JP7117152B2 - boom device for crane - Google Patents

Description

TECHNICAL FIELD The present invention relates to a boom device for a crane, which has two foldable boom sections and a sheave for guiding a wire rope sent out from a winch from a lower boom section to an upper boom section.

Conventionally, there is a mobile crane described in Patent Document 1, for example, as a crane having a folding boom device. The mobile crane described in Patent Document 1 includes a lower boom attached to a swivel base so that it can be raised and lowered, and an upper boom attached to this lower boom so that it can be raised and lowered. Further, guide pulleys (sheaves) for passing a wire rope from the lower boom to the upper boom are provided at the distal end of the lower boom and the proximal end of the upper boom, respectively.
Further, in the mobile crane described in Patent Literature 1, a hydraulic cylinder having a link mechanism is generally used for raising and lowering the upper boom in the two foldable booms. By effectively using the link mechanism, even with the limited cylinder rod stroke length of the hydraulic cylinder, the required and sufficient boom erection force and hoisting angle are obtained.

Japanese Utility Model Laid-Open No. 5-54481

However, in the prior art of Patent Document 1, since the wire guide pulley is provided inside the base end of the upper boom, the pulley is mounted at a cutout opening at the base end of the upper boom. This would reduce the strength of the upper boom. In particular, since a hook on which a load is suspended is suspended from the tip of the upper boom, a large force is applied to the attachment position of the pulley at the base end. On the other hand, if the pulley is attached to the outer side of the upper boom to ensure strength, the pulley protrudes outward more than if it is attached to the inner side. Therefore, depending on the mounting position, the height dimension of the crane in the folded state may be large, or when the upper boom is unfolded so that it is aligned with the lower boom, the pulley on the upper boom side may come into contact with the pulley on the lower boom side. do. The former is a problem when the height dimension is not desired to be increased, and the latter is a problem when the vertical motion range of the upper boom is allowed to be in a straight line.

Therefore, the present invention has been made by paying attention to such problems, and does not reduce the strength of the upper boom portion, suppresses the increase in size when folded, and contacts the sheaves when unfolded. An object of the present invention is to provide a boom device for a crane that can prevent this.

In order to solve the above problems, a boom device for a crane according to a first aspect of the present invention includes a hoisting boom supported on a crane base so as to be hoistable around a horizontal first axis; A bending boom supported at the tip of the hoisting boom so as to be hoistable about a second axis parallel to the first axis is provided. In addition, a first sheave attached to the tip of the hoisting boom for guiding the wire rope sent from the winch toward the bending boom, and a position close to the base end position of the bending boom. and a second sheave that guides the wire rope guided by the first sheave to the tip side of the bending boom. Further, it comprises an angle changing section that changes the hoisting angle of the bending boom, and a sheave moving section that moves in conjunction with the movement of the hoisting angle of the bending boom by the angle changing section. The second sheave is provided in the sheave moving portion, and the sheave moving portion moves the second sheave to the wire rope when it moves in conjunction with the fluctuation operation of the hoisting angle. is configured to be moved along the outer periphery of the base end of the bending boom in a state where it is bridged.

According to the present invention, the sheave moving part can move the second sheave along the outer periphery of the base end of the bending boom in a state where the wire rope is stretched over the second sheave in conjunction with the varying operation of the angle varying part. It becomes possible. Therefore, for example, the sheave moving part positions the second sheave in a position that does not increase the size of the crane as much as possible when the boom is retracted, and positions it in a position that does not contact the first sheave when the boom is fully extended. The configuration shall be such that As a result, it is possible to suppress an increase in size in the folded state and to prevent contact between the sheaves in the unfolded state without lowering the strength of the folding boom.

It is a figure which shows the running attitude|position of the tower crane which concerns on embodiment, and is the side view seen from the vehicle right side. It is the side view seen from the vehicle right-hand side of the tower crane which concerns on embodiment. The drawing shows a state in which the outrigger device is deployed and the hoisting boom and the bending boom are erected, in the middle of being deployed to the working posture. FIG. 3 is a rear view of the state of FIG. 2 as seen from the rear side; It is a figure which shows an example of the hydraulic circuit which concerns on embodiment. 4 is a block diagram showing the input/output relationship of signals of the controller according to the embodiment; FIG. (a) and (b) are the figures which looked at a part of column and hoisting boom concerning an embodiment from one side and the other side. In the figure, a part of the standing angle regulating member is broken so that the 1-1 to 1-3 pin holes and the first and second reinforcing parts can be visually recognized. (a) and (b) are perspective views of a column and a hydraulic cylinder for hoisting a hoisting boom as seen obliquely from above on one side and the other side. In the same figure, the first and second reinforcing parts are omitted, and the state in which the hydraulic cylinder for raising and lowering the boom is rotating is shown. (a) and (b) are diagrams showing one configuration example of a first right-hand side plate and a second right-hand side plate that constitute a lock plate according to the embodiment. (a) and (b) are diagrams showing a state in which a pin is inserted into a pin hole when the hoisting boom is in the retracted state according to the embodiment and the hoisting angle is 95°. FIG. 4 is a side view of the tower crane according to the embodiment as seen from the right hand side, showing the erected state at erected angles of 95°, 90° and 85°. FIG. 10 is a diagram for explaining the procedure for designing the formation positions of the 1-1 pin holes formed in the column; FIG. 10 is a diagram for explaining a design procedure for forming positions of 1-2nd and 1-3rd pin holes formed in a column; (a) and (b) are diagrams showing an example of a standing motion when the standing angle is 95°. (a) and (b) are diagrams showing an example of a standing motion when the standing angle is 90°. (a) and (b) are diagrams showing an example of a standing motion when the standing angle is 85°. It is a figure which shows an example of the attitude|position at the time of work of the tower crane which concerns on embodiment. In the figure, both the hoisting boom and the bending boom are shown in the fully extended state. (a) and (b) are diagrams showing examples of installation of proximity switches in pin holes inside a column. (a) and (b) are perspective views of a part of the column and the hoisting boom as seen obliquely from above on the right hand side, and are diagrams for explaining a method of inserting the first and second angle regulating pins. . In the same figure, the standing angle regulating member is shown in perspective and partly cut away. It is the figure which viewed FIG.18(b) from the front. 7 is a flowchart showing an example of a processing procedure of boom hoisting motion control processing according to the embodiment; (a) is a diagram showing a state in which the first and second angle regulation pins are inserted in a normal positional relationship, and (b) is a diagram showing a state in which the first and second angle regulation pins are in an incorrect positional relationship It is a figure which shows the state inserted in. FIG. 4 is a diagram for explaining the configuration of first and second boom mounting parts and first and second leg parts, and FIG. (b) is an enlarged view of part A of (a). In the same figure (b), the 1st leg is shown by sectional drawing. It is the figure which looked at a part of column and hoisting boom from one side side, (a) is a figure before mounting a 1st leg on a 1st boom mounting part, (b) is, It is a figure after mounting. In the figure, a part of the erection angle regulating member is broken so that the first leg and the first boom mounting portion can be easily seen. FIG. 2 is a top plan view of a part of a column and a hoisting boom, (a) showing the hoisting boom in a retracted state, and (b) showing a state in which the hoisting boom is turning to the left. be. In the figure, some members are 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 modifications of the erection angle regulating member. (a) is a partial perspective view showing a stowed state of a hoisting boom and a folding boom, and (b) is a partial perspective view showing a state where the hoisting boom and the folding boom are deployed by a predetermined angle. (a) to (h) are a perspective view and a six-sided view of the upper link that constitutes the V-link mechanism. (a) is a partial perspective view showing a state in which the hoisting boom is erected at an erection angle of 95° and the folding boom is deployed at an angle parallel to the ground; (b) is the state of (a); FIG. 10 is a partial perspective view showing a state in which the hollow-folding boom is further expanded by a predetermined angle; (a) is a partial perspective view showing a state in which the folding boom is expanded to 180 degrees, and (b) is a partial side view of (a) seen from the right hand side. (a)-(e) are right hand side views showing the stepwise movement of the luffing boom, the folding boom and the V-link mechanism from the stowed state to the 180° maximum deployed state. (a) to (c) are diagrams showing the maximum deployment angle for each standing angle of 95°, 90°, and 85°.

Hereinafter, a tower crane, which is an embodiment of a working vehicle provided with a standing angle regulating device for a working machine according to the present invention, will be described with reference to the drawings as appropriate. Note that the drawings are schematic. Therefore, it should be noted that the relationship, ratio, etc., between the thickness and the planar dimension may differ from the actual one, and even between the drawings, there are parts where the relationship and ratio of the dimensions are different. Sometimes. Further, the embodiments shown below are examples of devices and methods for embodying the technical idea of the present invention. etc. are not limited to the following embodiments.

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

The traveling device 3 is, for example, a crawler-type traveling device having rubber crawler belts mounted on the left and right sides, and is provided below the chassis frame 2 .
The base 4 is connected and fixed to the upper portion of the chassis frame 2, and the column 5 is erected on the upper portion of the base 4 so as to be rotatable.
A boom device 6 for a crane (hereinafter simply referred to as "crane device 6") is pivotally supported on the upper end of the column 5 so as to be able to be raised and lowered, and is a telescoping boom 7 composed of a telescoping box-shaped boom. , and a telescoping folding boom 8 which is pivotally supported on the tip of the hoisting boom 7 so as to be able to hoist freely and which is composed of a telescoping box-shaped boom.

Although some of the outrigger devices 9 are not shown, a right front outrigger 9RF, a right rear outrigger 9RR, a left front outrigger 9LF, and a left rear outrigger 9LR are provided on the upper part of the chassis frame 2 at the front right, rear right, front left, and rear left, respectively. Prepare.
The right front, right rear, left front and left rear outriggers 9RF, 9RR, 9LF and 9LR are provided on the chassis frame 2 so as to be able to turn and rise and fall, and to the tip of the base end side arm so as to be free to rise and fall. and a telescoping distal arm.
Furthermore, right front, right rear, left front and left rear outriggers 9RF, 9RR, 9LF and 9LR are right front, right rear, left front and left rear vertical outrigger cylinders 37RF, 37RR and 37LF which are hydraulic actuators for raising and lowering the base end arm. and 37LR. In addition, as shown in FIG. 4, right front, right rear, left front and left rear lateral outrigger cylinders 36RF, 36RR, 36LF and 36LR, which are hydraulic actuators for raising and lowering and extending and retracting the tip side arm, are provided.

Hereinafter, the right front, right rear, left front and left rear outriggers 9RF, 9RR, 9LF and 9LR may be abbreviated as "outriggers 9RF to 9LR". Also, the right front, right rear, left front and left rear lateral outrigger cylinders 36RF, 36RR, 36LF and 36LR may be abbreviated as "each of the lateral outrigger cylinders 36RF to 36LR". 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".
By manually rotating the outriggers 9RF to 9LR in the horizontal direction from the retracted state shown in FIG. It is configured to allow After that, by operating the operation unit 11 or operating a remote control device 162 (described later), each of the lateral outrigger cylinders 36RF to 36LR is driven to move and extend the tip side arm of each of the outriggers 9RF to 9LR in the raising direction. In addition, by driving the vertical outrigger cylinders 37RF to 37LR to move the base end arm of each outrigger 9RF to 9LR in the prone direction and grounding the lower part of the tip end arm to the ground, the same lifting performance is achieved all around. While securing it, it is designed to stabilize the aircraft.

The driver's seat 10 is for an operator (driver) to sit on when operating the tower crane 1 to travel, and is provided so as to protrude 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 travel control levers and a plurality of operation switches are arranged on the left side of the front and rear end of the driver's seat 10. (not shown) and a plurality of operation levers (not shown) provided on the right lateral side of the operation panel.
The plurality of operation levers are shown in FIG. Each spool in 86 is directly actuated.

Each operating lever is provided corresponding to each hydraulic actuator, and by tilting from the neutral position in a direction toward or away from the fuselage, it is possible to drive the hydraulic actuator corresponding to the operating lever. It's becoming
Specifically, the above operation levers include a lever for operating the left and right turning operations of the crane device 6, a lever for operating the telescopic operation of the hoisting boom 7 and the folding boom 8, a hoisting operation of the hook 14, and a It includes a lever that operates the hoisting operation, and a lever that operates the hoisting operation of the hoisting boom 7 and the folding boom 8 .

The plurality of operation switches include a crane operation-outrigger operation changeover switch, a hoisting boom changeover switch, a telescopic boom changeover switch, a hook fixation switch, and an outrigger selection switch for selecting an outrigger to be operated from outriggers 9RF to 9LR. , and outrigger operation switches for operating the selected outrigger.
The crane operation/outrigger operation changeover switch is a switch for switching between a crane mode for enabling operation of the crane device 6 and an outrigger mode for enabling operation of the outrigger device 9 .

Further, the hoisting boom switching switch switches between a hoisting boom hoisting operation mode for enabling the hoisting operation of the hoisting boom 7 and a bending boom hoisting operation mode for enabling the bending boom 8 to be hoisted and lowered in the crane mode. It is a switch for
In addition, the telescopic boom switching switch switches between a hoisting boom telescopic operation mode for enabling telescopic operation of the hoisting boom 7 and a folding boom telescopic operation mode for enabling telescopic operation of the folding boom 8 in the crane mode. It is a switch for
For safety reasons, the mode switching switches prevent the traveling device 3, the crane device 6, the outrigger device 9, and the hoisting boom 7 and the folding boom 8 in the crane mode from operating at the same time.

Here, as shown in FIG. 5, the tower crane 1 has a remote controller 162 capable of remotely operating the crane. Although not shown, the remote control device 162 can be operated in the same manner as the control levers and switches of the operation unit 11 by various control levers and various control 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 according to the operation of the control lever and the control switch.
Further, as shown in FIGS. 2 and 3, a winch 12 is protruded at a substantially central position on the rear end surface of the hoisting boom 7 . 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, through a third sheave 46 provided at the top 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 hung from the tip of the bending boom 8 by hooking it on the hook 14 .

On the other hand, the driving unit 15 includes an engine 15a, 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, as shown in FIG. and a control valve 15c for switching and controlling the oil passage.
Further, the tower crane 1, as shown in FIGS. A hydraulic actuator is provided to extend and retract the
That is, the tower crane 1 includes a turning hydraulic motor 30, a hoisting boom telescoping hydraulic cylinder 31, a bending boom telescoping hydraulic cylinder 32, a winch hydraulic motor 33, a hoisting boom hoisting hydraulic cylinder 34, and a bending boom hoisting hydraulic pressure. A cylinder 35 is provided.

Furthermore, the tower crane 1 includes a travel motor 38 as a hydraulic actuator for driving the travel gear 3 .
As shown in FIGS. 3 and 4, the boom hoisting hydraulic cylinder 34 is composed of a pair of hydraulic cylinders of a first hoisting boom hoisting hydraulic cylinder 34R and a second hoisting boom hoisting hydraulic cylinder 34L.
The bending boom hoisting hydraulic cylinder 35 is composed of a pair of hydraulic cylinders, a first bending boom hoisting hydraulic cylinder 35R and a second bending boom hoisting hydraulic cylinder 35L.

As shown in FIG. 4, these hydraulic actuators 30, 31, 32, 33, 34, 35 and 38 are operated by supplying pressure oil from the pressure oil supply device 15b through the control valve 15c. is configured to
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 line 62, and a return line 63. and a tank 64.
The control valve 15c includes a crane switching control valve 80, an accelerator cylinder 81, an outrigger switching control valve 82, a turning switching control valve 83, a boom telescoping switching control valve 84, and a winch switching control valve. 85 and a boom hoisting switching control valve 86 . Furthermore, 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 860.

The pressure oil discharged from the hydraulic pump 60 is supplied to the travel switching control valve 89, and the supplied pressurized oil passes through the travel switching control valve 89 when the travel operation lever is in the neutral state. It flows into the main pipeline 62 and is supplied through the main pipeline 62 toward the control valve 15c. Also, the pressure oil discharged from the hydraulic pump 60 is returned to the tank 64 via the return pipe line 63 .
The crane switching control valve 80 includes a main relief valve (unload valve) 180, an unload valve operating solenoid 181, and a hook fixing relief valve 182, which are provided between the main pipeline 62 and the return pipeline 63. and

The unload valve actuation solenoid 181 is turned on or off according to the actuation signal Uo from the controller 160 . When the main relief valve 180 is in the ON state, the main relief valve 180 is opened so that the main pipeline 62 and the return pipeline 63 are communicated. In the example shown in FIG. 4, the pressure oil discharged from the hydraulic pump 60 is transferred to the tank 64 through the return line 63 without passing through any switching control valves other than the traveling switching control valve 89 and the crane switching control valve 80 . It is designed to return to That is, it is possible to bring the operating state of the hydraulic pump 60 into an unloaded state (no-load operating state) in which the pressurized oil is circulated without 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 turned on or off in response to an actuation signal Hr from the controller 160 in response to the operator's manual operation of the hook fixation switch in the operation unit 11 or the remote control device 162. becomes. Then, in the ON state, the hydraulic oil passage from the main pipeline 62 is switched to the oil passage through which the hydraulic oil flows through the hook relief valve 182b.

Here, the set relief pressure of the hook relief valve 182b is a low set pressure Ps (Pm>Ps) lower than the main set pressure Pm, which is the relief pressure during normal operation. Therefore, by turning on the hook relief solenoid 182a and operating the hook relief valve 182b, 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, it is possible to limit the operating pressure for hoisting the hook 14 to a low pressure to prevent damage to the hook storage bracket 17 fixing the hook 14 .

The accelerator cylinder 81 operates the piston rod of the accelerator cylinder 81 in response to an accelerator control signal Vctr from the controller 160 corresponding to the accelerator operation amount of the remote control device 162 or the operation unit 11 . This piston rod operating position signal L6 (described later) is input to the controller 160, and the controller 160 can control the number of revolutions of the engine 15a to a desired number of revolutions 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 operates the lateral outrigger cylinders 36RF to 36LR of the outriggers 9RF to 9LR and the outrigger cylinders 36RF to 36LR in response to the operation of the operation lever or the actuation signal Actr1 from the controller 160 in response to the operation signal Rctr from the remote control device 162. Pressure oil is supplied to the vertical outrigger cylinders 37RF to 37LR.
The first electromagnetic switching valve 820 is a control valve that selects one of the horizontal outrigger cylinders 36RF-36LR or the vertical outrigger cylinders 37RF-37LR of the outriggers 9RF-9LR as the destination of pressure oil supply.

The pressure oil flowing out of the outrigger switching control valve 82 first flows into the first electromagnetic switching valve 820 . The first electromagnetic switching valve 820 operates according to a switching control signal Actr2 from the controller 160 by operating an outrigger switching switch (not shown) in the operating section 11 manually operated by the operator, to each of the horizontal outrigger cylinders 36RF to 36LR or each Switches the hydraulic oil passages for the vertical outrigger cylinders 37RF to 37LR.
The lateral outrigger cylinder switching valve 87 is a control valve that selects whether to supply pressure oil to each of the lateral outrigger cylinders 36RF to 36LR.

The lateral outrigger cylinder switching valve 87 is operated by an operator manually by operating a lateral outrigger cylinder selection switch (not shown) in the operation unit 11, and the lateral outrigger cylinder switching valve 87 is operated according to actuation signals Actr3 to Actr6 from the controller 160, and the lateral outrigger cylinders 36RF to 36LR. Switch the oil passage of the pressure oil for.
The vertical outrigger cylinder switching valve 88 is a control valve that selects whether to supply pressure oil to each of the vertical outrigger cylinders 37RF to 37LR.
The vertical outrigger cylinder switching valve 88 is operated by the operator manually by operating a vertical outrigger cylinder selection switch (not shown) in the operation unit 11, and the vertical outrigger cylinder switching valve 88 is operated in response to actuation signals Actr7 to Actr10 from the controller 160, and the vertical outrigger cylinders 37RF to 37LR. Switch the oil passage of the pressure oil for.

The turning switching control valve 83 presses the turning hydraulic motor 30 according to the operation amount of the operation lever of the operation unit 11 or according to the actuation signal Tctr from the controller 160 according to the operation of the remote control device 162 . inflow oil.
The boom extension/retraction switching control valve 84 is switched to the second electromagnetic switching valve 840 in accordance with the amount of operation of the operation lever of the operation unit 11 or in accordance with the actuation signal Bctr1 from the controller 160 in accordance with the operation of the remote control device 162. Pressurized oil is flowed against it.
The second electromagnetic switching valve 840 is a control valve that selects either the hoisting boom telescoping hydraulic cylinder 31 or the bending boom telescoping hydraulic cylinder 32 as a supply destination of pressure oil.

The pressurized oil that has flowed out of the boom telescoping 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 a telescopic boom switching 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. In response to the control signal Bctr3, the oil passage of the pressure oil for the hydraulic cylinder 31 for telescoping boom or the hydraulic cylinder 32 for telescoping the folding boom is switched.

The winch switching control valve 85 presses the winch hydraulic motor 33 according to the operation amount of the operation lever of the operation unit 11 or according to the actuation signal Wctr from the controller 160 according to the operation of the remote operation device 162 . inflow oil.
The boom hoisting switching control valve 86 operates according to the operation amount of the operation lever of the operation unit 11 or according to the operation signal Bctr2 from the controller 160 according to the operation of the remote control device 162, and the hydraulic cylinder 34 for hoisting the boom hoisting and Pressurized oil is supplied to the bending boom hoisting hydraulic cylinder 35 .

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

Each of the switching control valves 82 to 86 and the accelerator cylinder 81 has a differential transformer (not shown). A detection signal of L6 (hereinafter sometimes referred to as a "switching position signal") is input to the controller 160 as shown in FIG. That is, the controller 160 can grasp the operation contents (switching positions) of the switching control valves 82 to 86 and the accelerator cylinder 81 from the switching position signals L1 to L6.

The traveling motor 38 includes two traveling motors 38L and 38R corresponding to the left and right crawler belts of the traveling device 3, respectively, as shown in FIG. The traveling motors 38L and 38R are independently operated by supplying pressure oil individually from the pressure oil supply device 15b through the switching control valve 89 for traveling.
As a result, the tower crane 1 can move forward or backward by driving the travel device 3 by operating the pressure oil supply device 15b and simultaneously operating the pair of left and right travel control levers to move forward or backward. . In addition, when turning right or left, the left and right traveling control levers are individually operated forward or backward to drive the corresponding left and right crawler belts individually, so it is possible to turn simply by the speed difference between the left and right.

Returning to FIGS. 1 to 3, the control box 16 has therein a controller 160 shown in FIG. Although not shown, a receiver 161 is provided above the control box 16 .
The receiver 161 is connected to the controller 160 via a signal line (not shown). The receiver 161 receives a remote control signal Rctr wirelessly transmitted from the remote controller 162 and inputs the received remote control signal Rctr to the controller 160 via a signal line.
As shown in FIG. 5, the controller 160 receives an operation signal Ctr from the operation unit 11, a remote operation signal Rctr from the remote operation device 162, various switching control valves 82 to 86 and switching position signals L1 to L6 etc. are input. Then, the controller 160 operates and controls various electric devices such as solenoid valves for oil passage switching provided in the tower crane 1 according to these input signals.

Although not shown, the controller 160 includes a CPU (Central Processing Unit) that performs various arithmetic processing 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.
The controller 160 further includes an input/output I/F (interface) that mediates input/output of data to each device including the receiver 161, the operation unit 11, the remote control device 162, and the control valve 15c. , and various internal and external buses for data transfer. Various internal and external buses connect the CPU, ROM, RAM, and timers, and the above devices are connected to these buses via input/output I/Fs.

When the power is turned on, the system program such as BIOS stored in the ROM etc. loads various control programs pre-stored in the ROM into the RAM, and the CPU executes according to the instructions written in the program loaded in the RAM. By performing arithmetic processing using various resources, each function for controlling the operation of each of the above devices can be realized on software.
Further, the tower crane 1 according to the embodiment is provided with an erection angle regulating member 20 that regulates the erection angle of the hoisting boom 7, as shown in FIGS. In addition, the crane device 6 of the tower crane 1 includes a base-side bracket 40 provided near the base end of the hoisting boom 7 and a bracket 40 provided on the tip side of the hoisting boom 7 and on the base end side of the folding boom 8. and a first distal bracket 41 . Further, the crane device 6 includes a V-link mechanism 42 connected to a first tip-side bracket 41 and a second tip provided near the tip of the bending boom 8 so as to partially protrude downward. A side bracket 43 is provided. Still further, the crane device 6 includes the hoisting boom hoisting hydraulic cylinder 34, the folding boom hoisting hydraulic cylinder 35, and a third boom hoisting hydraulic cylinder 35 provided above the tip of the folding boom 8 in the retracted state. a sheave 46; Here, in the retracted state, both the hoisting boom 7 and the bending boom 8 are horizontal with respect to the ground.

The erection angle regulating member 20 includes a first erection angle regulation member 20R provided on one side of the hoisting boom 7 (the right hand side in FIGS. 1 to 3) and the other side of the hoisting boom 7 (the right side in FIG. 1). 3), and a second upright angle regulating member 20L.
In the following description, "one side" refers to the right side of each component in each posture of the tower crane 1 in FIGS. 1 to 3, and "the other side" refers to FIGS. refers to the left hand side of each component in each posture of the tower crane 1.
The proximal bracket 40 is formed integrally with the hoisting boom 7, and in the posture shown in FIG. and a second connecting portion 40b formed to protrude rearward.

2, 6(a) and 6(b), one tube-side end of the first hoisting boom hoisting hydraulic cylinder 34R is positioned 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 tube-side end of the second hoisting boom hoisting hydraulic cylinder 34L is rotatable about a horizontal axis via a second cylinder pin 341 inside the left-hand side of the second connecting portion 40b. pivoted on.
Further, one rod-side end of the first hoisting boom hoisting hydraulic cylinder 34R is axially rotatable about a horizontal axis via a first cylinder pin 340 inside the right-hand front end of the column 5. supported. In addition, one rod-side end of the second hoisting boom hoisting hydraulic cylinder 34L is placed inside the front end on the left hand side of the column 5 via a first cylinder pin 340 so as to be rotatable around a horizontal axis. pivoted.

As shown in FIGS. 1 and 2, the first tip side bracket 41 includes a base end bracket 41a attached to the tip of the hoisting boom 7 and a base end of the bending boom 8. 1, the lower end portion is provided with a distal end bracket 41b pivotally supported on the upper end portion of the proximal end bracket 41a so as to be rotatable about a horizontal axis.
The base end bracket 41a has two plate-shaped members that face each other with the tip of the hoisting boom 7 interposed therebetween, and the rear end and lower end of the base end bracket 41a have a first plate-shaped member inside the two plate-shaped members. A sheave 44 is rotatably supported about a horizontal axis.

As shown in FIGS. 26(a) and 26(b), the V-link mechanism 42 includes a first V-link 42R provided on the right-hand side of the bending boom 8 and a second V-link 42R provided on the left-hand side. 42 L, a second sheave 45 and a second sheave shaft 423 .
The first V-link 42R has two plate-like links 420R and 421R. One ends of the links 420R and 421R are rotatably supported around the link pin 422, which is a horizontal axis, to one end of the rod side of the first bending boom hoisting hydraulic cylinder 35R. there is In addition, the other end of the link 421R is rotatably supported on the lower right-hand side of the base end bracket 41a around the horizontal axis of the link pin 424, and the other end of the link 420R is connected to the tip bracket 41b. is rotatably supported around the second sheave shaft 423 which is a horizontal shaft.

The second V-link 42L has two plate-like links 420L and 421L. One ends of the links 420L and 421L are rotatably supported on one end of the rod side of the second bending boom hoisting hydraulic cylinder 35L about the link pin 422, which is a horizontal axis. there is In addition, the other end of the link 421L is rotatably supported on the lower left-hand side of the proximal end bracket 41a around a horizontal axis, that is, a link pin 424, and the portion near the other end of the link 420L is connected to the distal end. It is rotatably supported around a link pin 425, which is a horizontal shaft, on the left upper portion of the bracket 41b.

Moreover, as shown in FIGS. , there are provided sheave mounting portions 420Ra and 420La formed to protrude rearward (upward in FIG. 2) from the tip bracket 41b. A second sheave shaft 423 is provided so as to suspend the sheave mounting portions 420Ra and 420La, and one second sheave 45 is provided at the center of the shaft 423 . The second sheave 45 is rotatably supported around a horizontal second sheave shaft 423 .

Specifically, as shown in FIGS. 27(a) to (h), the link 420R includes a plate-shaped link base portion 420Rs and a plate-shaped link extension portion 420Rd attached to one surface of the link base portion 420Rs so as to overlap each other. and a plate-shaped link extension 420Re attached to one end of the other surface of the link base 420Rs.
As shown in FIG. 27(c), the link base portion 420Rs includes a sheave mounting portion 420Ra formed by extending the other end obliquely downward in a plan view, and a sheave mounting portion 420Ra extending through the plate surface of the sheave mounting portion 420Ra. provided with a shaft hole 420Rb. Further, the link base portion 420Rs has a pin hole 420Rc provided through the plate surface at a portion near the other end.

On the other hand, the link extension portion 420Rd has substantially the same length as the link base portion 420Rs, and the portion from one end of one surface to a position slightly closer to the other end than the central portion is one side of the link base portion 420Rs. It has a configuration in which it is overlapped and attached to a portion from a position closer to one end than the pin hole 420Rc of the surface to the other end. As a result, a portion of the link extension portion 420Rd extending from a position slightly closer to the other end than the center protrudes from one end of the link base portion 420Rs. Furthermore, as shown in FIG. 27(e), the link extension 420Rd has a pin hole 420Rf provided through the plate surface at the tip (other end) of the projecting portion.
Here, as shown in FIG. 27(c), the other end of the link base portion 420Rs is extended obliquely downward to form the sheave mounting portion 420Ra. An angle θ between a straight line 420Rh passing through the center of the pin hole 420Rb and a straight line 420Ri passing through the center of the pin hole 420Rc and the center of the pin hole 420Rf is set to be approximately 30°.

For example, when the other end of the link base portion 420Rs is extended straight to form the shaft hole 420Rb so that its center is on the straight line 420Ri, the second sheave 45 is bent when the crane device 6 is retracted. protrude above the At this time, the height dimension of the tower crane 1 increases because the second sheave 45 protrudes above the third sheave 46 . On the other hand, as shown in FIG. 27(c), the other end of the link base portion 420Rs is extended obliquely downward to form a sheave mounting portion 420Ra. , the second sheave 45 projects to the rear side of the folding boom 8 . Therefore, it is possible to configure the second sheave 45 to be positioned below the third sheave 46 so as not to increase the height dimension of the tower crane 1 .

As shown in FIG. 27(e), the link extension 420Re is shorter than the link extension 420Rd, and one surface of the link extension 420Re is located at one end of the other surface of the link base 420Rs. It has a configuration in which the parts are overlapped and pasted. As a result, the portion beyond the overlapping portion on the one end side of the link extension portion 420Re protrudes from the one end portion of the link base portion 420Rs. Here, the length dimension of the link base portion 420Rs is configured such that the length of the projecting portion is the same as the length of the projecting portion of the link extension portion 420Rd. Further, the link extension 420Re has a pin hole 420Rg penetrating through the plate surface at a position coaxial with the pin hole 420Rf at the tip (other end) of the projecting portion.

The other end of the link 420R supports one end of the second sheave shaft 423 via the shaft hole 420Rb, as shown in FIGS. 26(a) and 26(b). A portion near the other end of the link 420R is rotatably supported around a link pin 425 via a pin hole 420Rc, and one end of the link 420R is connected to the link pin 422 via pin holes 420Rf and 420Rg. It is rotatably pivotally supported.
The link 420L on the left hand side has a shape obtained by turning over the link 420R on the right hand side. 26(a) and 26(b), the link 420L includes a link base portion 420Ls and link extension portions 420Ld and 420Le. The link base portion 420Ls includes a sheave attachment portion 420La formed by extending the other end in an oblique direction in plan view, and a shaft hole 420Lb provided through the plate surface of the sheave attachment portion 420La. . Further, the link 420Ls has a pin hole 420Lc provided through the plate surface at a portion near the other end.

On the other hand, the link extension portion 420Ld has substantially the same length as the link base portion 420Ls, and the portion beyond the center of the link extension portion 420Ld slightly closer to the other end protrudes from one end of the link base portion 420Ls. is configured to The link extension 420Ld is provided with a pin hole 420Lf penetrating through the plate surface at the tip (the other end) of the projecting portion.
In addition, the link extension 420Le is shorter than the link extension 420Ld, and the portion beyond the portion overlapping the link base 420Ls at one end thereof is configured to protrude from the one end of the link base 420Ls. . The link extension portion 420Le has a pin hole 420Lg penetrating through the plate surface at a position coaxial with the pin hole 420Lf at the tip (other end) of the projecting portion.

The other end of the link 420L supports the other end of the second sheave shaft 423 via the shaft hole 420Lb. A portion near the other end of the link 420L is rotatably supported around a link pin 425 via a pin hole 420Lc, and one end of the link 420L is connected to the link pin 422 via pin holes 420Lf and 420Lg. It is rotatably pivotally supported.
That is, as shown in FIG. 26(a), when the hoisting boom 7 and the bending boom 8 are in the retracted posture, the link 420R is connected to one end of the first bending boom hoisting hydraulic cylinder 35R on the rod side and the second sheave shaft. 423 is suspended obliquely. In addition, the link 420L is suspended obliquely between the second sheave shaft 423 and one end on the rod side of the second bending boom hoisting hydraulic cylinder 35L. As described above, the sheave mounting portions 420Ra and Rb project diagonally at an angle θ from the other ends of the links 420R and 420L. Therefore, when the hoisting boom 7 and the bending boom 8 are in the retracted posture, the sheave mounting portions 420Ra and Rb are in a posture protruding toward the rear side of the machine body.

Furthermore, in the present embodiment, the second sheave 45 is constructed of a sheave having a diameter smaller than that of the first sheave 44 .
Further, the second sheave 45 is disposed in a positional relationship in which the respective groove portions face each other so that the wire rope 13 can be bridged over the first sheave 44 . Specifically, the first sheave 44 is arranged at the center position of the hoisting boom 7 in the width direction, and the second sheave 45 is arranged at the center position of the bending boom 8 in the width direction. It is disposed with the groove facing in the longitudinal direction. This allows the wire rope 13 to be stretched straight.

However, in this embodiment, in order to hang the wire rope 13 from the first sheave 44 on the second sheave 45 when the boom is retracted, as shown in FIG. It is positioned below the boom 7 . In this state, when the wire rope 13 is hung on the second sheave 45, the wire rope 13 comes into contact with the tip bracket 41b. Therefore, in this embodiment, as shown in FIGS. 26(a) and 26(b), a resin pad 41d is provided at a portion of the tip bracket 41b that contacts the wire rope 13. As shown in FIG. That is, the pad 41 d prevents the wire rope 13 from coming into direct contact with the second sheave 45 .

The other tube end of the first bending boom hoisting hydraulic cylinder 35R is pivotally supported on the right hand side of the lower end projecting portion of the second tip end bracket 43 so as to be rotatable about a horizontal axis. The other tube-side end of the second bending boom hoisting hydraulic cylinder 35L is rotatable around a cylinder pin 430, which is a horizontal axis. is pivotally supported by
Further, the first and second bending boom hoisting hydraulic cylinders 35R and 35L have respective rod-side end portions that are connected to the rotating shafts of the first V-link 42R and the second V-link 42L. are connected by different link pins 422 .

Furthermore, as shown in FIGS. 26(a) and 26(b), the hoisting boom 7 and the bending boom 8 are arranged around the boom pin 41c, which is a horizontal axis, via the proximal end bracket 41a and the distal end bracket 41b. It is rotatably supported.
With such a configuration, by extending the first and second bending boom hoisting hydraulic cylinders 35R and 35L, the bending boom 8 rotates in the raising direction (the direction away from the hoisting boom 7) and, on the other hand, contracts. , the bending boom 8 rotates in the lying down direction (direction approaching the hoisting boom 7).

(Composition of Column 5)
Next, the detailed configuration of the column 5 of this embodiment will be described.
As shown in FIGS. 6(a) and 6(b) and FIGS. 7(a) and 7(b), the column 5 comprises a base plate 50 and first columns standing on the base plate 50 with a predetermined gap therebetween. and second top plates 51R and 51L.
As shown in FIGS. 6A and 7A, the first upper plate 51R includes a first vertical plate portion 51Ra, a second vertical plate portion 51Rb, and a second vertical plate portion 51Rb when viewed from the right side. It has a first horizontal plate portion 51Rc that connects the first vertical plate portion 51Ra and the second vertical plate portion 51Rb, and is configured in a substantially “H” shape.

Under the first horizontal plate portion 51Rc, rubber hoses for feeding pressure oil from the pump 60 to the hydraulic actuators (31, 32, 33, 34, 35) provided on the bending boom 8 and the hoisting boom 7, and 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 the upper portion of the first vertical plate portion 51Ra supports the base end of the hoisting boom 7 via a boom foot pin 75 so that it can be hoisted. It is pivotally supported and protrudes forward of the vehicle as shown in FIG. Pin holes 52R, 53R, and 54R, which will be described later, are provided in the upper portion of the second vertical plate portion 51Rb, and the upper end portion thereof is formed on a substantially horizontal surface.

Further, the first upper plate 51R includes a 1-1 pin hole 52R, a 1-2 pin hole 53R and a 1-3 pin hole 53R provided through the plate surface of the second vertical plate portion 51Rb. A pin hole 54R, a first reinforcing portion 55R provided overlapping the surface of the second vertical plate portion 51Rb, and formed at the upper end portions of the first reinforcing portion 55R and the second vertical plate portion 51Rb and a first boom mounting portion 59R.
The 1-1st to 1-3rd pin holes 52R to 54R are provided with a 1-1st insertion hole 52Ra, a 1-2nd insertion hole 53Ra and a 1-3rd insertion hole 54Ra. In addition, a 1-1 boss 52Rb, a 1-2 boss 53Rb, and a first -3 boss 54Rb.

The first reinforcing portion 55R is formed so as to cover the periphery of the 1-1 to 1-3 bosses 52Rb to 54Rb of the 1-1 to 1-3 pin holes 52R to 54R, It is provided thicker than the upper plate 51R. The first reinforcing portion 55R extends to the base plate 50 at its lower end and is joined to the base plate 50 by welding or the like.
As shown in FIGS. 6(b) and 7(b), the second top plate 51L has a shape mirror-symmetrical to the first top plate 51R when viewed from the left hand side (first top plate 51R turned over). That is, a third vertical plate portion 51La forming the left side of the long length, a fourth vertical plate portion 51Lb forming the right side of the short length, the third vertical plate portion 51La and the fourth vertical plate portion 51Lb. and a second horizontal plate portion 51Lc that connects the

Under the second horizontal plate portion 51Lc, a rubber hose for feeding pressure oil from the pump 60 to the hydraulic actuators (31, 32, 33, 34, 35) provided on the bending boom 8 and the hoisting boom 7, and A through hole is provided for passing electrical wiring and the like through the inside of the column 5 .
The upper portion of the third vertical plate portion 51La pivotally supports the base end portion of the hoisting boom 7 via a boom foot pin 75 so that it can be hoisted and raised, and protrudes forward of the vehicle shown in FIG. It is configured. Pin holes 52L, 53L, and 54L, which will be described later, are provided in the upper portion of the fourth vertical plate portion 51Lb, and the upper end portion thereof is formed on a substantially horizontal surface.

Further, the second upper plate 51L includes a 1-4th pin hole 52L, a 1-5th pin hole 53L and a 1-6th pin hole 53L provided through the plate surface of the fourth vertical plate portion 51Lb. A pin hole 54L, a second reinforcing portion 55L provided overlapping the surface of the fourth vertical plate portion 51Lb, and formed at the upper end portions of the second reinforcing portion 55L and the fourth vertical plate portion 51Lb and a second boom mounting portion 59L.
The 1-4th to 1-6th pin holes 52L to 54L have the same configuration as the 1-1st to 1-3rd pin holes 52R to 54R. It has a 1-5 insertion hole 53La, a 1-6th insertion hole 54La, and a 1-4th boss 52Lb, a 1-5th boss 53Lb, and a 1-6th boss 54Lb.

The second reinforcing portion 55L has a configuration similar to that of the first reinforcing portion 55R, and is formed so as to cover the periphery of the 1-4th to 1-6th bosses 52Lb to 54Lb. It is provided thicker than 51L. The second reinforcing portion 55L also extends to the base plate 50 at its lower end and is joined to the base plate 50 by welding or the like.
Furthermore, the 1-1st to 1-3rd pin holes 52R to 54R and the 1-4th to 1-6th pin holes 52L to 54L are provided concentrically and in the same relative positional relationship when viewed from the side. It is
The detailed configuration of the first boom mounting portion 59R and the second boom mounting portion 59L will be described later.
Further, hereinafter, the 1-1st to 1-3rd pin holes 52R to 54R and the 1-4th to 1-6th pin holes 52L to 54L are collectively referred to as "1-1st to 1-6th may be abbreviated as "pin holes 52R to 54L".

(Structure of standing angle control device)
Next, a detailed configuration of the standing angle regulating device according to this embodiment will be described.
This standing angle regulating device includes first and second standing angle regulating members 20R and 20L, 1-1 to 1-6 pin holes 52R to 54L formed in the column 5, and first and second angle regulating pins 23R and 23L, and first to fourth support portions 500a to 500d, which will be described later.

As shown in FIG. 3, the first erection angle regulating member 20R is composed of a link mechanism connecting a first right-hand plate 21R and a second right-hand plate 22R. is composed of a link mechanism connecting the first left-hand side plate 21L and the second left-hand side plate 22L.
The first right-hand side plate 21R is formed of a metal plate, and as shown in FIG. Also, it has a shape that gradually narrows from one end side to the other end side. That is, each vertex is formed in a substantially obtuse triangular shape with rounded vertices, with the end on the one end side as a short side. In addition, the first right-hand side plate 21R has a 2-1 pin hole 210R, a 2-2 pin hole 211R and a 2-3 pin hole formed through the plate surface at one end thereof. It has three pin holes 212R and a first connecting hole 213R formed through the plate surface at the other end.

Here, the 2-1st to 2-3rd pin holes 210R to 212R are formed to have the same relative positional relationship and the same inner diameter as the 1-1st to 1-3rd pin holes 52R to 54R.
As shown in FIG. 8B, the second right-hand side plate 22R is formed of a long metal plate having teardrop-shaped ends when viewed from the side. In addition, the second right-hand plate 22R has a second connecting hole 220R formed through the plate surface at one end and a third connecting hole 220R formed through the plate surface at the other end. and a hole 221R.
The first left-hand side plate 21L has the same configuration as the first right-hand side plate 21R, and as indicated by the reference numerals in parentheses in FIG. It has a 2-4th pin hole 210L, a 2-5th pin hole 211L, a 2-6th pin hole 212L, and a fourth connecting hole 213L formed at the other end.

Here, the 2-4th to 2-6th pin holes 210L to 212L are formed to have the same relative positional relationship and the same inner diameter as the 1-4th to 1-6th pin holes 52L to 54L.
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 indicated by the reference numerals in parentheses in FIG. 8(b). and a fifth connecting hole 220L, and a sixth connecting hole 221L formed at the other end.
One end of the first right-hand plate 21R is attached to the column 5 only when the boom 7 is in the retracted position (position shown in FIG. 1), as shown in FIG. 9(a). With respect to the formed 1-1st to 1-3rd pin holes 52R to 54R, the 2-1st to 2-3rd pin holes 210R to 212R are aligned in the axial direction when viewed from the side. are arranged in overlapping coaxial positions.

Specifically, a first pin hole pair, which is a set of a 1-1 pin hole 52R and a 2-1 pin hole 210R, and a 1-2 pin hole 53R and a 2-2 pin hole 211R and the third pin hole pair, which is a set of the 1-3rd pin hole 54R and the 2-3rd pin hole 212R. They are arranged so that they overlap coaxially.
One end of the first left-hand side plate 21L is, as shown in FIG. The 2-4th to 2-6th pin holes 210L to 212L are arranged at coaxial positions where the central axes of the 2-4th to 2-6th pin holes 210L to 212L exactly overlap in the axial direction with respect to the -4th to 1-6th pin holes 52L to 54L. be done.

Specifically, a fourth pin hole pair, which is a set of the 1-4th pin hole 52L and the 2-4th pin hole 210L, and the 1-5th pin hole 53L and the 2-5th pin hole 211L The hole position of each set is axially aligned with the fifth pin hole pair that is a set of They are arranged so that they overlap coaxially.
Then, as shown in FIG. 9A, the first right-hand side plate 21R is inserted by inserting the first angle regulating pin 23R into one of the first to third pin hole pairs. The first angle regulating pin 23R is rotatably supported around the axis of rotation.

Also, as shown in FIG. 9B, the first left-hand side plate 21L is inserted by inserting the second angle regulating pin 23L into one of the fourth to sixth pin hole pairs. The second angle regulating pin 23L is rotatably supported around the axis of rotation.
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 erection angle control device of the present embodiment, when the hoisting boom 7 is in the retracted position, the operator can adjust the angle of the hoisting boom according to the positions of the pair of pin holes into which the first and second angle regulating pins 23R and 23L are inserted. 7 can be set to a desired angle from three different preset first to third standing angles. Specifically, the first and fourth pinhole pairs correspond to the first erection angle, the second and fifth pinhole pairs correspond to the second erection angle, and the third and sixth pinhole pairs A pair corresponds to the third standing angle.

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

Each of the first to fourth support portions 500a to 500d includes a block portion protruding from the side surface of the upper plate, a female screw portion penetrating the block portion, and the female screw portion extending from below. It has a screwed bolt portion and a nut portion screwed onto the tip of the bolt portion projecting upward from the block portion via the female screw portion.
As shown in FIGS. 9(a) and 9(b), the first and third support portions 500a and 500c are positioned below the first right-hand and left-hand side plates 21R and 21L near the other end. is provided. Then, the axial direction thereof is oriented perpendicular to the lower end portions of the first right and left side plates 21R and 21L, and the tip portions of the bolt portions are provided so as to be able to contact the lower end portions.

In addition, the second and fourth support portions 500b and 500d are provided at positions closer to one end of the first right-hand and left-hand side plates 21R and 21L and below the positions of the pin holes on the central side. It is Then, the axial direction thereof is oriented perpendicular to the lower end portions of the first right and left side plates 21R and 21L, and the tip portions of the bolt portions are provided so as to be able to contact the lower end portions.
That is, the first to fourth support portions 500a to 500d do not slide down from below the lower end portions of the first right and left side plates 21R and 21L only when the hoisting boom 7 is in the boom retracted state. It is a supporting stand. Therefore, even when the first and second angle regulating pins 23R and 23L are not inserted, the central axes of the respective sets of holes are coaxially overlapped, and a communication state in which the pins can be inserted can be maintained.

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

Furthermore, as shown in FIG. 9(a), one end of the second right-hand plate 22R is connected to the other end of the first right-hand plate 21R to form a first connecting hole 213R and a second connecting hole. 220R is supported through a first connecting pin 24R. Specifically, the second right-hand side plate 22R is rotatably connected around the first connecting pin 24R as a rotation axis.
Further, as shown in FIG. 9B, one end of the second left-hand plate 22L is connected to the other end of the first left-hand plate 21L through a fourth connecting hole 213L and a fifth connecting hole. 220L is supported through a second connecting pin 24L. Specifically, the second left-hand side plate 22L is rotatably connected around the second connecting pin 24L as a rotation axis.

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

As shown in FIG. 9(a), when the hoisting boom 7 is in the retracted state, the first rising angle regulating member 20R is such that 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 in a state of being bent in an "upside down" shape with the part as the center.
Similarly, when the hoisting boom 7 is in the retracted state, as shown in FIG. 9(b), the second erection angle regulating member 20L is such that the first left-hand side plate 21L and the second left-hand side plate 22L are , and is configured to be in a state of being bent in a "<" shape with its connection portion as the center.

With the above configuration, when the hoisting boom 7 is in the boom retracted state, the hoisting boom 7 is sandwiched between the second right-hand and left-hand plates 22R and 22L on the upper side. A connecting pin 25) is arranged, and a rotary shaft (second cylinder pin 341) at the tube-side tip of the first and second boom hoisting hydraulic cylinders 34R and 34L is arranged on the lower side. In addition, the rotating shafts (first cylinder pins 340) at the rod-side tips of the first and second boom hoisting hydraulic cylinders 34R and 34L are aligned with the front end sides of the column 5 (second and fourth hydraulic cylinders 34R and 34L). The 1-1 to 1-6 pin holes 52R to 54L are arranged on the vertical plate portions 51Rb and 51Lb), and the 1-1 to 1-6 pin holes 52R to 54L are arranged on the rear end side of the column 5 (the first and third vertical plate portions 51Ra and 51La). distributed.

(Procedure for designing the formation positions of the 1-1 to 1-6 pin holes 52R to 54L)
Next, the procedure for designing the formation positions of the 1-1 to 1-6 pin holes 52R to 54L for restricting the erection angle of the hoisting boom 7 to the target erection angle will be described.
It is assumed that the position of the boom foot pin 75, the engine cover of the driving unit 15, the positions of other peripheral devices such as the bending boom 8 and the like are determined in advance.
The procedure for designing the formation positions of the 1-1st to 1-3rd pin holes 52R to 54R will be described in detail below.

First, the required luffing boom 7 erection angle is determined. In this 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. 11( a ), the third connecting pin 25 on the side of the hoisting boom 7 is not connected to other peripheral devices such as the engine cover and the bending boom 8 that constitute the driving section 15 . Determine the approximate position (axis position b).
Next, based on the determined axial position b and the known axial position of the 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 tentatively set as M, and a straight line connecting the axis of the third connecting pin 25 and the axis of the first angle control pin 23R, and the straight line and the boom A first distance B, which is a linear distance perpendicular to the axial center position of the foot pin 75, is temporarily set. Then, the tensile force F applied to the first angle regulating pin 23R inserted into the 1-1st pin hole 52R is determined based on the following equation (1).
F=M/B (1)
16 as an example, the tower crane 1 performs cargo handling work by suspending a load via a hook 14 suspended from the tip of a folding boom 8 that is folded toward the front of the vehicle. . Therefore, when a load is suspended, a pulling force is applied to the hoisting boom 7 toward the front side of the vehicle, and as a result, a pulling force F is generated in the first erection angle regulating member 20R.

Here, as shown in the above formula (1), the shorter the first distance B, the greater the tensile force F applied to the first angle regulation pin 23R. The tensile force F applied to the pin 23R is reduced. On the other hand, the shorter the first distance B, the more compact the first erection angle regulating member 20R can be provided. becomes larger.
In this embodiment, the first distance B is set as short as possible within the range of the allowable pulling force F.

Furthermore, if the shear stress of the first angle regulation pin 23R is τ, the cross-sectional area of the pin 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 stress The stress τ can be calculated from the following formula (2).
τ=F/A+k (2)
From the above formula (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 regulating pin 23R and the pin hole 52R of the first-1 Determine the hole diameter (inner diameter). Then, the axial position of the 1-1st pin hole 52R is determined at point a1 in FIG. 11(a).

Here, it is desirable to determine the axial center position a1 of the 1-1 pin hole 51R at a position where the first upright 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 below the hoisting boom 7 in the retracted state.
Next, the lengths of the first right hand plate 21R and the second right hand plate 22R are determined. Here, as shown in FIG. 11(a), the position of the axial center of the third connecting pin 25 when the first erection angle regulating member 20R becomes linear when the erection angle is 95°, and the determined Let D be the linear distance between the center position a1 of the 1-1st pin hole 52R.

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 assumed to be the 1-1 link length r11. set. In addition, if the length between the axial position of the first connecting pin 24R and the axial position of the third connecting pin 25 is tentatively set as the second link length r2, the second link length r2 is It can be expressed by the following equation (3) from the linear distance D and the (1-1)th link length r11.
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. , does not interfere with the boom foot pin 75 in side view, the first upright angle regulating member 20R can be brought closer to the column 5 in the widthwise direction. In general, the boom foot pin 75 is provided with a detent (not shown) so that it does not rotate together when the boom is raised and lowered. Considering the trajectory of the connection point P so that the arc drawn by the second link length r2 is radially inside the boom foot pin 75 so that the first upright angle regulating member 20R is avoided due to its thickness, the first As an effect of the proximity of the upright angle regulating member 20R and the column 5, the overall length of the 2-1 pin hole 210R can be shortened, and the boss has a gap to prevent breakage due to the shear force applied to the pin. It also has the advantage of being less ambitious. Considering this, in the present embodiment, from the above equation (3), with r11 as a variable, the intersection of a circle with radius r11 centered at point a1 and a circle with radius r2 centered at point b is A 1-1 link length r11 and a second link length r2 are determined by setting division points on the trajectory.

Specifically, as shown in FIG. 11B, the intersection of the circle when the 1-1st link length r11 is r111 and the circle when the 2nd link length r2 is r21 is Find 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. In addition, the intersection points of the circle when the link length r11 of the 1-1 is r113 (r112<r113) and the circle when the link length r2 of the second link is r23, . A first trajectory t1, which is the trajectory of the intersection when the link length r11 is changed, is calculated.
Thus, 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. 11(c), the 1-1st link length r11 is determined as Dr11, and the second link length r2 is determined as Dr2. Furthermore, let P be a connection point that is the axial center position of the connection portion.

In this embodiment, a pin hole is provided on one end side of the first right-hand side plate 21R, that is, on the column 5 side. Therefore, the second link length r2 is constant at Dr2. Here, the solid straight line in FIG. 11(c) indicates the portion corresponding to the 1-1 link length r11 of the first right-hand plate 21R, and the broken straight line indicates the second right-hand plate 22R. 2 corresponding to a link length r2 of 2.
Further, the axial position of the third connecting pin 25 moves along the track O1 to point b as shown in FIG. At this time, as shown in FIG. 11(c), the first upright angle regulating member 20R is positioned at the connection point P (the first connection pin 24R) between the first right-hand plate 21R and the second right-hand plate 22R. ), and is bent in an "upside-down" shape.

This is due to the weight of each plate that constitutes the link. In the first upright angle regulating member 20R of the present embodiment, the first right-hand plate 21R is heavier than the second right-hand plate 22R. It is configured. Therefore, the connecting point P cannot move upward.
Next, the formation position of the first-third pin hole 54R corresponding to the standing angle of 85° is determined.
Here, the second link length r2 is already determined as Dr2, and in this embodiment, the position of point P when the hoisting boom 7 is in the boom retracted state is fixed. The reason why the position of point P is fixed is that when the hoisting boom 7 is in the boom retracted state, the first to third pin hole pairs are all in a state in which the first angle regulating pin 23R can be inserted. It is for

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. A pin-to-pin distance Rb between the axial center position a1 of the hole 52R and the newly determined axial center position a3 of the 1-3rd pin hole 54R is determined. Here, the larger the tensile 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. become longer. That is, the pin-to-pin distance Rb is related to the strength of the pin holes. It becomes impossible to arrange compactly. Therefore, in the present embodiment, compactness is prioritized, and the distance is set to be 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 position a1 of the 1-1st pin hole 52R is set.

Next, a circle having a radius Dr2 centered on the axial position of the third connecting pin 25 when the hoisting boom 7 is erected at an erection angle of 85° is set.
Then, the second trajectory t2, which is the trajectory of the center of the circle that is in contact with the circle of radius Dr2 and passes through point P, and the position where the circle of radius Rb contacts (or intersects) is the axis of the 1-3rd pin hole 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 axial center position of the first angle regulating pin 23R inserted into the 2-3rd pin hole 212R and the 1-3rd pin hole 54R and the first connection. It is the length between the axial center position of the pin 24R (hereinafter referred to as "first-third link length r13").

Specifically, as shown in FIG. 12B, the center of a circle with radius r131 that is in contact with the circle with radius Dr2 and passes through point P, the center of the circle with radius r132 that is in contact with the circle with radius Dr2 and passes through point P is A second trajectory t2 is calculated when the length r13 of the first to third links is varied such that the center is in contact with the circle of radius Dr2 and the center of the circle of radius r133 passes through point P, and so on. The position at which the second locus t2 and the circle having the radius Rb contact each other is defined as the axial center position a3 of the 1-3rd pin hole 54R. If the radius Rb is small and there is no point of contact with the second trajectory t2, any position on the second trajectory t2 can be set as the axial center position a3.

Also, although not shown, the forming position of the 1-2 pin hole 53R corresponding to the rising angle of 90° is also determined in the same procedure as for the rising angle of 85°. In this case, a circle with a radius Dr2 is set around the axial position of the third connecting pin 25 when the third connecting pin 25 is erected at an erection angle of 90°. A third trajectory t3, which is the trajectory of the center of the circle that is in contact with this circle and passes through point P, the axial center position a1 of the 1-1st pin hole 52R, and the axial center of the 1-3rd pin hole 53R. The position where the circles with the radius Rb each centered at the position a3 are in contact with each other is determined as the axial position a2 of the 1-2nd pin hole 53R. The radius r12 of the circle passing through the point P at this time is the axial center position of the first angle regulating pin 23R inserted into the 2-2nd pin hole 211R and the 1-2nd pin hole 53R and the first connection. It is the length between the axis position of the pin 24R (hereinafter referred to as "1-2nd link length r12").
As described above, the forming positions of the 1-1 to 1-3 pin holes 52R to 54R are determined.
Further, when the positions of the three pin holes with the first, second and third standing angles of 95°, 90° and 85° are determined, the second vertical plate portion 51Rb of the first upper plate 51R of the column 5 is Determines the shape.

Next, the combination of the column 5 and the first upright angle regulating member 20R will be considered. Then, as shown in FIG. 12(c), when the hoisting boom 7 is in the boom retracted state, the central axes of the three pin holes on the column 5 side (the 1-1 to 1-3 pin holes 52R to 54R position) and the center axes of the three pin holes on the first right-hand side plate 21R side (the positions of the 2-1 to 2-3 pin holes 210R to 212R) are coaxial with each other. The positions of the second support portions 500a and 500b are adjusted.
The formation positions of the 1-4th to 1-6th pin holes 52L to 54L are left-right symmetrical to the formation positions of the 1-1st to 1-3rd pin holes 52R to 54R. , can be similarly determined. The same applies to the second upper plate 51L and the third and fourth support portions 500c and 500d. Therefore, description is omitted.

(Rising motion of hoisting boom 7)
Next, the raising operation of the hoisting boom 7 will be described.
Here, in the example of FIGS. 9A and 9B, the first and second angle regulation pins 23R and 23L are inserted into the first and fourth pin hole pairs corresponding to the standing angle of 95°. Indicates status.
In addition, in the retracted state shown in FIGS. 9A and 9B, the first and second angle regulation pins 23R and 23L are removable. Therefore, the operator selects a pin hole pair corresponding to a desired erection angle and inserts the first and second angle regulation pins 23R and 23L into the selected pin hole pair to raise the hoisting boom 7 to the desired erection angle. It can be erected at an angle.
Hereinafter, a description will be given of the rising motion of the hoisting boom 7 as seen from the right hand side, which is the motion of shifting from the boom retracted state to the standing state at each standing angle.

First, the rising operation to the standing state with the standing angle of 95° will be described.
First, the third electromagnetic switch valve 860 is switched to the hydraulic cylinder 34 for hoisting boom hoisting. This switching operation is performed by the operator switching a hoisting boom selector switch (not shown) of the operation unit 11 to the hoisting boom hoisting operation mode side.
Next, when the hoisting boom hoisting hydraulic cylinder 34 is driven in the extension direction with the hoisting boom 7 retracted and the first angle regulating pin 23R inserted as shown in FIG. Extending, the hoisting boom 7 rotates in the upright direction. As a result, as shown in FIG. 13A, the first angle regulating pin 23R serves as a fixed shaft and the third connecting pin 25 serves as a movable shaft. Extend plate 21R and second right hand plate 22R.

As a result, as shown in FIG. 13(b), the first erection angle regulating member 20R eventually straightens and stretches obliquely between the column 5 and the hoisting boom 7, and the hydraulic cylinder 34 for hoisting the boom hoisting. , the first right-hand side plate 21R and the second right-hand side plate 22R do not rotate any more. That is, in this state, the hoisting boom 7 is regulated at an erection angle of 95°.
At this time, the first and second boom hoisting hydraulic cylinders 34R and 34L have not reached the stroke end. In other words, the moment M applied to the lofting side of the hoisting boom 7 by a suspended load is received only as tension applied to the link (raising angle regulating member), and is applied to the first and second hoisting boom hoisting hydraulic cylinders 34R and 34L. has not been communicated. Even if one of the upright angle regulating members is damaged or damaged, the moment M will be received by the upright angle regulating member on the other side. Furthermore, even if the erection angle regulating members on both sides are damaged, the moment M of the hoisting boom 7 will be received by the first and second hoisting boom hoisting hydraulic cylinders 34R and 34L. It has a triple fail-safe structure.

Also, in this state, the axial center of the first angle regulating pin 23R inserted into the first pin hole pair and the axial center 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
Here, in the retracted state shown in FIG. 9A, the erecting operation when the insertion position of the first angle regulating pin 23R is set to the position of the second pin hole pair (corresponding to 90°) is shown in FIG. As shown in a) and FIG. 14(b), only the position of the rotation shaft on the column 5 side becomes the position of the second pin hole pair, and the first pin hole pair (corresponding to 95°) is different. Since the operation is the same, the explanation is omitted. By this erecting action, the hoisting boom 7 is regulated at an erecting angle of 90°, as shown in FIG. 14(b).

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 plate 22R Let D2 be the straight line distance between them.
This straight-line distance D2 is shorter than the straight-line distance D1 (D2<D1). Therefore, compared to when the first angle regulating pin 23R is inserted into the first pin hole pair, the other end portion of the second right-hand side plate 22R (third connecting hole 221R ) reaches a higher position. However, since the distance is shorter than the straight line distance D1 and the position is higher, the forward reaching position of the third connecting hole 221R is rearward compared to the first pin hole pair.

15(a), when the insertion position of the first angle regulating 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). ) and FIG. 15(b), the position of the rotation shaft on the column 5 side is the position of the third pin hole pair, which is the same as the first pin hole pair (corresponding to 95°). , so the description is omitted. By this erecting operation, the hoisting boom 7 is regulated at an erecting angle of 85°, as shown in FIG. 15(b).
In this state, the axial center of the first angle regulating pin 23R inserted into the third pin hole pair and the axial center of the third connecting pin 25 on the other end side of the second right-hand plate 22R Let D3 be the straight line distance between them.

This straight-line distance D3 is longer than the straight-line distance D2 (D2<D3). However, in this embodiment, the position of the third pin hole pair is lower than the first and second pin hole pairs. Therefore, compared to when the first angle regulating pin 23R is inserted into the second pin hole pair, the other end portion of the second right-hand side plate 22R (third connecting hole 221R ) reaches a lower position. In addition, since the third connecting hole 221R is located at a lower position while being longer than the linear distance D2, the forward reaching position of the third connecting hole 221R is rearward of the second pin hole pair.

That is, in this embodiment, as shown in FIGS. 13(b), 14(b), and 15(b), the second link length is constant at Dr2, and the lengths of 1-1 to 1-1 are constant. The link lengths r11 to r13 of −3 are different lengths (Dr11 to Dr13). In this embodiment, the column 5 is provided with 1-1 to 1-3 pin holes 52R to 54R, and the first right-hand plate 21R is provided with 2-1 to 2-3 pin holes 52R to 54R. This is because the pin holes 210R to 212R are provided, and the positions of the pin hole pairs into which the pins are inserted are selected on the one end side. In other words, the position of the rotating shaft at one end of the first right-hand plate 21R changes depending on the position of the pair of pin holes into which the pins are inserted, so the inter-axis distance of the first right-hand plate 21R changes. As a result, the linear distances D1 to D3 become different lengths, and the reaching position of the other end (third connecting hole 221R) of the second right-hand side plate 22R changes.

Here, as shown in FIG. 10, the tower crane 1 of the present embodiment is operated in a posture in which the hoisting boom 7 is in an upright state and the bending boom 8 is bent so that the tip thereof faces forward. .
In addition, the hoisting boom 7 and the folding boom 8 of this embodiment are constructed from telescopic booms. Therefore, as shown in FIG. 16, during work, by extending the hoisting boom 7 in the upright state, it is possible to secure a higher lifting height of the suspended load, and extend the folding boom 8 in the folded state. By doing so, it becomes possible to hang the load further forward.

Here, the lift height of the suspended load is obtained by combining the maximum extension of the hoisting boom 7 in the standing state and the maximum standing state with the bending boom 8 in the maximum extension state. can be lifted.
Furthermore, in the tower crane 1 of this embodiment, the erection angle of the hoisting boom 7 can be selected from three types of 95°, 90° and 85°. Therefore, it is possible to work by selecting the standing angle suitable for the work environment from among three types of standing angles.
Specifically, as shown in FIG. 10, when the erection angle is 90°, the hoisting boom 7 stands upright without tilting forward and backward, and when the erection angle is 95°, the hoisting boom 7 tilts forward by 5°. When the hoisting boom 7 is erected and the erection angle is 85°, the hoisting boom 7 is tilted rearward by 5° and is erected.

Therefore, with a standing angle of 90 degrees as a reference, at a standing angle of 95 degrees, the tip portion of the folding boom 8 reaches further forward, making it possible to suspend a load further forward during load lifting work. Further, when the erection angle is 85°, the hoisting boom 7 is positioned directly above the center of rotation of the column 5 . Therefore, when the tower crane 1 is arranged in a building and the boom is protruded through an opening provided in the roof for work, the diameter of the opening can be reduced. Also, it is possible to lift a load with a greater mass than at the 95° and 90° standing angles.
In the above, the erection motion of the hoisting boom 7 from the boom retracted state to each erection angle when viewed from the right hand side has been described. It works. Therefore, description is omitted.

Further, in the present embodiment, when the first and second erection angle regulating members 20R and 20L are linear, the second right-hand and left-hand plates 22R and 22L are positioned forward of the hoisting boom 7. It has a configuration in which a rotating shaft (third connecting pin 25) at the other end is arranged. In addition, the rotating shaft (second cylinder pin 341) at the tube-side tip of the first and second boom hoisting hydraulic cylinders 34R and 34L is arranged on the rear side of the hoisting boom 7. It's becoming Further, the rotating shafts (first cylinder pins 340) at the rod-side tips of the first and second boom hoisting hydraulic cylinders 34R and 34L are aligned with the front end side of the column 5 (second and fourth vertical axis). It is arranged on the plate portions 51Rb and 51Lb). Further, the first and second angle regulating pins 23R and 23L inserted into the pin holes having the same standing angle on the right and left sides of the 1-1 to 1-6 pin holes 52R to 54L are It is arranged on the rear end side of the column 5 (first and third vertical plate portions 51Ra and 51La).

That is, the first cylinder pin 340 and the 1-1st to 1-6th pin holes 52R to 54L are the first cylinder pin 340 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.
By extending the first and second boom hoisting hydraulic cylinders 34R and 34L, the hoisting boom 7 is rotated in the erecting direction.
As a result, as shown in FIGS. 13(b), 14(b), and 15(b), in the state where the standing angle is restricted, the first standing angle restricting member 20R becomes linear, The first hoisting boom hoisting hydraulic cylinder 34R in the extended state intersects like an alphabet "X" when viewed from the side. The same applies to the left-hand side second erection angle regulating member 20L and the second boom hoisting hydraulic cylinder 34L.
In this manner, by setting the positional relationship to draw an "X" in the standing state, it is possible to concentrate the erection angle regulating member 20 and the hydraulic cylinder 34 for hoisting the hoisting boom around the hoisting boom 7. As a result, when working in a narrow space such as inside a building, it is difficult to block the operator's line of sight, making it possible to improve visibility.

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

Specifically, in the vicinity of the opening of the 1-1 through-hole 52Ra, the first proximity switch 56R is arranged with its detection part directed toward the opening, and the opening of the 1-2 through-hole 53Ra is arranged. A second proximity switch 57R is arranged near the opening with its detection part facing the direction of the opening, and a third proximity switch 58R is arranged near the opening of the 1-3 insertion hole 54Ra. is arranged with the part facing the direction of the opening.
Further, as shown in FIG. 17(b), on the inner surface of the fourth vertical plate portion 51Lb of the second upper plate 51L, through the second sensor support member 150L, 1-4th to 1st A fourth proximity switch 56L, a fifth proximity switch 57L and a sixth proximity switch 58L are provided in the vicinity of the openings of the -6 insertion holes 52La to 54La.

Specifically, in the vicinity of the opening of the 1-4th insertion hole 52La, the fourth proximity switch 56L is arranged with its detection part directed toward the opening, and the opening of the 1-5th insertion hole 53La is arranged. A fifth proximity switch 57L is arranged in the vicinity of the opening of the first-sixth insertion hole 54La, and a sixth proximity switch 58L is arranged in the vicinity of the opening of the first-sixth insertion hole 54La. is arranged with the part facing the direction of the opening.
In this embodiment, space saving is prioritized, and as shown in FIGS. 7A and 7B, the first and second boom hoisting hydraulic cylinders 34R and 34L It is arranged between the upper plates 51R and 51L. The first and second boom hoisting hydraulic cylinders 34R and 34L rotate vertically through the space between the first and second upper plates 51R and 51L.

That is, the first and second boom hoisting hydraulic cylinders 34R and 34L have 1-1 to 1-3 pin holes 52R to 54R and 1-4 to 1-6 pin holes 52L to 54L. moves in a trajectory that intersects the axis of
Therefore, for example, any one of the 1-1st to 1-3rd pin holes 52R to 54R and any one of the 1-4th to 1-6th pin holes 52L to 54L concentric therewith , one common long pin cannot be inserted and this pin cannot be used as a rotating shaft.
Therefore, in this embodiment, different pins are provided on the first upper plate 51R side and the second upper plate 51L side. Specifically, as shown in FIGS. 18(a) and 18(b), a first angle regulating pin 23R that is short enough not to come into contact with the first hoisting boom hoisting hydraulic cylinder 34R when inserted into the pin hole, and a pin A second angle regulating pin 23L is provided which is short enough not to come into contact with the second hydraulic cylinder 34L for hoisting boom hoisting when inserted into the hole.

Here, the first angle regulating pin 23R has a first handle 23Rh provided at the proximal end and a first plunger ball 23Rb provided at the distal end that can move back and forth in the direction perpendicular to the axis. .
The first plunger ball 23Rb is supported by an elastic member such as a spring. When no external force is applied, the first plunger ball 23Rb protrudes partially from the outer peripheral surface of the tip portion in the direction perpendicular to the axis. When applied, the elastic member contracts and the protruding portion is configured to collapse inward.

That is, when the operator grips the first handle 23Rh and inserts the first angle regulating pin 23R into one of the pin hole pairs, the first plunger ball 23Rb is dented inward, and the inner periphery 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 is pulled out to the opposite side of the hole (inside the space inside the first upper plate 51R), the first plunger ball 23Rb protrudes outward due to the restoring force of the elastic member, and the first plunger ball 23Rb It plays a role of preventing the angle regulating pin 23R from coming off.
The second angle regulation pin 23L has the same configuration as the first angle regulation pin 23R, and has a second handle 23Lh and a second plunger ball 23Lb.

In addition, in the present embodiment, the first angle regulating pin 23R is arranged between the 1-1st to 1-3rd pin holes 52R to 54R and the 2-1st to 2-3rd pin holes 210R to 212R. It has an outer diameter dimension that makes sliding contact with the inner peripheral surface. Similarly, the second angle regulating pin 23L is formed between the inner peripheral surfaces of the 1-4th to 1-6th pin holes 52L to 54L and the 2-4th to 2-6th pin holes 210L to 212L. It has an outer diameter dimension for sliding contact.
As shown in FIGS. 18(a) and 18(b), the operator can open the 1-1 to 1-3 pin holes 52R to 54R provided in the first upper plate 51R and the first right-hand side plate 21R. And the first angle regulating pin 23R is inserted into a set of pin holes corresponding to a desired standing angle among the 2-1 to 2-3 pin holes 210R to 212R. Similarly, the 1-4th to 1-6th pin holes 52L to 54L and the 2-4th to 2-6th pin holes 210L provided in the second upper plate 51L and the first left-hand side plate 21L 212L, the second angle regulating pin 23L is inserted into the set of pin holes corresponding to the desired standing angle.

Here, in the examples of FIGS. 18(a) and (b), a set of the 1-1st pin hole 52R and the 2-1st pin hole 210R corresponding to the standing angle of 95° and the 1-4th pin It shows a state in which the first and second angle regulating pins 23R and 23L are inserted into the hole 52L and the set of the 2nd-4th pin holes 210L.
At this time, as shown in FIG. 18(b), the tips of the inserted first and second angle regulating pins 23R and 23L move along with the first and second plunger balls 23Rb and 23Lb to the first and second plunger balls 23Rb and 23Lb. project to the opposite inner sides of the upper plates 51R and 51L.

That is, as shown in FIG. 19, the first angle regulating pin 23R passes through the 2-1st pin hole 210R and then through the 1-1st pin hole 52R so that its tip end is located at the first upper part. It reaches the inner side surface of the plate 51R. Similarly, the second angle regulating pin 23L passes through the second-fourth pin hole 210L and then passes through the first-fourth pin hole 52L so that its tip end is located on the inner side surface of the second upper plate 51L. to reach.
Here, the first to third proximity switches 56R to 58R and the fourth to sixth proximity switches 56L to 58L are configured to detect the tips of the pins projecting inward from the corresponding pin holes. , and is configured to transmit detection signals SW1 to SW6 indicating the detection results to the controller 160 via signal lines (not shown).

In the examples of FIGS. 18B and 19, the tips of the first angle regulating pins 23R inserted into the 2-1 pin hole 210R and the 1-1 pin hole 52R (first pin hole pair) part is sensed by the first proximity switch 56R. In addition, the tip of the second angle regulating pin 23L inserted into the 2-4th pin hole 210L and the 1-4th pin hole 52L (fourth pin hole pair) serves as a fourth proximity switch 56L. detected by Then, detection signals SW1 and SW4 indicating these detection results are transmitted to the controller 160. FIG. It should be noted that the other proximity switches are not detected, and detection signals SW2, SW3, SW5 and SW6 indicating this are sent to the controller 160. FIG.

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, the controller 160 determines which position of the pin hole pair the pin is inserted into. is plugged in or not plugged in. Then, the hoisting operation of the hoisting boom 7 is controlled based on the determination result.
5, and the first to third proximity switches 56R to 58R and the fourth to sixth proximity switches 56L to 58L shown in FIGS. 17(a) and 17(b). The boom hoisting 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 hoisting motion control process)
Next, the processing procedure of the boom hoisting motion control processing executed by the controller 160 will be described. This process is a process that is repeatedly performed at a predetermined sampling period.
When the boom hoisting motion 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, based on the detection signals SW1 to SW6 transmitted from the first to sixth proximity switches 56R to 58L, the controller 160 reads information indicating detection results into a memory such as RAM. After that, the process proceeds to step S102.

In step S102, based on the read information, the controller 160 determines whether the first and second angle regulation pins 23R and 23L are inserted only into pin hole pairs corresponding to the same standing angle on the right and left sides. determine whether or not If it is determined that it is inserted (Yes), the process proceeds to step S104, and if it is determined otherwise (No), the process proceeds to step S108.
For example, in the example shown in FIG. 21(a), the first and second angle regulation 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 tip of the first angle regulation pin 23R is detected by the third proximity switch 58R, and the tip of the second angle regulation pin 23L is detected by the sixth proximity switch 58L. Therefore, from the detection signals SW3 and SW6 indicating these detection results and the detection signals SW1, SW2, SW4 and SW5 indicating no detection, the controller 160 determines that the first and second angle regulation pins 23R and 23L are the same. It is determined that only the pin hole pair corresponding to the standing angle is inserted.

On the other hand, for example, in the example shown in FIG. 21(b), 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 It is inserted into the sixth pin hole pair corresponding to the standing 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, based on the detection signals SW1 and SW6 indicating these detection results and the detection signals SW2 to SW5 indicating no detection, the controller 160 determines that the first and second angle regulating pins 23R and 23L correspond to the same standing angle. It is judged that it is not inserted only in the pin hole pair to be connected.

In this embodiment, not only the case of misinsertion but also the case of not inserting any pin, the case of only one pin being inserted, and the case of three or more pins being inserted are detected from the combination of detection results. can also be detected. In these cases, it is determined that the pins are not inserted only into pin hole pairs corresponding to the same standing angle.
When the process proceeds to step S104, the controller 160 sets a flag permitting the operation of the hoisting boom 7, and the process proceeds to step S106.
For example, in the example shown in FIG. 21(a), the first and second erection angle regulating members 20R and 20L are inserted only into the third and sixth pin hole pairs corresponding to the same erection angle of 85°. A state is established in which normal rotation is possible with the first and second angle regulation pins 23R and 23L as rotation axes. Therefore, in such a state, the hoisting operation of the hoisting boom 7 is permitted.

In step S<b>106 , the controller 160 executes operation control processing for controlling various hydraulic actuators in response to operation inputs corresponding to various operation contents including the hoisting motion of the hoisting boom 7 . After that, the series of processing ends.
On the other hand, if it is determined in step S102 that the first and second angle regulating pins 23R and 23L are not inserted only into the pair of pin holes corresponding to the same standing angle and the process proceeds to step S108, the controller 160 , sets a flag to prohibit the operation of the luffing boom 7 . After that, the process proceeds to step S110.

For example, in the example shown in FIG. 21(b), the first and second standing angles are rotated around first and second angle regulating pins 23R and 23L inserted into pin hole pairs corresponding to different standing angles. The angle regulating members 20R and 20L are rotated. As a result, the erection angle of the hoisting boom 7 cannot be normally regulated. That is, when the hoisting boom 7 is raised while the pin insertion positions are not aligned, one of the first and second raising angle regulating members 20R and 20L inserted into the pair of pin holes having the smaller raising angle will be , becomes linear before the other becomes linear. In this state, the standing motion is completed with the other side bent, and most of the pulling force F is applied to the straight side. In such a state, the hoisting operation of the hoisting boom 7 is prohibited because there is a risk of damage to parts or an unexpected accident.

In step S<b>110 , the controller 160 transmits an operation signal Uo to the unload valve actuation solenoid 181 in response to operation inputs corresponding to various operation contents including the hoisting motion of the hoisting boom 7 . After that, the series of processing ends.
That is, while the flag for prohibiting the operation of the hoisting boom 7 is set, the operating state of the hydraulic pump 60 is canceled by opening the main relief valve 180 in response to the operation input related to the operation of the hoisting boom 7. Set to the load state (no-load operation state).

(Operation of boom device)
Next, the operation when the boom device is deployed from the stored state will be described in detail. Hereinafter, the operation when the tower crane 1 is viewed from the right hand side will be described.
As shown in FIGS. 26(a) and 30(a), when the hoisting boom 7 and the bending boom 8 are in the retracted posture, the links 420R and 421R and the first bending boom hoisting hydraulic cylinder 35R are oriented sideways. has a substantially Y shape. At this time, the straight line 8s along the top side of the upper surface of the bending boom 8 and the straight line 420Rh passing through the center of the shaft hole 420Rb of the link 420R and the center of the pin hole 420Rc are substantially parallel. That is, the angle of the straight line 420Rh with respect to the straight line 8s (hereinafter referred to as "sheave angle α") is approximately 180°.
From this retracted posture, first, the bending boom hoisting hydraulic cylinder 35 is operated to extend, thereby rotating the bending boom 8 by a predetermined angle in the upright direction. Thereafter, the hoisting boom hoisting hydraulic cylinder 34 is extended to rotate the hoisting boom 7 by a predetermined angle in the hoisting direction. As a result, the hoisting boom 7 and the folding boom 8 assume the postures shown in FIG. 26(b).

By rotating the bending boom 8 in the raising direction, one end of the link 420R on the side of the link pin 422 is pushed in the extending direction of the first bending boom raising and lowering hydraulic cylinder 35R. Therefore, as shown in FIG. 30(b), one end of the link 420R rotates clockwise around the axis of the link pin 425. As shown in FIG. As a result, the sheave mounting portion 420Ra, which is the other end of the link 420R, rotates clockwise around the axis of the link pin 425, so that the straight line 420Rh is no longer parallel to the straight line 8s. That is, the sheave angle α becomes smaller by the clockwise rotation of the sheave mounting portion 420Ra. Further, as the sheave mounting portion 420Ra rotates clockwise, the second sheave 45 moves toward the tip of the bending boom 8 along the outer circumference of the tip bracket 41b.

Subsequently, the bending boom hoisting hydraulic cylinder 35 is extended to rotate the bending boom 8 to an angle of approximately 90° with respect to the hoisting boom 7 in the raising direction. Subsequently, the hoisting boom hoisting hydraulic cylinder 34 is operated to extend, thereby rotating the hoisting boom 7 in the raising direction to the raising angle (here, 95°) regulated by the raising angle regulating device. After that, the bending boom 8 is rotated in the upright direction to a position parallel to the ground. As a result, the hoisting boom 7 and the bending boom 8 assume the postures shown in FIG. 28(a).
That is, by rotating the bending boom 8 further in the upright direction from the posture shown in FIG. 26(b), one end of the link 420R on the side of the link pin 422 moves toward the first bending boom hoisting hydraulic cylinder 35R. is further pushed in the direction of elongation of Therefore, as shown in FIG. 30(c), the sheave mounting portion 420Ra further rotates clockwise. This rotation further reduces the sheave angle α. That is, the second sheave 45 moves further toward the tip of the bending boom 8 along the outer periphery of the tip bracket 41b. As a result, the second sheave 45 moves away from the first sheave 44 . However, the other end side of the link 420R including the second sheave 45 moves toward the first sheave 44 by a greater distance than the moving distance in the separating direction due to the rotation of the bending boom 8 in the upright direction. Moving.

By appropriately extending the hoisting boom 7 and the folding boom 8 from the deployed posture shown in FIG. On the other hand, the tower crane 1 of the present embodiment is also expected to be deployed over a long length in a narrow space, such as being deployed through the ceiling from the inside of a house, for example. Therefore, it is possible to rotate the bending boom 8 further in the upright direction.
28(a), the bending boom hoisting hydraulic cylinder 35 is further extended to rotate the bending boom 8 further in the upright direction as shown in FIG. 28(b). It is possible to
In this way, by further rotating the bending boom 8 in the vertical direction with respect to the hoisting boom 7 which is fixed upright, the other end side of the link 420R including the second sheave 45 moves to the first sheave 44. and get closer. In addition, one end of the link 420R on the side of the link pin 422 is further pushed in the extending direction of the first bending boom hoisting hydraulic cylinder 35R. Therefore, as shown in FIG. 30(d), the sheave mounting portion 420Ra further rotates clockwise, and the sheave angle α further decreases.

Here, as shown in FIGS. 31(a) to 31(c), the tower crane 1 of the present embodiment can bend the boom 8 at any of the three types of standing angles of 95°, 90°, and 85°. It is possible to rotate in the upright direction by 85° from a posture parallel to the ground. In other words, rotation in the starting direction with an angle greater than 85° is prohibited.
That is, as shown in FIG. 31( a ), when the standing angle is 95°, the hoisting boom 7 can be rotated 85° with respect to the forward tilting posture of 5°, so that the hoisting boom 7 can be rotated 180°. It is possible to expand to On the other hand, as shown in FIG. 31(b), when the erection angle is 90°, the hoisting boom 7 is in an upright state, so when the hoisting boom 7 is rotated by 85°, the angle becomes 175° with respect to the hoisting boom 7. Can be deployed in position. Further, as shown in FIG. 31(c), when the erection angle is 85°, the hoisting boom 7 is rotated 85° with respect to the backward tilting posture of 5°, so that the hoisting boom 7 is rotated 170°. It is possible to expand to

Therefore, when the standing angle is 95°, the folding boom hoisting hydraulic cylinder 35 is further extended from the unfolded posture shown in FIG. The folding boom 8 can be pivoted to a position of 180° relative to the luffing boom 7, as shown in e).
At this time, the sheave mounting portion 420Ra further rotates clockwise, and the sheave angle α further decreases to approximately 90°. That is, the second sheave 45 moves further toward the tip of the bending boom 8 along the outer periphery of the tip bracket 41b. As a result, the second sheave 45 moves in the direction away from the first sheave 44, but the other end side of the link 420R including the second sheave 45 moves to the second sheave 45 due to the rotation of the bending boom 8 in the upright direction. move closer to one sheave 44 .

That is, in conjunction with the extension operation of the bending boom hoisting hydraulic cylinder 35, the second sheave 45 is moved along the outer periphery of the tip bracket 41b toward the tip side of the bending boom 8, 45 is made smaller than the diameter of the first sheave 44 . As a result, the second sheave 45 and the first sheave 44 can be opposed to each other with a gap formed therebetween when the folding boom 8 is unfolded to 180°. This makes it possible to keep the second sheave 45 out of contact with the first sheave 44 when the second sheave 45 is closest to the first sheave 44 .

In addition, by making the diameter of the second sheave 45 smaller than the diameter of the first sheave 44, when the first sheave 44 and the second sheave 45 are closest to each other, the projecting positions of the grooves of the sheaves are made approximately the same. The wire rope 13 can be easily hooked between the two grooves as compared with the case where the diameter is not reduced. Further, by reducing the diameter, as shown in FIG. 1, when the crane device 6 is retracted, the second sheave 45 is prevented from protruding rearward from the rear end position of the folding boom 7 . This prevents an increase in the length dimension in the retracted state.
On the other hand, if the second sheave 45 is not moved from the retracted position, the second sheave 45 contacts the first sheave 44 before reaching 180°. In addition, even if the moving structure is adopted, if the diameter of the second sheave 45 is not reduced, a sufficient gap cannot be formed between the second sheave 45 and the first sheave 44, and contact between the two cannot be avoided. Or, the possibility of contact increases due to the shaking of the aircraft.

(Structure of boom mounting section)
Next, the detailed configuration 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 upper plate. and a second horizontal surface portion 59Rb formed at the upper end portion of the second vertical plate portion 51Rb of 51R.
The second boom mounting portion 59L includes a third horizontal surface portion 59La formed at the upper end portion of the second reinforcing portion 55L and the upper end portions of the fourth vertical plate portion 51Lb of the second upper plate 51L. and a fourth horizontal surface portion 59Lb.
Here, as shown in FIG. 22( a ), on both side surfaces of the hoisting boom 7 , the hoisting boom 7 is mounted on the first and second boom mounting portions 59 R and 59 L via the base end side brackets 40 . A first leg portion 70R and a second leg portion 70L for placing are protruded.

As shown in FIGS. 9A and 22B, the first leg 70R is closer to the lower end on the right hand side of the base end bracket 40 and is closer to the hoisting boom 7 than the second connecting portion 40b. A first base leg portion 70Ra having a half trapezoidal longitudinal section and made of metal, which is joined to a position on the base end side by welding or the like, and a longitudinal section provided at the lower end portion of the first base leg portion 70Ra. It has a rectangular resin-made first buffer portion 70Rb. The first cushioning portion 70Rb is fixed to the bottom surface of the first base leg portion 70Ra with two first screws 70Rc.
The second leg portion 70L has the same configuration as the first leg portion 70R, and although not shown, includes 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 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 hoisting boom 7 . Therefore, the first cushioning portion 70Rb and the second cushioning portion 70Lb protrude downward from the lower surface of the hoisting boom 7 .
When the hoisting boom 7 is placed on the first boom placing portion 59R, as shown in FIGS. The first leg 70R is placed while the lower surface of the first buffer portion 70Rb of the leg 70R is in contact with the first horizontal surface 59Ra and the second horizontal surface 59Rb. The same 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 placed between the third horizontal surface portion 59La and the fourth horizontal surface portion 59La. The second leg portion 70L is placed in contact with the horizontal surface portion 59Lb.

Note that the first and second boom mounting portions 59R and 59L are formed integrally (also used) with the column 5. As shown in FIG. Therefore, as shown in FIGS. 24A and 24B, the first leg 70R and the second leg 70L are mounted on the first and second boom mounting portions 59R and 59L. That is, the hoisting boom 7 can be turned while maintaining the attitude of the hoisting boom 7 in the retracted state. Moreover, since there is no need to provide a stand (boom rest) for mounting the boom separately, the cost can be reduced.
In addition, since the hoisting boom 7 is not placed directly, but placed via the first and second legs 70R and 70L, it is possible to prevent the boom from being damaged or dented. It becomes possible. In addition, since it is configured to be placed via the first and second resin-made cushioning parts 70Rb and 70Lb provided at the lower ends of the first and second leg parts 70R and 70L, the hoisting boom 7 is placed thereon. It is possible to prevent the coating from peeling off on the sides of the first and second boom mounting portions 59R and 59L. Moreover, even when the width of the hoisting boom 7 is narrower than the width between the first and second upper plates of the column 5 as in this embodiment, the upper end of the column 5 can be used to mount the boom. It is possible to construct a placement unit.

Also, the first and second boom mounting portions 59R and 59L are provided at the upper end portions of the portions reinforced by the first and second reinforcing portions 55R and 55L, and the first and second reinforcing portions 55R and 55L. Portions 55R and 55L extend at their lower ends to base plate 50 and are joined thereto, as shown in FIGS. 6(a) and (b). That is, the first and second boom mounting portions 59R and 59L are provided with the first and second reinforcing portions 55R and 55L when mounting a heavy object such as the hoisting boom 7 (including the weight of the bending boom 8). Therefore, sufficient strength is secured in the first place. In addition, when the force of suspension is received by the pins, the tensile force is transmitted to the base plate 50 through the first and second reinforcing portions 55R and 55L, thereby ensuring sufficient strength against the tensile force. there is

Here, in the present embodiment, the tower crane 1 corresponds to the working machine, the hoisting boom 7 corresponds to the structural member, the member on the base side corresponds to the column 5, and the boom hoisting motion control device corresponds to the hoisting motion control device. corresponds to
The 1-1 to 1-6 pin holes 52R to 54L correspond to the plurality of first pin holes, and the 2-1 to 2-6 pin holes 210R to 212L correspond to the plurality of second pin holes. Corresponding to pin holes, the first to sixth pin hole pairs correspond to a plurality of pin hole sets.
Also, the first and second boom hoisting hydraulic cylinders 34R and 34L correspond to the hoisting cylinders, the first to sixth proximity switches 56R to 58L correspond to the insertion detectors, and the controller 160 limits the hoisting motion. corresponds to the part.

Also, the boom foot pin 75 corresponds to the first axis, the boom pin 41c corresponds to the second axis, the link 420L and the link 420R correspond to the first link, the link 421L and the link 421R correspond to the second axis. corresponds to the link in
Also, the cylinder pin 430 corresponds to the third axis, the link pin 422 corresponds to the fourth axis, the link pin 425 corresponds to the fifth axis, and the link pin 424 corresponds to the sixth axis. handle.

(Action and effect of embodiment)
A crane device 6 according to the present embodiment includes a hoisting boom 7 supported by a column 5 of a tower crane 1 so as to be hoistable around a boom foot pin 75 that is a horizontal axis, and a base end bracket at the tip of the hoisting boom 7. 41a is provided with a folding boom 8 supported so as to be able to rise and fall around a boom pin 41c, which is a horizontal axis. In addition, a first sheave 44 that guides the wire rope 13 sent from the winch 12 to the side of the bending boom 8 attached to the inner side of the base end bracket 41a at the tip of the hoisting boom 7; A second sheave 45 that guides the wire rope 13 guided by the first sheave 44 to the tip side of the bent boom 8 is provided at a position close to the tip bracket 41b at the base end of the boom 8 . Further, a bending boom hoisting hydraulic cylinder 35 and a V-link mechanism 42 for changing the hoisting angle of the bending boom 8 are provided.

Specifically, the bending boom hoisting hydraulic cylinder 35 is a lower end projecting portion of a second tip end side bracket 43 provided so that one end portion protrudes toward the tip side of the bending boom 8 and partly protrudes to the lower side. , a first bending boom hoisting hydraulic cylinder 35R is rotatably supported around a cylinder pin 430, which is a horizontal axis. In addition, a second bending boom hoisting hydraulic cylinder 35L having one end rotatably supported around a cylinder pin 430 is provided on the left hand side of the lower end projecting portion of the second tip bracket 43 .

One end of the V-link mechanism 42 is supported by the other end of the first folding boom hoisting hydraulic cylinder 35R so as to be rotatable around a horizontal axis, ie, a link pin 422, and the other end is folded. A link 420R is rotatably supported around a link pin 425, which is a horizontal axis, on the right side of the tip bracket 41b at the base end of the bending boom 8. As shown in FIG. In addition, one end is supported by the other end of the first bending boom hoisting hydraulic cylinder 35R so as to be rotatable around the link pin 422, and the other end is the base end bracket 41a at the tip of the hoisting boom 7. has a link 421R rotatably supported around a link pin 424 which is a horizontal axis.

Furthermore, one end of the V-link mechanism 42 is supported by the other end of the second bending boom hoisting hydraulic cylinder 35L so as to be rotatable around the link pin 422, and the other end is the base of the bending boom 8. A link 420L rotatably supported around a link pin 425 is provided on the left-hand side of the end bracket 41b. In addition, one end is supported by the other end of the second bending boom hoisting hydraulic cylinder 35L so as to be rotatable around the link pin 422, and the other end is the base end bracket 41a at the tip of the hoisting boom 7. has a link 421L rotatably supported around a link pin 424 on the left hand side of the .

Here, the links 420R and 420L have sheave mounting portions 420Ra and 420La formed to protrude from the other end side of the link pin 425, respectively. The second sheave is rotatably mounted around a second sheave shaft 423 that suspends the sheave mounting portions 420Ra and 420La of the links 420R and 420L.
When the V-link mechanism 42 moves in conjunction with the movement of the bending boom hoisting hydraulic cylinder 35 to change the hoisting angle of the bending boom 8, the second sheave 45 bridges the wire rope 13. It is configured to move along the outer periphery of the tip bracket 41b at the base end of the bending boom 8 in the state.

Specifically, the V-link mechanism 42 is such that the second sheave 45 is positioned at the rear side of the bending boom 8 (position lower than the third sheave 46) in the retracted state, and the bending boom 8 is at the highest position. It is configured to be positioned above the top side of the straight line 8s side of the folding boom 8 (position where the second sheave 45 is closest to the first sheave 44) when raised (deployed to 180°). It is
With the configuration of the crane device 6 described above, the second sheave 45 is moved between the first sheave 44 and the bending boom hoisting hydraulic cylinder 35 and the V-link mechanism 42 in conjunction with the hoisting angle varying operation. , the wire rope 13 can be moved along the outer periphery of the tip bracket 41b of the bending boom 8 in a state in which it can be stretched.

Specifically, when the hoisting angle of the hoisting boom 7 and the bending boom 8 is changed from the boom retracted state to the maximum extended state, the second sheave 45 is moved along the outer periphery of the tip bracket 41b to extend along the length of the hoisting boom 8. It is possible to move from a position on the rear side along the direction to a position on the straight line 8s side along the direction orthogonal to the longitudinal direction.
As a result, the second sheave 45 is positioned at a position that does not increase the size of the tower crane 1 when the boom is retracted, and is positioned at a position where it does not contact the first sheave 44 when the boom is fully deployed (180°). becomes possible. As a result, it is possible to suppress the size increase in the folded state and to prevent the sheaves from coming into contact with each other in the unfolded state. Furthermore, since the second sheave 45 is provided on the V-link mechanism 42 which is separate from the bending boom 8, the above effects can be achieved without lowering the strength of the bending boom. .

Further, the erection angle regulating device according to the present embodiment is a device for regulating the erection angle of the hoisting boom 7 of the tower crane 1, and is provided on the right hand side of the hoisting boom 7 and the column 5. It has a member 20R and a second standing angle regulating member 20L provided on the left hand side. The first upright angle regulating member 20R includes a first right-hand side plate 21R whose one end is supported on the right-hand side of the column 5 via a first angle regulating pin 23R so as to be rotatable around a horizontal axis; One end is supported by the other end of the first right-hand side plate 21R via a first connecting pin 24R so as to be rotatable about a horizontal axis, and the other end is on the right-hand side of the hoisting boom 7, and the base end is supported. and a second right hand plate 22R rotatably supported about a horizontal axis via a side bracket 40 and a third connecting pin 25. In addition, the second upright angle regulating member 20L is a first left-hand plate whose one end is supported on the left-hand side of the column 5 via a second angle regulating pin 23L so as to be rotatable about a horizontal axis. 21L, one end of which is supported by the other end of the first left-hand side plate 21L via a second connecting pin 24L so as to be rotatable around a horizontal axis, and the other end of which is on the left-hand side of the hoisting boom 7; , and a second left-hand plate 22L rotatably supported about a horizontal axis via a proximal bracket 40 and a third connecting pin 25 .

The first and second erection angle regulating members 20R and 20L are bent around the joints between the first right and left side plates 21R and 21L and the second right and left side plates 22R and 22L. It is configured to be in a In addition, when the hoisting boom 7 receives the tension from the hoisting boom 7 corresponding to the motion in the rising direction of the hoisting boom 7 and becomes straight, the hoisting boom 7 is in the standing state and the space between the column 5 and the hoisting boom 7 is increased. It is constructed to prevent the hoisting boom 7 from falling down.
That is, the erection angle regulating member 20 becomes linear and is obliquely bridged between the hoisting boom 7 and the column 5, so that the erection angle regulating member 20 is stretched against the movement of the hoisting boom 7 in the erecting direction. to prevent further movement of the luffing boom 7 in the erecting direction. This makes it possible to regulate the standing angle. As a result, it is possible to regulate the erection angle of a component of a work machine such as a boom of a crane at low cost and in a small space without using a winch or the like, as compared with the conventional case of regulating with a wire.

The erection angle regulating device according to the present embodiment further includes 1-1 to 1-3 pin holes provided through the plate surface of the first upper plate 51R constituting the right hand portion of the column 5. 52R to 54R and the 1-1 to 1-3 pin holes 52R to 54R of the second upper plate 51L constituting the left-hand portion. -4 to 1-6th pin holes 52L to 54L.
In addition, 2-1 through 2-1 through the plate surface are provided at one end of the first right-hand side plate 21R in the same relative positional relationship as the 1-1 through 1-3 pin holes 52R through 54R. It has 2-3 pin holes 210R-212R. Furthermore, 2-4th to 2nd pin holes penetrating the plate surface are provided at one end of the first left-hand side plate 21L in the same relative positional relationship as the 1-4th to 1-6th pin holes 52L to 54L. -6 pin holes 210L-212L.

Furthermore, among the 1-1st to 1-3rd pin holes 52R to 54R and the 2-1st to 2-3rd pin holes 210R to 212R, a plurality of pin holes coaxially overlap with the same relative positional relationship. (first to third pin hole pairs). Furthermore, among the 1-4th to 1-6th pin holes 52L to 54L and the 2-4th to 2-6th pin holes 210L to 212L, a plurality of pin holes that coaxially overlap with the same relative positional relationship. A second angle regulating pin 23L configured to be removable from the set (fourth to sixth pin hole pairs) is provided.

The first and second upright angle regulating members 20R and 20L are composed of first and fourth pin hole pairs, second and fifth pin hole pairs, and third and sixth pin hole pairs. By inserting the first and second angle regulating pins 23R and 23L into only one of the pairs, this rotation is performed with the inserted first and second angle regulating pins 23R and 23L as a rotation axis. It is configured to rotate about an axis.
It should be noted that the 1-1st to 1-6th pin holes 52R to 54L and the 2-1st to 2-6th pin holes 210R to 212L are set when the hoisting boom 7 is in the upright state. The second erection angle regulating members 20R and 20L are linear, and the erection angle of the hoisting boom 7 is regulated to different angles (95°, 90°, 85° in the embodiment) for each pair of pin holes. It is formed in a positional relationship that

With such a configuration, it is possible to select a desired standing angle from among a plurality of standing angles (95°, 90°, 85°) depending on the combination of the pin hole pairs into which the pins are inserted. As a result, the hoisting boom 7 can be easily erected at a desired erection angle simply by inserting the pin, compared to the conventional case of operating a winch and adjusting the erection angle by visual observation or the like. It becomes possible.
In addition, the erection angle regulating device according to the present embodiment can select the erection angle of the hoisting boom 7 from three types of angles including the two angles of 85° and 95° in the front and rear with the 90° that stands up vertically as the reference. is configured to

With this configuration, depending on the application and site conditions, the tip of the folding boom 8 can reach 95 degrees forward, and the boom can protrude from the opening provided in the roof, based on the standing angle of 90 degrees. 85° can be arbitrarily selected so that the diameter of the opening can be made smaller, and the working efficiency can be improved.
In addition, 1-1 to 1-6 pin holes 52R to 54L are provided on the right and left sides of the column 5, and 2-1 pin holes are provided on one ends of the first right and left plates 21R and 21L. 2-6th pin holes 210R to 212L are provided. For example, assume that pin holes are provided in the connecting portions between the first right and left hand plates 21R and 21L and the second right and left hand plates 22R and 22L. Alternatively, it is assumed that pin holes are provided on the other end side of the hoisting boom 7 and the second right and left hand plates 22R and 22L. Compared to these cases, it is possible to insert and remove the pin at a lower position, thereby improving workability.

Furthermore, when the hoisting 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 of the first erection angle regulating member 20R, are inverted doglegs. are closest to each other, and the angle of the connecting portion formed by each becomes the most acute angle. This also applies to the second upright angle regulating member 20L.
This is similar to the fact that the link mechanism rotates freely with the pin as the central axis at the joint portion supported by the pin, but the movement of the plate other than that is restricted so as not to move. Rotation of the first and second upright angle regulating members 20R and 20L other than around the axis is regulated.

That is, even if the first and second angle regulating pins 23R and 23L, which are supporting shaft pins on the lower side of the first and second upright angle regulating members 20R and 20L, are removed, the upright angle regulating members 20R and 20L do not move upward. Since they are pivotally supported by the base end bracket 40 and also by the first and second connecting pins 24R and 24L, the first right and left hand plates 21R and 21L are difficult to separate from the fuselage.
This is a significant point because even when the tower crane 1 is working in a place where the tower crane 1 tilts obliquely in the left-right direction, even if the pin is pulled out, the link is difficult to separate from the machine body.

The erection angle control device according to the present embodiment further includes the first right-hand side and left-hand side plates 21R and 21L of the first and second erection angle control members 20R and 20L when the hoisting boom 7 is in the retracted state. First to fourth support portions 500a to 500d provided on the first and second upper plates 51R and 51L for supporting the lower end portions of the plates in contact with each other from below. In addition, 1-1 to 1-6 pin holes 52R to 54L and 2-1 to 2-6 pin holes 210R to 212L, and the first and second erection angle regulating members 20R and 20L When the hoisting boom 7 is in the boom retracted state and the lower ends of the first right-hand and left-hand side plates 21R and 21L are supported by the first to fourth support portions 500a to 500d, the second All of the first to sixth pin hole pairs are configured so that the first and second angle regulating pins 23R and 23L can be inserted.

With such a configuration, the lower ends of the first right-hand and left-hand plates 21R and 21L are supported from below even when the first and second angle regulating pins 23R and 23L are pulled out. Become. Therefore, the first right-hand side and left-hand side plates 21R and 21L do not rotate downward from the overlapping position of the pin holes, and the first plate 21R and 21L can be positioned for any of the first to sixth pin hole pairs. and the second angle regulating pins 23R and 23L can be maintained in a removable state. Note that the first right-hand and left-hand plates 21R and 21L do not rotate upward due to their own weight unless a large impact is applied.

As a result, when the hoisting boom 7 is in the boom retracted posture, the operator can easily change the erection angle by removing and inserting the first and second angle regulation pins 23R and 23L.
The standing angle regulating device according to the present embodiment further includes 1-1 to 1-6 pin holes 52R to 54L and 2-1 to 2-6 pin holes 210R to 212L, the first and the 2 upright angle regulating members 20R and 20L, when the hoisting boom 7 is hoisted, the connecting portions between the first right and left side plates 21R and 21L and the second right and left side plates 22R and 22L are , the boom foot pin 75 at which the hoisting boom 7 of the column 5 is attached.

Here, the connecting portion of the plates becomes thicker because the two plates overlap each other and are supported by the pins. Also, the position of the boom foot pin 75 to which the hoisting boom 7 is attached is in a state of being relatively projected. Also, the first and second standing angle regulating members 20R and 20L of the embodiment are desirably arranged as close as possible to the column 5 in order to form a pair of pin holes.
Based on this, when the hoisting boom 7 is hoisted and the first and second erection angle regulating members 20R and 20L are rotated, the trajectory of the connecting portion of the plate avoids the position of the boom foot pin 75. configured as As a result, the first and second upright angle regulating members 20R and 20L can be arranged closer to the column 5, facilitating the alignment of the hole positions and the like. It is also possible to save the space for arranging the two standing angle regulating members 20R and 20L.

Here, the tower crane 1 is provided with a hydraulic cylinder 34 for raising and lowering the hoisting boom, which rotates the hoisting boom 7 in the erecting direction when extended and rotates the hoisting boom 7 in the lowering direction when contracted. The hoisting boom hoisting hydraulic cylinders 34 are composed of a first hoisting boom hoisting hydraulic cylinder 34R provided on the inner right side of the column 5 (first upper plate 51R) and a left hand side of the column 5 (second and a second boom hoisting hydraulic cylinder 34L provided near the upper plate 51L). The first and second hoisting boom hoisting hydraulic cylinders 34R and 34L are rotatably supported by the column 5 through the first cylinder pin 340 at their rod tips, is supported by the hoisting boom 7 via the base end bracket 40 via the second cylinder pin 341 so as to be rotatable about a horizontal axis.

The standing angle regulating device according to the present embodiment further includes the rotation shafts (first and second connecting pins 24R and 24L) on the other end side of the second right and left plates 22R and 22L and the second The first and second boom hoisting hydraulic cylinders 34R and 34L are separated from each other with the hoisting boom 7 sandwiched between the rotating shafts (second cylinder pins 341) on the distal end side of the tubes of the first and second hoisting boom hoisting hydraulic cylinders 34R and 34L. It is placed in the position where In addition, the rotary shafts (first and second angle regulating pins 23R and 23L) on one end side of the first right and left side plates 21R and 21L and the first and second boom hoisting hydraulic cylinders 34R , and 34L on the rod tip side rotating shaft (first cylinder pin 340) are arranged at a position closer to the second cylinder pin 341 than the hoisting boom 7 of the column 5 so as to be separated from each other. Further, when the hoisting boom 7 is in an upright state, the first cylinder pin 340 is positioned between the first and second connecting pins 24R and 24L and the second cylinder pin 341 with respect to the positional relationship between the first and second connecting pins 24R and 24L. It is arranged on the side of the pins 24R and 24L (the side of the front end of the column 5 (second and fourth vertical plate portions 51Rb and 51Lb)). Furthermore, the first and second angle regulating pins 23R and 23L are arranged on the second cylinder pin 341 side (the rear end side of the column 5 (first and third vertical plate portions 51Ra and 51La)). there is

With such a configuration, when the hoisting boom 7 is in the upright state, the first upright angle regulating member 20R in a straight line and the first hoisting boom hoisting hydraulic pressure in the extended state, as viewed from the right side in side view. Cylinder 34R intersects as if drawing an alphabet "X". Similarly, when viewed sideways from the left hand side, the straight second erection angle regulating member 20L and the second boom hoisting hydraulic cylinder 34L in the extended state intersect to form an "X". do. By arranging the configuration to draw an "X" in this way, the erection angle regulating member 20 and the hydraulic cylinder 34 for hoisting the hoisting boom are gathered around the hoisting boom 7, and the operator can easily operate in a narrow place. It is possible to improve visibility by making it difficult to block the line of sight.

The erection angle control device according to the present embodiment is further configured such that the hoisting boom 7 rotates in the erecting direction when the first and second hoisting boom hoisting hydraulic cylinders 34R and 34L are extended. The first and second erection angle regulating members 20R and 20L are configured to be linear before the first and second boom hoisting hydraulic cylinders 34R and 34L extend to their stroke ends. there is
With such a configuration, the first and second erection angle regulating members 20R and 20L are linear when the first and second boom hoisting hydraulic cylinders 34R and 34L have not reached the stroke end. As a result, a moment M on the tilting side of the hoisting boom 8 due to the suspended load is received. At this time, for example, when both the first and second erection angle regulating members 20R and 20L are broken, the first and second boom hoisting hydraulic cylinders 34R and 34L are in a state in which a margin is left in their strokes. It is possible to receive the moment M at the stroke end, and it is possible to ensure safety compared to the case where it is received at the stroke end.

On the other hand, the boom hoisting motion control device according to the present embodiment is a device for controlling the hoisting motion of the hoisting boom 7 of the tower crane 1 having the erection angle regulating device. In this boom hoisting operation control device, the first to sixth proximity switches 56R to 58L are connected to any one of the first to sixth pin hole pairs to which the first and second angle regulating pins 23R and 23L are attached. 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 selects only the pin hole pairs corresponding to the same standing angle on the right and left sides. 2 angle regulating pins 23R and 23L are inserted. Then, when it is determined that the pins are inserted only into the pair of pin holes corresponding to the same rising angle, the hoisting operation of the hoisting boom 7 is permitted. On the other hand, when it is determined that the pin hole pair corresponding to the same erection angle is not inserted, the hoisting operation of the hoisting boom 7 is prohibited.

With such a configuration, it is possible to prohibit the hoisting operation of the hoisting boom 7 when the pins are not inserted only in the pin hole pairs corresponding to the same erection angle. As a result, damage to parts and unexpected accidents caused by undulating motion when no pin is inserted, when only one of the pin holes are inserted, when the pin is inserted in the wrong direction, etc., is prevented. It is possible to prevent this.
The tower crane 1 according to this embodiment also includes a column 5 provided on the upper portion of the base 4 and a hoisting boom 7 pivotally supported on the column 5 so as to be hoistable. As a means for regulating the erection angle of the hoisting boom 7, the above-mentioned erection angle regulating device is provided, and as a means for controlling the hoisting operation of the hoisting boom 7, the above-mentioned boom hoisting operation control device is provided.
Accordingly, the same function and effect as those of the erection angle control device and the boom hoisting motion control device can be obtained.

(Modification)
In the above embodiment, the two pins of the first and second angle regulating pins 23R and 23L are used as the rotation shafts at one end of the first right and left plates 21R and 21L. It is not limited to this configuration. For example, the first and second boom hoisting hydraulic cylinders 34R and 34L are arranged outside the column 5, and the first and second erection angle regulating members 20R and 20L are arranged inside the column 5. and so on for each set of first and fourth pin hole pairs, second and fifth pin hole pairs, and third and sixth pin hole pairs. It is good also as a structure which inserts and uses this as a rotating shaft. In addition, in this configuration, the standing angle regulating member may be configured as a single unit.

Further, in the above-described embodiment, in consideration of workability such as inserting and withdrawing pins at a low position, the positions of the plurality of pin holes for changing the standing angle are arranged on the column 5 and the first right-hand and left-hand plates 21R. and one end side of 21L. For example, a plurality of pin holes may be provided in the connecting portions between the first right-hand and left-hand plates 21R and 21L and the second right-hand and left-hand plates 22R and 22L. Alternatively, a plurality of pin holes may be provided at the other ends of the second right-hand and left-hand plates 22R and 22L and the mounting positions of the other ends to the hoisting boom 7, respectively. Any one of these pin hole positions may be adopted, or any combination thereof may be adopted.

Further, in the above-described embodiment, a plurality of pin holes are provided for changing the standing angle, and a detachable pin is inserted into the hole, but the present invention is not limited to this configuration. A combination of a plurality of pin holes and pins is optimal in terms of operability, durability and cost. Other configurations such as a sliding configuration may be used.
Further, in the above embodiment, the configuration is such that the standing angle can be selected from three angles of 95°, 90°, and 85°, but the configuration is not limited to this. A configuration in which another angle can be selected, or a configuration in which two types of standing angles or four or more types of standing angles can be selected may be used.

Further, in the above-described embodiment, the configuration is such that the center-to-center distance between the first connecting pin 24R and the third connecting pin 25 is constant when the hoisting boom 7 is erected, but the present invention is not limited to this configuration. . For example, as shown in FIG. 25(a), the second right-hand side plate 22R is elongated according to the required standing angle, and instead of the third connecting hole 221R, an elongated hole shape along the longitudinal direction is provided. A seventh connecting hole 222R may be provided to make the center-to-center distance variable.
With this configuration, as shown in FIG. 25(b), when the hoisting boom 7 is in the boom retracted state, the third connecting pin 25 is located near the third connecting hole 220R in the seventh connecting hole 222R. Located in As the hoisting boom 7 rotates in the erecting direction from this state, the second right-hand plate 22R rotates around the third connecting pin 25 in the elongated hole, and the first and second right-hand plates 21R rotate. and 22R become straight, the third connecting pin is slidably moved in the elongated hole. The first and second right-hand side plates 21R and 22R are stretched by contacting the end of the hoisting boom 7 side in the seventh connecting hole 222R with the third connecting pin 25, 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 end positions of the first and second right-hand side plates 21R and 22R on the connecting portion side. Further, the formation position of 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. 220R may be used. This also applies to the second upright angle regulating member 20L.
Further, in the above embodiment, the first and second legs 70R and 70L provided on the sides of the boom 7 having a width narrower than the distance between the first and second upper plates 51R and 51L. It was configured to be mounted on the first and second boom mounting portions 59R and 59L via. Not limited to this configuration, for example, the hoisting boom 7 having a width reaching the upper ends of the first and second upper plates 51R and 51L is adopted, and the lower surface of the hoisting boom 7 is directly placed on the first and second booms. Other configurations, such as a configuration in which it is placed on the portions 59R and 59L, may also be used.

Further, in the above-described embodiment, the boom mounting portions 420Ra and 420La are provided on the links 420R and 420L, and the position of the second sheave 45 is moved in conjunction with the change in the hoisting angle of the bending boom 8. It is not limited to this configuration. For example, a second sheave 45 is provided at the base end (tip bracket 41b) of the bending boom 8 so as to be movable along the outer periphery thereof. This moving range is, for example, the same range as the second sheave 45 of the above embodiment. Then, the second sheave 45 is positioned at the same position as when it is provided on the links 420R and 420L at the time of the lowest state by means of biasing means such as a spring. On the other hand, the tip of the hoisting boom 7 is provided with, for example, rod-like projections (for example, two at positions sandwiching the first sheave 44), and the second sheave 45 is moved to the first sheave 44 by the fluctuation of the hoisting angle. When approaching, the second sheave 45 may be configured to push the rotation shaft (sheave shaft) of the second sheave 45 by the protrusion and move the second sheave 45 to the opposite side to the biasing side to a position where they do not contact each other. good.

Further, in the above-described embodiment, a tower crane was described as an example of a work machine equipped with the erection angle regulating device and the boom hoisting motion control device according to the present invention, but the present invention is not limited to this. For example, the present invention can be applied not only to a tower crane but also to other cranes and various working machines other than cranes, as long as they are working machines such as the hoisting boom 7 that perform the hoisting motion and are provided with constituent members that stand up during work. Applicable. In addition, as a work machine, work is performed by moving to a destination such as a lighting device and setting it up (for example, work to illuminate an object), and it is stationary without a self-propelled function. It also includes those in which work (for example, work to support an object) is performed.

1 Tower crane (work machine)
2 chassis frame 3 traveling device 4 base 5 column 6 crane device 7 hoisting boom 8 bending boom 11 operation part 15a engine 15b pressure oil supply device 15c control valve 20R, 20L first and second upright angle regulating member 21R first Right-hand plate 21L First left-hand plate 22R Second right-hand plate 22L Second left-hand plate 23R, 23L First and second angle regulating pins 24R, 24L First and second connecting pins 25 Third connecting pins 34R, 34L first and second hoisting boom hoisting hydraulic cylinders 35R, 35L first and second bending boom hoisting hydraulic cylinders 40 base end bracket 40a first connection portion 40b second connection Part 41 First tip bracket 41a Base bracket 41b Tip bracket 41c Boom pin 41d Pad 42 V link mechanism 42R First V link 42L Second V link 43 Second tip bracket 44 First sheave 45 Second sheave 50 Base plate 51R, 51L First and second upper plates 52R to 54R 1-1 to 1-3 pin holes 52L to 54L 1-4 to 1-6 pin holes 55R, 55L First and second reinforcing parts 56R to 58R First to third proximity switches 56L to 58L Fourth to sixth proximity switches 59R, 59L First and second boom mounting parts 59Ra, 59Rb First and third 2 horizontal surface portions 59La, 59Lb third and fourth horizontal surface portions 60 hydraulic pump 62 main pipeline 63 return pipeline 64 tank 70R, 70L first and second legs 75 boom foot pin 80 switching control valve for crane 81 accelerator Cylinder 82 Outrigger switching control valve 83 Revolving switching control valve 84 Boom telescopic switching control valve 85 Winch switching control valve 86 Boom hoisting 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 210R~212R 2-1~2-3 pin holes 210L~212L 2-4~2-6 pin holes 213R, 213L 1st and 4th connecting holes 220R, 220L Second and fifth connecting holes 221R, 221L Third and sixth connecting holes 340 First cylinder pin 341 Second cylinder pin 420R, 421R, 420L, 421L Link 420Ra, 420La Sheave mounting portion 420Rb, 420Lb Shaft Holes 420Rc, 420Rf, 420Rg, 420Lc, 420Lf, 420Lg Pin holes 420Rs, 420Ls Link bases 422, 424, 425 Link pins 430 Cylinder pins 500a to 500d First to fourth support portions

Claims (4)

a hoisting boom that is hoistably supported on a crane base around a horizontal first axis;
a bending boom supported at the tip of the hoisting boom so as to be hoistable about a horizontal second axis;
a first sheave attached to the tip of the hoisting boom that guides the wire rope fed from the winch toward the bending boom;
a second sheave that guides the wire rope guided by the first sheave to the tip side of the bending boom at a position close to the base end position of the bending boom;
a third sheave attached to the upper tip of the bending boom;
an angle varying unit that varies the hoisting angle of the bending boom;
a sheave moving part that moves in conjunction with the motion of varying the hoisting angle of the bending boom by the angle varying part;
The second sheave is provided in the sheave moving portion,
When the sheave moving part moves in conjunction with the movement of the hoisting angle, the sheave moving part moves the second sheave along the outer circumference of the base end part of the bending boom in a state where the wire rope is stretched. and to a position where it does not protrude above the third sheave when the folding boom and the hoisting boom are both horizontal to the ground when the boom is retracted, and when the folding boom is raised again, the A boom device for a crane, characterized in that it is configured to move to a position closest to the first sheave in a non-contact state . a hoisting boom that is hoistably supported on a crane base around a horizontal first axis;
a bending boom supported at the tip of the hoisting boom so as to be hoistable about a horizontal second axis;
a first sheave attached to the tip of the hoisting boom that guides the wire rope fed from the winch toward the bending boom;
a second sheave that guides the wire rope guided by the first sheave to the tip side of the bending boom at a position close to the base end position of the bending boom;
an angle varying unit that varies the hoisting angle of the bending boom;
a sheave moving part that moves in conjunction with the motion of varying the hoisting angle of the bending boom by the angle varying part;
The second sheave is provided in the sheave moving portion,
When the sheave moving part moves in conjunction with the movement of the hoisting angle, the sheave moving part moves the second sheave along the outer circumference of the base end part of the bending boom in a state where the wire rope is stretched. configured to move by
The angle varying unit includes a telescopic actuator and a link mechanism that rotates according to the telescopic operation of the actuator and converts the telescopic force of the actuator into the rotational force of the bending boom,
The sheave moving part is configured to include the link mechanism,
A boom device for a crane , wherein the second sheave is provided on a link that constitutes the link mechanism . a hoisting boom that is hoistably supported on a crane base around a horizontal first axis;
a bending boom supported at the tip of the hoisting boom so as to be hoistable about a horizontal second axis;
a first sheave attached to the tip of the hoisting boom that guides the wire rope fed from the winch toward the bending boom;
a second sheave that guides the wire rope guided by the first sheave to the tip side of the bending boom at a position close to the base end position of the bending boom;
a third sheave attached to the upper tip of the bending boom;
an angle varying unit that varies the hoisting angle of the bending boom;
a sheave moving part that moves in conjunction with the motion of varying the hoisting angle of the bending boom by the angle varying part;
The second sheave is provided in the sheave moving portion,
When the sheave moving part moves in conjunction with the movement of the hoisting angle, the sheave moving part moves the second sheave along the outer circumference of the base end part of the bending boom in a state where the wire rope is stretched. and to a position where it does not protrude above the third sheave when the folding boom and the hoisting boom are both horizontal to the ground when the boom is retracted, and when the folding boom is raised again, the configured to move to the closest position in a non-contact state with the first sheave ;
The angle varying unit includes a telescopic actuator and a link mechanism that rotates according to the telescopic operation of the actuator and converts the telescopic force of the actuator into the rotational force of the bending boom,
The sheave moving part is configured to include the link mechanism,
A boom device for a crane , wherein the second sheave is provided on a link that constitutes the link mechanism . The actuator is a hydraulic cylinder,
One end is supported on the base end side of the bending boom so as to be rotatable around a horizontal third axis,
The link mechanism is
One end is rotatably supported by the other end of the hydraulic cylinder about a horizontal fourth axis, and the other end is rotatably supported by the base end of the folding boom about a horizontal fifth axis. a first link backed by
One end is supported by the other end of the hydraulic cylinder so as to be rotatable around the fourth axis, and the other end is supported by the tip of the hoisting boom so as to be rotatable around a horizontal sixth axis. a second link, and
The first and second links and the hydraulic cylinders are provided in a pair on the left and right sides of the articulated portion of the hoisting boom and the bending boom,
The sheave moving portion includes a sheave mounting portion formed to protrude forward from the fifth shaft of the first link, and a sheave shaft that suspends the sheave mounting portions of the left and right first links. has
4. The boom device for a crane according to claim 2 , wherein said second sheave is rotatably mounted around said sheave axis.

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