JP6849531B2 - Undulating motion control device for work equipment and crane equipped with it - Google Patents

Description

The present invention relates to a technique for controlling the undulating operation of a constituent member of a crane having a constituent member undulating on a base such as an undulating boom of the crane.

Conventionally, for example, there is a technique described in Patent Document 1 as a technique for regulating an upright angle of an undulating boom of a crane. The crawler crane described in Patent Document 1 includes a boom and a gantry mast undulatingly provided at the front portion of the upper swing body, and an A frame provided at the rear portion of the upper swing body. In addition, an undulating rope that is drawn out from the undulating drum mounted on the rear part of the upper swing body and wound around the equalizer sheave of the A frame and the equalizer sheave of the mast, and one end is connected to the tip of the mast and the other end It is equipped with a pendant device connected to the tip of the boom. Then, when the undulating rope is wound around the undulating drum, the rising angle of the boom increases according to the change in the mast angle, and when the undulating rope is unwound from the undulating drum, the boom follows the change in the mast angle. The standing angle of is small.

Japanese Unexamined Patent Publication No. 2000-219487

However, in the prior art of Patent Document 1, in order to regulate the rising angle of the boom by using the undulating rope, a winch (drum + motor) for winding and unwinding the rope is required. In addition, since the rope is stretched to support the boom, the rope is twisted or loosened during work. Then, it is necessary to take measures such as providing a pendant device to prevent this twisting and loosening. Therefore, it is unavoidable that the size of the device and the cost increase due to the installation of each of these devices.

In order to solve such a problem, the inventors of the present application have proposed an standing angle regulating device having the following configuration.
This erecting angle regulating device is a device that regulates the erecting angle of an undulating boom that is undulatingly attached to a column of a crane, and a link mechanism consisting of two plates is provided on the right-hand side and the left-hand side of the column. When the undulating boom becomes straight so as to be diagonally bridged between the column and the undulating boom under the tension of the undulating boom according to the movement of the undulating boom in the upright direction, the undulating boom is tilted. It has a structure to prevent it, and the operation of the undulating boom in the upright direction is stopped.

Further, the column and the mounting positions of the left and right plates at one end of the link mechanism coaxially supported on the column side have a plurality of pin holes so that a pair of angle control pins can be inserted from the left and right, and these are left and right. The pin holes of the above form a relative positional relationship in which they overlap each other coaxially.
On the other hand, a plurality of left and right pin hole sets are formed in a positional relationship in which the undulating boom is regulated at different standing angles for each pin hole set.

As a result, the angle control pin functions as a rotation axis of the link mechanism, and also determines the standing angle of the undulating boom depending on the position of the pin hole to be inserted.
As described above, this standing angle regulating device has a configuration in which the standing angle regulating device functions normally by inserting pins from the left and right only into a set of pin holes corresponding to the same standing angle. Therefore, if the pins are mistakenly inserted into the pin holes that have different standing angles on the left and right, the standing angle regulating device will not function properly and the components will move in the standing direction in the wrong state. The operation may cause an unexpected load on the link mechanism and cause a malfunction.

Therefore, the present invention has been made by paying attention to such a problem, and is an undulating motion control device for a working machine capable of limiting the undulating motion of a constituent member according to a pin insertion state. And to provide a crane equipped with this.

In order to solve the above problems, the undulating motion control device for a working machine according to the first aspect of the present invention has an undulating motion of a component member undulatingly attached to a base of the working machine around a horizontal axis. It is an undulating motion control device for a work machine that controls. The working machine has a first side surface plate whose one end is rotatably supported around a horizontal axis on one side surface of the member on the base side in the horizontal axial direction, and one end thereof. The other end of the first one side surface plate was rotatably supported around a horizontal axis, and the other end was rotatably supported around the horizontal axis on the one side surface of the component. It has a first link mechanism with a second side plate. Further, on the other side surface side of the member whose one end is opposite to the one side surface side of the member on the base side, a first other side surface side plate rotatably supported around a horizontal axis and one end portion are formed. The other end of the first other side surface plate is rotatably supported around a horizontal axis, and the other end is rotatably supported by the other side surface of the component member around a horizontal axis. It has a second link mechanism with a second other side plate. Furthermore, the mounting position of each one end portion of the first one side surface side and the other side surface side plate in the base side member, and the one end portion of each of the second one side surface side and the other side surface side plate. , And the one side surface side and the other side surface side provided in at least one set of the mounting positions of the other end portions of the second side surface side and the other side surface side plate of the component member. It has a plurality of first pin holes that are concentric through holes. Further, the one end portion of each of the first one side surface side and the other side surface side plate of the first and second link mechanisms, and the other end portion of each of the first one side surface side and the other side surface side plate. , And penetrates the plate surface in the same relative positional relationship as the plurality of first pin holes provided in at least one set of the other ends of the second side surface side and the other side surface side plates. It has a plurality of second pin holes. Furthermore, among the plurality of first pin holes and the plurality of second pin holes, it is possible to insert and remove a set of a plurality of pin holes coaxially overlapping on one side surface side in the same relative positional relationship. Of the configured first angle regulating pin, the plurality of first pin holes, and the plurality of second pin holes, a plurality of pin holes coaxially overlapping on the other side surface side in the same relative positional relationship. It has a second angle control pin that is configured to be removable with respect to the set. It should be noted that the first and second link mechanisms are provided only on one of the plurality of pin hole sets coaxial with each other on the one side surface side and the other side surface side. By inserting the two angle regulating pins, the first and second angle regulating pins inserted are configured to rotate as a rotation axis. Further, when the component member becomes linear due to tension corresponding to the movement of the component member in the upright direction, the component member is in an upright state and is slanted between the base member and the component member. It is configured to be handed over to prevent the constituent members from falling over. Furthermore, the plurality of first pin holes and the plurality of second pin holes are in a positional relationship in which the constituent members are prevented from falling in an upright state in which the upright angles are different for each set of the pin holes. It is equipped with a formed standing angle control device. Then, the undulating motion control device for the work machine includes a plug-in detection unit that detects which set of the plurality of pin hole sets the first and second angle regulation pins are inserted into, and the insertion detection unit. Based on the detection result of the insertion detection unit, whether the first and second angle regulation pins are inserted only in the set of pin holes corresponding to the same standing angle on the one side surface side and the other side surface side. When it is determined by the insertion determination unit and the insertion determination unit that the first and second angle regulation pins are inserted only in the set of pin holes corresponding to the same standing angle, When the undulating operation of the constituent member is permitted and the insertion determination unit determines that the first and second angle regulation pins are not inserted only in the set of pin holes corresponding to the same standing angle, the said It is provided with an undulating motion limiting unit that prohibits undulating motion of the constituent members.

Further, in order to solve the above problems, the crane according to the second aspect of the present invention includes a column provided on the upper part of the base and a boom pivotally supported on the column in an undulating manner around a horizontal axis. In addition to the same configuration as the standing angle regulating device according to the first aspect, the crane has the same configuration as the undulating motion control device for a working machine according to the first aspect. The crane corresponds to the work machine, the column corresponds to the member on the base side, and the boom corresponds to the component member.

According to the undulating motion control device for a working machine according to the first aspect of the present invention, when it is determined that the pin is not inserted only in the set of pin holes corresponding to the same standing angle, the undulating motion of the constituent member is performed. Can be banned. As a result, it is possible to prevent the occurrence of a problem when the undulating operation is performed with the pins inserted incorrectly.
Further, according to the crane according to the second aspect of the present invention, the same effect as that of the undulating motion control device for the working machine according to the first aspect can be obtained. In addition, when the boom is in the upright state, each link mechanism becomes linear and is diagonally bridged between the boom and the column. As a result, the link mechanism is stretched against the movement of the boom in the upright direction to prevent further movement of the boom in the upright direction, and it is possible to regulate the upright angle. As a result, as compared with the above-mentioned conventional technique, it is possible to regulate the rising angle of the boom at low cost and space saving without using a winch or the like.

It is a figure which shows the traveling posture of the tower crane which concerns on embodiment, and is the side view seen from the right-hand side of a vehicle. It is a side view seen from the vehicle right-hand side of the tower crane which concerns on embodiment. The figure shows a state in which the outrigger device is deployed and the undulating boom and the bending boom are erected, and the outrigger device is being deployed to the working posture. It is a rear view which looked at the state of FIG. 2 from the rear side. It is a figure which shows an example of the hydraulic circuit which concerns on embodiment. It is a block diagram which shows the input / output relation of the signal of the controller which concerns on embodiment. (A) and (b) are views of a part of the column and the undulating boom according to the embodiment as viewed from the side surfaces of one side and the other side. In the figure, a part of the standing angle regulating member is broken so that the pin holes of Nos. 1-1 to 1-3 and the first and second reinforcing portions can be visually recognized. (A) and (b) are perspective views of the column and the undulating boom undulating hydraulic cylinder as viewed from an obliquely upper side on one side and the other side surface side. In the figure, the first and second reinforcing portions are omitted, and the undulating boom undulating hydraulic cylinder is shown to be rotating. (A) and (b) are diagrams showing a configuration example of a first right-hand side plate and a second right-hand side plate constituting the lock plate according to the embodiment. (A) and (b) are diagrams showing a state in which a pin is inserted into a pin hole when the undulating boom has an erection angle of 95 ° in the retracted state of the undulating boom according to the embodiment. It is a side view which looked at the tower crane which concerns on embodiment from the right-hand side, and is the figure which shows the standing state at the standing angles 95 °, 90 ° and 85 °. It is a figure for demonstrating the design procedure of the formation position of the 1-1 pin hole formed in a column. It is a figure for demonstrating the design procedure of the formation position of the pin hole of No. 1-2 and No. 1-3 formed in a column. (A) and (b) are diagrams showing an example of the standing motion when the standing angle is 95 °. (A) and (b) are diagrams showing an example of the standing operation when the standing angle is 90 °. (A) and (b) are diagrams showing an example of the standing operation when the standing angle is 85 °. It is a figure which shows an example of the posture at the time of work of the tower crane which concerns on embodiment. In the figure, both the undulating boom and the bent boom are shown in the fully extended state. (A) and (b) are diagrams showing an example of installation of a proximity switch in a pin hole inside a column. (A) and (b) are perspective views of a part of the column and the undulating boom seen from diagonally above on the right hand side, and are views for explaining the method of inserting the first and second angle regulation pins. .. In the figure, the standing angle regulating member is transparently displayed and a part thereof is broken. FIG. 18 (b) is a front view. It is a flowchart which shows an example of the processing procedure of the boom undulation operation control processing which concerns on embodiment. (A) is a diagram showing a state in which the first and second angle regulation pins are inserted in a normal positional relationship, and (b) is a diagram showing a state in which the first and second angle regulation pins are inserted in an incorrect positional relationship. It is a figure which shows the state which is inserted by. It is a figure for demonstrating the structure of the 1st and 2nd boom mounting part and the 1st and 2nd leg part, and (a) is the figure which shows the cross section of a column and a undulating boom in a retracted state. Yes, (b) is an enlarged view of part A of (a). In the figure (b), the first leg portion is shown in a cross-sectional view. It is the figure which saw the column and a part of the undulating boom from one side surface side, (a) is the figure before mounting the 1st leg part on the 1st boom mounting part, (b) is the figure. It is a figure after mounting. In the figure, a part of the standing angle regulating member is broken so that the first leg portion and the first boom mounting portion can be easily seen. The column and a part of the undulating boom are viewed from above, (a) is a diagram showing the undulating boom when it is in the retracted state, and (b) is a diagram showing the state when the undulating boom is turning to the left. is there. In the figure, the description of some members is omitted so that the first and second boom mounting portions and the first and second legs can be visually recognized. (A) and (b) are diagrams showing a modification of the standing angle regulating member.

Hereinafter, a tower crane, which is an embodiment of a work vehicle including an upright angle regulating device and an undulating motion control device for a work machine according to the present invention, will be described with reference to the drawings as appropriate. The drawings are schematic. Therefore, it should be noted that the relationship, ratio, etc. between the thickness and the plane dimension may differ from the actual one, and there are parts where the relationship and ratio of the dimensions are different between the drawings. In some cases. In addition, the embodiments shown below exemplify devices and methods for embodying the technical idea of the present invention, and the technical idea of the present invention describes the material, shape, structure, and arrangement of constituent parts. Etc. are not specified in the following embodiments.

(Embodiment)
(Constitution)
As shown in FIGS. 1 to 3, the tower crane 1 according to the present embodiment includes a chassis frame 2, a traveling device 3, a base 4, a column 5, a crane device 6, and an outrigger device 9. In addition, the driver's seat 10, the operation unit 11, the winch 12, the wire rope 13, the hook 14, the driving unit 15, the control box 16, and the hook storage bracket 17 are provided.

The traveling device 3 is, for example, a crawler-type traveling device in which rubber tracks are attached to the left and right, and is provided at the lower part of the chassis frame 2.
The base 4 is connected and fixed to the upper part of the chassis frame 2, and the column 5 is erected on the upper part of the base 4 so as to be rotatable.
The crane device 6 is undulatingly pivotally supported at the upper end of the column 5, and is undulatingly pivotally supported by a telescopic undulating boom 7 composed of a nesting box-shaped boom and the tip of the undulating boom 7. It is provided with a telescopic folding boom 8.

Although a part of the outrigger device 9 is not shown, the right front outrigger 9RF, the right rear outrigger 9RR, the left front outrigger 9LF, and the left rear outrigger 9LR are provided on the upper right front, right rear, left front, and left rear of the chassis frame 2, respectively. To be equipped.
The front right, rear right, front left, and rear left outriggers 9RF, 9RR, 9LF, and 9LR are provided on the chassis frame 2 so as to be swivelable and undulating, and at the tip of the base end arm. It is equipped with a telescopic tip side arm.

Further, the right front, right rear, left front and left rear outriggers 9RF, 9RR, 9LF and 9LR are hydraulic actuators for undulating the base end side arm. Right front, right rear, left front and left rear vertical outrigger cylinders 37RF, 37RR, 37LF. And 37LR. In addition, as shown in FIG. 4, it includes right front, right rear, left front and left rear lateral outrigger cylinders 36RF, 36RR, 36LF and 36LR, which are hydraulic actuators for undulating and expanding / contracting the tip side arm.

Hereinafter, the right front, right rear, left front and left rear outriggers 9RF, 9RR, 9LF and 9LR may be abbreviated as "each outrigger 9RF to 9LR". Further, the right front, right rear, left front and left rear lateral outrigger cylinders 36RF, 36RR, 36LF and 36LR may be abbreviated as "each lateral outrigger cylinders 36RF to 36LR". Further, the right front, right rear, left front and left rear vertical outrigger cylinders 37RF, 37RR, 37LF and 37LR may be abbreviated as "each vertical outrigger cylinder 37RF to 37LR".

The outrigger device 9 is positioned at a radial overhang position with respect to the airframe as shown in FIGS. 2 and 3 by manually rotating each outrigger 9RF to 9LR in the horizontal direction from the stored state shown in FIG. It is configured to be forced. After that, the lateral outrigger cylinders 36RF to 36LR are driven by the operation of the operation unit 11 or the remote control device 162 (described later) to operate and extend the tip side arms of the outriggers 9RF to 9LR in the starting direction. Furthermore, by driving the vertical outrigger cylinders 37RF to 37LR and operating the base end side arms of each outrigger 9RF to 9LR in the downward direction and grounding the lower part of the tip side arm to the ground, the same lifting performance can be achieved all around. While securing it, it is designed to stabilize the aircraft.

The driver's seat 10 is for an operator (driver) to sit on the tower crane 1 during a traveling operation, and is provided so as to project rearward of the tower crane 1 via a link mechanism.
The operation unit 11 is provided at the rear end of the tower crane 1, and is an operation panel on which a pair of left and right traveling operation levers and a plurality of operation switches arranged in front of the driver's seat 10 and on the left side of the rear end are arranged. It has (not shown) and a plurality of operation levers (not shown) provided on the right side of the operation panel.

The plurality of operating levers are the outrigger switching control valve 82 of the control valve 15c, the swivel switching control valve 83, the boom expansion / contraction switching control valve 84, the winch switching control valve 85, and the boom undulating switching control valve shown in FIG. Each spool in 86 is operated directly.
Each of the above operating levers is provided corresponding to various hydraulic actuators, and it is possible to drive the hydraulic actuator corresponding to the operating lever by tilting in the direction of approaching or separating from the neutral position. It has become.

Specifically, each of the above operating levers includes a lever for operating the left-turning operation and the right-turning operation of the crane device 6, a lever for operating the expansion / contraction operation of the undulating boom 7 and the bending boom 8, a hoisting operation of the hook 14. It includes a lever for operating the unwinding operation, a lever for operating the undulating operation of the undulating boom 7 and the bending boom 8.
The plurality of operation switches are a crane operation-outrigger operation changeover switch, an undulating boom changeover switch, a telescopic boom changeover switch, a hook fixing switch, and an outrigger selection switch for selecting an outrigger to be operated from each of the outriggers 9RF to 9LR. , Includes outrigger operation switches to operate the selected outriggers.

The crane operation-outrigger operation selector switch is a switch for switching between a crane mode for enabling the operation of the crane device 6 and an outrigger mode for enabling the operation of the outrigger device 9.
Further, the undulating boom changeover switch switches between the undulating boom undulating operation mode for enabling the undulating boom 7 and the bending boom undulating operation mode for enabling the undulating boom 8 in the crane mode. It is a switch for.

Further, in the crane mode, the telescopic boom changeover switch switches between an undulating boom telescopic operation mode for enabling the undulating boom 7 to be telescopically operated and a bending boom telescopic operation mode for enabling the undulating boom 8 to be telescopically operated. It is a switch for.
By each of the mode changeover switches, the traveling device 3, the crane device 6, and the outrigger device 9 and the undulating boom 7 and the bending boom 8 in the crane mode are configured so as not to operate at the same time for safety.

Here, as shown in FIG. 5, the tower crane 1 is provided with a remote control device 162 capable of remotely controlling the crane. Although not shown, the remote control device 162 is configured to enable the same operation as the operation lever and operation switch of the operation unit 11 by various operation levers and various operation switches provided on the housing of the remote control device 162. ing. Further, the remote control device 162 is configured to wirelessly transmit a remote control signal Rctr corresponding to the operation of the operation lever and the operation switch.

Further, as shown in FIGS. 2 and 3, a winch 12 is projected at a substantially central position of the rear end surface of the undulating boom 7. Then, the tower crane 1 guides the wire rope 13 from the winch 12 to the tip of the bending boom 8 via the first sheave 44 and the second sheave 45. Then, via a third sheave 46 provided at the upper part of the tip portion and a fourth sheave (not shown) provided below the third sheave 46 and inside the tip of the bending boom 8. The hook 14 is suspended from the tip of the bent boom 8 by hanging around the hook 14.

On the other hand, the driving unit 15 has an engine 15a shown in FIG. 4, a pressure oil supply device 15b driven by the engine 15a as a drive source, and pressure oil supplied from the pressure oil supply device 15b inside the housing. It is provided with a control valve 15c for switching and controlling the oil passage of the above.
Further, as shown in FIGS. 1 to 4, the tower crane 1 includes turning of the column 5, expansion and contraction of the undulating boom 7 and the bending boom 8, hoisting and lowering of the winch 12, and undulating boom 7 and the bending boom 8. It is equipped with a hydraulic actuator for expanding and contracting.

That is, the tower crane 1 includes a turning hydraulic motor 30, an undulating boom expansion / contraction hydraulic cylinder 31, a bending boom expansion / contraction hydraulic cylinder 32, a winch hydraulic motor 33, an undulation boom undulation hydraulic cylinder 34, and a bending boom undulation hydraulic cylinder. A cylinder 35 is provided.
Furthermore, the tower crane 1 includes a traveling motor 38 as a hydraulic actuator for driving the traveling device 3.

As shown in FIGS. 3 and 4, the undulating boom undulating hydraulic cylinder 34 is composed of a pair of hydraulic cylinders of a first undulating boom undulating hydraulic cylinder 34R and a second undulating boom undulating hydraulic cylinder 34L.
Further, the bending boom undulating hydraulic cylinder 35 is composed of a pair of hydraulic cylinders of a first bending boom undulating hydraulic cylinder 35R and a second bending boom undulating hydraulic cylinder 35L.

Then, as shown in FIG. 4, these hydraulic actuators 30, 31, 32, 33, 34, 35 and 38 all operate by supplying pressure oil from the pressure oil supply device 15b via the control valve 15c. It is configured to do.
On the other hand, as shown in FIG. 4, the pressure oil supply device 15b includes a hydraulic pump 60 driven by the engine 15a as a drive source, a left discharge port 61L, a right discharge port 61R, a main pipeline 62, and a return pipeline 63. And a tank 64.

The control valve 15c includes a crane switching control valve 80, an accelerator cylinder 81, an outrigger switching control valve 82, a turning switching control valve 83, a boom expansion / contraction switching control valve 84, and a winch switching control valve. It includes 85 and a boom undulating switching control valve 86. Further, a horizontal outrigger cylinder switching valve 87, a vertical outrigger cylinder switching valve 88, a traveling switching control valve 89, a first electromagnetic switching valve 820, a second electromagnetic switching valve 840, and a third electromagnetic switching valve. It is equipped with 860.

The pressure oil discharged from the hydraulic pump 60 is supplied to the traveling switching control valve 89, and the supplied pressure oil passes through the traveling switching control valve 89 when the traveling operation lever is in the neutral state. It flows into the main pipeline 62 and is supplied to the control valve 15c via the main pipeline 62. Further, the pressure oil discharged from the hydraulic pump 60 is returned to the tank 64 via the return pipe 63.

The crane switching control valve 80 includes a main relief valve (unload valve) 180, an unload valve operating solenoid 181 and a hook fixing relief valve 182 provided between the main pipeline 62 and the return pipeline 63. And have.
The unload valve operating solenoid 181 is in either the ON state or the OFF state according to the operation signal Uo from the controller 160. Then, when the ON state is set, the main relief valve 180 is opened so that the main pipe line 62 and the return pipe line 63 communicate with each other. In the example shown in FIG. 4, the pressure oil discharged from the hydraulic pump 60 is passed through the return pipeline 63 without passing through the switching control valve 89 for traveling and the switching control valve 80 for the crane, and the tank 64. It is designed to return to. That is, it is possible to change the operating state of the hydraulic pump 60 to an unloading state (no-load operating state) in which the pressure oil circulates with no load.

The hook fixing relief valve 182 includes a hook relief solenoid 182a and a hook relief valve 182b.
The hook relief solenoid 182a is in either the ON state or the OFF state according to the operation signal Hr from the controller 160 in response to the operation of the hook fixing switch in the operation unit 11 or the remote control device 162 by the manual operation of the operator. It becomes. Then, in the ON state, the pressure oil oil passage from the main pipeline 62 is switched to the oil passage through which the pressure oil flows through the hook relief valve 182b.

Here, the hook relief valve 182b has a low set pressure Ps (Pm> Ps) whose set relief pressure is lower than the main set pressure Pm which is the relief pressure during normal operation. Therefore, by operating the hook relief valve 182b with the hook relief solenoid 182a turned on, it is possible to limit the upper limit of the pressure oil pressure to the low set pressure Ps.
As a result, while the hook fixing switch is ON, the hoisting operating pressure of the hook 14 is limited to a low voltage to prevent damage to the hook storage bracket 17 that fixes the hook 14.

The accelerator cylinder 81 operates the piston rod of the accelerator cylinder 81 in response to the accelerator control signal Vctr from the controller 160 according to the accelerator operation amount of the remote control device 162 or the operation unit 11. The operating position signal L6 (described later) of the piston rod is input to the controller 160, and the controller 160 can control the rotation speed of the engine 15a to a desired rotation speed according to the operating position of the accelerator cylinder 81. The amount of pressure oil discharged from the hydraulic pump 60 increases as the rotational speed of the engine 15a is increased by operating the accelerator.

The outrigger switching control valve 82 is operated by operating the operation lever or by operating signal Actr1 from the controller 160 in response to the operation signal Rctr from the remote control device 162, and the lateral outrigger cylinders 36RF to 36LR of each outrigger 9RF to 9LR and each of them. Pressure oil is supplied to the vertical outrigger cylinders 37RF to 37LR.
The first electromagnetic switching valve 820 is a control valve that selects either the horizontal outrigger cylinders 36RF to 36LR or the vertical outrigger cylinders 37RF to 37LR of the outriggers 9RF to 9LR as the lubrication destination of the pressure oil.

The pressure oil flowing out from the outrigger switching control valve 82 first flows into the first electromagnetic switching valve 820. The first electromagnetic switching valve 820 is the lateral outrigger cylinders 36RF to 36LR or each according to the switching control signal Actr2 from the controller 160 by the operation of the outrigger changeover switch (not shown) in the operation unit 11 manually operated by the operator. The oil passage of the pressure oil for the vertical outrigger cylinders 37RF to 37LR is switched.

The lateral outrigger cylinder switching valve 87 is a control valve that selects whether or not to supply pressure oil for each of the lateral outrigger cylinders 36RF to 36LR.
The lateral outrigger cylinder switching valve 87 responds to the operation signals Actr3 to 6 from the controller 160 by the operation of the lateral outrigger cylinder selection switch (not shown) in the operation unit 11 manually operated by the operator, and the lateral outrigger cylinders 36RF to 36LR. Switch the oil passage of the pressure oil to.

The vertical outrigger cylinder switching valve 88 is a control valve that selects whether or not to supply pressure oil for each of the vertical outrigger cylinders 37RF to 37LR.
The vertical outrigger cylinder switching valve 88 is provided with the vertical outrigger cylinders 37RF to 37LR in response to the operation signals Actr7 to 10 from the controller 160 operated by the vertical outrigger cylinder selection switch (not shown) in the operation unit 11 manually operated by the operator. Switch the oil passage of the pressure oil to.

The swivel switching control valve 83 presses against the swivel hydraulic motor 30 according to the operation amount of the operation lever of the operation unit 11 or the operation signal Tctr from the controller 160 in response to the operation of the remote control device 162. Inflow of oil.
The boom expansion / contraction switching control valve 84 is connected to the second electromagnetic switching valve 840 in response to the operation signal Bctr1 from the controller 160 in response to the operation amount of the operation lever of the operation unit 11 or the operation of the remote control device 162. On the other hand, pressure oil flows in.

The second electromagnetic switching valve 840 is a control valve that selects either the undulating boom expansion / contraction hydraulic cylinder 31 or the bending boom expansion / contraction hydraulic cylinder 32 as the oil supply destination of the pressure oil.
The pressure oil flowing out from the boom expansion / contraction switching control valve 84 first flows into the second electromagnetic switching valve 840.
The second electromagnetic switching valve 840 is switched from the controller 160 according to the operation of the telescopic boom changeover switch (not shown) in the operation unit 11 manually operated by the operator or according to the operation signal Rctr from the remote control device 162. The oil passage of the pressure oil for the undulating boom expansion / contraction hydraulic cylinder 31 or the bending boom expansion / contraction hydraulic cylinder 32 is switched according to the control signal Bctr3.

The winch switching control valve 85 presses against the winch hydraulic motor 33 according to the operation amount of the operation lever of the operation unit 11 or the operation signal Wctr from the controller 160 in response to the operation of the remote control device 162. Inflow of oil.
The boom undulation switching control valve 86 has the undulation boom undulation hydraulic cylinder 34 and the undulation boom undulation hydraulic cylinder 34 according to the operation signal Bctr2 from the controller 160 according to the operation amount of the operation lever of the operation unit 11 or the operation of the remote operation device 162. Pressure oil is supplied to the bending boom undulating hydraulic cylinder 35.

The third electromagnetic switching valve 860 is a control valve that selects either the undulating boom undulating hydraulic cylinder 34 or the bending boom undulating hydraulic cylinder 35 as the lubrication destination of the pressure oil.
The pressure oil flowing out from the boom undulating switching control valve 86 first flows into the third electromagnetic switching valve 860.
The third electromagnetic switching valve 860 is switched from the controller 160 according to the operation of the undulating boom changeover switch (not shown) in the operation unit 11 or the operation signal Rctr from the remote control device 162 by the manual operation of the operator. The oil passage of the pressure oil with respect to the undulating boom undulating hydraulic cylinder 34 or the bending boom undulating hydraulic cylinder 35 is switched according to the control signal Bctr4.

Each of the switching control valves 82 to 86 and the accelerator cylinder 81 is provided with a differential transformer (not shown), and the switching positions L1 to each of the switching control valves 82 to 86 and the accelerator cylinder 81 detected by the respective differential transformers are provided. The detection signal of L6 (hereinafter, may be referred to as “switching position signal”) is input to the controller 160 as shown in FIG. That is, the controller 160 can grasp the operation contents (switching position) of the switching control valves 82 to 86 and the accelerator cylinder 81 by the switching position signals L1 to L6.

As shown in FIG. 4, the traveling motor 38 includes two traveling motors 38L and 38R corresponding to the left and right tracks of the traveling device 3. Each of the traveling motors 38L and 38R operates independently by individually supplying pressure oil from the pressure oil supply device 15b via the travel switching control valve 89.
As a result, the tower crane 1 can drive the traveling device 3 and travel in the forward or backward direction by operating the pressure oil supply device 15b and simultaneously moving the pair of left and right traveling operation levers forward or backward. .. Further, when turning right or left, the corresponding left and right tracks can be individually driven by individually moving the pair of left and right traveling operation levers forward or backward, so that the vehicle can simply turn by the speed difference between the left and right.

Returning to FIGS. 1 to 3, the control box 16 includes the controller 160 shown in FIG. 5 inside. Although not shown, a receiver 161 is provided above the control box 16.
The receiver 161 is connected to the controller 160 via a signal line (not shown). The receiver 161 receives the remote control signal Rctr wirelessly transmitted from the remote control device 162, and inputs the received remote control signal Rctr to the controller 160 via the signal line.

As shown in FIG. 5, the controller 160 has an operation signal Ctr from the operation unit 11, a remote control signal Rctr from the remote control device 162, various switching control valves 82 to 86, and switching position signals L1 to the accelerator cylinder 81. L6 etc. are input. Then, the controller 160 operates and controls various electric devices such as an oil passage switching solenoid valve included in the tower crane 1 in response to these input signals.

Although not shown, the controller 160 includes a CPU (Central Processing Unit) that performs various arithmetic processes based on a predetermined control program, and a ROM (Read Only Memory) that stores various data including the control program. , A RAM (Random Access Memory) for storing data read from a ROM or the like and calculation results required in the calculation process of the CPU, and a timer for time measurement are provided.

The controller 160 further includes an input / output I / F (interface) that mediates data input / output to each device including the receiver 161, the operation unit 11, the remote control device 162, the control valve 15c, and the like described above. , Equipped with various internal and external buses for data transfer. Various internal and external buses are connected to the CPU, ROM, RAM, and timer, and the above devices are connected to this bus via input / output I / F.

Then, when the power is turned on, the system program such as BIOS stored in the ROM or the like loads various control programs stored in advance in the ROM into the RAM, and the CPU performs according to the instruction described in the program loaded in the RAM. By performing arithmetic processing by making full use of various resources, each function for operating and controlling each of the above devices can be realized on software.

Further, as shown in FIGS. 1 to 3, the tower crane 1 according to the embodiment is provided with an erection angle regulating member 20 for regulating the erection angle of the undulation boom 7 and a position near the base end of the undulation boom 7. A base end side bracket 40 is provided. Further, the tower crane 1 has a first tip-side bracket 41 provided on the tip end side of the undulating boom 7 and on the base end side of the bending boom 8, and a V-link mechanism connected to the first tip-side bracket 41. 42 and a second tip-side bracket 43 provided so as to be close to the tip of the bending boom 8 and partially project to the lower side.

The standing angle regulating member 20 includes a first standing angle regulating member 20R provided on one side surface side of the undulating boom 7 (right hand side in FIGS. 1 to 3) and the other side surface side of the undulating boom 7 (FIG. 1). A second standing angle regulating member 20L provided on the left hand side in FIG. 3) is provided.
In the following description, "one side surface side" refers to the right hand side of each component in each posture of the tower crane 1 of FIGS. 1 to 3, and "the other side surface side" refers to FIGS. 1 to 3 It refers to the left-hand side of each component in each posture of the tower crane 1.

The base end side bracket 40 is integrally formed with the undulating boom 7, and in the posture shown in FIG. 2, the first connecting portion 40a formed so as to project to the front side of the undulating boom 7 and the undulating boom 7 A second connecting portion 40b formed so as to project to the rear side is provided.
Then, as shown in FIGS. 2, 6 (a) and 6 (b), one end of the first undulating boom undulating hydraulic cylinder 34R on the tube side is inside the second connecting portion 40b on the right hand side. It is rotatably supported around a horizontal axis via a second cylinder pin 341. In addition, one end of the second undulating boom undulating hydraulic cylinder 34L on the tube side is rotatable around a horizontal axis inside the second connecting portion 40b on the left hand side via the second cylinder pin 341. It is supported by the cylinder.

Further, one end of the first undulating boom undulating hydraulic cylinder 34R on the rod side is rotatably rotated around a horizontal axis via the first cylinder pin 340 inside the front end on the right hand side of the column 5. It is supported. In addition, one end of the second undulating boom undulating hydraulic cylinder 34L on the rod side is rotatable around a horizontal axis inside the front end on the left hand side of the column 5 via the first cylinder pin 340. It is axially supported.

As shown in FIGS. 1 and 2, the first tip-side bracket 41 is attached to the base end bracket 41a attached to the tip end portion of the undulating boom 7 and the base end portion of the bent boom 8, and is shown in FIG. In the positional relationship in the retracted posture shown in 1, the lower end portion is provided with a tip bracket 41b rotatably supported around a horizontal axis at the upper end portion of the base end bracket 41a.
The base end bracket 41a has two plate-shaped members that face each other with the tip of the undulating boom 7 interposed therebetween, and at the rear end and the lower end, the first one is inside the two plate-shaped members. Sheave 44 is rotatably supported around a horizontal axis.

The V-link mechanism 42 includes a first V-link provided on the right-hand side of the bending boom 8 and a second V-link (not shown) provided on the left-hand side.
The first V-link has a configuration in which one end of each of the two plate-shaped links is rotatably and pivotally supported around a horizontal axis at one end of the first bending boom undulating hydraulic cylinder 35R on the rod side. It has become. In addition, the other end of one of the two plate-shaped links is rotatably supported on the lower right-hand side of the base end bracket 41a around a horizontal axis, and the other end near the other end is the tip. The bracket 41b is rotatably supported around a horizontal axis on the upper part on the right hand side.

The second V-link has a configuration in which one end of each of the two plate-shaped links is rotatably and rotatably supported around a horizontal axis at one end of the second bending boom undulating hydraulic cylinder 35L on the rod side. It has become. In addition, the other end of one of the two plate-shaped links is rotatably supported on the lower left hand side of the base end bracket 41a around a horizontal axis, and the other end near the other end is the tip. The bracket 41b is rotatably supported around a horizontal axis on the upper part on the left hand side.

Further, as shown in FIG. 1, a portion of the first V-link and the second V-link on the other end side of the connection portion of the other link with the tip bracket 41b is located behind the tip bracket 41b (as shown in FIG. 1). In FIG. 2, sheave mounting portions 42a and 42b (not shown) are provided so as to project upward). Then, a second sheave shaft suspending the sheave mounting portions 42a and 42b is provided so as to rotatably support a second sheave 45 provided at the center of the shaft around a horizontal axis. There is.

The other end of the first bending boom undulating hydraulic cylinder 35R on the tube side is pivotally supported rotatably around a horizontal axis on the right hand side of the lower end protruding portion of the second tip side bracket 43. Further, in the second bending boom undulating hydraulic cylinder 35L, the other end of the tube side is rotatably and pivotally supported around the horizontal axis on the left hand side of the lower end protruding portion of the second tip side bracket 43. There is.
Further, in the first and second bending boom undulating hydraulic cylinders 35R and 35L, one ends on each rod side serve as rotation axes on the one end side of the first V link and the second V link. It is connected by 42c.

Further, the undulating boom 7 and the bent boom 8 are pivotally supported via the base end bracket 41a and the tip end bracket 41b.
With this configuration, by extending the first and second bending boom undulating hydraulic cylinders 35R and 35L, the bending boom 8 rotates in the rising direction (direction away from the undulating boom 7), while contracting. The bending boom 8 rotates in the downward direction (the direction approaching the undulating boom 7).

(Structure of column 5)
Next, the detailed configuration of column 5 of the present embodiment will be described.
As shown in FIGS. 6 (a) and 6 (b) and FIGS. 7 (a) and 7 (b), the column 5 is erected on the base plate 50 and the base plate 50 with a predetermined gap. And a second upper plate 51R and 51L.

As shown in FIGS. 6A and 7A, the first upper plate 51R includes the first vertical plate portion 51Ra, the second vertical plate portion 51Rb, and the second vertical plate portion 51Rb when viewed from the right hand side. It has a first horizontal plate portion 51Rc that connects the first vertical plate portion 51Ra and the second vertical plate portion 51Rb, and is formed in a substantially "H" shape.
At the lower part of the first horizontal plate portion 51Rc, there is a rubber hose that sends pressure oil from the pump 60 to the hydraulic actuators (31, 32, 33, 34, 35) provided on the bending boom 8 and the undulating boom 7. A through hole is provided for passing electrical wiring and the like through the inside of the column 5.

The first vertical plate portion 51Ra is formed to be longer than the second vertical plate portion 51Rb, and the upper portion thereof allows the base end portion of the undulating boom 7 to be undulated via the boom foot pin 75. It is pivotally supported and has a configuration that protrudes toward the front side of the vehicle as shown in FIG. Further, pin holes 52R, 53R, 54R, which will be described later, are provided on the upper portion of the second vertical plate portion 51Rb, and the upper end portion thereof is formed on a substantially horizontal surface.

Further, the first upper plate 51R has a first pin hole 52R, a 1-2 pin hole 53R, and a 1-3 provided so as to penetrate the plate surface of the second vertical plate portion 51Rb. Pin hole 54R, a first reinforcing portion 55R provided on the surface of the second vertical plate portion 51Rb, and an upper end portion of the first reinforcing portion 55R and the second vertical plate portion 51Rb. It is provided with a first boom mounting portion 59R.

The pin holes 52R to 54R of the 1-1 to 1-3 include the insertion hole 52Ra of 1-1, the insertion hole 53Ra of 1-2, and the insertion hole 54Ra of 1-3. In addition, the 1-1 boss 52Rb, the 1-2 boss 53Rb, and the first boss 53Rb are formed so as to project so as to surround the openings of the insertion holes 52Ra to 54Ra of the 1-1 to 1-3. It has a boss 54Rb of -3.
The first reinforcing portion 55R is formed so as to cover the periphery of the bosses 52Rb to 54Rb of the first to first to third of the pin holes 52R to 54R of the first to first to third and the first. It is provided thicker than the upper plate 51R. The lower end of the first reinforcing portion 55R extends to the base plate 50 and is joined to the base plate 50 by welding or the like.

As shown in FIGS. 6 (b) and 7 (b), the second upper plate 51L has a shape (first upper plate) that is mirror-symmetrical to the first upper plate 51R when viewed from the left hand side. It has a shape in which 51R is turned inside out). That is, the third vertical plate portion 51La forming the long left side side, the fourth vertical plate portion 51Lb forming the short right side side, the third vertical plate portion 51La, and the fourth vertical plate portion 51Lb. It has a second horizontal plate portion 51Lc that connects the two.

At the lower part of the second horizontal plate portion 51Lc, there is a rubber hose that sends the pressure oil from the pump 60 to the hydraulic actuators (31, 32, 33, 34, 35) provided on the bending boom 8 and the undulating boom 7. A through hole is provided for passing electrical wiring and the like through the inside of the column 5.
The upper portion of the third vertical plate portion 51La pivotally supports the base end portion of the undulating boom 7 via the boom foot pin 75 so as to be undulating freely, and protrudes toward the front side of the vehicle shown in FIG. It is composed. Further, pin holes 52L, 53L, and 54L, which will be described later, are provided on the upper portion of the fourth vertical plate portion 51Lb, and the upper end portion thereof is formed on a substantially horizontal surface.

Further, the second upper plate 51L has a first-fourth pin hole 52L, a first-fifth pin hole 53L, and a first 1-6 provided so as to penetrate the plate surface of the fourth vertical plate portion 51Lb. Pin hole 54L, a second reinforcing portion 55L provided so as to overlap the surface of the fourth vertical plate portion 51Lb, and formed at the upper ends of the second reinforcing portion 55L and the fourth vertical plate portion 51Lb. A second boom mounting portion 59L is provided.

The first to fourth to first to sixth pin holes 52L to 54L have the same configuration as the first to first to third pin holes 52R to 54R, and the first to fourth insertion holes 52La, first. It includes 1-5 insertion holes 53La and 1-6th insertion holes 54La, 1-4 bosses 52Lb, 1-5th boss 53Lb and 1-6th boss 54Lb.
The second reinforcing portion 55L has the same configuration as the first reinforcing portion 55R, is formed so as to cover the periphery of the bosses 52Lb to 54Lb of the first to fourth to the first to sixth, and the second upper plate. It is provided thicker than 51L. The lower end of the second reinforcing portion 55L also extends to the base plate 50 and is joined to the base plate 50 by welding or the like.

Further, the pin holes 52R to 54R of the 1st to 1st to 1st to 3rd and the pin holes 52L to 54L of the 1st to 4th to 1st to 6th are provided concentrically with the same relative positional relationship in the side view. Has been done.
The detailed configuration of the first boom mounting portion 59R and the second boom mounting portion 59L will be described later.
Further, hereinafter, the pin holes 52R to 54R of the 1st to 1st to 1-3 and the pin holes 52L to 54L of the 1st to 4th to 1st to 6th are generally referred to as "1st to 1st to 1st to 6th". Pin holes 52R to 54L "may be abbreviated.

(Configuration of standing angle control device)
Next, a detailed configuration of the standing angle regulating device according to the present embodiment will be described.
The standing angle regulating device includes the first and second standing angle regulating members 20R and 20L, the first to first to first to sixth pin holes 52R to 54L formed in the column 5, and the first and second standing angle regulating members. The angle regulating pins 23R and 23L of the above and the first to fourth support portions 500a to 500d described later are provided.

As shown in FIG. 3, the first standing angle regulating member 20R is composed of a link mechanism connecting the first right-hand side plate 21R and the second right-hand side plate 22R, and the second standing angle regulating member 20L. Consists of a link mechanism that connects the first left-hand side plate 21L and the second left-hand side plate 22L.
The first right-hand side plate 21R is formed of a metal plate, and as shown in FIG. 8A, the width of the end portion on one end side is larger than the width of the end portion on the other end side in a side view. It is also wide and has a shape that gradually narrows from one end side to the other end side. That is, each apex is formed in a rounded obtuse-angled triangular shape with one end on the short side as a short side. In addition, the first right-hand side plate 21R has a first pin hole 210R, a second 2-2 pin hole 211R, and a 2-3 pin hole formed at one end thereof through the plate surface. It is provided with three pin holes of 212R and a first connecting hole 213R formed at the other end portion through the plate surface.

Here, the pin holes 210R to 212R of the 2-1 to the 2nd to 3rd are formed in the same relative positional relationship and the same inner diameter as the pin holes 52R to 54R of the 1st to 1st to 3rd.
As shown in FIG. 8B, the second right-hand side plate 22R is formed of a teardrop-shaped elongated metal plate at both ends in a side view. In addition, the second right-hand side plate 22R has a second connecting hole 220R formed through the plate surface at one end thereof and a third connecting hole 220R formed through the plate surface at the other end portion. It is provided with a hole 221R.

The first left-hand side plate 21L has the same configuration as the first right-hand side plate 21R, and is formed at one end thereof as shown by the symbols in parentheses in FIG. 8A. It includes 2-4 pin holes 210L, 2-5 pin holes 211L, 2-6 pin holes 212L, and a fourth connecting hole 213L formed at the other end.
Here, the 2nd-4th to 2-6th pin holes 210L to 212L are formed in the same relative positional relationship and the same inner diameter as the 1st-4th to 1st-6th pin holes 52L to 54L.

Further, the second left-hand side plate 22L has the same configuration as the second right-hand side plate 22R, and is formed at one end thereof as shown by the reference numerals in parentheses in FIG. 8 (b). It also includes a fifth connecting hole 220L and a sixth connecting hole 221L formed at the other end.
As shown in FIG. 9A, one end of the first right-hand side plate 21R is attached to the column 5 only when the undulating boom 7 is in the retracted position (position in FIG. 1) and the boom is retracted. With respect to the formed pin holes 52R to 54R of the first to first to third, the pin holes 210R to 212R of the second to second to third are side view, and the respective central axes are exactly in the axial direction. It is placed in an overlapping coaxial position.

Specifically, the first pin hole pair, which is a set of the 1-1 pin hole 52R and the 2-1 pin hole 210R, and the 1-2 pin hole 53R and the 2-2 pin hole 211R. The hole positions of the second pin hole pair, which is a set of the above, and the third pin hole pair, which is a set of the first to third pin holes 54R and the second to third pin holes 212R, are axially aligned. They are arranged so that they overlap coaxially.
Further, as shown in FIG. 9B, one end of the first left-hand side plate 21L is formed on the column 5 only when the undulating boom 7 is in the retracted position and the boom is retracted. The pin holes 210L to 212L of the 2nd to 4th to 2-6 are arranged at the coaxial position where the central axes of the 2nd to 4th to 2-6 are exactly overlapped in the axial direction with respect to the pin holes 52L to 54L of the -4 to 1-6th. Will be done.

Specifically, the fourth pin hole pair, which is a set of the first to fourth pin holes 52L and the second to fourth pin holes 210L, and the first to fifth pin holes 53L and the second to fifth pin holes 211L. The hole position of each pair is axially in the fifth pin hole pair, which is a set of the above, and the sixth pin hole pair, which is a set of the 1st to 6th pin holes 54L and the 2-6th pin hole 212L. They are arranged so that they overlap coaxially.
Then, as shown in FIG. 9A, the first right-hand side plate 21R was inserted by inserting the first angle regulating pin 23R into any of the first to third pin hole pairs. The first angle regulation pin 23R is used as a rotation axis and is rotatably supported around the axis.

Further, as shown in FIG. 9B, the first left-hand side plate 21L was inserted by inserting the second angle regulating pin 23L into any of the fourth to sixth pin hole pairs. The second angle regulation pin 23L is rotatably supported around the axis of rotation.
In the examples of FIGS. 9A and 9B, the first angle regulation pin 23R is inserted into the first pin hole pair, and the second angle regulation pin 23L is inserted into the fourth pin hole pair. The case is shown.

Here, in the standing angle regulating device of the present embodiment, when the undulating boom 7 is in the retracted position, the undulating boom depends on the position of the pin hole pair into which the operator inserts the first and second angle regulating pins 23R and 23L. The standing angle of 7 can be selected as a desired angle from three different types of first to third standing angles set in advance. Specifically, the first and fourth pin hole pairs correspond to the first standing angle, the second and fifth pin hole pairs correspond to the second standing angle, and the third and sixth pin holes The pair corresponds to the third standing angle.

Further, hereinafter, the pin holes 210R to 212R of the 2-1st to 2nd-3rd and the pin holes 210L to 212L of the 2nd-4th to 2-6th are generally referred to as "2-1 to 2-6th pin holes". Pin holes 210R to 212L "may be abbreviated.
Further, in the present embodiment, as shown in FIG. 9A, the first right-hand side plate 21R arranged so that the hole positions overlap in the axial direction in each pin hole pair is on the lower end side of the first right-hand side plate 21R. A first support portion 500a and a second support portion 500b are projected on the side surface portion of the upper plate 51R. Similarly, on the lower end side of the first left-hand side plate 21L, as shown in FIG. 9B, a third support portion 500c and a fourth support portion are placed on the side surface portion of the second upper plate 51L. 500d is projected.

The first to fourth support portions 500a to 500d all have a block portion protruding from the side surface portion of the upper plate, a female screw portion provided through the block portion, and the female screw portion from below. The bolt portion screwed in and the nut portion screwed into the tip portion of the bolt portion protruding above the block portion via the female screw portion are provided.
As shown in FIGS. 9A and 9B, the first and third support portions 500a and 500c are located below the positions of the first right-hand side and left-hand side plates 21R and 21L near the other end. It is provided. Then, the axial direction thereof is directed in a direction orthogonal to the lower end portions of the first right-hand side and left-hand side plates 21R and 21L, and the tip end portion of the bolt portion is provided so as to be in contact with the lower end portion.

Further, the second and fourth support portions 500b and 500d are provided at positions near one end of the first right-hand side and left-hand side plates 21R and 21L and below the position on the center side of the pin hole position. Has been done. Then, the axial direction thereof is directed in a direction orthogonal to the lower end portions of the first right-hand side and left-hand side plates 21R and 21L, and the tip end portion of the bolt portion is provided so as to be in contact with the lower end portion.

That is, the first to fourth support portions 500a to 500d do not slip off the lower ends of the first right-hand side and left-hand side plates 21R and 21L only when the undulating boom 7 is in the boom retracted state. It is a stand to support. Therefore, even when the first and second angle regulation pins 23R and 23L are not inserted, the central axes of the holes of each set are coaxially overlapped with each other, and it is possible to maintain a communication state in which the pins can be inserted.

Further, even if the hole position is displaced due to an error during assembly or the like, the first right-hand side and left-hand side plates 21R can be adjusted by adjusting the screwing amount of the bolt portions of the first to fourth support portions 500a to 500d. It is also possible to correct the hole position by adjusting the support position of 21L. In the support portion of the present embodiment, the lateral support positions of the first right-hand side and left-hand side plates 21R and 21L can be adjusted by the first and third support portions 500a and 500c. In addition, the second and fourth support portions 500b and 500d can adjust the support positions of the first right-hand side and left-hand side plates 21R and 21L in the height direction.

Further, as shown in FIG. 9A, at the other end of the first right-hand side plate 21R, one end of the second right-hand side plate 22R has a first connecting hole 213R and a second connecting hole. It is pivotally supported via a first connecting pin 24R inserted through the 220R. Specifically, the second right-hand side plate 22R is rotatably connected around the first connecting pin 24R as a rotation axis.

Further, as shown in FIG. 9B, at the other end of the first left-hand side plate 21L, one end of the second left-hand side plate 22L has a fourth connecting hole 213L and a fifth connecting hole. It is pivotally supported via a second connecting pin 24L inserted through 220L. Specifically, the second left-hand side plate 22L is rotatably connected around the second connecting pin 24L with the second connecting pin 24L as a rotation axis.

Further, as shown in FIG. 9A, the other end of the second right-hand side plate 22R has a third connecting hole 221R and a third connecting hole 221R on the right-hand side of the first connecting portion 40a of the base end side bracket 40. It is pivotally supported via a third connecting pin 25 inserted into a connecting hole (not shown) provided in the connecting portion 40a of 1. Specifically, the second right-hand side plate 22R is rotatably connected around the third connecting pin 25 as a rotation axis.

Further, as shown in FIG. 9B, the other end of the second left-hand side plate 22L has a sixth connecting hole 221L and a sixth connecting hole 221L on the left-hand side of the first connecting portion 40a of the base end side bracket 40. It is pivotally supported via a third connecting pin 25 inserted into a connecting hole (not shown) provided in the connecting portion 40a of 1. Specifically, the second left-hand side plate 22L is rotatably connected around the third connecting pin 25 as a rotation axis.

As shown in FIG. 9A, the first standing angle regulating member 20R is connected to the first right-hand side plate 21R and the second right-hand side plate 22R when the undulating boom 7 is in the boom retracted state. It is configured so that it is bent in an "inverted shape" around the part.
Similarly, in the second standing angle regulating member 20L, as shown in FIG. 9B, when the undulating boom 7 is in the boom retracted state, the first left-hand side plate 21L and the second left-hand side plate 22L are , It is configured to be bent in a "dogleg" shape around the connecting part.

Further, according to the above configuration, in the posture in which the undulating boom 7 is in the boom retracted state, the rotation shafts of the other ends of the second right-hand side and left-hand side plates 22R and 22L (third The connecting pin 25) is arranged, and the rotating shaft (second cylinder pin 341) at the tip of the first and second undulating boom undulating hydraulic cylinders 34R and 34L on the tube side is arranged on the lower side. In addition, the rotation shaft (first cylinder pin 340) at the tip of the first and second undulating boom undulating hydraulic cylinders 34R and 34L on the rod side is on the front end side (second and fourth) of the column 5. The pin holes 52R to 54L of the 1st to 1st to 1st to 6th are arranged on the vertical plate portions 51Rb and 51Lb) on the rear end side (first and third vertical plate portions 51Ra and 51La) of the column 5. Be distributed.

(Design procedure for forming positions of pin holes 52R to 54L of the 1st to 1st to 1st to 6th)
Next, a procedure for designing the formation positions of the pin holes 52R to 54L of the 1st to 1st to 1st to 6th for restricting the standing angle of the undulating boom 7 to the desired standing angle will be described.
It is assumed that the positions of the boom foot pin 75, the engine cover of the prime mover 15, and the positions of other peripheral devices such as the bent boom 8 are predetermined.

Hereinafter, the design procedure of the formation positions of the pin holes 52R to 54R of the first to first to third will be described in detail.
First, the required undulation boom 7 standing angle is determined. In the present embodiment, three types of standing angles of 95 °, 90 °, and 85 ° are determined as the first, second, and third standing angles.
Next, as shown in FIG. 11A, the third connecting pin 25 on the undulating boom 7 side is connected from the connection with other peripheral devices such as the engine cover and the bending boom 8 constituting the prime mover 15. The approximate position (axis center position b) is determined.

Next, from the determined axial center position b and the axial center position of the known boom foot pin 75, first, the position of the 1-1 pin hole 52R corresponding to the standing angle of 95 ° is determined.
Here, the moment (known) around the boom foot pin 75 is temporarily set as M, and a straight line connecting the axis of the third connecting pin 25 and the axis of the first angle regulating pin 23R, and the straight line and the boom A first distance B, which is a straight line distance when the axial center position of the foot pin 75 intersects at a right angle, is temporarily set. Then, the pulling force F applied to the first angle regulating pin 23R inserted into the first pin hole 52R is determined based on the following equation (1).
F = M / B ... (1)

Explaining the working posture shown in FIG. 16 as an example, the tower crane 1 performs cargo handling work by suspending a load via a hook 14 suspended from the tip of a bent boom 8 bent toward the front side of the vehicle. .. Therefore, when the load is hung, a pulling force is applied to the undulating boom 7 toward the front side of the vehicle, and as a result, a pulling force F is generated on the first standing angle regulating member 20R.
Here, as shown in the above equation (1), the shorter the first distance B, the larger the pulling force F applied to the first angle regulation pin 23R, and the longer the first distance B, the larger the first angle regulation. The pulling force F applied to the pin 23R becomes small. On the other hand, the shorter the first distance B, the more compact the first standing angle regulating member 20R can be provided, and the longer the first distance B, the more space for providing the first standing angle regulating member 20R. Becomes larger.

In the present embodiment, the first distance B is set to a short distance as much as possible within the range of the allowable tensile force F.
Further, assuming that the shear stress of the first angle regulation pin 23R is τ, the pin cross-sectional area is A, and the stress (known) applied to the first angle regulation pin 23R to be considered other than the tensile force F is k, then shearing is performed. The stress τ can be calculated from the following equation (2).
τ = F / A + k ・ ・ ・ (2)

From the above equation (2), the pin cross-sectional area A when the shear stress τ becomes smaller than the preset allowable stress is obtained, and the pin diameter of the first angle regulation pin 23R and the pin hole 52R of the first 1-1 are obtained. Determine the hole diameter (inner diameter). Then, the axial center position of the first pin hole 52R is determined to be the point a1 in FIG. 11 (a).
Here, it is desirable that the axial center position a1 of the first pin hole 51R is determined at a position where the first standing angle regulating member 20R can be easily attached to the column 5 and the operator can easily insert and remove the pin. In the present embodiment, the axial center position a1 is determined at the upper portion of the second vertical plate portion 51Rb of the column 5, which is lower than the undulating boom 7 in the retracted state.

Next, the lengths of the first right-hand side plate 21R and the second right-hand side plate 22R are determined. Here, as shown in FIG. 11A, the axial center position of the third connecting pin 25 when the first standing angle regulating member 20R becomes linear when the standing angle is 95 ° is determined. Let D be the linear distance between the first pin hole 52R and the axial center position a1.

Further, the length between the axial center position a1 of the 1-1 pin hole 52R and the axial center position of the first connecting pin 24R when the standing angle is 95 ° is tentatively set to the 1-1 link length r11. Set. In addition, if the length between the axial center position of the first connecting pin 24R and the axial center position of the third connecting pin 25 is tentatively set as the second link length r2, the second link length r2 becomes. The linear distance D and the 1-1 link length r11 can be expressed by the following equation (3).
r2 = D-r11 ... (3)

Here, the connection point P between the first right-hand side plate 21R and the second right-hand side plate 22R shown in FIG. 11C in the first upright angle regulating member 20R interlocked with the undulation operation of the undulation boom 7. If the locus drawn by the maximum diameter of the above does not interfere with the boom foot pin 75 in the side view, the first standing angle regulating member 20R can be brought closer to the column 5 in the lateral width direction. Generally, the boom foot pin 75 is provided with a rotation stopper (not shown) so that the boom foot pin 75 does not rotate together when the boom rises and falls. Considering the locus of the connecting point P so that the arc drawn by the second link length r2 is inside the diameter of the boom foot pin 75 so that the first standing angle regulating member 20R avoids from the thickness thereof, the first As an effect of the standing angle regulating member 20R and the column 5 approaching each other, the total length of the second pin hole 210R can be kept short, and the boss is provided with a gap measure to prevent breakage due to the shearing force applied to the pin. Also gains the advantage of not being large-scale. In consideration of this, in the present embodiment, from the above equation (3), with r11 as a variable, the intersection of the circle with radius r11 centered on point a1 and the circle with radius r2 centered on point b A division point is set on the locus to determine the 1-1 link length r11 and the second link length r2.

Specifically, as shown in FIG. 11B, the intersection of the circle when the first link length r11 is r111 and the circle when the second link length r2 is r21, the first 1-1. The intersection of the circle when the link length r11 is r112 (r111 <r112) and the circle when the second link length r2 is r22 is obtained. In addition, the intersection of the circle when the first link length r11 is r113 (r112 <r113) and the circle when the second link length r2 is r23, and so on. The first locus t1, which is the locus of the intersection when the link length r11 is changed, is calculated.

In this way, if the 1-1 link length r11 is arbitrarily determined, the connection position between the first right-hand side plate 21R and the second right-hand side plate 22R is determined from the intersection with the first locus t1. From this connection position, as shown in FIG. 11C, the first link length r11 is determined to be Dr11, and the second link length r2 is determined to be Dr2. Further, let P be a connecting point which is an axial center position of the connecting portion.

In the present embodiment, since the pin hole is provided on one end side of the first right-hand side plate 21R, that is, on the column 5 side, the position of the pin hole into which the first angle regulation pin 23R corresponding to the variable standing angle is inserted is located. Therefore, the second link length r2 is constant at Dr2. Here, the solid straight line in FIG. 11C shows the portion of the first right-hand side plate 21R corresponding to the 1-1 link length r11, and the broken line is the second right-hand side plate 22R of the second right-hand side plate 22R. The part corresponding to the link length r2 of 2 is shown.

Further, the axial center position of the third connecting pin 25 moves to point b along the trajectory O1 as shown in FIG. 11A when the undulating boom 7 is in the prone position. At this time, as shown in FIG. 11C, the first standing angle regulating member 20R has a connection point P (first connection pin 24R) between the first right-hand side plate 21R and the second right-hand side plate 22R. It is in a state of being bent in an "inverted shape" around the center of the axis.
This is due to the own weight of each plate constituting the link, and in the first standing angle regulating member 20R of the present embodiment, the first right-hand side plate 21R is heavier than the second right-hand side plate 22R. It is configured. Therefore, the connection point P does not move in the upward rising direction.

Next, the formation position of the first to third pin holes 54R corresponding to the standing angle of 85 ° is determined.
Here, the second link length r2 is already determined to Dr2, and in the present embodiment, the position of the P point when the undulating boom 7 is in the boom retracted state is fixed. The position of the point P is fixed so that when the undulating boom 7 is in the boom retracted state, the first to third pin hole pairs can be inserted into the first angle regulating pin 23R. To do.

Based on this, first, the strength of the pin hole is calculated based on the determined pin diameter of the first angle regulation pin 23R, and as shown in FIG. 12 (a), the already determined first pin The inter-pin distance Rb between the axial center position a1 of the hole 52R and the axial center position a3 of the newly determined first and third pin holes 54R is determined. Here, the larger the tensile force F applied to the first angle regulation pin 23R, the larger the pin diameter, and the larger the pin diameter, the larger the outer diameter including the boss must be. Therefore, the pin-to-pin distance Rb is become longer. That is, the inter-pin distance Rb is related to the strength of the pin holes. If it is too short, the wall thickness between the pin holes becomes thin and the strength becomes weak, and if it is too long, the strength becomes strong, but the pin holes, the standing angle regulating member, etc. It cannot be placed compactly. Therefore, in the present embodiment, priority is given to compactness, and the distance is set as short as possible so that the hole positions do not overlap within the allowable strength range. Then, a circle having a radius Rb centered on the axial center position a1 of the first pin hole 52R is set.

Next, a circle having a radius of Dr2 centered on the axial position of the third connecting pin 25 when the undulating boom 7 stands up at an upright angle of 85 ° is set.
Then, the position where the second locus t2, which is the locus of the center of the circle that touches the circle of radius Dr2 and passes through the point P, and the circle of radius Rb touch (or intersect) is the axis of the first and third pin holes 54R. It is fixed as the center position a3. The radius r13 of the circle passing through the point P at this time is the first connection with the axial center position of the first angle regulation pin 23R inserted into the second to third pin holes 212R and the first to third pin holes 54R. It is the length between the pin 24R and the axial center position (hereinafter, referred to as “first to third link length r13”).

Specifically, as shown in FIG. 12B, the center of the circle with radius r131 that touches the circle with radius Dr2 and passes through point P, and the circle with radius r132 that touches the circle with radius Dr2 and passes through point P. The second locus t2 is calculated when the link length r13 of the first to third is changed, such as the center, the center of the circle having a radius r133 that is in contact with the circle having a radius Dr2 and passing through the point P, and so on. Then, the position where the second locus t2 and the circle having the radius Rb are in contact with each other is set as the axial center position a3 of the first and third pin holes 54R. When the radius Rb is small and there is no contact point with the second locus t2, an arbitrary position on the second locus t2 can be set as the axial center position a3.

Further, although not shown, the formation position of the first and second pin holes 53R corresponding to the standing angle of 90 ° is also determined by the same procedure as for the standing angle of 85 °. In this case, a circle having a radius of Dr2 centered on the axial position of the third connecting pin 25 when standing at an standing angle of 90 ° is set. Then, the third locus t3, which is the locus of the center of the circle tangent to this circle and passing through the point P, the axial center position a1 of the 1-1 pin hole 52R, and the axial center of the 1-3 pin hole 53R. The position where the circles having a radius Rb centered on the position a3 are in contact with each other is determined as the axial center position a2 of the first and second pin holes 53R. The radius r12 of the circle passing through the point P at this time is the first connection with the axial center position of the first angle regulation pin 23R inserted into the second pin hole 211R and the second pin hole 53R. It is the length between the pin 24R and the axial center position (hereinafter, referred to as “1-2 link length r12”).

As described above, the formation positions of the pin holes 52R to 54R of the 1-1 to 1-3 are determined.
Further, when the positions of the three pin holes having the first, second and third standing angles of 95 °, 90 ° and 85 ° are determined, the second vertical plate portion 51Rb of the first upper plate 51R of the column 5 is determined. The shape is determined.

Next, the combination of the column 5 and the first standing angle regulating member 20R will be examined. Then, as shown in FIG. 12 (c), when the undulating boom 7 is in the boom retracted state, the central axes of the three pin holes on the column 5 side (pin holes 52R to 54R of the first to first to third). Position) and the central axes of the three pin holes on the first right-hand side plate 21R side (positions of the pin holes 210R to 212R of the second to second to third) are coaxial with each other. The positions of the second support portions 500a and 500b are adjusted.
It should be noted that the formation positions of the pin holes 52L to 54L of the first to fourth to the first to sixth are symmetrical with respect to the formation positions of the pin holes 52R to 54R of the first to the first to third, so that the positions are turned inside out. , Can be obtained in the same way. The same applies to the second upper plate 51L, the third and fourth support portions 500c and 500d. Therefore, the description thereof will be omitted.

(Standing operation of undulating boom 7)
Next, the standing operation of the undulating boom 7 will be described.
Here, in the examples of FIGS. 9A and 9B, the first and second angle regulating pins 23R and 23L are inserted into the first and fourth pin hole pairs corresponding to the standing angle of 95 °. Indicates the state.
Further, in the stored state shown in FIGS. 9A and 9B, the first and second angle regulating pins 23R and 23L can be inserted and removed. Therefore, the operator selects the pin hole pair corresponding to the desired standing angle and inserts the first and second angle regulating pins 23R and 23L into the selected pin hole pair to raise the undulating boom 7 as desired. It is possible to stand at an angle.

Hereinafter, the standing operation, which is the operation in which the undulating boom 7 when viewed from the right hand side shifts from the boom retracted state to the standing state at each standing angle, will be described.
First, the standing operation in the standing state with the standing angle of 95 ° will be described.
First, the third electromagnetic switching valve 860 is switched to the undulating boom undulating hydraulic cylinder 34 side. This switching operation is performed by the operator switching the undulation boom changeover switch (not shown) of the operation unit 11 to the undulation boom undulation operation mode side.

Next, when the undulating boom undulating hydraulic cylinder 34 is driven in the extension direction in the retracted state of the undulating boom 7 and the inserted state of the first angle regulation pin 23R shown in FIG. 9A, the undulating boom undulating hydraulic cylinder 34 is moved. It extends and the undulating boom 7 rotates in the rising direction. As a result, as shown in FIG. 13A, the first angle regulating pin 23R becomes a fixed shaft and the third connecting pin 25 becomes a movable shaft, and the first right-hand side is synchronized with the standing of the undulating boom 7. The plate 21R and the second right-hand side plate 22R are stretched.

As a result, as shown in FIG. 13B, the first standing angle regulating member 20R eventually becomes linear and is obliquely stretched between the column 5 and the undulating boom 7, and the undulating boom undulating hydraulic cylinder 34 The first right-hand side plate 21R and the second right-hand side plate 22R do not rotate any more with respect to the extension operation of. That is, in this state, the undulating boom 7 is restricted to an upright angle of 95 °.

At this time, the first and second undulating boom undulating hydraulic cylinders 34R and 34L have not reached the stroke end. That is, the moment M that the undulating boom 7 applies to the undulating side due to the suspended load is received only as the tension applied to the link (standing angle regulating member), and is applied to the first and second undulating boom undulating hydraulic cylinders 34R and 34L. Is not transmitted. In the unlikely event that one of the standing angle regulating members is damaged or otherwise malfunctions, the other standing angle regulating member will receive the moment M. Furthermore, even if the standing angle regulating members on both sides are damaged, the moment M of the undulating boom 7 is received by the first and second undulating boom undulating hydraulic cylinders 34R and 34L, which is doubled to ensure safety. It has a triple fail-safe structure.

Further, in this state, the axis of the first angle regulating pin 23R inserted into the first pin hole pair and the axis of the third connecting pin 25 on the other end side of the second right-hand side plate 22R. Let D1 be the linear distance between and.
Here, the standing operation when the insertion position of the first angle regulation pin 23R is set to the position of the second pin hole pair (corresponding to 90 °) in the retracted state shown in FIG. 9A is shown in FIG. As shown in a) and FIG. 14 (b), the position of the rotation axis on the column 5 side is only the position of the second pin hole pair, which is the same as that of the first pin hole pair (corresponding to 95 °). Since the same operation is performed, the description thereof will be omitted. By this standing motion, as shown in FIG. 14B, the undulating boom 7 is restricted to a standing angle of 90 °.

In this state, the axis of the first angle regulating pin 23R inserted into the second pin hole pair and the axis of the third connecting pin 25 on the other end side of the second right-hand side plate 22R. Let D2 be the straight line distance between them.
This straight line distance D2 is shorter than the straight line distance D1 (D2 <D1). Therefore, the other end of the second right-hand side plate 22R (third connecting hole 221R) when it becomes linear as compared with the case where the first angle regulating pin 23R is inserted into the first pin hole pair. ) Will reach a higher position. However, since the position is higher when the distance is shorter than the straight line distance D1, the position where the third connecting hole 221R reaches the front is closer to the rear side than when the first pin hole pair is used.

Further, the standing operation when the insertion position of the first angle regulation pin 23R is set to the position of the third pin hole pair (corresponding to 85 °) in the retracted state shown in FIG. 9 (a) is also shown in FIG. 15 (a). ) And FIG. 15 (b), the position of the rotation axis on the column 5 side is only the position of the third pin hole pair, which is the same as in the case of the first pin hole pair (corresponding to 95 °). Since the operation is as follows, the description thereof will be omitted. By this standing motion, as shown in FIG. 15B, the undulating boom 7 is restricted to an standing angle of 85 °.

In this state, the axis of the first angle regulating pin 23R inserted into the third pin hole pair and the axis of the third connecting pin 25 on the other end side of the second right-hand side plate 22R. Let D3 be the straight line distance between them.
This straight line distance D3 is longer than the straight line distance D2 (D2 <D3). However, in the present embodiment, the position of the third pin hole pair is lower than that of the first and second pin hole pairs. Therefore, the other end of the second right-hand side plate 22R (third connecting hole 221R) when it becomes linear as compared with the case where the first angle regulating pin 23R is inserted into the second pin hole pair. ) Is at a low position. In addition, since the third connecting hole 221R is located at a lower position in a state longer than the straight line distance D2, the front reaching position of the third connecting hole 221R is on the rear side of the second pin hole pair.

That is, in the present embodiment, as shown in FIGS. 13 (b), 14 (b) and 15 (b), the second link length is constant at Dr2, and the first to first ones are The link lengths r11 to r13 of -3 have different lengths (Dr11 to Dr13). In this embodiment, the columns 5 are provided with pin holes 52R to 54R of the 1-1 to 1-3, and the 2-1 to 2-3 are provided on one end side of the first right-hand side plate 21R. This is because the pin holes 210R to 212R of the above are provided, and the position of the pin hole pair into which the pin is inserted is selected on the one end side thereof. That is, the position of the rotation shaft changes on the one end side of the first right-hand side plate 21R depending on the position of the pin hole pair into which the pin is inserted, so that the distance between the axes of the first right-hand side plate 21R changes. As a result, the linear distances D1 to D3 have different lengths, and the arrival position of the other end portion (third connecting hole 221R) of the second right-hand side plate 22R changes.

Here, as shown in FIG. 10, the tower crane 1 of the present embodiment works in a posture in which the undulating boom 7 is in an upright state and the bent boom 8 is bent so that its tip faces forward. ..
In addition, the undulating boom 7 and the bent boom 8 of the present embodiment are composed of a telescopic boom. Therefore, as shown in FIG. 16, during work, by extending the undulating boom 7 in the upright state, it is possible to secure a higher lifting height of the suspended load, and the bent boom 8 in the bent state is extended. By doing so, it becomes possible to hang the load in front.

Here, the lifting height of the suspended load is the highest by combining these so that the undulating boom 7 in the upright state is fully extended and the bent boom 8 is in the maximum upright state in the fully extended state. Can be lifted.
Further, in the tower crane 1 of the present embodiment, the standing angle of the undulating boom 7 can be selected from three types of 95 °, 90 ° and 85 °. Therefore, it is possible to select and work the standing angle suitable for the working environment from three kinds of standing angles.
Specifically, as shown in FIG. 10, when the standing angle is 90 °, the undulating boom 7 stands upright without tilting back and forth, and when the standing angle is 95 °, the undulating boom 7 tilts forward by 5 °. When standing up and the standing angle is 85 °, the undulating boom 7 is tilted backward by 5 ° and stands up.

Therefore, with the standing angle of 90 ° as a reference, at the standing angle of 95 °, the tip end portion of the bending boom 8 reaches further forward, and the load can be hung on the front side during the lifting work. Further, when the standing angle is 85 °, the undulating boom 7 is located directly above the turning center of the column 5. Therefore, when the tower crane 1 is arranged in the building and the boom is projected from the opening provided in the roof to perform the work, the diameter of the opening can be reduced. In addition, it is possible to suspend a load having a larger mass than when the standing angles are 95 ° and 90 °.
The standing operation of the undulating boom 7 from the boom retracted state to each standing angle when viewed from the right hand side has been described above, but the standing operation when viewed from the left hand side is also symmetrical and is the same except that it is turned inside out. It becomes an operation. Therefore, the description thereof will be omitted.

Further, in the present embodiment, when the first and second standing angle regulating members 20R and 20L are linear, the second right-hand side and left-hand side plates 22R and 22L are placed on the front side with the undulating boom 7 in between. The rotation shaft (third connecting pin 25) at the other end is arranged. In addition, the rotating shaft (second cylinder pin 341) at the tip of the first and second undulating boom undulating hydraulic cylinders 34R and 34L on the tube side is arranged on the rear side of the undulating boom 7. It has become. Further, the rotation shaft (first cylinder pin 340) at the tip of the first and second undulating boom undulating hydraulic cylinders 34R and 34L on the rod side is on the front end side (second and fourth vertical) of the column 5. It has a structure arranged on the plate portions 51Rb and 51Lb). Further, among the pin holes 52R to 54L of the 1st to 1st to 1st to 6th, the first and second angle regulating pins 23R and 23L inserted into the pin holes having the same standing angle on the right hand side and the left hand side are The column 5 is arranged on the rear end side (first and third vertical plate portions 51Ra and 51La).

That is, the first cylinder pin 340 and the pin holes 52R to 54L of the first to first to first six are first with respect to the positional relationship between the third connecting pin 25 and the second cylinder pin 341. Cylinder pin 340 is arranged on the third connecting pin 25 side, and the first and second angle regulating pins 23R and 23L are arranged on the second cylinder pin 341 side.
Then, by extending the first and second undulating boom undulating hydraulic cylinders 34R and 34L, the undulating boom 7 is configured to rotate in the upright direction.

As a result, as shown in FIGS. 13 (b), 14 (b) and 15 (b), in the state where the standing angle is regulated, the first standing angle regulating member 20R which is linear and the first standing angle regulating member 20R The first undulating boom undulating hydraulic cylinder 34R in the extended state intersects with the undulating hydraulic cylinder 34R as if drawing the alphabet "X" in a side view. This also applies to the second standing angle regulating member 20L on the left hand side and the second undulating boom undulating hydraulic cylinder 34L.
In this way, by adopting the arrangement relationship in which "X" is drawn in the standing state, the standing angle regulating member 20 and the undulating boom undulating hydraulic cylinder 34 can be integrated around the undulating boom 7. As a result, it becomes difficult to block the line of sight of the worker when working in a narrow place such as in a building, and it becomes possible to improve the visibility.

(Structure of boom undulation operation control device)
Next, the boom undulation operation control device according to the present embodiment will be described.
Here, as shown in FIG. 17A, the first 1-1 to the first on the inner surface of the second vertical plate portion 51Rb of the first upper plate 51R via the first sensor support member 150R. A first proximity switch 56R, a second proximity switch 57R, and a third proximity switch 58R are provided in the vicinity of the insertion holes 52Ra to 54Ra of 1-3.

Specifically, in the vicinity of the opening of the first insertion hole 52Ra, the first proximity switch 56R is arranged so that the detection portion thereof faces the direction of the opening, and the opening of the first 1-2 insertion hole 53Ra. A second proximity switch 57R is arranged in the vicinity of the portion so that the detection portion is directed toward the opening, and a third proximity switch 58R detects the detection in the vicinity of the opening of the insertion hole 54Ra of the first to third. The portion is arranged so as to face the direction of the opening.

Further, as shown in FIG. 17B, the first -4th to the first 1st to the inner side surface of the 4th vertical plate portion 51Lb of the 2nd upper plate 51L via the 2nd sensor support member 150L. A fourth proximity switch 56L, a fifth proximity switch 57L, and a sixth proximity switch 58L are provided in the vicinity of the openings of the insertion holes 52La to 54La of −6.
Specifically, a fourth proximity switch 56L is arranged in the vicinity of the opening of the insertion hole 52La of the first-4th, and the detection portion thereof is directed toward the opening, and the opening of the insertion hole 53La of the first-5th. A fifth proximity switch 57L is arranged in the vicinity of the portion with its detection portion facing the direction of the opening, and a sixth proximity switch 58L detects the detection in the vicinity of the opening of the insertion hole 54La of the first 1-6. The portion is arranged so as to face the direction of the opening.

In the present embodiment, prioritizing space saving, as shown in FIGS. 7A and 7B, the first and second undulating boom undulating hydraulic cylinders 34R and 34L are the first and second undulating boom hydraulic cylinders 34R and 34L. It is arranged between the upper plates 51R and 51L. Then, the first and second undulating boom undulating hydraulic cylinders 34R and 34L rotate in the vertical direction through the space sandwiched between the first and second upper plates 51R and 51L.

That is, the first and second undulating boom undulating hydraulic cylinders 34R and 34L have pin holes 52R to 54R of the first to first to third and pin holes 52L to 54L of the first to fourth to 1-6. It moves in an orbit that intersects the axis of.
Therefore, for example, one of the pin holes 52R to 54R of the first to first to third and one of the pin holes 52L to 54L of the first to fourth to 1-6 concentric with the pin hole 52R to 54R. , A common long pin cannot be inserted and this pin cannot be used as a rotation axis.

Therefore, in the present embodiment, the first upper plate 51R side and the second upper plate 51L side are provided with different pins. Specifically, as shown in FIGS. 18A and 18B, the first angle regulation pin 23R, which is short enough not to come into contact with the first undulating boom undulating hydraulic cylinder 34R when inserted into the pin hole, and the pin. A second angle control pin 23L, which is short enough not to come into contact with the second undulating boom undulating hydraulic cylinder 34L when inserted into the hole, is provided.

Here, the first angle regulation pin 23R has a first handle 23Rh provided at the base end portion and a first plunger ball 23Rb provided at the tip end portion capable of advancing and retreating in a direction orthogonal to the axis. ..
The first plunger ball 23Rb is supported by an elastic member such as a spring, and in a state where no external force is applied, a part of the first plunger ball 23Rb protrudes from the outer peripheral surface of the tip portion in a direction orthogonal to the axis line, and the force is applied. When added, the elastic member contracts and the protruding portion is configured to dent inward.

That is, when the operator grasps the first handle 23Rh by hand and inserts the first angle regulation pin 23R into any pin hole pair, the first plunger ball 23Rb dents inward and the inner circumference of the pin hole. The outer peripheral surface of the first plunger ball 23Rb is in sliding contact with the surface. After that, when the first plunger ball 23Rb escapes to the opposite side of the hole (in the space inside the first upper plate 51R), the first plunger ball 23Rb protrudes outward due to the restoring force of the elastic member, and the first It plays a role of preventing the angle regulation pin 23R from coming off.

Further, the second angle regulation pin 23L has the same configuration as the first angle regulation pin 23R, and has a second handle 23Lh and a second plunger ball 23Lb.
Further, in the present embodiment, the first angle regulation pin 23R includes the pin holes 52R to 54R of the first to first to third and the pin holes 210R to 212R of the second to second to third. It has an outer diameter dimension that makes sliding contact with the inner peripheral surface. Similarly, the second angle regulating pin 23L is the inner peripheral surface of the first to fourth to first to sixth pin holes 52L to 54L and the second to fourth to second to second pin holes 210L to 212L. It has an outer diameter dimension that makes sliding contact.

As shown in FIGS. 18A and 18B, the operator can perform the pin holes 52R to 54R of the first to first to third provided in the first upper plate 51R and the first right hand side plate 21R. The first angle regulating pin 23R is inserted into the set of pin holes corresponding to the desired standing angle among the pin holes 210R to 212R of the 2-1 to the second 2-3. Similarly, the first to fourth to first to sixth pin holes 52L to 54L and the second to fourth to 2-6 pin holes 210L provided in the second upper plate 51L and the first left hand side plate 21L. The second angle regulating pin 23L is inserted into the set of pin holes corresponding to the desired standing angle among ~ 212L.

Here, in the examples of FIGS. 18A and 18B, a set of the 1-1 pin hole 52R and the 2-1 pin hole 210R corresponding to the standing angle of 95 ° and the 1-4 pin The state in which the first and second angle regulation pins 23R and 23L are inserted into the set of the holes 52L and the pin holes 210L of the second-4 is shown.
At this time, as shown in FIG. 18B, the tips of the inserted first and second angle control pins 23R and 23L are the first and second portions together with the first and second plunger balls 23Rb and 23Lb. The upper plates 51R and 51L of the above project to face each other inward.

That is, as shown in FIG. 19, the first angle regulating pin 23R passes through the first pin hole 52R after passing through the second pin hole 210R, and its tip portion is the first upper portion. It reaches the inner side surface side of the plate 51R. Similarly, the second angle regulating pin 23L passes through the first to fourth pin holes 52L after passing through the second to fourth pin holes 210L, and its tip portion is on the inner surface side of the second upper plate 51L. To reach.

Here, the first to third proximity switches 56R to 58R and the fourth to sixth proximity switches 56L to 58L are configured to detect the tip of a pin protruding inward from each corresponding pin hole. The detection signals SW1 to SW6 indicating the detection result are transmitted to the controller 160 via a signal line (not shown).

In the examples of FIGS. 18B and 19, the tip of the first angle regulating pin 23R inserted into the 2-1 pin hole 210R and the 1-1 pin hole 52R (first pin hole pair). The unit is detected by the first proximity switch 56R. In addition, the tip of the second angle control pin 23L inserted into the second-4 pin hole 210L and the first-4 pin hole 52L (fourth pin hole pair) is the fourth proximity switch 56L. Detected by. Then, the detection signals SW1 and SW4 indicating these detection results are transmitted to the controller 160. In the other proximity switch, the detection is not performed, and the detection signals SW2, SW3, SW5 and SW6 indicating that are transmitted to the controller 160.

In the controller 160, the pin is inserted into the pin hole pair at which position based on the detection signals SW1 to SW6 transmitted from the first to third proximity switches 56R to 58R and the fourth to sixth proximity switches 56L to 58L. Determine if it is or is not plugged in. Then, based on this determination result, the undulating operation of the undulating boom 7 is controlled.
From the controller 160 shown in FIG. 5, the first to third proximity switches 56R to 58R shown in FIGS. 17A and 17B, and the fourth to sixth proximity switches 56L to 58L, the present The boom undulation operation control device of the embodiment is configured. Hereinafter, the first to third proximity switches 56R to 58R and the fourth to sixth proximity switches 56L to 58L may be abbreviated as "first to sixth proximity switches 56R to 58L".

(Boom undulation operation control process)
Next, the processing procedure of the boom undulation operation control process executed by the controller 160 will be described. This process is a process that is repeated at a predetermined sampling cycle.
When the boom undulation operation control process is executed by the CPU of the controller 160, first, as shown in FIG. 20, the process proceeds to step S100.

In step S100, the controller 160 reads information indicating the detection result into a memory such as RAM based on the detection signals SW1 to SW6 transmitted from the first to sixth proximity switches 56R to 58L. After that, the process proceeds to step S102.
In step S102, based on the information read by the controller 160, are the first and second angle control pins 23R and 23L inserted only into the pin hole pair corresponding to the same standing angle on the right hand side and the left hand side? Judge whether or not. Then, if it is determined that the plug is inserted (Yes), the process proceeds to step S104, and if it is determined that the insertion is not made (No), the process proceeds to step S108.

For example, in the example shown in FIG. 21 (a), the first and second angle regulating pins 23R and 23L are inserted into the third and sixth pin hole pairs corresponding to the same standing angle of 85 °. In this case, the third proximity switch 58R detects the tip of the first angle regulation pin 23R, and the sixth proximity switch 58L detects the tip of the second angle regulation pin 23L. Therefore, in the controller 160, the first and second angle regulation pins 23R and 23L are the same from the detection signals SW3 and SW6 indicating these detection results and the detection signals SW1, SW2, SW4 and SW5 indicating no detection. It is determined that it is inserted only in the pin hole pair corresponding to the standing angle.

On the other hand, for example, in the example shown in FIG. 21B, the first angle regulating pin 23R is inserted into the first pin hole pair corresponding to the standing angle of 95 °, and the second angle regulating pin 23L is inserted. It is inserted into a sixth pin hole pair corresponding to an upright angle of 85 °. In this case, the first proximity switch 56R detects the tip of the first angle regulation pin 23R, and the sixth proximity switch 58L detects the tip of the second angle regulation pin 23L. Therefore, in the controller 160, the first and second angle regulation pins 23R and 23L correspond to the same standing angle from the detection signals SW1 and SW6 indicating these detection results and the detection signals SW2 to SW5 indicating no detection. It is determined that the pin hole pair is not inserted only.

In this embodiment, from the combination of detection results, not only when a mistake is made, but also when no pin is inserted, when only one pin is inserted, or three or more pins are inserted. Cases can also be detected. In these cases, it is determined that they are not inserted only into the pin hole pairs corresponding to the same standing angle.
When the process proceeds to step S104, the controller 160 sets a flag that allows the undulating boom 7 to operate, and proceeds to step S106.

For example, in the example shown in FIG. 21A, the first and second standing angle regulating members 20R and 20L are inserted only into the third and sixth pin hole pairs corresponding to the same standing angle of 85 °. It is in a state where it can rotate normally with the first and second angle regulation pins 23R and 23L as rotation axes. Therefore, in such a state, the undulating operation of the undulating boom 7 is permitted.
In step S106, the controller 160 executes an operation control process for controlling various hydraulic actuators in response to operation inputs corresponding to various operation contents including the undulating operation of the undulating boom 7. After that, a series of processes is completed.

On the other hand, if it is determined in step S102 that the first and second angle regulating pins 23R and 23L are not inserted only into the pin hole pair corresponding to the same standing angle, and the process proceeds to step S108, the controller 160 , Set a flag that prohibits the operation of the undulating boom 7. After that, the process proceeds to step S110.

For example, in the example shown in FIG. 21B, the first and second standing uprights are centered on the first and second angle regulating pins 23R and 23L inserted into the pin hole pairs corresponding to different standing angles. The angle regulating members 20R and 20L will rotate. As a result, the standing angle of the undulating boom 7 cannot be regulated normally. That is, when the undulating boom 7 is operated to stand up with the pin insertion positions being different, one of the first and second standing angle regulating members 20R and 20L is inserted into a pair of pin holes having a smaller standing angle. , The other becomes linear before it becomes linear. In this state, the standing operation is completed with the other bent, and most of the tensile force F is applied to the linear one. In such a state, the undulating operation of the undulating boom 7 is prohibited because it may lead to damage to parts or an unexpected accident.

In step S110, the controller 160 transmits an operation signal Uo to the unload valve operating solenoid 181 in response to operation inputs corresponding to various operation contents including the undulating operation of the undulating boom 7. After that, a series of processes is completed.
That is, while the flag for prohibiting the operation of the undulating boom 7 is set, the main relief valve 180 is opened and the operating state of the hydraulic pump 60 is released in response to the operation input related to the operation of the undulating boom 7. Put it in the load state (no load operation state).

(Structure of boom mounting part)
Next, detailed configurations of the first and second boom mounting portions 59R and 59L will be described.
As shown in FIGS. 22A and 22B, the first boom mounting portion 59R includes a first horizontal surface portion 59Ra formed at the upper end portion of the first reinforcing portion 55R and a first upper plate. It has a second horizontal surface portion 59Rb formed at the upper end portion of the second vertical plate portion 51Rb of the 51R.

Further, the second boom mounting portion 59L includes a third horizontal surface portion 59La formed at the upper end portion of the second reinforcing portion 55L and an upper end portion of the fourth vertical plate portion 51Lb of the second upper plate 51L. It has a fourth horizontal surface portion 59Lb formed in.
Here, as shown in FIG. 22A, the undulating boom 7 is mounted on the first and second boom mounting portions 59R and 59L via the base end side bracket 40 on both side surface portions of the undulating boom 7. A first leg portion 70R and a second leg portion 70L for placing are projected.

As shown in FIGS. 9A and 22B, the first leg portion 70R is closer to the lower end on the right-hand side of the base end side bracket 40 and is closer to the undulating boom 7 than the second connecting portion 40b. The first base leg portion 70Ra having a semi-trapezoidal vertical cross section and made of metal and the vertical cross section provided at the lower end portion of the first base leg portion 70Ra, which are joined to the positions on the base end side by welding or the like, are It has a first cushioning portion 70Rb that is rectangular and made of resin. The first cushioning portion 70Rb is fixed to the bottom surface of the first base leg portion 70Ra with two first screws 70Rc by screwing.

Further, the second leg portion 70L has the same configuration as the first leg portion 70R, and although not shown, the second leg portion 70L has a second base leg portion 70La and a second cushioning portion 70Lb. The second cushioning portion 70Lb is fixed to the bottom surface of the second base leg portion 70La with two second screws 70Lc by screwing.
Here, the bottom surfaces of the first base leg portion 70Ra and the second base leg portion 70La are configured to be flush with the lower surface of the undulating boom 7. Therefore, the first cushioning portion 70Rb and the second cushioning portion 70Lb are in a state of protruding below the lower surface of the undulating boom 7.

Then, when the undulating boom 7 is mounted on the first boom mounting portion 59R, as shown in FIGS. 23 (a) and 23 (b), the undulating boom 7 is rotated in the undulating direction to obtain the first undulating boom 7. The first leg portion 70R is placed in a state where the lower surface of the first cushioning portion 70Rb of the leg portion 70R is in contact with the first horizontal surface portion 59Ra and the second horizontal surface portion 59Rb. This also applies to the second boom mounting portion 59L side, and although not shown, the lower surface of the second cushioning portion 70Lb of the second leg portion 70L is formed on the lower surface of the second cushioning portion 70Lb of the third horizontal surface portion 59La and the fourth horizontal surface portion 59La. The second leg portion 70L is placed in contact with the horizontal surface portion 59Lb.

The first and second boom mounting portions 59R and 59L are formed integrally (also used) with the column 5. Therefore, as shown in FIGS. 24A and 24B, a state in which the first leg 70R and the second leg 70L are mounted on the first and second boom mounting portions 59R and 59L, That is, it is possible to rotate the undulating boom 7 while keeping the posture of the undulating boom 7 in the retracted state. In addition, it is not necessary to separately provide a stand (boom rest) for mounting the boom, so that the cost can be reduced.

Further, since the undulating boom 7 is not directly mounted but is mounted via the first and second legs 70R and 70L, it is possible to prevent the boom from being damaged or dented. It will be possible. Further, since it is configured to be mounted via the resin-made first and second cushioning portions 70Rb and 70Lb provided at the lower ends of the first and second leg portions 70R and 70L, the undulating boom 7 is mounted. It is possible to prevent the paint on the first and second boom mounting portions 59R and 59L from peeling off due to this. Further, even when the width of the undulating boom 7 is narrower than the width between the first and second upper plates of the column 5 as in the present embodiment, the boom is mounted using the upper end portion of the column 5. It is possible to form a placement part.

Further, the first and second boom mounting portions 59R and 59L are provided at the upper end portions of the portions reinforced by the first and second reinforcing portions 55R and 55L, and the first and second reinforcing portions are reinforced. As shown in FIGS. 6A and 6B, the lower ends of the portions 55R and 55L extend to the base plate 50 and are joined to the base plate 50. That is, the first and second boom mounting portions 59R and 59L are used to mount the undulating boom 7 (including the weight of the bending boom 8) as the first and second reinforcing portions 55R and 55L. In the first place, sufficient strength is secured. In addition, when the suspension force is received by the pin, the tensile force is transmitted to the base plate 50 through the first and second reinforcing portions 55R and 55L to ensure sufficient strength against the tensile force. There is.

Here, in the present embodiment, the tower crane 1 corresponds to the working machine, the undulating boom 7 corresponds to the constituent members, the member on the base side corresponds to the column 5, and the boom undulating operation control device corresponds to the working machine. Corresponds to the undulation motion control device.
Further, the first to first to first to sixth pin holes 52R to 54L correspond to a plurality of first pin holes, and the second to second to second to second pin holes 210R to 212L correspond to a plurality of second pin holes. Corresponding to pin holes, first to sixth pin hole pairs correspond to a plurality of pin hole pairs.
Further, the first and second undulating boom undulating hydraulic cylinders 34R and 34L correspond to the undulating cylinders, the first to sixth proximity switches 56R to 58L correspond to the insertion detection unit, and the controller 160 limits the undulating operation. Corresponds to the department.

(Action and effect of embodiment)
The standing angle regulating device according to the present embodiment is a device that regulates the standing angle of the undulating boom 7 of the tower crane 1, and is a first standing angle regulating member 20R provided on the right hand side of the undulating boom 7 and the column 5. And a second standing angle regulating member 20L provided on the left hand side. The first standing angle regulating member 20R includes a first right-handed plate 21R whose one end is rotatably supported on the right-hand side of the column 5 via a first angle-regulating pin 23R around a horizontal axis. One end is rotatably supported around the horizontal axis via the first connecting pin 24R on the other end of the first right-hand side plate 21R, and the other end is on the right-hand side of the undulating boom 7 at the base end. It has a second right-hand side plate 22R rotatably supported about a horizontal axis via a side bracket 40 and a third connecting pin 25. In addition, the second standing angle regulating member 20L is a first left-handed plate whose one end is rotatably supported on the left-hand side of the column 5 around a horizontal axis via a second angle-regulating pin 23L. 21L and one end are rotatably supported by the other end of the first left-hand side plate 21L via a second connecting pin 24L around a horizontal axis, and the other end is on the left-hand side of the undulating boom 7. It has a second left hand side plate 22L rotatably supported around a horizontal axis via a base end side bracket 40 and a third connecting pin 25.

Then, the first and second standing angle regulating members 20R and 20L are bent around the connecting portion between the first right-hand side and left-hand side plates 21R and 21L and the second right-hand side and left-hand side plates 22R and 22L. It is configured to be in a state of being. In addition, when the undulating boom 7 becomes linear due to the tension from the undulating boom 7 according to the movement of the undulating boom 7 in the upright direction, the undulating boom 7 is in the upright state and between the column 5 and the undulating boom 7. It is configured to prevent the undulating boom 7 from falling over by being laid diagonally.

That is, the standing angle regulating member 20 becomes linear and is diagonally bridged between the undulating boom 7 and the column 5, so that the standing angle regulating member 20 is stretched against the movement of the undulating boom 7 in the standing direction. Therefore, further movement of the undulating boom 7 in the upright direction is prevented. This makes it possible to regulate the standing angle. As a result, it is possible to regulate the standing angle of the constituent members of the working machine such as the boom of the crane at low cost and space saving without using a winch or the like as compared with the case of regulating with the conventional wire.

The standing angle regulating device according to the present embodiment is further provided with pin holes of the first to first to first to third, which are provided through the plate surface in the first upper plate 51R constituting the right hand portion of the column 5. The first plate surface is provided at positions concentric with the pin holes 52R to 54R of the second upper plate 51L constituting the left hand portion and the pin holes 52R to 1-3 of the second upper plate 51L. -4 to 1-6th pin holes 52L to 54L are provided.

In addition, the 2-1st to the first through the plate surface, which are provided at one end of the first right-hand side plate 21R in the same relative positional relationship as the pin holes 52R to 54R of the 1st to 1st to 3rd. It is provided with 2-3 pin holes 210R to 212R. Further, the 2nd-4th to 2nd penetrating the plate surface are provided at one end of the 1st left hand side plate 21L in the same relative positional relationship as the 1st-4th to 1st-6th pin holes 52L to 54L. It is provided with -6 pin holes 210L to 212L.

Furthermore, among the pin holes 52R to 54R of the 1st to 1st to 1-3 and the pin holes 210R to 212R of the 2nd to 2nd to 3rd, a plurality of pin holes coaxially overlapping in the same relative positional relationship. The first angle regulating pin 23R is provided so as to be removable from the set (first to third pin hole pair). Further, among the 1st-4th to 1st-6th pin holes 52L to 54L and the 2nd-4th to 2-6th pin holes 210L to 212L, a plurality of pin holes coaxially overlapping in the same relative positional relationship. It is provided with a second angle regulating pin 23L configured so that it can be inserted and removed from the set (fourth to sixth pin hole pairs).

The first and second standing angle regulating members 20R and 20L are the first and fourth pin hole pair pairs, the second and fifth pin hole pair pairs, and the third and sixth pin hole pair pairs. By inserting the first and second angle regulation pins 23R and 23L into only one of the two sets, this rotation is performed with the inserted first and second angle regulation pins 23R and 23L as the rotation axis. It is configured to rotate around an axis.

The pin holes 52R to 54L of the 1st to 1st to 1st to 6th and the pin holes 210R to 212L of the 2nd to 1st to 2nd to 6th are the first and the first and the pin holes 210R to 212L when the undulating boom 7 is in the upright state. The second standing angle regulating members 20R and 20L are linear, and the standing angle of the base end boom is set to a different angle (95 °, 90 °, 85 ° in the embodiment) for each pair of pin holes. It is formed in a regulated positional relationship.

With such a configuration, it is possible to select a desired standing angle from a plurality of standing angles (95 °, 90 °, 85 °) by combining pin hole pairs into which the pins are inserted. As a result, the undulating boom 7 can be easily erected at a desired erection angle by simply inserting a pin, as compared with the case where the erection angle is adjusted visually by operating a conventional winch, for example. It will be possible.

Further, the standing angle regulating device according to the present embodiment can select the standing angle of the undulating boom 7 from three types of angles including two front and rear angles of 85 ° and 95 ° based on 90 ° of standing vertically. It is configured in.
With this configuration, the tip of the bending boom 8 reaches 95 ° more forward, and the boom protrudes from the opening provided in the roof, based on the standing angle of 90 °, depending on the application and the situation at the site. When performing the work, it is possible to arbitrarily select 85 °, which allows the diameter of the opening to be smaller, and it is possible to improve the work efficiency.

In addition, the right-hand and left-hand parts of the column 5 are provided with pin holes 52R to 54L of the first to first to first six, and the first right-hand side and the left-hand side plates 21R and 21L are provided with the second 2-1. ~ 2-6th pin holes 210R ~ 212L were provided. For example, it is assumed that a pin hole is provided at a connecting portion between the first right-hand side and left-hand side plates 21R and 21L and the second right-hand side and left-hand side plates 22R and 22L. Alternatively, it is assumed that the undulating boom 7 and the pin holes are provided on the other end sides of the second right-hand side and left-hand side plates 22R and 22L. Compared with these cases, it is possible to insert and remove the pin at a lower position, and it is possible to improve workability.

Further, in the posture in which the undulating boom 7 is in the boom retracted state, the first right-hand side plate 21R and the second right-hand side plate 22R, which are two links in the first standing angle regulating member 20R, have an inverted shape. In the closest state, the angle of the connecting portion formed by each is the acute angle. This also applies to the second standing angle regulating member 20L.
This means that the link mechanism rotates freely around the pin at the node where it is pivotally supported by the pin, but the movement of the plate other than that is regulated so that it does not move. The rotation of the first and second standing angle regulating members 20R and 20L other than around the axis is restricted.

That is, even if the first and second angle regulating pins 23R and 23L, which are the support shaft pins on the lower side of the first and second standing angle regulating members 20R and 20L, are removed, the standing angle regulating member still holds the upper part. Since it is pivotally supported by the base end side bracket 40 and also pivotally supported by the first and second connecting pins 24R and 24L, the first right-hand side and left-hand side plates 21R and 21L are difficult to separate from the machine body.

This is a significant point because even when the tower crane 1 is working in a place where it is tilted diagonally in the left-right direction, the link is difficult to separate from the machine even if the pin is pulled out.
The standing angle regulating device according to the present embodiment further includes the first right-hand side and left-hand side plates 21R and 21L of the first and second standing angle regulating members 20R and 20L in the posture in which the undulating boom 7 is in the boom retracted state. The first and second upper plates 51R and 51L are provided with first to fourth support portions 500a to 500d, which abut and support the lower end portions of the above plates from below. In addition, the pin holes 52R to 54L of the 1st to 1st to 1st to 6th and the pin holes 210R to 212L of the 2nd to 1st to 2nd to 6th, and the first and second standing angle regulating members 20R and 20L. Is in a state where the undulating boom 7 is in the boom retracted state and the lower ends of the first right-hand side and left-hand side plates 21R and 21L are supported by the first to fourth support portions 500a to 500d. Each of the first to sixth pin hole pairs is configured so that the first and second angle regulating pins 23R and 23L can be inserted.

With such a configuration, the lower ends of the first right-hand side and left-hand side plates 21R and 21L are supported from below even when the first and second angle regulation pins 23R and 23L are pulled out. Become. Therefore, the first right-hand side and left-hand side plates 21R and 21L do not rotate downward from the overlapping positions of the pin holes, and the first pin hole pair does not rotate downward. And the second angle regulation pins 23R and 23L can be maintained in a removable state. The first right-hand side and left-hand side plates 21R and 21L are in a state of not rotating upward due to their own weight unless a large impact is applied.

As a result, the operator can easily change the standing angle by inserting and removing the first and second angle regulating pins 23R and 23L when the undulating boom 7 is in the boom retracted posture.
The standing angle regulating device according to the present embodiment further includes pin holes 52R to 54L of the 1st to 1st to 1st to 6th and pin holes 210R to 212L of the 2nd to 1st to 2nd to 6th, and first and second pin holes. When the undulation boom 7 is undulated, the standing angle regulating members 20R and 20L of 2 form a connecting portion between the first right-hand side and left-hand side plates 21R and 21L and the second right-hand side and left-hand side plates 22R and 22L. , The column 5 is configured to move in a trajectory that avoids the position of the boom foot pin 75, which is the mounting position of the undulating boom 7.

Here, the connecting portion of the plates becomes thick because the two plates overlap and are supported by the pins. Further, the position of the boom foot pin 75 to which the undulating boom 7 is attached is also in a relatively protruding state. Further, it is desirable that the first and second standing angle regulating members 20R and 20L of the embodiment are arranged at positions as close as possible to the column 5 in order to form a pin hole pair.

Based on this, when the undulating boom 7 undulates and the first and second erection angle regulating members 20R and 20L rotate, the trajectory of the connecting portion of the plate avoids the position of the boom foot pin 75. It was configured as follows. As a result, the first and second standing angle regulating members 20R and 20L can be arranged at positions closer to the column 5, facilitating the alignment of the hole positions and the like, and the first and first. It is also possible to save the space for arranging the standing angle regulating members 20R and 20L of 2.

Here, the tower crane 1 is provided with an undulating boom undulating hydraulic cylinder 34 that gives a force to rotate the undulating boom 7 in the upright direction when extended and to rotate the undulating boom 7 in the undulating direction when contracted. The undulating boom undulating hydraulic cylinder 34 includes a first undulating boom undulating hydraulic cylinder 34R provided near the right hand (first upper plate 51R) inside the column 5 and a left hand (second) inside the column 5. A second undulating boom undulating hydraulic cylinder 34L provided near the upper plate 51L) is provided. In the first and second undulating boom undulating hydraulic cylinders 34R and 34L, the tip of the rod is rotatably supported by the column 5 via the first cylinder pin 340 around a horizontal axis, and the tube. The tip end portion is rotatably supported by the undulating boom 7 via the base end side bracket 40 around a horizontal axis via the second cylinder pin 341.

Further, the standing angle regulating device according to the present embodiment further includes a rotation shaft (first and second connecting pins 24R and 24L) on the other end side of the second right-hand side and left-hand side plates 22R and 22L. The first and second undulating boom undulating hydraulic cylinders 34R and 34L are separated from the rotating shaft (second cylinder pin 341) on the tip end side of the tube with the undulating boom 7 interposed therebetween via the base end side bracket 40. It is placed in the position where it was. In addition, the rotation shafts (first and second angle control pins 23R and 23L) on the one end side of the first right-hand side and left-hand side plates 21R and 21L and the first and second undulation boom undulation hydraulic cylinders 34R. The rotation shaft (first cylinder pin 340) on the tip end side of the 34L rod is arranged at a position on the second cylinder pin 341 side of the undulating boom 7 of the column 5 so as to be separated from each other. Further, when the undulating boom 7 is in the upright state, the first cylinder pin 340 is connected to the first and second cylinder pins 340 with respect to the positional relationship between the first and second connecting pins 24R and 24L and the second cylinder pin 341. It is arranged on the pins 24R and 24L side (front end side (second and fourth vertical plate portions 51Rb and 51Lb) of the column 5). Furthermore, the first and second angle regulation pins 23R and 23L are arranged on the second cylinder pin 341 side (rear end side of the column 5 (first and third vertical plate portions 51Ra and 51La)). There is.

With such a configuration, when the undulating boom 7 is in the upright state, the first upright angle regulating member 20R is linear when viewed from the right hand side, and the first undulating boom undulating hydraulic pressure in the extended state. The cylinder 34R intersects with the cylinder 34R as if drawing an "X" in the alphabet. Similarly, when viewed from the left hand side, the linear second standing angle regulating member 20L and the extended second undulating boom undulating hydraulic cylinder 34L intersect as if drawing an "X". To do. In this way, by arranging the arrangement so as to draw "X", the standing angle regulating member 20 and the undulating boom undulating hydraulic cylinder 34 are concentrated around the undulating boom 7, and the operator is working in a narrow place. It is possible to improve the visibility by making it difficult to block the line of sight of the cylinder.

Further, the erection angle regulating device according to the present embodiment is further configured so that the undulation boom 7 rotates in the erection direction when the first and second undulation boom undulation hydraulic cylinders 34R and 34L are extended. The first and second standing angle regulating members 20R and 20L are configured so that the first and second undulating boom undulating hydraulic cylinders 34R and 34L become linear before extending to their stroke ends. There is.

With such a configuration, the first and second erection angle regulating members 20R and 20L are linear in a state where the first and second undulating boom undulating hydraulic cylinders 34R and 34L have not reached the stroke end. Then, it receives the moment M on the tilting side of the undulating boom 8 due to the suspended load. At this time, for example, when both the first and second standing angle regulating members 20R and 20L are broken, the first and second undulating boom undulating hydraulic cylinders 34R and 34L are in a state where a margin is left for the stroke. It is possible to receive the moment M at, and it is possible to ensure safety as compared with the case where it is received at the stroke end.

On the other hand, the boom undulating motion control device according to the present embodiment is a device that controls the undulating motion of the undulating boom 7 of the tower crane 1 provided with the standing angle regulating device. In this boom undulation operation control device, the first to sixth proximity switches 56R to 58L have the first and second angle regulation pins 23R and 23L in any of the pin hole pairs of the first to sixth pin hole pairs. Detect if it is plugged in. Based on the detection results (detection signals SW1 to SW6) of the first to sixth proximity switches 56R to 58L, the controller 160 makes only the first and first pin hole pairs corresponding to the same standing angle on the right hand side and the left hand side. It is determined whether or not the angle control pins 23R and 23L of No. 2 are inserted. Then, when it is determined that the pin holes are inserted only into the pair of pin holes corresponding to the same standing angle, the undulating operation of the undulating boom 7 is permitted. On the other hand, when it is determined that the pin holes are not inserted only into the pair of pin holes corresponding to the same standing angle, the undulating operation of the undulating boom 7 is prohibited.

With such a configuration, it is possible to prohibit the undulating operation of the undulating boom 7 when the pins are not inserted only into the pin hole pairs corresponding to the same standing angle. As a result, parts may be damaged or unexpected accidents may occur due to undulating operation when the pin is not inserted, only one pin hole pair is inserted, or the pin is inserted incorrectly. It is possible to prevent it in advance.

Further, the tower crane 1 according to the present embodiment includes a column 5 provided on the upper portion of the base 4 and an undulating boom 7 pivotally supported on the column 5 so as to be undulating. Then, the standing angle regulating device is provided as a means for regulating the standing angle of the undulating boom 7, and the boom undulating motion control device is provided as a means for controlling the undulating motion of the undulating boom 7.
Thereby, the same operation and effect as the above-mentioned standing angle regulating device and the above-mentioned boom undulating operation control device can be obtained.

(Modification example)
In the above embodiment, the two pins of the first and second angle regulation pins 23R and 23L are used as the rotation axes of the first right-hand side and left-hand side plates 21R and 21L on one end side. Not limited to this configuration. For example, the first and second undulating boom undulating hydraulic cylinders 34R and 34L are arranged outside the column 5, and the first and second undulating angle regulating members 20R and 20L are arranged inside the column 5. Then, one long pin common to each pair of the first and fourth pin hole pairs, the second and fifth pin hole pairs, and the third and sixth pin hole pairs is provided. It may be inserted and used as a rotation axis. In the case of this configuration, the standing angle regulating member may be a single unit.

Further, in the above embodiment, in consideration of workability such as inserting and removing pins at a low position, the positions of a plurality of pin holes for changing the standing angle are set to the column 5 and the first right-hand side and left-hand side plates 21R. And 21L are provided on one end side. The configuration is not limited to this, and for example, a plurality of pin holes may be provided at the connecting portions of the first right-hand side and left-hand side plates 21R and 21L and the second right-hand side and left-hand side plates 22R and 22L, respectively. Alternatively, a plurality of pin holes may be provided at the other ends of the second right-hand side and left-hand side plates 22R and 22L and at the attachment positions of the other end portions to the undulating boom 7. Any one of these pin hole positions may be adopted, or any combination may be adopted.

Further, in the above embodiment, a plurality of pin holes for changing the standing angle are provided, and a removable pin is inserted into the pin holes, but the configuration is not limited to this. The combination of a plurality of pin holes and pins is optimal in consideration of operability, durability, cost, etc., but for example, if the mechanism allows the pin position to be selected from a plurality of prepared positions, the pin position can be selected. Other configurations such as a sliding configuration may be used.

Further, in the above embodiment, the standing angle is configured to be selectable from three types of angles of 95 °, 90 °, and 85 °, but the configuration is not limited to this configuration. Another angle may be selectable, or two types of standing angles or four or more types of standing angles may be selected.
Further, in the above embodiment, the distance between the axes of the first connecting pin 24R and the third connecting pin 25 is constant when the undulating boom 7 is standing up, but the configuration is not limited to this. .. For example, as shown in FIG. 25 (a), the second right-hand side plate 22R is lengthened according to the required standing angle, and instead of the third connecting hole 221R, an elongated hole shape along the longitudinal direction is formed. The seventh connecting hole 222R may be provided to make the distance between the axes variable.

With this configuration, as shown in FIG. 25B, when the undulating boom 7 is in the boom retracted state, the third connecting pin 25 is closer to the third connecting hole 220R in the seventh connecting hole 222R. Located in. When the undulating boom 7 rotates in the upright direction from this state, the second right-hand side plate 22R rotates around the third connecting pin 25 in the slotted hole, and the first and second right-hand side plates 21R When the 22R and 22R become linear, they slide and move while sliding the third connecting pin into the elongated hole. Then, the first and second right-hand side plates 21R and 22R are stretched by the third connecting pin 25 coming into contact with the end portion on the undulating boom 7 side in the seventh connecting hole 222R, and are longer than before the change. It becomes linear in the state.

This makes it possible to expand the range of the standing angle without changing the positions of the ends of the first and second right-hand side plates 21R and 22R on the connecting portion side. Further, the position of forming the elongated hole is not limited to the position of the third connecting hole 221R, but the position of the first connecting hole 213R of the first right-hand side plate 21R or the second connecting hole of the second right-hand side plate 22R. It may be the position of 220R. This also applies to the second standing angle regulating member 20L.

Further, in the above embodiment, the first and second leg portions 70R and 70L provided with the undulating boom 7 having a width narrower than the distance between the first and second upper plates 51R and 51L on the side surface portion of the boom. It is configured to be mounted on the first and second boom mounting portions 59R and 59L via the above. Not limited to this configuration, for example, an undulating boom 7 having a width reaching the upper ends of the first and second upper plates 51R and 51L is adopted, and the lower surface of the undulating boom 7 is directly mounted on the first and second booms. Other configurations may be used, such as mounting on the parts 59R and 59L.

Further, in the above embodiment, a tower crane has been described as an example of a working machine equipped with the standing angle regulating device and the boom undulating motion control device according to the present invention, but the present invention is not limited to this. The present invention is not limited to tower cranes, but can be applied to various working machines other than other cranes and cranes, as long as it is a working machine provided with a component that performs an undulating operation such as an undulating boom 7 and is in an upright state during work. Applicable. In addition, as a work machine, work (for example, work of illuminating an object) is performed by moving to a destination such as a lighting device and installing it, or it should be deferred without a self-propelled function. It also includes work that is performed in (for example, work that supports an object).

1 Tower crane (working machine)
2 Chassis frame 3 Traveling device 4 Base 5 Column 6 Crane device 7 Base end boom 8 Tip boom 11 Operation unit 15a Engine 15b Pressure oil supply device 15c Control valve 20R, 20L 1st and 2nd standing angle regulating members 21R 1st Right-handed plate 21L 1st left-handed plate 22R 2nd right-handed plate 22L 2nd left-handed plate 23R, 23L 1st, 2nd angle control pins 24R, 24L 1st, 2nd connecting pins 25 3rd Connecting pins 34R, 34L 1st and 2nd undulating boom undulating hydraulic cylinder 40 Base end side bracket 40a 1st connecting part 40b 2nd connecting part 50 Base plate 51R, 51L 1st and 2nd upper plates 52R ~ 54R 1st to 1st to 3rd pin holes 52L to 54L 1st to 4th to 1st to 6th pin holes 55R, 55L 1st and 2nd reinforcing parts 56R to 58R 1st to 3rd proximity switches 56L to 58L 4th to 6th proximity switches 59R, 59L 1st and 2nd boom mounting parts 59Ra, 59Rb 1st and 2nd horizontal plane parts 59La, 59Lb 3rd and 4th horizontal plane parts 60 Hydraulic pump 62 Main pipeline 63 Return pipeline 64 Tank 70R, 70L 1st and 2nd legs 75 Boom foot pin 80 Crane switching control valve 81 Accelerator cylinder 82 Out trigger switching control valve 83 Swing switching control valve 84 Boom expansion / contraction switching control Valve 85 Winch switching control valve 86 Boom undulation switching control valve 87 Horizontal out-trigger cylinder switching valve 88 Vertical out-trigger cylinder switching valve 160 Controller 161 Receiver 162 Remote control device 180 Main relief valve (unload valve)
181 Solenoid for operating unload valve 210R to 212R Pin holes 210L to 212L 2nd to 4th to 2nd to 2nd pin holes 213R, 213L 1st and 4th connecting holes 220R, 220L 2nd and 5th connecting holes 221R, 221L 3rd and 6th connecting holes 340 1st cylinder pin 341 2nd cylinder pin 500a to 500d 1st to 4th support parts

Claims (2)

An undulating motion control device for a working machine that controls the undulating motion of a component member undulatingly attached to a base of a working machine around a horizontal axis.
The working machine is
A first side plate whose one end is rotatably supported around the horizontal axis on one side surface of the base member in the horizontal axial direction, and one end is the first side surface. A second side surface rotatably supported around the horizontal axis by the other end of the side plate and rotatably supported around the horizontal axis by the other side of the component. A first link mechanism with a side plate and
A first other side surface plate whose one end is rotatably supported around a horizontal axis on the other side surface side opposite to the one side surface side of the base member, and one end portion is said to be the first. The other end of the other side plate of No. 1 is rotatably supported around a horizontal axis, and the other end is rotatably supported around the horizontal axis on the other side of the component. A second link mechanism having two other side plates and
The mounting position of each one end portion of the first side surface side and the other side surface side plate in the base side member, the one end portion of each of the second one side surface side and the other side surface side plate, and the said. Concentric with the one side surface side and the other side surface side provided in at least one set of the attachment positions of the other end portions of the second side surface side and the other side surface side plate of the constituent member. A plurality of first pin holes, which are through holes
One end of each of the first side surface side and the other side surface side plate of the first and second link mechanisms, the other end portion of each of the first side surface side and the other side surface side plate, and A plurality of penetrating plate surfaces having the same relative positional relationship as the plurality of first pin holes provided in at least one set of the other ends of the second side surface side and the other side surface side plates. The second pin hole and
Of the plurality of first pin holes and the plurality of second pin holes, a set of a plurality of pin holes coaxially overlapping on one side surface side thereof in the same relative positional relationship can be inserted and removed. For a set of a plurality of pin holes coaxially overlapping on the other side surface side of the first angle regulating pin, the plurality of first pin holes, and the plurality of second pin holes in the same relative positional relationship. It has a second angle control pin, which is configured to be removable.
The first and second link mechanisms include only one of the plurality of pin hole sets coaxial with each other on one side surface side and the other side surface side. When the angle regulation pin is inserted, it is configured to rotate around the inserted first and second angle regulation pins as a rotation axis, and receives tension according to the operation of the constituent member in the upright direction. At the time when it becomes linear, the constituent member is in an upright state and is diagonally bridged between the base member and the constituent member to prevent the constituent member from falling down. Ori,
The plurality of first pin holes and the plurality of second pin holes are formed in a positional relationship in which the constituent members are prevented from falling in an upright state in which the standing angles are different for each set of the pin holes. Equipped with an upright angle regulation device
An insertion detection unit that detects which of the plurality of pin hole sets the first and second angle regulation pins are inserted, and
Based on the detection result of the insertion detection unit, the first and second angle regulation pins are inserted only into the set of pin holes corresponding to the same standing angle on the one side surface side and the other side surface side. A plug-in judgment unit that determines whether or not it is present,
When it is determined by the insertion determination unit that the first and second angle regulation pins are inserted only in the set of pin holes corresponding to the same standing angle, the undulating operation of the constituent member is permitted, and the above-mentioned When the insertion determination unit determines that the first and second angle regulation pins are not inserted only in the set of pin holes corresponding to the same standing angle, the undulating operation restriction that prohibits the undulating operation of the constituent member. An undulating motion control device for a working machine, which comprises a section and a section. It is a crane equipped with a column provided on the upper part of the base and a boom that is pivotally supported on the column so as to be undulating around a horizontal axis.
A first side plate whose one end is rotatably supported around the horizontal axis on one side of the column in the horizontal axial direction, and one end of the first side plate. A second side plate rotatably supported around the horizontal axis at the other end and rotatably supported around the horizontal axis at the other end of the boom. The first link mechanism to have and
A first other side surface plate rotatably supported around a horizontal axis on the other side surface side opposite to the one side surface side of the column, and one end portion of the first other side plate. A second other side surface rotatably supported around the horizontal axis by the other end of the side plate and rotatably supported around the horizontal axis by the other side of the boom. A second link mechanism with a side plate and
The mounting positions of the one end portions of the first side surface side and the other side surface side plates in the column, the one end portions of the second one side surface side and the other side surface side plates, and the first of the booms. It is a through hole provided in at least one set of the mounting positions of the other end of each of the one side surface side and the other side surface side plate of 2 and which is concentric with the one side surface side and the other side surface side. With multiple first pin holes,
One end of each of the first side surface side and the other side surface side plate of the first and second link mechanisms, the other end portion of each of the first side surface side and the other side surface side plate, and A plurality of penetrating plate surfaces having the same relative positional relationship as the plurality of first pin holes provided in at least one set of the other end portions of the second side surface side and the other side surface side plates. For a set of a second pin hole and a plurality of pin holes coaxially overlapping on one side surface side of the plurality of first pin holes and the plurality of second pin holes in the same relative positional relationship. A plurality of the first angle regulating pin configured to be removable and the plurality of first pin holes and the plurality of second pin holes coaxially overlapping on the other side surface side in the same relative positional relationship. It has a second angle control pin, which is configured to be removable with respect to the set of pin holes.
The first and second link mechanisms include only one of the plurality of pin hole sets coaxial with each other on one side surface side and the other side surface side. When the angle regulation pin is inserted, it is configured to rotate around the inserted first and second angle regulation pins as a rotation axis, and receives tension according to the operation of the boom in the upright direction. When the boom becomes linear, the boom is in an upright state and is diagonally bridged between the column and the boom to prevent the boom from falling down.
The plurality of first pin holes and the plurality of second pin holes are erected in such a positional relationship that the boom is prevented from falling in an erected state in which the erection angles are different for each set of the pin holes. Angle control device and
An insertion detection unit that detects which of the plurality of pin hole sets the first and second angle regulation pins are inserted, and
Based on the detection result of the insertion detection unit, the first and second angle regulation pins are inserted only into the set of pin holes corresponding to the same standing angle on the one side surface side and the other side surface side. A plug-in judgment unit that determines whether or not it is present,
When it is determined by the insertion determination unit that the first and second angle regulation pins are inserted only in the set of pin holes corresponding to the same standing angle, the undulating operation of the boom is permitted and the difference. When the crowd determination unit determines that the first and second angle regulation pins are not inserted only in the set of pin holes corresponding to the same standing angle, the undulation operation restriction unit that prohibits the undulation operation of the boom. A crane comprising, and an undulating motion control device.

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