JP6780908B1 - Crane and its control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a crane capable of suppressing wear of a tire when switching the direction of the tire, and a control method thereof. SOLUTION: A plurality of traveling devices 2a, 2b, 2c, 2d arranged side by side in a traveling direction y and opposed to each other at intervals in a transverse direction x crossing the traveling direction y at a right angle, and the traveling device 2. In a plan view in a method of controlling a crane having a supported leg structure and a swivel shaft 5 in which a traveling device 2 is extended in the vertical direction z and a tire 6 connected to the swivel shaft 5, respectively. In the above, the tire 6 is installed in advance on the side of the turning shaft 5, and the tire 6 of one traveling device 2 and the other traveling device 2 are used with respect to the two traveling devices 2 arranged in the rolling direction of the tire 6. By rotating the tire 6 in opposite directions, the tire 6 is swiveled around the swivel shaft 5. [Selection diagram] Fig. 4

Description

The present invention relates to a crane capable of switching the direction of tires between a traveling direction and a traversing direction and a control method thereof, and more particularly to a crane capable of suppressing tire wear when switching the direction of tires and a control method thereof. Is.

Various cranes have been proposed in which the direction of the tire can be switched between the traveling direction and the traversing direction (see, for example, Patent Document 1). Patent Document 1 discloses a configuration in which a jack installed in a traveling device is provided, and the crane is jacked up to reduce the load on the tire and then the tire is turned. The tire turns due to the expansion and contraction of the hydraulic cylinders that make up the turning mechanism.

There is a problem that the tire rubs against the ground and wears because the tire is in a stationary state in which the tire turns around the predetermined portion while the predetermined portion of the tire is in contact with the ground surface.

Since it is in a stationary state, the force required to turn the tire becomes very large. Therefore, there is a problem that the hydraulic cylinder constituting the swivel mechanism becomes large.

Japanese Patent Application Laid-Open No. 2002-226169

The present invention has been made in view of the above problems, and an object of the present invention is to provide a crane capable of suppressing tire wear when switching the direction of a tire and a control method thereof.

Cranes for achieving the above objectives are arranged side by side in the traveling direction and are opposed to each other at intervals in the traverse direction crossing the traveling direction at right angles, and legs supported by the traveling devices. In a crane having a structure and a swivel shaft on which the traveling device is extended in the vertical direction and a tire connected to the swivel shaft, the tire is provided on the side of the swivel shaft in a plan view. In addition to having a configuration in which the traveling devices are arranged, the traveling device has two tires and two turning shafts arranged side by side in the traveling direction, and one tire is installed on each of the turning shafts. The tires are arranged on one side and the other side of the turning axis in the transverse direction when the tires are in a traveling posture in which the rolling direction is the traveling direction .

The control method of the tires for achieving the above object is supported by a plurality of traveling devices arranged side by side in the traveling direction and opposed to each other at intervals in the transverse direction crossing the traveling direction at a right angle, and the traveling devices. In a method of controlling a crane including a swivel shaft having a leg structure to be provided and a swivel shaft extending in the vertical direction and a tire connected to the swivel shaft, the swivel shaft of the swivel shaft in a plan view. The tires are arranged in advance on the side, and the traveling device has two tires and two turning axes arranged side by side in the traveling direction, one for each of the turning axes. When the tires are installed in advance and the rolling direction of the tires is the traveling direction, the tires are arranged on one side and the other side of the turning axis in the transverse direction. There, the turning axis is rotated by rotating the tire of one traveling device and the tire of the other traveling device in opposite directions with respect to the two traveling devices arranged in the rolling direction of the tire. It is characterized in that the tire is turned as a central axis.

According to the present invention, the tire is arranged at a position shifted in the horizontal direction from the center of the turning shaft. Therefore, when the tire is turned around the turning axis, the tire can be turned with almost no slippage by rotating the tire. It is advantageous for suppressing tire wear.

It is explanatory drawing which illustrates the crane. It is explanatory drawing which expands and illustrates the traveling apparatus of FIG. It is explanatory drawing which illustrates the AA arrow view of FIG. It is explanatory drawing which shows typically the state of the traveling device in the traveling posture. It is explanatory drawing which illustrates the right angle traveling posture of the traveling apparatus of FIG. It is explanatory drawing which illustrates the posture of the tire when the crane makes a full turn. It is explanatory drawing which illustrates the modification of the traveling device of FIG. It is explanatory drawing which illustrates the right angle traveling posture of the traveling apparatus of FIG. It is explanatory drawing which expands and illustrates the motor and the reduction gear of FIG. It is explanatory drawing which illustrates the modification of the traveling device of FIG. It is explanatory drawing which illustrates the BB arrow view of FIG. It is explanatory drawing which illustrates the state which looked at the traveling device of FIG. 3 along the traveling direction.

Hereinafter, the crane and its control method will be described based on the embodiment shown in the figure. In the figure, the traveling direction of the crane is indicated by an arrow y, the transverse direction crossing the traveling direction at a right angle is indicated by an arrow x, and the vertical direction is indicated by an arrow z.

As illustrated in FIG. 1, the crane 1 has a plurality of traveling devices 2 arranged side by side in the traveling direction y and opposed to each other at intervals in the transverse direction x, and a leg structure 3 supported by the traveling device 2. I have. The leg structure 3 includes four leg members 3a extending in the vertical direction z, an upper horizontal member 3b extending in the transverse direction x to connect the upper ends of the leg members 3a, and extending in the traveling direction y. It has a lower horizontal member 3c that is provided and connects the lower ends of the leg member 3a. A trolley 4 traversing along the traversing direction x is installed in the upper horizontal member 3b. The crane 1 is composed of, for example, a gantry crane that handles containers at a container terminal.

In this embodiment, the crane 1 has four traveling devices 2. The crane 1 has a first traveling device 2a and a second traveling device 2b arranged below the lower horizontal member 3c and arranged side by side in the traveling direction y. Similarly, the crane 1 has a third traveling device 2c and a fourth traveling device 2d arranged side by side in the traveling direction y. The first traveling device 2a and the third traveling device 2c are opposed to each other at intervals in the transverse direction x. Similarly, the second traveling device 2b and the fourth traveling device 2d are opposed to each other with an interval in the transverse direction x.

The number of traveling devices 2 included in the crane 1 is not limited to four. Three or more traveling devices 2 may be arranged side by side along one lower horizontal member 3c in the traveling direction y. In this case, for example, the same number of traveling devices 2 are arranged side by side along the other lower horizontal member 3c.

The traveling device 2 has a swivel shaft 5 extending in the vertical direction z and a tire 6 connected to the swivel shaft 5. The swivel shaft 5 has a configuration capable of swiveling around the vertical direction z as a central axis. In the present specification, the swivel shaft 5 is a concept including a structure that swivels around a virtual shaft such as a swivel bearing, in addition to a physical shaft member extending in the vertical direction z. The swivel bearing has, for example, a cylindrical outer ring and a cylindrical inner ring arranged inside the outer ring. The central part of the inner ring is hollow. The outer ring is configured to be rotatable with respect to the inner ring around a virtual central axis formed in the center of the inner ring.

The tire 6 can be made of a rubber tire. In this embodiment, the traveling device 2 has two tires 6 arranged side by side in the traveling direction y and two turning shafts 5 connected to the two tires 6, respectively. The number of tires 6 included in the traveling device 2 is not limited to two. It may be one or three or more.

The crane 1 has a control mechanism 7 that controls the rotation direction and rotation speed of the tire 6. The control mechanism 7 is arranged in, for example, a machine room arranged on the upper surface of the lower horizontal member 3c. The place where the control mechanism 7 is arranged is not limited to the above, and may be the cab of the crane 1 or another place. In FIG. 1, the control mechanism 7 is shown by a broken line for explanation.

As illustrated in FIGS. 2 and 3, the traveling device 2 has two swivel shafts 5 and two tires 6 connected to the lower ends of the swivel shafts 5, respectively. One tire 6 is composed of a drive wheel 6a including a speed reducer 8 connected to the tire 6 and a motor 9 connected to the speed reducer 8. The speed reducer 8 is arranged at the lower end of the turning shaft 5. The tire 6 is arranged on the side of the speed reducer 8. The other tire 6 is composed of a driven wheel 6b that does not have a speed reducer 8 or a motor 9.

The swivel shaft 5 of the drive wheel 6a and the swivel shaft 5 of the trailing wheel 6b are connected by a connecting rod 10. When one swivel shaft 5 turns, a force is transmitted via the connecting rod 10 and the other swivel shaft 5 also swivels in the same manner. The connecting rod 10 is not an essential requirement of the present invention. In some cases, the traveling device 2 may be configured not to have the connecting rod 10, such that the two tires 6 are both composed of the driving wheels 6a.

As illustrated in FIG. 3, the two swivel shafts 5 are arranged in the traveling device 2 in a state where the straight line L connecting the centers of the two swivel shafts 5 is parallel to the traveling direction y in a plan view. In FIG. 3, the straight line L is shown by a chain line for explanation. The tire 6 is arranged at a position on the side of the turning shaft 5 in a plan view. The tire 6 is arranged at a position deviated from the turning shaft 5 in the horizontal direction by a predetermined distance. In the plan view illustrated in FIG. 3, the center of the turning shaft 5 and the tire 6 are arranged at positions where they do not overlap. Further, two tires 6 are arranged on one side of the turning shaft 5 in the transverse direction x. In FIG. 3, all the tires 6 are arranged on the same side which is the upper side with respect to the turning shaft 5.

As illustrated in FIG. 4, when the rolling direction of the tire 6 is the traveling direction y, the crane 1 moves in the traveling direction y when the control mechanism 7 rolls all the drive wheels 6a in the same direction. .. This control is hereinafter referred to as running control.

In this embodiment, the tires 6 of the first traveling device 2a and the second traveling device 2b are arranged on the upper side of the turning shaft 5 in FIG. The tires 6 of the third traveling device 2c and the fourth traveling device 2d are arranged on the lower side of the turning shaft 5 in FIG. It is desirable that the positions of the tires 6 with respect to the turning shaft 5 in the transverse direction x match between the first traveling device 2a and the second traveling device 2b. Similarly, it is desirable that the positions of the tires 6 with respect to the turning shaft 5 match between the third traveling device 2c and the fourth traveling device 2d. In FIG. 4, each traveling device 2 is shown by a broken line for explanation.

When the rolling direction of the tire 6 is the traveling direction y, the control mechanism 7 with respect to two traveling devices 2 arranged in the traveling direction y such as the first traveling device 2a and the second traveling device 2b. When the tire 6 is rolled in the approaching direction, the crane 1 tries to stay in place. The rolling tire 6 turns around the turning shaft 5. This control is hereinafter referred to as turning control. In FIG. 4, for the sake of explanation, the turning direction of the tire 6 is indicated by an arrow.

As illustrated in FIG. 5, the tire 6 is in a right-angled running posture in which the rolling direction of the tire 6 is the transverse direction x by turning control. In the right-angled traveling posture, when the control mechanism 7 rolls all the drive wheels 6a in the same direction, the crane 1 moves in the transverse direction x. This control is hereinafter referred to as traverse control. At the container terminal, the crane 1 can change lanes from a predetermined storage lane to a different storage lane by traversing control.

When the tire 6 is in a right-angled traveling posture in which the rolling direction is the transverse direction x, the control mechanism 7 with respect to two traveling devices 2 arranged in the transverse direction x such as the first traveling device 2a and the third traveling device 2c. When the tires 6 are rolled in a direction approaching each other, the crane 1 tries to stay in place. The rolling tire 6 turns around the turning shaft 5. In FIG. 5, for the sake of explanation, the turning direction of the tire 6 is indicated by an arrow. Due to this turning control, the tire 6 is in the traveling posture illustrated in FIG.

Turning control can be performed by rotating the tires 6 of the two traveling devices 2 in the opposite directions to the two traveling devices 2 arranged in the rolling direction of the tires 6.

When the turning control is performed, the tire 6 turns around the turning shaft 5 while rolling. The predetermined portion of the tire 6 remains in contact with the ground surface, and the tire 6 does not turn around the predetermined portion in a stationary state. It is advantageous for suppressing the wear of the tire 6 due to the turning control.

The tire 6 can be turned by rolling the tire 6. Since the turning control can be performed by using the motor 9 used for traveling the crane 1, it is not necessary to separately install a power mechanism such as a hydraulic cylinder for turning the tire 6.

The present invention does not exclude a configuration including a power mechanism such as a hydraulic cylinder for turning control. The tire 6 may be swiveled by the rolling of the tire 6 powered by the motor 9 while applying a turning force to the tire 6 by a hydraulic cylinder or the like. Further, the tire 6 may be rotated by an external force so that the tire 6 can be turned only by the power of a hydraulic cylinder or the like. For example, a clutch may be installed on the drive wheels 6a, the clutch may be disengaged to make the drive wheels 6a rotatable, and then the tire 6 may be turned by a hydraulic cylinder or the like. Turning control can be performed while suppressing wear of the tire 6.

The tires 6 of the two traveling devices 2 may be rolled in a direction away from each other with respect to the two traveling devices 2 arranged in the rolling direction of the tires 6 during the turning control. If the turning direction of the tire 6 is set in advance in each traveling device 2, the rolling direction of the tire 6 at the time of turning control is determined based on this. The preset turning direction of the tire 6 is determined by, for example, the orientation of the tire 6 when the crane 1 makes a full turn.

Full turning means turning the crane 1 on the spot as illustrated in FIG. Specifically, each tire 6 is tilted along a circle centered on the center P of the leg structure 3, and the tire 6 is rotated in the same direction in the circumferential direction of the circle to rotate the crane 1. Each tire 6 is tilted 10 ° clockwise or counterclockwise from the traveling posture, for example. The turning direction of the tire 6 can be set in advance in the direction that enables all the turning. When the crane 1 does not have a configuration for making a full turn, the turning direction of the tire 6 set in advance can be appropriately determined without being limited to the above.

Depending on the preset turning direction of the tire 6, for example, in the case of turning control for switching from the running posture to the right-angle running posture, the tires 6 arranged in the rolling direction of the tire 6 roll in the direction approaching each other and run from the right-angle running posture. In some cases, the tires 6 may roll in a direction in which they are separated from each other during turning control for switching to a posture.

For example, in the turning control for switching from the traveling posture illustrated in FIG. 4 to the right-angled traveling posture, the tires 6 of the first traveling device 2a and the second traveling device 2b roll in a direction approaching each other, and the third traveling device 2c The tire 6 of the fourth traveling device 2d and the fourth traveling device 2d may be rotated in a direction in which they are separated from each other.

Since the tires 6 of the two traveling devices 2 arranged in the rolling direction of the tire 6 roll in opposite directions to each other, the crane 1 tries to stay in place in any of the above cases, and the tires 6 turns around the turning shaft 5 while rolling.

In the traveling posture illustrated in FIG. 4, the tire 6 is arranged at a position inside the turning shaft 5 in the transverse direction x, but the tire 6 is arranged at a position outside the turning shaft 5 in the transverse direction x. May be configured.

The traveling device 2 may have a fixing mechanism for fixing the turning of the tire 6 about the turning shaft 5. The fixing mechanism fixes the turning of the tire 6 with the turning shaft 5 as the central axis in either the running posture or the right-angle running posture. For example, when the crane 1 is performing travel control or traverse control, the fixing mechanism can prevent the tires 6 from turning even if there is a speed difference in the rotational speeds of the plurality of tires 6. For example, the moving direction of the crane 1 can be finely adjusted to the left or right by the difference in the rotational speeds of the tires 6. When the crane 1 makes a full turn, the turn of the tire 6 with the turn shaft 5 as the central axis is fixed by the fixing mechanism in the state illustrated in FIG.

When the crane 1 has a fixing mechanism, the fixing by the fixing mechanism is released before the turning control is performed, and the crane 1 is fixed by the fixing mechanism after the turning control is completed.

As illustrated in FIG. 7, when the rolling direction of the tire 6 is the traveling direction y, the tires 6 are arranged on one side and the other side with the turning axis 5 as the center in the transverse direction x. You may. In the first traveling device 2a of FIG. 7, the drive wheels 6a are arranged on the lower side and the driven wheels 6b are arranged on the upper side with respect to the turning shaft 5. The straight line L connecting the centers of the two swivel shafts 5 is parallel to the traveling direction y, and the two swivel shafts 5 are arranged in the traveling device 2. In FIG. 7, the straight line L is shown by a chain line for explanation.

When turning control is performed from the traveling posture illustrated in FIG. 7, the directions in which the tires 6 of the respective traveling devices 2 are separated from each other with respect to the two traveling devices 2 arranged in the traveling direction y which is the rolling direction of the tires 6. Roll to. In FIG. 7, for the sake of explanation, the turning direction of the tire 6 is indicated by an arrow. By this turning control, the traveling device 2 is switched to the right-angle traveling posture illustrated in FIG. When turning control is performed from the right-angled traveling posture illustrated in FIG. 8, the tires 6 of the respective traveling devices 2 are separated from each other by the two traveling devices 2 arranged in the transverse direction x, which is the rolling direction of the tires 6. Roll in the direction. In FIG. 8, for the sake of explanation, the turning direction of the tire 6 is indicated by an arrow. By this turning control, the traveling device 2 switches to the traveling posture illustrated in FIG. 7.

As illustrated in FIG. 7, the traveling device 2 can be configured in a state where the two tires 6 installed on the traveling device 2 approach the traveling direction y in the traveling posture. When the traveling device 2 is viewed in the transverse direction x, for example, a part of the two tires 6 can be in a state of overlapping. It is advantageous to reduce the size of the traveling device 2 in the traveling direction y. The space S under the leg below the lower horizontal member 3c can be widened.

It is possible to arrange a current collector for contacting the bus bar laid in the container terminal to receive power supply, a driver's cab for remote control of the crane 1, and the like in the space S under the legs. In FIG. 7, the space S under the legs is shown by diagonal lines for explanation.

As illustrated on the left side of FIG. 9, the speed reducer 8 and the motor 9 connected to the drive wheels 6a may be arranged at an angle θ predetermined from the vertical direction z. The angle θ can be appropriately set in the range of, for example, 5 to 90 °. In this embodiment, the angle θ is set at 35 °. As illustrated on the right side of FIG. 9, the speed reducer 8 is configured independently of the turning shaft 5. On the right side of FIG. 9, a part is illustrated in cross section for explanation. The tire 6 is arranged on one side of the turning shaft 5 in the transverse direction x, and the speed reducer 8 and the motor 9 are arranged on the other side.

According to this configuration, it becomes easy to prevent the motor 9 from interfering with other members constituting the traveling device 2 during turning control. The motor 9 can be arranged at a position inside the range of the traveling device 2 in a plan view. It is possible to prevent the motor 9 from protruding in the horizontal direction from the traveling device 2 in both the traveling posture and the right-angle traveling posture.

The speed reducer 8 may be incorporated inside the wheel of the tire 6. With this configuration, the installation position of the motor 9 can be lowered downward in the vertical direction z. It becomes easier to prevent the motor 9 from interfering with other members of the traveling device 2. A motor 9 may be incorporated inside the wheel of the tire 6 to serve as an in-wheel motor.

As illustrated in FIG. 10, in the traveling device 2, the two swivel shafts 5 may be arranged at intervals in the transverse direction x. At this time, the direction of spacing is the direction in which the two tires 6 are brought close to each other in the transverse direction x. Two tires 6 arranged at intervals in the transverse direction x are brought close to each other in a state of overlapping in the transverse direction x, that is, a state of being aligned in a straight line in the traveling direction y. For the sake of explanation, FIG. 10 shows a traveling device 2 having a traveling posture upward and a right-angled traveling posture downward. In FIG. 10, for the sake of explanation, the bogie 12 which is a constituent member of the traveling device 2 and is arranged above the turning shaft 5 is shown by a broken line. In this embodiment, the bogie 12 is formed in a shape that is a substantially parallelogram in a plan view.

The two swivel shafts 5 are positioned so as to be displaced in the transverse direction x. Since the two tires 6 can be brought close to each other in the transverse direction x, it is advantageous for the traveling device 2 to be miniaturized in the transverse direction x. For example, in a container terminal, a travel path 11 on which the crane 1 travels may be formed. The travel path 11 is formed on both sides of the storage lane and extends in the travel direction y. The width of the traveling path 11 in the transverse direction x is set to at least a range through which the tire 6 passes. Since the traveling path 11 needs to support the weight of the crane 1, it has a structure different from that of other parts, such as placing concrete or the like having a large load capacity.

In this embodiment, since the tires 6 approach each other in the transverse direction x in the traveling posture, the range through which the tires 6 pass can be made relatively small. The required width of the travel path 11 (length in the transverse direction x) can be reduced. In this embodiment, the crane 1 can be applied by not performing construction work for widening the width of the traveling path 11 or performing it in a small range.

As illustrated in FIG. 11, the load of the crane 1 is transmitted to the traveling device 2 via the lower horizontal member 3c. The tire 6 that comes into contact with the ground surface supports the load of the crane 1. In FIG. 11, for the sake of explanation, the load of the crane 1 and the reaction force received by the tire 6 from the ground surface are indicated by white arrows.

In both the traveling posture illustrated on the left side of FIG. 11 and the right-angled traveling posture illustrated on the right side of FIG. 11, the tire 6 can support the load transmitted via the lower horizontal member 3c in a well-balanced manner. In the traveling device 2 of this embodiment, the contact position of the tire 6 with respect to the leg structure 3 hardly changes in both the traveling posture and the right-angle traveling posture. Since no moment is generated in the leg structure 3 when the direction of the tire 6 is switched, the leg structure 3 can be made of a thin and lightweight member.

In the embodiment illustrated in FIG. 3, the turning shafts 5 are arranged in a straight line in the traveling direction y, and the tire 6 is arranged on one side of the turning shaft 5. Therefore, in the traveling posture illustrated on the left side of FIG. 12 and the right-angled traveling posture illustrated on the right side of FIG. 12, the ground contact position of the tire 6 with respect to the leg structure 3 changes in the transverse direction x. Therefore, for example, in the running posture illustrated on the left side of FIG. 12, a moment is generated in the leg structure 3. In FIG. 12, the direction of the generated moment is indicated by an arrow for explanation.

In the embodiment illustrated in FIG. 12, the tires 6 are lined up in a row along the traveling direction y in the traveling posture, so that the width of the traveling path 11 can be reduced. On the other hand, the embodiment illustrated in FIG. 11 is advantageous for reducing the weight of the crane 1 because the moment generated in the leg structure 3 when switching between the traveling posture and the right-angle traveling posture is extremely small. An appropriate embodiment can be selected and applied according to the situation of the traveling path 11 of the container terminal and the structure of the crane 1.

1 Crane 2 Traveling device 2a 1st traveling device 2b 2nd traveling device 2c 3rd traveling device 2d 4th traveling device 3 Leg structure 3a Leg member 3b Upper horizontal member 3c Lower horizontal member 4 Trolley 5 Turning shaft 6 Tire 6a Drive wheels 6b Driving wheel 7 Control mechanism 8 Crane 9 Motor 10 Connecting rod 11 Travel path 12 Bogey x Traverse direction y Travel direction z Vertical direction S Space under the leg θ Predetermined angle

Claims (7)

The traveling device includes a plurality of traveling devices arranged side by side in the traveling direction and opposed to each other at intervals in the transverse direction crossing the traveling direction at a right angle, and a leg structure supported by the traveling device. In a crane equipped with a swivel shaft extending in the vertical direction and a tire connected to the swivel shaft, respectively.
In addition to having a configuration in which the tire is arranged on the side of the turning shaft in a plan view,
The traveling device has two tires and two turning shafts arranged side by side in the traveling direction, and one tire is installed on each of the turning shafts.
A crane characterized in that when the tires are in a traveling posture in which the rolling direction is the traveling direction, the tires are arranged on one side and the other side of the turning axis in the transverse direction . The traveling device includes a plurality of traveling devices arranged side by side in the traveling direction and opposed to each other at intervals in the transverse direction crossing the traveling direction at a right angle, and a leg structure supported by the traveling device. In a crane equipped with a swivel shaft extending in the vertical direction and a tire connected to the swivel shaft.
In addition to having a configuration in which the tire is arranged on the side of the turning shaft in a plan view,
When the traveling device has two tires and two turning shafts arranged side by side in the traveling direction and the traveling posture is such that the rolling direction of the tires is the traveling direction, the turning shaft in the transverse direction. The tires are arranged on one side and the other side with the center as the center.
A crane having a configuration in which the two swivel shafts are arranged at intervals in the transverse direction, and the direction in which the intervals are spaced is a direction in which the two tires are brought close to each other in the transverse direction . With respect to the two traveling devices arranged in the rolling direction of the tire, the turning axis is set as the central axis by rotating the tire of one traveling device and the tire of the other traveling device in opposite directions. The crane according to claim 1 or 2 , further comprising a control mechanism for turning the tire. The traveling device includes a plurality of traveling devices arranged side by side in the traveling direction and opposed to each other at intervals in the transverse direction crossing the traveling direction at a right angle, and a leg structure supported by the traveling device. In the control method of a crane having a swivel shaft extending in the vertical direction and a tire connected to the swivel shaft, respectively.
The tire is arranged in advance on the side of the turning shaft in a plan view.
The traveling device has two tires and two swivel shafts arranged side by side in the traveling direction, and one tire is pre-installed on each swivel shaft of the tire. In a traveling posture in which the rolling direction is the traveling direction, the tires are arranged on one side and the other side of the turning axis in the transverse direction.
With respect to the two traveling devices arranged in the rolling direction of the tire, the turning axis is set as the central axis by rotating the tire of one traveling device and the tire of the other traveling device in opposite directions. A method for controlling a crane, which comprises turning the tire. The traveling device includes a plurality of traveling devices arranged side by side in the traveling direction and opposed to each other at intervals in the transverse direction crossing the traveling direction at a right angle, and a leg structure supported by the traveling device. In the control method of a crane having a swivel shaft extending in the vertical direction and a tire connected to the swivel shaft, respectively.
The tire is arranged in advance on the side of the turning shaft in a plan view.
When the traveling device has two tires arranged side by side in the traveling direction and two turning shafts in advance and the traveling posture is such that the rolling direction of the tires is the traveling direction, the turning in the transverse direction. The tires are pre-arranged on one side and the other side with the axis as the center.
It has a configuration in which the two swivel shafts are arranged at intervals in the transverse direction, and the direction in which the intervals are spaced is a direction in which the two tires are brought closer to each other in the transverse direction.
With respect to the two traveling devices arranged in the rolling direction of the tire, the turning axis is set as the central axis by rotating the tire of one traveling device and the tire of the other traveling device in opposite directions. A method for controlling a crane, which comprises turning the tire. When the rolling direction of the tire is the traveling direction, the tire of one traveling device arranged in the traveling direction and the tire of the other traveling device are rotated in a direction approaching or separating from each other. By letting
The tires are swiveled in a direction in which the swivel directions of the two swivel shafts arranged in the traveling device are the same and in a direction in which the two tires installed on the swivel shafts are separated from each other. The crane control method according to claim 4 or 5 , wherein the tire is switched to a right-angled traveling posture in which the rolling direction of the tire is a transverse direction. In a perpendicular traveling posture in which the rolling direction of the tire is the transverse direction, the tire of one traveling device and the tire of the other traveling device arranged in the transverse direction are in a direction of approaching each other or in a direction of being separated from each other. The crane control method according to claim 6 , wherein the tire is rotated around the turning axis to switch to a traveling posture in which the rolling direction of the tire is the traveling direction.

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