JP7002242B2 - Column post for work machine and work machine equipped with this - Google Patents

Description

Patent Law Article 30 Paragraph 2 Applicable Sale date: May 26, 2017 Sales location: Tatsuki Transport Co., Ltd. Publisher: Furukawa Unic Corporation

The present invention relates to a column post for a work machine capable of undulating and undulating a boom provided by a work machine such as a crane boom and on which the boom can be placed when retracted, and a work machine provided with the column post.

Conventionally, as a device for mounting a boom provided in a working machine, for example, there is a boom rest of a crane vehicle described in Patent Document 1. In this crane vehicle, a swivel and a boom are mounted on the upper part on the rear side of the lower traveling body, and a boom rest on which the boom is placed is erected on the upper part on the front side.

Japanese Patent Application Laid-Open No. 2003-40582

However, in the prior art of Patent Document 1, a boom rest is provided in the upper part on the front side of the lower traveling body. Therefore, the space where the boom rest occupies the lower traveling body and the loading platform or the like is provided is reduced. In addition, since the boom rest is fixed to the lower traveling body for the boom that can be turned, the boom rest is in a fixed position for the turning of the boom, and when the boom is mounted, the boom is reached to the position where it can be mounted. Need to be swiveled.

Therefore, the present invention has been made by paying attention to such a problem, and by providing a boom mounting portion (boom rest) on a column post that supports the boom, the boom can be mounted in a space-saving manner and at low cost. An object of the present invention is to provide a column post for a work machine that can be placed and a work machine equipped with the column post.

In order to solve the above problems, the column post for a working machine according to the first aspect of the present invention includes a base plate constituting the bottom surface of the column post and the working machine provided on the upper surface of the base plate. A post portion that supports the base end portion of the boom undulatingly around a horizontal axis is provided, and the post portion is relative to the back surface with the boom support portion side as the back surface with the turning center of the boom as a boundary. A boom mounting portion for mounting the boom in the retracted state is formed at the front end portion.
On the other hand, in order to solve the above problems, the working machine according to the second aspect of the present invention includes a boom and a column post for the working machine according to the first aspect.

According to the present invention, since the boom mounting portion (boom rest) is formed on the column post that supports the boom, it is possible to mount the portion near the base end of the boom to support the boom in the retracted state. It will be possible. This makes it possible to configure the boom mounting portion in a space-saving manner and at low cost, as compared with a configuration in which the boom mounting portion is separately provided at a position near the tip of the boom. In addition, since the boom mounting part is provided on the column post that turns with the turning of the boom, it is possible to make the boom mounting part follow the turning of the boom, and the boom can be mounted regardless of the turning position of the boom. It will be possible to place it.

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 working posture in which the outrigger device is deployed and the undulating boom and the bent boom are erected. 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 surface side 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 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 the diagonally upper side of 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 one configuration example of a first right-hand side plate and a second right-hand side plate constituting the standing angle regulating member 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 upright angle of 95 ° in the retracted state of the undulating boom according to the embodiment. It is a side view which saw 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 the 1st-2nd and the 1st-3rd to be 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 motion when the standing angle is 90 °. (A) and (b) are diagrams showing an example of the standing motion 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. The figure shows a state in which both the undulating boom and the bent boom are fully extended. (A) and (b) are diagrams showing an example of installing 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 control 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 regulating pins are inserted in a normal positional relationship, and (b) is a diagram showing a state in which the first and second angle regulating pins are inserted in an incorrect positional relationship. It is a figure which shows the state which is inserted in. 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 a figure which shows the cross section of a column and an 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 in 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. It is the figure which saw the column and a part of the undulating boom from the upper surface, (a) is the figure which shows the state when the undulating boom is in the retracted state, (b) is the figure which shows the state when the undulating boom is turning to the left. be. 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 provided with a column post 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 dimensions may differ from the actual ones, and some parts of the drawings have different dimensional relationships and ratios. In some cases. Further, 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 post 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 post 5 (hereinafter, simply abbreviated as “column 5”) is erected on the upper part of the base 4 so as to be rotatable.
The crane device 6 is undulating and pivotally supported at the upper end of the column 5, and is undulating and undulating at the telescopic undulating boom 7 composed of a nested box-shaped boom and the tip of the undulating boom 7. , A telescopic folding boom 8 composed of a nesting box-shaped boom is provided.

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 prepare for.
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 outrigger 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 located 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 retracted state shown in FIG. It is configured to be made to. After that, by operating the operation unit 11 or the remote control device 162 (described later), the lateral outrigger cylinders 36RF to 36LR are driven to operate and extend the tip side arms of the outriggers 9RF to 9LR in the starting direction. Furthermore, by driving each vertical outrigger cylinder 37RF to 37LR and operating the base end side arm of each outrigger 9RF to 9LR in the down direction and grounding the lower part of the tip side arm to the ground, the same lifting performance is achieved all around. While ensuring it, the aircraft is designed to be stable.

The driver's seat 10 is for an operator (driver) to sit on the tower crane 1 when traveling, 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 operating 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 turning 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 each of the various hydraulic actuators, and the hydraulic actuator corresponding to the operating lever can be driven in the direction of tilting from the neutral position.

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 hoisting operation, and a lever for operating the undulating operation of the undulating boom 7 and the bending boom 8.
Further, the above-mentioned 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 outrigger 9RF to 9LR. , Includes outrigger operation switches to operate the selected outrigger.

The crane operation-outrigger operation selector switch is a switch for switching between a crane mode for enabling the crane device 6 and an outrigger mode for enabling 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, the telescopic boom changeover switch switches between the undulating boom expansion / contraction operation mode for enabling the undulating boom 7 to be expanded / contracted and the bending boom expansion / contraction operation mode for enabling the bending boom 8 to be expanded / contracted in the crane mode. It is a switch for.
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 be operated at the same time by the mode changeover switch 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 be capable of 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 the hook 14 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.
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 undulating the crane.

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 undulating boom undulating hydraulic cylinder 34, and a bending boom undulating hydraulic pressure. 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 and 35 all operate by supplying pressure oil from the pressure oil supply device 15b via the control valve 15c. It is configured in.
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.

Further, 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. The 85 and the boom undulating switching control valve 86 are provided. 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 provided between the main pipeline 62 and the return pipeline 63, an unload valve operating solenoid 181 and a hook fixing relief valve 182. 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 pipeline 62 and the return pipeline 63 communicate with each other. In the example shown in FIG. 4, the pressure oil discharged from the hydraulic pump 60 is sent to the tank 64 via the return pipeline 63 without going through the switching control valve 89 for traveling and the switching control valve 80 for crane. 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 oil passage of the pressure oil 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 pressure upper limit of the pressure oil to the low set pressure Ps.
As a result, while the hook fixing switch is in the ON state, the hoisting operating pressure of the hook 14 is limited to a low pressure to prevent damage to the hook storage bracket 17 for fixing 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 rotation 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. Pressurized oil is supplied to the vertical outrigger cylinders 37RF to 37LR.
The first electromagnetic switching valve 820 is a control valve that selects either one of 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 has each vertical outrigger cylinder 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 turning switching control valve 83 presses against the turning 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 according to the operation of the remote control device 162. Inflow oil.
The boom expansion / contraction switching control valve 84 is connected to the second electromagnetic switching valve 840 according to the operation signal Bctr1 from the controller 160 according 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. According to the control signal Bctr3, 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.

The winch switching control valve 85 presses against the winch hydraulic motor 33 according to the operation signal Wctr from the controller 160 according to the operation amount of the operation lever of the operation unit 11 or the operation of the remote control device 162. Inflow oil.
The boom undulating switching control valve 86 has the undulating boom undulating hydraulic cylinder 34 and the undulating boom undulating 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 oil supply 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. According to the control signal Bctr4, the oil passage of the pressure oil for the undulating boom undulating hydraulic cylinder 34 or the bending boom undulating hydraulic cylinder 35 is switched.

The switching control valves 82 to 86 and the accelerator cylinder 81 are each provided with a differential transformer (not shown), and the switching positions L1 to L1 to each of the switching control valves 82 to 86 and the accelerator cylinder 81 detected by each differential transformer. 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. The traveling motors 38L and 38R are both operated 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 it is possible to 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 the control box 16. Further, although not shown, a receiver 161 is provided on the upper part of 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 a switching position signal L1 to the accelerator cylinder 81. L6 and the like are input. Then, the controller 160 controls the operation of various electric devices such as an oil passage switching solenoid valve included in the tower crane 1 in response to these input signals.

Further, 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 controlling the operation of each of the above devices can be realized on the software.

Further, as shown in FIGS. 1 to 3, the tower crane 1 according to the embodiment is provided with an upright angle regulating member 20 for regulating the upright angle of the ups and downs boom 7 and a position near the base end of the ups and downs boom 7. A base end side bracket 40 is provided. Further, the tower crane 1 is connected to a tip bracket 41a provided on the tip side of the undulating boom 7, a base bracket 41b provided on the base end side of the bent boom 8, and the tip bracket 41a and the base end bracket 41b. The V-link mechanism 42 is provided, and the tip side bracket 43 provided so as to be close to the tip of the bent boom 8 and to project a part toward 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). It is provided with a second standing angle regulating member 20L provided (on the left hand side in FIG. 3).
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 It is provided with a second connecting portion 40b formed so as to project to the rear side.
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 right hand side of the second connecting portion 40b. 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 about a horizontal axis inside the left hand side of the second connecting portion 40b 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 about a horizontal axis inside the front end on the left hand side of the column 5 via the first cylinder pin 340. It is supported by a cylinder.

As shown in FIG. 1, the tip bracket 41a has two plate-shaped members facing each other with the tip of the undulating boom 7 interposed therebetween, and the tip portion is inside the two plate-shaped members. The first sheave 44 is rotatably supported around a horizontal axis.
The lower end portion of the base end bracket 41b is rotatably supported around the horizontal axis at the upper end portion of the tip end bracket 41a in the positional relationship in the retracted posture shown in FIG.

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 tip bracket 41a around a horizontal axis, and the other end of the base bracket 41b. It is configured to be rotatably supported around a horizontal axis at 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 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 tip bracket 41a around a horizontal axis, and the other end of the base bracket 41b. It is configured to be rotatably supported around a horizontal axis at the upper part on the left hand side.

Further, as shown in FIG. 1, the 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 proximal end bracket 41b is larger than the proximal end bracket 41b. Sheave mounting portions 42a and 42b (not shown) are provided so as to project rearward (upward in FIG. 2). Then, a second sheave shaft suspending the sheave mounting portions 42a and 42b is provided so as to rotatably support the second sheave 45 provided at the center of the shaft so as to rotate around a horizontal axis. There is.

The other end of the tube-side end of the first bending boom undulating hydraulic cylinder 35R is rotatably and pivotally supported around a horizontal axis on the right-hand side of the lower end protruding portion of the tip-side bracket 43. Further, the other end of the tube side of the second bending boom undulating hydraulic cylinder 35L is rotatably and pivotally supported around a horizontal axis on the left hand side of the lower end protruding portion of the tip side bracket 43.
Further, in the first and second bending boom undulating hydraulic cylinders 35R and 35L, one ends on the rod side of each are pins that 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 tip bracket 41a and the proximal 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 starting direction (direction away from the undulating boom 7), while contracting. The bending boom 8 rotates in the downward direction (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 the second plates 51R and 51L.

As shown in FIGS. 6A and 7A, the first plate 51R has a first vertical plate portion 51Ra, a second vertical plate portion 51Rb, and a second vertical plate portion 51Rb when viewed from the right hand side. It has a first horizontal plate portion 51Rc that connects the vertical plate portion 51Ra of 1 and the second vertical plate portion 51Rb, and is configured 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 in 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 configured to be longer than the second vertical plate portion 51Rb, and is configured to protrude toward the front side of the vehicle shown in FIG. Further, a first boom support pin hole 74R for supporting the base end portion of the undulating boom 7 is provided above the plate surface through the plate surface. 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 plate 51R has a pin hole 52R of 1-1, a pin hole 53R of 1-2, and a pin hole 1-3 provided so as to penetrate the plate surface of the second vertical plate portion 51Rb. A second reinforcing portion 55R formed on the surface of the pin hole 54R and the second vertical plate portion 51Rb, and the upper ends of the first reinforcing portion 55R and the second vertical plate portion 51Rb. It is provided with the boom mounting portion 59R of 1.

The pin holes 52R to 54R of the first to the first to the third include the insertion hole 52Ra of the first, the insertion hole 53Ra of the first and second, and the insertion hole 54Ra of the first and third. 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 periphery of the opening portions of the insertion holes 52Ra to 54Ra of the 1-1 to 1-3. It is equipped with 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 1-1 to 1-3 of the pin holes 52R to 54R of the 1-1 to 1-3 and the first. It is thicker than the 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 plate 51L has a shape that is mirror-symmetrical to the first plate 51R when viewed from the left hand side (the first plate 51R is turned inside out). Shape). That is, the third vertical plate portion 51La constituting the left side of the configuration that is long and protrudes toward the front side of the vehicle shown in FIG. 1, the fourth vertical plate portion 51Lb constituting the short right side side, and the third. It has a second horizontal plate portion 51Lc that connects the vertical plate portion 51La and the fourth vertical plate portion 51Lb.

At the lower part of the second horizontal plate portion 51Lc, there is a rubber hose that sends pressure oil from the pump 60 to the hydraulic actuators (31, 32, 33, 34, 35) provided in 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.
At the upper part of the third vertical plate portion 51La, a second boom support pin hole 74L for supporting the base end portion of the undulating boom 7 penetrates the plate surface and is a first boom support pin hole. It is provided coaxially with the 74R. 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.

Then, the first and third vertical plate portions 51Ra and 51La have the base end portions of the undulating boom 7 via the boom foot pins 75 inserted into the first and second boom support pin holes 74R and 74L. It has a structure that is pivotally supported so that it can be undulated.
Further, the second plate 51L has a pin hole 52L of 1-4, a pin hole 53L of 1-5, and a pin hole 1-6 provided so as to penetrate the plate surface of the fourth vertical plate portion 51Lb. A second reinforcing portion 55L formed on the surface of the pin hole 54L and the fourth vertical plate portion 51Lb, and a second reinforcing portion 55L formed on the upper ends of the second reinforcing portion 55L and the fourth vertical plate portion 51Lb. It is provided with a boom mounting portion 59L of 2.

The first-fourth to first-sixth pin holes 52L to 54L have the same configuration as the first-first to first-third pin holes 52R to 54R, and the first-fourth insertion holes 52La and the first It includes a 1-5 insertion hole 53La and a 1-6th insertion hole 54La, a 1-4 boss 52Lb, a 1-5th boss 53Lb, and a 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 1-4 to 1-6, and the second plate 51L. It is provided thicker than the wall. 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 1-1 to 1-3 and the pin holes 52L to 54L of the 1-4 to 1-6 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 1-1 to 1-3 and the pin holes 52L to 54L of the 1-4 to 1-6 are generally referred to as "1-1 to 1-6". 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. 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 in which the first left-hand side plate 21L and the second left-hand side plate 22L are connected.
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 wider than the width of the end portion on the other end side in a side view. The shape is wide and gradually narrows from one end side to the other end side. That is, each vertex is formed in a rounded obtuse-angled triangle shape with the end on one end side as the short side. In addition, the first right-hand side plate 21R has a second pin hole 210R, a second-2 pin hole 211R, and a second-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 through the plate surface.

Here, the pin holes 210R to 212R of the 2-1 to 2-3 are formed in the same relative positional relationship and the same inner diameter as the pin holes 52R to 54R of the 1-1 to 1-3.
As shown in FIG. 8B, the second right-hand side plate 22R is formed of a teardrop-shaped long plate-shaped 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. 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 reference numerals in parentheses in FIG. 8 (a). It includes a pin hole 210L of 2-4, a pin hole 211L of a second 5 and a pin hole 212L of a second 6th, 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 1-3, the pin holes 210R to 212R of the 2-1 to 2-3 are viewed from the side, 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 position of each set is axial in the second pin hole pair, which is a set of, 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. 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. -4 to 1-6 pin holes 52L to 54L, 2-4 to 2-6 pin holes 210L to 212L are arranged at coaxial positions where their central axes exactly overlap in the axial direction in side view. 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 set is axial 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 1-6th pin hole 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 used as a rotation axis and is rotatably supported around the axis.
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. Shows the case.

Here, in the upright 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 first and second angle regulating pins 23R and 23L are inserted. 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 2-1 to 2-3 and the pin holes 210L to 212L of the 2-4 to 2-6 are generally referred to as "2-1 to 2-6". Pin holes 210R-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 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 500d are placed on the side surface portion of the second plate 51L. Is projected.

The first to fourth support portions 500a to 500d are all screwed into the block portion projecting on the side surface portion of the plate, the female screw portion provided through the block portion, and the female screw portion from below. It is provided with a bolt portion that has been loosened and a nut portion that is screwed into the tip portion of the bolt portion that protrudes above the block portion via the female thread portion.
The first and third support portions 500a and 500c are located below the positions near the other ends of the first right-handed and left-handed plates 21R and 21L, as shown in FIGS. 9A and 9B. 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 regulating 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 the 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 height support positions of the first right-hand side and left-hand side plates 21R and 21L.

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 with 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, in the first standing angle regulating member 20R, when 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 are connected to each other. It is configured to be bent in a "reverse 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 (third) of the other ends of the second right-hand side and left-hand side plates 22R and 22L on the upper side with the undulating boom 7 sandwiched. 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 1-1 to 1-6 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. Will be distributed.

(Design procedure for forming positions of pin holes 52R to 54L of 1-1 to 1-6)
Next, a procedure for designing the formation positions of the pin holes 52R to 54L of the 1-1 to 1-6 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 driving portion 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 1-1 to 1-3 will be described in detail.
First, the required undulation boom 7 erection 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 driving portion 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. Temporarily set the first distance B, which is a straight line distance when the axial center position of the foot pin 75 intersects at a right angle. 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)

To explain 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 at 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 pulling 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, the shear is sheared. 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 52R 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 provisionally 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 as not to rotate together when the boom is undulating. 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 has a gap countermeasure 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, 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 connection point which is an axial center position of the connection 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 for inserting the first angle regulation pin 23R corresponding to the variable standing angle is provided. Therefore, the second link length r2 is constant at Dr2. Here, the solid straight line in FIG. 11C shows the portion corresponding to the link length r11 of the 1-1 of the first right-hand side plate 21R, 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 track O1 as shown in FIG. 11A when the prone 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 upright 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 point P 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 regulation 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 regulating pin 23R, and as shown in FIG. 12 (a), the already determined 1-1 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 pulling force F applied to the first angle regulating 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 pin-to-pin distance Rb is related to the strength of the pin holes. 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 Dr2 centered on the axial center 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 tangent to the circle of radius Dr2 and passing through the point P, and the circle of radius Rb tangent (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 2-3 pin hole 212R and the 1-3 pin hole 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, a circle having a radius r132 that is in contact with a circle having a radius Dr2 and is in contact with a circle having a radius r131 and a circle having a radius Dr2 passing through the point P. The second locus t2 when the first-third link length r13 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, is calculated. The position where the second locus t2 and the circle having the radius Rb are in contact with each other is defined 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 Dr2 centered on the axial center 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 P point, 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 in contact with the circle having the radius Rb centered on the position a3 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 2nd and 2nd pin holes 211R and the 1-2nd 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 shape of the second vertical plate portion 51Rb of the first plate 51R of the column 5 is determined. Is decided.

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 1-1 to 1-3). Position) and the central axis of the three pin holes on the first right-hand side plate 21R side (positions of the pin holes 210R to 212R of the 2-1 to 2-3) 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 1-4 to 1-6 are symmetrical with respect to the formation positions of the pin holes 52R to 54R of the 1-1 to 1-3, and are turned inside out. , Can be obtained in the same way. The same applies to the second 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 retracted 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 up at an angle.

Hereinafter, an upright operation, which is an operation in which the undulating boom 7 when viewed from the right hand side shifts from the boom retracted state to the upright state at each upright 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 undulating boom switching switch (not shown) of the operation unit 11 to the undulating boom undulating 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 regulating 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 starting direction. As a result, as shown in FIG. 13A, the first angle regulation 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. Stretch the plate 21R and the second right-hand side plate 22R.

As a result, as shown in FIG. 13B, the first upright angle regulating member 20R eventually becomes linear and is slanted 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. 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, regarding 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. 9 (a), FIG. 14 ( 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 operation is the same, the description thereof will be omitted. By this standing motion, as shown in FIG. 14 (b), the undulating boom 7 is restricted to an 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 linear distance D2 is shorter than the linear 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 on the rear side of the first pin hole pair.

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 the case of the first pin hole pair (corresponding to 95 °). Since it is the operation of, the description is 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 linear distance D3 is longer than the linear 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 links are constant. The link lengths r11 to r13 of -3 have different lengths (Dr11 to Dr13). This is because, in the present embodiment, the columns 5 are provided with the 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 of the second right-hand side plate 22R (third connecting hole 221R) 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 lift 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 lift height of the suspended load is the highest by combining these so that the bent boom 8 is in the maximum upright state in the fully extended state in addition to the maximum extension of the undulating boom 7 in the upright 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 it becomes possible to suspend the load on the more forward side during the lifting operation. 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 sandwiched between them. The rotation shaft (third connecting pin 25) at the other end is arranged. In addition, the rotary shaft (second cylinder pin 341) at the tip of the first and second undulating boom 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 is configured to be arranged on the plate portions 51Rb and 51Lb). Further, among the 1-1 to 1-6 pin holes 52R to 54L, 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 first to first to first pin holes 52R to 54L are first with respect to the positional relationship between the third connecting pin 25 and the second cylinder pin 341. The 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 each other as if the alphabet "X" is drawn in the 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 setting the arrangement relationship so as to draw "X" in the upright state, it is possible to integrate the upright angle regulating member 20 and the ups and downs boom undulating hydraulic cylinder 34 around the undulation 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 visibility.

(Configuration of boom undulating motion control device)
Next, the boom undulating operation control device according to the present embodiment will be described.
Here, as shown in FIG. 17A, on the inner surface of the second vertical plate portion 51Rb of the first plate 51R via the first sensor support member 150R, the first 1-1 to the first 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 -3.

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

Further, as shown in FIG. 17 (b), on the inner side surface of the fourth vertical plate portion 51Lb of the second plate 51L, the first -4- to the first 1- are via the second 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 each opening of the insertion holes 52La to 54La of 6.
Specifically, in the vicinity of the opening of the insertion hole 52La of the first-4, the fourth proximity switch 56L is arranged so that the detection portion thereof faces the direction of 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 toward the opening, and a sixth proximity switch 58L detects the detection portion in the vicinity of the opening of the insertion hole 54La of the first 6th. The portions are 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 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 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 1-1 to 1-3 and pin holes 52L to 54L of 1-4 to 1-6. Move in an orbit that intersects the axis of.
Therefore, for example, one of the pin holes 52R to 54R of the 1-1 to the first-3 and one of the pin holes 52L to 54L of the 1-4th to the 1st-6th concentric with the pin holes 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 plate 51R side and the second plate 51L side are provided with different pins. Specifically, as shown in FIGS. 18A and 18B, the first angle control 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 regulating 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 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 in a state where no external force is applied, 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 pair of pin holes, 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 (inside the space inside the first 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 regulating pin 23L has the same configuration as the first angle regulating 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 pin holes 52R to 54R of the first to first to third and pin holes 210R to 212R of the second to second to third. It has an outer diameter that is in sliding contact with the inner peripheral surface. Similarly, the second angle regulating pin 23L is the inner peripheral surface of the pin holes 52L to 54L of the 1-4 to 1-6 and the pin holes 210L to 212L of the 2-4 to 2-6. It has an outer diameter dimension that makes sliding contact.

As shown in FIGS. 18A and 18B, the operator has the pin holes 52R to 54R of the first to 1-3 provided in the first 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 2-3. Similarly, the 1-4 to 1-6 pin holes 52L to 54L and the 2-4 to 2-6 pin holes 210L to be provided in the second 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 of the 212L.

Here, in the examples of FIGS. 18 (a) and 18 (b), the set of the first pin hole 52R and the second pin hole 210R corresponding to the standing angle of 95 ° and the pin 1-4. The state in which the first and second angle regulation pins 23R and 23L are inserted into the set of the hole 52L and the pin hole 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 plunger balls 23Rb and 23Lb together with the first and second plunger balls 23Rb and 23Lb. The 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 thereof is the first plate. It reaches the inner side surface side of 51R. Similarly, the second angle regulating pin 23L passes through the pin hole 210L of the second-4 and then through the pin hole 52L of the first-4, and its tip end portion toward the inner surface side of the second 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 configured to be 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 control 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 2-4 pin hole 210L and the 1-4 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 detected, 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 invention is used. The boom undulating motion 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 undulating operation control process executed by the controller 160 will be described. This process is a process that is repeated in 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, whether the first and second angle control pins 23R and 23L are inserted only into the pin hole pair corresponding to the same standing angle on the right-hand side and the left-hand side based on the read information in the controller 160. 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 plug is not inserted (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. The case can also be detected. In any of these cases, it is determined that they are not inserted only into the pin hole pair corresponding to the same standing angle.
When the process proceeds to step S104, the controller 160 sets a flag that permits the operation of the undulating boom 7, and the process proceeds to step S106.

For example, in the example shown in FIG. 21 (a), 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, in the controller 160, an operation control process for controlling various hydraulic actuators is executed for operation inputs corresponding to various operation contents including the undulating operation of the undulating boom 7. After that, a series of processes is terminated.

On the other hand, if it is determined in step S102 that the first and second angle restricting 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 determines. , 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 the 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 normally regulated. That is, when the undulating boom 7 is operated in an upright position with the pins inserted at different positions, one of the first and second upright angle regulating members 20R and 20L is inserted into a pair of pin holes having a smaller upright 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 for operation inputs corresponding to various operation contents including the undulating operation of the undulating boom 7. After that, a series of processes is terminated.
That is, while the flag for prohibiting the operation of the undulating boom 7 is set, the main relief valve 180 is set to the open state 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. 22 (a) and 22 (b), 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 plate 51R. It has a second horizontal surface portion 59Rb formed at the upper end portion of the second vertical plate portion 51Rb.

Further, the second boom mounting portion 59L is provided on the upper end portion of the third horizontal surface portion 59La formed at the upper end portion of the second reinforcing portion 55L and the fourth vertical plate portion 51Lb of the second plate 51L. It has a fourth horizontal surface portion 59Lb formed.
Here, as shown in FIG. 22A, the undulating boom 7 and the bent boom 8 are mounted on both side surfaces of the undulating boom 7 via the base end side bracket 40, and the first and second boom mounting portions 59R. And the first leg 70R and the second leg 70L for mounting on the 59L 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 connection portion 40b. The first base leg portion 70Ra having a semi-trapezoidal vertical cross section and made of metal, which is joined to the position on the base end side by welding or the like, and the vertical cross section provided at the lower end portion of the first base leg portion 70Ra. It has a first cushioning portion 70Rb which is rectangular and made of resin. The first cushioning portion 70Rb is fixed to the bottom surface of the first base leg portion 70Ra by 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 by screwing with two second screws 70Lc.
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 and the bent boom 8 are mounted on the first boom mounting portion 59R, the undulating boom 7 is rotated in the undulating direction as shown in FIGS. 23 (a) and 23 (b). Then, the first leg portion 70R is placed in a state where the lower surface of the first cushioning portion 70Rb of the first leg portion 70R is in contact with the first horizontal plane portion 59Ra and the second horizontal plane 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. The second leg 70L is placed in contact with the horizontal surface portion 59Lb.

The first and second boom mounting portions 59R and 59L are integrally formed (also used) with the column 5. Therefore, as shown in FIGS. 24A and 24B, a state in which the first leg portion 70R and the second leg portion 70L are placed on the first and second boom mounting portions 59R and 59L, That is, it is possible to turn the undulating boom 7 while keeping the posture of the undulating boom 7 in the retracted state.

Here, in the present embodiment, the tower crane 1 corresponds to the working machine, and the undulating boom 7 corresponds to the boom.
Further, in the present embodiment, the first and second plates 51R and 51L correspond to the post portion, and the upper portions of the first vertical plate portion 51Ra and the third vertical plate portion 51La correspond to the boom support portion. The boom mounting portion 59R of 1 and the boom mounting portion 59L of the second boom correspond to the boom mounting portion.
Further, in the present embodiment, the first leg portion 70R and the second leg portion 70L correspond to the leg portion, and the first and second cushioning portions 70Rb and 70Lb correspond to the cushioning member.

(Actions and effects of embodiments)
The columns 5 according to the present embodiment include the base plate 50, the first and second plates 51R and 51L erected on the upper surface of the base plate 50, the first and second reinforcing portions 55R and 55L, the first and the first. The second boom mounting portions 59R and 59L are provided.
The first plate 51R has a first vertical plate portion 51Ra, a second vertical plate portion 51Rb, and a first horizontal plate portion 51Rc connecting them, and the second plate 51L has a third plate portion 51L. Has a vertical plate portion 51La, a fourth vertical plate portion 51Lb, and a second horizontal plate portion 51Lc connecting them.

The first and third vertical plate portions 51Ra and 51La are configured to be longer than the second and fourth vertical plate portions 51Rb and 51Lb, and are configured to protrude toward the front side of the vehicle. Further, above these, first and second boom support pin holes 74R and 74L, which are coaxial through holes, are formed. The base end portion of the undulating boom 7 is pivotally supported via the boom foot pins 75 inserted into the first and second boom supporting pin holes 74R and 74L so as to be undulating freely. ..

The first boom mounting portion 59R has a first horizontal plane portion 59Ra formed at the upper end portion of the second vertical plate portion 51Rb and a second horizontal plane portion formed at the upper end portion of the first reinforcing portion 55R. It is equipped with 59Rb. On the other hand, the second boom mounting portion 59L is a fourth horizontal surface portion 59La formed at the upper end portion of the fourth vertical plate portion 51Lb and a fourth upper end portion formed at the upper end portion of the second reinforcing portion 55L. It is provided with a horizontal surface portion 59Lb. That is, the first and second boom mounting portions 59R and 59L are located closer to the tip of the undulating boom 7 in the retracted state than the first and second boom supporting pin holes 74R and 74L. 4 is formed at the upper ends of the vertical plate portions 51Rb and 51Lb and the first and second reinforcing portions 55R and 55L.

According to this configuration, since the first and second boom mounting portions 59R and 59L are formed on the first and second plates 51R and 51L of the column 5, a stand for mounting the boom (boom) is separately formed. There is no need to provide a rest). Therefore, it is possible to reduce the cost and to configure the boom mounting portion in a space-saving manner.
Further, since 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, the undulating boom 7 and the bending boom 8 are referred to. It is possible to secure sufficient strength to support heavy objects. In addition, since the lower ends of the first and second reinforcing portions 55R and 55L are joined to the base plate 50, it is possible to increase the strength of supporting heavy objects and when the load is hung. It is possible to transmit the generated tensile force to the base plate 50 through the first and second reinforcing portions 55R and 55L, and it is possible to secure sufficient strength against the tensile force.

Further, in the tower crane 1 according to the present embodiment, the undulating boom 7 and the bent boom 8 projecting from both side surfaces of the undulating boom 7 are mounted on the first and second boom mounting portions 59R and 59L. A first leg 70R and a second leg 70L for the purpose are provided. The first leg portion 70R has a semi-trapezoidal vertical cross section and a metal first base leg portion 70Ra, and the vertical cross section provided at the lower end portion of the first base leg portion 70Ra is rectangular and undulating. It has a first cushioning portion 70Rb made of resin protruding below the lower surface of the boom 7. The second leg portion 70L has a semi-trapezoidal vertical cross section and is made of metal, and the vertical cross section provided at the lower end portion of the second base leg portion 70La is rectangular and undulating. It has a second cushioning portion 70Lb made of resin protruding below the lower surface of the boom 7.
Then, when the undulating boom 7 is mounted on the first and second boom mounting portions 59R and 59L of the column 5, the undulating boom 7 is rotated in the undulating direction, and the first leg portion 70R is first. The first leg portion 70R is placed in a state where the lower surface of the cushioning portion 70Rb is in contact with the first horizontal plane portion 59Ra and the second horizontal plane portion 59Rb. In addition, the second leg portion 70L is placed in a state where the lower surface of the second cushioning portion 70Lb of the second leg portion 70L is in contact with the third horizontal plane portion 59La and the fourth horizontal plane portion 59Lb.

According to this configuration, the undulating boom 7 and the bent boom 8 are mounted via the first and second legs 70R and 70L, so that the lower surface of the undulating boom 7 is directly placed on the boom mounting portion. It is possible to prevent the undulating boom 7 from being damaged or dented as compared with the configuration in which it is placed. In addition, even if the width of the undulating boom 7 is narrower than the width between the first and second plates 51R and 51L of the column 5, the upper end of the column 5 is used to form the boom mounting portion. It is possible to do.

Further, the undulating boom 7 and the bent boom 8 are boom-mounted via the first and second cushioning portions 70Rb and 70Lb forming the bottom surfaces (mounting surfaces) of the first and second legs 70R and 70L. Since it is placed on the portion, it is possible to prevent the paint on the first and second boom mounting portions 59R and 59L from peeling off due to the mounting of the undulating boom 7 and the bent boom 8.

On the other hand, 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 device provided on the right hand side of the undulating boom 7 and the column 5. A member 20R and a second standing angle regulating member 20L provided on the left hand side are provided. 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 about 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 around the horizontal axis via the second connecting pin 24L to the other end of the first left-hand side plate 21L, and the other end is to 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 proximal end side bracket 40 and a third connecting pin 25.

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 left-handed. In addition, when the undulating boom 7 becomes linear due to the tension from the undulating boom 7 in response to the movement of the undulating boom 7 in the upright direction, the undulating boom 7 becomes an upright state and between the column 5 and the undulating boom 7. It is configured to prevent the undulating boom 7 from falling down 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.

Further, the standing angle regulating device according to the present embodiment is further provided with pins 1-1 to 1-3 provided through the plate surface on the first plate 51R constituting the right hand portion of the column 5. A first plate surface is provided at a position concentric with the holes 52R to 54R and the pin holes 52R to 54R of the first to 1-3 of the second plate 51L constituting the left hand portion. It is provided with -4 to 1-6th pin holes 52L to 54L.

In addition, the 2-1 to No. 1 penetrating the plate surface 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 1-1 to 1-3. 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 pin holes 52L to 54L of the 1st-4th to the 1st-6th. It is provided with -6 pin holes 210L to 212L.

Furthermore, among the pin holes 52R to 54R of the 1-1 to 1-3 and the pin holes 210R to 212R of the 2-1 to 2-3, a plurality of pin holes coaxially overlapping with each other 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 1-4 to 1-6 pin holes 52L to 54L and the 2-4 to 2-6 pin holes 210L to 212L, a plurality of pin holes coaxially overlapping in the same relative positional relationship. A second angle regulating pin 23L configured to be removable with respect to a set (fourth to sixth pin hole pair) is provided.

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

The pin holes 52R to 54L of the 1-1 to 1-6 and the pin holes 210R to 212L of the 2-1 to 2-6 are the first and the pin holes 210R to 212L when the undulating boom 7 is in the upright state. The second upright angle regulating members 20R and 20L are linear, and the upright angle of the base end boom is different for each pair of pin holes (95 °, 90 °, 85 ° in the embodiment). 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 pins are inserted. This makes it possible to easily erect the undulating boom 7 at a desired erecting angle by simply inserting a pin, as compared with the case where the erecting angle is adjusted visually or the like by operating a conventional winch, for example. It will be possible.

Further, in the standing angle regulating device according to the present embodiment, the standing angle of the undulating boom 7 can be selected 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, depending on the application and the situation at the site, the tip of the bent boom 8 reaches 95 ° more forward based on the standing angle of 90 °, and the boom protrudes from the opening provided in the roof. When performing work, it is possible to arbitrarily select 85 °, which allows the diameter of the opening to be smaller, and it is possible to improve work efficiency.

In addition, the right-handed portion and the left-handed portion of the column 5 are provided with the pin holes 52R to 54L of the 1-1 to 1-6, and the second 2-1 is provided at one end of the first right-handed side and left-handed side plates 21R and 21L. The 2nd to 6th pin holes 210R to 212L were provided. For example, it is assumed that a pin hole is provided at a connecting portion between the first right-handed side and left-handed side plates 21R and 21L and the second right-handed side and left-handed side plates 22R and 22L. Alternatively, it is assumed that the undulating boom 7 and the pin holes are provided on the other ends of the second right-handed and left-handed 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 the 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 as not to 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, it is difficult for the first right-hand side and left-hand side plates 21R and 21L 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.

Further, in the standing angle regulating device according to the present embodiment, in the posture in which the undulating boom 7 is in the boom retracted state, 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 are further provided. The first to fourth support portions 500a to 500d provided on the first and second plates 51R and 51L are provided so as to abut and support the lower end portion of the plate from below. In addition, the first to 1-6 pin holes 52R to 54L, the 2-1 to 2-6 pin holes 210R to 212L, and the first and second standing angle regulating members 20R and 20L. Is when 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 first right-hand side and left-hand side plates 21R and 21L are in a state where the lower ends are supported from below even when the first and second angle control pins 23R and 23L are pulled out. Become. Therefore, the first right-handed and left-handed 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 control pins 23R and 23L can be maintained in a removable state. The first right-handed and left-handed 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.
Further, the standing angle regulating device according to the present embodiment further includes pin holes 52R to 54L of the 1-1 to 1-6 and pin holes 210R to 212L of the 2-1 to 2-6, and the first. And the second upright angle regulating members 20R and 20L connect the first right-hand side and left-hand side plates 21R and 21L with the second right-hand side and left-hand side plates 22R and 22L when the undulation boom 7 is undulating. The portion 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 of the column 5.

Here, the connecting portion of the plates becomes thick because the two plates overlap each other 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 alignment of 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 undulating 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 plate 51R) inside the column 5 and a left hand (second plate) inside the column 5. A second undulating boom undulating hydraulic cylinder 34L provided near the plate 51L) is provided. The first and second undulating boom undulating hydraulic cylinders 34R and 34L are rotatably supported by a column 5 at the tip of the rod around a horizontal axis via a first cylinder pin 340, and are tubes. 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. 1 and 2 undulating booms The 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 same position. 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 undulating boom undulating hydraulic cylinders 34R. The rotation shaft (first cylinder pin 340) on the tip end side of the rod of 34L 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. The pins 24R and 24L are arranged on the 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 upright angle regulating member 20L and the extended undulating boom undulating hydraulic cylinder 34L intersect as if drawing an "X". do. In this way, by arranging the arrangement to draw "X", the upright angle regulating member 20 and the undulating boom undulating hydraulic cylinder 34 are gathered around the undulating boom 7, and the operator is working in a narrow place. It is possible to improve visibility by making it difficult to block the line of sight of the cylinder.

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

With such a configuration, the first and second upright angle regulating members 20R and 20L are linear while the first and second undulating boom undulating hydraulic cylinders 34R and 34L have not reached the stroke end. Then, the moment M on the tilting side of the undulating boom 7 due to the suspended load is received. At this time, for example, when both the first and second upright 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 erection 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 regulating 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 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 pin is not inserted only into the pin hole pair 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 part of the base 4 and an undulating boom 7 pivotally supported by the column 5. The upright angle regulating device is provided as a means for regulating the upright 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.
With such a configuration, 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 first and second boom mounting portions 59R and 59L are configured to have a horizontal plane for mounting the undulating boom 7 and the bent boom 8, but the configuration is not limited to this. For example, the configuration is not limited to the horizontal plane, and other configurations such as a configuration in which the undulating boom 7 is diagonally supported as a slope may be used.

Further, in the above embodiment, by providing the first and second cushioning portions 70Rb and 70Lb on the first and second leg portions 70R and 70L, the first and second boom mounting portions 59R and 59L are provided. The structure is designed to prevent the paint from peeling off. Not limited to this, if the configuration is such that the paint is prevented from peeling off, for example, a cushioning portion is provided on each of the first and second horizontal plane portions of the first and second boom mounting portions 59R and 59L. Other configurations such as may be used.

Further, in the above embodiment, the two pins of the first and second angle regulation pins 23R and 23L are configured to be the rotation shafts on the one end side of the first right-hand side and left-hand side plates 21R and 21L. However, it is not limited to this configuration. For example, the positions of the first and second undulating boom undulating hydraulic cylinders 34R and 34L are located outside the column 5, and the positions of the first and second undulating angle regulating members 20R and 20L are located 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, the undulating boom 7 is configured to be undulated by two cylinders, the first and second undulating boom hydraulic cylinders 34R and 34L, but the configuration is not limited to this. It may be configured to be undulated by a cylinder.

Further, in the above embodiment, in consideration of workability such as inserting and removing the pin at a low position, the positions of the 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-handed and left-handed plates 22R and 22L and at the attachment positions of the other ends 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 pin that can be inserted and removed 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 in advance, the pin position may 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. A configuration in which another angle can be selected may be used, or a configuration in which two types of standing angles or four or more types of standing angles can be selected 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 upright, 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 second 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. The same applies to the second standing angle regulating member 20L.

Further, in the above embodiment, the undulating boom 7 having a width narrower than the distance between the first and second plates 51R and 51L is provided on the side surface portion of the boom, and the first and second leg portions 70R and 70L are provided. It is configured to be mounted on the first and second boom mounting portions 59R and 59L. Not limited to this configuration, for example, an undulating boom 7 having a width reaching the upper ends of the first and second plates 51R and 51L is adopted, and the lower surface of the undulating boom 7 is directly placed on the first and second boom mounting portions. Other configurations may be used, such as mounting on 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 Undulating boom 8 Bending boom 9 Out trigger device 10 Driver's seat 11 Operation unit 12 Winch 13 Wire rope 14 Hook 15a Engine 15b Hydraulic oil supply device 15c Control valve 16 Control valve 17 Hook storage bracket 20R, 20L 1st, 2nd standing angle regulating member 21R 1st right hand side plate 21L 1st left hand side plate 22R 2nd right hand side plate 22L 2nd left hand side plate 23R, 23L 1st 2nd angle regulation pin 24R, 24L 1st, 2nd connecting pin 25 3rd connecting pin 30 Swivel hydraulic motor 31 Undulating boom expansion / contraction hydraulic cylinder 32 Folding boom expansion / contraction hydraulic cylinder 33 Winch hydraulic motor 34 Undulation Boom undulating hydraulic cylinder 34R, 34L 1st and 2nd undulating boom undulating hydraulic cylinder 35 Bending boom undulating hydraulic cylinder 35R, 35L 1st and 2nd bending boom undulating hydraulic cylinder 36 Horizontal out trigger cylinder 36RF, 36RR, 36LF and 36LR Right Front, Right Rear, Left Front and Left Rear Horizontal Out Trigger Cylinder 37 Vertical Out Trigger Cylinder 37RF, 37RR, 37LF and 37LR Right Front, Right Rear, Left Front and Left Rear Vertical Out Trigger Cylinder 40 Base End Side Bracket 40a First Connection Part 40b Second connection part 41a Tip bracket 41b Base end bracket 42 V link mechanism 43 Tip side bracket 44 First sheave 45 Second sheave 46 Third sheave 50 Base plate 51R, 51L First and second top plates 52R to 54R Pin holes of 1-1 to 1-3 52L to 54L Pin holes of 1-4 to 1-6 55R, 55L 1st and 2nd reinforcing parts 56R to 58R 1st to 3rd Proximity switch 56L-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 pressure Pump 61L Left discharge port 61R Right discharge port 62 Main pipeline 63 Return pipeline 64 Tank 70R, 70L 1st and 2nd legs 70Ra, 70La 1st, 2nd base legs 70Rb, 70Lb 1st, 2nd Buffer section 74R, 74 L 1st and 2nd boom support pin holes 75 Boom foot pin 80 Crane switching control valve 81 Accelerator cylinder 82 Outrigger 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 outrigger cylinder switching valve 88 Vertical outrigger cylinder switching valve 160 Controller 161 Receiver 162 Remote control device 180 Main relief valve (unload valve)
181 Unload valve operating solenoid 182 Hook fixing relief valve 182a Hook relief solenoid 182b Hook relief valve 210R-212R 2-1 to 2-3 pin holes 210L-212L 2-4 to 2-6 pins Holes 213R, 213L 1st, 4th connecting holes 220R, 220L 2nd, 5th connecting holes 221R, 221L 3rd, 6th connecting holes 340 1st cylinder pin 341 2nd cylinder pin 500a-500d 1st to 4th support parts 820, 840, 860 1st, 2nd and 3rd solenoid switching valves

Claims (5)

It is a column post for work machines,
The base plate that constitutes the bottom of the column post and
A post portion provided on the upper surface of the base plate that undulates and supports the base end portion of the boom provided in the working machine around a horizontal axis is provided.
The post portion has a boom mounting portion for mounting the boom in a retracted state on the front end portion facing the back surface with the base end portion side of the boom as a boundary with the turning center of the boom as a boundary. Has been
The working machine is equipped with an standing angle regulating member that regulates the standing angle of the boom during work.
The standing angle regulating member is connected to both side surfaces of the post portion, and is connected to both side surfaces thereof.
The connecting portion of the post portion with the standing angle regulating member is reinforced by a reinforcing member.
A column post for a working machine, wherein the boom mounting portion is formed on the upper surface of the reinforcing member . The column post for a working machine according to claim 1 , wherein the reinforcing member is fixed to the base plate. The column post for a working machine according to claim 1 or 2 , wherein a cushioning member is provided between the mounting surface of the boom and the boom mounting portion. A work machine provided with a boom and a column post for the work machine according to any one of claims 1 to 3 . The boom has a boom mounting leg for mounting itself on the boom mounting portion.
The working machine according to claim 4 , wherein the legs are formed on the side surface of the boom so as to project downward from the lower surface of the boom, and the mounting surface of the boom is formed on the bottom surface.

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