阅读说明：本技术 高度调节辅助装置、具备该装置的起重机以及高度调节方法 (Height adjustment assistance device, crane provided with same, and height adjustment method ) 是由 安和薰广 岩泽敬博 山田纯平 于 2019-01-10 设计创作，主要内容包括：高度调节辅助装置(50)包括：在吊载作业开始时判定吊载(1)是否从地面(G)被吊起的初始状态判定部(64)；检测配重(30)距地面(G)的高度的高度检测部(51)；存储初始高度(h1)的存储部(61)；基于初始高度(h1)和作业后高度(h2)来运算用于校正配重(30)距地面(G)的高度的目标值(Δh)的运算部(62)；能够将目标值(Δh)的相关信息通知给操作人员的通知部(63)；以及通过以改变桅杆(15)的远端部(15A)到配重(30)之间悬吊构件的长度的方式进行动作从而能够调节该悬吊构件的长度的长度调节装置(72)。(The height adjustment assistance device (50) includes: an initial state determination unit (64) that determines whether or not the suspended load (1) is suspended from the ground (G) at the start of the suspended load operation; a height detection unit (51) that detects the height of the counterweight (30) from the ground (G); a storage unit (61) that stores the initial height (h 1); a calculation unit (62) that calculates a target value (Δ h) for correcting the height of the counterweight (30) from the ground (G) based on the initial height (h1) and the post-operation height (h 2); a notification unit (63) capable of notifying the operator of information relating to the target value (Δ h); and a length adjustment device (72) which can adjust the length of the suspension member between the distal end portion (15A) of the mast (15) and the counterweight (30) by operating so as to change the length of the suspension member.)

1. A height adjustment assisting apparatus that assists in adjusting a height from a ground of a counterweight suspended via a suspension member from a distal end portion of a mast of a crane after a suspension work is performed on a suspension of a boom member suspended from the crane, comprising:

an initial state determination unit configured to determine whether the suspended load is suspended from the ground surface when the suspended load operation is started;

a height detection unit for detecting the height of the counterweight from the ground;

a storage unit configured to store, as an initial height, a height of the counterweight from a ground surface detected by the height detection unit when the initial state determination unit determines that the suspended load has been suspended;

a calculation unit that calculates a target value for correcting the height of the counterweight from the ground based on the initial height stored in the storage unit and a post-operation height that is the height of the counterweight from the ground detected by the height detection unit after the suspension operation and before the suspension is placed on the ground;

a notification unit configured to notify an operator of information related to the target value; and the number of the first and second groups,

a length adjustment device that is operated to change the length of the suspension member between the distal end portion of the mast and the counterweight, thereby enabling adjustment of the length of the suspension member.

2. The height adjustment assist device according to claim 1, further comprising:

a hanging load action detection part for detecting the action of adjusting the height of the hanging load from the ground;

a load detection unit that detects a load applied to the distal end portion of the arm member by the suspension load; and the number of the first and second groups,

a post-operation height determining unit configured to determine a height of the counterweight from the ground, which is detected by the height detecting unit, as the post-operation height when a condition that the suspension motion detecting unit detects a motion of reducing the height of the suspension load from the ground and the load detecting unit detects a reduction in the load related to the suspension load is satisfied,

the calculation unit calculates the target value based on the initial height and the post-work height when the post-work height determination unit determines the post-work height.

3. The height adjustment assist device according to claim 2, further comprising:

and a drive control unit that controls driving of the length adjustment device based on the target value and automatically corrects the height of the counterweight from the ground.

4. The height adjustment assist device according to claim 3, further comprising:

a necessity determination unit that determines whether or not the height of the counterweight from the ground surface needs to be corrected, based on the target value,

the drive control unit controls the drive of the length adjustment device based on the target value only when the necessity determining unit determines that the height of the counterweight from the ground surface needs to be corrected.

5. The height adjustment assist device according to claim 4, wherein:

the necessity determining unit determines that the height of the counterweight from the ground surface needs to be corrected only when the difference between the initial height and the post-operation height is outside a predetermined range.

6. The height adjustment assist device according to any one of claims 3 to 5, further comprising:

and an operation stopping unit that stops the operation related to the suspended load before the automatic correction.

7. The height adjustment assist device according to any one of claims 3 to 6, further comprising:

an input section that accepts an input of an operator as to whether or not the automatic correction is required, wherein,

the drive control unit controls the drive of the length adjustment device based on the target value when the input unit receives an input that requires the automatic correction.

8. The height adjustment assist device according to any one of claims 3 to 7, further comprising:

and an operation limiting unit that limits the operation related to the suspended load during and after the automatic correction.

9. The height adjustment assist device of claim 8, wherein:

and an operation limiting unit configured to release the limitation of the operation related to the suspended load when the operation related to the suspended load is not performed after the automatic correction.

10. A crane, comprising:

a lower traveling body;

an upper revolving structure that is rotatably mounted on the lower traveling structure;

a boom attached to the upper slewing body so as to be able to ride up;

a mast mounted on the upper slewing body and supporting the boom from behind;

a counterweight suspended from a distal end of the mast; and the number of the first and second groups,

the height adjustment assisting device according to any one of claims 1 to 9, which is used for assisting in adjusting the height of the counterweight from the ground.

11. A height adjusting method for adjusting a height of a counterweight suspended from a distal end portion of a mast of a crane via a suspension member from a ground surface after a suspension work is performed on a suspension of a boom member suspended from the crane, comprising the steps of:

detecting the height of the counterweight from the ground when the hoisting operation is started, namely the initial height;

detecting the height of the counterweight from the ground after the hoisting operation and before the hoisting is placed on the ground, namely the height after the operation;

determining a target value for correcting the height of the counterweight from the ground based on the initial height and the post-working height; and the number of the first and second groups,

adjusting a length of the suspension member from the distal end of the mast to the counterweight based on the target value, thereby adjusting a height of the counterweight from a ground surface.

Technical Field

The present invention relates to a crane equipped with a counterweight.

Background

For example, patent documents 1 and 2 disclose a crane including: the swing arm is attached to the upper slewing body in a swingable manner, and is supported by the mast from behind.

When the crane starts a hoisting operation, if a hoisting load supported by a rope suspended from the distal end portion of the boom member is hoisted upward from the ground, a counterweight supported by a guide rope suspended from the distal end portion of the mast is suspended above the ground. Thus, the whole crane reaches balance.

In addition, during actual hoisting work, for example, in order to increase the working radius of the crane, the boom member is tilted forward and the mast is tilted backward, or in order to move the hoisting load in the slewing direction, the upper slewing body is slewing.

Further, when the upper slewing body performs a slewing operation, the height of the counterweight from the ground may be different from the height of the counterweight from the ground at the start of the lifting operation. The angle of the mast to the ground changes as the mast performs a dumping action. In these cases, the height of the counterweight from the ground after the suspension work may be different from the height (initial height) at which the counterweight is suspended above the ground and reaches equilibrium when the suspension work is started. When the height of the counterweight from the ground after the lifting operation deviates from the initial height, if the lifting load is lowered and the lifting load is landed, there is a possibility that the counterweight does not come into contact with the ground or the guide wire supporting the counterweight is loosened. Therefore, the operator needs to eliminate the deviation between the height of the counterweight from the ground after the suspension work and the initial height by crane operations such as raising and lowering the mast, and adjusting the length from the distal end portion of the mast to the counterweight.

However, the counterweight is disposed behind the upper slewing body, and is not easily seen directly by the operator. Thus, the crane operation described above can become a complex and difficult operation. Patent documents 1 and 2 do not describe in any detail how to eliminate the deviation between the height of the counterweight from the ground surface after the suspension work and the initial height.

Disclosure of Invention

The present invention has been made in view of the above problems, and an object of the present invention is to provide a height adjustment assisting device, a crane including the height adjustment assisting device, and a height adjustment method, which can assist in adjusting the height of a counterweight from the ground after a suspension work when the height of the counterweight from the ground after the suspension work is different from an initial height.

The height adjustment assisting device according to the present invention assists in adjusting the height of a counterweight suspended from a distal end portion of a mast of a crane via a suspension member from the ground after a suspension work is performed on a suspension of a boom member suspended from the crane. The height adjustment assisting device includes: an initial state determination unit, a height detection unit, a storage unit, a calculation unit, a notification unit, and a length adjustment device. The initial state determination unit determines whether the suspended load is suspended from the ground surface at the start of the suspended load operation. The height detection unit detects the height of the counterweight from the ground. The storage unit stores, as an initial height, a height of the counterweight from a ground surface detected by the height detection unit when the initial state determination unit determines that the suspended load has been suspended. The calculation unit calculates a target value for correcting the height of the counterweight from the ground based on the initial height stored in the storage unit and the post-operation height, which is the height of the counterweight from the ground detected by the height detection unit after the suspension operation and before the suspension is placed on the ground. The notification unit can notify an operator of information related to the target value. The length adjusting device is operable to change the length of the suspension member between the distal end portion of the mast and the counterweight, thereby adjusting the length of the suspension member.

In the height adjusting method of the present invention, after a suspension work is performed on a suspension load suspended from a boom member of a crane, a height from a ground surface of a counterweight suspended from a distal end portion of a mast of the crane via a suspension member is adjusted. The height adjusting method comprises the following steps: detecting the height of the counterweight from the ground when the hoisting operation is started, namely the initial height; detecting the height of the counterweight from the ground after the hoisting operation and before the hoisting is placed on the ground, namely the height after the operation; determining a target value for correcting the height of the counterweight from the ground based on the initial height and the post-working height; and adjusting a length of the suspension member from the distal end portion of the mast to the counterweight based on the target value, thereby adjusting a height of the counterweight from a ground surface.

Drawings

Fig. 1 is a side view showing a crane including a height adjustment assist device according to an embodiment of the present invention.

Fig. 2 is a block diagram showing a functional configuration of the height adjustment support device according to the embodiment.

Fig. 3 is a flowchart showing a height adjustment method including the height adjustment support device according to the embodiment.

Fig. 4 is a flowchart showing details of the automatic correction processing in the flowchart shown in fig. 3.

Detailed Description

Hereinafter, a height adjustment assisting device, a crane including the height adjustment assisting device, and a height adjustment method according to embodiments of the present invention will be described with reference to the drawings.

[ Crane ]

Fig. 1 is a side view showing a crane 10 including a height adjustment assisting device 50 according to an embodiment of the present invention. In fig. 1, directions of "up", "down", "front", and "rear" are shown for convenience of explaining the structure of the crane 10 according to the embodiment of the present invention, and are not limited to the moving direction, the use mode, and the like of the crane 10.

As shown in fig. 1, the crane 10 includes: a crane body 11, a counterweight 30, and a height adjustment assist device 50 (refer to fig. 2).

The crane main body 11 includes: a lower traveling body 12, an upper slewing body 13, a boom 14, a mast 15, and a box mast 16. The boom 14 is an example of a boom member of the present invention. The boom member of the present invention includes not only the case where it is constituted by only the boom 14 according to the present embodiment, but also the case where it is constituted by the boom and at least one sub boom connected to the distal end portion thereof.

The lower traveling body 12 is capable of traveling on the ground G and includes, for example, a pair of left and right crawler tracks 121.

The upper slewing body 13 is attached to the lower traveling body 12. The upper slewing body 13 is capable of slewing relative to the lower traveling body 12 about an axis extending in a direction perpendicular to the ground G on which the lower traveling body 12 travels. The upper slewing body 13 has a cab 131 on which an operator of the crane 10 rides. The rear part of the upper slewing body 13 is provided with a counterweight 132 for adjusting the balance of the crane 10. The weight 132 is not necessarily provided unlike the weight 30 described later.

The boom 14 is attached to the upper slewing body 13 so as to be able to ascend and descend. The boom 14 includes: rotatably supported by a base end portion of the upper slewing body 13, and a distal end portion 14A disposed on the opposite side of the base end portion in the longitudinal direction. The boom 14 shown in fig. 1 is of a so-called lattice type, but the specific structure of the boom is not limited.

A pair of right and left rear stoppers 141 are provided on the boom base end side of the boom 14. These rear stoppers 141 abut against the upper slewing body 13 when the boom 14 is in the standing posture. This contact restricts the boom 14 from being blown rearward by strong wind or the like.

The mast 15 is attached to the upper slewing body 13 and supports the boom 14 from behind. The mast 15 has a base end portion and a distal end portion 15A. The base end portion of the mast 15 is supported by the upper slewing body 13 at a position on the rear side of the boom 14, and is pivotable about a pivot axis parallel to the pivot axis of the boom 14. The mast 15 can be rotated in the same direction as the raising and lowering direction of the boom 14. The distal end 15A of the mast 15 is configured with a 1 st mast pulley 151 and a 2 nd mast pulley 152. The boom raising and lowering rope 22 described later is hung on the 1 st mast pulley 151 and the 2 nd mast pulley 152.

The mast 15 is supported from the rear by a rear stopper 153. The base end of the rear stopper 153 is attached to the upper slewing body 13 at the rear of the base end of the mast 15, and the distal end of the rear stopper 153 is attached to a part of the mast 15 in the longitudinal direction.

The box mast 16 has a rectangular cross-sectional shape. A base end side portion of the box mast 16 is rotatably connected to the upper slewing body 13 on the rear side of the mast 15. The rotation axis of the box mast 16 is arranged parallel to the rotation axis of the boom 14, and the box mast 16 can rotate in the same direction as the direction in which the boom 14 rises and falls.

The crane main body 11 further includes: a lower spreader 18, an upper spreader 19, a guide wire 20, a boom raising and lowering rope 22, and a boom raising and lowering winch W1.

The lower spreader 18 is supported to be rotatable about a shaft support portion of the distal end portion 15A of the mast 15. The lower spreader 18 has a plurality of 1 st pulleys 181 arranged in the left-right direction.

The upper dilator 19 is disposed at a predetermined interval in front of the lower dilator 18. The upper dilator 19 is connected to the distal end portion 14A of the boom 14 via a guide cable 20. The upper spreader 19 has a plurality of 2 nd pulleys 191 arranged in the left-right direction.

A pair of guide cables 20 is arranged in the left-right direction. The rear end of the guide wire 20 is connected to the upper spreader 19, and the front end of the guide wire 20 is connected to the distal end 14A of the boom 14.

The boom raising and lowering rope 22 is pulled out from the boom raising and lowering winch W1, wound around the 1 st mast pulley 151 and the 2 nd mast pulley 152 of the distal end portion 15A of the mast 15, and then wound around the 1 st pulley 181 and the 2 nd pulley 191 a plurality of times. The distal end portion of the boom raising and lowering rope 22 wound around the 1 st sheave 181 and the 2 nd sheave 191 is fixed to the distal end portion 15A of the mast 15.

The boom raising winch W1 is provided on the base end side of the mast 15. The boom raising and lowering winch W1 raises and lowers the boom 14 while rotating with respect to the mast 15 by winding and unwinding the boom raising and lowering rope 22 and changing the distance between the 1 st sheave 181 and the 2 nd sheave 191.

The crane main body 11 further includes: the guide rope 23, the mast raising and lowering rope 26, and the mast raising and lowering winch W2.

A pair of guide cables 23 is arranged in the left-right direction. The guide cable 23 connects the distal end portion 15A of the mast 15 and the distal end portion of the box mast 16. This connection allows the rotation of the mast 15 and the rotation of the box mast 16 to be linked.

The mast raising and lowering rope 26 is wound a plurality of times between a sheave block 24 disposed on the upper slewing body 13 and having a plurality of sheaves aligned in the width direction and a sheave block 25 disposed on the distal end portion of the box mast 16 and having a plurality of sheaves aligned in the width direction.

The mast raising winch W2 is provided on the base end side of the box mast 16. The mast raising winch W2 winds in and sends out the mast raising rope 26. The winding and unwinding operation of the mast raising and lowering winch W2 changes the distance between the pulley block 25 at the distal end portion of the box mast 16 and the pulley block 24 at the rear end portion of the upper slewing body 13, so that the box mast 16 and the mast 15 integrally rotate with respect to the upper slewing body 13 and the mast 15 is raised and lowered. The rotation of the mast 15 and the box mast 16 is mainly performed when the crane 10 is assembled and disassembled, and the positions (ground angle) of the mast 15 and the box mast 16 are substantially fixed when the crane 10 is in use.

The crane body 11 is mounted with a main reel winch W3 and a sub reel winch W4 for raising and lowering the hoist 1 in addition to the mast raising and lowering winch W2 and the boom raising and lowering winch W1.

The main reel winch W3 uses the main reel rope 28 to raise and lower the hoist 1. In this primary winding, a rotatable primary winding guide pulley, not shown, is provided at the distal end portion 14A of the boom 14, and a primary winding pulley block in which a plurality of primary winding point pulleys are arranged in the width direction is provided at a position adjacent to the primary winding guide pulley. The main winding rope 28 hanging from the main winding pulley block is connected to the main hook 17 for hanging. The main winding rope 28 drawn out from the main winding winch W3 is wound around the main winding guide pulley in sequence and between the pulley of the main winding pulley block and the pulley of the pulley block provided in the main hook 17. Therefore, the main reel winch W3 lifts and drops the main hook 17 when reeling in or reeling out the main reel rope 28.

Likewise, sub-reel winch W4 uses sub-reel rope 29 to raise and lower hoist 1. The secondary volume has a structure, not shown, similar to the primary volume. Then, when the sub winch W4 winds in or feeds out the sub reel rope 29, a not-shown auxiliary hook for hanging connected to the end of the sub reel rope 29 is lifted or lowered.

The counterweight 30 is provided for the crane body 11 to lift a heavy object, and has a function of keeping the crane 10 balanced. The counterweight 30 has a tray 31 and one or more weights 32 stacked on the tray 31. The counterweight 30 is not limited to this, and may have, for example, a carriage, not shown, and one or more weights 32 stacked on the carriage. The counterweight 30 may also be comprised of one or more weights 32.

As shown in fig. 1, the counterweight 30 is disposed rearward of the upper slewing body 13. The counterweight 30 is connected to the rear portion of the upper slewing body 13 via a coupling member S. As the coupling member S, for example, a wire rope, a rigid coupling arm, a telescopic arm capable of adjusting the distance between the upper revolving structure 13 and the counterweight 30, or the like can be used, but not limited thereto. When the coupling member S is a rigid coupling arm or a rigid telescopic arm, the coupling member S is preferably rotatable with respect to the upper slewing body 13 at a base end portion of the coupling member S connected to the rear portion of the upper slewing body 13.

The counterweight 30 is suspended from the distal end portion 15A of the mast 15 via a guide rope 33 (positioning chain 33) and a length adjusting device 72 to be balanced with the boom 14. The lower end of the guide cable 33 is mounted on the counterweight 30. The length adjusting device 72 will be described later. In the present embodiment, the guide rope 33 and the length adjustment device 72 constitute a suspension member, and the counterweight 30 is suspended from the distal end portion 15A of the mast 15 via the suspension member. The counterweight 30 is suspended from the distal end portion 15A of the mast 15 at a position rearward of the distal end portion 14A of the boom 14 from which the hoist 1 is suspended.

[ auxiliary height adjustment ]