JP6552980B2 - Crane with overwinding prevention device - Google Patents

Description

  The present invention relates to a crane with an overwinding prevention device.

  In a crawler crane in which a jib is provided on an upper swing body so as to be able to move up and down, a backstop is provided between the back surface of the jib and the upper swing body to mechanically prevent the jib from being lifted excessively. The backstop has a structure that can be expanded and contracted by inserting the inner cylinder into the outer cylinder, and a compression coil spring is fitted into the proximal end side of the inner cylinder. When the jib tilts beyond a predetermined angle, the proximal end of the outer cylinder abuts against the compression coil spring, and the compression coil spring is compressed as the jib angle increases.

The upper revolving superstructure is provided with a jib overwinding switch in the vicinity of the jib foot, and when the jib stands up to the jib overwinding angle θ1, the jib overwinding switch is closed to stop the jib erecting operation. In addition, the crawler crane of this type is equipped with a hook overwinding device so that the hook hoisting operation is stopped when the hook approaches the tip of the jib.
When the hook overwinding device is malfunctioning, even if the jib overwinding switch is closed and the jib standing operation is stopped, if the operator accidentally continues to wind the hook and the hook catches the tip of the jib, The jib angle is further increased by the above. Under such circumstances, when the amount of contraction of the compression coil spring becomes a predetermined amount or more, in other words, the jib second overwinding switch is closed when the jib angle becomes a jib second overwinding angle, for example, 81.5 degrees or more. The hoisting operation is stopped (for example, see Patent Document 1).

Japanese Utility Model 7-24385

  The above-described inspection of the jib overwind switch and the jib second overwind switch is performed by actually raising the jib above a predetermined angle. This work requires the jib to stand up to the limit angle, and it must be done carefully on the site where the houses are densely packed around, and daily inspection may not be performed.

(1) According to the first aspect of the present invention, the traveling body is provided with the turning body so as to be able to turn, the turning body is provided with the jib so as to be able to be raised and lowered, and the hook suspended from the jib is raised and lowered The crane with the device stops the jib raising operation when the jib reaches the jib overwinding angle and the first automatic stop control unit that stops the hook hoisting operation when the hook approaches the jib tip by a predetermined distance. A second automatic stop control unit, and a third automatic stop control unit that stops the jib erecting operation and the hook winding operation when the jib reaches the second jib overwinding angle (> jib overwinding angle); A fourth automatic stop control unit is provided to stop the jib raising operation and the hook winding operation when the operation stopping condition is determined based on the jib angle and the jib rope tension.
(2) According to the second aspect of the present invention, the traveling body is provided with the turning body so as to be able to turn, the jib is provided on the turning body so that it can be raised and lowered, and the crane in which the hook suspended from the jib moves up and down, A hoisting device that raises and lowers the hook by feeding the hoisting rope, a hoisting device that raises and lowers the jib by raising and lowering the jib, a rope tension detector that detects the hoisting rope tension, and a jib angle detection To determine whether the operation stop condition is satisfied based on the angle detector to be detected, the jib angle detected by the angle detector, and the undulating rope tension detected by the rope tension detector, and the operation stop condition is satisfied And a calculation unit for outputting a signal for stopping the lifting operation of the lifting load by the lifting device and the rising operation of the jib by the hoisting device.

According to the crane with the excess winding preventing device of the first aspect of the present invention, since the fourth automatic stop control unit is provided, even when the first automatic stop control unit and the third automatic stop control unit do not work together The fourth automatic stop control unit can prevent the jib from falling backward.
According to the crane with the overwrap protection device of the second aspect of the present invention, the hook hoisting operation and the jib erecting operation can be stopped by the detection value of the jib angle and the detection value of the relief rope tension. Even if the winding device and the jib second overwinding device both fail, it is possible to prevent the situation where the jib is pulled backward.

BRIEF DESCRIPTION OF THE DRAWINGS The figure which shows the crawler crane which is one embodiment of the crane with over-winding prevention apparatus of this invention. The perspective view explaining the backstop of one embodiment. The control block diagram of one embodiment. The characteristic diagram of the hoisting rope tension P with respect to the jib angle θ. The table | surface explaining the 1st-4th automatic stop function. The flowchart for implement | achieving the 1st-4th automatic stop function.

(Overview of the embodiment)
The crane with an overwinding prevention device of one embodiment of the present invention has the following four automatic stop functions.
The first automatic stop function is a function to stop the hook hoisting operation when the hook approaches the jib tip by a predetermined distance.
The second automatic stop function is a function of stopping the jib standing operation when the jib reaches the overwinding angle θ1.
The third automatic stop function is a function for stopping the jib standing operation and the hook winding operation when the jib reaches the jib second overwinding angle θ2 (> θ1).
The fourth automatic stop function is a function to stop the jib standing operation and the hook hoisting operation when it is determined that the operation stop condition is satisfied based on the detected values of the jib angle and the jib hoisting rope tension.
The first to third automatic stop functions are functions that are conventionally installed, and the fourth automatic stop function is a function that is newly added in the crane according to the embodiment.
Hereinafter, an embodiment of a crane according to the present invention will be described with reference to FIGS. 1 to 6.

(overall structure)
FIG. 1 is a side view of a hydraulic crawler crane to which the present invention is applied. The crawler crane has a traveling body 1, a revolving unit 2 rotatably mounted on the traveling unit 1, and a jib 6 pivotally supported by the revolving unit 2 in an undulating manner.
The jib 6 includes a lower jib 6A pivotally supported by a jib foot pin on the jib mounting portion of the revolving unit 2, an intermediate jib 6B connected to the upper end of the lower jib 6A, and an upper jib 6C connected to the upper end of the intermediate jib 6B. It is configured.
A hoisting drum 3 and an undulating drum 4 are mounted on the revolving unit 2. The hoisting rope 7 is wound or fed out by driving the hoisting drum 3 based on the hoisting / lowering operation command, and the suspended load W suspended by the hook 5 moves up and down. Further, the undulating rope 8 is wound up or drawn out by driving of the undulating drum 4 based on the jib undulation operation command, and the jib 6 is undulated.

  In the crawler crane of the embodiment, when the operation lever of the driver's seat is operated, a pilot operation pressure signal corresponding to the operation direction and the operation amount is generated, and the control valve is switched by the pilot operation pressure signal. The flow of the pressure oil discharged from the hydraulic pump is controlled by a control valve, and hydraulic actuators such as a hoisting hydraulic motor and a undulating hydraulic motor are driven and controlled. An electric control lever may be used.

  In FIG. 1, a gantry 21 is provided on the revolving structure 2, and a gantry sheave 22 and a hanger 23 are provided on the top of the gantry 21. The hoisting rope 8 wound around the hoisting drum 4 is drawn from the gantry sheave 22 to the bridle 24 and is wound around the bridle 24 and the hanger 23 a plurality of times. As shown in FIG. 1 (b), a load cell 25 is attached to the top of the gantry 21, and the end of the relief rope 8 is locked to the load cell 25. A pendant rope 26 is provided between the bridle 24 and the upper jib 6C. When the hoisting drum 4 feeds the hoisting rope 8, the distance between the bridle 24 and the hanger 23 changes, and the jib 6 is raised and lowered.

  The load cell 25 outputs a load signal according to the tension of the relief rope 8. Based on this load signal, the weight of the load 5 can be calculated by a known formula. In the crane according to the present embodiment, as will be described later, it is determined whether the operation stop condition for the jib 6 and the hook 5 is satisfied by using the hoisting rope tension. When it is judged that the operation stop condition is satisfied, the jib raising operation and the hook winding operation are stopped.

(Hook overwind detection device)
The crawler crane 1 includes a hook overwinding detection device 140. The hook overwind detection device 140 includes a limit switch 141 for hook overwind detection provided at the tip of the upper jib 6C. The limit switch 141 is turned on when the tension 142 acts on the support wire 143 with the weight 142. The weight 142 is ring-shaped, and the hoisting rope penetrates the central opening. When the hook 5 is raised to a position a predetermined distance from the tip of the upper jib 6C by the hoisting operation, the hook 5 pushes up the weight 142, the tension of the support wire 143 becomes zero, and the limit switch 141 for detecting hook overwinding is turned off. Do. When the overwinding detection limit switch 141 is turned off, the operation in the direction of winding the hook is stopped.

(Jib overwind detection device)
The crawler crane is provided with a jib overwind detection device 170 for detecting that the jib 6 has reached the jib overwinding angle θ1. The jib overwinding detection device 170 includes a striker provided at the base end (jib foot) of the jib 6 and an overwinding detection limit switch provided at the jib attachment part of the swivel body 2. When the jib 6 reaches the jib overwinding angle θ1, the striker drives the jib overwinding detection limit switch, and a jib overwinding detection signal is output from the limit switch.

(Back stop)
A pair of expandable backstops 10 are juxtaposed in the width direction of the airframe on the back side of the roazib 6A. As shown in FIG. 2, the backstop 10 has a double cylinder structure having an inner cylinder 110 and an outer cylinder 130 that can contract each other. The upper end portion 130U of the outer cylinder 130 is rotatably connected to the rear surface of the lower arm 6A, and the lower end portion 110L of the inner cylinder 110 is rotatably connected to the backstop bracket 2a of the revolving unit 2.

  A spring seat 111 is provided at the lower end portion 110 </ b> L of the inner cylinder 110, and a compression spring 112 inserted into the inner cylinder 110 is seated on the spring seat 111. An annular plate 113 is inserted into the inner cylinder 110 protruding from the upper end side of the compression spring 112, and the annular plate 113 is placed on the upper end of the compression spring 112. A flange 131 is provided at the lower end of the outer cylinder 130, and the outer cylinder flange 131 abuts on the annular plate 113 when the jib angle becomes equal to or greater than the jib overwrap angle θ0, eg, 78 degrees or more. When the jib angle exceeds 78 degrees, the compression spring 112 starts to compress, and the annular plate 113 follows the compression spring 112 and moves to the proximal end side of the inner cylinder 110. As the jib angle increases, the compression spring 112 is compressed to shorten its overall length. When the jib angle reaches a limit angle θ3 which is further increased beyond the jib overwinding angle θ1 and the jib second overwinding angle θ2, the compression spring 112 is in close contact.

(Jib second overwinding detection device)
A jib second overwind detection device 150 is provided on the base end side of the inner cylinder 110. The jib second overwinding detection device 150 is a detection device that detects that the jib second overwinding angle θ2 is reached before the compression spring 112 comes into close contact therewith. Details of the jib second overwinding detection device 150 will be described with reference to FIG.
The jib second overwinding detection device 150 is fixedly installed on a limit switch 151 installed on a bracket 151 a provided on the lower end portion 110 </ b> L of the inner cylinder 110 and an annular plate 113 that moves following the compression of the compression spring 112. And a striker 152a.

  A bracket 151a is fixed to the base end portion 110L of the inner cylinder 110, and a limit switch 151 is fixed to the bracket 151a. A bracket 152 is attached to the annular plate 113. The bracket 152 is a bar-like member extending from the annular plate 113 to the proximal end side of the inner cylinder 110, and a striker 152a is attached to the lower end. The striker 152a pushes the dog of the limit switch 151 at the jib second overwinding angle θ2 before the jib angle with which the compression spring 112 is in close contact, and turns off the limit switch 151. At this time, the jib second overwind detection signal is output from the limit switch 151.

  As described above, in the crawler crane of the embodiment, when the jib 6 reaches the jib overwinding angle θ1, the jib overwind detection device 170 outputs a jib overwind detection signal. When the jib second overwinding angle θ2 before the jib angle at which the compression spring 112 adheres is reached, the jib second overwind detection device 150 outputs a jib second overwind detection signal.

(Control device)
FIG. 3 is a block diagram showing an outline of a control device of the crawler crane according to the embodiment.
The control device performs various calculations for executing the first to fourth automatic stop functions described above. The control device includes: an arithmetic unit 201; a jib angle detection device 202 that detects a jib angle; a hook overwind detection device 140; a jib overwind detection device 170; a jib second overwind detection device 150; And a load cell 25 for detecting. Signals from these detectors and switches are input to the arithmetic unit 201.

When the arithmetic unit 201 receives an input signal from various detectors or sensors, the arithmetic unit 201 executes various arithmetic operations to be described later to determine whether conditions for stopping the hook winding operation, jib raising operation and lowering operation are satisfied. When it is determined that the operation stop conditions are satisfied, the arithmetic unit 201 drives the corresponding electromagnetic solenoids 210 to 212 to output a signal for stopping the operation to stop the corresponding operation.
A monitor 213 is connected to the arithmetic unit 201, and images and numerical values representing various operation states of the crawler crane are displayed on the monitor 213.

The hook overwind detection device 140 is a device that outputs a hook overwind detection signal when the hook 5 approaches the jib tip to a predetermined distance, and is a component of the first automatic stop function.
The jib overwind detection device 170 is a device that outputs a jib overwind detection signal when the jib 6 reaches the jib overwind angle θ1, and is a component of the second automatic stop function.
The jib second overwind detection device 150 is a device that outputs a jib second overwind detection signal when the jib 6 reaches the jib second overwind angle θ2, and is a component of the third automatic stop function.
The load cell 25 is a sensor that detects the undulation rope tension and is a component of the fourth automatic stop function.

(Tipping prevention device)
The crawler crane according to the embodiment is provided with the overturn preventing device. The fall prevention device is a safety device called a so-called moment limiter, and can be mounted on the arithmetic device 201. You may mount in a crawler crane as an exclusive fall prevention apparatus.
The fall prevention device executes the following calculation to prevent the crane from falling.

  The working radius R is calculated based on the jib length input to the fall prevention device and the jib angle detected by the jib angle detector 202. The weight W of the suspended load is calculated based on the jib undulation rope tension detected by the rope tension detector 24. The overturning moment during work is calculated from the work radius R × work radius R. A rated load curve is stored in the storage unit 201a in advance. The rated load curve is a graph showing the working radius on the horizontal axis and the limit load of the suspended load on the vertical axis. Do not fall if you are working in the area below the graph. That is, if the point where the calculated work radius and the calculated weight of the suspended load are plotted is inside the graph, it does not fall. If the point where the calculated working radius and the calculated weight of the hanging load are plotted is outside the graph, it may fall over, and the movement in the direction in which the overturning moment increases is stopped. That is, the jib lowering operation is stopped.

(Jib angle-undulation rope tension characteristic diagram)
FIG. 4 is a characteristic diagram of the undulation rope tension P with respect to the jib angle θ with the jib angle θ on the horizontal axis and the undulation rope tension P on the vertical axis. The symbols L1, L2 and L3 are characteristic diagrams when the load factor of the cranes working with the jib 6 of the same jib length is different. The load factor with the large characteristic L1 is the load factor with the small characteristic L3, and the load factor with the characteristic L2 is medium. The loading factor is the ratio of the actual weight to the maximum suspended weight at a certain working radius. This characteristic diagram is stored in advance in the storage unit 201a of the arithmetic unit 201. When lifting a load having a weight different from the stored hanging weight, a plurality of characteristic diagrams are interpolated to calculate and use the corresponding hanging weight characteristic diagram. Of course, a large number of characteristic diagrams for each fine pitch weight may be stored in the storage unit 201a in advance. Also, similar characteristic diagrams are stored according to the plurality of jib lengths. In the embodiment, this characteristic diagram is referred to as a reference characteristic.

  In the graph L1 showing the reference characteristics of FIG. 4, the jib angle θ1 is a jib overwinding angle detected by the jib overwinding detection device 170. When the jib overwinding detection device 170 detects that the jib 6 has reached the jib overwinding angle θ1, the jib standing operation is stopped. The jib angle θ2 is a jib second overwinding angle detected by the jib second overwind detector 150. When the jib second overwind detection device 150 detects that the jib 6 has reached the jib second overwinding angle θ2, the hook winding operation and the jib raising operation are stopped. The jib angle θ3 is the jib angle when the compression spring 112 is in close contact. At the jib angle θ3 at which the compression spring 112 is in close contact, the jib 6 is integrated with the swing body 2 in the jib raising direction, and when the jib angle is further increased, a large bending load acts on the jib 6.

  Based on the jib angle θ detected by the jib angle detector 202 and the jib undulation rope tension P detected by the rope tension detection load cell 25 and calculated by the arithmetic device 201, the arithmetic device 201 is as follows. Detects abnormal behavior of undulation rope tension.

-After the compression spring 112 is in close contact (jib angle θ3 or more)-
After the compression spring 112 closely contacts, that is, when the jib angle becomes θ3 or more, as shown in FIG. 4, the jib relief rope tension P with respect to the jib angle θ rapidly increases. When the rate of change of the jib hoisting rope tension P with respect to the jib angle is equal to or greater than a predetermined threshold value, it is determined as abnormal.
In place of the rate of change in tension on the rope with respect to the jib angle, it is judged as abnormal if the time rate of change in tension on the tension rope is above a predetermined threshold value, or the amount of change in tension on the tension rope per unit time is a predetermined threshold You may determine with an abnormality at the above.

  In addition, it is preferable to set a jib angle at which the compression spring 112 is in close contact, and to perform speed control to gradually reduce the winding speed of the ups and downs when the angle reaches this angle. This is to detect the abnormal behavior of the hoisting rope tension described above and stop the hoisting operation and the jib standing operation, but to prevent the jib 6 from falling backward even if a delay occurs in the stop control. .

The hook hoisting stop, the jib raising stop, and the jib lowering stop can be realized by the following protective device, for example.
When the crawler crane is equipped with a hydraulic pilot control lever device, the pilot operating pressure generated by the operation of the control lever is supplied to the control valve. A solenoid on-off valve is disposed in a pilot passage connecting the pilot operation pressure generator and the control valve, and when the operation stop condition is satisfied, the arithmetic device 201 supplies a stop signal to the solenoid on-off valves 210-212. When the electromagnetic on-off valves 210 to 212 are closed, the pilot operation pressure does not reach the control valve even if the operation lever is operated and the pilot operation pressure is generated, and the corresponding operation stops.

  When the crawler crane is equipped with an electric operation lever device, similarly, when an opening / closing switch is provided on a signal line for applying an electric signal generated by operation of the operation lever to the control valve, and the above operation stop condition is satisfied, A stop signal is supplied from the arithmetic unit 201 to the open / close switch. When the open / close switch is opened, even if the operation lever is operated and a drive signal is generated, it is not applied to the control valve, and the corresponding operation is stopped.

  FIG. 5 summarizes the operation to stop by detecting hook overwinding, the operation to stop by detecting jib overwinding, the operation to stop by detecting jib second overwinding, and the operation to stop by detecting undulation rope tension abnormality with respect to the jib angle. It is a table.

FIG. 6 is a flowchart schematically showing a processing procedure of a program executed by the arithmetic device 201 in order to perform the operation stop process described above.
(A) shows the process of stopping the hook overwinding operation. When the hook overwinding detection signal is detected, a stop signal is applied to the electromagnetic valves 210 and 211 in step S11 in order to stop the hook hoisting operation and the jib lowering operation. This stops the hook winding and jib raising operations.

(B) shows stop processing of the standup operation by jib overwinding. When the jib overwind detection signal is detected, in step S21, a stop signal is applied to the solenoid valve 211 in order to halt the jib erecting operation. As a result, the jib standing operation is stopped.
(C) shows the stop processing of the jib standing operation and the hook winding operation stop processing by the jib second overwinding. When the jib second overwind detection signal is detected, in step S31, a stop signal is applied to the solenoid valve 211 to stop the jib erecting operation in order to halt the jib erecting operation. In step S31, a stop signal is applied to the electromagnetic valve 212 for stopping the jib lowering operation to stop the jib lowering operation.

  (D) shows the stop processing of the jib erecting operation and the stop processing of the hook hoisting operation based on the characteristic indicating the relationship between the jib angle and the undulating rope tension. In step S41, the reference characteristic indicating the relationship between the jib angle and the undulating rope tension stored in the storage unit 201a is compared between the detected jib angle and the detected undulating rope tension, and the behavior of the undulating rope tension is abnormal. It is determined whether the When this abnormality detection is determined, in step S42, a stop signal is applied to the solenoid valve 211 to stop the jib standing operation. Further, a stop signal is applied to the hook raising operation stopping electromagnetic valve 210 to stop the hook winding operation.

-Modification 1-
In the above description, the hoisting rope tension abnormality after the compression spring 112 is in close contact is detected and the hoisting operation and the jib erecting operation are stopped. However, the hoisting rope tension before the compression spring 112 starts to compress is reduced. It is also possible to stop the hoisting operation and the jib raising operation by detecting the behavior abnormality or the behavior abnormality of the tension of the undulating rope until the compression spring 112 starts compression and then comes into close contact.

(1) Before compression spring 112 starts compression (less than jib angle θ0)
Before the compression spring 112 starts to compress, that is, when the jib angle is less than θ0, as shown in FIG. 4, the rate of change of the jib undulation rope tension P with respect to the jib angle θ is negative. If the rate of change of the jib undulation rope tension P with respect to the jib angle θ is positive, it is determined as abnormal.
This abnormal phenomenon may occur, for example, when the jib 6 is integrated with the rotating body 2 due to some failure before the compression spring 112 starts compression. Or, even if the jib angle detector 202 is broken and the compression spring 112 is compressed, the jib angle according to the detected value may be less than θ0.

(2) After compression spring 112 starts compression, until it comes into close contact (jib angle is not less than θ0 and less than θ3)
Until the compression spring 112 comes into close contact after the compression spring 112 starts to compress, that is, until the jib angle is θ0 to θ3, as shown in FIG. 4, the rate of change of the jib undulation rope tension P with respect to the jib angle θ is positive. is there. If the change rate of the jib undulation rope tension P with respect to the jib angle θ is negative, it is determined that there is an abnormality.
This abnormal phenomenon occurs when the hook overwinding detection device 140 fails and the hoisting operation does not stop. That is, when the hook 5 is hooked on the tip of the upper jib 6C and the jib 6 is erected by the hoisting operation, the jib hoisting rope tension decreases rapidly. Therefore, although the jib angle increases, the undulation rope tension rapidly decreases. It is determined that the tension is abnormal by capturing the behavior of the tension.

The crawler crane of embodiment described above has the following effects.
(1) In the crawler crane according to the embodiment, the traveling body 1 is provided with the revolving body 2 so as to be able to turn, the jib 6 is provided on the revolving body 2 so as to be raised and lowered, and the hook 5 suspended from the jib 6 is moved up and down. Do. This crawler crane includes a hook overwind detection device 140 that detects a hook overwind when the hook 5 approaches the tip of the jib 6 by a predetermined distance, and when the hook overwind detection device 140 detects a hook overwind, the hook A first automatic stop control unit is provided to stop the winding operation. The crawler crane according to the embodiment further includes second to fourth automatic stop control units. The second automatic stop control unit stops the jib standing operation when the jib 6 reaches the jib overwinding angle θ1. The jib overwinding angle is detected by the jib overwind detection device 170. The third automatic stop control unit stops the jib erecting operation and the hook winding operation when the jib 6 reaches the jib second overwinding angle θ2 (> jib overwinding angle θ1). The jib second overwinding angle is detected by the jib second overwind detector 150. The fourth automatic stop control unit stops the jib erecting operation and the hook hoisting operation when the operation stopping condition is determined based on the detected jib angle θ and the detected undulating rope tension P of the jib 6 .
Since the fourth automatic stop control unit described above is added, the jib 6 falls backward by the fourth automatic stop control unit even when the first automatic stop control unit and the third automatic stop control unit do not work together. Can be prevented.

(2) Further, in the crawler crane of the embodiment, the traveling body 1 is provided with the swivel body 2 so as to be able to turn, the jib 6 is provided on the revolving body 2 so as to be raised and lowered, and the hook 5 suspended from the jib 6 is provided. Go up and down. The crawler crane has a hoisting drum 3 that feeds and lifts the hoisting rope 7 to raise and lower the hook 5, a hoisting drum 4 that moves the hoisting rope 8 of the jib 6 and raises and lowers the jib 6, and the hoisting rope tension. The operation is stopped based on the rope tension detector to be detected, that is, the load cell 25, the angle detector 22 to detect the jib angle, the jib angle detected by the angle detector 22, and the undulating rope tension detected by the load cell 25. When it is determined whether the condition is satisfied and it is determined that the operation stop condition is satisfied, a signal for stopping the hoisting operation of the suspended load W by the hoisting drum 3 and the erecting operation of the jib 6 by the hoisting drum 4 is output. A calculation unit 201 is provided.
By adopting such a configuration, even if the hook overwind detection device 140 and the jib second overwind detection device 150 fail, the jib 6 can be reliably used by using the detected values of the jib angle and the undulating rope tension. Can be prevented from falling backwards. Therefore, even when the jib second overwinding detection device 150 is forgotten to be manually checked, the jib 6 can be prevented from falling backward. In other words, the fourth automatic stop operation function added in the embodiment functions as a backup of the third automatic stop operation function.

(3) The crawler crane according to the embodiment is provided on the back side of the jib 6, starts back compression when the jib angle becomes the first angle θ0, and is backstop provided with the spring 112 that comes in close contact when the jib becomes the second angle θ3. Have ten. It is determined that the operation stop condition is satisfied when the rate of change in the tension of the undulating rope detected by the load cell 25 with respect to the jib angle detected by the angle detector 202 is equal to or greater than a predetermined threshold. A signal for stopping the hoisting operation and the standing motion of the jib 6 by the hoisting drum 4 is output.
Also in this embodiment, since the hoisting rope tension abnormality after the compression of the spring 112 is detected and the hoisting operation and the hoisting operation are stopped, even if the inspection before the work is forgotten, the jib 6 falls backward. Can be prevented.

(4) The crawler crane according to the embodiment is provided on the back side of the jib 6, starts back compression when the jib angle becomes the first angle θ0, and is backstop provided with the spring 112 closely attached when the jib becomes the second angle θ3. Have ten. When the rate of change of the undulation rope tension detected by the load cell 25 with respect to the jib angle detected by the angle detector 202 is positive before the compression spring 112 starts compression, the calculation unit 201 satisfies the operation stop condition. Then, it is determined that the lifting operation of the load W by the winding drum 3 and the rising operation of the jib 6 by the rising and falling drum 4 are output.
For example, in the case where the jib 6 is integrated with the rotating body 2 before the compression spring 112 starts compression, some trouble occurs (for example, a phenomenon in which the inner cylinder and the outer cylinder are scratched), or a jib angle detector Even if the jib angle is less than θ0, etc., even if the jib angle according to the detected value is less than θ0 despite the fact that 202 fails and the compression spring 112 is compressed, the undulating rope tension increases and changes The rate is positive. Since the winding operation and the jib standing operation are stopped by capturing this behavior, it is possible to prevent the jib 6 from falling backward at the work site where the inspection before the operation can not be performed.

(5) The crawler crane according to the embodiment is provided on the back side of the jib 6, starts back compression when the jib angle becomes the first angle θ0, and is backstop provided with the spring 112 closely attached when the jib becomes the second angle θ3. Have ten. The calculation unit 201 determines that the operation stop condition is satisfied when the rate of change in tension of the undulating rope with respect to the jib angle is negative in an angle range from when the compression spring 112 starts compression to when the compression spring 112 comes into close contact. A signal for stopping the hoisting operation of the load W by the hoisting drum 3 and the standing operation of the jib 6 by the undulating drum 4 is output.
Even in such a case, the hoisting operation and the jib standing operation are stopped by capturing the behavior of the hoisting rope tension, so that even if the inspection before work is forgotten, the jib 6 can be prevented from falling backward.

(6) The crawler crane according to the embodiment is configured so that the suspended load calculated based on the working radius calculated by the jib angle and the jib length detected by the angle detector 202 and the undulation rope tension detected by the load cell 25 is used. The anti-falling device further includes an anti-tip device for stopping the motion in the direction in which the overturning moment increases when the crane operation point is outside the rated load curve, based on the weight and the rated load curve.
Therefore, even if the fourth automatic stop control unit is added, the cost of newly providing hardware is not required.

Although the backstop of the crane of the embodiment has been described as including the inner cylinder 110, the outer cylinder 130, and the compression spring 112, the structure of the backstop is not limited to that of the embodiment. The form is not limited as long as the shock absorbing elastic member is compressed when the jib stands up to a predetermined angle or more.
In the crawler crane of the embodiment, the jib undulation is performed by a gantry and a bridle, but a configuration in which the jib undulation is performed by a live mast may be employed.
The present invention is also applicable to a crane having a telescopic jib instead of a lattice jib. Furthermore, the present invention can be applied to a so-called truck crane or rough terrain in which a tire is mounted instead of the crawler.

  Although various embodiments have been described above, the present invention is not limited to these contents. Other embodiments considered within the scope of the technical idea of the present invention are also included within the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Traveling body 2 Revolving body 3 Hoisting drum 4 Hoisting drum 5 Hook 6 Jib 7 Main winding rope 8 Hoisting rope 10 Backstop 25 Load cell 110 Inner cylinder 130 Outer cylinder 140 Hook overwinding detection device 141 Limit switch 142 Weight 150 Jib second Overwinding detecting device 151 Limit switch 170 Jib Overwinding detecting device 201 Arithmetic device 201a Storage unit 202 Jib angle detecting device 210 Solenoid valve for hoisting stop 211 Solenoid valve for jib raising stop 212 Solenoid valve for jib lowering stop 213 Monitor

Claims (5)

In a crane with an over-winding prevention device, wherein a traveling body is provided with a pivoting body so as to be pivotable, a jib is provided on the pivoting body so as to be able to be raised and lowered, and a hook suspended from the jib is raised and lowered.
A first automatic stop control unit for stopping the hoisting operation when the hook approaches the jib tip by a predetermined distance;
A second automatic stop control unit for stopping the jib standing operation when the jib reaches the jib overwinding angle;
A third automatic stop control unit that stops the jib standing operation and the hook hoisting operation when the jib reaches the jib second overwind angle (> jib overwind angle);
And a fourth automatic stop control unit for stopping the jib standing operation and the hook hoisting operation when the operation stop condition is determined based on the jib angle and the jib hoisting rope tension. Crane with overwinding prevention device. In a crane with an over-winding prevention device, wherein a traveling body is provided with a pivoting body so as to be pivotable, a jib is provided on the pivoting body so as to be able to be raised and lowered, and a hook suspended from the jib is raised and lowered.
A hoisting device for unwinding and retracting a hoisting rope to raise and lower the hook;
A hoisting device for raising and lowering the jib by rolling out the jib hoisting rope;
A rope tension detector for detecting undulation rope tension;
An angle detector for detecting the jib angle;
Based on the jib angle detected by the angle detector and the undulating rope tension detected by the rope tension detector, it is determined whether an operation stop condition is satisfied, and it is determined that the operation stop condition is satisfied. Then, the crane with the over-winding prevention device is provided with a calculation unit that outputs a signal for stopping the lifting operation of the lifting load by the lifting device and the rising operation of the jib by the hoisting device. In the crane with an overwind protection device according to claim 2,
The calculation unit determines that the operation stop condition is satisfied when the change rate of the undulating rope tension detected by the rope tension detector with respect to the jib angle detected by the angle detector is equal to or greater than a predetermined value, A crane with an over-winding prevention device, which outputs a signal for stopping the hoisting operation of a lifting load by the hoisting device and the raising operation of the jib by the hoisting device. In the crane with an overwind protection device according to claim 2,
A back stop provided with a spring provided on the back side of the jib, which starts compression when the jib angle reaches the first angle, and contacts when the jib angle reaches the second angle;
The arithmetic operation unit is configured to determine that the rate of change of the undulating rope tension detected by the rope tension detector with respect to the jib angle detected by the angle detector is positive until the jib angle reaches a first angle. A crane with an overwinding prevention device that outputs a signal for stopping the hoisting operation of the suspended load by the hoisting device and the erecting operation of the jib by the hoisting device by determining that the operation stop condition is satisfied . In the crane with an overwind protection device according to claim 2,
It has a backstop provided on the back side of the jib and having a spring which starts compression when the angle of the jib becomes the first angle and closely contacts when the angle of the jib becomes the second angle,
In the angle range from the first angle to the second angle, the calculation unit determines that the operation stop condition is satisfied when the rate of change of the tension of the undulating rope with respect to the jib angle is negative in the angle range from the first angle to the second angle. A crane with an over-winding prevention device, which outputs a signal for stopping the hoisting operation of a load by the hoisting device and the raising operation of the jib by the hoisting device.

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