WO1995014632A1 - Mobile reach tower crane - Google Patents

Mobile reach tower crane Download PDF

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Publication number
WO1995014632A1
WO1995014632A1 PCT/JP1994/001948 JP9401948W WO9514632A1 WO 1995014632 A1 WO1995014632 A1 WO 1995014632A1 JP 9401948 W JP9401948 W JP 9401948W WO 9514632 A1 WO9514632 A1 WO 9514632A1
Authority
WO
WIPO (PCT)
Prior art keywords
boom
work
work mode
lane
hook
Prior art date
Application number
PCT/JP1994/001948
Other languages
French (fr)
Japanese (ja)
Inventor
Hiroyuki Sawabe
Shinichi Ohta
Takeshi Ushioda
Original Assignee
Komatsu Ltd.
Komatsu Mec Kabushiki Kaisha
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Komatsu Ltd., Komatsu Mec Kabushiki Kaisha filed Critical Komatsu Ltd.
Priority to EP95900915A priority Critical patent/EP0731054A4/en
Priority to KR1019960702693A priority patent/KR960705733A/en
Publication of WO1995014632A1 publication Critical patent/WO1995014632A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B66C23/42—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes with jibs of adjustable configuration, e.g. foldable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/54—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with pneumatic or hydraulic motors, e.g. for actuating jib-cranes on tractors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/64—Jibs
    • B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
    • B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/64—Jibs
    • B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
    • B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
    • B66C23/702—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic with a jib extension boom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/84—Slewing gear
    • B66C23/86—Slewing gear hydraulically actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B66C23/905—Devices for indicating or limiting lifting moment electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B66C23/94—Safety gear for limiting slewing movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/03—Cranes with arms or jibs; Multiple cranes
    • B66C2700/0321—Travelling cranes
    • B66C2700/0357—Cranes on road or off-road vehicles, on trailers or towed vehicles; Cranes on wheels or crane-trucks
    • B66C2700/0364—Cranes on road or off-road vehicles, on trailers or towed vehicles; Cranes on wheels or crane-trucks with a slewing arm

Definitions

  • the present invention relates to a mobile refill work lane, and more particularly, to a mobile refill work lane having improved versatility as a crane. Background technology
  • a crane car with a telescopic second boom provided at the end of the telescopic first boom has the first boom almost upright, and the second boom can be extended and retracted. And work as a work lane.
  • the present invention has been made in order to solve the disadvantages of the related art, and has a main hook and a catch hook so that normal crane work and work as a work lane can be performed.
  • the purpose is to provide a highly versatile mobile reacher work lane whose turning speed can be changed according to the work.
  • the mobile reacher work lane according to the present invention is characterized in that a main hook is provided on a base boom of a second boom, and a catch hook is provided on a tip boom of the second boom. Further, the controller has a work mode selection switch, and the work mode selection switch fixes the first boom and the second boom in a straight line so that the main hook or the catcher is fixed. Work mode B in which the first boom is almost upright and the second boom can be freely extended and retracted to work with the catch hook. It is possible to select, and for each of the selected work modes, the starting angle limit, length limit, rated load, and boom swing speed limit of the first and second booms may be set.
  • the boom swing speed limit setting of the work mode A may be a set value that is slower than the boom swing speed limit setting of the work mode B.
  • the controller outputs a stop signal to the automatic stop mechanism to automatically stop the work operation when the erection angle, boom length, hanging load, and boom swing speed during work exceed the set values. It may be.
  • the work using the main hook and the auxiliary hook which are the ordinary crane operations, and the tower crane operation can be performed, so that the versatility is improved.
  • the starting angle limit, boom length limit, rated load, boom swing speed, etc. can be set for each work mode. Since the operation is stopped, work can be performed safely without worrying about the operation mode.
  • FIG. 1 is a side view of a mobile reach tower crane in a working mode B according to an embodiment of the present invention.
  • Fig. 2 is a side view of the mobile reach tower crane in the working mode A according to the embodiment.
  • Fig. 3 is a hydraulic circuit diagram of a main part in which a boom swing speed can be selected for each working mode according to the embodiment.
  • FIG. 4 is a block diagram showing a control system of the mobile reacher work lane according to the embodiment
  • FIG. 5 is a flowchart showing the operation of the mobile reacher crane according to the embodiment
  • FIG. In the meantime, the partial hydraulic circuit diagram when replacing the pump in section Y with a variable pump in Fig. 3
  • FIG. 7 relates to the embodiment, and the pilot pressure control of the main control valve in section Z in Fig. 3
  • FIG. 4 is a partial hydraulic circuit diagram when control is replaced with another control.
  • a body 1 movable by wheels 2 is provided with a revolving body 3 that is revolvably provided.
  • the revolving body 3 is provided with a first boom 4 and a driver's cab 5.
  • the first boom 4 is composed of a multi-stage boom that expands and contracts in a plurality of stages.
  • the base end of the first boom 4 is pivotally connected to the revolving unit 3, and can be freely raised by the boom cylinder 23.
  • the base end of the second boom 6 is pivotally connected to the front end of the first boom 4.
  • the second boom 6 is also composed of a multistage boom that expands and contracts in a plurality of stages.
  • the end of the second boom 6 can be freely raised by a boom cylinder 7.
  • the wires 8 are respectively hung, and a main hook 21 and a catch hook 22 are respectively attached to the ends of the wires 8.
  • the proximal end of the wire 8 extends along the second boom 6 and the first boom 4, and is wound by a winch 24 installed on the upper end of the first boom 4.
  • the turning speed can be limited. That is, when the tower crane work mode is selected, the switching valve 31 sends the amount of oil discharged from the pump 32 to the swing motor 34 via the flow rate limiting valve 33. Thereby, the revolving speed of the revolving superstructure 3 can be restricted.
  • the pump 32 shown at Y in FIG. 3 is replaced with the possible pump 35 shown in FIG.
  • the flow rate of the pilot line may be controlled by the electromagnetic switching valve 36.
  • the part indicated as Z in Fig. 3 is replaced as shown in Fig. 7, and the pilot pressure of the main control valve is separately controlled by the pilot operation valve 38 and the control valve 37. It may be controlled.
  • the control system for controlling the expansion / contraction of the first boom 4 and the second boom 6 has a controller 10.
  • the length and angle of the first boom 4 are input to the controller 10 from the first boom length sensor 12 and the first boom angle sensor 13 provided on the first boom 4.
  • the controller 10 receives the length and angle of the second boom 6 from the second boom length sensor 14 and the second boom angle sensor 15 and a pressure sensor 16 for detecting a load. And a signal from the swing speed sensor 19 are input.
  • an automatic stop mechanism 17 is connected to the output side of the controller 10.
  • Work mode A and work mode B are set in the control system.
  • This work mode A is a mode in which the first boom 4 is almost upright, and the second boom 6 is extended and retracted so that the work can be freely performed as an evening work lane.
  • the work mode B is a work mode in which the first crane 4 and the second boom 6 are strong and are almost in a straight line, and normal crane work is performed.
  • These work modes A and B can be selected by the work mode selection switch 18 (see Fig. 5). More specifically, in the operation mode A, the speed of the boom swing by the revolving unit 3 can be set slower than that in the operation mode B by controlling the hydraulic circuit (see FIG. 3) described above. ing. As a result, the swinging speed of the suspended load is controlled, and work safety is improved.
  • the elevation angle limit of the first boom 4 is set, for example, to 83 ° to 75 °, and the elevation angle limit of the second boom 6 prohibits the ground angle from becoming negative. It is set as follows.
  • the rated load table is set to, for example, 1.4 tons or less. Then, after holding the first boom 4 in an almost upright state, as shown in FIG. By extending the boom 6 in the lateral direction, it is possible to work using the catch hook 22.
  • the controller 10 grasps the work posture, the actual suspension load, the turning speed, and the like based on the signals input from the sensors 12 to 16 and 19. Then, the actual hanging load and the like are compared with the parameters set in the operation mode A and determined. If any one exceeds the set value, an automatic stop signal is output to the automatic stop mechanism 17 to stop the operation, and the operation can be performed safely.
  • the work mode B is selected by the work mode selection switch 18.
  • the angle of the second boom 6 is limited to the maximum raised angle soil. It also prohibits negative ground angles.
  • ⁇ ° is preferably a small angle, for example, about several degrees.
  • the length limit of the second boom 6 is set to, for example, 5.5 m or less, and the rated load table is set to, for example, 4.9 tons or less. If the actual suspended load during work exceeds any of the above parameters, a stop signal is output to the automatic stop mechanism 17 to stop the operation, and safe work is possible.
  • the present invention can perform normal crane work and task work lane work with one mobile reacher work lane. This greatly increases versatility as the work area is expanded compared to conventional mobile task lanes. In addition, it is possible to set predetermined limits such as the boom undulation angle for each work mode, and work is performed while being compared with the measured values during work, thus ensuring safety.
  • the work range is expanded, the versatility is greatly improved, and the work is performed by setting various restrictions for each work mode. It is useful as a mobile re-worker lane that can ensure safety at the time.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Jib Cranes (AREA)

Abstract

A mobile reach tower crane which can perform a tower crane operation as well as a normal crane operation to thereby provide versatility and which can secure the safety during operation by setting various limits for respective operation modes. To this end, a main hook (21) is provided on the base boom (61) of a second boom (6), and an auxiliary hook (22) is provided on the distal boom of the second boom (6). In addition, it is possible to select between an operation mode B in which the main hook (21) is used and an operation mode A in which the auxiliary hook (22) is used, and boom hoising angle limit, length limit, rated load and boom slewing speed limit may be set for respective operation modes.

Description

明 細 書 移動式リ ーチタワーク レーン 技 術 分 野  Description Mobile Reacher Work Lane Technology Field
本発明は移動式リ一チタワーク レーンに係り、 特に、 ク レーンと しての汎用性 を向上させた移動式リ一チタワーク レーンに関する。 背 景 技 術  BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile refill work lane, and more particularly, to a mobile refill work lane having improved versatility as a crane. Background technology
従来、 伸縮自在な第 1 ブームの先端に、 伸縮自在な第 2 ブームを設けたク レー ン車は、 第 1 ブームをほぼ直立させた状態で、 第 2 ブームを伸縮起状自在にする ことにより、 タワーク レーンと して機能するようにしている。  Conventionally, a crane car with a telescopic second boom provided at the end of the telescopic first boom, has the first boom almost upright, and the second boom can be extended and retracted. And work as a work lane.
しかし、 上記従来のク レーン車は、 タワーク レーンと して使用する専用機と し て設計されている。 このため、 フッ ク も 1つしか備えていないので、 作業範囲、 負荷能力が限定され、 例えば、 主、 捕フッ ク両方の作業ができない問題があった 。 また旋回スピー ドも、 タワーク レーンに合わせた遅いスピー ドであるなど、 汎 用性が低い等の不具合があつた。 発 明 の 開 示  However, the above-mentioned conventional crane vehicles are designed as dedicated machines to be used as a work lane. For this reason, since only one hook was provided, the work range and load capacity were limited, and for example, there was a problem that both the main and catch hooks could not be operated. In addition, there was a problem that the versatility was low, for example, the turning speed was too slow to match the work lane. Disclosure of the invention
本発明は、 かかる従来技術の欠点を解消するためになされたもので、 通常のク レーン作業とタワーク レーンと しての作業とが可能なように、 主フ ッ クと捕フ ッ クを備え、 旋回スピー ドも作業に合わせて変えられる汎用性の高い移動式リーチ タワーク レーンを提供することを目的とする。  The present invention has been made in order to solve the disadvantages of the related art, and has a main hook and a catch hook so that normal crane work and work as a work lane can be performed. The purpose is to provide a highly versatile mobile reacher work lane whose turning speed can be changed according to the work.
本発明に係る移動式リ ーチタワーク レーンは、 第 2 ブームのベースブームに主 フッ クを設け、 第 2 ブームの先端ブームに捕フックを設けたことを特徴とする。 また、 コン トローラは、 作業モー ド選択スィ ッチを備え、 この作業モー ド選択ス イ ッチにより、 第 1 ブームと第 2 ブームとを直線状に固定して主フ ッ ク又は捕フ ックで作業を行う作業モード Bと、 第 1 ブームをほぼ直立させて、 かつ第 2ブー ムを伸縮起状自在にして捕フックで作業を行う作業モー ド Aとのいずれかの作業 モードが選択可能であり、 この選択される作業モード毎に、 第 1 ブーム及び第 2 ブームの起状角制限、 長さ制限、 定格荷重、 ブーム旋回スピー ド制限を設定して もよい。 前記作業モ一 ド Aのブーム旋回スピー ド制限設定は、 作業モ一 ド Bのブ ーム旋回スピー ド制限設定より遅い設定値としてもよい。 さらに、 コン トローラ は、 作業時の起状角、 ブーム長さ、 吊荷重及びブーム旋回スピー ドが設定値を越 えた場合に、 自動停止機構へ停止信号を出力して、 作業運転を自動停止させると してもよい。 The mobile reacher work lane according to the present invention is characterized in that a main hook is provided on a base boom of a second boom, and a catch hook is provided on a tip boom of the second boom. Further, the controller has a work mode selection switch, and the work mode selection switch fixes the first boom and the second boom in a straight line so that the main hook or the catcher is fixed. Work mode B in which the first boom is almost upright and the second boom can be freely extended and retracted to work with the catch hook. It is possible to select, and for each of the selected work modes, the starting angle limit, length limit, rated load, and boom swing speed limit of the first and second booms may be set. The boom swing speed limit setting of the work mode A may be a set value that is slower than the boom swing speed limit setting of the work mode B. In addition, the controller outputs a stop signal to the automatic stop mechanism to automatically stop the work operation when the erection angle, boom length, hanging load, and boom swing speed during work exceed the set values. It may be.
かかる構成により、 通常のクレーン作業である主フック及び補フックを用いた 作業と、 タワークレーン作業とが行えるので、 汎用性が向上する。 また、 作業モ ー ドを選択することにより、 起状角制限、 ブーム長制限、 定格荷重、 ブーム旋回 スピー ド等が作業モー ド毎に設定可能であり、 この設定値を超えた場合は、 自動 停止となるので、 作業モー ドを気にせずに安全に作業を行うことができる。 図面の簡単な説明  With this configuration, the work using the main hook and the auxiliary hook, which are the ordinary crane operations, and the tower crane operation can be performed, so that the versatility is improved. In addition, by selecting the work mode, the starting angle limit, boom length limit, rated load, boom swing speed, etc. can be set for each work mode. Since the operation is stopped, work can be performed safely without worrying about the operation mode. BRIEF DESCRIPTION OF THE FIGURES
図 1 は本発明の実施例に係る作業モード Bにおける移動式リーチタワークレー ンの側面図、  FIG. 1 is a side view of a mobile reach tower crane in a working mode B according to an embodiment of the present invention.
図 2は実施例に係る作業モード Aにおける移動式リ一チタワークレーンの側面図 図 3は実施例に係る作業モード毎にブーム旋回スピー ドを選択可能とする要部油 圧回路図、 Fig. 2 is a side view of the mobile reach tower crane in the working mode A according to the embodiment.Fig. 3 is a hydraulic circuit diagram of a main part in which a boom swing speed can be selected for each working mode according to the embodiment.
図 4は実施例に係る移動式リーチタワーク レーンの制御系を示すプロック図、 図 5は実施例に係る移動式リ一チタヮ一ク レーンの作用を示すフローチャー ト、 図 6は実施例に係り、 図 3の Y部のポンプを可変ポンプに置き換える場合の部分 油圧回路図、 FIG. 4 is a block diagram showing a control system of the mobile reacher work lane according to the embodiment, FIG. 5 is a flowchart showing the operation of the mobile reacher crane according to the embodiment, and FIG. In the meantime, the partial hydraulic circuit diagram when replacing the pump in section Y with a variable pump in Fig. 3
図 7は実施例に係り、 図 3の Z部のメインコントロールバルブのパイ口ッ ト圧制 御を別の制御に置き換える場合の部分油圧回路図である。 発明を実施するための最良の形態 Fig. 7 relates to the embodiment, and the pilot pressure control of the main control valve in section Z in Fig. 3 FIG. 4 is a partial hydraulic circuit diagram when control is replaced with another control. BEST MODE FOR CARRYING OUT THE INVENTION
本発明に係る移動式リ一チタヮ一クレーンについて、 好ましい実施例を添付図 面に従って以下に詳述する。  DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A preferred embodiment of a mobile reloader crane according to the present invention will be described in detail below with reference to the accompanying drawings.
図 1 において、 車輪 2により移動可能な車体 1 は、 旋回体 3が旋回自在に設け られており、 この旋回体 3には、 第 1 ブーム 4 と運転室 5などが設置されている 。 なお車体 1 は、 履帯によって移動させてもよいことはいうまでもない。 上記第 1 ブーム 4は、 複数段に伸縮する多段ブームより構成されており、 基端部が旋回 体 3に枢着されて、 ブームシリ ンダ 2 3により起状自在となっている。 また、 第 1 ブーム 4の先端部に、 第 2ブーム 6の基端部が枢着されている。  In FIG. 1, a body 1 movable by wheels 2 is provided with a revolving body 3 that is revolvably provided. The revolving body 3 is provided with a first boom 4 and a driver's cab 5. Needless to say, the vehicle body 1 may be moved by a crawler track. The first boom 4 is composed of a multi-stage boom that expands and contracts in a plurality of stages. The base end of the first boom 4 is pivotally connected to the revolving unit 3, and can be freely raised by the boom cylinder 23. In addition, the base end of the second boom 6 is pivotally connected to the front end of the first boom 4.
図 2において、 第 2ブーム 6 も複数段に伸縮する多段ブームより構成されてい る。 この第 2ブーム 6は、 ブームシリ ンダ 7により先端側が起状自在となってい る。 この第 2ブーム 6のベースブーム 6 1 と先端ブーム 6 2とから、 夫々ワイヤ 8を垂下して、 ワイヤ 8の先端には、 それぞれ主フック 2 1 と、 捕フック 2 2 と を取り付けている。 そしてワイヤ 8の基端部は、 第 2ブーム 6及び第 1 ブーム 4 に沿って延出されていて、 第 1ブーム 4の基端上部に設置されたウインチ 2 4に より卷取られている。  In FIG. 2, the second boom 6 is also composed of a multistage boom that expands and contracts in a plurality of stages. The end of the second boom 6 can be freely raised by a boom cylinder 7. From the base boom 6 1 and the end boom 6 2 of the second boom 6, the wires 8 are respectively hung, and a main hook 21 and a catch hook 22 are respectively attached to the ends of the wires 8. The proximal end of the wire 8 extends along the second boom 6 and the first boom 4, and is wound by a winch 24 installed on the upper end of the first boom 4.
次に、 図 3により、 捕フック 2 2で作業を行うタワーク レーン作業モー ドを説 明する。 このタワークレーン作業モー ドの場合、 主フックで作業を行う通常クレ —ン作業モー ドと比べて、 ブーム旋回フピ一ドを遅く設定しておかないと、 旋回 時吊荷の周速度が大きくなつて危険である。 そこで、 本実施例では、 旋回スピ一 ドの制限ができるようにしてある。 即ち、 タワークレーン作業モ一ドを選択した 場合は、 切換弁 3 1 により、 ポンプ 3 2の吐出油量が、 流量制限弁 3 3を経由し て旋回モータ 3 4に送られるようにしている。 これにより、 旋回体 3の旋回スピ 一ドが制限可能となっている。  Next, referring to FIG. 3, a work lane working mode in which work is performed by the catch hook 22 will be described. In this tower crane operation mode, the peripheral speed of the suspended load during turning will be higher if the boom turning hood is not set slower than in the normal crane operation mode in which work is performed using the main hook. It is dangerous. Therefore, in the present embodiment, the turning speed can be limited. That is, when the tower crane work mode is selected, the switching valve 31 sends the amount of oil discharged from the pump 32 to the swing motor 34 via the flow rate limiting valve 33. Thereby, the revolving speed of the revolving superstructure 3 can be restricted.
尚、 図 3の中で Yと指示した部分のポンプ 3 2を、 図 6に示す可能ポンプ 3 5 に置き換えて、 パイロッ トライ ンを電磁切換弁 3 6 により、 流量制御してもよい 。 或いは、 図 3の中で Zと指示した部分を、 図 7 に示したように置き換えて、 メ イ ンコン トロールバルブのパイロッ ト圧を、 パイロッ ト操作弁 3 8、 制御弁 3 7 により、 別に流量制御してもよい。 The pump 32 shown at Y in FIG. 3 is replaced with the possible pump 35 shown in FIG. The flow rate of the pilot line may be controlled by the electromagnetic switching valve 36. Alternatively, the part indicated as Z in Fig. 3 is replaced as shown in Fig. 7, and the pilot pressure of the main control valve is separately controlled by the pilot operation valve 38 and the control valve 37. It may be controlled.
—方、 第 1 ブーム 4 と第 2 ブーム 6 との伸縮及び起状を制御する制御系は、 図 4 に示すように、 コン トローラ 1 0を有している。 このコン トローラ 1 0 には、 第 1 ブーム 4 に設けられた第 1 ブーム長さセンサ 1 2 と第 1 ブーム角度センサ 1 3から、 第 1 ブーム 4の長さと角度が入力される。 また、 コン トローラ 1 0 には 、 第 2 ブーム長さセンサ 1 4 と第 2 ブーム角度センサ 1 5から、 第 2 ブーム 6の 長さと角度が入力されていると共に、 荷重を検出する圧力センサ 1 6からの荷重 信号と、 旋回速度センサ 1 9からの信号が入力される。 一方、 コン トローラ 1 0 の出力側には、 自動停止機構 1 7が接続されている。  On the other hand, as shown in FIG. 4, the control system for controlling the expansion / contraction of the first boom 4 and the second boom 6 has a controller 10. The length and angle of the first boom 4 are input to the controller 10 from the first boom length sensor 12 and the first boom angle sensor 13 provided on the first boom 4. Further, the controller 10 receives the length and angle of the second boom 6 from the second boom length sensor 14 and the second boom angle sensor 15 and a pressure sensor 16 for detecting a load. And a signal from the swing speed sensor 19 are input. On the other hand, an automatic stop mechanism 17 is connected to the output side of the controller 10.
又、 制御系には、 作業モー ド Aと作業モー ド Bが設定されている。 この作業モ ― ド Aは、 第 1 ブーム 4をほぼ直立させ、 かつ第 2 ブーム 6を伸縮、 起状自在に 夕ワーク レーンと して作業を行うモ一 ドである。 また、 作業モー ド Bは、 第 1 ブ —ム 4 と第 2 ブーム 6力く、 ほぼ一直線状となるようにして通常のク レーン作業を 行う作業モー ドである。 これら作業モー ド A、 Bは、 作業モー ド選択スィ ッチ 1 8 (図 5参照） により、 それぞれ選択できるようにしてある。 より具体的には、 作業モー ド Aは、 前述の油圧回路 （図 3参照） の制御により、 旋回体 3 によるブ ーム旋回スピー ドを、 作業モー ド Bの場合より遅い設定が可能と している。 これ により、 吊荷の旋回移動速度を制御し、 作業の安全が図られている。  Work mode A and work mode B are set in the control system. This work mode A is a mode in which the first boom 4 is almost upright, and the second boom 6 is extended and retracted so that the work can be freely performed as an evening work lane. The work mode B is a work mode in which the first crane 4 and the second boom 6 are strong and are almost in a straight line, and normal crane work is performed. These work modes A and B can be selected by the work mode selection switch 18 (see Fig. 5). More specifically, in the operation mode A, the speed of the boom swing by the revolving unit 3 can be set slower than that in the operation mode B by controlling the hydraulic circuit (see FIG. 3) described above. ing. As a result, the swinging speed of the suspended load is controlled, and work safety is improved.
次に、 図 5のフロチャ一 トを参照して、 本実施例の作用を説明する。 夕ワーク レーン作業を行う場合は、 作業モー ド選択スィ ツチ 1 8により作業モー ド Aを選 択する。 作業モー ド Aでは、 第 1 ブーム 4の起状角制限は、 例えば 8 3 ° 〜 7 5 ° に設定され、 第 2 ブーム 6の起状角制限は、 対地角がマイナスになるのを禁止 するように設定される。 そして定格荷重表は、 例えば、 1 . 4 ト ン以下に設定さ れる。 そして、 第 1 ブーム 4をほぼ直立状態に保持後、 図 2 に示すように、 第 2 ブーム 6を横方向へ張り出すことにより、 捕フ ッ ク 2 2を使用して作業すること ができる。 作業開始後、 コン トローラ 1 0 は、 各センサ 1 2 ~ 1 6 , 1 9から入 力される信号を基に、 作業姿勢や実吊荷重、 旋回速度などを把握する。 そして、 これら実吊荷重等と作業モー ド Aで設定されたパラメ一タとを比較判定する。 1 つでも設定値を越えると、 自動停止信号が自動停止機構 1 7へ出力されて運転停 止となり、 作業が安全に行える。 Next, the operation of the present embodiment will be described with reference to the flowchart of FIG. In the evening work lane work, select work mode A using the work mode selection switch 18. In work mode A, the elevation angle limit of the first boom 4 is set, for example, to 83 ° to 75 °, and the elevation angle limit of the second boom 6 prohibits the ground angle from becoming negative. It is set as follows. The rated load table is set to, for example, 1.4 tons or less. Then, after holding the first boom 4 in an almost upright state, as shown in FIG. By extending the boom 6 in the lateral direction, it is possible to work using the catch hook 22. After the start of the work, the controller 10 grasps the work posture, the actual suspension load, the turning speed, and the like based on the signals input from the sensors 12 to 16 and 19. Then, the actual hanging load and the like are compared with the parameters set in the operation mode A and determined. If any one exceeds the set value, an automatic stop signal is output to the automatic stop mechanism 17 to stop the operation, and the operation can be performed safely.
一方、 通常のク レーン作業を行う場合は、 作業モー ド選択スィ ツチ 1 8 により 作業モー ド Bを選択する。 この作業モー ド Bでは、 第 2 ブーム 6の起状角制限は 、 最大起こ し角土 。 であり、 また対地角がマイナスになるのを禁止している。 ここで、 α ° は、 小さな角度、 例えば数度程度が好ま しい。 さ らに、 第 2 ブーム 6の長さ制限は、 例えば 5 . 5 m以下に、 定格荷重表は、 例えば 4 . 9 ト ン以下 に、 夫々設定される。 作業中の実吊荷重等が、 上記パラメータを 1つでも越える 場合、 停止信号が自動停止機構 1 7へ出力されて運転停止となり、 安全作業が可 能である。  On the other hand, when performing normal crane work, the work mode B is selected by the work mode selection switch 18. In this work mode B, the angle of the second boom 6 is limited to the maximum raised angle soil. It also prohibits negative ground angles. Here, α ° is preferably a small angle, for example, about several degrees. Further, the length limit of the second boom 6 is set to, for example, 5.5 m or less, and the rated load table is set to, for example, 4.9 tons or less. If the actual suspended load during work exceeds any of the above parameters, a stop signal is output to the automatic stop mechanism 17 to stop the operation, and safe work is possible.
本発明は、 以上詳述したように、 一台の移動式リーチタワーク レーンで、 通常 のク レーン作業とタワーク レーン作業が可能である。 これにより、 従来の移動式 タワーク レーンと比べて作業範囲が拡大するので、 汎用性が大幅に向上する。 ま た、 作業モー ド毎にブーム起伏角等所定の制限設定が可能であり、 作業時の測定 値と比較されつつ作業が行われるので、 安全性が確保される。 産業上の利用可能性  As described in detail above, the present invention can perform normal crane work and task work lane work with one mobile reacher work lane. This greatly increases versatility as the work area is expanded compared to conventional mobile task lanes. In addition, it is possible to set predetermined limits such as the boom undulation angle for each work mode, and work is performed while being compared with the measured values during work, thus ensuring safety. Industrial applicability
本発明は、 通常のク レーン作業とタワーク レーン作業とが 1 台で行われるので 、 作業範囲が拡大して汎用性が大幅に向上すると共に、 作業モー ド毎の種々の制 限設定により、 作業時の安全性が確保できる移動式リ一チタワーク レーンと して 有用である。  According to the present invention, since the normal crane work and the work lane work are performed by one unit, the work range is expanded, the versatility is greatly improved, and the work is performed by setting various restrictions for each work mode. It is useful as a mobile re-worker lane that can ensure safety at the time.

Claims

請 求 の 範 囲 The scope of the claims
1 . 多段に伸縮して起状自在な第 1 ブームの先端に、 多段に伸縮する第 2ブーム を起状自在に設け、 コン トローラにより制御する移動式ク レーンにおいて、 前記 第 2ブームのベースブームに主フックを設け、 前記第 2ブームの先端ブームに捕 フッ クを設けたことを特徴とする移動式リーチタワーク レーン。 1. In a movable crane controlled by a controller, a second boom extending and contracting is provided at the tip of a first boom that can freely expand and contract in multiple stages, and the base boom of the second boom is controlled by a controller. A movable reach work lane, characterized in that a main hook is provided on the second boom and a catch hook is provided on a tip boom of the second boom.
2 . 前記コン トロ一ラは、 作業モー ド選択スィツチを備え、 前記作業モー ド選択 スィッチにより、 前記第 1 ブームと前記第 2ブームとを直線状に固定して前記主 フック又は前記捕フックで作業を行う作業モード Bと、 前記第 1 ブームをほぼ直 立させて、 かつ前記第 2ブームを伸縮起状自在にして前記捕フックで作業を行う 作業モード Aとのいずれかの作業モードが選択可能であり、 前記選択される作業 モー ド毎に、 前記第 1 ブーム及び前記第 2 ブームの起状角制限、 長さ制限、 定格 荷重、 ブーム旋回スピード制限が設定されてなることを特徴とする請求の範囲 1 記載の移動式リーチタワーク レーン。 2. The controller includes a work mode selection switch, and the work mode selection switch fixes the first boom and the second boom in a straight line to the main hook or the catch hook. Either a work mode B in which work is performed, or a work mode A in which the first boom is substantially upright, and the second boom is freely extended and retracted to perform work with the catch hooks It is possible to set a starting angle limit, a length limit, a rated load, and a boom rotation speed limit of the first boom and the second boom for each of the selected operation modes. The mobile reacher work lane of claim 1.
3 . 前記作業モー ド Aのブーム旋回スピー ド制限設定は、 前記作業モー ド Bのブ ーム旋回スピード制限設定より遅い設定値であることを特徴とする請求の範囲 2 記載の移動式リーチタワーク レーン。 3. The movable reacher according to claim 2, wherein the boom swing speed limit setting of the work mode A is a set value slower than the boom swing speed limit setting of the work mode B. Work lane.
4 . 前記コン トローラは、 作業時の起状角、 ブーム長さ、 吊荷重及びブーム旋回 スピードが設定値を越えた場合に、 自動停止機構へ停止信号を出力して、 作業運 転を自動停止させてなることを特徴とする請求の範囲 1記載の移動式リ一チタヮ —ク レーン。 4. The controller outputs a stop signal to the automatic stop mechanism to automatically stop the work operation when the erection angle, boom length, hanging load, and boom swing speed during work exceed the set values. 2. The mobile re-cleaner according to claim 1, wherein the crane is provided.
PCT/JP1994/001948 1993-11-26 1994-11-18 Mobile reach tower crane WO1995014632A1 (en)

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EP95900915A EP0731054A4 (en) 1993-11-26 1994-11-18 Mobile reach tower crane
KR1019960702693A KR960705733A (en) 1993-11-26 1994-11-18 MOBILE REACH TOWER CRANE

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JP5/319210 1993-11-26
JP5319210A JPH07144884A (en) 1993-11-26 1993-11-26 Mobile reach tower crane

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EP0731054A1 (en) 1996-09-11
CN1136304A (en) 1996-11-20
EP0731054A4 (en) 1997-05-28
JPH07144884A (en) 1995-06-06
KR960705733A (en) 1996-11-08
TW302016U (en) 1997-04-01
CN1037425C (en) 1998-02-18

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