WO2017159321A1 - Counterweight assembly assistance device - Google Patents

Counterweight assembly assistance device Download PDF

Info

Publication number
WO2017159321A1
WO2017159321A1 PCT/JP2017/007507 JP2017007507W WO2017159321A1 WO 2017159321 A1 WO2017159321 A1 WO 2017159321A1 JP 2017007507 W JP2017007507 W JP 2017007507W WO 2017159321 A1 WO2017159321 A1 WO 2017159321A1
Authority
WO
WIPO (PCT)
Prior art keywords
unit
counterweight
weight
unit weight
assembly
Prior art date
Application number
PCT/JP2017/007507
Other languages
French (fr)
Japanese (ja)
Inventor
隆浩 藤ノ木
Original Assignee
株式会社タダノ
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 株式会社タダノ filed Critical 株式会社タダノ
Publication of WO2017159321A1 publication Critical patent/WO2017159321A1/en

Links

Images

Classifications

    • 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 counterweight assembly auxiliary device for a mobile crane. More particularly, the present invention relates to a counterweight assembly 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, 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.
  • the order of assembly of the counterweights is determined, and it is necessary to stack unit weights according to the order. Therefore, it is necessary for the worker to memorize the assembly order or to assemble the counterweight while checking the manual. If an incorrect unit weight is suspended, the work is re-executed, resulting in poor work efficiency.
  • An object of the present invention is to provide a counterweight assembly auxiliary device for a mobile crane that can prevent an error in the assembly order of the counterweight.
  • Counterweight assembly assisting device for assisting in assembling a counterweight including at least one unit weight in a predetermined loading area;
  • a storage unit for storing a combination pattern of the unit weights and an assembly order of the unit weights included in the combination pattern;
  • a control unit that presents the unit weights to be moved among the unit weights included in the combination pattern in accordance with the assembly order.
  • the unit weights to be moved among the unit weights included in the combination pattern are presented in accordance with the assembly order, it is possible to prevent an error in the assembly order of the counterweights.
  • 15A to 15G are plan views of unit weights.
  • the counterweight assembly assisting apparatus A according to the first embodiment of the present invention is provided, for example, in a mobile crane C shown in FIG.
  • the counterweight assembly assistance apparatus A of this embodiment is not limited to the mobile crane C shown in FIG. 10, 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 outriggers 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 extended and contracted by an extension 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. 11, 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. 13 is an explanatory diagram showing combinations of counterweights W.
  • FIG. 14 is a perspective view of the counterweight W.
  • FIG. FIG. 14 is a plan view (horizontal projection figure) of the unit weights 21 to 27.
  • FIG. 14 is a plan view (horizontal projection figure) of the unit weights 21 to 27.
  • the counterweight W is configured by combining a part 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 worker 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 part of the swivel base 13. To do.
  • the counterweight assembly assisting apparatus A includes a load detector 31, a counterweight detector 32, a control device 33, a display device 34, an input device 35, and a storage unit 361. Yes.
  • the load detector 31 is a detector that detects the weight of the suspended load suspended from the hook 16.
  • the structure of the load detector 31 is not particularly limited, there is a structure in which a moment acting on the boom 15 is detected by a load cell provided in the hoisting cylinder of the boom 15 and the weight of the suspended load is obtained from the moment and the working radius.
  • the counterweight detector 32 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 counter weight detector 32 is not particularly limited. For example, a configuration in which the weight of the counter weight 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 detectors 31 and 32 are input to the control device 33.
  • the control device 33 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 33 causes the display device 34 to display the combination pattern of the unit weights 20 and selectively accepts the operator's designation for the displayed combination pattern, and moves among the unit weights 20 included in the selected combination pattern.
  • the unit weight 20 to be presented is presented according to the assembly order. Further, the control device 33 performs an alarm operation on the alarm device when the weight of the moving unit weight 20 detected by the load detector 31 is different from the weight associated with the unit weight 20 to be moved. Let it be done.
  • the display device 34 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 34 by the processing of the control device 33. The worker operates the crane while confirming the display content of the display device 34.
  • the display device 34 of the present embodiment also serves as a “display device” and an “alarm device” described in the claims.
  • the input device 35 is a switch or a lever for performing an input operation on the control device 33 and is provided in the cab 14. An operator can give an instruction to the control device 33 by performing an input operation using the input device 35.
  • a touch panel in which the display device 34 and the input device 35 are integrated may be employed.
  • the storage unit 361 stores counterweight data 36.
  • the counter weight data 36 is data in a table format, and is composed of columns of unit weight, assembly order, and weight. That is, the storage unit 361 stores the assembly order and 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. 13). “Weight” is the weight of each unit weight 20.
  • 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 33 causes the display device 34 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 33 stores the detection value of the counterweight detector 32 immediately before the assembly work of the counterweight W is performed, and the detected value is set as “current counterweight weight”.
  • the worker uses the input device 35 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 33 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 36 (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 S18 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 32. More specifically, the control device 33 stores the detection value of the counterweight detector 32 immediately before the assembly work of the counterweight W is performed, and “current combination of unit weights 20” is specified 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 maximum assembly order among the “assembly orders” of the unit weights 20 constituting the current combination is acquired from the counter weight data 36, 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” among the unit weights 20 constituting the current combination is identified from the counter weight data 36, 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 33 acquires the largest assembly order “1” among the assembly orders 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” (see FIG. 5). 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.
  • the control device 33 displays an instruction screen on the display device 34 (step S14).
  • the identifier of “unit weight 20 to be moved this time” is displayed in the “designated CW” field on the instruction 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 36.
  • control device 33 presents the unit weight 20 to be moved to the worker. Since the worker only has to move the presented unit weight 20, the assembly order of the counterweights W will not be mistaken.
  • the target screen also displays the target undulation angle, target turning angle, current undulation angle, and current turning angle.
  • the target hoisting angle is the hoisting 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.
  • the current undulation angle is the current undulation angle of the boom 15.
  • the current turning angle is the current turning angle of the boom 15.
  • the target position graphic 41 and the current position graphic 42 of the unit weight 20 are displayed on the instruction screen.
  • 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 current position graphic 42 indicates the unit weight 20 at the current position.
  • the worker attaches or removes the unit weight 20 while confirming the instruction screen displayed on the display device 34. 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 instruction screen. Then, the worker hangs the designated unit weight 20 and lifts the unit weight 20.
  • 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 instruction 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.
  • the worker may move the unit weight 20 to the target loading position while confirming the target position graphic 41 and the current position graphic 42 displayed on the instruction screen.
  • the worker operates the crane so that the current position graphic 42 matches the target position graphic 41.
  • the control device 33 acquires the weight of the suspended load from the load detector 31 (step S15). Further, the control device 33 acquires the weight of the unit weight 20 to be moved this time from the counter weight data 36.
  • the control device 33 determines whether or not the weight of the suspended load and the weight of the unit weight 20 to be moved this time coincide with each other (step S16). Thereby, it is determined whether the suspended load suspended by the hook 16 is the unit weight 20 to be moved this time or a different unit weight 20.
  • the weight of the suspended load and the weight of the unit weight 20 are exactly the same. It suffices that the unit weights 20 match each other to the extent that the type can be discriminated.
  • the control device 33 does not perform any particular processing.
  • the instruction screen remains displayed on the display device 34. The worker operates the crane while checking the instruction screen.
  • the control device 33 displays an alarm screen on the display device 34 functioning as an alarm device (step S17). .
  • the alarm screen displays that the wrong unit weight 20 is suspended. It should be noted that “allowing the alarm device to perform an alarm operation” described in the claims includes a mode in which an alarm screen is displayed on the display device 34.
  • the worker When the warning screen is displayed on the display device 34, the worker returns the suspended unit weight 20 to the original position, and performs the work of hanging the correct unit weight 20. As described above, when the wrong unit weight 20 is suspended, an alarm for the assembly order error is issued, so that an error in the assembly order of the counterweight W can be prevented. In addition, when the wrong unit weight 20 is suspended, it is possible to notice an assembly order error, so that the number of work re-executions is small, and deterioration of work efficiency can be suppressed.
  • step S13 the unit weight 20 in the next assembly order is specified and presented to the worker (see FIG. 5). That is, after the moving operation of the unit weight 20 being moved is completed, the unit weight 20 to be moved next is displayed in an identifiable manner.
  • the determination as to whether or not the movement work of the unit weight 20 has been completed may be made based on, for example, a change in the detected load by the load detector 31 instead of an input from the input device 35 by an operator. Further, for example, the determination as to whether or not the movement work of the unit weight 20 has been completed may be made based on the total weight of the counterweight W assembled at the loading position.
  • the control device 33 repeatedly performs the processing from step S13 to step S18 every time one unit weight 20 is moved. When the assembly of the counterweight W is completed, the control device 33 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 S13 the control device 33 specifies and presents the unit weight 20 to be removed from the unit weights 20 constituting the counterweight W.
  • 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 32.
  • the counter weight detector 32 may not be included.
  • the counterweight assembly assisting apparatus A of the first embodiment is a counterweight assembly assisting apparatus that assists in assembling the counterweight W including at least one unit weight 20 in a predetermined stacking area.
  • the counterweight assembly assisting apparatus A should move among the storage unit 361 that stores the combination pattern of the unit weights 20 and the assembly order of the unit weights 20 included in the combination pattern, and the unit weights 20 included in the combination pattern.
  • a control device 33 (control unit) that presents the unit weights 20 according to the assembly order.
  • control device 33 displays a plurality of combination patterns on the display device 34 and selectively accepts an operator's designation for the displayed combination patterns, and unit weights included in the selected combination patterns
  • the unit weight 20 to be moved among the 20 is presented according to the assembly order.
  • the counterweight assembly auxiliary device A includes a load detector 31 that detects the weight of the suspended load.
  • the storage unit 361 stores the weight of each unit weight 20, and the control device 33 (control unit) detects the weight of the moving unit weight 20 detected by the load detector 31.
  • the display device 34 (alarm device) is caused to perform an alarm operation.
  • the unit weights 20 to be moved among the unit weights 20 included in the selected combination pattern are presented according to the assembly order, thereby preventing an error in the assembly order of the counterweights W. be able to. That is, the worker only needs to move the presented unit weight 20, and the assembly order of the counterweights W is not mistaken.
  • a counterweight assembly assisting apparatus B according to a second embodiment of the present invention will be described.
  • the counterweight assembly assisting apparatus A of the first embodiment determines whether the unit weight 20 is correct based on the weight
  • the counterweight assembly assisting apparatus B of the present embodiment is based on the shape of the unit counterweight 20 and should be moved. Whether the weight 20 is correct or not is determined.
  • the counterweight assembly assisting apparatus B includes a camera 37, a counterweight detector 32, a control device 33, a display device 34, an input device 35, and a storage unit 381. Since the configuration of the counter weight detector 32, the control device 33, the display device 34, and the input device 35 is the same as that of the first embodiment, the description thereof is omitted.
  • the camera 37 is for photographing the suspended load suspended from the hook 16.
  • the camera 37 is provided at the tip of the boom 15 so as to always photograph vertically downward.
  • the camera 37 captures an image of the suspended load in plan view.
  • the arrangement position of the camera 37 is not particularly limited as long as the suspended load can be photographed.
  • the control device 33 issues an alarm. Let the device perform an alarm action.
  • the storage unit 381 stores counterweight data 38.
  • the counter weight data 38 is data in a table format, and is composed of columns of unit weight, assembly order, and shape. That is, the storage unit 381 stores the assembly order and shape of each unit weight 20.
  • “Assembly order” is the order in which the counterweight W is assembled.
  • “Shape” is data indicating the shape of each unit weight 20. For example, in order to determine whether the shape of the moving unit weight 20 matches the shape associated with the unit weight 20 to be moved. Template.
  • processing of the counterweight assembly assisting device B is a suspended load shape instead of the weight acquisition process (step S15) in the process of the counterweight assembly assisting apparatus A of the first embodiment (see FIG. 3).
  • Recognition processing step S25
  • shape matching determination processing step S26
  • step S16 weight matching determination processing
  • step S25 the control device 33 acquires an image including the suspended load (unit counterweight 20) from the camera 37, and performs image processing on the image to recognize the shape of the suspended load.
  • the control device 33 recognizes the shape of the suspended load in a manner that can be compared with the “shape” stored in the counterweight data 38. Further, the control device 33 acquires a shape associated with the unit weight 20 to be moved this time (unit weight 20 to be moved) from the counter weight data 38.
  • step S26 the control device 33 determines whether or not the shape of the suspended load matches the shape of the unit weight 20 to be moved this time.
  • the control device 33 does not perform any particular processing.
  • the instruction screen remains displayed on the display device 34. The worker operates the crane while checking the instruction screen.
  • the control device 33 displays an alarm screen on the display device 34 functioning as an alarm device (step S17). .
  • the counterweight assembly assisting apparatus B is a counterweight assembly assisting apparatus that assists in assembling the counterweight W including at least one unit weight 20 in a predetermined stacking area.
  • the counterweight assembly assisting device B displays the combination pattern of the unit weights 20 and the storage unit 381 for storing the assembly order of the unit weights 20 included in the combination pattern, and the display unit 34 displays the combination patterns.
  • a control device 33 (control unit) that selectively accepts the designation of the worker for the combination pattern and presents the unit weight 20 to be moved among the unit weights 20 included in the selected combination pattern according to the assembly order; Prepare.
  • the counterweight assembly assisting apparatus B includes a camera that images the suspended load.
  • the storage unit 381 stores the shape of each unit weight 20, and the control device 33 (control unit) of the moving unit weight 20 detected from the image captured by the camera 37.
  • the display device 34 (alarm device) is caused to perform an alarm operation.
  • the same effect as the counterweight assembly auxiliary device A of the first embodiment can be obtained. That is, according to the counterweight assembly assisting apparatus B, the unit weights 20 to be moved among the unit weights 20 included in the selected combination pattern are presented according to the assembly order. Can be prevented. That is, the worker only needs to move the presented unit weight 20, and the assembly order of the counterweights W is not mistaken.
  • the alarm device may be a member different from the display device 34.
  • a device that can warn of an assembly order error by voice, light, etc. can be adopted.

Abstract

A counterweight assembly assistance device that assists with the work of assembling a counterweight in a prescribed loading area, said counterweight including at least one unit weight, said counterweight assembly assistance device comprising: a storage unit that stores a unit weight combination pattern and an assembly order for each unit weight that is included in the combination pattern; and a control unit that, along with causing a display device to display the combination pattern, selectively receives an operator designation with regard to the displayed combination pattern, and presents, according to assembly order, unit weights that should be moved, said unit weights being among the unit weights that are included in the selected combination pattern.

Description

カウンタウエイト組立補助装置Counterweight assembly assist device
　本発明は、移動式クレーンのカウンタウエイト組立補助装置に関する。さらに詳しくは、移動式クレーンの車体フレーム上でカウンタウエイトを組み立てる際に作業員の補助をするためのカウンタウエイト組立補助装置に関する。 The present invention relates to a counterweight assembly auxiliary device for a mobile crane. More particularly, the present invention relates to a counterweight assembly assisting device for assisting an operator when assembling a counterweight on a body frame of a mobile crane.
　大型の移動式クレーンにおいては、ブームに加わる荷重との釣り合いを取り安定性を向上するために、旋回台の後部にカウンタウエイトが装着される。一般に、大型の移動式クレーンは、カウンタウエイトを装着したままでは公道走行時の重量制限を超過してしまう。そのため、カウンタウエイトはトラックで別送され、作業現場で移動式クレーンに装着される。 In large mobile cranes, a counterweight is installed at the rear of the swivel to balance the load on the boom and improve stability. In general, 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.
　また、移動式クレーンに装着されるカウンタウエイトの重量を調整するためや、カウンタウエイトの搬送時に寸法や重量を制限内に納めるために、複数の単位ウエイトを積み重ねる形式のカウンタウエイトが知られている（例えば、特許文献１）。 In addition, a counterweight of a type in which a plurality of unit weights are stacked in order to adjust the weight of the counterweight mounted on the mobile crane or to keep the size and weight within the limits when the counterweight is transported is known. (For example, patent document 1).
　この種の移動式クレーンにカウンタウエイトを装着するには、まず、各単位ウエイトを自己のクレーン装置で吊り下げて車体フレーム上の積載領域に降ろし、複数の単位ウエイトを積み重ねてカウンタウエイトを組み立てる。つぎに、旋回台を旋回させて旋回台の後部を車体フレーム上のカウンタウエイトに対応する位置に配置する。つづいて、旋回台の後部に設けられた着脱装置でカウンタウエイトを旋回台の後部に装着する。 In order to mount counterweights on this type of mobile crane, first, each unit weight is suspended by its own crane device, lowered to the loading area on the body frame, and a plurality of unit weights are stacked to assemble the counterweight. Next, 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. Subsequently, 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.
　一般に、カウンタウエイトは組立順が定められており、その順に従って単位ウエイトを積み重ねる必要がある。そのため、作業員は組立順を記憶しておくか、マニュアルを確認しながらカウンタウエイトの組立作業を行う必要がある。仮に、誤った単位ウエイトを吊り下げてしまった場合には、作業のやり直しが生じ、作業効率が悪くなる。 In general, the order of assembly of the counterweights is determined, and it is necessary to stack unit weights according to the order. Therefore, it is necessary for the worker to memorize the assembly order or to assemble the counterweight while checking the manual. If an incorrect unit weight is suspended, the work is re-executed, resulting in poor work efficiency.
特開２０１２－１１６６４２号公報JP 2012-116642 A
　本発明の目的は、カウンタウエイトの組立順の誤りを防止できる移動式クレーンのカウンタウエイト組立補助装置を提供することである。 An object of the present invention is to provide a counterweight assembly auxiliary device for a mobile crane that can prevent an error in the assembly order of the counterweight.
　本発明に係るカウンタウエイト組立補助装置は、
　少なくとも一つの単位ウエイトを含むカウンタウエイトを所定の積載領域に組み立てる作業を補助するカウンタウエイト組立補助装置であって、
　前記単位ウエイトの組合せパターンと、前記組合せパターンに含まれる各単位ウエイトの組立順とを記憶する記憶部と、
　前記組合せパターンに含まれる前記単位ウエイトのうち移動すべき前記単位ウエイトを、前記組立順に従って提示する制御部と、を備えることを特徴とする。 Counterweight assembly assisting device according to the present invention,
A counterweight assembly assisting device for assisting in assembling a counterweight including at least one unit weight in a predetermined loading area;
A storage unit for storing a combination pattern of the unit weights and an assembly order of the unit weights included in the combination pattern;
And a control unit that presents the unit weights to be moved among the unit weights included in the combination pattern in accordance with the assembly order.
　本発明によれば、組合せパターンに含まれる単位ウエイトのうち移動すべき単位ウエイトが、組立順に従って提示されるので、カウンタウエイトの組立順の誤りを防止することができる。 According to the present invention, since the unit weights to be moved among the unit weights included in the combination pattern are presented in accordance with the assembly order, it is possible to prevent an error in the assembly order of the counterweights.
本発明の第１実施形態に係るカウンタウエイト組立補助装置のブロック図である。It is a block diagram of the counterweight assembly auxiliary device concerning a 1st embodiment of the present invention. 第１実施形態におけるカウンタウエイトデータのデータ構造を示す図である。It is a figure which shows the data structure of the counterweight data in 1st Embodiment. 第１実施形態に係るカウンタウエイト組立補助装置の処理のフローチャートである。It is a flowchart of the process of the counterweight assembly assistance apparatus which concerns on 1st Embodiment. 組合せ選択画面の画面イメージである。It is a screen image of a combination selection screen. 指示画面の画面イメージである。It is a screen image of an instruction screen. 警報画面の画面イメージである。It is a screen image of an alarm screen. 本発明の第２実施形態に係るカウンタウエイト組立補助装置のブロック図である。It is a block diagram of the counterweight assembly assistance apparatus which concerns on 2nd Embodiment of this invention. 第２実施形態におけるカウンタウエイトデータのデータ構造を示す図である。It is a figure which shows the data structure of the counterweight data in 2nd Embodiment. 第２実施形態に係るカウンタウエイト組立補助装置の処理のフローチャートである。It is a flowchart of the process of the counterweight assembly assistance apparatus which concerns on 2nd Embodiment. カウンタウエイトの組立作業中の移動式クレーンの側面図である。It is a side view of the mobile crane during the assembly work of a counterweight. カウンタウエイトの組立作業中の移動式クレーンの平面図である。It is a top view of the mobile crane during the assembly work of a counterweight. カウンタウエイトの装着作業中の移動式クレーンの側面図である。It is a side view of the mobile crane during mounting work of a counterweight. カウンタウエイトの組合せの説明図である。It is explanatory drawing of the combination of counterweight. カウンタウエイトの分解斜視図である。It is a disassembled perspective view of a counterweight. 図１５Ａ～図１５Ｇは、単位ウエイトの平面図である。15A to 15G are plan views of unit weights.
　つぎに、本発明の実施形態を図面に基づき説明する。
〔第１実施形態〕
　本発明の第１実施形態に係るカウンタウエイト組立補助装置Ａは、例えば図１０に示す移動式クレーンＣに設けられる。なお、本実施形態のカウンタウエイト組立補助装置Ａは、図１０に示す移動式クレーンＣに限定されず、種々のクレーンに設けることができる。 Next, an embodiment of the present invention will be described with reference to the drawings.
[First Embodiment]
The counterweight assembly assisting apparatus A according to the first embodiment of the present invention is provided, for example, in a mobile crane C shown in FIG. In addition, the counterweight assembly assistance apparatus A of this embodiment is not limited to the mobile crane C shown in FIG. 10, but can be provided in various cranes.
　（移動式クレーンＣ）
　まず、移動式クレーンＣの基本的構造を説明する。
　移動式クレーンＣは走行車体１１を有する。走行車体１１には走行のための車輪や、クレーン作業中の安定を確保するためのアウトリガが設けられている。走行車体１１を構成する車体フレーム１１ｆの上面には、前方にエンジンルーム１２が設けられている。 (Mobile crane C)
First, the basic structure of the mobile crane C will be described.
The mobile crane C has a traveling vehicle body 11. The traveling vehicle body 11 is provided with wheels for traveling and outriggers 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.
　車体フレーム１１ｆの上面には、後方に旋回台１３が搭載されている。旋回台１３は油圧モータなどにより車体フレーム１１ｆに対して水平面内で３６０°旋回できるようになっている。旋回台１３には運転室１４や、ウインチ（図示略）その他の設備が設けられている。 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.
　旋回台１３にはブーム１５が起伏自在に取付けられている。ブーム１５の基端部はピンで旋回台１３に枢支されている。ブーム１５と旋回台１３との間には起伏シリンダが取付けられている。起伏シリンダを伸長させるとブーム１５が起立し、起伏シリンダを収縮させるとブーム１５が倒伏する。ブーム１５はテレスコピック状に構成されており、伸縮シリンダにより伸縮動作する。 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 extended and contracted by an extension cylinder.
　ブーム１５の先端からはフック１６を備えたワイヤロープが吊り下げられている。ワイヤロープはブーム１５に沿って旋回台１３に導かれてウインチで巻き取られている。ウインチによるフック１６の上げ下げと、ブーム１５の伸縮、起伏、旋回を組み合わせることにより、立体空間内での荷揚げと荷降ろしが可能となっている。 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. By combining the raising and lowering of the hook 16 by the winch and the expansion / contraction, undulation, and turning of the boom 15, unloading and unloading in a three-dimensional space are possible.
　本明細書において、「クレーン装置」とは、ブーム１５、フック１６、旋回台１３、ワイヤロープ、ウインチなどで構成され、荷揚げと荷降ろしを行うための装置をいう。クレーン装置は、運転室１４内の作業員により操作される。また、「クレーン作業」とは、クレーン装置を動作させることにより、対象物を目標位置まで移動させる作業であり、カウンタウエイトＷの組立作業を含む。 In this specification, “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. Further, 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.
　移動式クレーンＣは旋回台１３の後部にカウンタウエイトＷを装着できるように構成されている。カウンタウエイトＷは複数の単位ウエイトを組み合わせて構成される。 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.
　車体フレーム１１ｆの上面にはエンジンルーム１２と旋回台１３との間に積載領域が確保されている。この積載領域はカウンタウエイトＷを組み立てる際にカウンタウエイトＷを一時的に積載するために用いられる。 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.
　移動式クレーンＣにカウンタウエイトＷを装着するには以下の作業が行われる。
　図１０に示すように、作業員は、単位ウエイトを自己のクレーン装置で吊り下げて車体フレーム１１ｆ上の積載領域に降ろす。作業員は、これを繰り返して複数の単位ウエイトを積み重ねてカウンタウエイトＷを組み立てる。そうすると、図１１に示すように、完成したカウンタウエイトＷが積載領域に載せられた状態となる。 In order to mount the counterweight W on the mobile crane C, the following work is performed.
As shown in FIG. 10, 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. 11, the completed counterweight W is placed on the stacking area.
　つぎに、図１２に示すように、作業員は、旋回台１３を旋回させて、旋回台１３の後部を車体フレーム１１ｆ上のカウンタウエイトＷに対応する位置に配置する。つづいて、作業員は、旋回台１３の後部に設けられた着脱装置を動作させて、カウンタウエイトＷを旋回台１３の後部に装着する。 Next, as shown in FIG. 12, 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.
（カウンタウエイトＷ）
　つぎに、カウンタウエイトＷを説明する。図１３は、カウンタウエイトＷの組合せを示す説明図である。図１４は、カウンタウエイトＷの斜視図である。図１４は、単位ウエイト２１～２７の平面図（水平投影図形）である。 (Counterweight W)
Next, the counterweight W will be described. FIG. 13 is an explanatory diagram showing combinations of counterweights W. FIG. 14 is a perspective view of the counterweight W. FIG. FIG. 14 is a plan view (horizontal projection figure) of the unit weights 21 to 27. FIG.
　図１３、図１４及び図１５Ａ～図１５Ｇに示すように、カウンタウエイトＷは第１～第７単位ウエイト２１～２７の一部又は全部を組み合わせて構成されている。第１～第７単位ウエイト２１～２７はそれぞれ形状や重量が異なる。例えば、第１～第７単位ウエイト２１～２７の重量は、それぞれ２．７ｔ、３．４ｔ、８．９ｔ、１０．０ｔ、３．１ｔ、６．１ｔ、６．１ｔである。以下、第１～第７単位ウエイト２１～２７の種類を区別しない場合、これらを「単位ウエイト２０」と称する。 As shown in FIGS. 13, 14 and 15A to 15G, the counterweight W is configured by combining a part 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. For example, 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. Hereinafter, when the types of the first to seventh unit weights 21 to 27 are not distinguished, these are referred to as “unit weight 20”.
　単位ウエイト２０の組合せとして第１～第５組合せがある。第１～第５組合せのカウンタウエイトＷはそれぞれ重量が異なる。例えば、第１、第２単位ウエイト２１、２２を組み合わせた第１組合せのカウンタウエイトＷの重量は６．１ｔである。第１～第３単位ウエイト２１～２３を組み合わせた第２組合せのカウンタウエイトＷの重量は１５．０ｔである。第１～第４単位ウエイト２１～２４を組み合わせた第３組合せのカウンタウエイトＷの重量は２５．０ｔである。第１～第５単位ウエイト２１～２５を組み合わせた第４組合せのカウンタウエイトＷの重量は２８．１ｔである。第１～第７単位ウエイト２１～２７を組み合わせた第５組合せのカウンタウエイトＷの重量は４０．３ｔである。 There are first to fifth combinations of unit weights 20. The counterweights W in the first to fifth combinations have different weights. For example, 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.
　単位ウエイト２０の組合せは、クレーン作業に必要とされるカウンタウエイトＷの重量により選択され、必要に応じて変更される。例えば、カウンタウエイトＷを装着していない状態から特定の組合せのカウンタウエイトＷを装着する場合がある。逆に、装着されている特定の組合せのカウンタウエイトＷを取り外す場合がある。また、特定の組合せのカウンタウエイトＷから重量の重い組合せのカウンタウエイトＷに変更する場合がある。さらに、特定の組合せのカウンタウエイトＷから重量の軽い組合せのカウンタウエイトＷに変更する場合がある。 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.
　作業員は、上記のいずれの場合においても、車体フレーム１１ｆ上で単位ウエイト２０の取り付け又は取り外しを行い、目的の組合せのカウンタウエイトＷを組み立てた後に、カウンタウエイトＷを旋回台１３の後部に装着する。 In any of the above cases, the worker 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 part of the swivel base 13. To do.
（カウンタウエイト組立補助装置Ａ）
　つぎに、カウンタウエイト組立補助装置Ａの構成を説明する。
　図１に示すように、カウンタウエイト組立補助装置Ａは、荷重検出器３１と、カウンタウエイト検出器３２と、制御装置３３と、表示装置３４と、入力装置３５と、記憶部３６１とを備えている。 (Counterweight assembly auxiliary device A)
Next, the configuration of the counterweight assembly auxiliary device A will be described.
As shown in FIG. 1, the counterweight assembly assisting apparatus A includes a load detector 31, a counterweight detector 32, a control device 33, a display device 34, an input device 35, and a storage unit 361. Yes.
　荷重検出器３１は、フック１６に吊り下げられた吊荷の重量を検出する検出器である。荷重検出器３１の構成は特に限定されないが、ブーム１５の起伏シリンダに設けられたロードセルによりブーム１５に作用するモーメントを検出し、モーメントと作業半径とから吊荷の重量を求める構成が挙げられる。 The load detector 31 is a detector that detects the weight of the suspended load suspended from the hook 16. Although the structure of the load detector 31 is not particularly limited, there is a structure in which a moment acting on the boom 15 is detected by a load cell provided in the hoisting cylinder of the boom 15 and the weight of the suspended load is obtained from the moment and the working radius.
　カウンタウエイト検出器３２は、旋回台１３に装着されているカウンタウエイトＷの重量又は単位ウエイト２０の組合せを検出する検出器である。カウンタウエイト検出器３２の構成は特に限定されないが、例えばカウンタウエイトＷの重量をロードセルなどで検出する構成や、各単位ウエイト２０の着脱状態を検出し、単位ウエイト２０の組合せを判別する構成が挙げられる。 The counterweight detector 32 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 counter weight detector 32 is not particularly limited. For example, a configuration in which the weight of the counter weight 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.
　以上の検出器３１、３２の検出値は、制御装置３３に入力されている。制御装置３３は、ＣＰＵやメモリなどで構成された車載コンピュータであり、後述の処理を行う機能を有する。 The detection values of the above detectors 31 and 32 are input to the control device 33. The control device 33 is an in-vehicle computer configured with a CPU, a memory, and the like, and has a function of performing processing described later.
　制御装置３３は、単位ウエイト２０の組合せパターンを表示装置３４に表示させるとともに、表示された組合せパターンに対する作業員の指定を選択的に受け付け、選択された組合せパターンに含まれる単位ウエイト２０のうち移動すべき単位ウエイト２０を、組立順に従って提示する。また、制御装置３３は、荷重検出器３１によって検出された移動中の単位ウエイト２０の重量と、移動すべき単位ウエイト２０に対応付けられた重量とが相違する場合に、警報装置に警報動作を行わせる。 The control device 33 causes the display device 34 to display the combination pattern of the unit weights 20 and selectively accepts the operator's designation for the displayed combination pattern, and moves among the unit weights 20 included in the selected combination pattern. The unit weight 20 to be presented is presented according to the assembly order. Further, the control device 33 performs an alarm operation on the alarm device when the weight of the moving unit weight 20 detected by the load detector 31 is different from the weight associated with the unit weight 20 to be moved. Let it be done.
　表示装置３４は液晶ディプレイなどであり、運転室１４内に設けられている。後述のごとく制御装置３３の処理により表示装置３４に画面表示が行われる。作業員は、表示装置３４の表示内容を確認しながらクレーン操作を行う。なお、本実施形態の表示装置３４は、特許請求の範囲に記載の「表示装置」と「警報装置」とを兼ねている。 The display device 34 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 34 by the processing of the control device 33. The worker operates the crane while confirming the display content of the display device 34. The display device 34 of the present embodiment also serves as a “display device” and an “alarm device” described in the claims.
　入力装置３５は制御装置３３に対して入力操作を行うためのスイッチやレバーなどであり、運転室１４内に設けられている。作業員が入力装置３５を用いて入力操作を行うことで、制御装置３３に指示を与えることができる。表示装置３４と入力装置３５とを一体化したタッチパネルを採用してもよい。 The input device 35 is a switch or a lever for performing an input operation on the control device 33 and is provided in the cab 14. An operator can give an instruction to the control device 33 by performing an input operation using the input device 35. A touch panel in which the display device 34 and the input device 35 are integrated may be employed.
　記憶部３６１には、カウンタウエイトデータ３６が記憶されている。
　図２に示すように、カウンタウエイトデータ３６はテーブル形式のデータであり、単位ウエイト、組立順、重量の各カラムから構成されている。すなわち、記憶部３６１には、それぞれの単位ウエイト２０の組立順及び重量が記憶されている。 The storage unit 361 stores counterweight data 36.
As shown in FIG. 2, the counter weight data 36 is data in a table format, and is composed of columns of unit weight, assembly order, and weight. That is, the storage unit 361 stores the assembly order and weight of each unit weight 20.
　「組立順」はカウンタウエイトＷを組み立てる際の順番である。一般に、カウンタウエイトＷは下層の単位ウエイト２０から順番に組み立てられる（図１３参照）。「重量」は各単位ウエイト２０の重量である。 “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. 13). “Weight” is the weight of each unit weight 20.
（処理）
　つぎに、カウンタウエイトＷの組立作業の手順とともに、カウンタウエイト組立補助装置Ａの処理を説明する。 (processing)
Next, the process of the counterweight assembly assisting apparatus A will be described together with the procedure for assembling the counterweight W.
　カウンタウエイトＷの組立作業に際し、作業員は、ブーム１５を全縮するか、カウンタウエイトＷの組立作業に必要十分な長さにする。一般に、カウンタウエイトＷの組立作業中は、作業員はブーム１５を伸縮する操作を行わない。ここでは、カウンタウエイトＷの組立作業中のブーム長さは一定であるものとして説明する。 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.
　図３に示すように、まず、制御装置３３は、単位ウエイト２０の組合せパターンを示す組合せ選択画面を表示装置３４に表示させる（ステップＳ１１）。図４に示すように、組合せ選択画面には、単位ウエイト２０の組合せパターンである第１～第５組合せが、カウンタウエイトＷの重量として表示されている。本実施形態では、０．０ｔ（カウンタウエイトＷなし）、６．１ｔ（第１組合せ）、１５．０ｔ（第２組合せ）、２５．０ｔ（第３組合せ）、２８．１ｔ（第４組合せ）、４０．３ｔ（第５組合せ）が表示されている。 As shown in FIG. 3, first, the control device 33 causes the display device 34 to display a combination selection screen showing the combination pattern of the unit weights 20 (step S11). As shown in FIG. 4, 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. In this embodiment, 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) is displayed.
　図４に示す様に、組合せ選択画面には、「現在のカウンタウエイト重量」が表示されてもよい。ここで、「現在のカウンタウエイト重量」とは、カウンタウエイトＷの組立作業を行う直前に旋回台１３に装着されていたカウンタウエイトＷの重量である。 As shown in FIG. 4, “current counterweight weight” may be displayed on the combination selection screen. Here, the “current counterweight weight” is the weight of the counterweight W mounted on the swivel base 13 immediately before the counterweight W is assembled.
　図４に示す画面イメージでは、表示が０．０ｔとなっており、カウンタウエイトＷが装着されていないことを示している。カウンタウエイトＷの組立作業を行う直前に旋回台１３にカウンタウエイトＷが装着されていた場合には、そのカウンタウエイトＷの重量が「現在のカウンタウエイト重量」として表示される。 In the screen image shown in FIG. 4, 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”.
　旋回台１３に装着されているカウンタウエイトＷを取り外す場合や、重量を増減させる場合には、作業員は、旋回台１３の後部がカウンタウエイトＷの積載領域に位置するように旋回台１３を旋回させる。作業員は、カウンタウエイトＷを積載領域に降ろした後に、単位ウエイト２０の取り付け又は取り外しを行う。そのため、ステップＳ１１の段階では、旋回台１３に装着されていたカウンタウエイトＷが積載領域に降ろされている場合がある。そこで、制御装置３３はカウンタウエイトＷの組立作業を行う直前のカウンタウエイト検出器３２の検出値を記憶しておき、その検出値を「現在のカウンタウエイト重量」とする。 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 33 stores the detection value of the counterweight detector 32 immediately before the assembly work of the counterweight W is performed, and the detected value is set as “current counterweight weight”.
　つぎに、作業員は、入力装置３５を用いて、組合せ選択画面に表示された単位ウエイト２０の組合せパターンの中から、所望の組合せパターンを選択する（ステップＳ１２）。図４に示す画面イメージでは、４０．３ｔ（第５組合せ）が選択されている。選択された組合せパターン（図４では第５組合せ）は、例えば、組合せ選択画面においてハイライト表示される。 Next, the worker uses the input device 35 to select a desired combination pattern from among the combination patterns of the unit weights 20 displayed on the combination selection screen (step S12). In the screen image shown in FIG. 4, 40.3t (fifth combination) is selected. The selected combination pattern (the fifth combination in FIG. 4) is highlighted on the combination selection screen, for example.
　つぎに、制御装置３３は、現在の単位ウエイト２０の組合せとカウンタウエイトデータ３６に記憶された組立順とから、今回移動させる単位ウエイト２０、すなわち移動すべき単位ウエイト２０を特定する（ステップＳ１３）。ここで、「移動させる」とは、カウンタウエイトＷの重量を増加させる場合には単位ウエイト２０を仮置き位置から積載位置まで移動させること（単位ウエイト２０の取り付け）を意味し、カウンタウエイトＷの重量を減少させる場合には単位ウエイト２０を積載位置から仮置き位置まで移動させること（単位ウエイト２０の取り外し）を意味する。 Next, the control device 33 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 36 (step S13). . Here, “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). When 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).
　「現在の単位ウエイト２０の組合せ」とは、現在積載領域に載せられている単位ウエイト２０の組合せを意味する。後述のごとく、ステップＳ１３からステップＳ１８の処理は、一つの単位ウエイト２０を移動させるごとに繰り返し行われる。したがって、「現在の単位ウエイト２０の組合せ」はステップＳ１３の処理回数により変化する。 “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 S18 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.
　ステップＳ１３の初回の処理において、「現在の単位ウエイト２０の組合せ」はカウンタウエイト検出器３２から取得できる。より詳細には、制御装置３３は、カウンタウエイトＷの組立作業を行う直前のカウンタウエイト検出器３２の検出値を記憶しておき、その検出値から「現在の単位ウエイト２０の組合せ」を特定する。例えば、カウンタウエイト検出器３２の検出値が「６．１ｔ」を示す場合、「第１組合せ」が現在の単位ウエイト２０の組合せとなる。 In the initial processing in step S13, the “current unit weight 20 combination” can be acquired from the counter weight detector 32. More specifically, the control device 33 stores the detection value of the counterweight detector 32 immediately before the assembly work of the counterweight W is performed, and “current combination of unit weights 20” is specified 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.
　ステップＳ１３の２回目以降の処理において、「現在の単位ウエイト２０の組合せ」は、前回の取り付け又は取り外し処理の直前の単位ウエイト２０の組合せに、前回取り付けた単位ウエイト２０を加えた組合せ、又は直前の単位ウエイト２０の組合せから前回取り外した単位ウエイト２０を除いた組合せとする。 In the second and subsequent processing of step S13, “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.
　「今回移動させる単位ウエイト２０」は、「現在の単位ウエイト２０の組合せ」と「組立順」とから特定される。単位ウエイト２０を取り付ける場合には、カウンタウエイトデータ３６から現在の組合せを構成する単位ウエイト２０の「組立順」のうち最大の組立順を取得し、それより１つ大きい組立順の単位ウエイト２０を特定し、それを「今回移動させる単位ウエイト２０」とする。単位ウエイト２０を取り外す場合には、カウンタウエイトデータ３６から現在の組合せを構成する単位ウエイト２０のうち「組立順」が最大の単位ウエイト２０を特定し、それを「今回移動させる単位ウエイト２０」とする。 “The unit weight 20 to be moved this time” is specified from the “combination of the current unit weights 20” and the “assembly order”. When the unit weight 20 is attached, the maximum assembly order among the “assembly orders” of the unit weights 20 constituting the current combination is acquired from the counter weight data 36, 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”. When removing the unit weight 20, the unit weight 20 having the largest “assembly order” among the unit weights 20 constituting the current combination is identified from the counter weight data 36, and this is designated as “unit weight 20 to be moved this time”. To do.
　例えば、カウンタウエイトＷを装着していない状態から第５組合せのカウンタウエイトＷを組み立てる場合、最初に移動させる単位ウエイト２０は、組立順が「１」である第１単位ウエイト２１である。その後、制御装置３３は、現在の組合せを構成する単位ウエイト２０（第１単位ウエイト２１）の組立順のうち最大の組立順「１」を取得し、それより組立順が１つ大きい単位ウエイト２０（第２単位ウエイト２２）を特定し、それを「今回移動させる単位ウエイト２０」として提示する（図５参照）。作業員が、提示された単位ウエイト２０の移動作業を行うことにより、移動すべき単位ウエイト２０が確実に移動される。同様に、組立順に従って特定された「今回移動させる単位ウエイト２０」が提示され、第２～第７単位ウエイト２２～２７が順に移動される。 For example, when the fifth combination counterweight W is assembled from the state where the counterweight W is not attached, the unit weight 20 to be moved first is the first unit weight 21 whose assembly order is “1”. Thereafter, the control device 33 acquires the largest assembly order “1” among the assembly orders 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” (see FIG. 5). 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.
　つぎに、制御装置３３は、指示画面を表示装置３４に表示させる（ステップＳ１４）。図５に示すように、指示画面には、「指定ＣＷ」の欄に「今回移動させる単位ウエイト２０」の識別子が表示されている。ここで、「識別子」は単位ウエイト２０の種類を識別できれば特に限定されず、単位ウエイト２０の重量、種類名、又は図形などが用いられる。図５に示す画面イメージでは、識別子として単位ウエイト２０の重量が用いられている。単位ウエイト２０の重量はカウンタウエイトデータ３６から取得できる。 Next, the control device 33 displays an instruction screen on the display device 34 (step S14). As shown in FIG. 5, the identifier of “unit weight 20 to be moved this time” is displayed in the “designated CW” field on the instruction screen. Here, 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. In the screen image shown in FIG. 5, 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 36.
　このように、制御装置３３は、移動すべき単位ウエイト２０を作業員に対して提示する。作業員は、提示された単位ウエイト２０の移動作業を行えばよいので、カウンタウエイトＷの組立順を間違えることがなくなる。 Thus, the control device 33 presents the unit weight 20 to be moved to the worker. Since the worker only has to move the presented unit weight 20, the assembly order of the counterweights W will not be mistaken.
　なお、指示画面には、目標起伏角、目標旋回角、現在起伏角及び現在旋回角も表示されている。目標起伏角は、今回移動させる単位ウエイト２０を、対応する目標積載位置に配置したときのブーム１５の起伏角である。目標旋回角は、今回移動させる単位ウエイト２０を、対応する目標積載位置に配置したときのブーム１５の旋回角である。現在起伏角は、ブーム１５の現在の起伏角である。現在旋回角は、ブーム１５の現在の旋回角である。単位ウエイト２０をフック１６に吊り下げ、ブーム１５の起伏角を目標起伏角に一致させ、ブーム１５の旋回角を目標旋回角に一致させたときに、単位ウエイト２０が目標積載位置に配置される。 Note that the target screen also displays the target undulation angle, target turning angle, current undulation angle, and current turning angle. The target hoisting angle is the hoisting 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. The current undulation angle is the current undulation angle of the boom 15. The current turning angle is the current turning angle of the boom 15. 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. .
　また、指示画面には、単位ウエイト２０の目標位置図形４１と現在位置図形４２とが表示されている。目標位置図形４１は、目標積載位置に配置された単位ウエイト２０、すなわち移動対象である単位ウエイト２０の移動先を示す。現在位置図形４２は、現在位置の単位ウエイト２０を示す。 Further, the target position graphic 41 and the current position graphic 42 of the unit weight 20 are displayed on the instruction screen. 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 current position graphic 42 indicates the unit weight 20 at the current position.
　作業員は、表示装置３４に表示された指示画面を確認しながら、単位ウエイト２０の取り付け又は取り外しを行う。具体的には、作業員は指示画面の「指定ＣＷ」の欄の表示から、今回移動させる単位ウエイト２０の種類を確認する。そして、作業員は指定された単位ウエイト２０の玉掛けを行い、その単位ウエイト２０を吊り上げる。 The worker attaches or removes the unit weight 20 while confirming the instruction screen displayed on the display device 34. 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 instruction screen. Then, the worker hangs the designated unit weight 20 and lifts the unit weight 20.
　このように、表示装置３４に今回移動させる単位ウエイト２０の識別子が表示されるので、作業員は指定された単位ウエイト２０の作業を行えばよく、カウンタウエイトＷの組立順を間違えることがない。 Thus, since the identifier of the unit weight 20 to be moved this time is displayed on the display device 34, the worker only needs to perform the work of the designated unit weight 20, and the assembly order of the counterweight W will not be mistaken.
　作業員は、指示画面に表示された目標起伏角、目標旋回角、現在起伏角及び現在旋回角を確認しつつ、単位ウエイト２０を積載位置まで移動させる。ここで、作業員は現在起伏角を目標起伏角に一致させ、現在旋回角を目標旋回角に一致させるようにクレーン操作をする。 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 instruction screen. Here, 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.
　作業員は、指示画面に表示された目標位置図形４１と現在位置図形４２とを確認しつつ、単位ウエイト２０を目標積載位置まで移動させてもよい。ここで、作業員は、現在位置図形４２を目標位置図形４１に一致させるようにクレーン操作をする。 The worker may move the unit weight 20 to the target loading position while confirming the target position graphic 41 and the current position graphic 42 displayed on the instruction screen. Here, the worker operates the crane so that the current position graphic 42 matches the target position graphic 41.
　単位ウエイト２０を吊り上げた状態で、制御装置３３は、荷重検出器３１から吊荷の重量を取得する（ステップＳ１５）。また、制御装置３３は、カウンタウエイトデータ３６から今回移動させる単位ウエイト２０の重量を取得する。 In a state where the unit weight 20 is lifted, the control device 33 acquires the weight of the suspended load from the load detector 31 (step S15). Further, the control device 33 acquires the weight of the unit weight 20 to be moved this time from the counter weight data 36.
　制御装置３３は、吊荷の重量と今回移動させる単位ウエイト２０の重量とが一致するか否かを判断する（ステップＳ１６）。これにより、フック１６に吊り下げられた吊荷が今回移動させる単位ウエイト２０であるのか、異なる単位ウエイト２０であるのかを判断する。ここで、吊荷の重量と単位ウエイト２０の重量とが厳密に一致する必要はない。単位ウエイト２０の種類を判別できる程度に一致していればよい。 The control device 33 determines whether or not the weight of the suspended load and the weight of the unit weight 20 to be moved this time coincide with each other (step S16). Thereby, it is determined whether the suspended load suspended by the hook 16 is the unit weight 20 to be moved this time or a different unit weight 20. Here, it is not necessary that the weight of the suspended load and the weight of the unit weight 20 are exactly the same. It suffices that the unit weights 20 match each other to the extent that the type can be discriminated.
　吊荷の重量と今回移動させる単位ウエイト２０の重量とが一致する場合（ステップＳ１６で“Ｙｅｓ”）、制御装置３３は特に処理を行わない。表示装置３４には指示画面が表示されたままである。作業員は、指示画面を確認しながら、クレーン操作を行う。 When the weight of the suspended load matches the weight of the unit weight 20 to be moved this time (“Yes” in step S16), the control device 33 does not perform any particular processing. The instruction screen remains displayed on the display device 34. The worker operates the crane while checking the instruction screen.
　吊荷の重量と今回移動させる単位ウエイト２０の重量とが相違する場合（ステップＳ１６で“Ｎｏ”）、制御装置３３は、警報装置として機能する表示装置３４に警報画面を表示させる（ステップＳ１７）。図６に示すように、警報画面には誤った単位ウエイト２０を吊り下げている旨が表示されている。なお、特許請求の範囲に記載の「警報装置に警報動作を行わせる」には、表示装置３４に警報画面を表示させる態様も含まれる。 When the weight of the suspended load and the weight of the unit weight 20 to be moved this time are different (“No” in step S16), the control device 33 displays an alarm screen on the display device 34 functioning as an alarm device (step S17). . As shown in FIG. 6, the alarm screen displays that the wrong unit weight 20 is suspended. It should be noted that “allowing the alarm device to perform an alarm operation” described in the claims includes a mode in which an alarm screen is displayed on the display device 34.
　表示装置３４に警報画面が表示された場合、作業員は、吊り下げた単位ウエイト２０を元の位置に戻し、正しい単位ウエイト２０を吊り下げる作業を行う。このように、誤った単位ウエイト２０を吊り下げると、組立順間違いの警報が発せられるので、カウンタウエイトＷの組立順の誤りを防止できる。しかも、誤った単位ウエイト２０を吊り下げたときに組立順間違いに気づくことができるので、作業のやり直しが少なく、作業効率の悪化を抑制できる。 When the warning screen is displayed on the display device 34, the worker returns the suspended unit weight 20 to the original position, and performs the work of hanging the correct unit weight 20. As described above, when the wrong unit weight 20 is suspended, an alarm for the assembly order error is issued, so that an error in the assembly order of the counterweight W can be prevented. In addition, when the wrong unit weight 20 is suspended, it is possible to notice an assembly order error, so that the number of work re-executions is small, and deterioration of work efficiency can be suppressed.
　単位ウエイト２０の取り付け又は取り外しを行った後、作業員は入力装置３５を用いて、次の単位ウエイト２０の作業に移ったことを入力する（ステップＳ１８）。そうすると、制御装置３３の処理はステップＳ１３に戻る。ステップＳ１３では、次の組立順の単位ウエイト２０が特定され、作業員に対して提示される（図５参照）。すなわち、移動中の単位ウエイト２０の移動作業が終了した後、次に移動すべき単位ウエイト２０が識別可能に表示される。なお、単位ウエイト２０の移動作業が完了したか否かの判断は、作業員による入力装置３５からの入力でなく、例えば荷重検出器３１による検出荷重の変化に基づいて行われてもよい。また例えば、単位ウエイト２０の移動作業が完了したか否かの判断は、積載位置に組み立てられたカウンタウエイトＷの総重量に基づいて行われてもよい。 After attaching or removing the unit weight 20, the worker uses the input device 35 to input that the operation has moved to the next unit weight 20 (step S18). Then, the process of the control device 33 returns to step S13. In step S13, the unit weight 20 in the next assembly order is specified and presented to the worker (see FIG. 5). That is, after the moving operation of the unit weight 20 being moved is completed, the unit weight 20 to be moved next is displayed in an identifiable manner. The determination as to whether or not the movement work of the unit weight 20 has been completed may be made based on, for example, a change in the detected load by the load detector 31 instead of an input from the input device 35 by an operator. Further, for example, the determination as to whether or not the movement work of the unit weight 20 has been completed may be made based on the total weight of the counterweight W assembled at the loading position.
　制御装置３３は、ステップＳ１３からステップＳ１８までの処理を、一つの単位ウエイト２０を移動させるごとに、繰り返し行う。カウンタウエイトＷの組み立てが完了したら、制御装置３３は処理を終了する。 The control device 33 repeatedly performs the processing from step S13 to step S18 every time one unit weight 20 is moved. When the assembly of the counterweight W is completed, the control device 33 ends the process.
　その後、図１２に示すように、旋回台１３を旋回させて旋回台１３の後部を車体フレーム１１ｆ上のカウンタウエイトＷに対応する位置に配置させる。そして、旋回台１３の後部に設けられた着脱装置でカウンタウエイトＷを旋回台１３の後部に装着する。 Then, as shown in FIG. 12, 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.
　以上では、主にカウンタウエイトＷを装着していない状態からカウンタウエイトＷを組み立てる場合を説明したが、カウンタウエイト組立補助装置Ａは、装着していたカウンタウエイトＷを取り外して解体する場合にも用いることができる。 The case where the counterweight W is assembled from the state where the counterweight W is not mounted has been described above, but the counterweight assembly auxiliary device A is also used when the mounted counterweight W is removed and disassembled. be able to.
　この場合、ステップＳ１２において、作業員は、例えば０．０ｔ（カウンタウエイトＷなし）を選択する。ステップＳ１３では、制御装置３３は、カウンタウエイトＷを構成する単位ウエイト２０の中から取り外す単位ウエイト２０を特定し、提示する。 In this case, in step S12, the worker selects, for example, 0.0 t (no counterweight W). In step S13, the control device 33 specifies and presents the unit weight 20 to be removed from the unit weights 20 constituting the counterweight W.
　特定の組合せのカウンタウエイトＷから重量の重い組合せのカウンタウエイトＷに変更する場合や、特定の組合せのカウンタウエイトＷから重量の軽い組合せのカウンタウエイトＷに変更する場合にもカウンタウエイト組立補助装置Ａを用いることができる。 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.
　この場合、ステップＳ１２では、作業員は変更後の組合せを選択する。現在の組合せはカウンタウエイト検出器３２から取得される。なお、現在の組合せと変更後の組合せとを作業員が入力するよう構成してもよい。この場合には、カウンタウエイト検出器３２を含まない構成としてもよい。 In this case, in step S12, the worker selects the changed combination. The current combination is obtained from the counterweight detector 32. In addition, you may comprise so that an operator may input the present combination and the combination after a change. In this case, the counter weight detector 32 may not be included.
　このように、第１実施形態のカウンタウエイト組立補助装置Ａは、少なくとも一つの単位ウエイト２０を含むカウンタウエイトＷを所定の積載領域に組み立てる作業を補助するカウンタウエイト組立補助装置である。カウンタウエイト組立補助装置Ａは、単位ウエイト２０の組合せパターンと、組合せパターンに含まれる各単位ウエイト２０の組立順とを記憶する記憶部３６１と、組合せパターンに含まれる単位ウエイト２０のうち移動すべき単位ウエイト２０を、組立順に従って提示する制御装置３３（制御部）と、を備える。
　また、制御装置３３（制御部）は、複数の組合せパターンを表示装置３４に表示させるとともに、表示された組合せパターンに対する作業員の指定を選択的に受け付け、選択された組合せパターンに含まれる単位ウエイト２０のうち移動すべき単位ウエイト２０を、組立順に従って提示する。 Thus, the counterweight assembly assisting apparatus A of the first embodiment is a counterweight assembly assisting apparatus that assists in assembling the counterweight W including at least one unit weight 20 in a predetermined stacking area. The counterweight assembly assisting apparatus A should move among the storage unit 361 that stores the combination pattern of the unit weights 20 and the assembly order of the unit weights 20 included in the combination pattern, and the unit weights 20 included in the combination pattern. And a control device 33 (control unit) that presents the unit weights 20 according to the assembly order.
In addition, the control device 33 (control unit) displays a plurality of combination patterns on the display device 34 and selectively accepts an operator's designation for the displayed combination patterns, and unit weights included in the selected combination patterns The unit weight 20 to be moved among the 20 is presented according to the assembly order.
　さらに、カウンタウエイト組立補助装置Ａは、吊荷の重量を検出する荷重検出器３１を備える。カウンタウエイト組立補助装置Ａにおいて、記憶部３６１は、単位ウエイト２０ごとの重量を記憶しており、制御装置３３（制御部）は、荷重検出器３１によって検出された移動中の単位ウエイト２０の重量と、移動すべき単位ウエイト２０に対応付けられた重量とが相違する場合に、表示装置３４（警報装置）に警報動作を行わせる。 Furthermore, the counterweight assembly auxiliary device A includes a load detector 31 that detects the weight of the suspended load. In the counterweight assembly assisting apparatus A, the storage unit 361 stores the weight of each unit weight 20, and the control device 33 (control unit) detects the weight of the moving unit weight 20 detected by the load detector 31. When the weight associated with the unit weight 20 to be moved is different, the display device 34 (alarm device) is caused to perform an alarm operation.
　カウンタウエイト組立補助装置Ａによれば、選択された組合せパターンに含まれる単位ウエイト２０のうち移動すべき単位ウエイト２０が、組立順に従って提示されるので、カウンタウエイトＷの組立順の誤りを防止することができる。つまり、作業員は、提示された単位ウエイト２０の移動作業を行えばよく、カウンタウエイトＷの組立順を間違えることがない。 According to the counterweight assembly assisting apparatus A, the unit weights 20 to be moved among the unit weights 20 included in the selected combination pattern are presented according to the assembly order, thereby preventing an error in the assembly order of the counterweights W. be able to. That is, the worker only needs to move the presented unit weight 20, and the assembly order of the counterweights W is not mistaken.
〔第２実施形態〕
　つぎに、本発明の第２実施形態に係るカウンタウエイト組立補助装置Ｂを説明する。
　第１実施形態のカウンタウエイト組立補助装置Ａは重量に基づき単位ウエイト２０の正誤を判断したが、本実施形態のカウンタウエイト組立補助装置Ｂは、単位カウンタウエイト２０の形状に基づき、移動すべき単位ウエイト２０の正誤を判断する。 [Second Embodiment]
Next, a counterweight assembly assisting apparatus B according to a second embodiment of the present invention will be described.
Although the counterweight assembly assisting apparatus A of the first embodiment determines whether the unit weight 20 is correct based on the weight, the counterweight assembly assisting apparatus B of the present embodiment is based on the shape of the unit counterweight 20 and should be moved. Whether the weight 20 is correct or not is determined.
　図７に示すように、カウンタウエイト組立補助装置Ｂは、カメラ３７と、カウンタウエイト検出器３２と、制御装置３３と、表示装置３４と、入力装置３５と、記憶部３８１とを備えている。カウンタウエイト検出器３２、制御装置３３、表示装置３４、入力装置３５の構成は、第１実施形態と同様であるので説明を省略する。 As shown in FIG. 7, the counterweight assembly assisting apparatus B includes a camera 37, a counterweight detector 32, a control device 33, a display device 34, an input device 35, and a storage unit 381. Since the configuration of the counter weight detector 32, the control device 33, the display device 34, and the input device 35 is the same as that of the first embodiment, the description thereof is omitted.
　カメラ３７は、フック１６に吊り下げられた吊荷を撮影するためのものである。例えば、カメラ３７は、ブーム１５の先端部に、常に鉛直下向きを撮影するように設けられる。この場合、カメラ３７は、吊荷の平面視の画像を撮影する。なお、カメラ３７の配置位置は、吊荷を撮影できれば特に限定されない。 The camera 37 is for photographing the suspended load suspended from the hook 16. For example, the camera 37 is provided at the tip of the boom 15 so as to always photograph vertically downward. In this case, the camera 37 captures an image of the suspended load in plan view. The arrangement position of the camera 37 is not particularly limited as long as the suspended load can be photographed.
　第２実施形態では、制御装置３３は、カメラ３７によって撮像された移動中の単位ウエイト２０の形状を示す画像と、移動すべき単位ウエイト２０に対応付けられた画像とが相違する場合に、警報装置に警報動作を行わせる。 In the second embodiment, when the image indicating the shape of the moving unit weight 20 captured by the camera 37 is different from the image associated with the unit weight 20 to be moved, the control device 33 issues an alarm. Let the device perform an alarm action.
　記憶部３８１には、カウンタウエイトデータ３８が記憶されている。
　図８に示すように、カウンタウエイトデータ３８はテーブル形式のデータであり、単位ウエイト、組立順、形状の各カラムから構成されている。すなわち、記憶部３８１には、それぞれの単位ウエイト２０の組立順及び形状が記憶されている。 The storage unit 381 stores counterweight data 38.
As shown in FIG. 8, the counter weight data 38 is data in a table format, and is composed of columns of unit weight, assembly order, and shape. That is, the storage unit 381 stores the assembly order and shape of each unit weight 20.
　「組立順」はカウンタウエイトＷを組み立てる際の順番である。「形状」は各単位ウエイト２０の形状を示すデータであり、例えば、移動中の単位ウエイト２０の形状と移動すべき単位ウエイト２０に対応付けられた形状とが一致するか否かを判定するためのテンプレートである。 “Assembly order” is the order in which the counterweight W is assembled. “Shape” is data indicating the shape of each unit weight 20. For example, in order to determine whether the shape of the moving unit weight 20 matches the shape associated with the unit weight 20 to be moved. Template.
（処理）
　つぎに、カウンタウエイト組立補助装置Ｂの処理を説明する。
　図９に示すように、カウンタウエイト組立補助装置Ｂの処理は、第１実施形態のカウンタウエイト組立補助装置Ａの処理（図３参照）において、重量取得処理（ステップＳ１５）に代えて吊荷形状認識処理（ステップＳ２５）を行い、重量一致判断処理（ステップＳ１６）に代えて形状一致判断処理（ステップＳ２６）を行うものである。その余の処理は第１実施形態と同様であるので説明を省略する。 (processing)
Next, processing of the counterweight assembly assisting device B will be described.
As shown in FIG. 9, the process of the counterweight assembly assisting apparatus B is a suspended load shape instead of the weight acquisition process (step S15) in the process of the counterweight assembly assisting apparatus A of the first embodiment (see FIG. 3). Recognition processing (step S25) is performed, and shape matching determination processing (step S26) is performed instead of weight matching determination processing (step S16). Since the rest of the processing is the same as in the first embodiment, description thereof is omitted.
　ステップＳ２５では、制御装置３３は、カメラ３７から吊荷（単位カウンタウエイト２０）を含む画像を取得し、その画像を画像処理して吊荷の形状を認識する。ここで、制御装置３３は、吊荷の形状をカウンタウエイトデータ３８に記憶された「形状」と比較可能な態様で認識する。また、制御装置３３は、カウンタウエイトデータ３８から今回移動させる単位ウエイト２０（移動すべき単位ウエイト２０）に対応付けられた形状を取得する。 In step S25, the control device 33 acquires an image including the suspended load (unit counterweight 20) from the camera 37, and performs image processing on the image to recognize the shape of the suspended load. Here, the control device 33 recognizes the shape of the suspended load in a manner that can be compared with the “shape” stored in the counterweight data 38. Further, the control device 33 acquires a shape associated with the unit weight 20 to be moved this time (unit weight 20 to be moved) from the counter weight data 38.
　ステップＳ２６では、制御装置３３は、吊荷の形状と今回移動させる単位ウエイト２０の形状とが一致するか否かを判断する。吊荷の形状と今回移動させる単位ウエイト２０の形状とが一致する場合（ステップＳ２６で“Ｙｅｓ”）、制御装置３３は特に処理を行わない。表示装置３４には指示画面が表示されたままである。作業員は、指示画面を確認しながら、クレーン操作を行う。吊荷の形状と今回移動させる単位ウエイト２０の形状とが相違する場合（ステップＳ２６で“Ｎｏ”）、制御装置３３は、警報装置として機能する表示装置３４に警報画面を表示させる（ステップＳ１７）。 In step S26, the control device 33 determines whether or not the shape of the suspended load matches the shape of the unit weight 20 to be moved this time. When the shape of the suspended load matches the shape of the unit weight 20 to be moved this time (“Yes” in step S26), the control device 33 does not perform any particular processing. The instruction screen remains displayed on the display device 34. The worker operates the crane while checking the instruction screen. When the shape of the suspended load and the shape of the unit weight 20 to be moved this time are different (“No” in step S26), the control device 33 displays an alarm screen on the display device 34 functioning as an alarm device (step S17). .
　このように、第２実施形態のカウンタウエイト組立補助装置Ｂは、少なくとも一つの単位ウエイト２０を含むカウンタウエイトＷを所定の積載領域に組み立てる作業を補助するカウンタウエイト組立補助装置である。カウンタウエイト組立補助装置Ｂは、単位ウエイト２０の組合せパターンと、組合せパターンに含まれる各単位ウエイト２０の組立順とを記憶する記憶部３８１と、組合せパターンを表示装置３４に表示させるとともに、表示された組合せパターンに対する作業員の指定を選択的に受け付け、選択された組合せパターンに含まれる単位ウエイト２０のうち移動すべき単位ウエイト２０を、組立順に従って提示する制御装置３３（制御部）と、を備える。 As described above, the counterweight assembly assisting apparatus B according to the second embodiment is a counterweight assembly assisting apparatus that assists in assembling the counterweight W including at least one unit weight 20 in a predetermined stacking area. The counterweight assembly assisting device B displays the combination pattern of the unit weights 20 and the storage unit 381 for storing the assembly order of the unit weights 20 included in the combination pattern, and the display unit 34 displays the combination patterns. A control device 33 (control unit) that selectively accepts the designation of the worker for the combination pattern and presents the unit weight 20 to be moved among the unit weights 20 included in the selected combination pattern according to the assembly order; Prepare.
　さらに、カウンタウエイト組立補助装置Ｂは、吊荷を撮像するカメラを備える。カウンタウエイト組立補助装置Ｂにおいて、記憶部３８１は、単位ウエイト２０ごとの形状を記憶しており、制御装置３３（制御部）は、カメラ３７による撮像画像から検出された移動中の単位ウエイト２０の形状と、移動すべき単位ウエイト２０に対応付けられた形状とが相違する場合に、表示装置３４（警報装置）に警報動作を行わせる。 Furthermore, the counterweight assembly assisting apparatus B includes a camera that images the suspended load. In the counterweight assembly assisting device B, the storage unit 381 stores the shape of each unit weight 20, and the control device 33 (control unit) of the moving unit weight 20 detected from the image captured by the camera 37. When the shape and the shape associated with the unit weight 20 to be moved are different, the display device 34 (alarm device) is caused to perform an alarm operation.
　カウンタウエイト組立補助装置Ｂによれば、第１実施形態のカウンタウエイト組立補助装置Ａと同様の効果が得られる。すなわち、カウンタウエイト組立補助装置Ｂによれば、選択された組合せパターンに含まれる単位ウエイト２０のうち移動すべき単位ウエイト２０が、組立順に従って提示されるので、カウンタウエイトＷの組立順の誤りを防止することができる。つまり、作業員は、提示された単位ウエイト２０の移動作業を行えばよく、カウンタウエイトＷの組立順を間違えることがない。 According to the counterweight assembly auxiliary device B, the same effect as the counterweight assembly auxiliary device A of the first embodiment can be obtained. That is, according to the counterweight assembly assisting apparatus B, the unit weights 20 to be moved among the unit weights 20 included in the selected combination pattern are presented according to the assembly order. Can be prevented. That is, the worker only needs to move the presented unit weight 20, and the assembly order of the counterweights W is not mistaken.
　また、本実施形態においても、誤った単位ウエイト２０を吊り下げると組立順間違いの警報が発せられるので、カウンタウエイトＷの組立順の誤りを防止できる。しかも、誤った単位ウエイト２０を吊り下げたときに組立順間違いに気づくことができるので、作業のやり直しが少なく、作業効率の悪化を抑制できる。 Also in the present embodiment, if an incorrect unit weight 20 is suspended, an alarm for an assembly order error is issued, so that an error in the assembly order of the counterweight W can be prevented. In addition, when the wrong unit weight 20 is suspended, it is possible to notice an assembly order error, so that the number of work re-executions is small, and deterioration of work efficiency can be suppressed.
〔その他の実施形態〕
　警報装置を表示装置３４とは別の部材としてもよい。警報装置として、音声、光などで組立順間違いを警報できる装置を採用できる。 [Other Embodiments]
The alarm device may be a member different from the display device 34. As an alarm device, a device that can warn of an assembly order error by voice, light, etc. can be adopted.
　２０１６年３月１８日出願の特願２０１６－０５４６４０、２０１６年４月４日出願の特願２０１６－０７５３５７、２０１６年１１月１６日出願の特願２０１６－２２３３１９の日本出願に含まれる明細書、図面および要約書の開示内容は、すべて本願に援用される。 Japanese Patent Application No. 2016-054640 filed on March 18, 2016, Japanese Patent Application No. 2016-0775357 filed on April 4, 2016, Japanese Patent Application No. 2016-223319 filed on November 16, 2016 The entire disclosure of the drawings and abstract is incorporated herein by reference.
　Ｃ　移動式クレーン
　Ｗ　カウンタウエイト
　Ａ、Ｂ　カウンタウエイト組立補助装置
　３１　荷重検出器
　３２　カウンタウエイト検出器
　３３　制御装置
　３４　表示装置
　３５　入力装置
　３６、３８　カウンタウエイトデータ
　３７　カメラ
　３６１、３８１　記憶部 C mobile crane W counterweight A, B counterweight assembly auxiliary device 31 load detector 32 counterweight detector 33 control device 34 display device 35 input device 36, 38 counterweight data 37 camera 361, 381 storage unit

Claims (5)

  1. 　少なくとも一つの単位ウエイトを含むカウンタウエイトを所定の積載領域に組み立てる作業を補助するカウンタウエイト組立補助装置であって、
    　前記単位ウエイトの組合せパターンと、前記組合せパターンに含まれる各単位ウエイトの組立順とを記憶する記憶部と、
    　前記組合せパターンに含まれる前記単位ウエイトのうち移動すべき前記単位ウエイトを、前記組立順に従って提示する制御部と、を備えることを特徴とするカウンタウエイト組立補助装置。     A counterweight assembly assisting device for assisting in assembling a counterweight including at least one unit weight in a predetermined loading area;
    A storage unit for storing a combination pattern of the unit weights and an assembly order of the unit weights included in the combination pattern;
    A counterweight assembly assisting device, comprising: a control unit that presents the unit weights to be moved among the unit weights included in the combination pattern according to the assembly order.
  2. 　前記記憶部は、複数の前記組合せパターンを記憶し、
    　前記制御部は、前記複数の組合せパターンを表示装置に表示させるとともに、表示された前記組合せパターンに対する作業員の指定を選択的に受け付け、選択された前記組合せパターンに含まれる前記単位ウエイトのうち移動すべき前記単位ウエイトを、前記組立順に従って提示することを特徴とする請求項１に記載のカウンタウエイト組立補助装置。     The storage unit stores a plurality of the combination patterns,
    The control unit causes the display device to display the plurality of combination patterns, selectively accepts an operator's designation for the displayed combination pattern, and moves among the unit weights included in the selected combination pattern 2. The counterweight assembly assisting apparatus according to claim 1, wherein the unit weights to be presented are presented according to the assembly order.
  3. 　前記制御部は、移動中の前記単位ウエイトの移動作業が終了した後、次に移動すべき前記単位ウエイトを前記表示装置に識別可能に表示させることを特徴とする請求項１に記載のカウンタウエイト組立補助装置。 2. The counterweight according to claim 1, wherein the control unit displays the unit weight to be moved next in an identifiable manner on the display device after the moving work of the moving unit weight is completed. Assembly assist device.
  4. 　吊荷の重量を検出する荷重検出器をさらに備え、
    　前記記憶部は、前記単位ウエイトごとの重量を記憶しており、
    　前記制御部は、前記荷重検出器によって検出された移動中の前記単位ウエイトの重量と、前記移動すべき単位ウエイトに対応付けられた重量とが相違する場合に、警報装置に警報動作を行わせることを特徴とする請求項１に記載のカウンタウエイト組立補助装置。     A load detector for detecting the weight of the suspended load;
    The storage unit stores a weight for each unit weight,
    The control unit causes an alarm device to perform an alarm operation when the weight of the unit weight being moved detected by the load detector is different from the weight associated with the unit weight to be moved. The counterweight assembly assisting device according to claim 1, wherein
  5. 　吊荷を撮像するカメラをさらに備え、
    　前記記憶部は、前記単位ウエイトごとの形状を示す画像を記憶しており、
    　前記制御部は、前記カメラによる撮像画像から検出された移動中の前記単位ウエイトの形状と、前記移動すべき単位ウエイトに対応付けられた形状とが相違する場合に、警報装置に警報動作を行わせることを特徴とする請求項１に記載のカウンタウエイト組立補助装置。     The camera further includes a camera that images the suspended load,
    The storage unit stores an image indicating the shape of each unit weight,
    The control unit performs an alarm operation on the alarm device when the shape of the unit weight being moved detected from the image captured by the camera is different from the shape associated with the unit weight to be moved. The counterweight assembly assisting device according to claim 1, wherein
PCT/JP2017/007507 2016-03-18 2017-02-27 Counterweight assembly assistance device WO2017159321A1 (en)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
JP2016054640 2016-03-18
JP2016-054640 2016-03-18
JP2016075357 2016-04-04
JP2016-075357 2016-04-04
JP2016-223319 2016-11-16
JP2016223319A JP6097442B1 (en) 2016-03-18 2016-11-16 Counterweight assembly auxiliary device for mobile crane

Publications (1)

Publication Number Publication Date
WO2017159321A1 true WO2017159321A1 (en) 2017-09-21

Family

ID=58281151

Family Applications (2)

Application Number Title Priority Date Filing Date
PCT/JP2017/007494 WO2017159319A1 (en) 2016-03-18 2017-02-27 Crane work assistance device
PCT/JP2017/007507 WO2017159321A1 (en) 2016-03-18 2017-02-27 Counterweight assembly assistance device

Family Applications Before (1)

Application Number Title Priority Date Filing Date
PCT/JP2017/007494 WO2017159319A1 (en) 2016-03-18 2017-02-27 Crane work assistance device

Country Status (2)

Country Link
JP (3) JP6161776B1 (en)
WO (2) WO2017159319A1 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2019189397A (en) * 2018-04-25 2019-10-31 コベルコ建機株式会社 Work machine
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

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7192324B2 (en) * 2018-09-06 2022-12-20 株式会社タダノ work vehicle
WO2021132507A1 (en) * 2019-12-27 2021-07-01 株式会社タダノ Work machine control system and crane
JP7306291B2 (en) 2020-02-13 2023-07-11 コベルコ建機株式会社 guidance system
CN115697884A (en) * 2020-06-03 2023-02-03 株式会社多田野 Hang off ground controlling means and hoist
TR202009240A2 (en) * 2020-06-15 2020-07-21 Tuenelmak Is Makineleri Sanayi Ve Ticaret Anonim Sirketi A work machine with a double operator cabin and crane system
DE202021106818U1 (en) * 2021-12-15 2022-05-30 Liebherr-Werk Ehingen Gmbh Mobile crane with a counterweight device

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11263581A (en) * 1998-03-18 1999-09-28 Nisshin Steel Co Ltd Coil unloading method from ship and device thereof
JP2001240248A (en) * 2000-03-01 2001-09-04 Ishikawajima Harima Heavy Ind Co Ltd Device and method for managing loading and unloading of container to ship
JP2008001444A (en) * 2006-06-20 2008-01-10 Tadano Ltd Weight weight detection device for crane vehicle
JP2009154974A (en) * 2007-12-25 2009-07-16 Kobelco Cranes Co Ltd Boom component display apparatus
JP2014144833A (en) * 2013-01-28 2014-08-14 Tadano Ltd Counter weight and unit weight for movable crane

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2808062B2 (en) * 1992-09-04 1998-10-08 株式会社フジタ Lifting machine guidance support mechanism
JPH06239584A (en) * 1993-02-15 1994-08-30 Kobe Steel Ltd Suspension cargo position display device for crane
JPH0971387A (en) * 1995-09-05 1997-03-18 Tadano Ltd Hoisted cargo position display device on crane truck
JP2006117400A (en) * 2004-10-22 2006-05-11 Hitachi Constr Mach Co Ltd Display device of construction machine
JP2007015814A (en) * 2005-07-07 2007-01-25 Mitsubishi Electric Corp Equipment carrying-in-and-out system
DE112012001508T5 (en) * 2011-03-31 2014-01-23 Hitachi Construction Machinery Co., Ltd. Position adjustment system for a conveyor machine
JP6132148B2 (en) * 2013-06-06 2017-05-24 清水建設株式会社 Construction support system, member information reading device, crane, construction support method, member information reading method and program

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11263581A (en) * 1998-03-18 1999-09-28 Nisshin Steel Co Ltd Coil unloading method from ship and device thereof
JP2001240248A (en) * 2000-03-01 2001-09-04 Ishikawajima Harima Heavy Ind Co Ltd Device and method for managing loading and unloading of container to ship
JP2008001444A (en) * 2006-06-20 2008-01-10 Tadano Ltd Weight weight detection device for crane vehicle
JP2009154974A (en) * 2007-12-25 2009-07-16 Kobelco Cranes Co Ltd Boom component display apparatus
JP2014144833A (en) * 2013-01-28 2014-08-14 Tadano Ltd Counter weight and unit weight for movable crane

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
US10829347B2 (en) 2016-11-22 2020-11-10 Manitowoc Crane Companies, Llc Optical detection system for lift crane
US11124392B2 (en) 2016-11-22 2021-09-21 Manitowoc Crane Companies, Llc Optical detection and analysis for boom angles on a crane
US11130658B2 (en) 2016-11-22 2021-09-28 Manitowoc Crane Companies, Llc Optical detection and analysis of a counterweight assembly on a crane
JP2019189397A (en) * 2018-04-25 2019-10-31 コベルコ建機株式会社 Work machine
WO2019208232A1 (en) * 2018-04-25 2019-10-31 コベルコ建機株式会社 Working machine
JP7119538B2 (en) 2018-04-25 2022-08-17 コベルコ建機株式会社 working machine

Also Published As

Publication number Publication date
JP6161776B1 (en) 2017-07-12
JP6097442B1 (en) 2017-03-15
JP6097441B1 (en) 2017-03-15
WO2017159319A1 (en) 2017-09-21
JP2017186163A (en) 2017-10-12
JP2017186165A (en) 2017-10-12
JP2017186164A (en) 2017-10-12

Similar Documents

Publication Publication Date Title
JP6097442B1 (en) Counterweight assembly auxiliary device for mobile crane
EP3363763B1 (en) Remote operation device and guidance system
US11130658B2 (en) Optical detection and analysis of a counterweight assembly on a crane
CN108025895B (en) Remote operation device
JP5876679B2 (en) Performance line display device
JP7060363B2 (en) Moment limiter device for boom work machine and boom work machine equipped with this
JP6828650B2 (en) Crane control method and crane
US20170275142A1 (en) Mobile Crane
JP6053141B2 (en) Work confirmation device
JP2010159148A (en) Jack reaction display device of work vehicle and work vehicle
JPH0971387A (en) Hoisted cargo position display device on crane truck
JP2003201089A (en) Mobile crane and self-operated attachment/detachment method
JP3852994B2 (en) Work status display device for work equipment
JP7107447B2 (en) Crane information display system
JP2019142679A (en) Suspended load monitoring device
US20220340398A1 (en) Crane information display system
KR102005853B1 (en) Apparatus for detecting swaying telescoping cage of tower crane
JP7172443B2 (en) crane truck
JP2020117332A (en) Counterweight state determination device, crane, and counterweight state determination method
JP3226637U (en) Remote work support system
JP2020132301A (en) crane
US20230401348A1 (en) Construction work planning support device
JP2023075793A (en) Crane device and control program
JPH08268681A (en) Work condition simulation confirming device for work vehicle
JP6927594B2 (en) Crane operation support system and operation support method

Legal Events

Date Code Title Description
NENP Non-entry into the national phase

Ref country code: DE

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17766324

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 17766324

Country of ref document: EP

Kind code of ref document: A1