JP5632818B2 - Counterweight support device for crane and crane system - Google Patents

Counterweight support device for crane and crane system Download PDF

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Publication number
JP5632818B2
JP5632818B2 JP2011244657A JP2011244657A JP5632818B2 JP 5632818 B2 JP5632818 B2 JP 5632818B2 JP 2011244657 A JP2011244657 A JP 2011244657A JP 2011244657 A JP2011244657 A JP 2011244657A JP 5632818 B2 JP5632818 B2 JP 5632818B2
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transporter
crane
pallet
axle
turning
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JP2013100161A (en
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孝徳 木村
孝徳 木村
英光 森木
英光 森木
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北四国クレーン株式会社
マルマテクニカ株式会社
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Description

  The present invention relates to a counterweight support device that supports a counterweight used in a crawler crane.

  Conventionally, in a crane (especially a crawler crane), a load is applied to a position away from the center of gravity, such as when a counterweight (which may be a counterweight) is connected to the crane and a suspended object is suspended. At this time, the movement of the center of gravity is set within an allowable range.

  Conventionally, as a crane with a weight carriage, as shown in Patent Document 1 and Patent Document 2, there is a crane in which a main body including a boom and a winch unit and a weight carriage are connected via a connecting link. To do.

  Further, in the super large crane of Patent Document 3, the connecting unit that connects the first base unit provided with the boom and the second base unit provided with the counterweight is constituted by both detachable front and rear frames. In addition, there is an apparatus that adjusts the distance between the first base unit and the second base unit by selectively connecting the front frame to either the rear frame or the second base unit. To do.

  Moreover, in the large-sized mobile crawler crane of patent document 4, the straddle which connects the front crawler which mounts a boom and a mast, and the rear crawler which loads a balance weight, and the axis length can adjust expansion-contraction exist. To do.

Japanese Patent Laid-Open No. 9-272457 Japanese Patent Laid-Open No. 9-278374 Japanese Utility Model Publication No. 1-143790 JP-A-59-223692

  However, in the above conventional configuration, a crane and a weight support device (a weight cart in Patent Documents 1 and 2, a second base unit in Patent Document 3, and a rear crawler in Patent Document 4) are connected. As a result, there is a problem in that it takes a great deal of cost to install the weight support device connected to the crane.

  That is, a transport vehicle for transporting the weight support device to the vicinity of the crane, a transport vehicle for transporting the counterweight to the vicinity of the crane, another crane for loading the weight on the weight support device, and the like are required.

  In addition, since the weight support device such as the weight carriage does not have the power for traveling and is only driven by being connected to the crane by a connecting link or the like, installation of the weight loaded object is performed so as not to hinder the traveling of the weight loaded object. It is necessary to level the location, and to lay an iron plate on the leveled top surface, which is also expensive.

  Also, when removing the weight support device from the crane, other cranes for unloading the weight from the weight support device, a transport vehicle for carrying the weight support device from the vicinity of the crane, and a counterweight for carrying the weight from the vicinity of the crane Transport vehicles are necessary and costly.

  In addition, weight support devices such as weight carts do not have driving power and are only driven by a crane and a connecting link. There is a problem that it is difficult to maintain the followability of the weight support device.

  Moreover, since the weight cart is a dedicated device for each type of crane, it is necessary to prepare a weight cart dedicated to the crane every time the type of crane is different.

  Also, when connecting the weight support device to the crane, the weight support device assembly unit and weight must be transported to the vicinity of the crane, the weight support device must be assembled, and the crane must be connected and loaded. In addition, a space for carrying a transport vehicle, a space for installing a crane for loading weight, and other work space are required, and a sufficient space is required in the vicinity of the crane.

  Therefore, the present invention can reduce the cost when installing and removing a weight support device such as a weight trolley, and there is no problem in the followability of the counterweight even in a simply maintained field environment, and for each type of crane It is another object of the present invention to provide a crane counterweight support device that does not require preparation of a weight support device and that does not require a large space for installation of the weight support device in the vicinity of the crane.

The present invention was created to solve the above-described problems . First , the present invention is provided in an upper swing body in a crane having a lower traveling body and an upper swing body that pivots with respect to the lower traveling body. A counterweight support device for a crane that supports a counterweight suspended from a mast boom, a pallet on which a counterweight suspended from the mast boom of the crane is mounted, and a loading platform on which the counterweight is mounted A pallet carrier (202) and a plurality of legs that support the pallet carrier and can be expanded and contracted by a hydraulic cylinder (220) , and the length between adjacent legs is formed such that the transporter can pass through. Pallet (200) having a portion (205) and a transporter carrier that is a carrier for lifting the pallet carrier from below 104), a traveling unit for running the transporter, the axle (108), the tire (110) provided on the axle, the axle rotating means (112) for rotating the axle, and the position of the axle in the vertical direction is changed. A traveling unit main body (106a) having axle support portions (118, 122, 126) that can be supported, and an axle vertical position changing means (134) that changes the vertical position of the axle, and a transporter carrier base. A plurality of traveling units (106) having traveling unit main body rotating means (106b) for rotating the traveling unit main body with respect to the transporter carrier centering on a substantially vertical central axis; Distance measuring means (186) for measuring the distance to the distance measurement target position in the crane, and a transmitter provided in the crane Receiving unit (184) for receiving a turning direction specifying signal which is a signal for specifying the turning direction of the upper turning body in the crane and a turning angle specifying signal which is a signal for specifying the turning angle in the signal transmitted from Then, the transporter moving direction and moving distance are calculated according to the received turning direction specifying signal, turning angle specifying signal and the distance measured by the distance measuring means, and the traveling unit body rotates according to the calculated moving direction and moving distance. A transporter (100) having a control unit (190) for controlling the means and the axle rotation means, and the vertical length between the transporter loading platform and the axle of the transporter is minimized. The vertical length between the upper end of the transporter carrier and the lower end of the tire is the same as the lower end and legs of the pallet carrier when the length of the pallet leg is maximized. The vertical length between the upper end of the transporter carrier and the lower end of the tire when the vertical length between the transporter carrier and the axle of the transporter is maximized. length direction, the vertical direction between the lower end of the pallet loading platform of the lower leg portion in a case where the length of the legs of the pallet to a minimum rather long than the length, the transporter, the hydraulic pump (164) A hydraulic hose (179) for supplying hydraulic oil by a hydraulic pump, and a connecting device (180) provided at the tip of the hydraulic hose, and the connecting device is connected to the pallet carrier of the pallet A connection port (240) is provided, and the hydraulic cylinder in the leg is operated by hydraulic oil supplied from the connection port .

In the crane counterweight support apparatus of the first configuration, the counterweight is placed on the pallet loading platform of the pallet, and then the pallet loading platform of the pallet is arranged above the transporter loading platform of the transporter. In other words, the length between the adjacent leg parts of the pallet is formed so that the transporter can pass through, and the length of the transporter bed in the vertical direction between the transporter bed and the axle of the transporter is minimized. The vertical length between the upper end and the lower end of the tire is shorter than the vertical length between the lower end of the pallet carrier and the lower end of the leg when the length of the pallet leg is maximized. The vertical position changing means shortens the length in the vertical direction between the transporter carrier and the axle of the transporter, and lengthens the length of the leg portion so that the transporter enters under the pallet carrier.

  Next, the vertical length between the upper end of the transporter carrier and the lower end of the tire when the vertical length between the transporter carrier and the axle of the transporter is maximized is the length of the leg of the pallet. Is longer than the vertical length between the lower end of the pallet carrier and the lower end of the leg when the vehicle is minimized, so that the vertical distance between the axle and the transporter carrier is increased in the transporter by the axle vertical position changing means. At the same time, the pallet is lifted by the transporter by shortening the leg length. The transporter lifts the pallet and moves to the vicinity of the crane to suspend the counterweight from the mast boom.

  When the crane turns, the receiving unit of the transporter receives the turning direction specifying signal and the turning angle specifying signal with the signal transmitted from the transmitting unit provided on the crane, and the control unit receives the turning direction received. The movement direction and movement distance of the transporter are calculated according to the specific signal, the turning angle specification signal, and the distance measured by the distance measurement means, and the traveling unit main body rotation means and the axle rotation means according to the calculated movement direction and movement distance, To control. When removing the counterweight from the crane, after removing the rope that suspends the counterweight, the counterweight may be placed on the pallet carrier and the transporter may be moved to an appropriate location with the transporter lifting the pallet.

  Therefore, when the counterweight is attached to the crane or removed from the crane, it can be transported by the transporter with the counterweight placed on the pallet, so there are no transport vehicles that carry the weight support device or transport vehicles that carry the counterweight. Each is not necessary, and the cost can be reduced.

  Also, when the counterweight is moved in accordance with the turning of the upper revolving structure and the movement of the crane itself, the transporter itself is provided with power for running and has the ability to self-run. Further, there is no need to lay an iron plate on the leveled upper surface, and the cost can be reduced in that respect.

  In addition, since the transporter has a self-propelled ability, the counterweight can be moved in accordance with the turning and movement of the crane, even if the installation surface is simple and has unevenness and inclination. Since the transporter moves automatically according to the movement of the crane, the counterweight can easily follow the movement of the crane.

Also, the transporter and pallet can be used universally even if the type of crane is different, and it is not necessary to provide a transporter or pallet for each crane type, and it is necessary to prepare a weight support device for each type of crane. There is no. Also, when attaching the counterweight to the crane, the counterweight can be placed on the pallet at another location and transported to the crane with the pallet lifted by the transporter, so attach the counterweight to the crane Therefore, the counterweight can be attached to the crane even when there is not enough space near the crane. Also, when removing the counterweight from the crane, it is possible to remove the counterweight from the crane by moving it to another place with the transporter while lifting the pallet on which the counterweight is placed. However, there is no need for sufficient space near the crane.

Further, the transporter is provided with a hydraulic pump (164), a hydraulic hose (179) for supplying hydraulic oil by the hydraulic pump, and a connecting device (180) provided at the tip of the hydraulic hose. The pallet carrier is provided with a connection port (240) for connecting the connecting device, and the hydraulic cylinder at the leg is operated by the hydraulic oil supplied from the connection port, so a hydraulic pump is provided on the pallet. Even if not, the hydraulic cylinder in the pallet can be operated.

In the first configuration, the vertical length between the upper end of the transporter carrier and the lower end of the tire when the vertical length between the transporter carrier and the axle of the transporter is minimized. When the length of the pallet leg is maximized, it is shorter than the vertical length between the lower end of the pallet carrier and the lower end of the leg, and at least the length of the pallet leg is maximized, and the transporter When the vertical length between the transporter carrier and the axle is minimized, the transporter can be placed below the pallet carrier and the transporter carrier can be placed below the pallet carrier and separated from the pallet carrier. In addition, the distance between the upper end of the transporter carrier and the lower end of the tire when the vertical length between the transporter carrier and the axle of the transporter is maximized. The length in the downward direction is longer than the length in the vertical direction between the lower end of the pallet carrier and the lower end of the leg when the length of the pallet leg is minimized, and the transporter is placed below the pallet carrier. In this condition, at least when the length of the pallet leg is minimized and the vertical length between the transporter carrier and the axle of the transporter is maximized, the pallet carrier is lifted by the transporter carrier. It is good also as a thing which will be in a state.

Secondly, a crane counterweight that supports a counterweight suspended from a mast boom provided on an upper swing body in a crane having a lower travel body and an upper swing body that swings relative to the lower travel body. A pallet for loading a counterweight suspended from a mast boom of a crane, a pallet loading platform (202), which is a substantially rectangular loading platform for loading the counterweight, and a pallet loading platform A plurality of legs, which are provided at four corners and support a pallet carrier and can be expanded and contracted by a hydraulic cylinder (220), are formed such that the length between adjacent legs can pass through the transporter. A pallet (200) having a leg (205) and a loading platform for lifting the pallet loading platform from below. A transporter bed (104) is a bed having a width shorter than the length between the legs of the let-bed of the short side, in the running unit for running the transporter, an axle (108), the tire provided on the axle ( 110), axle rotation means (112) for rotating the axle, axle support arms (118, 122) for supporting the axle, an arm support (126) for pivotally supporting the axle support arm, and axle support A traveling unit body (106a) having an axle up / down position changing means (134) constituted by an axle up / down hydraulic cylinder which is a hydraulic cylinder for rotating the arm with respect to the arm support portion, and fixed to the transporter carrier Traveling unit body rotating means for rotating the traveling unit body with respect to the transporter carrier centering on a substantially vertical central axis. A distance measuring means (186) for measuring a distance between a plurality of traveling units (106) having a traveling unit main body rotating means (106b) to be moved and a distance measurement target position in the crane, and a transmitter provided in the crane A receiving unit (184) that receives the turning direction specifying signal that is a signal for specifying the turning direction of the upper swing body in the crane and the turning angle specifying signal that is a signal for specifying the turning angle by the transmitted signal; The movement direction and movement distance of the transporter are calculated according to the received turning direction specifying signal, turning angle specifying signal, and distance measured by the distance measuring means, and the traveling unit main body rotating means is calculated according to the calculated moving direction and moving distance. And a control unit (190) for controlling the axle rotation means, and a transporter (100) having a transporter -The vertical length between the upper end of the transporter carrier and the lower end of the tire when the vertical length between the transporter carrier and the axle is minimized, the length of the leg of the pallet is maximized. The upper end of the transporter carrier is shorter than the vertical length between the lower end of the pallet carrier and the lower end of the leg, and the vertical length between the transporter carrier and the axle of the transporter is maximized. and the length in the vertical direction between the lower end of the tire, the vertical direction between the lower ends of the leg portions bed of palette when the length of the legs of the pallet to a minimum rather long than the length, transporter Includes a hydraulic pump (164), a hydraulic hose (179) for supplying hydraulic oil by the hydraulic pump, and a connecting device (180) provided at the tip of the hydraulic hose. The base, the connection port for connecting the connection device (240) is provided, the hydraulic cylinder is in the leg, characterized in that it operated by hydraulic oil supplied from the connection port.

In the crane counterweight support device of the second configuration, the counterweight is placed on the pallet loading platform of the pallet, and then the pallet loading platform of the pallet is arranged above the transporter loading platform of the transporter. In other words, the length between the adjacent leg parts of the pallet is formed so that the transporter can pass through, and the length of the transporter bed in the vertical direction between the transporter bed and the axle of the transporter is minimized. The vertical length between the upper end and the lower end of the tire is shorter than the vertical length between the lower end of the pallet carrier and the lower end of the leg when the length of the pallet leg is maximized. The vertical position changing means shortens the length in the vertical direction between the transporter carrier and the axle of the transporter, and lengthens the length of the leg portion so that the transporter enters under the pallet carrier.

  Next, the vertical length between the upper end of the transporter carrier and the lower end of the tire when the vertical length between the transporter carrier and the axle of the transporter is maximized is the length of the leg of the pallet. Is longer than the vertical length between the lower end of the pallet carrier and the lower end of the leg when the vehicle is minimized, so that the vertical distance between the axle and the transporter carrier is increased in the transporter by the axle vertical position changing means. At the same time, the pallet is lifted by the transporter by shortening the leg length. The transporter lifts the pallet and moves to the vicinity of the crane to suspend the counterweight from the mast boom.

  When the crane turns, the receiving unit of the transporter receives the turning direction specifying signal and the turning angle specifying signal with the signal transmitted from the transmitting unit provided on the crane, and the control unit receives the turning direction received. The movement direction and movement distance of the transporter are calculated according to the specific signal, the turning angle specification signal, and the distance measured by the distance measurement means, and the traveling unit main body rotation means and the axle rotation means according to the calculated movement direction and movement distance, To control. When removing the counterweight from the crane, after removing the rope that suspends the counterweight, the counterweight may be placed on the pallet carrier and the transporter may be moved to an appropriate location with the transporter lifting the pallet.

  Therefore, when the counterweight is attached to the crane or removed from the crane, it can be transported by the transporter with the counterweight placed on the pallet, so there are no transport vehicles that carry the weight support device or transport vehicles that carry the counterweight. Each is not necessary, and the cost can be reduced.

  Also, when the counterweight is moved in accordance with the turning of the upper revolving structure and the movement of the crane itself, the transporter itself is provided with power for running and has the ability to self-run. Further, there is no need to lay an iron plate on the leveled upper surface, and the cost can be reduced in that respect.

  In addition, since the transporter has a self-propelled ability, the counterweight can be moved in accordance with the turning and movement of the crane, even if the installation surface is simple and has unevenness and inclination. Since the transporter moves automatically according to the movement of the crane, the counterweight can easily follow the movement of the crane.

Also, the transporter and pallet can be used universally even if the type of crane is different, and it is not necessary to provide a transporter or pallet for each crane type, and it is necessary to prepare a weight support device for each type of crane. There is no. Also, when attaching the counterweight to the crane, the counterweight can be placed on the pallet at another location and transported to the crane with the pallet lifted by the transporter, so attach the counterweight to the crane Therefore, the counterweight can be attached to the crane even when there is not enough space near the crane. Also, when removing the counterweight from the crane, it is possible to remove the counterweight from the crane by moving it to another place with the transporter while lifting the pallet on which the counterweight is placed. However, there is no need for sufficient space near the crane.

Further, the transporter is provided with a hydraulic pump (164), a hydraulic hose (179) for supplying hydraulic oil by the hydraulic pump, and a connecting device (180) provided at the tip of the hydraulic hose. The pallet carrier is provided with a connection port (240) for connecting the connecting device, and the hydraulic cylinder at the leg is operated by the hydraulic oil supplied from the connection port, so a hydraulic pump is provided on the pallet. Even if not, the hydraulic cylinder in the pallet can be operated.

In the second configuration, the vertical length between the upper end of the transporter carrier and the lower end of the tire when the vertical length between the transporter carrier and the axle of the transporter is minimized. When the length of the pallet leg is maximized, it is shorter than the vertical length between the lower end of the pallet carrier and the lower end of the leg, and at least the length of the pallet leg is maximized, and the transporter When the vertical length between the transporter carrier and the axle is minimized, the transporter can be placed below the pallet carrier and the transporter carrier can be placed below the pallet carrier and separated from the pallet carrier. In addition, the distance between the upper end of the transporter carrier and the lower end of the tire when the vertical length between the transporter carrier and the axle of the transporter is maximized. The length in the downward direction is longer than the length in the vertical direction between the lower end of the pallet carrier and the lower end of the leg when the length of the pallet leg is minimized, and the transporter is placed below the pallet carrier. In this condition, at least when the length of the pallet leg is minimized and the vertical length between the transporter carrier and the axle of the transporter is maximized, the pallet carrier is lifted by the transporter carrier. It is good also as a thing which will be in a state.

Further, in the third, in the above-described first or second configuration, the receiving unit receives the signal indicating the signal and the moving distance indicating the direction of movement of the undercarriage of the crane, moving direction control unit has received The traveling unit main body rotating means and the axle rotating means are controlled in accordance with the signal indicating the distance and the signal indicating the moving distance, and the transporter is moved following the moving crane. Therefore, since the transporter automatically moves in accordance with the movement of the crane, the counterweight can easily follow the movement of the crane.

A fourth crane system is the crane counterweight support device having the above-described first or second configuration, and a crane in which the upper turning body turns with respect to the lower traveling body. A crane (10) having a transmission unit that transmits a turning direction specifying signal that is a signal for specifying a direction and a turning angle specifying signal that is a signal for specifying a turning angle. .

Fifth , the crane system is the crane counterweight support device having the above-described third configuration and the crane in which the upper turning body turns with respect to the lower traveling body, and the turning direction of the upper turning body is specified. A turning direction specifying signal that is a signal for turning, a turning angle specifying signal that is a signal for specifying a turning angle, a signal that indicates the moving direction of the lower traveling body, and a signal that indicates the moving distance of the lower traveling body And a crane (10) having a transmitting section.

Further, as a sixth configuration, in the first configuration described above, the pallet loading platform has a substantially rectangular shape in plan view, and the leg portions are provided at four corners of the pallet loading platform. Good.

The arm to the seventh, in the construction of the first and the sixth axle supporting portion, for supporting the axle support arm for supporting an axle (118, 122), the axle branch arm pivotably The axle vertical hydraulic cylinder, which is a hydraulic cylinder as an axle vertical position changing means, has a support portion (126) and rotates the axle support arm with respect to the arm support portion, thereby adjusting the vertical position of the axle. It is good also as what is made to change.

In the first configuration and the second configuration described above, instead of “traveling unit body rotating means (106b) for rotating the traveling unit body with respect to the transporter platform around a substantially vertical central axis”, “ It is good also as a support part which supports the traveling unit main body 106a rotatably with respect to a transporter carrier centering on the substantially vertical center axis | shaft, and a drive part which rotates the traveling unit main body 106a.

  In the above configuration, the traveling unit main body is a wheel having teeth that mesh with the worm on the outer peripheral surface, and is supported rotatably on the transporter loading platform and fixed to the arm support portion of the traveling unit main body. The rotating unit main body rotating means supports the wheel so as to be rotatable with respect to the transporter cargo bed, and engages with the wheel to rotate the wheel and hydraulic pressure to rotate the worm. It is good also as what has a motor.

  According to the crane counterweight support device and the crane system according to the present invention, when the counterweight is attached to the crane or removed from the crane, the counterweight can be carried by the transporter with the counterweight placed on the pallet. A transport vehicle that carries the weight support device and a transport vehicle that carries the counterweight are not required, and the cost can be reduced.

  Also, when the counterweight is moved in accordance with the turning of the upper revolving structure and the movement of the crane itself, the transporter itself is provided with power for running and has the ability to self-run. Further, there is no need to lay an iron plate on the leveled upper surface, and the cost can be reduced in that respect.

  In addition, since the transporter has a self-propelled ability, the counterweight can be moved in accordance with the turning and movement of the crane, even if the installation surface is simple and has unevenness and inclination. Since the transporter moves automatically according to the movement of the crane, the counterweight can easily follow the movement of the crane.

Also, the transporter and pallet can be used universally even if the type of crane is different, and it is not necessary to provide a transporter or pallet for each crane type, and it is necessary to prepare a weight support device for each type of crane. There is no. Also, when attaching the counterweight to the crane, the counterweight can be placed on the pallet at another location and transported to the crane with the pallet lifted by the transporter, so attach the counterweight to the crane Therefore, the counterweight can be attached to the crane even when there is not enough space near the crane. Also, when removing the counterweight from the crane, it is possible to remove the counterweight from the crane by moving it to another place with the transporter while lifting the pallet on which the counterweight is placed. However, there is no need for sufficient space near the crane.

Further, the transporter is provided with a hydraulic pump (164), a hydraulic hose (179) for supplying hydraulic oil by the hydraulic pump, and a connecting device (180) provided at the tip of the hydraulic hose. The pallet carrier is provided with a connection port (240) for connecting the connecting device, and the hydraulic cylinder at the leg is operated by the hydraulic oil supplied from the connection port, so a hydraulic pump is provided on the pallet. Even if not, the hydraulic cylinder in the pallet can be operated.

It is a side view which shows a crane system. It is a perspective view which shows a crane system. It is a block diagram which shows the structure of a crane. It is a perspective view which shows a transporter. In a transporter, it is principal part explanatory drawing which shows the state which lengthened the length of the up-down direction of the traveling unit main body. In a transporter, it is principal part explanatory drawing which shows the state which lengthened the up-down direction length of the traveling unit main body, and is principal part explanatory drawing which shows the state visually recognized from the W side in FIG. In a transporter, it is principal part explanatory drawing which shows the state which shortened the length of the up-down direction of the traveling unit main body. It is a block diagram which shows the structure of a transporter. It is a perspective view which shows a pallet. It is principal part explanatory drawing of a pallet. It is a perspective view which shows the usage method of a transporter and a pallet. It is a perspective view which shows the usage method of a transporter and a pallet. It is explanatory drawing which shows operation | movement of a crane system. It is explanatory drawing which shows operation | movement of a crane system. It is a perspective view which shows the other example of a pallet.

  In the present invention, it is possible to reduce the cost when installing a weight support device such as a weight carriage, there is no need to prepare a weight support device for each type of crane, and further, there is no need for a weight support device in the vicinity of the crane. The purpose of providing a counterweight support device for a crane that does not require a large space for installation was realized as follows.

  The crane system 5 based on this invention is comprised as shown in FIGS. 1-10, and has the crane 10, the transporter (it is good also as a transporter) 100, the pallet 200, and the counterweight 250. FIG. . The transporter 100 and the pallet 200 constitute a crane counterweight support device.

  Here, the crane 10 is a crawler crane, and includes a lower traveling body 12 and an upper swing body 14 as shown in FIGS. 1 and 2.

  The lower traveling body 12 has a traveling mechanism having an endless track, and a cylindrical portion 12a is provided at the center upper portion thereof.

  The upper swing body 14 includes a plate-like base portion 15, a casing portion 16 having a driver's cab provided on the upper surface of the base portion 15, hydraulic cylinders 18 and 20, a boom 22, a mast boom 24, and the like. ing.

  The turning mechanism in which the upper turning body 14 turns with respect to the lower traveling body 12 is provided in the cylindrical portion 12a of the lower traveling body 12, and the upper turning body 14 is turned by the turning motor 52 (see FIG. 3). It is configured. For example, the inner ring of the bearing (slewing bearing) is fixed to the lower traveling body 12 side, and the outer ring of the swing motor and the bearing (slewing bearing) whose output shaft meshes with the inner ring of the bearing is on the base 15 side of the upper swing body 14. When fixed, and the turning motor 52 is driven, the upper turning body 14 turns with respect to the lower traveling body 12.

  The boom 22 is rotatably provided on the base portion 15 and extends upward and obliquely forward in the crane 10. Further, the mast boom 24 is rotatably provided on the base portion 15 and extends upward and obliquely rearward in the crane 10. The base 15 is provided with a hydraulic cylinder 18 for rotating the boom 22 and a hydraulic cylinder 20 for rotating the mast boom 24.

  A hook rope 30 is fed out from a winch (first winch) (not shown) provided on the base portion 15 of the upper swing body 14, and the hook rope 30 is guided upward along the back side of the boom 22. It is suspended via a sheave provided at the tip of the boom 22 and a hook 32 is attached to the lower end.

  Further, a boom pendant rope 34 is fed out from a winch (second winch) (not shown) provided on the base 15 of the upper swing body 14, and the boom pendant rope 34 extends upward along the back side of the boom 22. The end of the boom pendant rope 34 is attached to the bridle 36 by being guided obliquely downward and downward through a sheave provided at the tip of the boom 22.

  Further, a boom hoisting rope 40 is wound between the bridle 36 and a bail 38 attached to the upper end of the mast boom 24, and the boom hoisting rope 40 is placed on the base 15 along the back side of the mast boom 24 through a sheave. It is wound around a winch (third winch) (not shown) provided in.

  A suspension pendant rope 42 is fed out from a winch (fourth winch) (not shown) provided on the base 15, and the suspension pendant rope 42 extends upward along the back side of the mast boom 24. Guided and suspended through a sheave, the lower end of the suspended pendant rope 42 is attached to a counterweight 250. That is, the counterweight 250 is suspended from the suspended pendant rope 42.

  As shown in FIG. 3, the crane 10 includes an operation unit 50 provided in the cab, the turning motor 52, the encoder 54, the transmission unit 56, the storage unit 58, and the CPU 60. Yes. Note that the transmission unit 56, the storage unit 58, and the CPU 60 are provided in the housing unit 16, for example.

  Here, the operation part 50 is comprised from the lever, switch, etc. for operating the operation | movement of a crane. The encoder 54 detects the angle of the output shaft of the turning motor 52 (that is, the position in the rotational direction), and the transmission unit 56 communicates with the reception unit 184 provided in the transporter 100, and the transporter 100 It is a transmission device for transmitting a signal (turning direction signal or motor angle signal) for controlling the operation of the. Further, the storage unit 58 stores an operation program for the CPU 60 to control the operation.

  The CPU 60 controls the operation of each unit according to the operation program stored in the storage unit 58, and particularly controls the operation of each unit according to the flowchart shown in FIG. In particular, when an operation for turning the upper swing body 14 is performed by the operation unit 50, the CPU 60 sends the turning direction signal indicating the turning direction and the motor angle signal indicating the angle of the output shaft of the turning motor 52 to the transmission unit 56. To the receiving unit 184 of the transporter 100.

  That is, the crane 10 has substantially the same configuration as a conventional crawler crane, but when an operation for turning the upper turning body 14 is performed by the operation unit 50, the turning direction signal indicating the turning direction and the turning motor 52 The difference is that the motor angle signal indicating the angle of the output shaft is transmitted to the receiver 184 of the transporter 100 via the transmitter 56.

  Next, the transporter 100 is a self-propelled transport vehicle having a loading platform at the top, and includes a main body 102 and a housing 195.

  Here, the main body 102 is provided on the lower surface side of the side of the cargo bed 104, a plurality of (in the example of FIG. 4, 12) traveling units 106 fixed to the lower surface of the cargo bed 104, and the traveling unit 106. Infrared distance sensor 186. In FIG. 4, the infrared distance sensor 186 is provided on the right side surface of the transporter 100, but is also provided on the left side surface on the opposite side, and may be provided on the front side or the rear side of the transporter 100.

  The loading platform 104 has a rectangular plate shape, and an object to be loaded (for example, a counterweight) is placed on the upper surface of the loading platform 104.

  The traveling unit 106 includes a traveling unit main body 106a and a loading platform side mechanism portion 106b (traveling unit main body rotating means). The loading platform side mechanism portion 106b is fixed to the loading platform 104 side. It is comprised so that it may rotate centering on the center axis | shaft of a perpendicular direction (it is good also as a substantially perpendicular direction) with respect to the loading platform side mechanism part 106b. Further, the traveling unit 106 (specifically, the traveling unit main body 106a) is configured to expand and contract in the vertical direction.

  The travel unit main body 106a is configured as shown in FIGS. 5 to 7, and includes an axle 108, a pair of tires 110 attached to both sides of the axle 108, and an axle rotation motor (axle rotation means) 112 that rotates the axle 108. A pair of plate-like portions 114 and 116 fixed to the axle 108, a pair of arms (axle support arms) 118 formed on the plate-like portion 114 via a pin 120 so as to be rotatable, and a plate A pair of arms (axle support arms) 122 formed to be pivotable on a pin portion 124 via a pin 124 and a pair of arms 118 and 122 are pivotally supported, and a hydraulic cylinder (axle vertical hydraulic cylinder) , Axle up / down position changing means) 134 and a wheel 142 fixed to the upper end of the support 126.

  Here, the axle 108 has a cylindrical shape, and tires 110 are provided on both sides thereof. A pair of plate-like portions 114 are provided on the peripheral surface of the axle 108 in a direction perpendicular to the axis of the axle 108 (center line passing through the center of rotation), and the plate-like portion 114 has a circular shape for inserting the pin 120. The opening is formed. A pair of plate-like portions 116 are provided on the opposite side of the peripheral surface of the axle 108 from the plate-like portion 114 in a direction perpendicular to the axis of the axle 108, and a pin 124 is inserted into the plate-like portion 116. A circular opening is formed. The plate-like portion 114 and the plate-like portion 116 are provided at the same position in the axial direction of the axle 108, and the plate-like portion 114 and the plate-like portion 116 are provided at opposite positions on the axle 108. An axle rotation motor 112 configured by a hydraulic motor is attached to the axle 108, and the axle 108 rotates by driving the axle rotation motor 112.

  The arm 118 has a slightly curved rod-like plate shape, and openings for inserting the pins 120 and 128 are formed at both ends. One end side of the arm 118 is adjacent to the outside of the plate-like portion 114, and the arm 118 and the plate-like portion 114 are provided so as to be rotatable with respect to each other via a pin 120. That is, the pin 120 is provided so as to be inserted through the opening of the pair of plate-like portions 114 and the opening of one end side of the pair of arms 118.

  The arm 122 has a slightly curved rod-like plate shape, and openings for inserting the pins 124 and 130 are formed at both ends. One end side of the arm 122 is adjacent to the outside of the plate-like portion 116, and the arm 122 and the plate-like portion 116 are rotatably provided via a pin 124. That is, the pin 124 is provided so as to be inserted through the opening of the pair of plate-like portions 116 and the opening of one end side of the pair of arms 122.

  The support portion 126 is formed in a plate-like frame shape as a whole, and includes an upper surface portion 126a, a pair of side surface portions 126b and 126c that are continuously provided downward from opposite sides of the upper surface portion 126a, and an upper surface. The front part 126a is connected to a side part adjacent to a pair of side parts of the part 126a, and includes a pair of side parts 126b and 126c and a front part 126d connected to the side parts 126b and 126c. The same shape and substantially triangular shape, the angle formed by the front portion 126d and the upper surface portion 126a is an obtuse angle.

  Openings for inserting the pins 130 are formed at positions corresponding to each other at the lower ends of the side surfaces 126b and 126c. On the other end side of the arm 122, the arm 122 is configured to rotate with respect to the side surfaces 126b and 126c via the pin 130, adjacent to the outside of the side surfaces 126b and 126c. That is, the pin 130 is provided so as to be inserted through the opening portions of the side surface portions 126 b and 126 c and the opening portion on the other end side of the pair of arms 122.

  In addition, openings for inserting the pins 128 are formed at positions corresponding to each other above the openings for inserting the pins 130 of the side surface portions 126b and 126c. On the other end side of the arm 118, the arm 118 is configured to rotate with respect to the side surfaces 126 b and 126 c via a pin 128 adjacent to the outside of the side surfaces 126 b and 126 c. In other words, the pin 128 is provided so as to be inserted through the openings of the side surface portions 126 b and 126 c and the opening portion on the other end side of the pair of arms 118.

  In addition, a columnar support portion 136 is provided between positions corresponding to the upper ends of the side surface portions 126b and 126c, and a hydraulic cylinder 134 is suspended from the support portion 136 at the support portion 136. . An opening for inserting the pin 132 is formed at a position between the openings on both ends of the pair of arms 122, and the piston rod of the hydraulic cylinder 134 is inserted into the pin 132 inserted through the opening. The tip of 134a is attached to the pin 132 so as to be rotatable. That is, the piston rod 134a has a ring-shaped member at the tip thereof, and the pin 132 is inserted through the ring-shaped member.

  With the above configuration, as shown in FIG. 5, when the piston rod 134a of the hydraulic cylinder 134 is extended, the end of the arm 122 opposite to the side surfaces 126b and 126c is on the lower side. This causes the axle 108 to move downward, increasing the distance between the axle 108 and the loading platform 104. When the axle 108 moves downward, the end portion side of the arm 118 opposite to the side surface portions 126b and 126c also rotates downward. Conversely, as shown in FIG. 6, when the piston rod 134 a in the hydraulic cylinder 134 is contracted, the axle 108 moves upward, thereby shortening the distance between the axle 108 and the loading platform 104. 5 shows a state in which the vertical length R between the axle 108 and the loading platform 104 is maximized in the transporter 100 and the vertical length between the upper end of the loading platform 104 and the lower end of the tire 110 is maximized. FIG. 6 is a diagram in which the vertical length R between the axle 108 and the loading platform 104 is minimized in the transporter 100, and the vertical length between the upper end of the loading platform 104 and the lower end of the tire 110 is minimized. It is a figure of a state.

  Further, a wheel 142 having teeth that mesh with the worm 144 on the outer peripheral surface is fixedly provided on the upper surface of the upper surface portion 126a of the support portion 126. That is, the wheel 142 is a worm wheel. An outer ring of a bearing (slewing bearing) is fixedly provided on the inner peripheral surface of the wheel 142.

  In addition, the loading platform side mechanism portion 106b is fixed to the lower surface of the loading platform 104 and fixed to the peripheral surface of the supporting portion 140, and the columnar supporting portion 140 formed to protrude from the lower surface of the loading platform 104. An inner ring of a bearing (slewing bearing), a pair of worms 144 engaged with both sides of the wheel 142 (that is, the worm 144 has teeth that mesh with the wheel 142), and the worm 144 can rotate freely. A support plate 105 that is supported and fixed to the lower surface of the loading platform 104 and a traveling unit main body rotation motor 146 that is attached to the support plate 105 and rotates the worm 144 are provided. The traveling unit main body rotation motor 146 is constituted by a hydraulic motor.

  A bearing is formed by an inner ring of the bearing fixedly provided on the peripheral surface of the support portion 140 and an outer ring of the bearing fixedly provided on the inner side surface of the wheel 142. The wheel 142 and the worm 144 constitute a worm gear.

  With the above configuration, when the traveling unit main body rotation motor 146 is rotated, the worm 144 is rotated and the wheel 142 meshed with the worm 144 is rotated, so that the traveling unit main body 106a is substantially vertical. Rotate around the central axis of direction. In addition, it can be said that the load of the traveling unit main body 106a is supported by the support part 140 which protruded from the lower surface of the loading platform 104 via the bearing, and the load of the traveling unit main body 106a is not supported by the pair of worms 144.

  That is, the loading platform side mechanism 106b rotatably supports the traveling unit main body 106a and rotates the traveling unit main body 106a about the central axis in the substantially vertical direction. That is, the loading platform side mechanism unit 106b includes a support unit that supports the traveling unit body 106a so as to be rotatable about a central axis in a substantially vertical direction, and a drive unit that rotates the traveling unit body 106a. The driving unit is constituted by a travel unit main body rotation motor 146 and a worm 144. In addition, the support part 140 is good also as a part of the bed 104 by forming the lower surface of the bed 104 in the shape of the support part 140, and forming.

  The casing 195 is provided at the front end of the main body 102, and the casing 195 is provided with a driver's cab 197, hydraulic pumps 154, 158, 162, 164 described later, an engine 168, and the like.

  Further, as shown in FIG. 8, a directional switching valve 152 is connected to the transporter 100 via a hydraulic pipe as a pipe, and the directional switching valve 152 is connected via a hydraulic pipe. A hydraulic pump 154 is connected. In addition, a direction switching valve 156 is connected to the traveling unit main body rotation motor 146 via a hydraulic pipe, and a hydraulic pump 158 is connected to the direction switching valve 156 via a hydraulic pipe. The direction switching valve 156 is provided for each traveling unit 106 so that the direction of the tire 110 can be controlled for each traveling unit 106. In addition, a directional switching valve 160 is connected to the hydraulic cylinder 134 via a hydraulic pipe, and a hydraulic pump 162 is connected to the directional switching valve 160 via a hydraulic pipe.

  The hydraulic pumps 154, 158, 162 are connected to the oil tank 166 via hydraulic pipes, and the direction switching valves 152, 156, 160 are connected to the oil tank 166 via hydraulic pipes.

  In addition, a hydraulic pump 164 is connected to the oil tank 166 via a hydraulic pipe, a coupler 180 is connected to the hydraulic pump 164 via a hydraulic hose 179, and a coupler 182 connects the hydraulic hose to the oil tank 166. Connected through. The hydraulic pumps 154, 158, 162 and 164 are driven by the engine 168.

  The axle 108 is connected to a rotational speed detector 170, which measures the rotational speed of the axle. By detecting the rotation speed of the axle 108 by the rotation speed detector 170, the moving distance of the transporter 100 is detected.

  The hydraulic cylinder 134 is connected to a pressure detector (internal pressure detector) 172 that detects the internal pressure in the hydraulic cylinder 134. The internal pressure in the hydraulic cylinder 134 by the pressure detector 172 (specifically, of the two oil chambers sandwiching the piston, the oil chamber on the side where the piston rod is not provided (that is, the oil chamber on the opposite side of the piston rod) By detecting the pressure applied to the hydraulic oil in the chamber), the hydraulic cylinders 134 are configured so that the internal pressures in the hydraulic cylinders 134 of the respective traveling unit bodies 106a are substantially the same (may be the same) in the plurality of traveling unit bodies 106a. By extending and contracting, the level of the loading platform 104 of the transporter 100 is maintained.

  Further, the transporter 100 is provided with a receiving unit 184, an infrared distance sensor (distance measuring means) 186, a storage unit 188, and a CPU (control unit) 190. The receiving unit 184, the storage unit 188, and the CPU 190 are provided in the housing unit 195, for example.

  The reception unit 184 receives a signal transmitted from the transmission unit 56 provided in the crane 10. In addition, the infrared distance sensor 186 measures the distance from the reflection surface by receiving infrared rays reflected from the reflection surface and detecting the reflection angle of the infrared rays. The infrared distance sensor 186 specifies the center position of the loading platform 104 in a plan view and calculates the distance between the turning center of the crane 10 and the center position of the loading platform 104 in a plan view (that is, the distance H (FIG. 14)). In order to make it easy, it is preferable to provide at the center position in the lateral direction of the side of the cargo bed 104 provided with the infrared distance sensor 186. For example, in the example of FIG. 4, the distance h11 from one end of the loading platform 104 in the longitudinal direction to the center in the direction of the infrared distance sensor 186 and the other end of the loading platform 104 in the longitudinal direction of the infrared distance sensor 186 The distance h12 to the center of the direction is the same.

  The CPU 190 operates in accordance with the operation program stored in the storage unit 188, and receives the receiving unit 184, the infrared distance sensor 186, the direction switching valves 152, 156, 160, the hydraulic pumps 154, 158, 162, 164, the engine 168, and the rotational speed detection. Unit 170 and pressure detection unit 172, and the engine 168, the hydraulic pumps 154 and 158, and the direction switching valves 152 and 156 according to the signals from the reception unit 184 and the measurement results from the rotational speed detection unit 170 and the infrared distance sensor 186. Control the behavior. Further, the CPU 190 detects the internal pressure of the hydraulic cylinder 134 of each traveling unit main body 106a by the pressure detection unit 172, so that the internal pressure of the hydraulic cylinder 134 becomes substantially the same (may be the same) in the plurality of traveling unit main bodies 106a. Furthermore, the level of the loading platform 104 of the transporter 100 is maintained by expanding and contracting the hydraulic cylinder 134 of each traveling unit main body 106a. Further, the CPU 190 operates the hydraulic pump 164 to supply hydraulic oil to the pallet 200 side via the coupler 180. In particular, the CPU 190 controls the operation of each unit according to the flowchart shown in FIG.

  In the transporter 100, a plurality of traveling units 106 are provided. Each axle rotation motor 112 in the plurality of traveling units 106 is connected to the direction switching valve 152, and the direction switching valve 156 for each traveling unit 106 is hydraulic. Connected to pump 158. The direction switching valve 152 may be provided for each traveling unit 106, and the hydraulic pump 154 and the hydraulic pump 158 may be provided for each traveling unit 106.

  Further, in order to individually control the expansion and contraction of the hydraulic cylinder 134 and maintain the level of the transporter 100, a direction switching valve 160 connected to the hydraulic cylinder 134, a hydraulic pump 162 connected to the direction switching valve 160, The pressure detection unit 172 is provided for each traveling unit 106.

  In addition, the transporter 100 can move the transporter 100 when an operator operates a wireless remote control device (not shown). For example, the transporter 100 is moved by designating the moving direction using a remote control device and operating a switch for starting movement. That is, when the moving direction is designated by the remote operation device, the information is transmitted to the remote operation device and received by the receiving unit 184, and the CPU 190 travels by controlling the hydraulic pump 158 and the direction switching valve 156 based on the received information. By controlling the unit main body rotating motor 146 to control the direction of the traveling unit main body 106a and operating the switch for starting movement, the information is transmitted to the remote control device and received by the receiving unit 184, and the received information Based on the above, the CPU 190 controls the hydraulic pump 154 and the direction switching valve 152, thereby controlling the axle rotation motor 112 and causing the transporter 100 to travel. In addition, by operating the movement stop, the axle rotation motor 112 is stopped and the movement of the transporter 100 is stopped.

  Next, the pallet 200 is configured as shown in FIGS. 9 and 10, and includes a cargo bed (pallet cargo bed) 202 and a plurality of (four in the example of FIGS. 9 and 10) leg portions 205. .

  The loading platform 202 has a substantially plate shape as a whole, and has an upper surface formed as a flat surface. A connection port 240 and a connection port 242 for hydraulic piping are provided on the side surface of the loading platform 202, and are configured to be connected to couplers 180 and 182 provided in the transporter 100. Further, a direction switching valve 244 shown in FIG. 10 is provided inside the loading platform 202, and a changeover switch 244 a of the direction switching valve 244 is provided in the leg body 210. Note that the changeover switch 244a may be provided at another location on the pallet 200. Further, the connection ports 240 and 242 may be provided on the other side surface of the loading platform 202. That is, the connection ports 240 and 242 may be provided on the four side surfaces of the loading platform 202.

  Further, the leg 205 is fixed to the corner of the loading platform 202 and connected to the lower part of the leg main body 210, the hydraulic cylinder 220 provided in the leg main body 210, and the lower end of the piston rod of the hydraulic cylinder 220. And a platform 230 provided.

  Here, the leg body 210 has a cylindrical portion 212 that has a cylindrical shape (in the example of FIG. 9, a rectangular cylindrical shape), and a substantially plate-shaped bottom surface portion 214 that is provided at the lower end of the cylindrical portion 212. An opening for projecting the piston rod 224 of the hydraulic cylinder 220 is formed at the lower end of the bottom surface portion 214.

  The hydraulic cylinder 220 is provided at the lower end in the leg body 210, and a piston 222 is provided in the hydraulic cylinder 220. A piston rod 224 is attached to the piston 222, and the lower end of the piston rod 224 is In addition, it protrudes from the hydraulic cylinder 220 and protrudes from the lower end of the leg main body 210.

  Since the leg portion 205 is configured as described above, the leg portion 205 is configured to expand and contract when the hydraulic cylinder 220 expands and contracts. That is, the coupler 180 in the transporter 100 is connected to the connection port 240, the coupler 182 is connected to the connection port 242, the hydraulic pump 164 is driven, hydraulic oil is supplied from the connection port 240, and the changeover switch 244a is set. By operating, the hydraulic cylinder 220 expands and contracts and the leg 205 expands and contracts. That is, by performing an operation for extending the leg 205 to the changeover switch 244a, hydraulic oil is supplied to the hydraulic pipe 246a, the piston 222 moves downward, and the piston rod 224 protrudes from the leg main body 210. The part becomes longer, which causes the leg 205 to extend. On the other hand, by operating the changeover switch 244a so that the leg 205 contracts, hydraulic oil is supplied to the hydraulic pipe 246b and the piston 222 moves upward to protrude from the leg main body 210 at the piston rod 224. The portion is shortened, and the leg 205 is thereby contracted.

  As the size of the pallet 200 in a plan view, the length M1 in the short direction is formed longer than the lateral width M2 of the transporter 100 so that the transporter 100 can enter and exit from the short side of the pallet 200. The length M1a between the leg portions 205 on the short side of the pallet 200 is formed to be longer than the lateral width M2 of the transporter 100. That is, the length M1a between the adjacent leg portions 205 (the leg portions 205 adjacent in the short direction) is formed to a length that allows the transporter 100 to pass therethrough. Since the length M1b between the legs 205 adjacent in the longitudinal direction is longer than the length M1a, the length M1b is also formed to have a length that allows the transporter 100 to pass therethrough. Further, the length N1 in the longitudinal direction of the pallet 200 is shorter than the length N2 in the longitudinal direction of the loading platform 104 of the transporter 100.

The pallet 200 length N1 (which may be the length of the loading platform 202) may be substantially the same as the longitudinal length N2 of the loading platform 104 of the transporter 100, and is longer than the entire length of the transporter 100. Thus, the transporter 100 may be able to enter and exit the lower position of the loading platform 202 of the pallet 200 not only from the short side of the pallet 200 but also from the long side.

  Further, the size of the pallet 200 in the height direction is variable as the leg portion 205 expands and contracts. However, in a predetermined case, the space below the loading platform 202 (that is, the loading platform 202 and the four leg portions 205). The size is such that the transporter 100 can enter the enclosed space), and the size at which the pallet 200 is lifted to the loading platform 104 of the transporter 100 in a predetermined case.

  That is, the length of the leg portion 205 is shortened in the state where the loading platform 104 of the transporter 100 is below the loading platform 202, and the vertical distance between the axle 108 and the loading platform 104 is increased in the transporter 100. Thus, the lower end of the leg portion 205 of the pallet 200 (that is, the lower end of the base portion 230) is lifted from the installation surface G (see FIG. 1) of the pallet 200, and the pallet 200 is lifted by the transporter 100. . Note that the length of the leg portion 205 is shortened in the state where the loading platform 104 of the transporter 100 is below the loading platform 202, or the vertical distance between the axle 108 and the loading platform 104 is increased in the transporter 100. As a result, the lower end of the leg 205 of the pallet 200 is lifted from the installation surface G (see FIG. 1) of the pallet 200, and the pallet 200 is lifted by the transporter 100.

  On the other hand, in the state where the pallet 200 is lifted by the transporter 100, the length of the leg portion 205 is increased, and the distance in the vertical direction between the axle 108 and the loading platform 104 is shortened in the transporter 100. 100 loading platform 104 and pallet 200 loading platform 202 are in a separated state. In addition, in the state where the pallet 200 is lifted by the transporter 100, the length of the leg portion 205 is increased, or the vertical distance between the axle 108 and the loading platform 104 in the transporter 100 is shortened. The loading platform 104 of the transporter 100 and the loading platform 202 of the pallet 200 are separated from each other.

  That is, the vertical length L2a between the upper end of the loading platform 104 and the lower end of the tire 110 in a state where the vertical length R between the axle 108 and the loading platform 104 in the transporter 100 is minimized is the leg portion of the pallet 200. It is formed shorter than the vertical length L1 between the lower end of the loading platform 202 and the lower end of the platform 230 in the state where the length of 205 is maximized (that is, the vertical direction between the axle 108 and the loading platform 104 in the transporter 100). The height of the upper end of the loading platform 104 when the length R of the loading platform 104 is minimized is formed lower than the height of the lower end of the loading platform 202 when the length of the leg portion 205 of the pallet 200 is maximized). Thus, at least the length of the leg 205 of the pallet 200 is maximized, and between the loading platform 104 and the axle 108 of the transporter 100 When the length in the downward direction is minimized, the transporter 100 can be disposed below the loading platform 202 with the loading platform 104 being separated from the loading platform 202 below the loading platform 202. It is in the space below the loading platform 202.

  In the transporter 100, the vertical length L 2 b between the upper end of the loading platform 104 and the lower end of the tire 110 in the state where the vertical length R between the axle 108 and the loading platform 104 is maximized is the leg portion of the pallet 200. It is formed longer than the length in the vertical direction between the lower end of the loading platform 202 and the lower end of the platform portion 230 (that is, the lower end of the leg portion 205) in a state where the length of 205 is minimized (that is, the axle 108 in the transporter 100). The height of the upper end of the loading platform 104 when the vertical length R between the loading platform 104 and the loading platform 104 is maximized is higher than the height of the lower end of the loading platform 202 when the length of the leg 205 of the pallet 200 is minimized. Thus, at least the leg 2 of the pallet 200 in the state where the transporter 100 is disposed below the loading platform 202. 5 and the length in the vertical direction between the loading platform 104 and the axle 108 of the transporter 100 is maximized, the pallet 200 is lifted by the transporter 100, and the loading platform 104 The loading platform 202 is lifted.

  The use state and operation of the crane system 5 having the above-described configuration will be described. First, an installation method of the crane system 5, particularly a method of installing the counterweight 250 on the crane 10 will be described.

  A counterweight 250 is loaded on the loading platform 202 of the pallet 200. That is, the counterweight 250 is lifted using a crane different from the crane 10 and placed on the loading platform 202 of the pallet 200. The counterweight 250 is loaded at the center of the loading platform 202 and is loaded so that at least the center of gravity of the counterweight 250 is at the center of the loading platform 202 in plan view.

  Thereafter, the length of the leg 205 is increased and the distance in the vertical direction between the axle 108 and the loading platform 104 is shortened in the transporter 100 (only the length of the leg 205 is increased, or the transporter 100, the vertical distance between the axle 108 and the loading platform 104 may be shortened), and the transporter 100 can enter the space below the loading platform 202 from the short side of the loading platform 202. 100 is entered so that the loading platform 202 of the pallet 200 is arranged above the loading platform 104 of the transporter 100 (see FIG. 11). In that case, it is preferable to arrange the loading platform 104 at a position that is even in the longitudinal direction and the short direction of the loading platform 202. For example, in FIG. 11, it is preferable that the lengths of the portions of the loading platform 104 that protrude from both ends in the longitudinal direction of the loading platform 202 are the same.

  Thereafter, the length of the leg portion 205 of the pallet 200 is shortened, and the piston rod of the hydraulic cylinder 134 is extended to increase the vertical distance between the axle 108 and the loading platform 104 in the transporter 100 (pallet 200). The length of the leg 205 of the hydraulic cylinder 134 may be shortened, or the distance between the axle 108 and the loading platform 104 may be increased in the transporter 100 by extending the piston rod of the hydraulic cylinder 134). The pallet 200 is lifted (see FIG. 12). When the pallet 200 is lifted by the transporter 100, the leg portion 205 of the pallet 200 is in a state of floating from the installation surface G of the pallet 200.

  When the leg 205 of the pallet 200 is expanded and contracted, the coupler 180 provided in the transporter 100 is connected to the connection port 240 of the pallet 200, the coupler 182 is connected to the connection port 242 and the hydraulic pump 164 is connected. By driving and supplying hydraulic oil to the pallet 200 and operating the changeover switch 244a of the direction switching valve 244, the hydraulic cylinder 220 is expanded and contracted, and the leg portion 205 is expanded and contracted. Therefore, even if the pallet 200 is not provided with a hydraulic pump, the hydraulic cylinder 220 in the pallet 200 can be operated.

  Note that the counterweight 250 may be placed on the loading platform 202 of the pallet 200 after the transporter 100 is placed in the space below the loading platform 202 of the pallet 200.

  Thereafter, the transporter 100 is moved to reach the vicinity of the crane 10, that is, the position on the back side of the crane 10. That is, the transporter 100 is moved by rotating the axle rotation motor 112 to reach the back side of the crane 10. In this case, naturally, the direction in which the transporter 100 moves is controlled by the traveling unit body rotation motor 146 by the direction of the traveling unit body 106a. The transporter 100 is moved by an operator operating a wireless remote control device.

  Then, the counter weight 250 is attached to the crane 10 by attaching the suspension pendant rope 42 of the crane 10 to the counter weight 250.

  When the upper turning body 14 of the crane 10 is not turned or when the crane 10 itself does not move, it is not necessary to move the counterweight 250. Therefore, the length of the leg portion 205 is increased and the axle of the transporter 100 is used. By shortening the vertical distance between 108 and the loading platform 104 (only the length of the leg 205 is increased, or the vertical distance between the axle 108 and the loading platform 104 in the transporter 100 may be shortened. ), The state in which the pallet 200 is lifted by the transporter 100 is released, and the loading platform 202 of the pallet 200 and the loading platform 104 of the transporter 100 are not in contact with each other. Move the transporter 100 from the side space to other work It may also be used.

  When the suspended load is suspended by the hook 32 suspended from the hook rope 30, the hydraulic cylinder 20 is driven to rotate the boom 22, or the hook rope 30 is pulled up by the winch, or both. Thus, in the state where the suspended load is suspended, the counterweight 250 is in a state of floating from the loading platform 202 of the pallet 200. In other words, the counterweight 250 is suspended by the suspended pendant rope 42, and the reaction force to the back side against the load of the suspended load is used to balance the suspended load suspended by the hook 32 and the counterweight 250. To keep.

  Next, the case where the upper turning body 14 of the crane 10 is turned will be described with reference to FIGS. 2 can be said to be a state in which the upper swing body 14 is swung with respect to FIG. In addition, the operation | movement in the case of turning the upper revolving body 14 below is the same when the suspended load is not suspended by the hook 32 and when the suspended load is suspended by the hook 32. When the suspended load is not suspended by the hook 32, the counterweight 250 is placed on the loading platform 202 of the pallet 200, and when the suspended load is suspended by the hook 32, the counterweight 250 is the pallet. It will be in the state which floated from 200 loading platforms 202.

  When the upper turning body 14 of the crane 10 is turned, the pallet 200 on which the counterweight 250 is placed is moved by the transporter 100, so that the pallet 200 is lifted by the transporter 100.

  An operator in the cab of the crane 10 performs an operation of turning the crane by using an operation unit 50 provided in the cab. For example, the upper swing body 14 is turned by tilting the operation lever in a direction in which it is desired to turn, and the turning speed is increased by greatly tilting the operation lever.

  Whether or not there has been a turning operation can be detected by whether or not the operation lever has been operated. Therefore, the CPU 60 detects whether or not there is a turning operation at a predetermined cycle (S11), and detects that there has been a turning operation. The direction in which the operating lever is tilted is detected, the turning motor 52 is controlled so as to rotate the turning motor 52 in the direction corresponding to the direction in which the operating lever is tilted, and a turning direction signal (turning direction information is displayed). May be sent to the transmitter 56. That is, this turning direction signal can be said to be a signal corresponding to a signal for controlling the turning motor 52, and a signal for specifying the turning direction (turning direction specifying signal) (a signal indicating information for specifying the turning direction) Good). When the turning motor 52 rotates, the CPU 60 detects the angle of the output shaft of the turning motor 52 by the encoder 54 and sends a motor angle signal indicating the angle of the output shaft of the turning motor 52 to the transmission unit 56. The motor angle signal is a signal for specifying the turning angle (turning angle specifying signal) (may be a signal indicating information for specifying the turning angle).

  The transmission unit 56 transmits the turning direction signal and the motor angle signal to the transporter 100 (S12, S13). The turning direction signal and the motor angle signal are transmitted to the transporter 100 every predetermined period while the turning operation is being performed. Note that the CPU 60 may send a signal for controlling the turning motor 52 to the transmission unit 56 as it is, and the transmission unit 56 may send this to the transporter 100 as a turning direction signal.

  In the transporter 100, the turning direction signal and the motor angle signal are received by the receiving unit 184 (S21, S22).

  And the distance with the crane 10 is detected by the infrared distance sensor 186, and the distance between the crane 10 and the transporter 100 is detected (S23). That is, the infrared distance sensor 186 irradiates infrared rays to a predetermined portion of the crane 10 and measures the distance between the predetermined portion and the infrared distance sensor 186. For example, infrared rays are irradiated toward the cylindrical portion 12a of the lower traveling body 12 of the crane 10, the distance h1 (see FIG. 14) between the infrared distance sensor 186 and the cylindrical portion 12a is detected, and the crane is based on the distance h1. The distance between 10 and the transporter 100 is calculated. For example, by adding the length h2 of the radius of the cylindrical portion 12a to the distance h1 and the length h3 that is half the length in the short side direction of the loading platform 202 of the pallet 200 (the lengths h2 and h3 are stored in advance). The distance H between the center position P (turning center) of the cylindrical portion 12a in the top view and the center position Q of the loading platform 202 of the pallet 200 is calculated.

  Then, the moving direction and moving distance of the transporter 100 are calculated from the turning direction signal and the motor angle signal (S24). The moving direction is a circumferential direction having a radius (curvature radius) of the distance H and the same direction as the turning direction of the crane 10 (clockwise if the crane 10 turns clockwise, and counterclockwise if the crane 10 turns counterclockwise). As for the moving distance, the angle of the output shaft of the turning motor 52 indicated by the motor angle signal received this time and the output of the turning motor 52 indicated by the motor angle signal received last time (that is, received at the previous reception timing). The difference between the shaft angles is calculated to calculate the turning angle (the amount of turning angle) α, and 2 × π × H × α degrees / 360 degrees is calculated as the movement distance. In FIG. 14, the movement distance is a distance from Q1 to Q2, and is a circular movement path. Since the turning angle signal is transmitted at a predetermined cycle, the calculated movement distance is updated each time. Further, since the turning angle cannot be calculated when the motor angle signal is first received, actually, when the motor angle signal is received for the second time or later in step S22, the process proceeds to step S23. When the difference in the output shaft angle does not indicate the turning angle α, a table showing the correspondence between the difference in the output shaft angle and the turning angle is provided to calculate the turning angle.

  Then, the transporter 100 is moved according to the calculated moving direction and moving distance (S25). That is, the direction of the traveling unit main body 106a, that is, the direction of the tire 110 is controlled by controlling the traveling unit main body rotation motor 146 in each traveling unit 106 so that the moving direction of the transporter 100 becomes the calculated moving direction. To do. At that time, in order to move in the circumferential direction, the direction of the traveling unit body 106a in each traveling unit 106 is individually controlled. Then, the axle rotation motor 112 is rotated and moved by the calculated movement distance. At this time, since the rotation speed of the axle 108 can be detected by the rotation speed detection unit 170 and the movement distance can be detected, the axle rotation motor 112 is rotated until it moves by the calculated movement distance. Steps S21 to S25 are performed until an end signal is received.

  That is, when the turning operation in the operation unit 50 in the crane 10 is released, the CPU 60 detects this and sends an end signal to the transmission unit 56, and the transmission unit 56 transmits the end signal to the transporter 100 (S14). When the receiving unit 184 receives this end signal, when the moving distance corresponding to the last received motor angle signal is moved, the driving of the axle rotation motor 112 is stopped and the movement is ended (S26, S27).

  As described above, the movement direction and movement distance of the transporter 100 are calculated according to the turning direction signal received by the receiving unit 184, the motor angle signal, and the distance measured by the infrared distance sensor 186, and the calculated movement direction and movement are calculated. The traveling unit main body rotation motor 146 and the axle rotation motor 112 are controlled according to the distance.

  Instead of the motor angle signal described above, the travel distance of the transporter 100 may be calculated based on the turning angle signal as a turning angle signal indicating the turning angle of the turning motor 52. That is, the crane 10 detects the angle of the output shaft of the swing motor 52 instead of transmitting the motor angle signal in step S13, calculates the difference from the angle of the output shaft detected last time, and The turning angle α is calculated, and a signal indicating the turning angle (turning angle signal) is transmitted to the receiving unit 184 of the transporter 100. In the transporter 100, using the received turning angle signal, the moving distance (2 × π × H × α degrees / 360 degrees) of the transporter 100 is calculated in step S24. In this case, the turning angle signal becomes the turning angle specifying signal.

  When the transporter 100 is moved, even if the arrangement region of the transporter 100 is uneven or inclined, the internal pressure in the hydraulic cylinder 134 is detected by the pressure detection unit 172, whereby the hydraulic cylinder 134 of each traveling unit main body 106a. By extending and contracting the hydraulic cylinder 134 so that the internal pressure at the same is substantially the same (or the same) in the plurality of travel unit main bodies 106a, the level of the loading platform 104 of the transporter 100 is maintained.

  When the counterweight 250 is moved along with the movement of the crane 10, the operator operates the remote control device to move the transporter 100 according to the moving direction and distance of the crane 10.

  When the crane 10 moves, a signal indicating the moving direction of the crane 10 and a signal indicating the moving distance (for example, a moving direction signal indicating the moving direction and a moving distance signal indicating the moving distance) are transmitted from the transmission unit 56 in the crane 10. Then, the transporter 100 may move the transporter 100 according to the information indicated by the received signal so as to follow the movement of the crane 10. About the moving direction of the crane 10, for example, the moving direction is detected by detecting an operation in the operation unit 50, and in the case of a curve, information on the radius of curvature ( Or corresponding information). Moreover, about a movement distance, a movement distance is detected by detecting the rotation speed of the rotating device which makes a crawler go around, and the information is transmitted.

  The transporter 100 controls the direction of the traveling unit body 106a, that is, the direction of the tire 110 by controlling the traveling unit body rotation motor 146 in each traveling unit 106 according to the received traveling direction information. According to the information, the axle rotation motor 112 is rotated and moved by the moving distance. That is, the transporter 100 is moved in the same direction as the moving direction of the crane 10 and the same distance as the moving distance of the crane 10. That is, the information on the moving direction and the information on the moving distance of the lower traveling body 12 of the crane 10 is received by the receiving unit 184, and the traveling unit main body rotating motor 146 and the axle rotating motor are according to the received moving direction information and moving distance information. 112 is controlled.

  In order to remove the counterweight 250 attached to the crane 10, the suspended pendant rope 42 is removed from the counterweight 250, and the pallet 200 on which the counterweight 250 is placed is lifted by the transporter 100. After the pallet 200 is lifted by the transporter 100 and the leg 205 of the pallet 200 is grounded to the ground, the counterweight 250 is attached to the loading platform 202 of the pallet 200 by another crane. Remove from above.

  As described above, when the counterweight is attached to or removed from the crane, it can be carried by the transporter 100 with the counterweight 250 placed on the pallet 200, so that the transport vehicle or counter that carries the weight support device can be used. Costs can be reduced because each of the transport vehicles for carrying the weights is not required (that is, the transport vehicle for transporting the weight support device and the transport vehicle for transporting the counterweight are not necessary).

  In addition, when the counterweight 250 is moved in accordance with the turning of the upper swing body 14 or the movement of the crane 10 itself, the pallet 200 on which the counterweight 250 is placed is moved while being lifted by the transporter 100, and the transporter 100 is moved. Since the power for running is provided in itself and has a self-running ability, it is not necessary to level the installation position of the pallet 200 or to lay an iron plate on the leveled top surface, and the cost can be reduced in that respect.

  In addition, since the transporter 100 has a self-propelling ability, the counterweight 250 can be moved in accordance with the turning and movement of the crane 10 even if the installation surface is easily maintained and has unevenness and inclination, Since the transporter 100 automatically moves according to the turning and movement of the crane 10, the counterweight 250 can easily follow the movement of the crane 10. That is, tracking information (a turning direction signal and a motor angle signal in the case of turning, a moving direction signal and a movement distance signal in the case of turning) is sent from the transmitting unit 56 of the crane 10 to the receiving unit 184 of the transporter 100. Since the transporter 100 is moved in accordance with the tracking information, the counterweight 250 can easily follow the movement of the crane 10. Further, since the transporter 100 has the function of maintaining the loading platform 104 horizontally as described above, the counterweight 250 can be stably placed on the pallet 200, and the counterweight 250 Can be moved while being stably placed on the pallet 200.

  Further, the transporter 100 and the pallet 200 can be used universally even if the type of the crane 10 is different, and it is not necessary to provide the transporter 100 and the pallet 200 for each type of crane, and the weight support is provided for each type of crane. There is no need to prepare the equipment.

  In addition, when the counterweight is attached to the crane, the counterweight 250 can be placed on the pallet 200 at another location, and the pallet 200 can be lifted by the transporter 100 and carried to the vicinity of the crane 10. The preparation for attaching the weight to the crane is not required near the crane, and the counterweight can be attached to the crane even when there is not enough space near the crane. Also, when removing from the crane, the pallet 200 on which the counterweight 250 is placed can be lifted and moved to another location by the transporter 100, and the counterweight 250 can be lowered from the pallet 200. Even when removing the crane from the crane, there is no need for sufficient space near the crane.

  In the above description, the leg 205 of the pallet 200 has been described as extending and contracting. However, the leg 205 may be configured not to expand and contract.

  That is, the pallet 200 ′ in that case is configured as shown in FIG. 15, and includes a loading platform (pallet loading platform) 202 and leg portions 1205 that are fixed to corner portions of the loading platform 202 and continuously provided below. . The leg 1205 is configured not to expand and contract. Since the structure of the loading platform 202 in the pallet 200 ′ is the same as that of the loading platform 202 in the pallet 200, detailed description is omitted. Also in the pallet 200 ', the length M1a between the adjacent leg portions 1205 (the leg portions 1205 adjacent in the short direction) is formed to a length that allows the transporter 100 to pass therethrough. Since the length M1b between the legs 1205 adjacent in the longitudinal direction is longer than the length M1a, it can be said that the length M1b is formed to have a length that allows the transporter 100 to pass therethrough.

  That is, the vertical length L2a between the upper end of the loading platform 104 and the lower end of the tire 110 in a state where the vertical length R between the axle 108 and the loading platform 104 in the transporter 100 is minimized is the leg of the pallet 200 ′. The length of the portion 1205 (the vertical length between the lower end of the loading platform 202 and the lower end of the leg portion 1205) is shorter than L11 (that is, the vertical length between the axle 108 and the loading platform 104 in the transporter 100). The height of the upper end of the cargo bed 104 in a state where R is minimized is formed to be lower than the height of the lower edge of the cargo bed 202 of the pallet 200 ′), thereby at least between the cargo bed 104 and the axle 108 of the transporter 100. When the length in the vertical direction is minimized, the transporter 100 is placed below the loading platform 202 and the loading platform 104 is placed below the loading platform 202. Enables disposed apart from the loading platform 202 to the lower, transporter 100 is in the lower space of the loading platform 202 of a pallet 200 '.

  In the transporter 100, the vertical length L2b between the upper end of the loading platform 104 and the lower end of the tire 110 when the vertical length R between the axle 108 and the loading platform 104 is maximized is the leg of the pallet 200 ′. The length of the portion 1205 (the vertical length between the lower end of the loading platform 202 and the lower end of the leg portion 1205) L11 is formed (that is, the vertical length between the axle 108 and the loading platform 104 in the transporter 100). The height of the upper end of the loading platform 104 in a state where R is maximized is formed to be higher than the height of the lower end of the loading platform 202 of the pallet 200 ′), whereby the transporter 100 is disposed below the loading platform 202. Therefore, at least the length of the leg 1205 of the pallet 200 ′ is minimized, and the loading platform 104 and the axle 1 of the transporter 100 are used. When the vertical length of between 8 and maximum becomes a state where the pallet 200 'is lifted transporter 100, a state of the loading platform 104 lifted the loading platform 202.

  The use state and operation of the crane system having the transporter 100, the pallet 200 ′, and the counterweight 250 are the same as those of the crane system 5, but the transporter 100 is located below the loading platform 202 of the pallet 200 ′. In order to be able to enter the space, in the transporter 100, the vertical distance between the axle 108 and the loading platform 104 is shortened, while the pallet 200 ′ is lifted by the transporter 100. In 100, the vertical distance between the axle 108 and the loading platform 104 is increased.

  In the above description, a device that operates by hydraulic pressure may be replaced with a device that operates electrically. For example, a screw jack may be used instead of the hydraulic cylinder 134 or the hydraulic cylinder 220, and the axle rotation motor 112 or the traveling unit main body rotation motor 146 configured by a hydraulic motor may be configured by an electric motor. .

DESCRIPTION OF SYMBOLS 5 Crane system 10 Crane 12 Lower traveling body 14 Upper turning body 15 Base 16, 195 Housing | casing part 18, 20, 134, 220 Hydraulic cylinder 22 Boom 24 Mast boom 30 Hook rope 32 Hook 34 Boom pendant rope 40 Boom hoisting rope 42 Suspension Suspended pendant rope 50 Operation unit 52 Rotating motor 54 Encoder 56 Transmitting unit 58, 188 Storage unit 60, 190 CPU
DESCRIPTION OF SYMBOLS 100 Transporter 102 Main-body part 104,202 Cargo bed 105 Support plate 106 Traveling unit 106a Traveling unit main body 106b Cargo-side mechanism part 108 Axle 110 Tire 112 Axle rotation motor 114, 116 Plate-like part 118, 122 Arm 120, 124, 128, 130 , 132 Pin 126, 136, 140 Support part 134a, 224 Piston rod 142 Wheel 144 Worm 146 Traveling unit main body rotation motor 152, 156, 160, 244 Directional switching valve 154, 158, 162, 164 Hydraulic pump 166 Oil tank 168 Engine 170 Rotational speed detector 172 Pressure detector 180, 182 Coupler 184 Receiver 186 Infrared distance sensor 200, 200 'Palette 205, 1205 Leg 210 Leg body 2 12 cylindrical part 214 bottom part 222 piston 230 base part 240, 242 connection port 244a changeover switch

Claims (5)

  1. A counterweight support device for a crane that supports a counterweight suspended from a mast boom provided in an upper swing body in a crane having a lower travel body and an upper swing body that swings with respect to the lower travel body,
    A pallet on which a counterweight suspended from the mast boom of a crane is placed. A pallet carrier (202) that is a carrier on which the counterweight is placed, and a pallet carrier that supports the pallet carrier and can be expanded and contracted by a hydraulic cylinder (220). A pallet (200) having a leg (205) having a length between adjacent legs that allows the transporter to pass therethrough,
    A transporter platform (104) that is a platform for lifting the pallet platform from below, a traveling unit that travels the transporter, an axle (108), a tire (110) provided on the axle, and an axle that rotates the axle Rotating means (112), axle support portions (118, 122, 126) for supporting the axle so that the position in the vertical direction can be changed, and axle vertical position changing means (134) for changing the vertical position of the axle. A traveling unit main body (106a) having a traveling unit main body rotation means fixed to the transporter carrier, and rotating the traveling unit main body about the substantially vertical central axis relative to the transporter carrier Between a plurality of traveling units (106) having means (106b) and a distance measurement target position in the crane A turning direction specifying signal and a turning angle, which are signals for specifying the turning direction of the upper-part turning body in the crane, by a signal transmitted from a distance measuring means (186) for measuring the distance and a transmission unit provided in the crane. A receiving unit (184) that receives a turning angle specifying signal that is a signal for specifying, a moving direction and movement of the transporter according to the received turning direction specifying signal, the turning angle specifying signal, and the distance measured by the distance measuring means A transporter (100) having a control unit (190) for calculating a distance and controlling the traveling unit main body rotating means and the axle rotating means according to the calculated moving direction and moving distance;
    Have
    When the vertical length between the transporter carrier and the axle of the transporter is minimized, the vertical length between the upper end of the transporter carrier and the lower end of the tire maximizes the length of the pallet legs. If the transporter platform is shorter than the vertical length between the lower end of the pallet platform and the lower end of the leg, and the vertical length between the transporter platform and the axle of the transporter is maximized, vertical length between the lower end of the upper end and the tire, the vertical direction between the lower ends of the leg portions of the pallet cargo bed when the length of the legs of the pallet to a minimum rather long than the length,
    The transporter is provided with a hydraulic pump (164), a hydraulic hose (179) for supplying hydraulic oil by the hydraulic pump, and a connecting device (180) provided at the tip of the hydraulic hose. A counterweight support device for a crane , wherein the loading platform is provided with a connection port (240) for connecting the connection device, and the hydraulic cylinder in the leg is operated by the hydraulic oil supplied from the connection port. .
  2. A counterweight support device for a crane that supports a counterweight suspended from a mast boom provided in an upper swing body in a crane having a lower travel body and an upper swing body that swings with respect to the lower travel body,
    A pallet on which a counterweight suspended from a mast boom of a crane is placed. A pallet carrier (202), which is a substantially rectangular carrier in plan view on which the counterweight is placed, is provided at four corners of the pallet carrier. A plurality of legs that support the pallet carrier and can be expanded and contracted by a hydraulic cylinder (220), and the length between adjacent legs is formed such that the transporter can pass through the legs (205) A pallet (200) having
    A transporter platform (104) which is a platform for lifting the pallet platform from below and has a width shorter than the length between the legs on the short side of the pallet platform in the pallet, and a traveling unit for running the transporter. (108), a tire (110) provided on the axle, an axle rotating means (112) for rotating the axle, an axle support arm (118, 122) for supporting the axle, and an axle support arm being rotatable. A traveling unit main body having an arm supporting portion (126) for supporting, and an axle vertical position changing means (134) constituted by an axle vertical hydraulic cylinder which is a hydraulic cylinder for rotating the axle supporting arm with respect to the arm supporting portion. (106a) and a traveling unit main body rotating means fixed to the transporter carrier, Measures the distance between a plurality of traveling units (106) having traveling unit main body rotating means (106b) for rotating the vehicle with respect to the transporter carrier centering on a substantially vertical central axis, and a distance measurement target position in the crane. In order to specify the turning direction specifying signal and the turning angle, which are signals for specifying the turning direction of the upper turning body in the crane, with the signals transmitted from the distance measuring means (186) and the transmission unit provided in the crane The transport direction and distance of the transporter are calculated according to the received turning direction specifying signal, the turning angle specifying signal, and the distance measured by the distance measuring means. And a control unit (190) for controlling the traveling unit main body rotating means and the axle rotating means according to the calculated moving direction and moving distance. A transporter (100) having,
    Have
    When the vertical length between the transporter carrier and the axle of the transporter is minimized, the vertical length between the upper end of the transporter carrier and the lower end of the tire maximizes the length of the pallet legs. If the transporter platform is shorter than the vertical length between the lower end of the pallet platform and the lower end of the leg, and the vertical length between the transporter platform and the axle of the transporter is maximized, vertical length between the lower end of the upper end and the tire, the vertical direction between the lower ends of the leg portions of the pallet cargo bed when the length of the legs of the pallet to a minimum rather long than the length,
    The transporter is provided with a hydraulic pump (164), a hydraulic hose (179) for supplying hydraulic oil by the hydraulic pump, and a connecting device (180) provided at the tip of the hydraulic hose. A counterweight support device for a crane , wherein the loading platform is provided with a connection port (240) for connecting the connection device, and the hydraulic cylinder in the leg is operated by the hydraulic oil supplied from the connection port. .
  3. The receiving unit receives a signal indicating the moving direction of the lower traveling body of the crane and a signal indicating the moving distance, and the control unit, according to the received signal indicating the moving direction and the signal indicating the moving distance, The crane counterweight support device according to claim 1 or 2, wherein the transporter is moved following the moving crane by controlling the axle rotating means.
  4. The crane counterweight support device according to claim 1 or 2 ,
    A crane in which the upper turning body turns with respect to the lower traveling body, a turning direction specifying signal that is a signal for specifying the turning direction of the upper turning body, and a turning angle specifying signal that is a signal for specifying the turning angle; A crane (10) having a transmitter for transmitting
    A crane system comprising:
  5. The crane counterweight support device according to claim 3 ,
    A crane in which the upper turning body turns with respect to the lower traveling body, a turning direction specifying signal that is a signal for specifying the turning direction of the upper turning body, and a turning angle specifying signal that is a signal for specifying the turning angle; A crane (10) having a transmitter for transmitting a signal indicating the moving direction of the lower traveling body and a signal indicating the moving distance of the lower traveling body;
    A crane system comprising:
JP2011244657A 2011-11-08 2011-11-08 Counterweight support device for crane and crane system Active JP5632818B2 (en)

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JPH0823507B2 (en) * 1987-03-16 1996-03-06 日本石油化学株式会社 Loading method on a platform and platform separator used therefor
JP3137509B2 (en) * 1993-09-03 2001-02-26 株式会社日立製作所 Pallet transfer device
JP2895437B2 (en) * 1996-04-05 1999-05-24 住友建機株式会社 Bogie steering control device for crane with weight bogie
JP3576692B2 (en) * 1996-04-18 2004-10-13 住友重機械建機クレーン株式会社 Inclination angle correction device for crane with weight bogie
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