JP7419832B2 - mobile crane - Google Patents

Description

The present invention relates to mobile cranes.

BACKGROUND ART Conventionally, in a mobile crane in which a boom is provided on a swivel base, a cabin is provided on the swivel base so that an operator can visually check the cargo being transported when operating the crane. When such a mobile crane is traveling, the view from the cabin is obstructed by the boom and traveling body stored in the vehicle, creating a blind spot. For example, in a rough terrain crane or the like in which a cabin is provided on a swivel base, the optimal position of the cabin differs between when operating the crane and when operating the crane. For this reason, mobile cranes are equipped with equipment such as rearview mirrors and back monitors to compensate for blind spots, but these are sometimes insufficient to compensate for blind spots during crane travel and during crane work. Therefore, mobile cranes are known that can move a cabin to an appropriate position depending on the operation content. For example, as in Patent Document 1.

In the mobile crane described in Patent Document 1, a common operating cabin for traveling operation and crane operation is provided on an upper structure (swivel base) via an extendable cabin arm. The driving cabin is arranged at the front end of the bogie (traveling body) by means of a cabin arm when traveling on a road. Further, the operating cabin is lifted upward by the cabin arm during crane operation. With this configuration, the mobile crane can position the operating cabin at an optimal position according to the working conditions using the cabin arm.

Japanese Patent Application Publication No. 2009-256102

The mobile crane configured in this manner can move the cabin using the cabin arm, and is connected to the swivel base via the cabin arm. In other words, the cabin is always linked to the swivel base. Therefore, the mobile crane described in Cited Document 1 was disadvantageous in that the arrangement of the cabin was restricted by the movement of the swivel base.

An object of the present invention is to provide a mobile crane in which a cabin can be placed in a position that is not affected by the working posture of the mobile crane.

The problem to be solved by the present invention is as described above, and next, means for solving this problem will be explained.

That is, the first invention is a mobile crane that includes a traveling body, a crane device in which a revolving platform is provided with a boom that can be raised and lowered, and a cabin having a traveling operating tool and a crane device operating tool. The traveling body is provided with a traveling body side fixing device for arranging the cabin on the traveling body, and the swivel base is provided with a swivel base side fixing device for arranging the cabin on the swivel base. provided, the cabin is configured to be transportable by the crane device to the traveling body side fixing device, the swivel base side fixing device, and a location other than the traveling body side fixing device and the swivel base side fixing device, When fixed to the mobile crane, the mobile crane is detachably held by either the traveling body-side fixing device or the swivel-side fixing device.

A second invention is a mobile crane in which the cabin is automatically transported by the crane device to a predetermined position for fixing to the traveling body-side fixing device or the swivel-side fixing device.

A third aspect of the present invention is a mobile crane in which a workable range of the crane device is changed according to a connection position of the cabin.

A fourth invention is a mobile crane in which the cabin has a remote control function that allows the crane device to be operated while being separated from the traveling body and the swivel base.

A fifth invention is a mobile crane in which the travel operating tool and the crane operating tool are connected to the control device by a by-wire system.

The present invention has the following effects.

In the first invention, since the cabin is configured to be detachable from the traveling body and the swivel base, the cabin can be positioned at a predetermined position on the traveling body or the swivel base depending on the work content, taking into account the movement of the swivel base. selectively fixed. This allows the cabin to be placed in a position that is not affected by the working posture of the mobile crane.

In the second aspect of the invention, the cabin is automatically transported to an appropriate position using a boom included in the mobile crane, making it easy to change the position of the cabin. Thereby, the cabin can be easily placed in a position that is not affected by the working posture of the mobile crane.

In the third invention, even if the position of the cabin is changed, interference between the swivel base and the boom is prevented. This allows the cabin to be placed in a position that is not affected by the working posture of the mobile crane.

In the fourth invention, even if the cabin is separated from the traveling body and the revolving base, the operation signal from the cabin is transmitted to the control device. This allows the cabin to be placed in a position that is not affected by the working posture of the mobile crane.

In the fifth invention, when connected to the traveling body side connection device or the swivel platform side connection device, the traveling operating tool and the crane device operating tool are mechanically connected to the steering device, the power device, and each on-off valve. There's no need. This allows the cabin to be easily placed in a position that is not affected by the working posture of the mobile crane.

FIG. 2 is a side view showing the overall configuration of the crane. FIG. 2 is a block diagram showing the control configuration of the crane. FIG. 2 is a plan view showing a schematic configuration of a remote control terminal. FIG. 2 is a block diagram showing a control configuration of a remote control terminal. FIG. 2 is a plan view showing the position of a cabin fixing device in the crane. FIG. 6 shows the configuration of the first embodiment of the fixing device. (A) shows a plan view and a side view showing the vehicle side fixing device, and (B) shows a plan view and side view showing the revolving body side fixing device. FIG. 7 shows how the cabin is fixed by the fixing device. (A) shows a plan view and a partially enlarged side view of a state in which the cabin is fixed by a lock pin, and (B) shows a side view in which the cabin is arranged on the fixing device. FIG. 3 is a side view showing how the position of the cabin is changed by the crane device. A schematic diagram showing a cabin arranged on a structure. FIG. 7 is a plan view showing the configuration of a second embodiment of the fixing device. The schematic block diagram which shows the control structure of the crane which comprises n vehicle side fixing devices. FIG. 2 is a schematic block diagram showing a control configuration of a crane equipped with n rotating platform side fixing devices.

EMBODIMENT OF THE INVENTION Below, the crane 1 which is a 1st embodiment of the mobile crane in this invention is demonstrated using FIG.1, FIG.2, and FIG.5. In addition, in this embodiment, a rough terrain crane will be explained.

As shown in FIG. 1, a crane 1 is a mobile crane that can be moved to an unspecified location. The crane 1 includes a vehicle 2 that is a traveling body, a crane device 6 that is a working device, a cabin 17, and a control device 22.

The vehicle 2 is a moving body that transports the crane device 6. The vehicle 2 has a plurality of wheels 3 and runs using an engine 4 as a power source. The vehicle 2 is provided with an outrigger 5. The vehicle 2 can extend the workable range of the crane 1 by extending the outriggers 5 in the width direction of the vehicle 2 and grounding the jack cylinder. The vehicle 2 is provided with a vehicle-side right fixing device 43, a vehicle-side left fixing device 44, a vehicle-side right connecting terminal 45, and a vehicle-side left connecting terminal 45a.

The crane device 6 is a device that lifts the cargo W using a wire rope. The crane device 6 includes a turning base 7, a turning hydraulic motor 8, a boom 9, a main hook block 10, a sub-hook block 11, a luffing hydraulic cylinder 12, a main winch 13, a main wire rope 14, a sub-winch 15, and a sub-wire rope. 16, a cabin 17, etc.

The turning table 7 is a device for turning the crane device 6. The swivel base 7 is configured to be rotatable about the center of an annular bearing. The turning table 7 is provided with a turning hydraulic motor 8 which is an actuator. The turning table 7 is configured to be able to turn in one direction and the other direction by a turning hydraulic motor 8. The swivel base 7 is also provided with a swivel base-side right fixing device 48, a swivel base-side left fixing device 49, a swivel base-side right connection terminal 50, and a swivel base-side left connection terminal 50a.

The swing hydraulic motor 8 is rotated by a swing valve 23 (see FIG. 2), which is an electromagnetic proportional switching valve. The swing valve 23 can control the flow rate of the hydraulic oil supplied to the swing hydraulic motor 8 to an arbitrary flow rate. The swivel base 7 is provided with a swivel sensor 27 (see FIG. 2) that detects a swivel angle that is the angle at which the swivel base 7 has rotated from a reference position.

The boom 9 is a beam member that supports a wire rope so that the load W can be lifted up. The boom 9 is swingably provided with the proximal end of the base boom member substantially in the center of the swivel base 7. The boom 9 is configured to be extendable and retractable in the axial direction by moving each boom member using an unillustrated telescoping hydraulic cylinder serving as an actuator. Furthermore, the boom 9 is provided with a jib 9a.

The telescopic hydraulic cylinder is telescopically operated by a telescopic valve 24 (see FIG. 2), which is an electromagnetic proportional switching valve. The boom 9 is provided with an expansion/contraction sensor 28 for detecting the length of the boom 9, a weight sensor for detecting the weight of the cargo W, and the like.

The main hook block 10 and the sub hook block 11 are members for hanging cargo W. The main hook block 10 is provided with a plurality of hook sheaves around which a main wire rope 14 is wound, and a main hook 10a on which a load W is hung. The sub-hook block 11 is provided with a sub-hook 11a for hanging cargo W.

The hydraulic cylinder 12 for raising and lowering is an actuator that raises and lowers the boom 9 and maintains the attitude of the boom 9. The undulation hydraulic cylinder 12 is expanded and contracted by a levitation valve 25 (see FIG. 2), which is an electromagnetic proportional switching valve. The boom 9 is provided with a luffing sensor 29 (see FIG. 2) that detects the luffing angle of the boom 9.

The main winch 13 and the sub winch 15 perform winding in (winding up) and letting out (lowering) the main wire rope 14 and the sub wire rope 16. The main winch 13 is rotated by a main hydraulic motor 13a whose actuator is a main drum around which a main wire rope 14 is wound, and the sub winch 15 is rotated by a sub hydraulic motor whose actuator is a sub drum around which a sub wire rope 16 is wound. 15a.

The main hydraulic motor 13a is rotated by a main valve 26m (see FIG. 2), which is an electromagnetic proportional switching valve. The main winch 13 is configured to control a main hydraulic motor 13a by a main valve 26m, and to be operable at arbitrary feeding and feeding speeds. Similarly, the sub-winch 15 is configured to control the sub-hydraulic motor 15a by a sub-valve 26s (see FIG. 2), which is an electromagnetic proportional switching valve, so that it can be operated at arbitrary feeding and feeding speeds.

As shown in FIG. 2, the cabin 17 is provided with a driver's seat for both running the vehicle 2 and operating the crane device 6. As shown in FIG. The cabin 17 is detachably fixed to the vehicle 2 or the swivel base 7. The cabin 17 is fixed to the right side of the swivel base 7 in FIG. In the cockpit of the cabin 17, there are operating tools 18 for the crane device, including a swing operating tool, a luffing operating tool, a telescopic operating tool, a main drum operating tool, a sub-drum operating tool, etc., for operating the crane device 6, and for operating the vehicle 2. A running operating tool 19 consisting of a steering handle, accelerator, brake, etc. is provided for controlling the vehicle. Further, the cabin 17 is provided with a control device 22 for the crane 1 and a cabin-side communication device 21 for communicating with the remote control terminal 32.

Further, the cabin 17 is provided with a cabin side connection terminal 20 for connecting the signal line of the control device 22 to the vehicle 2 and the crane device 6. A signal line of a control device 22 is connected to the cabin side connection terminal 20.

The control device 22 is a device that generates a control signal from the operation signals of the crane device operating tool 18 and the travel operating tool 19, and controls the actuator of the crane 1 via each operating valve. The control device 22 is provided within the cabin 17. The control device 22 may actually have a configuration in which a CPU, ROM, RAM, HDD, etc. are connected via a bus, or it may have a configuration consisting of a one-chip LSI or the like. The control device 22 stores various programs and data for controlling the operations of the crane device operating tool 18, the traveling operating tool 19, the cabin side communication device 21, each actuator, the switching valve, the sensor, and the like. The crane device operating tools 18 include a turning operating tool for the cabin 17, a raising/lowering operating tool, a telescopic operating tool, a main drum operating tool, and a sub-drum operating tool. The driving operation tools 19 include a steering handle, an accelerator pedal, a brake pedal, and the like.

The control device 22 is connected to the crane device operating tool 18 and the traveling operating tool 19, and can generate control signals for corresponding actuators from the operating signals of the crane device operating tool 18 and the traveling operating tool 19. can. The control device 22 can transmit the generated control signal to each actuator via the cabin side connection terminal 20.

The control device 22 is connected to the cabin side communication device 21, and can receive control information from the crane device 6, images from the suspended load camera 9b, etc. from the vehicle side communication device 30. Further, the control device 22 can transmit operation signals for the crane device operating tool 18 and the traveling operating tool 19 to the vehicle-side communication device 30. In other words, the crane device operating tool 18 and the traveling operating tool 19 in the cabin 17 are connected via a by-wire that transmits the operating amount of each operating tool as an operating signal to the vehicle 2 and the crane device 6 via the communication line or the cabin side communication device 21. It is configured as a system.

The vehicle side communication device 30 receives control information etc. from the control device 22 via a wide area information communication network etc., and transmits control information etc. from the crane device 6 to the control device 22 via the wide area information communication network etc. It is what you send.

The vehicle 2 is provided with a vehicle-side right connection terminal 45 and a vehicle-side left connection terminal 45a that are detachably connected to the cabin-side connection terminal 20. Further, the swivel base 7 is provided with a swivel base-side right connection terminal 50 and a swivel base-side left connection terminal 50a that are detachably connected to the cabin side connection terminal 20. A relay device 31 is connected to the vehicle-side right connection terminal 45, the vehicle-side left connection terminal 45a, the swivel-side right connection terminal 50, and the swivel-side left connection terminal 50a, to which a suspended load camera 9b, each sensor, and each valve are connected. signal line is connected. A suspended load camera 9b, each sensor, and each valve are connected to the vehicle side right connection terminal 45, the vehicle side left connection terminal 45a, the swivel side right connection terminal 50, and the swivel side left connection terminal 50a via the relay 31. may be connected without being connected.

The suspended load camera 9b is connected to the relay device 31 and can acquire a control signal from the control device 22, as well as transmit the image of the suspended load camera 9b to the control device 22.

The vehicle side communication device 30 is connected to the relay device 31 and can acquire control signals from the control device 22, and also transmits control information from the crane device 6, images from the suspended load camera 9b, etc. to the control device 22. Can be sent.

The turning valve 23, the expansion/contraction valve 24, the undulation valve 25, the main valve 26m, and the sub-valve 26s are connected to the relay device 31, and can receive control signals from the control device 22.

The swivel sensor 27, the telescopic sensor 28, and the undulation sensor 29 are connected to the relay device 31, and send to the control device 22 posture information such as the swivel angle of the swivel base 7, boom length, and undulation angle, and the weight of the cargo W. Information can be sent to controller 22.

The crane 1 configured as described above can move the crane device 6 to an arbitrary position by driving the vehicle 2. Additionally, the crane 1 can raise the boom 9 to a desired hoisting angle using the hoisting hydraulic cylinder 12 by operating a hoisting operating tool, and extend the boom 9 to an arbitrary boom length by operating a telescoping operating tool. This allows the lifting height and working radius of the crane device 6 to be expanded. Further, the crane 1 can transport the cargo W by lifting the cargo W using a sub-drum operating tool or the like and rotating the swivel base 7 by operating the swing operating tool.

Next, the remote control terminal 32 for remotely controlling the crane 1 will be explained using FIGS. 2 to 4.

As shown in FIG. 3, the remote control terminal 32 is a device used to remotely control the crane 1. The remote control terminal 32 includes a casing 33, a layout changing operating tool 34 which is a crane operating section provided on the operating surface of the casing 33, a suspended load moving operating tool 35, a terminal side turning operating tool 36, and a terminal side telescopic operating tool. 37, terminal-side main drum operating tool 38m, terminal-side sub-drum operating tool 38s, terminal-side undulation operating tool 39, display device 40 as a display section, terminal-side communication device 41, terminal-side control device 42 (see FIG. 4), etc. Be equipped. The remote control terminal 32 transmits control signals for the operating valves of each actuator that moves the load W by operating the suspended load moving operating tool 35 or various operating tools to the crane device 6 via a wide area information communication network (such as the Internet). .

The housing 33 is the main component of the remote control terminal 32. The housing 33 is configured to have a size that allows the operator to hold it in his/her hand.

The arrangement change operating tool 34 is an operating tool that moves the tip of the boom 9 when changing the arrangement of the cabin 17 using the crane device 6. The arrangement change operating tool 34 is a fixing device for the cabin 17 registered in advance (in this embodiment, a vehicle side right fixing device 43, a vehicle side left fixing device 44, a swivel side right fixing device 48, and a swivel side left fixing device). This is an operating tool that selects a fixing device for moving the tip of the boom 9 from the devices 49) and generates a control signal to move the tip of the boom 9 to the selected fixing device. The arrangement change operating tool 34 is configured to select a fixing device by rotating the fixing device and to determine the fixing device by pressing the fixing device.

The suspended cargo moving operating tool 35 is an operating tool into which an instruction to move the cargo W in an arbitrary direction at an arbitrary speed is input. The suspended load moving operation tool 35 includes an operation stick that stands up substantially perpendicularly from the operation surface of the casing 33, and a sensor (not shown) that detects the tilting direction and amount of the operation stick. The suspended load moving operation tool 35 is configured such that an operation stick can be tilted in any direction. The suspended load moving operation tool 35 is configured to transmit a signal about the angle from the upper side of the remote control terminal 32 to the tilting direction of the operating stick detected by the sensor and the amount of tilt thereof to the terminal side control device 42. ing.

The terminal side turning operating tool 36 is an operating tool into which an instruction to turn the crane device 6 in an arbitrary moving direction at an arbitrary moving speed is input. The terminal side turning operation tool 36 includes an operation stick that stands up substantially perpendicularly from the operation surface of the housing 33, and a sensor (not shown) that detects the tilting direction and amount of the operation stick.

The terminal-side telescopic operating tool 37 is an operating tool into which an instruction to extend and retract the boom 9 at an arbitrary speed is input. The terminal-side main drum operating tool 38m (terminal-side sub-drum operating tool 38s) is an operating tool into which an instruction to rotate the main winch 13 at an arbitrary speed and in an arbitrary direction is input. The terminal side hoisting operation tool 39 is an operation tool into which an instruction for hoisting the boom 9 at an arbitrary speed is input. Each operating tool includes an operating stick that stands up from the operating surface of the housing 33, and a sensor (not shown) that detects the direction and amount of tilting of the operating stick.

The display device 40 is a display device 40 that displays various information such as posture information of the crane 1 and information on the cargo W. The display device 40 is composed of a display device such as a liquid crystal screen. The display device 40 is provided on the operation surface of the housing 33. The display device 40 displays images from the hanging load camera 9b, the load W, and the like. Further, the display device 40 may be provided inside the cabin 17 of the crane 1.

As shown in FIGS. 2 and 4, the terminal-side communication device 41 receives control information, etc. of the crane device 6 via a wide area information communication network, etc., and transmits control information, etc. from the remote control terminal 32 to the crane device 6. This is a device that sends data to The terminal side communication device 41 is provided inside the housing 33. The terminal-side communication device 41 is configured to receive images, control signals, etc. from the suspended load camera 9b of the crane device 6 and transmit them to the terminal-side control device 42. Further, the terminal side communication device 41 is configured to transmit control information from the terminal side control device 42 from a wide area information communication network or the like to the crane device 6 via the vehicle side communication device 30 of the crane 1.

The terminal-side control device 42, which is a control unit, is a device that controls the remote control terminal 32. The terminal-side control device 42 is provided inside the casing 33 of the remote control terminal 32. The terminal side control device 42 may actually have a configuration in which a CPU, ROM, RAM, HDD, etc. are connected via a bus, or may have a configuration consisting of a one-chip LSI or the like. The terminal side control device 42 includes a suspended load moving operation tool 35, a layout change operation tool 34, a terminal side turning operation tool 36, a terminal side telescopic operation tool 37, a terminal side main drum operation tool 38m, a terminal side sub drum operation tool 38s, Various programs and data are stored in order to control the operations of the terminal-side up/down operation tool 39, the display device 40, the terminal-side communication device 41, and the like.

The terminal side control device 42 includes a layout change operation tool 34, a suspended load movement operation tool 35, a terminal side rotation operation tool 36, a terminal side telescopic operation tool 37, a terminal side main drum operation tool 38m, a terminal side sub drum operation tool 38s, and It is connected to the terminal-side undulating operation tool 39, and can obtain an operation signal consisting of the tilt direction and amount of tilt of the operation stick of each operation tool.

The terminal-side control device 42 is connected to the terminal-side communication device 41 and can transmit and receive various information through the vehicle-side communication device 30 of the crane device 6 connected via a wide area information communication network. Specifically, the terminal-side control device 42 can acquire the posture information of the crane 1, the workable range of the crane 1, and the current position of the tip of the boom 9 via the vehicle-side communication device 30.

The terminal-side control device 42 controls a layout change operation tool 34, a terminal-side rotation operation tool 36, a terminal-side telescopic operation tool 37, a terminal-side main drum operation tool 38m, a terminal-side sub-drum operation tool 38s, and a terminal-side undulating operation tool 39. The operation signal of each operation stick acquired from each sensor can be transmitted to each corresponding valve via the terminal side communication device 41.

The terminal side control device 42 is connected to the display device 40 and causes the display device 40 to display a schematic image of the crane 1 in the current posture of the crane 1, an image from the suspended load camera 9b, various information acquired from the crane 1, etc. be able to.

Next, using FIG. 2, FIG. 5, and FIG. 6, the vehicle side right fixing device 43, the vehicle side left fixing device 44, the swivel base side right fixing device 48, and the swivel base side left fixing device, which are fixing devices for the cabin 17, will be explained. 49 and the cabin 17 will be explained in detail. Note that the cabin 17 is configured to be transportable by the crane device 6.

As shown in FIG. 5, the vehicle 2 includes a vehicle-side right fixing device 43 and a vehicle-side left fixing device 44 (light black parts), which are fixing devices on the traveling body side, and a vehicle-side right connection terminal 45 and a vehicle-side left connection terminal 45a. and (see FIG. 2) are provided. The vehicle-side right fixing device 43 and the vehicle-side left fixing device 44 are devices that hold the cabin 17 in a detachable state. The vehicle-side right fixing device 43 and the vehicle-side left fixing device 44 are provided on the conveyance surface 2a, which is the top surface of the vehicle 2. The vehicle-side right fixing device 43 is disposed at the front right end of the vehicle with the direction of travel of the vehicle being the front side. A vehicle-side right connection terminal 45 is arranged on the vehicle-side right fixing device 43 . The vehicle-side left fixing device 44 is disposed at the left front end of the vehicle with the direction of travel of the vehicle being the forward direction. A vehicle-side left connection terminal 45a is arranged on the vehicle-side left fixing device 44. The vehicle-side right connection terminal 45 and the vehicle-side left connection terminal 45a include a turning operation tool, a levitation operation tool, a telescopic operation tool, a main drum operation tool, a sub-drum operation tool, a steering handle for operating the vehicle 2, an accelerator, Signal lines related to brakes, etc. are connected (see Figure 2).

The swivel base 7 is provided with a swivel base side right fixing device 48 and a swivel base left fixing device 49, which are swivel base side fixing devices, and a swivel base side right connection terminal 50 and a swivel base side left connection terminal 50a. There is. The swivel-side right fixing device 48 and the swivel-side left fixing device 49 are devices that hold the cabin 17 in a detachable state. The swivel table side right fixing device 48 and the swivel table side left fixing device 49 are provided on the outer peripheral surface of the swivel table 7. The swivel base-side right fixing device 48 is disposed on the right side of the boom 9 and at the front end of the swivel base 7 with the boom 9 being laid down as a reference. A swivel-side right connection terminal 50 is arranged on the swivel-side right fixing device 48 . The left fixing device 49 on the swivel base side is arranged on the left side of the boom 9 with respect to the boom 9 that is laid down and at the front end of the swivel base 7. A swivel-side left connection terminal 50a is arranged on the swivel-side left fixing device 49. The right connection terminal 50 on the swivel base side and the left connection terminal 50a on the swivel base side include a swivel operation tool, a levitation operation tool, a telescopic operation tool, a main drum operation tool, a sub-drum operation tool, and a steering handle for operating the vehicle 2 to travel. Signal lines related to accelerator, brake, etc. are connected.

As shown in FIG. 6A, the vehicle-side right fixing device 43 (vehicle-side left fixing device 44) is composed of a plurality of (four in this embodiment) lock pins 46 and a connecting link 47. . The four lock pins 46 are arranged such that the distance L1 between the two lock pins 46 disposed on the front side of the vehicle 2 is different from the distance L2 between the two lock pins 46 disposed on the rear side of the vehicle 2. It is composed of The lock pin 46 has a rectangular engagement portion 46b formed at the tip of a cylindrical main body portion 46a. The axial length of the main body portion 46a is longer than the thickness of the bottom surface of the cabin 17. The length A of the engaging portion 46b in the longitudinal direction is larger than the diameter of the main body portion 46a. Further, the lock pin 46 is rotatably supported on the conveyance surface 2a of the vehicle 2. The lock pin 46 is arranged in the mounting range of the cabin 17 at the front right end and the front left end of the vehicle 2.

As shown in FIG. 6(B), the swivel-side right fixing device 48 (swivel-side left fixing device 49) connects the base 51 and a plurality of lock pins 46 (four in this embodiment). It is composed of a link 47. The base 51 is formed into a plate shape. The base 51 is fixed to the right side of the boom 9 that is laid down and the front end of the swivel base 7, and to the left side of the boom 9 and the front end of the swivel base 7. Further, the base 51 is arranged parallel to the conveyance surface 2a of the vehicle 2. The lock pin 46 is rotatably supported by each base 51. That is, the lock pin 46 is arranged within the mounting area of the cabin 17 on the base 51 at the right front end and the base 51 at the left front end of the swivel base 7. The four lock pins 46 are arranged at a distance L3 between the two lock pins 46 disposed on the radially outer side of the swivel base 7 and an interval L3 between the two lock pins 46 disposed on the radially inner side of the swivel base 7. L4 is configured differently.

As shown in FIGS. 6(A) and 6(B), arms 46c of the same length are fixed to the four lock pins 46 so as to extend in the radial direction. Further, the four lock pins 46 are arranged in pairs, and the arms 46c of the two sets of lock pins 46 are swingably connected to each other by a connecting link 47. Further, each connecting link 47 is provided with an operating lever 47a. Each set of lock pins 46 is configured such that the lock pins 46 connected by a connecting link 47 rotate in conjunction with each other when the operating lever 47a is operated. That is, in each set of lock pins 46, the direction of the engaging portion 46b is changed by operating the operating lever 47a.

As shown in FIG. 6(A), a plurality of (four in this embodiment) engagement holes 52 are formed in the bottom surface of the cabin 17. The four engagement holes 52 are holes into which the engagement portion 46b of the lock pin 46 can be inserted and engaged. The four engagement holes 52 are configured to overlap with the lock pin 46 when the cabin 17 is placed at each fixed position. The four engagement holes 52 are formed in a rectangular shape. Further, the length B of the engagement hole 52 in the lateral direction is shorter than the length A of the engagement portion 46b of the lock pin 46 in the longitudinal direction. When the cabin 17 configured as described above is placed at each fixed position, the four lock pins 46 are inserted into the engagement holes 52, respectively. The bottom surface of the cabin 17 is engaged with the engagement portion 46b when the lock pin 46 inserted into the engagement hole 52 is rotated 90 degrees by the operating lever 47a.

As shown in FIG. 6(B), the cabin 17 is placed on the ground surface or the like that is spaced from the vehicle-side right fixing device 43, the vehicle-side left fixing device 44, the swivel-side right fixing device 48, and the swivel-side left fixing device 49. Configured to be self-sustaining. The cabin 17 is provided with grounding legs 53 on the bottom surface thereof. The grounding leg 53 is shorter than the axial length of the main body portion 46a of the lock pin 46. Thereby, the cabin 17 is configured to be able to stand on the ground surface or a structure by the grounding legs 53.
An interference device (not shown) is provided between the grounding leg 53 and the cabin 17. The shock absorber is composed of vibration isolating rubber, dampers, and the like. This makes it possible to absorb vibrations and shocks from the vehicle 2 and the turning base 7 during travel or work.

As shown in FIGS. 6(A) and 6(B), a first position sensor 54a, a second position sensor 54b, and a third position sensor 54c, which are position detection sensors, are provided on the bottom surface of the cabin 17. . Each position sensor is a sensor that detects the position of the cabin 17. Each position sensor is a detection body 55 provided on the vehicle-side right fixing device 43 and the vehicle-side left fixing device 44 of the vehicle 2, and the swivel-side right fixing device 48 and the swivel-side left fixing device 49 of the swivel base 7. Detect. Each position sensor is comprised of a proximity sensor. Note that the position sensor may be a photomicro sensor, a photoelectric sensor, a capacitance sensor, or the like as long as it can detect the detection object 55.

When the cabin 17 is fixed to the vehicle-side right fixing device 43, the detection body 55 is arranged so as to be detected by the second position sensor 54b. When the cabin 17 is fixed to the vehicle-side left fixing device 44, the detection body 55 is arranged so as to be detected by the third position sensor 54c. When the cabin 17 is fixed to the swivel-side right fixing device 48, the detection body 55 is arranged so as to be detected by the first position sensor 54a and the second position sensor 54b. When the cabin 17 is fixed to the swivel-side left fixing device 49, the detection body 55 is arranged so as to be detected by the first position sensor 54a and the third position sensor 54c. That is, the detection body 55 is arranged such that the combination of position sensors that detect the detection body 55 is different for each fixed position.

A method of changing the layout of the cabin 17 using the crane device 6 will be described below with reference to FIGS. 7 to 9. In the method of changing the layout of the cabin 17, the layout change is completed through an unlocking process, a lifting process, a moving process, a hanging process, a locking process, and a workable range setting process. In the present embodiment, it is assumed that, in the crane 1, the cabin 17, which is fixed to the vehicle-side right fixing device 43, is fixed to the swivel-side right fixing device 48. Further, it is assumed that the cabin 17 is equipped with a wire rope for slinging.

The control device 22 stores the posture state of the crane device 6 when fixing the cabin 17 to the vehicle-side right fixing device 43, the vehicle-side left fixing device 44, the swivel-side right fixing device 48, or the swivel-side left fixing device 49. remembered. In other words, the control device 22 determines the position coordinates of each fixing device based on the center of rotation of the swivel base 7, the rotation angle of the swivel base 7 when the tip of the boom 9 is placed at the position coordinates, the undulation angle of the boom 9, The length of boom 9 is memorized. Therefore, the control device 22 can automatically move the tip of the boom 9 above the fixed position desired by the operator.

As shown in FIG. 7(A), the unlocking step is a step of releasing the fixation of the cabin 17 fixed to the vehicle-side right fixing device 43 by the lock pin 46. In the unlocking step, the operator disconnects the vehicle-side right connection terminal 45 and the cabin-side connection terminal 20. The operator then operates the operating lever 47a of the vehicle-side right fixing device 43 in order to release the engagement by the lock pin 46 inserted into the engagement hole 52 of the cabin 17. The lock pin 46 is rotated so that the longitudinal direction of the engagement portion 46b matches the longitudinal direction of the engagement hole 52 in the cabin 17. As a result, the cabin 17 is unlocked by the vehicle-side right fixing device 43 by the lock pin 46.

As shown in FIG. 8, the lifting process is a process of lifting the cabin 17 from the fixing device. In the lifting process, the operator selects the vehicle-side right fixing device 43 by operating the arrangement change operating tool 34 of the remote control terminal 32. When the control device 22 acquires the operation signal of the position change operation tool 34 via the vehicle-side communication device 30, it controls the crane device 6 so that the tip of the boom 9 moves directly above the vehicle-side right fixing device 43. . The operator lowers the sub-hook block 11 from the boom 9 disposed above the vehicle-side right fixing device 43 and hooks the wire rope for hanging the cabin 17 onto the sub-hook 11a. The operator lifts the cabin 17 to a predetermined position.

The moving process is a process of transporting the cabin 17. In the moving process, the operator selects the right fixing device 48 on the swivel base side by operating the arrangement change operating tool 34 of the remote control terminal 32. When the control device 22 acquires the operation signal of the arrangement change operation tool 34 via the vehicle side communication device 30, the control device 22 fixes the swivel base side right fixing device from above the vehicle side right fixing device 43 with the cabin 17 suspended from the sub hook 11a. The crane device 6 is controlled so that the tip of the boom 9 automatically moves above the device 48.

As shown in FIG. 9, in the moving process, the operator may arrange the cabin 17 on the ground surface or on a structure without using the arrangement change operation tool 34 of the remote control terminal 32. The operator operates the suspended load moving operating tool 35 of the remote control terminal 32, the terminal side turning operating tool 36, the terminal side telescopic operating tool 37, the terminal side main drum operating tool 38m, the terminal side sub-drum operating tool 38s, and the terminal side raising/lowering operation. Using the tool 39 and the display device 40, the cabin 17 is transported to a location other than the vehicle-side right fixing device 43, the vehicle-side left fixing device 44, the swivel-side right fixing device 48, and the swivel-side left fixing device 49. In this case, operation signals from each operating tool in the cabin 17 are transmitted to the control device 22 via the cabin-side communication device 21. That is, the cabin 17 can remotely control the crane device 6 by communicating between the cabin side communication device 21 and the vehicle side communication device 30 on the vehicle 2 side connected to the control device 22 .

As shown in FIG. 7(B), the hanging process is a process of hanging the cabin 17 at a desired predetermined position. In the hanging process, the operator lowers the sub-hook block 11 by operating the terminal-side sub-drum operating tool 38s of the remote control terminal 32, and suspends the cabin 17 to a predetermined position. Furthermore, the operator inserts the lock pin 46 of the right fixing device 48 on the rotating base side into the engagement hole 52 of the cabin 17 while lowering the cabin 17 little by little.

The locking process is a process of fixing the cabin 17. In the locking step, the operator operates the operating lever 47a of the right fixing device 48 on the swivel base side in order to engage the bottom surface of the cabin 17 with the lock pin 46 inserted into the engagement hole 52 of the cabin 17. The lock pin 46 is rotated so that the longitudinal direction of the engaging portion 46b is perpendicular to the longitudinal direction of the engaging hole 52 in the cabin 17. As a result, the engaging portion 46b of the lock pin 46 is caught on the bottom surface of the cabin 17, and the cabin 17 is fixed by the right fixing device 48 on the swivel base side. Further, the operator connects the right connecting terminal 50 on the rotating base side and the connecting terminal 20 on the cabin side to configure a by-wire system, so that the control device 22 can acquire operation signals from the cabin 17.

The workable range setting step is a step of setting a workable range in which the boom 9 can work without interfering with the cabin 17 fixed at a new position. The control device 22 acquires detection signals from the first position sensor 54a and the second position sensor 54b because the cabin 17 is placed on the right fixing device 48 on the rotating table side. The control device 22 sets a workable range consisting of the swivel range of the swivel base 7, the hoistable range of the boom 9, etc. based on the pre-registered position of the swivel base side right fixing device 48 and the size of the base 51. . Further, when the cabin 17 is fixed to the vehicle-side right fixing device 43, the control device 22 controls the swing angle to prevent interference between the boom 9 and the cabin 17 when the boom 9 has a predetermined angle or less. Restrict.

In addition, in the crane 1, the cabin 17 fixed to any one of the vehicle-side right fixing device 43, the vehicle-side left fixing device 44, the swivel-side right fixing device 48, and the swivel-side left fixing device 49. The manner in which it is moved to another fixing device is the same as the manner described above, and will therefore be omitted. In addition, when moving the cabin 17 placed on the ground surface or a structure to an arbitrary fixed device, the remote control terminal 32 moves the boom 9 to the cabin 17 and lifts it up, and then the remote control terminal's placement change operation tool 34 An arbitrary fixation device shall be selected by.

With this configuration, in the crane 1, the cabin 17 is configured to be detachable from the vehicle 2 and the swivel base 7, so that the cabin 17 can be attached to the vehicle 2 or the swivel base 7, taking into consideration the influence of the swivel base 7. It is selectively placed at a predetermined position on the body 7. At this time, the crane 1 has a remote control function, and the cabin is automatically controlled by the control device 22 using the swivel base 7 and the boom 9 to the position specified by the operator using the position change operation tool 34 of the remote control terminal 32. Since the cabin 17 is transported, the position of the cabin 17 can be easily changed. Thereby, the cabin 17 can be placed at a position that is not affected by the working posture of the mobile crane 1.

The cabin 17 is fixed to the vehicle 2 or the swivel base 7 by a lock pin 46, and is operated by crane equipment such as a swivel valve 23, an expansion/contraction valve 24, a undulation valve 25, a main valve 26m, and a sub-valve 26s. Since the traveling operating tools 19 such as the handle, accelerator, brake, etc. are connected to the control device 22 by a by-wire system, the traveling operating tools 19 and the crane device operating tools 18 can be connected to each mechanically corresponding valve. No need to connect. Thereby, the cabin 17 can be placed at a position that is not affected by the working posture of the mobile crane 1.

In this embodiment, the crane 1 is configured so that the control device 22 automatically places the cabin 17 at a fixed position specified by the placement change operation tool 34, but the cabin 17 is manually placed by the operator. It may also be a configuration in which it is placed. At this time, for example, the vehicle-side right fixing device 43 and the vehicle-side left fixing device 44 differ in the distance L1 between the pair of lock pins 46 on the front side of the vehicle 2 and the distance L2 between the pair of lock pins 46 on the rear side (Fig. (see 6). That is, in the crane 1, the direction in which the cabin 17 can be fixed with respect to the vehicle 2 is determined. Thereby, the crane 1 will not make a mistake in the fixing direction of the cabin 17 even if the cabin 17 is manually rearranged.

Furthermore, the crane 1 is configured to be able to acquire a control signal from a cabin 17 located at a distance from the vehicle 2 and the swivel base 7 via the vehicle-side communication device 30. Thereby, the crane 1 can arrange the cabin 17 at a position that is not affected by the working posture of the mobile crane 1.

As shown in FIG. 9, the crane 1 equipped with GNSS places the cabin 17 equipped with GNSS in a position where the cabin 17 is hidden behind an obstacle or in a position where an area that cannot be seen from the swivel base 7, such as the top of a structure, can be seen. By arranging them, the range of the pilot's blind spot can be reduced. At this time, the control device 22 of the crane 1 is configured to generate a control signal that takes into consideration the positional relationship between the crane device 6 and the cabin 17 from the GNSS information. In this way, the crane 1 can selectively arrange the cabin 17 at a position where visibility is improved during traveling operations and at a position where visibility is improved during work.

Furthermore, since the control device 22 of the crane 1 sets a workable range in which the cabin 17 does not interfere with the swivel base 7 and boom 9 based on the arrangement position of the cabin 17, even if the position of the cabin 17 is changed, the swivel base 7 and the boom 9 are prevented from interfering with each other.

Next, a crane 1, which is a second embodiment of the mobile crane 1 according to the present invention, will be described using FIG. 10. Note that the crane 1 according to each embodiment below is applied in place of the crane 11 in the crane 1 shown in FIGS. 1 and 2, and the names, drawing numbers, and symbols used in the explanation are used. , refer to the same thing, and in the following embodiments, specific explanations of points similar to those of the already described embodiments will be omitted, and differences will be mainly explained.

As shown in FIG. 10(A), the vehicle-side right fixing device 43, the vehicle-side left fixing device 44, the swivel-side right fixing device 48, and the swivel-side left fixing device 49 (see FIG. 5) each have a rotating body. 56, a plurality (four in this embodiment) of intermediate links 57, a plurality (four in this embodiment) of lock pins 58, and a guide member 59 for the lock pins 58.

The rotating body 56 is a member that moves the lock pin 58. The rotating body 56 is formed from a substantially square plate member. The rotating body 56 is rotatably supported by the vehicle 2 at its center position so that its plate surface is parallel to the conveyance surface 2a of the vehicle 2.

The intermediate link 57 connects the rotating body 56 and the lock pin 58. One end of each of the four intermediate links 57 is swingably connected to each vertex of the rotating body 56. A lock pin 58 is swingably connected to the other end of the four intermediate links 57.

The guide member 59 is a member that guides the lock pin 58 to move in a predetermined direction. The guide member 59 is formed into a block shape, and has a guide hole 59a in which the lock pin 58 can slide. The guide hole 59a is formed to have a length shorter than the axial length of the lock pin 58. The guide member 59 is fixed to the vehicle 2. Four guide members 59 are arranged at every 90 degrees on a circle centered on the rotation center of the rotating body 56. At this time, the guide member 59 is arranged so that the guide hole 59a faces in the radial direction.

A plurality of lock members 60 (four in this embodiment) are provided on the bottom surface of the cabin 17. The lock member 60 is formed into a block shape, and has an engagement hole 60a into which the lock pin 58 can be inserted. The four locking members 60 are arranged so that when the cabin 17 is placed in the fixed position of the vehicle-side right fixing device 43 or the vehicle-side left fixing device 44, each locking member 60 is adjacent to the outside of the guide member 59 in the radial direction. Fixed. At this time, the locking member 60 is arranged so that the axis of the engagement hole 60a and the axis of the guide hole 59a of the guide member 59 substantially coincide with each other.

As shown in FIG. 10(A), when the cabin 17 is placed at the fixed position of the vehicle-side right fixing device 43, for example, and the intermediate link 57 and the lock pin 58 are aligned diagonally on the rotating body 56, In this case, the four lock pins 58 are located at the farthest position from the center of rotation of the rotating body 56. At this time, the four lock pins 58 protrude outward in the radial direction of the guide member 59. That is, the four lock pins 58 are inserted into the engagement holes 60a of the four lock members 60 in the cabin 17, which are arranged radially outward of the guide member 59. Thereby, the vehicle-side right fixing device 43 fixes the cabin 17 with the four lock pins 58.

As shown in FIG. 10(B), when the rotating body 56 is rotated 90 degrees from the state of FIG. 10(A) in which the vehicle-side right fixing device 43 fixes the cabin 17 (see arc arrow), the intermediate link 57, the four lock pins 58 are moved radially inward (see arrows). At this time, the four lock pins 58 do not protrude outward in the radial direction of the guide member 59. In other words, the four lock pins 58 are not inserted into the engagement holes 60a of the four lock members 60 in the cabin 17, which are arranged radially outward of the guide member 59. As a result, the vehicle-side right fixing device 43 releases the fixation of the cabin 17. Note that the vehicle-side right fixing device 43, the vehicle-side left fixing device 44, the swivel-side right fixing device 48, and the swivel-side left fixing device 49 may be configured to drive the rotating body 56 with an actuator such as a hydraulic cylinder.

In each of the embodiments described above, the vehicle-side right fixing device 43, the vehicle-side left fixing device 44, the swivel-side right fixing device 48, and the swivel-side left fixing device 49 fix the cabin 17 using the lock pins 46, 58. However, the cabin 17 may be clamped by an actuator, bolted, or the like. Further, although the crane 1 uses the crane device 6 to move the cabin 17, the cabin 17 may be moved to a desired position using a forklift or the like.

In the embodiment described above, the cabin 17 is configured to be fixed to the vehicle-side right fixing device 43, the vehicle-side left fixing device 44, the swivel-side right fixing device 48, and the swivel-side left fixing device 49. , the position and location of the fixing device may be set arbitrarily.

As shown in FIG. 11, for example, the vehicle-side fixing device in the crane 1 is composed of a first vehicle-side fixing device, a second vehicle-side fixing device, a third vehicle-side fixing device, ... an n-th vehicle-side fixing device. In this case, the crane 1 includes a first vehicle side connection terminal 45(1), a second vehicle side connection terminal 45(2), a third vehicle side connection terminal 45(3), . . . 45(n) is provided. Each vehicle-side connection terminal is arranged on a corresponding vehicle-side fixing device. The cabin 17 is automatically transported to any designated fixed position using the boom 9. Further, the cabin 17 may be transported to an arbitrary fixed position by manual operation by the operator. In this embodiment, the cabin 17 is fixed to a third vehicle-side fixing device 45(3), and the cabin-side connection terminal 20 and the third vehicle-side connection terminal 45(3) are connected. In this way, by providing the crane 1 with an arbitrary number of fixing devices at arbitrary positions, the degree of freedom in the arrangement position of the cabin 17 with respect to the vehicle 2 is increased, and the cabin 17 can be positioned at a position according to the working posture of the crane 1. can be placed.

Furthermore, as shown in FIG. 12, the swivel-side fixing devices of the crane 1 also include a first swivel-side fixing device, a second swivel-side fixing device, a third swivel-side fixing device, . . . nth swivel-side fixing device. In the case of a fixed device, the crane 1 includes a first swivel base side connection terminal 50(1), a second swivel base side connection terminal 50(2), a third swivel base side connection terminal 50(3), etc. ... An n-th swivel base side connection terminal 50(n) is provided. Each swivel base side connection terminal is arranged on a corresponding swivel base side fixing device. In this embodiment, the cabin 17 is fixed to the third swivel-side fixing device 50(3), and the cabin-side connection terminal 20 and the third vehicle-side connection terminal 50(3) are connected. With this configuration, the crane 1 can arrange the cabin 17 at a position as high as possible on the swivel base 7 to ensure visibility when working over a fence. Further, the crane 1 has the cabin 17 disposed outside the swivel base 7 in the width direction to ensure visibility during high-lift work when the jib is extended.

The above-described embodiment merely shows a typical form, and various modifications can be made without departing from the gist of the embodiment. Furthermore, it goes without saying that the present invention can be implemented in various forms, and the scope of the present invention is indicated by the description of the claims, and furthermore, the meaning of equivalents described in the claims and all the equivalents within the scope are Including changes.

1 Crane 2 Vehicle 6 Crane device 7 Swivel base 9 Boom 17 Cabin 18 Operating tool for crane device 19 Operating tool for traveling 31 Control device 32 Remote control terminal 43 Vehicle side right fixing device 44 Vehicle side left fixing device 48 Swivel platform side right fixing Device 49 Swivel base side left fixing device

Claims (5)

A mobile crane comprising a traveling body, a crane device having a boom that can be raised and lowered on a swivel base, and a cabin having a traveling operating tool and a crane device operating tool,
The traveling body is provided with a traveling body side fixing device for arranging the cabin on the traveling body,
The swivel base is provided with a swivel base side fixing device for arranging the cabin on the swivel base,
The cabin is
The crane device is configured to be transportable to the traveling body side fixing device, the swivel table side fixing device, and a location other than the traveling body side fixing device and the swivel table side fixing device, and is fixed to the mobile crane. In this case, the mobile crane is detachably held by either the traveling body-side fixing device or the swivel-side fixing device. The mobile crane according to claim 1, wherein the cabin is automatically transported by the crane device to a predetermined position for fixing to the traveling body-side fixing device or the swivel-side fixing device. The mobile crane according to claim 1 or 2, wherein a workable range of the crane device is switched depending on a connection position of the cabin. The mobile crane according to any one of claims 1 to 3, wherein the cabin has a remote control function that allows the crane device to be operated while being separated from the traveling body and the swivel base. The mobile crane according to any one of claims 1 to 4, wherein the traveling operating tool and the crane operating tool are connected to the control device by a by-wire system.

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