding rope 21 is gripped by the grip portion 80A of the support device 80.
While the main winding rope 21 is further extended from the main winding winch 20, the traveling portion 80B is connected to the traveling portion 80B from the initial position on the boom 16 to the target position in a state where the grip portion 80A grips the main winding rope 21. Running on the upper surface of the boom 16 and
When the support device 80 reaches the target position due to the traveling of the traveling unit 80B, the traveling of the traveling unit 80B is stopped, and the main winding rope 21 is relatively moved to the tip side in the moving direction with respect to the traveling unit 80B by the feed unit 80C. When,
To be equipped.

In addition, the above wire rope arrangement method is
As the boom 16, a scaffolding 100 provided on the upper surface of the boom 16 in the prone position so as to extend along the moving direction is prepared.
Running the traveling unit 80B on the scaffolding 100 of the boom 16
When the support device 80 reaches the end of the scaffolding 100 as the target position on the tip side in the moving direction, the traveling portion 80B is stopped from traveling, and the feed portion 80C causes the main winding rope 21 to move in the moving direction with respect to the traveling portion 80B. To move relative to the tip side and
To be equipped.

The function of the support device according to each of the above-described embodiments also constitutes a part of the above-mentioned wire arrangement method.

The support devices 50, 60, 70, 80, 90 according to one embodiment of the present invention, modified embodiments thereof, and a wire rope arrangement method for the crane 1 using the support device have been described above. The present invention is not limited to these forms. In the present invention, the following modified embodiments are possible.

(1) In the first embodiment described above, the second motor M2 rotates the pair of left and right roller support portions 511 so that the pair of left and right rollers 510 are brought into contact with each other, but the second motor M2 moves at least one support member 511 (roller 510) of the pair of support members 511 so that at least one roller 510 of the pair of rollers 510 comes into contact with the other roller 510. It may be possible to make it. Also in this case, the main winding rope 21 can be gripped and released by the pair of left and right rollers 510. Further, instead of the pair of left and right rollers 510, the main winding rope 21 may be gripped and opened by a pair of fixed (non-rotating) gripping members having partial outer peripheral surfaces facing each other. In this case, it is desirable that the partial outer peripheral surfaces are curved surfaces that are convex to each other in a plan view, and in a cross section orthogonal to (intersect) the direction in which the main winding rope 21 extends as shown in FIG. It is preferably formed of a curved surface (concave) recessed inward, and particularly preferably has a circular cross section having a predetermined radius of curvature R. Also in this case, it is desirable that the above-mentioned relationship of 2σ <A and 2R> B is satisfied.

(2) In the second embodiment described above, the so-called chuck type grip portion structure as shown in FIG. 34 has been described, but the grip unit 610 receives a driving force of a predetermined electric cylinder and receives a pair of plate-shaped members. May have a vise structure for gripping the main winding rope 21, or may have a known U-bolt structure or the like for gripping the main winding rope 21. Further, an electromagnet may be mounted on the support portion 810 of FIG. 45, and the main winding rope 21 may be gripped (held) by the attractive force of the electromagnet.

(3) Further, in the first embodiment, the pair of rollers 510 are arranged to face each other in the left-right direction, and in the second embodiment, the upper roller 851 and the lower roller 852 face each other in the vertical direction. However, the rollers constituting the grip or feed portion of the present invention are arranged so as to face each other in diagonal directions intersecting with each other in the left-right direction and the up-down direction (inclined arrangement). It may be arranged so as to face each other.

(4) Further, in the above-mentioned second embodiment, the gripping unit 610 has the first pressing pin 612, the second pressing pin 613, and the third pressing pin 614, but the present invention is limited thereto. It is not something that is done. The pressing pin (pressing member) may include three or more of the pressing members arranged at different positions along the circumferential direction. In this case, the main winding rope 21 can be stably gripped by the pressing portions of three or more pressing members. Further, it is desirable that the three or more pressing members are arranged at equal intervals along the circumferential direction. In this case, the main winding rope 21 can be gripped more stably by the pressing portions of the three or more pressing members. Further, the motor (pressing member driving unit) that drives the first pressing roller 612S, the second pressing roller 613S, and the third pressing roller 614S in the direction of contacting and separating from the main winding rope 21 presses the plurality of pressing portions. It is desirable to drive the plurality of pressing members so that they can be arranged at a plurality of positions having different distances from the main winding rope 21. In this case, the main winding rope 21 having various outer diameters can be stably gripped by the plurality of pressing members.

(5) Further, in the third embodiment described above, as shown in FIG. 45, the grip portion 80A is arranged on the front side portion of the support device 80, and the feed portion 80C is arranged on the rear portion of the support device 80. As described above, the grip portion 80A may be arranged on the rear side portion of the support device 80, and the feed portion 80C may be arranged on the front side portion of the support device 80. In this case, unexpected movement of the main winding rope 21 while the support device 80 is running (interference with an obstacle, when a part of the main winding rope 21 behind the support device 80 falls from the boom 16, etc.) Even if there is, the main winding rope 21 is prevented from falling off from the feed portion 80C on the front side by the grip portion 80A on the rear side.

1 Crane (working machine)
10 Lower traveling body 100 Scaffolding 100C Crank part 100S Idler receive arrangement part 11 Upper turning body (airframe)
150 Idler receive unit 16 Boom 164A Guide roller 20 Main winding winch (winch)
21 Main winding rope (wire rope)
50, 60, 70, 80, 90 Support device 50A, 60A, 70A, 80A, 90A Grip part 50B, 60B, 70B, 80B, 90B Travel part 50H, 60H, 70H, 80H, 90H Main body 510 Roller 510A Rotating shaft 510B Bearing 510D Pulley 510F Rope gripping surface 510J Lock recess 511 Roller support 515 Lock mechanism (braking mechanism)
515A Lock body 515B Lock lever 516 Central link 516B Coil spring 517 Side link 518 Spring 519 Side link 520 Link 521 Rod 522 Telescopic cylinder 523 Rear guide (rear end side guide)
524 Telescopic cylinder (rear end side guide drive unit)
525 Front guide (tip side guide)
526 Telescopic cylinder (tip side guide drive unit)
527 Spline 528 Support bracket 528A Bracket body 528B Slider 528C Pinion 610 Grip unit 611 Unit body 611A Unit fixing part 611B Unit opening / closing part 611C Supporting point 612 First pressing pin 612S First pressing roller 613 Second pressing pin 613S Second pressing roller 614 3rd pressing pin 614S 3rd pressing roller 620 Swivel unit 711 Gripping unit 712 Swivel unit 720 Front guide 80C Feeding part (roller feeding part)
810 Support part (vertical movement part)
812 Upper grip claw (grasping member)
813 Lower grip claw (grip member)
814 Telescopic Cylinder 851 Upper Roller (Roller)
851S Upper roller support 852 Lower roller (roller)
852S Lower roller support 861 Front guide 863 Telescopic cylinder 871 Front guide 873 Telescopic cylinder 910 Grip unit 911 Support bracket 912 Connecting part 913 Swing part 950 Bracket stopper M1 First motor (roller rotation drive part)
M2 2nd motor (roller movement drive unit)
M3 3rd motor M4 4th motor M5 5th motor M6 6th motor (pressing roller drive unit)
M7 7th motor (roller movement drive unit, roller rotation drive unit)
M8 8th motor (grip member moving drive unit)
M9 9th motor MG motor shaft

Claims (12)

The machine body, the undulating member including the base end portion undulatingly attached to the machine body and the tip end portion on the opposite side thereof, and the wire rope attached to the base end portion of the machine body or the undulating member to extend and wind the wire rope. A work machine support device that supports the wire rope placement work of a work machine equipped with a winch to be performed.
The traveling surface arranged on the upper surface portion of the undulating member in a state of being laid down with respect to the machine body may be traveled along at least a moving direction which is a direction from the base end portion to the tip end portion of the undulating member. With possible running parts
A gripping portion that is supported by the traveling portion and is capable of gripping the wire rope drawn out from the winch while being capable of opening the wire rope.
A rope feeding portion that is supported by the traveling portion and can move the wire rope relative to the traveling portion toward the tip end side in the moving direction.
A work machine support device equipped with. The support device for a work machine according to claim 1, wherein the rope feed portion is supported by the traveling portion on the rear end side in the moving direction with respect to the grip portion. The support device for a work machine according to claim 1, wherein the rope feed portion is supported by the traveling portion on the tip side in the moving direction of the grip portion. The rope feed section
A pair of rollers having outer peripheral surfaces arranged so as to face each other in a direction intersecting the moving direction.
A roller movement drive unit capable of moving the at least one roller so that at least one of the pair of rollers is brought into contact with the other roller.
At least one of the pair of rollers may be rotated so that the pair of rollers moves the wire rope relative to the traveling portion while the pair of rollers grips the wire rope. Possible, roller rotation drive part,
The work machine support device according to any one of claims 1 to 3. The rope feeding portion can be switched between an allowable state in which the pair of rollers grips the wire rope and a braking state in which the pair of rollers are allowed to rotate, and a braking state in which the rotation is prevented. 4. The fourth aspect of the invention, further comprising a braking mechanism for moving the wire rope relative to the traveling portion by rotation of the pair of rollers, while maintaining the state in which the pair of rollers grip the wire rope in the braking state. Work machine support device described in. The grip portion
A pair of gripping members having gripping surfaces arranged facing each other,
A grip member moving drive unit capable of moving the at least one grip member so that at least one grip member of the pair of grip members comes into contact with the other grip member.
Have,
When the gripping drive unit moves the at least one gripping member so as to approach the other gripping member, the wire rope can be gripped by the gripping surfaces of the pair of gripping members, and the gripping drive unit can grip the wire rope. The support device for a work machine according to any one of claims 1 to 5, wherein when at least one grip member is moved away from the other grip member, the wire rope is released from the pair of grip members. .. The pair of gripping members are formed in a concave shape so as to be able to receive the outer peripheral surface of the wire rope when viewed in a cross section which is an inner peripheral surface constituting the gripping surface and intersects the direction in which the wire rope extends. The support device for a work machine according to claim 6, each having an inner peripheral surface. The movement of the gripping surface of the first gripping member of the pair of gripping members and the gripping surface of a second gripping member different from the first gripping member of the pair of gripping members. Arranged so as to contact the wire rope at different positions in the direction,
The gripping surface of the first gripping member contacts the wire rope from one end side in the gripping direction intersecting the moving direction, and the gripping surface of the second gripping member is from the other end side in the gripping direction. The work machine support device according to claim 7, which is arranged so as to come into contact with the wire rope. The support device for a work machine according to any one of claims 6 to 8, further comprising a vertically moving portion capable of moving the grip portion up and down relative to the traveling body. Any one of claims 1 to 9, wherein the traveling portion is installed on an upper surface portion of the undulating member of the working machine so as to extend along the moving direction and can travel on a scaffold forming the traveling surface. The work machine support device described in the section. A machine body, an undulating member including a base end portion and a tip portion undulatingly attached to the machine body, and a winch attached to the machine body or the base end portion of the undulating member to feed and wind a wire rope. In a work machine including the above, the wire rope unwound from the winch in a state where the undulating member is laid down from a predetermined initial position on the upper surface portion of the undulating member to the tip portion of the undulating member rather than the initial position. A method for arranging a wire rope of a work machine for arranging the wire rope on the undulating member by pulling it to a target position on the side.
At the initial position on the upper surface portion of the undulating member, the traveling portion capable of traveling on the upper surface portion, the grip portion capable of gripping the wire rope, and the wire rope traveling with respect to the traveling portion. By arranging a support device equipped with a rope feed section that can be moved relative to the tip side in the moving direction of the section,
The wire rope is drawn out from the winch, and the wire rope is gripped by the grip portion of the support device.
While further extending the wire rope from the winch, the grip portion travels on the upper surface portion of the undulating member from the initial position on the undulating member to the target position while the grip portion grips the wire rope. To let and
When the support device reaches the target position due to the traveling of the traveling portion, the traveling of the traveling portion is stopped, and the wire rope is relatively moved to the tip side in the moving direction with respect to the traveling portion by the rope feeding portion. When,
A method of arranging wire ropes for a work machine. As the undulating member, a member having a scaffolding provided on the upper surface portion of the undulating member in the laid-down posture so as to extend along the moving direction is prepared.
To make the traveling portion travel on the scaffolding of the undulating member,
When the support device reaches the end of the scaffold on the tip side in the moving direction as the target position, the traveling portion is stopped, and the rope feeding portion causes the wire rope to move in the moving direction with respect to the traveling portion. To move relative to the tip side and
11. The method of arranging a wire rope of a work machine according to claim 11.

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