WO2017159319A1 - Dispositif d'aide au travail de grue - Google Patents

Dispositif d'aide au travail de grue Download PDF

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Publication number
WO2017159319A1
WO2017159319A1 PCT/JP2017/007494 JP2017007494W WO2017159319A1 WO 2017159319 A1 WO2017159319 A1 WO 2017159319A1 JP 2017007494 W JP2017007494 W JP 2017007494W WO 2017159319 A1 WO2017159319 A1 WO 2017159319A1
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WO
WIPO (PCT)
Prior art keywords
unit weight
counterweight
unit
target
weight
Prior art date
Application number
PCT/JP2017/007494
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English (en)
Japanese (ja)
Inventor
隆浩 藤ノ木
Original Assignee
株式会社タダノ
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Filing date
Publication date
Application filed by 株式会社タダノ filed Critical 株式会社タダノ
Publication of WO2017159319A1 publication Critical patent/WO2017159319A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • 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
    • B66C23/26—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 for use on building sites; constructed, e.g. with separable parts, to facilitate rapid assembly or dismantling, for operation at successively higher levels, for transport by road or rail
    • 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
    • B66C23/72—Counterweights or supports for balancing lifting couples
    • B66C23/74—Counterweights or supports for balancing lifting couples separate from jib

Definitions

  • the present invention relates to a crane work assisting device that assists work by a crane. More particularly, the present invention relates to a crane work assisting device for assisting an operator when assembling a counterweight on a body frame of a mobile crane.
  • a counterweight is installed at the rear of the swivel to balance the load on the boom and improve stability.
  • a large mobile crane would exceed the weight limit when traveling on public roads with the counterweight attached. Therefore, the counterweight is sent separately by truck and mounted on the mobile crane at the work site.
  • each unit weight is suspended by its own crane device and lowered to the loading area on the body frame, and a plurality of unit weights are stacked to assemble the counterweight.
  • the swivel is swung and the rear part of the swivel is disposed at a position corresponding to the counterweight on the vehicle body frame.
  • a counterweight is attached to the rear part of the swivel base by an attaching / detaching device provided at the rear part of the swivel base.
  • an engine room is provided on the body frame, and it is necessary to assemble the counterweight in a limited area between the engine room and the swivel base.
  • the unit weight may come into contact with the engine room or the swivel when the unit weight is suspended and moved to the loading area on the vehicle body frame. In order to avoid this, the operator needs to pay attention to the crane operation.
  • An object of the present invention is to provide a crane work assisting device capable of facilitating the work of moving an object by a crane, particularly the work of assembling a counterweight.
  • the crane work auxiliary device is: A crane work auxiliary device for assisting in assembling a counterweight including a plurality of unit weights in a predetermined loading area, For each unit weight, a storage unit that stores a target loading position on a horizontal plane and an outline of the unit weight; A current position specifying unit for specifying a current position on the horizontal plane of the suspended unit weight; And a display control unit that simultaneously displays an outline of the unit weight to be moved at the target loading position and the current position when the counterweight is assembled.
  • the operation support information for guiding the object to the target position is displayed based on the target position and the current position, and the worker can operate the crane according to the operation support information.
  • the operation by the crane becomes easy.
  • a counterweight assembly assisting apparatus A to which the crane work assisting apparatus according to the present invention is applied will be described.
  • a counterweight assembly assisting apparatus A according to an embodiment of the present invention is provided, for example, in a mobile crane C shown in FIG.
  • the counterweight assembly auxiliary apparatus A of this embodiment is not limited to the mobile crane C shown in FIG. 6, but can be provided in various cranes.
  • the mobile crane C has a traveling vehicle body 11.
  • the traveling vehicle body 11 is provided with wheels for traveling and an outrigger for ensuring stability during crane work.
  • An engine room 12 is provided in front of the upper surface of the vehicle body frame 11 f that constitutes the traveling vehicle body 11.
  • a swivel 13 is mounted on the upper surface of the body frame 11f.
  • the swivel base 13 can be turned 360 ° in a horizontal plane with respect to the vehicle body frame 11f by a hydraulic motor or the like.
  • the swivel base 13 is provided with a cab 14, a winch (not shown), and other equipment.
  • the boom 15 is mounted on the swivel base 13 so as to be freely raised and lowered.
  • the base end portion of the boom 15 is pivotally supported on the swivel base 13 by a pin.
  • a hoisting cylinder is attached between the boom 15 and the swivel base 13. When the hoisting cylinder is extended, the boom 15 stands up, and when the hoisting cylinder is contracted, the boom 15 falls.
  • the boom 15 is configured in a telescopic shape and is expanded and contracted by an expansion cylinder.
  • a wire rope provided with a hook 16 is suspended from the tip of the boom 15.
  • the wire rope is guided to the swivel base 13 along the boom 15 and wound up by a winch.
  • crane device refers to a device that is composed of a boom 15, a hook 16, a swivel base 13, a wire rope, a winch, and the like for unloading and unloading.
  • the crane device is operated by a worker in the cab 14.
  • the “crane work” is an operation of moving the object to the target position by operating the crane device, and includes the assembly work of the counterweight W.
  • the mobile crane C is configured so that a counterweight W can be attached to the rear part of the swivel base 13.
  • the counter weight W is configured by combining a plurality of unit weights.
  • a loading area is secured between the engine room 12 and the swivel base 13 on the upper surface of the body frame 11f. This loading area is used for temporarily loading the counterweight W when assembling the counterweight W.
  • the worker suspends the unit weight with his / her crane device and lowers the unit weight onto the loading area on the vehicle body frame 11f. The worker repeats this and stacks a plurality of unit weights to assemble the counterweight W. Then, as shown in FIG. 7, the completed counterweight W is placed on the stacking area.
  • the worker turns the turntable 13 and arranges the rear portion of the turntable 13 at a position corresponding to the counterweight W on the vehicle body frame 11f. Subsequently, the worker operates the attachment / detachment device provided at the rear part of the swivel base 13 to attach the counterweight W to the rear part of the swivel base 13.
  • FIG. 9 is an explanatory diagram showing combinations of counterweights W.
  • FIG. 10 is a perspective view of the counterweight W.
  • FIG. 11A to 11G are plan views (horizontal projection figures) of the unit weights 21 to 27.
  • FIG. 11A to 11G are plan views (horizontal projection figures) of the unit weights 21 to 27.
  • the counterweight W is configured by combining some or all of the first to seventh unit weights 21 to 27.
  • the first to seventh unit weights 21 to 27 have different shapes and weights.
  • the weights of the first to seventh unit weights 21 to 27 are 2.7 t, 3.4 t, 8.9 t, 10.0 t, 3.1 t, 6.1 t, and 6.1 t, respectively.
  • unit weight 20 when the types of the first to seventh unit weights 21 to 27 are not distinguished, these are referred to as “unit weight 20”.
  • the counterweights W in the first to fifth combinations have different weights.
  • the weight of the counterweight W of the first combination obtained by combining the first and second unit weights 21 and 22 is 6.1 t.
  • the weight of the counter weight W of the second combination obtained by combining the first to third unit weights 21 to 23 is 15.0 t.
  • the weight of the third combination counterweight W, which is a combination of the first to fourth unit weights 21 to 24, is 25.0 t.
  • the weight of the counter weight W of the fourth combination obtained by combining the first to fifth unit weights 21 to 25 is 28.1 t.
  • the weight of the counterweight W of the fifth combination obtained by combining the first to seventh unit weights 21 to 27 is 40.3 t.
  • the combination of unit weights 20 is selected according to the weight of the counterweight W required for crane work, and is changed as necessary. For example, there is a case where a specific combination of counterweights W is mounted from the state where the counterweights W are not mounted. On the contrary, there is a case where the counterweight W of a specific combination that is mounted is removed. In some cases, the counterweight W of a specific combination is changed to the counterweight W of a heavy combination. Furthermore, the counterweight W of a specific combination may be changed to the counterweight W of a light combination.
  • the operator attaches or removes the unit weight 20 on the body frame 11f, assembles the counterweight W of the desired combination, and then attaches the counterweight W to the rear portion of the swivel base 13. To do.
  • the counterweight assembly assisting apparatus A includes an undulation angle detector 31, a turning angle detector 32, a length detector 33, a counterweight detector 34, a control device 35, and a display device. 36, an input device 37, and a storage unit 381.
  • the undulation angle detector 31 is a detector that detects the undulation angle of the boom 15. Although the configuration of the undulation angle detector 31 is not particularly limited, a pendulum type angle measuring device in which a pendulum is attached to a potentiometer can be mentioned.
  • the turning angle detector 32 is a detector that detects the turning angle of the boom 15.
  • the configuration of the turning angle detector 32 is not particularly limited. For example, a configuration in which the rotation angle of a hydraulic motor that turns the turntable 13 is read with a potentiometer can be mentioned.
  • the length detector 33 is a detector that detects the length of the boom 15.
  • the configuration of the length detector 33 is not particularly limited. For example, a configuration in which the rotation angle of the cord reel in which the end portion of the cord is fixed to the tip portion of the boom 15 is read with a potentiometer can be mentioned.
  • the counterweight detector 34 is a detector that detects the weight of the counterweight W mounted on the swivel base 13 or a combination of unit weights 20.
  • the configuration of the counterweight detector 34 is not particularly limited. For example, a configuration in which the weight of the counterweight W is detected by a load cell or the like, and a configuration in which the unit weight 20 is attached / detached and the combination of the unit weights 20 is determined. It is done.
  • the detection values of the above various detectors 31 to 34 are input to the control device 35.
  • the control device 35 is an in-vehicle computer configured with a CPU, a memory, and the like, and has a function of performing processing described later.
  • the control device 35 functions as a current position specifying unit 35A and a display control unit 35B.
  • the current position specifying unit 35A determines the current state of the object (eg, unit weight 20) suspended from the hook 16 based on detection signals from the undulation angle detector 31, the turning angle detector 32, and the length detector 33. Identify the location.
  • the display control unit 35B causes the display device 36 to display operation support information for guiding the object to the target position based on the target position and the current position when the object is moved. As will be described later, this operation support information includes the length of the boom 15, the undulation angle, the turning angle, and the crane target position and current position for specifying the target position and current position of the object.
  • Various modes using information for specifying the target position and the current position of the object such as the undulation angle, the difference of the turning angle, the image of the object based on these, or the combination of numerical information and image information are considered. It is done.
  • the display device 36 is a liquid crystal display or the like, and is provided in the cab 14. As will be described later, screen display is performed on the display device 36 by the processing of the control device 35. The worker operates the crane while confirming the display content of the display device 36.
  • the input device 37 is a switch or lever for performing an input operation on the control device 35, and is provided in the cab 14. An operator can give an instruction to the control device 35 by performing an input operation using the input device 37.
  • a touch panel in which the display device 36 and the input device 37 are integrated may be employed.
  • the storage unit 381 stores counterweight data 38.
  • the counterweight data 38 is data in a table format, and is composed of columns of unit weight, weight, assembly order, loading position (radius), loading position (angle), and graphic. That is, the storage unit 381 stores the weight, assembly order, stacking position, and figure of each unit weight 20.
  • Weight is the weight of each unit weight 20.
  • Assembly order is the order in which the counterweight W is assembled. In general, the counterweight W is assembled in order from the lower unit weight 20 (see FIG. 9).
  • the “loading position” is a position on the vehicle body frame 11f where the unit weight 20 is placed when the counterweight W is assembled.
  • the loading position is represented by a cylindrical coordinate system with the turning center of the turntable 13 as the origin.
  • the “loading position (radius)” is the distance (working radius) between the turning center of the swivel base 13 and the loading position.
  • the “loading position (angle)” is an angle around the turning center of the loading position (turning angle).
  • the loading position may be expressed in a coordinate system other than the cylindrical coordinate system.
  • Graphic is graphic data indicating the outline of each unit weight 20. More specifically, the outline of the unit weight 20 is a plane figure (horizontal projection figure) obtained by projecting the unit weight 20 onto a horizontal plane, as shown in FIGS. 11A to 11G. As will be described later, the graphic data is used when the target stacking position and the current position of the unit weight 20 are displayed as a graphic.
  • the worker When assembling the counterweight W, the worker fully shrinks the boom 15 or makes the length necessary and sufficient for the assembly work of the counterweight W. In general, during the assembly work of the counterweight W, the worker does not perform an operation to extend and retract the boom 15. Here, the boom length during the assembly work of the counterweight W is assumed to be constant.
  • the control device 35 causes the display device 36 to display a combination selection screen showing the combination pattern of the unit weights 20 (step S11).
  • the combination selection screen displays the first to fifth combinations, which are the combination patterns of the unit weights 20, as the weight of the counterweight W.
  • 0.0t no counterweight W
  • 6.1t first combination
  • 15.0t second combination
  • 25.0t third combination
  • 28.1t fourth combination
  • 40.3t fifth combination
  • “current counterweight weight” may be displayed on the combination selection screen.
  • the “current counterweight weight” is the weight of the counterweight W mounted on the swivel base 13 immediately before the counterweight W is assembled.
  • the display is 0.0 t, indicating that the counterweight W is not attached. If the counterweight W is mounted on the swivel 13 immediately before the counterweight W is assembled, the weight of the counterweight W is displayed as “current counterweight weight”.
  • the worker When removing the counterweight W mounted on the swivel base 13 or increasing / decreasing the weight, the worker swivels the swivel base 13 so that the rear part of the swivel base 13 is positioned in the loading area of the counterweight W. Let The operator attaches or removes the unit weight 20 after lowering the counterweight W to the loading area. Therefore, in the step S11, the counterweight W mounted on the swivel base 13 may be lowered to the loading area. Therefore, the control device 35 stores the detected value of the counterweight detector 34 immediately before the assembly work of the counterweight W, and sets the detected value as the “current counterweight weight”.
  • the worker uses the input device 37 to select a desired combination pattern from among the combination patterns of the unit weights 20 displayed on the combination selection screen (step S12).
  • a desired combination pattern from among the combination patterns of the unit weights 20 displayed on the combination selection screen (step S12).
  • 40.3t is selected.
  • the selected combination pattern is highlighted on the combination selection screen, for example.
  • the control device 35 specifies the unit weight 20 to be moved this time, that is, the unit weight 20 to be moved, from the current combination of unit weights 20 and the assembly order stored in the counter weight data 38 (step S13).
  • “move” means that when the weight of the counterweight W is increased, the unit weight 20 is moved from the temporary placement position to the loading position (attachment of the unit weight 20).
  • “move” means that when the weight of the counterweight W is increased, the unit weight 20 is moved from the temporary placement position to the loading position (attachment of the unit weight 20).
  • the weight is decreased, it means that the unit weight 20 is moved from the loading position to the temporary placement position (removal of the unit weight 20).
  • the combination of the current unit weights 20 means a combination of the unit weights 20 currently placed in the loading area. As will be described later, the processing from step S13 to step S16 is repeated each time one unit weight 20 is moved. Therefore, the “current combination of unit weights 20” changes depending on the number of processings in step S13.
  • the “current unit weight 20 combination” can be acquired from the counter weight detector 34. More specifically, the control device 35 stores the detection value of the counterweight detector 34 immediately before the assembly work of the counterweight W is performed, and specifies the “current combination of unit weights 20” from the detection value. . For example, when the detection value of the counter weight detector 32 indicates “6.1 t”, the “first combination” is the current combination of unit weights 20.
  • the combination of the current unit weights 20 is the combination of the unit weights 20 just before the previous attachment or removal process plus the unit weights 20 attached last time, or just before The unit weight 20 is a combination obtained by removing the unit weight 20 removed last time.
  • the unit weight 20 to be moved this time is specified from the “combination of the current unit weights 20” and the “assembly order”.
  • the unit weight 20 When the unit weight 20 is attached, the largest assembly order among the “assembly orders” of the unit weights 20 constituting the current combination is acquired from the counter weight data 38, and the unit weight 20 having an assembly order one larger than that is obtained. It is specified and is designated as “unit weight 20 to be moved this time”.
  • the unit weight 20 having the largest “assembly order” is specified from the counter weight data 38 among the unit weights 20 constituting the current combination, and this is designated as “unit weight 20 to be moved this time”. To do.
  • the unit weight 20 to be moved first is the first unit weight 21 whose assembly order is “1”. Thereafter, the control device 35 acquires the largest assembly order “1” in the assembly order of the unit weights 20 (first unit weights 21) constituting the current combination, and the unit weight 20 having an assembly order one larger than that. (Second unit weight 22) is specified and presented as “unit weight 20 to be moved this time”. When the worker performs the moving operation of the presented unit weight 20, the unit weight 20 to be moved is reliably moved. Similarly, the “unit weight 20 to be moved this time” specified according to the assembly order is presented, and the second to seventh unit weights 22 to 27 are sequentially moved (see FIG. 5).
  • the control device 35 obtains the loading position (hereinafter referred to as “target loading position”) of the unit weight 20 to be moved this time (step S14).
  • the target loading position may include the height position of the unit weight 20, only the loading position of the unit weight 20 on the horizontal plane is considered here.
  • the target loading position is represented by the working radius and turning angle of the boom 15. If the boom length is constant, the target loading position is represented by a target undulation angle and a target turning angle.
  • the target undulation angle is the undulation angle of the boom 15 when the unit weight 20 to be moved this time is arranged at the corresponding target loading position.
  • the target turning angle is the turning angle of the boom 15 when the unit weight 20 to be moved this time is arranged at the corresponding target loading position. That is, when the unit weight 20 is suspended from the hook 16 and the undulation angle of the boom 15 is made to coincide with the target undulation angle, and the turning angle of the boom 15 is made to coincide with the target turning angle, the unit weight 20 is arranged at the target loading position. Is done.
  • the control device 35 acquires the loading position (radius) of the unit weight 20 to be moved this time from the counter weight data 38 and acquires the current boom length from the length detector 33.
  • the control device 35 obtains the undulation angle when the tip of the boom 15 is arranged vertically above the loading position from the loading position (radius) and the boom length, and sets it as the target undulation angle.
  • the undulation angle ⁇ target undulation angle
  • the boom length L may be input through the input device 37 by an operator.
  • the control device 35 may obtain the target undulation angle in consideration of the bending of the boom 15 due to the weight of the unit weight 20.
  • the weight of the unit weight 20 is acquired from the counter weight data 38.
  • the control device 35 obtains the undulation angle when the tip of the bent boom 15 is arranged vertically above the loading position, and sets it as the target undulation angle.
  • the target undulation angle ⁇ when the bending of the boom 15 is taken into consideration can be obtained from the following equation (2).
  • the deflection angle ⁇ is experimentally set for each unit weight 20 and stored in the counter weight data 38, for example.
  • the control device 35 acquires the loading position (angle) of the unit weight 20 to be moved this time from the counter weight data 38 and sets it as the target turning angle.
  • the control device 35 displays a loading position screen on the display device 36 (step S15).
  • the identifier of “unit weight 20 to be moved this time” is displayed in the “designated CW” field on the stacking position screen.
  • the “identifier” is not particularly limited as long as the type of the unit weight 20 can be identified, and the weight, type name, figure, or the like of the unit weight 20 is used.
  • the weight of the unit weight 20 is used as an identifier.
  • the weight of the unit weight 20 can be acquired from the counter weight data 38.
  • the control device 35 displays the target loading position and the current position of the unit weight 20 on the loading position screen as operation support information for guiding the unit weight 20 to the target loading position. Specifically, the target undulation angle and the target turning angle are displayed on the loading position screen as the target loading position of the unit weight 20. Further, as the current position of the unit weight 20, the current undulation angle and the current turning angle of the boom 15 are displayed. The current undulation angle is acquired from the undulation angle detector 31. The current turning angle is acquired from the turning angle detector 32.
  • step S14 the target undulation angle and the target turning angle of the boom when the unit weight 20 to be moved this time is arranged at the corresponding target loading position are obtained. Therefore, even if the target loading position differs for each unit weight 20, it is appropriate.
  • the target undulation angle and target turning angle can be displayed.
  • a target position graphic 41 and a current position graphic 42 of the unit weight 20 are displayed as operation support information.
  • the target position graphic 41 indicates the movement destination of the unit weight 20 arranged at the target loading position, that is, the unit weight 20 that is the movement target.
  • the target loading position is acquired from the counterweight data 38.
  • the current position graphic 42 indicates the unit weight 20 at the current position.
  • the current position is obtained from the detection values of the undulation angle detector 31, the turning angle detector 32, and the length detector 33.
  • the current position may be corrected in consideration of the bending of the boom 15.
  • Graphic data used as the target position graphic 41 and the current position graphic 42 is acquired from the counterweight data 38.
  • a schematic diagram (horizontal projection figure) of the unit weight 20 in plan view is used as the target position figure 41 and the current position figure 42.
  • the target position graphic 41 and the current position graphic 42 have the same corresponding graphic data, but are appropriately rotated and displayed according to the target stacking position of the unit weight 20 and the turning angle at the current position.
  • the target position graphic 41 and the current position graphic 42 are preferably in different display modes.
  • the target position graphic 41 is displayed with a dotted line
  • the current position graphic 42 is displayed with a solid line.
  • the outline of the unit weight 20 to be moved is displayed as a part of the counterweight W including the unit weight 20.
  • the worker attaches or removes the unit weight 20 while confirming the loading position screen displayed on the display device 36. Specifically, the worker confirms the type of unit weight 20 to be moved this time from the display in the “designated CW” field on the loading position screen. Then, the worker hangs the designated unit weight 20 and lifts the unit weight 20.
  • the worker since the identifier of the unit weight 20 to be moved this time is displayed on the display device 36, the worker only has to perform the operation of the designated unit weight 20, and the assembly order of the counterweight W is not mistaken. .
  • the worker moves the unit weight 20 to the loading position while confirming the target undulation angle, the target turning angle, the current undulation angle, and the current turning angle displayed on the loading position screen.
  • the worker operates the crane so that the current undulation angle matches the target undulation angle and the current turning angle matches the target turning angle.
  • the unit weight 20 is loaded. Can be placed in position. Further, since the target turning angle and the current turning angle of the boom 15 are displayed on the display device 36, if the worker operates the crane so that the current turning angle matches the target turning angle, the unit weight 20 is placed at the loading position. it can.
  • the gap between the engine room 12 and the swivel 13 and the loading area of the counterweight W is several tens of centimeters.
  • the position of the unit weight 20 may be shifted by several tens of cm due to the bending of the boom 15. If it is configured in step S14 to obtain the deflection of the boom 15 in consideration of the weight of each unit weight 20 and to obtain the target undulation angle in consideration of the deflection of the boom 15, a highly accurate target undulation angle for each unit weight 20 is obtained. Can be displayed. The operator only needs to make the current undulation angle coincide with the target undulation angle, and does not need to be aware of the positional deviation due to the bending of the boom 15. Therefore, even with such a model, the assembly work of the counterweight W is facilitated.
  • the worker can visually check the movement status of the unit weight 20. Can be grasped easily.
  • the outline of the unit weight 20 to be moved is simultaneously displayed at the target loading position and the current position of the unit weight 20, so that the worker can display the target position displayed on the loading position screen.
  • the unit weight 20 can be moved to the target loading position.
  • the worker operates the crane so that the current position graphic 42 matches the target position graphic 41.
  • the unit weight 20 can be arranged at the loading position. Therefore, the assembly work of the counterweight W is easy.
  • step S16 After attaching or removing the unit weight 20, the worker uses the input device 37 to input that the operation has moved to the next unit weight 20 (step S16). Then, the process of the control device 35 returns to step S13.
  • step S13 the unit weight 20 in the next assembly order is specified and presented to the worker. In the loading position screen shown in FIG. 5, it is presented to the worker that the seventh unit weight 27 is moved as the unit weight 20 in the next assembly order.
  • the control device 35 repeatedly performs the processing from step S13 to step S16 every time one unit weight 20 is moved. When the assembly of the counterweight W is completed, the control device 35 ends the process.
  • the swivel base 13 is swung and the rear part of the swivel base 13 is arranged at a position corresponding to the counterweight W on the vehicle body frame 11f. Then, the counterweight W is attached to the rear part of the swivel base 13 by an attaching / detaching device provided at the rear part of the swivel base 13.
  • step S12 the worker selects, for example, 0.0 t (no counterweight W).
  • step S ⁇ b> 13 the control device 35 specifies and presents the unit weight 20 to be removed from the unit weights 20 constituting the counterweight W.
  • the unit weight 20 to be moved first is the seventh unit weight 27 whose assembly order is “7”. Thereafter, the sixth to first unit weights 26 to 21 are sequentially moved.
  • step S15 first, while confirming the loading position screen, the worker operates the crane so that the current undulation angle is matched with the target undulation angle and the current turning angle is matched with the target turning angle. Next, the corresponding unit weight 20 is slung and the unit weight 20 is removed.
  • the boom 15 is bent due to the weight of the unit weight 20, and the unit weight 20 is displaced. If the target undulation angle is determined in consideration of the bending of the boom 15 in step S14, the unit weight 20 can be lifted without being displaced. Therefore, the contact between the unit weight 20 and the engine room 12 can be suppressed.
  • the counterweight assembly assisting device A is also used when the counterweight W of a specific combination is changed to a counterweight W of a heavy combination or when the counterweight W of a specific combination is changed to a counterweight W of a light combination. Can be used.
  • step S12 the worker selects the changed combination.
  • the current combination is obtained from the counterweight detector 34.
  • the counter weight detector 34 may not be included.
  • step S13 the unit weight 20 to be attached to or removed from the counterweight W is specified from the current combination of unit weights 20 and the assembly order stored in the counterweight data 38.
  • the counterweight assembly assisting device A (crane work assisting device) of the embodiment assists the work by the mobile crane C having the boom 15 and the hook 16 attached to the tip of the boom 15 so as to be movable up and down.
  • the counterweight assembly assisting apparatus A includes a storage unit 381 for storing the target position of the target object, a current position specifying unit 35A for specifying the current position of the target object hung on the hook 16, and a moving operation of the target object.
  • a display control unit 35B that displays operation support information for guiding the object to the target position on the display device 36 (display unit) based on the target position and the current position.
  • the counterweight assembly assisting device A (crane work assisting device) is a crane work assisting device that assists in assembling the counterweight W including at least one unit weight 20 in a predetermined loading area.
  • the storage unit 381 stores in advance the target loading position for each unit weight 20 as the target position, and the current position specifying unit 35A specifies the current position of the unit weight 20 suspended from the hook 16, and the display control unit 35B. Displays the operation support information on the display device 36 (display unit) based on the target loading position and the current position during the assembly work of the counterweight W.
  • the operation support information for guiding the unit weight 20 to the target stacking position is displayed on the display device 36 based on the target stacking position and the current position when the counterweight W is assembled. If the operator operates the crane according to the operation support information, the unit weight 20 can be arranged at the target loading position, so that the assembly work of the counterweight is facilitated.
  • the counterweight assembly assisting apparatus A is a crane work assisting apparatus that assists in assembling a counterweight W including a plurality of unit weights 20 into a predetermined loading area, and each unit weight 20 has a target loading position on a horizontal plane.
  • a storage unit 381 for storing the outline of the unit weight 20, a current position specifying unit 35A for specifying the current position of the suspended unit weight 20 in the horizontal plane, and a target loading position and A display control unit 35B that simultaneously displays the outline of the unit weight 20 to be moved, that is, the target position graphic 41 and the current position graphic 42 at the current position.
  • the operator can easily visually grasp the movement status of the unit weight 20 to be moved, so that the unit weight 20 can be easily operated by operating the crane so that the current position graphic 42 matches the target position graphic 41. Can be placed at the target loading position. Therefore, the assembly work of the counterweight W becomes easy.
  • the target height of the unit weight 20 and the current height may be displayed.
  • the target height is the height when the unit weight 20 is stacked on the body frame 11f or the lower unit weight 20.
  • the current height is obtained from the length of the boom 15, the undulation angle, and the wire rope feed amount.
  • the counterweight W is higher than the cab 14.
  • the upper unit weight 20 is attached, it is difficult for an operator in the cab 14 to confirm the loading position of the unit weight 20. If the target height and the current height are displayed on the loading position screen, it can be confirmed whether or not the worker in the cab 14 has lowered the unit weight 20 to the loading position.
  • the target turning angle and the current turning angle which are indices for adjusting the position of the unit weight 20 in the left-right direction, may not be displayed.
  • the turning angle detector 32 may not be included.
  • the loading position is displayed on the screen for each unit weight 20 and the screen is switched as the assembly work progresses.
  • the loading positions of all the unit weights 20 may be displayed on one screen. Good.
  • the length detector 33 may not be included. In this case, the boom length is stored in the control device 35. However, if the target undulation angle is obtained in consideration of the boom length as in the embodiment, an appropriate target undulation angle can be displayed even when the boom 15 is extended to an arbitrary length.
  • both the target loading position and the current position of the unit weight 20 are displayed on the display device 36.
  • the difference between the target loading position and the current position is displayed on the display device 36 as operation support information.
  • the difference of 5 ° is operated as an operation support. It may be displayed as information.
  • the difference 40 ° may be displayed as the operation support information. Since the operator can know how much the boom 15 should be raised and lowered by the difference between the target loading position and the current position, the operation by the crane is facilitated as in the embodiment.
  • the crane work auxiliary device of the present invention can be applied not only to the work of assembling the counterweight in the mobile crane, but also when the suspended load (object) is moved to the target position by the crane.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Jib Cranes (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

L'invention concerne un dispositif d'aide au travail de grue qui aide au travail d'assemblage d'un contrepoids dans une zone de chargement prescrite, ledit contrepoids comprenant une pluralité de poids unitaires, ledit dispositif d'aide au travail de grue comprenant : une unité de mémorisation qui mémorise, pour chaque poids unitaire, un emplacement de chargement cible dans un plan horizontal et un contour dudit poids unitaire ; une unité de spécification d'emplacement actuel qui spécifie l'emplacement actuel, dans le plan horizontal, d'un poids unitaire suspendu ; et une unité de commande d'affichage qui, pendant un travail d'assemblage de contrepoids, fait en sorte que le contour d'un poids unitaire qui doit être déplacé soit simultanément affiché dans l'emplacement de chargement cible et l'emplacement actuel.
PCT/JP2017/007494 2016-03-18 2017-02-27 Dispositif d'aide au travail de grue WO2017159319A1 (fr)

Applications Claiming Priority (6)

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JP2016054640 2016-03-18
JP2016-054640 2016-03-18
JP2016-075357 2016-04-04
JP2016075357 2016-04-04
JP2016-223314 2016-11-16
JP2016223314A JP6097441B1 (ja) 2016-03-18 2016-11-16 クレーン作業補助装置

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PCT/JP2017/007494 WO2017159319A1 (fr) 2016-03-18 2017-02-27 Dispositif d'aide au travail de grue

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WO2021132507A1 (fr) * 2019-12-27 2021-07-01 株式会社タダノ Système de commande d'engin de chantier et grue
WO2021257035A1 (fr) * 2020-06-15 2021-12-23 Yapiray Demi̇ryolu İnşaat Si̇stemleri̇ Sanayi̇ Ve Ti̇caret Anoni̇m Şi̇rketi̇ Engin de chantier à double cabine d'opérateur et système de grue
US20230183047A1 (en) * 2021-12-15 2023-06-15 Liebherr-Werk Ehingen Gmbh Mobile Crane Having A Counterweight Device

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US10544012B2 (en) 2016-01-29 2020-01-28 Manitowoc Crane Companies, Llc Visual outrigger monitoring system
US10717631B2 (en) 2016-11-22 2020-07-21 Manitowoc Crane Companies, Llc Optical detection and analysis of crane hoist and rope
JP7119538B2 (ja) * 2018-04-25 2022-08-17 コベルコ建機株式会社 作業機械
JP7192324B2 (ja) * 2018-09-06 2022-12-20 株式会社タダノ 作業車
JP7306291B2 (ja) * 2020-02-13 2023-07-11 コベルコ建機株式会社 ガイダンスシステム
US20230264927A1 (en) * 2020-06-03 2023-08-24 Tadano Ltd. Dynamic lift-off control device, and crane

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US20230183047A1 (en) * 2021-12-15 2023-06-15 Liebherr-Werk Ehingen Gmbh Mobile Crane Having A Counterweight Device

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JP2017186165A (ja) 2017-10-12
JP6097442B1 (ja) 2017-03-15
JP6097441B1 (ja) 2017-03-15
WO2017159321A1 (fr) 2017-09-21
JP2017186164A (ja) 2017-10-12
JP2017186163A (ja) 2017-10-12
JP6161776B1 (ja) 2017-07-12

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