crane

Abstract

A crane according to the present invention includes: a telescopic arm having an inner arm element and an outer arm element; an extension / contraction actuator that displaces one of the arm elements in a telescopic direction; a first link member that links the extension / contraction actuator and the one arm element in a releasable manner; a second link member that links the pair of arm elements in a releasable manner; an electric drive source provided to the extension / contraction actuator; a first link mechanism that displaces one of the first and second link members based on the power of the electric drive source, thereby switching the linked state and the unlinked state of the members linked by the one link member in a releasable manner; and a position information detection device that detects information related to the position of the one link member based on the output of the electric drive source.

Description

[0001] This application is a divisional application of application number 201980012230.0 filed on February 14, 2019, entitled "Crane". Technical Field

[0002] This invention relates to a crane equipped with a telescopic boom. Background Technology

[0003] Patent Document 1 discloses a mobile crane having a telescopic boom with multiple boom elements overlapping in a nested (also called telescopic) manner, and a hydraulic telescopic cylinder for extending the telescopic boom.

[0004] The telescopic arm has arm connecting pins that connect adjacent and overlapping arm elements to each other. An arm element whose connection based on the arm connecting pin is released (hereinafter referred to as a displaceable arm element) can be displaced relative to other arm elements along the length direction (also referred to as the telescopic direction).

[0005] The telescopic cylinder has a rod component and a cylinder component. Such a telescopic cylinder connects the cylinder component to the aforementioned displaceable arm element via a cylinder connecting pin. If the cylinder component displaces in the telescopic direction in this state, the aforementioned displaceable arm element displaces together with the cylinder component, thus telescopically extending or retracting the telescopic arm.

[0006] Prior art literature

[0007] Patent documents

[0008] Patent Document 1: Japanese Patent Application Publication No. 2012-96928 Summary of the Invention

[0009] The problem to be solved by the present invention

[0010] Furthermore, the crane described above includes: a hydraulic actuator for displacing the boom connecting pin, a hydraulic actuator for displacing the cylinder connecting pin, and a hydraulic circuit for supplying pressurized oil to these actuators. Such a hydraulic circuit is, for example, provided around the telescopic boom. Therefore, the design freedom around the telescopic boom may be reduced.

[0011] The object of this invention is to provide a crane that can increase the degree of design freedom around the telescopic boom.

[0012] Methods for solving problems

[0013] The crane according to the present invention comprises: a telescopic boom having an inner boom element and an outer boom element that overlap in a telescopic manner; a telescopic actuator that displaces one of the inner boom element and the outer boom element in a telescopic direction; a first connecting member that disengages the telescopic actuator to one of the boom elements; a second connecting member that disengages the inner boom element and the outer boom element; an electric drive source disposed on the telescopic actuator; a first connecting mechanism that displaces one of the connecting members of the first connecting member and the second connecting member based on the power of the electric drive source, thereby switching the connection state and non-connection state of the components connected by that connecting member; and a position information detection device that detects information related to the position of one of the connecting members based on the output of the electric drive source.

[0014] Invention Effects

[0015] According to the present invention, the degree of freedom in the design of the telescopic arm can be increased. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the mobile crane involved in Embodiment 1.

[0017] Figure 2 middle Figure 2 A~ Figure 2 E is a schematic diagram illustrating the structure and telescopic movement of the telescopic arm.

[0018] Figure 3A This is a perspective view of the actuator.

[0019] Figure 3B yes Figure 3A Enlarged view of part A.

[0020] Figure 4 This is a partial plan view of the actuator.

[0021] Figure 5 This is a partial side view of the actuator.

[0022] Figure 6 From Figure 5 The diagram shows the actuator maintaining the state of the arm connecting pin, viewed from the right side.

[0023] Figure 7 This is a perspective view of the pin displacement module that maintains the state of the arm connecting pin.

[0024] Figure 8 This is the front view of the pin displacement module, which is in an expanded state and retains the state of the arm connecting pin.

[0025] Figure 9 From Figure 8 The image viewed from the left.

[0026] Figure 10 From Figure 8 The image viewed from the right side.

[0027] Figure 11 From Figure 8 The image is viewed from the top.

[0028] Figure 12 This is the front view of a pin displacement module with the arm connection mechanism in a retracted state and the cylinder connection mechanism in an expanded state.

[0029] Figure 13 This is the front view of a pin displacement module with the arm connection mechanism in an expanded state and the cylinder connection mechanism in a retracted state.

[0030] Figure 14A This is a schematic diagram used to illustrate the operation of the locking mechanism.

[0031] Figure 14B This is a schematic diagram used to illustrate the operation of the locking mechanism.

[0032] Figure 14C This is a schematic diagram used to illustrate the operation of the locking mechanism.

[0033] Figure 14D This is a schematic diagram used to illustrate the operation of the locking mechanism.

[0034] Figure 15A This is a schematic diagram used to illustrate the function of the locking mechanism.

[0035] Figure 15B This is a schematic diagram used to illustrate the function of the locking mechanism.

[0036] Figure 16 This is a timing diagram of the telescopic arm's extension motion.

[0037] Figure 17A This is a schematic diagram used to illustrate the operation of the hydraulic cylinder connection mechanism.

[0038] Figure 17B This is a schematic diagram used to illustrate the operation of the hydraulic cylinder connection mechanism.

[0039] Figure 17C This is a schematic diagram used to illustrate the operation of the hydraulic cylinder connection mechanism.

[0040] Figure 18A This is a schematic diagram used to illustrate the operation of the arm connection mechanism.

[0041] Figure 18B This is a schematic diagram used to illustrate the operation of the arm connection mechanism.

[0042] Figure 18CThis is a schematic diagram used to illustrate the operation of the arm connection mechanism.

[0043] Figure 19A This is a diagram illustrating the position information detection device for a crane according to Embodiment 2 of the present invention.

[0044] Figure 19B From arrow A r Directional observation Figure 19A The diagram shows a location information detection device.

[0045] Figure 19C yes Figure 19A C 1a -C 1a Linear cross-section diagram.

[0046] Figure 19D yes Figure 19A C 1b -C 1b Linear cross-section diagram.

[0047] Figure 20 This is a diagram illustrating the operation of the crane position information detection device according to Embodiment 2.

[0048] Figure 21A This is a diagram illustrating the position information detection device for a crane according to Embodiment 3 of the present invention.

[0049] Figure 21B From arrow A r Directional observation Figure 21A The diagram shows a location information detection device.

[0050] Figure 21C yes Figure 21A C 2a -C 2a Linear cross-section diagram.

[0051] Figure 21D yes Figure 21A C 2b -C 2b Linear cross-section diagram.

[0052] Figure 21E yes Figure 21A C 2c -C 2c Linear cross-section diagram.

[0053] Figure 22 This is a diagram illustrating the operation of the position information detection device for the crane according to Embodiment 3.

[0054] Figure 23A This is a diagram illustrating the position information detection device for a crane according to Embodiment 4 of the present invention.

[0055] Figure 23B From arrow A r Directional observation Figure 23A The diagram shows a location information detection device.

[0056] Figure 23C yes Figure 23A C 3a -C 3a Linear cross-section diagram.

[0057] Figure 23D yes Figure 23A C 3b -C 3b Linear cross-section diagram.

[0058] Figure 24 This is a diagram illustrating the operation of the crane position information detection device according to Embodiment 4.

[0059] Figure 25A This is a diagram illustrating the position information detection device for a crane according to Embodiment 5 of the present invention.

[0060] Figure 25B From arrow A r Directional observation Figure 25A The diagram shows a location information detection device.

[0061] Figure 25C yes Figure 25A C 4a -C 4a Linear cross-section diagram.

[0062] Figure 25D yes Figure 25A C 4b -C 4b Linear cross-section diagram.

[0063] Figure 25E yes Figure 25A C 4c -C 4c Linear cross-section diagram.

[0064] Figure 26 This is a diagram illustrating the operation of the crane position information detection device according to Embodiment 5.

[0065] Figure 27A This is a diagram illustrating the position information detection device for a crane according to Embodiment 6 of the present invention.

[0066] Figure 27B From arrow A r Directional observation Figure 27A The diagram shows a location information detection device.

[0067] Figure 27C yes Figure 27A C 5a -C 5a Linear cross-section diagram.

[0068] Figure 27D yes Figure 27A C 5b -C 5b Linear cross-section diagram.

[0069] Figure 28 This is a diagram illustrating the operation of the position information detection device for the crane according to Embodiment 6.

[0070] Figure 29A This is a diagram illustrating the position information detection device for a crane according to Embodiment 7 of the present invention.

[0071] Figure 29B From arrow A r Directional observation Figure 29A The diagram shows a location information detection device.

[0072] Figure 29C yes Figure 29A C 6a -C 6a Linear cross-section diagram.

[0073] Figure 29D yes Figure 29A C 6b -C 6b Linear cross-section diagram.

[0074] Figure 29E yes Figure 29A C 6c -C 6c Linear cross-section diagram.

[0075] Figure 30 This is a diagram illustrating the operation of the position information detection device for the crane according to Embodiment 7.

[0076] Figure 31A This is a diagram illustrating the position information detection device for a crane according to Embodiment 8 of the present invention.

[0077] Figure 31B From arrow A r Directional observation Figure 31A The diagram shows a location information detection device.

[0078] Figure 31C yes Figure 31A C 7a -C 7a Linear cross-section diagram.

[0079] Figure 31D yes Figure 31A C 7b -C 7b Linear cross-section diagram.

[0080] Figure 32 This is a diagram illustrating the operation of the position information detection device for the crane according to Embodiment 8.

[0081] Figure 33A This is a diagram illustrating the position information detection device for a crane according to Embodiment 9 of the present invention.

[0082] Figure 33B From arrow A r Directional observation Figure 33A The diagram shows a location information detection device.

[0083] Figure 33C yes Figure 33A C 8a -C 8a Linear cross-section diagram.

[0084] Figure 33D yes Figure 33A C 8b -C 8b Linear cross-section diagram.

[0085] Figure 33E yes Figure 33A C 8c -C 8c Linear cross-section diagram.

[0086] Figure 34 This is a diagram illustrating the operation of the position information detection device for the crane according to Embodiment 9. Detailed Implementation

[0087] Hereinafter, several examples of embodiments of the present invention will be described in detail with reference to the accompanying drawings. Furthermore, the embodiments described below are examples of a mobile crane according to the present invention, and the present invention is not limited to these embodiments.

[0088] [1. Implementation Method 1]

[0089] Figure 1 This is a schematic diagram of the mobile crane 1 (in the case of the illustration, it is a crane for complex terrain) involved in this embodiment.

[0090] Examples of mobile cranes include all-terrain cranes, truck cranes, or loading truck cranes (also known as ship cranes). However, the cranes involved in this invention are not limited to mobile cranes and can also be applied to other cranes with telescopic booms.

[0091] Hereinafter, a general overview of the mobile crane 1 and the telescopic boom 14 provided by the mobile crane 1 will be given first. Then, the specific structure and operation of the actuator 2, a feature of the mobile crane 1 according to this embodiment, will be described.

[0092] [1.1 About Mobile Cranes]

[0093] Figure 1 The mobile crane 1 shown includes: a traveling body 10 having multiple wheels 101; outriggers 11 provided at the four corners of the traveling body 10; a turntable 12 provided on the upper part of the traveling body 10 in a rotatable manner; a telescopic boom 14 whose base end is fixed to the turntable 12; and an actuator 2 for extending and retracting the telescopic boom 14. Figure 1 (omitted); undulating cylinder 15 for making the telescopic arm 14 undulate; steel cable 16 hanging from the front end of the telescopic arm 14; and hook 17 provided at the front end of the steel cable 16.

[0094] [About telescopic booms]

[0095] Next, refer to Figure 1 , Figure 2 The telescopic arm 14 will be explained. Figure 2 This is a schematic diagram used to illustrate the structure and telescopic movement of the telescopic arm 14.

[0096] exist Figure 1 The telescopic arm 14 in its extended state is shown in the image. On the other hand, in... Figure 2 In diagram A, the telescopic arm 14 in its retracted state is shown. Figure 2 In E, the telescopic arm 14, which is an extension of the front arm element 141 described only later, is shown.

[0097] The telescopic arm 14 includes multiple (at least one pair) arm elements. The multiple arm elements are cylindrical and are combined into a telescopic configuration. Specifically, in the retracted state, the multiple arm elements are, from the inside, a front arm element 141, an intermediate arm element 142, and a base arm element 143.

[0098] Furthermore, in this embodiment, the front arm element 141 and the intermediate arm element 142 are arm elements capable of displacement in the telescopic direction. The displacement of the base arm element 143 in the telescopic direction is restricted.

[0099] The telescopic arm 14 extends sequentially from the arm element configured from the inside (that is, the front arm element 141), from... Figure 2 The contraction state shown in A is towards Figure 1 The state transition is performed in the elongation state shown.

[0100] In the extended state, an intermediate arm element 142 is disposed between the base arm element 143 on the base end side and the front arm element 141 on the front end side. In addition, there may be multiple intermediate arm elements.

[0101] The telescopic arm 14 is largely the same as that of conventional telescopic arms, but for the convenience of explaining the structure and operation of the actuator 2 described later, the structure of the front arm element 141 and the intermediate arm element 142 will be described below.

[0102] [Regarding forearm elements]

[0103] The front arm element 141 is cylindrical and has an internal space capable of accommodating the actuator 2. The front arm element 141 has a pair of cylinder pin receiving portions 141a and a pair of arm pin receiving portions 141b at its base end.

[0104] A pair of cylinder pin receiving portions 141a are formed coaxially at the base end of the front arm element 141. The pair of cylinder pin receiving portions 141a are respectively capable of disengaging from a pair of cylinder connecting pins 454a, 454b (also referred to as first connecting members) provided on the cylinder component 32 of the telescopic cylinder 3 (that is, in either the engaged state or the disengaged state).

[0105] The cylinder connecting pins 454a and 454b are displaced axially based on the operation of the cylinder connecting mechanism 45 of the actuator 2 described later. When the pair of cylinder connecting pins 454a and 454b are engaged with the pair of cylinder pin receiving portions 141a, the front arm element 141 can be displaced together with the cylinder component 32 in the extension direction.

[0106] A pair of arm pin bearing portions 141b are formed coaxially with each other on the base end side, which is closer to the cylinder pin bearing portion 141a. The arm pin bearing portions 141b are respectively capable of engaging with a pair of arm connecting pins 144a (also referred to as second connecting parts).

[0107] A pair of arm connecting pins 144a connect the front arm element 141 and the intermediate arm element 142 respectively. The pair of arm connecting pins 144a are displaced along their own axial direction based on the action of the arm connecting mechanism 46 of the actuator 2.

[0108] With the front arm element 141 and the intermediate arm element 142 connected by a pair of arm connecting pins 144a, the arm connecting pins 144a are inserted in a straddle manner between the arm pin receiving portion 141b of the front arm element 141 and the first arm pin receiving portion 142b or the second arm pin receiving portion 142c of the intermediate arm element 142 (described later).

[0109] In the state where the front arm element 141 and the intermediate arm element 142 are connected (also known as the connected state), the front arm element 141 cannot be displaced relative to the intermediate arm element 142 in the telescopic direction.

[0110] On the other hand, when the connection between the front arm element 141 and the intermediate arm element 142 is released (also known as the unconnected state), the front arm element 141 can be displaced relative to the intermediate arm element 142 in the extension direction.

[0111] [Regarding the elements of the intermediate arm]

[0112] Intermediate arm element 142 is as follows Figure 2 The cylindrical shape shown has an internal space capable of accommodating the front arm element 141. The intermediate arm element 142 has a pair of cylinder pin receiving portions 142a, a pair of first arm pin receiving portions 142b, and a pair of third arm pin receiving portions 142d at its base end.

[0113] The pair of cylinder pin bearing portions 142a and the pair of first arm pin bearing portions 142b are substantially the same as the pair of cylinder pin bearing portions 141a and the pair of arm pin bearing portions 141b of the front arm element 141.

[0114] A pair of third arm pin receiving portions 142d are formed coaxially with each other, further from the base end than a pair of first arm pin receiving portions 142b. Arm connecting pins 144b can be inserted into each of the pair of third arm pin receiving portions 142d. Arm connecting pins 144b connect the intermediate arm element 142 and the base arm element 143.

[0115] Additionally, the intermediate arm element 142 has a pair of second arm pin receiving portions 142c at its front end. The pair of second arm pin receiving portions 142c are formed coaxially with each other at the front end of the intermediate arm element 142. A pair of arm connecting pins 144a can be inserted into each of the pair of second arm pin receiving portions 142c.

[0116] [About Actuators]

[0117] The following is for reference Figures 3A to 18C The actuator 2 will now be explained. Actuator 2 is used to activate the telescopic arm 14 described above (see reference). Figure 1 , Figure 2 ) Actuator for stretching.

[0118] First, an overview of actuator 2 will be given. The actuator 2 includes, for example, a telescopic cylinder 3 (also called a telescopic actuator) that displaces one of the adjacent and overlapping front arm elements 141 (also called the inner arm element) and the intermediate arm element 142 (also called the outer arm element) in the telescopic direction; at least one electric motor 41 (also called an electric drive source) disposed in the telescopic cylinder 3; a cylinder connection mechanism 45 (also called a first connection mechanism or a second connection mechanism) that displaces a pair of cylinder connecting pins 454a and 454b (also called first connecting members) based on the power of the electric motor 41, thereby switching the connection state and non-connection state between the telescopic cylinder 3 and the front arm element 141; and an arm connection mechanism 46 (also called a first connection mechanism or a second connection mechanism) that displaces a pair of arm connecting pins 144a (also called second connecting members) based on the power of the electric motor 41, thereby switching the connection state and non-connection state between the front arm element 141 and the intermediate arm element 142. Furthermore, when the cylinder connecting mechanism 45 is the first connecting mechanism, the arm connecting mechanism 46 becomes the second connecting mechanism. On the other hand, when the cylinder connecting mechanism 45 is the second connecting mechanism, the arm connecting mechanism 46 becomes the first connecting mechanism.

[0119] Next, the specific structure of each component of actuator 2 will be explained. Actuator 2 includes a telescopic cylinder 3 and a pin displacement module 4. Actuator 2 in the retracted state of telescopic arm 14 ( Figure 2 In the state shown in A), it is configured in the internal space of the fore-end arm element 141.

[0120] [About telescopic hydraulic cylinders]

[0121] The telescopic cylinder 3 has a rod component 31 (also called a fixed-side component). (See reference...) Figure 2 The telescopic cylinder 3 and the cylinder component 32 (also referred to as the movable side component) are used to displace the arm element (e.g., the front arm element 141 or the middle arm element 142) connected to the cylinder component 32 via cylinder connecting pins 454a and 454b, which will be described later, in the telescopic direction. The telescopic cylinder 3 is substantially the same as conventional telescopic cylinders, so detailed description is omitted.

[0122] [Regarding the pin displacement module]

[0123] The pin displacement module 4 includes a housing 40, an electric motor 41, a braking mechanism 42, a transmission mechanism 43, a position information detection device 44, a hydraulic cylinder connection mechanism 45, an arm connection mechanism 46, and a locking mechanism 47 (see reference). Figure 8 ).

[0124] The components constituting actuator 2 will be described below based on their assembled state within actuator 2. Furthermore, the orthogonal coordinate system (X, Y, Z) shown in the figures will be used in the description of actuator 2. However, the arrangement of the components constituting actuator 2 is not limited to the arrangement in this embodiment.

[0125] In the orthogonal coordinate system shown in the figures, the X direction is consistent with the extension direction of the telescopic boom 14 mounted on the mobile crane 1. The X direction + side is also called the extension direction in the telescopic direction. On the other hand, the X direction - side is also called the retraction direction in the telescopic direction. In addition, the Z direction is, for example, consistent with the vertical direction of the mobile crane 1. The Y direction is, for example, consistent with the width direction of the mobile crane 1. However, the Y direction and the Z direction are only two mutually orthogonal directions, and are not limited to the directions mentioned above. For example, the Y direction and the Z direction may sometimes deviate from the vertical direction and the width direction of the mobile crane 1 due to the tilt angle of the telescopic boom 14 and the rotation angle of the turntable 12 relative to the traveling body 10.

[0126] [About the casing]

[0127] The housing 40 is fixed to the cylinder component 32 of the telescopic cylinder 3. The housing 40 internally houses the cylinder connecting mechanism 45 and the arm connecting mechanism 46. Furthermore, the housing 40 supports the electric motor 41 via the transmission mechanism 43. Additionally, the housing 40 also supports the braking mechanism 42, which will be described later. In other words, the housing 40 unitizes all the aforementioned components. This structure contributes to the miniaturization of the pin displacement module 4, improves productivity, and enhances system reliability.

[0128] Specifically, the housing 40 has a box-shaped first housing element 400 and a box-shaped second housing element 401.

[0129] The first housing element 400 houses the cylinder connecting mechanism 45, described later, within its internal space. In the first housing element 400, the rod member 31 is inserted along the X direction. In the X direction of the first housing element 400, on the + side ( Figure 4 left side and Figure 7 The end of the hydraulic cylinder component 32 is fixed to the side wall on the right side. The side walls on both sides in the Y direction of the first housing element 400 have through holes 400a and 400b respectively (refer to...). Figure 3B , Figure 7 ).

[0130] A pair of hydraulic cylinder connecting pins 454a and 454b of the hydraulic cylinder connecting mechanism 45 are inserted into the through holes 400a and 400b, respectively.

[0131] The second housing element 401 is disposed on the Z-direction + side of the first housing element 400. The second housing element 401 houses the arm connecting mechanism 46 (described later) within its internal space. In the second housing element 401, the transmission shaft 432 of the transmission mechanism 43 (described later) is located (see reference...). Figure 8 Insert along the X direction.

[0132] The sidewalls on both sides of the second outer shell element 401 in the Y direction have through holes 401a and 401b respectively (see reference). Figure 3B , Figure 7 A pair of second rack rods 461a and 461b of the through arm connecting mechanism 46 are inserted into the through holes 401a and 401b, respectively.

[0133] [About electric motors]

[0134] The electric motor 41 is supported on the housing 40 via the reducer 431 of the transmission mechanism 43. Specifically, the electric motor 41 is arranged around the hydraulic cylinder component 32 (e.g., the Z-direction + side) and around the second housing element 401 (e.g., the X-direction - side) with its output shaft (not shown) parallel to the X direction (also referred to as the length direction of the hydraulic cylinder component 32). This arrangement enables miniaturization of the pin displacement module 4 in the Y and Z directions.

[0135] The electric motor 41 described above is connected to a power supply (not shown) installed on the rotary table 12 via a power supply cable. Additionally, the electric motor 41 is connected to a control unit (not shown) installed on the rotary table 12 via a control signal transmission cable.

[0136] The aforementioned cables are disposed on the outside of the base end of the telescopic arm 14 or on the rotary table 12 (see reference). Figure 1 The reel at the ) can be turned out and wound up.

[0137] In addition, the existing mobile crane has: proximity sensors (not shown) for detecting the positions of cylinder connecting pins 454a, 454b and boom connecting pins 144a, 144b, as well as power supply cables and signal transmission cables for these proximity sensors.

[0138] Therefore, no new components (such as cables, reels, etc.) are needed to supply power and transmit signals to the electric motor 41. Furthermore, in this embodiment, the position detection device 44, described later, is used to detect the positions of the cylinder connecting pins 454a, 454b and the arm connecting pins 144a, 144b. Therefore, in this embodiment, the aforementioned proximity sensor is unnecessary.

[0139] In addition, the electric motor 41 has a manual operation unit 410 that can be operated by a manual handle (not shown) (see reference). Figure 3BThe manual operation unit 410 is used to manually change the state of the pin displacement module 4. In case of malfunction, if the manual operation unit 410 is rotated by the manual handle, the output shaft of the electric motor 41 rotates, thereby changing the state of the pin displacement module 4. Furthermore, in this embodiment, the electrical drive source is a single electric motor. However, the electrical drive source may also be composed of multiple (e.g., two) electric motors.

[0140] [Regarding the braking mechanism]

[0141] Braking mechanism 42 applies braking force to electric motor 41. This braking mechanism 42 prevents rotation of the output shaft of electric motor 41 when electric motor 41 is stopped. Thus, the pin displacement module 4 is maintained in the stopped state. Furthermore, when a predetermined external force is applied to cylinder connection mechanism 45 or arm connection mechanism 46 during braking, braking mechanism 42 allows rotation (i.e., sliding) of electric motor 41. This structure is effective in preventing damage to electric motor 41 and gears constituting actuator 2. Moreover, with this structure, friction braking can be used as the braking mechanism 42, for example. The predetermined magnitude of the external force is appropriately determined according to the usage conditions and the structure of actuator 2.

[0142] Specifically, the braking mechanism 42 operates in the retracted state of the cylinder connecting mechanism 45 or the arm connecting mechanism 46 (described later) to maintain the state of the cylinder connecting mechanism 45 and the arm connecting mechanism 46.

[0143] The braking mechanism 42 is positioned further forward than the transmission mechanism 43, which will be described later. Specifically, the braking mechanism 42 is located on the X-direction side further than the electric motor 41 (that is, on the side opposite to the transmission mechanism 43 with the electric motor 41 as the center), and is arranged coaxially with the output shaft of the electric motor 41 (see reference). Figure 3B This configuration enables miniaturization of the pin displacement module 4 in both the Y and Z directions. Furthermore, "front stage" refers to the upstream side (closer to the electric motor 41) in the transmission path from the electric motor 41 to the cylinder connection mechanism 45 or the arm connection mechanism 46. Conversely, "rear stage" refers to the downstream side (away from the electric motor 41) in the transmission path from the electric motor 41 to the cylinder connection mechanism 45 or the arm connection mechanism 46.

[0144] Furthermore, if the braking mechanism 42 is positioned further forward than the transmission mechanism 43 (the reducer 431 described later), the required braking torque is smaller compared to when it is positioned further backward than the transmission mechanism 43. This allows for the miniaturization of the braking mechanism 42.

[0145] Furthermore, the braking mechanism 42 can be any type of braking device, such as mechanical or electromagnetic. Also, the position of the braking mechanism 42 is not limited to the position described in this embodiment.

[0146] [About the delivery organization]

[0147] The transmission mechanism 43 transmits power (i.e., rotational motion) from the electric motor 41 to the cylinder connection mechanism 45 and the arm connection mechanism 46. The transmission mechanism 43 includes a reducer 431 and a transmission shaft 432 (see reference). Figure 8 ).

[0148] The reducer 431 slows down the rotation of the electric motor 41 and transmits the speed to the transmission shaft 432. The reducer 431 is, for example, a planetary gear mechanism housed in a reducer housing 431a, and is arranged coaxially with the output shaft of the electric motor 41. This configuration enables miniaturization of the pin displacement module 4 in the Y and Z directions.

[0149] The X-direction end of the transmission shaft 432 is connected to the output shaft (not shown) of the reducer 431. In this state, the transmission shaft 432 rotates together with the output shaft of the reducer 431. The transmission shaft 432 is inserted through the housing 40 (specifically, the second housing element 401) in the X direction. Alternatively, the transmission shaft 432 may be integral with the output shaft of the reducer 431.

[0150] The end of the transmission shaft 432 on the X-direction + side protrudes further in the X-direction + side than the housing 40. A detection section 44a of the position information detection device 44 (described later) is provided at the end of the transmission shaft 432 on the X-direction + side.

[0151] [Regarding location information detection devices]

[0152] The position information detection device 44 detects position-related information of a pair of cylinder connecting pins 454a and 454b and a pair of arm connecting pins 144a (or a pair of arm connecting pins 144b, hereinafter the same) based on the output of the electric motor 41 (e.g., the rotational displacement of the output shaft). For example, position-related information may include the displacement of the pair of cylinder connecting pins 454a and 454b or the pair of arm connecting pins 144a from a reference position.

[0153] Specifically, the position information detection device 44 detects the engagement state between a pair of cylinder connecting pins 454a, 454b and a pair of cylinder pin receiving portions 141a of the arm element (e.g., the front arm element 141). Figure 2 (as shown in A) or out of state ( Figure 2 Information related to the positions of a pair of cylinder connecting pins 454a and 454b under the state shown in E.

[0154] Additionally, the position information detection device 44 detects the engagement state between a pair of arm connecting pins 144a and a pair of first arm pin receiving portions 142b (or a pair of second arm pin receiving portions 142c) of an arm element (e.g., intermediate arm element 142). Figure 2 A, Figure 2 (as shown in D) or out of state (e.g.) Figure 2 Information related to the position of a pair of arm connecting pins 144a under the state shown in B.

[0155] Information detected in this way, related to the positions of a pair of cylinder connecting pins 454a, 454b and a pair of arm connecting pins 144a, 144b, is used, for example, in various controls of the actuator 2, including the motion control of the electric motor 41.

[0156] Such a location information detection device 44 includes a detection unit 44a and a control unit 44b (see reference). Figure 17A , 18A ).

[0157] The detection unit 44a is, for example, a rotary encoder, and outputs information (e.g., pulse signal, code signal) corresponding to the rotational displacement of the output shaft of the electric motor 41. The output method of the rotary encoder is not particularly limited; it can be an incremental method that outputs a pulse signal (relative angle signal) corresponding to the amount of rotational displacement (rotation angle) from the measurement start position, or an absolute method that outputs a code signal (absolute angle signal) corresponding to the absolute angular position relative to a reference point.

[0158] If the detection unit 44a is an absolute rotary encoder, the position information detection device 44 can detect information related to the position of a pair of cylinder connecting pins 454a, 454b and a pair of arm connecting pins 144a even when the control unit 44b is restored from a non-powered state to a powered state.

[0159] The detection unit 44a is provided on the output shaft of the electric motor 41, or on a rotating component (e.g., a rotating shaft, gear, etc.) that rotates with the output shaft. Specifically, in this embodiment, the detection unit 44a is provided at the end of the transmission shaft 432 (also referred to as a rotating component) on the X-direction + side. In other words, in this embodiment, the detection unit 44a is provided further downstream than the reducer 431 (that is, on the X-direction + side).

[0160] In this embodiment, the detection unit 44a outputs information corresponding to the rotational displacement of the transmission shaft 432. The rotational speed of the transmission shaft 432 is the speed obtained by reducing the rotational speed of the electric motor 41 by the reducer 431. In this embodiment, the detection unit 44a uses a rotary encoder that provides sufficient resolution relative to the rotational speed of the transmission shaft 432. Furthermore, the first toothed gear 450 of the cylinder connection mechanism 45 (described later) and the second toothed gear 460 of the arm connection mechanism 46 are fixed on the transmission shaft 432; therefore, the information output by the detection unit 44a is also information corresponding to the rotational displacement of the first toothed gear 450 and the second toothed gear 460.

[0161] The detection unit 44a, having the structure described above, sends information corresponding to the rotational displacement of the output shaft of the electric motor 41 to the control unit 44b. Upon receiving this information, the control unit 44b calculates information related to the positions of a pair of cylinder connecting pins 454a, 454b or a pair of arm connecting pins 144a. Then, based on the calculation results, the control unit 44b controls the electric motor 41.

[0162] The control unit 44b is, for example, an on-board computer consisting of input terminals, output terminals, a CPU, and a memory. Based on the output of the detection unit 44a, the control unit 44b calculates information related to the position of a pair of cylinder connecting pins 454a, 454b or an arm connecting pin 144a.

[0163] Specifically, for example, the control unit 44b uses data (tables, mappings, etc.) that represent the relationship between the output of the detection unit 44a and information related to the positions of a pair of cylinder connecting pins 454a, 454b and a pair of arm connecting pins 144a (e.g., displacement from a reference position) to calculate the information related to the aforementioned positions.

[0164] When the output of the detection unit 44a is a code signal, information related to the above positions is calculated based on data (tables, mappings, etc.) that represent the correlation between each code signal and the displacement of a pair of cylinder connecting pins 454a, 454b and a pair of arm connecting pins 144a from the reference position.

[0165] The control unit 44b described above is provided on the rotary table 12. However, the location of the control unit 44b is not limited to the rotary table 12. For example, the control unit 44b may also be provided in a box (not shown) where the detection unit 44a is configured.

[0166] Furthermore, the position of the detection unit 44a is not limited to the position in this embodiment. For example, the detection unit 44a may be positioned further forward than the reducer 431 (that is, on the X-direction side). In other words, the detection unit 44a may also obtain information sent to the control unit 44b based on the rotation of the electric motor 41 before it is reduced in speed by the reducer 431. The structure in which the detection unit 44a is positioned before the reducer 431 has higher resolution than the structure in which the detection unit 44a is positioned after the reducer 431. Furthermore, in this case, the detection unit 44a may also be positioned further forward than the braking mechanism 42 on the X-direction + side or the X-direction - side.

[0167] Furthermore, the detection unit 44a is not limited to the rotary encoder described above. For example, the detection unit 44a could also be a limit switch. The limit switch is configured further downstream than the reducer 431. Such a limit switch operates mechanically based on the output of the electric motor 41. Alternatively, the detection unit 44a could also be a proximity sensor. The proximity sensor is configured further downstream than the reducer 431. In addition, the proximity sensor is disposed opposite to a component that rotates based on the output of the electric motor 41. Such a proximity sensor outputs a signal based on the distance between itself and the rotating component. Then, the control unit 44b controls the operation of the electric motor 41 based on the output of the limit switch or the proximity sensor.

[0168] [Regarding the hydraulic cylinder connection mechanism]

[0169] The hydraulic cylinder linkage mechanism 45 operates based on the power (i.e., rotational motion) of the electric motor 41 in the expanded state (also known as the first state). (See reference...) Figure 8 , Figure 12 ) and the reduced state (also known as the second state). See reference Figure 13 State transitions are performed between ( ).

[0170] In the expanded state, the pair of cylinder connecting pins 454a, 454b, described later, and the pair of cylinder pin receiving portions 141a of the arm element (e.g., the front arm element 141) are engaged (also referred to as the cylinder pin insertion state). In this engaged state, the arm element and the cylinder component 32 are connected.

[0171] On the other hand, in the collapsed state, a pair of cylinder connecting pins 454a, 454b and a pair of cylinder pin bearing portions 141a (see reference) Figure 2 ) becomes a state of detachment ( Figure 2 The state shown in E is also known as the cylinder pin withdrawal state. In this disengaged state, the arm element and the cylinder component 32 are not connected.

[0172] The specific structure of the cylinder connecting mechanism 45 will be described below. The cylinder connecting mechanism 45 includes a first toothed gear 450, a first rack 451, a first gear mechanism 452, a second gear mechanism 453, a pair of cylinder connecting pins 454a and 454b, and a first force-applying mechanism 455. Furthermore, in this embodiment, a pair of cylinder connecting pins 454a and 454b are assembled into the cylinder connecting mechanism 45. However, the pair of cylinder connecting pins 454a and 454b may also be provided independently of the cylinder connecting mechanism 45.

[0173] [Regarding the first missing tooth gear]

[0174] The first toothed gear 450 (also known as the switching gear) is generally in the shape of a circular plate, and has a first tooth 450a on a portion of its outer circumferential surface (see reference). Figure 9 The first toothed gear 450 is externally fixed to the transmission shaft 432 and rotates together with the transmission shaft 432.

[0175] Such a first toothed gear 450 and the second toothed gear 460 of the arm connection mechanism 46 (see reference) Figure 8 Together, they form a switching gear. The switching gear selectively transmits the power of the electric motor 41 to one of the connecting mechanisms of the hydraulic cylinder connecting mechanism 45 and the arm connecting mechanism 46.

[0176] Furthermore, in this embodiment, the first toothed gear 450 and the second toothed gear 460, which serve as switching gears, are respectively assembled into the cylinder connecting mechanism 45, which serves as the first connecting mechanism, and the arm connecting mechanism 46, which serves as the second connecting mechanism. However, the switching gears may also be provided independently of the first connecting mechanism and the second connecting mechanism.

[0177] In the following description, the cylinder connection mechanism 45 is in the expanded state (refer to...) Figure 8 , Figure 12 Towards a shrinking state (refer to) Figure 13 The rotation direction of the first toothed gear 450 during state transition (in) Figure 17A The direction indicated by arrow F1 is the "front side" in the rotational direction of the first toothed gear 450.

[0178] On the other hand, the rotation direction of the first toothed gear 450 when transitioning from the shrinking state to the expanding state is the "rear side" of the rotation direction of the first toothed gear 450.

[0179] Among the protrusions constituting the first tooth portion 450a, the protrusion located at the foremost side in the rotational direction of the first toothed gear 450 is a positioning tooth (illustration omitted).

[0180] [Regarding the first rack and pinion]

[0181] The rotation of the first rack rod 451 and the first toothed gear 450 corresponds to their displacement along their own length direction (also known as the Y direction). The first rack rod 451 is in an expanded state (refer to...). Figure 8 , Figure 12 In the Y-direction-side position, the first rack rod 451 is in the retracted state (see reference). Figure 13 Below, it is located on the side closest to the Y direction +.

[0182] When transitioning from an expanded state to a contracted state, if the first toothed gear 450 rotates forward in the rotational direction, the first rack rod 451 displaces in the Y direction + side (also known as one side in the length direction).

[0183] On the other hand, during the transition from the reduced state to the expanded state, if the first toothed gear 450 rotates to the rear in the rotational direction, the first rack rod 451 displaces to the Y-direction (also known as the other side in the length direction). The specific structure of the first rack rod 451 will be described below.

[0184] The first rack rod 451 is, for example, a shaft component that is long in the Y direction, and is disposed between the first toothed gear 450 and the rod component 31. In this state, the length direction of the first rack rod 451 is aligned with the Y direction.

[0185] The first rack rod 451 has a first rack tooth 451a on the surface near the side of the first toothed gear 450 (also referred to as the Z direction + side). The first rack tooth 451a meshes with the first tooth 450a of the first toothed gear 450 only during the aforementioned state transition.

[0186] exist Figure 8 and Figure 10 In the expanded state shown, the first end face (not shown) on the Y-direction + side of the first rack tooth portion 451a abuts against the positioning tooth (not shown) in the first tooth portion 450a of the first toothed gear 450, or is opposed to each other in the Y-direction with a small gap.

[0187] In the expanded state, if the first toothed gear 450 rotates to the front in the rotation direction, the positioning tooth will press the first end face to the Y direction + side, and the first rack rod 451 will displace to the Y direction + side.

[0188] Therefore, the tooth portion 450a, which is located further rearward in the rotational direction than the positioning tooth, meshes with the tooth portion 451a of the first rack. As a result, the rotation of the first rack rod 451 and the first toothed gear 450 is correspondingly displaced in the Y direction.

[0189] In addition, from Figure 8When the first toothed gear 450 rotates to the rear in the rotational direction from the expanded state shown, the first rack tooth 451a does not mesh with the first tooth 450a of the first toothed gear 450.

[0190] Additionally, the first rack rod 451 has a second rack tooth portion 451b and a third rack tooth portion 451c on the surface away from the first toothed gear 450 (also referred to as the Z-direction side) (see reference). Figure 8 The second rack tooth 451b meshes with the first gear mechanism 452, which will be described later. On the other hand, the third rack tooth 451c meshes with the second gear mechanism 453, which will be described later.

[0191] [Regarding the first gear mechanism]

[0192] The first gear mechanism 452 includes multiple (three in this embodiment) gear elements 452a, 452b, and 452c, each of which is a spur gear (see reference). Figure 8 Specifically, gear element 452a, serving as the input gear, meshes with the second rack tooth 451b of the first rack 451 and gear element 452b. In the expanded state (see reference...) Figure 8 , Figure 12 Under these conditions, gear element 452a meshes with the end or near the end of the second rack tooth portion 451b of the first rack rod 451 in the Y direction + side.

[0193] Gear element 452b, which serves as an intermediate gear, meshes with gear elements 452a and 452c.

[0194] Gear element 452c, serving as the output gear, meshes with gear element 452b and the pin-side rack tooth portion 454c of one of the cylinder connecting pins 454a (described later). In the expanded state, gear element 452c meshes with the pin-side rack tooth portion 454c of one of the cylinder connecting pins 454a (see reference). Figure 8 The ends of gear 452c and gear 452a mesh in the Y direction. Furthermore, gear element 452c rotates in the same direction as gear element 452a.

[0195] [Regarding the second gear mechanism]

[0196] The second gear mechanism 453 includes multiple (two in this embodiment) gear elements 453a and 453b, each of which is a spur gear (see reference). Figure 8 Specifically, gear element 453a, which serves as the input gear, meshes with the third rack tooth portion 451c and gear element 453b of the first rack bar 451. In the expanded state, gear element 453a meshes with the end portion of the third rack tooth portion 451c of the first rack bar 451 on the Y-direction + side.

[0197] The pin-side rack tooth portion 454d of the cylinder connecting pin 454b, which serves as the output gear, and gear elements 453a and the other party described later, is (see reference). Figure 8 Engagement. In the expanded state, gear element 453b engages with the Y-direction + side end of the rack tooth portion 454d on the pin side of the cylinder connecting pin 454b. Gear element 453b and gear element 453a rotate in opposite directions.

[0198] As described above, in this embodiment, the rotation direction of the gear element 452c of the first gear mechanism 452 is opposite to the rotation direction of the gear element 453b of the second gear mechanism 453.

[0199] [Regarding hydraulic cylinder connecting pins]

[0200] The central axes of a pair of hydraulic cylinder connecting pins 454a and 454b are aligned with the Y direction and are coaxial with each other. In the following description of a pair of hydraulic cylinder connecting pins 454a and 454b, the front ends are the ends that are far apart from each other, and the base ends are the ends that are close to each other.

[0201] A pair of hydraulic cylinder connecting pins 454a and 454b respectively have pin-side rack teeth 454c and 454d on their outer peripheral surfaces (see reference). Figure 8 The pin-side rack tooth 454c of the cylinder connecting pin 454a on one side (also referred to as the Y-direction + side) meshes with the gear element 452c of the first gear mechanism 452.

[0202] One of the cylinder connecting pins 454a is displaced along its own axial direction (that is, in the Y direction) as the gear element 452c in the first gear mechanism 452 rotates. Specifically, one of the cylinder connecting pins 454a is displaced in the + direction of the Y direction when transitioning from a retracted state to an expanded state. On the other hand, one of the cylinder connecting pins 454a is displaced in the - direction of the Y direction when transitioning from an expanded state to a retracted state.

[0203] The pin-side rack tooth 454d of the other (also referred to as the Y-direction side) cylinder connecting pin 454b meshes with the gear element 453b of the second gear mechanism 453. The other cylinder connecting pin 454b is displaced along its own axial direction (that is, the Y direction) as the gear element 453b in the second gear mechanism 453 rotates.

[0204] Specifically, when the other cylinder connecting pin 454b transitions from a retracted state to an expanded state, it displaces in the Y direction (-). Conversely, when the other cylinder connecting pin 454b transitions from an expanded state to a retracted state, it displaces in the Y direction (+). In other words, during the aforementioned transitions, a pair of cylinder connecting pins 454a and 454b displace in opposite directions in the Y direction.

[0205] A pair of cylinder connecting pins 454a and 454b are inserted into the through holes 400a and 400b of the first housing element 400, respectively. In this state, the front ends of the pair of cylinder connecting pins 454a and 454b protrude outward from the first housing element 400.

[0206] [Regarding the primary force-applying mechanism]

[0207] When the cylinder connecting mechanism 45 is in the retracted state and the electric motor 41 is de-energized, the first force-applying mechanism 455 automatically restores the cylinder connecting mechanism 45 to the expanded state. To this end, the first force-applying mechanism 455 applies force to a pair of cylinder connecting pins 454a and 454b in a direction that moves them away from each other.

[0208] Specifically, the first force-applying mechanism 455 consists of a pair of coil springs 455a and 455b (see reference). Figure 8 It consists of a pair of coil springs 455a and 455b, which apply force to the base ends of a pair of hydraulic cylinder connecting pins 454a and 454b towards the front end.

[0209] Furthermore, when the braking mechanism 42 is in operation, the cylinder connection mechanism 45 does not automatically return to its original state.

[0210] [Summary of the actions of the hydraulic cylinder linkage mechanism]

[0211] Reference Figures 17A-17C Here is a brief explanation of one example of the operation of the aforementioned hydraulic cylinder connection mechanism 45. Figures 17A-17C This is a schematic diagram used to illustrate the operation of the hydraulic cylinder connecting mechanism 45. Figure 17A This is a schematic diagram showing the expanded state of the cylinder connecting mechanism 45 and the engaged state of a pair of cylinder connecting pins 454a, 454b with a pair of cylinder pin bearing portions 141a of the front arm element 141. Figure 17B This is a schematic diagram illustrating the states of the hydraulic cylinder connecting mechanism 45 during the transition from an expanded state to a contracted state. Furthermore, Figure 17C This is a schematic diagram showing the reduced state of the cylinder connecting mechanism 45 and the disengaged state of a pair of cylinder connecting pins 454a, 454b from the pair of cylinder pin bearing portions 141a of the front arm element 141.

[0212] The hydraulic cylinder linkage mechanism 45, as described above, is powered by the electric motor 41 (that is, rotational motion) in the expanded state (see reference). Figure 8 , Figure 12 , Figure 17A ) and shrinkage state (refer to) Figure 13 , Figure 17C State transitions occur between these states. The following refers to... Figures 17A-17C This explains the actions of each part of the hydraulic cylinder connecting mechanism 45 when it transitions from an expanded state to a contracted state. Furthermore, in Figures 17A-17C In the diagram, the first toothed gear 450 and the second toothed gear 460 are schematically shown as a single, integrated toothed gear. For ease of explanation, this single-piece toothed gear will be described below as the first toothed gear 450. Furthermore, in... Figures 17A-17C The locking mechanism 47, which will be described later, is omitted.

[0213] During the transition from the expanded state to the contracted state, the power of the electric motor 41 is transmitted to a pair of hydraulic cylinder connecting pins 454a and 454b via the following first and second paths.

[0214] The first path is the path of the first toothed gear 450 → the first rack rod 451 → the first gear mechanism 452 → the hydraulic cylinder connecting pin 454a of one side.

[0215] On the other hand, the second path is the path of the first toothed gear 450 → the first rack rod 451 → the second gear mechanism 453 → the other party's cylinder connecting pin 454b.

[0216] Specifically, firstly, in the first and second paths, based on the power of the electric motor 41, the first toothed gear 450 moves towards the front side in the rotational direction (in... Figure 17A Rotate in the direction indicated by arrow F1.

[0217] In the first and second paths, if the first toothed gear 450 rotates forward in the direction of rotation, then correspondingly, the first rack rod 451 rotates in the Y direction + side ( Figures 17A-17C (to the right) displacement.

[0218] Then, in the first path, if the first rack rod 451 is displaced in the Y direction + side, then via the first gear mechanism 452, one of the cylinder connecting pins 454a is displaced in the Y direction - side ( Figures 17A-17C (left side) displacement.

[0219] On the other hand, in the second path, if the first rack rod 451 is displaced to the + side in the Y direction, then via the second gear mechanism 453, the other cylinder connecting pin 454b is displaced to the + side in the Y direction. That is, during the transition from the expanded state to the contracted state, the cylinder connecting pin 454a of one side and the cylinder connecting pin 454b of the other side are displaced in a direction that approaches each other.

[0220] The position information detection device 44 detects when a pair of cylinder connecting pins 454a and 454b have disengaged from the cylinder pin bearing portion 141a of the front arm element 141 and have been displaced to a predetermined position (e.g., Figure 2 E, Figure 17C The detection is performed at the position shown. Then, based on the detection result, the control unit 44b stops the operation of the electric motor 41.

[0221] Furthermore, if the braking mechanism 42 is released when the electric motor 41 is not energized, a state transition from a contracted state to an expanded state is automatically performed based on the force applied by the first force-applying mechanism 455 (that is, from...). Figure 17C Towards Figure 17A (State transition). At this time, one cylinder connecting pin 454a and the other cylinder connecting pin 454b are displaced in a direction away from each other. The position information detection device 44 detects when a pair of cylinder connecting pins 454a, 454b engage with a pair of cylinder pin receiving portions 141a of the front arm element 141 and are displaced to a predetermined position (e.g., ...). Figure 2 A, Figure 17A The detection is performed at the position shown. The detection result is used to control the next action in actuator 2.

[0222] [About the arm connection mechanism]

[0223] The arm linkage mechanism 46 is based on the rotation of the electric motor 41 in the extended state (also known as the first state). (See reference...) Figure 8 , Figure 13 ) and the reduced state (also known as the second state). See reference Figure 12 State transitions are performed between ( ).

[0224] When the arm connecting mechanism 46 is in the expanded state, it is in one of the states of engagement or disengagement relative to the arm connecting pins (e.g., a pair of arm connecting pins 144a).

[0225] When the arm connecting mechanism 46 is engaged with the arm connecting pin, it transitions from an expanded state to a contracted state, thereby disengaging the arm connecting pin from the arm element.

[0226] In addition, the arm connecting mechanism 46, while engaged with the arm connecting pin, transitions from a retracted state to an expanded state, thereby engaging the arm connecting pin with the arm element.

[0227] The specific structure of the arm connecting mechanism 46 will be described below. The arm connecting mechanism 46 includes: a second toothed gear 460 (see reference...) Figure 8 ), a pair of second rack rods 461a, 461b, and a synchronizing gear 462 (see reference) Figures 17A-17C ) and the second force-applying mechanism 463.

[0228] [Regarding the second missing tooth gear]

[0229] The second toothed gear 460 (also known as the switching gear) is generally in the shape of a circular plate, and has a second tooth 460a in a circumferential portion of its outer circumferential surface.

[0230] The second toothed gear 460 is externally fixed to the transmission shaft 432 on the X-direction + side, which is further away from the first toothed gear 450, and rotates together with the transmission shaft 432. Alternatively, the second toothed gear 460 can also be, for example, as shown in... Figures 14A to 14D As shown in the schematic diagram, it is a toothed gear integrated with the first toothed gear 450.

[0231] The arm connecting mechanism 46 then moves from the expanded state (refer to...) Figure 8 , Figure 13 Towards a shrinking state (refer to) Figure 12 The rotation direction of the second toothed gear 460 during state transition (in) Figure 8 The direction indicated by arrow F2 is the "front side" in the rotational direction of the second toothed gear 460.

[0232] On the other hand, the rotation direction of the second toothed gear 460 during the state transition from the reduced state to the expanded state (in...) Figure 8 The direction indicated by arrow R2 is the "rear side" in the rotational direction of the second toothed gear 460.

[0233] Among the protrusions constituting the second tooth portion 460a, the protrusion located at the foremost side in the rotational direction of the second toothed gear 460 is the positioning tooth 460b (see reference). Figure 8 ).

[0234] also, Figure 8 This is a diagram showing the pin displacement module 4 viewed from the X direction + side. Therefore, in this embodiment, the front-to-back direction in the rotational direction of the second toothed gear 460 is opposite to the front-to-back direction in the rotational direction of the first toothed gear 450.

[0235] In other words, the rotation direction of the second toothed gear 460 when the arm connecting mechanism 46 transitions from the expanded state to the contracted state is opposite to the rotation direction of the first toothed gear 450 when the cylinder connecting mechanism 45 transitions from the expanded state to the contracted state.

[0236] [Regarding the second rack and pinion]

[0237] A pair of second rack rods 461a and 461b are displaced along the Y direction (also known as the axial direction) as the second toothed gear 460 rotates. The second rack rod 461a on one side (also known as the X direction + side) and the second rack rod 461b on the other side (also known as the X direction - side) are displaced in opposite directions in the Y direction.

[0238] The second rack rod 461a of one party is located on the side closest to the Y direction in the expanded state. The second rack rod 461b of the other party is located on the side closest to the Y direction in the expanded state.

[0239] Furthermore, in the retracted state, the second rack rod 461a of one party is located on the side closest to the + direction in the Y direction. The second rack rod 461b of the other party is located on the side closest to the - direction in the Y direction in the retracted state.

[0240] Furthermore, the displacement of one side's second rack 461a towards the + side in the Y direction, and the displacement of the other side's second rack 461b towards the - side in the Y direction, are achieved, for example, through the limiting surface 48 provided on the housing 40 (see reference). Figure 14D Connections between ) are restricted.

[0241] The specific structure of the pair of second rack rods 461a and 461b will be described below. The pair of second rack rods 461a and 461b are, for example, shaft components that are long in the Y direction, and are arranged parallel to each other. The pair of second rack rods 461a and 461b are each positioned further towards the Z-direction + side than the first rack rod 451. Furthermore, the pair of second rack rods 461a and 461b are centered on the synchronizing gear 462 (described later) in the X direction. The length direction of each of these second rack rods 461a and 461b is aligned with the Y direction.

[0242] A pair of second rack rods 461a and 461b have rack teeth 461e and 461f for synchronization on opposite sides along the X direction (see reference). Figures 17A-17C The teeth 461e and 461f of the synchronizing rack mesh with the synchronizing gear 462, respectively.

[0243] In other words, the teeth 461e and 461f of the synchronizing rack mesh with each other via the synchronizing gear 462. Through this structure, the second rack rod 461a of one side and the second rack rod 461b of the other side are displaced in opposite directions in the Y direction.

[0244] A pair of second rack bars 461a and 461b each have locking claw portions 461g and 461h (also called locking portions) at their front ends. (See reference...) Figure 8When the locking claws 461g and 461h displace the arm connecting pins 144a and 144b, they interact with the pin-side bearing portion 144c (see reference) provided on the arm connecting pins 144a and 144b. Figure 8 ) card.

[0245] The second rack rod 461a of one side has a drive rack tooth 461c on the surface near the side of the second toothed gear 460 (also referred to as the Z direction + side) (see reference). Figure 8 The drive rack tooth 461c meshes with the second tooth 460a of the second toothed gear 460.

[0246] In the expansion state (refer to) Figure 8 In the drive rack tooth 461c, the first end face 461d on the Y-direction + side abuts against the positioning tooth 460b in the second tooth 460a of the second toothed gear 460, or they are opposed in the Y-direction with a small gap between them.

[0247] If, from the expanded state, the second toothed gear 460 rotates forward in the rotational direction, the positioning tooth 460b presses the first end face 461d towards the Y-direction + side. With this pressing, the second rack rod 461a of one side displaces towards the Y-direction + side.

[0248] If the second rack rod 461a of one side is displaced in the Y direction + side, the synchronous gear 462 rotates, and the second rack rod 461b of the other side is displaced in the Y direction - side (that is, the opposite side to the second rack rod 461a of one side).

[0249] [Regarding the second force-applying mechanism]

[0250] When the arm connecting mechanism 46 is in the retracted state and the electric motor 41 is de-energized, the second force-applying mechanism 463 automatically restores the arm connecting mechanism 46 to the extended state. Furthermore, when the braking mechanism 42 is in operation, the arm connecting mechanism 46 does not automatically restore its extended state.

[0251] Therefore, the second force-applying mechanism 463 applies force to a pair of second rack rods 461a and 461b in a direction that moves them away from each other. Specifically, the second force-applying mechanism 463 consists of a pair of coil springs 463a and 463b (see reference). Figures 17A-17C It consists of a pair of coil springs 463a and 463b, which apply force to the base ends of a pair of second rack rods 461a and 461b towards the front end, respectively.

[0252] [Summary of the movements of the arm connection mechanism]

[0253] Reference Figures 18A-18C Here is a brief explanation of one example of the operation of the arm connecting mechanism 46 described above. Figures 18A-18CThis is a schematic diagram used to illustrate the operation of the arm connecting mechanism 46. Figure 18A This is a schematic diagram showing the expanded state of the arm connecting mechanism 46 and the engaged state between a pair of arm connecting pins 144a and a pair of first arm pin bearing portions 142b of the intermediate arm element 142. Figure 18B This is a schematic diagram illustrating the states of the arm connecting mechanism 46 during the transition from an expanded state to a retracted state. Furthermore, Figure 18C This is a schematic diagram showing the reduced state of the arm connecting mechanism 46 and the disengaged state between a pair of arm connecting pins 144a and a pair of first arm pin bearing portions 142b of the intermediate arm element 142.

[0254] The arm linkage mechanism 46 described above is powered by the electric motor 41 (that is, rotational motion), in the extended state (see reference). Figure 18A ) and shrinkage state (refer to) Figure 18C State transitions occur between these states. The following refers to... Figures 18A-18C This explains the actions of each part of the arm connecting mechanism 46 during the state transition from the expanded state to the retracted state. Furthermore, in Figures 18A-18C In the diagram, the first toothed gear 450 and the second toothed gear 460 are schematically shown as a single, integrated toothed gear. Hereinafter, for ease of explanation, this single-piece toothed gear will be described as the second toothed gear 460. Furthermore, in... Figures 18A-18C The locking mechanism 47, which will be described later, is omitted.

[0255] During the transition from the expanded state to the contracted state, the power (i.e., rotational motion) of the electric motor 41 is transmitted via the path of the second toothed gear 460 → one side's second rack 461a → synchronizing gear 462 → the other side's second rack 461b.

[0256] First, in the aforementioned path, based on the power of the electric motor 41, the second toothed gear 460 moves forward in the direction of rotation (in... Figure 8 Rotate in the direction indicated by arrow F2.

[0257] If the second toothed gear 460 rotates forward in the direction of rotation, then correspondingly, one of the second rack rods 461a rotates in the Y direction to the + side. Figures 18A-18C (to the right) displacement.

[0258] Therefore, corresponding to the displacement of one side's second rack 461a in the Y direction + side, the synchronizing gear 462 rotates. Then, corresponding to the rotation of the synchronizing gear 462, the other side's second rack 461b rotates in the Y direction - side ( Figures 18A-18C (left side) displacement.

[0259] With the pair of second rack rods 461a, 461b engaged with the pair of arm connecting pins 144a, if a state transition occurs from an expanded state to a contracted state, the pair of arm connecting pins 144a disengages from the pair of first arm pin receiving portions 142b of the intermediate arm element 142 (see reference). Figure 18C ).

[0260] The position information detection device 44 detects when a pair of arm connecting pins 144a disengage from a pair of first arm pin bearing portions 142b of the intermediate arm element 142 and are displaced to a predetermined position (e.g., Figure 2 B. Figure 18C The detection is performed at the position shown. Then, based on the detection result, the control unit 44b stops the operation of the electric motor 41.

[0261] Furthermore, if the braking mechanism 42 is released when the electric motor 41 is not energized, a state transition from a contracted state to an expanded state is automatically performed based on the force applied by the second force-applying mechanism 463 (that is, from...). Figure 18C Towards Figure 18A (State transition). At this time, the pair of arm connecting pins 144a are displaced in a direction away from each other. The position information detection device 44 detects when the pair of arm connecting pins 144a are engaged with the pair of first arm pin bearing portions 142b of the intermediate arm element 142 and have been displaced to a predetermined position (e.g., ...). Figure 2 A, Figure 18A The detection is performed at the position shown. The detection result is used to control the next action in actuator 2.

[0262] In addition, in this embodiment, it is prevented that the cylinder connecting pin is pulled out and the arm connecting pin is pulled out simultaneously in an arm element (e.g., the front arm element 141).

[0263] Therefore, the state transition of the cylinder connection mechanism 45 and the state transition of the arm connection mechanism 46 do not occur simultaneously.

[0264] Specifically, the structure is configured as follows: when the first tooth 450a of the first toothed gear 450 in the cylinder connection mechanism 45 meshes with the first rack tooth 451a of the first rack rod 451, the second tooth 460a of the second toothed gear 460 in the arm connection mechanism 46 does not mesh with the driving rack tooth 461c of one of the second rack rods 461a.

[0265] Alternatively, the following structure can be configured: Conversely, in the arm connection mechanism 46, when the second tooth 460a of the second toothed gear 460 meshes with the drive rack tooth 461c of one of the second rack rods 461a, in the cylinder connection mechanism 45, the first tooth 450a of the first toothed gear 450 does not mesh with the first rack tooth 451a of the first rack rod 451.

[0266] [Regarding the locking mechanism]

[0267] As described above, the actuator 2 in this embodiment is based on the structure of the arm connecting mechanism 46 and the cylinder connecting mechanism 45. In one arm element (e.g., the front arm element 141), the withdrawn state of the cylinder connecting pin and the withdrawn state of the arm connecting pin are not realized simultaneously. This structure prevents the arm connecting mechanism 46 and the cylinder connecting mechanism 45 from operating simultaneously based on the power of the electric motor 41.

[0268] Along with this structure, the actuator 2 according to this embodiment includes a locking mechanism 47 to prevent the cylinder connecting mechanism 45 and the arm connecting mechanism 46 from undergoing simultaneous state transitions when an external force other than the electric motor 41 acts on the cylinder connecting mechanism 45 (e.g., the first rack 451) or the arm connecting mechanism 46 (e.g., the second rack 461a).

[0269] This locking mechanism 47 prevents the other connecting mechanism from operating while one of the arm connecting mechanism 46 or the cylinder connecting mechanism 45 is in operation. The specific structure of the locking mechanism 47 will be described below with reference to... Figures 14A to 14D Please provide an explanation. Furthermore... Figures 14A to 14D This is a schematic diagram illustrating the construction of the locking mechanism 47.

[0270] In addition, Figures 14A to 14D In this embodiment, a one-piece toothed gear 49 (also called a switching gear) is formed integrally with the first toothed gear 450 of the cylinder connecting mechanism 45 and the second toothed gear 460 of the arm connecting mechanism 46. This one-piece toothed gear 49 is generally in the shape of a circular plate and has teeth 49a on a portion of its outer circumferential surface. The construction of the other parts is the same as that of the embodiment described above.

[0271] The locking mechanism 47 includes a first protrusion 470, a second protrusion 471, and a cam component 472 (also known as a locking-side rotating component).

[0272] The first protrusion 470 is integrally formed with the first rack 451 of the hydraulic cylinder connecting mechanism 45. Specifically, the first protrusion 470 is positioned adjacent to the first rack tooth 451a of the first rack 451.

[0273] The second protrusion 471 is integrally provided with one of the second rack bars 461a of the arm connecting mechanism 46. Specifically, the second protrusion 471 is provided at a position adjacent to the drive rack teeth 461c of one of the second rack bars 461a.

[0274] The cam component 472 is a plate-shaped component that is approximately crescent-shaped. This cam component 472 has a first cam support portion 472a at one end in the circumferential direction. On the other hand, the cam component 472 has a second cam support portion 472b at the other end in the circumferential direction.

[0275] The cam component 472 is externally fixed to the transmission shaft 432 at a position offset in the X direction from the position where the integral toothed gear 49 is externally fixed. Furthermore, in this embodiment, the cam component 472 is externally fixed between the first toothed gear 450 and the second toothed gear 460. That is, the cam component 472 and the integral toothed gear 49 are arranged coaxially. This cam component 472 rotates together with the transmission shaft 432. Therefore, the cam component 472 and the integral toothed gear 49 rotate together about the central axis of the transmission shaft 432.

[0276] Furthermore, the cam component 472 may also be integral with the integral toothed gear 49. Alternatively, in this embodiment, the cam component 472 may also be integral with at least one of the toothed gears, the first toothed gear 450 and the second toothed gear 460.

[0277] like Figures 14B to 14D and Figure 15A As shown, when the tooth 49a of the integral toothed gear 49 (which is also the second tooth 460a of the second toothed gear 460) is engaged with the drive rack tooth 461c of one of the second rack rods 461a, the first cam bearing portion 472a of the cam member 472 is located further to the + side in the Y direction than the first protrusion 470. Furthermore, at this time, the tooth 49a of the integral toothed gear 49 is not engaged with the first rack tooth 451a of the first rack rod 451.

[0278] In this state, the first cam bearing portion 472a and the first protrusion 470 are opposed to each other with a small gap in the Y direction (see reference). Figure 15A Therefore, even when an external force is applied to the first rack 451 in the Y direction (on the + side), Figure 15A The middle is marked by arrow F a Even with the force applied in the direction shown, displacement of the first rack rod 451 towards the Y direction (+ side) is also prevented.

[0279] Specifically, if the first rack rod 451 is subjected to an external force F in the Y direction + side a Then the first rack rod 451 from Figure 15A The first protrusion 470 abuts against the first cam bearing portion 472a to prevent the first rack rod 451 from displacing in the Y direction. The position indicated by the two dashed lines is then moved towards the + side.

[0280] In addition, Figures 14B-14D In the shown state, the outer peripheral surface of the cam component 472 faces the first protrusion 470 with a small gap in the Y direction. Therefore, even if an external force is applied to the first rack 451 in the Y direction + side, displacement of the first rack 451 in the Y direction + side is prevented.

[0281] On the other hand, such as Figure 15B As shown, when the tooth 49a of the integral toothed gear 49 (which is also the first tooth 450a of the first toothed gear 450 in the cylinder connection mechanism 45) is engaged with the first rack tooth 451a of the first rack rod 451, the second cam bearing portion 472b of the cam component 472 is located further to the Y direction + side than the second protrusion 471.

[0282] In this state (in Figure 15B In the state indicated by the two-dot dashed line, the second cam bearing portion 472b and the second protrusion 471 are opposed to each other with a small gap in the Y direction. Therefore, even if an external force is applied to one side of the second rack 461a in the Y direction (in... Figure 15B Middle arrow F b In the case of [unspecified event], displacement of the second rack rod 461a on one side towards the Y direction + side is also prevented. Specifically, if an external force F is applied to the second rack rod 461a on the Y direction + side... b Then the second rack rod 461a of one side from Figure 15B The second protrusion 471 abuts against the second cam bearing portion 472b to prevent displacement of the second rack rod 461a in the Y direction.

[0283] [1.2 Regarding the action of the actuator]

[0284] The following is for reference Figure 2 , Figure 16 The telescopic arm 14 and the actuator 2 during the telescopic action are explained. Figure 16 This is a timing diagram of the extension action of the front arm element 141 in the telescopic arm 14.

[0285] The following description pertains only to the extension movement of the front arm element 141 in the telescopic arm 14. Furthermore, the retraction movement of the front arm element 141 is the reverse of the sequence of the extension movements described below.

[0286] Furthermore, in the following description, the state transitions between the expanded and retracted states of the cylinder connecting mechanism 45 and the arm connecting mechanism 46 are as described above. Therefore, detailed descriptions related to the state transitions of the cylinder connecting mechanism 45 and the arm connecting mechanism 46 are omitted.

[0287] Furthermore, the switching of the ON (start) / OFF (off) state of the electric motor 41 and the switching of the ON (start) / OFF (off) state of the braking mechanism 42 are controlled by the control unit based on the output of the aforementioned position information detection device 44.

[0288] Figure 2 A indicates the retracted state of the telescopic arm 14. In this state, the front arm element 141 is connected to the intermediate arm element 142 via the arm connecting pin 144a. Therefore, the front arm element 141 cannot be connected to the intermediate arm element 142 along the length direction ( Figure 2 (left and right direction) displacement.

[0289] In addition, Figure 2 In A, the front ends of the cylinder connecting pins 454a and 454b engage with a pair of cylinder pin receiving portions 141a of the front arm element 141. That is, the front arm element 141 and the cylinder component 32 are in a connected state.

[0290] exist Figure 2 In state A, the states of each component become as follows (refer to...) Figure 16 (T0~T1).

[0291] Braking mechanism 42: OFF (closed)

[0292] Electric motor 41: OFF (off)

[0293] Hydraulic cylinder connecting mechanism 45: Expansion state

[0294] Arm connecting mechanism 46: Expanded state

[0295] Hydraulic cylinder connecting pins 454a and 454b: Inserted state

[0296] Arm connecting pin 144a: Inserted state

[0297] Next, in Figure 2 In the state shown in A, the electric motor 41 is rotated forward (in a first direction that is clockwise when viewed from the front end of the output shaft). Through the arm connecting mechanism 46 of the actuator 2, a pair of arm connecting pins 144a are displaced in the direction of disengagement from a pair of first arm pin receiving portions 142b of the intermediate arm element 142. At this time, the arm connecting mechanism 46 transitions from an expanded state to a retracted state.

[0298] Figure 2 A direction Figure 2 During the state transition of B, the states of each component become as follows (refer to...) Figure 16 (T1~T2).

[0299] Braking mechanism 42: OFF (closed)

[0300] Electric motor 41: ON (Start)

[0301] Hydraulic cylinder connecting mechanism 45: Expansion state

[0302] Arm connecting mechanism 46: Expanded state → Retracted state

[0303] Hydraulic cylinder connecting pins 454a and 454b: Inserted state

[0304] Arm connecting pin 144a: Inserted state → Withdrawn state

[0305] With the aforementioned state transition, the engagement between the pair of arm connecting pins 144a and the pair of first arm pin bearing portions 142b of the intermediate arm element 142 is released (see reference). Figure 2 B). Then, turn the braking mechanism 42 ON (start) and turn the electric motor 41 OFF (off).

[0306] Furthermore, the timing for turning the electric motor 41 OFF and the timing for turning the braking mechanism 42 ON are appropriately controlled by the control unit. For example, although the illustration is omitted, the electric motor 41 OFF is turned off after the braking mechanism 42 ON.

[0307] exist Figure 2 In state B, the states of each component become as follows (refer to...) Figure 16 (T2).

[0308] Braking mechanism 42: ON (Start)

[0309] Electric motor 41: OFF (off)

[0310] Hydraulic cylinder connecting mechanism 45: Expansion state

[0311] Arm connecting mechanism 46: Retracted state

[0312] Hydraulic cylinder connecting pins 454a and 454b: Inserted state

[0313] Arm connecting pin 144a: Pulled out

[0314] Next, in Figure 2 In the state shown in B, pressurized oil is supplied to the hydraulic chamber on the extension side of the telescopic cylinder 3 of the actuator 2. As a result, the cylinder component 32 extends in the extension direction ( Figure 2 (left side) displacement.

[0315] Along with the displacement of the cylinder component 32 as described above, the front arm element 141 is displaced in the elongation direction (see reference). Figure 2 C). At this time, the status of each part is as follows: Figure 16 The state of T2 is maintained until T3.

[0316] Next, in Figure 2 In the state shown in C, the braking mechanism 42 is released. Then, based on the force applied by the second force-applying mechanism 463, the arm connecting mechanism 46 displaces a pair of arm connecting pins 144a in a direction that engages with a pair of second arm pin receiving portions 142c of the intermediate arm element 142. At this time, the arm connecting mechanism 46 transitions from the retracted state to the expanded state (that is, automatically recovers).

[0317] Figure 2 C direction Figure 2 During the state transition of D, the states of each component become the following states (refer to...). Figure 16 (T3~T4).

[0318] Braking mechanism 42: OFF (closed)

[0319] Electric motor 41: OFF (off)

[0320] Hydraulic cylinder connecting mechanism 45: Expansion state

[0321] Arm connecting mechanism 46: Retracted state → Expanded state

[0322] Hydraulic cylinder connecting pins 454a and 454b: Inserted state

[0323] Arm connecting pin 144a: Pull-out state → Insertion state

[0324] Therefore, as Figure 2 As shown in Figure D, a pair of arm connecting pins 144a engage with a pair of second arm pin receiving portions 142c of the intermediate arm element 142.

[0325] Figure 2 The states of each component in state D become the following states (refer to...). Figure 16 (T4).

[0326] Braking mechanism 42: OFF (closed)

[0327] Electric motor 41: ON (Start)

[0328] Hydraulic cylinder connecting mechanism 45: Expansion state

[0329] Arm connecting mechanism 46: Expanded state

[0330] Hydraulic cylinder connecting pins 454a and 454b: Inserted state

[0331] Arm connecting pin 144a: Inserted state

[0332] Furthermore, in Figure 2In the state shown in D, the electric motor 41 is reversed (rotated in a second direction, which is the counterclockwise direction when viewed from the front end of the output shaft), and through the hydraulic cylinder connecting mechanism 45, a pair of hydraulic cylinder connecting pins 454a and 454b are displaced in the direction of disengagement from the pair of hydraulic cylinder pin receiving portions 141a of the front arm element 141. At this time, the hydraulic cylinder connecting mechanism 45 transitions from an expanded state to a contracted state.

[0333] Figure 2 D direction Figure 2 During the state transition of E, the states of each component become the following states (refer to...). Figure 16 (T4~T5).

[0334] Braking mechanism 42: OFF (closed)

[0335] Electric motor 41: ON (Start)

[0336] Hydraulic cylinder connecting mechanism 45: Expansion state → Retraction state

[0337] Arm connecting mechanism 46: Expanded state

[0338] Hydraulic cylinder connecting pins 454a and 454b: Inserted state → Withdrawn state

[0339] Arm connecting pin 144a: Inserted state

[0340] Therefore, as Figure 2 As shown in Figure E, the engagement between the front ends of a pair of cylinder connecting pins 454a, 454b and the pair of cylinder pin receiving portions 141a of the front arm element 141 is released. Afterwards, the braking mechanism 42 is turned ON (activated), and the electric motor 41 is turned OFF (disconnected).

[0341] Figure 2 The states of each component in the state shown in E become the following states (refer to...). Figure 16 (T5).

[0342] Braking mechanism 42: ON (Start)

[0343] Electric motor 41: OFF (off)

[0344] Hydraulic cylinder connecting mechanism 45: Retracted state

[0345] Arm connecting mechanism 46: Expanded state

[0346] Hydraulic cylinder connecting pins 454a and 454b: withdrawn state

[0347] Arm connecting pin 144a: Inserted state

[0348] Subsequently, although the diagram is omitted, if pressurized oil is supplied to the hydraulic chamber on the retracting side of the telescopic cylinder 3 of the actuator 2, the cylinder component 32 will move in the retracting direction ( Figure 2 The right side of the displacement. At this time, the front arm element 141 and the cylinder component 32 are not connected, so the cylinder component 32 displaces alone in the retraction direction. When the intermediate arm element 142 is extended, the intermediate arm element 142 is subjected to... Figure 2 Actions A through 2E.

[0349] [1.3 Regarding the function / effect of this embodiment]

[0350] In the case of the mobile crane 1 of this embodiment with the above structure, the cylinder connection mechanism 45 and the boom connection mechanism 46 are electrically powered, so there is no need to install a hydraulic circuit in the internal space of the telescopic boom 14 as in the existing structure. Therefore, the space originally used by the hydraulic circuit can be effectively utilized, increasing the design freedom in the internal space of the telescopic boom 14.

[0351] Furthermore, in this embodiment, the position detection device 44 described above performs position detection of the cylinder connecting pins 454a, 454b and the arm connecting pins 144a, 144b. Therefore, in this embodiment, proximity sensors are not required for detecting the positions of the cylinder connecting pins 454a, 454b and the arm connecting pins 144a, 144b. Such proximity sensors are, for example, provided at positions capable of detecting the insertion and withdrawal states of the cylinder connecting pins 454a, 454b and the arm connecting pins 144a, 144b respectively. In this case, the number of proximity sensors needs to be at least the same as the number of cylinder connecting pins 454a, 454b and the second rack rods 461a, 461b. On the other hand, in this embodiment, the position detection device 44 (i.e., one detector) including one detection unit 44a as described above can detect the positions of the cylinder connecting pins 454a, 454b and the arm connecting pins 144a, 144b respectively.

[0352] [2. Implementation Method 2]

[0353] Reference Figures 19A-20 The following describes Embodiment 2 of the present invention. In this embodiment, the structure of the location information detection device 500A differs from that of the location information detection device 44 in Embodiment 1 described above. The structure of all other parts is the same as in Embodiment 1. Hereinafter, the structure of the location information detection device 500A will be described.

[0354] Figure 19A A position information detection device 500A indicating the state of the end of the transmission shaft 432 located on the X-direction + side. Figure 19B From Figure 19A Arrow A in r Directional observation Figure 19A The diagram shows the location information detection device 500A. Figure 19C yes Figure 19A C 1a -C 1a Linear cross-section diagram. Figure 19D yes Figure 19A C 1b -C 1b Linear cross-sectional view. Furthermore, in Figure 19D The second detection device 502A, which will be described later, is omitted.

[0355] in addition, Figure 20 This is a diagram illustrating the operation of the crane position information detection device 500A according to this embodiment. Hereinafter, Figure 20 In the explanation, in reference Figure 20 In the case of the diagram, use column numbers A to E and row numbers 1 to 4. For example, in the reference... Figure 20 In the case of the chart in column A, row 1, let's set it as A-1.

[0356] Figure 20 Column C indicates the neutral status of the location information detection device 500A. Specifically, Figure 20 C-1 corresponds to Figure 19A .in addition, Figure 20 C-2 corresponds to Figure 19B . Figure 20 C-3 corresponds to Figure 19C . Figure 20 C-4 corresponds to Figure 19D .

[0357] In the neutral state of the position information detection device 500A, the cylinder connecting pins 454a, 454b and the arm connecting pin 144a (refer to...) Figure 2 A~ Figure 2 E) is in the insertion state. In the following description, the arm connecting pin is set to... Figure 2 A~ Figure 2 Arm connecting pin 144a is shown in E. However, the arm connecting pin can also be... Figure 2 A~ Figure 2 Arm connecting pin 144b is shown in E.

[0358] The location information detection device 500A has a first detection device 501A and a second detection device 502A.

[0359] The first detection device 501A includes a first detection part 50A and a first sensor part 51A. The first detection part 50A is fixed to the transmission shaft 432 with the transmission shaft 432 inserted through the center hole. The first detection part 50A rotates together with the transmission shaft 432.

[0360] The first detection part 50A has a first large-diameter part 50a2 and a second large-diameter part 50c2 with a large distance from the central axis (large outer diameter) and a first small-diameter part 50b2 and a second small-diameter part 50d2 with a small distance from the central axis (small outer diameter) on its outer peripheral surface. In this embodiment, the first large-diameter part 50a2 and the second large-diameter part 50c2 are arranged at a position offset by 90 degrees circumferentially with the central axis of the first detection part 50A as the center. Furthermore, the positional relationship between the first large-diameter part 50a2 and the second large-diameter part 50c2 is not limited to the relationship in this embodiment. The positional relationship between the first large-diameter part 50a2 and the second large-diameter part 50c2 is appropriately determined in accordance with the stroke of the arm connecting pin and the cylinder connecting pin when transitioning between the contracted state and the expanded state.

[0361] The first small-diameter portion 50b2 is disposed on the outer peripheral surface of the first detected portion 50A, within the portion existing between the first large-diameter portion 50a2 and the second large-diameter portion 50c2, and has a small central angle (short circumferential length) with the central axis of the first detected portion 50A as the center. The second small-diameter portion 50d2 is disposed on the outer peripheral surface of the first detected portion 50A, within the portion existing between the first large-diameter portion 50a2 and the second large-diameter portion 50c2, and has a large central angle (long circumferential length) with the central axis of the first detected portion 50A as the center.

[0362] The first sensor unit 51A is a non-contact proximity sensor. The first sensor unit 51A is provided with its front end facing the outer peripheral surface of the first detected part 50A. The first sensor unit 51A outputs an electrical signal corresponding to the distance from the outer peripheral surface of the first detected part 50A.

[0363] For example, the output of the first sensor unit 51A is ON when it is opposite to the first large-diameter part 50a2 or the second large-diameter part 50c2. On the other hand, the output of the first sensor unit 51A is OFF when it is opposite to the first small-diameter part 50b2 or the second small-diameter part 50d2.

[0364] The second detection device 502A includes a second detection unit 52A and a second sensor unit 53A. The second detection unit 52A is fixed within the transmission shaft 432, positioned further in the X direction than the first detection unit 50A, with the transmission shaft 432 inserted through its central hole. The second detection unit 52A rotates together with the transmission shaft 432.

[0365] The second detection part 52A has a first large-diameter part 52a2 and a second large-diameter part 52c2 with a large distance from the central axis (large outer diameter) and a first small-diameter part 52b2 and a second small-diameter part 52d2 with a small distance from the central axis (small outer diameter) on its outer peripheral surface. The structure of the second detection part 52A is the same as that of the first detection part 50A described above.

[0366] The second sensor unit 53A is a non-contact proximity sensor. The second sensor unit 53A is provided with its front end facing the outer peripheral surface of the second detected unit 52A. The second sensor unit 53A outputs an electrical signal corresponding to the distance from the outer peripheral surface of the second detected unit 52A.

[0367] For example, the output of the second sensor unit 53A is ON when it is opposite to the first large-diameter part 52a2 or the second large-diameter part 52c2. On the other hand, the output of the second sensor unit 53A is OFF when it is opposite to the first small-diameter part 52b2 or the second small-diameter part 52d2.

[0368] In this embodiment, in the neutral state of the position information detection device 500A, the first detected part 50A and the second detected part 52A are 90 degrees out of phase. Specifically, in the neutral state of the position information detection device 500A, the first sensor part 51A is opposite to the second large-diameter part 50c2 of the first detected part 50A. On the other hand, in the neutral state of the position information detection device 500A, the second sensor part 53A is opposite to the first large-diameter part 52a2 of the second detected part 52A. Furthermore, the positional (phase) relationship between the first detected part 50A and the second detected part 52A is not limited to the relationship in this embodiment. The positional relationship between the first detected part 50A and the second detected part 52A is appropriately determined in accordance with the stroke amount of the arm connecting pin and the cylinder connecting pin during the state transition between the contracted state and the expanded state.

[0369] The position information detection device 500A described above detects information related to the positions of the cylinder connecting pins 454a and 454b and the arm connecting pin 144a based on a combination of the outputs of the first sensor unit 51A and the second sensor unit 53A. Hereinafter, regarding this point, please refer to... Figure 20 Please provide an explanation.

[0370] Figure 20 Column A indicates the withdrawn state of pins 454a and 454b connected to the hydraulic cylinder. Figure 2 The state shown in E (hereinafter referred to as the "extraction state of the hydraulic cylinder connecting pin") corresponds to the state of the position information detection device 500A. Figure 20Column B represents the status of the position information detection device 500A corresponding to the withdrawal action state of the hydraulic cylinder connecting pins 454a and 454b (hereinafter referred to as the "withdrawal action state of the hydraulic cylinder connecting pins"). Figure 20 Column C indicates the insertion status of the arm connecting pin 144a and the cylinder connecting pins 454a and 454b. Figure 2 The state shown in Figure A (hereinafter referred to as the "neutral state of the pin") corresponds to the state (neutral state) of the position information detection device 500A.

[0371] Figure 20 Column D indicates the status of the position information detection device 500A corresponding to the withdrawal action state of the arm connecting pin 144a (hereinafter referred to as the "arm connecting pin withdrawal action state"). Additionally, Figure 20 Column E indicates the withdrawn state of the connecting pin 144a to the arm. Figure 2 B and Figure 2 The state shown in C (hereinafter referred to as the "arm connecting pin withdrawal state") corresponds to the state of the position information detection device 500A.

[0372] Furthermore, when the arm connecting pin 144a is in the withdrawn state, the cylinder connecting pins 454a and 454b are in the inserted state. Conversely, when the arm connecting pin 144a is in the inserted state, the cylinder connecting pins 454a and 454b are in the withdrawn state.

[0373] In this embodiment, the position information detection device 500A detects which of the following states corresponds to the arm connecting pin 144a and the cylinder connecting pins 454a and 454b: the pin neutral state, the arm connecting pin withdrawn state, and the cylinder connecting pin withdrawn state.

[0374] Furthermore, the position information detection device 500A cannot distinguish between the withdrawal state of the arm connecting pin and the withdrawal state of the hydraulic cylinder connecting pin. This is because, in both the arm connecting pin withdrawal state and the hydraulic cylinder connecting pin withdrawal state, the output of the first sensor unit 51A and the output of the second sensor unit 53A are the same combination (see reference). Figure 20 (Columns B and D). However, by setting a mechanism to detect the rotation direction of the transmission shaft 432, the position information detection device 500A can detect the withdrawal state of the arm connecting pin and the hydraulic cylinder connecting pin.

[0375] If the position information detection device 500A corresponds to the neutral state of the pin ( Figure 20 Starting from the state shown in column C), electric motor 41 (refer to...) Figure 7 Forward rotation (rotating clockwise when viewed from the front end of the output shaft, i.e., towards) Figure 19BIf the arrow Fa rotates in the direction of rotation, then the position information detection device 500A will pass through the state corresponding to the withdrawal action state of the arm connecting pin ( Figure 20 The state shown in column D) becomes the state corresponding to the withdrawal state of the arm connecting pin. Figure 20 (The status shown in column E).

[0376] In the state corresponding to the withdrawal of the arm connecting pin, the first sensor section 51A is positioned opposite the second small-diameter section 50d2 of the first detected section 50A. In this state, the output of the first sensor section 51A is OFF (off) (see reference). Figure 20 (E-4).

[0377] Furthermore, in the state corresponding to the withdrawal of the arm connecting pin, the second sensor unit 53A is positioned opposite the second large-diameter portion 52c2 of the second detected unit 52A. In this state, the output of the second sensor unit 53A is ON (see reference). Figure 20 (E-3).

[0378] By combining the output (OFF) of the first sensor unit 51A with the output (ON) of the second sensor unit 53A, the position information detection device 500A detects the withdrawn state of the arm connecting pin 144a and the cylinder connecting pins 454a and 454b. Then, based on the detection result of the position information detection device 500A, the control unit (not shown) stops the operation of the electric motor 41.

[0379] On the other hand, if the position information detection device 500A corresponding to the neutral state of the pin ( Figure 20 Starting from the state shown in column C), electric motor 41 (refer to...) Figure 7 Reverse (viewed from the front end of the output shaft, counterclockwise direction, i.e.) Figure 19B If the arrow Ra rotates in the direction of rotation, then the position information detection device 500A will pass through the state corresponding to the withdrawal action state of the hydraulic cylinder connecting pin ( Figure 20 The state shown in column B) becomes the state corresponding to the withdrawn state of the cylinder connecting pin. Figure 20 (The status shown in column A).

[0380] In the state corresponding to the withdrawal of the hydraulic cylinder connecting pin, the first sensor unit 51A is positioned opposite the first large-diameter portion 50a2 of the first detected unit 50A. In this state, the output of the first sensor unit 51A is ON (see reference). Figure 20 (A-4).

[0381] Furthermore, in the state corresponding to the withdrawal of the hydraulic cylinder connecting pin, the second sensor unit 53A is positioned opposite the second small-diameter portion 52d2 of the second detected unit 52A. In this state, the output of the second sensor unit 53A is OFF (off) (see reference). Figure 20 (A-3).

[0382] By combining the output (ON) of the first sensor unit 51A with the output (OFF) of the second sensor unit 53A, the position information detection device 500A detects the withdrawn state of the arm connecting pin 144a and the cylinder connecting pins 454a and 454b. Then, based on the detection result of the position information detection device 500A, the control unit (not shown) stops the operation of the electric motor 41.

[0383] Furthermore, if the electric motor 41 reverses from the state corresponding to the withdrawn state of the arm connecting pin, the position information detection device 500A becomes the state corresponding to the neutral state of the pin.

[0384] On the other hand, if the electric motor 41 rotates forward from the state corresponding to the state of the cylinder connecting pin being pulled out, the position information detection device 500A becomes the state corresponding to the neutral state of the pin.

[0385] In the neutral state, the first sensor unit 51A is positioned opposite the second large-diameter portion 50c2 of the first detected unit 50A. In this state, the output of the first sensor unit 51A is ON (see reference). Figure 20 (C-4).

[0386] Furthermore, in the neutral state of the pin, the second sensor unit 53A is positioned opposite the first large-diameter portion 52a2 of the second detected unit 52A. In this state, the output of the second sensor unit 53A is ON (see reference). Figure 20 (C-3).

[0387] By combining the output (ON) of the first sensor unit 51A with the output (ON) of the second sensor unit 53A, the position information detection device 500A detects whether the arm connecting pin 144a and the cylinder connecting pins 454a and 454b are in a neutral state. Then, based on the detection result of the position information detection device 500A, the control unit (not shown) stops the operation of the electric motor 41.

[0388] [3. Implementation Method 3]

[0389] Reference Figures 21A-22The following describes Embodiment 3 of the present invention. In this embodiment, the structure of the location information detection device 500B differs from that of the location information detection device 500A in Embodiment 2. The structure of all other parts is the same as in Embodiment 2. Hereinafter, the structure of the location information detection device 500B will be described.

[0390] Figure 21A Position information detection device 500B indicates the state of the device located at the end of the transmission shaft 432 on the X-direction + side. Figure 21B From Figure 21A Arrow A in r Directional observation Figure 21A The diagram shows the location information detection device 500B. Figure 21C yes Figure 21A C 2a -C 2a Linear cross-section diagram. Figure 21D yes Figure 21A C 1b -C 1b Linear cross-section diagram. Figure 21E yes Figure 21A C 1c -C 1c Linear cross-sectional view. Furthermore, in Figure 21D The third detection device 503B, described later, is omitted from this text. Additionally, in... Figure 21E The second detection device 502B and the third detection device 503B, which will be described later, are omitted in the text.

[0391] in addition, Figure 22 This is a diagram illustrating the operation of the crane position information detection device 500B according to this embodiment. Figure 22 This is in accordance with the description of Embodiment 1 above. Figure 20 The corresponding diagram.

[0392] The location information detection device 500B has a first detection device 501B, a second detection device 502B and a third detection device 503B.

[0393] The first detection device 501B includes a first detection part 50B and a first sensor part 51B. The first detection part 50B is fixed to the transmission shaft 432 with the transmission shaft 432 inserted through the central hole. The first detection part 50B rotates together with the transmission shaft 432.

[0394] The first detection part 50B has a first large diameter part 50a3, a second large diameter part 50c3 and a third large diameter part 50e3 with a large distance from the central axis (large outer diameter) on its outer peripheral surface, and a first small diameter part 50b3, a second small diameter part 50d3 and a third small diameter part 50f3 with a small distance from the central axis (small outer diameter).

[0395] In this embodiment, the first large-diameter portion 50a3, the second large-diameter portion 50c3, and the third large-diameter portion 50e3 are arranged at 90-degree intervals on the outer peripheral surface of the first detection portion 50B. The first large-diameter portion 50a3 and the third large-diameter portion 50e3 are arranged 180° off-center from the central axis of the first detection portion 50B. Furthermore, the positional relationship of the first large-diameter portion 50a3, the second large-diameter portion 50c3, and the third large-diameter portion 50e3 is not limited to the relationship in this embodiment. The positional relationship of the first large-diameter portion 50a3, the second large-diameter portion 50c3, and the third large-diameter portion 50e3 is appropriately determined in accordance with the stroke amount of the arm connecting pin and the cylinder connecting pin during the state transition between the contracted state and the expanded state.

[0396] A first small-diameter portion 50b3 is disposed between a first large-diameter portion 50a3 and a second large-diameter portion 50c3 on the outer peripheral surface of the first detected portion 50B. A second small-diameter portion 50d3 is disposed between a second large-diameter portion 50c3 and a third large-diameter portion 50e3 on the outer peripheral surface of the first detected portion 50B. A third small-diameter portion 50f3 is disposed between a first large-diameter portion 50a3 and a third large-diameter portion 50e3 on the outer peripheral surface of the first detected portion 50B.

[0397] The first sensor unit 51B is a non-contact proximity sensor. The first sensor unit 51B is provided with its front end facing the outer peripheral surface of the first detected part 50B. The first sensor unit 51B outputs an electrical signal corresponding to the distance from the outer peripheral surface of the first detected part 50B.

[0398] For example, the output of the first sensor unit 51B is ON when it is opposite to the first large diameter section 50a3, the second large diameter section 50c3, or the third large diameter section 50e3. On the other hand, the output of the first sensor unit 51B is OFF when it is opposite to the first small diameter section 50b3, the second small diameter section 50d3, or the third small diameter section 50f3.

[0399] The second detection device 502B includes a second detection unit 52B and a second sensor unit 53B. The second detection unit 52B is fixed within the transmission shaft 432, positioned further in the X direction than the first detection unit 50B, with the transmission shaft 432 inserted through its central hole. The second detection unit 52B rotates together with the transmission shaft 432.

[0400] The second detection part 52B has a first large-diameter part 52a3 with a large distance from the central axis (large outer diameter) and a first small-diameter part 52b3 with a small distance from the central axis (small outer diameter) on its outer peripheral surface. In this embodiment, the first large-diameter part 52a3 is disposed on the outer peripheral surface of the second detection part 52B within a range with a central angle of 120° centered on the central axis of the second detection part 52B. The first small-diameter part 52b3 is disposed on the outer peripheral surface of the second detection part 52B in the portion other than the first large-diameter part 52a3. Furthermore, the positional relationship between the first large-diameter part 52a3 and the first small-diameter part 52b3 is not limited to the relationship in this embodiment. The positional relationship between the first large-diameter part 52a3 and the first small-diameter part 52b3 is appropriately determined in accordance with the stroke amount of the arm connecting pin and the cylinder connecting pin during the state transition between the contracted state and the expanded state.

[0401] The second sensor unit 53B is a non-contact proximity sensor. The second sensor unit 53B is provided with its front end facing the outer peripheral surface of the second detected unit 52B. The second sensor unit 53B outputs an electrical signal corresponding to the distance from the outer peripheral surface of the second detected unit 52B.

[0402] For example, the output of the second sensor section 53B is ON when it is opposite to the first large-diameter section 52a3. On the other hand, the output of the second sensor section 53B is OFF when it is opposite to the first small-diameter section 52b3.

[0403] The third detection device 503B includes a third detection unit 54B and a third sensor unit 55B. The third detection unit 54B is fixed to the transmission shaft 432 in a state where the transmission shaft 432 is inserted through the central hole, and is positioned further to the X-direction side than the second detection unit 52B. The third detection unit 54B rotates together with the transmission shaft 432.

[0404] The third detection part 54B has a first large-diameter part 54a3 with a large distance from the central axis (large outer diameter) and a first small-diameter part 54b3 with a small distance from the central axis (small outer diameter) on its outer peripheral surface. In this embodiment, the first large-diameter part 54a3 is arranged on the outer peripheral surface of the third detection part 54B within a range with a central angle of approximately 120° centered on the central axis of the third detection part 54B. The first small-diameter part 54b3 is arranged on the outer peripheral surface of the third detection part 54B in the portion other than the first large-diameter part 54a3. Furthermore, the positional relationship between the first large-diameter part 54a3 and the first small-diameter part 54b3 is not limited to the relationship in this embodiment. The positional relationship between the first large-diameter part 54a3 and the first small-diameter part 54b3 is appropriately determined in accordance with the stroke amount of the arm connecting pin and the cylinder connecting pin during the state transition between the contracted state and the expanded state.

[0405] The third sensor unit 55B is a non-contact proximity sensor. The third sensor unit 55B is provided with its front end facing the outer peripheral surface of the third detected unit 54B. The third sensor unit 55B outputs an electrical signal corresponding to the distance from the outer peripheral surface of the third detected unit 54B.

[0406] For example, the output of the third sensor unit 55B is ON when it is opposite to the first large-diameter part 54a3. On the other hand, the output of the third sensor unit 55B is OFF when it is opposite to the first small-diameter part 54b3.

[0407] In this embodiment, in the neutral state of the location information detection device 500B, the first sensor unit 51B faces the second large-diameter portion 50c3 of the first detected unit 50B. Furthermore, in the neutral state of the location information detection device 500B, the second sensor unit 53B faces the first large-diameter portion 52a3 of the second detected unit 52B. Moreover, in the neutral state of the location information detection device 500B, the third sensor unit 55B faces the first large-diameter portion 54a3 of the third detected unit 54B.

[0408] The position information detection device 500B described above detects information related to the positions of the cylinder connecting pins 454a and 454b and the arm connecting pin 144a based on a combination of the outputs of the first sensor unit 51B, the second sensor unit 53B, and the third sensor unit 55B. Hereinafter, regarding this point, please refer to... Figure 22 Please provide an explanation.

[0409] In this embodiment, the position information detection device 500B detects which of the following states corresponds to the arm connecting pin 144a and the cylinder connecting pins 454a and 454b: the neutral state of the pin, the arm connecting pin withdrawal state (which is also the arm connecting pin insertion state), the arm connecting pin withdrawal state, the cylinder connecting pin withdrawal state (which is also the cylinder connecting pin insertion state), and the cylinder connecting pin withdrawal state. That is, the position information detection device 500B of this embodiment can also detect the arm connecting pin withdrawal state and the cylinder connecting pin withdrawal state, which cannot be detected by the structure of Embodiment 2 described above.

[0410] If the position information detection device 500B corresponding to the neutral state of the pin is in state ( Figure 22 Starting from the state shown in column C), electric motor 41 (refer to...) Figure 7 If the rotation is forward, the position information detection device 500B will be in a state corresponding to the withdrawal action state of the arm connecting pin. Figure 22 (The status shown in column D).

[0411] In the state corresponding to the withdrawal action of the arm connecting pin, the first sensor unit 51B is positioned opposite the second small-diameter portion 50d3 of the first detected unit 50B. In this state, the output of the first sensor unit 51B is OFF (off) (see reference). Figure 22 (D-5).

[0412] Furthermore, in the state corresponding to the withdrawal action of the arm connecting pin, the second sensor unit 53B is positioned opposite the first small-diameter portion 52b3 of the second detected unit 52B. In this state, the output of the second sensor unit 53B is OFF (off) (see reference). Figure 22 (D-4).

[0413] Furthermore, in the state corresponding to the withdrawal action of the arm connecting pin, the third sensor unit 55B is positioned opposite the first large-diameter portion 54a3 of the third detected unit 54B. In this state, the output of the third sensor unit 55B is ON (on) (see reference). Figure 22 (D-3).

[0414] By combining the outputs (OFF) of the first sensor unit 51B, the second sensor unit 53B, and the third sensor unit 55B (ON), the position information detection device 500B detects the withdrawal state of the arm connecting pin 144a and the cylinder connecting pins 454a and 454b. Then, based on the detection results of the position information detection device 500B, the control unit (not shown) keeps the electric motor 41 running.

[0415] If the position information detection device 500B is in the state corresponding to the withdrawal action state of the arm connecting pin ( Figure 22 Starting from the state shown in column D), the electric motor 41 rotates further forward, and the position information detection device 500B becomes the state corresponding to the withdrawal state of the arm connecting pin. Figure 22 (The status shown in column E).

[0416] In the state corresponding to the withdrawal of the arm connecting pin, the first sensor unit 51B is positioned opposite the third large diameter portion 50e3 of the first detected unit 50B. In this state, the output of the first sensor unit 51B is ON (see reference). Figure 22 (E-5).

[0417] Furthermore, in the state corresponding to the withdrawal of the arm connecting pin, the second sensor unit 53B is positioned opposite the first small-diameter portion 52b3 of the second detected unit 52B. In this state, the output of the second sensor unit 53B is OFF (off) (see reference). Figure 22 (E-4).

[0418] Furthermore, in the state corresponding to the withdrawal of the arm connecting pin, the third sensor unit 55B is positioned opposite the first large-diameter portion 54a3 of the third detected unit 54B. In this state, the output of the third sensor unit 55B is ON (see reference). Figure 22 (E-3).

[0419] By combining the outputs (ON) of the first sensor unit 51B, the output (OFF) of the second sensor unit 53B, and the output (ON) of the third sensor unit 55B, the position information detection device 500B detects the withdrawn state of the arm connecting pin 144a and the cylinder connecting pins 454a and 454b. Then, based on the detection results of the position information detection device 500B, the control unit (not shown) stops the operation of the electric motor 41.

[0420] If the position information detection device 500B corresponding to the neutral state of the pin is in state ( Figure 22 Starting from the state shown in column C), electric motor 41 (refer to...) Figure 7 If the position is reversed, the position information detection device 500B will become in a state corresponding to the withdrawal action state of the hydraulic cylinder connecting pin. Figure 22 (The status shown in column B).

[0421] In the state corresponding to the withdrawal action of the hydraulic cylinder connecting pin, the first sensor unit 51B is positioned opposite the first small-diameter portion 50b3 of the first detected unit 50B. In this state, the output of the first detection device 501B is OFF (off) (see reference). Figure 22 (B-5).

[0422] Furthermore, in the state corresponding to the withdrawal action of the hydraulic cylinder connecting pin, the second sensor unit 53B is positioned opposite the first large-diameter portion 52a3 of the second detected unit 52B. In this state, the output of the second sensor unit 53B is ON (see reference). Figure 22 (B-4).

[0423] Furthermore, in the state corresponding to the withdrawal action of the hydraulic cylinder connecting pin, the third sensor unit 55B is positioned opposite the first small-diameter portion 54b3 of the third detected unit 54B. In this state, the output of the third sensor unit 55B is OFF (off) (see reference). Figure 22 (B-3).

[0424] By combining the outputs (OFF) of the first sensor unit 51B, (ON) of the second sensor unit 53B, and (OFF) of the third sensor unit 55B, the position information detection device 500B detects the withdrawal state of the arm connecting pin 144a and the cylinder connecting pins 454a and 454b. Then, based on the detection results of the position information detection device 500B, the control unit (not shown) keeps the electric motor 41 running.

[0425] If the position information detection device 500B is in the state corresponding to the withdrawal action state of the hydraulic cylinder connecting pin ( Figure 22 Starting from the state shown in column B), the electric motor 41 further reverses, and the position information detection device 500B becomes the state corresponding to the withdrawal state of the hydraulic cylinder connecting pin. Figure 22 (The status shown in column A).

[0426] In the state corresponding to the withdrawal of the hydraulic cylinder connecting pin, the first sensor unit 51B is positioned opposite the first large-diameter portion 50a3 of the first detected unit 50B. In this state, the output of the first sensor unit 51B is ON (see reference). Figure 22 (A-5).

[0427] Furthermore, in the state corresponding to the withdrawal of the hydraulic cylinder connecting pin, the second sensor unit 53B is positioned opposite the first large-diameter portion 52a3 of the second detected unit 52B. In this state, the output of the second sensor unit 53B is ON (see reference). Figure 22 (A-4).

[0428] Furthermore, in the state corresponding to the withdrawal of the hydraulic cylinder connecting pin, the third sensor unit 55B is positioned opposite the first small-diameter portion 54b3 of the third detected unit 54B. In this state, the output of the third sensor unit 55B is OFF (off) (see reference). Figure 22 (A-3).

[0429] By combining the outputs (ON) of the first sensor unit 51B, the second sensor unit 53B, and the third sensor unit 55B (OFF), the position information detection device 500B detects the withdrawn state of the arm connecting pin 144a and the cylinder connecting pins 454a and 454b. Then, based on the detection results of the position information detection device 500B, the control unit (not shown) stops the operation of the electric motor 41. Other structures and functions / effects are the same as in Embodiment 2 described above.

[0430] [4. Implementation Method 4]

[0431] Reference Figures 23A-24Hereinafter, we will describe Embodiment 4 of the present invention. In this embodiment, the structure of the location information detection device 500C differs from that of the location information detection device 500A in Embodiment 2. The structure of all other parts is the same as in Embodiment 2. Hereinafter, we will describe the structure of the location information detection device 500C. Furthermore, Figures 23A to 23D This is in accordance with the description of Embodiment 2 above. Figures 19A to 19D The corresponding diagram. Additionally... Figure 24 This is in accordance with the description of Embodiment 2 above. Figure 20 The corresponding diagram.

[0432] The location information detection device 500C has a first detection device 501C and a second detection device 502C.

[0433] The first detection device 501C includes a first detection part 50C and a first sensor part 51C. The first detection part 50C is fixed to the transmission shaft 432 with the transmission shaft 432 inserted through the central hole. The first detection part 50C rotates together with the transmission shaft 432.

[0434] The first detection part 50C has a first large diameter part 50a4 and a second large diameter part 50c4 with a large distance from the central axis (large outer diameter) on its outer peripheral surface, and a first small diameter part 50b4 and a second small diameter part 50d4 with a small distance from the central axis (small outer diameter).

[0435] The first large-diameter portion 50a4 is disposed on the outer peripheral surface of the first detection portion 50C within a range with a central angle of approximately 240° centered on the central axis of the first detection portion 50C. The second large-diameter portion 50c4 is disposed on the outer peripheral surface of the first detection portion 50C in the portion excluding the first large-diameter portion 50a4. Furthermore, the positional relationship between the first large-diameter portion 50a4 and the second large-diameter portion 50c4 is not limited to the relationship in this embodiment. The positional relationship between the first large-diameter portion 50a4 and the second large-diameter portion 50c4 is appropriately determined in accordance with the stroke amount of the arm connecting pin and the cylinder connecting pin during the state transition between the contracted state and the expanded state.

[0436] The first minor diameter portion 50b4 and the second minor diameter portion 50d4 are respectively disposed on the outer peripheral surface of the first detected portion 50C, sandwiching the second major diameter portion 50c4 in the circumferential direction. The first minor diameter portion 50b4 and the second minor diameter portion 50d4 are offset by 90 degrees from the central axis of the first detected portion 50C. Furthermore, the positional relationship between the first minor diameter portion 50b4 and the second minor diameter portion 50d4 is not limited to the relationship in this embodiment. The positional relationship between the first minor diameter portion 50b4 and the second minor diameter portion 50d4 is appropriately determined in accordance with the stroke amount of the arm connecting pin and the cylinder connecting pin during the state transition between the contracted state and the expanded state.

[0437] The first sensor unit 51C is a non-contact proximity sensor. The first sensor unit 51C is provided with its front end facing the outer peripheral surface of the first detected part 50C. The first sensor unit 51C outputs an electrical signal corresponding to the distance from the outer peripheral surface of the first detected part 50C.

[0438] For example, the output of the first sensor unit 51C is OFF when it is opposite to the first large-diameter portion 50a4 or the second large-diameter portion 50c4. On the other hand, the output of the first sensor unit 51C is ON when it is opposite to the first small-diameter portion 50b4 or the second small-diameter portion 50d4. That is, in this embodiment, the condition for the output of the first sensor unit 51C to be ON is the opposite of that in embodiments 2 and 3 described above.

[0439] The second detection device 502C includes a second detection unit 52C and a second sensor unit 53C. The second detection unit 52C is fixed within the transmission shaft 432, positioned further in the X direction than the first detection unit 50C, with the transmission shaft 432 inserted through its central hole. The second detection unit 52C rotates together with the transmission shaft 432.

[0440] The second detection part 52C has a first large-diameter part 52a4 and a second large-diameter part 52c4 with a large distance from the central axis (large outer diameter) and a first small-diameter part 52b4 and a second small-diameter part 52d4 with a small distance from the central axis (small outer diameter) on its outer peripheral surface. The structure of the second detection part 52C is the same as that of the first detection part 50C described above.

[0441] The second sensor unit 53C is a non-contact proximity sensor. The second sensor unit 53C is provided with its front end facing the outer peripheral surface of the second detected unit 52C. The second sensor unit 53C outputs an electrical signal corresponding to the distance from the outer peripheral surface of the second detected unit 52C.

[0442] For example, the output of the second sensor unit 53C is OFF when it is opposite to the first large-diameter portion 52a4 or the second large-diameter portion 52c4. On the other hand, the output of the second sensor unit 53C is ON when it is opposite to the first small-diameter portion 52b4 or the second small-diameter portion 52d4. That is, in this embodiment, the condition for the output of the second sensor unit 53C to be ON is the opposite of that in embodiments 2 and 3 described above.

[0443] In this embodiment, in the neutral state of the location information detection device 500C, the first sensor unit 51C faces the second small-diameter portion 50d4 of the first detected unit 50C. On the other hand, in the neutral state of the location information detection device 500C, the second sensor unit 53C faces the first small-diameter portion 52b4 of the second detected unit 52C.

[0444] The position information detection device 500C, as described above, detects which of the following states corresponds to the arm connecting pin 144a and the cylinder connecting pins 454a and 454b: the neutral state, the withdrawn state of the arm connecting pin, and the withdrawn state of the cylinder connecting pin, based on a combination of the outputs of the first sensor unit 51C and the second sensor unit 53C. Regarding this point, please refer to [link / reference needed]. Figure 24 Please provide an explanation.

[0445] If the position information detection device 500C corresponds to the neutral state of the pin, then the state of the pin is ( Figure 24 Starting from the state shown in column C), electric motor 41 (refer to...) Figure 7 If the rotation is forward, the position information detection device 500C will pass through the state corresponding to the withdrawal action state of the arm connecting pin. Figure 24 The state shown in column D) becomes the state corresponding to the withdrawal state of the arm connecting pin. Figure 24 (The status shown in column E).

[0446] In the state corresponding to the withdrawal of the arm connecting pin, the first sensor unit 51C is positioned opposite the first large-diameter portion 50a4 of the first detected unit 50C. In this state, the output of the first sensor unit 51C is OFF (off) (see reference). Figure 24 (E-4).

[0447] Furthermore, in the state corresponding to the withdrawal of the arm connecting pin, the second sensor unit 53C is positioned opposite the second small-diameter portion 52d4 of the second detected unit 52C. In this state, the output of the second sensor unit 53C is ON (see reference). Figure 24 (E-3).

[0448] By combining the output (OFF) of the first sensor unit 51C with the output (ON) of the second sensor unit 53C, the position information detection device 500C detects the withdrawn state of the arm connecting pin 144a and the cylinder connecting pins 454a and 454b. Then, based on the detection result of the position information detection device 500C, the control unit (not shown) stops the operation of the electric motor 41.

[0449] On the other hand, if the position information detection device 500C corresponding to the neutral state of the pin is in a state of... Figure 24 Starting from the state shown in column C), electric motor 41 (refer to...) Figure 7 If the position information detection device 500C reverses, it will pass through the state corresponding to the withdrawal action state of the hydraulic cylinder connecting pin. Figure 24 The state shown in column B) becomes the state corresponding to the withdrawn state of the cylinder connecting pin. Figure 24 (The status shown in column A).

[0450] In the state corresponding to the withdrawal of the hydraulic cylinder connecting pin, the first sensor unit 51C is positioned opposite the first small-diameter portion 50b4 of the first detected unit 50C. In this state, the output of the first sensor unit 51C is ON (see reference). Figure 24 (A-4).

[0451] Furthermore, in the state corresponding to the withdrawal of the hydraulic cylinder connecting pin, the second sensor unit 53C is positioned opposite the first large-diameter portion 52a4 of the second detected unit 52C. In this state, the output of the second sensor unit 53C is OFF (off) (see reference). Figure 24 (A-3).

[0452] By combining the output (ON) of the first sensor unit 51C with the output (OFF) of the second sensor unit 53C, the position information detection device 500C detects the withdrawn state of the arm connecting pin 144a and the cylinder connecting pins 454a and 454b. Then, based on the detection result of the position information detection device 500C, the control unit (not shown) stops the operation of the electric motor 41. Other structures and functions / effects are the same as in Embodiment 2 described above.

[0453] [5. Implementation Method 5]

[0454] Reference Figures 25A-26 Hereinafter, we will describe Embodiment 5 of the present invention. In this embodiment, the structure of the location information detection device 500D differs from that of the location information detection device 500A in Embodiment 2. The structure of all other parts is the same as in Embodiment 2. Hereinafter, we will describe the structure of the location information detection device 500D. Furthermore, Figures 25A-25E This is in accordance with the description of Embodiment 3 above. Figures 21A-21E The corresponding diagram. Additionally... Figure 26 This is in accordance with the description of Embodiment 3 above. Figure 22 The corresponding diagram.

[0455] The location information detection device 500D has a first detection device 501D, a second detection device 502D and a third detection device 503D.

[0456] The first detection device 501D includes a first detection part 50D and a first sensor part 51D. The first detection part 50D is fixed to the transmission shaft 432 with the transmission shaft 432 inserted through the central hole. The first detection part 50D rotates together with the transmission shaft 432.

[0457] The first detection part 50D has a first large diameter part 50a5, a second large diameter part 50c5 and a third large diameter part 50e5 with a large distance from the central axis (large outer diameter) on its outer peripheral surface, and a first small diameter part 50b5, a second small diameter part 50d5 and a third small diameter part 50f5 with a small distance from the central axis (small outer diameter).

[0458] In this embodiment, the first minor diameter portion 50b5, the second minor diameter portion 50d5, and the third minor diameter portion 50f5 are arranged at 90° intervals around the central axis of the first detected portion 50D on the outer peripheral surface of the first detected portion 50D. The first minor diameter portion 50b5 and the third minor diameter portion 50f5 are arranged offset by 180° around the central axis of the first detected portion 50D. Furthermore, the positional relationship of the first minor diameter portion 50b5, the second minor diameter portion 50d5, and the third minor diameter portion 50f5 is not limited to the relationship in this embodiment. The positional relationship of the first minor diameter portion 50b5, the second minor diameter portion 50d5, and the third minor diameter portion 50f5 is appropriately determined in accordance with the stroke amount of the arm connecting pin and the cylinder connecting pin during the state transition between the contracted state and the expanded state.

[0459] The first large diameter portion 50a5 is disposed between the first small diameter portion 50b5 and the third small diameter portion 50f5. The second large diameter portion 50c5 is disposed between the first small diameter portion 50b5 and the second small diameter portion 50d5. The third large diameter portion 50e5 is disposed between the second small diameter portion 50d5 and the third small diameter portion 50f5.

[0460] The first sensor unit 51D is a non-contact proximity sensor. The first sensor unit 51D is provided with its front end facing the outer peripheral surface of the first detected part 50D. The first sensor unit 51D outputs an electrical signal corresponding to the distance from the outer peripheral surface of the first detected part 50D.

[0461] For example, the output of the first sensor unit 51D is OFF when it is opposite to the first large-diameter portion 50a5, the second large-diameter portion 50c5, and the third large-diameter portion 50e5. On the other hand, the output of the first sensor unit 51D is ON when it is opposite to the first small-diameter portion 50b5, the second small-diameter portion 50d5, and the third small-diameter portion 50f5. That is, in this embodiment, the condition for the output of the first sensor unit 51D to be ON is the opposite of that in embodiments 2 and 3 described above.

[0462] The second detection device 502D includes a second detection unit 52D and a second sensor unit 53D. The second detection unit 52D is fixed within the transmission shaft 432, positioned further in the X direction than the first detection unit 50D, with the transmission shaft 432 inserted through its central hole. The second detection unit 52D rotates together with the transmission shaft 432.

[0463] The second detection part 52D has a first large diameter part 52a5 with a large distance from the central axis (large outer diameter) and a first small diameter part 52b5 with a small distance from the central axis (small outer diameter) on its outer peripheral surface.

[0464] In this embodiment, the first large-diameter portion 52a5 is disposed on the outer peripheral surface of the second detected portion 52D within a range with a central angle of approximately 240° centered on the central axis of the second detected portion 52D. The first small-diameter portion 52b5 is disposed on the outer peripheral surface of the second detected portion 52D in the portion other than the first large-diameter portion 52a5. Furthermore, the positional relationship between the first large-diameter portion 52a5 and the first small-diameter portion 52b5 is not limited to the relationship in this embodiment. The positional relationship between the first large-diameter portion 52a5 and the first small-diameter portion 52b5 is appropriately determined in accordance with the stroke amount of the arm connecting pin and the cylinder connecting pin during the state transition between the contracted state and the expanded state.

[0465] The second sensor unit 53D is a non-contact proximity sensor. The second sensor unit 53D is provided with its front end facing the outer peripheral surface of the second detected unit 52D. The second sensor unit 53D outputs an electrical signal corresponding to the distance from the outer peripheral surface of the second detected unit 52D.

[0466] For example, the output of the second sensor unit 53D is OFF when it is opposite to the first large-diameter portion 52a5. On the other hand, the output of the second sensor unit 53D is ON when it is opposite to the first small-diameter portion 52b5. That is, in this embodiment, the condition for the output of the second sensor unit 53D to be ON is the opposite of that in embodiments 2 and 3 described above.

[0467] The third detection device 503D includes a third detection unit 54D and a third sensor unit 55D. The third detection unit 54D is fixed in the transmission shaft 432 with the transmission shaft 432 inserted through the central hole, and is positioned further to the X-direction side than the second detection unit 52D. The third detection unit 54D rotates together with the transmission shaft 432.

[0468] The third inspected part 54D has a first large-diameter part 54a5 with a large distance from the central axis (large outer diameter) and a first small-diameter part 54b5 with a small distance from the central axis (small outer diameter) on its outer peripheral surface. The structure of the third inspected part 54D is the same as that of the second inspected part 52D described above.

[0469] The third sensor unit 55D is a non-contact proximity sensor. The third sensor unit 55D is positioned with its front end facing the outer peripheral surface of the third detected unit 54D. The third sensor unit 55D outputs an electrical signal corresponding to its distance from the outer peripheral surface of the third detected unit 54D. The conditions for the output of the third sensor unit 55D to become ON (on) are the same as those for the second sensor unit 53D described above.

[0470] In this embodiment, in the neutral state of the location information detection device 500D, the first sensor unit 51D faces the second small-diameter portion 50d5 of the first detected unit 50D. Furthermore, in the neutral state of the location information detection device 500D, the second sensor unit 53D faces the first small-diameter portion 52b5 of the second detected unit 52D. Moreover, in the neutral state of the location information detection device 500D, the third sensor unit 55D faces the first small-diameter portion 54b5 of the third detected unit 54D.

[0471] The position information detection device 500D described above detects, based on a combination of the outputs of the first sensor unit 51D, the second sensor unit 53D, and the third sensor unit 55D, which of the following states corresponds to the arm connecting pin 144a and the cylinder connecting pins 454a and 454b: a neutral state, an arm connecting pin withdrawal action state, an arm connecting pin withdrawal state, a cylinder connecting pin withdrawal action state, and a cylinder connecting pin withdrawal state. Regarding this point, please refer to the following... Figure 26 Please provide an explanation.

[0472] If the position information detection device 500D corresponding to the neutral state of the pin is in state ( Figure 26 Starting from the state shown in column C), electric motor 41 (refer to...) Figure 7 If the rotation is forward, the position information detection device 500D will be in a state corresponding to the withdrawal action state of the arm connecting pin. Figure 26 (The status shown in column D).

[0473] In the state corresponding to the withdrawal action of the arm connecting pin, the first sensor unit 51D is positioned opposite the third large diameter portion 50e5 of the first detected unit 50D. In this state, the output of the first sensor unit 51D is OFF (off) (see reference). Figure 26 (D-5).

[0474] Furthermore, in the state corresponding to the withdrawal action of the arm connecting pin, the second sensor unit 53D is positioned opposite the first large-diameter portion 52a5 of the second detected unit 52D. In this state, the output of the second sensor unit 53D is OFF (off) (see reference). Figure 26 (D-4).

[0475] Furthermore, in the state corresponding to the withdrawal action of the arm connecting pin, the third sensor unit 55D is positioned opposite the first small-diameter portion 54b5 of the third detected unit 54D. In this state, the output of the third sensor unit 55D is ON (on) (see reference). Figure 26 (D-3).

[0476] By combining the outputs (OFF) of the first sensor unit 51D, the second sensor unit 53D, and the third sensor unit 55D, the position information detection device 500D detects the withdrawal state of the arm connecting pin 144a and the cylinder connecting pins 454a and 454b. Then, based on the detection results of the position information detection device 500D, the control unit (not shown) keeps the electric motor 41 running.

[0477] If the position information detection device 500D corresponding to the withdrawal action state of the arm connecting pin is in state ( Figure 26 Starting from the state shown in column D), the electric motor 41 rotates further forward, and the position information detection device 500D becomes the state corresponding to the withdrawal state of the arm connecting pin. Figure 26 (The status shown in column E).

[0478] In the state corresponding to the withdrawal of the arm connecting pin, the first sensor unit 51D is positioned opposite the third small-diameter portion 50f5 of the first detected unit 50D. In this state, the output of the first sensor unit 51D is ON (see reference). Figure 26 (E-5).

[0479] Furthermore, in the state corresponding to the withdrawal of the arm connecting pin, the second sensor unit 53D is positioned opposite the first large-diameter portion 52a5 of the second detected unit 52D. In this state, the output of the second sensor unit 53D is OFF (off) (see reference). Figure 26 (E-4).

[0480] Furthermore, in the state corresponding to the withdrawal of the arm connecting pin, the third sensor unit 55D is positioned opposite the first small-diameter portion 54b5 of the third detected unit 54D. In this state, the output of the third sensor unit 55D is ON (see reference). Figure 26 (E-3).

[0481] By combining the outputs (ON) of the first sensor unit 51D, the output (OFF) of the second sensor unit 53D, and the output (ON) of the third sensor unit 55D, the position information detection device 500D detects the withdrawn state of the arm connecting pin 144a and the cylinder connecting pins 454a and 454b. Then, based on the detection results of the position information detection device 500D, the control unit (not shown) stops the operation of the electric motor 41.

[0482] If the position information detection device 500D corresponding to the neutral state of the pin is in state ( Figure 26 Starting from the state shown in column C), electric motor 41 (refer to...) Figure 7 If the position is reversed, the position information detection device 500D will become the state corresponding to the withdrawal action state of the hydraulic cylinder connecting pin. Figure 26 (The status shown in column B).

[0483] In the state corresponding to the withdrawal action of the hydraulic cylinder connecting pin, the first sensor unit 51D is positioned opposite the second large-diameter portion 50c5 of the first detected unit 50D. In this state, the output of the first sensor unit 51D is OFF (off) (see reference). Figure 26 (B-5).

[0484] Furthermore, in the state corresponding to the withdrawal action of the hydraulic cylinder connecting pin, the second sensor unit 53D is positioned opposite the first small diameter portion 52b5 of the second detected unit 52D. In this state, the output of the second sensor unit 53D is ON (see reference). Figure 26 (B-4).

[0485] Furthermore, in the state corresponding to the withdrawal action of the hydraulic cylinder connecting pin, the third sensor unit 55D is positioned opposite the first large-diameter portion 54a5 of the third detected unit 54D. In this state, the output of the third sensor unit 55D is OFF (off) (see reference). Figure 26 (B-3).

[0486] By combining the outputs (OFF) of the first sensor unit 51D, (ON) of the second sensor unit 53D, and (OFF) of the third sensor unit 55D, the position information detection device 500D detects the withdrawal state of the arm connecting pin 144a and the cylinder connecting pins 454a and 454b. Then, based on the detection results of the position information detection device 500D, the control unit (not shown) keeps the electric motor 41 running.

[0487] If the position information detection device 500D is in the state corresponding to the withdrawal action state of the hydraulic cylinder connecting pin ( Figure 26 Starting from the state shown in column B), the electric motor 41 further reverses, and the position information detection device 500D becomes the state corresponding to the withdrawal state of the hydraulic cylinder connecting pin. Figure 26 (The status shown in column A).

[0488] In the state corresponding to the withdrawal of the hydraulic cylinder connecting pin, the first sensor unit 51D is positioned opposite the first small-diameter portion 50b5 of the first detected unit 50D. In this state, the output of the first sensor unit 51D is ON (see reference). Figure 26(A-5).

[0489] Furthermore, in the state corresponding to the withdrawal of the hydraulic cylinder connecting pin, the second sensor unit 53D is positioned opposite the first small-diameter portion 52b5 of the second detected unit 52D. In this state, the output of the second sensor unit 53D is ON (see reference). Figure 26 (A-4).

[0490] Furthermore, in the state corresponding to the withdrawal of the hydraulic cylinder connecting pin, the third sensor unit 55D is positioned opposite the first large-diameter portion 54a5 of the third detected unit 54D. In this state, the output of the third sensor unit 55D is OFF (off) (see reference). Figure 26 (A-3).

[0491] By combining the outputs (ON) of the first sensor unit 51D, the second sensor unit 53D, and the third sensor unit 55D, the position information detection device 500D detects the withdrawn state of the arm connecting pin 144a and the cylinder connecting pins 454a and 454b. Then, based on the detection results of the position information detection device 500D, the control unit (not shown) stops the operation of the electric motor 41. Other structures and functions / effects are the same as in Embodiment 2 described above.

[0492] [6. Implementation Method 6]

[0493] Reference Figures 27A-28 Hereinafter, we will describe Embodiment 6 of the present invention. In this embodiment, the structure of the location information detection device 500E differs from that of the location information detection device 500A in Embodiment 2. The structure of all other parts is the same as in Embodiment 2. Hereinafter, we will describe the structure of the location information detection device 500E. Furthermore, Figures 27A to 27D This is in accordance with the description of Embodiment 2 above. Figures 19A to 19D The corresponding diagram. Additionally... Figure 28 This is in accordance with the description of Embodiment 2 above. Figure 20 The corresponding diagram.

[0494] The location information detection device 500E has a first detection device 501E and a second detection device 502E.

[0495] The first detection device 501E includes a first detection unit 50A and a first sensor unit 51E. The structure of the first detection unit 50A is the same as that of Embodiment 2 described above.

[0496] The first sensor unit 51E is a contact-type limit switch. The first sensor unit 51E has a contact rod 51a. The first sensor unit 51E is configured such that the contact rod 51a faces the outer peripheral surface of the first detected part 50A. Based on the contact relationship between the contact rod 51a and the first detected part 50A, the first sensor unit 51E outputs an electrical signal.

[0497] In this embodiment, the output of the first sensor unit 51E is ON when the contact rod 51a is in contact with the first detected unit 50A, and OFF when they are not in contact. However, the output of the first sensor unit 51E may also be OFF when the contact rod 51a is in contact with the first detected unit 50A, and ON when they are not in contact.

[0498] Specifically, in this embodiment, the output of the first sensor unit 51E is ON when it is in contact with the first large-diameter part 50a2 or the second large-diameter part 50c2.

[0499] The second detection device 502E includes a second detection unit 52A and a second sensor unit 53E. The structure of the second detection unit 52A is the same as that of Embodiment 2 described above. Furthermore, the structure of the second sensor unit 53E is the same as that of the first sensor unit 51E.

[0500] In this embodiment, the position information detection device 500E detects which of the following states corresponds to the arm connecting pin 144a and the cylinder connecting pins 454a and 454b: the pin neutral state, the arm connecting pin withdrawn state, and the cylinder connecting pin withdrawn state. Hereinafter, regarding this point, please refer to... Figure 28 Please provide an explanation.

[0501] If the position information detection device 500E corresponding to the neutral state of the pin is in state ( Figure 28 Starting from the state shown in column C), electric motor 41 (refer to...) Figure 7 If the rotation is forward, the position information detection device 500E will pass through the state corresponding to the withdrawal action state of the arm connecting pin. Figure 28 The state shown in column D) becomes the state corresponding to the withdrawal state of the arm connecting pin. Figure 28 (The status shown in column E).

[0502] In the state corresponding to the withdrawal of the arm connecting pin, the contact rod 51a of the first sensor unit 51E is not in contact with the first detected unit 50A. The output of the first sensor unit 51E in this state is OFF (off) (see reference). Figure 28 (E-4).

[0503] Furthermore, in the state corresponding to the withdrawal of the arm connecting pin, the contact rod 51a of the second sensor unit 53E contacts the second large-diameter portion 52c2 of the second detected unit 52A. In this state, the output of the second sensor unit 53E is ON (see reference). Figure 28 (E-3).

[0504] By combining the output (OFF) of the first sensor unit 51E with the output (ON) of the second sensor unit 53E, the position information detection device 500E detects the withdrawn state of the arm connecting pin 144a and the cylinder connecting pins 454a and 454b. Then, based on the detection result of the position information detection device 500E, the control unit (not shown) stops the operation of the electric motor 41.

[0505] On the other hand, if the position information detection device 500E corresponding to the neutral state of the pin is in a state of... Figure 28 Starting from the state shown in column C), electric motor 41 (refer to...) Figure 7 If the position information detection device 500E reverses, it will pass through the state corresponding to the withdrawal action state of the hydraulic cylinder connecting pin. Figure 28 The state shown in column B) becomes the state corresponding to the withdrawn state of the cylinder connecting pin. Figure 28 (The status shown in column A).

[0506] In the state corresponding to the withdrawal of the hydraulic cylinder connecting pin, the contact rod 51a of the first sensor unit 51E contacts the first large-diameter portion 50a2 of the first detected portion 50A. In this state, the output of the first sensor unit 51E is ON (see reference). Figure 28 (A-4).

[0507] Furthermore, in the state corresponding to the withdrawal of the hydraulic cylinder connecting pin, the contact rod 51a of the second sensor unit 53E is not in contact with the second detected unit 52A. In this state, the output of the second sensor unit 53E is OFF (off) (see reference). Figure 28 (A-3).

[0508] By combining the output (ON) of the first sensor unit 51E with the output (OFF) of the second sensor unit 53E, the position information detection device 500E detects the withdrawn state of the arm connecting pin 144a and the cylinder connecting pins 454a and 454b. Then, based on the detection result of the position information detection device 500E, the control unit (not shown) stops the operation of the electric motor 41. Other structures and functions / effects are the same as in Embodiment 2 described above.

[0509] [7. Implementation Method 7]

[0510] Reference Figures 29A-30 Hereinafter, we will describe embodiment 7 of the present invention. In this embodiment, the structure of the location information detection device 500F differs from that of the location information detection device 500A in embodiment 2 described above. The structure of all other parts is the same as in embodiment 2. Hereinafter, we will describe the structure of the location information detection device 500F. Furthermore, Figures 29A-29E This is in accordance with the description of Embodiment 3 above. Figures 21A-21E The corresponding diagram. Additionally... Figure 30 This is in accordance with the description of Embodiment 3 above. Figure 22 The corresponding diagram.

[0511] The location information detection device 500F has a first detection device 501F, a second detection device 502F and a third detection device 503F.

[0512] The first detection device 501F includes a first detection unit 50B and a first sensor unit 51E. The structure of the first detection unit 50B is the same as that in Embodiment 3 described above. Furthermore, the structure of the first sensor unit 51E is the same as that in Embodiment 6 described above.

[0513] The second detection device 502F includes a second detection unit 52B and a second sensor unit 53E. The structure of the second detection unit 52B is the same as that of Embodiment 3 described above. Furthermore, the structure of the second sensor unit 53E is the same as that of the first sensor unit 51E.

[0514] The third detection device 503F includes a third detection unit 54B and a third sensor unit 55E. The structure of the third detection unit 54B is the same as that of Embodiment 3 described above. In addition, the structure of the third sensor unit 55E is the same as that of the first sensor unit 51E.

[0515] In this embodiment, the position information detection device 500F detects which of the following states corresponds to the arm connecting pin 144a and the cylinder connecting pins 454a and 454b: the pin neutral state, the arm connecting pin withdrawal state, the arm connecting pin withdrawal state, the cylinder connecting pin withdrawal state, and the cylinder connecting pin withdrawal state. Hereinafter, regarding this point, refer to... Figure 30 Please provide an explanation.

[0516] If the position information detection device 500F corresponds to the neutral state of the pin, then the state of the pin is ( Figure 30 Starting from the state shown in column C), electric motor 41 (refer to...) Figure 7 If the rotation is forward, the position information detection device 500F will be in a state corresponding to the withdrawal action of the arm connecting pin. Figure 30 (The status shown in column D).

[0517] In the state corresponding to the withdrawal action of the arm connecting pin, the contact rod 51a of the first sensor unit 51E is not in contact with the first detected unit 50B. In this state, the output of the first sensor unit 51E is OFF (off) (see reference). Figure 30 (D-5).

[0518] Furthermore, in the state corresponding to the withdrawal action of the arm connecting pin, the contact rod 51a of the second sensor unit 53E is not in contact with the second detected unit 52B. In this state, the output of the second sensor unit 53E is OFF (off) (see reference). Figure 30 (D-4).

[0519] Furthermore, in the state corresponding to the withdrawal action of the arm connecting pin, the contact rod 51a of the third sensor unit 55E contacts the first large-diameter portion 54a3 of the third detected unit 54B. In this state, the output of the third sensor unit 55E is ON (see reference). Figure 30 (D-3).

[0520] By combining the outputs (OFF) of the first sensor unit 51E, the second sensor unit 53E, and the third sensor unit 55E, the position information detection device 500F detects the withdrawal state of the arm connecting pin 144a and the cylinder connecting pins 454a and 454b. Then, based on the detection results of the position information detection device 500F, the control unit (not shown) keeps the electric motor 41 running.

[0521] If the position information detection device 500F corresponds to the state of the withdrawal action of the arm connecting pin ( Figure 30 As shown in column D), the electric motor 41 rotates further forward, and the position information detection device 500F becomes the state corresponding to the withdrawal state of the arm connecting pin. Figure 30 (The status shown in column E).

[0522] In the state corresponding to the withdrawal of the arm connecting pin, the contact rod 51a of the first sensor unit 51E contacts the third large-diameter portion 50e3 of the first detected unit 50B. In this state, the output of the first sensor unit 51E is ON (on) (see reference). Figure 30 (E-5).

[0523] Furthermore, in the state corresponding to the withdrawal of the arm connecting pin, the contact rod 51a of the second sensor unit 53E is not in contact with the second detected unit 52B. In this state, the output of the second sensor unit 53E is OFF (off) (see reference). Figure 30 (E-4).

[0524] Furthermore, in the state corresponding to the withdrawal of the arm connecting pin, the contact rod 51a of the third sensor unit 55E contacts the first large-diameter portion 54a3 of the third detected unit 54B. In this state, the output of the third sensor unit 55E is ON (see reference). Figure 30 (E-3).

[0525] By combining the outputs (ON) of the first sensor unit 51E, the output (OFF) of the second sensor unit 53E, and the output (ON) of the third sensor unit 55E, the position information detection device 500F detects the withdrawn state of the arm connecting pin 144a and the cylinder connecting pins 454a and 454b. Then, based on the detection results of the position information detection device 500F, the control unit (not shown) stops the operation of the electric motor 41.

[0526] If the position information detection device 500F corresponds to the neutral state of the pin, then the state of the pin is ( Figure 30 Starting from the state shown in column C), electric motor 41 (refer to...) Figure 7 If the position is reversed, the position information detection device 500F will become in a state corresponding to the withdrawal action state of the hydraulic cylinder connecting pin. Figure 30 (The status shown in column B).

[0527] In the state corresponding to the withdrawal action of the hydraulic cylinder connecting pin, the contact rod 51a of the first sensor unit 51E is not in contact with the first detected unit 50B. In this state, the output of the first sensor unit 51E is OFF (off) (see reference). Figure 30 (B-5).

[0528] Furthermore, in the state corresponding to the withdrawal action of the hydraulic cylinder connecting pin, the contact rod 51a of the second sensor unit 53E contacts the first large-diameter portion 52a3 of the second detected unit 52B. In this state, the output of the second sensor unit 53E is ON (see reference). Figure 30 (B-4).

[0529] Furthermore, in the state corresponding to the withdrawal of the hydraulic cylinder connecting pin, the contact rod 51a of the third sensor unit 55E is not in contact with the third detected unit 54B. In this state, the output of the third sensor unit 55E is OFF (off) (see reference). Figure 30 (B-3).

[0530] By combining the outputs (OFF) of the first sensor unit 51E, (ON) of the second sensor unit 53E, and (OFF) of the third sensor unit 55E, the position information detection device 500F detects the withdrawal state of the arm connecting pin 144a and the cylinder connecting pins 454a and 454b. Then, based on the detection results of the position information detection device 500F, the control unit (not shown) keeps the electric motor 41 running.

[0531] If the position information detection device 500F corresponds to the state of the withdrawal action of the hydraulic cylinder connecting pin ( Figure 30 Starting from the state shown in column B), the electric motor 41 further reverses, and the position information detection device 500F becomes the state corresponding to the withdrawal state of the hydraulic cylinder connecting pin. Figure 30 (The status shown in column A).

[0532] In the state corresponding to the withdrawal of the hydraulic cylinder connecting pin, the contact rod 51a of the first sensor unit 51E contacts the first large-diameter portion 50a3 of the first detected unit 50B. In this state, the output of the first sensor unit 51E is ON (see reference). Figure 30 (A-5).

[0533] Furthermore, in the state corresponding to the withdrawal of the hydraulic cylinder connecting pin, the contact rod 51a of the second sensor unit 53E contacts the first large-diameter portion 52a3 of the second detected unit 52B. In this state, the output of the second sensor unit 53E is ON (see reference). Figure 30 (A-4).

[0534] Furthermore, in the state corresponding to the withdrawal of the hydraulic cylinder connecting pin, the contact rod 51a of the third sensor unit 55E is not in contact with the third detected unit 54B. In this state, the output of the third sensor unit 55E is OFF (off) (see reference). Figure 30 (A-3).

[0535] By combining the outputs (ON) of the first sensor unit 51E, the second sensor unit 53E, and the third sensor unit 55E, the position information detection device 500F detects the withdrawn state of the arm connecting pin 144a and the cylinder connecting pins 454a and 454b. Then, based on the detection results of the position information detection device 500F, the control unit (not shown) stops the operation of the electric motor 41. Other structures and functions / effects are the same as in Embodiment 3 described above.

[0536] [8. Implementation Method 8]

[0537] Reference Figures 31A-32Hereinafter, we will describe embodiment 8 of the present invention. In this embodiment, the structure of the location information detection device 500G differs from that of the location information detection device 500A in embodiment 2 described above. The structure of all other parts is the same as in embodiment 2. Hereinafter, we will describe the structure of the location information detection device 500G. Furthermore, Figures 31A to 31D The structure is the same as the above. Figures 19A to 19D Similarly, Additionally, Figure 32 Structure and Figure 20 same.

[0538] The location information detection device 500G has a first detection device 501G and a second detection device 502G.

[0539] The first detection device 501G includes a first detection unit 50C and a first sensor unit 51F. The structure of the first detection unit 50C is the same as that in Embodiment 4 described above. Furthermore, the structure of the first sensor unit 51F is substantially the same as that in Embodiment 6 described above. However, in this embodiment, the condition under which the output of the first sensor unit 51F becomes ON is the opposite of that in Embodiment 6 described above.

[0540] The second detection device 502G includes a second detection unit 52C and a second sensor unit 53F. The structure of the second detection unit 52C is the same as that of Embodiment 4 described above. Furthermore, the structure of the second sensor unit 53F is the same as that of the first sensor unit 51F.

[0541] The position information detection device 500G described above detects, based on the combination of the outputs of the first sensor unit 51F and the second sensor unit 53F, which corresponds to the state of the cylinder connecting pins 454a and 454b and the arm connecting pin 144a: the neutral state of the pin, the withdrawn state of the arm connecting pin, and the withdrawn state of the cylinder connecting pin. Regarding this point, please refer to the following... Figure 32 Please provide an explanation.

[0542] If the position information detection device 500G corresponds to the neutral state of the pin, then the state of the pin is ( Figure 32 Starting from the state shown in column C), electric motor 41 (refer to...) Figure 7 If the rotation is forward, the position information detection device 500G will pass through the state corresponding to the withdrawal action state of the arm connecting pin. Figure 32 The state shown in column D) becomes the state corresponding to the withdrawal state of the arm connecting pin. Figure 32 (The status shown in column E).

[0543] In the state corresponding to the withdrawal of the arm connecting pin, the contact rod 51a of the first sensor unit 51F contacts the first large-diameter portion 50a4 of the first detected portion 50C. In this state, the output of the first sensor unit 51F is OFF (off) (see reference). Figure 32 (E-4).

[0544] Furthermore, in the state corresponding to the withdrawal of the arm connecting pin, the contact rod 51a of the second sensor unit 53F is not in contact with the second detected unit 52C. In this state, the output of the second sensor unit 53F is ON (see reference). Figure 32 (E-3).

[0545] By combining the output (OFF) of the first sensor unit 51F with the output (ON) of the second sensor unit 53F, the position information detection device 500G detects the withdrawn state of the arm connecting pin 144a and the cylinder connecting pins 454a and 454b. Then, based on the detection result of the position information detection device 500G, the control unit (not shown) stops the operation of the electric motor 41.

[0546] On the other hand, if the position information detection device 500G corresponding to the neutral state of the pin is in state ( Figure 32 Starting from the state shown in column C), electric motor 41 (refer to...) Figure 7 If the position information detection device 500G reverses, it will pass through the state corresponding to the withdrawal action state of the hydraulic cylinder connecting pin. Figure 32 The state shown in column B) becomes the state corresponding to the withdrawn state of the cylinder connecting pin. Figure 32 (The status shown in column A).

[0547] In the state corresponding to the withdrawal of the hydraulic cylinder connecting pin, the contact rod 51a of the first sensor unit 51F is not in contact with the first detected unit 50C. In this state, the output of the first sensor unit 51F is ON (see reference). Figure 32 (A-4).

[0548] Furthermore, in the state corresponding to the withdrawal of the hydraulic cylinder connecting pin, the contact rod 51a of the second sensor unit 53F contacts the first large-diameter portion 52a4 of the second detected unit 52C. In this state, the output of the second sensor unit 53F is OFF (off) (see reference). Figure 32 (A-3).

[0549] By combining the output (ON) of the first sensor unit 51F with the output (OFF) of the second sensor unit 53F, the position information detection device 500G detects the withdrawn state of the arm connecting pin 144a and the cylinder connecting pins 454a and 454b. Then, based on the detection result of the position information detection device 500G, the control unit (not shown) stops the operation of the electric motor 41. Other structures and functions / effects are the same as in Embodiment 4 described above.

[0550] [9. Implementation Method 9]

[0551] Reference Figures 33A-34 Hereinafter, we will describe embodiment 9 of the present invention. In this embodiment, the structure of the location information detection device 500H differs from that of the location information detection device 500A in embodiment 2 described above. The structure of all other parts is the same as in embodiment 2. Hereinafter, we will describe the structure of the location information detection device 500H. Furthermore, Figures 33A to 33E This is in accordance with the description of Embodiment 3 above. Figures 21A-21E The corresponding diagram. Additionally... Figure 34 This is in accordance with the description of Embodiment 3 above. Figure 22 The corresponding diagram.

[0552] The location information detection device 500H has a first detection device 501H, a second detection device 502H and a third detection device 503H.

[0553] The first detection device 501H includes a first detection part 50D and a first sensor part 51F. The structure of the first detection part 50D is the same as that in Embodiment 5 described above. Furthermore, the structure of the first sensor part 51F is the same as that in Embodiment 8 described above.

[0554] The second detection device 502H includes a second detection unit 52D and a second sensor unit 53F. The structure of the second detection unit 52D is the same as that of Embodiment 5 described above. Furthermore, the structure of the second sensor unit 53F is the same as that of the first sensor unit 51F.

[0555] The third detection device 503H includes a third detection unit 54D and a third sensor unit 55F. The structure of the third detection unit 54D is the same as that of Embodiment 5 described above. In addition, the structure of the third sensor unit 55F is the same as that of the first sensor unit 51F.

[0556] In this embodiment, the position information detection device 500H detects which of the following states corresponds to the arm connecting pin 144a and the cylinder connecting pins 454a and 454b: the pin neutral state, the arm connecting pin withdrawal state, the arm connecting pin withdrawal state, the cylinder connecting pin withdrawal state, and the cylinder connecting pin withdrawal state. Hereinafter, regarding this point, refer to... Figure 34 Please provide an explanation.

[0557] If the position information detection device 500H corresponds to the neutral state of the pin, then the state of the pin is ( Figure 34 Starting from the state shown in column C), electric motor 41 (refer to...) Figure 7 If the rotation is forward, the position information detection device 500H will be in a state corresponding to the withdrawal action state of the arm connecting pin. Figure 34 (The status shown in column D).

[0558] In the state corresponding to the withdrawal action of the arm connecting pin, the contact rod 51a of the first sensor unit 51F contacts the third large diameter portion 50e5 of the first detected unit 50D. In this state, the output of the first sensor unit 51F is OFF (off) (see reference). Figure 34 (D-5).

[0559] Furthermore, in the state corresponding to the withdrawal action of the arm connecting pin, the contact rod 51a of the second sensor unit 53F contacts the first large-diameter portion 52a5 of the second detected unit 52D. In this state, the output of the second sensor unit 53F is OFF (off) (see reference). Figure 34 (D-4).

[0560] Furthermore, in the state corresponding to the withdrawal action of the arm connecting pin, the contact rod 51a of the third sensor unit 55F is not in contact with the third detected unit 54D. In this state, the output of the third sensor unit 55F is ON (on) (see reference). Figure 34 (D-3).

[0561] By combining the outputs (OFF) of the first sensor unit 51F, the second sensor unit 53F, and the third sensor unit 55F, the position information detection device 500H detects the withdrawal state of the arm connecting pin 144a and the cylinder connecting pins 454a and 454b. Then, based on the detection results of the position information detection device 500H, the control unit (not shown) keeps the electric motor 41 running.

[0562] If the position information detection device 500H is in the state corresponding to the withdrawal action state of the arm connecting pin ( Figure 34Starting from the state shown in column D), the electric motor 41 rotates further forward, and the position information detection device 500H becomes the state corresponding to the withdrawal state of the arm connecting pin. Figure 34 (The status shown in column E).

[0563] In the state corresponding to the withdrawal of the arm connecting pin, the contact rod 51a of the first sensor unit 51F is not in contact with the first detected unit 50D. In this state, the output of the first sensor unit 51F is ON (see reference). Figure 34 (E-5).

[0564] Furthermore, in the state corresponding to the withdrawal of the arm connecting pin, the contact rod 51a of the second sensor unit 53F contacts the first large-diameter portion 52a5 of the second detected unit 52D. In this state, the output of the second sensor unit 53F is OFF (off) (see reference). Figure 34 (E-4).

[0565] Furthermore, in the state corresponding to the withdrawal of the arm connecting pin, the contact rod 51a of the third sensor unit 55F is not in contact with the third detected unit 54D. In this state, the output of the third sensor unit 55F is ON (on) (see reference). Figure 34 (E-3).

[0566] By combining the outputs (ON) of the first sensor unit 51F, the output (OFF) of the second sensor unit 53F, and the output (ON) of the third sensor unit 55F, the position information detection device 500H detects the withdrawn state of the arm connecting pin 144a and the cylinder connecting pins 454a and 454b. Then, based on the detection results of the position information detection device 500H, the control unit (not shown) stops the operation of the electric motor 41.

[0567] If the position information detection device 500H corresponds to the neutral state of the pin, then the state of the pin is ( Figure 34 Starting from the state shown in column C), electric motor 41 (refer to...) Figure 7 If the position is reversed, the position information detection device 500H will become the state corresponding to the withdrawal action state of the hydraulic cylinder connecting pin. Figure 34 (The status shown in column B).

[0568] In the state corresponding to the withdrawal action of the hydraulic cylinder connecting pin, the contact rod 51a of the first sensor unit 51F contacts the second large-diameter portion 50c5 of the first detected portion 50D. In this state, the output of the first sensor unit 51F is OFF (off) (see reference). Figure 34 (B-5).

[0569] Furthermore, in the state corresponding to the withdrawal of the hydraulic cylinder connecting pin, the contact rod 51a of the second sensor unit 53F is not in contact with the second detected unit 52D. In this state, the output of the second sensor unit 53F is ON (see reference). Figure 34 (B-4).

[0570] Furthermore, in the state corresponding to the withdrawal action of the hydraulic cylinder connecting pin, the contact rod 51a of the third sensor unit 55F contacts the first large-diameter portion 54a5 of the third detected unit 54D. In this state, the output of the third sensor unit 55F is OFF (off) (see reference). Figure 34 (B-3).

[0571] By combining the outputs (OFF) of the first sensor unit 51F, (ON) of the second sensor unit 53F, and (OFF) of the third sensor unit 55F, the position information detection device 500H detects the withdrawal state of the arm connecting pin 144a and the cylinder connecting pins 454a and 454b. Then, based on the detection results of the position information detection device 500H, the control unit (not shown) keeps the electric motor 41 running.

[0572] If the position information detection device 500H is in the state corresponding to the withdrawal action state of the hydraulic cylinder connecting pin ( Figure 34 Starting from the state shown in column B), the electric motor 41 further reverses, and the position information detection device 500H becomes the state corresponding to the withdrawal state of the hydraulic cylinder connecting pin. Figure 34 (The status shown in column A).

[0573] In the state corresponding to the withdrawal of the hydraulic cylinder connecting pin, the contact rod 51a of the first sensor unit 51F is not in contact with the first detected unit 50D. In this state, the output of the first sensor unit 51F is ON (see reference). Figure 34 (A-5).

[0574] Furthermore, in the state corresponding to the withdrawal of the hydraulic cylinder connecting pin, the contact rod 51a of the second sensor unit 53F is not in contact with the second detected unit 52D. In this state, the output of the second sensor unit 53F is ON (see reference). Figure 34 (A-4).

[0575] Furthermore, in the state corresponding to the withdrawal of the hydraulic cylinder connecting pin, the contact rod 51a of the third sensor unit 55F contacts the first large-diameter portion 54a5 of the third detected unit 54D. In this state, the output of the third sensor unit 55F is OFF (off) (see reference). Figure 34 (A-3).

[0576] By combining the outputs (ON) of the first sensor unit 51F, the second sensor unit 53F, and the third sensor unit 55F (OFF), the position information detection device 500H detects the withdrawn state of the arm connecting pin 144a and the cylinder connecting pins 454a and 454b. Then, based on the detection results of the position information detection device 500H, the control unit (not shown) stops the operation of the electric motor 41. Other structures and functions / effects are the same as in Embodiment 5 described above.

[0577] All disclosures of the specification, drawings and abstract of specification contained in Japanese Patent Application No. 2018-026426, filed on February 16, 2018, are incorporated herein by reference.

[0578] Industrial applicability

[0579] The cranes involved in this invention are not limited to cranes designed for complex terrain; for example, they can also be various types of cranes such as all-terrain cranes, truck cranes, or loading truck cranes (also known as ship cranes). Furthermore, the cranes involved in this invention are not limited to mobile cranes; they can also be other cranes equipped with telescopic booms.

[0580] Explanation of reference numerals in the attached figures:

[0581] 1. Mobile crane

[0582] 10. Driving body

[0583] 101 Wheels

[0584] 11 Extended support leg

[0585] 12 rotary tables

[0586] 14 Telescopic boom

[0587] 141 Forearm Elements

[0588] 141a Hydraulic Cylinder Pin Bearing Part

[0589] 141b Arm pin bearing section

[0590] 142 Intermediate Arm Elements

[0591] 142a Hydraulic Cylinder Pin Bearing Part

[0592] 142b First Arm Pin Bearing Section

[0593] 142c Second Arm Pin Bearing Section

[0594] 142d Third Arm Pin Bearing Section

[0595] 143 Basal arm elements

[0596] 144a, 144b arm connecting pins

[0597] 144c Pin-side bearing section

[0598] 15. Fluctuating Hydraulic Cylinder

[0599] 16 steel cables

[0600] 17 hooks

[0601] 2 Actuators

[0602] 3 Telescopic hydraulic cylinder

[0603] 31 rod components

[0604] 32 Hydraulic Cylinder Components

[0605] 4 Pin displacement module

[0606] 40. Outer shell

[0607] 400 First shell element

[0608] 400a, 400b through holes

[0609] 401 Second Shell Element

[0610] 401a, 401b through holes

[0611] 41 Electric motor

[0612] 410 Manual Operation Section

[0613] 42 Braking mechanism

[0614] 43. Transmission mechanism

[0615] 431 speed reducer

[0616] 431a Gearbox

[0617] 432 Transmission Shaft

[0618] 44 Location Information Detection Device

[0619] 44a Testing Department

[0620] 44b Control Unit

[0621] 45 Hydraulic cylinder connection mechanism

[0622] 450 First missing tooth gear

[0623] 450a First Tooth

[0624] 451 First rack and pinion

[0625] 451a First rack tooth section

[0626] 451b Second rack tooth section

[0627] 451c Third rack tooth section

[0628] 452 First Gear Mechanism

[0629] Gear elements of 452a, 452b, and 452c

[0630] 453 Second Gear Mechanism

[0631] Gear elements 453a and 453b

[0632] 454a and 454b hydraulic cylinder connecting pins

[0633] 454c, 454d pin-side rack teeth

[0634] 455 First force-applying mechanism

[0635] 455a and 455b coil springs

[0636] 46-arm connecting mechanism

[0637] 460 Second missing tooth gear

[0638] 460a Second Tooth

[0639] 460b positioning teeth

[0640] 461a, 461b Second rack rod

[0641] 461c drive rack teeth

[0642] 461d First end face

[0643] 461e and 461f Synchronous rack teeth

[0644] 461g, 461h locking claw part

[0645] 462 Synchronizing Gear

[0646] 463 Second force-applying mechanism

[0647] 463a, 463b coil springs

[0648] 47 Locking mechanism

[0649] 470 First convex part

[0650] 471 Second convex part

[0651] 472 Cam assembly

[0652] 472a First Cam Bearing Part

[0653] 472b Second Cam Bearing Part

[0654] 48 Limiting surfaces

[0655] 49 Integrated toothed gear

[0656] 49a Tooth

[0657] 500A, 500B, 500C, 500D, 500E, 500F, 500G, 500H Location Information Detection Devices

[0658] 501A, 501B, 501C, 501D, 501E, 501F, 501G, 501H First Detection Device

[0659] 50A, 50B, 50C, 50D - First Inspection Section

[0660] 50a2, 50a3, 50a4, 50a5 first large diameter part

[0661] 50b2, 50b3, 50b4, 50b5 First minor diameter section

[0662] 50c2, 50c3, 50c4, 50c5 second largest diameter part

[0663] 50d2, 50d3, 50d4, 50d5 Second minor diameter section

[0664] 50e3, 50e5 third largest diameter part

[0665] 50f3, 50f5 Third Minor Diameter

[0666] 51A, 51B, 51C, 51D, 51E, 51F First Sensor Section

[0667] 51a contact rod

[0668] 502A, 502B, 502C, 502D, 502E, 502F, 502G, 502H Second Detection Device

[0669] 52A, 52B, 52C, 52D Second Inspection Section

[0670] 52a2, 52a3, 52a4, 52a5 first large diameter part

[0671] 52b2, 52b3, 52b4, 52b5 First minor diameter section

[0672] 52c2, 52c4 second largest diameter part

[0673] 52d2, 52d4 Second minor diameter

[0674] 53A, 53B, 53C, 53D, 53E, 53F Second Sensor Section

[0675] 503B, 503D, 503F, 503H Third Detection Device

[0676] 54B, 54D Third Inspection Section

[0677] 54a3, 54a5 first large diameter part

[0678] 54b3, 54b5 First minor diameter section

[0679] 55B, 55D, 55E, 55F Third Sensor Section

Claims

1. A crane, comprising: The telescopic arm has an inner arm element and an outer arm element that can overlap in a telescopic manner; A telescopic actuator that displaces one of the inner arm element and the outer arm element along the telescopic direction. The first connecting component connects the telescopic actuator to one of the arm elements in a disengageable manner; The second connecting component connects the inner arm element and the outer arm element in a disengageable manner; An electrical drive source is provided in the telescopic actuator; The first connecting mechanism, based on the power of the electric drive source, causes one of the connecting components of the first connecting component and the second connecting component to be displaced, thereby switching the connection state and non-connection state of the components connected by that connecting component. The second connecting mechanism, based on the power of the electric drive source, causes the other connecting component of the first connecting component and the second connecting component to be displaced, thereby switching the connection state and non-connection state of the components connected by the other connecting component. A position information detection device, based on the output of the electrical drive source, detects information related to the position of the connecting component of one party and information related to the position of the connecting component of the other party; as well as The switching gear selectively transmits power from the electrical drive source to one of the first and second connecting mechanisms.

2. The crane as described in claim 1, The electrical drive source is a single electrical drive source.

3. The crane as described in claim 1, further comprising: A speed reducer that reduces the power of the electrical drive source and transmits it to the first connecting mechanism; and A braking mechanism is used to maintain the state of the first connecting mechanism and the second connecting mechanism when the electrical drive source is stopped.

4. The crane as described in claim 3, When the braking mechanism is in a braking state, if an external force of a specified magnitude or greater is applied to the first connecting mechanism or the second connecting mechanism, the electrical drive source is allowed to rotate based on the external force.

5. The crane as described in claim 3, The braking mechanism is positioned closer to the electrical drive source than the speed reducer.

6. The crane as described in claim 3, The electrical drive source, the speed reducer, and the braking mechanism are arranged coaxially with the output shaft of the electrical drive source.

7. The crane as described in claim 3, The location information detection device detects location-related information based on the power of the electrical drive source that is not slowed down by the reducer.

8. The crane as described in claim 3, The location information detection device detects location-related information based on the power of the electrical drive source after being slowed down by the reducer.

9. The crane as described in claim 1, further comprising: A locking mechanism, in the state where the switching gear is transmitting power from the electrical drive source to the connecting mechanism of one of the first and second connecting mechanisms, prevents the operation of the connecting mechanism of the other.

10. The crane as claimed in claim 1, The first connecting mechanism includes: a first force-applying mechanism, which, when the electrical drive source is stopped, causes the first connecting mechanism to undergo a state transition so that the components connected by the connecting member of one of the parties are in a connected state. The second connection mechanism includes a second force-applying mechanism that, when the electrical drive source is stopped, causes the second connection mechanism to undergo a state transition so that the components connected by the other connection component are connected to each other.

11. The crane as claimed in claim 1, The position information detection device is mounted on the output shaft of the electrical drive source, or on a rotating component that rotates in accordance with the rotation of the output shaft.

12. The crane as described in claim 11, The location information detection device includes a proximity sensor.

13. The crane as claimed in claim 11, The location information detection device includes a limit switch.

14. The crane as claimed in claim 11, The location information detection device includes an encoder.

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