阅读说明：本技术 起重机装置、股数判定方法以及程序 (Crane device, number of stocks determination method, and program ) 是由 野口和成 玉木啓资 于 2019-10-21 设计创作，主要内容包括：提供如下起重机装置、股数判定方法以及程序：能够不增加部件数量,对实际的钢缆的股数与操作员所设定的钢缆的设定股数是否一致进行判定。起重机装置能够设定多种在臂的前端部与带钩滑轮之间的钢缆的股数,具备：转出长度检测部,对从供钢缆卷绕的卷扬机转出的钢缆的转出长度进行检测；臂角度检测部,对臂的起伏角度进行检测；以及股数判定部,基于在吊离地面状态下的转出长度、起伏角度、以及臂的臂长度,计算用于对钢缆的股数的适当与否进行判定的信息。(Provided are a crane device, a stock number determination method, and a program: it is possible to determine whether or not the number of strands of the actual wire rope matches the set number of strands of the wire rope set by the operator without increasing the number of components. The crane device can set the number of strands of a plurality of types of cables between the distal end portion of the arm and the hooked pulley, and is provided with: a winding length detection unit for detecting the length of the wire rope wound around the wire rope; an arm angle detection unit that detects a rising and falling angle of the arm; and a number-of-strands determination unit that calculates information for determining the number of strands of the wire rope based on the run-out length, the heave angle, and the arm length of the arm in a state of being suspended from the ground.)

1. A crane device capable of setting a plurality of wire rope strands between a distal end portion of an arm and a hooked pulley, the crane device comprising:

a winding length detection unit that detects a winding length of the wire rope wound around the wire rope;

an arm angle detection unit that detects a rising and falling angle of the arm; and

and a number-of-strands determination unit that calculates information for determining the number of strands of the wire rope based on the swing-out length, the heave angle, and the arm length of the arm in a state of being suspended from the ground.

2. The crane assembly of claim 1,

the arm is configured to be freely extendable and retractable,

the crane device is provided with an arm length detection part for detecting the telescopic length of the arm,

the arm length is detected by the arm length detecting section.

3. The crane apparatus according to claim 1 or 2, comprising:

a load detection unit for detecting a load acting on the tip end portion of the arm,

the number-of-strands determination unit determines that the hook-off-ground state is present when the load detection unit detects a load equal to or greater than the weight of the hook-equipped pulley.

4. The crane apparatus according to any one of claims 1 to 3, comprising:

a number-of-strands storage unit for storing a set number of strands of the wire rope set by an operator,

the number of strands determination section performs the following processing:

calculating a wire rope real length of the wire rope which is turned out from the front end portion of the arm based on the turned-out length and the arm length;

calculating a suspended length of the wire rope corresponding to a distance in a vertical direction between a distal end portion and a proximal end portion of the arm based on the heave angle and the arm length;

calculating an estimated wire rope length of the wire rope which is fed out from the tip end portion of the arm, based on the hanging length and the set number of strands; and

and determining whether the number of strands of the wire rope is appropriate or not based on the actual length of the wire rope and the estimated length of the wire rope.

5. The crane apparatus according to claim 4, comprising:

and a notification unit configured to notify the determination result of the number-of-shares determination unit.

6. A number-of-strands determination method for determining the number of strands of a wire rope in a crane device capable of setting a plurality of types of the number of strands of the wire rope between a tip end portion of an arm and a hooked pulley, the number-of-strands determination method comprising:

a step of acquiring a winding length of the wire rope which is wound around a winding machine;

a step of acquiring a rising and falling angle of the arm;

a step of acquiring an arm length of the arm; and

and calculating information for determining the adequacy of the number of strands of the wire rope based on the swing-out length, the heave angle, and the arm length in a state of being lifted off the ground.

7. A program for causing a computer of a crane apparatus capable of setting a plurality of types of wire rope strands between a distal end portion of an arm and a hooked pulley to execute:

a process of acquiring a winding-out length of the wire rope that is wound around a winding machine;

processing of acquiring a relief angle of the arm;

a process of acquiring an arm length of the arm; and

and a process of calculating information for determining the propriety of the number of strands of the wire rope based on the swing-out length, the heave angle, and the arm length in a state of being lifted off the ground.

Technical Field

The present invention relates to a crane apparatus, a strand number determination method, and a program capable of changing the strand number of a wire rope between a distal end portion of an arm and a hooked pulley.

Background

Conventionally, a crane apparatus capable of changing the number of strands of a wire rope between a tip end portion of an arm and a hooked pulley is known. The crane device is provided with an overload prevention device for limiting the operation of the crane device, thereby preventing a load above a rated load from acting on the front end portion of the arm. The overload prevention device calculates a rated load based on the number of strands set by the operator, and controls the operation of the crane device so as not to exceed the rated load.

In a crane apparatus provided with an overload prevention device, when the number of strands of a wire rope set in the overload prevention device is larger than the actual number of strands of the wire rope, the overload prevention device does not restrict the operation of the crane apparatus even if a load larger than the actual rated load acts on the wire rope, and therefore, there is a risk of damage or breakage of the wire rope. In the crane apparatus, when the number of strands of the wire rope set in the overload prevention device is smaller than the actual number of strands of the wire rope, an overwind state is likely to occur during the operation of raising the hook pulley, and reverse winding of the wire rope may occur in the winch drum during the operation of lowering the hook pulley.

Therefore, in a crane apparatus provided with an overload prevention device, the following invention is considered: it is determined whether or not the number of strands of the actual wire rope matches the number of strands of the wire rope set in the overload prevention device (see, for example, patent document 1).

Prior art documents

Patent document

Patent document 1, Japanese patent laid-open publication No. 2009-107745

Disclosure of Invention

Problems to be solved by the invention

In the crane apparatus disclosed in patent document 1 and the like, a pair of limit switches are provided at a predetermined distance from each other in order to obtain the actual number of strands of the wire rope, and the number of strands of the wire rope is calculated based on the elapsed time from the operation of one limit switch by the hook pulley to the operation of the other limit switch.

Therefore, since a dedicated limit switch is required, the manufacturing cost of the crane apparatus may be increased.

The invention aims to provide a crane device, a number of strands determination method and a program, which can determine whether the number of strands of an actual steel cable is consistent with the number of strands of the steel cable set by an operator or not without increasing the number of components.

Means for solving the problems

The invention relates to a crane device, which comprises a crane body,

the crane device is capable of setting the number of strands of a plurality of types of wire ropes between the tip end of an arm and a hooked pulley, and comprises:

a winding length detection unit that detects a winding length of the wire rope wound around the wire rope;

an arm angle detection unit that detects a rising and falling angle of the arm; and

and a number-of-strands determination unit that calculates information for determining the number of strands of the wire rope based on the swing-out length, the heave angle, and the arm length of the arm in a state of being suspended from the ground.

The number of shares determination method according to the present invention,

the method for determining the number of strands of a wire rope in a crane device capable of setting a plurality of types of the number of strands of the wire rope between a tip end portion of an arm and a hooked pulley, includes:

a step of acquiring a winding length of the wire rope which is wound around a winding machine;

a step of acquiring a rising and falling angle of the arm;

a step of acquiring an arm length of the arm; and

and calculating information for determining the adequacy of the number of strands of the wire rope based on the swing-out length, the heave angle, and the arm length in a state of being lifted off the ground.

The program according to the present invention is a program,

causing a computer of a crane device capable of setting a plurality of numbers of strands of a wire rope between a leading end portion of an arm and a hooked pulley to execute:

a process of acquiring a winding-out length of the wire rope that is wound around a winding machine;

processing of acquiring a relief angle of the arm;

a process of acquiring an arm length of the arm; and

and a process of calculating information for determining the propriety of the number of strands of the wire rope based on the swing-out length, the heave angle, and the arm length in a state of being lifted off the ground.

Effects of the invention

According to the present invention, it is possible to determine whether or not the actual number of strands of the wire rope matches the number of strands of the wire rope stored in the number-of-strands storage unit by means of the equipment provided in the conventional crane device without increasing the number of components, and therefore, it is possible to suppress an increase in manufacturing cost.

Drawings

Fig. 1 is a side view of a mobile crane according to an embodiment of the present invention.

Fig. 2 is a block diagram showing a control system.

Fig. 3 is a schematic diagram for explaining the number of strands of the wire rope between the arm head and the hooked pulley.

Fig. 4 is a flowchart showing the number-of-shares determination process.

Fig. 5 is a diagram for explaining the determination of the number of shares.

Detailed Description

Fig. 1 to 5 are views showing an embodiment of the present invention. In the present embodiment, the present invention is applied to the crane device 20 of the mobile crane 1.

As shown in fig. 1, the mobile crane 1 includes: a vehicle body 10 for traveling on a general road or a work area, a crane device 20 for performing a crane operation, and a cab 30 for operating traveling of the vehicle body 10 and the crane operation of the crane device 20. The crane device 20 and the cab 30 are supported by a revolving platform 40 that is rotatable in the horizontal direction with respect to the vehicle body 10, and the crane device 20 is disposed on one side in the width direction of the revolving platform 40, and the cab 30 is disposed on the other side in the width direction.

The vehicle body 10 includes wheels 11 provided on both sides in the width direction of the front side and the rear side, and outriggers 12 provided in front of the front side wheels 11 and behind the rear side wheels 11. The vehicle body 10 travels by the driving force of the engine.

The crane device 20 includes: a telescopic arm 21 configured to be freely raised and lowered and extended freely with respect to the vehicle body 10, a wire rope 22 extending along the telescopic arm 21 and hanging down from the tip end portion of the telescopic arm 21, a hoist 23 for winding and unwinding the wire rope 22, and a hook pulley 24 locked to the wire rope 22 hanging down from the tip end portion of the telescopic arm 21.

The telescopic arm 21 is composed of a plurality of arm members formed in a cylindrical shape, and has a telescopic mechanism. The telescopic arm 21 is extended and contracted by a hydraulic telescopic cylinder not shown. The base end portion of the telescopic arm 21 is connected to the turntable 40 so as to be swingable in the up-down direction. A hydraulic type heave cylinder 21a is connected between a substantially central portion of the telescopic arm 21 in the extending direction and the turn table 40, and the heave operation of the telescopic arm 21 is performed by the expansion and contraction operation of the heave cylinder 21 a.

The arm head 21b is provided at the tip end of the telescopic arm 21. A guide pulley 21c for guiding the wire rope 22 extending along the upper surface of the telescopic arm 21 downward is provided above the arm head 21b in a state where the telescopic direction of the telescopic arm 21 is directed in the horizontal direction. Further, one or more top pulleys 21d for winding the wire rope 22 between the arm head 21b and the hooked pulley 24 are disposed below the arm head 21b, and the rotation axis thereof is oriented in the width direction of the arm head 21 b.

The wire rope 22 is a wire rope made of a plurality of strands formed by twisting hard steel wires, or a synthetic fiber cable made of synthetic fibers.

The hoist 23 is provided at a position adjacent to the base end portion of the telescopic arm 21 on the turntable 40. The hoist 23 includes a hoist drum 23a around which the wire rope 22 is wound, and a hydraulic hoist motor, not shown, for rotating the hoist drum 23 a. By switching the driving direction of the rotation shaft of the hoist motor, the winding operation and the unwinding operation of the wire rope 22 on the hoist drum 23a are switched.

The hook pulley 24 includes a pair of side plates 24a, a hook 24b provided at a lower portion of the pair of side plates 24a, and one or more hook pulleys 24c rotatably supported between the pair of side plates 24a via a support shaft.

The turntable 40 is provided to be rotatable with respect to the vehicle body 10 via a ball bearing type or roller bearing type rotary disk, and is rotated by a hydraulic rotary motor, not shown.

Here, actuators such as a telescopic cylinder, a heave cylinder 21a, a hoist motor, and a slewing motor for driving the crane apparatus 20 are driven by hydraulic oil discharged from a hydraulic pump, not shown, driven by power of an engine. The driving force of the engine is transmitted to the hydraulic pump via a PTO (power take off) mechanism.

The mobile crane 1 further includes a controller 50 for controlling the travel of the vehicle body 10 and the operation of the crane device 20. The controller 50 functions as a number-of-strands determination unit that calculates information for determining the adequacy of the number of strands of the wire rope 22.

The controller 50 has a CPU, ROM, RAM, and the like. In the controller 50, when the CPU receives an input signal from a device connected to the input side, the CPU reads a program stored in the ROM based on the input signal, and stores a state detected by the input signal in the RAM or transmits an output signal to a device connected to the output side.

As shown in fig. 2, a setting input unit 51, an arm length sensor 52, an arm angle sensor 53, a wire-out length sensor 54, a load detection sensor 55, a PTO switch 56, and the like are connected to the input side of the controller 50. The setting input unit 51 is an input device for an operator to input a setting when the crane apparatus 20 is operated. The arm length sensor 52 is an arm length detecting unit for detecting the telescopic length Lb of the telescopic arm 21. The arm angle sensor 53 is an arm angle detection unit for detecting the heave angle θ of the telescopic arm 21. The wire rope unwinding length sensor 54 is an unwinding length detecting unit for detecting the unwinding length Lr of the wire rope 22 unwound from the winch drum 23 a. The load detection sensor 55 is a load detection unit for detecting a load W acting on the distal end portion of the telescopic arm 21, such as the belt hook pulley 24 and a load. The PTO switch 56 switches the PTO mechanism between a state (connection) in which the driving force of the engine is transmitted to the hydraulic pump and a state (disconnection) in which the transmission is interrupted.

As shown in fig. 2, a display unit 57 and a speaker 58 are connected to the output side of the controller 50. The display unit 57 and the speaker 58 function as a notification unit for notifying an operator in the cab 30 of the state of the crane apparatus 20 including the appropriate number of strands of the wire rope 22.

The setting input unit 51 is a touch panel having a function of the display unit 57 and a function as an input device, such as a liquid crystal panel. The setting input unit 51 is operated by the operator when setting the set number of strands R of the wire rope 22 wound between the arm head 21b of the telescopic arm 21 and the hook pulley 24. Information on the set number of shares R set by the setting input unit 51 is stored in the storage unit 50a of the controller 50.

For example, the arm length sensor 52 is provided on the proximal end side of the telescopic arm 21, and includes a take-up reel for connecting the tip end of the fed wire to the arm member on the distal end side, and a rotary encoder connected to the rotation shaft of the take-up reel. The arm length sensor 52 acquires the arm length Lb of the telescopic arm 21 based on the detection result of the number of rotations of the rotary encoder.

For example, the arm angle sensor 53 has a potentiometer attached to a side surface of the arm member on the most proximal end side of the telescopic arm 21. The arm angle sensor 53 acquires the heave angle θ of the telescopic arm 21 based on the detection result of the potentiometer.

For example, the wire rope unwinding length sensor 54 has a rotary encoder for detecting the number of rotations of the winch drum 23a of the winch 23. The wire rope unwinding length sensor 54 acquires the unwinding length Lr of the wire rope 22 unwound from the hoist 23 based on the detection result of the number of rotations of the rotary encoder.

For example, the load detection sensor 55 includes a pressure sensor for detecting the pressure in the heave cylinder 21 a. The load detection sensor 55 obtains the load acting on the tip end portion of the telescopic arm 21 based on the detection pressure of the pressure sensor.

In the traveling crane 1 configured as described above, depending on the winding method (number of strands) of the wire rope 22 between the arm head 21b and the hook pulley 24, the moving speed of the hook pulley 24 with respect to the winding/unwinding speed of the wire rope 22, the moving amount of the hook pulley 24 with respect to the winding/unwinding amount of the wire rope 22, and the tensile tension of the wire rope 22 required for lifting the hook pulley 24 and the load are changed.

For example, in the case where the wire rope 22 extending downward from the top pulley 21d is folded back via the hook pulley 24c and the end is fixed to the arm head 21b, that is, in the case where the number of strands of the wire rope 22 is 2, the moving speed of the hook pulley 24 with respect to the winding/unwinding speed of the wire rope 22, the moving amount of the hook pulley 24 with respect to the winding/unwinding amount of the wire rope 22, and the tensile tension of the wire rope 22 required for lifting the hook pulley 24 and the load become 1 out of 2, respectively, as compared to the case where the number of strands is 1.

In the case where the wire rope 22 extending downward from the top pulley 21d is folded back in the order of the hook pulley 24c and the top pulley 21d and the end is fixed to the hook pulley 24, that is, in the case where the number of strands of the wire rope 22 is 3, the moving speed of the hook pulley 24 with respect to the winding/unwinding speed of the wire rope 22, the moving amount of the hook pulley 24 with respect to the winding/unwinding amount of the wire rope 22, and the tensile tension of the wire rope 22 required for lifting the hook pulley 24 and the load become 1/3 as compared to the case where the number of strands is 1.

As shown in fig. 3, when the wire rope 22 extending downward from the top pulley 21d is folded back in the order of the hook pulley 24c, the top pulley 21d, and the hook pulley 24c and the end is fixed to the arm head 21b, that is, when the number of strands of the wire rope 22 is 4, the moving speed of the hook pulley 24 with respect to the winding/unwinding speed of the wire rope 22, the moving amount of the hook pulley 24 with respect to the winding/unwinding amount of the wire rope 22, and the tensile tension of the wire rope 22 required for lifting the hook pulley 24 and the load become 1 of 4, respectively, compared to the case where the number of strands is 1.

Before starting the crane operation by the crane apparatus 20, the operator performs an operation of winding the wire rope 22 between the arm head 21b and the hooked pulley 24, and sets the set number R of strands of the wire rope 22 via the setting input unit 51. The information of the set number of strands R of the wire rope 22 input via the setting input unit 51 is stored in the storage unit 50a of the controller 50. The controller 50 controls the operation of the telescopic arm 21 so as to prevent a load equal to or greater than a rated load from acting on the tip end portion of the telescopic arm 21, based on the set number of strands R of the wire rope 22 stored in the storage portion 50 a.

Further, when the crane apparatus 20 is operated before the start of the crane operation, the controller 50 performs the number-of-strands determination process for determining whether or not the actual number of strands of the wire rope 22 between the arm head 21b and the hooked pulley 24 matches the set number of strands R of the wire rope 22 set by the operator. This processing is realized, for example, by the CPU of the controller 50 executing a stock number determination program stored in the ROM. The operation of the CPU at this time will be described with reference to the flowchart of fig. 4.

(step S1)

In step S1, the CPU determines whether or not the PTO switch 56 is in the on state. If it is determined that PTO switch 56 is in the on state, the process proceeds to step S2, and if it is not determined that PTO switch 56 is in the on state, the number of strands wrong setting determination process is ended.

(step S2)

In step S2, the CPU determines whether or not the crane device 20 is in a predetermined state for starting accumulation of the haul-off length Lr of the wire rope 22. If it is determined that the crane apparatus 20 is in the predetermined state, the process proceeds to step S3, and if it is not determined that the crane apparatus 20 is in the predetermined state, the number of stocks determination process is ended.

Here, the predetermined state is, for example, a state in which, in the crane apparatus 20 in which the hook pulley 24 is accommodated at the tip end portion of the telescopic arm 21, that is, a so-called hook-in type, the operation of the crane apparatus 20 other than the raising and lowering operation of the telescopic arm 21 and the operation of the hoist 23 is input after the posture of the hook pulley 24 is changed from the accommodated posture to the working posture. For example, in the crane apparatus 20 in which the vehicle body 10 travels with the hook sheave 24 being caught on the frame located beside the cab 30, the predetermined state is a state in which an operation of the crane apparatus 20 other than the raising and lowering operation of the telescopic arm 21 and the operation of the hoist 23 is input.

(step S3)

In step S3, the CPU starts integration of the turning length Lr of the wire rope 22 turned out from the hoist 23, and proceeds to step S4.

(step S4)

In step S4, the CPU acquires the load W acting on the distal end portion of the telescopic arm 21 by the load detection sensor 55, and determines whether or not the load W is greater than zero. If it is determined that the load W detected by the load detection sensor 55 is greater than zero, the process proceeds to step S5, and if it is not determined that the load W detected by the load detection sensor 55 is greater than zero, the process of step S4 is repeated.

Here, the case where the load W is greater than zero indicates a state where the actual number of strands of the wire rope 22 is set on the installation surface of the traveling crane 1 and then the hook pulley 24 is positioned on the installation surface, as follows: the hook sheave 24 is driven by the hoist 23 to move on the installation surface of the mobile crane 1.

(step S5)

In step S5, the CPU determines whether or not the load W detected by the load detection sensor 55 is equal to or greater than the weight Wf of the hook pulley 24. If it is determined that the load W detected by the load detection sensor 55 is equal to or greater than the weight Wf of the hook pulley 24, the process proceeds to step S6, and if it is not determined that the load W detected by the load detection sensor 55 is equal to or greater than the weight Wf of the hook pulley 24, the process returns to step S4.

Here, the state in which the load W detected by the load detection sensor 55 is equal to or greater than the weight Wf of the hook sheave 24 is a state in which the hook sheave 24 is lifted off the ground from the installation surface of the mobile crane 1. The hooked pulley 24 at this time can be regarded as being positioned directly below the arm head 21b of the telescopic arm 21 and slightly above the installation surface of the mobile crane 1.

(step S6)

In step S6, the CPU acquires the wire rope 22 rotation length Lr by the wire rope rotation length sensor 54, and shifts the process to step S7.

(step S7)

In step S7, the CPU acquires the telescopic length Lb of the telescopic arm 21 by the arm length sensor 52, and shifts the process to step S8.

(step S8)

In step S8, the CPU acquires the heave angle θ of the telescopic arm 21 by the arm angle sensor 53, and the process proceeds to step S9.

(step S9)

In step S9, the CPU acquires the estimated cable length Le of the cable 22 fed out from the distal end portion of the telescopic arm 21, and the process proceeds to step S10.

As shown in fig. 5, when the rope 22 is lifted off the ground, the length of the rope 22 lifted from the tip end of the telescopic arm 21 to the hooked pulley 24 can be considered to correspond to the distance (Lb × sin θ) in the vertical direction between the tip end portion and the base end portion of the telescopic arm 21 calculated based on the telescopic length Lb of the telescopic arm 21 and the undulation angle θ. The calculated distance (Lb × sin θ) in the vertical direction between the distal end portion and the base end portion of the telescopic arm 21 is multiplied by the set number of strands R set by the operator, thereby calculating the estimated wire rope length Le of the wire rope 22 (Lb × sin θ × R). The estimated wire length Le includes an error corresponding to a difference Δ L between the height of the base end of the telescopic boom 21 and the installation surface of the mobile crane. In addition, the estimated cable length Le (═ Lb × sin θ + Δ L) × R) may be calculated in consideration of the difference Δ L, and in this case, the estimation accuracy of the estimated cable length Le is improved.

(step S10)

In step S10, the CPU determines whether or not the actual cable length (Lr-Lb) of the cable 22 actually fed out from the distal end portion of the telescopic arm 21 matches the estimated cable length Le of the cable 22 acquired in step S9. The wire rope real length is calculated based on the length Lr of the wire rope 22 obtained in step S6 and the length Lb of the telescopic arm 21 obtained in step S7. The number of strands determination processing is ended when it is determined that the cable real length (Lr-Lb) matches the estimated cable length Le, and the process proceeds to step S11 when it is not determined that the cable real length (Lr-Lb) matches the estimated cable length Le.

Here, in the determination of whether the cable real length (Lr-Lb) and the estimated cable length Le coincide with each other, it is not necessary to determine whether these lengths coincide with each other strictly, and for example, when the difference between the cable real length (Lr-Lb) and the estimated cable length Le is within a predetermined range, it is determined that these lengths coincide with each other. For example, the predetermined range is set to include an error included in the estimated wire length Le due to a difference in height between the base end portion of the telescopic boom 21 and the installation surface of the mobile crane 1.

(step S11)

In step S11, the CPU displays on the display 57 the set number of shares R set by the operator and the actual number of shares in disagreement with each other, outputs them as audio through the speaker 58, and ends the number of shares determination process.

As described above, the crane apparatus 20 according to the present embodiment is a crane apparatus capable of setting the number of strands of the wire rope 22 between the tip end portion of the telescopic boom 21 and the hooked pulley 24 in plural kinds, and includes: a wire rope unwinding length sensor 54 (unwinding length detecting section) that detects the unwinding length Lr of the wire rope 22 unwound from the winding machine 23 around which the wire rope 22 is wound; an arm angle sensor 53 (arm angle detection unit) that detects the rising and falling angle θ of the telescopic arm 21; and a controller 50 (strand number determination unit) that calculates information for determining the adequacy of the strand number of the wire rope 22 based on the rotated length Lr, the undulation angle θ, and the telescopic length Lb of the telescopic arm 21 in the state of being suspended from the ground.

Specifically, in the crane apparatus 20, the controller 50 calculates the wire rope real length (Lr-Lb) based on the rotated length Lr of the wire rope 22 rotated from the hoist 23 and the telescopic length Lb of the telescopic arm 21. The controller 50 calculates the estimated wire length (Lb × sin θ × R) based on the vertical distance (Lb × sin θ) between the distal end portion and the proximal end portion of the telescopic arm 21 calculated from the heave angle θ and the telescopic length Lb of the telescopic arm 21 and the set number of strands R of the wire rope 22 stored in the storage unit 50 a. Then, the controller 50 determines whether or not the number of actual strands of the wire rope 22 wound between the distal end portion of the telescopic arm 21 and the hook pulley 24 matches the set number of strands R of the wire rope 22 stored in the storage unit 50a, based on the real wire rope length (Lr-Lb) and the estimated wire rope length (Lb × sin θ × R).

Further, the number of strands determination method according to the embodiment is a method for determining the number of strands of the wire rope 22 in the crane apparatus 20 capable of setting a plurality of types of the number of strands of the wire rope 22 between the tip end portion of the telescopic boom 21 and the hooked pulley 24, and includes: a step of acquiring a winding length Lr of the wire rope 22 that is wound around the wire rope 22 and is wound out of the winding machine 23 (step S6 in fig. 4); a step of acquiring a heave angle θ of the telescopic arm 21 (step S8 in fig. 4); a step of acquiring a telescopic length Lb (arm length) of the telescopic arm 21 (step S7 in fig. 4); and a step of calculating information for determining the adequacy of the number of strands of the wire rope 22 based on the rotated length Lr, the undulation angle θ, and the expansion length Lb in the suspended state from the ground (steps S9, S10 in fig. 4).

In the embodiment, the crane apparatus according to the present invention is realized by the CPU executing the stock number determination program stored in the ROM. That is, the program according to the embodiment causes a CPU (computer) of the crane apparatus 20 capable of setting the number of strands of the wire rope 22 between the tip end portion of the telescopic arm 21 and the hooked pulley 24 to be plural types to execute: a process of acquiring a winding length Lr of the wire rope 22 that is wound around the winding machine 23 and is wound around the wire rope 22 (step S6 in fig. 4); a process of acquiring the heave angle θ of the telescopic arm 21 (step S8 in fig. 4); a process of acquiring the telescopic length Lb (arm length) of the telescopic arm 21 (step S7 in fig. 4); and a process of calculating information for determining the adequacy of the number of strands of the wire rope 22 based on the rotated length Lr, the undulation angle θ, and the expansion length Lb in the suspended state from the ground (steps S9, S10 in fig. 4).

For example, the number-of-shares determination program can be provided via a computer-readable removable storage medium (including an optical disk, a magneto-optical disk, and a memory card, for example) in which the program is stored. Further, for example, the stock number determination program may be downloaded from a server that holds the program via a network.

Accordingly, since it is possible to determine whether or not the actual number of strands of the wire rope 22 matches the set number of strands R of the wire rope 22 stored in the number-of-strands storage unit by the equipment provided in the conventional crane apparatus, it is possible to suppress an increase in the manufacturing cost of the crane apparatus 20.

When the load detection sensor 55 detects a load equal to or greater than the weight Wf of the hook pulley 24, the controller 50 determines that the rope is in the lifted-off-ground state, and determines whether or not the number of actual strands of the wire rope 22 matches the set number of strands R of the wire rope 22 stored in the storage unit 50 a.

Accordingly, in the normal operation of the crane apparatus 20 after the change of the number of strands, it is determined whether or not the actual number of strands of the wire rope 22 matches the set number of strands R of the wire rope 22 stored in the storage unit 50a at the time point when the hook pulley 24 is suspended by the telescopic arm 21, i.e., at the time point when the hook pulley 24 is suspended from the ground.

When the actual number of strands of the wire rope 22 does not match the set number of strands R of the wire rope 22 stored in the storage unit 50a, the display unit 57 and the speaker 58 notify this state.

Accordingly, when the actual number of strands of the wire rope 22 does not match the set number of strands R of the wire rope 22 stored in the storage unit 50a, the operator can be reminded to stop the crane operation, and therefore, the safety during the crane operation can be improved.

In the embodiment, the crane apparatus 20 having the telescopic arm 21 which can be extended and contracted is shown, but the present invention is not limited to this, and a crane apparatus having a fixed-length arm can be applied to the present invention. In this case, the cable real length (Lr-Lb) and the estimated cable length (Lb × sin θ × R) are calculated using the arm length Lb as a constant.

In the embodiment, the number of strands determination process is performed in the order of the length Lr of the wire rope 22 (step S6), the length Lb of the telescopic arm 21 (step S7), and the heave angle θ of the telescopic arm 21 (step S8), but the present invention is not limited to this. In the number-of-strands determination process, the order of acquisition of the turning-out length Lr of the wire rope 22, acquisition of the telescopic length Lb of the telescopic arm 21, and acquisition of the heave angle θ of the telescopic arm 21 may be replaced with one another. The length Lr of the wire rope 22 can be obtained after the estimated wire rope length Le is obtained.

In the embodiment, when the actual number of strands of the wire rope 22 does not match the set number of strands R, the operator is notified via the display unit 57 and the speaker 58, but the operator may be notified via one of the display unit 57 and the speaker 58. In addition, when the actual number of strands of the wire rope 22 does not match the set number of strands R, the operation of the crane apparatus 20 can be restricted.

In the embodiment, the propriety of the number of strands of the wire rope 22 is determined by whether or not the wire rope real length (Lr-Lb) and the estimated wire rope length Le coincide with each other, but the propriety of the number of strands may be determined by comparing the set number of strands R and the estimated number of strands by estimating the number of strands of the wire rope 22 based on the hanging length (Lb × sin θ) of the wire rope 22 and the wire rope real length (Lr-Lb) of the wire rope 22.

In addition, information for determining the propriety of the number of strands of the wire rope 22 (for example, the real wire rope length (Lr-Lb) and the estimated wire rope length Le, or the estimated number of strands) may be calculated and provided to the operator, and the propriety of the number of strands may be determined by the operator.

It is to be understood that the embodiments disclosed herein are illustrative and not restrictive in their entirety. The scope of the present invention is defined by the claims rather than the above description, and all modifications within the meaning and range equivalent to the claims are intended to be included.

In addition, the disclosures of the specification, drawings and abstract of the specification included in japanese application laid out in japanese patent application 2018-198454, which was filed in 22.10.2018 are all incorporated into the present application.

Description of the reference numerals

1 Mobile crane

20 crane device

21 telescopic arm

22 steel cable

23 hoist

24 pulley with hook

50 controller

50a storage part

51 setting input part

52 arm length sensor (arm length detecting part)

53 arm angle sensor (arm angle detection part)

54 wire rope run-out length sensor (run-out length detecting part)

55 load detecting sensor (load detecting part)

57 display unit (notification unit)

58 speaker (Notification part)