JP3210855U - Crane motion control device - Google Patents

Abstract

An object of the present invention is to provide an operation control device for a crane capable of improving work efficiency during jib attachment / detachment work. Each of a plurality of operations performed by a crane device during a jib attachment / detachment operation is executed in a predetermined order each time an input is made to an operation input unit. Accordingly, it is possible to perform the jib attachment / detachment work without requiring confirmation of the detailed operation contents of the crane device 20 by the operator, so that the work efficiency of the jib attachment / detachment work can be improved. [Selection] Figure 2

Description

  The present invention relates to an operation control device for a crane at the time of work for attaching and detaching a jib to and from a tip portion of a boom.

  In conventional cranes, in order to increase the working radius and lift, a jib is attached to the tip of the boom, and the crane is operated by locking the load on a wire rope suspended from the tip of the jib. Is known (for example, Patent Document 1).

JP 2013-180865 A

  In the crane, during the jib attachment / detachment work, which is the work of attaching / detaching the jib to / from the tip of the boom, a plurality of crane operations such as boom expansion / contraction operation and winch rotation operation, hydraulic hose connection, and wire A plurality of operations performed by the operator, such as pulling the rope and inserting / removing a pin for connecting the boom and the jib, occur alternately.

  For this reason, in the above-mentioned crane, in the jib attachment / detachment work, the operation of the crane and the work of the operator are complicated, and the operation of each crane is determined in detail, so the operator cannot operate the crane accurately. If the manual is to be checked every time the crane is operated, the work efficiency of the jib attachment / detachment work may be deteriorated.

  An object of the present invention is to provide a crane motion control device capable of improving work efficiency during jib attachment / detachment work.

  In order to achieve the above object, the present invention provides an operation control device for a crane at the time of a jib attachment / detachment operation for attaching / detaching a jib to / from a tip portion of a boom, wherein an operator inputs a predetermined operation, There is provided an operation execution means for executing each of a plurality of operations performed by the crane at the time of jib attachment / detachment work in a predetermined order each time an input is made to the operation input unit.

  As a result, the operations of multiple cranes performed before and after the work performed by the operator are executed in a predetermined order, so that the jib attachment / detachment work can be executed without requiring the operator to check the details of the crane operation. It becomes.

  According to the present invention, the jib attachment / detachment work can be executed without requiring the operator to confirm the detailed operation contents of the crane, so that the work efficiency of the jib attachment / detachment work can be improved.

It is a side view of the mobile crane which shows one Embodiment of this invention. It is a principal part side view of a crane apparatus. It is a block diagram which shows a control system. It is a figure which shows the attachment procedure of a jib. It is a figure which shows the attachment procedure of a jib. It is a figure which shows the attachment procedure of a jib. It is a figure which shows the attachment procedure of a jib. It is a figure which shows the attachment procedure of a jib. It is a figure which shows the attachment procedure of a jib. It is a flowchart which shows a jib attachment operation | movement control process.

  1 to 10 show an embodiment of the present invention.

  As shown in FIG. 1, a mobile crane 1 including an operation control device of the present invention includes a vehicle body 10 for traveling in a road or a work area, and a crane device 20 for performing crane work. Yes.

  The vehicle body 10 includes a carrier frame 11 extending in the front-rear direction, wheels 12 provided at both ends of a plurality of axles arranged in the front-rear direction of the carrier frame 11, and left and right sides on the front side and rear side of the carrier frame 11. It has an outrigger 13 provided and a driving cabin 14 for a driver to board and perform operations related to traveling.

  As shown in FIG. 1 or FIG. 2, the crane device 20 is provided on the upper surface of the vehicle body 10 so as to be turnable in the horizontal direction, and is provided on one side in the width direction of the turntable 21. A boom 22 that can be raised and lowered, and a telescopically configured boom 22, a jib 23 that is attached to the tip of the boom 22 and that can change the tilt angle with respect to the boom 22, and the boom 22 and the jib 23. A jib mounting adapter 24 interposed between the main wire rope 25, a sub-wire rope 26 suspended from the tip of the jib 23, and a winding of the main wire rope 25. Main winch 27 for taking up or paying out, sub winch 28 for taking up or paying out the sub wire rope 26, the width direction of the swivel base 21, etc. Provided, and a crane working cabin 29 for performing operations related to the crane device 20 an operator aboard, the.

  The boom 22 performs a hoisting operation with respect to the vehicle body 10 of the mobile crane 1, but in the description of the present embodiment, the boom 22 is moved in the vertical direction with reference to the state in which the expansion / contraction direction of the boom 22 is directed horizontally. While describing, the direction which goes to the front end side from the base end part side of the expansion-contraction direction of the boom 22 is defined as the front, and the direction from the front end side to the base end side is defined as the rear.

  The swivel base 21 is provided so as to be turnable with respect to the vehicle body 10 by a turning circle (not shown) of a ball bearing type or a roller bearing type, and is turned by a hydraulic turning motor (not shown).

  The boom 22 can be expanded and contracted by a telescopic mechanism constituted by a plurality of boom members 22a each formed in a cylindrical shape, and is expanded and contracted by a hydraulic boom expansion cylinder (not shown). The base end portion of the most proximal end boom member 22a is connected to the swivel base 21 so as to be swingable in the vertical direction. A hydraulic boom hoisting cylinder 22b is connected between a substantially central portion in the extending direction of the boom member 22a on the most proximal end side and the swivel base 21, and the boom 22 is hoisted by the expansion / contraction operation of the boom hoisting cylinder 22b. Perform the action. Further, a boom head 22c extending in the vertical direction is provided at the distal end portion of the boom member 22a located on the most distal side of the boom 22, and a main wire rope extending from the base end side of the boom 22 along the extending direction of the boom 22. 25 is suspended through a sheave provided on the boom head 22c. Further, connecting brackets 22c1 and 22c2 to which the jib mounting adapter 24 can be connected are provided on the upper and lower sides of the both sides in the width direction of the boom head 22c. The connection brackets 22c1 and 22c2 are provided with pin insertion holes through which the connection pins are inserted in the vertical direction.

  As shown in FIG. 2, the jib 23 has a jib base 23a coupled to the jib mounting adapter 24, and a jib body 23b supported by the jib base 23a so as to be swingable. The undulation is performed by the expansion and contraction. The jib main body 23b can be expanded and contracted by a telescopic mechanism constituted by a plurality of boom members formed in a cylindrical shape, and is expanded and contracted by a hydraulic jib expansion / contraction cylinder (not shown). Further, jib work sheaves 23d and 23e for guiding the sub-wire rope 26 are provided on the upper surface of the jib base 23a and the tip of the jib body 23b. The jib working sheave 23d provided on the upper surface of the jib base 23a is supported at the tip of a sheave support member 23f supported so as to be swingable in the front-rear direction with respect to the jib base 23a, and projects above the jib base 23a. It is possible to switch between the extended posture and the retracted posture tilted rearward on the upper surface of the jib base 23a. Further, a jib roller 23g for moving the ground in a state where the rear end side of the jib 23 is lifted is provided on the front end side of the jib main body 23b.

  Further, connecting portions 23a1 and 23a2 that can be connected to the jib mounting adapter 24 are provided at the upper and lower portions on both sides in the width direction of the jib base 23a. The connecting portions 23a1 and 23a2 are provided with pin insertion holes through which the connecting pins are inserted in the width direction of the jib 23.

  The jib mounting adapter 24 is used when the insertion direction of the connection pins of the connection portions 23a1 and 23a2 provided on the jib base 23a is different from the insertion direction of the connection pins of the connection brackets 22c1 and 22c2 provided on the boom head 22c. Used.

  The jib mounting adapter 24 guides the adapter main body 24a that covers the tip surface and the side surface on the tip side of the boom head 22c in the vertical direction, and the main wire rope 25 that suspends the jib 23 when the jib 23 is attached and detached. A jib attaching / detaching sheave 24b and a sheave support member 24c provided so as to extend upward from the upper surface of the adapter main body 24a and supporting the jib attaching / detaching sheave 24b are provided.

  Boom-side brackets 24a1, 24a2 that are provided on the upper and lower sides of the adapter body 24a on the side facing the boom head 22c, respectively, and can be connected to the connection brackets 22c1, 22c2 provided on the boom head 22c. Is provided. The boom side brackets 24a1 and 24a2 are provided with insertion holes through which the connecting pins are inserted in the vertical direction.

  Further, on the side of the adapter main body 24a on which the jib 23 is attached, the jib side brackets 24b1, 24b2 are provided on the upper and lower sides on both sides in the width direction and connectable to the connecting portions 23a1, 23a2 provided on the jib base 23a. Is provided. The jib brackets 24b1 and 24b2 are provided with insertion holes through which the connecting pins are inserted in the width direction.

  As shown in FIG. 1, the main hook block 25 a is locked to the main wire rope 25, and the main hook block 25 a is suspended from the tip of the boom 22. A suspended load can be locked to the main hook block 25 a, and a load locked to the main hook block 25 a is suspended from the tip of the boom 22.

  As shown in FIG. 2, the sub hook rope 26 a is locked to the sub wire rope 26, and the sub hook block 26 a is suspended from the tip of the jib 23. A suspended load can be locked to the sub-hook block 26 a, and a load locked to the sub-hook block 26 a is suspended from the tip of the jib 23.

  The main winch 27 includes a main winch drum (not shown) around which the main wire rope 25 is wound, and a hydraulic main winch motor (not shown) for driving the main winch drum in the forward rotation direction and the reverse rotation direction. Yes.

  The sub winch 28 includes a sub winch drum (not shown) around which the sub wire rope 26 is wound, and a hydraulic sub winch motor (not shown) for driving the sub winch drum in the forward rotation direction and the reverse rotation direction. Yes.

  Actuators such as a swing motor, a boom telescopic cylinder, a boom hoisting cylinder 22b, a jib telescopic cylinder, a tilt cylinder 23c, a main winch motor, and a sub winch motor are each discharged from a hydraulic pump that is driven by the power of a traveling engine. Drive by receiving oil supply.

  The mobile crane 1 also includes a controller 30 for performing control related to the operation of the crane device 20.

  The controller 30 has a CPU, ROM, and RAM. When the controller 30 receives an input signal from a device connected to the input side, the CPU reads a program stored in the ROM based on the input signal, and stores a state detected by the input signal in the RAM. The output signal is transmitted to a device connected to the output side.

  On the input side of the controller 30, as shown in FIG. 3, an operation input unit 31 such as an operation lever for an operator to input an operation related to the operation of the crane device 20, and the expansion / contraction length and undulation angle of the boom 22 are detected. For detecting the length of the main wire rope 25 fed from the main winch 27, and the length of the sub wire rope 26 fed from the sub winch 28. Are connected to a sub-wire rope feed length detection unit 34 for detecting the expansion / contraction length of the jib 23 and a jib posture detection unit 35 for detecting the undulation angle with respect to the boom 22.

  Further, on the output side of the controller 30, a control valve unit 36 for controlling the flow rate and flow direction of hydraulic oil supplied to each actuator, a display unit 37 for displaying information such as the state of the crane device, a crane A speaker 38 for notifying the operator of the alarm and work contents by voice to the operator in the work cabin 29 and the workers around the mobile crane 1 is connected.

  In the mobile crane 1 configured as described above, a procedure for attaching the jib 23 to the boom 22 will be described.

  The jib attachment work for attaching the jib 23 to the boom 22 is performed on the ground that forms a substantially horizontal plane. First, the crane apparatus 20 lifts the jib 23 with the boom 22 and, as shown in FIG. 4, directs the jib base 23a toward the vehicle body 10 on the ground located at a predetermined working radius, and extends the expansion / contraction direction of the jib body 23b back and forth. Place in the direction. The operator places the sub hook block 26a on the ground in front of the tip of the jib body 23b.

  Next, as shown in FIG. 5, the jib attachment adapter 24 is lifted and attached to the boom head 22c by a hoisting device such as another crane device. After attaching the jib attachment adapter 24 to the boom head 22c, the crane apparatus 20 performs an operation of extending the boom 22 by a predetermined length (for example, 0.5 m).

  After extending the boom 22 by a predetermined length, the operator places the jib attachment / detachment sheave 24b in an overhanging posture and the main wire rope 25 to the jib attachment / detachment sheave 24b of the jib attachment adapter 24 as shown in FIG. While winding, the front-end | tip part of the main wire rope 25 is connected with the link member 23a3 provided in the jib base 23a. Further, the operator winds the sub-wire rope 26 around the jib work sheaves 23d and 23e and draws the sub-wire rope 26 to the tip of the jib main body 23b. Further, the operator connects a hydraulic hose to the tilt cylinder 23 c of the jib 23.

  After the main wire rope 25 is connected, the sub-wire rope 26 is routed, and the hydraulic hose is connected, the crane apparatus 20 drives the main winch 27 to wind up the main wire rope 25 and lift up the jib 23 as shown in FIG. Lift up the rear end side. After lifting the rear end side of the jib 23, the operator connects the connecting portion 23a2 provided at the lower portion of the jib base 23a to the jib side bracket 24b2 provided at the lower portion of the adapter body 24a by the connecting pin.

  After connecting the lower side of the jib base 23a to the lower side of the adapter body 24a, the crane apparatus 20 reduces the tilt cylinder 23c of the jib 23 and moves the tip of the jib body 23b rearward as shown in FIG. The upper side of the jib base 23a is moved backward. After the upper side of the jib base 23a is moved rearward, the operator connects the connecting portion 23a1 provided on the upper portion of the jib base 23a to the jib side bracket 24b1 on the upper portion of the jib mounting adapter 24 by a connecting pin.

  After connecting the connecting portions 23a1, 23a2 of the jib base 23a to the jib side brackets 24b1, 24b2 of the jib mounting adapter 24, the crane device 20 extends the tilt cylinder 23c as shown in FIG. The tip is moved up to a predetermined height (for example, 1 m).

  Finally, as shown in FIG. 2, the operator removes the distal end portion of the main wire rope 25 from the jib base 23 a and engages it with the boom member 22 a on the most proximal end side of the boom 22, and at the distal end of the sub wire rope 26. The sub hook block 26a is locked to the portion.

  As described above, when performing a jib attachment / detachment operation that is an operation of attaching / detaching the jib 23 to / from the boom 22, the setting of the controller 30 is set to the jib set mode. In the jib set mode, the attachment operation or removal operation of the jib 23 can be selected, the work content to be performed by the worker is instructed according to the selected operation, and the crane device 20 is triggered by the operation input to the operation input unit 31. A jib attachment operation control process or a jib removal operation control process is performed in which each of the plurality of operations is executed in a predetermined order each time the operation input unit 31 is input. Here, as an explanation of the operation of the controller 30 in the jib set mode, the operation of the controller 30 when executing the jib attachment operation control process will be described with reference to the flowchart of FIG.

(Step S1)
In step S1, the CPU determines whether or not the jib set mode is set. If it is determined that the jib set mode is set, the process proceeds to step S2, and if it is not determined that the jib set mode is set, the jib attachment operation control process is terminated.

(Step S2)
When it is determined in step S1 that the jib set mode is set, in step S2, the CPU determines whether or not the jib 23 attachment operation is selected. If it is determined that the jib 23 attachment operation is selected, the process proceeds to step S3. If it is not determined that the jib 23 attachment operation is selected, the process returns to step S1.

(Step S3)
When it is determined in step S2 that the jib 23 attachment operation has been selected, in step S4, when the instruction to correct the posture of the crane device 20 is made and to assume a predetermined posture, the CPU in step S3 It is determined whether or not the device 20 is in a predetermined posture. If it is determined that the crane device 20 is in the predetermined posture, the process proceeds to step S5. If it is not determined that the crane device 20 is in the predetermined posture, the process proceeds to step S4.
Here, the predetermined posture of the crane device 20 is a posture in which the boom 22 is fully reduced and the boom 22 is laid down to the maximum.

(Step S4)
If it is not determined in step S3 that the crane device 20 is in the predetermined posture, the CPU displays an instruction on the display unit 37 in step S4 to correct the posture of the crane device 20 to be in the predetermined posture. At the same time, notification is given from the speaker 38, and the process returns to step S3.

(Step S5)
When it is determined in step S3 that the crane apparatus 20 is in the predetermined posture, in step S5, the CPU displays a work process relating to the extension of the jib 23 on the display unit 37, and the process proceeds to step S6.

(Step S6)
In step S <b> 6, the CPU removes the main hook block 25 a from the main wire rope 25, removes the overwinding sensor from the boom 22, displays a work instruction for attaching the jib attachment adapter 24 on the display unit 37, and notifies from the speaker 38. Then, the process proceeds to step S7.

(Step S7)
In step S <b> 7, the CPU determines whether or not an operation indicating completion of the removal work of the main hook block 25 a and the overwinding sensor and completion of the work of attaching the jib attachment adapter 24 has been performed on the operation input unit 31. judge. When it is determined that the operation indicating the completion of the removal operation of the main hook block 25a and the overwinding sensor and the completion of the operation of attaching the jib attachment adapter 24 has been performed, the process proceeds to step S8, and the main hook block 25a and If it is not determined that the operation indicating the completion of the overwinding sensor removal operation and the completion of the operation of attaching the jib attachment adapter 24 has been performed, the process proceeds to step S6.

(Step S8)
If it is determined in step S7 that an operation indicating the completion of the removal work of the main hook block 25a and the overwinding sensor and the completion of the work of attaching the jib attachment adapter 24 has been input, the CPU moves the boom 22 in step S8. An instruction to input the operation to be expanded is displayed on the display unit 37 and notified from the speaker 38, and the process proceeds to step S9.

(Step S9)
In step S <b> 9, the CPU determines whether an operation for extending the boom 22 is input to the operation input unit 31. If it is determined that an operation for extending the boom 22 has been input, the process proceeds to step S10. If it is not determined that an operation for extending the boom 22 has been input, the process proceeds to step S8.

(Step S10)
If it is determined in step S9 that an operation for extending the boom 22 has been input, in step S10, the CPU extends the boom 22 by a predetermined length (for example, 0.5 m) and moves the process to step S11.

(Step S11)
In step S11, the CPU connects the main wire rope 25 to the link member 23a3 of the jib 23, draws the sub wire rope 26 to the tip of the jib 23, and gives an instruction to connect the hydraulic hose to the tilt cylinder 23c of the jib 23. While displaying on the display part 37, it alert | reports from the speaker 38 and moves a process to step S12.

(Step S12)
In step S12, the CPU determines whether or not an operation indicating completion of connection of the main wire rope 25, routing of the sub wire rope 26, and connection of the hydraulic hose has been performed. When it is determined that the operation indicating the completion of the connection of the main wire rope 25, the routing of the sub wire rope 26, and the connection of the hydraulic hose has been input, the process proceeds to step S13, the connection of the main wire rope 25, If it is not determined that the operation indicating the completion of the drawing of the wire rope 26 and the connection of the hydraulic hose has been made, the process proceeds to step S11.

(Step S13)
When it is determined in step S12 that an operation indicating completion of connection of the main wire rope 25, routing of the sub wire rope 26, and connection of the hydraulic hose has been input, the CPU determines that the jib 23 is in a predetermined posture in step S13. It is determined whether or not (for example, the expansion / contraction length is minimum and the inclination angle of the jib body 23b with respect to the jib base 23a is minimum). If it is determined that the jib 23 is in the predetermined posture, the process proceeds to step S17. If it is not determined that the jib 23 is in the predetermined posture, the process proceeds to step S14.

(Step S14)
If it is not determined in step S13 that the jib 23 is in the predetermined posture, in step S14, the CPU displays an instruction to correct the posture of the jib 23 to the predetermined posture on the display unit 37 and the speaker. No. 38 is notified and the process proceeds to step S15.

(Step S15)
In step S15, the CPU determines whether or not an operation for correcting the posture of the jib 23 has been performed. If it is determined that an operation for correcting the posture of the jib 23 has been performed, the process proceeds to step S16. If it is not determined that an operation for correcting the posture of the jib 23 has been performed, the process proceeds to step S14.

(Step S16)
When it is determined in step S15 that the operation for correcting the posture of the jib 23 has been performed, in step S16, the CPU performs an operation for correcting the posture of the jib 23 and moves the process to step S17.

(Step S17)
In step S17, the CPU displays an instruction to drive the main winch 27 to input an operation for winding up the main wire rope 25 on the display unit 37 and notifies the speaker 38 of the instruction, and the process proceeds to step S18.

(Step S18)
In step S <b> 18, the CPU determines whether or not an operation for winding up the main wire rope 25 has been input. If it is determined that an operation for winding the main wire rope 25 has been input, the process proceeds to step S19. If it is not determined that an operation for winding the main wire rope 25 has been input, the process returns to step S17.

(Step S19)
If it is determined in step S18 that an input operation for winding up the main wire rope 25 has been made, in step S19, the CPU connects the connecting portion 23a2 provided on the lower portion of the jib base 23a of the jib 23 with the connecting pin. The main winch 27 is driven to wind up the main wire rope 25 until it can be connected to the side bracket 24b2, and the process proceeds to step S20.

(Step S20)
In step S20, the CPU displays an instruction to connect the connecting portion 23a2 and the jib-side bracket 24b2 on the display portion 37 with a connecting pin, notifies the speaker 38, and shifts the processing to step S21.

(Step S21)
In step S21, the CPU determines whether or not an operation indicating completion of the operation of connecting the connecting portion 23a2 and the jib side bracket 24b2 by the connecting pin has been performed. If it is determined that an operation indicating completion of the operation of connecting the connecting portion 23a2 and the jib side bracket 24b2 is performed by the connecting pin, the process proceeds to step S22, and the connecting portion 23a2 and the jib side bracket 24b2 are connected by the connecting pin. If it is not determined that an operation indicating completion of the operation of connecting the two has been performed, the process returns to step S20.

(Step S22)
In step S22, the CPU displays on the display unit 37 an instruction to input an operation for lying down the jib body 23b of the jib 23 and notifies the speaker 38 of the instruction, and the process proceeds to step S23.

(Step S23)
In step S <b> 23, the CPU determines whether or not an input of an operation for lying down the jib body 23 b of the jib 23 has been performed. If it is determined that an operation for lowering the jib body 23b has been input, the process proceeds to step S24. If it is not determined that an operation for lowering the jib body 23b has been input, the process proceeds to step S22.

(Step S24)
When it is determined in step S23 that an operation for lying down the jib body 23b has been input, in step S24, the CPU connects the jib 23 of the adapter main body 24a with the connecting portion 23a1 provided on the upper part of the jib base 23a of the jib 23. The tilt cylinder 23c is driven until the jib body 23b is laid down until it can be connected to the side bracket 24b1, and the process proceeds to step S25.

(Step S25)
In step S25, the CPU displays on the display unit 37 an instruction to connect the connecting portion 23a1 and the jib side bracket 24b1 by the connecting pin, and notifies from the speaker 38, and the process proceeds to step S26.

(Step S26)
In step S26, the CPU determines whether or not an operation indicating completion of the operation of connecting the connecting portion 23a1 and the jib side bracket 24b1 with the connecting pin has been performed. When it is determined that an operation indicating completion of the operation of connecting the connecting portion 23a1 and the jib side bracket 24b1 is performed by the connecting pin, the process proceeds to step S27, and the connecting portion 23a1 and the jib side bracket 24b1 are connected by the connecting pin. If it is not determined that an operation indicating completion of the operation of connecting the two has been performed, the process returns to step S25.

(Step S27)
When it is determined in step S26 that an operation indicating completion of the operation of connecting the connecting portion 23a1 and the jib bracket 24b1 is performed by the connecting pin, the CPU raises the jib body 23b of the jib 23 in step S27. An instruction to input the operation is displayed on the display unit 37 and notified from the speaker 38, and the process proceeds to step S28.

(Step S28)
In step S28, the CPU determines whether or not an input for raising the jib body 23b of the jib 23 has been made. If it is determined that an operation for raising the jib body 23b of the jib 23 has been made, the process proceeds to step S29, and if it is not determined that an operation for raising the jib body 23b of the jib 23 has been made. Returns the process to step S27.

(Step S29)
If it is determined in step S28 that an input for raising the jib body 23b of the jib 23 has been made, the CPU drives the tilt cylinder 23c in step S29 so that the tip of the jib body 23b has a predetermined height from the ground. The operation of raising the height until it reaches a height (for example, 1 m) is performed, and the process proceeds to step S30.

(Step S30)
In step S30, the CPU attaches the sub hook block 26a to the sub wire rope 26, displays an instruction to attach the overwinding sensor to the jib 23 on the display unit 37, notifies the speaker 38, and moves the process to step S31. .

(Step S31)
In step S <b> 31, the CPU determines whether or not an operation indicating the completion of the operation of attaching the overwinding sensor to the jib 23 is performed while attaching the subhook block 26 a to the subwire rope 26. When it is determined that an operation indicating the completion of the operation of attaching the sub hook block 26a and the overwinding sensor has been made, the jib attachment operation control process is terminated, and the completion of the operation of attaching the subhook block 26a and the overwinding sensor is indicated. If it is not determined that an operation has been input, the process returns to step S30.

  As described above, according to the crane motion control device of the present embodiment, each of the plurality of motions performed by the crane device 20 during the jib attachment / detachment operation is executed in a predetermined order every time input is made to the operation input unit 31. ing.

  Accordingly, it is possible to perform the jib attachment / detachment work without requiring confirmation of the detailed operation contents of the crane device 20 by the operator, so that the work efficiency of the jib attachment / detachment work can be improved.

  Moreover, the information regarding the work which an operator should perform after operation | movement of the crane apparatus 20 at the time of a jib attachment / detachment work is alert | reported.

  Thereby, since the content of the work performed at the timing when the worker performs the work is notified, it is possible to prevent a reduction in work efficiency due to a work mistake or the like.

  Moreover, all the processes regarding the jib attachment / detachment work are informed.

  This allows the operator to confirm the entire process of the jib attachment / detachment work at the start of the jib attachment / detachment work, so that the operator can proceed with the work after recognizing the contents of the jib attachment / detachment work. Efficiency can be improved.

  In the above-described embodiment, the jib attachment operation for attaching the jib 23 to the boom 22 is shown as an example of the operation at the time of the jib attachment / detachment operation, but a plurality of operations performed by the crane device 20 are also performed in the jib removal operation for removing the jib 23 from the boom 22. Each of these operations may be executed in a predetermined order each time an input is made to the operation input unit 31.

  In the above embodiment, the jib attachment adapter 24 is attached to the tip of the boom 22, and the jib 23 is attached to the jib attachment adapter 24. However, the jib is attached directly to the tip of the boom. The present invention can also be applied to this.

  Moreover, in the said embodiment, although the crane apparatus 20 which performs the jib attachment / detachment operation | work which attaches / detaches the jib 23 mounted on the ground with respect to the boom 22 was shown, it is not restricted to this. For example, the present replacement can be applied even when performing a jib attachment / detachment operation in which the jib is stored on the side surface of the boom to be in a state of protruding from the jib tip.

  DESCRIPTION OF SYMBOLS 20 ... Crane apparatus, 22 ... Boom, 23 ... Jib, 30 ... Controller, 31 ... Operation input part, 37 ... Display part, 38 ... Speaker.

Claims (3)

An operation control device for a crane at the time of jib attachment / detachment work for attaching / detaching the jib to / from the tip of the boom,
An operation input unit in which an operator performs a predetermined operation input;
An operation control device for a crane, comprising: an operation execution means for executing each of a plurality of operations performed by the crane during jib attachment / detachment work in a predetermined order each time an input to the operation input unit is performed. The crane operation control device according to claim 1, further comprising work information notifying means for notifying information on work to be performed by an operator after the crane operation executed by the action executing means. The crane motion control apparatus according to claim 1, further comprising a process notifying unit that notifies all processes relating to the jib attachment / detachment work.