JP2021050083A - Hanging load rope oscillating angle detection device and crane equipped with the same - Google Patents

Abstract

To provide a hanging load oscillating angle detection device capable of stably detecting information about the oscillating angle of a hanging load rope in longitudinal and horizontal directions, and a crane equipped with the same.SOLUTION: An oscillating angle detection device 60 comprises a first oscillation member 61, a second oscillation member 62, a first oscillation connection part 60T, and a second oscillation connection part 60S. The first oscillation connection part 60T connects the first oscillation member 61 and a boom tip 16Q to each other so that the first and second oscillation members 61, 62 can integrally oscillate about a first rotation center axis CL1. The second oscillation connection part 60S connects the first and second oscillation members 61, 62 to each other so that the second oscillation member 62 can oscillate about a second rotation center axis CL2 relatively to the first oscillation member 61. An oscillating angle sensor 63 is mounted to the second oscillation member 62, and detects the oscillating angle of a main hoist rope 51 in the longitudinal and horizontal directions.SELECTED DRAWING: Figure 3

Description

The present invention relates to a swing angle detecting device for a suspended load rope and a crane provided with the device.

Conventionally, as a crane, a crane provided with a crane main body, a undulating body such as a boom, a jib or a mast, a suspended load rope, and a winch is known. The undulating body is supported by the crane body so that it can undulate around a horizontal rotation axis. The suspended load rope pulled out from the winch is hung from the tip of the boom via a sheave arranged at the tip of the boom. When the winch winds up the suspended load rope, the suspended load is lifted by a hook connected to the tip of the suspended load rope.

Patent Document 1 discloses a swing angle detecting device for a suspended load rope that detects a swing angle that is a relative angle with respect to the vertical direction of the suspended load rope hanging from a sheave at the tip of a boom. The runout angle detection device disclosed in FIG. 1 of the document is a swing lever supported so as to be swingable in the front-rear direction around the center axis of rotation of the sheave, and a swing lever arranged at the tip of the swing lever of the sheave. It has a rope guide portion that guides (holds) the rope below, and an inclination angle meter that is attached to the swing lever and detects the tilt angle of the swing lever. When the rope swings in the front-rear direction with the sheave as the fulcrum, the swing lever swings following the rope, and the tilt angle meter fixed to the swing lever moves the swing lever in the plane including the vertical direction and the front-back direction. Detects the tilt angle of. As a result, the runout angle of the rope can be detected from the inclination angle.

Further, FIG. 7 of Patent Document 1 discloses a technique in which the swing lever can swing in the left-right direction around a horizontal rotation center axis orthogonal to the rotation center axis of the sheave. In the present technology, the runout angle detection device connects a pair of parallel link mechanisms capable of swinging in the left-right direction arranged so as to sandwich the sheave from both the left and right sides and the pair of parallel link mechanisms in the left-right direction. Has a horizontal link and. Further, the swing lever is fixed to one of the parallel link mechanisms of the pair of parallel link mechanisms. As a result, when the rope swings in the left-right direction with the sheave as the fulcrum, the pair of parallel link mechanisms swing along with the swing lever following the rope, and the tilt angle meter fixed to the swing lever moves up and down and left and right. Detects the tilt angle of the swing lever in the plane including the direction. As a result, the runout angle of the rope can be detected from the inclination angle.

Japanese Unexamined Patent Publication No. 4-22393

In the technique described in Patent Document 1, the fulcrum when the rope swings in the left-right direction corresponds to the lower end portion (contact lower end portion) of the region where the sheave and the rope contact, while the fulcrum when the swing lever swings is , Is located at the upper end (link fulcrum) of one of the parallel link mechanisms. The lower end of the contact and the link fulcrum are arranged at different positions in the left-right direction. As a result, an angle difference is generated between the swing angle of the rope and the swing angle of the parallel link mechanism, that is, the swing lever. Therefore, the tilt angle meter provided on the swing lever accurately detects the swing angle of the rope. There was a problem that it could not be done.

The present invention has been made in view of the above problems, and includes a swing angle detecting device for a suspended load rope capable of stably detecting a swing angle in the front-rear direction and the left-right direction of the suspended load rope, and a swing angle detecting device thereof. The purpose is to provide a crane.

The swing angle detecting device for a suspended load rope according to an embodiment of the present invention is opposite to the machine body, the undulating body base end portion rotatably supported by the machine body in the undulating direction, and the undulating body base end portion. A undulating body having the tip of the undulating body, a sheave supported by the tip of the undulating body so as to be rotatable around a first rotation center axis extending in the left-right direction of the machine body, including an outer peripheral surface, and the above. A hanging rope that is hung from the rear of the sheave on the outer peripheral surface of the sheave and is hung from the front side portion of the outer peripheral surface and connected to the suspended load, and a winch for winding and feeding the suspended load rope. It is a swing angle detecting device of a suspended load rope which is mounted on a crane having the above and detects a runout angle which is a relative angle of the suspended load rope with respect to the vertical direction. The runout angle detection device is arranged so as to face the sheave in the radial direction of the sheave in front of or behind the sheave with a first base end portion arranged at a distance in the left-right direction with respect to the sheave. A swingable first swing member having a swing end portion, and the first swing member can swing relative to the tip of the undulating body about the first rotation center axis. As described above, the first swing connecting portion that connects the first base end portion and the tip portion of the undulating body to each other, and the second base end that is arranged opposite to the swing end portion on the opposite side of the sheave. A rope holding portion that holds a portion and a portion of the suspended load rope below the sheave, and the suspended load rope is attached to the rope holding portion as the suspended load rope is wound and unwound by the winch. A swingable second swing member having a rope holding portion that allows relative movement in the vertical direction and the second base end portion of the second swing member form the first swing. The swinging end so that it can swing relative to the swinging end of the member around a second rotation center axis that is orthogonal to the first rotation center axis and passes through the outer peripheral surface of the sheave. A second swing connecting portion that connects the portion and the second base end portion to each other, and an angle information detecting portion mounted on the second swing member, which is orthogonal to the first rotation center axis and described above. The first angle information, which is information corresponding to the relative angle of the second swinging member with respect to the vertical direction in the first reference plane, which is a plane passing through the outer peripheral surface of the sheave, and the first rotation center axis and the vertical direction. An angle information detection unit capable of detecting and outputting second angle information, which is information corresponding to the relative angle of the second rocking member with respect to the vertical direction in the second reference plane, which is a plane including the above. The rope holding portion integrally swings the first swinging member and the second swinging member around the first rotation center axis by the moving force received by the rope holding portion from the suspended load rope. Moreover, when viewed from a direction parallel to the second rotation center axis, the second swinging member is caused by the moving force that the rope holding portion receives from the suspended load rope in response to the swing of the suspended load rope in the left-right direction. Is relatively oscillated about the second rotation center axis with respect to the first oscillating member. The rope holding portion is separated from the portion where the suspended load rope is in contact with the outer peripheral surface of the sheave and the suspended load rope from the outer peripheral surface when viewed from a direction parallel to the first rotation center axis. As the rope boundary point, which is the boundary point with the portion of the rope, moves on the outer peripheral surface in response to the swing of the suspended load rope in the front-rear direction, the second rotation center axis and the sheave The front intersection of the pair of intersections formed by intersecting the outer peripheral surfaces can move following the rope boundary point on the outer peripheral surface while maintaining a constant relative positional relationship. Is configured in.

According to this configuration, when the suspended load rope connected to the suspended load swings in the front-rear direction, the first swing member and the second swing member integrally swing around the first rotation center axis. At this time, the first swinging member and the second swinging member and the second swinging member so that the intersection of the second rotation center axis and the outer peripheral surface of the sheave on the outer peripheral surface of the sheave follows the rope boundary point while maintaining a constant relative positional relationship. The swinging member swings. Therefore, the angle information detecting unit can detect the swing angle of the suspended load rope in the front-rear direction from the first angle information and the relative positional relationship between the intersection on the front side and the rope boundary point. On the other hand, when the suspended load rope connected to the suspended load swings in the left-right direction, the second swinging member swings around the second rotation center axis relative to the first swinging member. At this time, since the swing fulcrum of the second swing member and the swing fulcrum of the suspended load rope substantially match, the swing angle of the second swing member around the second rotation center axis and the swing angle of the suspended load rope Can be roughly matched with. As a result, the angle information detecting unit can accurately detect the second angle information corresponding to the swing angle in the left-right direction of the suspended load rope.

In the above configuration, the rope holding portion has a portion in which the suspended load rope is in contact with the outer peripheral surface of the sheave and the suspended load rope is the outer periphery when viewed from a direction parallel to the first rotation center axis. As the rope boundary point, which is the boundary point with the portion separated from the surface, moves on the outer peripheral surface in response to the swing of the suspended load rope in the front-rear direction, the second rotation central axis and the said The first swing member and the second swing member are placed in a state where the front intersection of the pair of intersections formed by the outer peripheral surfaces of the sheave intersecting each other and the rope boundary point coincide with each other. It is desirable that the moving force swings integrally around the first rotation center axis.

According to this configuration, when the suspended load rope connected to the suspended load swings in the front-rear direction, the first swinging member and the second swinging member and the second swinging member so that the intersection on the front side coincides with the rope boundary point on the outer peripheral surface of the sheave. Since the swing member swings, the swing angle of the second swing member around the first rotation center axis can be matched with the swing angle of the suspended load rope. As a result, the angle information detecting unit can accurately detect the first angle information corresponding to the swing angle in the front-rear direction of the suspended load rope.

In the above configuration, in the second swing connecting portion, the suspended load rope is in contact with the outer peripheral surface of the sheave when viewed from a direction in which the second rotation center axis is parallel to the first rotation center axis. It is desirable to connect the swinging end portion and the second base end portion to each other so as to pass through a rope boundary point which is a boundary point between the portion and the portion where the suspended load rope is separated from the outer peripheral surface.

According to this configuration, since the swing fulcrum of the second swing member and the swing fulcrum of the suspended load rope coincide with each other, the swing angle of the second swing member around the second rotation center axis and the swing of the suspended load rope The runout angle can be matched. As a result, the angle information detecting unit can accurately detect the second angle information corresponding to the swing angle in the left-right direction of the suspended load rope.

In the above configuration, the undulating body tip portion is a sheave shaft portion that connects the pair of left and right side plates and the pair of left and right side plates to each other along the left and right directions, and is at least one of the pair of left and right side plates. It has a shaft tip portion that protrudes outward in the left-right direction from one side plate, and has a sheave shaft portion that rotatably supports the sheave around the first rotation center axis between the pair of left and right side plates. The first base end portion of the first swing member is supported by the tip shaft portion so as to swing around the first rotation center axis, and the lower end portion arranged below the tip shaft portion. The swinging end portion of the first swinging member is arranged to face the sheave on the side opposite to the undulating body base end portion when viewed from the sheave, and the second swinging member. The first swinging member has a lower end portion arranged below the connecting portion, and the first swinging member bypasses at least one of the side plates and the lower end portion of the first base end portion and the swinging end portion. It is desirable to further have a connecting portion that connects the lower end portion to each other at least in the front-rear direction and the left-right direction.

According to this configuration, in a configuration in which the sheaves are rotatably supported inside the pair of side plates, the runout angle detection device is mounted on the outside of the pair of side plates in the tip of the undulating body, whereby the pair of side plates It is possible to prevent a part of the angle detection device and the sheave from interfering with each other in the space between them, and to accurately detect the swing angle of the suspended load rope.

In the above configuration, the rope holding portion includes a pair of outer peripheral surfaces that can rotate around a pair of rotation center axes that are parallel to each other and extend in the horizontal direction, and is arranged so as to sandwich the suspended load rope from both sides in the horizontal direction. It is desirable to have a pair of rollers.

According to this configuration, the suspended load rope can be easily inserted between the pair of rollers while rotating the pair of rollers, and the rope holding portion can easily hold the rope.

In the above configuration, the rope holding portion is a holding portion main body connected to the second base end portion of the second swinging member, and the suspended load rope is inserted along the vertical direction. It is desirable to have a holding body that is formed with acceptable insertion holes.

According to this configuration, the rope holding portion can easily hold the suspended load rope by inserting the suspended load rope into the insertion hole of the holding portion main body.

In the above configuration, at least one weight member attached to at least one of the first rocking member and the second rocking member, and the suspended load is not connected to the suspended load rope. Then, the first rotation central axis of the first swing member and the second swing member so that the rope holding portion allows the suspended load rope to hang down from the sheave in the vertical direction. It is desirable to further include at least one weight member that maintains the rotational posture.

According to this configuration, when the crane is not in use, the rope holding portion is prevented from pulling the suspended load rope due to the attitude of the runout angle detecting device. As a result, it is possible to prevent an unnecessary external force from being applied to the suspended load rope.

The crane according to another aspect of the present invention includes a machine body, a undulating body base end portion rotatably supported by the machine body in an undulating direction, and a undulating body tip portion opposite to the undulating body base end portion. A sheave supported by the tip of the undulating body so as to be rotatable around the first rotation center axis extending in the left-right direction of the aircraft, including the undulating body having the above, and the outer peripheral surface from the rear of the sheave. A hanging rope that is hung from the front side of the outer peripheral surface and connected to the hanging load, a winch for winding and feeding the hanging load rope, and a relative of the hanging load rope with respect to the vertical direction. The suspended load rope runout angle detecting device according to any one of the above, which detects a runout angle which is a different angle, is provided.

According to this configuration, a crane provided with a swing angle detecting device of a suspended load rope capable of stably detecting information on a swing angle in the front-rear direction and the left-right direction of the suspended load rope is provided.

According to the present invention, there is provided a swing angle detecting device for a suspended load rope capable of stably detecting a swing angle in the front-rear direction and the left-right direction of the suspended load rope, and a crane provided with the same.

It is a side view of the crane which concerns on one Embodiment of this invention. It is a perspective view of the tip of the undulating body and the runout angle detection device of the crane which concerns on one Embodiment of this invention. It is a side view of the runout angle detection device which concerns on one Embodiment of this invention. It is a front view of the runout angle detection device which concerns on one Embodiment of this invention. It is a side view of the runout angle detection device which concerns on one Embodiment of this invention when the suspended load rope swings backward. It is a side view of the runout angle detection device which concerns on one Embodiment of this invention when the suspended load rope swings forward. It is a front view in the case of the runout angle detection device which concerns on one Embodiment of this invention, and the suspended load rope swings to the right. It is a front view in the case of the runout angle detection device which concerns on one Embodiment of this invention, and the suspended load rope swings to the left. It is a side view of the runout angle detection device which concerns on 1st modification embodiment of this invention. It is a front view of the runout angle detection device which concerns on 1st modification embodiment of this invention. It is a side view of the runout angle detection device which concerns on the 2nd modification embodiment of this invention. It is a side view of the runout angle detection device which concerns on the 3rd modification embodiment of this invention. It is a front view of the runout angle detection device which concerns on the 3rd modification embodiment of this invention. It is a top view of the runout angle detection device which concerns on the 3rd modification embodiment of this invention. It is a side view of the runout angle detection device which concerns on 4th modification embodiment of this invention. It is a side view of the runout angle detection device which concerns on 5th modification embodiment of this invention. It is a front view of the runout angle detection device which concerns on the 6th modification embodiment of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a side view of a crane 10 (working machine) according to an embodiment of the present invention. In the following, the directions of "up", "down", "front" and "rear" are shown in each figure, and the directions indicate the structure and assembly method of the crane 10 according to the present embodiment. It is shown for convenience for explanation, and does not limit the moving direction and usage mode of the crane according to the present invention.

The crane 10 includes an upper swivel body 12 corresponding to an airframe, a lower traveling body 14 that supports the upper swivel body 12 so as to be swivel and can travel on the ground G, a boom 16 that functions as an undulating body, and a pair of left and right. It includes a backstop 45, a lattice mast 17 which is a boom undulating member, and a box mast 21.

The boom 16 has a boom base end portion 16P (undulating body base end portion) rotatably supported by the upper swing body 12 in the undulating direction and a boom arranged on the side opposite to the boom base end portion 16P in the longitudinal direction. It has a tip portion 16Q (the tip portion of the undulating body). In the present embodiment, the boom foot 16S provided on the boom base end portion 16P is rotatably supported around a rotation center axis extending in the left-right direction by a shaft support portion (not shown) of the upper swing body 12. The boom 16 shown in FIG. 1 is a so-called lattice type, and includes a lower boom 16A including a boom foot 16S, one or more (three in the example) intermediate booms 16B, 16C, 16D, and an upper boom 16E. It is composed of and. The lower boom 16A is provided with a pair of left and right backstops 45. These backstops 45 come into contact with the upper swing body 12 when the boom 16 reaches the standing posture (working posture) shown in FIG. This contact regulates the boom 16 from being fanned backwards by strong winds or the like.

The lattice mast 17 includes a mast base end portion 17P and a mast tip portion 17Q. The mast base end portion 17P is attached to the upper swing body 12 so as to be able to undulate around a rotation axis parallel to the rotation axis of the boom 16 at a position on the rear side of the boom 16. That is, the lattice mast 17 can also rotate in the same direction as the undulating direction of the boom 16. The mast tip 17Q is the tip of the lattice mast 17 arranged on the side opposite to the mast base end 17P in the longitudinal direction. As shown in FIG. 1, a first mast sheave 171 and a second mast sheave 172 are arranged on the mast tip portion 17Q of the lattice mast 17. The boom undulating rope 22 described later is hung on the first mast sheave 171 and the second mast sheave 172. The lattice mast 17 serves as a support for the rotation of the boom 16.

A pair of left and right backstops 46 are provided on the mast base end portion 17P side of the lattice mast 17. These backstops 46 come into contact with the upper swivel body 12 when the lattice mast 17 reaches the standing posture shown in FIG. This contact regulates the lattice mast 17 from being fanned backwards by strong winds or the like.

Further, the crane 10 includes a lower spreader 18, an upper spreader 19, a guy line 20, a boom undulating rope 22, and a boom undulating winch 38.

The lower spreader 18 has a lower sheave block 181. A plurality of sheaves are arranged in the width direction (horizontal direction) in the lower sheave block 181.

The upper spreader 19 is arranged in front of the lower spreader 18 at predetermined intervals. The upper spreader 19 is connected to the boom tip 16Q via the guy line 20. The upper spreader 19 has an upper sheave block 191. A plurality of sheaves are arranged in the width direction (horizontal direction) in the upper sheave block 191. A pair of guy lines 20 are arranged in the left-right direction orthogonal to the paper surface of FIG. The rear end of the guy line 20 is connected to the upper spreader 19, and the front end of the guy line 20 is detachably connected to the boom tip 16Q. The guy line 20 includes a guy link (metal plate), a guy rope, a guy wire (metal wire), and the like.

A plurality of boom undulating ropes 22 are pulled out from the boom undulating winch 38, hung on the first mast sheave 171 and the second mast sheave 172 of the mast tip 17Q, and then between the lower sheave block 181 and the upper sheave block 191. It is turned around. The tip of the boom undulating rope 22 after being hung around the lower sheave block 181 and the upper sheave block 191 is fixed to the mast tip 17Q of the lattice mast 17.

The boom undulating winch 38 is arranged on the mast base end portion 17P side of the lattice mast 17. The boom undulating winch 38 changes the distance between the lower sheave block 181 of the lower spreader 18 and the upper sheave block 191 of the upper spreader 19 by winding and feeding out the boom undulating rope 22, and causes the boom 16 to change. The boom 16 is raised and lowered while being rotated relative to the lattice mast 17.

The box mast 21 has a base end and a rotating end (tip), and is rotatably connected to the upper swivel body 12 on the rear side of the lattice mast 17. The box mast 21 has a rectangular shape in cross-sectional view. The rotation shaft of the box mast 21 is arranged parallel to the rotation shaft of the boom 16 and at substantially the same position as the rotation shaft of the lattice mast 17. That is, the box mast 21 can also rotate in the same direction as the undulating direction of the boom 16.

Further, the crane 10 includes a guy line 23, a mast undulating rope 26, and a mast undulating winch 30. A pair of guy lines 23 are arranged in the left-right direction orthogonal to the paper surface of FIG. The guy line 23 connects the mast tip portion 17Q of the lattice mast 17 and the rotating end portion of the box mast 21. This connection links the rotation of the lattice mast 17 with the rotation of the box mast 21. The mast undulating rope 26 includes a sheave block 24 arranged on the upper swivel body 12 and having a plurality of sheaves arranged in the width direction, and a sheave block 24 arranged at the rotating end of the box mast 21 and having a plurality of sheaves arranged in the width direction. It is hung multiple times with the sheave block 25.

The mast undulating winch 30 is arranged on the base end side of the box mast 21. The mast undulating winch 30 winds up and unwinds the mast undulating rope 26. The distance between the sheave block 25 at the tip of the box mast 21 and the sheave block 24 at the rear end of the upper swivel body 12 changes due to the winding and feeding operations of the mast undulating winch 30, and the upper swivel body 12 becomes On the other hand, while the box mast 21 and the lattice mast 17 rotate integrally, the lattice mast 17 undulates.

In addition to the mast undulating winch 30 and the boom undulating winch 38 described above, the crane 10 is equipped with a main winding winch 34 and a supplementary winding winch 36 for hoisting and lowering the suspended load. In the crane 10 according to the present embodiment, both the main winding winch 34 and the auxiliary winding winch 36 are installed on the lower boom 16A of the boom 16. The winches 34 and 36 of the crane 10 may be mounted on the upper swing body 12.

The main winding winch 34 winds and unwinds the suspended load by the main winding rope 51 (FIG. 1). Regarding this main winding, a guide sheave 161 is rotatably provided at the boom tip portion 16Q of the boom 16, and a plurality of point sheaves 162 are provided at positions adjacent to the guide sheave. A main hook 53 for hanging loads is connected to the main winding rope 51 hanging from the point sheave 162. Then, when the main winding winch 34 winds up or unwinds the main winding rope 51, the main hook 53 is wound up and down.

Similarly, the auxiliary winding winch 36 winds up and lowers the suspended load by the auxiliary winding rope 52. This supplementary winding has the same structure (not shown) as the main winding described above. Then, when the auxiliary winding winch 36 winds up or unwinds the auxiliary winding rope 52, the auxiliary hook for hanging load connected to the end of the auxiliary winding rope 52 is wound or unwound.

Further, a counterweight 40 for adjusting the balance of the crane 10 is loaded on the rear portion of the upper swing body 12, and a counterweight 41 is further arranged behind the upper swing body 12. The counterweight 41 has a function of maintaining the balance of the crane 10 as a weight for SHL (Super Heavy Lifting) provided for the crane 10 to lift a heavy object. The counterweight 41 is connected to the mast tip 17Q of the lattice mast 17 by a weight line 42.

The crane 10 further includes a runout angle detecting device 60. The runout angle detecting device 60 detects the runout angle, which is an angle relative to the vertical direction of the main winding rope 51. FIG. 2 is a perspective view of the boom tip portion 16Q (undulating body tip portion) and the runout angle detecting device 60 of the crane 10 according to the present embodiment. 3 and 4 are a side view and a front view of the runout angle detecting device 60 according to the present embodiment.

With reference to FIGS. 2, 3 and 4, the runout angle detecting device 60 according to the present embodiment is attached to the boom tip portion 16Q of the boom 16. Here, the boom tip portion 16Q of the boom 16 includes a pair of left and right side walls 160A (side plates), a tip wall 160B (FIG. 2), a point sheave shaft portion 162S (sheave shaft portion), and a plurality of main pipes 165. Has. Note that FIG. 3 shows a boom center line 16T. In the present embodiment, the point sheave shaft portion 162S of the point sheave 162 is arranged so as to pass through the boom center line 16T.

Each of the plurality of main pipes 165 extends along the longitudinal direction of the boom 16, and defines a quadrangular cross section of the boom tip portion 16Q (boom 16). The pair of left and right side walls 160A are arranged so as to face the tip portions of the plurality of main pipes 165 in the left-right direction. The tip wall 160B (FIG. 2) connects the tips of the pair of left and right side walls 160A to each other along the left-right direction. In FIG. 4, the tip wall 160B is not shown.

The point sheave shaft portion 162S (FIG. 4) connects the pair of left and right side walls 160A to each other along the left-right direction. Further, the point sheave shaft portion 162S rotatably supports the point sheave 162 between the pair of left and right side walls 160A around the first rotation central axis CL1 (FIG. 4) extending in the left-right direction. Further, the point sheave shaft portion 162S has a tip shaft portion 162S1 (FIG. 4) protruding outward in the left-right direction from at least one side wall 160A of the pair of left and right side walls 160A. As shown in FIGS. 2 and 3, the point sheave 162 is rotatably supported by the point sheave shaft portion 162S between the pair of left and right side walls 160A, and the guide sheave 161 is the back surface portion of the boom tip portion 16Q. Is rotatably supported by a shaft (not shown). A main winding rope 51 (suspended load rope) is hung on the outer peripheral surfaces of the guide sheave 161 and the point sheave 162, respectively. The main winding rope 51 is hung from the rear of the point sheave 162 on the outer peripheral surface of the point sheave 162, and is hung from the front side portion of the outer peripheral surface of the point sheave 162 and connected to a suspended load (not shown).

The swing angle detection device 60 includes a first swing member 61, a second swing member 62, a first swing connecting portion 60T, a second swing connecting portion 60S, and a swing angle sensor 63 (angle information detecting unit). ) And.

The first swing member 61 is swingably supported by the boom tip portion 16Q, and has a first frame 611, a second frame 612, a third frame 613, and a fourth frame 614.

As shown in FIGS. 3 and 4, the first frame 611 is swingably supported around the first rotation center shaft CL1 by the tip shaft portion 162S1 of the point sheave shaft portion 162S. The first frame 611 has a rectangular parallelepiped shape arranged so as to extend downward from the tip shaft portion 162S1. The second frame 612 is connected to the lower end of the first frame 611 so as to extend forward from the lower end of the first frame 611. The second frame 612 also has a rectangular parallelepiped shape like the first frame 611. As shown in FIG. 3, the front end portion of the second frame 612 is located in front (tip side) of the side wall 160A of the boom tip portion 16Q. The third frame 613 is connected to the front end portion of the second frame 612 so as to extend to the left from the front end portion of the second frame 612. The left end (tip) of the third frame 613 extends below the point sheave 162. The third frame 613 also has a rectangular parallelepiped shape like the first frame 611. The fourth frame 614 is connected to the left end portion of the third frame 613 so as to extend upward from the left end portion (tip portion) of the third frame 613. The upper end of the fourth frame 614 extends in the vertical direction in front of the point sheave 162 to the center of the point sheave 162.

The first frame 611, the second frame 612, the third frame 613, and the fourth frame 614 may have shapes different from the above, or may be each made of a plate material.

In other words, the first rocking member 61 has a point with the first base end portion 61S (FIG. 3) arranged at intervals in the left-right direction with respect to the point sheave 162. It has a swinging end 61T located in front of or behind the sheave 162 and opposed to the point sheave 162 in the radial direction of the point sheave 162. Then, the first swing connecting portion 60T has a boom with the first base end portion 61S so that the first swing member 61 can swing relative to the boom tip portion 16Q around the first rotation center axis CL1. The tip portion 16Q is connected to each other.

Further, in the present embodiment, the first base end portion 61S (first frame 611) of the first swing member 61 is the tip shaft of the point sheave shaft portion 162S so as to swing around the first rotation center shaft CL1. It has a shape that is supported by the portion 162S1 (FIG. 4) and extends downward from the tip shaft portion 162S1. On the other hand, the swing end portion 61T (fourth frame 614) of the first swing member 61 is arranged on the side opposite to the boom base end portion 16P when viewed from the point sheave 162 and facing the point sheave 162. It has a shape extending downward from the second swing connecting portion 60S. The first connection portion 61V (connection portion) composed of the second frame 612 and the third frame 613 bypasses the right side wall 160A (FIG. 4) and bypasses the lower end portion of the first frame 611 and the fourth frame 614. Connect the lower end of the frame to each other at least in the front-rear direction and the left-right direction.

The second swing member 62 is swingably supported by the first swing member 61. Specifically, as shown in the side view of FIG. 3, the second swing member 62 has a shape bent at two points. The upper end portion of the second swing member 62 is connected to the upper end portion (swing end portion 61T) of the fourth frame 614 of the first rocking member 61 via the second rocking connecting portion 60S. It is connected so that it can swing around. Further, the second swing member 62 has a mounting surface 62K, a holding plate 621, and a pair of holding rollers 623 (rollers). The mounting surface 62K is arranged on a portion of the second swinging member 62 that extends parallel to the fourth frame 614 (swinging end portion 61T) of the first swinging member 61, and has a swing angle on the mounting surface 62K. The sensor 63 is mounted. The holding plate 621 is a plate-shaped portion arranged at the lower end of the second swing member 62. Further, the pair of holding rollers 623 (rollers) are arranged on the holding plate 621 at intervals in the front-rear direction. Each holding roller 623 has an outer peripheral surface that is parallel to each other and can rotate around a rotation center axis extending in the left-right direction, and the main winding is such that the outer peripheral surfaces of the pair of holding rollers 623 sandwich the main winding rope 51 from both sides. Holds the rope 51. In each holding roller 623, the outer diameter of the outer side in the left-right direction is set larger than the outer diameter of the central portion in the left-right direction. Therefore, the pair of holding rollers 623 restrain the main winding rope 51 in the front-rear direction and the left-right direction, and allow the main winding rope 51 to move relative to the pair of holding rollers 623 in the vertical direction.

In other words, the second swing member 62 has a second base end portion 62S arranged opposite to the swing end portion 61T on the opposite side of the point sheave 162 and a main winding rope. A rope holding portion 62T that holds a portion of 51 below the point sheave 162, and the main winding rope 51 becomes the rope holding portion 62T as the main winding rope 51 is wound and unwound by the main winding winch 34. It has a rope holding portion 62T that allows relative movement in the vertical direction, and a second connecting portion 62V that connects the second base end portion 62S and the rope holding portion 62T to each other. The rope holding portion 62T has the holding plate 621 and a pair of holding rollers 623. Further, in the present embodiment, the mounting surface 62K is arranged so as to be orthogonal to the second rotation center axis CL2 when viewed from a direction parallel to the first rotation center axis CL1.

Then, in the second swing connecting portion 60S, the second base end portion 62S of the second swing member 62 is orthogonal to the first rotation center axis CL1 with respect to the swing end portion 61T of the first swing member 61. Moreover, the swing end portion 61T and the second base end portion 62S are connected to each other so as to be relatively swingable around the second rotation center axis CL2 passing through the outer peripheral surface of the point sheave 162. In the present embodiment, the second swing connecting portion 60S has a swing end portion 61T and a second base end portion 62S so that the second rotation center axis CL2 passes through the center of the point sheave 162 in the left-right direction. Connect to each other.

The runout angle sensor 63 is mounted on the mounting surface 62K of the second swing member 62 as described above. The runout angle sensor 63 has a virtual reference axis extending in a predetermined direction to detect the posture of the second swing member 62. In the present embodiment, the reference axis of the runout angle sensor 63 is parallel to the mounting surface 62K, and extends in the vertical direction in FIGS. 3 and 4, respectively. The reference axis tilts with the swing of the second swing member 62.

The runout angle sensor 63 is located in a first reference plane (a plane parallel to the paper surface of FIG. 3 and passing through the outer peripheral surface of the point sheave 162) which is orthogonal to the first rotation center axis CL1 and passes through the outer peripheral surface of the point sheave 162. First angle information, which is information corresponding to the relative angle of the reference axis with respect to the vertical direction, is detected and output. Further, the runout angle sensor 63 provides information corresponding to the relative angle of the reference axis with respect to the vertical direction in the second reference plane (corresponding to the paper surface of FIG. 4) which is a plane including the first rotation center axis CL1 and the vertical direction. The second angle information is detected and output. In particular, in the present embodiment, the runout angle sensor 63 comprises a known tilt angle meter, and is a sensor capable of measuring the tilt (tilt angle) with respect to the vertical direction (gravity direction). The calculation unit (not shown) included in the swing angle sensor 63 can detect the angular velocity corresponding to the tilt angle by differentiating the tilt angle detected as described above.

FIG. 5 is a side view of the runout angle detecting device 60 when the main winding rope 51 swings backward. Similarly, FIG. 6 is a side view of the runout angle detecting device 60 when the main winding rope 51 swings forward.

The boom 16 is in a posture of standing forward with respect to the upper swing body 12, and a suspended load (not shown) is connected to the main hook 53 arranged at the tip of the main winding rope 51. At this time, as shown in FIG. 3, the runout angle detection device 60 is arranged so that the second frame 612 of the first swing member 61 extends in the front-rear direction, and is between the point sheave 162 and the main hook 53. , A pair of holding rollers 623 hold the main winding rope 51. Here, in the following description, at the upper end of the portion of the main winding rope 51 hanging from the point sheave 162, the portion where the main winding rope 51 is in contact with the outer peripheral surface of the point sheave 162 and the main winding rope 51 are The boundary point with the portion of the point sheave 162 separated from the outer peripheral surface is defined as the rope boundary point LP. Further, the front intersection of the pair of intersections formed by the intersection of the second rotation center axis CL2 and the outer peripheral surface of the point sheave 162 is defined as the reference intersection TP.

As shown in FIG. 5, when the main winding rope 51 swings backward when viewed from a direction parallel to the first rotation center axis CL1, when the suspended load is lifted or after it is lifted, the second swing angle detection device 60 is used. A pair of holding rollers 623 of the swing member 62 are pulled rearward by the main winding rope 51. As a result, the first swing member 61 and the second swing member 62 integrally swing clockwise in FIG. 5 with the first rotation center axis CL1 as the center. At this time, in the present embodiment, the reference intersection TP is the point sheave 162 as the rope boundary point LP moves downward on the outer peripheral surface of the point sheave 162 according to the runout of the main winding rope 51 in the front-rear direction. The first swing member 61 and the second swing member 62 swing integrally around the first rotation center axis CL1 so as to move on the outer peripheral surface following the rope boundary point LP.

As a result, the main winding rope 51 in FIG. 5 and the reference axis of the runout angle sensor 63 mounted on the mounting surface 62K of the second swing member 62 are maintained in parallel, and the runout angle mounted on the mounting surface 62K is maintained. The inclination angle detected by the sensor 63 matches the deflection angle of the main winding rope 51. Therefore, the runout angle sensor 63 can accurately detect the runout angle of the main winding rope 51 in the front-rear direction.

Similarly, as shown in FIG. 6, when the main winding rope 51 swings forward when viewed from a direction parallel to the first rotation center axis CL1, a pair of holding rollers of the second swing member 62 of the swing angle detection device 60 The 623 is pulled forward by the main winding rope 51. As a result, the first swing member 61 and the second swing member 62 integrally swing counterclockwise in FIG. 6 with the first rotation center axis CL1 as the center. At this time, in the present embodiment, the reference intersection TP is the point sheave 162 as the rope boundary point LP moves upward on the outer peripheral surface of the point sheave 162 according to the runout of the main winding rope 51 in the front-rear direction. The first swing member 61 and the second swing member 62 swing integrally around the first rotation center axis CL1 so as to move on the outer peripheral surface following the rope boundary point LP.

As a result, also in FIG. 6, the main winding rope 51 and the mounting surface 62K of the second swing member 62 are maintained in parallel, and the inclination angle detected by the swing angle sensor 63 mounted on the mounting surface 62K is the main. It matches the runout angle of the winding rope 51. Therefore, the runout angle sensor 63 can accurately detect the runout angle of the main winding rope 51 in the front-rear direction.

In the state shown in FIGS. 5 and 6, in the first swing connecting portion 60T, the first swing member 61 and the second swing member 62 are in a state where the reference intersection TP and the rope boundary point LP coincide with each other. It is desirable to allow the first rotation center axis CL1 to swing around.

FIG. 7 is a front view of the runout angle detecting device 60 when the main winding rope 51 swings to the right. Similarly, FIG. 8 is a front view of the runout angle detecting device 60 when the main winding rope 51 swings to the left.

When the main winding rope 51 swings to the right when the suspended load is lifted or after it is lifted, as shown in FIG. 7, when the main winding rope 51 swings to the right when viewed from a direction parallel to the second rotation center axis CL2, the swing angle detecting device 60 2 A pair of holding rollers 623 of the swing member 62 is pulled to the right by the main winding rope 51. As a result, the second swing member 62 swings clockwise relative to the first swing member 61 around the second rotation center axis CL2. That is, the fulcrum in the swing of the main winding rope 51 and the fulcrum in the swing of the second swing member 62 coincide with each other at the rope boundary point LP on the point sheave 162.

As a result, the main winding rope 51 in FIG. 7 and the reference axis of the runout angle sensor 63 mounted on the mounting surface 62K of the second swing member 62 are maintained in parallel, and the runout angle mounted on the mounting surface 62K is maintained. The inclination angle detected by the sensor 63 matches the deflection angle of the main winding rope 51. Therefore, the runout angle sensor 63 can accurately detect the runout angle of the main winding rope 51 in the left-right direction.

Similarly, when the main winding rope 51 swings to the left when viewed from a direction parallel to the second rotation center axis CL2, as shown in FIG. 8, when the suspended load is lifted or after being lifted, the swing angle detection device A pair of holding rollers 623 of the second swing member 62 of 60 is pulled to the left by the main winding rope 51. As a result, the second swing member 62 swings counterclockwise relative to the first swing member 61 around the second rotation center axis CL2. That is, also in this case, the fulcrum in the swing of the main winding rope 51 and the fulcrum in the swing of the second swing member 62 coincide with each other at the rope boundary point LP on the point sheave 162.

As a result, the main winding rope 51 in FIG. 8 and the reference axis of the runout angle sensor 63 mounted on the mounting surface 62K of the second swing member 62 are maintained in parallel, and the runout angle mounted on the mounting surface 62K is maintained. The inclination angle detected by the sensor 63 matches the deflection angle of the main winding rope 51. Therefore, the runout angle sensor 63 can accurately detect the runout angle of the main winding rope 51 in the left-right direction.

The angle information detection unit represented by the swing angle sensor 63 can be used even when the main winding rope 51 swings in the front-rear direction and the left-right direction at the same time, that is, even when the main winding rope 51 swings in the oblique direction in a plan view. By swinging the first swing member 61 and the second swing member 62, information corresponding to the swing angles in the front-rear direction and the left-right direction of the main winding rope 51 can be detected, respectively.

As described above, in the present embodiment, the swing angle detection device 60 includes the first swing member 61, the second swing member 62, the swing angle sensor 63, the first swing connecting portion 60T, and the second swing angle detection device 60. It has a swing connecting portion 60S and. Then, in the rope holding portion 62T, the rope boundary point LP moves on the outer peripheral surface of the point sheave 162 according to the runout in the front-rear direction of the main winding rope 51 when viewed from the direction parallel to the first rotation center axis CL1. Along with this, the rope holding portion 62T is the main winding rope so that the reference intersection TP can move following the rope boundary point LP while maintaining a constant relative positional relationship on the outer peripheral surface of the point sheave 162. The first swing member 61 and the second swing member 62 are integrally swung around the first rotation center axis CL1 by the moving force received from 51. On the other hand, the rope holding portion 62T is viewed from a direction parallel to the second rotation central axis CL2, and the rope holding portion 62T receives a moving force from the main winding rope 51 according to the swing of the main winding rope 51 in the left-right direction. 2 The swing member 62 is swung relative to the first swing member 61 around the second rotation center axis CL2. The constant relative positional relationship between the reference intersection TP and the rope boundary point LP means that both are within a predetermined threshold angle on the outer peripheral surface of the point sheave 162. As an example of the threshold angle, it is desirable that the reference intersection TP and the rope boundary point LP are within a range of 10 degrees, and further preferably within a range of 3 degrees. If the threshold angle is within a predetermined range in this way, the swing angle of the second swing member 62 and the swing angle of the main winding rope 51 detected by the swing angle sensor 63 are slightly corresponding to the threshold angle. It can be considered that they match each other with a certain error.

According to such a configuration, when the main winding rope 51 connected to the suspended load swings in the front-rear direction, the first swing member 61 and the second swing member 62 integrally swing around the first rotation center axis CL1. Move. At this time, as shown in the side views of FIGS. 5 and 6, the first swing is made so that the reference intersection TP follows the rope boundary point LP while maintaining a constant relative positional relationship on the outer peripheral surface of the point sheave 162. The member 61 and the second swing member 62 swing. Therefore, the runout angle sensor 63 can detect the runout angle of the main winding rope 51 in the front-rear direction from the first angle information and the relative positional relationship between the reference intersection TP and the rope boundary point LP. On the other hand, when the main winding rope 51 connected to the suspended load swings in the left-right direction, the second swing member 62 swings around the second rotation center axis CL2 relative to the first swing member 61. At this time, as shown in the front view of FIGS. 7 and 8, the swing fulcrum of the second swing member 62 and the swing fulcrum of the main winding rope 51 substantially coincide with each other. The swing angle around the two rotation center axis CL2 and the swing angle of the main winding rope 51 can be substantially matched. As a result, the runout angle sensor 63 can accurately detect the second angle information corresponding to the runout angle of the main winding rope 51 in the left-right direction.

In the rope holding portion 62T, the rope boundary point LP moves on the outer peripheral surface of the point sheave 162 when viewed from a direction parallel to the first rotation center axis CL1 according to the runout of the main winding rope 51 in the front-rear direction. Along with this, the first swing member 61 and the second swing member 62 swing integrally around the first rotation center axis CL1 by the moving force in a state where the reference intersection TP and the rope boundary point LP coincide with each other. It is desirable to let it.

According to such a configuration, when the main winding rope 51 connected to the suspended load swings in the front-rear direction, the first swing is made so that the reference intersection TP coincides with the rope boundary point LP on the outer peripheral surface of the point sheave 162. By swinging the moving member 61 and the second swing member 62, the swing angle of the second swing member 62 around the first rotation center axis CL1 and the swing angle of the main winding rope 51 can be matched. .. As a result, the runout angle sensor 63 can accurately detect the first angle information corresponding to the runout angle of the main winding rope 51 in the front-rear direction.

Further, in the second swing connecting portion 60S, the swing end portion 61T of the first swing member 61 and the second base end of the second swing member 62 so that the second rotation center axis CL2 passes through the rope boundary point LP. It is desirable to connect the parts 62S to each other. In this case, since the swing fulcrum of the second swing member 62 and the swing fulcrum of the main winding rope 51 coincide with each other, the swing angle of the second swing member 62 around the second rotation center axis CL2 and the main winding rope The runout angle of 51 can be matched. As a result, the runout angle sensor 63 can accurately detect the second angle information corresponding to the runout angle of the main winding rope 51 in the left-right direction.

Further, in the present embodiment, the boom tip portion 16Q has a pair of left and right side walls 160A and a point sheave shaft portion 162S. Further, the first swing member 61 connects the lower end portion of the first base end portion 61S and the lower end portion of the swing end portion 61T to each other below the side wall 160A so as to bypass the right side wall 160A. It has a connecting portion 61V. Therefore, in a configuration in which the point sheave 162 is rotatably supported inside the pair of side walls 160A, the main winding rope is provided by the runout angle detecting device 60 mounted on the outside of the pair of side walls 160A in the boom tip portion 16Q. The runout angle of 51 can be detected with high accuracy. As a result, since a part of the runout angle detection device 60 is not arranged in the space between the pair of side walls 160A in the boom tip portion 16Q, a part of the runout angle detection device 60 and the point sheave in the space. It is prevented that 162 and 162 interfere with each other. The hole opened in the first base end portion 61S of the first swing member 61 of the runout angle detection device 60 is detachably attached to the tip shaft portion 162S1 of the point sheave shaft portion 162S, so that the runout can be performed in advance. The runout angle detection device 60 can be easily attached to the boom tip portion 16Q of the conventional crane 10 that does not have the angle detection device 60.

Further, in the present embodiment, the second swing member 62 has a mounting surface 62K orthogonal to the second rotation center axis CL2 when viewed from a direction parallel to the first rotation center axis CL1, and has a swing angle on the mounting surface 62K. The sensor 63 is mounted. Therefore, the runout angle sensor 63 detects the swing angle of the mounting surface 62K with respect to the vertical direction, so that the runout angle of the main winding rope 51 can be detected with high accuracy. At this time, it is desirable that the reference axis of the runout angle sensor 63 is set to be parallel to the mounting surface 62K.

Further, in the present embodiment, the rope holding portion 62T has a pair of holding rollers 623, and the main winding rope 51 is held by the pair of holding rollers 623. Therefore, the main winding rope 51 can be easily inserted between the pair of holding rollers 623 with the rotation of the holding roller 623, and the main winding rope 51 can be stably held.

9 and 10 are a side view and a front view of the runout angle detecting device 60A according to the first modification embodiment of the present invention. Hereinafter, the differences between the present modified embodiment and the first embodiment will be mainly described.

In this modified embodiment, as shown in FIG. 9, the first swing member 65 and the second swing member 66 of the runout angle detection device 60A are connected to each other on the rear side of the point sheave 162.

The first swing member 65 includes a first frame 651, a second frame 652, a third frame 653, and a fourth frame 654. The first frame 651 is supported by the tip shaft portion 162S1 (see FIG. 4) of the point sheave shaft portion 162S so as to swing around the first rotation center shaft CL1. The second frame 652 is connected to the lower end of the first frame 651 and extends rearward from the lower end of the first frame 651. The third frame 653 is connected to the tip of the second frame 652 and extends to the left from the tip of the second frame 652. At this time, the third frame 653 extends so as to pass below the right side wall 160A. The fourth frame 654 is connected to the tip of the third frame 653 so as to extend upward from the tip of the third frame 653.

The upper end of the fourth frame 654 of the first swing member 65 is connected to the second swing member 66 via the second swing connecting portion 60S. The second swing member 66 is swingable relative to the first swing member 65 around the second rotation center axis CL2. Further, also in this modified embodiment, the swing angle sensor 63 is mounted on the second swing member 66, and the pair of holding rollers 623 arranged at the lower end of the second swing member 66 attach the main winding rope 51. Hold. Even in such a configuration, the same effect as that of the first embodiment can be obtained.

FIG. 11 is a side view of the runout angle detecting device 60B according to the second modified embodiment of the present invention. The present modification is different from the first embodiment in that the pair of holding rollers 623 is not arranged at the lower end of the second swing member 62. In this modified embodiment, the holding plate 621 (holding portion main body) of the rope holding portion 62T is connected to the second base end portion 62S via the second connecting portion 62V. The holding plate 621 is formed with a guide hole 621S (insertion hole) that allows the main winding rope 51 to be inserted along the vertical direction.

Also in this modified embodiment, the holding plate 621 prevents the main winding rope 51 from moving in the vertical direction relative to the rope holding portion 62T as the main winding rope 51 is wound and unwound by the main winding winch 34. Tolerate. Further, when the main winding rope 51 swings in the front-rear direction, the rope holding portion 62T receives a moving force from the main winding rope 51, so that the first swing member 61 and the second swing member 62 move to the first rotation center axis CL1. It is possible to swing integrally around the rope, and when the main winding rope 51 swings in the left-right direction, the second swing member 62 is relative to the first swing member 61 around the second rotation center axis CL2. It is possible to swing like a rope.

Further, in the present modification embodiment, the rope holding portion 62T can easily hold the main winding rope 51 by inserting the main winding rope 51 into the guide hole 621S of the holding plate 621. In order to improve the slidability of the main winding rope 51 in the vertical direction, a bush (not shown) made of metal or resin may be mounted on the inner peripheral surface of the guide hole 621S. Further, the rope holding portion 62T may include a pad member that sandwiches the main winding rope 51 so as to allow the main winding rope 51 to move up and down.

12, 13 and 14 are side views, front views and plan views of the runout angle detection device 60C according to the third modification embodiment of the present invention. The present deformation embodiment is different from the first deformation embodiment in that the first swing member 67 is arranged between the pair of left and right side walls 160A. That is, the first swing member 67 has a first frame 671 and a second frame 672. As shown in FIG. 13, the first frame 671 is supported by the point sheave shaft portion 162S so as to be swingable around the first rotation center shaft CL1 between the point sheave 162 and the right side wall 160A. .. Further, the first frame 671 extends rearward from the point sheave shaft portion 162S. The second frame 672 is connected to the tip of the first frame 671 and extends to the left from the tip of the first frame 671 (FIGS. 13 and 14). The tip of the second frame 672 is located behind the point sheave 162. Then, as in the first modification embodiment, in the second swing connecting portion 60S, the upper end portion of the second swing member 66 is relative to the second frame 672 around the second rotation center axis CL2. The upper end portion of the second swing member 66 and the second frame 672 are connected to each other so as to be swingable. Even in such a configuration, the same effect as that of the first embodiment can be obtained. Further, in the present modification embodiment, since the runout angle detection device 60C is arranged between the pair of side walls 160A in the left-right direction, the runout angle detection device 60C can be compactly arranged on the boom tip portion 16Q. In particular, the shape of the first swing member 67 can be simplified.

FIG. 15 is a side view of the runout angle detecting device 60D according to the fourth modified embodiment of the present invention. Further, FIG. 16 is a side view of the runout angle detecting device 60E according to the fifth modification embodiment of the present invention. The runout angle detection device 60D shown in FIG. 15 has a weight 71 attached to the tip of the second frame 612 of the first swing member 61. Further, the runout angle detection device 60E shown in FIG. 16 is attached to a weight 72 mounted on the base end portion of the second frame 652 and a corner portion of the second swing member 66 below the runout angle sensor 63. It has a weight 73 and.

These weights (weight members) are weights for holding the standby posture of the runout angle detection device 60D and the runout angle detection device 60E. In these weights, the rope holding portion 62T indicates that the main winding rope 51 hangs down from the point sheave 162 in the vertical direction in a state where the suspended load is not connected to the main winding rope 51 (main hook 53). It is desirable to maintain the posture of the first swing member and the second swing member around the first rotation center axis CL1 so as to allow it. According to such a configuration, when the crane 10 is not used, the rope depends on the posture of the swing angle detection device 60 based on the own weight (center of gravity position) of the first swing member 61 and the second swing member 62. It is prevented that the holding portion 62T pulls the main winding rope 51 in the front-rear direction. As a result, it is possible to prevent an unnecessary external force from being applied to the main winding rope 51.

It is desirable that the above weight is attached to at least one of the first swing member and the second swing member, but the weight of the main hook 53 usually ranges from several tens to several hundreds of kilograms. In many cases, even when the above weights are not necessarily attached, the tension of the main winding rope 51 brought about by the main hook 53 causes the main winding rope 51 to extend in the vertical direction between the point sheave 162 and the main hook 53. be able to.

The swing angle detection devices 60, 60A, 60B, 60C, 60D and 60E of the suspended load rope and the crane 10 provided with the devices 60, 60A, 60B, 60C, 60D and 60E according to each embodiment of the present invention have been described above. By detecting the deflection angles of the main winding rope 51 in the front-rear direction and the left-right direction in the crane 10 in this way, the operator can accurately grasp the deflection state of the main winding rope 51. Further, the detection result of the runout angle sensor 63 can be applied to the steady rest control of the suspended load, the vertical ground cutting control, and the like. The present invention is not limited to these forms. In the present invention, the following modified embodiments are possible.

(1) In the above embodiment, the runout angle sensor 63 is described in an embodiment in which the runout angle sensor 63 is a sensor including a known tilt angle meter and capable of measuring the tilt (tilt angle) with respect to the vertical direction (gravity direction). The present invention is not limited to this, and a known gyro sensor (angular velocity sensor) may be mounted on the mounting surface 62K instead of the runout angle sensor 63. In this case, the tilt angle can be detected by integrating the angular velocity detected by the gyro sensor with a calculation unit (not shown). Further, instead of the above-mentioned runout angle sensor 63, a rotation angle sensor (encoder or the like) is attached to the first swing connection portion 60T and the second swing connection portion 60S, respectively, and the rotation angle (rotation amount) detected is used. The mode in which the inclination angle of the second swing member 62 is calculated may be used. Further, the reference axis of the runout angle sensor 63 may be set to extend in any direction. In this case, the swing angle of the second swing member 62, that is, the swing of the main winding rope 51, is changed according to the change of the reference axis before and after the swing of the first swing member 61 and the second swing member 62. The angle can be detected. Further, the runout angle sensor 63 may be attached to other parts of the second swing member 62.

(2) Further, in the runout angle detecting device 60 according to the embodiment of the present invention shown in FIG. 4, the guide sheave 161 and the main winding rope 51 pass through the rotation axis of the guide sheave 161 from the portion where the guide sheave 161 and the main winding rope 51 are in contact with each other. The first frame 611, the second frame 612, and the first frame 611, which constitute the first swing member 61, are formed only on one side (left side in FIG. 4) of the plane with respect to the plane perpendicular to the rotation axis. The embodiment in which the three frames 613 are arranged has been described. FIG. 17 is a front view of the runout angle detecting device according to the sixth modified embodiment of the present invention. As shown in FIG. 17, in the runout angle detecting device 60 according to the present modification embodiment, the first swing member 61 is also formed on the side of the other surface of the above plane (on the right side in FIG. 17). The frame 611, the second frame 612, and the third frame 613 may be arranged respectively. It can be said that the first swing member 61 in the runout angle detection device 60 shown in FIG. 4 has a cantilever structure, whereas the first swing member 61 in the runout angle detection device 60 shown in FIG. 17 has a cantilever structure. It can be said that it has a double-sided structure. With the first swing member 61 having such a double-sided structure, the rigidity of the first swing member 61 is increased, and the detection error due to the influence of deformation and vibration of the swing angle detection device 60 and vibration of the boom 16 is reduced. However, it is possible to perform highly accurate sensing.

(3) Further, the structure of the crane to which the runout angle detecting device according to each of the above embodiments is applied is not limited to the crane 10 shown in FIG. 1, and may be a crane having another structure. Good. As an example, the present invention is also applicable to a tower type crane in which a jib is attached to the tip of a vertically erected boom. In this case, the runout angle detecting device according to the present invention may be attached to the tip of the jib. Further, the crane may be provided with a box mast or a gantry instead of the lattice mast, and when a jib is provided at the tip of the boom, the jib is provided with a single strut at the tip of the boom. The fixed jib type supported by the above, the roughing type in which the jib is supported by the front strut and the rear strut at the tip of the boom, and the one equipped with a telescopic boom such as a rough terrain crane are also available. The invention may be applied.

10 Crane 12 Upper swivel body (airframe)
14 Lower running body 16 Boom (undulating body)
160A side wall (side plate)
160B Tip wall 161 Guide sheave 162 Point sheave (sheave)
162S point sheave shaft (sheave shaft)
162S1 Tip shaft 16P Boom base end (undulating body base end)
16Q boom tip (undulating body tip)
34 Main winding winch (winch)
51 Main winding rope (suspended load rope)
53 Main hooks 60, 60A, 60B, 60C, 60D, 60E Runout angle detection device 60S Second swing connection 60T First swing connection 61, 65, 67 First swing member 61S First base end 61T Moving end 61V 1st connection (connection)
62, 66 Second swing member 621 Holding plate (holding part main body)
621S guide hole (insertion hole)
623 Holding roller (roller)
62K Mounting surface 62S 2nd base end 62T Rope holding part 62V 2nd connection part 63 Runout angle sensor (angle information detection part)
71, 72, 73 weights (weight members)
CL1 1st rotation center axis CL2 2nd rotation center axis LP Rope boundary point TP Reference intersection

Claims (8)

With the aircraft
An undulating body having a undulating body base end portion rotatably supported by the machine body in the undulating direction and a undulating body tip portion opposite to the undulating body base end portion.
A sheave that includes the outer peripheral surface and is supported by the tip of the undulating body so that it can rotate around the first rotation center axis extending in the left-right direction of the aircraft.
A suspended load rope that is hung from the rear of the sheave on the outer peripheral surface of the sheave and is hung from the front side portion of the outer peripheral surface and connected to the suspended load.
A winch for winding and feeding the suspended load rope,
It is a swing angle detecting device of a suspended load rope which is mounted on a crane and detects a runout angle which is a relative angle of the suspended load rope with respect to the vertical direction.
A first base end portion arranged at a distance in the left-right direction with respect to the sheave, and a swinging end portion arranged in front of or behind the sheave so as to face the sheave in the radial direction of the sheave. A swingable first swing member having,
The first base end portion and the undulating body tip portion are connected to each other so that the first swinging member can swing relative to the undulating body tip portion around the first rotation center axis. 1 swing connection part and
A second base end portion arranged on the opposite side of the sheave and facing the rocking end portion, and a rope holding portion for holding a portion of the suspended load rope below the sheave, which is based on the winch. A swingable second swinging member having a rope holding portion that allows the suspended load rope to move relative to the rope holding portion in the vertical direction as the suspended load rope is wound up and unwound. When,
The second base end portion of the second swing member is orthogonal to the first rotation center axis and passes through the outer peripheral surface of the sheave with respect to the swing end portion of the first rocking member. A second oscillating connecting portion that connects the oscillating end portion and the second base end portion to each other so that the oscillating end portion and the second base end portion can oscillate relatively around the center axis of two rotations.
The second swing in the first reference plane which is an angle information detection unit mounted on the second swing member and is a plane orthogonal to the first rotation center axis and passing through the outer peripheral surface of the sheave. The first angle information, which is information corresponding to the relative angle of the member with respect to the vertical direction, and the vertical direction of the second swinging member in the second reference plane, which is a plane including the first rotation center axis and the vertical direction, respectively. An angle information detector capable of detecting and outputting second angle information, which is information corresponding to a relative angle to the angle with respect to the angle.
With
The rope holding portion integrally swings the first swinging member and the second swinging member around the first rotation center axis by the moving force received by the rope holding portion from the suspended load rope, and When viewed from a direction parallel to the second rotation center axis, the second swing member is moved by the moving force received from the suspended load rope by the rope holding portion in response to the swing of the suspended load rope in the left-right direction. 1 A swing angle detection device for a suspended load rope that swings relative to a swing member around the second rotation center axis. When viewed from a direction parallel to the first rotation center axis, the rope holding portion is separated from a portion where the suspended load rope is in contact with the outer peripheral surface of the sheave and the suspended load rope from the outer peripheral surface. As the rope boundary point, which is the boundary point with the portion of the rope, moves on the outer peripheral surface in response to the swing of the suspended load rope in the front-rear direction, the second rotation central axis and the outer peripheral surface of the sheave. The first rocking member and the second rocking member are moved by the moving force in a state where the front intersection of the pair of intersections formed by intersecting each other and the rope boundary point coincide with each other. The swing angle detecting device for a suspended load rope according to claim 1, which swings integrally around the first rotation center axis. The second swing connecting portion includes a portion where the second rotation center axis is in contact with the outer peripheral surface of the sheave when viewed from a direction parallel to the first rotation center axis. According to claim 1 or 2, the swinging end portion and the second base end portion are connected to each other so as to pass through a rope boundary point which is a boundary point between the suspended load rope and a portion separated from the outer peripheral surface. The runout angle detector for the suspended load rope described. The tip of the undulating body
A pair of left and right side plates and
A sheave shaft portion that connects the pair of left and right side plates to each other along the left and right directions, and has a shaft tip portion that projects outward in the left and right direction from at least one side plate of the pair of left and right side plates. A sheave shaft portion that rotatably supports the sheave around the first rotation center axis between the pair of left and right side plates.
Have,
The first base end portion of the first swing member is supported by the tip shaft portion so as to swing around the first rotation center axis, and the lower end portion arranged below the tip shaft portion. Have,
The oscillating end portion of the first oscillating member is arranged on the side opposite to the undulating body base end portion when viewed from the sheave, facing the sheave, and more than the second oscillating connecting portion. Has a lower end located below
The first swing member is a connection that bypasses at least one of the side plates and connects the lower end portion of the first base end portion and the lower end portion of the swing end portion to each other at least in the front-rear direction and the left-right direction. The swing angle detecting device for a suspended load rope according to any one of claims 1 to 3, further comprising a portion. The rope holding portion includes a pair of outer peripheral surfaces that can rotate around a pair of rotation center axes extending in the horizontal direction, and has a pair of rollers arranged so as to sandwich the suspended load rope from both sides in the horizontal direction. The runout angle detecting device for a suspended load rope according to any one of 1 to 4. The rope holding portion is a holding portion main body connected to the second base end portion of the second swinging member, and has an insertion hole that allows the suspended load rope to be inserted along the vertical direction. The swing angle detecting device for a suspended load rope according to any one of claims 1 to 4, further comprising a formed holding portion main body. The suspended load is at least one weight member attached to at least one of the first rocking member and the second rocking member, and the suspended load is not connected to the suspended load rope. The posture of the first swing member and the second swing member around the first rotation center axis is maintained so that the rope holding portion allows the rope to hang down from the sheave in the vertical direction. The swing angle detecting device for a suspended load rope according to any one of claims 1 to 6, further comprising at least one weight member. With the aircraft
An undulating body having a undulating body base end portion rotatably supported by the machine body in the undulating direction and a undulating body tip portion opposite to the undulating body base end portion.
A sheave that includes the outer peripheral surface and is supported by the tip of the undulating body so that it can rotate around the first rotation center axis extending in the left-right direction of the aircraft.
A suspended load rope that is hung from the rear of the sheave to the outer peripheral surface and is hung from the front side portion of the outer peripheral surface and connected to the suspended load.
A winch for winding and feeding the suspended load rope,
The swing angle detecting device for a suspended load rope according to any one of claims 1 to 7, which detects a runout angle which is a relative angle of the suspended load rope with respect to the vertical direction.
Equipped with a crane.

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